空时自适应处理中卫星信号互相关峰值偏移分析

将空时自适应处理建模为一个有限冲激响应（FIR）滤波器,分析了空时自适应处理对导航信号的码相位偏移。该滤波器的响应同时取决于信号的频率和入射方向,将滤波器的输出与本地序列进行相关,可求得互相关峰值的偏移量。以GPS中的C/A码为例,针对空时自适应处理中典型的最小方差（MV）和最小方差无失真响应（MVDR）准则进行了仿真实验。结果表明,干扰从低仰角入射时影响范围更大,而MV准则在抑制干扰的同时,带来的互相关峰值偏移较MVDR更加明显。     

基于多传感器的民航客机定位

为获取民航客机落地前的高精度位置,本文探讨了一种基于多传感器的民航客机高精度定位方法。在飞机飞行过程中,机载数据记录器会记录整个飞行过程中GPS接收机、无线电高度表、惯性导航系统等传感器数据;在飞机落地后,利用无线电高度表数据、GPS数据进行位置差分,再利用惯性导航数据进一步优化,可大幅提高落地前垂直定位精度。结果表明,通过本文方法在机场跑道入口前2 km,飞机定位精度大幅提高,垂直定位精度可以达米级,满足事后调查需求。     

基于DSP技术的GPS接收机天线自适应抗干扰模块的设计与实现

针对GPS接收机在接收信号的过程中经常存在由于干扰信号的影响而导致接收机无法跟踪锁定有用信号,从而失去精确导航定位的能力问题,提出了一种在天线部分增加一个自适应抗干扰模块的解决办法,并用TI公司的TMS320C6416芯片实现了该方案。     

A GNSS interference identification using an adaptive cascading IIR notch filter

A low-complexity time-domain approach for global navigation satellite systems is proposed to detect and identify single-tone, multi-tone, swept continuous wave interference (CWI) and band-limited white Gaussian noise (BLWN). An adaptive notch filter and adaptive cascading filter structure are employed to identify the type of interference signals. The number of the cascading stages is selected by comparing the total power in receiver bandpass, and after, passing the adaptive notch filter. For this reason, the proposed filter structure is more efficient in identifying and mitigating interference signals than the conventional filter structure. In addition, the automatic gain control gain is used to detect the existence of continuous wave interference. The performance of the interference detection and identification method is evaluated for the cases of GPS signal in the presence of single-tone, multi-tone, swept CWI and BLWN.     

Investigation of GPS antenna mean phase centre offsets using a full roving observation strategy

In practice, a relatively simple calibration method of full rotation and antenna swapping techniques can be used to control individual GPS antenna mean phase centre offsets without any ground truth survey. Based on these techniques a new full roving strategy is introduced, which is a generalisation of the full rotation and antenna swapping techniques for estimating all of the three components of the mean phase centre offsets in one processing step. This new technique can be used not only for calibration purposes, but also as an observation strategy for a local high-precision network. In the latter case, the proposed method is similar to the classical geodetic approaches, where the biases are cancelled or estimated by proper observation strategies.     

GBAS testbed development in Taiwan with a prototype GPS/GBAS receiver

In this paper, we present the development of a local area differential GPS testbed of the ground-based augmentation system (GBAS) as the future airport navigation facility in the Taipei Flight Information Region (FIR) in Taiwan. The testbed is mainly a GBAS ground facility, which consists of a ground station, three GBAS receivers, and a VDL (VHF data link) broadcast antenna. We also present an airborne GPS/GBAS prototype receiver in this paper. The airborne subsystem (a GPS/GBAS receiver) receives the correction messages from the ground subsystem to perform a differential GPS (DGPS) positioning. In order to provide an ILS-look-alike approach and landing, the output messages of the airborne receiver are packed in an ARINC 429 format. The proposed airborne system has a software-based global navigation satellite system (GNSS) receiver structure.     

风云三号D卫星GPS信号功率调整及干扰分析

全球定位系统(global positioning system,GPS)卫星的IIR和IIF卫星能够在各个信号分量之间重新分配其发送信号的功率,一个或多个GPS信号可以在指定区域根据需要进行功率调整或者关闭。分析GPS信号的变化特征对于地面和空间应用有重要的意义。风云三号D(FengYun-3D,FY-3D)卫星是中国极轨气象卫星之一,利用FY-3D卫星实际测量数据可以帮助GPS用户全面了解GPS功率调整的特点。首先,利用FY-3D运行轨道全球覆盖的特点分析GPS信号的强度,特别是GPS信号功率调整时间段信号变化的特点;然后,使用在轨数据研究了全球范围L波段信号干扰的特征,得到了干扰对全球导航卫星系统掩星探测仪掩星天线的自动增益控制和基底噪声的影响。结果表明：从2020-02-14开始的GPS功率调整以[35°N,37°E]和[35°N,69°E]为中心,覆盖半径约为7 500 km,在该区域内GPS P(Y)码功率增加约10 dB;GPS L1和L2频段在中东地区持续受干扰的影响,该区域的基底噪声比其他区域增加约3～10倍;干扰区域中心点和GPS功率调整区域中心点大致在同一位置。G...     

