CN118244307A - GNSS cycle slip detection adaptive threshold determination method in complex environment - Google Patents
GNSS cycle slip detection adaptive threshold determination method in complex environment Download PDFInfo
- Publication number
- CN118244307A CN118244307A CN202410256098.0A CN202410256098A CN118244307A CN 118244307 A CN118244307 A CN 118244307A CN 202410256098 A CN202410256098 A CN 202410256098A CN 118244307 A CN118244307 A CN 118244307A
- Authority
- CN
- China
- Prior art keywords
- cycle slip
- clock
- detection
- adaptive threshold
- gnss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003044 adaptive effect Effects 0.000 title claims description 21
- 238000005070 sampling Methods 0.000 claims description 30
- 238000012937 correction Methods 0.000 claims description 14
- 235000008694 Humulus lupulus Nutrition 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Classifications
-
- 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
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a GNSS cycle slip detection self-adaptive threshold value determining method in a complex environment, which comprises the following steps: correcting the pseudo-range TGD of the appointed user by adding a group delay on the basis of the satellite clock error parameter; performing clock jump detection and judgment according to the clock jump detection expression and the clock jump time characteristic, if the clock jump detection expression exists, repairing the clock jump, and if the clock jump detection expression does not exist, directly performing the next step; a first threshold value is obtained through MW combination detection, whether cycle slip exists or not is preliminarily judged, if so, a result is directly output, and if not, the next step is carried out; and detecting by GF combination to obtain a second threshold value so as to correctly judge whether cycle slip exists and repair.
Description
Technical Field
The invention relates to the field of surveying and mapping science and technology, in particular to a GNSS cycle slip detection self-adaptive threshold determining method in a complex environment.
Background
With the gradual perfection of the development of each system of the GNSS, the related industries and applications of the GNSS are also rapidly developed. When positioning is performed by using a GNSS satellite, a satellite carrier phase observation value is generally used for obtaining a high-precision positioning result, but in the positioning process, a satellite signal is out of lock due to the influence of surrounding observation environments, phase measurement is required to be performed again, and the phenomenon can further generate cycle slip to cause error in resolving whole-cycle ambiguity, so that the positioning precision is inaccurate. In order to obtain a positioning result with high accuracy, the influence of errors caused by the cycle slip phenomenon is reduced.
In order to solve the technical problem, current scientific researchers in various countries also conduct targeted researches and improvements on cycle slip detection methods, but the following problems still exist:
firstly, for the polynomial fitting method, whether the original sequence is cycle slip is further judged by judging the fitting item and the time sequence, and the method has limitation in practical application, has a good effect on judging the large cycle slip, and cannot accurately judge the small cycle slip.
And (II) MW combination and GF combination combined cycle slip detection method in TurboEdit algorithm, wherein MW combination detection is greatly influenced by pseudo-range precision, and in addition, due to singleness of MW and GF combination threshold model, when the observation environment is complex, the satellite altitude angle is low and the data sampling rate is low, the precision of cycle slip detection is greatly influenced, and misjudgment of the TurboEdit detection method is caused.
Disclosure of Invention
In view of the foregoing drawbacks of the prior art, an object of the present invention is to provide a method for determining a GNSS cycle slip detection adaptive threshold in a complex environment, so as to solve one or more of the problems in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A GNSS cycle slip detection adaptive threshold determination method in a complex environment comprises the following steps:
and carrying out pseudo-range TGD correction on the appointed user.
Detecting and judging whether a clock jump exists, and repairing the clock jump if the clock jump exists. If not, the first cycle slip detection is entered.
And detecting the first cycle slip, obtaining a first threshold value through MW combination detection, judging whether the cycle slip exists according to the first threshold value, outputting a result if the cycle slip exists, and entering the second cycle slip detection if the cycle slip does not exist.
And detecting cycle slip for the second time, obtaining a second threshold value through GF combination detection, judging whether cycle slip exists according to the second threshold value, and outputting a result if the cycle slip exists.
Further, the designated user is a user who uses both the L 1 P (Y) and L 2 P (Y) dual-frequency codes.
Further, the pseudo-range TGD correction includes the following calculation formula:
(Δtsv)LiX＝Δtsv-TGD+ISC
The above equation (Δt sv)LiX is the clock difference after the group delay correction, Δt sv is the satellite clock error, T GD is the group delay correction, ISC represents the delay difference parameter.
