From GPS and GLONASS via EGNOS to Galileo – Positioning and Navigation in the Third Millennium

Positioning and navigation – as are presently possible with the American Global Positioning System (GPS) and the Russian GLONASS system – is briefly reviewed. Deficiencies, which have led to augmentations like the European Geostationary Navigation Overlay System (EGNOS), are outlined. Europe's decision to get involved in the definition and possible set-up of a Global Navigation Satellite System (GNSS) of the second generation (GNSS-2), called Galileo, is discussed in detail as well as the GPS modernization program that might take place during the sample phase. Finally, some brief thoughts on the benefit of GNSS-2 for geodesy and surveying are given. ? 2000 John Wiley & Sons, Inc.     

The Law and the GPS Industry

The law affects the Global Positioning System (GPS) industry both on a macro and on a micro level. On a macro level, issues such as future regulation of telematics, frequency spectrum allocation, and international agreements will shape the future of the industry. On a micro level, GPS companies can benefit from knowledge of legal pitfalls common in the high technology arena. Many thanks to Ingrid Lagarrigue, a French aviation and space lawyer specializing in Global Navigation Satellite legal issues, for her assistance and comments. ? 2000 John Wiley & Sons, Inc.     

BDS监测站坐标维持的探讨

北斗二代卫星导航系统（BDS）监测站建设是在北斗一代的基础上进行的,为方便管理,监测天线安装在各监测站楼顶上,稳定性不够,同时北斗二代卫星导航系统目前采用的2000中国大地坐标系,归算误差较大。本文针对这些问题,分析了北斗卫星导航系统监测站由时变效应引起的位置变化量和地表沉降对监测站坐标维持的影响,论述了目前时变效应处理方法存在的误差的量级,讨论了美国GPS所使用的WGS-84坐标框架的维持与更新方法。最后,结合北斗卫星导航系统监测站的建设现状,从监测站的建设、数据处理等方面提出了建立测站坐标时间序列,维持北斗卫星导航系统监测站坐标的可行性方法,并提出了意见与建议。      

面向遥感的GNSS反射信号接收处理系统及实验

提出了一种新的GNSS-R信号接收处理系统（GNSS-Rreceiver system,GRrSv.2）的结构及信号处理方法。该系统可同时针对直射和反射的GNSS信号协同处理,并输出可配置延迟和多普勒的二维相关值矩阵。为了验证系统的性能,进行了针对海洋和陆地遥感的机载和岸基验证实验,并给出了初步的实验结果。     

多频多模接收机差分码偏差的精密估计与特性分析

全球导航卫星系统（Global Navigation Satellite System,GNSS）探测大气电离层需要精确处理由接收机差分码偏差（differential cade bias,DCB）引起的系统误差。准确掌握接收机DCB的多时间尺度精细变化等特性是联合美国GPS、中国北斗卫星导航系统（BeiDou navigation satellite system,BDS）和欧盟Galileo等多GNSS技术监测电离层所面临的主要科学问题之一。为此,提出了基于零基线精密估计站间单差接收机DCB的方法,并对站间单差接收机DCB的日加权平均值进行了分析。基于4台多模接收机采集于2013年的双频观测值,揭示了站间单差接收机DCB的变化可能受3种因素的影响,即接收机内置软件的版本升级（实验中引起了约3 ns的显著增加）、拆卸个别接收机所导致的观测条件改变（实验中引起了约1.3 ns的显著减少）和估计方法的误差（引起了与导航系统卫星几何结构重复性相一致的周期性变化）等。     

Android智能手机GNSS定位性能分析

随着全球卫星导航系统(GNSS)的发展和移动通信技术的进步,用户对位置服务(LBS)提出了更高的要求. 本文采用市面上常见的两部Android智能手机采集GNSS数据,对Android智能手机伪距单点定位(SPP)和单频精密单点定位(PPP)算法进行研究,分析了在不同条件下智能手机的SPP、单频PPP定位性能. 结果表明:在使用多普勒平滑伪距和信噪比随机模型的基础上,Android智能手机GPS单系统的SPP定位精度可达3 m,GPS、Galileo、GLONASS、北斗卫星导航系统(BDS)四系统定位精度可达亚米级. 在单频PPP静态定位中,在GPS单系统下,定位精度仅能达到米级,且收敛时间较长;在GPS、Galileo、GLONASS、BDS四系统下,定位精度可达亚米级,且平面方向可在40 min内收敛. 在单频PPP动态定位中,手机的定位精度仅能达到米级.      

