5G NR robust tracking and positioning with GNSS assistance

Tao Zhou, Ruizhi Chen, Wenxin Dong, Zhanghai Ju, Hongjian Jiao, Jingbin Liu and Liang Chen*

Satellite Navigation (2025) 6: 32

引用文章:

Zhou, T., Chen, R., Dong, W. et al. 5G NR robust tracking and positioning with GNSS assistance. Satell Navig 6, 32 (2025). https://doi.org/10.1186/s43020-025-00183-8

PDF文件下载链接：

https://link.springer.com/article/10.1186/s43020-025-00183-8

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GNSS is able to achieve centimeter-level accuracy in open-sky areas. However, their performance declines in urban canyons and outdoor shadow areas. Conversely, commercial 5G NR signals, with their wider bandwidth and shorter wavelengths, offer better range accuracy. To enhance positioning accuracy in challenging environments, a deeply integrated method is developed to combine commercial 5G NR signals with the GNSS. Key contributions include: (1) Development of the SA-DMRS to improve the robustness of the 5G NR tracking loop. (2) A PSKF is integrated into the Phase-Locked Loop to boost performance under low Carrier-to-Noise Density Ratio conditions. (3) The EKF’s state estimates are fed back into the 5G NR tracking loop to correct timing delay, carrier phase, and Doppler, thereby enhancing overall receiver robustness, while this framework can estimate mobile position, clock bias, and clock drift based on 5G NR signals and GNSS measurements. Our findings demonstrate that SA-DMRS boosted range accuracy by 42.3% improved the ranging accuracy by about 33.3method, our fusion approach enhanced horizontal and vertical positioning accuracy by 49.8% and 53.3% and navigation technologies, offering practical solutions for autonomous vehicles and IoT positioning.