China Satellite Navigation Conference (CSNC) 2019 Proceedings (eBook)

Preface 6
Conference Topics 6
Editorial Board 8
Topic: S01: Satellite Navigation Applications 8
Chairman 8
Vice-chairmen 8
Topic: S02: Navigation and Location-Based Service 8
Chairman 8
Vice-chairmen 8
Topic: S03: Satellite Navigation Signal and Signal Processing 9
Chairman 9
Vice-chairmen 9
Topic: S04: Satellite Orbit and System Error Processing 9
Chairman 9
Vice-chairmen 9
Topic: S05: Spatial Frames and Precise Positioning 10
Chairman 10
Vice-chairmen 10
Topic: S06: Time Primary Standard and Precision Time Service 10
Chairman 10
Vice-chairmen 10
Topic: S07: Satellite Navigation Augmentation Technology 10
Chairman 10
Vice-chairmen 11
Topic: S08: Test and Assessment Technology 11
Chairman 11
Vice-chairmen 11
Topic: S09: User Terminal Technology 11
Chairman 11
Vice-chairmen 11
Topic: S10: PNT System and Multi-source Fusion Navigation 12
Chairman 12
Vice-chairmen 12
Topic: S11: Anti-interference and Anti-spoofing Technology 12
Chairman 12
Vice-chairmen 12
Topic: S12: Policies, Regulations, Standards and Intellectual Properties 12
Chairman 12
Vice-chairmen 13
Scientific Committee 13
Chairman 13
Vice-chairmen 13
Executive Chairmen 13
Committee Members 14
Executive Members 16
Organizing Committee 16
Directors 16
Deputy Directors 17
Secretary-General 17
Deputy Secretary-General 17
Committee Members 17
Contents 19
Satellite Orbit and System Error Processing 25
Calculating the Mean Orbit Elements of Navigation Satellites Using Hilbert-Huang Transformation 26
Abstract 26
1 Introduction 26
2 Mean Orbit Elements Calculation 27
2.1 Analytical Method 27
2.2 Harmonic Decomposition 28
2.3 Hilbert-Huang Transformation 29
3 Analysis of Algorithms 30
3.1 Dynamic Perturbation 30
3.2 Empirical Mode Decomposition 32
3.3 HHT Perform 32
4 Calculation Results 33
4.1 EMD Decomposition 33
4.2 Frequency Analysis 35
4.3 Mean Orbit Elements Evolution 36
5 Conclusions 37
References 38
GNSS Orbit Prediction with Enhanced Solar Radiation Pressure Model 39
Abstract 39
1 Introduction 39
2 Performance of Our Daily Adjusted Orbits 40
3 Evaluation of GNSS Orbit Predictions 42
4 Summary and Conclusion 45
Acknowledgments 46
References 46
A Method for Improving the Short-Term Prediction Model for ERP Based on Long-Term Observations 47
Abstract 47
1 Introduction 48
2 The Principle of AIC 49
3 Improved LS Models for ERP Prediction 51
4 ECLS+MAR Prediction Model 56
5 Experiments and Analyses 58
6 Conclusions and Prospects 60
Acknowledgments 60
References 60
An Improved Method for BDS Inter-frequency Clock Bias Estimation 62
Abstract 62
1 Introduction 62
2 IFCB Estimation 63
2.1 Traditional Approach of IFCB Estimation 63
2.2 Improved IFCB Estimation Based on Network Solution 64
3 Experiment Setup 65
4 IFCB Results and Analysis 66
4.1 BDS IFCB and Station IFCB 66
4.2 Effect of IFCB on PPP 67
5 Conclusions 70
Acknowledgement 70
References 71
A Tightly Combined BDS and GPS Method for RTK Positioning with Triple-Frequency Widelane Combinations 72
Abstract 72
1 Introduction 72
2 Methods 74
2.1 EWL/WL Ambiguity Resolution Model 74
2.2 Inter-system Model of BDS and GPS with WL Combination 75
3 Results of EWL/WL Ambiguity Resolution 78
4 Stability Analysis of BDS-GPS DISB with WL Combination 80
5 Experiments of Medium-Baseline RTK Positioning 81
6 Conclusions 83
Acknowledgments 83
References 83
A Hierarchical Planning Method for the Inter-satellite Links Network of Navigation Satellite Constellations 85
Abstract 85
1 Foreword 85
2 Time Slot Planning Techniques 86
2.1 Multilayer Link Network Partition Based on Visual Analysis 86
2.2 Time Slot Planning 86
2.3 Time Slot Planning Based on Load Balancing 87
3 Routing Design Scheme 88
3.1 Evaluation Model 88
3.2 Routing Planning Technology Based on A* Searching 89
4 Simulation Verification 90
4.1 Visual Analysis 91
4.2 Performance Testing 91
5 Conclusion 93
References 93
Primary Exploration on Approaches to Establish BeiDou Terrestrial Reference Frame 94
