Kalman filtering (KF)-based tracking has been commonly employed in global navigation satellite system (GNSS) receivers to achieve robust tracking. However, under more serious conditions, such as severe strength attenuation and abrupt dynamic coexisting environments, it is difficult for KF-based tracking to keep tracking well due to the fixed noise statistics. To further enhance the carrier tracking performance, this paper proposes an adaptive KF carrier tracking method for resisting signal strength fading and high dynamic environments. The proposed method introduces the adaptive factor to adjust the process noise covariance to accommodate the noise statistics in actual variable situations. Moreover, we apply the chi-square hypothesis test to detect system stability. The adaptive factor is only applied when the system is not stable, which can enhance computational efficiency. The proposed method is conducted in the GPS L1 software receivers. According to the results, the proposed algorithm can improve the robustness in tracking performance compared with other tracking methods under signal serious fading and high dynamic conditions. Using the proposed method, GNSS receivers’ navigation performance can be improved under complex conditions.

Many practical systems, such as target tracking, navigation systems, autonomous vehicles, and other applications, are usually applied in dynamic conditions. Thus, the actual noise statistics characteristics of these systems are generally time varying and unknown, which will deteriorate the state estimation accuracy of the Kalman filter (KF) and even cause filter diverging. To address this issue, this paper proposes an adaptive process noise covariance (Q_k)-based variational Bayesian adaptive Kalman filter (AQ-VBAKF) algorithm. Firstly, the adaptive factor is introduced to self-tune the process noise covariance; the adaptive factor is obtained based on the innovation sequences, which can adapt to the input measurement values. Then, the VB solution is applied to approximate the time variant and unknown measurement noise covariance. Therefore, this proposed algorithm can adjust the process noise covariance and the measurement noise covariance simultaneously based on the variable input signals, which can improve the self-adaptive ability of the state estimation filter in dynamic conditions. According to the dynamic target tracking test results, the proposed AQ-VBAKF outperforms several other existing filtering methods in estimation accuracy, robustness, and computational efficiency.

High-precision time synchronization refers to the process of achieving and maintaining coordination among independent clocks via the exchange of local and remote time information. Existing analyses of digital receiver delay estimation often rely on an ideal continuous autocorrelation function (ACF), whereas practical receivers operate on discretely sampled intermediate-frequency signals. This paper analyzes how the digital autocorrelation function (DACF) can form delay-insensitive plateaus, referred to here as blind zones, and derives an upper bound on the minimum guaranteed resolvable code-phase step under rational sampling-to-code-rate ratios. Simulations and controlled SDR experiments using real IF signals are used to verify the predicted trend under the tested static laboratory conditions. The results provide guidance for sampling parameter selection and digital receiver design in high-precision wireless time synchronization systems.