Analysis of a Centralized Filter Design for a Multi-Receiver Vector Tracking Architecture Under Challenging Conditions

Stefan Laller, Mohamed Bochkati, Philipp Berglez, Thomas Pany

Peer Reviewed

Abstract:	This paper presents a novel receiver architecture that integrates multiple vector tracking (VT)-based global navigation satellite system (GNSS) receivers at the signal processing level within a single software defined radio (SDR) framework. The proposed multi-receiver vector tracking (MRVT) algorithm employs a centralized extended Kalman filter (EKF) to jointly process raw correlator outputs from all receivers in the network. By fusing data at raw GNSS signal level, the system benefits from improved robustness and estimation accuracy, especially in degraded signal environments. The MRVT algorithm builds upon conventional vector tracking loop (VTL) principles but requires several key modifications to adapt to a multi-receiver system. In this publication, these modifications are discussed in more detail, including adjustments to the measurement model and state vector. A central feature of the proposed architecture is the use of highly accurate pseudo-observations derived from the known receiver geometry, particularly the baseline vectors between individual receivers. These pseudo-observations are used to tightly constrain the navigation solution across the network. To validate the performance of the MRVT approach, both static and kinematic simulation scenarios were conducted under challenging conditions. Specifically, the simulated GNSS signals were superimposed with a white Gaussian noise jammer. The results demonstrate that the MRVT outperforms conventional single-receiver VT solutions in terms of robustness and accuracy. Statistical analyses showed that the maximum deviation of kinematic receivers affected by jamming can reach up to approximately 64 meters, whereas processing with an MRVT algorithm limits the maximum deviation to around 4 meters.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	3158 - 3171
Cite this article:	Laller, Stefan, Bochkati, Mohamed, Berglez, Philipp, Pany, Thomas, "Analysis of a Centralized Filter Design for a Multi-Receiver Vector Tracking Architecture Under Challenging Conditions," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 3158-3171. https://doi.org/10.33012/2025.20316
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