Abstract 94
1 Introduction 94
2 Experiments on Establishment of BTRF 95
2.1 Precise Point Positioning 95
2.1.1 Experiment Data and Processing Strategy 96
2.1.2 Results and Analysis 96
2.2 BDS Net-Solution 97
2.2.1 Experiment Data and Processing Strategy 97
2.2.2 Results and Analysis 98
3 Improvement of BDS Orbit Determination Accuracy with Regional Tracking Network After Coordinates Refinement 98
3.1 Orbit Determination Strategy with Regional Tracking Network 99
3.2 Orbit Determination Residual 99
3.3 Orbit Overlap Comparison 99
3.4 SLR Evaluation 101
4 Summary and Conclusions 102
References 103
The Accuracy Evaluation of Galileo Broadcast Clocks 104
Abstract 104
1 Introduction 104
2 Brief Introduction to Galileo Broadcast Ephemeris 105
3 The Accuracy Evaluation Method of Broadcast Clock Offset 106
3.1 Clock Offset Fitting Model 106
3.2 Accuracy Evaluation Method 107
4 Experimental Analysis 107
4.1 Data Description and Strategy Analysis 107
4.2 Analysis of Results 108
5 Conclusion 112
Acknowledgements 113
References 113
BDS Long-Term Almanac Fitting Arc Length Design for Autonomous Navigation 115
Abstract 115
1 Introduction 115
2 BDS Satellite Almanac Parameter Fitting 116
2.1 Almanac User Algorithm 116
2.2 Almanac Fitting Algorithm 118
3 Analysis and Discussion of Almanac Fitting Results 119
4 Conclusions 123
Acknowledgements 123
References 123
Strategy Analysis of Anchorage Station in Distributed Autonomous Orbit Determination for Beidou MEO Constellation 125
Abstract 125
1 Introduction 125
2 The Function and Application Strategy of Anchorage Station in Autonomous Orbit Determination 126
2.1 Observability of Astro-Earth Observation on Rising Node Meridian 126
2.2 Effect of Location and Number of Anchorage Station on Orbit Determination Accuracy 127
3 Simulation and Verification 128
3.1 Setting of Simulation Conditions 128
3.2 Experimental Content 130
3.3 The Influence of the Existing of Anchorage Station 131
3.4 The Influence of the Number of Anchorage Station 132
3.5 The Influence of the Location of Single Anchorage Station 134
4 Summary and Discussion 136
References 137
Spatial Frames and Precise Positioning 138
The Research on Optimal Tropospheric Combined Model Based on Multi-GNSS PPP 139
Abstract 139
1 Introduction 139
2 Tropospheric Combined Models and Multi-GNSS PPP Model 140
2.1 Tropospheric Combined Models 140
2.1.1 Meteorological Data Models 140
2.1.2 Tropospheric Models 142
2.2 Multi-GNSS PPP Model 143
3 Data Sets and Processing Strategy 144
4 Data Tests and Results Analysis 146
4.1 The Analysis of the Accuracy of Tropospheric Models 146
4.2 The Analysis of PPP Result Based on Tropospheric Models 147
5 Conclusion 151
Acknowledgements 152
References 152
Preliminary Evaluation on the Precision of the BDS-3 Global Ionospheric Model 153
Abstract 153
1 Introduction 153
2 BDS-3 Global Ionospheric Model 154
3 Insufficient of Klobuchar Model 155
4 BDGIM Model Precision 157
5 Positioning Performance of BDGIM 159
6 Conclusions 161
References 161
Research on Multi-GNSS Wide-Lane FCB Estimation Method Based on MGEX 162
Abstract 162
1 Introduction 162
2 FCB Product Estimation Method for Multi-GNSS 163
2.1 Basic Observation Equation 163
2.2 Observation Equation of Multi-GNSS 164
2.3 Multi-GNSS Wide-Lane FCB Estimation Method 167
3 Experimental Results 168
4 Conclusion 171
References 172
Ambiguity Single Epoch Fixing Method Based on Prior Coordinate Constraints 173
Abstract 173
1 Introduction 173
2 Dual Frequency Observations and Their Linear Combinations 174
3 Wide Lane Ambiguity Fixed 176
4 Experiment Analysis 180
5 Conclusion 182
References 183
The Algorithm for Cycle Slip Detection and Repair Based on Pseudo-phase and Ultra-wide Lane Carrier 184
Abstract 184
1 Introduction 184
2 Cycle-Slip Detection 185
2.1 Pseudo-phase Model 185
2.2 The Selection of Optimal Combination Coefficient 186
2.3 Ultra-wide Lane Combination 188
3 Cycle-Slip Repair 188
