Inertial aided cycle slip detection and identification for integrated PPP GPS and INS

The recently developed integrated Precise Point Positioning (PPP) GPS/INS system can be useful to many applications, such as UAV navigation systems, land vehicle/machine automation and mobile mapping systems. Since carrier phase measurements are the primary observables in PPP GPS, cycle slips, which often occur due to high dynamics, signal obstructions and low satellite elevation, must be detected and repaired in order to ensure the navigation performance. In this research, a new algorithm of cycle slip detection and identification has been developed. With the aiding from INS, the proposed method jointly uses WL and EWL phase combinations to uniquely determine cycle slips in the L1 and L2 frequencies. To verify the efficiency of the algorithm, both tactical-grade and consumer-grade IMUs are tested by using a real dataset collected from two field tests. The results indicate that the proposed algorithm can efficiently detect and identify the cycle slips and subsequently improve the navigation performance of the integrated system.