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 Signal and Anti-jamming Technologies 23
1 A New Technique for Improving the Anti-jamming Performance of Vector Tracking Loop 24
Abstract 24
1 Introduction 24
2 Data Model 25
3 Proposed Method 26
3.1 Suppression of Jamming 27
3.2 Calculation of Weight Vector 28
3.3 Comparison of Algorithm 30
4 Simulation Analysis 31
4.1 Performance Analysis of Interference from Far Range 31
4.2 Performance Analysis of Interference from Near Range 32
5 Conclusions 34
Acknowledgements 34
References 34
2 A Novel Generation Method of TM-AltBOC Modulator and Demodulator 35
Abstract 35
1 Foreword 35
2 Modulation of TM-AltBOC 36
3 Signal Demodulation and Tracking 39
4 Conclusion 42
References 43
3 Generation Mechanisms and Experimental Verifications of Pseudo-range Biases for BDS Navigation Signals 44
Abstract 44
1 Introduction 45
2 Phenomenon of Pseudo-range Biases 46
3 Generate Mechanism Analyses 48
4 Pseudo-range Biases with Correlator Spacing 51
5 Pseudo-range Biases with RF Bandwidth 52
6 Pseudo-range Biases with Satellite Elevation Angle 54
7 Solutions and Conclusions 56
Acknowledgements 56
References 57
4 Code Phase Bias Reduction in Spatial Adaptive Beam-Forming GNSS Receivers 58
Abstract 58
1 Introduction 58
2 Adaptive Beam-Forming Technique 59
2.1 MVDR Algorithm 59
2.2 Steering Vector Construction 61
3 Code Phase Bias Reduction 62
3.1 Theoretical Calculation of the Code Phase Bias 62
3.2 Proposed Code Phase Bias Estimation and Reduction 62
3.3 Discussion 64
4 Simulation 64
4.1 Antenna Array Characteristics 64
4.2 Code Phase Bias Reduction Performance 66
5 Conclusion 68
References 68
5 Multipath Mitigation Method for BOC Signals Dual Estimation Technology Based on Synthesized Correlation Function 69
Abstract 69
1 Introduction 70
2 Improved Multipath Mitigation Method 71
2.1 Anti-multipath Improved DET Structure 71
2.2 Design of Anti-multipath SCF 73
2.3 Multipath Mitigation Performance Analysis 74
3 Simulation and Analysis of Improved DET Performance 76
3.1 Multipath Mitigation Performance Analysis 76
3.2 Tracking Performance 78
4 Conclusions 78
References 79
6 Fast Parameter Estimation Method of Multi-components LFM Interference to GNSS Uplink Injection 80
Abstract 80
1 Introduction 80
2 Parameter Estimation Method of LFM Radar Signals 81
2.1 Estimation Method for a Single-Component LFM Signal 81
2.2 Estimation Method for Multi-component LFM Signals 82
3 Simulation Experiment 84
3.1 Scene of a Single LFM Signal 84
3.2 Scene of Multiple LFM Signals 85
4 Summary 87
References 87
7 Beidou Modulator Distortion Modeling and Compensation Algorithm 88
Abstract 88
1 Introduction 88
2 Modulator Mon-Ideal Model 89
2.1 Math Model of Modulator 89
2.2 Modeling of Modulators’ Distortion Characteristics 89
3 The Influence of the Non-ideal Characteristics of the Modulator on the Quality of the Signal 90
3.1 Mathematical Deduction and Analysis 90
3.2 Simulation of Influence of Amplitude Imbalance of Modulator on Correlation Loss 91
3.3 Simulation of Influence of Amplitude Imbalance of Modulator on SCB 93
4 The Measurement and Compensation Method of the Distortion Characteristic of the Modulator 94
5 Conclusion 95
Acknowledgements 95
References 95
8 A Variable Step Frequency-Domain LMS Narrowband Interference Suppression Algorithm Based on Adaptive Noise Statistics 96
Abstract 96
1 Introduction 96
2 Frequency Domain LMS Algorithm 98
2.1 Frequency Domain LMS Algorithm Model 98
2.2 Algorithm Convergence 99
3 Variable Step Frequency Domain LMS Algorithm 100
3.1 Interference Detection 101
3.2 Noise Statistics 101
3.3 Algorithm Convergence 102
4 Overall Architecture 102
5 Simulation and Verification 103
5.1 Scene 1 103
5.2 Scene 2 104
6 Summary 106
References 106
9 A Cooperative Anti-spoofing Technology Based on Subspace Projection 107
Abstract 107
1 Introduction 107
2 System Model 108
3 The Anti-spoofing Technology Based on Subspace Projection 110
3.1 Spatial Processing 110
3.2 Data Processing 111
3.3 The Receiver Structure 113
4 Simulation 114
5 Conclusions 116
Acknowledgements 116
References 116
10 Beidou B1I Signal Acquisition Scheme Based on Variable Length Data Accumulation 117
