GALILEO Research and Development Activities. Second Call. Area 1B. Galileo Professional Receiver Development. Statement of Work

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1 GALILEO Research and Development Activities Second Call Area 1B Galileo Professional Receiver Development Statement of Work Rue du Luxembourg, 3 B 1000 Brussels Tel Fax

2 TABLE OF CONTENT 1 INTRODUCTION CONTEXT OBJECTIVES ACRONYMS WORK DESCRIPTION STUDY LOGIC MANAGEMENT AND SUPPORT TO EXTERNAL COORDINATION Management Support to external coordination Coordination with other GJU project 2 nd call Coordination with other activities TECHNOLOGICAL DEVELOP MENT Core technology investigation Development of the HW/SW component of receiver Simulator, test and validation tool AWARENESS DELIVERABLES INPUT From GARDA project From other studies OUTPUT APPENDIX A: GRANADA SW RECEIVER INTRODUCTION GRANADA REQUIREMENTS AND FUNCTIONALITY SUITE DESCRIPTION Bit-True GNSS SW Receiver Simulator I (Matlab/Simulink): Bit-True GNSS SW Receiver Simulator II (C-code version) GNSS Environment and Navigation Simulator CONCLUSION APPENDIX B: GMCS: A MONO-CHANNEL SIGNAL SIMULATOR GMCS OVERVIEW GMCS MAIN FUNCTIONAL CHARACTERISTICS

3 1 INTRODUCTION The Galileo user receiver represents a key technology and is at the heart of the user segment. It is the main physical interface between the system and the user. It transforms the Galileo Signal-in-Space into services for the citizen. Among all the users of GNSS, some civil user communities have started in an early stage to take benefit of GPS, particularly by using the C/A code and measuring the carrier phase to reach centimeter accuracy in differential mode. These user communities were mainly composed of scientific people. Then the professional users have rapidly demonstrated the added values of GNSS technology and its potential to replace other instruments or techniques in their business area in order to increase the efficiency of their activities. The developments of the first civil receivers in the 80 s were dedicated to scientific or professional applications. The main requirement was to get the best measurement in order to obtain high-level performance in terms of accuracy. This was achieved by developing the hardware component and working on algorithms such as the ambiguity resolution. Safety-of-life and mass-market receivers have been developed later, once the confidence in GNSS was sufficient and the technological advances were allowing a decrease of the size of the receivers. Now the scientific and professional users still remain very important communities for the future of GNSS. In the second call, receiver development activities are foreseen in different Statements of work. A first category of activities is foreseen in the different receiver development Statement of Work focusing on the inside -receiver technology. A part of the User Community Statement of Work focuses on the integration of the receiver in the user platform (the user terminal) and the combination of the positioning functionalities offered by the receiver with other functionalities. The link between the Receiver dedicated activities and User Community activities will be further detailed in the work description of this Statement of Work. 1.1 Context The professional users (civil engineering, oil&gas, GIS, agriculture ) and scientific users (geodesy, meteorology ) represent the major sectors for the manufacturers of professional receivers. These receivers will probably make use of the Galileo Commercial and/or Open Service. The receivers used for timing and synchronisation applications can also be considered as being part of the professional type of GNSS receiver. The professional type of receivers is also used in permanent networks (monitoring network, local element, permanent station )

4 The Professional market segment consists of many diverse market sectors. Each sector has unique market characteristics, but all sectors share general common features of professional users within the sector. The receivers used for professional and scientific applications share some common specifications. The main characteristics of these receivers are their robustness to environmental conditions, capacity to function continuously, their high level of performances in term of accuracy and continuity. Often these receivers include the functionalities to receive information from local augmentation and specific measurement and computation techniques in order to increase the accuracy performance (differential GNSS, realtime kinematics, carrier smoothed code ). 1.2 Objectives Within this second call, the Galileo Joint Undertaking intends to support the development of receiver technologies in order to: - support the Research and Development activities within the industry and research institutes towards the development of Galileo Professional receiver technologies and to, - facilitate the availability of Galileo Professional receiver prototypes at an early stage. The availability of prototype receivers at an early stage is a key element to support the testing and adoption of Galileo within each user community using all core Galileo Services and then to facilitate the market penetration of Galileo. The broadcasting of the first representative Galileo signal in space (foreseen at the In- Orbit Validation phase of the Galileo Program) will mark the end of the development phase and the start of the deployment of the full Galileo constellation. For the users, this moment is a key milestone. It will allow them using in real environment the receiver and start the introduction of the Galileo services in different applications and services. For receiver manufacturers, it will be then also an important milestone to position them on the market by offering in an early stage Galileo capabilities in their receivers. It is foreseen that a lot of different partners worldwide will express their willingness to have Galileo/GPS receivers when the first signal will be available in order for them to: 1. start testing their applications or services platform including Galileo: this will be a key objective for the different service providers; 2. offer to the final user or to the system integrators the possibility to test directly a receiver including Galileo capabilities (or having the possibility to be easily upgraded to benefit from Galileo) and so avoiding a delay in their investment for GNSS receivers

