Effective Cycle Slip Detection and Repair for PPP/INS Integrated Systems

Area of Science:

• Geomatics Engineering
• Navigation Systems
• Signal Processing

Background:

• Cycle slip (CS) is a significant error source in integrated Precise Point Positioning/Inertial Navigation System (PPP/INS) solutions.
• Traditional methods struggle with accuracy and long-term effectiveness due to reliance on pseudorange and accumulated Inertial Navigation System (INS) errors.

Purpose of the Study:

• To develop and validate an INS-aided method for accurate cycle slip detection and repair in PPP/INS.
• To enhance the robustness and convergence speed of PPP/INS solutions, particularly after signal interruptions.

Main Methods:

• Utilized high-precision INS data to create INS-aided wide-lane (WL-INS) and ionospheric-free (IF-INS) models, replacing pseudorange for geometric range removal.
• Developed improved INS-aided models leveraging the long wavelength of the WL combination to fix cycle slips and subsequently evaluate and remove INS errors.
• Tested the method with land vehicle data, including simulated cycle slips and signal interruptions.

Main Results:

• The proposed INS-aided models demonstrated high accuracy in detecting cycle slips.
• The improved models effectively detected and repaired various cycle slips between continuous Global Positioning System (GPS) epochs.
• The method accelerated PPP re-convergence after GPS signal interruptions, proving resilient to inertial accumulation errors.

Conclusions:

• The novel INS-aided approach provides accurate and robust cycle slip detection and repair for PPP/INS.
• This method significantly improves PPP re-convergence performance, especially in scenarios with signal outages and INS error accumulation.