An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments

As the weak link in global navigation satellite system (GNSS) signal processing, the phase-locked loop (PLL) is easily influenced with frequent cycle slips and loss of lock as a result of higher vehicle dynamics and lower signal-to-noise ratios. With inertial navigation system (INS) aid, PLLs’ track...

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Main Authors: Li Cong, Xin Li, Tian Jin, Song Yue, Rui Xue
Format: Article
Language:English
Published: MDPI AG 2016-01-01
Series:Sensors
Subjects:
Online Access:http://www.mdpi.com/1424-8220/16/2/146
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spelling doaj-fe69473069994bd5a1a79a83353d6c562020-11-24T22:12:51ZengMDPI AGSensors1424-82202016-01-0116214610.3390/s16020146s16020146An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh EnvironmentsLi Cong0Xin Li1Tian Jin2Song Yue3Rui Xue4School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, ChinaSchool of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, ChinaSchool of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, ChinaSchool of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, ChinaSchool of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, ChinaAs the weak link in global navigation satellite system (GNSS) signal processing, the phase-locked loop (PLL) is easily influenced with frequent cycle slips and loss of lock as a result of higher vehicle dynamics and lower signal-to-noise ratios. With inertial navigation system (INS) aid, PLLs’ tracking performance can be improved. However, for harsh environments with high dynamics and signal attenuation, the traditional INS-aided PLL with fixed loop parameters has some limitations to improve the tracking adaptability. In this paper, an adaptive INS-aided PLL capable of adjusting its noise bandwidth and coherent integration time has been proposed. Through theoretical analysis, the relation between INS-aided PLL phase tracking error and carrier to noise density ratio (C/N0), vehicle dynamics, aiding information update time, noise bandwidth, and coherent integration time has been built. The relation formulae are used to choose the optimal integration time and bandwidth for a given application under the minimum tracking error criterion. Software and hardware simulation results verify the correctness of the theoretical analysis, and demonstrate that the adaptive tracking method can effectively improve the PLL tracking ability and integrated GNSS/INS navigation performance. For harsh environments, the tracking sensitivity is increased by 3 to 5 dB, velocity errors are decreased by 36% to 50% and position errors are decreased by 6% to 24% when compared with other INS-aided PLL methods.http://www.mdpi.com/1424-8220/16/2/146GNSSINS-aided PLLhigh dynamicsignal attenuationnoise bandwidthcoherent integration timeadaptive adjustment
collection DOAJ
language English
format Article
sources DOAJ
author Li Cong
Xin Li
Tian Jin
Song Yue
Rui Xue
spellingShingle Li Cong
Xin Li
Tian Jin
Song Yue
Rui Xue
An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments
Sensors
GNSS
INS-aided PLL
high dynamic
signal attenuation
noise bandwidth
coherent integration time
adaptive adjustment
author_facet Li Cong
Xin Li
Tian Jin
Song Yue
Rui Xue
author_sort Li Cong
title An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments
title_short An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments
title_full An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments
title_fullStr An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments
title_full_unstemmed An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments
title_sort adaptive ins-aided pll tracking method for gnss receivers in harsh environments
publisher MDPI AG
series Sensors
issn 1424-8220
publishDate 2016-01-01
description As the weak link in global navigation satellite system (GNSS) signal processing, the phase-locked loop (PLL) is easily influenced with frequent cycle slips and loss of lock as a result of higher vehicle dynamics and lower signal-to-noise ratios. With inertial navigation system (INS) aid, PLLs’ tracking performance can be improved. However, for harsh environments with high dynamics and signal attenuation, the traditional INS-aided PLL with fixed loop parameters has some limitations to improve the tracking adaptability. In this paper, an adaptive INS-aided PLL capable of adjusting its noise bandwidth and coherent integration time has been proposed. Through theoretical analysis, the relation between INS-aided PLL phase tracking error and carrier to noise density ratio (C/N0), vehicle dynamics, aiding information update time, noise bandwidth, and coherent integration time has been built. The relation formulae are used to choose the optimal integration time and bandwidth for a given application under the minimum tracking error criterion. Software and hardware simulation results verify the correctness of the theoretical analysis, and demonstrate that the adaptive tracking method can effectively improve the PLL tracking ability and integrated GNSS/INS navigation performance. For harsh environments, the tracking sensitivity is increased by 3 to 5 dB, velocity errors are decreased by 36% to 50% and position errors are decreased by 6% to 24% when compared with other INS-aided PLL methods.
topic GNSS
INS-aided PLL
high dynamic
signal attenuation
noise bandwidth
coherent integration time
adaptive adjustment
url http://www.mdpi.com/1424-8220/16/2/146
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