{"id":"https://openalex.org/W2287171428","doi":"https://doi.org/10.3390/s16020146","title":"An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments","display_name":"An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments","publication_year":2016,"publication_date":"2016-01-23","ids":{"openalex":"https://openalex.org/W2287171428","doi":"https://doi.org/10.3390/s16020146","mag":"2287171428","pmid":"https://pubmed.ncbi.nlm.nih.gov/26805853"},"language":"en","primary_location":{"id":"doi:10.3390/s16020146","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16020146","pdf_url":"https://www.mdpi.com/1424-8220/16/2/146/pdf?version=1453731573","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/2/146/pdf?version=1453731573","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100654204","display_name":"Cong Li","orcid":"https://orcid.org/0000-0003-1036-6113"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Cong","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353735","display_name":"Xin Li","orcid":"https://orcid.org/0000-0001-7712-398X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Li","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017727139","display_name":"Jin Tian","orcid":"https://orcid.org/0000-0003-3685-2435"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tian Jin","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0003-3685-2435","affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011602742","display_name":"Song Yue","orcid":"https://orcid.org/0000-0001-5699-5172"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Yue","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085284295","display_name":"Rui Xue","orcid":"https://orcid.org/0000-0002-9188-175X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Xue","raw_affiliation_strings":["School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5017727139"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":10.825,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.97974663,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":"2","first_page":"146","last_page":"146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12004","display_name":"Advanced Frequency and Time Standards","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/phase-locked-loop","display_name":"Phase-locked loop","score":0.8233339786529541},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8029149770736694},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5770445466041565},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5441109538078308},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49602779746055603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.486234575510025},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.4420810639858246},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43621790409088135},{"id":"https://openalex.org/keywords/pll-multibit","display_name":"PLL multibit","score":0.4146886467933655},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3409586250782013},{"id":"https://openalex.org/keywords/phase-noise","display_name":"Phase noise","score":0.3214123845100403},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2510630488395691},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.16288214921951294},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11304959654808044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07699763774871826},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07451710104942322}],"concepts":[{"id":"https://openalex.org/C12707504","wikidata":"https://www.wikidata.org/wiki/Q52637","display_name":"Phase-locked loop","level":3,"score":0.8233339786529541},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8029149770736694},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5770445466041565},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5441109538078308},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49602779746055603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.486234575510025},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.4420810639858246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43621790409088135},{"id":"https://openalex.org/C77881186","wikidata":"https://www.wikidata.org/wiki/Q7119642","display_name":"PLL multibit","level":4,"score":0.4146886467933655},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3409586250782013},{"id":"https://openalex.org/C89631360","wikidata":"https://www.wikidata.org/wiki/Q1428766","display_name":"Phase noise","level":2,"score":0.3214123845100403},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2510630488395691},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.16288214921951294},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11304959654808044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07699763774871826},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07451710104942322},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s16020146","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16020146","pdf_url":"https://www.mdpi.com/1424-8220/16/2/146/pdf?version=1453731573","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:26805853","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26805853","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:fe69473069994bd5a1a79a83353d6c56","is_oa":true,"landing_page_url":"https://doaj.org/article/fe69473069994bd5a1a79a83353d6c56","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 