This paper highlights the crucial role of Indonesia’s GNSS receiver network in advancing Equatorial Plasma Bubble(EPB)studies in Southeast and East Asia,as ionospheric irregularities within EPB can disrupt GNSS signa...This paper highlights the crucial role of Indonesia’s GNSS receiver network in advancing Equatorial Plasma Bubble(EPB)studies in Southeast and East Asia,as ionospheric irregularities within EPB can disrupt GNSS signals and degrade positioning accuracy.Managed by the Indonesian Geospatial Information Agency(BIG),the Indonesia Continuously Operating Reference Station(Ina-CORS)network comprises over 300 GNSS receivers spanning equatorial to southern low-latitude regions.Ina-CORS is uniquely situated to monitor EPB generation,zonal drift,and dissipation across Southeast Asia.We provide a practical tool for EPB research,by sharing two-dimensional rate of Total Electron Content(TEC)change index(ROTI)derived from this network.We generate ROTI maps with a 10-minute resolution,and samples from May 2024 are publicly available for further scientific research.Two preliminary findings from the ROTI maps of Ina-CORS are noteworthy.First,the Ina-CORS ROTI maps reveal that the irregularities within a broader EPB structure persist longer,increasing the potential for these irregularities to migrate farther eastward.Second,we demonstrate that combined ROTI maps from Ina-CORS and GNSS receivers in East Asia and Australia can be used to monitor the development of ionospheric irregularities in Southeast and East Asia.We have demonstrated the combined ROTI maps to capture the development of ionospheric irregularities in the Southeast/East Asian sector during the G5 Geomagnetic Storm on May 11,2024.We observed simultaneous ionospheric irregularities in Japan and Australia,respectively propagating northwestward and southwestward,before midnight,whereas Southeast Asia’s equatorial and low-latitude regions exhibited irregularities post-midnight.By sharing ROTI maps from Indonesia and integrating them with regional GNSS networks,researchers can conduct comprehensive EPB studies,enhancing the understanding of EPB behavior across Southeast and East Asia and contributing significantly to ionospheric research.展开更多
The geodetic detrending(GD)methodology was introduced in the past decade and has opened the door to the global monitoring of ionospheric scintillation using global navigation satellite system(GNSS)receivers.The perfor...The geodetic detrending(GD)methodology was introduced in the past decade and has opened the door to the global monitoring of ionospheric scintillation using global navigation satellite system(GNSS)receivers.The performance of GD has been demonstrated in geodetic receivers.However,extending scintillation monitoring to low-cost commercial receivers remains a challenge.Low-cost devices could serve as valuable complements to specialised and much more expensive scintillation monitoring receivers.In this paper,first,a feasibility study was conducted using the GD technique,demonstrating that the scintillation indices derived from the observations of two lowcost receivers(Septentrio Mosaic X5 and UBLOX ZED-F9P)have a resolution similar to that achieved by geodetic receiver models,whose price is one order of magnitude higher.Second,measurements of GNSS signals at different frequencies from the Galileo and global positioning system(GPS)satellites were analysed in a specific experiment over six days of null scintillation.Next,the noise level in the scintillation parameters derived from the experiment was evaluated,which shows that for low-cost receivers,the minimum scintillation detection threshold increases only negligibly compared to geodetic-grade receivers.Moreover,the geometry-free(GF)combination of L1 with a second signal of different frequency was investigated as an alternative to detrending GNSS signals.Finally,for determining the ionospheric fluctuations produced by scintillation,the limitations of using the GF combination versus the uncombined measurements were highlighted.It is concluded that the minimum resolution of scintillation indices derived from low-cost receiver measurements makes it possible to distinguish values associated with periods of scintillation activity from those produced by residual noise from mismodeling.For both geodetic and low-cost receivers,the scintillation detection threshold obtained with uncombined carrier-phase measurements is smaller than that achieved with the classic GF combination.展开更多
Nowadays many positioning techniques and methods are applied to the cadastral surveys. Starting from last decade, GPS/GNSS positioning had become one of the most used methodology thanks to the rapid development of sat...Nowadays many positioning techniques and methods are applied to the cadastral surveys. Starting from last decade, GPS/GNSS positioning had become one of the most used methodology thanks to the rapid development of satellite-based positioning and to the appearance of GNSS mass-market receivers and antennas. Methods based on these instruments are more affordable than the conventional ones even if their use for precise positioning is not so intuitive. This study is aimed to evaluate the use of singlefrequency GPS/GNSS mass-market receivers for cadastral surveys, considering both single-base RealTime Kinematic(RTK) and Network Real-Time Kinematic(NRTK) methodologies. Furthermore, a particular tool for predicting and estimating the occurrence of false fix of the phase ambiguities has been considered, in order to improve the accuracy and precision of the solutions. Considering the single-base positioning, the research results showed the difference of a few centimetres between the reference coordinates and the estimated ones if the distance between master and rover is less than 3 km, while considering the network positioning and the Virtual Reference Station correction, the difference are about a couple of centimetres for East and North component, and about 5 cm for the Up.展开更多
Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring（RAIM） has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm i...Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring（RAIM） has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm is only suitable for single fault detection, single GNSS constellation. However, multiple satellite failure should be considered when more than one satellite navigation system are adopted. To detect and exclude multi-fault, most current algorithms perform an iteration procedure considering all possible fault model which lead to heavy computation burden. An alternative RAIM is presented in this paper based on multiple satellite constellations（for example, GPS and Bei Dou（BDS） etc.） and robust estimation for multi-fault detection and exclusion, which can not only detect multi-failures,but also control the influences of near failure observation. Besides, the RAIM algorithm based on robust estimation is more efficient than the current RAIM algorithm for multiple constellation and multiple faults. Finally, the algorithm is tested by GPS/Bei Dou data.展开更多
Multipath and continuous wave (CW) interference may cause severe performance degradation of global navigation satellite system (GNSS) receivers. This paper analyzes the code tracking performance of early-minus-late po...Multipath and continuous wave (CW) interference may cause severe performance degradation of global navigation satellite system (GNSS) receivers. This paper analyzes the code tracking performance of early-minus-late power (EMLP) discriminator of GNSS receivers in the presence of multipath and CW interference. An analytical expression of the code tracking error is suggested for EMLP discriminator, and it can be used to assess the effect of multipath and CW interference. The derived expression shows that the combined effects include three components: multipath component;CW interference component and the combined component of multipath and CW interference. The effect of these components depends on some factors which can be classified into two categories: the receiving environment and the receiver parameters. Numerical results show how these factors affect the tracking performances. It is shown that the proper receiver parameters can suppress the combined effects of multipath and CW interference.展开更多
Nowadays global navigation satellite system(GNSS)receivers are the primary tool not only for precision surveying but also for geodesy,geophysics and many other industrial applications worldwide.The only way to assure ...Nowadays global navigation satellite system(GNSS)receivers are the primary tool not only for precision surveying but also for geodesy,geophysics and many other industrial applications worldwide.The only way to assure the accuracy,universality and longevity of GNSS measurements is by calibration of its receivers.The parameters affecting the calibration accuracy of a single GNSS receiver are discussed in this paper.And a geodetic basepoint is established according to previous empirical studies to serve as a reference for calibration.Additionally,the traceability to the systeme international(SI)unit of such kind of calibrations is discussed.Stability of the base point is also verified through long-term measurements over three years.Eventually,a calibration of a sample single GNSS receiver is performed and the uncertainty budget is derived.展开更多
A velocity determination algorithm of GNSS receiver for high speed and high acceleration carrier in motion is mainly discussed in this paper. For this algorithm, the Doppler frequency value is extracted from the satel...A velocity determination algorithm of GNSS receiver for high speed and high acceleration carrier in motion is mainly discussed in this paper. For this algorithm, the Doppler frequency value is extracted from the satellite carrier tracking loop, and(α, β, γ) filter is adopted for smoothing, and least square is adopted to calculate the receiver speed and local clock drift. To get accurate determination value, a kind of fault detection and exclusion technology(FDE) is designed in this paper; the satellite Doppler frequency value with large error is detected and exclusion. Finally, the signal of GNSS signal simulator and actual navigational satellite signal are received for test, getting good velocity determination result.展开更多
This paper describes the design of a flexible Direct RF Sampling based GNSS receiver as well as its use for the verification of jitter effects on various performance metrics. The proposed architecture allows the sampl...This paper describes the design of a flexible Direct RF Sampling based GNSS receiver as well as its use for the verification of jitter effects on various performance metrics. The proposed architecture allows the sampling and the real-time digital signal processing of real GNSS signals. The analysis of the measurements obtained from this system validates theoretical formulations from which the sampling jitter limit is established in order not to impact the GNSS signal’s detection.展开更多
