Real Time Cycle Slip Detection Based on Jarque-Bera Test Using Bi-differences of Code and Phase

A real time cycle slip detection method is proposed based on Jarque-Bera test for testing the normality of slip parameter in epoch window,which constructed by bi-differences of pseudo range and carrier phase observations.Real time cycle slip detection tests are analyzed with GPS static observation data and on-board GPS dynamic data.The results indicate that the algorithm can detect outliers in real time,and provide the base of data quality controlling for real time precision orbit determination and positioning.