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Real-Time Cycle Slip Detection in Single-Frequency GNSS Receivers Using Dual-Index Cross-Validation and

Mireia Carvajal Librado1,2, Kwan-Dong Park1,2,3

  • 1Department of Electrical and Computer Engineering, Inha University, 100 Inha-ro, Incheon 22212, Republic of Korea.

Sensors (Basel, Switzerland)
|October 16, 2025
PubMed
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This study presents a new real-time cycle slip detection algorithm for single-frequency Global Navigation Satellite System (GNSS) receivers. The method accurately identifies cycle slips using pseudorange and carrier-phase measurements without extra data.

Area of Science:

  • Geomatics Engineering
  • Satellite Navigation Systems
  • Signal Processing

Background:

  • Cycle slips in carrier-phase measurements are a major obstacle for single-frequency GNSS receivers, especially in real-time scenarios.
  • Single-frequency receivers lack the redundant measurements of dual-frequency systems to easily detect cycle slips.
  • Rapid and reliable cycle slip detection is crucial for the integrity of GNSS positioning.

Purpose of the Study:

  • To develop and validate a real-time cycle slip detection algorithm for single-frequency GNSS receivers.
  • To achieve high detection accuracy and minimize false positives without external data.
  • To provide a robust solution for applications requiring precise real-time GNSS data.

Main Methods:

  • A novel algorithm utilizing short-term differencing of pseudorange and carrier-phase observables.
Keywords:
GNSSGPScycle slipreal-timesingle-frequency

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  • A two-step detection logic involving first-order differencing of code-minus-carrier and second-order differencing of carrier phase.
  • Implementation of satellite elevation-dependent adaptive thresholds for robust performance across various signal conditions.

    • Main Results:

    • The algorithm demonstrated over 98% detection accuracy for cycle slips larger than 10 cycles in experimental tests.
    • Achieved zero false positives during artificial slip testing, indicating high reliability.
    • Showed 87.93% agreement with receiver Loss of Lock Indicators (LLI) during periods of signal instability.

    Conclusions:

    • The proposed algorithm offers an effective, real-time solution for cycle slip detection in single-frequency GNSS receivers.
    • It operates independently of user position, receiver flags, or additional sensors, simplifying integration.
    • The method provides a robust and accurate tool for improving the reliability of single-frequency GNSS applications.