Multi-Receiver Vector Tracking Yuting Ng and Grace Xingxin Gao please feel free to view the.pptx version for the speaker notes
Cutting-Edge Applications UAV formation flight remote sensing interference mitigation Network Sync. PMU time voltage/ current Sampling Device synchronized phasor measurements SAR-GNSS Processing 1
State-of-the-Art Techniques increased availability EKF VDLL VFLL IMU beamstearing Signal tracking clock Multiple antennas External aiding increased robustness RTK PPP DGPS Multiple receivers 2
State-of-the-Art Techniques increased availability EKF VDLL VFLL IMU beamstearing Signal tracking clock Multiple antennas External aiding increased robustness RTK PPP DGPS Multiple receivers 2
State-of-the-Art Techniques increased availability EKF VDLL VFLL IMU beamstearing Signal tracking clock Multiple antennas External aiding increased robustness RTK PPP DGPS Multiple receivers Cooperative Navigation Joint Signal Tracking 2
Multi-Receiver Vector Tracking Joint tracking of multiple GNSS receivers for increased accuracy, robustness and reliability 3
Outline Motivation Coop Nav, Joint Signal Tracking Our Approach Multi-Receiver Vector Tracking Implementation Hardware, Python SDR Experimental Validation Summary
MRVT Receiver Architecture incoming raw signal Channel 1... Receiver Channel N......... Receiver Receiver Network Scheme Scalar SRVT MRVT Entities N x M Channels M Receivers 1 Network Unknowns N x M x 4 M x 8 1 x 14 N Channels M Receivers 4 Unknowns M Receivers 8 Unknowns 1 Network 14 Unknowns 4
Comparison with other GNSS Processing Implementations Antenna array Differential GPS (DGPS) GNSS Receiver measurements / coordinates Nav Filter GNSS Receiver GNSS Receiver Single-Receiver Vector Tracking (SRVT) Multi-Receiver Vector Tracking (MRVT) 5
MRVT Block Diagram 6
MRVT Block Diagram 6
Single Receiver Vector Tracking Loop EKF-based Filter Vector Delay Lock Loop - James J. Spilker, Jr. Global Positioning System-Theory and Applications, Volumes I, II. AIAA, Washington, DC., 71996.
Single Receiver PIA Vector Tracking State Representation Process Noise Cov. 8
Single Receiver PIA Vector Tracking State Representation Process Noise Covariance Matrix σ 2 σ 2 9
MRVT Block Diagram 10
MRVT Loop 11
MRVT Variations MRVT Enforce baseline, attitude and velocity constraints Enforce timing constraints MRPIAVT Enforce timing constraints clock bias differ by constant clock drift same 12
Multi-Receiver Vector Tracking Receiver Network Channel Receiver LOS Projections Code and Carrier NCO EKF incoming GPS signal Correlator Code and Carrier Discriminators Time Update Measurement Update MRVT Filter navigation solution a priori information 13
Outline Motivation Coop Nav, Joint Signal Tracking Our Approach Multi-Receiver Vector Tracking Implementation Hardware, Python SDR Experimental Validation Summary
Overall Implementation GNSS antennas ADCs Network Receiver Hardware Software (Python SDR) 4.60m 14
Python SDR : Research Platform Share information effectively SDR (Software Defined Radio) OOP (Object-Oriented Programming) 15
Python SDR : Research Platform 16
Python SDR : Teaching Platform 17
Python SDR : Teaching Platform 17
Outline Motivation Coop Nav, Joint Signal Tracking Our Approach Multi-Receiver Vector Tracking Implementation Hardware, Python SDR Experimental Validation Summary
MRVT Positioning Results SRVT MRVT SRVT zoomed in MRVT zoomed in 18
MRVT Positioning Results SRVT MRVT SRVT zoomed in MRVT zoomed in 18
MRVT Results: Reliable Altitudes 19
MRVT Results: Accurate Baselines 19
MRVT Results: Less Noisy Speeds 19
Results with Buildings+Accelerations SRVT MRVT 20
Results with Buildings+Accelerations SRVT zoomed in MRVT zoomed in 20
MRPIAVT Results: Improved Timing Accuracy SRVT MRPIAVT 21
MRPIAVT Results: Improved Timing Accuracy SRVT MRPIAVT 21
MRPIAVT: Resistant to Jamming Added noise of different levels Clock bias comparison across different noise power Clock drift comparison across different noise power 22
MRPIAVT: Robust to Meaconing weak meaconing (1:1 power ratio) clock bias clock drift state error cov robust to attack strong meaconing (100:1 power ratio) clock bias clock drift state error cov attack detected 23
MRPIAVT: Detects Data Spoofing Attacked af 0 in Subframe 1 of Ephemerides satellite clock biases shifted by 4s clock bias clock drift state error cov attack detected 24
Outline Motivation Coop Nav, Joint Signal Tracking Our Approach Multi-Receiver Vector Tracking Implementation Hardware, Python SDR Experimental Validation Summary
Summary Proposed Multi-Receiver Vector Tracking (MRVT) Cooperative navigation Joint signal tracking Designed MRVT Architecture Implemented in Python SDR Conducted MRVT Experiments Validated Performance Improvements MRVT : Demonstrated increased accuracy in horizontal heading, altitudes, baselines, speeds, timing MRPIAVT : Demonstrated improved timing accuracy and precision, robustness against timing attacks 25
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