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Cycle slip (CS) is a primary error source in Precise Point Positioning/Inertial Navigation System (PPP/INS) integrated systems. In this study, an INS-aided CS detection and repair method is presented. It utilizes high-precision INS information instead of a pseudorange to remove the satellite–receiver geometric range in the wide-lane (WL) and ionospheric-free (IF) phase combinations and creates an INS-aided WL (WL-INS) model and an INS-aided IF (IF-INS) model. Since INS information is superiordoi:10.3390/s19030502 fatcat:u7x4dupvt5gopnjfi2vdvqyea4