CN117706593A - Multi-parameter fusion cycle slip detection method, system, equipment and storage medium - Google Patents
Multi-parameter fusion cycle slip detection method, system, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention belongs to the technical field of cycle slip detection, and particularly discloses a multi-parameter fusion cycle slip detection method, a system, equipment and a storage medium. The invention can solve the problem of inaccurate cycle slip detection caused by a single cycle slip detection mode, effectively improve the accuracy and robustness of cycle slip detection, can process cycle slip and signal characteristics of different types, is suitable for various applications and environments, has good system adaptability, and can improve the reliability of navigation and measurement data by fusing different cycle slip detection results, thereby promoting the development of related fields.
Description
Technical Field
The invention belongs to the technical field of cycle slip detection, and particularly relates to a multi-parameter fusion cycle slip detection method, a system, equipment and a storage medium.
Background
In GNSS (global navigation satellite system) applications, cycle slip is a common but serious problem. Cycle slip refers to a discontinuous or inconsistent change in the measurement of the receiving device, typically caused by multipath effects of the satellite signal, signal shadowing, device errors, or other environmental disturbances. Cycle slip can lead to poor accuracy in positioning and navigation, which makes cycle slip detection important in many critical areas, such as aviation, military, autopilot, etc.
Currently, there are several cycle slip detection methods, which are typically single parameter cycle slip markers, such as LLI, MW and GF. The existing cycle slip detection methods have respective limitations, for example, LLI cycle slip detection can ignore certain types of cycle slips, so that missed detection and false detection are caused; MW cycle slip detection is limited by pseudo-range noise, and small cycle slips of 1-2 weeks can be difficult to detect in a strong noise environment; GF cycle slip detection is difficult to accurately detect cycle slips when ionosphere is active or ionosphere environments differ significantly (e.g., low-orbit satellite data), and cycle slips can be detected only when environmental differences are small. Although these existing methods can be applied to a certain extent to cycle slip detection, the corresponding timeliness, accuracy and robustness remain to be improved. Therefore, there is a need for a better cycle slip detection method to improve cycle slip detection performance to meet the ever-increasing navigation and measurement needs.
Disclosure of Invention
The invention aims to provide a multi-parameter fusion cycle slip detection method, a system, equipment and a storage medium, which are used for solving the problems in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, a multi-parameter fusion cycle slip detection method is provided, including:
obtaining an RTCM data stream from a receiver, wherein the RTCM data stream is obtained by receiving original satellite signal data of a GNSS satellite in real time by the receiver, preprocessing and encoding the original satellite signal data;
real-time decoding is carried out on the RTCM data stream to obtain decoded satellite signal data;
performing LLI cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, performing MW cycle slip detection on the decoded satellite signal data to obtain a MW cycle slip detection result, and performing GF cycle slip detection on the decoded satellite signal data to obtain a GF cycle slip detection result;
performing fusion cycle slip detection on the LLI cycle slip detection result, the MW cycle slip detection result and/or the GF cycle slip detection result based on a set fusion detection rule to obtain a fusion cycle slip detection result;
and outputting a fusion cycle slip detection result.
In one possible design, the preprocessing of the raw satellite signal data includes: and denoising, error correction and data calibration are carried out on the original satellite signal data.
In one possible design, the decoding the RTCM data stream in real time to obtain decoded satellite signal data includes:
and decoding the RTCM data stream in real time by adopting an Ntrip protocol to obtain decoded satellite signal data, wherein the decoded satellite signal data comprises an observation message, a navigation message and a differential correction message.
In one possible design, the fusion detection rules include LLI cycle slip detection-MW cycle slip detection fusion rules, which are: and when the LLI cycle slip detection result is no cycle slip and the MW cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise, judging that the fusion cycle slip detection result is cycle slip.
In one possible design, the fusion detection rule includes an LLI cycle slip detection-GF cycle slip detection fusion rule, where LLI cycle slip detection-GF cycle slip detection fusion rule is: and when the LLI cycle slip detection result is no cycle slip and the GF cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise, judging that the fusion cycle slip detection result is cycle slip.
