China Satellite Navigation Conference (CSNC) 2018 Proceedings (eBook)

Editorial Board 6
Topic: S1: Satellite Navigation Technology 6
Topic: S2: Navigation and Location Service 6
Topic: S3: Satellite Navigation Signal and Anti-Jamming Technologies 6
Topic: S4: Satellite Orbit and Satellite Clock Error 7
Topic: S5: Precise Positioning Technology 7
Topic: S6: Time–Space Datum and Temporal Frequency Technologies 7
Topic: S7: Satellite Navigation Augmentation Technology 7
Topic: S8: Test and Assessment Technology 8
Topic: S9: User Terminal Technology 8
Topic: S10: Multi-Source Fusion Navigation Technology 8
Topic: S11: PNT New Concept, New Methods and New Technology 9
Topic: S12: Policies and Regulations, Standards and Intellectual Properties 9
Preface 10
Conference Topics 10
Scientific Committee 12
Sec14 12
Organizing Committee 15
Sec15 15
Contents 17
Satellite Navigation Technology 24
1 A Troposphere Tomography Method by Combining the Truncation Coefficient and Variance Component Analysis 25
Abstract 25
1 Introduction 26
2 Tomography Theory 27
3 Establishing the Observation Equation of Signals Penetrating from the Model’s Side Face Using the Truncation Coefficient 28
4 Experiment Description and Tomography Strategy 30
4.1 Experiment Description 30
4.2 Troposphere Tomography Resolving Strategy Based on the VCA 31
5 Result Analysis 33
5.1 IWV Comparison 33
5.2 Water Vapour Profile Comparison 34
6 Conclusion 36
Acknowledgements 36
References 37
2 The Design and Implementation of a SDS-TWR Based Wireless Location System 39
Abstract 39
1 Introduction 39
2 Chirp Spread Spectrum Technology 40
3 Analysis of System Positioning Algorithms 41
3.1 System Positioning Model 41
3.2 Location Algorithm 42
4 System Design and Implementation 45
4.1 System Framework 45
4.2 System Ranging Design 46
4.3 System Positioning Design 47
5 System Test and Error Analysis 48
5.1 System Ranging Test 48
5.2 System Positioning Test 49
6 Conclusion 53
Acknowledgements 53
References 54
3 Research on Smoothing Filtering Algorithm of BDS/GPS Slow Deformation Monitoring Sequence 55
Abstract 55
1 Introduction 55
2 Smoothing Filtering Algorithm for Slow Deformation Monitoring Sequence 56
2.1 BDS/GPS Combined Slow Deformation Monitoring Sequence 56
2.2 Robust Moving Average Method 57
2.3 Sequence Trend Analysis and Adaptive Windowing Filter 59
3 Example Analysis 61
4 Conclusions 65
Acknowledgements 65
References 65
4 Research on Space-Based Measurement and Control Scheme of Launch Vehicle Based on BeiDou Navigation Satellite System 67
Abstract 67
1 Introduction 67
2 The Status Quo of Launch Vehicle Space-Based Measurement and Control and BeiDou System Support Ability Analysis 68
2.1 The Status Quo and Problem of Space-Based Measurement and Control of Launch Vehicle 68
2.2 Launch Vehicle Space-Based Measurement and Control Mission Needs 69
2.3 Capability Analysis of BeiDou System for Launch Vehicle Measurement and Control 70
3 Launch Vehicle Launch Orbit and Invisible Area Boundary Calculation 71
3.1 Launch Vehicle Launch Orbit 71
3.2 Invisible Area Boundary Calculation 72
4 Measurement and Control Communication System of Launch Vehicle Based on BeiDou Satellite Navigation System Constellation 73
4.1 GEO Constellation Support Launch Vehicle Control Communications Scheme 73
4.2 IGSO Constellation Support Launch Vehicle Control Communications Scheme 74
4.3 MEO Constellation Support Launch Vehicle Control Communications Scheme 76
4.4 GEO, IGSO, MEO Constellations Support the Networking of Space-Based Measurement and Control Tasks 76
5 Simulation to Verify the Feasibility of Communication Solutions 77
6 Summary 79
References 80
5 Online GPR-KF for GNSS Navigation with Unmodelled Measurement Error 81
Abstract 81
1 Introduction 82
2 Problem Statements 83
3 Online GPR-KF 84
3.1 Standard GPR 84
3.2 Online GPR-KF 85
4 Experiment Results and Analysis 87
4.1 Static Experiment 87
4.2 Kinematic Experiment 88
5 Concluding Remarks 91
References 91
6 The Application of a New Multi-gross Errors Detection Method with the Epoch Variation Constraint in UAV 93
Abstract 93
1 Introduction 93
2 The Mathematical Model of Epoch-Differenced Method 94
3 The Principle of Gross Error Detection with the Epoch Variation Constraint 95
3.1 The Principle of Multi-gross Errors Detection 95
3.2 The Principle of Distinguish the Cycle Slips and Gross Errors 96
4 Experiment Demonstration 97
