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中文摘要：
GNSS接收机信号跟踪的实质是对卫星信号的扩频码延迟和载波频率偏移进行连续估计的过程。从信号跟踪的基本原理出发，综述了矢量跟踪算法的基本思想和研究历程，分析了算法中系统建模、模型参数确定和滤波器设计等关键环节，总结比较了算法的最新衍变形式，包括极大似然估计矢量跟踪环和联合矢量位置跟踪环的模型、特点和优势，通过仿真验证了矢量跟踪相比标量跟踪具有失锁重捕快、跟踪误差小和稳定性好的优点，最后总结了矢量跟踪技术的应用并展望了其未来发展方向。
英文摘要：
The essential goal for GNSS signal tracking is to make a continued estimation for the PRN code delay and the Doppler offset of the carrier frequency. To begin with the principle of signal tracking, an in-depth survey of vector tracking （VT）, including its history and basic ideals, key steps such as system modeling , the model parameter calculation and the filter design is presents in this paper. Noteworthy variants of VT including the Maximum Likelihood Vector Tracking Loop （MLVTL） and the Joint Vector Position Tracking Loop （JVPTL） are also covered, and models, characters and advantages of the two VT algorithms are summarized compared with Vector Delay/Frequency Lock Loop （ VDFLL ）. Simulation results show that vector tracking loop performs well in reacquisition time and tracking residuals and it＇ s more robust compared with scalar tracking loop especially under the weak signal environment. Lastly, it is concluded that a brief review of possible application areas for VT and its new research prospects in the future.
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