China Satellite Navigation Conference (CSNC) 2017 Proceedings: Volume II (eBook)

Preface 6
Editorial Board 8
Scientific Committee and Organizing Committee 11
Scientific Committee 11
Organizing Committee 12
Contents 14
Satellite Navigation Signals and Signal Processing 19
1 Research on Communication Delay Model for Narrow Beam Inter-satellite Links in a TDMA System 20
Abstract 20
1 Introduction 21
2 Timeslot and Route 21
2.1 Timeslot and Superframe 21
2.2 Timeslot Table 22
2.3 Design of Route 22
3 Time Delay Model 23
3.1 Directed Graph Model 23
3.2 Shortest Path Algorithm 23
4 Simulation and Analysis 24
4.1 Simulation Scene 24
4.2 Simulation Result 25
5 Conclusion 26
References 26
2 Satellite-Induced Multipath Analysis on the Cause of BeiDou Code Pseudorange Bias 27
Abstract 27
1 Introduction 27
2 Transmitting Array Modelling 28
3 Satellite-Induced Multipath and Pseudorange Bias 31
4 Simulation 34
5 Conclusion 36
References 37
3 Single Receiver Against Repeater Deception Jamming Technology Research 38
Abstract 38
1 Introduction 38
2 Single Receiver Pseudo-range Difference 39
2.1 Real Signal Difference 39
2.2 Spoofing Signal Difference 41
2.3 Taylor Expansion 41
3 Experimental Analysis 45
4 Conclusion 49
References 50
4 The Effect of Cross-Correlation Items on the Intersystem Interference Between GPS, BDS and Galileo 51
Abstract 51
1 Introduction 52
2 Signal Model of Cross-Correlation Items 52
2.1 Power of the Cross-Correlation Items 52
2.2 Cross Power Spectral Density 54
2.3 Cross Spectral Separation Coefficient 55
2.4 Modified Effective Carrier Power-to-Noise Density Ratio 56
3 Numerical Results 58
3.1 The Real PSD of Civil Signals 58
3.2 Spectral Separation Coefficient and Cross Spectral Separation Coefficient 60
3.3 Intrasystem Interference of GPS, BDS, Galileo 61
3.4 Intersystem Interference of GPS, BDS, Galileo 63
4 Conclusion 64
Acknowledgements 64
Appendix (??) 64
References 69
5 An Improved High-Sensitivity Acquisition Algorithm for BDS B2 Signal 70
Abstract 70
1 Introduction 70
2 Analysis of BDS B2 Signal 71
2.1 The Composition of the BDS B2 Signal 71
2.2 NH Code and Navigation Message 72
3 Acquisition Algorithm 73
3.1 FFT Acquisition Algorithm 73
3.2 Half-Bit Algorithm 74
4 Improved Half Bit-Feature Sequence Acquisition Algorithm 74
4.1 Concept of Feature Sequence 74
4.2 Improved the Half-Bit and Feature-Sequence Acquisition Algorithm 75
5 Simulation Results and Analysis 78
6 Conclusions 81
Acknowledgements 81
References 81
6 An Implementation of Navigation Message Authentication with Reserved Bits for Civil BDS Anti-Spoofing 82
Abstract 82
1 Introduction 82
2 Model of SCER Attack and Algorithms for NMA 83
2.1 The Elliptic Curve Digital Signature Algorithm (ECDSA) 84
2.2 The Timed Efficient Stream Loss-Tolerant Authentication (TESLA) 84
3 Proposed NMA Strategy 84
3.1 Super Frame Authentication (SFA) 85
3.2 Main Frame Group Authentication (MFGA) 86
4 Design of Modification in Navigation Message 88
4.1 Reserved Bits in D1 Navigation Message of BDS 88
4.2 Proposed Structure of Navigation Message 89
5 Performance Analysis 89
5.1 Security 89
5.2 Efficiency 90
6 Conclusion 92
References 92
7 Performance Analysis of Signal Diversity Reception for Large Aperture Array in Beidou RDSS System 94
Abstract 94
1 Introduction 94
2 Theory of Beidou RDSS Business Diversity Reception 95
2.1 Flowchart of Beidou RDSS Diversity Reception 95