Abstract 117
1 Introduction 117
2 The Principle of Delay and Multiplication 119
2.1 The Structure of Signal Processed by Delay and Multiply 119
2.2 Noise Analysis 120
3 Acquisition Scheme Based on Variable Length Data Accumulation 122
4 Experiments and Results 124
5 Conclusion 127
Acknowledgements 127
References 127
11 Design and Simulation of Synchronization Algorithm for Short Time Burst- Mode GMSK Signal 128
Abstract 128
1 Introduction 128
2 Design of Short Time Burst GMSK Signal Synchronization 129
3 Carrier Synchronization 130
3.1 Header Capture and Rough Estimate Frequency Offset 130
3.2 Frequency Offset Accurate Estimation and Phase Offset Estimation 131
3.3 Phase Locked Loop 132
4 Timing Synchronization 133
5 Simulation Results and Analysis 136
6 Conclusion 137
References 137
12 A Novel Analog Threat Analysis of BDS Signal and Effect on Ranging Performance 139
Abstract 139
1 Introduction 140
2 2OS (2nd-Order Step) 140
2.1 Digitial Threat (TMA) 140
2.2 Analog Threat (TMB) 141
2.3 Analog Threat Model Correlation Function 143
3 Optimal Chip Extraction 144
4 Analog Distortion Model Parameters to Determine the Method 145
5 Ranging Performance 145
6 Conclusion 148
Acknowledgements 148
References 148
13 Analysis of Positioning Performance of the GNSS Receiver Under Complete and Incomplete Spoofing 149
Abstract 149
1 Introduction 149
2 Repeater Spoofing System 150
2.1 Signal Model Under Complete and Incomplete Spoofing Attack 150
2.2 Positioning Model Under Spoofing Environment 153
3 Implementation of Repeater Spoofing 155
4 Experiment and Analysis 155
4.1 Experiment Method and Environment 155
4.2 Simulation Results and Analysis 156
5 Conclusion 158
Acknowledgements 159
References 159
14 Subcarrier-Abstracted Multi-frequency Constant-Envelope Multiplexing and Its Implementation Optimization 160
Abstract 160
1 Introduction 161
2 Model and Methodology 162
2.1 Discrete Equivalent Subcarriers 162
2.2 Multiplexing Efficiency Optimization Based on Orthogonal Basis 163
3 Implementation Issues 166
3.1 Phase Look-up Table 166
3.2 Low-Redundancy LUT Storage Scheme 167
3.3 Pipeline Structure in the Generation of Multi-frequency CEM Signals 168
4 Simulation Results 170
5 Conclusions 172
References 173
15 Design and Field Test of a GPS Spoofer for UAV Trajectory Manipulation 174
Abstract 174
1 Introduction 174
2 Spoofing Signal Simulation Method 176
2.1 Spoofing Signal Model 176
2.2 Signal State Parameter Calculation Model 176
2.2.1 Signal Power 176
2.2.2 Code Phase 177
3 Spoofing Strategy 177
4 Design and Experiment 180
4.1 Overall Design 180
4.2 Experiment of Spoofing a Static Commercial Receiver 181
4.3 Field Test of Spoofing an UAV 183
5 Conclusions 185
References 186
16 The Difference Analysis on the Effect of Third-Order Intermodulation Between Single Antenna and Antenna Arrays Anti-jamming 187
Abstract 187
1 Introduction 188
2 Third-Order Intermodulation Model 188
3 Influence of Third Order Intermodulation on Frequency Domain Anti-jamming 190
4 Influence of Third Order Intermodulation on Anti-jamming of Antenna Arrays 193
5 Conclusion 198
Acknowledgements 199
References 199
17 Subspace Based Joint Delay and Direction of Arrival Estimation for GNSS Multipath Signals 200
Abstract 200
1 Introduction 200
2 Model 201
3 Joint Delay and Direction of Arrival Estimation for Multipath Signals 202
3.1 Joint Delay and Direction of Arrival Estimation for GNSS Multipath Signals Based on Subspace 202
3.2 Complexity Analysis 206
4 Simulation Analysis 206
4.1 Scenario A: Single Path 206
4.2 Scenario B: Multipath 208
5 Conclusions 209
Acknowledgements 209
References 209
18 An Improved CCRW Algorithm for BOC Signals with Odd Modulation Coefficient 211
Abstract 211
1 Introduction 211
2 The CCRW 212
3 The Improved CCRW 214
4 Performance Analysis 217
4.1 Anti-multipath Performance 217
4.2 Tracking Performance 218
5 Conclusion 219
References 219
19 MC-BOC: A New Interoperable Modulation and Performance Analysis for BeiDou B1 Signal 221
Abstract 221
1 Introduction 221
2 MC-BOC Modulation 222
2.1 Generalized MBOC Modulation 222
2.2 MC-BOC Modulation 223
2.2.1 Generalized MC-BOC Modulation 225