4.1 Experiment 1 98
4.2 Experiment 2 100
5 Conclusions 105
Acknowledgements 105
References 105
7 Research on Multi-satellites Fusion Inversion Model of Soil Moisture Based on Sliding Window 107
Abstract 107
1 Introduction 108
2 The Multi-satellites Fusion Inversion Model of Soil Moisture Based on Sliding Window 109
2.1 The Theory of Satellite Signal Reflection 109
2.1.1 The Principle of Model Inversion 110
2.1.2 The Process of Soil Moisture Inversion 111
3 Experiment Analysis 111
4 Conclusion 116
Acknowledgements 117
References 117
8 A Study of TEC Storm on 13 October 2016 118
Abstract 118
1 Introduction 118
2 Data Used for the Study 119
3 Results and Discussions 121
4 Conclusions 124
Acknowledgements 125
References 125
9 An Alternative Approach for Estimating SNR Metrics in GPS-IR 126
Abstract 126
1 Introduction 127
2 SNR Metrics Estimation 128
2.1 SNR Interferograms 128
2.2 LSSA Method 130
3 Experimental Results 132
4 Conclusions 134
Acknowledgements 135
References 135
10 Research on Refined 3D Attitude Model of Smart Construction Machinery Based on Multi-sensor Fusion 137
Abstract 137
1 Introduction 138
2 Installation Scheme of Hardware 139
3 Overview of Algorithm 140
3.1 Correction of the Pitch 140
3.2 Roll-and-Pitch Rotation Matrix of the Upper Structure 140
3.3 Correction of the Yaw 141
3.4 Maintenance of the Vehicle Coordinate System 141
3.5 Analysis of Attitude Effect on Single-Axis Inclinometer Output 141
3.6 Calculation of Working Equipment Key Point Coordinate 142
3.7 Coordinate Calculation of Arbitrary Point on Working Equipment in Horizontal Coordinate System 144
4 Program Implementation and Test on Real Vehicle 144
5 Conclusions 147
References 147
11 Feasibility Study of Low Cost Receiver for Deformation Monitoring 148
Abstract 148
1 Introduction 149
2 Performance Evaluation of Low Cost Receiver 150
2.1 Signal to Noise Ratio 150
2.2 The Performance of Receiver Clock 151
2.3 Standard Point Positioning 153
3 Deformation Monitoring Experiment Simulation 154
4 Conclusions and Prospect 156
Acknowledgements 157
References 157
12 Algorithm and Performance of Precipitable Water Vapor Retrieval Using Multiple GNSS Precise Point Positioning Technology 158
Abstract 158
1 Introduction 159
2 Multi-GNSS Retrieval Precipitable Water Vapor 160
3 Experiment and Analysis Results 162
3.1 Data Sources 162
3.2 Comparative Analysis of GNSS PPP ZTD 162
3.3 Precision Validation of GNSS PPP ZTD 165
3.4 Precision Validation of GNSS PPP PWV 167
4 Conclusions 168
Acknowledgements 169
References 170
13 Retrieval of PWV Based on GPS and Multi-level Isobaric Surface Data 171
Abstract 171
1 Introduction 171
2 Data and Method 172
2.1 Data and GPS Sites Distribution 172
2.2 Layer Interpolation Method 173
2.3 Parameter Conversion Method 175
3 Retrieval Pressure and Temperature by NCEP Products 176
4 Retrieval PWV by NCEP Products 177
5 Conclusions 179
References 180
14 Multipath Mitigation Method in GPS/BDS Deformation Monitoring Based on Observation Domain 181
Abstract 181
1 Introduction 181
2 Mathematical Model 182
2.1 Obtained Observed Residuals 183
3 Multipath Modeling 183
3.1 Multipath Error Analysis 185
4 Experiment and Analysis 186
4.1 Experimental Data 186
4.2 Experimental Program 187
4.3 Result Analysis 187
5 Conclusion 189
Acknowledgements 190
References 190
15 Analysis of Sea Surface Multipath and Impact on GNSS Precision Positioning 191
Abstract 191
1 Introduction 192
2 GNSS Multipath Effect 193
3 Analysis of Coastal GNSS Multipath Effect 194
4 Analysis of Sea Surface Multipath Effect on GNSS Precision Positioning 197
4.1 Analysis of GNSS Baseline Solution Accuracy 197
4.2 Analysis of Multipath Effects Residual 199
4.3 Comprehensive Analysis of Experimental Results 200
5 Conclusion 201
Acknowledgements 202
References 202
16 HECTOR for Analysis of GPS Time Series 204
Abstract 204
1 Introduction 205
2 HECTOR Software and Its Basic Theory 206
2.1 HECTOR Software and Functions 206
2.2 HECTOR Noise Analysis Method 206
2.2.1 AIC and BIC Numerical Analysis 206
2.2.2 Spectral Analysis Method 207
3 HECTOR for the Analysis of GPS Time Series 208
3.1 Data Sources 208
3.2 Extraction of Trend Items and Cycle Items 209
3.3 Analysis of Optimal Noise Model 210
3.3.1 Analysis of Numerical Results Based on BIC 210
3.3.2 Analysis Result Based on Spectrum Analysis Method 211
4 Conclusion 212
Acknowledgements 213
References 213
