Odometer-Aided Real Time Cycle Slip Detection Algorithm for Land Vehicle Users

摘要

The GNSS technology can be utilized for variousrnapplications and especially for land vehicle applicationrnincluding the car navigation, since it is closely related tornour everyday lives, many researches focus on the aspectrnof safety, for example, collision warning, and monitoringrnvehicles carrying hazardous materials. These researchesrnare generally based on the precise positioning which canrndistinguish lanes on the road and need precise map. Thisrnis because dangerous situations are usually determined byrnthe fact whether a vehicle deviates from its lane or not.rnFor positioning which can distinguish lanes on highway,rncarrier-phase based positioning method, such as RTK andrnNetwork RTK, should be used. However, the positioningrnaccuracy of RTK and Network RTK can be easilyrndegraded by cycle slips in carrier-phase measurements.rnThis paper focuses on a new cycle slip detectionrnalgorithm especially for land vehicle application. The newrncycle slip detection algorithm uses odometer and it can bernapplied to single to multiple frequency receivers. Sincernodometers are already installed in every vehicle, there isrnno need to equip additional INS modules to utilize thisrnalgorithm. The proposed algorithm has no shadow cyclernslips set problem (Song, J. 2010), and can be applied forrnL1 and L2 frequency distinctively.rnIn practice, proposed algorithm can be readily appliedrnto land vehicle users for checking cycle slip detectionrnbefore positioning. Just few lines of programming isrnneeded to implement this algorithm, therefore it can bernused to many land vehicle navigation applications such asrnmonitoring vehicle carrying hazardous materials andrnautonomous driving.