5 The availability of a sufficient number and a sufficient choice of Galileo/GPS receivers at an early stage is a key element for the penetration of Galileo services in the market and represents a challenge for GNSS industries worldwide. The objective of this second call is then to support the development of Galileo/GPS prototypes on a wide scale. This will be accomplished through the partial financing, in the second call, of several receiver development initiatives and this for different market targets. The objective of the project is not necessarily to have prototypes available at the end of the project but to allow sufficient investigations and developments in the different receiver technologies to allow industries, research institutes and other partners to proceed with the development of prototype receivers. In this Statement of Work, the objectives of the proposed development activities focus on the support to the development of receiver technologies answering to the specific requirements of the Galileo Commercial Service users. It represents also the occasion for industries and researchers to initiate prototyping activities and to propose development in related technologies such as real-time kinematics algorithm, multipath mitigation, multi-array and smart antenna, The technological evolution in the field of professional GNSS receivers is usually driven by the search for better quality, accuracy and efficiency in order to better cope with the needs of the professional and scientific final users. The commercial receiver retailers usually sell the final GNS receiver with a set of SW and HW tools adapted to the specific need of the targeted users. This project gives to the consortium the possibility to perform part of the activities foreseen in its own receiver development plan. The links between the activities performed in the frame of this project and the activities foreseen by each partner in their own development plan are strongly encouraged. The project shall be in-line with the Galileo receiver development plans of the receiver manufacturers, research institutes and other partners of the consortium. The receiver pre-development activities financed under the first call of the Galileo research and development activities (GARDA project) will support the second call activities by offering the possibility to use some tools and technologies produced in the frame of this study

6 1.3 Acronyms EC EGNOS ESA EU FP FR FOC GJU GNSS GOC GPS GSTB IOV IPR KO KOM MRD MTR PPP RAIM SIS SIS ICD SOW European Commission European Geostationary Overlay Service European Space Agency European Union Framework Programme Final Review Full Operational Capability Galileo Joint Undertaking Global Navigation Satellite System Galileo Operating Company (or Concessionaire) Global Position System Galileo System Test Bed In Orbit Validation Intellectual Property Right Kick-Off Kick-Off Meeting Mission Requirements Document Mid Term Review Public-Private Partnership Receiver Autonomous Integrity Monitoring Signal In Space SIS Interface Control Document Statement of Work 2 WORK DESCRIPTION As described in the introduction, the contractor has a certain margin to perform the work following its own views on the most appropriate research and development activities in the field of Professional receiver. However, in the following paragraph guidelines and requirements for these development activities are given. The work description is organised into three main sections: 1. the study logic which describes the main frame of the project and its link with the other activities, 2. the management and coordination section, which describe the expected type of management and reporting process and the way the links shall be implemented, 3. the technological section, which includes objectives and requirements of the central work to be accomplished in the frame of the project