17 Inversion of Water Vapor Variation During Typhoon by Quad-Constellation GNSS Tomography 214
Abstract 214
1 Introduction 215
2 The Method of Ground-Based GNSS Tomography 215
2.1 The GNSS Tomography Model 215
2.2 The Relationship Between Satellite Elevation and the Satellite Ray Height Intersecting with Tomography Boundary 217
3 Realization of Quad-Constellation GNSS Tomography at Hong Kong 219
3.1 The Distribution of Available GNSS Signals 220
3.2 Inversion of Water Vapor Content Based on Quad-Constellation Tomography 220
4 Conclusions 224
Acknowledgements 226
References 226
18 GPS-MR for Altai Snow Depth Monitoring 228
Abstract 228
1 Introduction 229
2 GPS-MR Detection of Snow Depth of the Basic Theory 231
3 Construction of Altay GPS Snow Monitoring Station 232
3.1 GPS-MR Technology to GPS Tracking Station Construction Site Requirements 232
3.2 Altay GPS Snow Monitoring Station Layout 233
4 Altay GPS-MR Snow Detection Experiment Analysis 233
4.1 Analysis of Altay Snow Depth Accuracy by Ground Based GPS 233
4.2 Monitoring and Analysis of GPS-MR Snow Depth in Satellite Elevation 233
5 In Conclusion 235
Acknowledgements 235
References 236
19 Snow Depth Detection Based on L2 SNR of GLONASS Satellites and Multipath Reflectometry 237
Abstract 237
1 Introduction 238
2 GLONASS-MR Model and GLONASS Data Processing 238
3 Results and Discussion 241
4 Conclusion 246
Acknowledgements 246
References 246
20 Analysis of Ionospheric Anomalous Disturbance During a Heavy Rainfall 248
Abstract 248
1 Introduction 249
2 Data Selection and Processing 250
3 Experiment Analysis 252
4 Discussion on the Triggering Mechanism of Ionosphere Anomalous 253
5 Conclusion and Outlook 256
References 256
21 Water Level Changes Measurement of Reservoir Using Multi-GNSS Reflectometry 258
Abstract 258
1 Introduction 258
2 The Basic Theory of Measuring Water Level Change Based on GNSS SNR 259
3 Analysis Methods 262
4 Data Analysis 263
4.1 Data Source 263
4.2 Experimental Results 264
5 Conclusion 267
Acknowledgements 268
References 268
22 The Impact of Atmospheric Mass Loading on Precise Positioning of National GNSS Stations 269
Abstract 269
1 Introduction 270
2 Theoretical Model 270
3 The Experimental Data and Scheme 271
4 Analysis the Solution 272
4.1 Influence to Baseline Solution 272
4.2 Influence to Stations Coordinate 274
5 Conclusion 276
Acknowledgements 277
References 277
Navigation and Location Service 278
23 A Unidirectional Communication Architecture for Extended Location-Based Services 279
Abstract 279
1 Introduction 280
2 Related Work on LBS Architectures and Services 281
2.1 LBS Components and Services 281
2.2 LBS Request/Response Communication Paradigm and Application Protocols 283
3 Extended LBS Application Scenarios and System Requirements 284
4 Extended LBS Architecture and Services 286
4.1 Extended LBS Definition and Service 286
4.2 Extended LBS Architecture Based on the Publish/Subscribe Paradigm 287
4.3 Publish/Subscribe Application Protocols 288
5 Performance Evaluation of MQTT Protocols for Extended LBS Services 288
5.1 Experiment I: CPU Usages in RTCM Data Distribution with MQTT and Ntrip 289
5.2 Experiment II: Latency and Packet Loss Performance in RTCM Data Exchanges with Ntrip and MQTT 290
5.3 Experiment III: Latency Performance of D2D Data Exchanges with QoS Modes 1 and 2 292
6 Conclusions 293
References 294
24 Virtual Reference Station (VRS) Coordinate’s Pattern of QianXun Ground-Based Augmentation System 296
Abstract 296
1 Introduction 297
2 QX-GBAS High-Precision GNSS Positioning Service 298
2.1 Flowchart 298
2.2 RTCM Message Type 298
3 Experiment and Analysis 299
4 Conclusion 305
Acknowledgements 306
References 306
25 A Novel Fingerprinting Method of WiFi Indoor Positioning Based on Weibull Signal Model 307
Abstract 307
1 Introduction 308
2 The Fingerprinting Method Based on RSSI 309
2.1 Fingerprint Training Phase 310
2.2 Matching Positioning Phase 310
3 Bayesian Position Estimation Based on Weibull Signal Model 311
3.1 Fingerprint Database 311
3.2 Modelling Fingerprints with the Weibull Signal Model 312
3.3 Fingerprinting Method with the Weibull Signal Model 313
4 Experiments and Results 315
4.1 Experimental Environment and Process 315
4.2 Experimental Results and Analysis 316
5 Conclusions 318
Acknowledgements 318
References 318
26 Development and Assessment of GNSS Online Differential Data Processing System Based on HNCORS 320
