Abstract
This paper addresses solutions to the challenges of carrier phase integer ambiguity resolution and cycle slip detection/identification, for maintaining high accuracy of an integrated GPS/Pseudolite/INS system. Such a hybrid positioning and navigation system is an augmentation of standard GPS/INS systems in localized areas. To achieve the goal of high accuracy, the carrier phase measurements with correctly estimated integer ambiguities must be utilized to update the system integration filter’s states. The occurrence of a cycle slip that is undetected is, however, can significantly degrade the filter’s performance. This contribution presents an effective approach to increase the reliability and speed of integer ambiguity resolution through using pseudolite and INS measurements, with special emphasis on reducing the ambiguity search space. In addition, an algorithm which can effectively detect and correct the cycle slips is described as well. The algorithm utilizes additional position information provided by the INS, and applies a statistical technique known as the cumulative-sum (CUSUM) test that is very sensitive to abrupt changes of mean values. Results of simulation studies and field tests indicate that the algorithms are performed pretty well, so that the accuracy and performance of the integrated system can be maintained, even if cycle slips exist in the raw GPS measurements.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Altmayer, C. (2000). “Enhancing the integrity of integrated GPS/INS system by cycle slip detection and correction.”Proc. the IEEE Intelligent Vehicles Symposium, Dearborn, Miami, pp. 174–179.
Bar-Itzhak, I. and Berman, N. (1988) Control theoretic approach to Inertial Navigation System.Journal of AIAA Guidance, Control, and Dynamics, Vol. 11, No. 3, pp. 237–245.
Bassevile, M. (1998). “Detecting changes in signals and systems—a survey.”Automatica, Vol. 24, No. 3, pp. 309–326.
Basseville, M. and Nikiforov, V. (1993).Detection of Abrupt Changes-Theory and Applications, Prentice Hall, New Jersey, pp. 441.
Counselman, C.C. and Abbot, R. (1989). “Method of Resolving radio phase ambiguity in satellite orbit determination.”J. Geophysical Research, Vol. 94, pp. 7058–7064.
De Jonge, P.J. and Tiberuis, C.C.J.M. (1996).The LAMBDA Method for Integer Ambiguity Estimation: Implementation Aspects, Delft Geodetic Computing Center LGR Series, No. 12, Delft University of Technology, pp. 49.
Farrell, R.A. and Barth, M. (1998).The Global Positioning System & Inertial Navigation and Integration. McGraw-Hill, New York, pp. 340.
Han, S. (1997).Carrier phase-Based Long-Range GPS Kinematic Positioning, PhD Dissertation, School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, Australia, pp. 185.
Hawkins, M.D. and Olwell, D.H. (1998).Cumulative Sum Charts and Charting for Quality Improvement (Statistics for engineering and physical science), Berlin/Heidelberg: Springer Verlag, pp. 247.
Hofmann-Wellenhof, Lichtenegger, B.H., and Collins, J. (2001).GPS Theory and Practice, 5th Edition, Springer-Verlag, Wien, pp. 382.
Lee, H.K., Wang, J., Rizos, C., and Grejner-Brazezinska, D. (2002). “GPS/Pseudlite/INS integration: Concept and first tests.”GPS Solutions, Vol. 6, No. 1-2, pp. 34–46.
Lee, H.K. (2002). “GPS/Pseudolite/SDINS integration approach for kinematic applications.”Proc. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, pp. 1464–1473.
Lee, H.K., Wang, J., Rizos, C., Li, B., and Park, W.Y. (2003). “Effective cycle slip detection and identification for high accuracy integrated GPS/INS positioning. “Proc. 6th Int. Symp. on Satellite Navigation Technology Including Mobile Positioning & Location Services, Melbourne, Australia, CD-Rom Proc., pp. 43.
Mertikas, S.P. (2001) “Automatic and on-line detection of small but persistent shifts in GPS station coordinates and statistical process control.”GPS Solutions, Vol. 5, No. 1, pp. 39–50.
Mertikas, S.P. and Rizos, C. (1997). “Online detection of abrupt changes in the carrier phase measurements of GPS.”J. Geodesy, Vol. 71, pp. 469–482.
Rizos, C. (1996).Principles and Practice of GPS Surveying, School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, Australia, pp. 555.
Rizos, C. (1999).Quality Issues in Real-time GPS Positioning, Final Report of the IAG SSG 1.154, (http://www.gmat.unsw.edu.au/ssg_RTQC/ssg_rtqc.pdf).
Savage, P.G. (2000).Strapdown Analytics: Part 1, Strapdown, Associates, Inc., pp. 773.
Teunissen, P.J.G. (1993), “A new method for fast carrier phase ambiguity estimation.”Proc. IEEE Position, Location and Navigation Symp.: PLANS 94, Las Vegas, pp. 562–573.
Teunissen, P.J.G. (1997). “A canonical theory for short GPS baselines (Part I–IV).”J. Geodesy, Vol. 71, pp. 320–336, 389–401, 486–501, 513–525.
Wang, J., Stewart, M.P., and Tsakiri, M., (1998). “A discrimination test procedure for ambiguity resolution on-the-fly.”J. Geodesy, Vol. 72, pp. 644–653.
Wang, J. (1999).Modelling and Quality Control for Precise GPS and GLONASS Satellite Positioning, PhD Dissertation, Curtin University of Technology, Perth, Australia, pp. 171.
Wang, J., Lee, H.K., Hewitson, S, Rizos, C., and Barnes, J. (2003). “Sensitivity analysis for GNSS integer carrier phase ambiguity validation test.”XXIIIth General Assembly of the IUGG, Sapporo, Japan.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Lee, HK., Park, WY. High accuracy of GPS/Pseudolite/INS integration: Carrier phase measurement processing issues. KSCE J Civ Eng 9, 261–270 (2005). https://doi.org/10.1007/BF02829040
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF02829040