A method for the repair of cycle slip using double-differenced velocity estimation for GNSS RTK positioning

Abstract Due to the disturbances along the signal path, it’s inevitable that the loss of lock or data interruption interval of a few satellites reach to decades of seconds or even minutes. It will be difficult to recover data and evaluate cycle slips after a long gap in real time kinematic (RTK) positioning. A double-differenced (DD) velocity estimation method is proposed for the repair of cycle slip in RTK positioning, assuming available of fixed coordinate solutions for the previous epoch. We achieve the precise coordinate solution of the current epoch by using triple-differenced (TD) combinations. The dual-frequency observed minus computed (OMC) combinations are then calculated by using the observations and coordinate solutions. The differenced OMC values between two epochs are used to repair cycle slips. Two kinematic experiments carried out to evaluate the performance of the proposed method are for velocities less than 2 m s−1 for a boat and about 10 m s−1 for a vehicle. The averaged distance of boat and vehicle relative to the reference are about 11 km and 24.5 km, respectively. The experimental results of the boat case indicate that all cycle slips are corrected within 0.25 cycles even though sampling interval reaches to 120 s. The cycle slips fixing uncertainty is close to 0.3 cycles for a sampling interval of 30 s and 60 s vehicle experiments. As the sampling interval increases to 90 s and 120 s, the uncertainty rises to 0.35 cycles for the vehicle-dynamic vehicle experiment.

[1]  Yidong Lou,et al.  A cycle slip fixing method with GPS + GLONASS observations in real-time kinematic PPP , 2015, GPS Solutions.

[2]  M. C. Lacy,et al.  The Bayesian detection of discontinuities in a polynomial regression and its application to the cycle-slip problem , 2008 .

[3]  Fernando Sansò,et al.  Real-time cycle slip detection in triple-frequency GNSS , 2011, GPS Solutions.

[4]  Xiaohong Zhang,et al.  An improved robust Kalman filtering strategy for GNSS kinematic positioning considering small cycle slips , 2017 .

[5]  Otmar Loffeld,et al.  Instantaneous Triple-Frequency GPS Cycle-Slip Detection and Repair , 2009 .

[6]  Chris Rizos,et al.  Effective Cycle Slip Detection and Identification for High Precision GPS/INS Integrated Systems , 2003, Journal of Navigation.

[7]  Pan Li,et al.  Benefits of the third frequency signal on cycle slip correction , 2016, GPS Solutions.

[8]  Yanyan Liu,et al.  A double-differenced cycle slip detection and repair method for GNSS CORS network , 2015, GPS Solutions.

[9]  Geoffrey Blewitt,et al.  An Automatic Editing Algorithm for GPS data , 1990 .

[10]  Yidong Lou,et al.  A study of multi-GNSS ionospheric scintillation and cycle-slip over Hong Kong region for moderate solar flux conditions , 2017 .

[11]  Yang Gao,et al.  Inertial Aided Cycle Slip Detection and Identification for Integrated PPP GPS and INS , 2012, Sensors.

[12]  Qile Zhao,et al.  Real-time detection and repair of cycle slips in triple-frequency GNSS measurements , 2015, GPS Solutions.

[13]  Zhiping Lu,et al.  A new triple-frequency cycle slip detecting algorithm validated with BDS data , 2015, GPS Solutions.

[14]  Zhizhao Liu,et al.  A new automated cycle slip detection and repair method for a single dual-frequency GPS receiver , 2011 .

[15]  Shuanggen Jin,et al.  Cycle slip detection using multi-frequency GPS carrier phase observations: A simulation study , 2010 .

[16]  Wujiao Dai,et al.  Cycle slip detection and repair for undifferenced GPS observations under high ionospheric activity , 2013, GPS Solutions.

[17]  R. Fang,et al.  Real-time high-precision earthquake monitoring using single-frequency GPS receivers , 2014, GPS Solutions.

[18]  Hui Liu,et al.  A Geometry-Based Cycle Slip Detection and Repair Method with Time-Differenced Carrier Phase (TDCP) for a Single Frequency Global Position System (GPS) + BeiDou Navigation Satellite System (BDS) Receiver , 2016, Sensors.