7 This technological section is divided into three tasks a. professional receiver core technology investigations which have a clear research nature, b. the HW/SW components activities, which tend to the development of prototype receiver, c. the simulator, test and validation tool development, which is optional and depends on the proposed testing and validation plan of the consortium. 2.1 Study logic The activities performed shall be in line with the logic of the overall development plan. Schedule The overall activities shall last 2 years. The management and coordination activities shall last all along the project duration. The core technologies investigation can be made all along the project duration. The prototype development activities shall be performed in different phases (specification, design, development ). The simulator, test and validation tools development, if any, shall start as soon as possible in order to have these tools available for the core technologies investigation and for the test and validation of the developed components. Link with first call The activities performed in the GARDA project are: - consolidation of a development plan, - development of a software receiver to test core technologies, - development of hardware component, which shall be seen as a way to make development and investigation of core technologies that cannot be fully evaluated through software. The outcome of the GARDA project, initiated at the beginning of 2004 and lasting until Autumn 2005, will support the development made in the frame of the second call. 2.2 Management and support to external coordination The management and coordination activities are described hereunder. The management part focuses on the work to be performed internally to the consortium and the reporting to the GJU. It includes all the basic management activity for R&D activities (internal coordination, reporting, interface ). The support to external coordination focuses on additional activities that will be required by the GJU to implement the necessary coordination between different consortia dealing with common issues

8 2.2.1 Management This activity consists in providing the overall management for the entire contract. The activities to be performed as a minimum are: Technical project coordination Contractual management Organisation and coordination of internal communication flow Documentation management Tracking project status Establish and maintain travel plan Review and verification of deliverables Organisation of progress meetings (calling notice, agenda, chairing and reporting) Organisation of reviews Identify needs for interfaces with external entities Ensure coordination between the different activities as necessary The contractor shall report on its activity every 3 months Support to external coordination In addition to the identification of interfaces with external activities (mentioned in the management part), a specific emphasis is put on the support to external coordination. This project will be performed in parallel with other activities of the Galileo Program. The contractor shall make resources available to support and facilitate the coordination between the work performed in the frame of this Statement of Work and the work performed in other contracts. These coordination activities, under the steering of the GJU, are two fold: 1. support to coordination efforts required between different projects launched in the frame of the Galileo Research and Development activities (1 st, 2 nd and 3 rd call) 2. support to coordination with other activities performed in the frame of the Galileo program Coordination with other GJU projects 2 nd call User Community As mentioned before, the professional receiver is targeting different applications in sector like Maritime, Road, and Rail sectors as well as in the sectors proposed in the GNSS for special application Statement of Work. These sectors are the subject of specific activities in the Galileo R&D activities within the second call. Strong links exist between the service introduction in these sectors and the development of the professional receiver. Coordination activities shall then be performed between the - 8 -

9 current activity and the User Community projects (in particular Maritime, Rail, Road and special application). Under the supervision of GJU, the contractor shall interact with the consortia in charge of these User Communities in order to - give some input to this project for what concern the receiver investigation. - assess the specifications concerning the user terminal investigated in the User Community projects. Other receiver development activities Synergies can also be found through discussions among the different consortia in charge of the receiver development activities (mass-market, professional and safety of life) planned in the first and in this second call. The contractor shall interact, on request of the GJU, with other consortia in charge of receiver development in the frame of the 1 st or 2 nd call of the Galileo Research and Development project. The contractor shall support these coordination activities in order to develop the necessary synergies between these contracts. Effort The interaction between the consortia of the different projects will be made under the supervision of GJU and will take the form of common workshops or participation to reviews. The contractor shall, at least: - organise one workshop, - participate to workshops organised by the other consortium (at least 4 other workshops). Date and details of the workshop organisation will be decided jointly with the GJU. The objective of each workshop is to provide GJU with a consolidated view on some particular topics that will be defined by GJU (impact on mission evolution on receiver, standardised interface ) The amount of required effort for the coordination between this project and the other GJU 2 nd call project shall not exceed 4 man-months Coordination with other activities Context The objective of this project is to support the development of the user receivers in view of having prototypes available at the IOV phase (when users and service providers will start using it in real environment). During this phase the Galileo System will be tested and validated using different tools under development in the frame of the ESA GalileoSat project. During this validation phase, external feedback on the system performances and on the first signals transmitted during the IOV could contribute to the validation of the - 9 -

