Global navigation satellite systems (GNSSs) are essential in providing localization and navigation services to most of the world due to their superior coverage. However, due to high pathloss and inevitable atmospheric effect, the positioning performance of any standalone GNSS is still poor in urban areas. To improve the positioning performance of legacy GNSSs in urban areas, a positioning system, which utilizes high altitude platform station (HAPS) and 5G gNodeBs (gNBs), in a futuristic urban vertical heterogeneous network (VHetNet) is proposed. In this paper, we demonstrate the effectiveness of gNBs in improving the vertical positioning accuracy for both the GPS-only system and the HAPS-aided GPS system by analyzing the impact of the density of gNBs and the pseudorange error of gNB on the positioning performance of the gNB augmented positioning systems. We also demonstrate the effectiveness of receiver autonomous integrity monitoring (RAIM) algorithms on the HAPS and/or gNB aided GPS systems in urban areas.

中文翻译：

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城市垂直异构网络（VHetNet）中的定位系统

由于覆盖范围广，全球导航卫星系统 (GNSS) 对于向世界大部分地区提供定位和导航服务至关重要。然而，由于高路径损耗和不可避免的大气效应，任何独立的GNSS在城市地区的定位性能仍然很差。为了提高传统 GNSS 在城市地区的定位性能，提出了一种在未来城市垂直异构网络 (VHetNet) 中利用高空平台站 (HAPS) 和 5G gNodeB (gNB) 的定位系统。在本文中，我们通过分析 gNB 的密度和 gNB 的伪距误差对 gNB 增强定位的定位性能的影响，证明了 gNB 在提高纯 GPS 系统和 HAPS 辅助 GPS 系统的垂直定位精度方面的有效性系统。我们还展示了接收机自主完整性监测 (RAIM) 算法在城市地区 HAPS 和/或 gNB 辅助 GPS 系统上的有效性。