CN112415547A

CN112415547A - Cycle slip calculation method and device for satellite signals

Info

Publication number: CN112415547A
Application number: CN201910769025.0A
Authority: CN
Inventors: 陈猛; 王平; 戴东海; 韩宗凯; 杨东森
Original assignee: Beijing Liufen Technology Co ltd
Current assignee: Beijing Liufen Technology Co ltd
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2021-02-26
Anticipated expiration: 2039-08-20
Also published as: CN112415547B

Abstract

The invention provides a cycle slip calculation method and a cycle slip calculation device for satellite signals, wherein the method comprises the following steps: determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier of a signal of a target satellite between a first time and a second time corresponding to adjacent epochs; and determining a first cycle skip value corresponding to the first carrier and a second cycle skip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first cycle skip value and the second cycle skip value. The method and the device for calculating the cycle slip of the satellite signal can improve the precision of the cycle slip calculation of the satellite signal, and further improve the precision of the cycle slip repair in the later period.

Description

Cycle slip calculation method and device for satellite signals

Technical Field

The invention relates to the technical field of communication, in particular to a cycle slip calculation method and device for satellite signals.

Background

At present, with the rapid development of satellite application technology, various satellites play an increasingly greater role in scientific practice, and users have increasingly high requirements on the precision and real-time performance of satellite signal processing. In the real-time data processing technology for satellite signals, the carrier phase of the satellite signals needs to be observed, so that the satellite signals are subjected to subsequent processing according to the carrier phase. Cycle slip refers to the jump or interruption of the whole cycle count caused by the loss of lock of the satellite signal when observing the satellite signal, and how to correctly detect and recover the cycle slip is one of the very important and necessary problems in the carrier phase measurement of the satellite signal.

In the prior art, a method for researching cycle slip detection and calculation of satellite signals includes: ionospheric residual method, higher order difference method, MW combination method, polynomial fitting method, etc., but most of these methods have some limitations, such as: the ionosphere residual error method cannot uniquely determine the cycle slip value for cycle slips of more than 4 weeks, and has the problems of multivalueness and the like; the high-order difference method depends on a large amount of historical data, cannot lock the accurate position of cycle slip and is mainly used for post-processing; the MW combination method uses a code pseudo-range observed value, has low precision and cannot detect the equivalent cycle slip of double frequencies; the polynomial fitting method is influenced by polynomial order, fitting precision and receiver clock jump, the algorithm precision is low, and minute jump and cycle jump cannot be distinguished.

Therefore, how to improve the accuracy of calculating the cycle slip of the satellite signal to improve the processing accuracy when repairing the cycle slip of the satellite signal at a later stage is a technical problem to be solved in the field.

Disclosure of Invention

The invention provides a method and a device for calculating cycle slip of a satellite signal, which are used for improving the precision of the cycle slip calculation of the satellite signal, so that when the cycle slip is repaired in the later period, the phase of the satellite signal can be compensated at a more precise cycle slip occurrence position, and the precision of the cycle slip repair of the satellite signal is further improved.

The first aspect of the present invention provides a cycle slip calculation method for satellite signals, including:

determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier of a signal of a target satellite between a first time and a second time corresponding to adjacent epochs;

and determining a first cycle value corresponding to the first carrier and a second cycle value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first cycle values and the difference between the second cycle values.

In an embodiment of the first aspect of the present invention, the method further comprises:

determining a third cycle skip value corresponding to the signal of the target satellite at the second moment according to a GF method;

determining a fourth peripheral hop value corresponding to the signal of the target satellite at the second moment according to the MW method;

and determining a first target cycle skip value corresponding to the first carrier and a second target cycle skip value corresponding to the second carrier between the first time and the second time according to the first cycle skip value, the second cycle skip value, the third cycle skip value and the fourth cycle skip value of the signal of the target satellite.

A second aspect of the present invention provides a cycle slip calculation apparatus for satellite signals, including:

the determining module is used for determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier of a signal of a target satellite between a first time and a second time corresponding to adjacent epochs;

a first calculating module, configured to determine a first cycle value corresponding to the first carrier and a second cycle value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, and a difference between the first cycle value and the second cycle value.

In an embodiment of the second aspect of the present invention, the apparatus further includes:

a second calculation module, configured to determine, according to a combined non-geometric distance GF method, a third cycle skip value corresponding to the signal of the target satellite at the second time;

a third calculation module, configured to determine, according to a method called wide lane phase narrowing lane pseudo range MW, a fourth skip value corresponding to the signal of the target satellite at the second time;

and a repair module, configured to determine, according to the first cycle skip value, the second cycle skip value, the third cycle skip value, and the fourth cycle skip value, that the signal of the target satellite is between the first time and the second time, and that a first target cycle skip value corresponding to the first carrier and a second target cycle skip value corresponding to the second carrier are both provided.

A third aspect of the present invention provides a storage medium storing a computer program which, when run on a computer, causes the computer to perform the method according to the first aspect.

In summary, the present invention provides a method and an apparatus for calculating cycle slip of a satellite signal, wherein the method includes: determining the difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier of a signal of a target satellite between a first time and a second time corresponding to adjacent epochs; and determining a first cycle skip value corresponding to the first carrier and a second cycle skip value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first cycle skip value and the second cycle skip value. The method and the device for calculating the cycle slip of the satellite signal can improve the precision of the cycle slip calculation of the satellite signal, and further improve the precision of the cycle slip repair in the later period.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of a satellite positioning system to which the present invention is applied;

FIG. 2 is a schematic diagram of a cycle slip of satellite signals;

FIG. 3 is a schematic flowchart illustrating a method for calculating cycle slip of satellite signals according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating multipath effects of satellite signals;

FIG. 5 is a graph of multipath values for experimental data prior to addition of cycle slip;

FIG. 6 is a graph of multipath values for experimental data after cycle slip addition;

FIG. 7 is a schematic flowchart illustrating a method for calculating cycle slip of satellite signals according to another embodiment of the present invention;

FIG. 8 is a graph showing GF values from experimental data prior to addition of cycle slip;

FIG. 9 is a graph showing GF values after addition of cycle slip experimental data;

