Toward Lane-Level Navigation With Adaptive Cycle Slip Detection Thresholds in Smartphone RTK

The advancement of Internet of Things (IoT) and autonomous driving applications has resulted in significantly increased demands for lane-level navigation using consumer-grade smartphones. However, the frequent occurrence of carrier phase cycle slips in smartphones severely degrade positioning accuracy, posing a major obstacle to achieving reliable lane-level navigation. While various cycle slip detection methods exist, their reliance on fixed and empirical thresholds often fails to adapt the div