PPS Positioning in Weak Signal GPS Environments using a TIDGET Sensor

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1 PPS Postonng n Weak Sgnal GPS Envronments usng a TIDGET Sensor Alson K. Brown, Stephen Stankevch, and Bruce G. Johnson, NAVSYS Corporaton BIOGRAPHY Alson Brown s the Presdent and Chef Executve Offcer of NAVSYS Corporaton, whch she founded n NAVSYS Corporaton specalzes n developng next generaton Global Postonng System (GPS) technology. Dr. Brown has a PhD n Mechancs, Aerospace, and Nuclear Engneerng from UCLA, an MS n Aeronautcs and Astronautcs from MIT, and an MA and BA n Engneerng from Cambrdge Unversty. She s a fellow of the Insttute of Navgaton and an Honorary Fellow of Sdney Sussex College, Cambrdge. Stephen Stankevch s a Research Engneer wth NAVSYS Corporaton. He holds an MS n Aerospace Engneerng from the Unversty of Mnnesota and BS n Aerospace Engneerng from the Unversty of Colorado at Boulder. Bruce G. Johnson s the Drector of GPS/Inertal Products for NAVSYS Corporaton. Over the last twenty years he has lead engneerng teams n developng and transferrng to producton advanced control and estmaton algorthms and assocated hardware. He holds an MS and ScD n Mechancal Engneerng from MIT and a BS n Engneerng-Physcs from the Unversty of Calforna at Davs. ABSTRACT Ths paper descrbes a GPS trackng soluton that collects GPS broadband snapshots usng NAVSYS patented TIDGET ( trackng wdget ) sensor technology and postprocesses these snapshots to create a Precse Postonng System (PPS) soluton usng a recever. Ths approach has the advantages of reducng the sze, weght, cost and power of the electroncs n the sensor whle stll producng a -based solutons for mltary trackng applcatons. Snce the GPS sgnals do not have to be processed n real-tme, enhanced sgnal processng algorthms can be appled usng the correlator outputs that allow the dgtal sgnals to be optmally reprocessed usng network assstance from a GPS base staton, maxmzng the probablty of acqurng the GPS sgnals n a challengng envronment and allowng acquston at lower sgnal levels than can be acheved usng conventonal GPS trackng. Ths paper presents test results of ths TIDGET- archtecture showng ts operaton n normal and degraded GPS envronments. INTRODUCTION Selectve Avalablty Ant Spoof () GPS user equpment are requred to be used for mltary operatons. These recevers have the advantage of beng able to track the broadband P(Y) code sgnals allowng operaton wth the GPS Precse Postonng Servce (PPS). PPS operaton has advantages n terms of ant-jam protecton and also provdes mproved multpath rejecton due to the narrower peak of the broadband 10.3 MHz P(Y) code sgnals compared wth the broader correlaton peak generated when usng the 1.03 MHz C/A code sgnals. Current generaton recevers, however, are sgnfcantly hgher n power than conventonal commercal GPS recevers. Also, although the user equpment are desgned to be unclassfed when keyed, they stll are controlled tems. Ths makes t challengng for to be deployed for many trackng applcatons where the GPS user equpment many be unattended and s not under drect control of an operator. The NAVSYS TIDGET soluton was developed to provde low power trackng solutons usng a patented snapshot GPS recordng approach [1]. Prevously, the TIDGET has been used for applcatons such as anmal trackng [] or camera photo taggng [3]. The snapshot recordng approach has the advantage of allowng the GPS processng to be performed remotely from the sensor when the snapshot devce s retreved. In ths paper, we descrbe how ths approach can be appled for processng the GPS snapshots usng a recever, allowng a PPS postonng soluton to be extracted from a tag to track ts locaton usng the secure P(Y) code servces. Snce the PPS poston s extracted through postprocessng, t s also possble to use enhanced sgnal processng technques usng data from the recever n order to mprove the sgnal/nose rato and track the GPS sgnals under degraded condtons. Proceedngs of ION GNSS 010, Portland, Oregon, September 010