3 The MC-BOC Modulation for BeiDou B1 Signal 226
4 Receiving Performance Analysis 227
4.1 Ranging Performance 227
4.2 Multipath Performance 228
5 Conclusions 230
References 230
20 A New Signal Quality Monitoring Method for Anti-spoofing 231
Abstract 231
1 Introduction 232
2 Recall of SQM Metrics 233
3 Moving Variance 234
4 Performance Evaluation 237
4.1 Determination of the Threshold 237
4.2 Scenario Created with the SPIRENT Simulator 238
5 Conclusions 240
Acknowledgements 240
References 240
21 An Unfuzzy Acquisition Algorithm Based on Matched Filtering for BOC (n, n) 242
Abstract 242
1 Introduction 242
2 Algorithm Analysis 244
2.1 ACF Function of BOC Modulation Signals 244
2.2 Odd-Even Correlation Side-Peak Cancellation Technology(OCSCT) Acquisition Algorithm 244
2.2.1 Separation of /mathop R/nolimits_{o} (/tau ) and /mathop R/nolimits_{E} (/tau ) Functions 244
2.2.2 The Implementation of Acquisition Algorithm for OCSCT 247
2.3 Simulation Results of Matlab 249
3 Detection Performance Analysis 251
4 Computational Complexity Analysis 255
5 Conclusion 256
References 256
Satellite Orbit and Satellite Clock Error 258
22 A New Satellite Clock Offsets Prediction Method Based on the IGS RTS Products 259
Abstract 259
1 Introduction 259
2 Current Active Clocks Onboard GPS Satellites and IGS RTS Clock Products 260
3 Stability Analysis of the IGS RTS Clock Products 262
4 A New Satellite Clock Offset Prediction Method 264
5 Experiments and Results 266
5.1 Evaluation of Satellite Clock Drifts from Broadcast Ephemeris 266
5.2 Satellite Clock Offset Prediction with the New Method 266
6 Conclusions 271
Acknowledgements 271
References 272
23 Study on Solar Radiation Pressure Model Considering the Yaw Attitude of the BDS 273
Abstract 273
1 Introduction 273
2 BDS Solar Radiation Model 275
3 Processing Strategy 276
4 Orbit Determination Result 277
4.1 Pressure Variation 277
4.2 Analysis 278
5 Conclusion 281
Acknowledgements 281
References 281
24 Quality Analysis of Observation Data of BeiDou-3 Experimental Satellites 283
Abstract 283
1 Introduction 284
2 Data Collection 285
3 Data Quality Evaluation Indexes 286
3.1 GNSS Observation Equation 286
3.2 Data Integrity Rate 288
3.3 Signal-to-Noise Ratio 288
3.4 Multipath Effect 290
3.5 Ionospheric Delay and Change Rate 294
3.6 Cycle Slip Ratio 298
4 Conclusions 299
Acknowledgements 301
References 302
25 Research on Adaptability of BDS Satellite in-Orbit Attitude Control Mode of Precise Orbit Determination 303
Abstract 303
1 Introduction 303
2 Analysis on BDS Satellite Orbital Attitude Control Mode 304
2.1 Satellite Attitude Control Mode Analysis 305
2.2 Influence of Attitude Control Mode on SRP and TRP 307
3 SRP and TRP Modeling and Difference Analysis for Different Control Modes 308
3.1 Direct SRP Modeling and Analysis 308
3.2 TRP Modeling and Analysis 309
4 Precision Orbit Adaptation Verification 310
5 Conclusion 312
References 312
26 High-Precision GLONASS Orbit Prediction for Real-Time Precise Point Positioning 313
Abstract 313
1 Introduction 314
2 GLONASS Orbit Prediction Method 314
3 Orbit Prediction Accuracy 316
4 PPP Experiments and Analysis 319
5 Conclusions 322
Acknowledgements 322
References 322
27 The Filtered GNSS Real-time Precise Orbit Solution 324
Abstract 324
1 Introduction 325
2 Methodology 326
2.1 Square Root Information Filter 326
2.2 Measurement and Orbit Models 326
3 Experiment and Result Analysis 328
3.1 The Accuracy of Real-Time Orbit Solution 328
3.2 Analysis of the Real-Time Orbit Series 330
4 PPP Validation of the Filtered Orbit Products 331
5 Conclusions 332
Acknowledgements 332
References 332
28 Systematic Error Estimation and Accuracy Evaluation for Two-Way Satellite Time and Frequency Transfer Observing Data 334
Abstract 334
1 Introduction 335
2 Interstation Two-Way Frequency Transfer 335
3 Systematic Error Sources and Calculation Benchmark Selection 337
4 Self-sending-self-receiving Data Systematic Error Calculation Method and Test Analysis 337
4.1 SLR Colocation and Comparison Method 337
4.2 Combined Orbit Determination Method 338
4.3 Accuracy Evaluation Method 338
4.4 Test Analysis 339