10 Galileo system and mission. The receiver developers will of course be in an ideal position, while testing their prototypes, to give some useful feedback. Activities In the frame of this contract, the contractor shall contribute to the preparation of this external feedback to the validation phase of Galileo. This activity shall be based upon its overall receiver development plan (included in the proposal) and more specifically on the activities planned during the IOV phase. The contractor shall - develop in more detail the part of its development plan (presented in the proposal) which will coincide with the IOV phase of the Galileo Program, - indicate what could be its potential contribution to the validation phase of the Galileo System and how he envisaged providing its feedback or the feedbacks of its future consumers to the Galileo Operating Company. Effort The required effort for this activity shall not exceed 2 man months. 2.3 Technological development Context The core of the project aims at developing the different technologies related to the Professional Galileo/GPS receiver in order to contribute to the overall objective of having high-quality and competitive Galileo/GPS receiver (prototypes and products) for the professional, timing and scientific applications of Galileo as soon as possible. The contractor shall orient all its development towards a professional interoperable GPS/Galileo receiver. The general specifications of a professional receiver shall at least integrate the following consideration: - the receiver is based on three frequencies (L1, E6, E5a-E5b), - a receiver with reduced service performance, based on two or one frequency (L1and E5a), can also be considered, - the receiver shall be design to perform high-quality measurement 9in particular for what concerns the carrier phase), - the receiver shall have the capacity to reduce different error sources such as ionosphere perturbation, multipath and interference effect, - make use of additional information (provided by local element) to improve accuracy performance (Differential GNSS, RTK, carrier smoothed code ). In the activities presented hereunder, the contractor shall also take into consideration the specification coming from its targeted market as mentioned in the proposal

11 The technological activities covered by this Statement of Work are organised in three tasks: 1. The investigation and research activities on the core technologies relevant to the professional type of receivers. This task pursues the effort of the first call in the investigation of the core technologies and in the support to advanced research for receiver technologies. It offers the possibility to investigate new techniques, algorithms, design or other relevant features for the professional receiver, in an innovative way, in order to have the adequate core technologies and knowledge in place to manufacture, in due time, receivers answering in the most appropriate way to the requirements of the professional users. This part includes also investigation in core technologies that are closely linked due to the environmental conditions in the different user sector (multipath, interference, jamming ). 2. the development of the different SW/HW components of professional receiver The development of receiver prototype is usually based on tested and improved technologies. This activity is then performed in parallel to the core technologies and shall benefit as much as possible from the different investigations made in the core technology part. Based upon the proposal, the different phases of the development (specification, design, development, testing and validation) can be performed. 3. the development of simulator, test and validation tools As Galileo is not yet transmitting any signals in space, all the developed elements of the receiver have to be tested and validated using different tools. In the frame of this project, for all the aspects concerning the test and validation phase of the developed element, the consortium has the possibility either to use existing tools, or to develop complementary tools. The activities performed in the frame of the three parts are detailed hereunder. The contractor shall perform activities in the first two tasks and, if necessary, in the third task. The activities described in the three tasks can be combined in another way, which could be more convenient for the contractor and in line with its overall development plan Core technology investigation Context The project aims at investigating the necessary core technologies for the professional receiver. These core technologies include the ones related to antennas, front-end, base-band and the receiver architecture and design (advanced antenna techniques multi-array antenna, smart antenna, BOC demodulation, multiple GNSS system in a single receiver, multi frequency carrier phase ambiguity resolution MCAR ). Moreover, it includes also core technologies that are related to the condition of use and the expected performance and robustness of the receiver. Based upon the proposal, investigation in core technologies related to the following items can also be considered in the frame of this project. All the development shall fully take into

12 consideration the EGNOS and Galileo features and not be based only on GPS, for which some of the technology described hereunder are already fully developed today. - Multipath mitigation. The multipath effect is, for professional user, one of the major sources of inaccuracy. For the professional receiver and more specifically for those working in static mode (no dynamics), several multipath algorithms can be investigated. Thus, appropriate implementation (SW or HW) at the receiver level can be performed to reduce multipath effect. The contractor shall in particular consider the Galileo signal design (large band on E5 ) to develop new adapted multipath mitigation algorithm and adapted receiver component design (antenna ). - Advanced antenna technologies for multipath and interference mitigation. Professional receiver and especially those used in GNSS permanent network, require robustness for mutipath and interference errors. Such robustness can come partially from the antenna. The contractor, based upon its proposal, can investigate different antenna technologies, adapted to the professional type of receiver (smart antenna, multi-beam, array ) - RTK - MCAR High precision. As mentioned previously, the high level of accuracy and quality of measurement is one of the main characteristics of the professional receivers. Based upon its proposal, the contractor can investigate the different techniques to increase the accuracy at receiver level. Techniques such as differential-gnss algorithm, real-time ambiguity resolution techniques based on multi-frequency can be considered. The contractor shall of course give a clear emphasis to the Galileo features. The scope of the project shall be limited to the development and implementation of these algorithms inside the receiver and not to the development of the associated local element. - Post processing activity for very high precision. Some professional users (scientific, surveyors ) do not necessarily need real-time position information, but are looking for increased accuracy (down to millimetre level, in differential mode) trough post-processing of the measured raw data. Development of post-processing software of different nature, including Galileo capabilities, can be developed in the frame of this contract. The contractor can also propose which type of information could be made available by the Galileo system to increase the performance of post-processing activities (precise orbit, on-board component logs ). - Low-cost mono- or bi-frequency receiver. Some professional users (GIS, some scientific applications ) require receivers with features that are typical to the professional receiver (like storage of raw data, differential code capability ) but without a so demanding requirement in term of accuracy (GIS, asset monitoring ). These receivers are generally used in dynamic mode (not a static receiver) and impose also some constrains in term of size and energy consumption that shall be taken into consideration during the

