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
Test and Assessment Technology 24
1 Accuracy Assessment of Broadcast Ephemerides for Quasi-Zenith Satellite System 25
Abstract 25
1 Introduction 26
2 Methodology 27
2.1 Satellite orbital period 27
2.2 The Calculation Method of SISRE 27
2.3 Important Notes in Data Processing 28
3 Data Collection 29
4 Assessment and Analysis Results 29
5 Conclusion 31
References 31
2 Research on Prediction and Characteristics of Periodic in BDS/GPS Satellite Clocks 33
Abstract 33
1 Introduction 33
2 Algorithm Principle 34
2.1 Polynomial Model 34
2.2 Spectrum Analysis 35
2.3 Spectrum Analysis Model (Periodic Term Model) 35
3 Experimental and Analytical Results 36
3.1 Periodic Characteristic Analysis 36
3.2 Analysis of SCB Prediction 42
3.2.1 Analysis of the Influence of the Number of Main Periodic Item 42
3.2.2 Analysis of the Improvement of Periodic Items 45
3.2.3 Prediction Accuracy Analysis 48
4 Conclusion 53
Acknowledgements 53
References 53
3 Analysis of the Impact of Small Magnetic Storms on the Evaluation of Broadcast Ionospheric Model 55
Abstract 55
1 Introduction 55
2 Observation Stations Select and Strategy Analysis 56
2.1 Selection the Observation Stations 56
2.2 Processing Strategy 57
2.2.1 Benchmark VTEC 57
2.2.2 Comparison Between the Day DCB and the Monthly Mean 58
2.2.3 Evaluation Indicators 59
3 Experimental Results and Analysis 59
3.1 Impact on the Baseline VTEC 60
3.2 The Effect of the Modification Broadcast Ionosphere Model 61
4 Conclusion 64
Acknowledgements 65
References 65
4 Design and Analysis of Chain Construction of Navigation Constellation 66
Abstract 66
1 Introduction 67
2 Requirements of Chain Building Between Stars 67
2.1 Measurement Requirements of Chain Building 67
2.2 Transmission Requirements of Chain Building 67
3 Rules of Chain Building Between Stars 68
3.1 Principles of Chain Building 68
3.2 Inter-Satellite Link Time Slot Planning and Design 68
4 Routing Planning of Inter-Satellite 74
4.1 Time Slot Table Design 74
4.2 Routing Table Design 74
5 Network Performance of Inter-Satellite 75
5.1 Inter-Satellite PDOP Value 75
5.2 Transmission Delay Between Stars 75
6 Conclusions 76
References 76
5 High-Quality BDS Navigation Signal Simulator Based on GPU Optimized Design 77
Abstract 77
1 Introduction 77
2 Structure of Software Simulator 78
3 Signal Model 78
3.1 Mathmatical Model 79
3.2 Signal Dynamic Model 80
4 Optimization of GPU Algorithm 80
4.1 Memory Optimization 82
4.2 Parallel Optimization 82
4.2.1 Thread Parallel 82
4.2.2 Task Parallel 84
4.2.3 Multi-GPU Parallel 85
5 Analysis of Signal Quality 85
6 Conclusion 86
Acknoeledgements 86
References 86
6 Verification of Receiver Dynamic Measurement Accuracy Based on Precision Trigger Time Record 87
Abstract 87
1 Introduction 87
2 Design of Calibration System for Receive Dynamic Measurement 88
2.1 Design Idea 88
2.2 System Composition 88
3 Verification of Dynamic Measurement Accuracy Under Receiver Dynamic Condition 89
3.1 Verification of Dynamic Measurement Accuracy Under Horizontal Linear Motion Condition 89
3.1.1 The Setting and Verification Principle of Horizontal Linear Motion Conditions 89
3.1.2 Measure the “Truth Value” of Position 90
3.2 Verification of Dynamic Measurement Accuracy Under Two—Dimensional Motion Conditions 91
3.2.1 The Setting and Verification Principle of Horizontal 2D Motion Conditions 91
3.2.2 Measure the “Truth Value” of Position 92
3.3 Verification of Dynamic Measurement Accuracy Under Three—Dimensional Conditions 93
4 Evaluation of the Accuracy of Receive Dynamic Measurement Verification 93
4.1 Measurement and Analysis of Time Measurement Error 94
4.1.1 Time Synchronization Signal Error Measurement and Accuracy Evaluation 94
4.1.2 Time Delay Error Measurement and Accuracy Evaluation 94
4.2 Calculation Error and Evaluation of “True Value” of Point Position Measured by Dynamic Receiver 95
4.3 Correction Method of System Measurement Error 96
5 Conclusions 96
References 96
7 Research on High-Precision Test Method of the Navigation Satellite Inner Multipath Effect 97
Abstract 97
1 Introduction 97
2 The GNSS Multipath Effect Model 98
3 Ground Test System for the Satellite Inner Multipath Effect 102
4 Test Result 103
5 Conclusion 103
References 104
8 Positioning and Velocity Performance Evaluation of Transponding System 105
Abstract 105
1 Introduction 105
2 Positioning Principle of Transponding System 106
