Skip to main content
SpringerLink
Log in

An enhanced cycle slip repair algorithm for real-time multi-GNSS, multi-frequency data processing

  • Original Article
  • Published:
GPS Solutions Aims and scope Submit manuscript

Abstract

Cycle slip detection and repair are crucial quality control steps in high-precision global navigation satellite system (GNSS) positioning using carrier phase measurements. Correct detection and repair of cycle slips can avoid repeated integer ambiguity resolution in real-time kinematic (RTK) or long convergence time in precise point positioning (PPP), especially in the context of multi-GNSS and multi-frequency cases. We introduce a generalized procedure for cycle slip detection and repair. The cycle slip detection is carried out using quality control theory on a single satellite–receiver pair. Upon successful detection, integer least-squares estimation is applied to repair the cycle slip vectors. Then if the cycle slips are detected but not repaired, and no cycle slip exists in the coming epochs, an enhanced repair algorithm, which uses measurements over multiple epochs, is developed. The mathematical model for cycle slip repair is strengthened to allow for higher success rate and its implementation is efficiently accomplished using Kalman filter to suit real-time applications. The generalized procedure and the enhanced algorithm for repair are theoretically analyzed for the dual- and triple-frequency cases under different elevations and ionospheric disturbances. Both high- and low-sampling rate MGEX data with artificial cycle slips are processed, and results indicate that the generalized procedure performs well in benign situations and a higher repair success rate is obtained by implementing the enhanced algorithm in extreme conditions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2

Similar content being viewed by others

References

  • Baarda W (1968) A testing procedure for use in geodetic networks. Publications on geodesy, new series 2, vol 5. Netherlands Geodetic Commission, Delft

    Google Scholar 

  • Banville S, Langley RB (2013) Mitigating the impact of ionospheric cycle slips on GNSS observations. J Geod 87(2):179–193

    Article  Google Scholar 

  • Bishop G, Welch G (2001) An introduction to the Kalman filter. In: Proceedings of SIGGRAPH, course 8 (27599-23175)

  • Bisnath SB, Langley RB (2000) Efficient, automated cycle-slip correction of dual-frequency kinematic GPS data. In: Proceedings of ION GPS 2000, Institute of Navigation, Salt Lake City, Utah, USA, September 19–22, pp 145–154

  • Blewitt G (1990) An automatic editing algorithm for GPS data. Geophys Res Lett 17(3):199–202

    Article  Google Scholar 

  • Cai C, Liu Z, Xia P, Dai W (2013) Cycle slip detection and repair for undifferenced GPS observations under high ionospheric activity. GPS Solut 17(2):247–260

    Article  Google Scholar 

  • Dai Z, Knedlik S, Loffeld O (2009) Instantaneous triple-frequency GPS cycle-slip detection and repair. Int J Navig Obs. https://doi.org/10.1155/2009/407231 (Article ID 407231)

    Article  Google Scholar 

  • de Lacy MC, Reguzzoni M, Sanso F (2012) Real-time cycle slip detection in triple-frequency GNSS. GPS Solut 16(3):353–362

    Article  Google Scholar 

  • Euler HJ, Schaffrin B (1991) On a measure for the discernibility between different ambiguity solutions in the static-kinematic GPS-mode. In: Schwarz KP, Lachapelle G (eds) Kinematic systems in geodesy, surveying and remote sensing. International association of geodesy symposia, vol 107. Springer, New York

    Google Scholar 

  • Gao Y, Li Z (1999) Cycle slip detection and ambiguity resolution algorithms for dual-frequency GPS data processing. Mar Geod 22(4):169–181

    Google Scholar 

  • Gurtner W (2009) RINEX—the receiver independent exchange format version 3.01. Astronomical Institute, University of Bern, Bern

    Google Scholar 

  • Hatch R (1983) The synergism of GPS code and carrier phase measurements. In: International geodetic symposium on satellite Doppler positioning, 3rd, Las Cruces, New Mexico State University, February 8–12, pp 1213–1231

  • Knight NK, Wang J, Rizos C (2010) Generalised measures of reliability for multiple outliers. J Geod 84(10):625–635

    Article  Google Scholar 

  • Li T, Melachroinos (2016) Real-time cycle slip detection and repair for network multi-GNSS, multi-frequency data processing. In: Proceedings of international global navigation satellite systems (IGNSS), Sydney, December 6–8