Collaborative Positioning (CP) is a better localization technique used to locate a user in challenged environments, which is driven by the increasing presence of cellular phones and mobile devices in urban areas. The ...Collaborative Positioning (CP) is a better localization technique used to locate a user in challenged environments, which is driven by the increasing presence of cellular phones and mobile devices in urban areas. The basic idea is that the mobile devices can cooperate with each other to improve their ability to determine their position. In this concept, a network of GNSS (Global Navigation Satellite System) receivers can collectively receive available satellite signals, and each receiver can receive signal measurements from other receivers via a communication link. This work shows how to use the Collective Detection (CD) approach to deal with the concept of collaborative or cooperative positioning. Specifically, this paper develops a new strategy allowing a receiver in deep urban environment to locate using the CD approach, while overcoming the implementation complexity problem. The idea consists in applying the CD approach in the case of multiple GNSS receivers to assist a receiver in a difficult situation. A typical case of two connected receivers assisting a receiver in difficulty in a deep urban area shows the effectiveness of this strategy. This strategy is tested with real GNSS signals to analyze its feasibility. The overall gain in complexity can reach up to 46% of what has been achieved in previous works.展开更多
In this document we describe the idea and the development of a new type of GNSS receiver. First, we have a new open format for transporting GNSS created data and this developed oriented to an object format that greatl...In this document we describe the idea and the development of a new type of GNSS receiver. First, we have a new open format for transporting GNSS created data and this developed oriented to an object format that greatly simplifies development and allows more effective programming. The open LINUX OS allows the developer in that it can be programmed directly on the GNSS board completely new perspectives. Nevertheless, this GNSS receiver is still small and easy to handle and with low power consumption and is otherwise in accordance with the major manufacturers in nothing. He can receive and process all GNSS signals and has a very fast and robust RTK algorithm. Furthermore, you also have the possibility of their own developments to install directly on the board. This makes this product unique and gives the customer and the system integrator unprecedented freedoms and opportunities for development.展开更多
This paper used the statistical methods of quality control to assess receiver autonomous integrity monitoring(RAIM) availability and fault detection(FD) capability of BeiDou14(Phase II with 14 satellites),BeiDou(Phase...This paper used the statistical methods of quality control to assess receiver autonomous integrity monitoring(RAIM) availability and fault detection(FD) capability of BeiDou14(Phase II with 14 satellites),BeiDou(Phase III with 35 satellites) and GPS(with 31 satellites) for the first time. The three constellations are simulated and their RAIM performances are quantified by the global, Asia-Pacific region and temporal variations respectively. RAIM availability must be determined before RAIM detection. It is proposed that RAIM availability performances from satellites and constellation geometry configuration are evaluated by the number of visible satellites(NVS, NVS > 5) and geometric dilution of precision(GDOP, GDOP < 6) together. The minimal detectable bias(MDB) and minimal detectable effect(MDE) are considered as a measure of the minimum FD capability of RAIM in the measurement level and navigation position level respectively. The analyses of simulation results testify that the average global RAIM performances for BeiDou are better than that for GPS except global RAIM holes proportion. Moreover, the Asia-Pacific RAIM performances for BeiDou are much better than that for GPS in all indexes. RAIM availability from constellation geometry configuration and RAIM minimum FD capability for BeiDou14 are better than that for GPS in Asia-Pacific region in all cases, but the BeiDou14 RAIM availability from satellites are worse than GPS's. The methods and conclusions can be used for RAIM prediction and real-time assessment of all kinds of Global Navigation Satellite Systems(GNSS) constellation.展开更多
