CS detection and correction techniques for RTK positioning using single-frequency GNSS receivers: trends and comparison

Nowadays, high-accuracy satellite-based positioning and navigation solutions are obtained using carrier-phase observations together with a differential correction scheme. A slip of only a few carrier-phase cycles can, however, bias observations causing a reduction in position accuracy. Therefore, reliable detection and handling of cycle slips (CSs) is essential for achieving high-accuracy positioning performance. Generally, it is harder to resolve CS in single-frequency observations, but the area deserves attention as differential positioning using low-cost single-frequency receivers is expected to be the key for many emerging mass-market applications. This study reviews and compares CS detection and correction techniques for single-frequency GNSS receivers with respect to their application for low-cost real-time kinematic (RTK) positioning. No prior performance comparison of CS detection and correction techniques exists; thereby, the authors have proposed four parameters to assess performance quality of CS resolution scheme for RTK positioning. Subsequently, an up-to-date list of existing techniques, classified according to the CS detection strategy, is reviewed with respect to measurement model, CS correction approach and test results. The techniques are also analysed for performance quality and it is observed that they do not conform to all parameters. Finally, conclusions are drawn and future research directions are proposed at the end.