A multiple-frequency GPS software receiver design based on a vector tracking loop

This paper presents the implementation and testing results of a Vector tracking loop (VTL) in the software-based GPS receiver. The VTL is developed based on the extended Kalman filter (EKF) with adaptive covariance matrices. Both scalar tracking loop (STL) and VTL are implemented. Once an error in the scalar loop is detected, the results from the VTL are used to assist the STL. The performance of the VTL is compared with the traditional STL with three different data sets: raw GPS RF data with short signal outages, RF data with strong scintillation impacts collected during the last solar maximum, and high dynamic data with long interval signal outages from a GPS simulator. The results confirm the performance improvement of the VTL over scintillation impacts and show that the VTL can maintain signal lock during long intervals of signal outage if the satellite ephemerides are available and the pseudorange estimation is within one code chip accuracy. The dynamic performance improvement of the VTL is verified as well. The results show the potential of robust tracking based on VTL during scintillation and interference.