An Inertial Aided Cycle Slip Detection and Identification Method for Integrated PPP GPS/MEMS IMU System

Shuang Du

Abstract:	In recent years, with the advent of the Precise Point Positioning (PPP) GPS, which is able to provide centimetre to decimetre positioning accuracy without the need for a base receiver station, it opens the opportunity to develop a high performance integrated GPS/MEMS IMU system based on only one GPS receiver. The integrated PPP GPS/MEMS IMU system can be useful to many applications, such as UAV navigation systems, land vehicle/machine automation and mobile mapping systems. The carrier phase measurements are the primary observables in the PPP GPS. Before they can be used as the most accurate ranging information, their integer ambiguities must be resolved. Unfortunately, high dynamics, signal obstruction and low satellite elevation may cause so called cycle slips, which would cause a jump on the integer ambiguities and deteriorate the obtainable accuracy if the cycle slips remain undetected. Current methods of cycle slip detection and identification are mostly developed based on the DGPS system, in which the common measurement errors between the base station and the rover station can be easily eliminated. In PPP GPS, as there is only one GPS receiver, the error mitigations can be carried out by using precise GPS products, modeling and estimation. As a result, the cycle slip detection and identification become quite challenging with the presence of the residual errors that cannot be removed by using above methods. In this research, with the aiding from the MEMS IMU, a newly algorithm of cycle slip detection and identification has been developed. The field test indicates that the proposed algorithm can efficiently detect and identify the cycle slips and eventually improves the navigation performance of the integrated system.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	3183 - 3191
Cite this article:	Du, Shuang, "An Inertial Aided Cycle Slip Detection and Identification Method for Integrated PPP GPS/MEMS IMU System," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 3183-3191.
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