Abstract 320
1 Introduction 320
2 System Architecture and Data Processing Flow 321
3 System Data Processing Strategies and Results 324
4 System Positioning Service Performance Assessment 324
4.1 CORS Datum Station Data Testing 324
4.1.1 Hours Solution Results 324
4.1.2 Daily Solution Results 326
4.1.3 Multi-station Solution Results 326
4.2 Measured Data Testing 328
4.2.1 Data Acquisition 328
4.2.2 Hours Solution Results 328
4.2.3 Daily Solution Results 329
5 Simulation Deformation Monitoring 330
5.1 Data Collection 330
5.2 Data Processing and Results Analysis 331
6 Conclusions 332
Acknowledgements 332
References 333
27 A Robust Turn Detection Algorithm Based on Periodic Signal Identification 334
Abstract 334
1 Introduction 335
2 Related Work 336
3 System Overview 337
4 Turn Detection 338
4.1 Gravitational Unit Vector Estimation Based on Sliding Average 338
4.2 Turn Judgment 339
4.3 Fast Turn and Slow Turn 340
4.4 Periodic Signal Identification Based on FFT 340
5 Experiment Results and Analysis 342
5.1 Evaluate Turn Detection Algorithm Performance When Walking 342
5.2 Evaluate Turn Detection Algorithm Performance on Transports 345
5.3 Algorithm Complexity Analysis 345
5.4 Power Consumption 346
6 Conclusion 346
Acknowledgements 347
References 347
28 The Indoor Localization Algorithm for Combination of Signal Strength and Anti-disturbance 349
Abstract 349
1 Introduction 350
2 RSSI Positioning Principle 351
2.1 Distance Calculation 351
2.2 Positioning Principle 353
3 Trilateration Location Method Based on Robust Estimation 353
4 Experimental Test and Result Analysis 354
5 Conclusions 360
References 361
29 A Bluetooth Localization Algorithm Based on Map Path Calibration and Time Series Filtering 362
Abstract 362
1 Introduction 363
2 Related Work 365
3 System Design 366
3.1 Bluetooth Beacon 367
3.2 Intelligent Terminals 367
3.3 Cloud Server 367
4 Bluetooth Localization Algorithm 368
4.1 Data Acquisition and Pretreatment 368
4.2 Initial Positioning Coordinates Calculation 369
4.3 Post-processing Method Based on the Average Sliding Window 370
4.4 Time-Series Based Spatial Restraint Post-processing Method 371
4.5 Location Correction Based on Map Path Information 371
4.6 Location Map Path Information 373
5 Experiment and Result Analysis 374
5.1 Experimental Conditions 374
5.2 Result Analysis 374
5.3 Positioning Algorithm Comparison 375
6 Conclusion 376
Acknowledgements 376
References 376
30 Synthetization of Fingerprint Recognition and Trilateration for Wi-Fi Indoor Localization Through Linear Kalman Filtering 379
Abstract 379
1 Introduction 380
2 Traditional Indoor Localization Algorithms 380
2.1 Overview of Fingerprint-Recognition Localization Algorithm 381
2.2 Trilateration Localization Algorithm 382
3 Adaptive Trilateration/Fingerprint Fusion Algorithm 383
3.1 Integrated Trilateration/Fingerprint Algorithm 384
3.2 Adaptive Fusion 385
4 Linear Kalman Filtering 386
5 Experiment and Analysis 387
6 Concluding Remark 391
Acknowledgements 391
References 392
31 Positioning Performance Analysis of Combined BDS/GPS-RTK Based on iGMAS Products 393
Abstract 393
1 Introduction 393
2 Mathematical Model 394
2.1 GNSS Positioning Observation Equation 394
2.2 Adaptive EKF Algorithm 395
3 Positioning Results and Accuracy Analysis of Combined BDS/GPS-RTK 397
3.1 Static Experiment 397
3.1.1 Data Collection 397
3.1.2 Result Analysis 398
3.2 Dynamic Vehicle Experiment 401
3.2.1 Data Collection 401
3.2.2 Result Analysis 401
3.3 Antenna Movement Experiment 402
3.3.1 Data Collection 402
3.3.2 Result Analysis 402
4 Conclusion 407
Acknowledgements 407
References 408
32 Environment Recognition Based on Temporal Filtering SVM 409
Abstract 409
1 Introduction 410
2 Signal Feature Vector 411
3 Data Collection 413
4 Environment Recognition Algorithm 415
4.1 SVM Classifier 415
4.2 Prediction Updating Based on Temporal Filtering 417
5 Performance Test 418
5.1 Testing Method 418
5.2 Recognition Result 418
6 Conclusion 419
References 419
33 Pseudorange Double Difference Algorithm Based on Duty-Cycled Carrier Phase Smoothing on Low-Power Smart Devices 421
Abstract 421
1 Introduction 421
2 Error Analysis of Smartphone Measurements 422
2.1 Performance Limits of Smartphone’s GNSS Module 422
2.2 Experimental Setup 423
2.3 Error Analysis of Pseudorange Observations 424
2.4 Error Analysis of Carrier Phase Observations 427
