一种适用低成本导航芯片的BDS单频周跳探测方法
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摘要
传统码-载波相位周跳探测方法应用于单频BDS导航需求时,易受码观测量噪声的影响而导致小周跳探测失效,无法适用"高端低用"的高精度大众导航需求,因此,提出一种简单易行的多普勒周跳探测法,实现对低成本导航芯片BDS单频数据周跳探测,并与双差法周跳探测方法进行了比较。结果表明,双差法在两颗星同时发生相同周跳的情况下,既无法识别周跳的发生,也无法定位发生周跳的卫星,使用多普勒法不仅适用于RTK双差周跳探测,还适用于PPP的非差、单差模式下的周跳探测,既能精确探测周跳和识别发生周跳的卫星,又能定量探测到小周跳的发生。
Aiming at the problem that the traditional code-carrier phase cycle detection method is applied to single frequency BDS navigation,which is not sensitive to small cycle slips and is susceptible to observation noise. High precision of "high with low use"can't be applied. Doppler detection cycle slip method is proposed for the low-cost navigation chip of BDS single frequency,which is compared with double difference method detection cycle slip. Experiments show that if cycle slip happened in two satellites at the same time,double difference not only can't detect cycle slip,but also not assure which satellite takes cycle slip. Doppler method is not only applied to RTK double difference cycle slip detection,but also applicable to PPP nondifference and single-difference cycle slip detection. It can make sure the satellite where the cycle slip occurs and small cycle slip is detected.
Aiming at the problem that the traditional code-carrier phase cycle detection method is applied to single frequency BDS navigation,which is not sensitive to small cycle slips and is susceptible to observation noise. High precision of "high with low use"can't be applied. Doppler detection cycle slip method is proposed for the low-cost navigation chip of BDS single frequency,which is compared with double difference method detection cycle slip. Experiments show that if cycle slip happened in two satellites at the same time,double difference not only can't detect cycle slip,but also not assure which satellite takes cycle slip. Doppler method is not only applied to RTK double difference cycle slip detection,but also applicable to PPP nondifference and single-difference cycle slip detection. It can make sure the satellite where the cycle slip occurs and small cycle slip is detected.
引文
[1]李征航,黄劲松. GPS测量与数据处理[M].武汉:武汉大学出版社,2016:154-161.(Li Zhenghang,Huang Jinsong. GPS Measurement and Data Processing[M].Wuhan University Press,2016:154-161.)
[2]李金龙,杨元禧,徐君义,何海波,郭海蓉.基于伪距相位组合实时探测与修复GNSS三频非差观测数据周跳[J].测绘学报,2011,40(6):717-728.(Li Jinlong,Yang Yuanxi,Xu Junyi,He haibo,Guo Hairong.Real-time Cycle-slip Detection and Repair Based on Code-phase Combination for GNSS Triple-frequency Undifferenced Observation[J]. Acta Geodaetica et Cartographica Sinica,2011,40(6):717-728.)
[3]田翌君,赵冬青,朱彩杰,等.电离层残差辅助北斗三频伪距载波相位组合周跳探测[J].大地测量与地球动力学,2017,37(10):1053-1058.(Tian Yijun,Zhao Dongqing,Zhu Caijie,et al. Cycle Slip Detection with Code-Phase Combination and Ionospherci Residual Error[J]. Journal of Geodesy and Geodynamics,2017,37(10):1053-1058.)
[4]王成,王解先.单频非差相位观测值的周跳探测与修复方法[J].同济大学学报(自然科学版),2012(9):1393-1398.(Wang Cheng,Wang Jiexian. Cycle Slip Detection and Correction of Single-frequency Undifferenced Phase Observation[J]. Journal of Tong Ji University(Natural Science),2012(9):1393-1398.)
[5] Zhao Qile,Sun Binzi,Dai Zhiqiang,Hu Zhigang,Shi Chuang,Liu Jingnan. Real-time Detection and Repair of Cycle Slips in Triple-frequency GNSS Measurements[J]. GPS Solutions,2015,19(3):381-391.
[6] Maria Clara de Lacy,Mirko Reguzzoni,Fernando Sansò.Real-time Cycle Slip Detection in Triple-frequency GNSS[J]. GPS Solutions,2012,16(3):353-362.
