China Satellite Navigation Conference (CSNC) 2016 Proceedings: Volume I (eBook)

Preface 6
The 7th China Satellite Navigation Conference (CSNC 2016) Committees 8
Scientific Committee 8
Organizing Committee 9
Editorial Board 10
Contents 13
Part IBDS/GNSS Application Technology 19
1 The Research on Four-Dimensional Water Vapor Tomography Based on Real-Time PPP Technique 20
Abstract 20
1 Introduction 21
2 The Method for Acquiring SWV and Theory of Tomography 21
2.1 The Method for Acquiring SWV 21
2.2 The Theory of Tomography 22
3 Data Introduction and Accuracy Analysis of RT-PPP 24
3.1 Data Introduction 24
3.2 Accuracy Analysis of RT-PPP ZTD 24
3.3 Accuracy Analysis of RT-PPP PWV 25
4 Comparison of Tomographic Result 26
4.1 Introduction of Tomographic Experiment 26
4.2 IWV Comparison 26
4.3 Comparison of Layered Water Vapor 27
5 Conclusion 28
Acknowledgements 29
References 29
2 A Spread Spectrum Communication Method Based on GNSS Positioning and Timing System 32
Abstract 32
1 Introduction 32
2 Construction of Network-Wide Time Synchronization System 33
3 Synchronization of Spread Spectrum Signal 34
3.1 Correction of PN Code Phase Offset 34
3.1.1 Code Clock Round-Trip Link Indirect Correction in Ground Station 34
3.1.2 Code Phase Correction in Remote Station 35
3.1.3 Total Code Phase Error 37
3.2 Carrier Frequency Offset Correction 37
3.2.1 Frequency Offset Correction in Ground-Satellite Round-Trip Link 37
3.2.2 Frequency Doppler Correction in Remote Station 39
3.2.3 Clock Error Correction 40
4 Conclusions 41
References 41
3 The Effect of GNSS Sites Distribution on TEC Derivation 43
Abstract 43
1 Introduction 43
2 Transionospheric Radio Propagation 44
3 TEC Derivation 46
4 Network Constitution and Results 47
4.1 Derived TEC 49
4.2 The Satellites Biases 50
4.3 The Receivers Biases 51
5 Conclusion 52
Acknowledgments 53
References 53
4 GNSS-R Aircraft Flight Test Based on Digital Beam Forming 54
Abstract 54
1 Introduction 55
2 The Principle of GNSS-R 55
3 The Composition of GNSS-R Detection System Based on dbf 57
3.1 System Components of the GNSS-R Receiver 57
3.2 Digital Beam Forming 58
3.3 Anechoic Chamber Test 59
4 Flight Test Verification 61
4.1 Flight Equipment 61
4.2 Experimental Study 62
References 64
5 GPS Radio Occultation Inversion Analysis of Neutral Atmospheric Detection Technology Based on Dual-Frequency Dual-Mode GNSS Occultation Receiver 65
Abstract 65
1 Introduction 66
2 Section Heading GPS Occultation Detection Technology of Atmospheric Mountain-Based 66
2.1 GPS Occultation Forecast Mountain-Based 66
2.2 Inversion Principle of Detect Mountain-Based Occultation 68
2.3 Refractivity Inversion Process 69
3 Components and Results of Atmospheric Occultation Inversion System 69
3.1 Mountain-Based Test System Components 69
3.2 Occultation Receiving Data Analysis and Inversion Results 71
4 Verification and Summary 72
References 73
6 Research on BD Nanosecond One-Way Timing Method 74
Abstract 74
1 Introduction 75
2 Method of Generating UTC Time Parameters 75
2.1 Existed Method of Generating UTC Time Parameters 75
2.2 New Method of Generating UTC Time Parameters 76
3 Error Analysis of Common View Time Transfer 77
4 Advantages of BD GEO Satellites in Time Transfer 79
4.1 More Correlative Ephemeris Error 79
4.2 Variation of Ionosphere Error 80
5 Time Transfer Experiment Based on BD GEO Satellites 81
6 Conclusions 82
Acknowledgment 82
References 83