  • Li T, Wang J (2014) Analysis of the upper bounds for the integer ambiguity validation statistics. GPS Solut 18(1):85–94

    Article  Google Scholar 

  • Li B, Qin Y, Li Z, Lou L (2016) Undifferenced cycle slip estimation of triple-frequency BeiDou signals with ionosphere prediction. Mar Geod 39(5):348–365

    Article  Google Scholar 

  • Liu Z (2011) A new automated cycle slip detection and repair method for a single dual-frequency GPS receiver. J Geod 85(3):171–183

    Article  Google Scholar 

  • Melbourne W (1985) The case for ranging in GPS based geodetic systems. In: Proceedings of first international symposium on precise positioning with global positioning system, Rockville, April 15–19, pp 373–386

  • Montenbruck O, Steigenberger P, Khachikyan R, Weber G, Langley RB, Mervart L, Hugentobler U (2014) IGS-MGEX: preparing the ground for multi-constellation GNSS science. Inside GNSS 9(1):42–49

    Google Scholar 

  • Rao CR (1973) Linear statistical interference and its applications. Wiley, New York

    Book  Google Scholar 

  • Takasu T, Yasuda A (2009) Development of the low-cost RTK-GPS receiver with an open source program package RTKLIB. In: International symposium on GPS/GNSS, 2009, International Convention Centre, Jeju, Korea

  • Teunissen PJG (1995) The least-squares ambiguity decorrelation adjustment: a method for fast GPS integer estimation. J Geod 70(1–2):65–82

    Article  Google Scholar 

  • Teunissen PJG (1999) An optimality property of the integer least-squares estimator. J Geod 73(11):587–593

    Article  Google Scholar 

  • Teunissen PJG (2003) Integer aperture GNSS ambiguity resolution. Artif Satell 38(3):79–88

    Google Scholar 

  • Teunissen PJG, de Bakker PF (2013) Single-receiver single-channel multi-frequency GNSS integrity: outliers, slips, and ionospheric disturbances. J Geod 87(2):161–177

    Article  Google Scholar 

  • Verhagen S, Li B, Teunissen PJG (2013) Ps-LAMBDA: ambiguity success rate evaluation software for interferometric applications. Comput Geosci 54:361–376

    Article  Google Scholar 

  • Wang J, Steward MP, Tsakiri M (1998) A discrimination test procedure for ambiguity resolution on-the-fly. J Geod 72(11):644–653

    Article  Google Scholar 

  • Wübbena G (1985) Software developments for geodetic positioning with GPS using TI-4100 code and carrier measurements. In: Proceedings of 1st international symposium on precise positioning with global positioning system, Rockville, Maryland, USA, April 15–19, pp 403–412

  • Zhang X, Li P (2016) Benefits of the third frequency signal on cycle slip correction. GPS Solut 20(3):451–460

    Article  Google Scholar 

  • Zhao Q, Sun B, Dai Z, Hu Z, Shi C, Liu J (2015) Real-time detection and repair of cycle slips in triple-frequency GNSS measurements. GPS Solut 19(3):381–391

    Article  Google Scholar 

Download references

Acknowledgements

This research has been supported by the Cooperative Research Centre for Spatial Information (CRC-SI), whose activities are funded by the Business Cooperative Research Centres Programme (Grant no. 1.14). The International GNSS Service (IGS) Multi-GNSS Experiment (MGEX) station providers are also acknowledged. We thank Dr John Dawson and Professor Thomas Herring for their valuable comments and suggestions. Discussions with Dr Balwinder Arora have also been helpful.

Author information

Authors and Affiliations

  1. Geoscience Australia, Canberra, Australia

    Tao Li & Stavros Melachroinos

  2. Cooperative Research Centre for Spatial Information, Melbourne, Australia

    Tao Li

Authors
  1. Tao Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Stavros Melachroinos
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Tao Li.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Li, T., Melachroinos, S. An enhanced cycle slip repair algorithm for real-time multi-GNSS, multi-frequency data processing. GPS Solut 23, 1 (2019). https://doi.org/10.1007/s10291-018-0792-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10291-018-0792-0

Keywords

Search

Navigation