Performance of the GLONASS P-code at L1 and L2 frequencies

The transmission of satellite signals at two widely spaced frequencies allows correction of the ionospheric delay. Both GPS and GLONASS transmit such signals, and to date there have been no published dual frequency GLONASS studies. This paper shows the fundamental accuracy of the Leeds University multichannel GPS/GLONASS receiver. Details are then given of the processing methods that have been used to obtain the ionospheric group delay using GLONASS L1 and L2 P-code measurements. Examples of the measured delay are provided and compared with the GPS model. Navigation results are shown using the P-code phase at L1 only and with a combination of the L1 and L2 measurements. An analysis of the accuracy of the P-code pseudorange and navigation capability is presented.     

Combined GPS/GLONASS LAAS flight trials

The use of GPS in aviation is now accepted, with extensive work being undertaken on the technological, precision and infrastructure requirements. Work has focused on providing a service that is able to operate continuously in all areas. GPS alone, however, is seen as being unable to satisfy the stringent requirements for some phases of flight. Of the many solutions proposed, the Russian GLONASS system has been regularly overlooked. The research described in this paper aims to present GLONASS as a realistic and proven augmentation to GPS for aircraft positioning. During October 1996 the Civil Aviation Authority (CAA) Institute of Satellite Navigation (ISN) at the University of Leeds, in conjunction with the National Air Traffic Services Ltd (NATS UK) and the Defence Evaluation and Research Agency (DERA), performed a series of landmark differential GPS/GLONASS flight tests using the DERA BAC 1–11 flying laboratory. A real-time differential system was constructed using two GPS/GLONASS receivers developed by the ISN and a C-band data link for the RTCA corrections. Integration onboard the aircraft with avionic sensors and flight management systems was achieved using the ARINC 429 protocol. Routes were designed and flown to evaluate the complete system over a variety of airborne dynamics for both en-route and approach situations. In total, over 16 h of flying time was recorded, including 30 runway approaches over nine flights. A thorough evaluation of the accuracy and integrity of the positioning system was performed. Emphasis was made in comparing the flight statistics with recognized Required Navigation Performance (RNP) figures. The paper describes in detail the project development and the results achieved. An analysis of the results, showing that aircraft positioning with GPS/GLONASS augmentation in a local area augmentation system (LAAS) scenario can achieve accuracies that are both comparable with GPS-alone solutions and can satisfy up to CAT II precision approach criteria, is presented. Results are also given for position propagation using velocities derived from GPS and GLONASS carrier phase measurements. © 1997 John Wiley & Sons, Ltd.     

Study on the algorithms to correct and compensate for GLONASS signal deviation based on GNSS receiver

At present, because of the construction of the navigation and positioning systems such as the China BeiDou, the research on complex receivers has become very urgent and active. This paper reports on the compatibility of the combined GPS and GLONASS data processing system. Because of the Frequency Division Multiple Access (FDMA) access technique applied in GLONASS satellites, while different signals of GLONASS satellites pass through different parts of the Radio Frequency (RF), the group delay effect can appear. Especially, if the hardware design of the base station and rover station are different, the problem is more severe. Aimed at these issues, the reasons and conditions are studied and then the comprehensive correction methods of deviation are proposed such as: effective real‐time pseudorange and carrier phase deviation correction compensation; tracking GLONASS L2 signal; establishing a eceiver name database; base station providing the receiver name; rover station correcting deviation according to different base stations, and so on. Through the use of schemes and algorithms, the objective existence GLONASS deviation can be reduced, and the capacity of the GPS+GLONASS complex system can be improved. It is also demonstrated that if the base station receiver and rover are from different manufactures, the deviation from GLONASS pseudorange and carrier phase can lead to the failure of achieving centimeter level. With the algorithms, in all the applications and in any base station or networked system, the GPS+GLONASS complex system can exhibit the advantages over just GPS applied system both in positioning accuracy and positioning speed and other real‐time kinematic (RTK) positioning performance. Copyright © 2012 John Wiley & Sons, Ltd.     