7 Preliminary Research on Snow Depth Monitoring with GPS SNR 84
Abstract 84
1 Introduction 84
2 Principle of GPS-MR Technology 86
2.1 Relationship Between Multipath and SNR 86
2.2 Algorithm and Data Processing 88
3 Analysis of Examples 90
3.1 Data Source 90
3.2 Example Results 91
4 Conclusion 95
Acknowledgment 95
References 96
8 The Research of High-Frequency Single-Epoch GNSS Kinematic Differential Positioning Technology 97
Abstract 97
1 Introduction 98
2 Mathematical Model 99
3 Case Analysis 102
4 Conclusion 106
Acknowledgments 106
References 107
9 Performance Analysis of Real-Time BDS Clock Estimation with Different Orbit Accuracy 108
Abstract 108
1 Introduction 108
2 The Error Equation of Real-Time Clock Estimation 109
3 Components of Orbit Radial Error in Space Rectangular Coordinate System 110
4 The Influence Model of Orbit Radial Error on Clock Estimation 111
5 Numerical Examples 111
6 Conclusions 115
Acknowledgements 116
References 116
10 Correlation Analysis Between Ionosphere Anomaly and Earthquake 118
Abstract 118
1 Introduction 118
2 Introduction and Improvement of Anomalous Detection Method 119
2.1 Traditional Anomalous Detection Method 119
2.2 Improvement of Anomalous Detection Method 120
3 Principle of Correlation Analysis 120
3.1 Calculation of Correlation Factor 120
3.2 One-Way Analysis of Variance 121
4 Experiment and Analysis Combined with Earthquakes 123
4.1 Index Quantification of Anomaly and the Criterion of Selection of Earthquakes 123
4.2 Detection and Statistic Analysis of Ionosphere Anomaly Before Earth Quakes 123
5 Conclusions 125
Acknowledgments 125
References 125
11 The Satellite Selection Algorithm of GNSS Based on Neural Network 126
Abstract 126
1 Introduction 126
2 GNSS Satellite Selection Algorithm Based on Neural Network 128
2.1 Analyze of GDOP Value 128
2.2 Grnn 128
2.3 The Usage of Neural Network in Satellite Selection 130
3 Simulation Test 131
4 Conclusion 133
Acknowledgements 134
References 134
12 Stability Analysis of the CORS Reference Station Network and Terrestrial Network 135
Abstract 135
1 Introduction 135
2 Principle of Limit Error Ellipse and Error of Point Position 136
2.1 The Principle of Limit Error Ellipse 136
2.2 Point Error 137
3 Network Stability Analysis 138
3.1 Stability Analysis of Horizontal Direction of Station 139
3.2 Stability Analysis of Station Height 141
4 Conclusion and Discussion 142
Acknowledgments 142
References 142
13 A New Modified Method for Cycle-Slips Detection Based on Polynomial Fitting Method 144
Abstract 144
1 Introduction 144
2 The Polynomial Fitting for Detecting Cycle-Slips 145
2.1 The Polynomial Fitting Model 145
2.2 Method Improvement 146
3 Newton Polynomial Interpolation Method 147
4 The New Method to Detect Cycle-Slips 148
5 Experiment 148
6 Conclusions 151
Acknowledgements 152
References 152
14 The Short-Term Forecast of BeiDou Satellite Clock Bias Based on Wavelet Neural Network 153
Abstract 153
1 Introduction 154
2 First-Order Difference Algorithm for Satellite Clock Bias 154
3 The Basic Model of Neural Networks 155
3.1 The Principle of Wavelet Neural Network 155
3.2 Determine the Network Structure of Wavelet Neural Network 157
4 Experimental Result 157
4.1 6 h Prediction Scheme 159
4.2 24 h Prediction Scheme 161
5 Conclusions 161
Acknowledgments 162
References 162
15 Comparative Analysis of Different Filtering Methods for the Tight Integration of GPS and Strong-Motion Records 163
