GNSS double-frequency carrier wave tracking loop based on Kalman filtering

The invention relates to a GNSS double-frequency carrier wave tracking loop based on Kalman filtering, and belongs to the technical field of satellite navigation signal processing. The double-frequency carrier wave tracking loop comprises four integral erasers, a first carrier wave ring phase discriminator, a second carrier wave ring phase discriminator, a Kalman filter, a first carrier wave loopfilter, a second carrier wave loop filter, a first NCO carrier wave generator and a second NCO carrier wave generator. Carrier wave phase errors output by the two phase discriminators are smoothened by the Kalman filter, the noise bandwidth of the two carrier wave loop filters can be reduced simultaneously, thus, the dynamic state of the loop is reduced, the tracking sensitivity is improved, and when the GNSS double-frequency carrier wave tracking loop is applied to a double-frequency receiver, the tracking performance of the double-frequency receiver on double-frequency signals can be effectively improved. 本发明涉及一种基于卡