The Extended Kalman Filter (EKF) is currently a dominant sensor fusion method for mobile devices, robotics, and autonomous vehicles. Its performance heavily depends on the selection of EKF parameters. Therefore, the optimal selection of parameters is a critical factor in EKF design and use. In this paper, a methodical and efficient method of EKF parameter tuning is presented. The tuning framework uses

Signal generation in the GPS III satellites employs weighted voting to combine the baseband P(Y) signal with both components of the baseband L1C signal on the in‐phase part of the L1 carrier. Weighted voting employs majority voting with pseudorandom time multiplexing of pure signals, producing a constant‐envelope real‐valued combination of the three biphase inputs with different useful received powers

Precise measurements of signal phase are essential for Global Navigation Satellite System (GNSS) position estimates. However, propagation through the earth's ionosphere imposes frequency‐dependent phase errors. The frequency dependence is exploited to correct phase errors proportional to total electron content (TEC) divided by frequency. Scintillation causes additional stochastic errors, which can

Precise point positioning (PPP) service is of great significance for BDS. The design and implementation of the service are presented. The PPP‐B2b signal of the service is constructed, which is efficient multiplexed with other signal components, and achieves compatibility between two service phases. A customized message format that can augment all visible satellites of four core constellations in mainland

Modern Global Navigation Satellite System (GNSS) receivers have to withstand significant levels of interference in order to operate under harsh conditions, such as in the presence of jamming and of other Radio Frequency (RF) threats. A possibility is to implement pre‐correlation interference mitigation techniques that operate directly on the samples provided by the receiver front‐end. This paper provides

Global navigation satellite system (GNSS) signals are vulnerable to radio frequency interference (RFI) and spoofing. RFI detection has become trivial with many detection algorithms available and built into GNSS receivers; this is not the case with spoofing. GNSS spoofing can involve generating false GNSS signals with one or more altered components of GNSS satellite transmissions: radio frequency (RF)

This paper presents a new modified Single Block Zero‐Padding (mSBZP) Partial Correlation Method (PCM) Parallel Code Search (PCS) algorithm for effective acquisition of weak GNSS tiered signal using coherent processing of its secondary code (SC) component. Two problems are discussed: acquisition of primary codes with a longer period using FFT blocks of limited length, and the utilization of PCS in the

Pedestrian navigation with handheld sensors is still particularly complex. Pedestrian Dead Reckoning method is generally used, but the estimation of the walking direction remains problematic because the device's pointing direction does not always correspond to the walking direction. To overcome this difficulty, it is possible to use gait modeling based approaches. But, these methods suffer from sporadic

This paper develops novel covariance and square‐root factor formulations of a consider‐neglect Kalman filter for navigation applications. The proposed filter partitions system parameters into three distinct categories: those to be estimated by the filter, those whose contribution to the system are considered without being explicitly estimated, and those with sufficiently low effect on the system such

All‐source navigation has become increasingly relevant over the past decade with the development of viable alternative sensor technologies. However, as the number and type of sensors informing a system increases, so does the probability of corrupting the system with sensor modeling errors, signal interference, and undetected faults. Though the latter of these has been extensively researched, the majority

In this paper, we propose a machine‐learning‐based approach to automatically detect a satellite oscillator anomaly. A major challenge is to differentiate an oscillator anomaly from ionospheric scintillation. Although both scintillation and oscillator anomalies cause phase disturbances, their underlying physics are different and, therefore, show different carrier‐frequency dependency. By using triple‐frequency

We propose a Simultaneous Localization and Mapping (SLAM)‐based Integrity Monitoring (IM) algorithm using GPS and fish‐eye camera to compute the protection levels while accounting for multiple faults in GPS and vision. We perform graph optimization using GPS pseudoranges, pixel intensities, vehicle dynamics, and satellite ephemeris to simultaneously localize the vehicle, GPS satellites, and key image

Clock synchronization is critical for synchronous pseudolite systems. Wireless synchronization methods are desirable for their flexibility in system deployment, and most of them build a tree topology of time information flow based on master‐slave synchronization between pseudolites. A slave pseudolite can receive signals broadcast by multiple pseudolites; however, existing methods usually utilize one

Recently, the joint design of the GNSS message structure and the associated channel‐coding scheme have been investigated as a means to reduce the Time‐To‐First‐Fix (TTFF) and particularly the time to retrieve the Clock and Ephemerides Data (CED). In this context, a new method to co‐design the navigation message and the channel‐coding scheme structure is proposed in this paper. This new co‐design enables