4 Numerical Calculation and Analysis 189
4.1 Different Size of Cycle-Slip Detection 191
4.2 Insensitive Cycle-Slip Detection 192
5 Conclusion 194
Acknowledgements 194
References 195
Assessment of BeiDou-2 Orbit and Clock Quality Based on Analysis of Wide-Lane Ambiguities Derived from PPP Models 196
Abstract 196
1 Introduction 196
2 WL Ambiguities Derived from the GF and GB Models 198
3 Experiment and Results Analysis 199
4 Conclusions and Outlooks 204
References 205
Satellite Navigation Augmentation Technology 206
LEO Navigation Augmentation: Satellite Antenna PCV Requirement for Precise Positioning 207
Abstract 207
1 Introduction 207
2 Satellite Antenna Phase Deviation Mathematical Model 209
3 The PCV Requirement Analysis of Fast PPP Service for LEO Navigation Augmentation Satellite Antenna 211
4 Simulation Results 212
5 Conclusions 214
Acknowledgment 214
References 214
Analysis and Modeling on Interference of Solar Radio Burst on GNSS Signal 216
Abstract 216
1 Introduction 216
2 SRB Interference to GNSS Receiver 217
3 Solar Radio Burst Index - SRBI 218
3.1 Definition of SRBI 218
3.2 Identification of SRB Event Based on SRBI 219
4 Modeling of Signal Fading Under SRB Effects 220
5 Accuracy of GNSS Signal Fading Model 222
5.1 Cross-Validation of the Models 222
5.2 Results of GNSS Signal Fading Models 223
6 Further Discussion 224
7 Conclusion 225
Acknowledgments 225
References 225
Research on Receiver Autonomous Integrity Monitoring Technology Based on GNSS Baseband Signal 227
Abstract 227
1 Introduction 227
2 Original Signal-Assisted Integrity Monitoring Algorithm 228
2.1 Fundamental 229
3 Detection Threshold Calculation 230
4 Simulation Test 232
5 Conclusion 237
Acknowledgment 237
References 237
Rapid PPP Integer Ambiguity Resolution Assisted with RTK Technology Based on VRS 239
Abstract 239
1 Introduction 239
2 Algorithm Principle 240
2.1 VRS Undifferenced Ambiguity Fixed 241
2.2 Single-Differenced Ambiguity Determination 242
2.3 User PPP Solution 243
3 Experimental Results and Analysis 244
4 Conclusion 246
References 247
Study on the Prediction Method of Single and Dual Frequency Service Area for BDSBAS 248
Abstract 248
1 Introduction 248
2 Overview 249
3 Modeling of Service Area Prediction 249
3.1 Reference Station Error Model 249
3.2 Data Processing Center Error Model 250
3.2.1 UDRE Model 250
3.2.2 GIVE Model 251
3.2.3 User’s Error Model 252
3.3 Service Area Prediction Method 253
4 Simulation Analysis 253
4.1 WAAS Service Area Simulation 253
4.2 Simulation of BDSBAS Service Area 254
5 Conclusion 256
References 256
Improvement for BeiDou-3 Receiver Autonomous Integrity Monitoring with Missed Detection Probability Equal Allocation 258
Abstract 258
1 Introduction 258
2 A Brief Overview of RAIM 260
3 Performance of False Alarm Probability 262
4 Performance of Missed Detection Probability 264
5 RAIM Risk Allocation 268
5.1 Experimental Results and Analysis 269
6 Conclusion 272
References 272
Propagation Characteristics of Pseudolite Array Signals Indoors 274
Abstract 274
1 Introduction 274
2 Theoretical Study on Directional Pseudolite 275
2.1 Uniform Linear Array Radiation Principle 276
2.2 Main Factors Affecting Array Directivity 277
2.2.1 Main Lobe Direction 277
2.2.2 Main Beam Width 277
2.2.3 Sidelobe Level 278
2.3 Directional Pseudolite Array Design 278
3 Pseudolite Array Indoor Positioning Algorithm 278
3.1 Pseudolite Array Positioning Principle 278
3.2 Carrier Phase Observation Equation 279
4 Simulation Verification of Pseudolite Array Propagation Characteristics 280
4.1 Modeling Indoor Scenes 280
4.2 Simulation Results 281
4.2.1 Direction of Propagation 282
4.2.2 Received Power 283
5 Conclusions 284
Acknowledgments 284
References 284
Error Prediction Model of Klobuchar Ionospheric Delay Based on TS Fuzzy Neural Network 286
Abstract 286
1 Introduction 286
2 Error Analysis of Klobuchar Ionospheric Model 287
2.1 Klobuchar Ionospheric Model 287
2.2 iGMAS Ionospheric Products 288
2.3 Error Analysis 288