2.2 The Model of Instation Signal and the Principle of Diversity Algorithm 96
3 Demodulation Loss Analysis for Single-Channel Signal 97
3.1 Pseudo-Code Phase Mismatch Loss Analysis 98
3.2 Frequency Mismatch Loss Analysis 98
3.3 Carrier Phase Mismatch Loss Analysis 98
3.4 Summary 99
4 Performance Analysis and Simulation for Two Channel Signals Diversity Reception Algorithm 99
4.1 Performance Analysis and Simulation for Pseudo-Code Phase Mismatch Diversity Gain 99
4.1.1 Theoretical Analysis for Pseudo-Code Phase Mismatch Diversity Gain 99
4.1.2 Simulation for Pseudo-Code Phase Mismatch Diversity Gain 102
4.1.3 Summary 103
4.2 Performance Analysis and Simulation for Carrier Phase Mismatch Diversity Gain 103
4.2.1 Theoretical Analysis for Carrier Phase Mismatch Diversity Gain 103
4.2.2 Simulation for Carrier Phase Mismatch Diversity Gain 104
4.3 Chapter Summary 105
5 Conclusion 106
References 107
8 Study on Multipath Model of BDS/GPS Signal in Urban Canyon 108
1 Introduction 108
2 Multipath Characteristic Parameters Extraction 109
2.1 Mathematical Model of Multipath 109
2.2 Multipath Parameter Estimation 110
3 Modeling Environment Description 111
3.1 Signal Collecting Environment 111
3.2 Model Description 112
4 Multipath Statistical Model 113
4.1 Multipath Time Delay Model 113
4.2 Multipath Power Attenuation Model 114
4.3 Multipath Occurring Probability Model 115
4.4 Multipath Fading Frequency Model 116
5 Conclusion 118
Acknowledgements 118
References 118
Satellite Navigation Augmentation Technology 119
9 An Efficient Algorithm for Determining the Correspondence Between DFREI and ?DFRE for a Dual-Frequency Multi-constellation Satellite-Based Augmentation System 120
Abstract 120
1 Introduction 120
2 Methodology 123
2.1 Decorrelate DFREIs 123
2.2 Determine the Correspondence 125
3 Application and Evaluation 126
3.1 Determine the Correspondence 126
3.2 Evaluate the Effect in User Position Domain 127
3.3 Position Error 127
3.4 Availability of CAT-I 127
4 Conclusion 128
Acknowledgements 129
References 129
10 Analysis on Ionospheric Delay Variogram Modeling in China 130
Abstract 130
1 Introduction 130
2 Ionospheric Delay Variogram and Its Application in SBAS 131
2.1 Ionospheric Delay Variogram 131
2.2 Ionospheric Grid Model Based on Kriging Method 132
3 Method of Ionospheric Delay Variogram Construction 133
3.1 Modeling Data 133
3.2 Data Pre-processing 133
3.3 Construction of Ionospheric Delay Variogram 134
4 Realization of Variogram for China Areas 135
4.1 Variogram Under Various Solar Activities 135
4.2 Variogram in Different Latitude Region 137
4.3 Fitting of Experimental Variogram 138
4.4 Realization of Variogram for China Area 139
5 Conclusion 140
References 141
11 Scintillation Modeling and Its Application in GNSS 142
Abstract 142
1 Introduction 142
2 Scintillation Related Irregularity Modeling 143
2.1 Irregularity Strength 143
2.2 Irregularity Strength Model 144
2.3 Accuracy Assessment of Irregularity Strength Model 145
2.3.1 Internal Consistency Accuracy of Strength Model 145
2.3.2 External Consistency Accuracy of Strength Model 146
3 Signal Propagating Model Based on Phase Screen Theory 147
3.1 Generation of Random Phase Screen 147
3.2 Propagating Model Based on Phase Screen Theory 148
4 Application of Scintillation Models 149
4.1 Simulation of Scintillation Affected Signals 149
