中国空间科学技术

中国空间科学技术 ›› 2023, Vol. 43 ›› Issue (4): 120-125.doi: 10.16708/j.cnki.1000-758X.2023.0060

• 论文 • 上一篇    下一篇

基于卡尔曼滤波平滑多普勒值的单频周跳探测方法

武威1，2，刘荟萃2，曹建峰2，鞠冰2，王潜心1，吴志远1   

  1. 1 中国矿业大学 环境与测绘学院，徐州221116
    2 北京航天飞行控制中心，北京100094
  • 发布日期:2023-07-18 出版日期:2023-08-25

Single frequency cycle slip detection based on Kalman filter smoothed Doppler observation

WU Wei1，2，LIU Huicui2，CAO Jianfeng2，JU Bing2，WANG Qianxin1，WU Zhiyuan1   

  1. 1 School of Environment and Geo-Informatics，China University of Mining and Technology，Xuzhou 221116，China
    2 Beijing Aerospace Control Center，Beijing 100094，China
  • Online:2023-07-18 Published:2023-08-25

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摘要： 针对高轨卫星搭载的GNSS单频接收机观测值精度低导致多普勒法难以准确探测周跳的问题，提出了基于卡尔曼滤波平滑多普勒值的单频周跳探测方法。首先使用卡尔曼滤波平滑多普勒观测值，以降低观测噪声的影响，然后联合使用平滑后的多普勒值和载波相位观测值按照传统多普勒法计算周跳探测量，并对其进行历元间差分，从而降低系统误差，提高周跳检出率。实验使用探月三期再入返回试验任务中月地转移段返回舱接收到的GNSS观测数据，结果证明提出的方法相比传统的多普勒法可以在低信噪比的环境下更准确地进行周跳探测，可为后续高轨卫星的GNSS搭载试验提供技术支撑。

关键词: 全球导航定位系统, 高轨卫星, 单频周跳探测, 多普勒观测值, 卡尔曼滤波

Abstract: To solve the problem that the Doppler method cannot detect the cycle slips due to the low observation accuracy of the single-frequency GNSS receivers on high earth orbit（HEO）satellites，a cycle slip detection method based on the Kalman filter smoothed Doppler observations was proposed.Firstly，the Doppler observations were smoothed by Kalman filtering to reduce the influence of noise.Then，the smoothed Doppler observations and carrier phase observations were adopted by Doppler method to calculate the cycle-slip detection value which should be differenced between epochs to improve the cycle-slip detection rate.The GNSS observations data received by CE-5T1 mission return vehiclse were used.The proposed method can detect the cycle slips more accurately than the traditional Doppler method in a low signaltonoise environment，which can support the future GNSS experiments on HEO satellites.

Key words: GNSS, HEO, single frequency cycle slip detection, Doppler observation, Kalman filter