Abstract
The detection and repair of the cycle slip is a key step for high precision navigation and positioning in indoor environments. Different methods have been developed to detect and repair cycle slips for carrier phase processing. However, most approaches are designed to eliminate the effects of the ionosphere in an outdoor environment, and many of them use pseudorange (code) information that is no longer suitable for indoor multipath environments. In this paper, a method based on the geometry-free combination without the pseudorange data is proposed to detect and fix cycle slips. A ground-based navigation system is built for data collection. Unlike the traditional dual-frequency cycle slip detection method, the Beidou B1, GPS L1 carrier phase combination is used instead of the B1, B2, or L1, L2 carrier phase combination, Ublox is used for data collecting. For fixing the cycle slips quickly, an improved adaptive Particle Swarm Optimization (PSO) algorithm is employed. We compared the performance of the new method with the existing two methods using simulated data in different conditions. The results show that the proposed method has better performance than other methods.
Highlights
The past decade has seen the rapid development of Ground-based positioning systems; it has the potential to deliver sub-centimeter positioning precision indoors using a low-cost receiver [1].By using the GNSS-like signals, Ground-based positioning systems can provide stand-alone positioning services and improve the positioning ability of GNSS, becoming an indispensable part of navigation [2].Ambiguity resolution is a key issue for indoor precise point positioning
We present a new ground-based cycle slip detection and repair method based on carrier phase combination of B1 and L1 frequencies from a single station
Our research aimed to examine the results of the dual-frequency combination of B1 and L1 for cycle slip detection in the indoor multipath environment and investigate the performance of the adaptive weight Particle Swarm Optimization (PSO) algorithm for a cycle slip repair
Summary
The past decade has seen the rapid development of Ground-based positioning systems; it has the potential to deliver sub-centimeter positioning precision indoors using a low-cost receiver [1].By using the GNSS-like signals, Ground-based positioning systems can provide stand-alone positioning services and improve the positioning ability of GNSS, becoming an indispensable part of navigation [2].Ambiguity resolution is a key issue for indoor precise point positioning. The past decade has seen the rapid development of Ground-based positioning systems; it has the potential to deliver sub-centimeter positioning precision indoors using a low-cost receiver [1]. By using the GNSS-like signals, Ground-based positioning systems can provide stand-alone positioning services and improve the positioning ability of GNSS, becoming an indispensable part of navigation [2]. Ambiguity resolution is a key issue for indoor precise point positioning. The occurrence of cycle slips frequently in carrier phase measurements due to multi-path effects in an indoor environment is one issue constantly encountered in achieving high precision. When an unknown integer cycle slip occurs, the integer ambiguity will be biased. Even if the slip is only one cycle, the resultant range error is 19 cm (GPS L1 signal). Accurately detecting and repairing the cycle slips is an important pre-processing step in high precision indoor positioning
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