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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...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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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 |
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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 |
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