An Open-Source Real-time Software Vector Tracking GNSS Receiver - Design, Tests and Results

Vector tracking loop (VTL) including VDLL (Vector DLL), VPLL (Vector PLL) and VFLL (Vector FLL) is one of the most promising architectures for next-generation Global Navigation Satellite System (GNSS) receiver due to its robustness during unplanned GNSS satellite outages [1] and in adverse environments (e. g. Radio Frequency Interference (RFI) or user high dynamics [2]), improved accuracy of navigation solutions compared with that of traditional receivers using scalar loops under regular conditions [1], and most important of all, easy integration with inertial Navigation System (INS) measurements to form an ultra-tight GNSS/INS integrated system [3 - 6]. In the current State High Technology Project (or 863), a real-time high-sensitivity receiver with Interference Detection and Mitigation (IDM) capability is required to form the core of the GNSS Vulnerability Assessment and Validation Platform (VAVE). As a result, an ultra-tightly coupled INS/GNSS structure was decided on and as a natural first step, a software vector GNSS receiver has to be realized for research and fast-prototyping.