In one possible design, the fusion detection rule includes a MW cycle slip detection-GF cycle slip detection fusion rule, which is: and when the MW cycle slip detection result is no cycle slip and the GF cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise, judging that the fusion cycle slip detection result is cycle slip.
In one possible design, the fusion detection rules include LLI cycle slip detection-MW cycle slip detection-GF cycle slip detection fusion rules, which are: and when the LLI cycle slip detection result, the MW cycle slip detection result and the GF cycle slip detection result are all cycle slip-free, judging that the fused cycle slip detection result is cycle slip-free, otherwise, judging that the fused cycle slip detection result is cycle slip-free.
In a second aspect, a multi-parameter fusion cycle slip detection system is provided, including a receiver and a client, the receiver establishes a communication interface with the client, and the client includes a data receiving unit, a data decoding unit, an initial detection unit, a fusion detection unit and a result output unit, wherein:
the receiver is used for receiving the original satellite signal data of the GNSS satellite in real time, and preprocessing and encoding the original satellite signal data to obtain an RTCM data stream
The data receiving unit is used for acquiring an RTCM data stream from the receiver, wherein the RTCM data stream is obtained by the receiver receiving original satellite signal data of a GNSS satellite in real time, preprocessing and encoding the original satellite signal data;
the data decoding unit is used for decoding the RTCM data stream in real time to obtain decoded satellite signal data;
the initial detection unit is used for performing LLI cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, performing MW cycle slip detection on the decoded satellite signal data to obtain a MW cycle slip detection result, and performing GF cycle slip detection on the decoded satellite signal data to obtain a GF cycle slip detection result;
the fusion detection unit is used for carrying out fusion cycle slip detection on the LLI cycle slip detection result, the MW cycle slip detection result and/or the GF cycle slip detection result based on a set fusion detection rule to obtain a fusion cycle slip detection result;
and the result output unit is used for outputting the fusion cycle slip detection result.
In a third aspect, a multiparameter fused cycle slip detection device is provided, comprising:
a memory for storing instructions;
and a processor for reading the instructions stored in the memory and executing the method according to any one of the above first aspects according to the instructions.
In a fourth aspect, there is provided a computer readable storage medium having instructions stored thereon which, when run on a computer, cause the computer to perform the method of any of the first aspects. Also provided is a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects.
The beneficial effects are that: according to the invention, through carrying out parameter fusion analysis on a plurality of cycle slip mark results, the problem of inaccurate cycle slip detection caused by a single cycle slip detection mode can be solved, the accuracy and robustness of cycle slip detection are effectively improved, and the cycle slip detection method can process cycle slip and signal characteristics of different types, is suitable for various applications and environments, and has good system adaptability. The invention has great potential in high-precision navigation and measurement application, and can improve the reliability of navigation and measurement data by fusing different cycle slip detection mark results, thereby promoting the development of related fields.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram showing the steps of the method of example 1 of the present invention;
FIG. 2 is a schematic diagram showing the construction of a system in embodiment 2 of the present invention;
fig. 3 is a schematic view showing the constitution of the apparatus in embodiment 3 of the present invention.
Detailed Description
It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention. Specific structural and functional details disclosed herein are merely representative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be appreciated that the term "coupled" is to be interpreted broadly, and may be a fixed connection, a removable connection, or an integral connection, for example, unless explicitly stated and limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the embodiments can be understood by those of ordinary skill in the art according to the specific circumstances.
In the following description, specific details are provided to provide a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, a system may be shown in block diagrams in order to avoid obscuring the examples with unnecessary detail. In other embodiments, well-known processes, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the embodiments.
Example 1:
the embodiment provides a multi-parameter fusion cycle slip detection method, which can be applied to corresponding clients, including a flight navigation system terminal, a geographic information system terminal, an automatic driving automobile system terminal, a precision agricultural system terminal and the like, as shown in fig. 1, and comprises the following steps:
s1, acquiring an RTCM data stream from a receiver, wherein the receiver receives original satellite signal data of a GNSS satellite in real time, and preprocessing and encoding the original satellite signal data to obtain the RTCM data stream.