Aiming at evaluating and predicting rapidly and accurately a high sensitivity receiver’s adaptability in complex electromagnetic environments,a novel testing and prediction method based on dual-channel multi-frequenc...Aiming at evaluating and predicting rapidly and accurately a high sensitivity receiver’s adaptability in complex electromagnetic environments,a novel testing and prediction method based on dual-channel multi-frequency is proposed to improve the traditional two-tone test.Firstly,two signal generators are used to generate signals at the radio frequency(RF)by frequency scanning,and then a rapid measurement at the intermediate frequency(IF)output port is carried out to obtain a huge amount of sample data for the subsequent analysis.Secondly,the IF output response data are modeled and analyzed to construct the linear and nonlinear response constraint equations in the frequency domain and prediction models in the power domain,which provide the theoretical criteria for interpreting and predicting electromagnetic susceptibility(EMS)of the receiver.An experiment performed on a radar receiver confirms the reliability of the method proposed in this paper.It shows that the interference of each harmonic frequency and each order to the receiver can be identified and predicted with the sensitivity model.Based on this,fast and comprehensive evaluation and prediction of the receiver’s EMS in complex environment can be efficiently realized.展开更多
Galileo is the Global Navigation Satellite System that Europe is building and it is planned to be operational in the next 3-5 years. Several Galileo signals use split-spectrum modulations, such as Composite Binary Off...Galileo is the Global Navigation Satellite System that Europe is building and it is planned to be operational in the next 3-5 years. Several Galileo signals use split-spectrum modulations, such as Composite Binary Offset Carrier (CBOC) modulation, which create correlation ambiguities when processed with large or infinite front-end bandwidths (i.e., in wideband receivers). The correlation ambiguities refer to the notches in the correlation shape (i.e., in the envelope of the correlation between incoming signal and reference modulated code) which happen within +/– 1 chip from the main peak. These correlation ambiguities affect adversely the detection probabilities in the code acquisition process and are usually dealt with by using some form of unambiguous processing (e.g., BPSK-like techniques, sideband processing, etc.). In some applications, such as mass-market applications, a narrowband Galileo receiver (i.e., with considerable front-end bandwidth limitation) is likely to be employed. The question addressed in this paper, which has not been answered before, is whether or not this bandwidth limitation can cope inherently with the ambiguities of the correlation function, to which extent, and which the best design options are in the acquisition process (e.g., in terms of time-bin step and ambiguity mitigation mechanisms).展开更多
This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global posit...This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.展开更多
基金JSPS KAKENHI Grant Number16H06286 supports global GNSS ionospheric maps (TEC,ROTI,and detrended TEC maps) developed by the Institute for SpaceEarth Environmental Research (ISEE) of Nagoya Universitysupport of the 2024 JASSO Follow-up Research Fellowship Program for a 90-day visiting research at the Institute for Space-Earth Environmental Research (ISEE),Nagoya University+3 种基金the support received from Telkom University under the“Skema Penelitian Terapan Periode I Tahun Anggaran 2024”the Memorandum of Understanding for Research Collaboration on Regional Ionospheric Observation (No:092/SAM3/TE-DEK/2021)the National Institute of Information and Communications Technology (NICT) International Exchange Program 2024-2025(No.2024-007)support for a one-year visiting research at Hokkaido University
文摘This paper highlights the crucial role of Indonesia’s GNSS receiver network in advancing Equatorial Plasma Bubble(EPB)studies in Southeast and East Asia,as ionospheric irregularities within EPB can disrupt GNSS signals and degrade positioning accuracy.Managed by the Indonesian Geospatial Information Agency(BIG),the Indonesia Continuously Operating Reference Station(Ina-CORS)network comprises over 300 GNSS receivers spanning equatorial to southern low-latitude regions.Ina-CORS is uniquely situated to monitor EPB generation,zonal drift,and dissipation across Southeast Asia.We provide a practical tool for EPB research,by sharing two-dimensional rate of Total Electron Content(TEC)change index(ROTI)derived from this network.We generate ROTI maps with a 10-minute resolution,and samples from May 2024 are publicly available for further scientific research.Two preliminary findings from the ROTI maps of Ina-CORS are noteworthy.First,the Ina-CORS ROTI maps reveal that the irregularities within a broader EPB structure persist longer,increasing the potential for these irregularities to migrate farther eastward.Second,we demonstrate that combined ROTI maps from Ina-CORS and GNSS receivers in East Asia and Australia can be used to monitor the development of ionospheric irregularities in Southeast and East Asia.We have demonstrated the combined ROTI maps to capture the development of ionospheric irregularities in the Southeast/East Asian sector during the G5 Geomagnetic Storm on May 11,2024.We observed simultaneous ionospheric irregularities in Japan and Australia,respectively propagating northwestward and southwestward,before midnight,whereas Southeast Asia’s equatorial and low-latitude regions exhibited irregularities post-midnight.By sharing ROTI maps from Indonesia and integrating them with regional GNSS networks,researchers can conduct comprehensive EPB studies,enhancing the understanding of EPB behavior across Southeast and East Asia and contributing significantly to ionospheric research.
