Aerospace and Electronic Systems Magazine July 2017 Tutorial XI - 42

A Tutorial on Kalman Filter-Based Techniques
[9]

CONCLUSION
This article presented a detailed comparison of PLL and KF-based
carrier synchronization techniques, together with some promising
advanced architectures, the main goal being to shed some light on
the PLL versus KF dilemma and to provide the practitioner with
design guidelines. To summarize, in the following, there is a list of
the main reasons why KF-based architectures should be preferred
in modern receivers operating under non-nominal propagation
conditions over PLL legacy schemes:
C

Formulated from an optimal filtering approach

C

Inherent adaptive bandwidth architecture

C

Joint CP and frequency optimal estimation

C

C

C

C

Nonlinear implementation operating with the received signal, avoiding possible discriminator disadvantages

[3]
[4]
[5]

[6]

[7]

[8]

42

[12]

[14]

State-space augmentation to account for prior knowledge on
non-nominal propagation conditions
Adaptive tracking architectures to cope with challenging
time-varying propagation scenarios.

[15]

Easily embedded into a multiple model method
[16]

[17]

[18]

REFERENCES

[2]

[11]

[13]

Even if this article claims and shows that KF-based architectures are always equivalent or superior in terms of performance
with respect to their PLL counterpart and, in general, are more
flexible and robust, it is worth saying that the latter is still useful
in many applications in which non-nominal channel propagation
conditions do not apply, the increased computational complexity
may not be accepted, or the final fine tuning is not possible.

[1]

[10]

Meyr, H., Moeneclaey, M., and Fetchel, S. Digital Communication
Receivers: Synchronization, Channel Estimation and Signal Processing. New York: Wiley, 1998.
Mengali, U., and D'Andrea, A. N. Synchronization Techniques for
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Kaplan, E. D., and Hegarty, C. J. (Eds.). Understanding GPS: Principles and Applications, (2nd ed.). Norwood, MA: Artech House, 2006.
Best, ℜ. E. Phase Locked Loops: Design, Simulation, and Applications (6th ed.). New York: McGraw-Hill, 2010.
Kratyuk, V., Hanumolu, P. K., Moon, U.-K., and Mayaram, K. A design procedure for all-digital phase-locked loops based on a chargepump phase-locked-loop analogy. IEEE Transactions on Circuits and
Systems-II: Express Briefs, Vol. 54, 3 (Mar. 2007), 247-251.
Maxim Integrated Products, Inc. MAX2880 datasheet-250 MHz to
12.4 GHz, high-performance, fractional/integer-N PLL. San José, CA,
Dec. 2013.
Lee, I.-T., Tsai, Y.-T., and Liu, S.-I. A wide-range PLL using selfhealing prescaler/VCO in 65-nm CMOS. IEEE Transactions on
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Cheema, H. M., Mahmoudi, ℜ., and van ℜoermund, A. H. M. 60-GHz
CMOS Phase-Locked Loops. Philadelphia, PA: Springer, 2010.

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IEEE A&E SYSTEMS MAGAZINE

Barbosa ℜolim, L.G., ℜodrigues da Costa, D., Jr., and Aredes, M.
Analysis and software implementation of a robust synchronizing PLL
circuit based on the pq theory. IEEE Transactions on Industrial Electronics, Vol. 53, 6 (Dec. 2006), 1919-1926.
Maxim Integrated Products, Inc. DS-622 phase locked loop (PLL)
module (v2.00a) product specification. San José, CA, June 2009.
Lian, P. Improving tracking performance of PLL in high dynamic applications. Ph.D. dissertation, University of Calgary, Canada, 2004.
Zhang, L., and Morton, Y. T. Tracking GPS signals under ionosphere
scintillation conditions. In Proceedings of the 22nd International
Technical Meeting of the Satellite Division of The Institute of Navigation, Savannah, GA, Sep. 2009, 227-234.
Mao, X., Morton, Y. T., Zhang, L., and Kou, Y. GPS carrier signal parameters estimation under ionosphere scintillation. In Proceedings of
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Institute of Navigation, Portland, Oℜ, Sep. 21-24, 2010.
Skone, S., Lachapelle, G., Yao, D., Yu, W., and Watson, ℜ. Investigating the impact of ionospheric scintillation using a GPS software
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CA, Sep. 13-16, 2005.
Mao, W.-L., and Chen, A.-B. Mobile GPS carrier phase tracking using
a novel intelligent dual-loop receiver. International Journal of Satellite Communications and Networking, Vol. 26 (2008), 119-139.
Won, J.-H., Pany, T., and Eissfeller, B. Characteristics of Kalman filters for GNSS tracking loops. IEEE Transactions on Aerospace and
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Humphreys, T. E., Psiaki, M. L., Jr., Kintner, P. M., Ledvina, B. M.
GPS carrier tracking loop performance in the presence of ionospheric
scintillations. In Proceedings of the 18th International Technical
Meeting of the Satellite Division of The Institute of Navigation, Long
Beach, CA, Sep. 2005.
Yu, W., Lachapelle, G., and Skone, S. PLL performance for signals in
the presence of thermal noise, phase noise, and ionospheric scintillation.
In Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation, Fort Worth, TX, Sep. 2006.
Vilà-Valls, J., Closas, P., and Fernández-Prades, C. On the identifiability of noise statistics and adaptive KF design for robust GNSS
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Big Sky, MT, Mar. 2015.
Hu, C. W., Chen, W., Chen, Y., and Liu, D. Adaptive Kalman filtering
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Kim, K.-H., Jee, G.-I., and Song, J.-H. Carrier tracking loop using the
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2013), 393-396.

JULY 2017, Part II of II



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