Abstract
This paper presents a means of carrier phase cycle slip detection for an inertial-aided global positioning system (GPS), which is based on consideration of the satellite geometry. An integrated navigation solution incorporating a tightly coupled time differenced carrier phase (TDCP) and inertial navigation system (INS) is used to detect cycle slips. Cycle-slips are detected by comparing the satellite-difference (SD) and time-difference (TD) carrier phase measurements obtained from the GPS satellites with the range estimated by the integrated navigation solution. Additionally the satellite geometry information effectively improves the range estimation performance without a hardware upgrade. And the covariance obtained from the TDCP/INS filter is used to compute the threshold for determining cycle slip occurrence. A simulation and the results of a vehicle-based experiment verify the cycle slip detection performance of the proposed algorithm.
Highlights
Meter-level positioning accuracy is achieved using pseudorange measurements made with global positioning system (GPS) satellites and is widely used in many types of industry
Inertial sensor data is generated according to the commercial MEMS inertial measurement units (IMU) data specification [26]
ADIS16365 IMU (Analog Devices Inc., Norwood, MA, USA), which is of MEMS grade, was used as the inertial sensor
Summary
Meter-level positioning accuracy is achieved using pseudorange measurements made with GPS satellites and is widely used in many types of industry. Carrier-phase-based positioning is necessary to achieve centimeter-level accuracy, such as Real Time Kinematic (RTK) navigation. Carrier-phase based positioning is being widely studied for application to services demanding high-accuracy positioning, including the navigation of aircraft and land vehicles. Cycle slip detection is one of the most important issues to be overcome when implementing a GPS carrier phase positioning system, because cycle slip occurs very frequently whenever the carrier phase signal is weak. This results in the degradation of the vehicle’s positioning accuracy
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