Doppler Measurements and Velocity Estimation: A Theoretical Framework with Software Receiver Implementation

D. Borio, N. Sokolova, G. Lachapelle

Abstract:	Global Navigation Satellite System (GNSS) receivers extract velocity information from the Doppler measurements that, in turn, are directly estimated from the Phase Lock Loop (PLL) output or obtained by di erentiating carrier phase observations. In this paper, a theoretical framework allowing the evaluation of the Doppler and velocity accuracy is introduced. The variance and bias of Doppler estimates are related to the carrier-to-noise density ratio (C=N0), the user dynamics and the PLL parameters. Moreover, the concept of Doppler bandwidth is introduced for quantifying the amount of input noise transferred to the Doppler measurements. The developed theory is validated using a software receiver and live GPS data. Di erent static and dynamic scenarios are considered and the collected data are processed for several PLL and receiver configurations. Finally, a good agreement between theoretical and empirical results is found, showing the validity of the developed analysis.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	304 - 316
Cite this article:	Borio, D., Sokolova, N., Lachapelle, G., "Doppler Measurements and Velocity Estimation: A Theoretical Framework with Software Receiver Implementation," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 304-316.
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