3 Carrier Smoothing and Pseudorange DD Algorithm 429
3.1 Carrier Smoothing with Continuous Loss of Cycles 429
3.2 Pseudorange DD and Filter Design 431
4 Experimental Results 432
4.1 The Results of Carrier Smoothing Methods 432
4.2 Positioning Methods Comparison and Multipath Effects 433
5 Conclusion 435
References 435
34 Communication Tower Based Experiment and Analysis of Differential Augmentation for Auto-Steering Guidance of Agricultural Machinery 437
Abstract 437
1 Introduction 438
2 Material and Method 439
2.1 Reference Station Construction 439
2.2 Evaluation Method 440
3 Results and Discussion 441
3.1 Data Quality Evaluation 441
3.2 CORS Network Adjustment 441
3.3 Validating of Positioning Accuracy 443
3.4 Availability Evaluation 445
4 Conclusions 445
Acknowledgements 446
References 446
35 Low-Cost Receiver Robust-RTD Algorithm Based on the Constraints of Velocity 448
Abstract 448
1 Instruction 449
2 RTD Algorithm 450
2.1 Velocity Determination Based on Doppler Observations 450
2.2 RTD Algorithm Based on the Constraints of Velocity 451
3 Experiment and Analysis 452
3.1 Static Test on Open Environment 453
3.2 Dynamics Test on Open Environment 453
3.3 Dynamics Test on Complex Environment 455
3.4 Dynamic Car-Borne Test 456
4 Conclusions and Future Research 458
Acknowledgements 458
References 458
36 The Research on Single Satellite Positioning System of Aircraft Based on Communication Signals of Beijing Inmarsat Ground Earth Station 460
Abstract 460
1 Introduction 461
2 System Structure 461
3 System Workflow 462
4 Communication Information Decoding 463
5 Flight Trajectory Model Construction [3–5] 463
5.1 Use BTO to Determine the Arc of Aircraft 463
5.2 Using Iterative Method to Build Aircraft Trajectory Model 465
5.3 Simulation Calculation 466
5.4 Track Visualization 466
6 Probability Screening of Flight Path [6] 468
6.1 Probability Screening Model 468
6.2 Calculation Results and Diagrams 469
7 Flight Trajectory Display 469
8 Aircraft Positioning Results Output 470
Acknowledgements 471
References 471
37 Assessment of the Contribution of QZSS Combined GPS/BeiDou Positioning in Asia-Pacific Areas 472
Abstract 472
1 Introduction 473
2 QZSS System 473
3 Data Description 475
4 Contribution of QZSS 475
4.1 Contribution of QZSS in DOP Value 475
4.2 Contribution of QZSS in SPP 476
4.3 Contribution of QZSS in PPP 479
4.4 Contribution of QZSS in RTK 481
5 Conclusions 482
Acknowledgements 482
References 483
38 The Service Improvement of BDS Positioning Based on Advanced Equivalent Satellite Clock Calculation 484
Abstract 484
1 Introduction 485
2 Equivalent Satellite Clock Computation Model 485
2.1 Equivalent Satellite Clock 485
2.2 Variation of the ESC 486
2.3 Smoothing 487
2.4 Improved Equivalent Satellite Clock Estimation Algorithm 488
3 User Equivalent Range Error 489
4 Experiments 489
4.1 User Ranging Error Statistics 489
4.1.1 Statistical Results of the UERE, UDRE 489
4.1.2 RMS of the UDRE 491
4.1.3 Comparison 491
4.2 Positioning Results Statistics 491
4.2.1 Positioning Results of Standard Service and Enhanced Service 492
4.2.2 Positioning to Enhance the Proportion of Statistical Results 492
5 Conclusion 494
Acknowledgements 494
References 494
39 Rapid Ambiguity Resolution Algorithm for Multi-constellation Between Reference Stations Based on Ambiguity Tight Constraint 495
Abstract 495
1 Instruction 496
2 Optimal Subset Selection Scheme 497
3 Ambiguity Tight Constraint Algorithm 497
3.1 Construct “Pseudo” Observations 498
3.2 Update the Filter Equations 498
4 Experiment and Analysis 499
4.1 The Function of Tight Constraint on Ambiguity Resolution 500
4.2 The Effect of Newly-Arisen Satellite on Positioning Accuracy 502
5 Conclusion 504
Acknowledgements 504
References 505
Time-Space Datum and Temporal Frequency Technologies 506
40 Using IGS RTS Products for Real-Time Subnanosecond Level Time Transfer 507
Abstract 507
1 Introduction 507
2 The IGS RTS Products 508
2.1 The Organization of the IGS RTS 508
2.2 Real-Time Satellite Precise Ephemeris and Clocks 509
2.3 The Accuracy and Availability of the IGS RTS Products 510
3 GPS PPP Time Transfer Based on the RTS Products 513
3.1 GPS PPP Time Transfer 513
3.2 The Time Reference of the RTS Products 514
3.3 The Experiments 515
4 Conclusion 519
Acknowledgements 519
References 519
41 Time Transfer Analysis of GPS- and BDS-Precise Point Positioning Based on iGMAS Products 521