基金funding from European Union(MCIN/AEI/10.13039/501100011033/FEDER)(Nos.PID2022-138485OB-I00 and CNS2022-135383)European Space Agency(RT-WMIS)(No.4000137762/22/NL/GLC/ov)funding support from the China Scholarship Council(No.202006020025)。
文摘The geodetic detrending(GD)methodology was introduced in the past decade and has opened the door to the global monitoring of ionospheric scintillation using global navigation satellite system(GNSS)receivers.The performance of GD has been demonstrated in geodetic receivers.However,extending scintillation monitoring to low-cost commercial receivers remains a challenge.Low-cost devices could serve as valuable complements to specialised and much more expensive scintillation monitoring receivers.In this paper,first,a feasibility study was conducted using the GD technique,demonstrating that the scintillation indices derived from the observations of two lowcost receivers(Septentrio Mosaic X5 and UBLOX ZED-F9P)have a resolution similar to that achieved by geodetic receiver models,whose price is one order of magnitude higher.Second,measurements of GNSS signals at different frequencies from the Galileo and global positioning system(GPS)satellites were analysed in a specific experiment over six days of null scintillation.Next,the noise level in the scintillation parameters derived from the experiment was evaluated,which shows that for low-cost receivers,the minimum scintillation detection threshold increases only negligibly compared to geodetic-grade receivers.Moreover,the geometry-free(GF)combination of L1 with a second signal of different frequency was investigated as an alternative to detrending GNSS signals.Finally,for determining the ionospheric fluctuations produced by scintillation,the limitations of using the GF combination versus the uncombined measurements were highlighted.It is concluded that the minimum resolution of scintillation indices derived from low-cost receiver measurements makes it possible to distinguish values associated with periods of scintillation activity from those produced by residual noise from mismodeling.For both geodetic and low-cost receivers,the scintillation detection threshold obtained with uncombined carrier-phase measurements is smaller than that achieved with the classic GF combination.
文摘Nowadays many positioning techniques and methods are applied to the cadastral surveys. Starting from last decade, GPS/GNSS positioning had become one of the most used methodology thanks to the rapid development of satellite-based positioning and to the appearance of GNSS mass-market receivers and antennas. Methods based on these instruments are more affordable than the conventional ones even if their use for precise positioning is not so intuitive. This study is aimed to evaluate the use of singlefrequency GPS/GNSS mass-market receivers for cadastral surveys, considering both single-base RealTime Kinematic(RTK) and Network Real-Time Kinematic(NRTK) methodologies. Furthermore, a particular tool for predicting and estimating the occurrence of false fix of the phase ambiguities has been considered, in order to improve the accuracy and precision of the solutions. Considering the single-base positioning, the research results showed the difference of a few centimetres between the reference coordinates and the estimated ones if the distance between master and rover is less than 3 km, while considering the network positioning and the Virtual Reference Station correction, the difference are about a couple of centimetres for East and North component, and about 5 cm for the Up.
