Skip to main content
SpringerLink
Log in

Cycle slip detection and repair of undifferenced single-frequency GPS carrier phase observations

  • Original Article
  • Published:
GPS Solutions Aims and scope Submit manuscript

Abstract

Cycle slip detection and repair is an important issue in the GPS data processing. Different methods have been developed to detect and repair cycle slips on undifferenced , single- or double-differenced observations. The issue is still crucial for high-precision GPS positioning, especially for the undifferenced GPS observations. A method is proposed to fix cycle slips based on the generalized likelihood ratio (GLR) test. The method has a good performance on cycle slip fixing of undifferenced carrier phase observations on individual frequencies, either on L1 or on L2, without making a linear combination among the observables. The functional model is a piecewise cubic curve fitted to a number of consecutive data using the least squares cubic spline approximation (LS-CSA). For fixing the cycle slips, an integer estimation technique is employed to determine the integer values from the float solution. The performance of the proposed method is then compared with the existing two methods using simulated data. The results on a few GPS data sets with sampling rate of 1 Hz or higher confirm that this method can detect and correct all simulated cycle slips regardless of the size of the cycle slip or the satellite elevation angle. The efficacy of the method is then investigated on the GPS data sets with lower sampling rates of 5, 10, and 30 s. The results indicate that the proposed method always performs the best for the data sets considered. This is thus an appropriate method for cycle slip detection and repair of single-frequency GPS observations.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4

Similar content being viewed by others

References

  • Amiri-Simkooei AR (2007) Least-squares variance component estimation: theory and GPS applications. Ph.D. thesis, Delft University of Technology, Delft, The Netherlands

  • Amiri-Simkooei AR (2013) On the nature of GPS draconitic year periodic pattern in multivariate position time series. J Geophys Res: Solid Earth 118(5):2500–2511

    Article  Google Scholar 

  • Amiri-Simkooei AR, Asgari J (2012) Harmonic analysis of total electron contents time series: methodology and results. GPS Solut 16(1):77–88

    Article  Google Scholar 

  • Amiri-Simkooei AR, Tiberius CCJM, Teunissen PJG (2007) Assessment of noise in GPS coordinate time series: methodology and results. J Geophys Res 112:B07413

    Article  Google Scholar 

  • Amiri-Simkooei AR, Zaminpardaz S, Sharifi MA (2014) Extracting tidal frequencies using multivariate harmonic analysis of sea level height time series. J Geod 88(10):975–988

    Article  Google Scholar 

  • Amiri-Simkooei AR, Alaei-Tabatabaei S, Zangeneh-Nejad F, Voosoghi B (2016) Stability analysis of deformation-monitoring network points using simultaneous observation adjustment of two epochs. J Surv Eng 143(1):04016020

    Article  Google Scholar 

  • Baarda W (1968) A testing procedure for use in geodetic networks. Technical report, Netherlands Geodetic Commission, publ. on Geodesy, New series, Vol. 2(5), Delft

  • Banville S, Langley RB (2009) Improving real-time kinematic PPP with instantaneous cycle-slip correction. Proc. ION GNSS 2009, Institute of Navigation, Savannah, USA, 22–25 September, 2470–2478

  • Bastos L, Landau H (1988) Fixing cycle slips in dual-frequency kinematic GPS-applications using Kalman filtering. Manuscr Geod 13(4):249–256

    Google Scholar 

  • Blewitt G (1990) An automatic editing algorithm for GPS data. Geophys Res Lett 17(3):199–202

    Article  Google Scholar 

  • Cai C, Liu Z, Xia P, Dai W (2013) Cycle slip detection and repair for undifferenced GPS observations under high ionospheric activity. GPS Solut 17(2):247–260

    Article  Google Scholar 

  • Cederholm JP, Plausinaitis D (2014) Cycle slip detection in single frequency GPS carrier phase observations using expected doppler shift. Nord J Surv Real Estate Res 10:63–79

    Google Scholar 

  • Collin F, Warnant R (1995) Application of wavelet transform for GPS cycle slip correction and Comparison with Kalman Filter. Manuscr Geod 20:161–172

    Google Scholar 

  • Dach R, Lutz S, Walser P, Fridez P (Eds) (2015) Bernese GNSS Software Version 5.2. User manual, Astronomical Institute, Universtiy of Bern, Bern Open Publishing. DOI: 10.7892/boris.72297; ISBN: 978-3-906813-05-9

  • Dai Z, Knedlik S, Loffeld O (2009) Instantaneous triple-frequency GPS cycle-slip detection and repair. Int J Navig Obs. doi:10.1155/2009/407231

    Google Scholar 

  • de Lacy MC, Reguzzoni M, Sansò F, Venuti G (2008) The Bayesian detection of discontinuities in a polynomial regression and its application to the cycle-slip problem. J Geod 82(9):527–542

    Article  Google Scholar 

  • Du S, Gao Y (2012) Inertial aided cycle slip detection and identification for integrated PPP GPS and INS. Sensors 12(11):14344–14362

    Article  Google Scholar 

  • Goad C (1985) Precise positioning with the global position system. In: Proceedings of 3rd international symposium on inertial technology for surveying and geodesy, 745–756

  • Han S (1997) Carrier phase-based long-range GPS kinematic positioning. UNISURV S-49. School of Geomatic Engineering, The University of New South Wales, Kensington

    Google Scholar 

  • Hatch R (1982) The synergism of GPS code and carrier measurements. In: Proceedings of the 3rd international geodetic symposium on satellite doppler positioning, Las Cruces, US, 1213–1231

