Abstract
Satellite navigation receiver would have difficulties in continuous positioning or gets a bad positioning performance in dense urban environment, mostly due to low signal-to-noise-ratio and frequently signal outage. To improve robustness under the challenging environment, a combined BeiDou Satellites System (BDS) and global positioning system (GPS) adaptive vector tracking loop is proposed. An adaptive extended Kalman filter (EKF) based on innovation sequences is employed to tune the tracking loop, and generate navigation solutions. The algorithms are implemented on Matlab software receiver and digital intermediate frequency (IF) signals grabbed by a global navigation satellite system (GNSS) signal sampler under blocked outdoor scenarios are utilized to verify the performance. The tracking and positioning results of vector and scalar tracking loop are compared.
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