Inertial Aided Cycle Slip Detection and Repair for Integrated Ground-Based High-Positioning Local Positioning System /INS System

摘要

Ground-based High-precision Local Positioning System (GH-LPS) is a ground-based positioning system, it can provide high-precision, high reliability, and high environmental adaptability independently within a limited area. The location services to make up for space-based navigation systems on the ground are limited by many factors. It mainly uses the carrier phase measurement value for positioning. To ensure its stable performance, it is necessary to detect and repair the cycle slip caused by high dynamics, signal impairments, and loss of lock on the signal. Therefore, in this paper, we establish the integration positioning model of Ground-based High-precision Local Positioning System /INS, we propose a method for using the inertial information to assist the Ground-based High-precision Local Positioning System for cycle slip detection. We use the position information predicted by the INS to calculate the cycle slip detection decision, and use the hypothesis test to determine whether the cycle slip occurs and correctly identify the size and position of the occurrence of the cycle slip. The experimental analysis of the simulated and measured scenes validates the performance of the proposed algorithm for cycle slip detection, effectively detects the occurrence of small cycle slip. For the effect of different noise variance, the cycle slip detection method proposed in this paper can also keep the probability of accurate detection of cycle slips above 86%. From the positioning result, detection and repair of cycle slip can improve positioning accuracy by 64%.