GPS Cycle-slip Detection with Low-cost IMU and Single-frequency Receiver of Land Vehicle

Y. Kim, J. Song, H. Yun, B. Park, C. Kee

Abstract:	This paper proposes cycle slip detection algorithm especially for land vehicle application. First, we derive monitoring value for cycle slip detection. We use time difference and satellite difference of carrier phase measurement for deriving monitoring value. As a result of error analysis of monitoring value, we only need precise relative position between GPS epochs for cycle slip detection. Therefore, using inertial sensor data, we estimate relative position between GPS data epochs, 1sec. We can estimate relative position precisely between GPS epochs by using inertial sensors because inertial sensor has a good positioning performance for short duration time. We select inertial sensor performance cost-effectively by using result of our previous works. Second, we decide the threshold value by using cycle slip detection probability analysis. Finally, we conduct performance verification of proposed algorithm by using miniature vehicle experiment. We install sensor module to the miniature vehicle and conduct dynamic experiments for performance verification of proposed cycle slip detection algorithm.
Published in:	Proceedings of the ION 2013 Pacific PNT Meeting April 23 - 25, 2013 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	1032 - 1039
Cite this article:	Kim, Y., Song, J., Yun, H., Park, B., Kee, C., "GPS Cycle-slip Detection with Low-cost IMU and Single-frequency Receiver of Land Vehicle," Proceedings of the ION 2013 Pacific PNT Meeting, Honolulu, Hawaii, April 2013, pp. 1032-1039.
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