DME/TACAN interference mitigation for GNSS: algorithms and flight test results

The Galileo E5a/E5b signals and the Global Positioning System (GPS) L5 signal lie within the aeronautical radionavigation services (ARNS) band. They suffer interference from the services in this frequency band, in particular, pulsed signals from distance measuring equipment (DME) and tactical air navigation (TACAN) systems. To maintain system accuracy and integrity, interference mitigation is beneficial and necessary. We first present the real DME/TACAN environment at Stanford, CA as an example to illustrate the need for mitigating DME/TACAN interference. We then propose a time and frequency joint mitigation algorithm—Hybrid Blanking and its simplified version, frequency domain adaptive filtering (FDAF) for hardware implementation. Finally, a flight measurements campaign was performed over a European DME/TACAN hotspot near Frankfurt, Germany, to record a worst-case DME interference environment. Recorded data from the flight tests mixed with injected GNSS signals verify the effectiveness of the proposed mitigation algorithm.     

基于盲信号分离的机载VDB接收机同频干扰抑制

针对民航飞机利用陆基增强系统(GBAS)进行精密进近着陆过程中,GBAS机载甚高频数据广播(VDB)接收机所受到的同频干扰问题,提出采用盲信号分离算法,对VDB接收机所接收到的期望信号与同频干扰信号进行分离,并通过识别解码数据中的机场标识(ID),得到所需期望信号,从而抑制同频干扰信号. 分析并仿真了基于快速固定点(Fast ICA)算法、自然梯度算法和等变自适应分离(EASI)算法,对VDB接收机接收到的混合信号进行分离的机理和同频干扰抑制的实现. 仿真结果表明,这三种算法均能有效分离期望信号与同频干扰信号,进而进行同频干扰抑制,并通过比较三种算法的收敛速度、串音误差和误码率,得出 Fast ICA算法更适合用于VDB信号的同频干扰抑制.      

An approach to GLONASS ambiguity resolution

 When processing global navigation satellite system (GLONASS) carrier phases, the standard double-differencing (DD) procedure cannot cancel receiver clock terms in the DD phase measurement equations due to the multiple frequencies of the carrier phases. Consequently, a receiver clock parameter has to be set up in the measurement equations in addition to baseline components and DD ambiguities. The resulting normal matrix unfortunately becomes singular. Methods to deal with this problem have been proposed in the literature. However, these methods rely on the use of pseudo-ranges. As pseudo-ranges are contaminated by multi-path and hardware delays, biases in these pseudo-ranges are significant, which may result in unreliable ambiguity resolution. A new approach is addressed that is not sensitive to the biases in the pseudo-ranges. The proposed approach includes such steps as converting the carrier phases to their distances to cancel the receiver clock errors, and searching for the most likely single-differenced (SD) ambiguity. Based on the results from the theoretical investigation, a practical procedure for GLONASS ambiguity resolution is presented. The initial experimental results demonstrate that the proposed approach is useable in cases of GLONASS and combined global positioning system (GPS) and GLONASS positioning. Received: 19 August 1998 / Accepted: 12 November 1999     

GNSS/INS integration: still an attractive candidate for automatic landing systems?

During the last years, the International Symposia on Precision Approach and Automatic Landing (ISPA) have shown a considerable change in the significance of integrated landing systems. At the first ISPA conference in 1995, the combination of inertial sensors and GNSS receivers was thoroughly discussed and appeared to be a very promising concept, especially with respect to ‘Integrity’ and ‘Continuity’. Ever since, this particular combination of sensors has received little attention. A comprehensive discussion of the technical background of this setback for integrated landing systems did not take place, primarily because of the popular opinion that the Kalman filter algorithm, which is the system integration kernel, is not sufficiently stable. The true reason has meanwhile been identified. The aiding of an inertial navigation system by only one GNSS antenna is insufficient in phases of low aircraft dynamics such as in the case of final approach. Instead, a multi-antenna system is required with antennas widely distributed over the aircraft structure. This latter approach, however, causes problems due to structural flexibilities. To show that an integrated system based on inertial sensors and widely distributed GNSS antennas is technically feasible, the paper discusses the following topics. (1) Unstable system performance during final approach for 1-antenna-aiding. (2) Improving the system performance prior to using additional antennas. (3) Effect of the antenna distribution. (4) Integrated systems for distributed sensors and flexible aircraft structures. The paper shows that integrated systems are still an attractive candidate for automatic landing equipment preserving the advantages with respect to ‘Integrity’ and ‘Continuity’.     

