This paper presents robust wheeled mobile robot (WMR) navigation through smartphone inertial-aided cycle-slip detection & compensation. To achieve cm-level accuracy, GPS carrier-phase measurement is adopted. Since the measured carrier contains ambiguous integers, cycle-slip detection and compensation must be preempted for robust navigation. For cost efficiency, smartphone inertial measurement unit (IMU) aided method is utilized, which enables cycle slip detection with just single frequency GPS receiver for dynamic user. For simplification and computation efficiency, 2D GPS/INS integration filter is adopted. To overcome the limitations of low-cost IMU and 2D assumptions, calibration and bias estimation is carried out. Outdoor environment experiment was conducted to verify the suggested navigation algorithm. The result showed that the method successfully detected and compensated onecycle slip, enabling robust navigation.

Keywords: GPS, cycle slips, smartphone IMU, 2D GPS/INS integrated navigation