Robust Vector Tracking Loop Using Moving Horizon Estimation

摘要: Vector tracking is an approach to simultaneously process GNSS signal and position, velocity, time (PVT) estimation, commonly based on extended Kalman Filter (EKF). In vector tracking, the parameters of locally generated signals are determined by estimated receiver PVT satellite information, thus channels aided each other. The inter-channel aiding gives several benefits when processing low carrier-to-noise power density ratio (C/No) high dynamics. However, has one significant drawback. That presence bad measurement data (or fault) in channel will affect other channels, worst case, could lead loss lock all channels. To deal with this problem, we propose a Moving Horizon Estimation (MHE) technique for tracking. basic idea MHE reformulate estimation problem as quadratic programming (QP) within moving, fix-sized window. A main advantage that it naturally allows incorporation inequality constraints state disturbance. When applied can constrain effect from priori defined range, mitigate faulty Another less sensitive tuning parameters, words, more robust environment change comparing EKF. Simulation results presented demonstrate improved performance using scenarios attenuation ionosphere scintillation.