Further, the clock-skip detection calculation formula is as follows:
the delta L is the clock-jump detection.
The above ρ (t i) is the pseudorange observations of the satellite over epoch t i observed by the receiver.
The above phi (t i) is the carrier phase observation that the receiver observed the satellite over epoch t i.
Further, by the obtained clock-skip detection amount Δl, it is judged whether or not there is a microsecond or millisecond-level clock skip.
Judging whether the total number of the millisecond and microsecond clock-jump satellites is equal to the number of the effective satellites participating in clock-jump detection, if so, repairing the clock-jump and detecting the first clock-jump, and if not, directly detecting the first clock-jump without the clock-jump; the judging formulas of the millisecond and microsecond clock hops are as follows in sequence:
(10-7·c-3ζ)＜ΔL＜(10-5·c+3ζ)
Wherein c is the speed of light in vacuum, ζ is the empirical value of observed noise, and the default size is 4. When Δl satisfies the above equation, the epoch is considered to have a millisecond-scale clock jump.
ΔL＞(10-3·c-3ζ)
Wherein c is the speed of light in vacuum, ζ is the empirical value of observed noise, and the default size is 4. When Δl satisfies the above equation, the epoch is considered to have a microsecond clock jump.
Further, the judging of the first cycle slip includes the following steps:
and calculating the widelane ambiguity according to the pseudo-range and the carrier phase observation value.
And calculating a widelane ambiguity average value and a widelane ambiguity variance according to the widelane ambiguities.
And obtaining a first cycle slip judgment formula according to the wide lane ambiguity average value and the wide lane ambiguity variance.
Further, the first threshold is the MW combined detection adaptive threshold, and the specific formula is as follows:
TMW＝min[Tt·A·O,6]
Wherein T t and A are parameters related to the sampling interval and the altitude angle respectively, o is the data missing epoch number when the sampling interval is more than 30s, and min [ T 1,T2 ] represents taking a smaller value in T 1,T2.
Further, the specific value relationship of the first threshold is as follows:
in the above formula, s is the sampling interval of observation data, e is the satellite altitude angle, and o is the data missing epoch number when the sampling interval is more than 30 s.
Further, the second threshold is the GF combined detection adaptive threshold, and the specific formula is as follows:
Where T t is a parameter related to the sampling interval, A is a parameter related to the altitude angle, o is the missing epoch number, and min [ T 1,T2 ] represents taking the smaller value of T 1,T2.
Further, the specific value relationship of the second threshold is as follows:
in the above formula, s is the sampling interval of observation data, e is the satellite altitude angle, and o is the data missing epoch number when the sampling interval is more than 30 s.
Compared with the prior art, the invention has the following beneficial technical effects:
According to the invention, the situation that the epoch is lost due to the fact that the complex observation environment, different satellite altitude angles and different data sampling rates are adopted in practical application is comprehensively considered, a group of self-adaptive experience thresholds of multiple influence factors are extracted through fitting of a large amount of monitoring data to replace the conventional single threshold, the accuracy of GNSS cycle slip detection under adverse conditions can be improved, and the stability of cycle slip under different conditions is ensured.
Drawings
Fig. 1 is a flow chart illustrating a method for determining a GNSS cycle slip detection adaptive threshold in a complex environment according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following describes in further detail a GNSS cycle slip detection adaptive threshold determination method in a complex environment according to the present invention with reference to the accompanying drawings and detailed description.
The invention provides a GNSS cycle slip detection self-adaptive threshold value determining method in a complex environment, which comprises the following steps:
Referring to fig. 1, the processing is performed according to the GNSS including data provided by the beidou satellite navigation system BDS, the global positioning system GPS and the russian GLONASS.
Further, with continued reference to fig. 1, the satellite clock differences corresponding to different signals are different due to different time delays of different satellite signals in the satellite. The ephemeris data, which is the satellite clock error parameter given by the broadcast ephemeris, is measured and predicted by modulating the double codes of L 1 P (Y) and L 2 P (Y). For other ranging code users including single frequency users ranging by using L 1 P (Y) code or L 1 P (Y) code alone, the clock error parameters given by the broadcast ephemeris cannot be directly applied, so that group delay error correction is needed on the basis of the clock error parameters given by the broadcast ephemeris.