4.2 Maps of Scintillation Effects 150
4.2.1 Computation of Scintillation Index 150
4.2.2 Scintillation Affects Mapping 151
5 Conclusion 153
References 154
12 A New Algorithm for Receiver Integrity Monitoring with Receiver Clock Error Auxiliary 155
Abstract 155
1 Introduction 156
2 CEAIM Algorithm 156
3 Key Steps 157
3.1 The Determination of Threshold 157
3.2 Fault Detection 158
3.3 Fault Identification 158
4 The Algorithms Performance 159
4.1 Data Description 159
4.2 The Determination of Threshold 159
4.2.1 Threshold Under Obscure Environment 159
4.2.2 Threshold on the Algorithm Performance 161
4.3 The Algorithm Performance 161
5 Conclusion 162
References 163
13 FTS-Based Link Assignment and Routing in GNSS Constellation Network 164
Abstract 164
1 Introduction 164
2 Problem Analysis of ISL 165
2.1 Calculate Visibility Matrix 166
2.2 Confirm Node Satellite 167
2.3 Program Link Assignment 167
2.4 Build Routing Table 169
3 Constraint Condition 169
3.1 Performance Analysis 170
3.2 Efficiency Analysis 170
4 ISL Simulation Analysis of Performance 171
4.1 Choice of Node Satellite 171
4.2 Comparison of Link Assignments 171
4.3 Comparison of Routing Tables 172
5 Conclusion 173
References 173
14 Construction and Performance Analysis of GPS/BeiDou/Galileo Real-Time Augmentation System 175
Abstract 175
1 Introduction 176
2 Real-Time Augmentation System 177
2.1 Real-Time Orbit and Clock 177
2.2 Processing Strategy 179
2.3 System Construction 179
3 Precision of Real-Time Augmentation Message 181
3.1 Precision of Real-Time Orbit 184
3.2 Precision of Real-Time Clock 185
3.3 Real-Time Augmentation Message SISRE 186
4 Real-Time PPP Performance Analysis 187
5 Conclusions 188
Acknowledgements 189
References 189
15 An Improved Algorithm of Ionospheric Grid Correction Based on GPS and Compass Multi-constellation 191
Abstract 191
1 Introduction 192
2 Ionospheric Delay Estimation 193
2.1 Spatial Correlation of Ionospheric Delay 193
2.2 Kriging Algorithm 195
2.2.1 Ionospheric Vertical Delay Model 195
2.2.2 Grid Ionospheric Vertical Delay Estimation 195
2.2.3 Grid Ionospheric Vertical Delay Error Estimation 196
2.3 Improved Kriging Method 196
3 Algorithm Implementation and Results 198
3.1 Algorithm Accuracy Analysis 199
3.2 Algorithm Performance Analysis 199
3.3 User Integrity Analysis 200
4 Conclusion 201
Acknowledgements 201
References 201
16 A Study on Construction of Ionospheric Spatial Threat Model for China SBAS 202
Abstract 202
1 Introduction 202
2 Description of Ionospheric Spatial Threat Model 203
2.1 Ionospheric Grid Model Based on Kriging Method 203
2.2 Construction of Ionospheric Spatial Threat Model 205
3 Realization of Ionospheric Threat Model for China Area 206
3.1 Modeling Data 206
3.2 Modeling of Ionospheric Variogram 206
3.3 Selection of Threshold in Ionospheric Disturbance Detection 207
3.4 Depriving Strategy of Ionospheric Delay Data 208
3.5 Realization of Ionospheric Threat Model 209
4 Validation of Ionospheric Threat Model 211
4.1 Cross Validation of Ionospheric Threat Model 211
4.2 Availability of SBAS in China 213
5 Conclusion 214
References 214
17 RAIM Algorithm Based on Robust Extended Kalman Particle Filter and Smoothed Residual 216
Abstract 216
1 Introduction 217
2 Robust Extended Kalman Particle Filter Algorithm 217
2.1 Particle Filter Algorithm 217
2.2 Robust Extended Kalman Particle Filter 219