基于北斗的精密单点定位估计对流层天顶延迟精度分析

通过全球导航卫星（GNSS）系统获取对流层天顶延迟对于气象和电波折射修正具有重要应用价值。利用自主研发的静态精密单点定位软件CRPPP,基于国际GNSS地球动力学服务局（IGS）发布的北斗系统（BDS）精密星历和精密钟差,给出了BDS估算天顶延迟结果。以IGS发布的全球定位系统（GPS）结果为参考对比,BDS估算天顶延迟结果平均偏差优于5mm,均方根误差（rms）优于2．3cm．同时,给出了西沙地区GPS与BDS估计结果,结果表明：利用北斗系统估计的对流层天顶延迟精度与GPS相当。     

European GNSS – Competitive, Yet Cooperative

The management of the Global Positioning System (GPS) by the U. S. Department of Defense (DoD) has been the subject of persistent criticism by the global community of users in general and particularly in Europe. The European Union (EU) is considering various global navigation satellite systems (GNSS) that would provide it with varying degrees of control, autonomy, and specificity of use. The gamut of options includes various augmentations of GPS, a combination of GLONASS and GPS, and its own GNSS, dubbed Galileo. We discuss the concerns of the global community with respect to GPS and the motives that drive the GPS globalization debate. We also describe the various European GNSS concepts and initiatives, and the likelihood for their realization as substitutes to the GPS. ? 1999 John Wiley & Sons, Inc.     

A priori knowledge-free fast positioning approach for BeiDou receivers

GPS Solutions - A Global Navigation Satellite System (GNSS) receiver usually needs a sufficient number of full pseudorange measurements to obtain a position solution. However, it is time-consuming...     

Development and testing of a new ray-tracing approach to GNSS carrier-phase multipath modelling

Multipath is one of the most important error sources in Global Navigation Satellite System (GNSS) carrier-phase-based precise relative positioning. Its theoretical maximum is a quarter of the carrier wavelength (about 4.8 cm for the Global Positioning System (GPS) L1 carrier) and, although it rarely reaches this size, it must clearly be mitigated if millimetre-accuracy positioning is to be achieved. In most static applications, this may be accomplished by averaging over a sufficiently long period of observation, but in kinematic applications, a modelling approach must be used. This paper is concerned with one such approach: the use of ray-tracing to reconstruct the error and therefore remove it. In order to apply such an approach, it is necessary to have a detailed understanding of the signal transmitted from the satellite, the reflection process, the antenna characteristics and the way that the reflected and direct signal are processed within the receiver. This paper reviews all of these and introduces a formal ray-tracing method for multipath estimation based on precise knowledge of the satellite–reflector–antenna geometry and of the reflector material and antenna characteristics. It is validated experimentally using GPS signals reflected from metal, water and a brick building, and is shown to be able to model most of the main multipath characteristics. The method will have important practical applications for correcting for multipath in well-constrained environments (such as at base stations for local area GPS networks, at International GNSS Service (IGS) reference stations, and on spacecraft), and it can be used to simulate realistic multipath errors for various performance analyses in high-precision positioning.     

Correction of fractional cycle bias of pseudolite system for user integer ambiguity resolution

GPS Solutions - A Global Navigational Satellite System (GNSS) tomography system is implemented in the Lisbon area, Portugal, to estimate the water vapor dynamics at a local scale. A field...     

