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GNSS - SDR Receivers


A-The Signal in Space (SIS)
1. The navigation bands
2. The GPS signal
3. The Galileo signal
4. Frequency plan
B-The received SIS
Information data
All the information data necessary to
perform the trilateration are contained
in the Signal in Space (SIS)
transmitted by the satellites
The SISs have to be allocated in a
satellite band

1. The navigation bands
GPS and GLONASS bands
Navigation signals have to be allocated in the
RNSS (Radio Navigation Satellite Services)
bands

GPS occupies L1 and L2 bands

GLONASS occupies the adjacent bands
MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
GPS GLONASS
New generation GNSS signals
The new generation GNSS signals have to be
allocated in the free frequency intervals in the L
band


MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
GPS GLONASS
Galileo in L1
GPS and Galileo have decided to be
interoperable in the L1 band

MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
GPS L1
L2
Galileo E1
Galileo GPS GLONASS
New GNSS services
GNSS providers have decided to enlarge
the GNSS offer with new improved services

New signals have to be transmitted

MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
GPS GLONASS Galileo
Interoperability and compatibility (1/2)
Interoperability: Two systems which want to
work together

Compatibility: Two systems which want to
work without interfering each other

MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
Two concepts become important:
GPS GLONASS Galileo
MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
At the end of the story the new signals have to
be both interoperable and compatible
Interoperability and compatibility (2/2)
GPS GLONASS Galileo
We need to know (1/2)
MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
Structure of the GPS SIS
GPS GLONASS Galileo
We need to know (2/2)
How the new signals reach the goal of
interoperability and compatibility
MHz 60 . 1227
2 L
= f
MHz 42 . 1575
1 L
= f
L1
L2
Introduction to BOC modulation
GPS GLONASS Galileo
GPS Signal In Space (SIS)
SIS transmitted by the i-th satellite ) (t x
RF
MHz) 10.23 77 2 ( GHz 57542 . 1
1 L
= = f
MHz) 10.23 60 2 ( GHz 22760 . 1
2 L
= = f
Each GPS satellite transmits continuously using two radio
frequencies in the L-band
The frequencies are derived coherently from one of the
atomic standards aboard the satellite. The frequency of the
atomic standards aboard a satellite is
MHz 10.23
2. The GPS signal
Three signals
Two signals are transmitted on L1
- One for civil users (Open service OS)
- One for DoD-authorized users
One signal is transmitted on L2 for DoD-authorized users
MHz 42 . 1575
1 L
= f
MHz 60 . 1227
2 L
= f
MHz 46 . 20
MHz 46 . 20
MHz 046 . 2
) (Frequency f
Note: the spectra are only qualitative
Carrier
The signal structure
) 2 cos( ) ( ) ( 2 ) (
1 L L c RF
t f t d t c P t x u t + =
Ranging code: a unique
sequence of -1s and +1s
assigned to each satellite
(CDMA)
Navigation data: a binary-coded (+1,-1) message
consisting of data on the satellites health status,
ephemeris (satellite position and velocity), clock bias
parameters, and an almanac giving reduced-precision
ephemeris data on all satellites in the constellation.
The signal power
) 2 cos( ) ( ) ( 2 ) (
1 L L c RF
t f t d t c P t x u t + =
( )
}


=
2 /
2 /
2
) (
1
lim
T
T
RF
T
RF
dt t x
T
x P
( )
c
T
T
L c
T
RF
P dt t f P
T
x P = + =
}


