caa a22 4500 606162313 CHVBK 20210128100638.0 cr unu---uuuuu 210128e20150701xx s 000 0 eng 10.1007/s10291-014-0408-2 doi (NATIONALLICENCE)springer-10.1007/s10291-014-0408-2 Theoretical analysis and tuning criteria of the Kalman filter-based tracking loop [Elektronische Daten] [Xinhua Tang, Gianluca Falco, Emanuela Falletti, Letizia Lo Presti] In recent years, Kalman filter (KF)-based tracking loop architectures have gained much attention in the Global Navigation Satellite System field and have been widely investigated due to its robust and better performance compared with traditional architectures. However, less attention has been paid to the in-depth theoretical analysis of the tracking structure and to the effects of Kalman tuning. A new approach is proposed to analyze the KF-based tracking loop. A control system model is derived according to the mathematical expression of the Kalman system. Based on this model, the influence of the choice of the setting parameters on the temporal evolution of the system response is discussed from the perspective of a control system. As a result, a reasoned and complete suite of criteria to tune the initial error covariance as well as the process and measurements noise covariances is demonstrated. Furthermore, a strategy is presented to make the system more robust in higher order dynamics without degrading the accuracy of carrier phase and Doppler frequency estimates. Springer-Verlag Berlin Heidelberg, 2014 Kalman filter nationallicence GNSS tracking loop nationallicence Kalman tuning nationallicence Equivalent control model nationallicence Tang Xinhua Politecnico di Torino, Turin, Italy aut Falco Gianluca Istituto Superiore Mario Boella, Turin, Italy aut Falletti Emanuela Istituto Superiore Mario Boella, Turin, Italy aut Lo Presti Letizia Politecnico di Torino, Turin, Italy aut GPS Solutions Springer Berlin Heidelberg 19/3(2015-07-01), 489-503 1080-5370 19:3<489 2015 19 10291 https://doi.org/10.1007/s10291-014-0408-2 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10291-014-0408-2 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Tang Xinhua Politecnico di Torino, Turin, Italy aut NATIONALLICENCE 700 1- Falco Gianluca Istituto Superiore Mario Boella, Turin, Italy aut NATIONALLICENCE 700 1- Falletti Emanuela Istituto Superiore Mario Boella, Turin, Italy aut NATIONALLICENCE 700 1- Lo Presti Letizia Politecnico di Torino, Turin, Italy aut NATIONALLICENCE 773 0- GPS Solutions Springer Berlin Heidelberg 19/3(2015-07-01), 489-503 1080-5370 19:3<489 2015 19 10291