2.1 Theory 106
2.2 Navigation Equation 108
3 Experimental Analysis 108
3.1 Data Processing Strategy 109
3.2 Static Test 110
3.3 Kinematic Testing 113
4 Conclusion 115
Acknowledgements 116
References 116
9 Design of Distributed Test System for Satellites 117
Abstract 117
1 Introduction 117
2 System Design 118
2.1 System Framework 118
2.2 Hardware Requirements 119
2.3 Software Design 120
3 Research on Key Technologies 122
3.1 Time Synchronization 122
3.1.1 Satellites Time Transfer 123
3.1.2 NTP Synchronization 123
3.1.3 PTP Synchronization 123
3.2 Interoperability of the System 124
4 Conclusion 125
References 126
10 The Analysis of GPS/BDS Ionosphere-Weak Combination SPP Result 127
Abstract 127
1 Introduction 127
2 Dual Frequency Ionosphere Free Combination Model 128
3 Theory of Ionosphere Weak Combination 129
3.1 Noise Amplification Principle of Dual Frequency Combination 129
3.2 Noise Reduction Principle Based on Ionosphere Weak Coefficient 130
4 Statistics and Analysis of Positioning Result 132
5 Conclusions 135
Acknowledgements 135
References 135
11 An Investigation on Influence of Navigation Satellites Solar Panels on the RNSS Signal Propagation and Ranging Error 137
Abstract 137
1 Introduction 137
2 Multipath Simulation Analysis 138
2.1 Simulation Results of Multipath Amplitude 138
2.2 Simulation Results of Multipath Delay 139
3 Test Verification 140
3.1 Wireless Far-Field Measurement 141
3.2 Wireless Far-Field Test Results 142
4 Ranging Error Analysis 142
5 Conclusion 146
References 146
12 Research on the Availability Analysis Method of Navigation Satellite Based on Petri Nets 147
Abstract 147
1 Introduction 147
2 Navigation Satellite Availability Model 148
2.1 Brief Description of Petri Nets 148
2.2 Navigation Satellite Information Flow 149
2.3 Satellite System-Level Petri Net Model 149
2.4 Satellite Functional Unit Petri Net Model 152
3 Satellite Availability Simulation Analysis 153
4 Conclusions 155
References 156
13 Tracking Performance Assessment of Tiered Code Effect on GNSS Signal in the Presence of CWI 157
Abstract 157
1 Introduction 158
2 Signal Model Based on Discrete Spectrum in the Presence of CWI 159
3 Effective Carrier-to-Noise Ratio Model Based on Continuous and Discrete Spectrum 160
4 Numerical Results and Analysis 161
4.1 The Effect of Tiered Code on Signal PSD 161
4.2 Signal Performance at Different Spectral Line Positions 162
4.3 Effect of Secondary Code on Signal Performance 164
5 Conclusion 164
Acknowledgements 165
References 165
14 The Assessment of GNSS Measurements from Android Smartphones 166
Abstract 166
1 Introduction 166
2 Location Libraries and GNSS Raw Measurements 168
3 Quality Assessment 168
3.1 Carrier-to-Noise Ratio 168
3.2 Pseudorange Measurements 169
3.2.1 Theoretical Pseudorange Noise 169
3.2.2 Pseudorange Noise in Practice 172
3.3 Carrier Phase Measurements 172
3.3.1 Carrier Phase Noise 172
3.3.2 Cycle Slip Detection 173
4 Conclusion 176
References 176
15 The Study on BDS Dynamic Positioning Performance Assessment 177
Abstract 177
1 Introduction 177
2 Algorithm of BDS Standard Positioning 178
3 Reference of Dynamic Positioning Performance Assessment 179
4 Dynamic Positioning Service Performance Test 180
4.1 Number of Visible BDS Satellites and PDOP Along the Testing Route 180
4.2 Data Processing Strategy 181
4.3 Analysis of BDS Dynamic Positioning Performance 182
5 Conclusions 186
References 186
16 Research and Analysis of S Curve Bias Evaluation Method in GNSS Signals 188
Abstract 188
1 Introduction 188
2 Traditional SCB Assessment Method 189
3 SCB Evaluation Method on MBOC Signal 190
4 Signal Quality Monitoring System 192
5 SCB Test Results and Comparison 192
5.1 GNSS Signal Analysis 193
5.2 SCB Calculation Results 194
6 Conclusion 197
Acknowledgements 197
References 197
17 Analysis Methods of Linear Distortion Characteristics for GNSS Signals 199
Abstract 199
1 Introduction 200
2 Signal Model 201
3 Analysis Methods 202
3.1 Time-Domain Method 202
3.2 Correlation-Domain Method 204
4 Simulation Analysis 205
5 Conclusions 210
Acknowledgements 211
References 211
18 The Discussion on Local Optimization of Navigation Constellation Based on STK/MATLAB 212
Abstract 212
1 Introduction 212
2 Navigation Constellation Model 213
2.1 STK Software 213
2.2 BeiDou-2 Constellation 214
3 Extended Area Settings 214
4 Constellation Optimization Analysis 215
4.1 Interface Settings and Simulation Optimization Process 215
