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Open AccessArticle

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

State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China
Key Laboratory of Optoelectronic Technology and Systems of the Ministry of Education of China, Chongqing University, Chongqing 400044, China
College of Aerospace Engineering, Chongqing University, Chongqing 400044, China
Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China
Department of Remote Sensing and Photogrammetry and the Center of Excellence in Laser Scanning Research, Finnish Geospatial Research Institute, Masala 02430, Finland
School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
Qianxun Spatial Intelligence Inc, Shanghai 200438, China
Author to whom correspondence should be addressed.
Sensors 2019, 19(3), 502;
Received: 24 December 2018 / Revised: 20 January 2019 / Accepted: 22 January 2019 / Published: 25 January 2019
(This article belongs to the Section Remote Sensors, Control, and Telemetry)
Cycle slip (CS) is a primary error source in Precise Point Positioning/Inertial Navigation System (PPP/INS) integrated systems. In this study, an INS-aided CS detection and repair method is presented. It utilizes high-precision INS information instead of a pseudorange to remove the satellite–receiver geometric range in the wide-lane (WL) and ionospheric-free (IF) phase combinations and creates an INS-aided WL (WL-INS) model and an INS-aided IF (IF-INS) model. Since INS information is superior to pseudorange, the INS-aided models have high detection accuracy. However, the effectiveness of INS-aided models cannot persist for a long time because of INS accumulation error. To overcome the disturbance of INS error, improved INS-aided models are proposed. This idea takes advantage of the long wavelength of WL combination and tries to fix WL CS. Once it succeeds, the INS error can be evaluated and removed. The proposed method was tested using land vehicle data, in which simulated cycle slips and signal interruption were introduced. The results show that this method can accurately detect and repair different cycle slips between the continuous Global Positioning System (GPS) epoch. When it comes to the cycle slip after a GPS interruption, the method can also accelerate PPP re-convergence, as it is not affected by the inertial accumulation error. View Full-Text
Keywords: PPP; INS; cycle slip; detection and repair PPP; INS; cycle slip; detection and repair
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Yang, S.; Li, L.; Liu, J.; Chen, Q.; Ding, X.; Sun, H.; Wu, Y.; Ren, C.; Hu, N. Effective Cycle Slip Detection and Repair for PPP/INS Integrated Systems. Sensors 2019, 19, 502.

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