Choosing the coherent integration time for Kalman filter-based carrier-phase tracking of GNSS signals |
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| Authors: | Cillian O??Driscoll Mark G Petovello G??rard Lachapelle |
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| Institution: | 1. Position, Location And Navigation (PLAN) Group, Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, Calgary, AB, Canada
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| Abstract: | Carrier phase–based positioning using Global Navigation Satellite System (GNSS) signals can provide centimeter-level accuracy; however, to do so requires robust, continuous tracking of the phase of the received signal. The phase-locked loop is typically the weakest link in GNSS signal processing, with frequent cycle slips and loss of lock occurring at lower signal-to-noise ratios. One way to improve the signal-to-noise ratio is to increase the coherent integration time; however doing so reduces the loop update rate, thereby degrading performance. This paper investigates this trade-off between sensitivity and loop update rate by investigation of the Kalman filter-based tracking loop. It is shown that it is possible to choose an optimal integration time for a given application. A relatively straightforward procedure is given to determine this optimal value. The results are confirmed through real-time kinematic processing of live satellite signals. |
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