4.2 Single Point GDOP Value Calculation 216
4.3 Optimization Algorithm Design 219
4.4 Optimization Results Analysis 220
5 Conclusion 222
References 223
19 Orbits Quality and PPP Application for Galileo 224
Abstract 224
1 Introduction 225
2 Solar Radiation Pressure Models 226
3 Results and Analysis 229
3.1 SLR Residuals 229
3.2 Fitting Analysis of PHMs 230
3.3 PPP Test 231
4 Conclusions 233
Acknowledgements 234
References 234
20 Research on the Detection Technology Based on INSGNSS for the Dynamic Positioning Performance of Satellite Navigation Terminals 235
Abstract 235
1 Introduction 235
2 INS/GNSS Calibration System 236
2.1 Principle Introduction 236
2.2 Combination Solution 237
3 Vehicle Dynamic Detection System 237
3.1 System Composition 237
3.2 Data Exchange 238
4 Dynamic Car Test 239
4.1 Centimeter-Level Accuracy for RTD Detection 240
4.2 Millimeter-Level Accuracy for RTK Detection 240
4.3 Dynamic Positioning Performance Detection of GNSS Terminals 241
5 Conclusion and Prospect 242
Acknowledgements 242
References 243
21 Accuracy Analysis of NavIC Pseudo Range Point Positioning 244
Abstract 244
1 Introduction 244
2 NavIC System Overview 245
3 NavIC Pseudorange Point Positioning Accuracy 246
3.1 Data Acquisition 246
3.2 Data Processing Strategy 246
3.3 Positioning Precision Analysis 247
3.3.1 Visible Satellite Number and DOP Value 247
3.3.2 Positioning Results 248
4 Conclusions 253
Acknowledgements 253
References 253
22 Availability Modeling and Simulation of Satellite Navigation System Based on Integration of PDOP and Reliability Maintainability Supportability 254
Abstract 254
1 Introduction 254
2 The Navigation System Availability Concept and Process 255
2.1 Availability Concept 255
2.2 Processes of Per-Slot Availability 257
3 Availability Modeling and Analysis 257
3.1 A Per-Slot Availability Modeling and Analysis 257
3.2 Service Availability Model and Analysis 263
3.3 Fault Diagnosis and Design Improvement 264
4 Simulation and Validation 264
5 Conclusions 268
Acknowledgements 269
References 269
23 Beidou Receiver IFB Calculation and Stability Analysis 270
Abstract 270
1 Introduction 271
2 Single Receiver IFB Calculating Method 272
2.1 Receiver IFB Extraction 272
2.2 Calculating Method 272
3 Experiment and Analysis 273
3.1 Test Data and Methods 273
3.2 Results and Analysis 273
4 Summary 275
Acknowledgements 276
References 276
User Terminal Technology 278
24 Research on Miniaturized Receiving Antenna for Satellite Navigation 279
Abstract 279
1 Introduction 279
2 Antenna Design 280
2.1 Analyze the EBG Structure 280
2.2 Antenna Design 285
3 Results and Discussion 286
4 Conclusion 289
References 290
25 Main Beam Pointing and Null Constraint Optimization for Satellite Navigation Nulling Antenna 291
Abstract 291
1 Introduction 292
2 Problem for Traditional Nulling Model 292
3 Reference Direction of Arrival Based on Almanac and INS 293
4 Beam Forming via Two Step Constrained Optimization 295
5 Simulations 297
6 Conclusions 299
References 300
26 A Novel Multipath Mitigation Method Based on Fast Orthogonal Search (FOS) for Short-Delay Multipath with Zero Doppler Shift Difference 301
Abstract 301
1 Introduction 301
2 Multipath Signal Model 303
3 A Novel Multipath Mitigation Method Based on FOS 305
3.1 Candidate Functions 305
3.2 Multipath Estimation 306
4 Simulation and Analysis 309
5 Conclusion 310
Acknowledgments 311
References 311
27 Design of Spaceborne GNSS-R Receiver Based on Multi-channel Main Frequency Parallel Rotation Algorithm 312
Abstract 312
1 Introduction 313
2 System Design 314
3 Signal Processing Flow and Method 314
3.1 Reflecting Point Calculation Method Based on Newton Iteration 315
3.2 Reflected Signal Processing Algorithm Based on Multi—Channel Main Frequency Parallel Rotation 318
4 Experimental Verification 320
4.1 Simulation Analysis 320
4.2 Test Verification 321
5 Conclusion 322
References 324
28 Research of GNSS Spoofer Localization Using Information Fusion Based on Particle Filter 325
Abstract 325
1 Introduction 326
2 System Model 327
2.1 Model of the Spoofer and Base Stations 327
2.2 The Spoofer Localization System 327
2.3 Measurement Model of TDOA and FDOA 328
3 Deduction and Analysis of the CRLB 329
4 Theory of Particle Filter 331
4.1 Model of Particle Filter 331
4.2 Algorithm of Particle Filter 332
5 Simulation Results and Analysis 333
5.1 Distribution of the CRLB of Position and Velocity 333
5.2 Performance of the Algorithm 334