4.4.1 SLR Colocation Comparison Method 339
4.4.2 Combined Orbit Determination Approach 339
4.4.3 Self-sending-self-receiving Data Systematic Error Calculation Precise Evaluation Based on GEO Orbit Determination 340
5 Across-Sending-and-Receiving Data’s Systematic Error Calculation Method and Test Analysis 341
5.1 Constraint Method Based on Multi-satellite Orbit Determination Station Clock Offset 341
5.2 Accuracy Evaluation Method 342
5.3 Test Analysis 342
5.3.1 Across-Sending-and-Receiving Data Systematic Error Calculation Based on Station Clock Offset of Multi-satellite Orbit Determination 342
5.3.2 Three-Station Circle Error 344
5.3.3 Clock Offset Check Based on Clock Offset Consistency 344
6 Conclusions 345
Acknowledgements 346
References 346
29 Accuracy Analysis of BDS-3 Experiment Satellite Broadcast Ephemeris 347
Abstract 347
1 Introduction 348
2 Determine the BDS-3 Satellite Orbit and Clock Offset 349
3 Experimental Analysis 352
4 Analyze the BDS-3 Broadcast Ephemeris Accuracy 355
4.1 Analyze the BDS-3 Broadcast-Orbit Accuracy 356
4.2 Analyze the BDS-3 Broadcast-Clock Offset Accuracy 357
5 Conclusion 358
Acknowledgements 359
References 359
30 Multi-frequency Combined POD and Clock Estimation for BDS 361
Abstract 361
1 Introduction 362
2 Mathematical Model 362
3 Processing Strategies and Procedure 364
4 Multi-frequency Orbit and Clock Error Estimation Test 366
4.1 Test Data 366
4.2 Test Results 367
5 Conclusions 369
Thanks 369
References 369
31 Assessment of iGMAS Final Combination with Nearly Three-Year Solutions 371
Abstract 371
1 Introduction 372
2 Timeliness of IGMAS Products 372
3 Precision of Final Combined Solutions 373
3.1 Satellite Orbits 373
3.2 Satellite Clock Products 376
3.3 Tropospheric Delay Products 378
3.4 Global Ionosphere Maps 378
4 Conclusion 381
References 381
32 Analysis on the Representation of Polar Motion in GNSS Applications 383
Abstract 383
1 Introduction 383
2 Data Simulation 384
3 Models 384
3.1 Current Models 385
3.1.1 Offset and Rate Model 385
3.1.2 Piecewise Linear Model 385
3.2 New Models 386
3.2.1 Interpolating Cubic Spline 387
3.2.2 Least-Squares Cubic Spline 387
4 Experiments 388
5 Conclusions and Further Work 392
References 392
33 Real-Time Monitoring of Inter-device Distance Based on Same-Beam Interferometry 394
Abstract 394
1 Introduction 394
2 Real-Time Monitoring Principle 395
2.1 SBI Principle 395
2.2 SBI Based Separation Monitoring Method 398
2.3 Error Source Analysis 399
3 Simulation Results and Error Analysis 399
3.1 Simulation Conditions 399
3.2 Simulation Results 400
4 Conclusion 402
Acknowledgements 402
References 403
34 Analysis of BDS Satellite Clock Prediction Contribution to Rapid Orbit Recovery 404
Abstract 404
1 Introduction 405
2 Methods of Rapid Orbit Recovery and Clock Processing 405
2.1 Dynamic Model 405
2.2 Observation Model 406
2.3 Satellite Clock Error Prediction Model 406
3 Analysis of Rapid Orbit Recovery 407
3.1 Orbit Determination Strategy 407
3.2 Introduction of Experiment Data 408
3.3 Analysis of Experiment Results 409
4 Conclusions 411
Acknowledgements 412
References 412
35 Centralized Autonomous Orbit Determination of Beidou Satellites Under the Constraint of Anchor Station 413
Abstract 413
1 Introduction 414
2 ISL Observation Equation and Preprocessing 415
3 Centralized Orbit Determination Algorithm with Anchor Station 416
4 Example Analysis 417
4.1 Data Sets 417
4.2 The Influence of Anchor Station 417
4.3 The Influence of the Observational Frequency of ISLs 421
5 Summary and Discussion 423
References 424
Precise Positioning Technology 426
36 Research on Atmosphere Refraction Modification of Radio Wave on TT& C System in Close-Shore Environment
Abstract 427
1 Introduction 427
2 Evolving Waveguide Causes and Formation Conditions 428
2.1 Evaporative Waveguide Prediction Model 429
2.2 Rapping Angle and Cutoff Wavelength of Evaporative Waveguides 432
3 Windy Environment Random Rough Surface Modeling 435
3.1 Rough Sea Surface Statistical Characteristics 436
3.2 Monte-Carlo Method to Generate Random Rough Sea Surface 436
3.3 Three-Dimensional Rough Sea Surface Simulation 437
4 Conclusion 440
References 441