3 RAIM Algorithm Based on REK-PF and Smoothed Residual 221
4 Simulation 222
5 Conclusion 226
Acknowledgements 226
References 226
18 Research on RAIM Algorithm Based on GPS/BDS Integrated Navigation 228
Abstract 228
1 Introduction 228
2 The Optimal Weighted Average Solution (OWAS) RAIM Algorithm 230
2.1 The Derivation of Covariance Matrix 230
2.1.1 The Weighting Ratio Determines the Protection Level 231
2.1.2 The Weighting Ratio Determines the Error Precision /sigma_{V} and d_{major} 232
2.2 Fault Detection 233
3 Experiment and Simulation Analysis 234
3.1 RAIM Availability Analysis 234
3.2 Fault Detection 236
4 Conclusions 237
Acknowledgements 237
References 238
19 RAIM Algorithm Based on Residual Separation 239
Abstract 239
1 Introduction 239
2 Model and Algorithms 240
2.1 Mathematical Model of SPP 240
2.2 Fault Detection Method Based on Residual Vector 241
2.3 Fault Exclusion Method 242
2.3.1 Baarda Method 242
2.3.2 Residual-Based Separation (RBS) Method 243
3 Algorithms Verifying 244
3.1 Simulation Data Processing 244
3.2 Field Data Processing 245
4 Conclusion 248
References 249
20 BDS Code Bias and Its Effect on Wide Area Differential Service Performance 250
Abstract 250
1 Introduction 251
2 Analysis of BDS Code Bias 251
2.1 Code Bias Time Series 252
2.2 Repeatability of Code Bias 253
2.3 Code Bias of Different Groups of Satellites 253
3 BDS Code Bias Correction Model 254
4 Performance Evaluation of Code Bias Model 256
4.1 Differences Between the Two Sets of Equivalent Clock 256
4.2 UDRE Comparison 257
4.3 Comparison of User Differential Positioning Results 258
5 Conclusion 259
Acknowledgements 259
References 260
21 Ionospheric STEC and VTEC Constraints for Fast PPP 261
Abstract 261
1 Introduction 262
2 Methodology 263
2.1 Basic UPPP Model 263
2.2 Ionosphere Constrained UPPP Model 265
2.2.1 Ionospheric STEC Constrained UPPP 266
2.2.2 Ionospheric VTEC Constrained UPPP 267
3 A Case Study on PPP Performance 268
3.1 Data Processing 268
3.2 Basic UPPP Model 269
3.3 Ionosphere Constrained UPPP Model 269
3.3.1 Ionospheric STEC Constrained UPPP 269
3.3.2 Ionospheric VTEC Constrained UPPP 270
3.4 Statistics on Convergence Time for the Three Methods 270
4 Conclusions 271
Acknowledgements 272
References 272
22 Initial Assessment of BDS Zone Correction 274
Abstract 274
1 Introduction 275
2 Zone Correction and Zone-Divided PPP 275
2.1 Zone Correction 275
2.2 Model of Zone-Divided PPP 277
3 Data Processing Strategy 278
4 Analysis of Zone-Divided PPP Performance 280
4.1 Effect of Troposphere Delay Parameter 280
4.2 Effect of Single Frequency PPP Model 282
4.3 Overview of Zone-Divided PPP Performance 283
5 Conclusions 284
Acknowledgement 285
References 285
Multi-source Fusion Navigation Technology 286
23 Test Results of HiSGR: A Novel GNSS/INS Ultra Tight Coupled Spaceborne Receiver 287
Abstract 287
1 Introduction 288
2 Receiver Architecture 289
2.1 Hardware 289
2.2 Software 290
3 Tests and Simulations 291
3.1 HIL Simulation for LEO 292
3.2 Vehicle Test on Ground 294
4 Conclusions 296
Acknowledgements 296
References 296
24 Multi-period PMF + FFT Acquisition Method Based on Symbol Estimation 298
Abstract 298
1 Introduction 298
2 PMF + FFT Acquisition Algorithm 299
3 Multi-period PMF + FFT Acquisition Method Based on Symbol Estimation 299
3.1 Partially Matched Modules 300
3.2 Symbol Estimation Module 301
3.3 FFT Module 302