FIG. 10 is a graph showing MW values of experimental data before cycle slip addition;

FIG. 11 is a graph showing MW values for experimental data after addition of cycle slip;

FIG. 12 is a schematic structural diagram of an embodiment of an apparatus for cycle slip calculation of satellite signals according to the present disclosure;

fig. 13 is a schematic structural diagram of an embodiment of a cycle slip calculation apparatus for satellite signals according to the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic diagram of a satellite positioning system to which the present invention is applied. The application scenario shown in fig. 1 may be a Global Navigation Satellite System (GNSS), which includes a plurality of satellites orbiting around the earth R and provides a positioning service for a terminal device located on the surface of the earth R through one or more satellites. The terminal equipment A on the earth's surface can determine positioning data such as longitude and latitude data and elevation data of the terminal equipment A after receiving positioning signals of a plurality of satellites on the orbit. For example, in the embodiment shown in fig. 1, taking satellite B orbiting the earth as an example, terminal device a is able to receive a positioning signal transmitted by satellite B, which positioning signal can be used by terminal device a to determine its positioning data. For example, in some satellite positioning systems, after receiving positioning signals sent by three satellites at a certain time, the terminal device may determine, according to the received three positioning signals, positioning data of a position where the terminal device is located at the certain time.

Optionally, the GNSS shown in fig. 1 includes: GPS system, Glonass system, Galileo system, and beidou satellite navigation system, etc., the terminal device a shown in fig. 1 may also be referred to as a terminal (terminal). The terminal device may be a User Equipment (UE), a Mobile Station (MS), a mobile terminal device (MT), or the like, and the terminal device may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an Augmented Reality (AR) terminal device, a wireless terminal device in industrial control (industrial control), a wireless terminal device in unmanned driving (self driving), a wireless terminal device in remote surgery (remote medical supply), a wireless terminal device in smart grid (smart grid), a wireless terminal device in transportation security (transportation security), a wireless terminal device in smart city (smart city), a wireless terminal device in home (smart home), or the like.

With the rapid development of satellite application technology, more and more terminal devices on the surface of the earth R can use positioning services provided by satellites in a satellite positioning system, and the satellite positioning system plays a greater and greater role in scientific practice. As the requirements of various terminal devices on the precision and real-time performance of satellite signal processing become higher and higher, in an application scenario as shown in fig. 1, when a terminal device receives a signal transmitted by any satellite, the terminal device must observe the carrier phase of the received satellite signal, so as to prevent the carrier phase of the satellite signal from jumping due to cycle slip, which affects the precision of the terminal device in performing subsequent processing on the signal of the satellite.

The cycle slip is a jump or interruption of the whole cycle count caused by the loss of lock of the satellite signal when observing the satellite signal, and how to correctly detect and recover the cycle slip is one of the very important and necessary problems in the carrier phase measurement of the satellite signal. For example, fig. 2 is a schematic diagram of cycle slip of a satellite signal, and as shown in fig. 2, in the t time range of the terminal device observing the carrier phase of the satellite signal, the terminal device keeps continuously tracking the satellite signal through the receiver, and the integer ambiguity remains unchanged, the integer count Int of the satellite signal

Should also remain continuous. However, the receiver of the terminal device cannot keep continuous tracking of the satellite signal at time t0, and after the receiver re-detects and locks onto the satellite signal, the satellite signals before and after time t0Phase position

Count Int of the whole period of the satellite signal that will change

The phase jump phenomenon is called the whole cycle jump, which is called cycle jump for short. Common causes for the receiver of the terminal device to detect the occurrence of the cycle slip of the satellite signal are: the obstacles such as trees, buildings and the like shield satellite signals, ionosphere interference, low altitude angles of satellites, processing software faults of receivers and fault lamps of satellite oscillators.

In order to observe the cycle slip of a satellite signal, in the prior art, a method for detecting and calculating the cycle slip of the satellite signal includes: ionospheric residual method, higher order difference method, MW combination method, polynomial fitting method, etc., but most of these methods have some limitations, such as: the ionosphere residual error method cannot uniquely determine the cycle slip value for cycle slips of more than 4 weeks, and has the problems of multivalueness and the like; the high-order difference method depends on a large amount of historical data, cannot lock the accurate position of cycle slip and is mainly used for post-processing; the MW combination method uses a code pseudo-range observed value, has low precision and cannot detect the equivalent cycle slip of double frequencies; the polynomial fitting method is influenced by polynomial order, fitting precision and receiver clock jump, the algorithm precision is low, and minute jump and cycle jump cannot be distinguished.

Therefore, various defects exist in the conventional satellite signal cycle slip calculation method, the method for calculating the cycle slip of the satellite signal by the multi-path jump method aiming at the multi-path effect of the satellite signal is provided, the multi-path effect with high correlation in a short time is utilized, the residual cycle slip detection amount and a small amount of noise can be obtained after the multi-paths of the satellite signal are differentiated, and then a more accurate cycle slip value of the satellite signal can be calculated through the difference of the multi-path values of the satellite, so that the satellite signal cycle slip calculation accuracy is improved, when the cycle slip of the satellite signal is repaired at the later stage, the phase jump of the satellite signal can be compensated at a more accurate cycle slip sounding position, and the accuracy of the satellite signal in cycle slip repair is improved.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Specifically, fig. 3 is a schematic flowchart of an embodiment of a cycle slip calculation method for satellite signals, as shown in fig. 3, the cycle slip calculation method for satellite signals provided in this embodiment includes:

s101: and determining the difference between the first multipath value corresponding to the first carrier and the second multipath value corresponding to the second carrier of the signal of the target satellite between the first time and the second time corresponding to the adjacent epochs.

S102: and determining a first cycle value corresponding to the first carrier and a second cycle value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first cycle values and the difference between the second cycle values.

Specifically, the executing body of the cycle slip calculating method for satellite signals in this embodiment may be the terminal device a in the system shown in fig. 1, after the receiver arranged in the terminal device a receives the signal transmitted by the target satellite in the satellite positioning system, the signal of the target satellite is continuously tracked and detected, so as to calculate the cycle slip value of the signal of the target satellite received by the terminal device a.

