Carrier phase integer ambiguities must be determined for BDS-3/inertial navigation system (INS) tightly coupled (TC) integration to achieve centimetre-level positioning accuracy. However, cycle slip breaks the consistency of the integer ambiguities. Conventional multi-frequency cycle slip methods use the pseudorange; thus, requiring improvement when applied to kinematic situations. Furthermore, a concise and nonprior information-dependent model is crucial for real-time processing. In this study, an inertial-aided BDS-3 cycle slip detection and repair (I-CDR) method was developed. First, a BDS-3/INS TC model with I-CDR was created. The ionospheric delays were modelled as part of the TC states; therefore, they could be estimated and eliminated. Investigations were conducted on the effects of carrier phase noise, residual ionosphere delay, and INS-predicted position error on combined cycle slip detection (CCD) accuracy. The optimal CCDs under various frequency available configurations were determined. The effectiveness of I-CDR was demonstrated using land vehicle test data. The false alarm ratio was less than 1.0%, and the missed detection ratio was almost zero even in situations with challenging abundant 1-cycle slips in random epochs. Furthermore, the right determination ratio reached 100%. In addition, BDS-3 signal loss-recovery cases were simulated, and all cycle slips for all satellites could be repaired within 40s. I-CDR exhibits outstanding cycle slip detection and repair performance for dense 1-cycle slip and signal loss-recovery cases, demonstrating its suitability for BDS-3/INS TC integration.

必须确定 BDS-3/惯性导航系统 （INS） 紧耦合 （TC） 积分的载波相位整数模糊度，以实现厘米级定位精度。然而，周期滑打破了整数歧义的一致性。传统的多频周期滑移方法使用伪距;因此，当应用于运动学情况时需要改进。此外，简洁且非先验信息依赖的模型对于实时处理至关重要。本研究开发了一种惯性辅助 BDS-3 周跳检测和修复 （I-CDR） 方法。首先，创建了一个带有 I-CDR 的 BDS-3/INS TC 模型。电离层延迟被建模为 TC 状态的一部分;因此，可以估计并消除它们。研究了载波相位噪声、残余电离层延迟和 INS 预测位置误差对联合周滑检测 （CCD） 精度的影响。确定了各种频率可用配置下的最佳 CCD。使用陆地车辆测试数据证明了 I-CDR 的有效性。误报率小于 1.0%，即使在随机 epoch 中具有挑战性丰富的 1 周期滑移的情况下，漏检率也几乎为零。此外，正确的测定率达到 100%。此外，还模拟了 BDS-3 信号丢失恢复情况，所有卫星的所有周期滑移都可以在 40 s 内修复。I-CDR 在密集的 1 周期滑移和信号丢失恢复情况下表现出出色的周跳检测和修复性能，证明了其适用于 BDS-3/INS TC 集成。