4 Capture Performance Simulation 303
5 Conclusion 306
Acknowledgements 306
References 306
25 The Cubature Kalman Filter and Its Application in the Satellite Star-Sensor/Gyro Attitude Determination System 307
Abstract 307
1 Introduction 307
2 Satellite Integrated Attitude Determination System 308
2.1 The Theory of Integrated Attitude Determination 308
2.2 System Measurement Equation 309
2.3 System State Equation 310
3 Filter Design and Precision Analysis 310
3.1 Filter Design Based on CKF 310
3.2 Precision Analysis 312
4 Simulation and Analysis 314
5 Conclusions 315
References 316
26 TC-OFDM Receiver Code Tracking Method Based on Extended Kalman Filter 317
Abstract 317
1 Introduction 317
2 Code Tracking Model 318
3 Improved Extended Kalman Code Tracking Algorithm 320
3.1 Improved Code Loop Model 320
3.2 State Equation 321
3.3 Observation Equation 322
3.4 EKF Algorithm 323
4 Simulation and Analysis 324
5 Conclusion 326
Acknowledgements 326
References 326
27 A RTK Float Ambiguity Estimation Method Based on GNSS/IMU Integration 328
Abstract 328
1 Introduction 328
2 Float Solution Estimation Based on Kalman Filter 329
3 Float Solution Estimation Based RTK-GNSS/IMU Integration 331
4 Field Experiment 334
4.1 Experiment Approach 334
4.2 Experiment Result 335
5 Conclusion 337
Acknowledgements 337
References 337
28 Accuracy Analysis of GNSS/INS Deeply-Coupled Receiver for Strong Earthquake Motion 338
Abstract 338
1 Introduction 339
2 Analysis of Strong Seismic Signal 339
3 Analysis of Error Model 341
3.1 Error Analysis of Traditional PLL 341
3.2 Error Analysis of Deeply-Coupled PLL 343
4 Test Verification and Analysis 345
5 Summary 348
References 348
29 Research on MEMS IMU Aided BeiDou Receiver Carrier Loop Technology 349
Abstract 349
1 Introduction 349
2 MEMS IMU Aided PLL Model 350
3 Effects of MEMS IMU Accuracy on PLL Tracking Error 352
4 Optimal Bandwidth Analysis of PLL with MEMS IMU Aiding 356
5 Conclusion 358
References 359
30 An Improved Robust Fading Filtering Algorithm for the GPS/INS Integrated Navigation 360
Abstract 360
1 Introduction 361
2 The Fading Filter and the H-infinity Filter 362
2.1 The Fading Filter 362
2.2 The H-infinity Filter 363
3 An Improved Robust Multiple Fading Filter 364
4 The GPS/INS Integrated Navigation System 365
5 Experiments and Analysis 366
5.1 Case 1 366
5.2 Case 2 368
6 Conclusion 371
Acknowledgements 371
References 371
31 Rapid Extrinsic Calibration of Seamless Multi-sensor Navigation System Based on Laser Scanning 373
Abstract 373
1 Introduction 374
2 Laboratory Calibration Scheme 375
2.1 Introduction of Measuring Sensors 375
2.2 Details of Calibration Procedure 377
3 Laboratory Extrinsic Calibration Mathematical Model 379
3.1 GNSS Lever Arm Calibration Model 379
3.2 LS Relative Mounting Parameters Calibration Model 380
3.3 Extrinsic Calibration Procedure Error Model 381
4 Experiments and Results 384
4.1 GNSS Lever Arm Calibration Results 384
4.2 LS Mounting Parameters Calibration Results 386
4.3 Summary 387
5 Conclusion 387
Acknowledgements 388
References 388
32 The GPS/INS Integrated Navigation Method Based on Adaptive SSR-SCKF Cubature Kalman Filter 390
Abstract 390
1 Introduction 390
2 The Nonlinear Model of GPS/INS Integrated Navigation 392
3 Filtering Method 394
3.1 The Filtering Method of SCKF 394
3.2 The Filtering Method of Adaptive SSR-SCKF 394
4 Simulation and Verification 396
