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projected, in development,
operational from 2008
Satellite Navigation Systems
Global systems: Augmentation systems:
GPS-NAVSTAR WAAS
GLONASS NDGPS
GALILEO EGNOS → GALILEO
MSAS
Local systems: GAGAN
BEIDOU QZSS
…
Principles of Satellite Navigation
Systems
• Doppler systems
• Ranging systems
Principles of Satellite Navigation
Systems – Doppler T
Systems satellite
satellite t2 t3
orbit
r2 t4
fv t1 r3
r1 r4
fp
time marks
receiver stop
start
ti+ti ti+1+ti+1 user
f0 -fp f0
mixer counter
fp
Ni fv
oscillator
ti1 Δti1
Ni ( f
ti Δti
0 f p )dt Δti ri / c
t1+t1 t2+t2 t3+t3 t4+t4
Ni = ΔFΔT+(f0/c){√[(xi+1-x)2+(yi+1-y)2+(zi+1-z)2 ] –
√[(xi-x)2+(yi-y)2+(zi-z)2]} i = 1, 2, 3
Principles of Satellite Navigation
Systems – Ranging Systems
(x1, y1, z1) (x2, y2, z2)
z d2 = c2 (x3, y3, z3)
d1 = c1
d3 = c3
signal (x, y, z) (x4, y4, z4)
transmitted
by satellite d4 = c4
0 x y
0 i = di /c
(xi - x)2 (c
+ (yi - y)2 + (zi - z)2 =signal ) 2
i by user
received
i = 1, 2, 3
0 mi tuser
R()
- 0
GPS
DELAY DISCRIMINATOR
C(t)
correlator R()
C*(t)
C(t+)
R*()
C()
generátor
0
m
delay
delay control C*(t) unwanted satellite range code
C*(t) C(t)
clock
GPS
EARLY-LATE DISCRIMINATOR
correlator
uL()
C(t - R - /2) R
C(t - m) + u ()
m = R +
C() generator filter
-
uE() uL()
-/2 /2
clock
-/2 /2
Receiver Principle
C(t)D(t)cos(2ft)
1
2
[C(t)D(t)(1+cos(4ft))]
1
C(t)D(t)
1
C2(t)D(t) = D(t)
2 2
cos(2ft)
()2
C2(t) = 1 delay m
D2(t) = 1
discriminator
pseudorange
phase
lock C(t)
Systems Parameters (Properties)
We will deal with systems:
• GPS – NAVSTAR
• GLONASS
• GALILEO
GPS - NAVSTAR
GPS
Constellation Plane
F E D C B A
D2
E1 B3
C2 B2 160°
F4 D1
120°
A3
80°
F3 F1
40°
A4
D3 E4 0° Equator
B4 C1
320°
A2
280°
B1 satellite
C3 A1 F2 240° operational
E2
200° spare
C4 E3 17° 137° 257°
D4
77° 197° 317°
Right ascension of ascending node
Inclination 55°
Semimajor axis 26561.75 km (altitude above Earth 20183,6 km)
Excentricity nominally e = 0, generally e < 0,02
GPS
Present Signal Structure (1/3)
Signal in time domain:
L1: s(t)=ACCC/A(t).D(t)cos(2πf1t)+APP(t).D(t)sin(2πf1t)
L2: s(t)=APP(t).D(t)sin(2πf1t)
Code multiplex - each satellite has own range codes CC/A(t) and P(t)
Signal in frequency domain:
L2 L1
1227,6 MHz 1575,42 MHz
±12 MHz ±12 MHz
C/A
P(Y) P(Y)
RNSS ARNS/RNSS
1215 1260 1559 1610 MHz
GPS Parameters
Signal Structure (2/3)
Navigation Message Organisation of Data
(Data) Content: Frame:
navigation message = 25 pages ~ 12,5 mins
• transmitting satellite Kepler
parameters
frame = 1500 bits ~ 30 s ~ 5 subframes
• almanac – Kepler parameters
of others satellites
• satellite „health“ 25 pages
1 2 3
• corrections of 4 5
– satellite clock frequency
subframe=10 words ~ 6 s
– troposphere refraction
1 2 3 4 5 6 7 8 9 0
•…
word = 30 bits ~ 0,6 s
bit ~ 20 ms
GPS Parameters
Signal Structure (3/3)
Navigation Message FEC Hamming Coding
received data
h11 h12 ... h1k 1 0 0 0
h h22 ... h2 k 0 1 0 0
B a1 ,..., ak , r1 ,..., rm H 21
... ... ... ... ... ... ... ...
