Cycle Slip Detection of Single-Frequency Measurements in Drone Platforms

Abstract

For the precise operation of Unmanned Aerial Vehicles (UAV), Real-Time Kinematic (RTK) techniques of Global Navigation Satellite System (GNSS) have been used as a positioning source. In a typical drone platform with a low-cost multi-frequency receiver, there are several dual-frequency measurements and a small set of single-frequency measurements at one time. In this paper, considering the measurement characteristics, we introduce a novel method that aims to detect a cycle slip of a small set of single-frequency measurements using dual-frequency measurements of other satellites. The performance of the proposed single-frequency cycle slip detection methods is compared with a conventional Doppler-based approach using flight test data of a drone platform.

Keywords

• cycle slip detection
• GNSS
• drone flight test