Abstract 163
1 Introduction 163
2 CA Model 164
2.1 Observation Equation 164
2.2 Equation of State 165
2.2.1 Empirical Equation of State of CA Model 165
2.2.2 Improved CA Model Equation of State 166
3 CV Model 166
3.1 Observation Equation 166
3.2 Equation of State 167
3.2.1 Empirical Equation of State of CV Model 167
3.2.2 Improved CA Model Equation of State 167
4 Exemplification 167
4.1 Analysis of CA Model 168
4.1.1 Simulation Data Analysis 168
4.1.2 Real Data Analysis 168
4.2 Analysis of CA Model 169
4.2.1 Simulation Data Analysis 169
4.2.2 Test Data Analysis 170
5 Conclusion 171
Acknowledgments 172
References 172
16 Application of Low Cost GPS/BDS Receiver in UAV Precise Navigation and Positioning 173
Abstract 173
1 Introduction 174
2 Low Cost Miniature GNSS Antennas 174
3 Handling Multipath Error 177
4 Single Frequency Cycle Slip Detection 178
5 Experiment and Discussion 179
6 Concluding Remarks 181
References 182
17 Using the BDS-R Signal for Soil Moisture Estimation 183
Abstract 183
1 Introduction 183
2 Experimental Equipment 184
2.1 BeiDou Signal Receiving Device 184
2.2 The BDS-R Data Acquisition 186
2.3 The Power Supply System 186
3 Experiment Results 187
3.1 The Variance Value 187
3.2 Data Processing 188
3.3 Results 189
4 Conclusion 192
Acknowledgements 192
References 192
18 The Potential to Estimate Soil Moisture Based on sn_rnx Data 194
Abstract 194
1 Introduction 194
2 Analyze SNR Data of Interference BDS Signal 195
2.1 Description of the Constellation Distribution of BDS Satellites 195
2.2 Introduction of Field Experiment 197
2.3 Experiment Results 198
3 Analyze sn_rnx Data of Interference GPS Signal 199
3.1 Composition of the CORS 199
3.2 The Characteristics of sn_rnx Data 200
3.3 Description of Field Experiment 200
3.4 Experiment Results 201
4 Discussions and Conclusions 202
Acknowledgments 202
References 203
19 The Application of Kinematic Relative Positioning Technology with BDS in Aerospace TT& C Equipment Precision Verification
Abstract 204
1 Introduction 204
2 Composition and Working Principle of BDS Precision Verification System 205
3 Data Processing Method 207
3.1 BDS Data Processing 207
3.2 TT& C Equipment Data Processing
3.3 Analysis Method 210
4 Experimental Analysis 211
4.1 BDS Data Processing 212
4.2 Precision Verification Results 212
5 Conclusion 215
References 216
Part IINavigation and Location Based Services 217
20 An Efficient Strategy for Large-Scale CORS Data Processing 218
Abstract 218
1 Introduction 219
2 CORS Data Processing Mode 220
2.1 Data Processing Mode in China 220
2.2 Data Processing Mode in IGS 220
3 Data Processing Framework of Large-Scale CORS Network 221
3.1 ECS Framework 221
3.2 Distributed Storage of the CORS Data 221
3.3 Implementation of Parallel Processing Tasks 222
3.4 Accuracy Evaluation and Efficiency Analysis 223
4 Experiment 224
4.1 Experiment Environment Configuration and Data Preparation 224
4.2 Accuracy Analysis 224
4.2.1 Baseline Repeatability 224
4.2.2 Baseline Difference 225
4.3 Efficiency Analysis 226
4.3.1 Relationship of ECS Node and Speedup Ratio 226
4.3.2 Relationship of Data Volume and Speedup Ratio 227
4.3.3 Comparison of Computation Time of the CGOC and Gamit/Globk 228
5 Conclusions 229
Acknowledgments 229
References 230
21 Research and Implementation of BDS/GPS Coarse Time Navigation Algorithm 231
Abstract 231
1 Introduction 231
2 Coarse Time Navigation 232
2.1 Transmit Time of Satellite Signals 232
