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中文摘要：
针对扩展卡尔曼滤波（EKF）和无迹卡尔曼滤波（UKF）等高动态信号载波跟踪算法存在跟踪精度不高的问题，采用无迹粒子滤波（UPF）算法对高动态北斗卫星信号载波进行跟踪。UPF算法结合粒子滤波（PF）和无迹卡尔曼滤波，采用PF对载波状态变量进行估计，同时使用UKF滤波器对粒子进行权值的重新分配，解决了粒子退化问题。通过Matlab仿真对比，基于EKF、UKF、UPF的跟踪算法的载波频率误差分别为-15～15、-10～10、-4～4Hz，验证了UPF算法的优越性。
英文摘要：
In order to improve the tracking accuracy of extended Kalman filter and unscented Kalman filter and other high dy- namic signal carrier tracking algorithms, the unscented particle filter is used for tracking the high dynamic Beidou satellite signal carrier. The UPF algorithm combines particle filter with unscented Kalman filter, the carrier state variables are esti- mated by particle filter, and to solve the problem of particle degradation, the UKF filter is used to redistribute the weight of particles. Matlab simulation results show that the carrier frequency offsets of EKF, UKF and UPF tracking algorithms are respectively -15-15, -10-10, -4-4 Hz, the superiority of UPF algorithm is proved.
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