In particular, the receiver captures raw satellite signal data from the GNSS satellites, the raw satellite signal data including phase observations and other relevant information of the satellite signals, then pre-processes and encodes the raw satellite signal data, pre-processes denoising, error correction and data calibration to obtain a RTCM (Radio Technical Commission for Maritime Services) data stream, and then transmits the RTCM data stream to the client.
GNSS satellites typically include Global Positioning System (GPS) satellites, GLONASS satellites, galileo satellites and Beidou (BDS) satellites, which are sources of data for the entire system that transmit radio signals to the earth at precise frequencies that contain data about the identification information, time information and satellite position of the satellites. The receiver typically includes an antenna, receiving hardware, and a signal processing unit that may acquire raw satellite signal data from the GNSS satellites. RTCM data streams are binary data streams, which are standardized data formats for differential Global Navigation Satellite Systems (GNSS).
S2, decoding the RTCM data stream in real time to obtain decoded satellite signal data.
In specific implementation, the client decodes the RTCM data stream in real time by adopting the Ntrip protocol, so as to obtain decoded satellite signal data, wherein the decoded satellite signal data comprises an observation text, a navigation text and a differential correction text.
The observation message is used for transmitting information about satellite signals observed by the GNSS receiver, and main field parameters comprise:
SatelliteID: a unique identification representing the received satellite, typically using a PRN (pseudo random noise) number or other identifier;
constillation: identifying the GNSS system used, such as GPS, GLONASS, galileo;
signal Type: representing the type of satellite signal observed, such as L1 frequency band or L2 frequency band, etc.;
carrier Phase: representing the carrier phase of a satellite signal, typically in radians;
pseudoorange: a pseudorange representing an observed satellite signal, i.e., a signal propagation time from the satellite to a receiving device;
signal Strength: representing received satellite signal strength, typically expressed in signal-to-noise ratio (C/N0) or similar units.
The navigation message is used for transmitting information about satellite orbit, clock error, health status and other navigation parameters, and the main field parameters include:
SatelliteID: the identity representing a particular satellite, typically matching the satellite number in the observation context;
satellite Health Status: indicating the health status of the satellite, including whether the satellite is operating normally;
clock Correction: correction parameters representing the satellite clock to ensure the time accuracy of the satellite signal;
orbit Parameters: the information comprises the orbit semi-long axis, eccentricity, inclination angle, ascending intersection point longitude and the like of the satellite;
ephemeris Data: providing information about the satellite position so that the receiving device calculates the exact position of the satellite;
ephemeris Time: representing the period of validity of the ephemeris data.
The differential correction message is used for transmitting more detailed navigation information and error correction information, and main field parameters thereof include:
epochs: observation time of the text data;
satellite reference datum: satellite reference, 0 denotes ITRF,1 denotes a local reference plane;
DeltaRadial: track face radial correction;
DeltaRadial: track face radial correction;
DeltaAlongTrack: track face tangential correction;
deltacross track: track surface normal correction value;
DotDeltaRadial: the change rate of the radial correction value of the track surface;
DotDeltaAlongTrack: track face tangential correction rate of change;
DotDeltaCrossTrack: the normal correction value change rate of the track surface.
S3, performing LLI cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, performing MW cycle slip detection on the decoded satellite signal data to obtain a MW cycle slip detection result, and performing GF cycle slip detection on the decoded satellite signal data to obtain a GF cycle slip detection result.
In specific implementation, the client may perform LLI (Lock Time Indicator) cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, perform MW (Melbourne-wubbena) cycle slip detection on the decoded satellite signal data to obtain an MW cycle slip detection result, and perform GF (Geometry Free) cycle slip detection on the decoded satellite signal data to obtain an GF cycle slip detection result. Cycle slip detection refers to the problem of cycle count jumps or breaks caused by loss of lock of satellite signals in carrier phase measurement of a Global Navigation Satellite System (GNSS) by using a method of time-dependent change law of observation values. Potential cycle slips were detected by LLI (Lock Time Indicator) cycle slip detection, MW (Melbourne-Tubbena) cycle slip detection and GF (Geometry Free) cycle slip detection to address different types of cycle slip problems.
