A Robust and Unbiased Navigation Signal Vector Tracking Method

Abstract

Aiming at a channel tracking deviation problem possibly existing in a navigation signal vector tracking method, the present invention provides a steady unbiased navigation signal vector tracking method. According to the method, a diagonal weighting matrix is used for the feedback control of various channels and eliminates the mutual transmission of the error estimation results between the channels, so that the situation that an algorithm possesses unbiasedness is guaranteed, and accordingly, the robustness of the vector tracking method is improved. The method can overcome the problem that a tracking result of a vector tracking loop is biased, and guarantees the satiation that a tracking error is not transmitted mutually between the channels. The analysis and the simulation show that the tracking robustness of the method is better than that of the conventional vector tracking method, and the tracking result unbiasedness can be guaranteed.

Description

technical field [0001] The invention relates to the field of development of navigation receiver equipment, in particular to a method for improving the robustness of the vector tracking technology of the navigation receiver, which can be used in the development of receiving terminal equipment in satellite navigation systems. Background technique [0002] With the continuous expansion of the application field of satellite navigation systems, traditional navigation receivers cannot better meet the needs of positioning and other services in complex environments such as weak signals. In order to improve the tracking sensitivity and tracking dynamics of the navigation receiver under weak signals, the Vector Tracking Loop (VTL: Vector Tracking Loop) has been extensively studied. Greatly shorten the time for recapturing when the signal is out of lock and improve the usability of the receiver. However, the traditional vector tracking method is sensitive to the initial value. When th...

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Problems solved by technology

By using a more robust solution filter, such as Iterated Unsensitized Kalman Filter (IUKF: Iterated Unsented Kalman Filter), Adaptive Iterated Extended Kalman Filter (Adaptive Iterated Extended Kalman Filter), etc., although vector tracking can be enhanced The robustness of the algorithm, but the algorithm is complex and the calculation overhead is large, which is not conducive to engineering applications

For the method of enhancing the robustness of the feedback loop, most of them adopt the method of combining the traditional scalar tracking loop and the vector tracking loop, which needs to keep the vector loop and the scalar loop at the same time, which increases the design complexity of the receiver

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