Effects of azimuthal multipath asymmetry on long GPS coordinate time series

Carrier phase multipath is currently one source of unmodeled signals that may bias GPS coordinate time series significantly. We investigate the effect of simulated carrier phase multipath on time series of several sites covering the period 2002.0–2008.0 and spanning a range of observation geometries. High-, mid-, and low-latitude IGS sites are investigated as well as sites with significant signal obstructions. We examine the effect of multipath in different sectors of the sky, considering time-constant, horizontal reflectors at each of 0.1, 0.2, and 1.5 m below the antenna. The differences between a horizontally uniform multipath source are analyzed, and it is shown that positioning errors are generally larger when unmodeled carrier phase multipath is azimuthally heterogeneous. Using the adopted multipath model, height biases reach ±1 mm in case of the symmetric multipath and ±5 mm for the asymmetric multipath but this increases to being ±10 mm in the worst case. In addition to mean bias, low-frequency variations in the bias also exist, including periodic signals and leading to velocity biases of up to ±0.1 mm/year in the symmetric case and ±1 mm/year in the asymmetric case over the considered period. In contrast to the generally slowly varying observation geometry that is typically experienced, we show the effects of an abrupt change in geometry due to receiver/antenna hardware changes; in the case considered, we see changed pattern of temporal variation in the bias in addition to an instantaneous offset.     

自适应调零天线技术在组合导航抗干扰中的应用

目前GPS／INS制导控制技术已成为精确制导武器的核心技术。根据GPS导航的特点及GPS／INS制导机理,对压制式干扰对GPS接收机的影响进行了分析,并分析了采用自适应调零天线技术来提高GPS／INS组合式导航抗干扰能力的有效性。     

Antenna phase center calibration for precise positioning of LEO satellites

Phase center variations of the receiver and transmitter antenna constitute a remaining uncertainty in the high precision orbit determination (POD) of low Earth orbit (LEO) satellites using GPS measurements. Triggered by the adoption of absolute phase patterns in the IGS processing standards, a calibration of the Sensor Systems S67-1575-14 antenna with GFZ choke ring has been conducted that serves as POD antenna on various geodetic satellites such as CHAMP, GRACE and TerraSAR-X. Nominal phase patterns have been obtained with a robotic measurement system in a field campaign and the results were used to assess the impact of receiver antenna phase patterns on the achievable positioning accuracy. Along with this, phase center distortions in the actual spacecraft environment were characterized based on POD carrier phase residuals for the GRACE and TerraSAR-X missions. It is shown that the combined ground and in-flight calibration can improve the carrier phase modeling accuracy to a level of 4 mm which is close to the pure receiver noise. A 3.5 cm (3D rms) consistency of kinematic and reduced dynamic orbit determination solutions is achieved for TerraSAR-X, which presumably reflects the limitations of presently available GPS ephemeris products. The reduced dynamic solutions themselves match the observations of high grade satellite laser ranging stations to 1.5 cm but are potentially affected by cross-track biases at the cm-level. With respect to the GPS based relative navigation of TerraSAR-X/TanDEM-X formation, the in-flight calibration of the antenna phase patterns is considered essential for an accurate modeling of differential carrier phase measurements and a mm level baseline reconstruction.

Carrier phase multipath error characterization and reduction in single aircraft relative positioning

This paper describes GPS carrier phase (CP) multipath characterization and error reduction techniques and their application in single aircraft relative positioning. In particular, the single aircraft relative positioning scenario has applications for high-accuracy multi-sensor stabilization where CP multipath is a major error source that limits system performance. We will briefly review the requisite multipath theory and discuss models for quantifying the error characteristics. Field-test data will be used to validate the multipath models considering the underlying assumptions. A basic geometric reflection point theory will be presented to demonstrate the physical environmental sensitivity of CP multipath to parameters such as surface flatness and antenna height. Several different quantities will be described as multipath indicators for time-domain detection and will be compared with a frequency-domain technique. A new multipath detection approach will be introduced that is suitable to track multipath from time-varying reflection/diffraction points. Finally, the narrow-lane antenna baseline processing technique will be presented as a real-time approach to mitigate CP noise and multipath errors that is well suited for a very short baseline single aircraft high accuracy relative positioning system. Field-test results and analysis will be used to illustrate the key concepts in this paper and to help characterize the total navigation system performance.     