基金supported by the National 863 project(2013AA122501-1)the National Natural Science Foundation of China(41020144004,41474015,41374019,41374003,41274040)
文摘Integrity is significant for safety-of-life applications. Receiver autonomous integrity monitoring（RAIM） has been developed to provide integrity service for civil aviation. At first,the conventional RAIM algorithm is only suitable for single fault detection, single GNSS constellation. However, multiple satellite failure should be considered when more than one satellite navigation system are adopted. To detect and exclude multi-fault, most current algorithms perform an iteration procedure considering all possible fault model which lead to heavy computation burden. An alternative RAIM is presented in this paper based on multiple satellite constellations（for example, GPS and Bei Dou（BDS） etc.） and robust estimation for multi-fault detection and exclusion, which can not only detect multi-failures,but also control the influences of near failure observation. Besides, the RAIM algorithm based on robust estimation is more efficient than the current RAIM algorithm for multiple constellation and multiple faults. Finally, the algorithm is tested by GPS/Bei Dou data.
文摘Multipath and continuous wave (CW) interference may cause severe performance degradation of global navigation satellite system (GNSS) receivers. This paper analyzes the code tracking performance of early-minus-late power (EMLP) discriminator of GNSS receivers in the presence of multipath and CW interference. An analytical expression of the code tracking error is suggested for EMLP discriminator, and it can be used to assess the effect of multipath and CW interference. The derived expression shows that the combined effects include three components: multipath component;CW interference component and the combined component of multipath and CW interference. The effect of these components depends on some factors which can be classified into two categories: the receiving environment and the receiver parameters. Numerical results show how these factors affect the tracking performances. It is shown that the proper receiver parameters can suppress the combined effects of multipath and CW interference.
文摘Nowadays global navigation satellite system(GNSS)receivers are the primary tool not only for precision surveying but also for geodesy,geophysics and many other industrial applications worldwide.The only way to assure the accuracy,universality and longevity of GNSS measurements is by calibration of its receivers.The parameters affecting the calibration accuracy of a single GNSS receiver are discussed in this paper.And a geodetic basepoint is established according to previous empirical studies to serve as a reference for calibration.Additionally,the traceability to the systeme international(SI)unit of such kind of calibrations is discussed.Stability of the base point is also verified through long-term measurements over three years.Eventually,a calibration of a sample single GNSS receiver is performed and the uncertainty budget is derived.
基金supported by the National High-Tech R&D Program (863 Program) No. 2015AA01A705the National Natural Science Foundation of China under Grant No. 61572072+1 种基金the National Science, Technology Major Project No. 2015ZX03001041Fundamental Research Funds for the Central Universities No. FRF-TP-15-027A3
文摘A velocity determination algorithm of GNSS receiver for high speed and high acceleration carrier in motion is mainly discussed in this paper. For this algorithm, the Doppler frequency value is extracted from the satellite carrier tracking loop, and(α, β, γ) filter is adopted for smoothing, and least square is adopted to calculate the receiver speed and local clock drift. To get accurate determination value, a kind of fault detection and exclusion technology(FDE) is designed in this paper; the satellite Doppler frequency value with large error is detected and exclusion. Finally, the signal of GNSS signal simulator and actual navigational satellite signal are received for test, getting good velocity determination result.
文摘This paper describes the design of a flexible Direct RF Sampling based GNSS receiver as well as its use for the verification of jitter effects on various performance metrics. The proposed architecture allows the sampling and the real-time digital signal processing of real GNSS signals. The analysis of the measurements obtained from this system validates theoretical formulations from which the sampling jitter limit is established in order not to impact the GNSS signal’s detection.
文摘Collaborative Positioning (CP) is a better localization technique used to locate a user in challenged environments, which is driven by the increasing presence of cellular phones and mobile devices in urban areas. The basic idea is that the mobile devices can cooperate with each other to improve their ability to determine their position. In this concept, a network of GNSS (Global Navigation Satellite System) receivers can collectively receive available satellite signals, and each receiver can receive signal measurements from other receivers via a communication link. This work shows how to use the Collective Detection (CD) approach to deal with the concept of collaborative or cooperative positioning. Specifically, this paper develops a new strategy allowing a receiver in deep urban environment to locate using the CD approach, while overcoming the implementation complexity problem. The idea consists in applying the CD approach in the case of multiple GNSS receivers to assist a receiver in a difficult situation. A typical case of two connected receivers assisting a receiver in difficulty in a deep urban area shows the effectiveness of this strategy. This strategy is tested with real GNSS signals to analyze its feasibility. The overall gain in complexity can reach up to 46% of what has been achieved in previous works.
