Performance Analysis of Hatch Filtering for Cycle Slips Detection in Single Frequency RTK Positioning

Real Time Kinematic (RTK) positioning uses carrier-phase measurements to provide sub-centimeter level positioning accuracy. The accuracy deteriorates, if cycle slips (CS) occur. Currently, CS detection for single frequency RTK receivers is an important research area for mass market applications. This paper implements a Hatch filter based CS detection scheme for single frequency RTK receivers. The technique depends on double-difference code and carrier-phase measurements only and does not require additional information in the form of a dynamic model or external sensors. It is seen that the technique can detect CS on one and multiple instances in a single satellite signal. It can also detect concurrent CS on multiple satellite signals. It is also observed that the minimum detectable size of CS varies for each satellite and is dependent on its elevation angle and SNR.