Real-Time Cycle Slip Detection and Repair Method for BDS-3 Five-Frequency Data

Yuan, Haijun; He, Xiufeng; Xu, Tianyang; Xu, Xueyong; Zang, Nan

doi:10.1109/access.2021.3069745

Cited by 9 publications

(9 citation statements)

References 24 publications

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“…Since A is non-singular, it can be simplified to X = A −1 L. However, it could be ill-conditioned because of the condition number of A. Accordingly, when L is influenced by the observation noise, the estimated cycle slip value may be incorrect [3,38]. Avoiding the problems above and to ensure the success rate of cycle slip repair, we consider the methodology as follows: Search the value with a kσ D 2 radius centered at the L. The L2-norm is used to judge if the cycle slip correction value X is correct, which should satisfy the condition [11,15]:…”

Section: Methodology To Confirm and Repair Cycle Slipmentioning

confidence: 99%

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

Sun

et al. 2023

Sensors

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Cycle slip detection and repair is a prerequisite to obtain high-precision positioning based on a carrier phase. Traditional triple-frequency pseudorange and phase combination algorithm are highly sensitive to the pseudorange observation accuracy. To solve the problem, a cycle slip detection and repair algorithm based on inertial aiding for a BeiDou navigation satellite system (BDS) triple-frequency signal is proposed. To enhance the robustness, the INS-aided cycle slip detection model with double-differenced observations is derived. Then, the geometry-free phase combination is united to detect the insensitive cycle slip, and the optimal coefficient combination is selected. Furthermore, the L2-norm minimum principle is used to search and confirm the cycle slip repair value. To correct the INS error accumulated over time, the extended Kalman filter based on the BDS/INS tightly coupled system is established. The vehicular experiment is conducted to evaluate the performance of the proposed algorithm from a few aspects. The results indicate that the proposed algorithm can reliably detect and repair all cycle slips that occur in one cycle, including the small and insensitive cycle slips as well as the intensive and continuous cycle slips. Additionally, in signal-challenged environments, the cycle slips occurring 14 s after a satellite signal outage can be correctly detected and repaired.

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Section: Methodology To Confirm and Repair Cycle Slipmentioning

confidence: 99%

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

Sun

et al. 2023

Sensors

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“…By using Equation ( 12), the coefficient matrix γ = γ 0 γ 1 γ 2 γ 3 γ 4 γ 5 can be obtained. The coefficient expressions of the FF MP 1 combination are given in Equation (37). (37) where the expression of M 5 is the same as Equation ( 16).…”

Section: Pseudorange Multipath Delay Combinationmentioning

confidence: 99%

“…The coefficient expressions of the FF MP 1 combination are given in Equation (37). (37) where the expression of M 5 is the same as Equation ( 16). The solution of DF, TF, and QF shows that when the total number of frequencies is n (n ≥ 2), γ i can be expressed as:…”

Section: Pseudorange Multipath Delay Combinationmentioning

confidence: 99%

Research on Linear Combination Models of BDS Multi-Frequency Observations and Their Characteristics

Guo

et al. 2022

Sustainability

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The linear combination of multi-frequency carrier-phase and pseudorange observations can form the combined observations with special properties. The type and number of combined frequencies will directly affect the characteristics of the combined observations. BDS-2 and BDS-3 broadcast three and five signals, respectively, and the study of their linear combination is of great significance for precision positioning. In this contribution, the linear combination form of multi-frequency carrier-phase observations in cycles and meters is sorted out. Seven frequency combination modes are formed, and some special combinations for positioning are searched. Then, based on the principle of minimum combined noise, a simpler search method for the optimal real coefficients of ionosphere-free (IF) combination based on the least squares (LS) principle is proposed. The general analytical expressions of optimal real coefficients for multi-frequency geometry-based and ionosphere-free (GBIF), geometry-free and ionosphere-free (GFIF), and pseudorange multipath (PMP) combinations with the first-order ionosphere delay taken into account are derived. And the expression derivation process is given when both the first-order and second-order ionospheric delays are eliminated. Based on this, the characteristics of the optimal real coefficient combination in various modes are compared and discussed. The various combinations reflect that the accuracy of the combined observations from dual-frequency (DF) to five-frequency (FF) is gradually improving. The combination coefficient becomes significantly larger after taking the second-order ionospheric delay into account. In addition, the combined accuracy of BDS-3 is better than that of BDS-2. When only the first-order ionosphere is considered, the combination attribute of (B1C, B1I, B2a) is the best among the triple-frequency (TF) combinations of BDS-3. When both the first-order and second-order ionospheric delays are considered, the (B1C, B3I, B2a) combination is recommended.

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“…With the rapid development of multi-frequency satellites, there are now more combined models of multi-frequency in GNSS positioning, providing greater opportunities for cycle slip detection and repair 4 , 5 . However, current research on cycle slip detection and repair primarily focuses on single-frequency, dual-frequency, and triple-frequency systems 6 , with limited discussion on five-frequency systems 7 .…”

Section: Introductionmentioning

confidence: 99%

GPS/BDS triple-frequency cycle slip detection and repair based on moving window global search method

Wang,

Huang

2024

Sci Rep

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Cycle slip detection and repair are crucial steps in achieving high accuracy in Global Navigation Satellite System (GNSS) data processing. The use of Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS) triple frequency observations allows for more accurate detection and repair of cycle slips compared to single or dual frequency. This study presents a moving window global search method by selecting three sets of combined coefficients to construct geometry-free (GF) models to minimize the influence of the ionosphere, using a moving window to update the standard deviation of cycle slip estimation, applying the "3 $$\upsigma$$ σ " criterion to constrain the range, and utilizing a global search method to detect and repair triple-frequency cycle slips. Through five sets of 1 Hz GNSS data experiments, the results demonstrate the effectiveness of this method in determining the position and size of triple-frequency cycle slips while avoiding multi-value problems. The detection success rate for GPS ranges from 98.0 to 100.0%, while BDS ranges from 92.0 to 100.0%. On average, GPS achieves a detection rate of 99.2%, and BDS reaches 96.7%, which is 0.8% and 1.8% higher than the direct rounding method, respectively. Compared to existing methods, it is also effective for the vast majority of small cycle slips within 2 cycles.

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Real-Time Cycle Slip Detection and Repair Method for BDS-3 Five-Frequency Data

Cited by 9 publications

References 24 publications

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

Research on Linear Combination Models of BDS Multi-Frequency Observations and Their Characteristics

GPS/BDS triple-frequency cycle slip detection and repair based on moving window global search method

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