文摘In this document we describe the idea and the development of a new type of GNSS receiver. First, we have a new open format for transporting GNSS created data and this developed oriented to an object format that greatly simplifies development and allows more effective programming. The open LINUX OS allows the developer in that it can be programmed directly on the GNSS board completely new perspectives. Nevertheless, this GNSS receiver is still small and easy to handle and with low power consumption and is otherwise in accordance with the major manufacturers in nothing. He can receive and process all GNSS signals and has a very fast and robust RTK algorithm. Furthermore, you also have the possibility of their own developments to install directly on the board. This makes this product unique and gives the customer and the system integrator unprecedented freedoms and opportunities for development.
基金the National High Technology Research and Development Program(863)of China(No.2011AA120503)
文摘This paper used the statistical methods of quality control to assess receiver autonomous integrity monitoring(RAIM) availability and fault detection(FD) capability of BeiDou14(Phase II with 14 satellites),BeiDou(Phase III with 35 satellites) and GPS(with 31 satellites) for the first time. The three constellations are simulated and their RAIM performances are quantified by the global, Asia-Pacific region and temporal variations respectively. RAIM availability must be determined before RAIM detection. It is proposed that RAIM availability performances from satellites and constellation geometry configuration are evaluated by the number of visible satellites(NVS, NVS > 5) and geometric dilution of precision(GDOP, GDOP < 6) together. The minimal detectable bias(MDB) and minimal detectable effect(MDE) are considered as a measure of the minimum FD capability of RAIM in the measurement level and navigation position level respectively. The analyses of simulation results testify that the average global RAIM performances for BeiDou are better than that for GPS except global RAIM holes proportion. Moreover, the Asia-Pacific RAIM performances for BeiDou are much better than that for GPS in all indexes. RAIM availability from constellation geometry configuration and RAIM minimum FD capability for BeiDou14 are better than that for GPS in Asia-Pacific region in all cases, but the BeiDou14 RAIM availability from satellites are worse than GPS's. The methods and conclusions can be used for RAIM prediction and real-time assessment of all kinds of Global Navigation Satellite Systems(GNSS) constellation.
基金supported by the National Natural Science Foundation of China(62071473).
文摘Aiming at evaluating and predicting rapidly and accurately a high sensitivity receiver’s adaptability in complex electromagnetic environments,a novel testing and prediction method based on dual-channel multi-frequency is proposed to improve the traditional two-tone test.Firstly,two signal generators are used to generate signals at the radio frequency(RF)by frequency scanning,and then a rapid measurement at the intermediate frequency(IF)output port is carried out to obtain a huge amount of sample data for the subsequent analysis.Secondly,the IF output response data are modeled and analyzed to construct the linear and nonlinear response constraint equations in the frequency domain and prediction models in the power domain,which provide the theoretical criteria for interpreting and predicting electromagnetic susceptibility(EMS)of the receiver.An experiment performed on a radar receiver confirms the reliability of the method proposed in this paper.It shows that the interference of each harmonic frequency and each order to the receiver can be identified and predicted with the sensitivity model.Based on this,fast and comprehensive evaluation and prediction of the receiver’s EMS in complex environment can be efficiently realized.
文摘Galileo is the Global Navigation Satellite System that Europe is building and it is planned to be operational in the next 3-5 years. Several Galileo signals use split-spectrum modulations, such as Composite Binary Offset Carrier (CBOC) modulation, which create correlation ambiguities when processed with large or infinite front-end bandwidths (i.e., in wideband receivers). The correlation ambiguities refer to the notches in the correlation shape (i.e., in the envelope of the correlation between incoming signal and reference modulated code) which happen within +/– 1 chip from the main peak. These correlation ambiguities affect adversely the detection probabilities in the code acquisition process and are usually dealt with by using some form of unambiguous processing (e.g., BPSK-like techniques, sideband processing, etc.). In some applications, such as mass-market applications, a narrowband Galileo receiver (i.e., with considerable front-end bandwidth limitation) is likely to be employed. The question addressed in this paper, which has not been answered before, is whether or not this bandwidth limitation can cope inherently with the ambiguities of the correlation function, to which extent, and which the best design options are in the acquisition process (e.g., in terms of time-bin step and ambiguity mitigation mechanisms).
文摘This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.
