{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T00:30:40Z","timestamp":1760229040771,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2022,5,27]],"date-time":"2022-05-27T00:00:00Z","timestamp":1653609600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Beijing Municipal Natural Science Foundation","award":["L191003"],"award-info":[{"award-number":["L191003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We propose a communication-navigation integrated signal (CPIS), which is superimposed on the communication signal with power that does not affect the communication service, and realizes high-precision indoor positioning in a mobile communication network. Due to the occlusion of indoor obstacles and the power limitation of the positioning signal, existing carrier loop algorithms have large tracking errors in weak signal environments, which limits the positioning performance of the receiver in a complex environment. The carrier loop based on Kalman filtering (KF) has a good performance in respect of weak signals. However, the carrier frequency error of acquisition under weak signals is large, and the KF loop cannot converge quickly. Moreover, the KF algorithm based on fixed noise covariance increases or diverges in filtering error in complex environments. In this paper, a coarse-to-fine weighted adaptive Kalman filter (WAKF)-based carrier loop algorithm is proposed to solve the above problems of the receiver. In the coarse tracking stage, acquisition error reduction and bit synchronization are realized, and then a carrier loop based on Sage\u2013Husa adaptive filtering is entered. Considering the shortcomings of the filter divergence caused by the negative covariance matrix of Sage\u2013Husa in the filter update process, the weighted factor is given and UD decomposition is introduced to suppress the filtering divergence and improve the filtering accuracy. The simulation and actual environment test results show that the tracking sensitivity of the proposed algorithm is better than that based on the Sage\u2013Husa adaptive filtering algorithm. In addition, compared with the weighted Sage\u2013Husa AKF algorithm, the coarse-to-fine WAKF-based carrier loop algorithm converges faster.<\/jats:p>","DOI":"10.3390\/s22114068","type":"journal-article","created":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T02:30:06Z","timestamp":1653964206000},"page":"4068","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Novel Carrier Loop Based on Coarse-to-Fine Weighted Adaptive Kalman Filter for Weak Communication-Positioning Integrated Signal"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7239-2088","authenticated-orcid":false,"given":"Xiwen","family":"Deng","sequence":"first","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, No. 10 Xitucheng Road, Haidian District, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongliang","family":"Deng","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, No. 10 Xitucheng Road, Haidian District, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingrong","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, No. 10 Xitucheng Road, Haidian District, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhichao","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Beijing University of Posts and Telecommunications, No. 10 Xitucheng Road, Haidian District, Beijing 100876, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"108","DOI":"10.1109\/MSP.2011.943410","article-title":"Challenges in Indoor Global Navigation Satellite Systems Unveiling its core features in signal processing","volume":"29","year":"2012","journal-title":"IEEE Signal Process. 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