LLI is a cycle slip detection flag that indicates whether the receiver has lost lock on a particular satellite signal. LLI cycle slip detection can analyze the observations and examine LLI flags to identify potential cycle slips. If LLI indicates that the signal is likely to be problematic, it will be marked as a potential cycle slip, the LLI cycle slip detection branch will determine based on the decoded Lock Time Indicator and halof-cycle ambiguity indicator 2 fields, if Lock Time Indicator has a value of 0 and halof-cycle ambiguity indicator is false, there will be no cycle slip, the flag will be set to 0, and otherwise there will be a cycle slip set to 1.
MW is another cycle slip detection flag, commonly used to detect cycle slips in wide lanes (wide-lanes). A wide lane is a channel in the received satellite signal that is susceptible to multipath effects. MW cycle slip detection can analyze the phase change of the wide lane signal to identify cycle slips, and the specific calculation formula is as follows:
λ W ＝c/(f i -f j )
where Φi is the phase observations in weeks. The MW cycle slip detection adopts a smooth window mode, 50 epochs are used as a smooth window, the MW value of the double-frequency combination of all frequency points of each satellite at each moment is the original MW value, the average value obtained by the satellite through the sliding window is subtracted, the final result is compared with a threshold value (4 weeks), the MW mode does not detect cycle slip when the MW value is smaller than 4 weeks, the MW mode detects cycle slip when the MW value is larger than or equal to 4 weeks, and the MW value is 1.
GF is a cycle slip detection signature based on geometric features that uses the phase observations of multiple satellite signals, regardless of their wavelength differences. The GF cycle slip detection may analyze phase data of a plurality of satellite signals to detect cycle slips, and its specific calculation formula is as follows:
GF ij ＝L i -L j
the subscripts of i and j are frequency points of the satellite, L is a phase observation value, and the unit is meter. The GF cycle-hop detection cycle calculates GF value by double-frequency combination of all frequency points of each satellite, and finally, the front and back epochs are differenced, the difference result is compared with a threshold value (0.05 m), if the frequency is less than 0.05m, the GF mode does not detect cycle slip, the mark is 0, if the frequency is greater than or equal to 0.05m, the GF mode detects cycle slip, and the mark is set to be 1.
For LLI cycle slip detection, the result is that LLI detection has no cycle slip mark as 0, LLI detection has cycle slip mark as 1; for MW cycle slip detection, the result is MW detection with no cycle slip mark of 0 and MW detection with cycle slip mark of 1; for GF cycle slip detection, the result is a GF detection with no cycle slip flag of 0 and a GF detection with cycle slip flag of 1.
S4, performing fusion cycle slip detection on the LLI cycle slip detection result, the MW cycle slip detection result and/or the GF cycle slip detection result based on the set fusion detection rule to obtain the fusion cycle slip detection result.
In specific implementation, the LLI, MW and GF cycle slip detection results are fused together by fusion cycle slip detection so as to determine whether cycle slip exists or not, and accuracy and robustness of cycle slip detection are improved. The fused cycle slip detection is performed according to corresponding fused detection rules, wherein the fused detection rules comprise:
LLI cycle slip detection-MW cycle slip detection fusion rules: when the LLI cycle slip detection result is no cycle slip and the MW cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise judging that the fusion cycle slip detection result is cycle slip;
LLI cycle slip detection-GF cycle slip detection fusion rules: when the LLI cycle slip detection result is no cycle slip and the GF cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise judging that the fusion cycle slip detection result is cycle slip;
MW cycle slip detection-GF cycle slip detection fusion rules: when the MW cycle slip detection result is no cycle slip and the GF cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise judging that the fusion cycle slip detection result is cycle slip;
LLI cycle slip detection-MW cycle slip detection-GF cycle slip detection fusion rules: and when the LLI cycle slip detection result, the MW cycle slip detection result and the GF cycle slip detection result are all cycle slip-free, judging that the fused cycle slip detection result is cycle slip-free, otherwise, judging that the fused cycle slip detection result is cycle slip-free.
By the multi-parameter fusion real-time cycle slip detection method, cycle slip detection marks of different types are combined to fully utilize the advantages of the cycle slip detection marks, so that the quality and the robustness of cycle slip detection are improved, and the high-precision navigation and positioning can be ensured.
S5, outputting a fusion cycle slip detection result.