2.2 Coarse Time Navigation Equation 233
2.3 Reconstructing Pseudo-range 235
2.4 BDS/GPS Coarse Time Navigation 237
3 Experiments 238
4 Conclusion 243
References 244
22 Spacecrafts Navigation Demand Analysis and Simulation on MEO Constellation 245
Abstract 245
1 Introduction 245
2 Spacecraft Navigation Demand Analysis 246
3 Space Navigation Signal Visibility Analysis 248
4 Space Navigation Signal Geometric Dilution of Precision Analysis 250
5 Space Navigation Signal Link Analysis 251
6 Space Navigation Signal Design and Simulation 252
6.1 Simulation Configuration 252
6.2 Visibility and DOP Simulation of Low Orbit Users 253
6.3 Effect Simulation of Receiver Antenna Orientation 254
6.4 Simulation of Medium Orbit Users 256
6.5 Simulation for High Orbit and Deep Space Users 256
6.6 Simulation Conclusion 257
7 Conclusions 258
References 259
23 An Improved Location-Based Service Authentication Algorithm with Personalized K-Anonymity 260
Abstract 260
1 Introduction 261
2 Related Work 262
2.1 The Methods Without K-Anonymity Concept 262
2.2 The Methods with K-Anonymity Concept 262
3 Personalized K-Anonymity Location Information Authentication System 263
3.1 Personalized K-Anonymity Model 263
3.2 Personalized K-Anonymity Algorithm 265
3.3 Improved Algorithms 266
4 Simulation Experiment 267
5 Conclusion 269
Acknowledgements 269
References 269
24 Indoor Pseudolite Positioning Based on Interferometric Measurement of Carrier Phase 270
Abstract 270
1 Introduction 271
2 Measurement Model 272
3 Interferometric Measurement Method 273
4 Experiment and Results 275
5 Conclusion 277
Acknowledgements 277
References 278
25 Research and Implementation on BDS/GNSS Real-Time Positioning for Urban High-Precision Location-Based Services 279
Abstract 279
1 Introduction 280
2 System Design Scheme 281
3 Software Implementation 282
4 Experimental Results 284
5 Conclusion 287
References 287
26 The Analysis of Pedestrian’s Motion State Based on the Entropy of sEMG 289
Abstract 289
1 Introduction 289
2 Pedestrian’s Motion State Analysis Algorithm 290
2.1 Extraction of Active Segment 290
2.2 Extraction of Eigenvalue 291
2.2.1 Time Domain Eigenvalue 291
2.2.2 Theory of Sample Entropy 291
2.3 Classification 292
3 Experimental Test and Results Analysis 292
3.1 Collection of sEMG 292
3.2 The Pre-process of sEMG 293
3.2.1 Bandpass Filter 293
3.2.2 Eigenvalue Extraction 294
3.3 Extraction of Eigenvalue 294
3.3.1 Extraction and Analysis of Time Domain Eigenvalue 295
3.3.2 Extraction and Analysis of Sample Entropy 295
3.3.3 Combined with the Sample Entropy and Time Domain Features 297
3.3.4 Classification Results 297
4 Discussion and Conclusion 298
Acknowledgments 298
References 299
27 FOG De-noising Method Based on Empirical Mode Decomposition and Allan Variance 300
Abstract 300
1 Introduction 300
2 De-noising Method Based on EMDAV 301
2.1 The Basic Principle of EMDAV 301
2.2 Exceptional Noise Suppression Based on EMDAV 303
3 Experiment Results and Analysis 308
4 Conclusion 308
Acknowledgments 309
References 309
28 A Method of X-ray Pulsar-Based Navigation for Constellation in Libration Points 310
Abstract 310
1 Introduction 310
2 Dynamic Model of Libration Point Orbits 312
3 Observation Model Based on Pulsars and Inter-satellite Links 313
3.1 Observation Equation Based on Pulsars 313
3.2 Observation Equation Based on Inter-Satellite Links 315
4 Filtering Algorithm 316