2 /
2 /
1 1 L
2
) 2 ( cos 2
1
lim u t
Power
The signal components
) 2 cos( ) ( ) ( 2 ) (
1 L L c RF
t f t d t c P t x u t + =
Carrier
Ranging code: Pseudo-random
noise (PRN) sequence of chips
Navigation data: sequence of bits
(50 bits per second in GPS OS)
Note: in the graphs the signal periods are not realistic (only pictorial)
The GPS SIS of the i-th satellite
) 2 sin( ) ( ) ( 2
) 2 sin( ) ( ) ( 2 ) 2 cos( ) ( ) ( 2 ) (
2 2 L 2 2 2
1 1 L 1 1 1 1 1 L
L Y Y Y
L Y Y Y L c RF
t f t d t c P
t f t d t c P t f t d t c P t x
u t
u t u t
+ +
+ + + =
SIS transmitted by the i-th satellite ) (t x
RF
GHz 57542 . 1
1 L
= f
L1 carrier frequency for OS
GHz 22760 . 1
2 L
= f L2 carrier frequency for DoD-authorized users
Coarse/Acquisition (C/A) code
(a unique sequence 1023 chips, which
is repeated each millisecond)
C/A code
Code (1023 chips repeated
each millisecond)
Code period: 1 ms
Chip duration (T
c
) is about 1s
Chipping rate is 1.023 MHz
Note: Also the code frequency is derived coherently from the atomic
standards aboard a satellite (10.23 MHz)
0 for 0 ) ( = ~ m mT R
c i
m
m
Galileo and GPS interoperability
One of the major driver in the Galileo signal design has
been the interoperability with GPS
Interoperability means that receivers have to be
potentially able to deal with both the systems and then
both the Signal-In-Space
As a consequence, SIS must be in close bandwidths,
without interfering each-other
The open access service (free and unencrypted) signal
share the same carrier of GPS C/A code (L1)
3. The Galileo signal
Split spectrum modulation
One way to reduce mutual interference between
signals modulated over the same carrier is to
introduce a frequency shift, modulating one the
signal with a subcarrier
In the navigation field this technique has been
named split spectrum or Binary Offset Carrier
(BOC) modulation
BOC modulation
BOC modulation (Binary Offset Carrier modulation) consists
in applying a squared subcarrier to a BPSK signal





In GNSS the BOC parameters are defined with respect to a
Reference Frequency:

s
f
T
f
R
R
R
1
1
MHz 023 . 1
~ =
=
) (t s
b
t
Reference Period
BOC subcarrier
The squared subcarrier

is applied to the code
) (t s
b
t
( ) | | t nf (t) s
R b
t 2 sin sign =
) (t c
t
n
T
T
R
sc
=
Subcarrier period
m
T
T
R
r
=
Chip duration
BOC(n.m)
BOC(n,m):
n: subcarrier frequency in multiples of 1.023 MHz
m: chip rate in multiples of 1.023 Mcps
) (t s
b
t
n
T
T
R
sc
=
) (t c
t
m
T
T
R
r
=
The BOC-modulated SIS

+
=
)

|
|
.
|

\
|
|
.
|

\
|
=
i
R
R
i i
t
T
n
m
T
i t r d c P t s t 2 sin sign ) (
The BOC-modulated SIS

+
=
)

|
|
.
|

\
|
|
.
|

\
|
=
i
R
R
i i
t
T
n
m
T
i t r d c P t s t 2 sin sign ) (
Sequence of 1 (chips of the code)
The BOC-modulated SIS

+
=
)

|
|
.
|

\
|
|
.
|

\
|
=
i
R
R
i i
t
T
n
m
T
i t r d c P t s t 2 sin sign ) (
Sequence of 1 (bits of the navigation message)
The BOC-modulated SIS

+
=
)

|
|
.
|

\
|
|
.
|

\
|
=
i
R
R
i i
t
T
n
m
T
i t r d c P t s t 2 sin sign ) (
) (t r
r
T
t
Chip
The BOC-modulated SIS

+
=
)

|
|
.
|

\
|
|
.
|

\
|
=
i
R
R
i i
t
T
n
m
T
i t r d c P t s t 2 sin sign ) (
) (
sin
t s
sc
T
t
Subcarrier
An example: the BOC(10,5) modulation
A BOC(10,5) uses a square wave with a
fundamental frequency of 10.23 MHz to
modulate a code with chipping rate of 5.115
Mchip/s (chip duration about 0.2 s)

2 . 0 ~
r
T
s) ( t
) (t r ) (
sin
t s
1 . 0 ~
sc
T
s) ( t
Example: BOC(1,1)
s 1
1
s 1
1
1 MHz 023 . 1
1

~ = ~ =
~ = =
R
sc
R
r
R
R
R
T
T
T
T
s T
T
f
BOC Power Spectral Density
The maximum of the power spectrum is shifted
with respect to the center frequency
It is possible to theoretically evaluate the spectrum
as
2
m) BOC(n,
2
cos
sin
2
sin
) (
|
|
|
|
|
.
|

