GNSS receiver autonomous integrity monitoring(RAIM)algorithm based on robust estimation

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.

A low power high gain gain-controlled LNAC＋mixer for GNSS receivers

A low power high gain gain-controlled LNA ＋ mixer for GNSS receivers is reported. The high gain LNA is realized with a current source load. Its gain-controlled ability is achieved using a programmable bias circuit. Taking advantage of the high gain LNA, a high noise figure passive mixer is adopted. With the passive mixer, low power consumption and high voltage gain of the LNA ＋ mixer are achieved. To fully investigate the performance of this circuit, comparisons between a conventional LNA ＋ mixer, a previous low power LNA ＋ mixer, and the proposed LNA ＋ mixer are presented. The circuit is implemented in 0.18 #m mixed-signal CMOS technology. A 3.8 dB noise figure, an overall 45 dB converge gain and a 10 dB controlled gain range of the two stages are measured. The chip occupies 0.24 mm2 and consumes 2 mA current under 1.8 V supply.

An inductorless multi-mode RF front end for GNSS receiver in 55 nm CMOS

An inductorless multi-mode RF front end for a global navigation satellite system （GNSS） receiver is presented. Unlike the traditional topology of a low noise amplifier （LNA）, the inductorless current-mode noise- canceling LNA is applied in this design. The high-impedance-input radio frequency amplifier （RFA） further am- plifies the GNSS signals and changes the single-end signal path into fully differential. The passive mixer down- converts the signals to the intermediate frequency （IF） band and conveys the signals to the analogue blocks. The local oscillator （LO） buffer divides the output frequency of the voltage controlled oscillator （VCO） and generates 25%-duty-cycle quadrature square waves to drive the mixer. Our measurement results display that the implemented RF front end achieves good overall performance while consuming only 6.7 mA from 1.2 V supply. The input return loss is better than -26 dB and the ultra low noise figure of 1.43 dB leads to high sensitivity of the GNSS receiver. The input 1 dB compression point is -43 dBm at the high gain of 48 dB. The designed circuit is fabricated in 55 nm CMOS technology and the die area, which is much smaller than traditional circuit, is around 220×280 μm2.

Effects of Power Inversion Spatial Only Adaptive Array on GNSS Receiver Measurements

The Spatial Only Processing Power Inversion(SOP-PI) algorithm is frequently used in Global Navigation Satellite System(GNSS) adaptive array receivers for interference mitigation because of its simplicity of implementation. This study investigates the effects of SOP-PI on receiver measurements for high-precision applications. Mathematical deductions show that if an array with a centro-symmetrical geometry is used, ideally,SOP-PI is naturally bias-free; however, this no longer stands when non-ideal factors, including array perturbations and finite-sample effect, are added. Simulations are performed herein to investigate how exactly the array perturbations affect the carrier phase biases, while diagonal loading and forward-backward averaging are proposed to counter the finite-sample effect. In conclusion, whether SOP-PI with a centro-symmetrical array geometry will satisfy the high precision demands mainly depends on the array perturbation degree of the element amplitude and the phase center.

Review for Multipath Facts in the Realm of Weak GNSS Signal

One of the most significant problem pending to be mitigated for satellite navigation at indoor environments is the multipath errors. At indoor environments, weak GNSS signals should be acquired and tracked by the GPS receivers, this paper will give a review of the facts in multipath and its main influence in the GNSS navigation systems. Investigation in this field are not new, understanding and mitigating multipath effects on GPS receivers will lead to an important level where the system can be used within a desired tolerance reducing its errors due to more accurate positioning solution.

Navigation sensors and systems in GNSS degraded and denied environments

Position, velocity, and timing（PVT） signals from the Global Positioning System（GPS）are used throughout the world but the availability and reliability of these signals in all environments has become a subject of concern for both civilian and military applications. This presentation summarizes recent advances in navigation sensor technology, including GPS, inertial, and other navigation aids that address these concerns. Also addressed are developments in sensor integration technology with several examples described, including the Bluefin-21 system mechanization.