The pseudo-range TGD correction includes the calculation formula shown in the following formula 1:
(Δtsv)LiX＝Δtsv-TGD+ISC#(1)
The specific calculation formulas for the users using the L 1 P (Y) code or the L 2 P (Y) code alone are shown in the following formulas 2 and 3:
Users ranging with only L 1 P (Y) codes:
users ranging with only L 2 P (Y) codes:
The above equation (Δt sv)Li X is the clock difference after the group delay correction, Δt sv is the satellite clock error, T GD is the group delay correction, γ 1,2 is the constant value 1.64694, and ISC represents the delay difference parameter.
The correction term obtained after the signal group delay correction can be applied to the users using other ranging codes.
Further, with continued reference to fig. 1, after the pseudo-range TGD is corrected, a clock-skip detection is performed, which is a necessary task before performing cycle-skip detection. If there is a clock jump, the clock jump must be repaired first and then the cycle slip detection can be performed. The clock-skip detection amount expression is shown as the following formula 4:
the delta L is the clock-jump detection.
The above ρ (t i) is the pseudorange observations of the satellite over epoch t i observed by the receiver.
The above phi (t i) is the carrier phase observation that the receiver observed the satellite over epoch t i.
And judging whether microsecond or millisecond-level clock hops exist or not according to the obtained clock-hop detection quantity delta L. Judging whether the total number of the clock-jump satellites in millisecond and microsecond levels is equal to the number of the effective satellites participating in clock-jump detection, if so, repairing the clock-jump and detecting the first clock-jump, and if not, directly detecting the first clock-jump without the clock-jump. The judging formulas of the millisecond and microsecond clock hops are shown in the following formulas 5 and 6 in sequence:
(10-7·c-3ζ)＜ΔL＜(10-5·c+3ζ)#(5)
Wherein c is the speed of light in vacuum, ζ is the empirical value of observed noise, and the default size is 4. When Δl satisfies the above equation, the epoch is considered to have a millisecond-scale clock jump.
ΔL＞(10-3·c-3ζ)#(6)
Wherein c is the speed of light in vacuum, ζ is the empirical value of observed noise, and the default size is 4. When Δl satisfies the above equation, the epoch is considered to have a microsecond clock jump.
The number of valid satellites involved in the clock-hop detection can be directly obtained through data.
Further, referring to fig. 1, after the clock cycle skip detection is finished, a MW combination detection cycle skip is performed, where most of the geometric distance influence can be eliminated by the MW combination detection cycle skip, and the MW combination detection cycle skip is conventionally constructed through pseudo-range and carrier phase observations, so as to obtain a widelane ambiguity formula as shown in the following formula 7:
In the above equation, phi WL and lambda wl represent the wide-lane combination and wide-lane wavelength, respectively, and phi 1、φ2、P1、P2 represents the phase observations and the pseudo-range observations at different frequencies f. To further reduce the effect of noise on the results, a recursive algorithm is used to calculate the widelane ambiguity and its variance as shown in equations 8 and 9 below:
In the above-mentioned method, the step of, And sigma 2 represents the average value of the widelane ambiguity and the variance of the widelane ambiguity when k epochs are displayed, k represents the current epoch, and k-1 is the previous epoch. The cycle slip judgment expression is obtained from the above calculation expression as shown in the following expression 10:
the above formula is a determining method for judging whether cycle slip exists in the conventional MW combination, and if the above formula is met, the cycle slip exists in the k epoch. The above formula 4σ is the single cycle slip threshold for the conventional MW combined probe cycle slip.
According to the invention, the influence of different satellite altitude angles, sampling intervals and missing epoch number conditions on cycle slip detection is comprehensively considered, the following prior MW combined detection adaptive threshold value, namely the first threshold value, is extracted according to fitting of a large number of GNSS monitoring data, and the specific form is shown in the following formula 11:
TMW＝min[Tt·A·O,6]#(11)
Wherein T t and A are parameters related to the sampling interval and the altitude angle respectively, o is the data missing epoch number when the sampling interval is more than 30s, min [ T 1,T2 ] represents taking smaller numerical value in T 1,T2, and the specific value relation is shown in the following formulas 12, 13 and 14:
in the above formula, s is the sampling interval of observation data, e is the satellite altitude angle, and o is the data missing epoch number when the sampling interval is more than 30 s.
