Abstract:  Aiming at the problem that the traditional code-carrier phase cycle detection method is applied to single frequency RTK, which is not sensitive to small cycle slips and is susceptible to observation noise, the thesis presents a single frequency cycle slip detection method with Doppler observations supporting. And this method combines two consecutive epochal Doppler observations with carrier phase difference observations to construct a Doppler-carrier phase difference sequence for real-time cycle slip detection. Then the hypothesis-test method is applied to detect whether there is a cycle slip in the single frequency carrier phase observations. Finally, the measured data shows that the method proposed in the thesis can accurately detect the small cycle slips in the single frequency carrier phase observation data, and the detection sensitivity of the method is higher than that of the traditional code-phase difference sequence method, which is suitable for single frequency RTK positioning technology.