Objectives  The code-phase combination method is often used to detect cycle slips in kinematic single-frequency data, but its detection effect is greatly affected by pseudorange noise. Therefore it is necessary to combine other observations to reduce the effect of pseudorange noise for improving its detection capability.

  Methods  We propose a Doppler integration aided kinematic single-frequency cycle slip detection method, which first uses Doppler observations to smooth the pseudorange observations for reducing the noise of the pseudorange, and then gets epoch-difference values. In this way, we can significantly improve the capability of kinematic single-frequency cycle slip detection. The experiments use real-time dynamic data different sampling rates, altitude angle variations, continuous cycle slips and coarse differences, respectively. The simulated cycle slips of the different cycle are added at different epochs, and the continuous cycle slips are added at adjacent epochs.

  Results  The results show that the proposed method compared with the code-phase combination method and the code-phase combination method based on polynomial fitting can detect all the simulated cycle slips in real time.

  Conclusions  The method of Doppler integration aided kinematic single-frequency cycle slip detection can significantly improve the capability of the single-frequency cycle slips detection.