2 TIDGET GPS TRACKTAG SENSOR Fgure 1 shows the TIDGET TrackTag confguraton, whch ncludes a GPS RF front-end, control crcutry, and bult-n flash memory for capturng the TIDGET RF snapshots. TIDGET Flash Memory Fgure 1 TrackTag TIDGET Confguraton USB Interface Instead of performng the GPS sgnal processng nternally, the TIDGET devce only samples and records the GPS snapshots perodcally. Whle ths requres more data to be logged than an actual GPS soluton, t sgnfcantly reduces the overall power requred for the devce makng ths an deal soluton for low-power, longduraton trackng applcatons. When the TrackTag unt s recovered and plugged nto a USB port, the TIDGET snapshots are uploaded automatcally to the server for processng where the TrackTag locatons are calculated. A commercal small form factor TrackTag unt s shown n Fgure whch ncludes a battery capable of powerng the devce for two years of data loggng. (MCU) board and can operate usng three AAA batteres. The RF board downconverts the GPS L1 sgnal to an Intermedate Frequency (IF) and uses an analog to dgtal converter to transfer sngle-bt real GPS data to the Flash memory located on MCU board. The MCU stores each snapshot n the 3GB of onboard Flash and provdes command and control of the TIDGET unt. The MCU ntegrates wth a real-tme clock and alarm that allows the TIDGET to sleep n an ultra-low power mode between snapshots and tme-tag each snapshot when t s taken. Operatng wth snapshots every 30 mnutes the TIDGET s capable of storng snapshots and operatng for as long as one year on three standard lthum-on AAA batteres. Fgure 3 TIDGET Sensor Both the Dgtal Antenna Element (DAE) and MCU prnted-crcut boards, along wth three AAA batteres, are enclosed n a plastc polycarbonate enclosure. The TIDGET may be ntegrated wth ether an nternal passve GPS antenna or an external actve antenna. A USB port on the MCU board provdes the user nterface to the TIDGET. TIDGET- ARCHITECTURE The TIDGET- archtecture s shown n Fgure 4. Fgure Commercal TrackTag Unt The prevous commercal TIDGET sensors were desgned to capture the C/A code sgnal spectrum. Usng the TIDGET sensor to generate a full PPS soluton as well as ntegraton wth a recever presented unque desgn constrants on the TIDGET sensor. Capturng the P(Y) sgnal requres capturng the 0 MHz GPS bandwdth, and ntegraton wth the recever requres hgher sample rates. Commercal GPS RF front-end ntegrated crcuts are not readly avalable that cover the full GPS 0 MHz bandwdth. The TIDGET sensor, therefore, requred the development of a new RF/dgtal desgn for the RF front-end to sample and record the complete GPS spectrum. Ths was developed usng commercal components. The TIDGET- sensor shown n Fgure 3 ncludes a GPS antenna, an RF board, and a Mcrocontroller Unt TIDGET-DAE Devce Gateway Legend Ethernet Seral BDDP/DAE Other NAVSYS Software Project Customzatons NAVSYS Hardware 3rd Party Hardware WebServce API Master Executor Global Ephemers Loader External FTP Data Source NAVSYS Reference Staton Servce GPS Reference Recever Locator Net database Applcaton Front-End Processng F54 Interface DIB FPGA BDDP RS-3 DAE RS-4 P(Y) Processng Fgure 4 TIDGET- System Archtecture F54 Recever When a TIDGET- sensor s retreved, the data can be uploaded to the TIDGET-SAAM Base Staton for processng usng a software applcaton loaded onto a local laptop. The TIDGET- sensor wll upload the recorded data through ts USB port to the LocatorNet Gateway applcaton whch can then connect wth the

3 LocatorNet database n the TIDGET- Base Staton and transfer the recorded data to the base staton for processng. Once the Gateway uploads the recorded snapshots nto the LocatorNet database, the TIDGET- Base Staton automatcally ntates a data processng sequence to extract the PPS poston for each recorded snapshot. To support post-processng of the TIDGET snapshots, the GPS navgaton data s also recorded n the LocatorNet database from a reference GPS recever at the base staton. For world-wde trackng operatons, GPS navgaton data from other reference staton stes across the Internet can also be uploaded to the LocatorNet database. The snapshots are queued for processng by the processor, wth the ephemers data that s needed to ntalze the at the tme that each snapshot was recorded. TIDGET PROCESSING The Trmble Force 54 GPS recever [4] s used to perform the PPS snapshot processng. Ths recever ncludes Trmble s Next Generaton GPS Engne (SGE) 41 and has 4 channels for processng up to 1 satellte L1 and L sgnals. It was selected for the TIDGET- processng as t also ncludes a DAE Interface whch was desgned to allow nput of dgtzed RF GPS sgnals from external beamformng electroncs. Ths DAE Interface allowed ths recever to be used to process the dgtal TIDGET snapshots. and the dgtal TIDGET snapshot data s clocked nto the DAE hgh speed seral nterface port by the DIB for processng n accordance wth ICD-TNL-DAE [6]. The raw correlaton outputs for each of the s 1- channels are output to the DIB through the B-Drectonal Data Port (BDDP) dual-port RAM (DPRAM) nterface n accordance wth and ICD-TNL-167 [7]. The TIDGET processng sequence s shown n Fgure 6. The LocatorNet server can be used to process the ntal snapshots to extract the C/A code SPS poston as a startng pont for the processng. If snapshots