0  ######   Inserted cycle slips.    ---------------------------------------------------------   Time\     PRN                                           Unit: s                                                 --------- ----- --- -- ---- ---- ---- ---- -- -- --- ----   000,000   0                 −0   −0                  −0    000,000         0      −0             −0         0      ---------------------------------------------------------  [Figure 00](#sensors-00-00000-f000){ref-type="fig"} shows the cycle slip detection results