GPS/GLONASS/BDS三系统组合定位的定权方法

为了提高 GPS/GLONASS/BDS三系统组合定位的稳定性和精确度,研究加权最小二乘定位中的定权方法。提出一种结合高度角先验定权和验后方差估计的定权方法,利用多系统兼容接收机实测数据进行仿真验证。结果表明,相较于传统的最小二乘法,该定权方法可以明显改善多系统组合定位的精确度,且具有很好的抗差性能,提高了定位结果的稳定性,可应用于多系统兼容接收机组合定位解算中。     

Comparison of EML and DOT discriminator DLL multipath performancein GPS/GLONASS navigation receivers

The impact of multipath signals on the code phase tracking in digital GPS/GLONASS navigation receivers is analysed. As an interesting result it is for example, shown that for moderate correlator spacings a DOT discriminator DLL offers a larger potential of multipath error reduction by code phase smoothing than an EML discriminator DLL due to significantly smaller mean code phase tracking errors     

GNSS CODE AND CARRIER TRACKING IN THE PRESENCE OF MULTIPATH

It is well known that multipath represents a major error source in differential GNSS positioning. Errors produced are unique to each antenna position and so are uncorrelated between the reference station and the mobile receiver. Reduction techniques, such as narrow correlator spacing¹ and the multipath estimating delay lock loop (MEDLL)² have improved the situation. However, reflected signals emanating close to the antenna are not reduced by either technique. Carrier multipath is a particular problem because short delay multipath signals cause maximum carrier errors. This study describes the analysis that has been carried out into code and carrier tracking in the presence of multipath. Code tracking in this situation produces a non-zero mean error,³ and the source of this bias has been investigated. Code and carrier multipath errors of the global orbiting navigation satellite system (GLONASS) have been compared with those of the global positioning system (GPS). The effects of pre-correlation filtering on code and carrier multipath errors have been determined using data from a measured correlation function. The multipath fading bandwidth is also discussed, and fast and slow fading effects are presented. A comparison has been made of the performance of typical coherent and non-coherent code discriminators in the presence of multipath. The performance of the GPS and GLONASS P code signals have been determined with respect to code and carrier multipath errors. © 1997 by John Wiley & Sons, Ltd.     

Understanding signals from glonass navigation satellites

In late 1986 details of the radio-frequency signal structure currently employed by the pre-operational GLONASS satellite navigation system were revealed by the Satellite Communications Group at Leeds University. Since then further investigation has resulted in a successful interpretation of most of the data message transmitted on the civil code, sufficient to allow the design and construction of a GLONASS receiver capable of the same level of performance as can now be achieved with NAVSTAR GPS. Details of the message content relating to location of GLONASS satellites for the purposes of position-fixing and time-referencing are presented for the first time.     

一种顾及系统间偏差的GNSS差分定位研究

伪距差分定位由于其终端价格低廉,算法简单,不需要初始化模糊度,精度较高等特点在实时导航定位中应用较为普遍。随着北斗、伽利略等全球卫星导航系统的发展,多模组合将会提高导航定位的精度、可靠性及可用性。然而现有的多模组合方法大都是系统内的简单组合, 研究不同卫星导航系统的系统间偏差有利于减少多模定位模型的未知参数,提高不同系统的互操作性及组合定位的性能。本文主要针对 GPS/GLO/BDS/GAL 研究了差分 GNSS 定位的系统间偏差 (inter-system bias, ISB),分析了以 GPS 为参考系统的差分定位所需的 ISB 特性以及引入先验 ISB 后的差分 GNSS 定位效果。实验结果表明差分 ISB 日变化稳定性优于 2cm,差分 ISB 与码的频率及接收机类型密切相关,引入先验 ISB 后,对于城市峡谷等复杂环境下的导航定位,其可用性及精度明显提高。     

双模导航接收机时间系统一致性研究

卫星导航接收机在某些特殊地域使用时,集成了GPS和GLONASS的双模接收机可以弥补单模接收机的劣势,从而明显提高定位的可靠性及可用性。而GPS和GLONASS时间系统的不一致性对GPS/GLONASS双模接收机有重要制约,对其定位精度产生了一定影响。对GPS和GLONASS的时间系统差异进行了研究,给出对其一致性分析的具体方法。可推广至多导航模块的接收机中,从而使定位精度更加精准可靠。     

GPS: primary tool for time transfer

The Global Positioning System (GPS) is not only a navigation system, it is also a time-transfer system. As a time-transfer system it provides stability very close to one part in ten to the fourteenth over one day (1 ns/day). After a brief introduction to timekeeping terms, this paper reviews the role of GPS in time distribution and clock synchronization. The GPS coarse acquisition (C/A)-code single-frequency single-channel (one satellite) common-view (CV) time transfer is then discussed. Special consideration is given to progress in GPS C/A-code CV time and frequency transfer through the use of “all-in-view” multichannel receivers. This technique increases the number of daily observations by a factor of ten relative to conventional single-channel receivers and results in an improvement in time and frequency transfer stability by a factor of about three. Other important improvements discussed are the use of GPS carrier phase measurements and temperature-stabilized antennas. The latter reduce the daily and seasonal delay variations of GPS time-receiving equipment. The use of GLONASS as a complementary tool to GPS time transfer is also be reported. These improvements indicate that GPS, as a time-transfer system, should provide the capability to reach a stability of one part in ten to the sixteenth over one day (10 ps/day)     