6 Conclusions 337
Acknowledgements 337
References 337
29 Implementation of a Dual Estimate Tracking Based Multipath Mitigation Method on a Software Receiver 339
Abstract 339
1 Introduction 340
2 DET and Its Anti-multipath Method 341
2.1 BOC Signal Ideal 2-D Cross-Correlation Function 341
2.2 The Anti-multipath Method of DET 342
3 Implement of the Anti-multipath Algorithm 343
4 Experiment and Discussion 344
5 Summary 348
References 348
30 BDS-3 Spaceborne Receiver Design Applying to Space Service Volume 350
Abstract 350
1 Introduction 350
2 BDS-3 Constellation Modeling 352
2.1 Basic Parameters and Modeling 352
2.2 Antenna Calculation 353
3 Receiver Design 354
3.1 Sensitivity Design 354
3.2 Receiver Gain Design 360
3.3 Receiver Design Combined GPS with BDS-3 361
4 Conclusion 362
References 363
31 A Low Complexity Algorithm for Code Doppler Compensation Using FFT-Based Parallel Acquisition Architecture 364
Abstract 364
1 Introduction 365
2 System Model 366
3 Description and Implementation of New Algorithm 367
3.1 Description of New Algorithm 367
3.2 Implementation of New Algorithm 369
4 Performance Analysis and Simulation Results 370
4.1 Compensation Performance 370
4.2 Computational Complexity 372
5 Conclusions 372
Acknowledgements 373
References 373
32 Non-binary LDPC APP-Based Decoding for BDS Navigation Data 374
Abstract 374
1 Introduction 374
2 Log-Domain Min-Sum Algorithm 376
2.1 Iteration Process 376
2.2 Equivalent Decoders 378
2.2.1 Standard Min-Sum 378
2.2.2 Log Likelihood Ratio Min-Sum 378
2.3 Extended Min-Sum (EMS) 379
3 APP-Based EMS Algorithm 379
4 Performance Simulation 380
5 Conclusion 382
Appendix: Operations Over Galois Field 382
References 383
33 An Improved RAIM Algorithm and Hatch-Type Filter Smoothing Strategy 384
Abstract 384
1 Introduction 385
2 Algorithm Principle 385
2.1 Hatch-Type Filter 385
2.2 RAIM Algorithm 386
3 Hatch and RAIM Combined Strategy 387
4 Experimental Analysis 389
4.1 Experimental Data and Schemes 389
4.2 Experiment 1: Random Satellite Burst Failure Situation 390
4.3 Experiment 2: Specific Satellites Continued Fault Situation 391
5 Conclusion 393
Acknowledgements 394
References 394
34 The Performance Assessment on Lunar Navigation for GNSS 395
Abstract 395
1 Introduction 395
2 Introduction on GPS and BDS 397
3 Principle and Link Analysis of Signal Reception on Lunar Orbit 398
3.1 Principle of GNSS Signal Reception on Lunar Orbit 398
3.2 GNSS Link Analysis on Lunar Orbit 399
4 Simulation Results 400
4.1 Simulation Conditions and Assumptions 400
4.2 Simulation Analysis 401
5 Conclusions 405
Acknowledgements 405
References 405
35 The Development of Real-Time Vector Receiver on Hardware Platform and the Assessment of Anti-spoofing Capability 406
Abstract 406
1 Introduction 406
2 Vector Receiver 408
2.1 Satellite Signals Coupling 408
2.2 Vector Tracking Algorithm 409
2.3 Kalman Filter 410
3 Anti-spoofing Capability Analysis 411
4 Experimental Test and Result Analysis 413
4.1 Testing Platform 413
4.2 Testing Results and Analysis 414
4.2.1 Four Satellites 414
4.2.2 Five Satellites 416
5 Conclusion 418
Acknowledgements 419
References 419
36 Applying Probabilistic Graphical Models in a GNSS Software Receiver 420
Abstract 420
1 Introduction 420
2 Probabilistic Graphical Models (PGM) Framework 421
2.1 Representation 421
2.2 Inference 422
3 Applying PGM to GNSS SDR 424
3.1 STL 424
3.2 VTL 426
4 Extended Framework for Multisensor Integration 426
5 Conclusions 427
Acknowledgements 428
References 428
37 GNSS Spoofing Mitigation Method After Despreading 430
Abstract 430
1 Introduction 430
2 Signal Model 431
3 Spoofing Suppression Method 432
3.1 Signal Parameter Estimation 433
3.2 Array Signal Despreading 433
3.3 Spoofing Identification 434
3.4 Spoofing Mitigation 435
4 Simulation Results 437
5 Conclusion 440
Acknowledgements 440
References 440
38 Design of Tracking Loop for Single Antenna Satellite Navigation Receivers Under the Situation of Rotation 442
Abstract 442
1 Introduction 442
2 Design of the Tracking Loop for Receivers Under the Situation of Rotation 443
2.1 Model of Single Antenna Receiving Signal Under the Situation of Rotation 444
2.2 Design of Improved Tracking Loop 445
3 Performance Analysis of the Tracking Loop 448
3.1 Simulation Design 448
3.2 Verification of Result 448
4 Conclusion 450
References 450
39 A Stable DOA Tracking Method Using FDPM and Kalman Filter 452
Abstract 452
1 Introduction 452
