access icon free Square-root cubature Kalman filter-based vector tracking algorithm in GPS signal harsh environments

© The Institution of Engineering and Technology
Received 27/06/2020, Accepted 03/09/2020, Revised 17/08/2020, Published 09/09/2020

In a vector tracking loop (VTL) architecture, non-linearities exist in discriminator functions and pseudo-range/pseudo-range rate measurement expressions. Generally, normalisation functions are used in discriminators to export the desired code phase or carrier frequency error and the extended Kalman filter is adopted to estimate receiver's states. This process could be accurate enough when the code phase or carrier frequency error approaches zero in the signal moderate environment but begins to distort due to non-linearity when the tracking errors become large in harsh situations. This finally narrows the applicable range of VTL. To overcome this issue, a square-root cubature Kalman filter (CKF)-based VTL is designed in this study. The discriminator functions are employed directly as measurements of navigation filter, and the non-linear expressions of discriminator functions in terms of the receiver's position, velocity, and time states are derived without normalisation. Then the CKF, which is competitive in high-dimensional non-linear systems, is employed in its square-root version to estimate the position, velocity, acceleration, and time states of the receiver. Comparison trial results between traditional and proposed VTL illustrate that the proposed algorithm can not only keep a superior tracking accuracy but also improves the tracking stability of VTL in <20 dB-Hz signal harsh circumstances.

Inspec keywords: Kalman filters; Global Positioning System; nonlinear filters

Other keywords: square-root cubature Kalman filter-based VTL; signal moderate environment; GPS signal harsh environments; nonlinearities; tracking errors; superior tracking accuracy; normalisation functions; nonlinear expressions; navigation filter; time states; discriminator functions; discriminators; 20 dB Hz signal harsh circumstances; extended Kalman filter; vector tracking loop architecture; square-root cubature Kalman filter-based vector tracking algorithm; harsh situations; nonlinear systems; desired code phase; traditional proposed VTL; square-root version

Subjects: Other topics in statistics; Filtering methods in signal processing; Radionavigation and direction finding

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