13 design phase. For this type of users, the availability of low cost mono- or bifrequency professional receivers can be envisaged. The contractor can then investigate technologies that will allow the development and commercialisation of such a receiver. - Simple antenna. As indicated in the preceding paragraph, some professional users require compact materials. This has also an impact on the antenna (the advanced antenna technologies are generally adapted for reference receiver antenna, but are less pertinent for mobile receiver antenna). Design and development of simple three-frequency antenna can also be performed in the frame of this project. - Commercial service encryption. The ranging code of the E6 signal of Galileo has the capacity to be encrypted for the Commercial Service. In the frame of this contract the contractor can investigate the potential impact on the receiver design and receiver performance of such an encryption. - Reference station for GNSS permanent networks. These permanent networks are usually put in place to form a local element infrastructure, a monitoring network (seismology ), a real-time kinematics permanent network... As mentioned above, the receiver composing GNSS permanent network are generally professional receiver. The contractor can, based upon its proposal, investigate specific technologies for these permanent receivers. Activities linked to the management of the network itself shall not be proposed in the frame of this Statement of Work. Based upon its proposal, the contractor can also perform other developments if they have a clear link with the professional receivers. Activity Based upon the elements already presented in the proposal (core technologies selection), the contractor shall, at the beginning of the project, deeper describe the emerging technologies that will allow the GNSS receiver to better answer the general requirements for the professional and scientific applications. After this first phase (which shall have a duration of maximum 2 months), a set of core technologies will be selected, together with GJU, for further investigations. The contractor shall then perform the necessary investigations to develop, assess and tests the selected core technologies. The utilisation of a Software Receiver for this kind of investigation is appropriate for most investigations. The Software Receiver tool developed in the frame of the first call (GARDA project) can be put at contractor s disposal by the GJU, to be used in the frame of the contract. In which case, the contractor shall finance external engineering support for teaching, installation and support in the utilisation of the Software Receiver

14 In the frame of this contract, the contractor can also choose another tool or to develop its own tool to investigate these core technologies (see paragraph 2.3.3). At the end of the investigation, the contractor shall provide a synthesis report about the investigated core technologies, including the main results Development of the HW/SW component of receiver Context The previous activities aim at developing sufficient knowledge and mastery of core technologies to start designing and developing a prototype of a Galileo/GPS professional receiver. This part is dedicated to the full or partial development of a prototype. The activities performed in this part shall be in line with the overall development plan presented in the proposal. Phases (specification, design and development) The contractor shall perform activities for all the receiver components (Front End, Base-band, Antenna). The contractor shall perform at minimal the specification and design activities for each component of the professional receiver, including the design and architecture of the final professional receiver prototype. Based upon the proposal, which clearly specifies until which phase the different elements will be developed in the frame of the contract and how the other phases will be handled in the future (this shall already been visible in the overall development plan presented in the proposal), the contractor shall perform the different development activities of the various components. Test and validation of the developed element of the prototype An initial testing plan of the developed component has to be drafted in a precedent phase of the project (in parallel with the specification and design). The contractor shall perform the test and validation activities for the items developed in the frame of the project (antenna, front-end, base-band). Based upon the test and validation approach presented by the consortium in its overall development plan, the "test and validation" can be based on the following tools: 1. the Signal Generator developed in the GARDA project, 2. the GSVF developed by ESA in the frame of the GalileoSat project, 3. some COTS product that the contractor is expecting to be available (a mitigation of the risk of non-availability of COTS product shall then be made), 4. a validation tool developed in another frame than the 6th FP Galileo R&D activities financed by the GJU and than the GalileoSat project, 5. a validation tool which development will be done in the frame of this project (see next section)