[7]杜旭.基于MATLAB的周跳探测与修复综合方法研究[D].辽宁工程技术大学,2013.(Du Xu. Synthesis Methods in Cycle Slip Detection and Repairing Research Based on MATLAB[D]. Liaoning Technical University,2013.)
[8]李传龙,苏晓东.基于高次差与多项式拟合的周跳探测方法研究[J].哈尔滨商业大学学报(自然科学版),2015(1):47-49.(Li Chuanlong,Su Xiaodong. A Combined Cycle Slips Detection Method Based on Highorder Difference Method and Polynomial Fitting Method[J]. Journal of Harbin University of Commerce(Natural Sciences Edition),2015(1):47-49.)
[9]赵亮,达朝宗,周星,等. CORS基准站周跳探测与修复方法研究[J].测绘科学,2018,43(2).(Zhao Liang,Da Chaozong,Zhou Xing,et al. Research on Cycle Slip Detection and Repair of CORS Station[J]. Science of Surveying and Mapping,2018,43(2).)
[10]陈品馨,章传银,黄昆学.用相位减伪距法和电离层残差法探测修复周跳[J].大地测量学与地球动力学,2012,30(2):123-124.(Chen Pinxin,Zhang Chuanyin,Huang Kunxue. Cycle Slip Detection and Repairing by Use of Phase Reduce Pseudorange Law and Ionized Layer Remnant Method of Difference[J]. Journal of Geodesy and Geodynamics,2012,30(2):123-124.)
[11]郭翔,鲁铁定,裴东东,等.一种双频载波相位周跳探测与修复方法[J].测绘科学,2017(9):15-19.(Guo Xiang,Lu Tieding,Fei Dongdong,et al. A Method to Cycle Slip Detection and Repair of Dual-frequency Carrier Phase[J]. Science of Surveying and Mapping,2017(9):15-19.
[12]郭翔,鲁铁定,裴东东.相位减伪距法双频载波相位周跳探测与修复[J/OL].测绘科学,2018(7):1-7.(Guo Xiang,Lu Tieding,Fei Dongdong. Studying on Cycle Slip Detection and Repair of Dual Frequency Carrier Phase with Reduce Pseudo-range Law[J\OL]. Science of Surveying and Mapping,2018(7):1-7.)
[13]陈亮,李宗楠,邹璇,等.一种适用于BDS+GPS的单站单频周跳探测与修复方法[J].中国科技论文,2016,11(20):2301-2306.(Chen Liang,Li Zongnan,Zou Xuan,et al. Cycle Slip Detection and Repair Method for a Single Frequency GNSS Receiver Suit for BDS+GPS[J]. China Sciencepaper,2016,11(20):2301-2306.)
[14]邹璇,李宗楠,陈亮,等.一种历元间差分单站单频周跳探测与修复方法[J].武汉大学学报(信息科学版),2017,42(10):1406-1410.(Zou Xuan,Li Zongnan,Chen Liang. A New Cycle Slip Detection and Repair Method Based on Epoch Difference for a Single-frequency GNSS Receiver[J]. Geomatics and Information Science of Wuhan University,2017,42(10):1406-1410.)
[15]金星,王玲,黄文德.一种面向GPS单频RTK的周跳探测算法[J].全球定位系统,2017(5):68-73.(Jin Xing,Wang Ling,Huang Wende. A Cycle Slips Detection Algorithm for GPS Single Frequency RTK[J].GNSS World of China,2017(5):68-73.)
[2]李金龙,杨元禧,徐君义,何海波,郭海蓉.基于伪距相位组合实时探测与修复GNSS三频非差观测数据周跳[J].测绘学报,2011,40(6):717-728.(Li Jinlong,Yang Yuanxi,Xu Junyi,He haibo,Guo Hairong.Real-time Cycle-slip Detection and Repair Based on Code-phase Combination for GNSS Triple-frequency Undifferenced Observation[J]. Acta Geodaetica et Cartographica Sinica,2011,40(6):717-728.)
[3]田翌君,赵冬青,朱彩杰,等.电离层残差辅助北斗三频伪距载波相位组合周跳探测[J].大地测量与地球动力学,2017,37(10):1053-1058.(Tian Yijun,Zhao Dongqing,Zhu Caijie,et al. Cycle Slip Detection with Code-Phase Combination and Ionospherci Residual Error[J]. Journal of Geodesy and Geodynamics,2017,37(10):1053-1058.)