多模 GNS 统一定位关键技术研究及精度分析

在卫星定位中,观测环境的优劣对最终定位结果精度有着显著性影响,单GPS系统因为其可观测卫星颗数少和自身星座分布的共同影响,载波相位周跳频繁,定位解的误差大、可靠性低、稳定性差。本文对多模GNSS （ Global Navigation Satellite System ）解算中时空系统的统一,组合单点定位模型和差分定位模型等关键技术进行了研究,实现了多模GNSS组合定位,改善了卫星相对于测站的几何分布,环境适应性加强,使得定位精度、系统冗余度和可靠性大幅提高,最后使用车载数据进行实验验证。验证结果表明,多模GNSS观测卫星数相比单GPS系统而言,观测卫星数增加了2倍,PDOP值降低了42％,极大地提高了差分定位解的成功率,固定解比例提高了18．3％。这充分说明了多模GNSS统一定位的可行性和优越性。     

GNSS自适应抗干扰软件研发平台

介绍了我们研制的全球导航卫星系统（GNSS）自适应抗干扰软件研发平台的组成与功能。自适应抗干扰平台主要由数据源单元,抗干扰算法单元,软件接收机单元,定位结果显示单元组成。该平台可用于各种GPS抗干扰算法的验证与比较。该平台目前是基于GPS来开发的,将来也可以用于其它卫星导航系统抗干扰算法的研制。     

谷歌Nexus 9智能终端原始GNSS观测值的质量分析

从信噪比、伪距残差、相位残差等方面对开阔环境下的静态谷歌Nexus 9智能平板终端的原始全球导航卫星系统（Global Navigation Satellite System,GNSS）观测数据质量进行了分析评估,结果表明,Nexus 9平板的全球定位系统（Global Positioning System,GPS）、GLONASS观测值的信噪比比测量型接收机低10 dBHz左右;伪距精度分别为5.43 m、11.39 m,相位精度分别为4.44 mm、4.99 mm;相对于高度角来说,信噪比与伪距残差的相关性更强,更能反映观测数据的质量。在此基础上给出了信噪比定权的随机模型,并进行了开阔环境下的伪距单点定位测试。实验结果表明,基于信噪比定权的单点定位平面精度为2.74 m,高程精度为4.56m,比高度角定权精度提高了约26%。     

GNSS技术在GEO、IGSO航天器中的导航精度与适用性分析

现阶段高轨道航天器导航主要依靠地基测控系统,为了研究全球卫星导航系统(GNSS)技术用于高轨道航天器导航的可行性,对GNSS技术在地球静止轨道(GEO)卫星、倾斜地球同步轨道(IGSO)卫星航天器中的导航精度及适用性展开了分析研究. 采用2021年11月9日的两行轨道数据(TLE)仿真GNSS星座,以不同星下点的GEO卫星和不同倾角的IGSO卫星作为目标星展开导航仿真试验. 实验结果表明:为了满足GNSS解算所需的卫星数量,须通过接收旁瓣信号来增加可见卫星数目. 对GEO目标星而言,当接收机灵敏度高于?169 dB时,导航精度可达30 m;利用GPS对7个不同的GEO或IGSO轨道目标星进行导航实验表明,GPS对目标星导航的位置误差约为35 m;北斗三号(BDS-3)、GPS、GLONASS、Galileo的导航位置误差均值分别为28.03 m、21.16 m、37.15 m、25.09 m,具有良好的内符合精度,其中GPS精度最高,GLONASS精度最低,但大部分时段也在45 m内.      

Mutual validation of GNSS height measurements and high-precision geometric-astronomical leveling

The method of geometric-astronomical leveling is presented as a suited technique for the validation of GNSS (Global Navigation Satellite System) heights. In geometric-astronomical leveling, the ellipsoidal height differences are obtained by combining conventional spirit leveling and astronomical leveling. Astronomical leveling with recently developed digital zenith camera systems is capable of providing the geometry of equipotential surfaces of the gravity field accurate to a few 0.1 mm per km. This is comparable to the accuracy of spirit leveling. Consequently, geometric-astronomical leveling yields accurate ellipsoidal height differences that may serve as an independent check on GNSS height measurements at local scales. A test was performed in a local geodetic network near Hanover. GPS observations were simultaneously carried out at five stations over a time span of 48 h and processed considering state-of-the-art techniques and sophisticated new approaches to reduce station-dependent errors. The comparison of GPS height differences with those from geometric-astronomical leveling shows a promising agreement of some millimeters. The experiment indicates the currently achievable accuracy level of GPS height measurements and demonstrates the practical applicability of the proposed approach for the validation of GNSS height measurements as well as the evaluation of GNSS height processing strategies.     