The in‐motion alignment for the underwater strapdown inertial navigation system is still a challenging problem due to various disturbances in the underwater environment. In this paper, a novel in‐motion alignment method, based on the Lie group representation, is developed. In this method, the process model is rewritten using the Lie group of the constant attitude matrix between two inertial frames

Ionospheric scintillation is the physical phenomena affecting radio waves coming from the space through the ionosphere. Such disturbance is caused by ionospheric electron‐density irregularities and is a major threat in Global Navigation Satellite Systems (GNSS). From a signal‐processing perspective, scintillation is one of the most challenging propagation scenarios, particularly affecting high‐precision

Distance measuring equipment (DME) has been a cornerstone of aviation navigation for the last 70 years. While GNSS is taking an increasingly important role in civil aviation, DME can still play an important role in a robust aviation infrastructure in the foreseeable future. Advanced concepts have been developed to improve DME performance and capabilities. One concept is a DME‐based pseudolite that

The former Galileo Commercial Service (CS) will provide a High Accuracy Service (HAS) and a Commercial Authentication Service (CAS). The first will disseminate free Precise Point Positioning (PPP) corrections through the E6‐B signal whereas the second will provide authentication capabilities through the E6‐C pilot component that will be encrypted. For this reason, improved processing strategies for

In the BeiDou Navigation Satellite System (BDS) B1 band, a single‐sideband complex binary offset carrier (SCBOC) modulation is employed to combine the legacy and the modernized B1 signals into an asymmetric‐wideband composite signal for the backward compatibility. However, SCBOC modulation has only been regarded as a means to achieve the co‐existance between B1I and B1C signals, whose high‐precision

As the dependence of Global Navigation Systems (GNSS) increases, so does a growing demand for GNSS accuracy in urban environments. This research aims to improve navigation in these environments by integrating non‐line‐of‐sight signals, building models, and measured signal to noise ratios in ways not typically used in GNSS positioning. We propose a technique of combining elements of shadow matching

This research investigates the mutual interference between a GNSS signal refracted through the atmosphere and the same signal reflected from the surface below. For low‐altitude occultations, the reflected signal can be present as multipath when tracking the direct signal. This poses a problem when making remote sensing measurements using GNSS‐RO or GNSS‐R techniques. Here, this issue is addressed in

No abstract is available for this article.

The US Naval Research Laboratory (NRL) has developed clock ensembles for a number of vital GNSS projects and services throughout the US and international community. Some efforts include algorithms for local realization of Coordinated Universal Time; participation in the upgrade of the Global Positioning System (GPS) system time; the initial implementation of a coherent geophysical reference time known

No abstract is available for this article.

The GPS Antenna Characterization Experiment (GPS ACE) has made extensive observations of GPS L1 signals received at geosynchronous (GEO) altitude, with the objective of developing comprehensive models of the signal levels and signal performance in the GPS transmit antenna side lobes. The GPS ACE architecture has been in place collecting observations with extreme sensitivity for several years, enabling

A twofold architecture based on GNSS multipath environment prediction and detection is presented in a context of loosely coupled and tightly coupled IMU/GNSS integration for navigation in urban areas. A signal quality monitoring group of techniques is applied for a platform self‐contained effort to detect and exclude multipath‐contaminated GNSS signals. Additionally, the sensor integration Kalman filter

This work enables GPS‐denied flight on fixed‐wing UAS by accounting for fixed‐wing‐specific sensing requirements and using a methodology called relative navigation as an overarching framework. The development of an odometry‐like, front‐end, EKF‐based estimator that utilizes only a monocular camera and an inertial measurement unit (IMU) is presented. The filter uses the measurement model of the multi‐state‐constraint

Binary offset carrier (BOC) modulations are widely used in the modernized satellite navigation systems. But we find an interesting phenomenon that the signal composed of different BOC modulations suffers larger phase bias than the case that all the components have the same modulation due to the nonideal group delay of the channel. This issue is more obvious in navigation satellites for the use of a

The GPS C/A‐code is the most widely utilized GNSS signal today. The C/A‐code design includes (1) a short (length‐1023) spreading code that repeats every 1 ms and (2) a low (50 bps) data rate. These two characteristics can lead to undesired interactions between received C/A‐code signals within user equipment. In this paper, a simple model is derived for predicting the impact of C/A‐code self‐interference

