Design and Implementation of the Correntropy-Based Filter for GNSS Vector Tracking and Positioning

In recent decades, a significant advancement in the Global Navigation Satellite System (GNSS) has been adopting the vector tracking (VT) technique, particularly in environments where stable and reliable positioning is essential. It facilitates rapid re-acquisition and continuous tracking of GNSS signals by linking the data processing and signal processing modules. In challenging environments affected by multipath and non-line-ofsight (NLOS) errors, such interaction adversely degrades VT's performance by introducing non-Gaussian error propagation between the navigation processor and baseband channels. This study presents a robust filtering approach based on maximum correntropy criterion (MCC) optimization to address the above challenges. A multi-kernel assignment strategy has also been formulated to enhance VT stability in demanding scenarios. Extensive tests have been conducted to assess the performance and efficacy of the proposed methodology. The results indicate that the proposed filter model significantly reduces positioning errors in static and dynamic scenarios. Moreover, the method demonstrates resilience and reliability across diverse urban settings.