Kalman Filter-Based Carrier Tracking with Ionospheric Scintillation Mitigation for GNSS

In this work we present two architectures of Kalman phase locked loop (PLL) to mitigate ionospheric scintillation induced effects on global navigation satellite systems (GNSS) receivers: a discriminator-based and an extended Kalman PLL using independent kinematic process models for the scintillation phase and amplitude to improve robustness in carrier synchronization. We show that the Kalman PLLs achieve advanced Doppler phase and scintillation amplitude estimation performance compared to an extended Kalman PLL with an autoregressive (AR) scintillation process model, with comparable scintillation phase estimation performance. The proposed Kalman PLLs have the additional benefits of not requiring parameter identification of AR models.