To analyze the unmodeled systematic errors in BDS, a filter‐assisted Partly Ensemble Empirical Mode Decomposition (PEEMD) method is combined with Hilbert spectrum analysis to extract the feature information from BDS preprocessed orbit determination residuals (PODR). The results show that the feature extraction method can effectively extract a period of about 1 day for GEO/IGSO satellites and a period

This paper proposes a new dual‐frequency signal deformation fault monitor, which can effectively reduce the time delay at the Ground‐Based Augmentation System (GBAS) airborne user from the airborne filter initialization to the time when it incorporates ground corrections and user measurements for navigation, assuring the system integrity at the same time. The new monitor is applied together with the

Our objective in this paper is to assess all errors in NavIC's pseudorange so that they can be mitigated or accounted for appropriately in the dynamics model to achieve high‐accuracy navigation. Multipath errors in the L5 and S1 pseudoranges are different; hence, oscillatory multipath is removed using sidereal repeatability for these frequencies separately for accurate iono delay estimation. Iono delay

In recent years, due to the development of precise point positioning (PPP), the inconsistency of map and satellite positioning results due to crustal deformation has come to the surface. In order to solve this problem, a parameter for correcting the crustal deformation is necessary, and if it is provided as a service, the validity period and the accuracy guarantee are also necessary. In this research

This paper presents in detail an outer‐coding proposal for long GNSS messages disseminated by multiple satellites. The proposal minimizes the message reception time, or Time To Retrieve Data (TTRD), over a page erasure channel in most types of environments and visibility conditions. A message M consisting of k pages is encoded into a set C consisting of n pages, such that when any subset C′ of C of

No abstract is available for this article.

Radio frequency interference (RFI) poses a severe problem for conventional GNSS receivers. Even low powered RFI can block the reception of satellite signals and prevent a position determination. Antenna array systems have been proven suitable to counteract RFI by incorporating spatial processing techniques. The large size of uniform rectangular arrays (URA) with half‐wave antenna spacing impedes an

Group delays (GDs) are errors affecting Global Navigation Satellite Systems (GNSS) due to non‐idealities of the satellite or the receiver hardware and can compromise safety critical applications (eg, advanced receiver autonomous integrity monitoring [ARAIM]) when integrity requirements are at major or even hazardous safety level. The paper shows that GPS uses L1 and L2 signals in the generation of

No abstract is available for this article.

Instances of spoofing and jamming of global navigation satellite systems (GNSSs) have emphasized the need for alternative navigation methods. Aerial navigation by magnetic map matching has been demonstrated as a viable GNSS‐alternative navigation technique. Flight test demonstrations have achieved accuracies of tens of meters over hour‐long flights, but these flights required accurate magnetic maps

The Virginia Tech Formation Flying Testbed (VTFFTB), a GNSS‐based hardware‐in‐the‐loop (HIL) simulation testbed for spacecraft formation flight, is developed and applied to ionospheric remote sensing. The current VTFFTB consists of GNSS RF hardware signal simulators, multi‐constellation multi‐frequency GNSS receivers, a navigation and control system, an STK visualization system, and an ionospheric

While dual‐channel codeless and semicodeless processing are mature techniques used on the Global Positioning System P(Y) signals, the literature lacks assessment of their performance, with derivations from first principles. This paper fills that gap, providing mathematical models of three dual‐channel codeless or semicodeless processing approaches. Each exploits a situation where the same signal is

This paper presents a physics‐based, multifrequency, strong scintillation simulator that requires only two input parameters: the S4 index and decorrelation time τ0. This simulator is developed based on the two‐component power‐law phase screen model, which is specified by five parameters and suitable for representation of strong equatorial scintillation. By setting three of the model parameters to representative

This paper presents a methodology to build multipath models for aviation use of new Global Positioning System (GPS) and Galileo signals. The estimation of airframe multipath errors makes use of carrier phase measurements; thus, it is affected by the integer ambiguities. A new method for removing the ambiguities from the multipath estimation is presented. The method is suitable for measurements from

This paper analyzes the effect of error correlation on the SISRE bounding for GPS and Galileo satellites. For a given period of data collection, it computes the effective number of independent samples contained in a dataset applying an estimation variance analyses. Results show that the time between effective independent samples is highly dependent on the constellation and onboard clock type. On one

The paper presents attitude determination results of the “GPS Attitude, Positioning and Profiling Experiment” (GAP) on board the CASSIOPE satellite using real flight data. The GAP payload consists of five minimally modified commercial‐off‐the‐shelf NovAtel OEM4‐G2L receivers that provide dual‐frequency GPS measurements and allow for attitude and orbit determination of the satellite as well as electron

No abstract is available for this article.