In the implementation, after the final fused cycle slip detection result is determined, the client can output, display and store the fused cycle slip detection result so as to be applied to high-precision navigation and measurement.
The method of the embodiment can solve the problem of inaccurate cycle slip detection caused by a single cycle slip detection mode by carrying out parameter fusion analysis on a plurality of cycle slip mark results, effectively improve the accuracy and robustness of cycle slip detection, can process cycle slip and signal characteristics of different types, is suitable for various applications and environments, has good system adaptability, has great potential in high-precision navigation and measurement applications, and can improve the reliability of navigation and measurement data by fusing different cycle slip detection mark results, thereby promoting the development of related fields.
Example 2:
the embodiment provides a multiparameter fusion cycle slip detection system, as shown in fig. 2, including a receiver and a client, the receiver establishes a communication interface with the client, the client includes a data receiving unit, a data decoding unit, an initial detection unit, a fusion detection unit and a result output unit, wherein:
the receiver is used for receiving the original satellite signal data of the GNSS satellite in real time, and preprocessing and encoding the original satellite signal data to obtain an RTCM data stream
The data receiving unit is used for acquiring an RTCM data stream from the receiver, wherein the RTCM data stream is obtained by the receiver receiving original satellite signal data of a GNSS satellite in real time, preprocessing and encoding the original satellite signal data;
the data decoding unit is used for decoding the RTCM data stream in real time to obtain decoded satellite signal data;
the initial detection unit is used for performing LLI cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, performing MW cycle slip detection on the decoded satellite signal data to obtain a MW cycle slip detection result, and performing GF cycle slip detection on the decoded satellite signal data to obtain a GF cycle slip detection result;
the fusion detection unit is used for carrying out fusion cycle slip detection on the LLI cycle slip detection result, the MW cycle slip detection result and/or the GF cycle slip detection result based on a set fusion detection rule to obtain a fusion cycle slip detection result;
and the result output unit is used for outputting the fusion cycle slip detection result.
Example 3:
the embodiment provides a multiparameter fusion cycle slip detection device, as shown in fig. 3, at a hardware level, including:
the data interface is used for establishing data butt joint between the processor and the receiver;
a memory for storing instructions;
and the processor is used for reading the instruction stored in the memory and executing the multiparameter fusion cycle slip detection method in the embodiment 1 according to the instruction.
Optionally, the device further comprises an internal bus. The processor and memory and data interfaces may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc.
The Memory may include, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), flash Memory (Flash Memory), first-in first-out Memory (First Input First Output, FIFO), and/or first-in last-out Memory (First In Last Out, FILO), etc. The processor may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Example 4:
the present embodiment provides a computer-readable storage medium having instructions stored thereon, which when executed on a computer, cause the computer to perform the multiparameter fusion cycle slip detection method of embodiment 1. The computer readable storage medium refers to a carrier for storing data, and may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash Memory, and/or a Memory Stick (Memory Stick), etc., where the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable system.
The present embodiment also provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the multiparameter fused cycle slip detection method of embodiment 1. Wherein the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable system.
Finally, it should be noted that: the foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The multi-parameter fusion cycle slip detection method is characterized by comprising the following steps of:
obtaining an RTCM data stream from a receiver, wherein the RTCM data stream is obtained by receiving original satellite signal data of a GNSS satellite in real time by the receiver, preprocessing and encoding the original satellite signal data;
real-time decoding is carried out on the RTCM data stream to obtain decoded satellite signal data;
performing LLI cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, performing MW cycle slip detection on the decoded satellite signal data to obtain a MW cycle slip detection result, and performing GF cycle slip detection on the decoded satellite signal data to obtain a GF cycle slip detection result;
performing fusion cycle slip detection on the LLI cycle slip detection result, the MW cycle slip detection result and/or the GF cycle slip detection result based on a set fusion detection rule to obtain a fusion cycle slip detection result;
and outputting a fusion cycle slip detection result.
2. The method of claim 1, wherein the preprocessing the raw satellite signal data comprises: and denoising, error correction and data calibration are carried out on the original satellite signal data.
