Cycle-slip Detection and Repair Using a Low Cost Single Frequency Receiver with Inertial- aiding
Résumé
The general objective of this paper is to investigate the navigation performance one can expect from a low-cost architecture (single-frequency receiver with low-cost IMU) using carrier phase measurements in an urban canyon, where the frequency of occurrence of strong multipath environment, masking, Non-Line-of-Sight (NLOS) signal tracking, interference, etc.… is quite high and hard to mitigate. On the GNSS side, a multi-constellation Real-Time-Kinematic (RTK) methodology is developed to take good care of frequent measurement losses and carrier-phase cycle slips. Then to take advantage of the complementary advantages of GNSS and INS, a closed-loop tightly coupled GNSS/INS structure with a low-cost Micro Electro-Mechanical Systems (MEMS) is applied to enhance the performance. The proposed algorithm is finally tested based on data collected on the Toulouse semi-urban area as well as Toulouse city center.
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