\
|
|
|
.
|

\
|
|
|
.
|

\
|
|
|
.
|

\
|
=
sc
r sc
sc
f
f
f
f
f
f
f
f f G
t
t
t t
r
r
T
f
1
=
sc
sc
T
f
1
=
Power spectra (normalized)
GPS
BOC(2,2)
BOC(10,5)
BOC vs BOCcos
)) 2 (sin( sign ) (
sin
t f t s
sc
t =
)) 2 (cos( sign ) (
cos
t f t s
sc
t =
By default a BOC signal is generated by a sine subcarrier, a BOCcos signal
uses a cosine subcarrier
It results in a
reduction of the
secondary lobes
and improves
isolation with
signals in the
same band
Correlation property of a BOC modulated signal
The autocorrelation of a GPS PN code has a triangular
shape in the interval [-Tc,Tc].
The BOC modulated signals have a narrower correlation
function around the origin but with side peaks
The positioning performances of a system are related to
the ability of identifying the main peak of the correlation
function: the BOC signal can potentially give better
accuracy, but due to the presence of the side peaks the
improvement is traded-off with the complexity of the
receiver
Correlation properties
Bands of Radio Navigation satellite service (RNSS)
GALILEO Bands (Navigation) GPS Bands (Current & modernized)
L5
E5
E6 L1 E2 E1
1
1
6
4

M
H
z
1
2
1
4

M
H
z
1
2
6
0

M
H
z
1
3
0
0

M
H
z
1
5
5
9

M
H
z
1
5
8
7

M
H
z
1
5
9
1

M
H
z
1
5
6
3

M
H
z
1
2
1
5

M
H
z
1
2
3
7

M
H
z
L2
RNSS Bands
RNSS Bands
ARNS Bands ARNS Bands
GLONASS Bands (Current & modernized)
1
6
1
0

M
H
z
1
5
7
5
.
4
2

M
H
z
1
2
7
8
.
7
5

M
H
z
1
1
9
1
.
7
9
5

M
H
z
E2-L1-E1 and E5a/L5 are common to GPS Frequency bands for interoperability
Three Frequency Bands part
of the RNSS allocated bands
Frequency plan
Galileo Signals Baseline Overview (~2006)
1
2
7
8
.
7
5

M
H
z
40x1.023 MHz
E6P Signal:
BOCcos(10,5) mod.
Rc=5.115 Mcps
PRS Service
E6C Signal:
Data + Pilot
BPSK mod.
Rc=5.115 Mcps
Rs=1000 sps
CS Service
1
5
7
5
.
4
2

M
H
z
40x1.023 MHz
L1P Signal:
BOCcos (15,2.5) mod.
PRS Service
L1F Signal:
Data + Pilot
BOC(1,1) mod.
Rc=1.023 Mcps
Rs=250 sps
OS/CS/SOL
Services
1
1
9
1
.
7
9
5

M
H
z
E5A Signal:
Data+Pilot
BPSK mod.
Rc=10.23 Mcps
Rs=50 sps
OS/CS
Services
E5B Signal:
Data+Pilot
BPSK mod.
Rc=10.23 Mcps
Rs=250 sps
OS/CS/SOL
Services
Frequency
(MHz)
90x1.023 MHz
E5 Signal:
AltBOC(15,10) mod.
Not updated slide
L1 band already crowded!!! Interoperability and
compatibility with GPS desired.
L1 modulations: design drivers and constraints (1/3)
Not updated slide
The solution has to:
Make a good use of the spectrum
Keep the same carrier frequency than GPS C/A to assure
interoperability
Limit the overlap with other signals.

