Low latency cycle slip determination for ultra-high sampling rate kinematic GNSS measurement

For high-speed and high-sampling-rate continuous real-time dynamic (RTK) positioning, fast cycle slip detection plays an important role. In this paper, based on the noise characteristics of ultra-high sampling rate data and the modified geometry-free (MGF) combination, a low-latency cycle slip determination method is proposed for kinematic GNSS data, named OMGF. Based on the noise characteristics of high sampling rate observation, cycle slips are preliminarily repaired by the pseudo-phase combination, and then MGF is used to perform secondary repair on the initial repair results. This paper deduces the success rate of OMGF cycle slip repair for pseudorange and carrier phase observations with different noise levels for different satellite systems, and the observation noise boundary conditions for OMGF method. OMGF method only needs the observation of a single satellite to detect and repair cycle slip, and extend the accuracy requirement of pseudorange observation for cycle slip determination. The experiment results with 20 Hz GPS/BDS/GLONASS measurements show that, the success rate of OMGF method is about 99.998%. Compared with the combination of GF and HMW, OMGF method is about 60 times faster. OMGF can perform cycle slip determination at low complexity and high calculation efficiency, which is beneficial for the mobile terminal with limited computing power resources to quickly process ultra-high sampling rate GNSS data online