15 The utilisation of the Signal-In-Space broadcasted by the GSTB-V2 satellite (expected to be launched by the end of 2005) shall also be considered. In case of utilisation of the GARDA or ESA tool, the contractor shall evaluate the number of hours of utilisation of these tools and shall foresee the appropriate budget to finance the engineering support that will assist him during the utilisation of the tool Simulator, test and validation tool Based upon the approach selected by the contractor for the core technology investigations, the project can aim at developing the necessary tools to investigate these technologies. The contractor can also further develop existing tools to adapt them to the required task. Based upon the approach taken by the contractor for the test and validation phase, the project can aim also at developing the necessary test and validation tools. The contractor can also propose to further develop existing tools to adapt them to the required tasks. In both cases the development of these tools shall be performed in different phases (specification, development). 2.4 Awareness The contractor shall participate and present its results at 2 conferences per year The contractor shall develop and maintain a website to present its activity and disseminate the public documentation. 3 DELIVERABLES 3.1 Input From GARDA project The GARDA project is financed by GJU under the first call of the Galileo Research and Development activities. The outcome of this project can be made available to the contractor. The Software Receiver (GRANADA) tool and the Signal Generator (GMCS) are described below. GRANADA A SW receiver described in Appendix 1. GMCS A Galileo Mono-Channel Simulator described in Appendix

16 3.1.2 From other studies Ref Title Delivery Galileo Mission Requirements Document. Call Launch 077 Final Summary Report of Interoperability Call Launch 080 Navigation System Interoperability Analysis Call Launch 081 Non Navigation System Interoperability Analysis. Call Launch Galileo Signal In Space ICD information KO Galileo receiver pre-development information KO 3.2 Output In addition to the documentation requested in the management part (progress report ) and in addition to the deliverables identified in the previous paragraphs of this statement of work, the contractor shall deliver a list of documents that reflect the work accomplished within the project and can support the dissemination of the achieved result outside of the consortium. The delivery dates of the documentation shall coincide with main reviews. The proposal shall indicate the list of deliverable of the project, together with the status of the deliverable for dissemination (public or restricted). 4 APPENDIX A: GRANADA SW RECEIVER 4.1 Introduction The GAlileo Receiver Development Activities (GARDA) project is being carried out in the context of first call of the European Commission 6th Framework Programme, under Galileo Joint Undertaking contract. A Software Receiver is a key element in the GARDA project. The Galileo Receiver ANAnalysis and Design Application (GRANADA) will cover a dual role: test-bench for integration and evaluation of technologies on one side, and SW receiver as asset for GNSS application developers on the other side. It will allow detailed simulations in several key receiver aspects, including acquisition performance, Galileo/GPS interoperability, multipath and interference analyses. 4.2 GRANADA Requirements and functionality The GRANADA application is conceived as a modular and configurable tool, in which the user can embed and test his/her own algorithms with a user-friendly interface. The SW receiver runs on a standard PC under Windows, allowing the maximum use form people not involved in the development. The interfaces will be made by means of text files and of the GUI. GRANADA is an open tool that can be used without restrictions (IPR, COTS) by third parties. Its modular design and architecture shall allow the future development