3. The method for multi-parameter fusion cycle slip detection according to claim 1, wherein said decoding the RTCM data stream in real time to obtain decoded satellite signal data comprises:
and decoding the RTCM data stream in real time by adopting an Ntrip protocol to obtain decoded satellite signal data, wherein the decoded satellite signal data comprises an observation message, a navigation message and a differential correction message.
4. The multi-parameter fusion cycle slip detection method of claim 1, wherein the fusion detection rules comprise LLI cycle slip detection-MW cycle slip detection fusion rules, and the LLI cycle slip detection-MW cycle slip detection fusion rules are: and when the LLI cycle slip detection result is no cycle slip and the MW cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise, judging that the fusion cycle slip detection result is cycle slip.
5. The multi-parameter fusion cycle slip detection method of claim 1, wherein the fusion detection rules comprise LLI cycle slip detection-GF cycle slip detection fusion rules, the LLI cycle slip detection-GF cycle slip detection fusion rules being: and when the LLI cycle slip detection result is no cycle slip and the GF cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise, judging that the fusion cycle slip detection result is cycle slip.
6. The multi-parameter fusion cycle slip detection method according to claim 1, wherein the fusion detection rule comprises a MW cycle slip detection-GF cycle slip detection fusion rule, the MW cycle slip detection-GF cycle slip detection fusion rule being: and when the MW cycle slip detection result is no cycle slip and the GF cycle slip detection result is no cycle slip, judging that the fusion cycle slip detection result is no cycle slip, otherwise, judging that the fusion cycle slip detection result is cycle slip.
7. The multi-parameter fusion cycle slip detection method according to claim 1, wherein the fusion detection rule comprises an LLI cycle slip detection-MW cycle slip detection-GF cycle slip detection fusion rule, and the LLI cycle slip detection-MW cycle slip detection-GF cycle slip detection fusion rule is as follows: and when the LLI cycle slip detection result, the MW cycle slip detection result and the GF cycle slip detection result are all cycle slip-free, judging that the fused cycle slip detection result is cycle slip-free, otherwise, judging that the fused cycle slip detection result is cycle slip-free.
8. The multi-parameter fusion cycle slip detection system is characterized by comprising a receiver and a client, wherein the receiver establishes communication butt joint with the client, and the client comprises a data receiving unit, a data decoding unit, an initial detection unit, a fusion detection unit and a result output unit, wherein:
the receiver is used for receiving the original satellite signal data of the GNSS satellite in real time, and preprocessing and encoding the original satellite signal data to obtain an RTCM data stream
The data receiving unit is used for acquiring an RTCM data stream from the receiver, wherein the RTCM data stream is obtained by the receiver receiving original satellite signal data of a GNSS satellite in real time, preprocessing and encoding the original satellite signal data;
the data decoding unit is used for decoding the RTCM data stream in real time to obtain decoded satellite signal data;
the initial detection unit is used for performing LLI cycle slip detection on the decoded satellite signal data to obtain an LLI cycle slip detection result, performing MW cycle slip detection on the decoded satellite signal data to obtain a MW cycle slip detection result, and performing GF cycle slip detection on the decoded satellite signal data to obtain a GF cycle slip detection result;
the fusion detection unit is used for carrying out fusion cycle slip detection on the LLI cycle slip detection result, the MW cycle slip detection result and/or the GF cycle slip detection result based on a set fusion detection rule to obtain a fusion cycle slip detection result;
and the result output unit is used for outputting the fusion cycle slip detection result.
9. A multiparameter fusion cycle slip detection device, comprising:
a memory for storing instructions;
the processor is used for reading the instruction stored in the memory and executing the multiparameter fusion cycle slip detection method according to the instruction.
10. A computer readable storage medium having instructions stored thereon which, when executed on a computer, cause the computer to perform the multiparameter fused cycle slip detection method of any one of claims 1-7.
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| CN118482630A (en) * | 2024-05-14 | 2024-08-13 | 无锡卡尔曼导航技术有限公司南京技术中心 | A pseudo-satellite-assisted DBD deformation monitoring method |
| CN118482630B (en) * | 2024-05-14 | 2025-07-11 | 无锡卡尔曼导航技术有限公司南京技术中心 | Deformation monitoring method for pseudo satellite assisted DBD |
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