Cycle Slip Correction and Rapid Re-convergences with Inertial Aiding for Precise Point Positioning Based on Geometry-specified Model

The loss of lock and cycle slip on GNSS signals occurs frequently in the GPSdenied environment where re-initialization forprecise point positioning (PPP)is usually required.It results in degrading theaccuracyand reliability of PPP. In this paper, an inertial aiding and geometry-specified cycle repair model is applied in PPP／SINS tightly coupled integration. The proposed model using uncombined observations builds the time-differenced carrier phase equations, which cycle slips are estimated and the displacement from inertial is treated as virtual observation for adjustment. When the cycle slips are fixed to correct integers, the original carrier phases are repaired accordingly to keep continues positioning with high precision. Two tests including vehicle and airborne data are analyzed to validate the proposed method. The results show that inertial aiding could accelerate PPP re-convergences significantly and success to repair cycle slips.