17 and integration of additional functions (such as local elements, inertial sensors or telecommunications interface). The application recreates in detail the signal processing chain of a Galileo receiver. It models the antenna and the R/F, and processes I/F measurements, including the correlation and filtering, signal and data processing and PVT computation, allowing the use of GPS combined with Galileo. The application shall allow performing analysis and trade-off of several receiver key technologies, such as L5 signal, BOC modulation, utilisation of the pilot tone, receiver architecture, SV selection strategies, interference mitigation, cycle slip detecting and correcting or multi-carrier phase ambiguity resolution. SW Receiver Signal Generation Environment Simulation Front-end Modelling Correlation and Filtering Data files Data files Data files Data files Signal and Data Proces. PVT Computation Signal Simulation SW Receiver Figure 1. GRANADA design 4.3 Suite Description GRANADA is a SW suite including three complementary tools. Each tool allows performing different analyses, or to investigate specific functions and algorithms of the receiver. The three approaches have also different characteristics of modularity, CPU and COTS licenses requirements: Bit-True GNSS SW Receiver Simulator I (Matlab/Simulink): This tool, developed in Matlab/Simulink to provide high modularity, targets receiver experts in the development and analysis of the so-called Receiver core technologies. It implements a single-channel / single-frequency processing, but also allows multiple-channel simulations by a sequential demodulation of the GNSS signals. The GRANADA bit-true simulator will allow performing analyses and simulations of the receiver critical algorithms and architecture design, such as:

18 - Acquisition, in terms of SW, for the different new signals modulations. Several strategies will be implemented, including filters for discriminate the main BOC correlation peak. - E5 signal acquisition. Several possibilities are allowed in the suite for the signal generation: two QPSK signals generated coherently and transmitted through two separate wideband channels on E5a and E5b respectively, or one single wideband signal using an AltBOC(15,10) modulation scheme. For acquisition and tracking, also several possibilities are envisaged, including direct IF sampling in the centre of the E5 band, allowing dualsideband coherent demodulation of E5a+E5b. - Analyses of Galileo / GPS interoperability at receiver component level, including the BOC(1,1) modulation scheme in the L1-Band. - Multipath and interference analyses: due to the modularity of the tool, it is easy to add new scenarios to analyse the behaviour of the GNSS receiver in different environmental conditions Bit-True GNSS SW Receiver Simulator II (C-code version) Auto-coding techniques are used to produce a C code version of the Bit-True GNSS SW Receiver, thus providing the users with a version of the SW receiver that is not dependent on any commercial license GNSS Environment and Navigation Simulator A lightened version of the SW receiver, implemented in C-code, is oriented to application developers who only need external access to raw data (i.e. pseudorange and carrier phase). It includes realistic characterisation of the effect of the different error components depending on the type of terminal and GNSS receiver configuration. It is possible to configure the GNSS constellation (both Galileo and GPS, allowing the derivation of the optimal algorithms for a combined PVT solution), the environmental conditions, satellites and receiver characteristics, the navigation and integrity algorithms. 4.4 Conclusion GRANADA will be the first open tool, running on a commercial PC under Windows, to precisely (bit-true) replicate GNSS receiver HW and algorithms, integrating both GPS and the new Galileo signals. The Galileo Joint Undertaking will be in position to grant licenses to the user community and application developers, proposing GRANADA as a reference SW suite for GNSS receivers

19 5 APPENDIX B: GMCS: A MONO-CHANNEL SIGNAL SIMULATOR 5.1 GMCS Overview The Galileo Mono-channel Simulator is conceived as a tool for the validation of the GARDA prototype receiver. It is designed and manufactured by Space Engineering (Rome). Its purpose is the generation of a single Galileo satellite signals covering the three carriers defined in SIS ICD. The simulation capability is limited to the simultaneous generation of two carriers: L1/E5 or L1/E6. In practice, this is not view as a limitation for the receiver performance testing. On each pair of carriers, the modulation techniques are totally in line with requirements of Galileo SIS ICD. The simulator generates time varying signals, taking account of system geometry (relative motion between transmitter and receiver) and the relevant dynamics, propagation, atmospheric effects, transmitter hardware impairment, receiver antenna characteristics. Additional capabilities are available to simulate signal degradations due to noise, in-band interference, multipath. The simulator is provided with a communication link to an external processor (Personal Computer). A graphical user interface gives the user a powerful way of controlling all major signal parameters and condition of simulation. An embedded, sophisticated self calibration routine periodically checks the signal power level and compensates for unwanted fluctuations. Consequently, the user is not requested to run periodic calibration, avoiding out of service time period. Internal temperature is monitored as well. Self check results and monitors are displayed through the Graphical User Interface. The architecture is based on COTS hardware (for power supply function, clock generation, processors and communication I/F) and custom design for the upconverter (modulator and filtering). The main elements are: AC/DC Power Supply (1 board) DSP (1 board) DSP Builder (2 boards) 1 RF Up-converter (modulator) (1 board), including a reference clock source (10.23 MHz OCXO) VME bus (1 board) 19 inches rack. Personal Computer

