A Novel Doppler Frequency Dynamic Model with Its Applications

We propose a novel dynamic model of Doppler frequency and phase, called as a polynomial prediction model (PPM), where a constant acceleration or deceleration motion law described by a polynomial is assumed, then a new self-validating optimal filtering algorithm, based on the proposed model and the unscented Kalman filter (UKF), is developed for the frequency and phase estimates of the Doppler signal in a variable acceleration and/or deceleration motion scenario. The analytical results show that the proposed algorithm can effectively track Doppler frequency and phase whatever the maneuvering motion between the transceivers is. The analytical results are verified by the simulations and the experimental results of a real live GPS receiver, which show that the proposed algorithm is superior to most of those reported in the literature when the received signal power is over a guaranteed value in the case of GPS.