The confidence evaluation for airborne GPS data

l lntroductionIn the winter Of l989 Wuhan Technical Universi-ty of Surveying and Mapping COntracted withTrimble Navigation Ltd. to purchase fOur TrimbIe4000SST receivers. They were required tO suit theaeriaI phWetric work without intreducing avelocity limitation. In February, l993 twO of thereceivers were uPgraded to provide two eventrnarker plugfords and one pulse Per second(lPPS) output axkets. The uPgradd receivers canincormrate external event markers, e. g. the shutter.oPening …     

Empirical modelling of site-specific errors in continuous GPS data

Continuous global positioning system (GPS) stations propagate biases and spurious signals into the derived parameter time series when the measurements are subject to site-specific effects, such as multipath. This is a particular problem in the investigation of geophysical and atmospheric phenomena where signals may be small in magnitude. A methodology to remove these erroneous signals from long-term time series will significantly increase the usefulness of the derived time series. This work provides the theoretical basis for use of an empirical site model (ESM) derived from post-fit phase residuals to mitigate unmodelled site-specific errors. Additionally, we also investigate the effectiveness of applying an ESM to a regional GPS network and a short baseline solution. Under most observing scenarios, we show that the ESM approach is predicted to improve the precision and accuracy of the site coordinates. However, it is important to note that we found some scenarios where the ESM can introduce a bias. For instance, when the antenna is mounted close to the ground. In this scenario, for a short baseline, we observed the introduction of a 4-mm bias in height. Use of an ESM for the same short baseline with an uncalibrated radome substantially improves the results by removing a large bias of over 10 mm in height. Similarly, application of an ESM derived from historic data yields similar improvements. This demonstrates that the ESM can be a powerful tool when applied to appropriate site-specific configurations and could potentially be implemented in routine GPS analysis for a broad range of applications.     

干扰对BDS信号频域及调制域的影响评估

北斗卫星导航系统（BDS）极易受到空中或地面干扰的影响,信号质量因此发生改变,导航性能大大降低.评估干扰对BDS信号质量的影响,可以为干扰监测技术奠定基础.借助矢量信号源发出不同类型的干扰信号,通过时频分析设备获取其信号特性,并将干扰叠加到由高增益天线接收到的实际BDS信号中,对叠加数据进行离线处理,从频域及调制域两方面分析信号质量.结果表明:空间环境的干扰恶化了BDS信号,不同类型的干扰对信号质量影响程度不同,功率谱及星座图处理结果可作为分析干扰环境中BDS信号质量的基本依据.      

GPS snow depth meter with geometry-free linear combinations of carrier phases

Multipath in global positioning system (GPS) is the interference of the microwave signals directly from satellites and those reflected before reaching the antenna, typically by the ground. Because reflected signals cause positioning errors, GPS antennas are designed to reduce such interference. Recent studies show that multipath could be utilized to infer the properties of the ground around the antenna. Here, we report one such application, i.e. a fixed GPS station used as a snow depth meter. Because the satellite moves in the sky, the excess path length of reflected waves changes at rates dependent on the antenna height. This causes quasi-periodic variations of the amplitude and phase of the received signals. Accumulation of snow reduces effective antenna heights, and we can see it by analyzing multipath signatures. Signal-to-noise ratios (SNR) are often used to analyze multipath, but they are not always available in raw GPS data files. Here, we demonstrate that the geometry-free linear combination (L4), normally used to study the ionosphere, can also be used to analyze multipath signatures. We obtained snow depth time series at a GPS station in Hokkaido, Japan, from January to April in 2009 using L4 and SNR. Then, we compared their precisions. We also discuss mechanisms responsible for the possible underestimation of the snow depth by GPS. Finally, we investigate the possibility of inferring physical conditions of the snow surface using amplitudes of multipath signatures.     

Comparison of Absolute and Relative Antenna Phase Center Variations

Three major GPS antenna calibration methods are available toda: the relative field calibrations using the GPS data collected on short baselines, the absolute field calibrations, where the GPS antenna is rotated and tilted by a robot, and calibration measurements in an anechoic chamber. Mean antenna offsets and the elevation-dependent phase center variations of GPS antennas determined by all three techniques are compared to assess their accuracy. The analysis of global GPS data with these sets of calibration values reveals that the offsets and variations of the satellite antenna phase centers have to be considered, too, to obtain a consistent picture. ? 2001 John Wiley & Sons, Inc.