Examining the performance of the GNSS PLL, this paper presents novel results describing the statistical properties of four popular\nphase estimators under both strong- and weak-signal conditions when subject to thermal noise, deterministic dynamics, and typical\npedestrian motion. Design routines are developed which employ these results to enhance weak-signal performance of the PLL in\nterms of transient response, steady-state errors, and cycle-slips. By examining both single and data-pilot signals, it is shown that\nappropriate design and tuning of the PLL can significantly enhance tracking performance, in particular when used for pedestrian\napplications.
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