Low-Complexity Adaptive Full DSKF for Robust GNSS Tracking
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  • Release Date: 2023-04-10
  • global navigation satellite system (GNSS)
  • full direct-state Kalman filter (DSKF)
  • lookup table direct-state Kalman filter (LUT-DSKF)
  • loop-bandwidth control algorithm (LBCA)
  • adaptive tracking techniques
Video Introduction

This video is adapted from 10.3390/s23073658

This video abstract introduces 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.

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Cortés, I.; Van Der Merwe, J.R.; Lohan, E.S.; Nurmi, J.; Felber, W. Low-Complexity Adaptive Full DSKF for Robust GNSS Tracking. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/697 (accessed on 20 April 2024).
Cortés I, Van Der Merwe JR, Lohan ES, Nurmi J, Felber W. Low-Complexity Adaptive Full DSKF for Robust GNSS Tracking. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/697. Accessed April 20, 2024.
Cortés, Iñigo, Johannes Rossouw Van Der Merwe, Elena Simona Lohan, Jari Nurmi, Wolfgang Felber. "Low-Complexity Adaptive Full DSKF for Robust GNSS Tracking" Encyclopedia, https://encyclopedia.pub/video/video_detail/697 (accessed April 20, 2024).
Cortés, I., Van Der Merwe, J.R., Lohan, E.S., Nurmi, J., & Felber, W. (2023, April 10). Low-Complexity Adaptive Full DSKF for Robust GNSS Tracking. In Encyclopedia. https://encyclopedia.pub/video/video_detail/697
Cortés, Iñigo, et al. "Low-Complexity Adaptive Full DSKF for Robust GNSS Tracking." Encyclopedia. Web. 10 April, 2023.