5 Summary 400
References 400
33 Cramér-Rao Lower Bound for Cooperative Positioning in Non-line-of-Sight Environments 401
Abstract 401
1 Introduction 401
2 Problem Formulation 402
3 Cramér-Rao Lower Bound on the Positioning Accuracy 404
4 Numerical Examples 406
5 Conclusion 408
Acknowledgements 408
References 408
34 WLAN-Aided BDS Location Algorithm 410
Abstract 410
1 Introduction 410
2 Federated Kalman Filtering Algorithm in BDS/WLAN 411
2.1 The Principle of Federal Kalman Fusion 411
2.2 System Federated Kalman Filtering Model 412
2.3 Establishment of System State Equation 413
2.4 The Establishment of the Equation of BDS Subsystem 414
2.4.1 The Establishment of Measurement Equation of BDS 414
2.4.2 The Establishment of Measurement Equation of WLAN 415
3 Experiment and Result Analysis 417
4 Concluding Remarks 419
References 420
35 Gaussian Mixture Filter Based on Variational Bayesian Learning in PPP/SINS 421
Abstract 421
1 Introduction 421
2 PPP/SINS Tightly Coupled System 422
2.1 System State Model 423
2.2 System Measurement Model 424
2.3 Gaussian Mixture Filter 424
3 VB Learning 425
3.1 VB-Based Parameter Estimation for Gaussian Mixture Model 426
3.1.1 Initialization of Hyper-parameters /alpha_{0} ,/beta_{0} ,v_{0} ,m_{0} ,w_{0} 427
3.1.2 Fixed Parameter Set /alpha_{t} ,/beta_{t} ,v_{t} ,m_{t} ,v_{t} and Updated Hidden Variable Z 427
3.1.3 Fixed Hidden Variable Z and Updated Parameter Set /alpha_{t} ,/beta_{t} ,v_{t} ,m_{t} ,v_{t} 427
3.1.4 Determination of Lower Convergence Bound 428
3.2 VB-Based Self-adaptive EKF Algorithm 429
3.2.1 Time Prediction 429
3.2.2 Measurement Updating 429
3.2.3 Estimation of Measurement Noise Mean and Variance 429
4 Simulation and Analysis 430
4.1 Performance Analysis of VB-Based Parameter in Gaussian Mixture Model 430
4.2 VB-Based Adaptive Filtering Performance Analysis 431
4.3 VB-Based Performance Analysis of Gaussian Mixture Filtering Algorithm 433
5 Conclusion 436
References 436
36 Vision-Aided Inertial Navigation System with Point and Vertical Line Observations for Land Vehicle Applications 437
Abstract 437
1 Introduction 437
2 MSCKF Algorithm in Local-Level Frame 438
2.1 MSCKF States and Covariance 439
2.2 MSCKF Procedures 440
3 Roll Angle Aiding with Vertical Line Observations 442
3.1 Roll Measurement from Vertical Line Observations 442
3.2 Roll Angle Measurement Model 443
3.3 Navigation Procedure 444
4 Results and Analysis 444
5 Conclusion 447
References 448
37 An Attitude Determination Algorithm by Integration of Inertial Sensor Added with Vision and Multi-antenna GNSS Data 450
Abstract 450
1 Introduction 450
2 Strapdown Inertial Navigation Error Model 451
3 CCD Camera Model 452
4 Multi-antenna GNSS Attitude Determination Model 453
4.1 GNSS Attitude Determination Using Direct Method 453
4.2 GNSS Attitude Determination Using Parameter Adjustment Method 455
5 Integrated Navigation Filter Model 456
5.1 Inertial Navigation Status Equation 456
5.1.1 Position Update 456
5.1.2 Velocity Update 457
5.1.3 Attitude Update 457
5.1.4 Inertial Instrument Update 457
5.2 Vision Navigation Observation Equation 458
5.3 Multi-antenna GNSS Navigation Observation Equation 459
5.4 Multi-Scale Extended Kalman Filter 460
6 Tests and Results 461
6.1 Test Condition 461
6.2 Result Analysis 461
7 Conclusion 465
References 465
38 An Improved Vector Tracking Loop of Ultra-Tight Integration for Carrier Phase Tracking 466
