CN108572377B - Improved method for detecting and repairing cycle slip by MW combination method based on Doppler assistance - Google Patents

Improved method for detecting and repairing cycle slip by MW combination method based on Doppler assistance Download PDF

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CN108572377B
CN108572377B CN201810331063.3A CN201810331063A CN108572377B CN 108572377 B CN108572377 B CN 108572377B CN 201810331063 A CN201810331063 A CN 201810331063A CN 108572377 B CN108572377 B CN 108572377B
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cycle slip
frequency band
epoch
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doppler
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CN108572377A (en
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纪元法
贾茜子
孙希延
严素清
彭良福
李有明
张馨方
赵松克
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Guilin University of Electronic Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related

Abstract

The invention discloses a Doppler-assisted MW combination method-based detection and cycle slip repair improvement method, which is characterized by comprising the following steps: 1) acquiring observation data of L1 and L2; 2) obtaining a carrier phase and a code measurement pseudo-range observation equation; 3) obtaining a MW combined observation model; 4) calculating the cycle slip; 5) obtaining mean widelane ambiguity and root-mean-square of the MW combination; 6) judging the cycle slip; 7) determining the relation between the Doppler value and the carrier phase and time; 8) obtaining a Doppler integral observation model; 9) adding cycle slip of m and n cycles on carrier phases of the L1 frequency band signal and the L2 frequency band signal respectively; 10) the improved observed value is subjected to Doppler integral operation again; 11) judging the occurrence of cycle slip; 12) the results were obtained. This method can distinguish the carrier positions where the GPS signals L1 and L2 cycle slips occur.

Description

Improved method for detecting and repairing cycle slip by MW combination method based on Doppler assistance
Technical Field
The invention relates to the field of navigation positioning, in particular to an improved cycle slip detection algorithm for landslide deformation monitoring high-precision positioning, and particularly relates to a Doppler-assisted MW combination method-based cycle slip detection and repair improvement method.
Background
At present, in a modern Global Positioning System (GPS), errors such as an ionosphere, a troposphere, a pseudorange, and a multipath effect have a great influence on cycle slip detection, and a conventional cycle slip detection method has low precision and cannot detect a small cycle slip. For processing the dual-frequency cycle slip, a MW (MW-Wnbbena) combination method combining dual-frequency phase and pseudo range is used, and the combination can largely eliminate the influence caused by the geometric distance of the station satellite and the ionosphere due to the long combination wavelength and is suitable for the cycle slip of the dynamic situation, so that the cycle slip as small as 1 cycle can be effectively detected, but the MW combination method can detect the cycle slip of one cycle, but cannot distinguish which carrier the cycle slip occurs on, and when the carrier phases of the L1 and L2 frequency band signals in the GPS system have the same cycle slip, it cannot detect the cycle slip combination. The Doppler observed quantity is a first derivative of the carrier phase, represents the change rate of the carrier phase, is a very stable observed value, is independent of the carrier phase, and cannot be changed due to cycle slip of the phase, the capability of detecting the cycle slip by the Doppler integration method depends on Doppler observation precision and data sampling rate, the higher the observation precision is, the higher the sampling rate is, the stronger the capability of detecting small cycle slip is, and the influence of the motion state of a receiver is avoided, so that the Doppler integration method and the MW combination method have good complementarity.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an improved method for detecting and repairing cycle slip based on a Doppler assisted MW combination method. This method can distinguish the carrier positions where the GPS signals L1 and L2 cycle slips occur.
The technical scheme for realizing the purpose of the invention is as follows:
the improved method for detecting and repairing cycle slip based on Doppler assisted MW combination method is different from the prior art, and comprises the following steps:
1) obtaining observation data of L1 and L2: for respectively acquiring signals of L1 and L2 frequency bands in GPS systemT carrier phases
Figure GDA0002985710150000011
Code pseudorange P1、P2And Doppler observed value D1、D2；
2) Obtaining carrier phase and code measurement pseudo range observation equations: the carrier phase and code measurement pseudo-range basic observation equation in the GPS system is a formula (1) -a formula (4), wherein the formula (1) and the formula (2) are respectively the basic observation equation of the code measurement pseudo-range of an L1 frequency band and an L2 frequency band, and the formula (3) and the formula (4) are divided into carrier phase observation equations of an L1 frequency band and an L2 frequency band;
Figure GDA0002985710150000021
Figure GDA0002985710150000022
Figure GDA0002985710150000023
Figure GDA0002985710150000024
in the formula: lambda [ alpha ]1And λ2Respectively representing the wavelength, f, of carriers of L1 frequency band signals and L2 frequency band signals in the system1And f2Are respectively corresponding frequencies and f1＝154×10.23MHz，f2＝120×10.23MHz；
Figure GDA0002985710150000025
And
Figure GDA0002985710150000026
representing a carrier phase observation in units of weeks; ρ is the geometric distance between the receiver and the satellite P; c represents the speed of light; δ tuAnd δ tsRespectively representing receiver clock errorAnd the clock error of satellite P; i is an ionospheric delay error; t is tropospheric delay error; n is a radical of1And N2Integer ambiguities for L1 and L2 carrier-phase observations, respectively;
3) obtaining a MW combined observation model: and (3) performing MW combination on the carrier phase observation value and the code pseudo range observation value according to the formula (1) to the formula (4) to obtain a MW combined observation model:
Figure GDA0002985710150000027
in the formula, λMW＝C/(f1-f2) And NMW＝N1-N2Respectively representing the wavelength and the ambiguity of the wide lane;
4) calculating cycle slip: calculating the MW cycle slip checking quantity of the receiver in epoch i by combining the MW combined observation model obtained in the step 3):
Figure GDA0002985710150000028
5) average widelane ambiguity and root mean square for the MW combination are obtained: calculating the average widelane ambiguity and the root-mean-square of the first i epochs by recursion, wherein the recursion formula is as follows:
Figure GDA0002985710150000031
Figure GDA0002985710150000032
wherein the content of the first and second substances,
Figure GDA0002985710150000033
the average value of the ambiguity of the first i epochs wide lane is obtained; σ (i) represents the standard deviation of the first i epochs;
6) and (3) judging cycle slip: combining the average widelane ambiguity and the root-mean-square obtained in the step 5), judging the cycle slip, and if the following two conditions are met, considering that the cycle slip exists in the current epoch:
Figure GDA0002985710150000034
Figure GDA0002985710150000035
but due to NMW＝N1-N2When N is present1、N2When the same week jumps are generated at the same time, the MW combined observation equation cannot be detected;
7) determining the relation between the Doppler value and the carrier phase and the time: for the epoch that the cycle slip cannot be judged by MW in the step 6), the cycle slip is judged by adopting Doppler integration, and the GPS Doppler value D represents the instantaneous conversion rate of the carrier phase, namely
Figure GDA0002985710150000036
In the formula (I), the compound is shown in the specification,
Figure GDA0002985710150000037
representing a carrier phase observation; t represents an observation time;
8) obtaining a Doppler integral observation model: doppler is a very stable observation value, and does not change due to cycle slip of the carrier phase, and the cycle slip detection is performed on the carrier phase L1 frequency band signal and the carrier phase L2 frequency band signal respectively according to Doppler integral, and the carrier phase of the L1 frequency band signal
Figure GDA0002985710150000038
The cycle slip value delta N of the L1 frequency band signal at certain epoch A is obtained according to the cycle slip detection model formula (12) in combination with the Doppler value D1(ii) a Carrier phase of L2 frequency band signal
Figure GDA0002985710150000039
Combined with the Doppler value DAccording to the formula (12), the cycle slip value delta N of the L2 frequency band signal at some epoch B is calculated2：
Figure GDA00029857101500000310
Where Δ N represents the residual, i.e. cycle slip test,
Figure GDA00029857101500000311
d denotes carrier phase and doppler observations, respectively, in cycles and Hz, and Δ t denotes the time interval between the i-th and i-1-th epochs, i.e., Δ ti-ti-1；
9) Adding cycle slip of m and n cycles to carrier phases of the L1 frequency band signal and the L2 frequency band signal respectively: for cycle slip Δ N to occur at epoch a1At the original carrier phase of the L1 frequency band signal
Figure GDA0002985710150000041
Adding cycle slip of m cycles, the phase value of the carrier wave after adding cycle slip is
Figure GDA0002985710150000042
Cycle slip Δ N occurs over epoch b2At the original carrier phase of the L2 frequency band signal
Figure GDA0002985710150000043
Adding cycle slip of n cycles, the phase value after adding cycle slip is
Figure GDA0002985710150000044
10) And (3) performing Doppler integral operation again on the improved observed value: for the phase value of the carrier wave after adding cycle slip
Figure GDA0002985710150000045
Performing the calculation of step 7) and step 8), and recovering cycle slip values delta N 'of the carrier phase L1 frequency band signal and the L2 frequency band signal'1And Δ N'2
Figure GDA0002985710150000046
Figure GDA0002985710150000047
11) Judging the occurrence of cycle slip: for delta N 'obtained in step 10)'1And Δ N'2And (4) comparing and judging:
Figure GDA0002985710150000048
if, case 1:
Figure GDA0002985710150000049
then it is proven that no cycle slip occurred in epoch i, or Δ N1A cycle slip of m cycles, Δ N, occurs in the epoch2Generating n cycles in the epoch; case 2:
Figure GDA00029857101500000410
proving that the cycle slip occurs in epoch i;
12) the results were obtained: observation of
Figure GDA00029857101500000411
And
Figure GDA00029857101500000412
repeating the steps 4), 5) and 6) if the epoch is in
Figure GDA00029857101500000413
If the observation epoch does not generate cycle slip, indicating no cycle slip; if the epoch is in
Figure GDA00029857101500000414
When the cycle slip occurs in the observation epoch, the result shows that delta N1A cycle slip of m cycles, Δ N, occurs in the epoch2Generating n cycles in the epoch; if at
Figure GDA00029857101500000415
No cycle slip occurs at epoch of (1), indicating Δ N1And Δ N2The same cycle slip occurs in that epoch.
The technical scheme has the advantages that:
(1) the technical scheme provides an improved method for detecting and repairing cycle slip based on a Doppler assisted MW combination method, wherein the cycle slip values detected by Doppler are compared, whether a carrier phase changes or not is judged according to the ratio, Doppler only has a targeting effect on MW combination and cannot influence the MW combination, so that the method can eliminate errors caused by the ionosphere and geometric distance on cycle slip and is suitable for dynamic conditions;
(2) the higher the sampling rate is, the higher the detection precision is; it can be solved that MW combining cannot distinguish on which carrier a cycle slip occurs, and cannot detect that L1 and L2 occur in the same size of cycle slip combination.
This method can distinguish the carrier positions where the GPS signals L1 and L2 cycle slips occur.
Drawings
FIG. 1 is a schematic flow chart of an exemplary method.
Detailed Description
The invention will be further elucidated with reference to the drawings and examples, without however being limited thereto.
Example (b):
referring to fig. 1, the improved method for detecting and repairing cycle slip based on the MW combination method assisted by doppler comprises the following steps:
1) obtaining observation data of L1 and L2: respectively acquiring T carrier phases of L1 and L2 frequency band signals in a GPS system
Figure GDA0002985710150000051
Code pseudorange P1、P2And Doppler observed value D1、D2；
2) Obtaining carrier phase and code measurement pseudo range observation equations: the carrier phase and code measurement pseudo-range basic observation equation in the GPS system is a formula (1) -a formula (4), wherein the formula (1) and the formula (2) are respectively the basic observation equation of the code measurement pseudo-range of an L1 frequency band and an L2 frequency band, and the formula (3) and the formula (4) are divided into carrier phase observation equations of an L1 frequency band and an L2 frequency band;
Figure GDA0002985710150000052
Figure GDA0002985710150000053
Figure GDA0002985710150000054
Figure GDA0002985710150000055
in the formula: lambda [ alpha ]1And λ2Respectively representing the wavelength, f, of carriers of L1 frequency band signals and L2 frequency band signals in the system1And f2Are respectively corresponding frequencies and f1＝154×10.23MHz，f2＝120×10.23MHz；
Figure GDA0002985710150000056
And
Figure GDA0002985710150000057
representing a carrier phase observation in units of weeks; ρ is the geometric distance between the receiver and the satellite P; c represents the speed of light; δ tuAnd 8tsRespectively representing the receiver clock offset and the clock offset of the satellite P; i is an ionospheric delay error; t is tropospheric delay error; n is a radical of1And N2Integer ambiguities for L1 and L2 carrier-phase observations, respectively;
3) obtaining a MW combined observation model: and (3) performing MW combination on the carrier phase observation value and the code pseudo range observation value according to the formula (1) to the formula (4) to obtain a MW combined observation model:
Figure GDA0002985710150000061
in the formula, λMW＝C/(f1-f2) And NMW＝N1-N2Respectively representing the wavelength and the ambiguity of the wide lane;
4) calculating cycle slip: calculating the MW cycle slip checking quantity of the receiver in epoch i by combining the MW combined observation model obtained in the step 3):
Figure GDA0002985710150000062
5) average widelane ambiguity and root mean square for the MW combination are obtained: calculating the average widelane ambiguity and the root-mean-square of the first i epochs by recursion, wherein the recursion formula is as follows:
Figure GDA0002985710150000063
Figure GDA0002985710150000064
wherein the content of the first and second substances,
Figure GDA0002985710150000065
the average value of the ambiguity of the first i epochs wide lane is obtained; σ (i) represents the standard deviation of the first i epochs;
6) and (3) judging cycle slip: combining the average widelane ambiguity and the root-mean-square obtained in the step 5), judging the cycle slip, and if the following two conditions are met, considering that the cycle slip exists in the current epoch:
Figure GDA0002985710150000066
|(NMW(i)-NMW(i+1)|≤1 (10)，
but instead of the other end of the tubeDue to NMW＝N1-N2When N is present1、N2When the same week jumps are generated at the same time, the MW combined observation equation cannot be detected;
7) determining the relation between the Doppler value and the carrier phase and the time: for the epoch that the cycle slip cannot be judged by MW in the step 6), the cycle slip is judged by adopting Doppler integration, and the GPS Doppler value D represents the instantaneous conversion rate of the carrier phase, namely
Figure GDA0002985710150000071
In the formula (I), the compound is shown in the specification,
Figure GDA0002985710150000072
representing a carrier phase observation; t represents an observation time;
8) obtaining a Doppler integral observation model: doppler is a very stable observation value, and does not change due to cycle slip of the carrier phase, and the cycle slip detection is performed on the carrier phase L1 frequency band signal and the carrier phase L2 frequency band signal respectively according to Doppler integral, and the carrier phase of the L1 frequency band signal
Figure GDA0002985710150000073
The cycle slip value delta N of the L1 frequency band signal at certain epoch A is obtained according to the cycle slip detection model formula (12) in combination with the Doppler value D1(ii) a Carrier phase of L2 frequency band signal
Figure GDA0002985710150000074
In combination with the Doppler value D, the cycle slip value Delta N of the L2 frequency band signal in some epoch B is obtained according to the formula (12)2：
Figure GDA0002985710150000075
Where Δ N represents the residual, i.e. cycle slip test,
Figure GDA0002985710150000076
d denotes carrier phase and doppler observations, respectively, in cycles and Hz, and Δ t denotes the time interval between the i-th and i-1-th epochs, i.e., Δ ti-ti-1；
9) Adding cycle slip of m and n cycles to carrier phases of the L1 frequency band signal and the L2 frequency band signal respectively: for cycle slip Δ N to occur at epoch a1At the original carrier phase of the L1 frequency band signal
Figure GDA0002985710150000077
Adding cycle slip of m cycles, the phase value of the carrier wave after adding cycle slip is
Figure GDA0002985710150000078
Cycle slip Δ N occurs over epoch b2At the original carrier phase of the L2 frequency band signal
Figure GDA0002985710150000079
Adding cycle slip of n cycles, the phase value after adding cycle slip is
Figure GDA00029857101500000710
10) And (3) performing Doppler integral operation again on the improved observed value: for the phase value of the carrier wave after adding cycle slip
Figure GDA00029857101500000711
Performing the calculation of step 7) and step 8), and recovering cycle slip values delta N 'of the carrier phase L1 frequency band signal and the L2 frequency band signal'1And Δ N'2
Figure GDA00029857101500000712
Figure GDA00029857101500000713
11) Judging the occurrence of cycle slip: for delta N 'obtained in step 10)'1And Δ N'2And (4) comparing and judging:
Figure GDA0002985710150000081
if, case 1:
Figure GDA0002985710150000082
then it is proven that no cycle slip occurred in epoch i, or Δ N1A cycle slip of m cycles, Δ N, occurs in the epoch2Generating n cycles in the epoch; case 2:
Figure GDA0002985710150000083
proving that the cycle slip occurs in epoch i;
12) the results were obtained: observation of
Figure GDA0002985710150000084
And
Figure GDA0002985710150000085
repeating the steps 4), 5) and 6) if the epoch is in
Figure GDA0002985710150000086
If the observation epoch does not generate cycle slip, indicating no cycle slip; if the epoch is in
Figure GDA0002985710150000087
When the cycle slip occurs in the observation epoch, the result shows that delta N1A cycle slip of m cycles, Δ N, occurs in the epoch2Generating n cycles in the epoch; if at
Figure GDA0002985710150000088
No cycle slip occurs at epoch of (1), indicating Δ N1And Δ N2The same cycle slip occurs in that epoch.

Claims (1)

1. An improved method for detecting and repairing cycle slip by a MW combination method based on Doppler assistance is characterized by comprising the following steps:
1) obtaining L1,Observation data of L2: respectively acquiring T carrier phases of L1 and L2 frequency band signals in a GPS system
Figure FDA0002985710140000011
Code pseudorange P1、P2And Doppler observed value D1、D2；
2) Obtaining carrier phase and code measurement pseudo range observation equations: the carrier phase and code measurement pseudo-range basic observation equation in the GPS system is a formula (1) -a formula (4), wherein the formula (1) and the formula (2) are respectively the basic observation equation of the code measurement pseudo-range of an L1 frequency band and an L2 frequency band, and the formula (3) and the formula (4) are divided into carrier phase observation equations of an L1 frequency band and an L2 frequency band;
Figure FDA0002985710140000012
Figure FDA0002985710140000013
Figure FDA0002985710140000014
Figure FDA0002985710140000015
in the formula: lambda [ alpha ]1And λ2Respectively representing the wavelength, f, of carriers of L1 frequency band signals and L2 frequency band signals in the system1And f2Are respectively corresponding frequencies and f1＝154×10.23MHz,f2＝120×10.23MHz；
Figure FDA0002985710140000016
And
Figure FDA0002985710140000017
to representA carrier phase observation in cycles; ρ is the geometric distance between the receiver and the satellite P; c represents the speed of light; δ tuAnd δ tsRespectively representing the receiver clock offset and the clock offset of the satellite P; i is an ionospheric delay error; t is tropospheric delay error; n is a radical of1And N2Integer ambiguities for L1 and L2 carrier-phase observations, respectively;
3) obtaining a MW combined observation model: and (3) performing MW combination on the carrier phase observation value and the code pseudo range observation value according to the formula (1) to the formula (4) to obtain a MW combined observation model:
Figure FDA0002985710140000018
in the formula, λMW＝C/(f1-f2) And NMW＝N1-N2Respectively representing the wavelength and the ambiguity of the wide lane;
4) calculating the cycle slip, namely calculating the MW cycle slip detection quantity of the receiver in epoch i by combining the MW combined observation model obtained in the step 3):
Figure FDA0002985710140000021
5) average widelane ambiguity and root mean square for the MW combination are obtained: calculating the average widelane ambiguity and the root-mean-square of the first i epochs by recursion, wherein the recursion formula is as follows:
Figure FDA0002985710140000022
Figure FDA0002985710140000023
wherein the content of the first and second substances,
Figure FDA0002985710140000024
for the first i epochsMean value of widelane ambiguity; σ (i) represents the standard deviation of the first i epochs;
6) and (3) judging cycle slip: combining the average widelane ambiguity and the root-mean-square obtained in the step 5), judging the cycle slip, and if the following two conditions are met, considering that the cycle slip exists in the current epoch:
Figure FDA0002985710140000025
|(NMW(i)-NMW(i+1)|≤1 (10)
but due to NMW＝N1-N2When N is present1、N2When the same week jumps are generated at the same time, the MW combined observation equation cannot be detected;
7) determining the relation between the Doppler value and the carrier phase and the time: for the epoch that the cycle slip cannot be judged by MW in the step 6), the cycle slip is judged by adopting Doppler integration, and the GPS Doppler value D represents the instantaneous conversion rate of the carrier phase, namely
Figure FDA0002985710140000026
In the formula (I), the compound is shown in the specification,
Figure FDA0002985710140000027
representing a carrier phase observation; t represents an observation time;
8) obtaining a Doppler integral observation model: according to Doppler integral, the cycle slip detection is respectively carried out on the carrier phase L1 frequency band signal and the L2 frequency band signal, and the carrier phase of the L1 frequency band signal
Figure FDA0002985710140000028
The cycle slip value delta N of the L1 frequency band signal at certain epoch A is obtained according to the cycle slip detection model formula (12) in combination with the Doppler value D1(ii) a Carrier phase of L2 frequency band signal
Figure FDA0002985710140000029
In combination with the Doppler value D, the cycle slip value Delta N of the L2 frequency band signal in some epoch B is obtained according to the formula (12)2：
Figure FDA00029857101400000210
Where Δ N represents the residual, i.e. cycle slip test,
Figure FDA00029857101400000211
d denotes carrier phase and doppler observations, respectively, in cycles and Hz, and Δ t denotes the time interval between the i-th and i-1-th epochs, i.e., Δ ti-ti-1；
9) Adding cycle slip of m and n cycles to carrier phases of the L1 frequency band signal and the L2 frequency band signal respectively: for cycle slip Δ N to occur at epoch a1At the original carrier phase of the L1 frequency band signal
Figure FDA0002985710140000031
Adding cycle slip of m cycles, the phase value of the carrier wave after adding cycle slip is
Figure FDA0002985710140000032
Cycle slip Δ N occurs over epoch b2At the original carrier phase of the L2 frequency band signal
Figure FDA0002985710140000033
Adding cycle slip of n cycles, the phase value after adding cycle slip is
Figure FDA0002985710140000034
10) And (3) performing Doppler integral operation again on the improved observed value: for the phase value of the carrier wave after adding cycle slip
Figure FDA0002985710140000035
Carrying out step 7),Step 8) calculating to obtain cycle slip values delta N 'of the carrier phase L1 frequency band signal and the L2 frequency band signal again'1And Δ N'2
Figure FDA0002985710140000036
Figure FDA0002985710140000037
11) Judging the occurrence of cycle slip: for delta N 'obtained in step 10)'1And Δ N'2And (4) comparing and judging:
Figure FDA0002985710140000038
if, case 1:
Figure FDA0002985710140000039
then it is proven that no cycle slip occurred in epoch i, or Δ N1A cycle slip of m cycles, Δ N, occurs in the epoch2Generating n cycles in the epoch; case 2:
Figure FDA00029857101400000310
proving that the cycle slip occurs in epoch i;
12) the results were obtained: observation of
Figure FDA00029857101400000311
And
Figure FDA00029857101400000312
repeating the steps 4), 5) and 6) if the epoch is in
Figure FDA00029857101400000313
If the observation epoch does not generate cycle slip, indicating no cycle slip; if the epoch is in
Figure FDA00029857101400000314
When the cycle slip occurs in the observation epoch, the result shows that delta N1A cycle slip of m cycles, Δ N, occurs in the epoch2Generating n cycles in the epoch; if at
Figure FDA00029857101400000315
No cycle slip occurs at epoch of (1), indicating Δ N1And Δ N2The same cycle slip occurs in that epoch.
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