Robust vector tracking for carrier phase signals with separate estimation of common and single channel errors

A robust implementation of a partitioned vector tracking for GNSS carrier phase signals is presented, with separate estimation of common and individual satellite errors, based on a combination of vector and scalar loop estimates. The partitioned vector tracking is a hybrid implementation of a phase tracking loop with contributions from a vector based implementation (where information of all satellites may be relevant), but also taking into account individual satellite errors, such as ionospheric and tropospheric effects, and can also include scintillation or shadowing. The goal is to have a robust implementation, with low complexity, where common mode errors can be quickly estimated, and individual errors can be estimated apart, with a prompt response, leading to an efficient approach that can cope with disturbances in the nominal operation of the receiver. This prompt estimation of the common and differential errors can be used for quality monitoring, detecting events by comparing with the traditional Kalman filter solution, and can be used in a predictive model to aid the tracking.