5 Simulation Results 317
6 Conclusion 319
References 319
29 Indoor Map Aiding/Map Matching Smartphone Navigation Using Auxiliary Particle Filter 321
Abstract 321
1 Introduction 322
2 Objective and Methodology 323
2.1 APF/KF Cascade Structure Algorithm 323
2.2 The Upper Particle Filter 324
2.2.1 Auxiliary Particle Filter 324
2.2.2 Map Matching and Map Aiding Algorithm 325
3 Experiment and Results 326
4 Conclusions 330
References 331
30 A Research of Targets Tracking and Positioning Algorithm Based on Multi-feature Fusion 332
Abstract 332
1 Introduction 332
2 Target Feature Extraction 334
2.1 Color Histogram 334
2.2 Local Binary Pattern 334
2.3 Edge Feature 335
3 Target Tracking with Adaptively Multi-feature Fusion 336
3.1 Multi-feature Fusion 336
3.2 Adaptive Weights 336
3.3 Tracking Algorithm Based on Particle Filter 337
4 Target Positioning Based on Binocular Vision 337
5 Experiment 339
6 Conclusion 341
Acknowledgements 341
References 341
31 The Application of Assisted-BDS Positioning in Indoor Environment of Weak Signal 343
Abstract 343
1 Introduction 343
2 A-BDS Coarse-Time Navigation 344
3 Problems of Indoor GNSS Signal and RAIM Algorithm 348
3.1 Problems of Indoor GNSS Signal 348
3.2 Combinational FDE Algorithm 349
4 Data Simulation 351
4.1 Outdoor A-BDS Coarse-Time Navigation Algorithm Verification 351
4.2 Indoor A-BDS Coarse-Time Navigation Algorithm Simulation Verification 352
5 Conclusion and Future Work 353
Acknowledgments 354
References 354
32 BeiDou Smart Scenic LBS Network Fusion Research and Application 355
Abstract 355
1 Introduction 356
2 Connotation of Smart Tourism 356
3 Key Issues of BDS Smart Scenic 358
3.1 System Architecture 358
3.2 Wide-Area Continuous Coverage Positioning Technology 359
3.3 Wide-Area Continuous Coverage Communication Technology 360
4 Implementation Practice of BDS Smart Scenic 361
4.1 System Composition 361
4.2 Services Provided by System 363
4.2.1 Tourist-Oriented LBS 363
4.2.2 Scenic-Oriented Intelligent Management 364
5 Application Prospect in the OBOR Strategy 367
References 368
33 Extract Common-Mode Error in Middle-Scale GPS Network Using Principal Component Analysis 369
Abstract 369
1 Introduction 369
2 Spatiotemporal Filtering 370
2.1 Regional Stacking 370
2.2 Correlation Weighted Regional Stacking 370
2.3 Principal Component Analysis 371
2.4 Principal Component Analysis Based on Correlation 372
3 Experimental Results and Analysis 372
3.1 Data Preprocessing 372
3.2 Assumption 373
3.3 Case Analysis 374
4 Conclusion and Discussion 377
References 377
34 The BDS Multipath Hemispherical Map Based on Double Difference Residuals and Its Application Analysis 378
Abstract 378
1 Introduction 378
2 Multipath Basic Principle and the Establishment of BDS MHM 381
2.1 Multipath Basic Principle 381
2.2 The Establishment of BDS MHM 381
3 Data Collection and Processing 382
4 Analysis of Experiment Result 383
5 Conclusion and Discussion 391
References 392
Part IIIBDS/GNSS Test and AssessmentTechnology 393
35 BeiDou Compatible Indoor Positioning System Architecture Design and Test Evaluation 394
Abstract 394
1 Introduction 395
2 The Framework of Pseudolite-Based Indoor Positioning System 396
3 The Key Technical Analysis of Pseudolite System 397
3.1 Fixed Satellite Position Message Broadcast Technology 397
3.2 Ephemeris Parameters Scaling Factor Revision 402
3.3 Square Root of the Semi-major Axis Revision 402
4 Simulation and Result Analysis 403
