Abstract
In this paper, an unscented particles filter (UPF) based DLL tracking loop with multipath parameter estimation and mitigation capability is proposed for the Global Positioning System (GPS). The I (in-phase) and Q (quadrature) accumulator outputs from the GPS correlators are used as the observational measurements of UPF to estimate the multipath parameters such as amplitude, code delay, phase, and carrier Doppler. The particle filter (PF) possesses superior performance as compared to EKF and UKF as an alternative estimator for dealing with the nonlinear, non-Gaussian system. To handle the problem of heavy-tailed probability distribution, one of the strategies is to incorporate the UKF into the PF as the proposal distribution, leading to the unscented particle filter (UPF). The results show that the tracking loop using the proposed design can effectively estimate the multipath parameters and has demonstrated substantial estimation accuracy improvement as compared to that of the conventional EKF and UKF approaches.
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