Precise orbit determination for TH02-02 satellites based on BDS3 and GPS observations

The Tianhui-202(TH02-02)satellite formation,as a supplement to the microwave mapping satellite system Tianhui-201(TH02-01),is the first Interferometric Synthetic Aperture Radar(InSAR)satellite formation-flying system that supports the tracking of BeiDou global navigation Satellite system(BDS3)new B1C and B2a signals.Meanwhile,the twin TH02-02 satellites also support the tracking of Global Positioning System(GPS)L1&L2 and BDS B1I&B3I signals.As the spaceborne receiver employs two independent boards to track the Global Navigation Satellite System(GNSS)satellites,we design an orbit determination strategy by estimating independent receiver clock offsets epoch by epoch for each GNSS to realize the multi-GNSS data fusion from different boards.The performance of the spaceborne receiver is evaluated and the contribution of BDS3 to the kinematic and reduced-dynamic Precise Orbit Determination(POD)of TH02-02 satellites is investigated.The tracking data onboard shows that the average number of available BDS3 and GPS satellites are 8.7 and 9.1,respectively.The carrier-to-noise ratio and carrier phase noise of BDS3 B1C and B2a signals are comparable to those of GPS.However,strong azimuth-related systematic biases are recognized in the pseudorange multipath errors of B1C and B3I.The pseudorange noise of BDS3 signals is better than that of GPS after eliminating the multipath errors from specific signals.Taking the GPS-based reduced-dynamic orbit with single-receiver ambiguity fixing technique as a reference,the results of BDS3-only and BDS3+GPS combined POD are assessed.The Root Mean Square(RMS)of orbit comparison of BDS3-based kinematic and reduced-dynamic POD with reference orbit are better than 7 cm and 3 cm in three-Dimensional direction(3D).The POD performance based on B1C&B2a data is comparable to that based on B1I&B3I.The precision of BDS3+GPS combined kinematic orbit can reach up to 3 cm(3D RMS),which has a more than 25%improvement relative to the GPS-only solution.In addition,the consistency between the BDS3+GPS combined reduced-dynamic orbit and the GPS-based ambiguity-fixed orbit is better than 1.5 cm(3D RMS).

Wideband and high-gain BeiDou antenna with a sequential feed network for satellite tracking

BeiDou-3 navigation satellite system was officially opened in 2020.While bringing high-performance services to people around the world,the navigation system requires well-designed BeiDou antennas.In this paper,we propose a wideband circularly polarized high-performance BeiDou antenna.The antenna realizes wideband circularly polarized radiation through a four-port sequential feed network,and the phase imbalance of the feed network from 1.05 to 1.80 GHz is less than 7°.The manufactured antenna demonstrates a return loss of more than 13 dB and an axial ratio<3 dB over the entire global navigation satellite system(GNSS)frequency band.The right-handed circular polarization(RHCP)gain of the proposed antenna is greater than 4 dB in the GNSS low-frequency band and can reach more than 7.1 dB in the high-frequency band.Dimension of the proposed antenna is 120 mm×120 mm×20 mm,i.e.,0.54λo×0.54λo×0.09λo,whereλo is the wavelength of the center frequency.The proposed antenna connected to a GNSS receiver has tracked 12 BeiDou satellites with C/N0 ratios of GNSS signals greater than 30 dB.Such a high-performance antenna provides a basis for high-quality positioning services.

An improved GNSS ambiguity best integer equivariant estimation method with Laplacian distribution for urban low-cost RTK positioning

The integer least squares(ILS)estimation is commonly used for carrier phase ambiguity resolution(AR).More recently,the best integer equivariant(BIE)estimation has also attracted an attention for complex application scenarios,which exhibits higher reliability by a weighted fusion of integer candidates.However,traditional BIE estimation with Gaussian distribution(GBIE)faces challenges in fully utilizing the advantages of BIE for urban low-cost positioning,mainly due to the presence of outliers and unmodeled errors.To this end,an improved BIE estimation method with Laplacian distribution(LBIE)is proposed,and several key issues are discussed,including the weight function of LBIE,determination of the candidates included based on the OIA test,and derivation of the variance of LBIE solutions for reliability evaluation.The results show that the proposed LBIE method has the positioning accuracy similar to the BIE using multivariate t-distribution(TBIE),and significantly outperforms the ILS-PAR and GBIE methods.In an urban expressway test with a Huawei Mate40 smartphone,the LBIE method has positioning errors of less than 0.5 m in three directions and obtains over 50%improvements compared to the ILS-PAR and GBIE methods.In an urban canyon test with a low-cost receiver STA8100 produced by STMicroelectronics,the positioning accuracy of LBIE in three directions is 0.112 m,0.107 m,and 0.252 m,respectively,with improvements of 17.6%,27.2%,and 26.1%compared to GBIE,and 23.3%,28.2%,and 30.6%compared to ILS-PAR.Moreover,its computational time increases by 30–40%compared to ILS-PAR and is approximately half of that using TBIE.