Phase center modeling for LEO GPS receiver antennas and its impact on precise orbit determination

Most satellites in a low-Earth orbit (LEO) with demanding requirements on precise orbit determination (POD) are equipped with on-board receivers to collect the observations from Global Navigation Satellite systems (GNSS), such as the Global Positioning System (GPS). Limiting factors for LEO POD are nowadays mainly encountered with the modeling of the carrier phase observations, where a precise knowledge of the phase center location of the GNSS antennas is a prerequisite for high-precision orbit analyses. Since 5 November 2006 (GPS week 1400), absolute instead of relative values for the phase center location of GNSS receiver and transmitter antennas are adopted in the processing standards of the International GNSS Service (IGS). The absolute phase center modeling is based on robot calibrations for a number of terrestrial receiver antennas, whereas compatible antenna models were subsequently derived for the remaining terrestrial receiver antennas by conversion (from relative corrections), and for the GNSS transmitter antennas by estimation. However, consistent receiver antenna models for space missions such as GRACE and TerraSAR-X, which are equipped with non-geodetic receiver antennas, are only available since a short time from robot calibrations. We use GPS data of the aforementioned LEOs of the year 2007 together with the absolute antenna modeling to assess the presently achieved accuracy from state-of-the-art reduced-dynamic LEO POD strategies for absolute and relative navigation. Near-field multipath and cross-talk with active GPS occultation antennas turn out to be important and significant sources for systematic carrier phase measurement errors that are encountered in the actual spacecraft environments. We assess different methodologies for the in-flight determination of empirical phase pattern corrections for LEO receiver antennas and discuss their impact on POD. By means of independent K-band measurements, we show that zero-difference GRACE orbits can be significantly improved from about 10 to 6 mm K-band standard deviation when taking empirical phase corrections into account, and assess the impact of the corrections on precise baseline estimates and further applications such as gravity field recovery from kinematic LEO positions.     

Assessment of ECMWF-derived tropospheric delay models within the EUREF Permanent Network

The Global Positioning System (GPS) observations from the EUREF Permanent Network (EPN) are routinely analyzed by the EPN analysis centers using a tropospheric delay modeling based on standard pressure values, the Niell Mapping Functions (NMF), a cutoff angle of 3° and down-weighting of low elevation observations. We investigate the impact on EPN station heights and Zenith Total Delay (ZTD) estimates when changing to improved models recommended in the updated 2003 International Earth Rotation and Reference Systems Service (IERS) Conventions, which are the Vienna Mapping Functions 1 (VMF1) and zenith hydrostatic delays derived from numerical weather models, or the empirical Global Mapping Functions (GMF) and the empirical Global Pressure and Temperature (GPT) model. A 1-year Global Positioning System (GPS) data set of 50 regionally distributed EPN/IGS (International GNSS Service) stations is processed. The GPS analysis with cutoff elevation angles of 3, 5, and 10° revealed that changing to the new recommended models introduces biases in station heights in the northern part of Europe by 2–3 mm if the cutoff is lower than 5°. However, since large weather changes at synoptic time scales are not accounted for in the empirical models, repeatability of height and ZTD time series are improved with the use of a priori Zenith Hydrostatic Delays (ZHDs) derived from numerical weather models and VMF1. With a cutoff angle of 3°, the repeatability of station heights in the northern part of Europe is improved by 3–4 mm.     

Higher order ionospheric effects in precise GNSS positioning

With the increasing number of precise navigation and positioning applications using Global Navigation Satellite Systems (GNSS) such as the Global Positioning System (GPS), higher order ionospheric effects and their correction become more and more important. Whereas the first-order error can be completely eliminated by a linear combination of dual- frequency measurements, the second- and third-order residual effects remain uncorrected in this approach. To quantify the second-order residual effect, a simple formula has been derived for GNSS users in Germany. Our proposed correction algorithm reduces the second-order effects to a residual error of fractions of 1 mm up to 2 mm at a vertical total electron content level of 10¹⁸ electrons/m² (100 TECU), depending on satellite azimuth and elevation angles. The correction formula can be implemented in real-time applications as it does not require the knowledge of the geomagnetic field or the electron density distribution in the ionosphere along the signal path. It is expected that the correction will enable more accurate positioning using the line-of-sight carrier-phase measurements.     

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.