And substituting the data missing epoch numbers into the above formulas 12, 13 and 14 respectively according to different observed data sampling intervals, satellite altitude angles and data missing epoch numbers when the sampling intervals are more than 30s to obtain the numerical values of T t, A and o. And substituting the obtained numerical values of T t, A and o into the above formula 8 to obtain the MW combined detection adaptive threshold, namely a first threshold. And replacing the first threshold value with 4σ in the above formula 10, and judging whether cycle slip exists according to whether the inequality of the above formula 10 is satisfied. If the above equation 10 is satisfied, there is a cycle slip, and then the result is directly obtained. If the above equation 10 is not satisfied, the next determination is continued.
Further, referring to fig. 1, if the cycle slip phenomenon cannot be determined in the MW combined detection cycle slip, GF combined detection cycle slip is performed, where the GF combined detection cycle slip further eliminates an error term related to the geometric distance based on the MW combined detection cycle slip, and further improves accuracy of cycle slip detection.
The GF combined detection cycle slip uses carrier phase observations of two frequencies in the GNSS signal to form a no-geometry-distance combination for detecting cycle slip. The two-frequency phase observations are phi i and phi j, respectively, lambda represents the wavelength, and GF combinations are shown in formula 12 below:
gf＝λiφi-λjφj#(12)
The GF combination of the previous epoch and the current epoch is differenced, and whether or not cycle slip occurs is determined according to whether or not the absolute value of the difference exceeds a threshold, as shown in the following equation 13.
The threshold value in GF combination in the above formula is usually a constant value for singleization, and the invention comprehensively considers the influence of different satellite altitude angles, sampling intervals and missing epoch number conditions on cycle slip detection in the same MW combination threshold value selection mode, and constructs the following optimized threshold value model according to a large number of GNSS monitoring data fitting, as shown in the following formula 14:
Where T t is a parameter related to the sampling interval, a is a parameter related to the altitude angle, o is a missing epoch number, min [ T 1,T2 ] represents taking the smaller value of T 1,T2, and similarly, the following a priori GF combined detection adaptive threshold, i.e., the second threshold, is extracted according to a large number of data fits, as shown in equations 15 and 16 below:
in the above formula, s is the sampling interval of observation data, e is the satellite altitude angle, and o is the data missing epoch number when the sampling interval is more than 30 s.
Substituting the data missing epoch number into the above formulas 15 and 16 according to different observation data sampling intervals, satellite altitude angles and sampling intervals greater than 30s to obtain corresponding T t and A. And substituting the obtained T t and A into the formula 14 to obtain T GF. And substituting the obtained T GF into the threshold value in the above formula 13 to judge whether cycle slip exists or not, and outputting a corresponding result.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The GNSS cycle slip detection self-adaptive threshold value determining method in the complex environment is characterized by comprising the following steps:
Performing pseudo-range TGD correction on the appointed user;
detecting clock hops, judging whether the clock hops exist, and repairing the clock hops if the clock hops exist; if not, entering a first cycle slip detection;
Detecting a first cycle slip, namely obtaining a first threshold value through MW combination detection, judging whether the cycle slip exists according to the first threshold value, outputting a result if the cycle slip exists, and entering a second cycle slip detection if the cycle slip does not exist;
and detecting cycle slip for the second time, obtaining a second threshold value through GF combination detection, judging whether cycle slip exists according to the second threshold value, and outputting a result if the cycle slip exists.
2. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 1, wherein: the designated user is a user who uses both the L 1 P (Y) and L 2 P (Y) dual-band codes.
3. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 1, wherein: the pseudo-range TGD correction comprises the following calculation formula:
(Δtsv)LiX＝Δtsv-TGD+ISC
The above equation (Δt sv)LiX is the clock difference after the group delay correction, Δt sv is the satellite clock error, T GD is the group delay correction, ISC represents the delay difference parameter.
4. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 1, wherein: the clock-skip detection calculation formula is as follows:
The delta L is the clock jump detection quantity;
The above ρ (t i) is the pseudorange observations of the satellite over epoch t i observed by the receiver;
The above phi (t i) is the carrier phase observation that the receiver observed the satellite over epoch t i.
5. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 4, wherein:
judging whether microsecond or millisecond clock hops exist or not according to the obtained clock hop detection quantity delta L;
Judging whether the total number of the clock-jump satellites in millisecond and microsecond levels is equal to the number of the effective satellites participating in clock-jump detection, if so, repairing the clock-jump and detecting the first cycle-jump; if not, no clock jump exists, and the first cycle slip is directly detected; the judging formulas of the millisecond and microsecond clock hops are as follows in sequence:
(10-7·c-3ζ)＜ΔL＜(10-5·c+3ζ)
Wherein c is the speed of light in vacuum, ζ is the empirical value of observed noise, and the default size is 4; when DeltaL meets the above formula, consider that the epoch has a millisecond-scale clock jump;
ΔL＞(10-3·c-3ζ)
wherein c is the speed of light in vacuum, ζ is the empirical value of observed noise, and the default size is 4; when Δl satisfies the above equation, the epoch is considered to have a microsecond clock jump.
6. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 1, wherein: the detection of the first cycle slip comprises the following steps:
calculating the widelane ambiguity according to the pseudo-range and the carrier phase observation value;
calculating a wide lane ambiguity average value and a wide lane ambiguity variance according to the wide lane ambiguity;
and obtaining a first cycle slip judgment formula according to the wide lane ambiguity average value and the wide lane ambiguity variance.
7. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 1, wherein: the first threshold is the MW combined detection adaptive threshold, and the specific formula is as follows:
TMW＝min[Tt·A·O,6]
Wherein T t and A are parameters related to the sampling interval and the altitude angle respectively, and o is the data missing epoch number when the sampling interval is more than 30 s; min [ T 1,T2 ] represents the smaller value of T 1,T2.
8. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 7, wherein: the value of the first threshold includes the following calculation formula:
in the above formula, s is the sampling interval of observation data, e is the satellite altitude angle, and o is the data missing epoch number when the sampling interval is more than 30 s.
9. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 1, wherein: the second threshold is the self-adaptive threshold of GF combined detection, and the specific formula is as follows:
wherein T t is a parameter related to a sampling interval, A is a parameter related to a height angle, o is the number of data missing epochs when the sampling interval is more than 30s, and min [ T 1,T2 ] represents a smaller value in T 1,T2.
10. The method for determining the adaptive threshold of GNSS cycle slip detection in a complex environment according to claim 9, wherein: the specific value relation of the second threshold is as follows:
in the above formula, s is the sampling interval of observation data, e is the satellite altitude angle, and o is the data missing epoch number when the sampling interval is more than 30 s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410256098.0A CN118244307B (en) | 2024-03-06 | 2024-03-06 | GNSS cycle slip detection adaptive threshold determination method in complex environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410256098.0A CN118244307B (en) | 2024-03-06 | 2024-03-06 | GNSS cycle slip detection adaptive threshold determination method in complex environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118244307A true CN118244307A (en) | 2024-06-25 |
| CN118244307B CN118244307B (en) | 2024-08-30 |
Family
ID=91553989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410256098.0A Active CN118244307B (en) | 2024-03-06 | 2024-03-06 | GNSS cycle slip detection adaptive threshold determination method in complex environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118244307B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118870509A (en) * | 2024-06-26 | 2024-10-29 | 武汉船舶通信研究所(中国船舶集团有限公司第七二二研究所) | A positioning error processing method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006220512A (en) * | 2005-02-09 | 2006-08-24 | Toshiba Corp | Cycle slip detection device and cycle slip detection method |
| CN103529462A (en) * | 2013-10-21 | 2014-01-22 | 西南交通大学 | Probing and repairing method for dynamic cycle slip of global navigation satellite system |
| CN104749594A (en) * | 2015-04-10 | 2015-07-01 | 武汉大学 | GPS (global positioning system) dual-frequency non-difference cycle slip detecting and restoring method and device |
| CN114355417A (en) * | 2021-12-08 | 2022-04-15 | 杭州电子科技大学 | Three-frequency cycle slip detection and repair method considering pseudo-range multipath, orbit and data type |
