Performance Comparison of Different Forms of Kalman Filter Approach for a Vector-Based GNSS Signal Tracking Loop

J-H. Won, D. Dötterböck, B. Eissfeller

Abstract:	In this paper we discuss several different Kalman filter implementation methods to estimate signal parameters in a GNSS receiver’s signal tracking loop with a special emphasis given to how to construct the measurement residuals and the relevant design matrix. They are three variations of error state Kalman filter for a loop filter, and a direct state Kalman filter for the entire signal tracking loop. Detailed signal models for a local channel signal tracking loop are presented. Based on this, four different Kalman filters for code and carrier trackings are designed compared with the traditional signal tracking loop. Especially, the block diagram implementation of the direct state Kalman filter for the entire signal tracking loop is proposed by using the analogy relationship with the traditional method in a scalar tracking mode and a vector tracking mode. Numerical simulation results show that the Kalman filter-based signal tracking loops provide 2 dB carrier-to-noise ratio gain with 25 percent of accuracy improvement in the carrier phase tracking, and 3 dB carrier-to-noise ratio gain with 30 percent of accuracy improvement in the Doppler tracking compared to the traditional methods.
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:	3037 - 3048
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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