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Optimizing carrier smoothing parameters considering a cycle slip probabilistic model

In Global Navigation Satellite System (GNSS) applications, precision and accuracy are the most demanded requirements. An effective technique largely applied to improve the Position, Velocity and Time (PVT) performance, usually estimated through code measurements, is the so called carrier smoothing. This paper presents a novel method to optimize the carrier smoothing parameter M, taking into account the presence of cycle slips. A model for cycle slips is proposed and the optimum value of M is analytically obtained and tested against simulation results.