3 TS Fuzzy Neural Network Prediction Model 289
3.1 TS Fuzzy Neural Network 289
3.2 Learning Algorithm of TS Fuzzy Neural Network 290
4 Error Prediction Experiment Based on TS Fuzzy Neural Network 291
5 Conclusion 293
Acknowledgment 293
References 294
Research on Fault Detection Algorithm Based on Cumulative Improvement of Parity Vector Sliding Window 295
Abstract 295
1 Introduction 295
2 Fault Detection Scheme Based on Sliding Window Cumulative Improvement 296
3 System Measurement Equation Construction 297
4 Research on Cumulative Improvement Algorithm for Parity Vector Sliding Window 298
4.1 Traditional Parity Vector Algorithm 298
4.2 Multi-epoch Parity Vector Accumulation Algorithm 299
4.3 Parity Vector Sliding Window Accumulation Improvement Algorithm 300
5 Simulation Results and Analysis 301
6 Conclusion 304
Acknowledge 305
References 305
Research on Regional Instantaneous Availability Evaluation Method of Satellite Navigation System 306
Abstract 306
1 Introduction 306
2 Global Navigation Availability 307
2.1 Navigation Signal Fault Detection Risk Analysis 308
2.2 Single Satellite Availability 309
2.3 Constellation Availability 310
3 Regional Instantaneous Availability 311
3.1 Regional Availability 312
3.2 Service Availability 312
4 Simulation Results 313
5 Conclusions 316
References 316
The Challenges of LEO Based Navigation Augmentation System – Lessons Learned from Luojia-1A Satellite 318
Abstract 318
1 Introduction 319
2 LEO Navigation Augmentation System of Luojia-1A Satellite 320
3 Luojia-1A Satellite Augmentation Signal Analysis 321
3.1 Measurement Noise Assessed with the Geometry-Free Combination 322
3.2 Measurement Noise Assessed with the Zero-Baseline 323
4 Characteristic Analysis of Navigation Signals from LEO Satellite 326
5 Conclusion 328
Acknowledgments 329
References 329
Test and Assessment Technology 331
Research on Test Method of Complex Electromagnetic Environment Adaptability of GNSS Receivers 332
Abstract 332
1 Introduction 332
2 Technical Characteristics and Application Modes of GNSS Receivers 333
2.1 Basic Composition and Principle 333
2.2 Technical Characteristics 334
2.3 Application Mode 335
3 Analysis of Complex Electromagnetic Environment of GNSS Receiver 335
3.1 About Complex Electromagnetic Environment 335
3.2 The Composition of Complex Electromagnetic Environment 336
3.3 Complex Electromagnetic Environment Effects on GNSS Receivers 336
4 Evaluation Method of Complex Electromagnetic Environment Adaptability Test of GNSS Receivers 338
4.1 General Procedure of Test 338
4.2 Construction and Evaluation Method of Electromagnetic Environment of GNSS Receivers 339
4.2.1 Correlation-Based Construction Method of Electromagnetic Environment 339
4.2.2 Similarity-Based Evaluation Method of Electromagnetic Environment 340
4.3 Contents of Complex Electromagnetic Environment Adaptability Test 340
4.3.1 Evaluation Indexes of Electromagnetic Environment Adaptability 340
4.3.2 Evaluation Method of Electromagnetic Environment Adaptability 342
5 Summary 342
References 342
Impact of the Ionosphere and GPS Surveying Caused by Coronal Mass Ejection on May 23 2017 344
Abstract 344
1 Introduction 344
2 GNSS Global Broadcast Ionosphere Model 345
2.1 GPS Global Broadcast Ionosphere Model 345
2.2 Galileo Global Broadcasting Ionosphere Model 345
2.3 Beidou Global Broadcast Ionosphere Model 345
3 Global Ionospheric TEC Disturbance Anomaly Analysis 346
4 Analysis of the Effect of Magnetic Storm on the Correction Effect of Monitoring Station Model and the Single Point Positioning of Pseudorange 349
4.1 Analysis of the Influence of Magnetic Storm on Model Correction Effect 349
4.2 Analysis of the Influence of Magnetic Storm on Single Point Positioning Accuracy 351
5 Conclusion 354
Acknowledgement 354
References 354
Separation and Evaluation Method of GNSS Authorized Service Signals 356
Abstract 356
1 Introduction 356
2 Signal Model and Problem Formulation 358
2.1 Signal Model 358