are taken perodcally, the processng can then be handed over to the engne for processng the startng and subsequent snapshots by correctng the real-tme clock s tme mark usng the processed PPS results. Snce the GPS snapshots were taken n the past, the recever must be ntalzed to the tme and estmated locaton the snapshot was recorded. A combnaton of seral nput commands, as well as hardware tmemark pulses, are used to properly confgure the recever for the snapshot tme and approxmate poston as determned usng C/A code trackng. Ephemers correspondng to the perod of the snapshot s nput to the recever usng prevously recorded GPS navgaton subframe data from the LocatorNet Server. Ths allow the to be placed nto a Hot- Start mode so that Drect P(Y) correlaton s performed mmedately on the nput DAE TIDGET data usng the pre-postonng defned by the ntal tme, locaton and ephemers data entered nto the. Trmble F54D RS-3 RS-4 (ICD 167) RS-4 (ICD-DAE) RS-3 USB 1 (VCP) USB (VCP) Host PC Snapshot data from sensor Perform C/A snapshot processng Determne snapshot tme Perform Precse Tme INIT of F54D BDDP (DPRAM -TTL) DAE (Hgh-Speed Seral) TmeMark (ICD-167) Power Keyng Keyng Devce Data Interface Board BDDP (DPRAM - LVTTL) DAE (Parallel) TmeMark (LVTTL) Power Supply Workstaton Fgure 5 Interfaces for TIDGET Processng The nterfaces that are requred for processng of the TIDGET data are shown n Fgure 5. A Dgtal Interface Board (DIB) s embedded n the TIDGET- Base Staton PC to handle these nterfaces. The must frst be ntalzed to set ts nternal tme to the tme that the snapshot was taken and also must be preloaded usng an ntal estmate of the snapshot locaton and the GPS ephemers data n vew at that tme and locaton. The ntalzaton of the recever s handled through the RS-4 and RS-3 seral nterfaces wth the n accordance wth the protocol establshed n ICD-GPS-153C [5]. A 1-pps tme mark s used to set the to the precse tme of the snapshot No Correlaton good? Yes Track Usng G- UTC I/Q outputs Retreve G-UTC correlaton results va BDDP Generate Nav Soluton Adjust snapshot tme Perform Correlaton Seqence snapshot data to F54D DAE Interface TRIMBLE F54 LocatorNet Data Interface Board F54 Interface Fgure 6 TIDGET Base Staton Software Processng Flow Dagram. Wat for to be ready The dgtal snapshot data s downloaded from the LocatorNet database to memory wthn the FPGA on the DIB. The snapshot data s then clocked out of the FPGA through a parallel data output to a hgh-speed seralzer/deseralzer (SERDES) that nputs the data to the recever DAE SERDES nput. The recever then performs the correlaton on the DAE snapshot data and outputs for each of the 1 recever channels 4 correlator outputs (I and Q) centered at the pre-postoned code phase through the BDDP G-UTC message 7. These correlaton results for the complete 3

4 snapshot sequence are then uploaded from the DIB to the LocatorNet database for processng to extract the TIDGET PPS pseudo-ranges and calculate the poston and precse tme for the snapshot locaton. CORRELATION RESULTS To demonstrate the advantages of the LocatorNet long coherent and non-coherent processng, a comparson was run of the correlaton results usng G-UTC correlator outputs collected from the TIDGET- Base Staton processor. A sample set of 0 msec correlaton results that are output from the under nomnal sgnal condtons are shown n Fgure 7, for the frst satellte (SV 6). These are algned wth the 50 Hz data bt transtons. Ths partcular satellte was n vew wth a CN0 of 4 db-hz whch resulted n a 0 msec SNR of 5 db. As seen n ths plot, the correlaton peak mproves to 44 db for ths same data set showng how the coherent accumulaton, wth data bt removal, can further assst n sgnal detecton when the GPS sgnals are degraded. It should be noted that the coherent ntegraton perod has to be adjusted dependng on the tag moton and clock nstablty durng the snapshot recorded nterval. Our approach s to perform both coherent and non-coherent ntegraton on the correlaton results to detect the best SNR for a partcular snapshot. These results show the relatve advantages of usng the long duraton noncoherent and coherent accumulaton processng, over a conventonal contnuous trackng soluton. Fgure 8 0 msec Non-Coherent Accumulaton Results over Complete Snapshot (SNR = 5 db) Fgure 7 0 msec Accumulaton Results (SNR = 5 db) In Fgure 8, the sum of the 0 msec correlaton results are generated over the complete 1.98 seconds (99x0msecs) of correlaton data for the same set of correlaton data usng the followng equaton. S NC Nnc 1 I jq Ths results n the same SNR (5 db) but the nose s much fltered allowng more relable detecton of the correlaton peak over the complete set of data. In Fgure 9, the correlaton results are shown for a coherent accumulaton over the complete snapshot usng databts downloaded from the LocatorNet database to remove the 50 Hz databt transtons. An FFT s also used to remove the clock drft. S C Nc D I 1 jq e j ft Fgure sec Coherent Accumulaton Results over Complete Snapshot (SNR = 44 db) WEAK SIGNAL SIMULATOR RESULTS The weak-sgnal processng results from the C/A code smulator test ndcate the advantages of the LocatorNet long coherent and non-coherent processng of the snapshot data usng NAVSYS Advanced GPS Hybrd Smulator (AGHS) [8]. In ths test, the LocatorNet weak sgnal GPS processng usng the TIDGET snapshots was 4

