Cargando…

Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †

This paper evaluates the implementation of a low-complexity adaptive full direct-state Kalman filter (DSKF) for robust tracking of global navigation satellite system (GNSS) signals. The full DSKF includes frequency locked loop (FLL), delay locked loop (DLL), and phase locked loop (PLL) tracking sche...

Descripción completa

Detalles Bibliográficos
Autores principales: Cortés, Iñigo, van der Merwe, Johannes Rossouw, Lohan, Elena Simona, Nurmi, Jari, Felber, Wolfgang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099203/
https://www.ncbi.nlm.nih.gov/pubmed/37050718
http://dx.doi.org/10.3390/s23073658
_version_ 1785025003037655040
author Cortés, Iñigo
van der Merwe, Johannes Rossouw
Lohan, Elena Simona
Nurmi, Jari
Felber, Wolfgang
author_facet Cortés, Iñigo
van der Merwe, Johannes Rossouw
Lohan, Elena Simona
Nurmi, Jari
Felber, Wolfgang
author_sort Cortés, Iñigo
collection PubMed
description This paper evaluates the implementation of a low-complexity adaptive full direct-state Kalman filter (DSKF) for robust tracking of global navigation satellite system (GNSS) signals. The full DSKF includes frequency locked loop (FLL), delay locked loop (DLL), and phase locked loop (PLL) tracking schemes. The DSKF implementation in real-time applications requires a high computational cost. Additionally, the DSKF performance decays in time-varying scenarios where the statistical distribution of the measurements changes due to noise, signal dynamics, multi-path, and non-line-of-sight effects. This study derives the full lookup table (LUT)-DSKF: a simplified full DSKF considering the steady-state convergence of the Kalman gain. Moreover, an extended version of the loop-bandwidth control algorithm (LBCA) is presented to adapt the response time of the full LUT-DSKF. This adaptive tracking technique aims to increase the synchronization robustness in time-varying scenarios. The proposed tracking architecture is implemented in an GNSS hardware receiver with an open software interface. Different configurations of the adaptive full LUT-DSKF are evaluated in simulated scenarios with different dynamics and noise cases for each implementation. The results confirm that the LBCA used in the FLL-assisted-PLL (FAP) is essential to maintain a position, velocity, and time (PVT) fix in high dynamics.
format Online
Article
Text
id pubmed-10099203
institution National Center for Biotechnology Information
language English
publishDate 2023
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-100992032023-04-14 Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking † Cortés, Iñigo van der Merwe, Johannes Rossouw Lohan, Elena Simona Nurmi, Jari Felber, Wolfgang Sensors (Basel) Article This paper evaluates the implementation of a low-complexity adaptive full direct-state Kalman filter (DSKF) for robust tracking of global navigation satellite system (GNSS) signals. The full DSKF includes frequency locked loop (FLL), delay locked loop (DLL), and phase locked loop (PLL) tracking schemes. The DSKF implementation in real-time applications requires a high computational cost. Additionally, the DSKF performance decays in time-varying scenarios where the statistical distribution of the measurements changes due to noise, signal dynamics, multi-path, and non-line-of-sight effects. This study derives the full lookup table (LUT)-DSKF: a simplified full DSKF considering the steady-state convergence of the Kalman gain. Moreover, an extended version of the loop-bandwidth control algorithm (LBCA) is presented to adapt the response time of the full LUT-DSKF. This adaptive tracking technique aims to increase the synchronization robustness in time-varying scenarios. The proposed tracking architecture is implemented in an GNSS hardware receiver with an open software interface. Different configurations of the adaptive full LUT-DSKF are evaluated in simulated scenarios with different dynamics and noise cases for each implementation. The results confirm that the LBCA used in the FLL-assisted-PLL (FAP) is essential to maintain a position, velocity, and time (PVT) fix in high dynamics. MDPI 2023-03-31 /pmc/articles/PMC10099203/ /pubmed/37050718 http://dx.doi.org/10.3390/s23073658 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Cortés, Iñigo
van der Merwe, Johannes Rossouw
Lohan, Elena Simona
Nurmi, Jari
Felber, Wolfgang
Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †
title Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †
title_full Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †
title_fullStr Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †
title_full_unstemmed Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †
title_short Evaluation of Low-Complexity Adaptive Full Direct-State Kalman Filter for Robust GNSS Tracking †
title_sort evaluation of low-complexity adaptive full direct-state kalman filter for robust gnss tracking †
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099203/
https://www.ncbi.nlm.nih.gov/pubmed/37050718
http://dx.doi.org/10.3390/s23073658
work_keys_str_mv AT cortesinigo evaluationoflowcomplexityadaptivefulldirectstatekalmanfilterforrobustgnsstracking
AT vandermerwejohannesrossouw evaluationoflowcomplexityadaptivefulldirectstatekalmanfilterforrobustgnsstracking
AT lohanelenasimona evaluationoflowcomplexityadaptivefulldirectstatekalmanfilterforrobustgnsstracking
AT nurmijari evaluationoflowcomplexityadaptivefulldirectstatekalmanfilterforrobustgnsstracking
AT felberwolfgang evaluationoflowcomplexityadaptivefulldirectstatekalmanfilterforrobustgnsstracking