In this embodiment, each satellite in the satellite-based positioning system simultaneously transmits a signal for positioning through two different carriers, so as to meet a higher requirement of the terminal device on navigation positioning performance. For example, taking a satellite positioning system as GPS as an example, each satellite in the GPS system transmits a positioning signal through a first carrier and a second carrier, wherein the first carrier has a center frequency of 1575.42 ± 1.023MHz and is used for transmitting C/a codes, P codes and navigation messages, and the second carrier has a center frequency of 1227.6 ± 1.023MHz and is used for transmitting P codes and navigation messages.

Then, in S101, the terminal device first determines a difference between the multipath values respectively corresponding to the two carriers of the target satellite signal between the adjacent epochs. The multipath value refers to a plurality of satellite signals received by a receiver of the terminal device after the satellite signals are reflected by the obstacle. For example, fig. 4 is a schematic diagram illustrating multipath effects of satellite signals, and as shown in fig. 4, when terminal device a receives a signal transmitted by satellite B, terminal device a may receive the signal transmitted by satellite B through direct path D1, and at the same time, terminal device a may receive the signal transmitted by satellite B through indirect path D2, where path D2 is a reflected signal of the signal transmitted by satellite B through a building. Although the signals transmitted by the satellite B through the path D1 and the path D2 are the same, the signal received by the terminal device through the path D2 is reflected by an object, and the amplitude, polarization, phase, and the like of the signal change, and the satellite signal received by the terminal device a through the path D2 also superimposes and interferes with the signal received by the terminal device a through the path D1. This phenomenon in which a terminal device receives signals transmitted from a satellite through different paths is referred to as a multipath effect, and a multipath value refers to a relative distance value between the terminal device a and the satellite B obtained by a signal commonly received by the terminal device a through the paths D1 and D2. For example, the true distance between terminal a and satellite B is 10km, and the relative distance between terminal a and satellite B after reflection from the building is 11km, when terminal a receives the signal transmitted by satellite B, the relative distance is the multipath value of the satellite signal, and the multipath value is obtained by the combined action of the signals received by terminal a through path D1 and path D2. It is to be understood that the reception of the signal transmitted by the satellite B by the terminal apparatus a through two paths as shown in fig. 4 is only an example, and the terminal apparatus a may also receive the signal of the satellite B through a plurality of paths, and the relative distance of the signals obtained by the signals of all paths acting together is the multipath value.

In a specific implementation manner, the embodiment further provides a multipath value representation manner, wherein the correlation is large in a short time based on the multipath value. For example, in the example shown in fig. 4, terminal device a receives the signal transmitted by satellite B again through paths D1 and D2 after receiving a short time (1 epoch) of the signal transmitted by satellite B through paths D1 and D2. Therefore, if the terminal device a subtracts the received two signals, the influence of the multipath value on the signal can be cancelled.

More specifically, the multipath value of the satellite signal received by the terminal device can be expressed by the following equations 1 and 2:

wherein M is₁For a multipath value (unit: meter), P, corresponding to the first carrier₁Is the code pseudorange observation (in meters), L, corresponding to the first carrier₁Is the carrier phase observation (in meters) corresponding to the first carrier,

for the value of the double ionospheric delay (in meters) corresponding to the first carrier,

for the value of the double ionospheric delay (unit: m), f, corresponding to the second carrier₁Is the frequency, f, of the first carrier₂Is the frequency, N, of the first carrier₁Is the integer ambiguity (unit: week) corresponding to the first carrier wave, and C is the speed of light.

Wherein M is₂For a multipath value (unit: meter), P, corresponding to the second carrier₂Is the code pseudorange observation (in meters), L, corresponding to the second carrier₂Is the carrier phase observation (in meters) corresponding to the second carrier,

for the value of the double ionospheric delay (unit: m), f, corresponding to the second carrier₁Is the frequency, f, of the first carrier₂Is the frequency, N, of the first carrier₂The integer ambiguity (unit: week) corresponding to the second carrier wave, and C is the speed of light.

For calculation convenience, the actual carrier phase observed value detected by the terminal equipment is used as the basis

(unit: week), carrier phase observation L (unit: meter), and carrier wavelength λ:

equation 1 above may be converted to equation 3, and equation 2 may be converted to equation 4:

wherein,

is the carrier phase observation (unit: week) corresponding to the first carrier,

is a carrier phase observation (unit: cycle), lambda, corresponding to the second carrier₁Is the wavelength, λ, of the first carrier wave₂Is the wavelength of the second carrier.

Due to the parameter P in equation 3 and equation 4₁、P₂、

λ₁And λ₂At a terminalThe receiver of the device is available when receiving satellite signals, and can be used as a known quantity in the formula. The terminal device may calculate the multipath values at different times according to the parameters at different times, and then subtract the multipath values at different times to obtain the difference between the multipath values. Specifically, the terminal device may calculate a difference Δ M between the first multipath values by using the multipath value corresponding to the first carrier at the second time and the multipath value corresponding to the first carrier at the first time₁Calculating the difference DeltaM between the second multipath value and the first multipath value₂. The first time and the second time are two adjacent epochs of the satellite signal, and the first time is earlier than the second time.

For example, among the parameters of the satellite signal received by the terminal device at the first time, the parameter corresponding to the first carrier includes P₁₁、

And λ₁₁And the calculation result after substituting into formula 3 is recorded as M₁₁(ii) a In the parameters of the satellite signal received by the terminal equipment at the second moment, the parameter corresponding to the first carrier wave comprises P₁₂、

And λ₁₂And the calculation result after substituting into formula 3 is recorded as M₁₂. Then, by the formula Δ M₁＝M₁₂-M₁₁And calculating to obtain the difference of the multipath values corresponding to the first carrier wave in the satellite signal between the second moment and the first moment.