2 Signal Model for DOA Tracking Using Kalman Filter 453
3 DOA Observation Estimation Based on Low Complexity Subspace Tracking Algorithm 455
3.1 Newton’s Iteration Algorithm 455
3.2 Subspace Tracking Algorithm Based on Wang-FDPM 456
4 Simulation 456
5 Conclusion 459
References 459
40 GNSS Spoofing Detection with Single Moving Antenna Based on the Correlation of Satellite Transmit Time Residual 461
Abstract 461
1 Introduction 461
2 Fundamental 463
2.1 Satellite Transmit Time Model 463
2.2 Satellite Transmit Time Residual Model 464
2.3 Statistical Detection Metric 466
3 Experiment 466
3.1 Authentic Scene 468
3.2 All Channel Spoofing Scene 469
3.3 Partial Channel Spoofing Scene 470
4 Conclusions 470
Acknowledgments 471
References 471
41 The Divergence Analysis of Kalman Filter Phase Lock Loop and Unbiased Correction of Frequency 472
Abstract 472
1 Introduction 472
2 Kalman Filter Phase Lock Loop 473
2.1 The Equation of Kalman Filter 473
2.2 State Model and Measurement Model of Third-Order PLL 474
3 Unbiased Correction of Doppler Frequency in Kalman Filtering PLL 476
4 Experiment 477
5 Conclusions 481
Acknowledgments 481
References 481
42 A Method of Carrier Phase Multipath Mitigation Based on Punctual Code Correlation Reference Waveform 482
Abstract 482
1 Introduction 482
2 Carrier Phase Multipath Error 484
3 Punctual Code Reference Waveform 485
4 Tracking Jitter 490
5 Conclusion 491
Acknowledgements 492
References 492
Multi-source Fusion Navigation Technology 493
43 Maximum Correntropy Criterion Based Robust Kalman Filter 494
Abstract 494
1 Introduction 494
2 Brief Review of M-Estimate Theory and Maximum Correntropy Criterion 495
2.1 Overview of M-Estimate Theory 495
2.2 Review of Maximum Correntropy Criterion 496
3 Derivation of the Proposed Filter 497
4 Performance Analysis of MKF, HKF and CKF 499
5 Simulation and Tests 500
5.1 Numerical Simulations 500
5.2 GNSS Static Positioning Tests 502
6 Conclusion 503
References 503
44 Gradient Boost Decision Tree Fingerprint Algorithm for Wi-Fi Localization 504
Abstract 504
1 Introduction 504
2 Fingerprint-Based Indoor Localization System 505
2.1 Building Fingerprint Map 505
2.2 GBDT Algorithm 506
3 Experiment Result and Evaluation 509
3.1 Experiment Platform Building 509
3.2 Performance of the GBDT Algorithm 510
4 Conclusion 511
Acknowledgements 511
References 511
45 The Geomagnetic Filtering Algorithm Based on Correlative Probability Density Add-Weight 513
Abstract 513
1 Introduction 513
2 Methodology of UKF Algorithm 515
3 Probabilistic Data Association Matching Algorithm 517
4 Experiments and Results Analysis 518
4.1 Geomagnetic Anomaly Grid Map 518
4.2 Simulation Experiment A 519
4.3 Simulation Experiment B 521
5 Conclusions 524
Acknowledgements 525
References 525
46 INS-Aided Single-Frequency Cycle-Slip Detection for Real-Time Kinematic GNSS 526
Abstract 526
1 Introduction 526
2 INS-Aided GNSS Cycle-Slip Detection Terms 527
3 Error Analysis of Cycle-Slip Detection Terms 529
4 The Threshold Determination of Cycle-Slip Detection Terms 532
5 Calculation and Analysis 533
6 Conclusions 535
Acknowledgements 535
References 535
47 Research on Geomagnetic Matching Localization for Pedestrian 537
Abstract 537
1 Introduction 537
2 Magnetic Localization with PDR Assisted 539
2.1 System Structure 539
2.2 Magnetic Matching Localization 540
2.2.1 Spatial Alignment of Magnetic Data 541
2.2.2 Offline Phase 541
2.2.3 Online Phase 542
3 Magnetic Localization with DTW Assisted 543
3.1 System Structure 543
3.2 Principle of the DTW Algorithm 544
4 Experiment and Analysis 545
5 Conclusion 549
Acknowledgements 549
References 549
48 A Low Complexity Gaussian Parametric Message Passing Based Cooperative Localization Algorithm 550
Abstract 550
1 Introduction 550
2 System Model 552
3 Proposed Message Passing Algorithm 553
3.1 Message Representation Method 553
3.2 Message Computation 555
3.3 Message Updating 556
4 Simulation Results 558
5 Conclusion 561
References 561
49 Effective Multipath Mitigation Methods for RTK in Urban Environments 563
Abstract 563
1 Introduction 563
2 NLOS Satellites Elimination Method Based on the SNR Residuals of Least Squares 564
2.1 Least Squares Model Based on the SNR and Elevation Angle 565
2.2 NLOS Satellites Elimination Method Based on the K-Means Clustering Algorithm 567
3 LOS Multipath Signals Mitigation Method Based on the Prediction Residuals of EKF 569
4 Experiment and Results 570
