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首页> 外文会议>International Technical Meeting of The Institute of Navigation >A Frequency-Compensation Algorithm in Kalman Filter-Based Tracking Loop for High-Dynamics GNSS Receivers
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A Frequency-Compensation Algorithm in Kalman Filter-Based Tracking Loop for High-Dynamics GNSS Receivers

机译：基于Kalman滤波器的跟踪循环频率补偿算法，用于高动态GNSS接收器

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摘要

GNSS receivers are expected to offer positioning service any time and any place. However, receivers with the traditional PLL/DLL tracking loops have limited performance under high-dynamics conditions because of the contradiction on bandwidth and update interval. This paper analyzes the influence on signal's tracking algorithm caused by high dynamics, and then intend to improve tracking performance based on Kalman filter. The Kalman filter-based tracking scheme outperforms the traditional one in high-dynamics scenarios. In this paper the KF-based tracking loop is analyzed in depth and a frequency-compensation algorithm is proposed to make up the increasing phase error brought by signal's dynamics. This paper will present a mathematical analysis of the frequency-compensation method. Moreover, a straightforward description is given on how this method can help to form loop closure. With the proposed algorithm, it is possible to use a longer pre-detection time as well as get a better dynamic performance. Simulation results have confirmed that it's capable of the new designed KF-based loop to converge under high-dynamics scenarios with a Doppler rate over 2000Hz/s. And also the loop can obtain more accurate observations compared to the traditional tracking method.
机译：GNSS接收器预计会随时提供定位服务。但是，由于带宽和更新间隔的矛盾，具有传统PLL / DLL跟踪环路的接收器在高动态条件下具有有限的性能。本文分析了高动态引起信号跟踪算法的影响，然后打算改进基于卡尔曼滤波器的跟踪性能。基于卡尔曼滤波器的跟踪方案优于高动态场景中的传统传统。在本文中，深入分析基于KF的跟踪环路，提出了频率补偿算法来构成信号动态所带来的增加的相位误差。本文将呈现频率补偿方法的数学分析。此外，给出了这种方法如何帮助形成环路闭合的简单描述。利用所提出的算法，可以使用更长的预检测时间以及获得更好的动态性能。仿真结果证实，它能够在具有2000Hz / s的多普勒速率下在高动态场景下收敛新的基于KF的循环。并且，与传统的跟踪方法相比，环路还可以获得更准确的观察。

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