Abstract
Kinematic Global Positioning System (GPS) is a positioning method that uses carrier phase data to output a highly precise position. In kinematic GPS, the position accuracy might be degraded significantly by cycle slip, i.e., a sudden jump in the carrier phase observation by an integer number of cycles. Methods for detecting cycle slip include a method that uses statistical tests of carrier phase innovations. This method has the merit that the noise of the innovation is small and does not affect the detection performance; however, it has the disadvantage that the movement of the land vehicle degrades the detection performance and causes either undetection and mis-detection. In this study, a dynamic model that includes jerk (i.e., the rate of change of acceleration) is proposed, and based on this model, a cycle slip detection method that corresponds to the movement of a land vehicle is then developed. This method precisely predicts the position of a land vehicle, even when it accelerates and decelerates, and improves the performance of the cycle slip detection. Moreover, the performance of this method is experimentally evaluated using observation data collected with a car.
