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Characteristics of Kalman Filters for GNSS Signal Tracking Loop

机译：GNSS信号跟踪环路的卡尔曼滤波器的特性

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摘要

Characteristics of signal tracking Kalman filter (KF) approaches for a Global Navigation Satellite System (GNSS) receiver are presented. In particular the direct-state KF is designed by using a state vector for signal parameters not for signal parameter errors, so as to directly utilize the discriminator output as a measurement residual. This enables the reuse of the existing signal tracking loop structure by simply adjusting the filter coefficients based on a time-varying optimal Kalman gain. The characteristics of the direct-state KF together with the error-state KF are analyzed by comparing their noise bandwidth and open- and closed-loop transfer functions with those of a traditional method. These KF approaches are mathematically equivalent to the traditional method except for the use of time-varying gains. This fact provides an insight how to tune the designed KFs based on their expected performances.
机译：提出了全球导航卫星系统（GNSS）接收机的信号跟踪卡尔曼滤波器（KF）方法的特性。特别地，直接状态KF是通过将状态向量用于信号参数而不是用于信号参数误差来设计的，以便直接将鉴别器输出用作测量残差。通过基于时变的最佳卡尔曼增益简单地调整滤波器系数，就可以重用现有的信号跟踪环路结构。通过将它们的噪声带宽以及开环和闭环传递函数与传统方法的噪声带宽以及开环和闭环传递函数进行比较，来分析直接状态KF和错误状态KF的特性。这些KF方法在数学上等效于传统方法，只是使用时变增益。这一事实为如何根据设计的KF的预期性能进行调整提供了见解。

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