37 A Novel Triple-Frequency Cycle Slip Detection and Correction Method for BDS 443
Abstract 443
1 Introduction 443
2 BDS Triple-Frequency Cycle Slip Detection Method 444
2.1 Cycle Slip Detections Using Triple-Frequency Geometric-Free Ionospheric-Free Pseudorange-Phase Combinations 445
2.2 Selection of Triple-Frequency Geometric-Free and Ionosphere-Free Pseudorange-Phase Coefficient 446
2.2.1 Method of Selecting Pseudorange-Phase Coefficient 447
2.2.2 Method of Eliminating Ionospheric Delay of {{/bf S}}_{1} 449
3 A New Cycle Slip Correction Method 451
4 Experimental Analysis 452
5 Conclusions 455
References 455
38 Stratified Weighting Method Based on Posterior Residual Error 456
Abstract 456
1 Introduction 457
2 Stratified Weighting Method Based on Posterior Residual Error of SPP 458
2.1 Pseudo-range SPP Theory 458
2.2 Stratified Weighting Method Based on Posterior Residual Error 459
3 Statistics and Analysis of SPP Result 461
4 Conclusion 465
Acknowledgements 465
References 465
39 Characterization and Mitigation of BeiDou Triple-Frequency Code Multipath Bias 467
Abstract 467
1 Introduction 467
2 Characterization of BeiDou Triple-Frequency Code Multipath Bias 468
2.1 Multipath Extraction for BeiDou Triple-Frequency Code Observation 468
2.2 Characteristics Analysis for BeiDou Code Multipath Bias 469
2.2.1 The Characteristics of Multipath Bias for BeiDou GEO Satellite 469
2.2.2 The Characteristics of Multipath Bias for BeiDou IGSO Satellite 471
2.2.3 The Characteristics of Multipath Bias for BeiDou MEO Satellite 471
3 The Multipath Mitigation Method for BeiDou Code Observation 474
3.1 The Modified Sidereal Filtering Based on Zero-Phase Filter 474
3.2 The Multipath Corrected by Elevation-Angle Correction Method 477
3.3 The Improvements in Precision of SPP 477
4 Conclusion and Outlook 479
References 480
40 Comparison of Performances of Three Multi-constellation Precise Point Positioning Models Based on iGMAS Products 481
Abstract 481
1 Introduction 482
2 Three PPP Models with Multi-constellation 483
3 Data Description and Strategy Analysis 484
4 Analysis of Positioning Results 486
5 Comparative Analysis of Positioning Results 488
6 Conclusions 489
Acknowledgements 490
References 490
41 Influence of Three Ionospheric Models on Navigation Positioning Accuracy in China 492
Abstract 492
1 Introduction 493
2 Model Introduction 493
2.1 GPS Klobuchar Model 493
2.2 BDS Klobuchar Model 494
2.3 NeQuick Model 494
3 Experiments and Analysis 494
3.1 Ionospheric Calm State 495
3.2 Ionospheric Disturbance State 496
4 Conclusion 498
References 498
42 Analyzing the Precision and Regional Modeling Method of Tropospheric Delay Based on Multi-base Station GPS Observations 500
Abstract 500
1 Introduction 501
2 Precision Analysis of Classical Tropospheric Delay Correction Model 501
3 Tropospheric Delay Regional Fitting Modeling Based on GPS Observations of Multiple Base Station 502
3.1 Tropospheric Delay Modeling 502
3.2 Analyzing Precision of Models 503
3.2.1 Test One: Application Analysis of Models in SCIGN 504
3.2.2 Test Two: Application Analysis of Models in Chinese GPS Network 505
3.2.3 Test Three: Application Analysis of Models in Sichuan GPS Net 506
4 Conclusion 508
Acknowledgements 509
References 509
43 A Modified LLL-MIGS Decorrelation Algorithm and Time Efficiency Assessment Measure 510
Abstract 510
1 Introduction 511
2 A Modified LLL-MIGS Method 511
2.1 LLL-IGS Algorithm 511
2.2 A Modified LLL-MIGS Algorithm 513
3 Comparative Study and Analysis 514
3.1 Short Baseline 516
3.2 Network-Based Baseline 517
4 Conclusions 520
References 520
44 FCB Estimation Using IGS Real-Time Products and Its Application in Precise Point Positioning 522
Abstract 522
1 Introduction 523
2 Real-Time FCB Estimation Method 524
2.1 Calculation of Single-Difference FCBs 524
2.2 Real-Time FCBs Forecast 525
3 Generation of Real-Time FCBs 526
3.1 Generation Strategies 526
3.2 Determination of Forecast Interval 527
3.2.1 Stability Analysis of Real-Time FCBs 527
3.2.2 Accuracy of Forecasted FCBs 529
4 Application of Real-Time FCBs in PPP 531
4.1 Static PPP 531
4.2 Kinematic PPP 533
5 Conclusion 534
Acknowledgements 534
References 535
