Study on vector tracking loop based on extended kalman filter

In view of the lack of theoretical studies on vector tracking algorithm, the linear model and the tracking error are comprehensively studied. To improve the dynamic performance of vector tracking loop, the terms of the partial differential of the pseudorange-rate to position, it is usually ignored in the existing papers, are revised in the modified linear measurement matrix. A new loop feedback is put forward to simplify the operational process. The frequency jitter of vector tracking loop caused by thermal noise is deduced, showing the tracking threshold is lower than scalar tracking loop. And the tracking threshold of vector tracking loop becomes lower with increasing in the number of observation satellites in the same situation. The dynamic stress threshold is deduced as well, it is proved that vector tracking loop can be utilized to track weak signals in high dynamics. The Monte Carlo simulation validats the effectiveness of the theoretic analysis.