5 Conclusions 573
Acknowledgements 573
References 573
50 A Frequency Estimation Method for Improving Acquisition Accuracy of TC-OFDM 575
Abstract 575
1 Introduction 575
2 Parallel Frequency Search Model 576
2.1 Ground Weak Channel 576
2.2 Parallel Frequency Search Method 576
3 Non-coherent Early Mix Late Method 580
3.1 Least Squares Fitting Algorithm 580
3.2 Cubic Spline Interpolation 581
4 Algorithm Simulation and Analysis 582
4.1 Algorithm Steps 583
4.2 Experimental Results 583
5 Conclusions 586
Acknowledgements 586
References 586
51 Ray-Tracing Aided Indoor Bayesian Positioning Algorithm 587
Abstract 587
1 Introduction 587
2 Ray-Tracing Aided Bayesian Positioning Algorithm 588
2.1 Ray-Tracing Algorithm 588
2.2 Gaussian Mixture Mode 590
2.3 Positioning Algorithm 590
2.3.1 Traditional Bayesian Positioning Algorithm 590
2.3.2 Ray-Tracing Aided Bayesian Positioning Algorithm 591
3 Experiment and Result 593
3.1 Experiment Environment 593
3.2 Experiment Result 593
4 Conclusion and Future Work 596
Acknowledgements 596
References 597
52 Sensor Synchronization for Android Phone Tightly-Coupled Visual-Inertial SLAM 598
Abstract 598
1 Introduction 598
2 VINS Framework 599
3 Delay Estimation 601
3.1 System Configuration 601
3.2 Algorithm for Delay Estimation 602
4 Experiments and Analysis 605
4.1 Indoor Experiment 605
4.2 Outdoor Experiment 607
4.3 Result Analysis 607
5 Summary 607
References 608
53 A Low-Cost GNSS/INS Attitude and Position Determination System with Ultra-Short Baseline for SATCOM On-The-Move Terminals 610
Abstract 610
1 Introduction 611
2 INS-Aided GNSS Attitude Determination 612
2.1 GNSS Measurement Models 612
2.2 Integer Ambiguity Resolution 612
2.3 INS-Aided Attitude Determination 614
3 Innovation Pre-filtered Extended Kalman Filter 617
4 Experiments 620
5 Conclusions 623
Acknowledgements 623
References 624
54 Implementation of Mixed Sequential Kalman Filters for Vision-Aided GNSS/INS Integrated Navigation System 625
Abstract 625
1 Introduction 626
2 Vision Navigation Fundamentals 627
2.1 Fast Feature Detector and Optical Flow 627
2.2 Triangulation 628
3 Vision-Aided GNSS/INS Navigation Estimation 629
3.1 State Representation for Integrated System 629
3.2 IMU Error State Propagation 629
3.3 State Covariance Propagation 630
3.4 State Augmentation with Camera State 631
3.5 Camera Observation Model Construction 631
3.6 GNSS Observation Model 632
3.7 Sequential Kalman Filtering 632
4 Experiment 633
5 Conclusion 636
Acknowledgements 637
References 637
55 Real-Time Dead Reckoning and Mapping Approach Based on Three-Dimensional Point Cloud 638
Abstract 638
1 Introduction 639
2 System Description 642
2.1 Notations and Task Description 642
2.2 System Overview 643
3 Point Clouds Preprocess and Features Extraction 644
3.1 Elimination of Motion Distortion 644
3.2 Feature Points Extraction 645
4 LiDAR Dead Reckoning 646
4.1 GICP Framework 646
4.2 Relative Motion Estimation 647
5 Three-Dimensional Environment Mapping 648
5.1 MCGICP Algorithm 648
5.2 Registration Between Local and Global Point Clouds 650
6 Performance Evaluation and Analysis 651
6.1 Experiment Introduction 651
6.2 Accuracy Analysis 652
7 Conclusion 655
Acknowledgements 656
References 656
56 Method of Smartphone Navigation Heading Compensation Based on Gravimeter 658
Abstract 658
1 Introduction 659
2 Principle of Pedestrian Dead Reckoning 660
3 Heading Compensation with Gravity Assisted 661
4 Experiment and Analysis 663
4.1 Accuracy Analysis of Smartphone’s Inside Sensor 663
4.2 Walking Experiment Analysis 664
5 Summary 666
Acknowledgements 666
References 666
57 Research on Robust PDR Algorithm Based on Smart Phone 668
Abstract 668
1 Introduction 668
2 The Design of Robust PDR Algorithm 669
2.1 The Overall Design of the Algorithm 669
2.2 System State Model 670
2.3 System Observation Equations Based on Multi-level Constraints Information 671
2.3.1 Quasi-static Constraints 671
2.3.2 Gravity Vector Constraint 672
2.3.3 Motion Constraints 673
2.3.4 Quasi-static Magnetic Field Constraints 674
3 Experimental Analysis and Verification 674
4 Conclusion 678
References 678
58 Research on Aircraft Landing Based on GNSS/INS/Photogrammetry Integration Using Multi-rate Extended Kalman Filter 680
Abstract 680
1 Introduction 680
2 Multi-sensor Integrated Navigation Mathematical Model 681
2.1 Inertial Navigation System Error Model 681
2.2 Positioning Subsystem of INS/GNSS 682