Abstract 466
1 Introduction 466
2 Non-coherent System Structure and Filter Model 468
2.1 System Structure 468
2.2 Filter Modeling 468
3 Improved Vector Tracking Algorithm 470
4 Simulation Test 471
5 Summary 474
References 474
PNT New Concept, New Methods and New Technology 476
39 Research on Doppler Locating Method of LEO Satellite Backup Navigation System 477
Abstract 477
1 Introduction 478
2 Coverage Analysis of LEO Satellite Backup Navigation System 479
3 Doppler Location Algorithm for Multi-scene 480
3.1 Newton Least Squares Iterative Doppler Location 480
3.2 Determination of Initial Value of Large Area Grid Search Positioning Solution 481
3.3 Positioning Calculation Mode and Accuracy Improvement 482
4 Simulation Verification of Localization Algorithm Performance 484
5 Summary 486
References 486
40 A New Set of Spreading Code Based on Odd Kasami Sequence 487
Abstract 487
1 Introduction 487
2 Evaluation Parameters of Spreading Code Performance 488
2.1 Correlation of Spreading Code 488
2.2 Measurement of Balance Performance 489
3 The New Set of Spreading Code Based on Odd Kasami Sequence 490
3.1 The Generation of Odd Kasami Sequence 490
3.2 The Generation of the New Set of Spreading Code Based on Odd Kasami Sequence 491
3.3 Correlation Performance of the New Spreading Code 491
3.3.1 Auto-correlation Performance of the New Spreading Code 492
3.3.2 Cross-correlation Performance of the New Spreading Code 493
4 Performance Comparison of Different Spreading Codes 495
4.1 Measurement of Correlation Properties 495
4.1.1 Measurement of Auto-correlation Property 495
4.1.2 Measurement of Cross-correlation Property 496
4.2 Measurement of Balance Performance 496
4.3 Analysis of Code Quantity 497
5 Conclusion 497
Acknowledgements 498
References 498
41 Data Transfer Problem in Navigation Satellite Network Based on Agility Link 499
Abstract 499
1 Introduction 499
2 Description of the Problem 501
3 The NP-Complete of the Problem 503
4 Model for the Problem 505
4.1 Linear Programming Model 506
4.2 Polynomial Cases 507
4.2.1 The Case k = 1 507
4.2.2 The Case r = 1 508
5 Conclusion 509
References 509
42 Research on MIMU/UWB Integrated Indoor Positioning 510
Abstract 510
1 Introduction 510
2 MIMU/UWB Integrated Positioning System 511
2.1 Overview 511
2.2 Fusion Strategy Based on Kalman Filter 512
2.2.1 Dynamic Equation 512
2.2.2 Observation Equation 513
3 Simulation Researches 513
3.1 Overview 513
3.2 Simulation Research of MIMU/UWB Integrated Positioning 515
3.2.1 Case 1 515
3.2.2 Case 2 516
3.2.3 Case 3 518
4 Indoor Kinematic Experimental Tests 518
4.1 Experimental Environment 518
4.2 Test Results 519
4.2.1 Case 1 520
4.2.2 Case 2 520
4.2.3 Case 3 521
5 Conclusion 521
References 522
43 Progress on Novel Atomic Magnetometer and Gyroscope Based on Self-sustaining of Electron Spins 523
Abstract 523
1 Introduction 524
2 Self-sustaining Technology 524
2.1 Theory 524
2.2 Setup 525
2.3 Results 527
3 Self-sustaining Magnetometer 527
3.1 Theory 527
3.2 Results 527
4 Self-sustaining Gyroscope 528
5 Conclusion 529
References 529
44 Design of Buoy Array Configuration in the Autonomous Positioning System of Underwater Vehicles 531
Abstract 531
1 Introduction 532
2 Design of Buoy Array Configuration 533
2.1 Positioning Precision and Position Dilution of Precision 533
2.2 Central Radiation Configuration with Minimum Elevation Angle 534
