EE 570: Location and Navigation

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1 EE 570: Location and Navigation Global Navigation Satellite Systems (GNSS) Part I Aly El-Osery Kevin Wedeward Electrical Engineering Department, New Mexico Tech Socorro, New Mexico, USA In Collaboration with Stephen Bruder Electrical and Computer Engineering Department Embry-Riddle Aeronautical Univesity Prescott, Arizona, USA April 25, 2016 Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

2 Dead Reckoning vs Position Fixing Navigation can be accomplished via position fixing or dead reckoning 1 Dead Reckoning Measures changes in position and/or attitude Inertial sensors provide relative position (and attitude) 2 Position Fixing Directly measuring location GPS provides absolute positino (and velocity) How does GPS work? Effectively via Multilateration If I can measure my distance to three (or more) satellites at known locations, then, own location can be resolved. Measure distance via time-of-flight Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

3 GNSS GNSS A generic term used to describe these navigation systems that provide a user with 3-D positioning solution using RF ranging of signals transmitted by orbiting satellite GNSS examples include NAVSTAR Navigation by Satellite Ranging and Timing operated by the United States commonly referred to as Global Positing System (GPS) GLONASS Russian Galileo European Beidou China Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

4 GNSS Architecture Space segment (satellites) Control segment User segment Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

5 Space Segment Collection of satellites known as constellation Broadcasts signals to control segement and the users Distributed among different medium Earth orbits (MEOs) GPS satellites orbit at a radius of 26,580km two orbits per sidereal day Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

6 Control Segment Consists of monitoring stations at surveyed locations with synchronized clocks and collects ranging measurements control stations received data from monitoring stations and calculates corrections uplink stations sends commands to the satellites. Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

7 GNSS Signals In general, a GNSS signal is a carrier with a spreading code modulated using binary phase shift keying (BPSK) given by s(t) = 2PC(t)D(t) cos(2πf ca t + φ 0 ) (1) where P is the signal power, C(t) is the spreading code, D(t) is the data, f ca is the carrier frequency, and φ 0 is the phase offset. C(t) and D(t) have ±1 values. Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

8 BPSK carrier data BPSK Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

9 Spreading Code data PRN spread data Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

10 Signal Power Orignal signal despread signal noise level Spread signal Spread signal Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

11 GPS Modulation Schemes The GPS employs BPSK modulation at two frequencies L1=1, MHz L2=1, MHz Two main PRN code C/A: Course acquistion (10-bit 1MHz) P: Precise 40-bit 10MHz Encrypted P(Y) code Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

12 Ranging Basics By determining the phase of the received PRN code the raw pseudo-range to a given satellite is given by ρ s a,r = ( t s sa t s st,a)c (2) where t s sa is the transmission time of the signal from the satellite, s, t s st,a is the arrival time at antenna, a, and c is the speed of light. Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

13 True Range, LOS and Range Rates The true range from an antenna a to a satellite s in the ECEF frame is given by r as = r e es(t s st,a) r e ea(t s sa,a) + δρ s ie,a (3) where δρ s ie,a is a correction factor due to rotation of the earth causing Sagnac effect. The line-of-sight unit vector (direction from which a signal arrives at the user antenna) in the ECEF frame is given by u e as r e es(t s st,a) r e ea(t s sa,a) r e es(t s st,a) r e ea(t s sa,a) (4) The range rate using ECEF velocities is r as = ( u e as) T ( v e es(t s st,a) v e es(t s sa,a)) + δ ρ s ie,a (5) Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

14 Sagnac Correction The Sagnac correction is approximated as δρ s ie,a ω ie c and the range-rate Sagnac correction is δ ρ s ie,a ω ie c [ y e es (t s st,a)x e ea(t s sa,a) x e es(t s st,a)y e ea(t s sa,a) ] (6) v es,y e (tst,a)x s ea(t e sa,a) s + yes(t e st,a)v s ea,x(t e sa,a) s v es,x(t e st,a)y s ea(t e sa,a) s xes(t e st,a)v s ea,y e (tsa,a) s 0 (7) Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

15 Multilateration Use the range to multiple satellites to determine the position of the user equipment. Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

16 Geometric Dillution of Precision GNSS solution is affected by the geometry of the satellite constellation observed by the receiver antenna. Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

17 Positioning All measurements are in ECEF ρ i = (x i x) 2 + (y i y) 2 + (z i z) 2 ρ 2 i = x 2 i + x 2 2x i x + y 2 i + y 2 2y i y + z 2 i + z 2 2z i z ρ 2 i (xi 2 + yi 2 + zi 2 ) (x 2 + y 2 + z 2 ) = 2x i x 2y i y 2z i z ρ 2 1 (x y z2 1 ) r e 2 2x 1 2y 1 2z 1 ρ 2 2 (x y z2 2 ) r e 2 2x 2 2y 2 2z 2 x =.. y z ρ 2 n (xn 2 + yn 2 + zn) 2 r e 2x n 2y n 2z n Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

18 Measurements of pseudorange In reality there are errors in the propagation model used for the signal due to ionosphere and the troposphere. In addition there are clock errors both at the satellite and the receiver. Consquently, the pseudorange measurement is given by ρ measured =ρ true + ɛ ionospheric + ɛ tropospheric + ɛ ephemeris + ɛ satellite clock + ɛ receiver clock + ɛ multipath (8) (blog by manumanu) Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

19 Error Mitigation Techniques Differential GPS Measure pseudorange error at surveyed locations Subtract error at the user equipment before calculating position Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

20 Error Mitigation Techniques WAAS GPS Wide Area Augmentation System Provide corrections based on user position Assumes atomospheric errors are locally correlated. Aly El-Osery, Kevin Wedeward (NMT) EE 570: Location and Navigation April 25, / 20

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