5 Conclusion 406
References 406
36 Test System for BDS User Terminal Based on RF Replay Apparatus 407
Abstract 407
1 Introduction 408
2 BDS Navigation Terminal Test System 408
2.1 RF Replay Apparatus 409
2.1.1 Signal Recording 409
2.1.2 Data Storage 409
2.1.3 Signal Replay 410
2.2 GPS/INS Integrated Navigation Subsystem 410
2.3 Data Processing and Evaluation Software 411
3 Performance Analysis of RF Replay Apparatus 411
3.1 Main Performance Index 411
3.2 Noise Characteristic 411
3.3 CNR Analysis 413
3.4 Positioning Performance Evaluation 414
4 BDS Navigation Terminal Test 415
5 Conclusion 416
References 416
37 Study on Satellite Navigation Service Availability Concept and Simulation Analysis 417
Abstract 417
1 Introduction 417
2 Service Availability and Accuracy Threshold 418
3 Constellation Simulation 420
4 Conclusion 423
References 423
38 Study on Integrated Testing and Evaluation Method of GNSS Timing Performance 424
Abstract 424
1 Introduction 424
2 Testing and Evaluation Method 425
3 Performance Characterization 427
4 Testing and Evaluation Results 428
4.1 Single Satellite Testing Result 428
4.2 Multiple Satellites Integrated Testing Result 431
4.3 Comparison Result of GNSS Timing Performance 432
5 Conclusion 436
Acknowledgments 436
References 436
39 Performance Assessment of Galileo In-Orbit Satellite Clocks 437
Abstract 437
1 Introduction 438
2 The Test Method of Galileo Satellite Clock Assessment 439
3 The Assessment Algorithm and Uncertainty Analysis of Galileo Satellite Clock 440
3.1 The Algorithm of Galileo Satellite Clock Assessment 440
3.2 The Uncertainty Analysis of Galileo Satellite Clock 441
3.2.1 The Uncertainty Analysis of Galileo Satellite Clock Relative Frequency 441
3.2.2 The Uncertainty Analysis of Galileo Satellite Clock Frequency Stability 441
4 Galileo Satellite Clock Assessment Result 442
4.1 The Source Data of Galileo Satellite Clock Assessment 442
4.2 Galileo Satellite Clock Frequency Stability Result 442
4.3 ADEV Consistency Over Time 445
4.4 The Monitor Result and Uncertainty Analysis of Galileo System Time Offset 446
4.4.1 Galileo System Time Offset Monitor Result 446
4.4.2 The Uncertainty Analysis of Galileo System Time Offset 448
5 Conclusions 448
Acknowledgments 449
References 449
40 A Precision Evaluation Method for Inter-satellite Link Measurement of Ka Band Based on SLR 450
Abstract 450
1 Introduction 451
2 Basic Principles 451
2.1 Error Correction Residual 453
2.2 Time Formalization 454
2.3 Space Formalization 455
3 Data Simulation and Analysis 455
3.1 Simulation Data Generation 455
3.2 Simulation Data Analysis 456
4 Conclusion 457
References 458
41 A BDS Constellation URE Evaluation Method Based on the Probability Statistics Characteristics Under AOD 459
Abstract 459
1 Introduction 459
2 The URE Evaluation Method of BDS 462
2.1 The Formula of Instantaneous URE 462
2.2 The Formula of BDS Average URE 464
3 Experimental Plan 465
4 Experimental Analysis 466
4.1 The Error of Broadcast Ephemeris in RTN Directions 466
4.2 The Series of BDS URE 467
4.3 The Probability Statistics Characteristics of URE Based on AOD 468
4.4 BDS URE Under Different AOD 470
4.5 A New Method BDS Mixed Constellation URE Evaluation 472
5 Conclusion 472
Acknowledgments 473
References 473
42 Design and Verification of Vehicle-Based GNSS/INS Integrated Navigation Semi-hardware Simulation and Test Platform 474
Abstract 474
1 Introduction 474
