Failure controllable cycle slip detection and repair method using Doppler observations on a standalone GNSS receiver

Abstract Cycle slip detection and repair are of great significance in achieving high-precision positioning with carrier phase observations. Because incorrect cycle slip detection and repair will adversely affect the positioning performance, a failure controllable cycle slip detection and repair method is proposed. The method constructs a geometry-free combination by using high-rate Doppler observations and eliminating the integer terms as statistics. Then, the narrowing domain is adaptively determined based on the quality of observations to tightly control the failure probability of cycle slip detection and repair. The factors influencing the quality of observation are systematically analyzed, and a scheme for determining the standard deviation through Gaussian fitting of historical data is presented. To evaluate the performance of the proposed method, the data collected by the Ublox M8T receiver is utilized with simulation of one-cycle slip. The results indicate that when Pfa, req and Pmd, req are set to 10-3, the traditional method fails to meet the requirements. However, for the proposed method, Pfa reaches 0.014% and Pmd reaches 0.006%, both of which meet the user requirements. Furthermore, Psuccess of the proposed method reaches 99.991%, exceeding that of the traditional method by 0.429%.