45 Improved TCAR Algorithm for BDS Over Medium-Long Baseline 536
Abstract 536
1 Introduction 536
2 GNSS Observation Model 538
2.1 The Linear Combination of Observations 538
2.2 Selection of Combined Observations 538
3 The Classical TCAR Method 539
3.1 Model of the TCAR Method 539
3.2 Analysis of Experiments 540
4 The Modified TCAR Method 542
4.1 The Smoothed Double-Difference Ionosphere Estimation 542
4.2 Corrections of the NL Ambiguity 546
5 Conclusions 550
References 551
46 Analysis of the Effect of the 06-09-2017 Solar Flare on GNSS Signal and Positioning Performance 553
Abstract 553
1 Introduction 554
2 Dataset and Methodology 554
2.1 Solar Activity Index 554
2.2 GNSS Positioning Indices 555
3 Results and Discussion 556
3.1 Solar Activity Index Analysis 556
3.2 Sisre 557
3.3 Detection of Cycle Slip 558
3.4 Precise Positioning 560
4 Conclusion 566
References 567
47 BeiDou Reliable Integer Ambiguity Resolution in the Presence of Time-Correlated Obversion Errors 568
Abstract 568
1 Introduction 568
2 Zero Baseline Single Difference Observation Model 569
3 Time Correlation 571
3.1 Time Correlation Estimation 571
3.2 Multiple Epoch-Time Related Stochastic Models 571
4 Experimental Results and Analysis 572
4.1 Time Correlation 572
4.2 Simulation 574
4.2.1 Time-Related Simulation 574
4.2.2 Monte Carlo Simulation 576
4.3 The Actual Data Validation 578
5 Conclusion 579
Acknowledgements 580
References 580
48 An Optimal Satellite Selection Model of Global Navigation Satellite System Based on Genetic Algorithm 581
Abstract 581
1 Introduction 581
2 The Point of Selecting Satellites 582
2.1 GDOP of Integrated Navigation 582
2.2 Number of Selected Satellites 584
3 Genetic Algorithm 584
3.1 Fitness Function 584
3.2 Basic Operator 585
3.3 Algorithm Process 586
3.4 Algorithm Improvement 587
4 Experimental Verification and Analysis 588
4.1 The Experimental Environment 588
4.2 Determination of Genetic Algorithm Parameters 588
4.3 Experimental Verification and Analysis 589
5 Conclusions 590
References 590
49 BDS Cycle Slips Detection and Repair Based on Compressive Sensing 592
Abstract 592
1 Introduction 592
2 Integrated Positioning Model of BDS and INS 593
3 INS-Assisted BDS Cycle Slips Detection and Repair 595
3.1 Cycle Slips Detection Model Based on Compressive Sensing 595
3.2 Cycle Slips Repair Based on Bayesian Compressive Sensing 597
4 Measurement Analysis 598
5 Conclusion 601
Acknowledgements 601
References 602
50 Research on the Influence of Assigning Weight for BDS Satellites of Different Orbits on Baseline Processing and Software Designing 603
Abstract 603
1 Introduction 603
2 Weight of BDS GEO/MEO/IGSO 604
2.1 Characteristic of GEO/MEO/IGSO 604
2.2 Weight of GEO/MEO/IGSO 606
3 BDS Baseline Processing Software 608
3.1 Observation Model 608
3.2 Development of BDS Baseline Processing Software 608
4 Experiment and Test 610
4.1 Experiment of Assigning Weight to BDS 610
4.2 Test and Analysis of BDS Baseline Processing Software 611
5 Conclusion 612
References 613
51 GNSS-Based Attitude Determination via Schmidt Kalman Filter 614
Abstract 614
1 Introduction 614
2 GNSS-Attitude Model 616
2.1 Functional Model for GNSS Observations 616
2.2 Attitude Model 617
3 SKF for GNSS-Attitude Determination 618
3.1 The Quaternion Parameterized Observation Equation 618
3.2 The Kinematic State Equation 619
3.3 Schmidt-Kalman Filter Design 620
3.4 Workflow of Algorithm 623
4 Experimental Testing 625
5 Conclusions 630
References 630
52 Realization of Embedded RTK System and Performance Evaluation 632
Abstract 632
1 Introduction 632
2 Designation 633
2.1 Overall Designation 633
2.2 Differential Data Transmission Scheme 634
3 Algorithm Design 635
3.1 Beidou/GPS Combination RTK Mathematical Model 635
3.2 Compass Tri-band RTK Positioning Algorithm 636
4 Tests and Results 637
4.1 Test Description 637
4.2 Test Result 637
5 Conclusion 640
References 640
53 A Precise Regional Ionospheric Model Was Established Based on GNSS Technique 642
Abstract 642
1 Introduction 642
2 Establishment of Regional Ionosphere Model Based on GNSS 643
2.1 Extraction of Ionospheric Observations Based on UofC Model 643
2.2 DCB Estimation 645
