Accuracy comparison of GNSS vector and scalar tracking loop

GNSS scalar tracking loop tracks each satellite signal in one channel separately, while vector tracking loop track all of the satellite signals in one navigation filter. Three major advantages of the vector tracking loop are reduction of estimated parameters, aiding weak signal tracking by strong signal and aiding signal tracking by navigation solutions. Differ from the former researches in which the outstanding of the vector tracking loop is certificated by simulation experiments, this paper proposes the mathematical proof that the accuracy of the vector tracking loop is better than the scalar tracking loop. The conclusion is verified by simulation signals and open-sky signals.