2.3 Positioning Subsystem of INS/Photogrammetry 683
3 Multi-rate Kalman Filter Algorithm 684
4 Design of Fault Tolerant Scheme and Analysis of Algorithm Complexity 685
4.1 Design of Fault Tolerant Scheme 685
4.2 The Analysis of Algorithm Complexity 687
5 The Simulation Verification 687
6 Conclusion and Outlook 693
Acknowledgements 693
References 694
59 Wi-Fi Assisted GNSS Positioning and Continuous Tracking 695
Abstract 695
1 Introduction 695
2 System Model 696
2.1 Zone 2: Wi-Fi Assisted GNSS Positioning 698
2.1.1 Offline Data Processing Phase 698
2.2 Online Positioning Phase 700
2.3 Zone 3: GNSS and Wi-Fi Fusion Positioning 702
3 Simulation Results and Analysis 703
References 705
60 An EMD—Based Fast Algorithm for INS Aided BDS Ambiguity Resolution 706
Abstract 706
1 Introduction 706
2 INS Assisted BDS Fast Ambiguity Resolution 707
2.1 The Relationship Between INS Accuracy and BDS Ambiguity 707
2.2 BDS Triple-Frequency Ambiguity Fixed Model 709
2.3 Combination Observations Ambiguity Fixed 710
3 Using EMD to Improve NL12 Ambiguity Fixed Reliability 711
3.1 EMD Introduction 711
3.2 EMD for NL12 Ambiguity Fixing 711
3.3 The Overall Block Diagram of The Algorithm 712
4 Experimental Design and Analysis 712
4.1 Experimental Scheme Design 712
4.2 Experimental Results and Analysis 713
4.2.1 Scheme 1 and 2 Positioning Error and the First Fixed Time 713
4.2.2 Ambiguity Fixed Success Rate of EWL, WL13 and NL12 714
4.2.3 Accuracy of Float Solution Before and After NL12 Error Correction 715
5 Conclusion 715
Acknowledgements 715
References 716
61 Floor Recognition Based on SVM for WiFi Indoor Positioning 717
Abstract 717
1 Introduction 717
2 The Principles of SVM 719
2.1 Linear SVM Principle 719
2.2 Cost Selection 720
2.3 K-Fold Cross-Validation 721
2.4 Evaluation of SVM Classification Results 721
3 Analyses of WiFi Signal Characteristics 722
3.1 Description of WiFi Signal Fluctuation 722
3.2 The Influence of the Body Block for WiFi Signal 723
3.3 Characteristics of WiFi Signal Through Wall 723
4 Building Process of SVM Classifier Model 723
5 Experimental Results and Analysis 724
5.1 Experimental Deployment 725
5.2 Data Preprocessing 726
5.3 Data Processing and Accuracy Evaluation 726
6 Conclusions 727
References 727
62 Accuracy Analysis of Spaceborne Heterologous Multi-view Stereo Positioning with SAR Image Substitute of CCD Image 728
Abstract 728
1 Introduction 729
2 Derivation of RPC Equivalent Incident Angle of SAR 730
3 Theoretical Derivation of Heterogeneous Stereo Positioning Error 732
3.1 Error Characteristic Modeling 732
3.2 Intersection Angle of the Image Source 736
3.3 The Tie Point Matching Error 737
4 Heterologous Stereo Experiment with Multi-resolution Complex Combination 737
5 Conclusion 741
Acknowledgements 742
References 742
63 The PDR System Based on Improved QSF+ Map Matching Algorithm 744
Abstract 744
1 Introduction 745
2 Overview Scheme of the PDR System 745
3 The PDR System Analysis 746
3.1 Dynamic Human Stance and Still Phase Detection 746
3.2 Multi-stage Magnetic Data Filter 747
3.3 The Improved QSF Algorithm 748
3.4 The Extended Kalman Filter Algorithm (EKF) 750
3.5 The Iterative 2D Map Matching Algorithm 751
4 The Experimental Analysis 752
4.1 The Experimental Route and Performance Evaluation Methods 752
4.2 Experimental Results 753
5 Conclusion 755
Acknowledgements 755
References 755
PNT New Concept, New Methods and New Technology 756
64 Preliminary Study on Index Parameters of National Integrated PNT System 757
Abstract 757
1 Introduction 757
2 Index System Characteristics 758
3 National PNT System Index Parameters 759
3.1 PNT System Service Index Parameter Package 760
3.2 PNT System Performance Indicators Parameter Package 762
4 Summary 764
References 764
65 Optimization of Power Allocation Based on Particle Swarm Optimization in Wireless Location Network 766
Abstract 766
1 Introduction 766
2 Wireless Location Network 767
3 Algorithm Design 769
4 Simulation Analysis 770
References 774
66 Error Compensation of Geomagnetic Field Measurement Used in Geomagnetic Navigation 775
Abstract 775
1 Introduction 775
2 Magnetometer Measurement Errors 777
3 Parameter Estimation Based on Least Squares 778
4 Simulation of Geomagnetic Field 779
5 The Simulation Analysis of Compensation Algorithm 780
6 Conclusions 784
Acknowledgements 785
References 785
67 Research on Barometric Altimeter Assisting GNSS Navigation for Urban Environments 786
Abstract 786
1 Introduction 786