16, Iss 2, p 146 (2016)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:3773143","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4801524","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/16/2/146/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s16020146","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 16; Issue 2; Pages: 146","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16020146","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16020146","pdf_url":"https://www.mdpi.com/1424-8220/16/2/146/pdf?version=1453731573","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2776308349","display_name":"MEMS-INS/GNSS\u8d85\u7d27\u8026\u5408\u7684\u5c0f\u578b\u65e0\u4eba\u673a\u5b9a\u4f4d\u5b9a\u59ff\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61101077","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4654179968","display_name":null,"funder_award_id":"2011BAH24B02","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5180829341","display_name":null,"funder_award_id":"2011CB707004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2287171428.pdf","grobid_xml":"https://content.openalex.org/works/W2287171428.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1967997785","https://openalex.org/W1970847656","https://openalex.org/W1980627924","https://openalex.org/W2045454739","https://openalex.org/W2047842548","https://openalex.org/W2051628247","https://openalex.org/W2063787537","https://openalex.org/W2082068669","https://openalex.org/W2101917951","https://openalex.org/W2103323677","https://openalex.org/W2115195561","https://openalex.org/W2129823951","https://openalex.org/W2130666280","https://openalex.org/W2139734662","https://openalex.org/W2151350868","https://openalex.org/W2161843899","https://openalex.org/W2171956285","https://openalex.org/W2189348142","https://openalex.org/W2587049767","https://openalex.org/W2620323993","https://openalex.org/W3135519633"],"related_works":["https://openalex.org/W1576949837","https://openalex.org/W984417604","https://openalex.org/W2498262093","https://openalex.org/W2188779191","https://openalex.org/W2474043983","https://openalex.org/W2544336511","https://openalex.org/W2566880546","https://openalex.org/W2078513307","https://openalex.org/W1978186604","https://openalex.org/W2144737022"],"abstract_inverted_index":{"As":[0],"the":[1,12,60,73,99,136,147,158,161,167,174,186],"weak":[2],"link":[3],"in":[4],"global":[5],"navigation":[6,40,181],"satellite":[7],"system":[8,41],"(GNSS)":[9],"signal":[10,58],"processing,":[11],"phase-locked":[13],"loop":[14,66],"(PLL)":[15],"is":[16,189],"easily":[17],"influenced":[18],"with":[19,54,64,215],"frequent":[20],"cycle":[21],"slips":[22],"and":[23,34,57,89,107,122,140,153,164,178,204],"loss":[24],"of":[25,30,84,160],"lock":[26],"as":[27],"a":[28,143],"result":[29],"higher":[31],"vehicle":[32,114],"dynamics":[33,56],"lower":[35],"signal-to-noise":[36],"ratios.":[37],"With":[38],"inertial":[39],"(INS)":[42],"aid,":[43],"PLLs'":[44],"tracking":[45,74,105,149,169,176,187],"performance":[46],"can":[47,171],"be":[48],"improved.":[49],"However,":[50],"for":[51,142],"harsh":[52,184],"environments":[53],"high":[55],"attenuation,":[59],"traditional":[61],"INS-aided":[62,81,102,217],"PLL":[63,82,103,175,218],"fixed":[65],"parameters":[67],"has":[68,93,126],"some":[69],"limitations":[70],"to":[71,109,134,193,202,211],"improve":[72,173],"adaptability.":[75],"In":[76],"this":[77],"paper,":[78],"an":[79],"adaptive":[80,168],"capable":[83],"adjusting":[85],"its":[86],"noise":[87,110,120],"bandwidth":[88,141],"coherent":[90,123],"integration":[91,124,138],"time":[92,125,139],"been":[94,127],"proposed.":[95],"Through":[96],"theoretical":[97,162],"analysis,":[98,163],"relation":[100,130],"between":[101],"phase":[104],"error":[106,150],"carrier":[108],"density":[111],"ratio":[112],"(C/N\u2080),":[113],"dynamics,":[115],"aiding":[116],"information":[117],"update":[118],"time,":[119],"bandwidth,":[121],"built.":[128],"The":[129],"formulae":[131],"are":[132,198,207],"used":[133],"choose":[135],"optimal":[137],"given":[144],"application":[145],"under":[146],"minimum":[148],"criterion.":[151],"Software":[152],"hardware":[154],"simulation":[155],"results":[156],"verify":[157],"correctness":[159],"demonstrate":[165],"that":[166],"method":[170],"effectively":[172],"ability":[177],"integrated":[179],"GNSS/INS":[180],"performance.":[182],"For":[183],"environments,":[185],"sensitivity":[188],"increased":[190],"by":[191,200,209],"3":[192],"5":[194],"dB,":[195],"velocity":[196],"errors":[197,206],"decreased":[199,208],"36%":[201],"50%":[203],"position":[205],"6%":[210],"24%":[212],"when":[213],"compared":[214],"other":[216],"methods.":[219]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}