Information fusion applied to the tracking of GPS pilot and data channels

New GNSS signals broadcast at different carrier frequencies include, most of them, a pilot and data channels. In this article we propose to fuse the information of code and phase delay provided by the two channels in order to improve the position accuracy and to extract the message of navigation. The proposed system is composed of a change point estimate of the slope of discriminator variations and of a circular recursive filter for the estimation and fusion of the carrier phase delay. The contribution of this work is the definition of a recursive change point estimate that fuse the discriminator values and integrate prior information for the detection. The proposed architecture that uses a circular filter enables to fuse the phase delays and to extract the message of navigation. The method is assessed on synthetic data in the experimentation.