Optimal Selection of an Inertial Sensor for Cycle Slip Detection Considering Single-frequency RTK/INS Integrated Navigation

Abstract

This paper suggests a methodology for the selection of an inertial sensor for cycle slip detection. The satellite-difference and time-difference residual between the predicted and measured carrier phases is defined as the monitoring value for cycle slip detection. The inertial navigation system (INS) position is used to calculate the predicted observation, and its error mainly contributes to the residual. For one cycle slip detection, the monitoring value residual should be smaller than the threshold. Based on this approach, we derive the maximum permissible position estimation error of the INS to detect one cycle slip. An Earth-centered, Earth-fixed (ECEF) frame-based INS is used for the derivations. Then, we formulate the position estimation error as a function of the inertial sensor specifications using suitable assumptions. Using resulting equation, the optimal inertial sensor can be selected based on the required cycle slip detection performance. To verify the process of optimal IMU selection, simulation data is used. The derived position estimation error of the INS is analyzed carefully, and the monitoring value elicited by the INS error is also investigated. As a result, the selected IMU satisfies the designed cycle slip detection performance within the microelectromechanical systems (MEMS) grade.