[4]王成,王解先.单频非差相位观测值的周跳探测与修复方法[J].同济大学学报(自然科学版),2012(9):1393-1398.(Wang Cheng,Wang Jiexian. Cycle Slip Detection and Correction of Single-frequency Undifferenced Phase Observation[J]. Journal of Tong Ji University(Natural Science),2012(9):1393-1398.)
[5] Zhao Qile,Sun Binzi,Dai Zhiqiang,Hu Zhigang,Shi Chuang,Liu Jingnan. Real-time Detection and Repair of Cycle Slips in Triple-frequency GNSS Measurements[J]. GPS Solutions,2015,19(3):381-391.
[6] Maria Clara de Lacy,Mirko Reguzzoni,Fernando Sansò.Real-time Cycle Slip Detection in Triple-frequency GNSS[J]. GPS Solutions,2012,16(3):353-362.
[7]杜旭.基于MATLAB的周跳探测与修复综合方法研究[D].辽宁工程技术大学,2013.(Du Xu. Synthesis Methods in Cycle Slip Detection and Repairing Research Based on MATLAB[D]. Liaoning Technical University,2013.)
[8]李传龙,苏晓东.基于高次差与多项式拟合的周跳探测方法研究[J].哈尔滨商业大学学报(自然科学版),2015(1):47-49.(Li Chuanlong,Su Xiaodong. A Combined Cycle Slips Detection Method Based on Highorder Difference Method and Polynomial Fitting Method[J]. Journal of Harbin University of Commerce(Natural Sciences Edition),2015(1):47-49.)
[9]赵亮,达朝宗,周星,等. CORS基准站周跳探测与修复方法研究[J].测绘科学,2018,43(2).(Zhao Liang,Da Chaozong,Zhou Xing,et al. Research on Cycle Slip Detection and Repair of CORS Station[J]. Science of Surveying and Mapping,2018,43(2).)
[10]陈品馨,章传银,黄昆学.用相位减伪距法和电离层残差法探测修复周跳[J].大地测量学与地球动力学,2012,30(2):123-124.(Chen Pinxin,Zhang Chuanyin,Huang Kunxue. Cycle Slip Detection and Repairing by Use of Phase Reduce Pseudorange Law and Ionized Layer Remnant Method of Difference[J]. Journal of Geodesy and Geodynamics,2012,30(2):123-124.)
[11]郭翔,鲁铁定,裴东东,等.一种双频载波相位周跳探测与修复方法[J].测绘科学,2017(9):15-19.(Guo Xiang,Lu Tieding,Fei Dongdong,et al. A Method to Cycle Slip Detection and Repair of Dual-frequency Carrier Phase[J]. Science of Surveying and Mapping,2017(9):15-19.
[12]郭翔,鲁铁定,裴东东.相位减伪距法双频载波相位周跳探测与修复[J/OL].测绘科学,2018(7):1-7.(Guo Xiang,Lu Tieding,Fei Dongdong. Studying on Cycle Slip Detection and Repair of Dual Frequency Carrier Phase with Reduce Pseudo-range Law[J\OL]. Science of Surveying and Mapping,2018(7):1-7.)
[13]陈亮,李宗楠,邹璇,等.一种适用于BDS+GPS的单站单频周跳探测与修复方法[J].中国科技论文,2016,11(20):2301-2306.(Chen Liang,Li Zongnan,Zou Xuan,et al. Cycle Slip Detection and Repair Method for a Single Frequency GNSS Receiver Suit for BDS+GPS[J]. China Sciencepaper,2016,11(20):2301-2306.)
[14]邹璇,李宗楠,陈亮,等.一种历元间差分单站单频周跳探测与修复方法[J].武汉大学学报(信息科学版),2017,42(10):1406-1410.(Zou Xuan,Li Zongnan,Chen Liang. A New Cycle Slip Detection and Repair Method Based on Epoch Difference for a Single-frequency GNSS Receiver[J]. Geomatics and Information Science of Wuhan University,2017,42(10):1406-1410.)
[15]金星,王玲,黄文德.一种面向GPS单频RTK的周跳探测算法[J].全球定位系统,2017(5):68-73.(Jin Xing,Wang Ling,Huang Wende. A Cycle Slips Detection Algorithm for GPS Single Frequency RTK[J].GNSS World of China,2017(5):68-73.)