Galileo L1 baseline: L1F BOC(1,1)+L1P BOCcos(15,2.5)
L1 modulations: design drivers and constraints (2/3)
L1F open signal: relative small bandwidth desired.
L1P restricted signal (PRS-Public Regulated
Service): higher performances, larger bandwidth
and spectrally separated from any open signal.
Not updated slide
L1 modulations: design drivers and constraints (2/3)
Not updated slide
Note on the choice of L1P modulation
Galileo Phase B baseline modulation for L1P was BOC(14,2) however not
enough isolation from the GPS M-code.
The final choice depends on National Security Compatibility criteria: Spectral
Separation Coefficients Used to quantify interference with GPS M-code
M-code
SSC PSSC (5-12) PSSC (5-20)
BOC(14,2) -85.2 -85.4 -82.6
BOC(15,2.5) -85.6 -85.8 -84.7
BOCcos(15,2.5) -90.4 -90.4 -88.4
Better spectral isolation thanks to the 2ary lobes
reduction of the BOC cosine subcarrier
Not updated slide
L1 multiplexing technique
Three channels to be multiplexed:

L1F data channel:

L1F pilot channel:

L1P data channel:

Constraints:
Amplifier to be used in saturation: constant envelope
Power sharing: 50% for L1P and 50% for L1F
Optimise satellite implementation
Easy to separate the two signals at reception

( ) ( ) ( ) ) (
) 5 . 2 , 15 cos( 1 1 1
t sc t c t d t s
BOC P L P L P L
=
( ) ( ) ( ) ) (
) 1 , 1 ( 1 1 1
t sc t c t d t s
BOC d F L F L d F L
=

( ) ( ) ) (
) 1 , 1 ( 1 1
t sc t c t s
BOC p F L p F L
=

L1 multiplexing technique
CASM : Coherent Adaptative Subcarrier Modulation



Relative power levels:
Channels Before
multiplexing
After
multiplexing
L1F data 25% 22%
L1F pilot 25% 22%
L1P 50% 44%
IM -- 11%
Constellation
( ) ( ) ( ) | | ( ) ( ) | | t s t s j t s t s t S
L P L p F L d F L L int , 1 1 1 1 1
2
3
1
3
2
+ + =

INTERMODULATION PRODUCT TO ASSURE CONSTANT ENVELOPE
I
Q
The receiver chain
Antenna
RF
Front-end
ADC
GNSS
Digital
receiver
SIS (Signal in Space)
) (t y
IF
) (t y
RF
Let us consider the SIS of a single SV
SV= Space Vehicle
Received C/A SIS
C/A SIS received at the antenna input
ToA Doppler
Note: Doppler negligible at baseband
) ) ( 2 cos( ) ( ) ( 2 ) (
L1
t t t + + = t f f t d t c P t y
d R RF
Received
power
160dBW - watt 10
16
~

R
P
ToA (Time of Arrival)
o
5
R
P
Elevation
Zenith
-164 dBW -156dBW
The IF signal
Down conversion
& filtering
) (t y
RF
) (t y
IF
) ) ( 2 cos( ) ( ) ( 2 ) (
) (
t t t + + = t f f t d t c P t y
d IF
b
R IF
Filtered code with sub-carrier
Adopted scheme
Antenna
RF-IF
Front-end
ADC
GNSS
Digital
receiver
) (t y
RF
) (t y
IF
IF Sampling
BB Sampling
+ Noise
SiS and Noise
AWGN
RF-IF
Front-end
ADC
GNSS
Digital
receiver
) (t r
RF
) (t r
IF
f
RF
f
2 /
0
N
f
0
2 /
0
N
IF
f
IF
f
Defintion of C/N
0

(dBW/Hz) 2 /
0
N
(dBW)
R
P
0 0
N
P
N
C
R
=
f f
RF
f
RF
f Signal power
in the whole
bandwidth
Hz) (dB /
0
N C
C/N
0
defined at the antenna and measured .
Signal to Noise Ratio (SNR)
Down conversion
& filtering
) (t y
RF
) ( ) ( ) ( t N t y t R
IF IF IF
+ =
+
) (t N
(dBW)
0
B N
(dBW)
R
P
B N
C
B N
P
R
1
SNR
0 0
= =
f
f
IF
f
IF
f
IF
f
B
IF
f
Signal and
Noise power
in a band B
C/N0 and SNR
B N
C
B N
P
R
1
SNR
0 0
= =
GPS
Elevation
5
o
zenith
SIS power at RX
-164 dBW -156 dBW
Noise power
density (N0)
-201dBW/Hz -201dBW/Hz
C/N0
37 dBHz 45 dBHz
SNR (20MHz BW)
-36 dB -28 dB
SNR (4MHz BW)
-26 dB -18 dB

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