2.3 DCB Estimation 646
3 Results and Statistical Analysis 646
3.1 Comparison of Ambiguity Resolution 647
3.2 DCB Estimation 647
3.3 Ionosphere Model Estimation 648
3.4 Pseudorange Positioning 649
4 Conclusion 652
References 652
54 The Algorithm Research of BDS/GPS Network RTK Real-Time Positioning with Centimeter Level 653
Abstract 653
1 Introduction 653
2 BDS/GPS Network RTK Positioning Model 654
2.1 The Base Station Ambiguity Calculation 654
2.2 Regional Error Correction 655
2.3 The Mobile Station Ambiguity Calculation 656
2.4 The Improved LAMBDA Algorithm 657
3 Algorithm Experiment 658
4 Conclusion 663
Acknowledgements 663
References 663
55 A Tightly Combined GPS/Galileo Model for Long Baseline RTK Positioning with Partial Ambiguity Resolution 665
Abstract 665
1 Introduction 666
2 Methods 667
2.1 Intra-system and Inter-system Observation Model 667
2.2 Estimation of DISB 669
2.3 Strategy of Partial Ambiguity Resolution 669
3 Data Processing 670
4 Results and Discussion 671
4.1 Results of Code/Phase DISB 671
4.2 Results of AR Performance 674
4.3 Results of Positioning 676
5 Conclusions 677
Acknowledgements 678
References 678
56 A Method of Medium/Long Baseline Ambiguity Resolution Based on BDS Triple-Frequency 680
Abstract 680
1 Introduction 680
2 Classic TCAR Algorithm 682
2.1 Linear Combination of Observations 682
2.2 TCAR Algorithm Flow 682
3 Improved Algorithm 684
3.1 EWL Ambiguity Fixing 684
3.2 WL Ambiguity Fixing 685
3.3 NL Ambiguity Fixing 686
4 Experiment Analysis 687
5 Conclusion 690
Acknowledgements 690
References 691
57 Real-Time Detection and Repair of Cycle-Slip Based on Pseudo-range Phase Combinations for Un-differenced GNSS Triple-Frequency Observations 692
Abstract 692
1 Introduction 692
2 The Cycle-Slip Detection Observations 693
2.1 Triple-Frequency GFIF Code-Phase Combination 693
2.2 Phase Combinations 695
3 The Repair of Cycle-Slip 696
4 Data Processing and Analysis 697
4.1 Data Process 697
4.2 The Results of Cycle-Slip Detection and Repair 698
5 Conclusion 706
Acknowledgements 706
References 706
58 Analysis of GPS Time Series Based on Spatio-temporal Filtering in Antarctic Peninsula 707
Abstract 707
1 Introduction 707
2 Data Processing 708
2.1 Data Source 708
2.2 Spatially Correlated Errors 709
2.3 Temporally Correlated Errors 710
3 Conclusion 714
Acknowledgements 714
References 715
59 Wide-Lane Ambiguity Fixing Method Based on BDS Triple Frequency Observations 716
Abstract 716
1 Introduction 716
2 BDS Triple Frequency Observation and Its Linear Combination 717
3 Wide Lane Ambiguity Fixed 718
3.1 BDS Ultra-Wide Lane Ambiguity Fixed 718
3.2 BDS Wide Lane Ambiguity Fixed 719
3.3 GPS Wide Lane Ambiguity Fixed 720
4 Experiment Analysis 721
4.1 BDS Ultra-Wide Lane Ambiguity Fixed Results 721
4.2 Wide Lane Ambiguity Fixed Result 722
5 Conclusion 725
References 726
Policies and Regulations, Standards and Intellectual Properties 727
60 Beidou+ Industry Convergence Development and Intellectual Property Protection 728
Abstract 728
1 Introduction 729
2 The Status Quo of Beidou+ Industrial Convergence 729
3 Intellectual Property Protection Object of Converging Industry and Its Particularity 731
4 Beidou+ Industry Development and Intellectual Property Status Quo 732
4.1 The Overall Situation of Satellite Navigation Industry Patent Application 732
4.2 China’s Patent Applications Status of Enterprises Based Beidou Innovation Subject 734
5 Beidou+ Intellectual Property Risk in Industrial Development 735
5.1 Emerging Firms Face Patent Competition from Traditional ICT Enterprises 735
5.2 Terminal Vendors Face Pressure from IP Litigations of Upstream and Downstream Enterprises 736
5.3 Beidou+ Related Vendors Are Under Pressure from Open Source Software 736
5.4 Issues from SEP and NPE Cannot Be Ignored 737
6 Beidou+ Intellectual Property Protection Trend 738
7 BeiDou+ Industry Intellectual Property Risk Prevention Suggestions 739
8 Conclusion 740
References 740
61 Research on the Application of BeiDou High Precision Positioning Intellectual Property 742
Abstract 742
1 Introduction 742
2 Research Method 743
3 Main Content 744
4 Conclusions 750
References 751
