基于自适应阈值的北斗三频周跳探测与修复方法

针对单频多普勒积分法中周跳检测量噪声大，且动态环境下固定阈值不能反映实际周跳检测量噪声的问题，设计了北斗三频多普勒积分组合法，基于滑动窗口和高度角信息构建了自适应阈值模型；联合无几何相位法对北斗三频数据进行周跳探测，以解决三频多普勒积分组合法存在不敏感周跳的问题；采用空间搜索法对周跳组合进行解算，并遵循最小1-范数原则，对北斗三频周跳进行检验修复。实验结果表明：在动态环境下，自适应阈值降低了中、低仰角卫星的周跳误探次数，该方法可探测出包括1周在内的所有周跳组合并正确修复。

Beidou Triple-frequency Cycle Slip Detection and Repair Method Based on Adaptive Threshold

During the cycle slip detection, the detection values of single-frequency Doppler integration method are noisy, and the fixed threshold cannot reflect the noise of actual detection values in dynamic environment. To solve these problems, a Beidou triple-frequency Doppler integration combination method was designed, and an adaptive threshold model was constructed based on the sliding window and elevation angle information. The geometry-free phase combination method was combined to detect the cycle slip of the Beidou triple-frequency data, in order to solve the problem that triple-frequency Doppler integration combination method has insensitive cycle-slips. The space search method was used to solve the combinations of cycle slips, and the cycle slips were checked and repaired according to the principle of minimum 1-norm. The results show that, in dynamic environment, the adaptive threshold reduces misjudgments in cycle slip detection of medium and low elevation satellites. All combinations of cycle slips including one cycle can be detected and repaired correctly with this method.