适用于GPU处理的长更新周期卫星导航信号载波相位跟踪环路

针对短环路更新间隔下GPU处理效率受限而长更新间隔下传统跟踪环路在高动态场景下不稳健的这一矛盾，提出一种可适应高动态场景的长更新间隔载波相位跟踪算法，该算法设计了一种低复杂度线性调频信号参数估计方法，实现跟踪初始阶段多普勒及变化率的精确估计进而消除大部分信号动态，在跟踪过程中采用4阶卡尔曼滤波对残余信号相位及动态进行精细跟踪。经仿真验证，200 ms更新间隔下，可实现多普勒一次/二次变化率分别达800 Hz/s、64 Hz/s²正弦运动场景下载波相位的快速稳定跟踪，1次更新即可收敛，跟踪灵敏度低至23 d B-Hz，相位跟踪精度远优于传统3阶锁相环路。

Carrier phase tracking loop for long update period satellite navigation signal suitable for GPU processing

In view of the contradiction that the GPU processing efficiency was limited under the short update interval and the traditional tracking loop was not robust under the high dynamic scenario under the long update interval, a carrier phase tracking algorithm with long update period for high dynamic scenes was proposed. A low complexity LFM signal parameter estimation algorithm was designed to estimate Doppler and its rate of change at the initial stage of tracking, thereby eliminating most signal dynamics, and during the tracking process, a 4-order Kalman filter was used to precisely track the residual signal phase and dynamic. It is verified by simulation that under the 200 ms update interval, fast and stable tracking of the carrier phase can be realized in sinusoidal motion scenes with Doppler primary/secondary change rates of 800 Hz/s and 64 Hz/s², respectively. The convergence can be achieved with only one update, and the tracking sensitivity is as low as 23 dB-Hz; the phase tracking accuracy is far better than the traditional third-order phase locked loop.