3 Comparison of Three Buoy Configurations 536
3.1 Square Configuration 537
3.2 Diamond Configuration 538
3.3 Central Radiation Configuration 538
4 Conclusion 539
References 540
45 Hardware In-Loop System for X-ray Pulsar-Based Navigation and Experiments 541
Abstract 541
1 Introduction 541
2 Components of “Tianshu II” 542
2.1 X-ray Generator 542
2.2 Vacuum Environment Simulation System 544
2.3 The Time Synchronization System for X-Ray Source and Detector 544
3 The Experiments Based on the “Tianshu II” System 545
3.1 The Dynamic Signal Simulation 545
3.2 The Static Signal Simulation 547
3.3 Energy Spectrum Experiment 549
4 Conclusions 550
References 550
46 Magnetic Field Based Indoor Pedestrian Positioning Using Self-contained Sensors 552
Abstract 552
1 Introduction 552
2 Positioning Method 553
2.1 In the Offline Phase 553
2.2 In the Online Phase 555
2.2.1 Online Matching Using DTW 556
2.2.2 Positioning Using HMM 557
3 Experiment and Result 558
3.1 Geomagnetic Database Construction 560
3.2 Positioning Performance 560
4 Conclusion 564
References 564
47 3D Indoor Layered Localization of Multi-information Fusion Via Intelligent Terminal 566
Abstract 566
1 Introduction 566
2 3D PDR Based on Pitch Rate Detection 568
2.1 Pitch Rate Detection to Distinguish Two Behavior Pattern 568
2.2 Solution of Pedestrian 3D Position 569
3 Particle Filter Fusion WiFi Localization and 3D PDR 571
4 Experiment Analysis 573
4.1 Experimental Preparation 573
4.2 Analysis of Results 574
5 Conclusion 575
References 576
48 Efficient and Robust Convex Relaxation Methods for Hybrid TOA/AOA Indoor Localization 577
Abstract 577
1 Introduction 577
2 Problem Formulation 578
3 SDP Relaxation for Joint TOA/AOA Measurements 580
4 Localization with Sensor Location Errors 582
5 Linear Cramer-Rao Lower Bound (LCRB) for Joint TOA/AOA Measurements 583
5.1 Linear Cramer-Rao Bound with Known Sensor Locations 583
5.2 Linear Cramer-Rao Bound with Sensor Location Errors 586
6 Simulation Results 586
7 Conclusions 591
Acknowledgements 591
References 591
49 Hyperbola Positioning Scheme Based on Continuous Entangled Light and Bell State Direct Measurement 593
Abstract 593
1 Introduction 594
2 Theoretical Model 595
2.1 Two-Mode Squeezed Light 595
3 Production of Two-Mode Squeezed Light 597
4 Plan Design 598
4.1 Positioning Theory 598
4.2 The Detection Process 599
5 Performance Analysis 602
5.1 Estimation of Detection Performance Parameters 602
5.2 Positioning Accuracy Estimation 604
6 Conclusion 606
References 606
50 Application of the Multipath Hemispheric Model in Monitoring Receiver 608
Abstract 608
1 Introduction 608
2 Multipath Effect Analysis 609
2.1 Multipath Effect 609
2.2 Repeatability Analysis of Satellite 609
2.3 Analysis of Monitoring Multipath Receiver 610
3 Multipath Hemispherical Model 613
3.1 Multipath Triangular Series Modeling 613
3.2 Fitting Algorithm 613
3.3 The Prediction of Hemispherical Map Model 614
4 Multipath Effect Analysis 614
5 Conclusions 620
References 621
51 The Test and Analysis on Pulse Signal Detection Abilities of the X-ray Detector MCP for Pulsar Navigation 622
Abstract 622
1 Introduction 623
2 The Ground Testing System and Evaluation Method 624
2.1 MCP Detector and Ground Test System 624
2.2 The Evaluation Method 625
3 Experimental Results and Analysis 629
4 Summary and Discussion 631
References 632