2 Differential Barometric Altimetry Principle 788
3 Analysis of the Key Factors Affecting Differential Barometric Altimetry 788
4 Satellite Positioning Assisted by Differential Barometric Altimetry 790
4.1 Principle of Satellite Positioning Assisted by Altitude 790
4.2 Improved Method of Satellite Positioning Assisted by Differential Barometric Altimetry 791
4.3 Data Results and Analysis 793
5 Satellite Integrity Monitoring Assisted by Differential Barometric Altimetry 795
5.1 Principle of Satellite Integrity Monitoring Assisted by Altitude 795
5.2 Experimental Results and Data Analysis 797
Acknowledgements 798
References 798
68 Simulation on the Qualitative Relationship Between Carrier Movement and Eddy Current Interfering Magnetic Field in Geomagnetic Navigation 799
Abstract 799
1 Introduction 799
2 Mechanism of Carrier Interference Magnetic Field 800
3 Establishment of Simulation Model and Analysis of Uniform Magnetic Field Characteristics 801
4 Influence of Carrier Motion on Eddy Magnetic Field 804
4.1 Carrier Rotates at Uniform Speed 804
4.2 Carrier Swings 807
5 Conclusions 811
References 811
69 Further Analysis on Cramer-Rao Bound for Cooperative Positioning Network 813
Abstract 813
1 Introduction 813
2 System Setup and FIM 814
3 Derivation and Analysis of CRB 816
3.1 The Lower Limit of CRB 816
3.2 Topology Design Rules Based on CRB 817
3.3 Ranging Error Model 818
4 Numerical Example 820
5 Conclusion 821
Acknowledgements 821
References 822
70 Research on Simultaneous Localization and Mapping Algorithm Based on Monocular Vision 823
Abstract 823
1 Introduction 823
2 Monocular ORB-SLAM Algorithm 825
2.1 Initialization 825
2.2 Local Mapping 826
2.3 Loop Closing 826
3 Experimental Results and Analysis 827
3.1 ORB-SLAM and PTAM Comparison and Dataset Testing 827
3.2 Indoor Environment Experiment 829
4 Conclusion 831
Acknowledgements 831
References 832
71 Geomagnetism Sensing and Calibration Systems of LING QIAO Satellite: Results Over Three Years of In-Orbit Operation 833
Abstract 833
1 Introduction 833
2 The Geomagnetic Sensors of LING QIAO 834
3 Magnetometer Calibration 836
3.1 The Calibration Flow 836
3.2 The Linearity and Temperature Drift Calibration 837
3.3 The Orthogonal Error Calibration 837
4 Interference Cancellation 839
5 In-Orbit Results 840
6 Conclusions 842
Acknowledgements 843
References 843
72 Research on Acoustic Velocity Correction Algorithm in Underwater Acoustic Positioning 844
Abstract 844
1 Introduction 845
2 The Empirical Model of the Sound Velocity 845
3 Analysis and Calculation of Sound Velocity Profile 847
3.1 The Brief Introduction of Argo 847
3.2 Calculation of Sound Velocity Profile 847
3.3 The Sound Velocity Tracking Method 850
3.3.1 The Constant Sound Speed Ray-Tracing Method 851
3.3.2 The Constant Gradient Ray-Tracing Method 852
3.4 The Weighted Average Sound Velocity Method 853
4 Example Analysis 854
5 Conclusions 857
Acknowledgements 858
References 858
73 Digital Beamforming Correction Algorithm Under the Matching Error of Space-Frequency Steering Vector 859
Abstract 859
1 Introduction 859
2 Space-Frequency Beamformer 860
3 Beamformer with Parallel Constraint of Space-Frequency Steering Vector 862
4 Numerical Examples 866
5 Conclusions 868
References 869
74 Analysis and Selection of Global Marine Gravity/Gravity Gradient Aided Navigation Matching Areas 870
Abstract 870
1 Introduction 871
2 Average Gravity Differences in Different Regions of the World 871
2.1 Average Gravity Difference 871
2.2 Gravity/Gravity Gradient AGD Values in Regions of the World 872
3 Selection of Gravity Aided Navigation Matching Areas 873
3.1 Position Accuracies in Regions with Different AGD Values 873
3.2 Analysis, Selection and Discussion 874
4 Conclusion 877
References 877
75 Building the Crab Pulsar Timing Model with XPNAV-1 Observations 879
Abstract 879
1 Introduction 879
2 X-Ray Timing Processing Framework 880
2.1 Forming Barycentric TOAs 881
2.2 Pulse Frequency Search 882
2.3 Pulse TOA Estimation 883
2.4 Model Parameters Determination 884
3 Observations and Results 885
4 Conclusions 888
Acknowledgements 888
References 888
76 Spatial Coordinate Autonomous Establishment Technique for High-Precision Local Positioning System 890
Abstract 890
1 Introduction 891
2 Problem Description 892
3 The Proposed Algorithm 893
3.1 Expression of Gradient Direction 894
3.2 Algorithm Steps 895
4 Simulation 896
5 Conclusion 898
References 899