Abstract: In order to improve the navigation performance and robustness, a GPS/INS tightly coupled model has been developed, the INS related bias and ionospheric errors were compensated and corrected, the impact of combination observations on cycle slip detection was investigated, and four combinations with the characteristics of longer wavelength, smaller noise and lower ionosphere effect were determined, then an innovative inertial aided adaptive cycle slip detection and correction algorithm based on the selected combination observations was presented, and the impact of INS positioning errors on cycle slip detection has been investigated, the probability of false alarm and success rate of cycle slip correction were utilized to enhance the integrity of cycle slip detection and correction, a new threshold determination criterion was provided to achieve robust cycle slip detection and correction. At last, a field test was utilized to verify and evaluate the performance of the proposed algorithm, multi-cycle slips and GPS gap scenarios were simulated, the results show that the scheme works effectively as long as the complete GPS data outage period is less than 20 second, the performance degrades as the outage period becomes longer; while during the partial data outage durations, the proposed scheme can fix the cycle slips correctly for the simulated 90 second partial outage due to the improved positioning accuracy, a total of 170 dense cycle slips (1 slip per 5 epochs)were introduced, it shows that all introduced cycle slips are successfully detected and the true fixing rate reaches 99.41%.

Key words: inertial aided, cycle slip, detection and correction, GPS/INS, tight coupling