2.2 Problem Formulation 358
3 The Proposed Methods 359
3.1 Basic Principle 359
3.2 Application Cases 361
4 Simulation Analysis 362
5 Experimental Results 363
6 Conclusions 364
Acknowledgment 365
References 365
Analysis of BDS Satellites Code Multipath 366
Abstract 366
1 Introduction 366
2 Theory of Multipath 367
3 Corrections for Code Multipath Bias of BDS-2 Satellites 367
4 Analysis of Code Multipath of BDS-3 Satellites 369
5 Conclusions 372
References 373
Accuracy Analysis of GNSS Broadcast Ionospheric Model 374
Abstract 374
1 Introduction 374
2 GNSS Broadcast Ionospheric Model 375
2.1 GPS Klobuchar Model 375
2.2 BDS Broadcast Ionospheric Model 377
2.3 Galileo NeQuick Model 378
3 Experiment and Evaluation Analysis 378
3.1 Evaluation Criteria and Methods 378
3.2 Processing and Analysis 379
4 Conclusions 385
Acknowledgments 386
References 386
Performance Evaluation of Beidou-3 On-Board Atomic Clock 387
Abstract 387
1 Introduction 387
2 Indicator Calculation Method 388
3 On-Board Clock Performance Evaluation 389
3.1 Clock Difference Data Preprocessing 389
3.2 Frequency Accuracy Assessment 390
3.3 Frequency Drift Rate Assessment 391
3.4 Frequency Stability Assessment 391
3.5 Segment Performance Evaluation 392
4 Conclusion 393
References 394
Quality Analysis of GNSS Data in Polar Region 395
Abstract 395
1 Introduction 395
2 Data Processing and Analysis 396
2.1 Data 396
2.2 Number of Visible Satellites 396
2.3 PDOP 399
2.4 SNR 401
2.5 Multipath Delay 402
2.6 BDS-3 Simulation 403
3 Conclusions 406
References 406
Precision Analysis of BDS-3 Satellite Orbit by Using SLR Data 408
Abstract 408
1 Introduction 408
2 Principle of Accuracy Evaluation of Satellite Orbit 409
2.1 Assessment Methodology 409
2.2 Calculation of SLR Observations and Space-Earth Distance 409
2.3 Corrective Model 410
3 Example Analysis 410
3.1 Broadcast Ephemeris 410
3.2 Precise Ephemeris 416
4 Summary 417
Funding Information 417
References 418
Accuracy Assessment and Improvement of GNSS Precise Point Positioning Under Ionospheric Scintillation 419
Abstract 419
1 Introduction 419
2 Data and Methodology 421
2.1 PPP Model 421
2.2 Ionospheric Scintillation 422
3 Ionospheric Scintillation 423
3.1 Space Weather Indices 424
3.2 PPP Processing Results 425
3.2.1 GPS-Only PPP 425
3.2.2 GPS/BDS/GLONASS PPP 427
4 Conclusions 428
Acknowledgements 429
References 429
Analysis of BDS-3 Satellite System Characteristics Based on “GaoJing-1” Self-designed GNSS Receiver 431
Abstract 431
1 Introduction 431
2 Characteristics of the BDS-3 Open Service Signals 432
3 “GaoJing-1” Multi-mode Multi-frequency GNSS Receiver 432
3.1 Overview of “GaoJing-1” Receiver 433
3.2 Design for BDS-3 Signals 434
4 Performance Evaluation of BDS-3 System 434
4.1 Signal Quality Evaluation 435
4.2 System Visibility Evaluation 436
4.3 Positioning Performance Evaluation 438
5 Conclusions 439
Acknowledgments 439
References 440
Performance Evaluation of Galileo Precise Point Positioning 441
Abstract 441
1 Introduction 441
2 Mathematical Model of Precision Point Positioning 442
2.1 PPP Observation Equation 442
2.2 Stochastic Model of Observation and Processing Method of Parameters 444
3 Experiments and Results Analysis 445
3.1 Experimental Data and Processing Strategies 445
3.2 Visible Satellites and DOP Value Analysis 446
3.3 Analysis of Positioning Accuracy 448
3.4 Convergence Time Analysis 450
4 Conclusion 452
Acknowledgments 453
References 453
User Terminal Technology 454
An Improved Geometric Factor-Based Searching and Positioning Algorithm for CGL 455
Abstract 455
1 Introduction 455
2 The Original Searching and Positioning Algorithm for CGL 456
3 Improved MTs’ Selection Strategy 458
4 Simulation Results 462
4.1 Mapping Relationship Between Geometric Factor and Positioning Accuracy 462
4.2 Performance Comparison of the Improved and the Original Algorithms 463
5 Conclusion 466
Acknowledgments 466
References 466
Tracking Error Analysis and Performance Evaluation Method for GNSS Non-coherent Vector Tracking Loop 468
