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Adaptive Unscented Kalman Filter for Tracking GPS signals in the Case of an Unknown and Time-Varying Noise Covariance


A new adaptive unscented Kalman filter (AUKF) is proposed to estimate the radio navigation parameters of a GPS signal tracking system in noisy environments and on a highly dynamic object. The experimental results have shown that the proposed AUKF-based method improves the GPS tracking margin by approximately 8 and 3 dB as compared to the conventional algorithm and the KF-based tracking, respectively. At the same time, the accuracy of Doppler frequency measurements increases as well.

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Correspondence to M. M. Kanouj.

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Kanouj, M.M., Klokov, A.V. Adaptive Unscented Kalman Filter for Tracking GPS signals in the Case of an Unknown and Time-Varying Noise Covariance. Gyroscopy Navig. 12, 224–235 (2021).

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  • : GPS signal tracking
  • radio navigation parameters
  • phase-locked loop
  • frequency-locked loop
  • adaptive unscented Kalman filter