Meanwhile, in the parameters of the satellite signal received by the terminal device at the first moment, the parameter corresponding to the second carrier includes P₂₁、

And λ₂₁And the calculation result after substituting into formula 3 is recorded as M₂₁(ii) a In the parameters of the satellite signal received by the terminal device at the second time, the parameter corresponding to the second carrier includes P₂₂、

And λ₂₂And the calculation result after substituting into formula 3 is recorded as M₂₂. Then, by the formula Δ M₂＝M₂₂-M₂₁And calculating to obtain the difference of the multipath values corresponding to the second carrier wave in the satellite signal between the second moment and the first moment.

Further, the difference Δ M for the first multipath value₁It can be expressed by equation 3 as the following equation 5:

and for the difference Δ M of the second multipath value₂It can be expressed by equation 4 as the following equation 6:

after equation 5 and equation 6 are combined, the first cycle skip value Δ N corresponding to the first carrier can be calculated by equation 7₁And calculating a second cycle value Δ N corresponding to the second carrier by equation 8₂：

Wherein,

λ₁is the wavelength, lambda, of the first carrier wave₂Is the wavelength, Δ M, of the second carrier₁Is the difference, Δ M, between said first multipath values₂Is the difference between said second multipath values.

Next, with specific test data, a first cycle value corresponding to the first carrier and a second cycle value corresponding to the second carrier of the satellite signal are calculated by using the formula in the above embodiment.

First, specific test data is received by a dual-frequency receiver in one hour of time, carrier waves of two frequencies in satellite signals of a target satellite in a GNSS system, and phase observations of the two carrier waves and pseudo-range observations are observed. Taking an example in which the target satellite is a satellite of G08 in the GPS system, the carrier wavelength of the target satellite signal is known, the wavelength of the first carrier is 0.190293 meters, the wavelength of the second carrier is 0.244210 meters, and each second in one hour is taken as one epoch of the satellite signal, and then in the experimental data of 3600 epochs received within one hour, one epoch is taken at random every 300 epochs as an example shown in table 1.

TABLE 1

Subsequently, for the calculation and detection of cycle slip, cycle slip was added to the original experimental data shown in table 1 for subsequent calculation, wherein the randomly added cycle slip value is shown in table 2.

TABLE 2

Serial number	Time	Epoch	Cycle slip addition to L1	Cycle slip addition to L2
					1	0.08333	300	18	14
2	0.16667	600	-18	-14
					3	0.25000	900	9	7
4	0.33333	1200	-9	-7
					5	0.41667	1500	5	1
6	0.50000	1800	4	1
					7	0.58333	2100	3	1
8	0.66667	2400	2	1
					9	0.75000	2700	1	1
10	0.83333	3000	1	0
					11	0.91667	3300	0	1

The cycle slip values shown in table 2 were added to the raw data shown in table 1, and the obtained cycle slip-containing data are shown in table 3.

TABLE 3

Wherein M is calculated by substituting the data in Table 1 into equations 3-8₁、M₂、△M₁And Δ M₂Can refer to fig. 5. And M calculated by substituting the data in Table 3 into equations 3-8₁、M₂、△M₁And Δ M₂Referring to fig. 6, it can be seen from a comparison of fig. 5 and 6 that the cycle slip is added such that the multipath value and the difference between the multipath values have a distinct abrupt change in the epoch corresponding to the time of the cycle slip addition. Subsequently, after the data in table 3 are sequentially substituted into formulas 3 to 8, the first cycle skip value Δ N corresponding to the first carrier corresponding to each epoch is calculated₁And a second cycle number Δ N corresponding to the second carrier₂As shown in table 4.

TABLE 4

Finally, as can be seen from the comparison between table 4 and table 2, for the epoch with cycle slip in table 3, after the calculation performed by formulas 3 to 8 in the above embodiment of the present application, the cycle slip value corresponding to the epoch with cycle slip can be calculated more accurately for the obtained first cycle slip and second cycle slip. Therefore, a more accurate cycle slip value of the satellite signal is calculated through the difference of the satellite multipath values, the accuracy of the cycle slip calculation of the satellite signal is improved, when the calculated cycle slip of the satellite signal is used for repairing the cycle slip in the later period, the jump of the satellite signal can be compensated according to the more accurate cycle slip occurrence position, and the accuracy of the satellite signal in the cycle slip repairing is further improved.

Further, in the method for calculating the cycle slip of the satellite signal provided in the above embodiment, the cycle slip is calculated based on the multipath value of the satellite signal, and the first cycle slip value corresponding to the first carrier and the second cycle slip value corresponding to the second carrier are already obtained. On the basis of ensuring certain accuracy and precision, in order to enable the cycle slip of the satellite signal to be calculated more accurately, the method also provides a mode of calculating the cycle slip of the satellite signal by using other various cycle slip calculation methods on the basis of obtaining a first cycle slip value and a second cycle slip value, and the cycle slip values are jointly repaired and checked by cycle slip results obtained by different methods, so that the calculation accuracy and precision of the cycle slip of the satellite signal are further improved.

Specifically, fig. 7 is a schematic flowchart of another embodiment of a cycle slip calculation method for satellite signals provided by the present invention, and as shown in fig. 7, the cycle slip calculation method for satellite signals provided by this embodiment includes:

s201: and determining a first time and a second time corresponding to adjacent epochs of a signal of the target satellite, a carrier phase observed value and a pseudo range corresponding to the first carrier, and a carrier phase observed value and a pseudo range corresponding to the second carrier.

Specifically, the execution subject of the cycle slip calculation method for satellite signals in this embodiment may be terminal device a in the system shown in fig. 1, after a receiver provided in terminal device a receives a signal transmitted by a target satellite in a satellite positioning system, the signal of the target satellite is continuously tracked and detected, and the cycle slip value of the signal of the target satellite is calculated by multiple methods.

Then in S201, to calculate the cycle slip using the GF method, the MW method, and the multipath-based method as shown in fig. 2, carrier phase observations and pseudoranges corresponding to signals of the target satellite at different times are first determined. For example, the phase observation L1 and the pseudo range P1 corresponding to the first carrier, and the phase observation L2 and the pseudo range P2 corresponding to the second carrier of the target satellite signal added with the cycle slip shown in table 3 may be used as well. And each epoch can be taken as the second time in this embodiment, and the first time is an epoch before the second time. For example, when calculating the cycle slip value of the target satellite signal at the second time having an epoch of 300 in table 3, the epoch of 299 is taken as the first time, and the phase observation value L1 and the pseudo range P1 corresponding to the first carrier of the target satellite signal at the first time, and the phase observation value L2 and the pseudo range P2 corresponding to the second carrier can be determined from the observation data shown in fig. 5. Since there is a cycle slip between the first time and the second time, the cycle slip causes a large change between L1, P1, L2 and P2 at the second time, i.e., 300 epoch, and L1, P1, L2 and P2 at the first time, i.e., 299 epoch.