Abstract 468
1 Introduction 468
2 Tracking Error Propagation of Non-coherent Vector Tracking Loop 469
2.1 Navigation Filter Update and Tracking Loop Control Algorithms 469
2.2 The Propagation of Navigation Error to Code Phase Tracking Error 472
2.3 The Propagation of Navigation Error to Carrier Frequency Tracing Error 473
3 Performance Evaluation Method for Non-coherent Vector Tracking Loop 474
3.1 Design Philosophy of Performance Evaluation Method 474
3.2 Software Implementation of Performance Evaluation Method 475
4 Sample Results 477
4.1 Simulation Setup 477
4.2 Tracking Error Evaluation 477
4.3 Navigation Error Evaluation 478
5 Conclusion 479
Acknowledgement 480
References 480
Design and Performance Analysis of Doppler-Aided Beidou B1C/B2a Joint Tracking Algorithm 481
Abstract 481
1 Introduction 481
2 Beidou B1C and B2a Civil Signal Specifications 482
2.1 Beidou B1C and B2a Signal 482
2.2 Theory Analysis of B1C and B2a Tracking Performance 483
2.2.1 Carrier Phase Tracking Performance 483
2.2.2 Code Phase Tracking Performance 485
3 Design of Doppler-Aided Beidou B1C/B2a Joint Tracking Algorithm 486
3.1 Unambiguous Tracking Method of B1C Signal 487
3.2 Design of B1C/B2a Joint Tracking Architecture 488
4 Experiments and Performance Analysis 490
5 Conclusions 493
Acknowledgements 493
References 493
PNT System and Multi-source Fusion Navigation 495
The GNSS/Acoustic One-Step Positioning Model with Attitude Parameters 496
Abstract 496
1 Introduction 496
2 Change of Hull Attitude 497
2.1 Definition of Attitude Angle 497
2.2 The Effect of Attitude Error on the Instantaneous Coordinate of Transducer 498
3 The GNSS/Acoustic One-Step Positioning Model with Attitude Parameters 501
3.1 Traditional Data Processing Methods 501
3.2 The Function Model of “One-Step Method” 501
3.3 Introduction of Attitude Parameters 502
4 Experiments and Results Analysis 503
5 Conclusion 506
Acknowledgements 506
References 506
Unscented Kalman Filter Based Attitude Estimation with MARG Sensors 507
Abstract 507
1 Introduction 507
2 MARG System Model and Its Linear Kalman Filter Solution 509
3 Nonlinear Kalman Filtering for Attitude Estimation 511
4 Disturbance Detection Rules for External Acceleration and Magnetic Field Distortion 512
5 Experimental Results and Analysis 513
6 Conclusion 517
Acknowledgment 517
References 518
A Modified TDCP/INS Tightly Coupled Navigation 520
Abstract 520
1 Introduction 520
2 Scheme Design and Mathematical Modeling 521
2.1 Overall Scheme 521
2.2 The Modified TDCP Mathematical Modeling 522
3 Comparative Test 523
3.1 Result Analysis of Position Errors 525
3.2 Result Analysis of Velocity Errors 526
3.3 Result Analysis of Attitude Errors 527
4 Conclusions 528
Acknowledgements 529
References 529
An Image-Guided Autonomous Navigation System for Multi-rotor UAVs 530
Abstract 530
1 Introduction 530
2 State Estimation 531
2.1 State Estimator Based on Extended Kalman Filter 532
2.1.1 Height Compensation by the Attitude of UAVs 532
2.1.2 Position Estimation 533
2.1.3 Attitude Estimation 534
3 UAV Control 535
3.1 Dynamical Model of UAVs 535
3.2 Position Control of UAVs 536
3.2.1 Position-Velocity Controller 536
3.2.2 Image-Guided Controller 537
4 Experiments 539
4.1 Experimental Platform 539
4.2 State Estimation and Control Performance Evaluation 540
5 Conclusion 542
Acknowledgement 542
References 542
An Efficient Simulation Platform for Testing and Validating Autonomous Navigation Algorithms for Multi-rotor UAVs Based on Unreal Engine 544
Abstract 544
1 Introduction 544
2 Platform Architecture 545
2.1 Environment Model 547
2.1.1 Air Pressure and Density 547
2.1.2 Magnetic Field 547
2.1.3 Gravity 548
2.1.4 Virtual Scenes 548
2.2 Sensor Model 549
2.2.1 Gyroscope and Accelerometer 549
2.2.2 Magnetometer 549
2.2.3 Barometer 550
2.2.4 Global Positioning System (GPS) 550
2.2.5 Camera 550
3 Experimental Results 552
3.1 Sensor Model Comparison 552