62 Conception About Carrying Out Standardization of X-Ray Pulsar Navigation 752
Abstract 752
1 Introduction 753
2 Analysis of Standard Demands 754
2.1 Development of X-Ray Pulsar Navigation Detector 755
2.2 Establishment of X-Ray Pulsar Navigation Database 756
2.3 Algorithm of X-Ray Pulsar Navigation 757
3 Analysis of Standard Internationalization 757
4 Summary 759
References 760
63 China’s Satellite Navigation Policy: Status Quo, Problems and Solutions 761
Abstract 761
1 Introduction 762
2 Theoretical Review and Research Perspective 762
2.1 Comparative Study of the GNSS Policy Systems in Countries Other Than China 762
2.2 Research on the Policies of the GNSS Industry 763
2.3 Research on the Construction of China’s BDS Policy System 763
3 Quantitative Analysis of China’s Satellite Navigation Policies 764
4 Problems of China’s Satellite Navigation Policies 771
4.1 Lack of Top-Level Policy 771
4.2 Uneven Organization of Policy Structure and Arbitrariness in Policies 771
4.3 Imbalanced Policy Subjects 772
5 Solutions 772
5.1 To Improve the Policy System with Timely Promulgation of Top-Level Policies 772
5.2 To Promote Industrial Development and Optimize Policy Structure 773
5.3 To Coordinate the Relationships Between Policy Subjects and Guarantee the Implementation of Policies 774
References 775
64 On the Trademark Pledge for Beidou Satellite Navigation Industrialization 776
Abstract 776
1 Introduction 776
2 Current Situation of Trademark Pledge 777
2.1 Trademark Pledge 777
2.2 Current Situation of Trademark Pledge 778
2.2.1 Imperfect Trademark Pledge Related Legal System 778
2.2.2 Imperfect Trademark Pledge Related Policies 778
2.2.3 Lack of Pledge Assessment Professional 779
3 Relevant Experience of Foreign Trademark Right Pledge 779
3.1 Relevant Laws and Regulations Policy 779
3.2 Perfect Policy Mechanism 780
3.2.1 First Invention Rule 780
3.2.2 Grace Period Rule 781
3.2.3 First Usage Rule 781
3.3 Perfect Assessment System 782
3.3.1 Establishment of Evaluation Training Institutions 782
3.3.2 Establishment Assessment System 782
4 Perfection of Trademark Right Financing System in China 782
4.1 Improve Trademark Rights Pledge Financing Laws and Regulations 783
4.1.1 Form the Norms of Legal 783
4.1.2 Clear the Right with Legal 783
4.1.3 Clear the Obligation by Legal 784
4.2 Improve Policy Guidance and Establish Industry Norms 784
4.3 Perfecting the Training Mechanism of Appraiser 784
References 784
65 Study on the Development Strategy of Legal System of China’s Satellite Navigation System Based on AHP-SWOT Analysis 785
Abstract 785
1 Basic Models and Methods 786
1.1 SWOT Analysis Method 786
1.2 AHP Analysis Method 787
1.3 Coordination Analysis Between SWOT and AHP 787
2 Status Quo of Legal System of Satellite Navigation Based on the SWOT 787
2.1 Strength 787
2.1.1 Exterior Environment of Law-Based Governance in All Fields 787
2.1.2 Support from the Government and Army 788
2.1.3 Practical Need of the National Development Strategy 788
2.2 Weakness 789
2.2.1 Lower Level of Administration by Law 789
2.2.2 Imperfection of the Rule of Law 789
2.2.3 Incompetence of Legal Talent 789
2.2.4 Disparity Between Our and Foreign Countries 790
2.3 Opportunities 790
2.3.1 Requirement of System of Rule of Law 790
2.3.2 Requirement of Civil-Military Integration 790
2.3.3 Requirement of Development of Satellite Navigation System 791
2.3.4 Requirement of International Co-operation 791
2.4 Threats 791
2.4.1 Aggravation of International Competition 791
2.4.2 Swiftness of Industry Development 792
2.4.3 Inadequateness of Theoretical Research 792
3 Selection of Development Strategies of Legal System 792
3.1 Building Model of SWOT Analysis 792
3.1.1 SO Strategy 792
3.1.2 WO Strategy 793
3.1.3 ST Strategy 793
3.1.4 WT Strategy 794
3.2 Hierarchical Analysis of the Perfection Strategy of Legal System 794
4 Suggestions on Perfection the Legal System of Satellite Navigation 796
4.1 Establish the Legislative Model of Satellite Navigation 797
4.2 Strengthen the Research of the Basic Theory of Legislation 797
4.3 Make a Scientific Plan for Legislative Planning 798
4.4 Perfect the Existing Policies and Regulations 798
References 799