S202: and determining a third cycle skip value corresponding to the signal of the target satellite at the second moment according to the GF method.

Specifically, in this embodiment S202, the terminal device serving as the execution subject may calculate, according to the parameters acquired in S201, a cycle slip value occurring between the first time and the second time in the target satellite signal by the ionospheric residual method, and record the cycle slip value as a third cycle slip value. The ionospheric residual error method is also called a Geometrical Free (GF) method. The ionospheric residual error is used to construct a cycle slip detection amount by making use of the fact that the ionospheric residual error gradually changes over epochs, but due to the influence of multivaluence, only cycle slip values within 4 weeks can be analyzed. One representation of the GF method is shown in equation 9:

wherein f is₁Is the frequency, f, of the first carrier₂Is the frequency of the first carrier wave,

a carrier phase observation corresponding to the first carrier,

a carrier phase corresponding to the second carrierAnd (6) observing the value.

For example, fig. 8 shows a schematic diagram of GF values corresponding to 3600 epochs obtained by performing calculation of formula 9 on the original data in table 1 without adding cycle slip, and a difference is obtained by subtracting the GF value of each epoch from the GF value of the previous adjacent epoch to obtain a Δ GF value corresponding to each epoch. Fig. 9 shows GF values and Δ GF values obtained by calculating the data shown in table 3 through equation 9 after the cycle slip of table 2 is added to the original data shown in table 1, and it can be seen from a comparison between fig. 8 and fig. 9 that the cycle slip added causes a significant abrupt change in the epoch corresponding to the time at which the cycle slip is added, between the GF values and the GF values. However, the GF method can only analyze cycle slip within 4 weeks, and cycle slip corresponding to epochs greater than 4 (18,14), (-18, -14), (9,7), (-9, -7) in table 2 is not detected. Therefore, in this embodiment, only the third cycle value obtained by the GF method is used as an auxiliary calculation parameter.

Optionally, since the GF method has a problem that the cycle slip detection amount and the threshold are dynamically calculated by using a forward window method, when the cycle slip value of the satellite signal is calculated by using the GF method, the cycle slip detection amount and the threshold are set by setting the width of data, because the cycle slip result has multivaluence and the algorithm adaptability is poor, the cycle slip detection amount and the threshold are invalid for a specific cycle slip value; the cycle slip value is reduced to a certain range, the application environment of the ionosphere residual error method is changed, and then the cycle slip is confirmed by using the unique detection quantity of the ionosphere residual error method, so that the problems that the ionosphere residual error method is invalid and multivalued to a specific cycle slip value can be reduced to a certain extent.

S203: and determining a fourth cycle hop value corresponding to the signal of the target satellite at the second moment according to the MW method.

Specifically, in this embodiment S203, the terminal device serving as the execution subject may calculate, according to the parameters obtained in S201, a cycle slip value occurring between the first time and the second time in the target satellite signal by using the ionospheric residual method, and record the cycle slip value as the fourth cycle slip value. The method eliminates the influence of geometric distance between satellites and an ionosphere, but due to multipath influence, cycle slip values calculated by the MW combination method have large fluctuation near a fixed value, and the cycle slip values corresponding to two different frequencies of satellite signals cannot be separated from a single cycle slip value obtained by the MW combination. One representation of the MW combining method is shown in equation 10:

wherein λ is₁Is the wavelength, lambda, of the first carrier wave₂Is the wavelength of the second carrier wave,

a carrier phase observation corresponding to the first carrier,

is a carrier phase observation, P, corresponding to the second carrier₁A code pseudorange observation, P, for a first carrier₂And the code pseudorange observed value corresponding to the second carrier wave.

For example, fig. 10 shows a schematic diagram of MW values corresponding to 3600 epochs obtained after the calculation of formula 10 on the original data in table 1 without adding cycle slip, and a difference is obtained by subtracting the MW value of each epoch from the MW value of the previous adjacent epoch. Fig. 11 shows the MW value and the Δ MW value obtained by the calculation of formula 9 on the data shown in table 3 after the cycle slip of table 2 is added to the original data shown in table 1, and it can be seen from the comparison between fig. 10 and fig. 11 that the cycle slip added causes the difference between the MW value and the MW value to have obvious mutation in the epoch corresponding to the time of adding the cycle slip. However, the MW method can only determine the cycle slip value existing at a certain time with a low accuracy, and the MW combination method has a large fluctuation range, so that it is impossible to detect (1,1) with a small cycle slip as shown in table 2, and further determine the cycle slip values of two carriers corresponding to the satellite signal at the time, and therefore, in this embodiment, only the fourth cycle slip value obtained by the MW method is used as an auxiliary calculation parameter.

Optionally, since the algorithm of the MW combination method is a recursive solution, the cycle slip detection amount and the threshold are calculated by continuously using the cycle slip detection amounts of all epochs from the first record, and the algorithm model is simple. Along with the extension of the observation period, the noise of the observation value changes along with the altitude angle, the error is accumulated, and the actual condition of the data quality in the current period is not met, so that the sensitivity and the precision of the detection and the repair of the cycle slip by the MW combination method are not ensured. Therefore, when the MW method is used to calculate the cycle slip value of the satellite signal in this embodiment, the width of the data can be set, that is, the cycle slip detection amount and the threshold are dynamically calculated by using the forward window method, so that excessive dependence on historical data can be avoided to a certain extent, error accumulation is avoided, the cycle slip detection amount and the threshold are more in line with the actual data quality in the current period, and the sensitivity and accuracy of the MW method are more reliable.