  • Hofmann-Wellenhof B, Lichtenegger H, Wasle E (2008) GNSS global navigation satellite systems—GPS, GLONASS, Galileo and more. Springer, New York

    Google Scholar 

  • Hu H, Fang L (2009) GPS cycle slip detection and correction based on high order difference and Lagrange interpolation. In 2nd international conference on power electronics and intelligent transportation system, (Shenzhen), 384–387

  • Jazaeri S, Amiri-Simkooei AR, Sharifi MA (2012) Fast integer least-squares estimation for GNSS high-dimensional ambiguity resolution using lattice theory. J Geod 86(2):123–136

    Article  Google Scholar 

  • Kleusberg A, Georgiadou Y, van den Heuvel F, Héroux P (1993) GPS data preprocessing with DIPOP 3.0. Internal technical memorandum, Department of Surveying Engineering, University of New Brunswick, Fredericton, Canada

  • Lee HK, Wang J, Rizos C (2003) Effective cycle slip detection and identification for high precision GPS/INS integrated systems. J Navig 56(3):475–486

    Article  Google Scholar 

  • Li X, Ge M, Dai X et al (2015) Accuracy and reliability of multi-GNSS real-time precise positioning: GPS, GLONASS, BeiDou, and Galileo. J Geod 89(6):607–635

    Article  Google Scholar 

  • Lichtenegger H, Hofmann-Wellenhof B (1989) GPS-data preprocessing for cycle-slip detection. In: Proceedings of Global Positioning System: an overview, IAG Symp., 102, 57–68

  • Liu Z (2011) A new automated cycle slip detection and repair method for a single dual-frequency GPS receiver. J Geod 85(3):171–183

    Article  Google Scholar 

  • Melbourne WG (1985) The case for ranging in GPS based geodetic systems. In: Proceedings of the 1st international symposium on precise positioning with the global positioning system, Rockville, ML, 373–386

  • Miao Y, Sun ZW, Wu SN (2011) Error analysis and cycle-slip detection research on satellite-borne GPS observation. J Aerosp Eng 24(1):95–101

    Article  Google Scholar 

  • Teunissen PJG (1995) The least-squares ambiguity decorrelation adjustment: a method for fast GPS integer ambiguity estimation. J Geod 70(1–2):65–83

    Article  Google Scholar 

  • Teunissen PJG (1998) Success probability of integer GPS ambiguity rounding and bootstrapping. J Geod 72(10):606–612

    Article  Google Scholar 

  • Teunissen PJG (2000a) Adjustment theory: an introduction series on mathematical geodesy and positioning. Delft University Press, Washington, D.C

    Google Scholar 

  • Teunissen PJG (2000b) Testing theory an introduction series on mathematical geodesy and positioning. Delft University Press, Washington, D.C

    Google Scholar 

  • Teunissen PJG, de Bakker PF (2013) Single-receiver single-channel multi-frequency GNSS integrity: outliers, slips, and ionospheric disturbances. J Geod 87(2):161–177

    Article  Google Scholar 

  • Teunissen PJG, Salzmann MA (1989) A recursive slippage test for use in state-space filtering. Manuscr Geod 14(6):383–390

    Google Scholar 

  • Teunissen PJG, Simons DG, Tiberius CCJM (2005) Probability and observation theory. Delft University of Technology, Delft

    Google Scholar 

  • Wu Y, Jin SG, Wang ZM, Liu JB (2009) Cycle slip detection using multi-frequency GPS carrier phase observations: a simulation study. Adv Space Res 46(2010):144–149

    Google Scholar 

  • Wübbena G (1985) Software developments for geodetic positioning with GPS using TI 4100 code and carrier measurements. In: Proceedings of the 1st international symposium on precise positioning with the global positioning system, Rockville, ML, 403–412

  • Xu G (2007) GPS: theory, algorithms and applications, 2nd edn. Springer, Berlin

    Google Scholar 

  • Zhang X, Li X (2012) Instantaneous re-initialization in real-time kinematic PPP with cycle-slips fixing. GPS Solut 16(3):315–327

    Article  Google Scholar 

  • Zhang X, Li P (2016) Benefits of the third frequency signal on cycle slip correction. GPS Solut 20(3):451–460

    Article  Google Scholar 

  • Zhao Q, Sun B, Dai Z, Hu Z, Shi C, Liu J (2014) Real-time detection and repair of cycle slips in triple-frequency GNSS measurements. GPS Solut 19(3):381–391

    Article  Google Scholar 

Download references

Acknowledgements

We would like to acknowledge constructive comments of the editor and two anonymous reviewers, which improved the presentation and quality of this paper.

Author information

Authors and Affiliations

  1. School of Surveying and Geospatial Engineering, Research Institute of Geoinformation Technology (RIGT), College of Engineering, University of Tehran, Tehran, Iran

    F. Zangeneh-Nejad & M. A. Sharifi

  2. Department of Geomatics Engineering, Faculty of Civil Engineering, University of Isfahan, 81746-73441, Isfahan, Iran

    A. R. Amiri-Simkooei & J. Asgari

Authors
  1. F. Zangeneh-Nejad
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. R. Amiri-Simkooei
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. M. A. Sharifi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. J. Asgari
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to F. Zangeneh-Nejad.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zangeneh-Nejad, F., Amiri-Simkooei, A.R., Sharifi, M.A. et al. Cycle slip detection and repair of undifferenced single-frequency GPS carrier phase observations. GPS Solut 21, 1593–1603 (2017). https://doi.org/10.1007/s10291-017-0633-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10291-017-0633-6

Keywords

Search

Navigation