BDS/GPS组合导航RAIM可用性分析

采用RINEX数据实验比较了北斗卫星导航系统(BDS)和全球定位系统(GPS)电离层Klobuchar模型在BDS/GPS组合导航中的性能。选择相对较优的电离层模型分析了基于卫星星座类型和卫星类型两种加权情况下,单一北斗、单一GPS与BDS/GPS组合导航系统在非精密进近(NPA)阶段和一类垂直引导进近(APVⅠ)阶段的RAIM可用性。实验表明,在BDS/GPS组合导航中,BDS的Klobuchar模型在中国区域内能修正大量的电离层误差,相比于GPS的Klobuchar电离层模型,电离层延迟修正有0-3.4364 m左右的提高。对于两种加权RAIM算法,在NPA阶段,单一导航RAIM可用性为90%左右,BDS/GPS组合导航的RAIM可用性达到100%。而在APVⅠ阶段,单一导航不具备APVⅠ能力,组合导航APV I阶段RAIM可用性达到100%,具有提供APV I应用的能力。      

基于样条迭代随机建模的高精度星间相对定位方法

利用GPS确定星间相对位置,在无法得到精确的卫星相对运动动力学模型时,事后处理一般采用最小二乘方法,但实际应用时该方法采用的随机模型没有考虑实测GPS数据的异方差、时间和空间相关特性.为提高相对定位精度,本文提出了一种利用样条函数模型进行迭代随机建模的相对位置确定方法,即先根据相对位置参数的连续特性,建立基于样条表示的函数模型;然后根据历元差分原理消除原始双差GPS观测量的时间相关性;再利用MINQUE方法求解去相关GPS观测量的方差-协方差分量,最后利用LAMBDA方法固定整周模糊度并确定相对位置.实验仿真得到两个结论:(1)函数模型的样条表示不仅有利于消除动态条件下测量量的时间相关性,而且能起到节省参数、平滑噪声的作用,因此可大大提高相对定位的精度;(2)在样条函数模型的基础上,采用MINQUE方法迭代随机建模,能进一步提高相对定位精度.     

Slot stripline circular-polarization antennas for a few-element antenna array for a high-accuracy receiver of signals from global navigation satellite systems

New radiators for slot stripline leaky-wave circular-polarization antennas for high-accuracy GLONASS/GPS receivers have been developed. The main technical characteristics of antennas with new radiators have been theoretically and experimentally studied. It is shown that application of the new radiators improves the axial ratio, increases suppression of the cross polarization, increases the stability of the antenna phase center, and thus can increase the GLONASS/GPS positioning accuracy. The results of the analysis of the GLONASS/GPS positioning accuracy with the use of these antennas in an angle-measuring receiver and as elements of a few-element antenna array are presented.     

Stochastic voltage model and experimental measurement of ocean-scattered GPS signal statistics

Information about the roughness of the ocean surface and related geophysical parameters, such as wind speed, is present in the shape of the code-correlation waveform of forward-scattered Global Positioning System (GPS) signals. A model is developed for the statistics of this waveform to be used in designing retrieval algorithms and predicting their accuracy in the estimation of geophysical parameters. One potential application of this model is to assess the feasibility of bistatic GPS measurements from satellite orbits. Time and frequency domain models for the complex "voltage" correlation waveform are developed and compared against experimental results. The voltage model can be applied to determine the upper limit for predetection integration time. The resulting temporal and spatial correlation function has a form similar to the van Cittert-Zernike theorem in that it can be expressed in terms of two-dimensional Fourier transform. The fast Fourier transform is, thus, used for efficient computation. Waveforms were generated from measurements of reflected GPS signals recorded in 1999 from an airborne receiver at an altitude of 3200 m during a flight near Puerto Rico. Complex voltage correlations were produced using the coarse-acquisition code with a 1-ms integration time over a range of code delay "bins". The Doppler compensation frequency was set equal to the Doppler frequency obtained by tracking the direct line-of-sight GPS signal. The resulting spectra and derived correlation times of the voltage signal time series in each delay bin were compared with the predictions of the model. The model agreed well with the experimental data, near the specular point, showing correlation times between 4-6 ms.     

