A novel adaptive EKF GNSS weak signal tracking algorithm

This paper firstly analyzed structure of traditional extended Kalman tracking loop and its characteristics of pros an dcons, then a novel adaptive EKF tracking loop for weak signal structure was introduced with discussion of its characteristics of adaptability, stability and sensitivity. Theoretical derivation of adaptive tracking by updating measurement noise from innovation is given. To investigate the stability of new tracking algorithm, a loss lock criterion was introduced theoretically and compared with traditional criterion. Under the topic of weak signal condition, long time correlation based adaptive EKF tracking loop architecture was designed. Finally experimental verification has been done to evaluate traditional EKF loop and the novel adaptive EKF loop in the aspects of characteristics talked above.