hm1 hm 2 ... hmk 0 0 0 1
a1 ,..., ak informatio n bits
r1 ,..., rm parity (control) bits
• 24 satellites (8 satellites
in each of 3 planes)
• e ~ 0 (circular orbit)
• inclination 64.8°
• altitude 19 100 km,
• orbit period 11h 15m
• angular spacing between
orbits 120°
GLONASS
Signal Structure
• Frequencies:
– L1: fj = 1602 + 9j/16
– L2: fi = 1246 + 7i/16 [MHz]
• Modulation:
– Navigation message
– Pseudorandom ranging code
• Sequence of maximum length
• Period 1 msec
• Bit rate 511 kb/s
– 100 Hz auxiliary meander sequence – Manchester
code
GLONASS
Signal Structure
• Data
– Hamming code (84,8)
– 50 b/s in strings
– 15 strings ~frame
– 5 frames ~navigation message ~2.5 min
85 bits
111110…110
2 sec
GLONASS
Constellation history
26
22
16 16
14
12 12 12 12 13 12
11
10 10
9 8 8
7
GALILEO
GALILEO
Constellation
3 GEO satellites:
• Inmarsat III
AOR-E 15.5°W
F5 25.0°E
• ESA Artemis 21.5°E
30 MEO satellites:
• 9 satellites in each of 3 planes (Walker constellation 27/3/1)
• 3 spare satellites (1 in each plane)
• e = 0 (circular orbits)
• inclination 56°
• altitude 23 616 km
• orbit period 14h 21.6m ~ 1+2/3 rev. a day ~ ground track
repeats every 3 days
GALILEO
Architecture
REGIONAL GALILEO LOCAL
COMPONENTS CORE SYSTEM COMPONENTS
IMS
regional uplink
MEO CONSTELLATION Local
Network IULS Infra-
NAV SIS
…. NAV SIS
struct.
Communication link
ICC
. NAV SIS NAV SIS
.
. .
. GSS .
Network
IMS
Network Local
Infra-
struct.
ICC Communication link
INTEGRITY
IMS DETERMINATION NAVIGATION CONTROL &
& DISSEMINATION CONSTELLATION MANAGEMENT
GCC
L-band UHF
NAV SAR
External
COSPAS-SARSAT
GROUND SEGMENT
Complementary
Systems
USER SEGMENT
GALILEO
Services
• OS – Open Service
free of charge, positioning, navigation, timing services
• CS – Commercial Service
added value to OS, garanteed services
1215.00
1559.00
1591.00
1164.00
1260.00
1300.00
1563.00
1587.00
1544.10
SAR downlink
ARNS ARNS
960 MHz 1214 MHz 1559 MHz 5250 MHz
RNSS RNSS
1151 MHz 1300 MHz 1559 MHz 5030 MHz
f [MHz]
ARNS – Aeronautical Radio Navigation Service
RNSS – Radion Navigation Satellite Service
GALILEO
Signals and Spectra – BOC(m,n)
s(t) = carrier x subcarier x (ranging)code
1
subcarrier – m
1,023.106 TS
TS
1
n
code – PRN 1,023.106 TC
TC
-5
BOC(1,1)
-10
BPSK(1)
-15
-20
-25
-30
-35
-40
-5 -4 -3 -2 -1 0 1 2 3 4 5
6
x 10
0.5
BOC(1,1)
-0.5
-8 -6 -4 -2 0 2 4 6 8
-6
x 10
0.8 0.8
function
0.6
0.6
0.4
0.5 0.4
0.2
0.2
0
0
-0.2
0 -0.2
-0.4
-0.6 -0.4
-0.8 -0.6
-1 -0.8
-0.5 -1.5 -1 -0.5 0 0.5 1 1.5 -1.5 -1 -0.5 0 0.5 1 1.5
-8 -6 -4 -2 0 2 4 6 8 -6
x 10 -6
-6 x 10
x 10
0 0 0
-5 -5 -5
spectrum
-35 -35
-35
-40 -40
-40 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5
-5 -4 -3 -2 -1 0 1 2 3 4 5 7 7
6 x 10 x 10
x 10
GALILEO
Signals, Services and Spectra
code data rate data
service modulation
encryption [symbol/s] encryption
PRS BOC(15,2.5) yes 100 yes E2 L1 E1
1559.00
1591.00
1563.00
1587.00
OS/SoL/ some
BOC(1,1) none 250
CS (CS)
OS/SoL/ no data
BOC(1,1) none -
CS („pilot“)
1575.420
I subcarrier
code rate
modulation frequency
Mchips/s
MHz
IN PHASE
sin()
E5a E5b
sin()
1260.00
1300.00
1268.520
1278.750
1288.980
I
E6
IN PHASE
sin()
Q
IN PHASE
Q
sin()
I
1164.00
E5a
1176.450
1191.795
E5
GALILEO
E5b
1207.140
1215.00
1260.00
1268.520
1278.750
E6
1288.980
1300.00
SAR downlink
1544.10
1559.00