| CN114675309A (en) * | 2022-04-18 | 2022-06-28 | 山东大学 | Self-adaptive satellite navigation carrier observed value cycle slip detection threshold determination method |
| WO2023197487A1 (en) * | 2022-04-13 | 2023-10-19 | 上海海积信息科技股份有限公司 | Cycle slip detection method applied to global navigation satellite system (gnss) and cycle slip repair method applied to gnss |
-
2024
- 2024-03-06 CN CN202410256098.0A patent/CN118244307B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006220512A (en) * | 2005-02-09 | 2006-08-24 | Toshiba Corp | Cycle slip detection device and cycle slip detection method |
| CN103529462A (en) * | 2013-10-21 | 2014-01-22 | 西南交通大学 | Probing and repairing method for dynamic cycle slip of global navigation satellite system |
| CN104749594A (en) * | 2015-04-10 | 2015-07-01 | 武汉大学 | GPS (global positioning system) dual-frequency non-difference cycle slip detecting and restoring method and device |
| CN114355417A (en) * | 2021-12-08 | 2022-04-15 | 杭州电子科技大学 | Three-frequency cycle slip detection and repair method considering pseudo-range multipath, orbit and data type |
| WO2023197487A1 (en) * | 2022-04-13 | 2023-10-19 | 上海海积信息科技股份有限公司 | Cycle slip detection method applied to global navigation satellite system (gnss) and cycle slip repair method applied to gnss |
| CN114675309A (en) * | 2022-04-18 | 2022-06-28 | 山东大学 | Self-adaptive satellite navigation carrier observed value cycle slip detection threshold determination method |
Non-Patent Citations (1)
| Title |
|---|
| 苏明坤;郑建生;陈鲤文;方卫东;: "GPS双频非差周跳探测修复SET法", 武汉大学学报(信息科学版), no. 02, 5 February 2018 (2018-02-05) * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118870509A (en) * | 2024-06-26 | 2024-10-29 | 武汉船舶通信研究所(中国船舶集团有限公司第七二二研究所) | A positioning error processing method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118244307B (en) | 2024-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108415049B (en) | Method for improving network RTK double-difference wide lane ambiguity fixing accuracy | |
| CN108169774B (en) | Multimode GNSS single-frequency cycle slip detection and repair method supporting RTPPP and RTK | |
| JP6119838B2 (en) | Status detection method, correction value processing apparatus, positioning system, and status detection program | |
| CN114966760B (en) | Ionosphere weighted non-differential non-combination PPP-RTK technology implementation method | |
| CN107728180B (en) | GNSS precision positioning method based on multi-dimensional particle filter deviation estimation | |
| CN113568020A (en) | A satellite navigation positioning error correction method and device considering hardware inter-frequency difference | |
| US20050203702A1 (en) | Method for backup dual-frequency navigation during brief periods when measurement data is unavailable on one of two frequencies | |
| CN118244307B (en) | GNSS cycle slip detection adaptive threshold determination method in complex environment | |
| CN114994727B (en) | Equipment for realizing high-precision time calibration and satellite positioning | |
| CN116430428A (en) | Three-frequency precise single-point positioning speed measuring method, system, computer equipment and readable storage medium | |
| CN113671551A (en) | RTK positioning resolving method | |
| CN117289318A (en) | BDS-assisted GLONASS inter-frequency deviation real-time estimation method | |
| CN115480279A (en) | GNSS navigation method and terminal, integrated navigation system, storage medium | |
| CN117665871A (en) | GNSS non-difference fixed solution precision clock difference determination method under carrier distance support | |
| JP2024075775A (en) | Positioning device | |
| CN112731496B (en) | GNSS precise single-point positioning data quality control method for intelligent terminal | |
| CN114002722B (en) | GNSS positioning method and device | |
| CN114594502B (en) | A method, device, computer storage medium and terminal for implementing cycle slip processing | |
| CN117949982B (en) | Star-based foundation enhanced integrated non-differential GNSS real-time PNT method and equipment | |
| CN111399019B (en) | Satellite positioning method and device in GNSS | |
| CN110542910B (en) | Method, device and device for correcting hardware delay bias in satellite positioning | |
| CN118348564A (en) | Single Beidou and pseudolite combined positioning method in complex environment | |
| CN118226481A (en) | Big dipper high accuracy safety monitoring algorithm based on atmospheric delay constraint | |
| CN118191890A (en) | GNSS non-differential non-combined high-precision single-point positioning method and system | |
| CN106707311B (en) | GLONASS RTK localization method based on GPS enhancing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |