CN117930290A - Cycle slip detection method, control device, terminal and storage medium - Google Patents
Cycle slip detection method, control device, terminal and storage medium Download PDFInfo
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Abstract
The application provides a cycle slip detection method, a control device, a terminal and a storage medium, wherein the detection method comprises the following steps: according to the state quantity of the previous epoch, a first predicted state quantity of the current epoch is obtained through mechanical arrangement of the INS, and a second predicted state quantity of the current epoch is obtained through a uniform model; determining a target predicted state quantity according to the first predicted state quantity and the second predicted state quantity; and carrying out measurement updating on the target double-difference observation equation according to the target prediction state quantity, and determining whether cycle slip occurs or not. Compared with the prior state prediction based on a uniform model, the method determines the final predicted state quantity by adding the new sensor (INS) and carries out subsequent measurement and update, thereby improving the precision of the predicted state quantity, further improving the precision of a floating point solution obtained during measurement and update, leading the detection of small cycle slip to be more sensitive and improving the precision of cycle slip detection.
Description
Technical Field
The present application relates to the field of satellite communications technologies, and in particular, to a cycle slip detection method, a control device, a terminal, and a storage medium.
Background
Cycle slip detection of carrier data of the global navigation positioning service system (Global Navigation SERVICE SYSTEM, GNSS) is always a research hotspot in the field of navigation positioning. As satellite observations evolve towards multi-frequency multisystems, research on cycle slip is also increasingly biased towards the combination of multi-frequency observations. Some more sophisticated cycle slip detection methods are also mostly based on dual or multi-frequency observations: such as TurboEdit methods, ionospheric residual methods, three-frequency ionospheric-free combinations, and the like. For single frequency observation values, the currently applicable methods mainly comprise a higher order difference method, a polynomial fitting method, a Kalman filtering method, a Doppler auxiliary detection cycle slip method, a three-difference method, a single frequency code phase combination method and the like. However, these methods have some limitations, for example, the multi-frequency cycle slip detection algorithm has the respective problem of cycle slip insensitivity, and the Shan Pinzhou cycle slip detection algorithm is more greatly influenced by factors such as motion state, sampling interval and the like. The Kalman filtering method detects cycle slip, and is applicable to data with different frequencies and different positioning modes due to higher adaptability, so that the Kalman filtering method is widely used.
However, the principle of detecting cycle slip by the Kalman filtering method is to judge whether cycle slip is generated or not by utilizing the difference value of floating ambiguity of the front epoch and the back epoch. However, the method also has obvious defects, the use of the method is limited, namely the accuracy of a prediction model can influence the accuracy of a floating point solution, and a conventional prediction model cannot truly reflect the motion state of an object whether the model is a uniform speed model or a uniform acceleration model, so that the accuracy of the floating point solution is not high, and further the cycle slip detection quantity constructed by floating point ambiguity is insensitive to small cycle slips when the cycle slips are detected, so that the technical problem of low cycle slip detection accuracy exists.
Disclosure of Invention
The technical aim to be achieved by the embodiment of the application is to provide a cycle slip detection method, a control device, a terminal and a storage medium, which are used for solving the problems that the small cycle slip detection is insensitive due to low precision of a floating point solution and the cycle slip detection accuracy is low when the cycle slip detection is carried out by a Kalman filtering method.
In order to solve the above technical problems, an embodiment of the present application provides a cycle slip detection method, including:
According to the state quantity of the previous epoch, a first predicted state quantity of the current epoch is obtained through mechanical arrangement of an inertial navigation system (Inertial Navigation System, INS for short), and a second predicted state quantity of the current epoch is obtained through a uniform model;
Determining a target predicted state quantity according to the first predicted state quantity and the second predicted state quantity;
and carrying out measurement updating on the target double-difference observation equation according to the target prediction state quantity, and determining whether cycle slip occurs or not.
Specifically, the cycle slip detection method described above, wherein determining the target predicted state quantity according to the first predicted state quantity and the second predicted state quantity includes:
Acquiring a first difference value of the first predicted state quantity and the second predicted state quantity;
When the absolute value of the first difference value is larger than a first threshold value, a loose combination result of the first predicted state quantity and the second predicted state quantity is obtained, and the loose combination result is determined to be the target predicted state quantity;
and when the absolute value of the difference value is smaller than or equal to the first threshold value, determining the first prediction state quantity as the target prediction state quantity.
Specifically, the cycle slip detection method as described above, wherein the measuring and updating the target double difference observation equation according to the target prediction state quantity, and determining whether cycle slip occurs, includes:
Measuring and updating the target double difference observation equation according to the target prediction state quantity to obtain the current state quantity and the current floating point ambiguity of the current epoch;
And determining whether cycle slip occurs according to the current floating ambiguity and the floating ambiguity of the previous epoch.
Optionally, the cycle slip detection method as described above, before the performing measurement update on the target double difference observation equation according to the target prediction state quantity, further includes:
Acquiring observation data acquired by a GNSS receiver and differential correction information of a base station issued by an operator;
and constructing the target double-difference observation equation according to the observation data and the difference correction information.
Specifically, the cycle slip detection method described above, wherein determining whether cycle slip occurs according to the current floating ambiguity and the floating ambiguity of the previous epoch, includes:
according to the current floating point ambiguity and the floating point ambiguity of the previous epoch, calculating a difference, and constructing cycle slip detection quantity;
Determining that cycle slip occurs when the cycle slip detection amount is greater than a second threshold;
and when the cycle slip detection amount is smaller than or equal to the second threshold value, determining that cycle slip does not occur.
Specifically, according to the cycle slip detection method described above, the obtaining, according to the state quantity of the previous epoch, the first predicted state quantity of the current epoch through the mechanical arrangement of the inertial navigation system INS includes:
Obtaining an original observed value of the INS, the original observed value comprising: specific force and angular velocity;
And carrying out the mechanical arrangement according to the state quantity of the previous epoch and the original observed value to obtain the first predicted state quantity.
Further, the cycle slip detection method as described above further includes, after the determining whether the cycle slip occurs:
And performing GNSS cycle slip processing and subsequent GNSS high-precision positioning according to whether cycle slip occurs.
Another embodiment of the present application also provides a control apparatus, including:
The first control module is used for obtaining a first predicted state quantity of the current epoch through mechanical arrangement of the inertial navigation system INS according to the state quantity of the previous epoch, and obtaining a second predicted state quantity of the current epoch through a uniform model;
The second control module is used for determining a target prediction state quantity according to the first prediction state quantity and the second prediction state quantity;
And the third control module is used for carrying out measurement updating on the target double-difference observation equation according to the target prediction state quantity and determining whether cycle slip occurs.
Still another embodiment of the present application provides a terminal including a processor, a memory, and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the cycle slip detection method as described above.
Yet another embodiment of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the cycle slip detection method as described above.
Compared with the prior art, the cycle slip detection method, the control device, the terminal and the storage medium provided by the embodiment of the application have at least the following beneficial effects:
Compared with the prior state prediction based on a constant speed model, the method and the device have the advantages that the first predicted state quantity is obtained by adding INS mechanical arrangement, the target predicted state quantity is determined by combining the second predicted quantity predicted by the constant speed model, and subsequent measurement and update are carried out. The accuracy of the predicted state quantity is improved by adding a new sensor (INS), so that the accuracy of a floating solution obtained during measurement updating is improved, the detection of small cycle slip is more sensitive, and the accuracy of cycle slip detection is improved.
Drawings
FIG. 1 is a schematic flow chart of a cycle slip detection method according to the present application;
FIG. 2 is a second flow chart of the cycle slip detection method of the present application;
FIG. 3 is a third flow chart of the cycle slip detection method according to the present application;
fig. 4 is a schematic structural diagram of a control device in the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided merely to facilitate a thorough understanding of embodiments of the application. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present application, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B may be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
Referring to fig. 1, an embodiment of the present application provides a cycle slip detection method, including:
Step S101, according to the state quantity of the previous epoch, obtaining a first predicted state quantity of the current epoch through mechanical arrangement of the INS, and obtaining a second predicted state quantity of the current epoch through a uniform model. In the step, based on the state quantity of the previous epoch, the state quantity of the current epoch is predicted through the mechanical arrangement of the INS and a preset constant-speed model, wherein the sampling rate of the INS is high, the instantaneous object motion change information can be obtained, and the INS observation value is not influenced by the external environment. The position and the speed obtained by the mechanical arrangement of the INS are relatively accurate in a short time. The problem of inaccurate prediction caused by simple motion model can be well compensated by utilizing the characteristic of INS.
That is, on the basis of state prediction by the existing motion model, the accuracy of state prediction is improved by adding a new state prediction mode.
The equation for obtaining the second predicted state quantity through the uniform velocity model can be selected as follows:
wherein, For predicting state quantity,/>The state quantity of the previous epoch, Φ k,k-1, is the state transition matrix.
It should be noted that: in the process of state transition, namely obtaining the predicted state quantity, the variance covariance matrix among different epochs is changed, and in one embodiment, the equation of variance covariance matrix conversion in the process of state transition through a uniform velocity model can be selected as follows:
wherein, As a transformed variance covariance matrix,/>As the primary covariance matrix, phi k,k-1 is the state transition matrix, Q is the process noise variance covariance matrix,/>Is the transpose of the state transition matrix. Since the variance covariance matrix is not a major protection point of the present application in the present application, it is not mentioned in the following description, but it is still performed during state transition and corresponds to a corresponding state quantity.
Wherein the mechanically laid-out equation set is:
wherein, Representing a posing error vector; /(I)Representing a velocity error vector; /(I)Representing a position error vector; /(I)Representing a directional cosine matrix from the carrier coordinate system to the local horizontal coordinate system,/>Is the angular velocity/>, rotated by the carrier relative to the local geographic coordinate systemAn antisymmetric matrix is formed; /(I)Representing the measured specific force/>, of the accelerometerProjection in a local horizontal coordinate system; /(I)Represents the earth rotation angular velocity/>, in the earth-centered earth-fixed systemProjection under a local geographic coordinate system; /(I)Representing the rotational angular rate of the local horizontal coordinate system relative to the geocentric ground system; /(I)Representing the speed; /(I)A local gravity vector representing the location of the carrier; d is a conversion matrix, and a coefficient matrix of the geodetic coordinates is calculated from the velocity vector.
Step S102, determining a target predicted state quantity according to the first predicted state quantity and the second predicted state quantity. In this step, the target prediction state quantity for the subsequent operation is determined based on the two, and at this time, the first prediction state quantity is obtained through mechanical arrangement of the INS to participate in the determination of the target prediction state quantity, and prediction is performed by adding a new state prediction mode, so that the accuracy of state prediction is improved.
And step S103, measuring and updating the target double difference observation equation according to the target prediction state quantity, and determining whether cycle slip occurs or not. In the step, measurement and update are carried out according to the target prediction state quantity determined based on INS mechanical arrangement, so that the prediction precision is improved, the floating solution precision is further improved, and when whether cycle slip occurs or not is judged through a Kalman filtering method, the cycle slip detection precision is improved. The effect of cycle slip detection in the scenes of acceleration, deceleration and turning lamps is particularly obvious.
Alternatively, the equation in which the measurements are updated may include:
wherein, As the variance covariance matrix, K k is the gain matrix, H k is the observation matrix, R is the observation noise variance covariance matrix, V z (K0 is the prediction residual, Z (K0 is the observation vector,/>)Including the current state quantity. It should be noted that, K k,Hk and R may be obtained through preset or collected information, and the essence of the prediction residual V z (K) is that the predicted observed value obtained by predicting according to the state deviates from the actual observed value, including: deviations due to state prediction errors and errors of the current time observations.
In summary, the embodiment of the application predicts the state quantity by adding the mechanical arrangement mode of the INS, combines the second predicted state quantity obtained based on the mechanical arrangement to determine the target predicted state quantity, and performs subsequent measurement update, and improves the accuracy of the predicted state quantity by adding a new sensor, thereby improving the accuracy of the floating point solution obtained during measurement update, enabling the detection of small cycle slip to be more sensitive, and improving the accuracy of cycle slip detection.
Referring to fig. 2, in a specific embodiment, a step of determining a target predicted state quantity according to the first predicted state quantity and the second predicted state quantity is illustrated, where the method specifically includes:
Step S201, obtaining a first difference value between the first predicted state quantity and the second predicted state quantity.
Step S202, when the absolute value of the first difference value is greater than a first threshold, obtaining a loose combination result of the first predicted state quantity and the second predicted state quantity, and determining the loose combination result as the target predicted state quantity.
Step S203, when the absolute value of the difference is less than or equal to the first threshold, determining the first predicted state quantity as the target predicted state quantity.
In this embodiment, prediction consistency is determined by performing a difference between the first predicted state quantity and the second predicted state quantity, specifically, determining a magnitude relation between an absolute value of a difference value between the first predicted state quantity and the second predicted state quantity and a preset first threshold value, wherein when the absolute value of the first difference value is greater than the first threshold value, it is determined that the consistency of the predictions performed by both modes is not high, and in order to avoid an error when one of the first predicted state quantity and the second predicted state quantity is selected as a target predicted state quantity, performing loose combination filtering on the first predicted state quantity and the second predicted state quantity, that is, performing loose combination filtering on the first predicted state quantity and the second predicted state quantity as inputs of kalman filtering, so as to obtain a loose combination result, and determining that the combination result is the target predicted state quantity, wherein the second predicted state quantity is input as an observed value in the loose combination.
When the absolute value of the first difference is smaller than or equal to the first threshold, it is determined that the consistency of the predictions performed in the two modes is higher, and at this time, one of the two modes can be selected as the target predicted state quantity, and the accuracy of the first predicted state quantity is higher, so that the first predicted state quantity is determined to be the target predicted state quantity.
It should be noted that: the state quantity described herein includes a state quantity of a previous epoch, a predicted state quantity, and a current state quantity described below, and parameters included in any state quantity include: position and velocity, more particularly three-dimensional coordinates and three-dimensional velocity in a geocentric earth system. Further, in the case where loose combination filtering is required, parameters included in the predicted state quantity further include: the resulting pose is mechanically programmed.
It should be further noted that, the state quantity of the previous epoch and the current state quantity are both state quantities of the GNSS.
Specifically, the cycle slip detection method as described above, wherein the measuring and updating the target double difference observation equation according to the target prediction state quantity, and determining whether cycle slip occurs, includes:
And carrying out measurement updating on the target double difference observation equation according to the target prediction state quantity to obtain the current state quantity and the current floating point ambiguity of the current epoch. In this step, after the target prediction state quantity is obtained, the pre-obtained target double difference observation equation is measured and updated according to the target prediction state quantity, so as to obtain the current state quantity of the current epoch and the current floating ambiguity, and the obtained current state quantity can be used as the state quantity of the previous epoch in cycle slip detection of the next epoch.
And determining whether cycle slip occurs according to the current floating ambiguity and the floating ambiguity of the previous epoch. In this step, after obtaining the current floating ambiguity of the current epoch, the cycle slip detection amount may be further constructed by combining the floating ambiguity of the previous epoch and performing cycle slip determination, specifically, in a specific embodiment, the current floating ambiguity and the floating ambiguity of the previous epoch are differentiated, and the cycle slip detection amount is constructed according to the obtained second difference value, where the cycle slip detection amount is preferably the absolute value of the second difference value; judging according to the cycle slip detection amount and a preset second threshold value, and determining that cycle slip occurs if the cycle slip detection amount is greater than the second threshold value; otherwise, it may be determined that no cycle slip has occurred.
Optionally, the cycle slip detection method as described above, before the performing measurement update on the target double difference observation equation according to the target prediction state quantity, further includes:
and acquiring the observation data acquired by the GNSS receiver and the differential correction information of the base station issued by the operator.
And constructing the target double-difference observation equation according to the observation data and the difference correction information.
In this embodiment, before performing cycle slip detection, the above-mentioned target double difference observation equation is constructed according to some basic information, and the basic information is preferably observation data collected by a GNSS receiver and differential correction information of a base station issued by an operator, where the observation data includes, but is not limited to, raw pseudo-range data, phase data and doppler data. The differential correction information includes at least the original pseudorange, phase and Doppler observations of the reference station, and broadcast ephemeris. The constructed target double difference observation equation is as follows:
Where ρ and l represent pseudorange and phase observations, respectively, For a double difference operator, lambda is the wavelength of the phase observation, the superscript i, j represents the satellite, the subscript m, n represents the base station,/>And/>Representing the double difference observation noise of the pseudorange and the carrier.
In another embodiment of the present application, a process for obtaining a first predicted state quantity is also specifically disclosed, including:
obtaining an original observed value of the INS, the original observed value comprising: specific force and angular velocity. The angular velocity may be an angular velocity value or an angular velocity variation.
And carrying out the mechanical arrangement according to the state quantity of the previous epoch and the original observed value to obtain the first predicted state quantity. The theoretical basis of the mechanical arrangement is the mechanical calculus equation of the INS, including the attitude differential equation, the speed differential equation and the position differential equation, and the detailed reference is made to the equation set of the mechanical arrangement.
Further, the cycle slip detection method as described above further includes, after the determining whether the cycle slip occurs:
And performing GNSS cycle slip processing and subsequent GNSS high-precision positioning according to whether cycle slip occurs. That is, after the result of whether the cycle slip occurs is obtained, the cycle slip processing is performed in different cycle slip processing modes according to the difference of the cycle slip result, and the GNSS high-precision positioning is performed after the cycle slip processing is performed. Optionally, the cycle slip processing includes, but is not limited to, cycle slip repair and the like.
It should be noted that, to facilitate understanding of the technical solution of the present application by those skilled in the art, an embodiment of the present application is further illustrated by fig. 3.
Firstly, obtaining a first predicted state quantity of a current epoch through mechanical arrangement according to a state quantity of a previous epoch and an original observed value of an INS, and obtaining a second predicted state quantity of the current epoch through a uniform velocity model according to the state quantity of the previous epoch;
Further, a first difference value of the first predicted state quantity and the second predicted state quantity is obtained, and a target predicted state quantity for measurement and update is determined according to the relation between the absolute value of the first difference value and a preset first threshold value, wherein if the absolute value of the first difference value is larger than the first threshold value, the consistency of prediction in two ways is determined to be not high, and at the moment, in order to avoid errors when one of the first predicted state quantity and the second predicted state quantity is selected as the target predicted state quantity, the first predicted state quantity and the second predicted state quantity are loosely combined to obtain a loose combination result, and the combination result is determined to be the target predicted state quantity; if the absolute value of the first difference is less than or equal to the first threshold, it is determined that the consistency of the predictions performed in two ways is high, and at this time, the first predicted state quantity or the second predicted state quantity may be selected as the target predicted state quantity, and in this embodiment, the first predicted state quantity with relatively high accuracy is preferably the target predicted state quantity.
Further, measurement updating is performed according to the determined target prediction state quantity, so as to obtain the current state quantity of the current epoch and the current floating ambiguity, wherein the current state quantity can be used as the state quantity of the previous epoch when the next epoch performs cycle slip detection. In this embodiment, the target double difference observation equation in measurement update is preferably constructed according to the acquired observation data acquired by the GNSS receiver in advance and the differential correction information of the base station issued by the operator.
Further, the cycle slip detection quantity can be constructed based on the difference between the obtained current floating ambiguity and the floating ambiguity of the previous epoch;
Further, whether cycle slip exists is judged according to the magnitude relation between the cycle slip detection quantity and a preset second threshold value, when the cycle slip detection quantity is larger than the second threshold value, the existence of cycle slip can be determined, and otherwise, the absence of cycle slip is determined.
Referring to fig. 4, another embodiment of the present application further provides a control apparatus, including:
The first control module 401 is configured to obtain a first predicted state quantity of a current epoch through mechanical arrangement of the INS according to a state quantity of a previous epoch, and obtain a second predicted state quantity of the current epoch through a uniform model;
A second control module 402, configured to determine a target predicted state quantity according to the first predicted state quantity and the second predicted state quantity;
and a third control module 403, configured to perform measurement update on the target double difference observation equation according to the target prediction state quantity, and determine whether cycle slip occurs.
Specifically, the control device, the second control module, as described above, includes:
a first obtaining unit configured to obtain a first difference value between the first predicted state quantity and the second predicted state quantity;
The first processing unit is used for acquiring a loose combination result of the first predicted state quantity and the second predicted state quantity when the absolute value of the first difference value is larger than a first threshold value, and determining the loose combination result as the target predicted state quantity;
and the second processing unit is used for determining the first prediction state quantity as the target prediction state quantity when the absolute value of the difference value is smaller than or equal to the first threshold value.
Specifically, the control device, the third control module, as described above, includes:
The third processing unit is used for carrying out measurement updating on the target double difference observation equation according to the target prediction state quantity to obtain the current state quantity and the current floating ambiguity of the current epoch;
And the fourth processing unit is used for determining whether cycle slip occurs according to the current floating ambiguity and the floating ambiguity of the previous epoch.
Optionally, the control device as described above further includes:
the fourth control module is used for acquiring the observation data acquired by the GNSS receiver and the differential correction information of the base station issued by the operator;
And the fifth control module is used for constructing the target double-difference observation equation according to the observation data and the difference correction information.
Specifically, the control device as described above, the fourth processing unit, includes:
The first processing subunit is used for solving the difference between the current floating point ambiguity and the floating point ambiguity of the previous epoch to construct cycle slip detection quantity;
A second processing subunit, configured to determine that a cycle slip occurs when the cycle slip detection amount is greater than a second threshold;
and the third processing subunit is used for determining that no cycle slip occurs when the cycle slip detection quantity is smaller than or equal to the second threshold value.
Specifically, the control device as described above, the first control module, includes:
A fifth processing unit, configured to obtain an original observed value of the INS, where the original observed value includes: specific force and angular velocity;
And a sixth processing unit, configured to perform the mechanical arrangement according to the state quantity of the previous epoch and the original observed value, so as to obtain the first predicted state quantity.
Further, the control device as described above further includes:
and the sixth processing module is used for performing GNSS cycle slip processing and subsequent GNSS high-precision positioning according to whether cycle slip occurs.
The embodiment of the control device of the application is a device corresponding to the embodiment of the cycle slip detection method, and all the implementation means in the embodiment of the method are applicable to the embodiment of the control device, so that the same technical effects can be achieved.
Still another embodiment of the present application provides a terminal including a processor, a memory, and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the cycle slip detection method as described above.
Yet another embodiment of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the cycle slip detection method as described above.
Furthermore, the present application may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. And, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.
While the foregoing is directed to the preferred embodiments of the present application, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.
Claims (10)
1. A cycle slip detection method, comprising:
According to the state quantity of the previous epoch, a first predicted state quantity of the current epoch is obtained through mechanical arrangement of an inertial navigation system INS, and a second predicted state quantity of the current epoch is obtained through a uniform model;
Determining a target predicted state quantity according to the first predicted state quantity and the second predicted state quantity;
and carrying out measurement updating on the target double-difference observation equation according to the target prediction state quantity, and determining whether cycle slip occurs or not.
2. The cycle slip detection method according to claim 1, wherein the determining a target predicted state quantity from the first predicted state quantity and the second predicted state quantity includes:
Acquiring a first difference value of the first predicted state quantity and the second predicted state quantity;
When the absolute value of the first difference value is larger than a first threshold value, a loose combination result of the first predicted state quantity and the second predicted state quantity is obtained, and the loose combination result is determined to be the target predicted state quantity;
and when the absolute value of the difference value is smaller than or equal to the first threshold value, determining the first prediction state quantity as the target prediction state quantity.
3. The cycle slip detection method according to claim 1 or 2, wherein the performing measurement update on the target double difference observation equation according to the target prediction state quantity, and determining whether a cycle slip occurs, includes:
Measuring and updating the target double difference observation equation according to the target prediction state quantity to obtain the current state quantity and the current floating point ambiguity of the current epoch;
And determining whether cycle slip occurs according to the current floating ambiguity and the floating ambiguity of the previous epoch.
4. The cycle slip detection method according to claim 1, further comprising, before the measurement update of the target double difference observation equation according to the target predicted state quantity:
Acquiring observation data acquired by a global navigation positioning service system (GNSS) receiver and differential correction information of a base station issued by an operator;
and constructing the target double-difference observation equation according to the observation data and the difference correction information.
5. The cycle slip detection method of claim 3, wherein the determining whether a cycle slip occurs based on the current floating ambiguity and a floating ambiguity of a previous epoch comprises:
according to the current floating point ambiguity and the floating point ambiguity of the previous epoch, calculating a difference, and constructing cycle slip detection quantity;
Determining that cycle slip occurs when the cycle slip detection amount is greater than a second threshold;
and when the cycle slip detection amount is smaller than or equal to the second threshold value, determining that cycle slip does not occur.
6. The cycle slip detection method according to claim 1, wherein the obtaining the first predicted state quantity of the current epoch by mechanical arrangement of the inertial navigation system INS according to the state quantity of the previous epoch includes:
Obtaining an original observed value of the INS, the original observed value comprising: specific force and angular velocity;
And carrying out the mechanical arrangement according to the state quantity of the previous epoch and the original observed value to obtain the first predicted state quantity.
7. The cycle slip detection method of claim 1, further comprising, after the determining whether a cycle slip occurs:
And performing GNSS cycle slip processing and subsequent GNSS high-precision positioning according to whether cycle slip occurs.
8. A control apparatus, characterized by comprising:
The first control module is used for obtaining a first predicted state quantity of the current epoch through mechanical arrangement of the inertial navigation system INS according to the state quantity of the previous epoch, and obtaining a second predicted state quantity through a uniform model;
The second control module is used for determining a target prediction state quantity according to the first prediction state quantity and the second prediction state quantity;
And the third control module is used for carrying out measurement updating on the target double-difference observation equation according to the target prediction state quantity and determining whether cycle slip occurs.
9. A terminal comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the cycle slip detection method as claimed in any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the cycle slip detection method according to any one of claims 1 to 7.
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