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基于ST-UKF的高动态GPS载波参数估计
王小会,李晓青,薛延刚
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(兰州工业学院电气工程学院，兰州 730050)

摘要:

为了克服高动态引起的多普勒效应，解决传统跟踪环路容易失锁的问题，提出了一种基于强跟踪无迹卡尔曼滤波(Strong Tracking Unscented Kalman Filter，STUKF)参数估计器的高动态全球定位系统（Global Positioning System，GPS）载波跟踪环路，采用非线性滤波算法取代了传统GPS载波跟踪环路结构中的环路滤波器。此外，设计了STUKF参数估计器，应用该方案分别在高动态、高载噪比和高动态、低载噪比环境下对高动态GPS载波进行跟踪，并应用多个非线性算法在高动态GPS载波跟踪环路中进行比对。实验结果表明，随着环路载噪比的增大，从20 dBHz至30 dBHz，STUKF参数估计器对相位、多普勒频率及其一阶、二阶导数估计的均方根误差分别减小1.219 2 rad、2.880 5 Hz、8.959 0 Hz/s和17.480 3Hz/s2，证明了STUKF参数估计器的有效性，以及跟踪环路可以完成高动态GPS载波跟踪。

关键词: 全球定位系统载波跟踪强跟踪无迹卡尔曼滤波（ST UKF）高动态

DOI：

基金项目:国家自然科学基金资助项目(51769012);甘肃省高等学校创新能力提升项目(2020A 142);兰州工业学院青年科技创新项目(2020KJ 19)

High dynamic GPS carrier parameter estimation based on ST-UKF

WANG Xiaohui,LI Xiaoqing,XUE Yangang

(School of Electrical Engineering,Lanzhou Institute of Technology,Lanzhou 730050,China)

Abstract:

In order to overcome the Doppler effect caused by high dynamics and solve the problem that the traditional tracking loop is easy to loose lock,a high dynamic Global Positioning System(GPS) carrier tracking loop based on the Strong Tracking Unscented Kalman Filter(ST-UKF) parameter estimator is proposed,and the loop filter in the traditional GPS carrier tracking loop structure is replaced by nonlinear filtering algorithm.In addition,the ST-UKF parameter estimator is designed,and the solution is applied to track the high dynamic GPS carrier in the environment of high dynamic,high carrier-to-noise ratio and high dynamic,low carrier-to-noise ratio.Moreover,multiple non-linear algorithms are used for comparison in the high dynamic GPS carrier tracking loop.Experimental results show that as the loop carrier-to-noise ratio increases,from 20 dB-Hz to 30 dB-Hz,the ST-UKF parameter estimator estimates the root mean square of phase,Doppler frequency and its first and second derivatives,and the errors are reduced by 1.219 2 rad,2.880 5 Hz,8.959 0 Hz/s and 17.480 3 Hz/s2 respectively.The results show the effectiveness of the ST-UKF parameter estimator,and the tracking loop can complete high dynamic GPS carrier tracking.

Key words: GPS carrier tracking strong tracking unscented Kalman filter(ST-UKF) high dynamic