2 Semi-hardware Test Platform General Designs 475
3 Semi-hardware Test Platform Key Technical Analysis 477
4 Design Platform Implementation 481
5 Platform Test Results and Analysis 482
6 Conclusion and Discussion 489
References 490
43 Analysis of the Influence of Geomagnetic Storms on the Ionospheric Model of Beidou/GPS System 491
Abstract 491
1 Introduction 492
2 Analysis of the Influence of Geomagnetic Storms on BDS and GPS Ionospheric Model 492
2.1 Evaluation Model 492
2.2 Accuracy Evaluation of Ionospheric Model in Service Area 493
2.3 Accuracy Evaluation of Ionospheric Model Over the Site 494
3 Analysis of the Influence of Geomagnetic Storms on Service Performance 495
4 Conclusions 497
Acknowledgments 497
References 497
44 Channel Characterization for Beidou Satellite Communications 499
Abstract 499
1 Introduction 499
2 Method of BDS Signals Channel Model 500
3 Typical Scenes Modeling 503
3.1 Experiment Platform 503
3.2 Environments Definition 503
3.3 Signal Characteristic for Typical Environments 503
3.4 Channel Model for Typical Environments 507
4 Comparison with Measured Data 508
5 Conclusions 508
Acknowlegments 510
References 510
45 A Signal Separation Algorithm for GNSS Signal Quality Assessment 511
Abstract 511
1 Introduction 512
2 The Average Algorithm 512
3 Separation Algorithm 513
4 Algorithm Analysis 514
4.1 Carrier Phase Error 515
4.2 Code Phase Error 515
4.3 Doppler Shift 516
4.4 The Imbalance of Bit Sign 517
5 Analyses of Simulation and Measured Data 518
5.1 The Signal Accumulation Experiment 518
5.2 The Signal Separation Experiment 520
6 Conclusion 522
Acknowledgments 522
References 522
46 Analysis on Pseudorange Biases Between GNSS Navigation Satellites 524
Abstract 524
1 Introduction 524
2 Signal Quality and Pseudorange Bias 525
3 Correlation Domain Analysis 528
4 Observations Domain Analysis 529
5 Conclusion 532
References 533
Part IVBDS/GNSS User Terminal Technology 534
47 Weak Signal Acquisition Algorithm for Indoor Positioning Receiver 535
Abstract 535
1 Introduction 535
2 Algorithm Description 536
2.1 TC-OFDM Signal 536
2.2 Coherent/Noncoherent Integration for the New Acquisition Algorithm 536
3 Test Results and Analysis 540
4 Conclusion 541
Acknowledgements 542
References 542
48 Combined BDS and GPS Adaptive Vector Tracking Loop in Challenge Environment 543
Abstract 543
1 Introduction 543
2 Mechanism of BDS/GPS Vector Tracking Loop 544
2.1 Fundamental Principles 544
2.2 Motion Model 545
2.3 Measurement Model 546
3 Implementation of BDS/GPS Vector Tracking Loop 547
3.1 Adaptive EKF 547
3.2 Loop Tuning 548
3.2.1 Code Loop Tuning 548
3.2.2 Carrier Loop Tuning 549
4 Experiment Results and Analysis 550
4.1 Facilities 550
4.2 Low Dynamic Experiment 551
5 Conclusions 555
References 555
49 An Unambiguous Multipath Mitigation Method Based on Double-Delta Correlator for BOC Modulation Signal 557
Abstract 557
1 Introduction 557
2 Dual-Estimate Loop Method 559
3 Unambiguous Multipath Mitigation Method for BOC Signal 562
3.1 SLL Based on Double-Delta Correlator 562
3.1.1 The Early Code Phase for SLL 563
3.2 Two Tracking Phase 565
4 Simulation Results 565
5 Conclusions 566
References 567
50 An Improved Adaptive Kalman Filter Carrier Phase Locking Loop Under Ionospheric Scintillation 568
Abstract 568
1 Introduction 569
2 Signal Model Under Ionospheric Scintillation 570
3 Enhanced Adaptive Kalman Filter PLL 572
3.1 Enhanced Kalman Filter Model 572