Angular acceleration sensors technologies are evolving and emerging in various applications. In this paper, we propose an angular accelerometer‐based inertial navigation system. One application of such systems can be highly maneuvering platforms where direct measurement of angular acceleration is desired. To that end, a review of modern angular acceleration sensor technologies and their possible applications

We present a novel method to detect the GNSS NLOS and correct the NLOS pseudorange measurements based on on‐board sensing. This paper demonstrates the use of LiDAR scanner and a list of building heights to describe the perceived environment. To estimate the geometry and pose of the top edges of buildings (TEBs) relative to the GNSS receiver, a surface segmentation method is employed to detect the TEBs

Recent advances in distribution and miniaturization among spacecraft and expansion of global navigation satellite systems (GNSS) motivate the Distributed Multi‐GNSS Timing and Localization system. The DiGiTaL system is intended to provide nanosatellite swarms with unprecedented centimeter‐level relative navigation accuracy in real time and nanosecond‐level time synchronization through the integration

We present an extension to the Global Positioning System (GPS) broadcast navigation message user equations for computing GPS space vehicle (SV) velocity and acceleration. Although similar extensions have been published, the extension presented herein includes a distinct kinematic method for computing SV acceleration, which significantly reduces the complexity of the equations and improves the mean

In this paper, a frequency tracking method based on a cardinalized probability hypothesis density (CPHD) filter with cardinality compensation and fuzzy‐c means (FCM) clustering is proposed to precisely estimate multiple interference frequencies in the received Global Navigation Satellite System (GNSS) signal. In addition, an adaptive multiple linear Kalman notch filter is applied in order to mitigate

Integral to any authentication system is the design of its public key infrastructure (PKI), allowing the system to distribute, maintain, and revoke cryptographic keys while dividing and allocating the responsibility of security between different entities. This paper develops a PKI for two SBAS candidate authentication schemes: one each for an L5 I‐channel and Q‐channel implementation. A simulator,

Plasma bubbles can affect ground‐based augmentation system (GBAS) performance by posing large spatial ionospheric gradients between the aircraft and the airport, which makes it important to detect plasma bubbles effectively. In this study, we investigate the use of VHF radar to detect plasma bubbles and mitigate their potential impact on GBAS through a simulation. When the line‐of‐sight of a certain

No abstract is available for this article.

This paper addresses the wide range of mechanisms through which out‐of‐band interference can disrupt the functioning of GNSS receivers. These mechanisms include saturation and desensitization of front‐end low noise amplifiers, mixers and other circuitry; reciprocal mixing effects that arise from the fact that receivers cannot generate a perfect tone to down‐convert the desired signals; intermodulation

Navigation and positioning systems depend on both the operating environment and the behavior of the host vehicle or user. The environment determines the type and quality of radio signals available for positioning, and the behavior can contribute additional information to the navigation solution. In order to operate across different contexts, a context‐adaptive navigation solution is required to detect

This study develops a three‐step Monte Carlo method to evaluate the worst possible integrity risk of ionospheric spatial gradients for GAST D GBAS. Impact simulation parameters are classified into two groups, “worst‐case” and “average,” based on the underlying integrity requirements. Unlike “average” parameters, “worst‐case” parameters are those for which a clear basis for averaging could not be established

In this work, a new time‐sequential positioning and fault detection method is developed for dual‐frequency, multi‐constellation Advanced Receiver Autonomous Integrity Monitoring (ARAIM). Unlike conventional “snapshot” ARAIM, sequential ARAIM exploits changes in satellite geometry at the cost of slightly higher computation and memory loads. From the perspective of users on Earth, the motion of any given

Smartphone‐based Lifelog (automatically annotating the users' daily experience from multisensory streams on smartphones) is in great need. Accurate positioning under any situation is one of the most significant techniques for a desirable Lifelog. This paper proposes to detect location‐related activities and use the activity information to improve positioning accuracy. In the proposed system, a human

The Japanese Quasi‐Zenith Satellite System (QZSS) constellation has added three new Block‐II satellites, which broadcast ranging signals from their main L‐band antenna together with augmentation signals from separate, auxiliary antennas. After determination of the baseline vector between main and auxiliary antenna, differential processing allows for an estimation of the satellite's yaw attitude with