S204: according to the method shown in fig. 2, a first cycle count corresponding to the first carrier and a second cycle count corresponding to the second carrier of the signal of the target satellite at the second time are determined.

Specifically, in this embodiment S204, the terminal device that executes the subject can substitute the parameters obtained in S201 into the notations 3-8 in the embodiment shown in fig. 2, so as to calculate the first cycle value corresponding to the first carrier and the second cycle value corresponding to the second carrier of the target satellite signal.

The sequence of the terminal device in performing the above calculations in S202 to S204 is not limited. And after the calculation is finally completed, a first cycle value, a second cycle value, a third cycle value and a fourth cycle value corresponding to each epoch of the signal of the target satellite in 3600 epochs can be obtained.

S205: and determining a first target cycle skip value corresponding to the first carrier and a second target cycle skip value corresponding to the second carrier between the first time and the second time of the signal of the target satellite according to the first cycle skip value, the second cycle skip value, the third cycle skip value and the fourth cycle skip value.

Subsequently, the terminal device repairs the first cycle value and the second cycle value according to the first cycle value, the second cycle value, the third cycle value and the fourth cycle value calculated in S202 to S204, and finally obtains a first target cycle value corresponding to the first carrier and a second target cycle value corresponding to the second carrier. The GF method and the MW method may be combined to find the cycle slip, and therefore may be used to repair the first cycle slip value and the second cycle slip value and finally obtain a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier.

Specifically, in a possible implementation manner of S205 in the present application, S205 specifically includes:

s2051: note that the GF value corresponding to the third cycle value is a1, the MW value corresponding to the fourth cycle value is B1, the first multipath value corresponding to the first cycle value is C1, and the second multipath value corresponding to the second cycle value is D1. For example, table 5 shows the data in table 3 for the difference between GF values in the corresponding epoch and the previous epoch (a1), the difference between MW values (B1), the difference between the multipath values for the first carrier (C1), and the difference between the multipath values for the second carrier (D1).

TABLE 5

S2052: and then, jointly calculating a first initial cycle hop value and a second initial cycle hop value corresponding to the first multipath value according to the determined C1 and D1, the phase of the first carrier and the phase of the second carrier.

Specifically, a first initial cycle skip value Δ N corresponding to the first carrier is calculated by the following formula 11₁A second initial cycle slip value Δ N corresponding to the second carrier₂：

Wherein λ is₁Is the wavelength, λ, of the first carrier wave₂Is the wavelength of the second carrier, Δ N_1.2First initial cycle slip value Δ calculated for multipath valuesN₁And a second initial cycle slip value Δ N₂The difference between them. For example, substituting the data shown in table 6 into equation 11 can obtain the first initial cycle slip value and the second initial cycle slip value corresponding to each epoch shown in table 5.

TABLE 6

S2053: for the Δ N₁Rounding to obtain K1, for said Δ N₂Rounding to obtain K2 according to the formula

And B2 ═ K1-K2 to calculate intermediate amounts a2 and B2; where f1 is the frequency of the first carrier and f2 is the frequency of the second carrier.

Specifically, in this step, the first initial cycle skip value Δ N corresponding to the first carrier obtained in table 6 is set as the first initial cycle skip value Δ N₁A second initial cycle slip value Δ N corresponding to the second carrier₂And after rounding and calculation are carried out to obtain intermediate quantities A2 and B2, the difference between A2 and A1 is a GF residual value and can be used for correcting the GF value corresponding to the first cycle jump obtained by a GF method, and the difference between B1 and B2 is a MW residual value and can be used for correcting the MW value corresponding to the fourth cycle jump obtained by a MW method. For example, after the data in table 6 is calculated in S2053, the obtained data is shown in table 7:

TABLE 7

S2054: calculating the cycle slip residual value L1 corresponding to the first carrier and the cycle slip residual value L2 corresponding to the second carrier according to the following formula 12:

L2＝L1-(B1-B2)

wherein λ is₁Is the wavelength, lambda, of the first carrier wave₂Is the wavelength of the second carrier.

S2055: calculating the first target cycle skip value and the second target cycle skip value according to the formula C3-K1 + L1 and D3-K2 + L2. Then, the first target cycle skip value may be substituted into formula 3 to obtain a multipath value C3 corresponding to the first target cycle skip value, and the second target cycle skip value may be substituted into formula 4 to obtain a multipath value C4 corresponding to the second target cycle skip value.

Finally, the cycle slip residual values L1 and L2 corresponding to each epoch calculated by equation 12, and C3 and C4 corresponding to the first carrier calculated by S2055 are shown in table 8:

TABLE 8

Serial number	Time	Epoch	K1	K2	L1	L2	C3	D3
										1	0.08333	300	18	14	0	0	18	14
2	0.16667	600	-17	-13	-1	-1	-18	-14
									3	0.25000	900	10	8	-1	-1	9	7
4	0.33333	1200	-9	-7	0	0	-9	-7
									5	0.41667	1500	7	3	-2	-2	5	1
6	0.50000	1800	3	-1	1	2	4	1
									7	0.58333	2100	5	3	-2	-2	3	1
8	0.66667	2400	1	0	1	1	2	1
									9	0.75000	2700	2	2	-1	-1	1	1
10	0.83333	3000	5	5	-4	-5	1	0
									11	0.91667	3300	-2	-1	2	2	0	1

Finally, as can be seen from table 8, although there is a certain error between K1 and K2 calculated in S204 and the cycle slip actually added, after L1 and L2 jointly obtain the cycle slip value obtained by combining the GF method and the MW method in S205 of this embodiment and performing the repair on K1 and K2, the first target cycle slip value corresponding to the first carrier and the second target cycle slip value corresponding to the second carrier are finally obtained. And substituting the first target cycle slip value into formula 3 to obtain a multipath value C3 corresponding to the first target cycle slip value, and substituting the second target cycle slip value into formula 4 to obtain a multipath value C4 corresponding to the second target cycle slip value. The resulting errors between C3 and C4 are seen to be smaller than between the actual added data in table 2. Therefore, the cycle slip value can be repaired and checked through cycle slip results obtained by different methods, so that the accuracy and precision of the calculation of the cycle slip of the satellite signal are further improved.

