Performance analysis of adaptive vector tracking loop

In this paper, the mean square error of the pseudorange residual and the pseudorange-rate residual is analyzed for evaluating the performance of vector delay/frequency lock loop (VDFLL). The residual is related to the error of navigation filter using extended Kalman filter. The expressions derived from least squares estimator, weighted least squares estimator and Kalman filter are presented and compared. And the influence on the performance of inaccurate covariance matrix of the observation noise is analyzed. Finally, the simulation results prove the analysis result and show the remarkable adaptability of vector tracking loop. The conclusion in this paper can be referenced and utilized in scheming vector delay/frequency lock loops.