3.2 SLAM Algorithm Implementation 553
3.3 Algorithm Migration 555
4 Conclusion and Future Work 555
Acknowledgements 556
References 556
Anti-interference and Anti-spoofing Technology 557
GNSS Anti-jamming Receiving Technology Based on Batch Processing According to CDMA Signals Intensity 558
Abstract 558
1 Introduction 558
2 CDMA Multiple Access Interference in Satellite Navigation System 559
3 Batch Processing Method for Signals 560
4 Detection and Elimination of Deception Jamming Signals Based on Intensity 562
5 Simulations 563
6 Conclusions 566
References 567
Detection on Satellite Navigation Deception Signals Based on Multi Platforms Cooperation 568
Abstract 568
1 Introduction 568
2 Conical Constraint Condition Based on Time Difference Measure 569
3 Direction Finding Based on Multi Conical Constraint Equations 570
4 Deception Signals Identification by Cross-Angle Contrast 572
5 Simulations 574
6 Conclusions 576
References 576
The Navigation Anti-jamming Resource Optimization Algorithm Implemented Based on Wiener Filtering Structure 577
Abstract 577
1 Introduction 577
2 Power Inversion Algorithm 578
2.1 Algorithm Model 578
2.2 Implementation Steps 579
3 Wiener Filtering Algorithm 580
3.1 Algorithm Model 580
3.2 Implementation Steps 582
4 Numerical Simulations 584
5 Summary 586
References 586
Extended Kalman Filter-Based GNSS Signal Tracking Method to Counter Spoofing Attacks 587
Abstract 587
1 Introduction 587
2 GNSS Tracking Loop Based on Kalman Filter 588
3 Spoofing Signal Model 590
4 EKF-Based Tracking Loop to Estimate Spoofing Parameters 591
5 Experiments and Analysis 593
5.1 Experiment Method and Environment 593
5.2 Simulation Verification and Analysis 593
6 Conclusion 595
References 595
Fast Interference Detection Aided Notch Filter and Switched Tracking Loop for Mitigating Pulsed CWI in GNSS Receiver 597
Abstract 597
1 Introduction 597
2 Signal Model and Mathematical Analysis 598
3 Proposed Algorithm 599
3.1 Architecture of Detector Aided Interference Mitigation Algorithm 599
3.2 Fast Detection Module 600
3.3 Structure of Notch Filter 601
4 Experiments and Tests 602
4.1 Experiment Environment 602
4.2 Performance of the Algorithm for Mitigating Pulsed CWIs 603
5 Conclusions 606
References 606
Research on the Random Traversal RAIM Method for Anti-spoofing Applications 608
Abstract 608
1 Introduction 608
2 The Random Traversal RAIM Method 609
2.1 Introduction to Conventional RAIM 609
2.2 The Random Traversal RAIM Method 611
3 The Complexity Analysis of the Random Traversal RAIM Method 613
4 Simulation and Actual Signal Test Results 614
4.1 The Simulation Data Description 615
4.2 The Simulation Result One 615
4.3 The Simulation Result Two 616
4.4 The Experimental Design and Result Verification 617
5 Conclusion 619
Acknowledgments 619
References 619
Time Domain Differential RAIM Method for Spoofing Detection Applications 621
Abstract 621
1 Introduction 621
2 Traditional RAIM 622
3 RAIM Method Based on Time Difference 623
4 Simulation and Experiment 625
4.1 Simulation 625
4.2 Experiment 626
5 Conclusion 628
Acknowledgments 628
References 628
Research of Intermediate Spoofing Without Precise Target Information 630
Abstract 630
1 Introduction 630
2 Basic Principles of Intermediate Spoofing 631
2.1 Principle Introduction 631
2.2 Analysis of Influencing Factors 632
3 Simulation Test 633
3.1 Power Effect 633
3.2 Code Phase Effect 633
3.3 Carrier Frequency Effect 634
4 Verification with Commercial Receiver 636
5 Analysis and Conclusion 638
References 639
The Performance Testing and Evaluation of Anti-spoofing Techniques Using Single or Double Antenna 640
Abstract 640
1 Introduction 640
2 Single-Antenna and Dual-Antenna Anti-spoofing Technology 642
2.1 Authentic and Counterfeit Signal Model 642
2.2 Correlation Detection of Signal Amplitudes with Single-Antenna 642
2.3 Consistency Detection of Signal Arrival Time Differences with Dual-Antenna 644
3 Spoofing and Anti-spoofing Platform 645
3.1 Spoofer and Scenarios 645
