GNSS Multireceiver Vector Tracking

Yuting Ng, Grace Xingxin Gao

Research output: Contribution to journalArticle


Accurate, reliable, and robust global positioning system (GPS) localization is desirable for many navigation applications. Unfortunately, it is challenging for a single GPS receiver to always provide accurate positioning solutions. In urban environments, intermittent signal availability leads to degraded GPS signal tracking and position estimation of the single GPS receiver. In addition, equipment malfunction of the single GPS receiver results in inaccurate navigation solutions. This paper presents a deeply coupled multireceiver vector tracking (MRVT) architecture that improves the reliability and robustness of GPS signal tracking and position estimation. MRVT jointly tracks GPS signals received by multiple GPS receivers, mitigating GPS signal tracking disruptions, improving the reliability of GPS localization in periods of intermittent signal availability. In addition, the MRVT receiver is more robust to equipment malfunctions than the single GPS receiver. We implemented an MRVT receiver using commercial radio frequency front ends and our PyGNSS software. We experimentally validated the reliability of our MRVT receiver in periods of intermittent GPS availability experienced in downtown San Francisco. Our MRVT receiver exhibited consistent GPS signal tracking and position estimation as compared to vector tracking. In addition, we experimentally validated the robustness of our MRVT receiver to the failure of a single GPS receiver.

Original languageEnglish (US)
Article number7931638
Pages (from-to)2583-2593
Number of pages11
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number5
StatePublished - Oct 2017


  • Global positioning system (GPS)
  • global navigation satellite systems (GNSS)
  • multiple GPS receivers
  • vector tracking

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering

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