Cycle Slip Detection and Repair Using an Array of Receivers with Known Geometry for RTK Positioning

Currently, precise position information is a certain requirement for many application scenarios. The GNSS carrier phase measurements appear mandatory to satisfy the sub-meter or even centimeter-level for these high precision navigation and positioning requirements. To achieve this level of accuracy, the ambiguity of carrier phase measurements must be correctly resolved and maintained, and the cycle slip must be correctly repaired. In this paper, we firstly use multiple receivers with known geometry to ameliorate the performance of the RTK positioning and cycle slip detection and repair process in different environments by taking advantage of the doubled number of observations. We demonstrate through different simulated scenarios that we can detect the occurrence of cycle slip more accurately and timely. The simulations results show that our multi-receiver RTK system is more robust to cycle slips with a higher rate of occurrence or lower size, and also to harsh measurement noise, in terms of ambiguity fixing rate. Overall, better positioning accuracy is obtained under the same conditions when comparing with the single receiver system.