Abstract 521
1 Introduction 522
2 CP Time Transfer Model 523
3 Experimental Data and Processing Strategy 524
3.1 Dataset 524
3.2 The Methods of Uncertainty Assessment 525
4 Results and Analysis 525
5 Summary 531
Acknowledgements 531
References 531
42 Simulation and Experiment of Multi-section Coil for C Field Used in Passive Hydrogen Maser 533
Abstract 533
1 Introduction 534
2 Calculation and Simulation of Homogeneity of Straight Solenoid 534
3 Calculation and Simulation of Homogeneity of Multi-section Coil 535
4 Experiment and Application of Multi-section Coil 537
5 Conclusion 540
References 540
43 Periodicity Systematic Error Analysis of GPS in Nonlinear Variations of Station Coordinates 541
Abstract 541
1 Introduction 541
2 The Adopted Data and Analysis Methods 542
2.1 The Adopted Data 542
2.2 Data Analysis Method 543
3 Analysis of Calculation Results 544
4 Conclusions 549
References 549
44 An Accurate and Efficient Detecting and Correcting Algorithm for Abnormal Clock Data 551
Abstract 551
1 Introduction 551
2 Detecting and Correcting Algorithm for Abnormal Clock Data 552
2.1 Detecting Algorithm and Application for Abnormal Data 552
2.1.1 The Median Detection Method 552
2.1.2 Application of Improved Median Detection Method in Detecting for Abnormal Data 553
2.2 Correcting Algorithm for Abnormal Data 553
2.2.1 Linear Interpolation 553
2.2.2 Phase Compensation Method 554
2.2.3 Least Squares Method 555
2.2.4 Least Squares Combination Model 557
3 Result Analysis of Algorithm Examples 557
4 Conclusion 560
References 561
45 Processing Method of Clock Break in VLBI Data Analysis 562
Abstract 562
1 Introduction 562
2 VLBI System Principle 563
2.1 VLBI Geometric Principle 563
2.2 VLBI Data Calculation Principle 565
3 Clock Break Positioning 566
3.1 Piecewise Linearization 567
3.2 Clock Break Positioning and Processing 568
4 Clock Break in Kalman Filter 571
5 Discussion and Conclusion 572
Acknowledgements 572
References 572
46 An Improved Abnormity Detection Method for Atomic Clock Frequency Based on Chi-Squared Statistics 573
Abstract 573
1 Introduction 573
2 Chi-Squared Tests for Atomic Clock Frequency Abnormity 574
3 Pair-Difference Chi-Squared 575
4 Frequency Abnormity Chi-Squared Test 576
5 The Results Analysis 576
6 Conclusions 579
References 579
47 Research on Robust Timing Receiver with Joint Verification of Location and Clock Offset 581
Abstract 581
1 Introduction 581
2 Principle of Timing Receiver 582
3 Principle of Timing Anomaly Monitoring 582
3.1 Location Monitoring Principle 583
3.2 Clock Offset Monitoring Principle 584
3.2.1 Clock Offset Prediction Model 584
3.2.2 Principle of Abnormal Clock Offset Monitoring Algorithm 585
4 Simulation and Analysis 586
4.1 Location Monitoring Simulation Analysis 586
4.2 Clock Offset Monitoring Simulation Analysis 587
4.2.1 Phase Outlier 589
4.2.2 Phase Jump Abnormalities 589
5 Conclusion 591
References 591
48 The Long-Term Performance Analysis and Comparison of BDS on-Board Atomic Clock Based on Precise Clock Products of IGS Analysis Centers 593
Abstract 593
1 Introduction 594
2 Algorithm Principle 594
2.1 Data Preprocessing Method 594
2.2 Frequency Accuracy Calculation Method 595
2.3 Frequency Drift Rate Calculation Method 595
2.4 Frequency Stability Calculation Method 596
3 BDS Satellite Clock Performance Analysis 596
3.1 The 10,000 s Stability Long-Term Changes 596
3.2 The Daily Drift Rate Long-Term Changes 603
3.3 Accuracy Long-Term Changes 603
3.4 Day Stability Long-Term Changes 604
4 Conclusions 604
Acknowledgements 605
References 605
49 A Method on Laser Power Stabilization in Optical Detection Cesium Atomic Clock 606
Abstract 606
1 Introduction 607
2 Laser Power Stabilization Scheme Based on Liquid Crystal Variable Retarder 608
3 Results and Discussion 609
3.1 Results of Light Power Stability 609
3.2 Temperature Coefficient Measurement Results 611
3.3 Discussion 612
4 Conclusion 612
References 613
50 Analysis of BDS Satellite Clock in Orbit with ODTS and TWTT Satellite Clock Data 614
Abstract 614
1 Introduction 615
2 Comparison of Satellite Clock Data 616
2.1 Mutual Agreements of ODTS and TWTT Satellite Clock Data 616
2.2 Internal Consistency Comparison of OTDS and TWTT Satellite Clock Data 617
3 Comparison of Periodicity Analysis Results Based on ODTS and TWTT Satellite Clock Data 617
4 Comparison of Stability Analysis Results Based on ODTS and TWTT Satellite Clock Data 618