WAW Location-based Service Positioning

Coordinated positioning operations require the user to be aware, not only, of his own position but also of the positions of the other elements on his team. Its deployment can be supported in WAW (??Where Are We???) location-based services, where the position of each user is made available to the rest of the group. This paper presents a method for the estimation of a user??s position based on measurements from a group of Global Positioning System (GPS) receivers. None of the GPS receiver positions, used in the estimation process, is considered to be known. The proposed approach leads to an improvement on the accuracy of the position estimates, when compared with those computed on an autonomous way, and has a direct application in the development of enhanced services in WAW location-based services. The positioning estimator takes advantage from the fact that, in this type of location-based service, GPS measurements are available from several receivers. Instead of estimating the user??s position based only on the measurements of his own GPS receiver, the proposed approach uses the measurements from all the GPS receivers in the group. The paper presents details of the positioning model and estimator used to achieve the accuracy improvements. Simulation results are presented based on real GPS satellite ephemeris, collected at the University campus.     

GPS performance in navigation

We discuss Global Positioning System (GPS) measurements available for civil use and algorithms for processing them to obtain real-time estimates of position and velocity. The main objective is to characterize the measurements and to demonstrate the levels of performance achievable with a single GPS receiver and with system augmentations which make corrections to the measurements available to the user in real time. Representative results with positioning accuracy levels ranging from tens of meters to centimeters are given based on actual measurements     

Preprocessing of GNSS signals subject to interference

Increasingly, interference effects on GNSS receivers are becoming important as more safety-critical applications such as civil aviation are employing the system. The inherent interference rejection capability of the GNSS spread spectrum modulating technique is now no longer considered adequate to remove the effects of very strong jammers. These can be generated intentionally, as in jamming situations, or unintentionally by systems such as mobile satellite systems. Continuous satellite tracking through this interference is essential for high-integrity applications. This study describes a new hardware-based GNSS interference mitigation scheme which is particularly effective against CW and pulsed CW interference. Interferers with some degree of frequency or amplitude modulation can also be reduced. The core hardware can remove two CW interferers from anywhere within the GPS P code bandwidth or the GLONASS frequency spectrum and further interferers can be removed by cascading modules. Simulation and actual data are shown. Owing to the wideband nature of the signal processing, the module introduces very little additional phase distortion and thus group delay to the GLONASS band, which has been shown to be advantageous to differential GLONASS processing. © 1997 John Wiley & Sons, Ltd.     

FFT与循环卷积相结合的GPS信号C/A码相位测量算法

提出了一种将FFT与循环卷积相结合的算法,可以快速高精度测量GPS信号的C/A码相位。算法的主要思想是在较低的采样频率下用FFT法对GPS信号C/A码相位进行粗测,然后用循环卷积法在更高的采样频率下根据粗测结果进行细测,从而以较低的计算量实现对GPS信号的C/A码相位高精度测量。该算法主要应用于辅助式卫星定位接收机的开发和高精度扩频测距等领域。     

基于GPS和改进MapDrift的机载UWB SAR运动补偿

传统的基于载机运动传感器的SAR运动补偿对传感器测量精度提出了很高的要求,而基于回波数据的Map- Drift(MD)自聚焦效果对成像场景存在一定的依赖性。本文针对UWB SAR系统的特点,提出了一种结合GPS(Global Position System)粗补偿和改进重叠MD精补偿的机载SAR运动补偿方法。利用GPS的三维位置信息补偿回波时移误差,利用三维速度信息补偿回波相位误差,然后再利用改进重叠MD补偿剩余误差。本文提出的UWB SAR运动补偿方法没有使用高精度的惯导系统,节约了系统成本,降低了补偿系统的实现难度,并减小了MD算法对成像场景的依赖性,有效提升了SAR图像质量。实际UWB SAR数据的处理验证了本文方法的有效性。     

Frequency and time stability of GPS and glonass clocks

The frequency stability and reliability of the clocks are critical to the success of the GPS and GLONASS programs. We will show some of the similarities and differences between the clocks involved in these two systems. Because both systems plan to be operational in the next few years, the data leading up to this operational stage is of significant interest. On-board clocks and the stability of the master control clocks for these systems are analysed. We will discuss the attributes of these two systems as time and frequency references. Their relationship to UTC will also be illustrated. More data over a longer period of time was available for the authors from GPS than from GLONASS. Even so it is obvious that both systems have matured. Though the GLONASS system was developed later, its overall clock performance has improved more rapidly. Some of the more recent GLONASS clock performance is at about the same level as that of the GPS clocks. The analysis has yielded some very interesting contrasts, comparisons and changes in these systems that should be of great interest for time and frequency users, as well as for clock vendors and receiver vendors.