Optionally, in the embodiment shown in fig. 7, after the first target cycle slip value corresponding to the first carrier and the second target cycle slip value corresponding to the second carrier of the signal of the target satellite are calculated through S205, the present application further provides a method for verifying the first target cycle slip value and the second target cycle slip value, so as to ensure the accuracy of the calculated target satellite signal cycle slip.

In a specific implementation manner, the present implementation may determine the validity of the first target cycle skip value according to a comparison result between the difference between the calculated multipath values and the actual multipath corresponding to the first cycle skip value; and determining the effectiveness of the second target cycle skip value according to the comparison result of the difference between the multipath values calculated by the second target cycle skip value return and the actual multipath difference calculated by the second cycle skip value.

Specifically, in this embodiment, C3 obtained by calculating the first target cycle skip value of the signal of the target satellite performs a difference with the multipath value C1 corresponding to the first carrier corresponding to the signal of the target satellite calculated in table 5 in the same epoch, and when the difference between C3 and C1 is determined to be less than 1, the validity of the first target cycle skip value C3 is determined, which may be used as a final calculation result and participate in subsequent calculations as the final multipath value corresponding to the first carrier of the signal of the target satellite. Meanwhile, in this embodiment, D3 obtained by calculating the second target cycle skip value of the signal of the target satellite performs a difference with the multipath value D1 corresponding to the second carrier corresponding to the signal of the target satellite calculated in table 5 in the same epoch, and when the difference between D3 and D1 is determined to be less than 1, the validity of the second target cycle skip value D3 is determined, which may be used as a final calculation result and a final multipath value corresponding to the second carrier of the signal of the target satellite to participate in subsequent calculations.

Alternatively, in this embodiment, validity of the GF detection amount may be detected, and similarly, the validity of the cycle slip value calculated by the GF method may be determined when the calculated first target cycle slip value and second target cycle slip value are substituted into formula 9 corresponding to the GF method, the GF value A3 is calculated, the difference is made from the GF value a1 corresponding to the same epoch of the signal of the target satellite calculated in the table, and the difference between A3 and a1 is determined to be less than 0.02.

For example, the results of the validation tests performed on the data in table 8 are shown in table 9:

TABLE 9

Finally, as shown in table 9, both the first target cycle slip value and the second target cycle slip value calculated by the embodiment of the present application as shown in fig. 7 pass the validity check, and can be used as the cycle slip value of the target satellite signal for subsequent processing.

It can be understood that, if the calculated cycle slip value fails the validity check, the calculated cycle slip value corresponding to the first carrier and the calculated cycle slip value corresponding to the second carrier of the target satellite signal need to be discarded, and both the calculated cycle slip values corresponding to the first carrier and the calculated cycle slip value corresponding to the second carrier are set to 0.

Optionally, in the foregoing embodiments of the present application, after the first target cycle slip value and the second target cycle slip value of the signal of the target satellite are calculated, the satellite signal may be further processed according to the obtained cycle slip values. Such treatments include, but are not limited to: 1. marking the position of the target satellite signal at which the cycle slip occurs, and performing abnormal identification in the later satellite signal resolving process; 2. and according to the cycle slip value obtained by calculation, correcting the cycle slip value of the satellite signals subsequent to the epoch in which the cycle slip occurs.

In summary, in the method for calculating cycle slip of satellite signals provided in this embodiment, it can be seen by combining the experimental data in tables 5 to 9 that when cycle slip does not occur in satellite signals, the detected amount of the GF method and the detected amount of the MW method fluctuate around 0; when the cycle slip occurs in the satellite signal, the GF method cannot calculate a part of the cycle slip. In the embodiment, after the cycle slip calculation method of multiple satellite signals is combined, the deficiency of a single calculation method can be made up, and all cycle slips in experimental data can be detected. In addition, in the embodiment, the cycle slip is preliminarily detected by the cycle slip calculation method shown in fig. 2, the cycle slip value is reduced to be within 5 weeks, and then the residual cycle slip is detected by using the GF method to recover the final cycle slip value. Finally, the accuracy of the original cycle slip value is verified by utilizing the final cycle slip back calculation, the multivalue problem of the cycle slip is avoided, the logic is clear, the accuracy is high, the programming is easy to realize, and the method can be used for realizing the detection and the repair of the satellite signal cycle slip.

In the embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced from the perspective of the terminal device, respectively. In order to implement the functions in the method provided by the embodiment of the present application, the terminal device may further include a hardware structure and/or a software module, and the functions are implemented in the form of a hardware structure, a software module, or a hardware structure and a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.

For example, fig. 12 is a schematic structural diagram of an embodiment of an apparatus for calculating cycle slip of satellite signals provided in the present application, where the apparatus shown in fig. 12 may be used to perform the method according to any one of the embodiments of fig. 3 to 6, where the apparatus includes: a determination module 1201 and a first calculation module 1202.

The determining module 1201 is configured to determine a difference between a first multipath value corresponding to a first carrier and a second multipath value corresponding to a second carrier of a signal of a target satellite between a first time and a second time corresponding to adjacent epochs; the first calculating module 1202 is configured to determine a first cycle value corresponding to the first carrier and a second cycle value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, and a difference between the first cycle value and the second cycle value.

Optionally, the first computing module 1202 is embodied for,

by the formula

And

calculating a first cycle skip value delta N corresponding to the first carrier wave₁Second cycle number Δ N corresponding to second carrier₂；

Wherein,

λ₁is the wavelength, λ, of the first carrier wave₂Is the wavelength, Δ M, of the second carrier₁Is the difference, Δ M, of the first multipath value₂Is the difference between the second multipath values.

Optionally, the determining module 1201 is specifically configured to,

calculating the difference Delta M between the first multipath value and the second multipath value by using the multipath value corresponding to the first carrier at the second time and the multipath value corresponding to the first carrier at the first time₁Wherein, the multipath value M corresponding to the first carrier₁By the formula

Represents;

calculating a second multipath by using the multipath value corresponding to the second carrier at the second time and the multipath value corresponding to the second carrier at the first timeDifference of diameter value DeltaM₂Wherein, the second carrier corresponds to the multipath value M₂By the formula

Represents;

wherein, P₁Is a code pseudorange observation, P, corresponding to the first carrier₂A code pseudorange observation for the second carrier,

a carrier phase observation corresponding to the first carrier,

and the carrier phase observed value corresponding to the second carrier wave.