5 Conclusions 620
Acknowledgements 621
References 621
51 Analytical Analysis Method of Whispering Gallery Mode of Sapphire Dielectric Resonators and the Optimization of the Q Value in Liquid Helium Temperature 622
Abstract 622
1 Introduction 622
2 Theoretical Model 623
3 Analytical Frequency and Optimization of the Q Value 625
4 Conclusion 631
References 631
Satellite Navigation Augmentation Technology 632
52 Application of Gaussian Overbounding on Ionospheric Error Analysis for China SBAS 633
Abstract 633
1 Instruction 633
2 GIVE Monitor in SBAS 634
3 Gaussian-Bounding Theorem 635
4 Gaussian-Bounding Test for Ionospheric Error 637
5 Comparison of Methods in Bound Estimation 638
5.1 Threshold of Irregularity Detector 639
5.2 Static Inflation and Dynamic Inflation 641
5.3 Undersampled Threat Model 643
6 Conclusions 645
Acknowledgements 645
References 645
53 Analysis on Characteristics of Delay Errors Under Ionospheric Anomaly in China Area 647
Abstract 647
1 Introduction 647
2 GIVE Monitor 648
2.1 Grid Model with Kriging Method 648
2.2 Delay Error Bound Estimation 649
2.2.1 Ionospheric Irregularity Detector 649
2.2.2 Inflation of Formal Estimation Error 650
2.2.3 The Ionospheric Undersampled Threat Model 650
3 Analysis of Ionospheric Delay Error 651
3.1 GNSS Data 651
3.2 Analysis Method 651
4 Results and Discussion 653
4.1 Results of Statistics Analysis 653
4.2 Further Discussion 658
5 Conclusion 658
Acknowledgements 659
References 659
54 Design of Mega-Constellations of LEO Satellites for Positioning 660
Abstract 660
1 Introduction 660
2 State of the Art 661
3 Preliminary Work 662
3.1 Visibility w.r.t. Orbit Height and Elevation Angle 662
3.2 Visibility w.r.t. Latitude 662
4 Constellation Design 665
5 Conclusion and Outlook 669
References 670
55 A Required Navigation Performance Based Approach to Monitor the Accuracy and Integrity Performance of UAVs for Delivery Applications 671
Abstract 671
1 Introduction 672
2 The Concept of UAV Delivery System and Its Requirement 673
3 UAV Navigation Monitoring Requirement for UAV-Borne Deliveries 675
3.1 UNMR Framework Definition 675
3.2 Accuracy Calculation for the Size of Route and Dock Design 676
3.3 The Relationship of UNMR and UANP 678
4 Simulation 679
5 Initial Field Test 681
6 Conclusions 683
References 683
56 SBAS Integrity Verification Based on the Extreme Value Theory 685
Abstract 685
1 Introduction 685
2 SBAS Integrity 686
2.1 The Concept of SBAS Integrity 686
2.2 SBAS Integrity Estimation 687
3 EVT and EVT Application in Integrity Verification 688
4 Measurement and Verification of EGNOS Integrity 689
4.1 Data Processing 689
4.2 Measured Data Analysis 691
5 Summary 694
Acknowledgements 694
References 694
57 Reduced ARAIM Subsets Method Determined by Threshold for Integrity Risk 696
Abstract 696
1 Introduction 697
2 ARAIM Subsets Determination 697
2.1 Baseline ARAIM Algorithm 698
2.2 Continuity Risk 699
3 Reduced Subsets Determined by Threshold for Integrity Risk 700
4 Worldwide Simulation and Evaluation 702
5 Conclusions 705
Acknowledgements 705
References 706
58 Comparison and Analysis of the Optimized AGC Setting and the Improved CNMC Method for the Ground Pseudolite Enhanced Beidou System 707
Abstract 707
1 Introduction 707
2 Optimal AGC Setting of Pseudolites 708
2.1 The Concept and Significance of AGC 708
2.2 Optimal Setting of AGC 709
3 Improved CNMC Method for Pseudolites 713
4 Comparison and Analysis of the Two Methods 714
5 Conclusion 718
Acknowledgements 719
References 719
59 Research on BDS/GPS Integrated Navigation Satellite Selection Algorithm Based on Particle Swarm Optimization 720
Abstract 720
1 Introduction 721
2 Calculation Method on DOP 721
3 Particle Swarm Optimization Algorithm 723
3.1 Basic Principle of PSO Algorithm 724
3.2 Chaotic Particle Swarm Optimization Algorithm 725
4 The Steps of PSO Satellites Selection 725
5 Experiment and Simulation Analysis 726
6 Conclusions 729
Acknowledgements 729
References 729
60 A Minor Fault Detection Algorithm Based on Sliding-Window Accumulated Parity Vector 731
Abstract 731
1 Introduction 732
2 Improved RAIM Scheme with On-line Sliding Window 732
3 Improved RAIM Algorithm Based on Accumulated Parity Vector 733
3.1 Measurement Model for BDS/GPS Joint Positioning 733
3.2 Fault Detection Based on Parity Vector 734
3.3 Detection Statistics from Accumulation of Parity Vectors 735