3.2 Adaptive Processing 574
4 Simulation and Test 577
5 Conclusion 578
References 579
51 Optimized Design of Vector Frequency Lock Loop Based on Non-coherent Discriminator for BDS Navigation Signal 580
Abstract 580
1 Introduction 580
2 Model of Vector Frequency Lock Loop 581
2.1 Processing of Traditional VFLL 581
2.2 VFLL Based on Non-coherent Discriminator 583
3 Tracking Performance Optimal Design 585
3.1 Tracking Performance Analysis 585
3.2 Optimal Design of Loop Update Interval 586
4 Simulation and Analysis 588
5 Conclusion 590
References 590
52 A Software-Defined Approach to STAP Nulling Algorithms for GNSS Anti-jamming 592
Abstract 592
1 Introduction 592
2 System Design 593
3 Algorithms 594
3.1 STAP 594
3.2 SMI 596
3.3 LMS Iteration 596
3.4 RLS Iteration 596
4 The Software-Defined Approach 597
4.1 Software Architecture 597
4.2 Data Partition 598
4.3 Implementation on the GPU 599
4.3.1 Implementation of SMI 599
4.3.2 Implementation of LMS and RLS 599
5 Test Results 599
5.1 Computational Performance 599
5.2 Anti-Jamming Performance 600
6 Conclusion 602
Acknowledgement 602
References 602
53 A Correlation Interferometer-Based Spoofing Detection Technology Research 603
Abstract 603
1 Introduction 603
2 Receiving Antenna Model 604
3 Estimation of Carrier Phase 605
4 Calculation of Two-Channel Phase Difference Between Multiple Antennas 607
5 Application of Double-Baseline Two-Channel Direction-Finding Algorithm to Spoofing Detection and Identification 608
6 Performance Simulation 609
7 Conclusion 614
References 614
54 Effects of Spectrum Leakage on Frequency Domain Antijamming Performance 615
Abstract 615
1 Introduction 616
2 Frequency Domain Antijamming Flow 616
3 Time Window Shaping and Spectrum Leakage 617
4 Spectrum Leakage Effect on FDAJ Performance 620
5 Numerical Computations 622
5.1 JNR Versus Receiver Performance 622
5.2 Interference Frequency Versus Receiver Performance 623
6 Conclusion 625
References 625
55 The GPS Spoofing Detection Based on the Joint WSSE of DOA and Pseudorange 627
Abstract 627
1 Introduction 627
2 Detection Principle 628
2.1 The Joint WSSE of DOA and Pseudorange 628
2.2 Decision Criterion Based on the Joint WSSE of DOA and Pseudorange 631
3 Performance Assessment 633
3.1 Simulation Results 634
3.2 The Comparison of Three Detection Methods 634
4 Summary and Conclusions 635
References 636
56 Anti-jamming Algorithm Analysis Based on UCA for Attitude High-Dynamic GNSS 637
Abstract 637
1 Introduction 637
2 Analysis of Attitude High Dynamic Model 638
2.1 Attitude High Dynamic Movement and UCA Structure Model 638
2.2 DOAs Changes of Signal and Interference 639
3 The Anti-jamming Algorithm for Attitude High Dynamic 642
4 Numerical Results 643
4.1 Analysis of Beam Pattern 643
4.2 Analysis of Anti-jamming Performance 644
5 Conclusion 646
Acknowledgements 646
References 646
57 The Anti-jamming Performance Analysis for Vector Tracking Loop 648
Abstract 648
1 Introduction 648
2 The Principle of Vector Tracking Loop 649
2.1 Prediction 649
2.1.1 The Prediction of the Receiver’s State Vector 651
2.1.2 The Prediction of the Tracking Loop Parameters 651
2.2 The Generate of the Local Signal 652
2.3 The Correction of the Predicted Value 653
3 Simulation Results and Analysis 654
3.1 The Influences to the Tracking Loop of Interference 654
3.2 Analysis of the Variance of Pseudo-range Error 655
4 Conclusion 657
Acknowledgment 657
References 658