3.2 Anti-spoofing Receiver Architecture 646
4 Experiment Analysis and Evaluation 646
4.1 Correlation Detection with Stationary and Moving Single-Antenna 646
4.2 Correlation Detection with Fixed Point Rotating Antenna 648
4.3 Consistency Detection with Stationary and Moving Dual-Antenna 649
4.4 Performance of Technologies and Comparison of Advantages and Disadvantages 650
5 Conclusions 652
Acknowledgements 652
References 652
Policies, Regulations, Standards and Intellectual Properties 654
Analysis on Intellectual Property Litigations and Countermeasures of Satellite Navigation Enterprises 655
Abstract 655
1 Introduction 655
2 Intellectual Property Litigations in the Daily Operation of Satellite Navigation Enterprises Introduction 656
2.1 Patent Infringement Litigation 656
2.2 Copyright Infringement Litigation 657
2.3 Trademark Reverse Confusion Litigation 658
2.4 Trade Secret Infringement Litigation 659
3 Intellectual Property Litigation in Satellite Navigation Enterprises M& A
4 Intellectual Property Litigation in the Process of Satellite Navigation Enterprises IPO 660
5 Countermeasures for IP Litigation in Satellite Navigation Enterprises 661
5.1 Strengthening Core Patent R& D and Patent Litigation Strategies
5.2 Pay Attention to Copyright and Trademark Protection 662
5.3 Intensifying the Protection of Trade Secrets and Improving Corporate Intellectual Property Management 662
5.4 Prudently Promote IP Due Diligence: Focus on the Effectiveness of Key Patents 663
5.5 Applying Overseas Intellectual Property in Advance 663
5.6 Exploring Intellectual Property Insurance System 664
6 Conclusion 664
References 664
The Method and Function of Obtaining Technology and Market Competitive Intelligence of Beidou Industry by Patent Analysis 665
Abstract 665
1 Introduction 665
2 The Significance and Role of Patent Analysis in Enterprise Strategy 666
3 Patent Data Source and Retrieval Analysis Method 667
3.1 Patent Retrieval and Analysis Process 667
3.2 Patent Retrieval Analysis Tools and Data Sources 668
3.3 Selection of Patent Retrieval Objects 668
4 Contents and Methods of Technology Patent Analysis in BD Industry 668
4.1 Analysis on Competitive Environment of BD Industry 669
4.1.1 Analysis of Technology Development Trend 669
4.1.2 Patent Technology Life Cycle 669
4.1.3 Technical Distribution in Countries or Regions 670
4.1.4 Competitor (or Potential Competitor) Identification 671
4.2 Competitive Technology Analysis of BD Industry 671
4.3 Analysis of Competitors in BD Industry 672
4.3.1 Analysis of Patent Layout of Competitors 672
4.3.2 Analysis of Patent Layout of Competitors 673
4.4 Analysis of Enterprise’s Own Technical Competitiveness 674
4.5 Partner Analysis and Mining 674
5 Notices for Competition Analysis with Patents 674
6 Concluding Remarks 675
References 675
Patent Layout and Early Warning Advices of Satellite Navigation 676
Abstract 676
1 Introduction 676
2 Patent Layout of Global Satellite Navigation 677
2.1 Application Trend Analysis of Global Satellite Navigation 677
2.2 Layout Analysis of Main Applicants of Global Satellite Navigation 678
3 Patent Layout of Satellite Navigation in China 679
3.1 Application Trend Analysis of China Satellite Navigation 679
3.2 Regional Distribution Analysis of China Satellite Navigation 680
3.3 Application Distribution Analysis of Beidou Industry 681
4 Discussion on Patent Layout of Qualcomm Inc. 682
5 Intellectual Property Warning Advice of Beidou Industry 684
5.1 Continue Patent Layout and Increase the Number of Core Patents 684
5.2 Give Full Play to the Unique Advantages of Beidou System and Continuously Carry Out Independent Research and Development 685
5.3 Introduce New Rules of International Competition for Beidou Enterprise 685
5.4 Track Core Technology, Grasy the Dynamics of Competitors in Real-Time 686
5.5 Improve the Intellectual Property Practical Ability of Beidou’s Innovative Applicants 686
6 Conclusion 686
Reference 686
Author Index 687