4 Simulation and Analysis 736
4.1 Simulation Description 736
4.2 Simulation Results and Analysis 737
5 Conclusions 739
Acknowledgements 739
References 739
61 The Construction Method of Ionospheric Delay Model with Combined BDS Phase and Range Observation 741
Abstract 741
1 Introduction 741
2 Mathematical Model 742
2.1 Ionospheric Delay Estimation Model 742
2.2 Ionospheric Model Construction Method 744
3 Experiments and Results Analysis 744
3.1 Data and Processing Strategies 744
3.2 DCB Stability Analysis 745
3.3 Accuracy Analysis of Ionospheric Model 747
4 Conclusion 749
Acknowledgements 749
References 749
62 Improved RAIM Algorithm Based on Kalman Innovation Monitoring Method 751
Abstract 751
1 Introduction 751
2 Snapshot Algorithm 752
2.1 Usability Analysis 752
2.2 Parity Vector Method 754
2.3 Parity Vector Method Based on Non-coherent Accumulation 755
3 Kalman Innovation Monitoring Method 756
3.1 Kalman Filter-Based RAIM Algorithm 756
3.2 Detection Threshold 757
4 Improved RAIM Algorithm 758
5 Experiment and Analysis 758
6 Conclusion 760
References 760
63 LEO Constellation Optimization Model with Non-uniformly Distributed RAAN for Global Navigation Enhancement 761
Abstract 761
1 Introduction 761
2 Constellation Design and Optimization 762
2.1 Design Indexes and Constraints 762
2.2 Constellation Configuration Optimization 764
2.2.1 Walker Constellation Modeling 764
2.2.2 Satellite Dynamics Modeling 765
2.2.3 Genetic Algorithm (GA) 765
2.2.4 Optimize Variables and Range 766
2.2.5 Optimization Procedure and Result 767
3 Simulation and Analysis 768
4 Constellation Deployment 768
5 Conclusion 770
References 770
64 Design of Navigation Message Authentication Assisted by Ground Based Augmentation Systems 771
Abstract 771
1 Introduction 771
2 Model of NMA Protection Against Spoofing Attack 772
2.1 Model of Spoofing Attacks 772
2.2 Principle of Navigation Message Authentication 773
3 NMA Implementation with GBAS Broadcasters 774
3.1 Structure of NMA Protected GBAS Broadcasting Message 774
3.2 Generation of NMAS and GMAS Messages 775
3.3 Verification of NMAS and GMAS Messages 776
4 Performance Analysis 777
4.1 Security 777
4.2 Efficiency 777
5 Conclusion 778
Acknowledgements 779
References 779
65 Configuration Method of the Dynamic Navigation Network Based on Near Space 780
Abstract 780
1 Introduction 780
2 Optimal Unit Configuration 781
2.1 Useful Location Calculation 781
2.2 Single Configuration Location Analysis 782
2.3 Comparison of Different Unit Configurations 783
3 Network Extension and Boundary Detection Method 784
3.1 Navigation Network Model Description 784
3.2 Boundary Detection Methods 787
3.2.1 Adaptive Detection Method 787
3.2.2 Intelligent Detection Algorithm 787
3.3 Algorithm Simulation Analysis 789
4 Dynamic Network Design and Optimization 790
4.1 Working Principle of Super-Pressure Balloon 790
4.2 Dynamic Network Design 790
4.3 Dynamic Optimization 791
5 Conclusions 795
Acknowledgements 795
References 796
66 Research on Ionospheric Grid Correction Strategy Based on Chinese Region 797
Abstract 797
1 Introduction 798
2 Ionospheric Delay Estimation 799
2.1 Spatial Correlation of Ionospheric Delay 799
2.2 IDW Algorithm 800
2.2.1 Fundamental 800
2.2.2 Grid Ionospheric Vertical Delay Estimation 800
2.2.3 Grid Ionospheric Vertical Delay Error Estimation 802
2.3 Kriging Algorithm 803
2.3.1 Fundamental 803
2.3.2 Grid Ionospheric Vertical Delay Estimation 803
2.3.3 Grid Ionospheric Vertical Delay Error Estimation 804
3 Algorithm Implementation and Results 805
3.1 Algorithm Estimation Error Analysis 805
3.2 Algorithm Combination Strategy 807
3.3 UIVE Envelope Analysis and Verification 807
4 Conclusion 808
Acknowledgements 808
References 808
67 Satellite Integrity Autonomous Monitoring (SAIM) of BDS and Onboard Performance Evaluation 809
Abstract 809
1 Introduction 810
2 Monitoring Scheme for Autonomous Integrity of BDS Satellite 810
2.1 Selection of Monitoring Measurement 811
2.2 Monitoring Process and Alarm Type 812
3 Navigation Signal Monitoring Technology 813
3.1 Signal Power Monitoring 813
3.2 Signal Delay Monitoring 813
3.3 Abnormal Monitoring of Signal Correlation Peak Distortion 814
3.4 Code/Carrier Phase Inconsistency Monitoring 815
4 Satellite Clock Monitoring Technology 817
5 Performance Evaluation Results in Orbit Operation 817
6 Conclusion 821
Acknowledgements 821
References 822