Design and Analysis of Extended Kalman Filter Based GPS Tracking Loops
Date Issued
2010
Date
2010
Author(s)
Abstract
Global Positioning System (GPS) is the most widely used Global Navigation Satellite System (GNSS) nowadays. Advantages such as open system, easy to use, and fast and accurate positioning have made it being applied to engineering surveying, vehicular navigation, personal navigation devices, and many other products and systems. In the mid-90s, the U.S. Federal Communication Committee (FCC) demanded the Emergency-911 (E-911) capability on all new generation mobile phones, which requires a return of user position even indoor. This has opened the research of indoor GPS. The main challenge is to process the weak satellite signals degraded by the attenuation due to buildings. In this thesis, tracking loops for weak GPS signals are investigated, which include the conventional tracking loop and the extended Kalman filter (EKF) based tracking loop. Simulation results show that for normal and weak GPS signals, the EKF-based tracking loop has smaller and identical mean squared code phase tracking error than the conventional tracking loop, and it can handle signal dynamics better too. However, the conventional tracking loop requires less accurate initial carrier frequency estimation than the EKF-based tracking loop. In addition, the arithmetic complexity of the two tracking loops are also analyzed and compared in this thesis, to provide a basic prediction of implementation costs.
Subjects
GPS
GNSS
indoor positioning
weak signal
extended Kalman filter
tracking
PLL
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