20 5.2 GMCS Main Functional Characteristics The GMCS provides Space Segment simulation capability: Signals Overall capability of generating three modulated carriers in the L band [ MHz (L1), MHz (E6), MHz (E5)], and relevant to one SV, in accordance to Galileo SIS ICD. Two pairs of signals simultaneously generated: L1 and E5 signals L1 and E6 signals RF signals are obtained through DDS complex modulation, using a 14 bit DAC sampled at 125 MHz Messages The data message can be selected among three different message structures, independently on each channel: User defined message Dummy message As described in SIS ICD Viterbi convolutional encoding and interleaving capabilities are included Modulations can be imposed or stripped of via SW command SV and Orbit simulation The following transmitter impairments are simulated: HPA AM-AM and AM-PM TX Antenna Radiation Pattern frequency error offset SV trajectories are SW controllable Ionospheric effects are accounted for No orbital perturbation simulation is included (non spherical earth, moon and sun gravitational influence and solar pressure) The following parameters are accurately accounted for: Pseudorange Pseudorange rate, acceleration, jerk Carriers relative delay Modulation uncertainty The GMCS provides User Segment simulation capability: Receiver Kinematic Two acceleration patterns, i.e. constant acceleration and sinusoidal acceleration Geometry processor generates the single Satellite Doppler information including Doppler shift, Doppler rate and Doppler acceleration Noise and Interference The propagation channel impairments model implemented in the GMCS includes a base band digital noise generator. The noise is generated at base band and up converted to RF through he modulation process

21 Simulated noise includes: AWGN in-band noise and in-band tone interferer Externally provided interference can be added through a dedicated RF input port Multipath simulation GMCS includes a four rays multi-path model (frequency selective) GMCS Main operational characteristics Clock stability Local MHz reference oscillator (OCXO) with medium term stability around ±1x10-9 (over 1 day) and long term stability around ±1x10-7 (over 1 year) Phase Noise Phase noise for the 10.23MHz reference Hz -120 Hz -140 KHz -145 KHz -150 dbc/hz Output signal power level The RF output available signal power is function of the elevation Output power level is adjustable in a offset range [-10; +10] db w.r.t. to the nominal value The output signal power is accurate within ±0.5 db (RSS) RF high power monitor port is available for testing (+120dB w.r.t. the nominal RF signal) Interfaces A external clock source can be used instead of the internal one A communication and Control Interface to a Personal Computer is provided, based on RS232 Communication messages input and output are synchronised with time tag pulse. This is useful when running "hardware in the loop" tests All main simulation parameters are controllable through a Graphical User Interface RF output signals are available through SMA connectors, one for each frequency carrier Spreading codes are available at a monitor port A PPS pulse is generated and made available at output

22 Connectors List Port Name IN/OUT Connector Specification Main RF 1 OUT COAXIAL Type SMA Female 50 ohm VSWR <1.2:1 (in band) AC coupled Protection: no damage maximum applied dc level 200V no damage maximum applied RF levels 2W Main RF 2 OUT COAXIAL Type SMA Female Same as Main RF 1 Monitor Port RF 1 OUT COAXIAL Type SMA Female 50 ohm VSWR <1.2:1 (in band) DC coupled Protection: no damage maximum applied dc level 20V no damage maximum applied RF levels 2W Monitor Port RF 2 OUT COAXIAL Type SMA Female Same as Calibration Port RF 1 Interference IN COAXIAL Type SMA Female 50 ohm VSWR <1.4:1 (in the range 1 to 2 GHz) External IN COAXIAL BNC socket 50 ohm -5 to +13 dbm Frequency Standard Internal Standard OUT COAXIAL BNC socket MHz +10 dbm nominal Spreading Code OUT COAXIAL BNC socket 50 ohm TTL level compatible Synchroniser OUT COAXIAL BNC socket 50 ohm TTL level compatible. Communication IN/OUT Cannon Interface Standard and Control HOST (1PPS) OUT 25-WAY D socket RS232 SYNC (1PPS) IN COAXIAL BNC socket 50 ohm TTL level compatible

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