Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
=
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