Signal, Services and Spectra
1563.00
1575.420
1587.00
L6 E2 L1 E1
1591.00
GALILEO
Service Parameters
Open Safety of
Commercial Service Public Regulated Service
Service Life Service
(CS) (PRS)
(OS) (SoL)
h=4, v=8
dual 1
Accuracy <1 <10 cm
frequency local 4-6
h-horizontal three local h=6.5
augmented dual
v-vertical frequency augmented v=12 signals frequency
h=15, v=35
[m] access signals
single
frequency
known corrections
coordinates
receiver transmiter user
reference reference
station station receiver
Augmentation
Differential GPS (DGPS)
known corrections
coordinates
receiver transmitter
user
reference reference
receiver
station station
Augmentations
• Many systems
– NDGPS
– maritime systems
• Systems with satellite channel for corrections
transmission
– WADGPS
– SBAS (ICAO) – Satellite Based Augmentation
Systems
• WAAS
• MSAS
• EGNOS → future part of GALILEO
• …
Augmentations
SBAS - Constellation
GAGAN MSAS
EGNOS WAAS
MTSAT
INMARSAT
ARTEMIS INMARSAT
GPS
Augmentations
SBAS - signals
Equator
120 deg
80
70
Minimum elevation angle
for QZSS (approx. 70 deg)
60
Elevation Angle (deg)
30
SAT1
20 SAT2
SAT3
GEO110
10 GEO130
GEO150
0
0 4 8 12 16 20 24
Time (Hr)
GPS
Spectrum of Future GPS
Present state
Second civil signal L2
Third civil signal L5 and new military signal L1 a L2
L5 L2 L1
1176,45 MHz 1227,6 MHz 1575,42 MHz
±12 MHz ±12 MHz ±12 MHz
C/A M C/A M
P(Y) P(Y)
IIR 89 05
1-8
8 sats 8 satellites
7,9 y.
97
IIR 12 satellites
9-20
12 satsc
7,9 y. 18 satellites
IIF 12 IIR+ 6 IIF
02
1-6 18 satellites
6 satellites
6 sats 4 d. IIF
15 y.
04
IIF
7-30 24 satellites
24 sats 6 satellites
15 y. 06
L1 = 1575,42 MHz
L2 = 1227, 6 MHz
L5 = 1176,45 MHz
Comparison of Systems
Comparison of Systems
What is an advantage of modernized or new
systems ???
• Systems use two or three frequencies
→ suppression of ionosphere refraction
• New modulation methods have
– very sharp correlation function
→ better precision
– broad spectrum
→ thermal noise resistance
Comparison of Systems
• New modulation methods have
– very sharp correlation function
→ better precision
– broad spectrum
→ thermal noise resistance
– higher code rate
→ easier multipath mitigation
Comparison of Systems
Multipath Mitigation
BPSK(5)
BPSK(10)
BOC(10,5)
BOC(15,10)
Comparison of Systems
• New modulation methods have
– very sharp correlation function
→ better precision
– broad spectrum
→ thermal noise resistance
– higher code rate
→ easier multipath mitigation
• Constellations ensure better satellite
visibility
→ lower PDOP → better precision,
integrity, …
RECEIVER ARCHITECTURE
Requirements
• Processing of all known and planned SATNAV
signals:
– GPS L1, L2, L5
– GLONASS
– GALILEO
– Augmentations
• EGNOS
• WAAS
• Flexible design and development of powerful
algorithms of signal processing
• Easy implementation of them
• Rapid and simple prototyping and testing
Software Defined Radio
RECEIVER ARCHITECTURE
Requirements
Software Defined Radio
• DSP
• FPGA
RECEIVER ARCHITECTURE
DSP Concept
No loops in algorithms
parallel processing → higher computational power
Conclusions
• Software Radio is prospective technology
for multi-systems GNSS receivers, as well
as FPGA technology
• This technology make possible design of
receivers for hard receptions conditions
(leaves canopy, urban environment, etc.)