Fig. 13 is a schematic structural diagram of an embodiment of a device for calculating cycle slip of satellite signals, which can be used to execute the method of any one of fig. 7-11. The device shown in fig. 13 is based on the device shown in fig. 12, and the device further comprises: a second computation module 1301, a third computation module 1302 and a repair module 1303.

The second calculation module 1301 is configured to determine, according to a combined non-geometric distance GF method, a third cycle skip value corresponding to the signal of the target satellite at the second time;

the third calculation module 1302 is configured to determine, according to a nominal wide lane phase narrowing lane pseudo range MW method, a fourth skip value corresponding to the signal of the target satellite at the second time;

the repair module 1303 is configured to determine, according to the first cycle skip value, the second cycle skip value, the third cycle skip value, and the fourth cycle skip value, that the signal of the target satellite is between the first time and the second time, and that a first target cycle skip value corresponding to the first carrier and a second target cycle skip value corresponding to the second carrier are both provided.

Optionally, the repair module is specifically configured to,

determining the validity of the first target cycle skip value according to the comparison result of the difference of multipath values calculated by the first target cycle skip value and the difference of multipath calculated by the first cycle skip value;

and determining the validity of the second target cycle skip value according to the comparison result of the difference of the multipath values calculated by the second target cycle skip value and the difference of the multipath calculated by the second cycle skip value.

Optionally, the repair module 1303 is specifically configured to,

recording a GF value corresponding to the third cycle value as A1, a MW value corresponding to the fourth cycle value as B1, a first multipath value corresponding to the first cycle value as C1 and a second multipath value corresponding to the second cycle value as D1;

determining a first initial cycle skip value delta N corresponding to the first carrier according to the C1, the D1, the phase of the first carrier and the phase of the second carrier₁A second initial cycle slip value Δ N corresponding to the second carrier₂；

For the Δ N₁Rounding to obtain K1, for said Δ N₂Rounding to obtain K2 according to the formula

And B2 ═ K1-K2 to calculate intermediate amounts a2 and B2; wherein f1 is the frequency of the first carrier and f2 is the frequency of the second carrier;

according to the formula

And L2 ═ L1- (B1-B2), cycle slip residual value L1 corresponding to the first carrier and cycle slip residual value L2 corresponding to the second carrier are calculated; wherein λ is₁Is the wavelength, lambda, of the first carrier wave₂Is the wavelength of the second carrier;

the first target cycle skip value C3 and the second target cycle skip value D3 are calculated according to the formulas C3-K1 + L1 and D3-K2 + L2.

The cycle slip calculating device for satellite signals provided in each embodiment of the present invention can be used to execute the cycle slip calculating method for satellite signals shown in the foregoing embodiments, and the implementation manner and principle thereof are the same and will not be described again.

The present invention also provides an electronic device comprising: a processor, a memory, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor, the computer program comprising instructions for performing the method according to any of the preceding embodiments.

The present invention also provides a storage medium storing a computer program which, when run on a computer, causes the computer to perform a method as described in any one of the preceding embodiments.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for cycle slip computation of a satellite signal, comprising:

2. The method of claim 1, wherein the determining a first cycle value corresponding to the first carrier and a second cycle value corresponding to the second carrier according to the wavelength of the first carrier, the wavelength of the second carrier, the difference between the first and second path values comprises:

by the formula

And

calculating a first cycle skip value delta N corresponding to the first carrier wave₁A second cycle value Δ N corresponding to the second carrier₂；

Wherein,

3. The method of claim 2, wherein determining a difference between a first multipath value for a first carrier and a second multipath value for a second carrier between a first time and a second time corresponding to adjacent epochs of the signal of the target satellite comprises:

calculating the difference DeltaM between the first multipath values through the multipath values corresponding to the first carrier at the second moment and the multipath values corresponding to the first carrier at the first moment₁Wherein the first carrier corresponds to a multipath value M₁By the formula

Represents;

calculating the difference DeltaM between the second multipath value and the first multipath value by using the multipath value corresponding to the second carrier at the second time and the multipath value corresponding to the second carrier at the first time₂Wherein the second carrier corresponds to a multipath value M₂By the formula

Represents;

a carrier phase observation corresponding to the first carrier,

and the carrier phase observed value corresponding to the second carrier wave.

4. The method according to any one of claims 1-3, further comprising:

determining a third cycle skip value corresponding to the signal of the target satellite at the second moment according to a combined non-geometric distance (GF) method;

5. The method of claim 4, wherein determining that the signal of the target satellite is between the first time and the second time and after a first target cycle slip value corresponding to the first carrier and a second target cycle slip value corresponding to the second carrier according to the first cycle slip value, the second cycle slip value, the third cycle slip value, and the fourth cycle slip value further comprises;

6. The method of claim 5, wherein determining that the signal of the target satellite is between the first time and the second time based on the first cycle count, the second cycle count, the third cycle count, and the fourth cycle count, a first target cycle count corresponding to the first carrier, and a second target cycle count corresponding to the second carrier comprises:

according to the formula

7. An apparatus for cycle slip calculation of a satellite signal, comprising:

8. The apparatus according to claim 7, wherein the first computing module is configured to,

by the formula

And

Wherein,

λ₁is that it isWavelength, λ, of the first carrier wave₂Is the wavelength, Δ M, of the second carrier₁Is the difference, Δ M, between said first multipath values₂Is the difference between said second multipath values.

9. The apparatus of claim 8, wherein the means for determining is configured to,

Represents;

Represents;

a carrier phase observation corresponding to the first carrier,

and the carrier phase observed value corresponding to the second carrier wave.

10. The apparatus of any one of claims 7-9, further comprising:

11. The apparatus according to claim 10, characterized in that the repair module is in particular adapted to,

12. The apparatus according to claim 11, characterized in that the repair module is in particular adapted to,

according to the formula