5 compared to the trackng capablty of a NovAtel OEM recever connected to the same smulator output. The AGHS smulaton profle was controlled va a MATLAB Smulnk model that cycled the GPS C/A code sgnal/nose level (CN0) steppng ths down and up whle snapshots were taken perodcally and the NovAtel tracked the smulator sgnals n real-tme. Fgure 10 shows the scenaro created to compare the LocatorNet processng usng C/A code correlaton results as compared wth the NovAtel recever real-tme trackng. Over the course of two hours the smulated GPS sgnal output was reduced from a nomnal CN0 of 50 db-hz (strong satellte) to a CN0 of 14 db-hz sgnal (extremely weak sgnal for example ndoors). Durng the course of testng the NovAtel recever generally dropped the GPS sgnals at ts trackng threshold of 6 db-hz and then reacqured the sgnal once the sgnal level ncreased. As shown n Fgure 10, the LocatorNet processng of the TIDGET snapshots allowed trackng of the smulated GPS sgnals as low as 18 db-hz CN0. Also, snce the processng requred acquston on the sgnals for each snapshot, there was no TTFF delay for reacqurng the stronger GPS sgnals as s generally experenced by a conventonal GPS recever. Tracked Sgnal CN0 (db-hz) Comparson of Trackng Results Durng Smulaton AGHS Output Novatel Trackng Weak Sgnal Trackng Elapsed Smulaton Tme (mnutes) Fgure 10 Comparson of Weak Sgnal Trackng Results for NovAtel (red) and TIDGET (yellow) As the smulated GPS sgnal ncreases from the mnmum the TIDGET post-processng once agan acqured the sgnal at 18 db-hz CN0. These sgnal smulator results show that the TIDGET processng acheved an 8 db trackng mprovement over a conventonal GPS recever and allowed operaton down to nomnal GPS sgnal levels of -156 dbm. CONCLUSION The TIDGET- system usng snapshot data recordng at the TIDGET devce and post-processng usng the TIDGET- Base Staton provdes a method for performng PPS postonng of sensors wthout requrng a to be deployed n the feld. The post-processng of the snapshot data usng the TIDGET- Base Staton also allows PPS solutons to be derved when only weak GPS sgnals are present ncreasng the avalablty of the TIDGET sensor postonng results. The TIDGET- archtecture has the followng advantages for mltary trackng applcatons over usng a conventonal recever n each sensor. Lower cost trackng devce Lower power operaton No controlled crypto equpment left unattended derved PPS soluton generated at base staton Soluton provded under weak sgnal condtons where a conventonal GPS would not have been able to track the GPS sgnals ACKNOWLEDGMENTS Ths work was sponsored n part by the US. Army under contract to the CECOM Acquston Center. REFERENCES 1 Brown, Alson, et al,.navsys Corporaton, GPS Trackng System, Unted States Patent 5,379,4, January 3, 1995 A. Brown, The TIDGET-A Low Cost GPS Sensor for Trackng Applcatons, ION 5 th Internatonal Techncal Meetng, Albuquerque, September Brown, Alson, Bruce Johnson, Yan Lu, and Peter Brown, A Low Power Software Defned Rado Networked Archtecture For Dgtal Camera Image Geotaggng, Proceedngs of the SDR 09 Techncal Conference and Product Exposton, Washngton, DC, December Trmble Force 54D recever 5 GPS User Equpment Interface Control Document for the GPS Standard Seral Interface Protocol (GSSIP) of DoD Standard GPS UE Rado Recevers, ICD-GPS-153, Revson C, 10 December Interface Control Document for the Dgtal Antenna Electroncs (DAE), ICD-TNL-DAE, P/N 4600, Rev. 1.00, 8 Sep 006, Trmble Navgaton Lmted 7 Interface Control Document for the GPS Recever Applcaton Module Modfed Standard Electroncs Module (GRAM-S), Trmble Arborne Module Products wth B-Drectonal Data Port (BDDP), Force 5 GS (PPS), Force 54 D (PPS), Arborne Recever (ASR) (PPS), SGE 41 (PPS), ICD-TNL-167, Rev 1.1, 5 February 007, Trmble Navgaton Lmted 8 Brown, Alson and Nel Geren, Advanced GPS Hybrd Smulator Archtecture, ION 57th Annual Meetng 001, Albuquerque, NM, June 001 5

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