Odometer-Aided Real Time Cycle Slip Detection Algorithm for Land Vehicle Users

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

Abstract:	The GNSS technology can be utilized for various applications and especially for land vehicle application including the car navigation, since it is closely related to our everyday lives, many researches focus on the aspect of safety, for example, collision warning, and monitoring vehicles carrying hazardous materials. These researches are generally based on the precise positioning which can distinguish lanes on the road and need precise map. This is because dangerous situations are usually determined by the fact whether a vehicle deviates from its lane or not. For positioning which can distinguish lanes on highway, carrier-phase based positioning method, such as RTK and Network RTK, should be used. However, the positioning accuracy of RTK and Network RTK can be easily degraded by cycle slips in carrier-phase measurements. This paper focuses on a new cycle slip detection algorithm especially for land vehicle application. The new cycle slip detection algorithm uses odometer and it can be applied to single to multiple frequency receivers. Since odometers are already installed in every vehicle, there is no need to equip additional INS modules to utilize this algorithm. The proposed algorithm has no shadow cycle slips set problem(Song, J. 2010), and can be applied for L1 and L2 frequency distinctively. In practice, proposed algorithm can be readily applied to land vehicle users for checking cycle slip detection before positioning. Just few lines of programming is needed to implement this algorithm, therefore it can be used to many land vehicle navigation applications such as monitoring vehicle carrying hazardous materials and autonomous driving.
Published in:	Proceedings of the 2011 International Technical Meeting of The Institute of Navigation January 24 - 26, 2011 Catamaran Resort Hotel San Diego, CA
Pages:	326 - 335
Cite this article:	Song, J., Park, B., Yun, H., Kee, C., "Odometer-Aided Real Time Cycle Slip Detection Algorithm for Land Vehicle Users," Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 326-335.
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