China Satellite Navigation Conference (CSNC) 2020 Proceedings: Volume I

Preface
Editorial Board
	Topic: S01: Satellite Navigation Applications
	Chairman
	Vice-chairmen
	Topic: S02: Navigation and Location-Based Service
	Chairman
	Vice-chairmen
	Topic: S03: Satellite Navigation Signal and Signal Processing
	Chairman
	Vice-chairmen
	Topic: S04: Satellite Orbit and System Error Processing
	Chairman
	Vice-chairmen
	Topic: S05: Spatial Frames and Precise Positioning
	Chairman
	Vice-chairmen
	Topic: S06: Time Primary Standard and Precision Time Service
	Chairman
	Vice-chairmen
	Topic: S07: Satellite Navigation Augmentation Technology
	Chairman
	Vice-chairmen
	Topic: S08: Test and Assessment Technology
	Chairman
	Vice-chairmen
	Topic: S09: User Terminal Technology
	Chairman
	Vice-chairmen
	Topic: S10: PNT System and Multi-source Fusion Navigation
	Chairman
	Vice-chairmen
	Topic: S11: Anti-interference and Anti-spoofing Technology
	Chairman
	Vice-chairmen
	Topic: S12: Policies, Regulations, Standards and Intellectual Properties
	Chairman
	Vice-chairmen
	Topic: S13: Technologies for Navigation of Autonomous Systems
	Chairman
	Vice-chairmen
	Scientific Committee
	Chairman
	Vice-chairmen
	Executive Chairmen
	Committee Members (By Surnames Stroke Order)
	Executive Members (By Surnames Stroke Order)
	Organizing Committee
	Director
	Deputy Directors
	Secretary-General
	Deputy Secretary-General
	Deputy Secretaries
	Committee Members (By Surnames Stroke Order)
Contents
Satellite Navigation Application
High-Speed Railway Track Comprehensive Measurement System Based on GNSS/INS Multi-sensor
	Abstract
	1 Introduction
	2 System Configuration
		2.1 GNSS Reference Station Network
		2.2 GNSS/INS Multi-sensor Track Inspection Trolley
		2.3 Data Centre
		2.4 Communication System
	3 Operation Mode
	4 Processing Flow
	5 Experimental Environment
	6 Data Analysis
	7 Conclusions and Prospects
	Acknowledgements
	References
Research on Application of Improved S Transform in High Frequency GNSS Data Processing Results During Earthquake
	Abstract
	1 Introduction
	2 Research Area Overview
		2.1 Data Acquisition
		2.2 Data Processing
	3 Improved S-Transform Denoising Method and Calculation Example
		3.1 S-Transform Theory
		3.2 Improved S-Transform Theory
		3.3 Example Analysis
			3.3.1 Improved S-Transform Denoising Results
			3.3.2 Determine the Arrival Time of the Seismic Wave
	4 Improved S Transform Method Combined with Trend Term Denoising
		4.1 Implementation Process
		4.2 Example Analysis
	5 Conclusion
	References
Inversion of Soil Moisture by GPS-IR Combined with Wavelet Analysis and LS-SVM
	Abstract
	1 Introduction
	2 Soil Moisture Inversion Principle
		2.1 GPS-IR Principle
		2.2 Wavelet Analysis Principle
		2.3 LS-SVM Multi-star Fusion Principle
	3 Analysis of Results
	4 Conclusion
	Acknowledgments
	References
Bare Soil Freeze/Thaw Process Detection Using GNSS-R/IR Techniques: A Case Study in Alaska, USA
	Abstract
	1 Introduction
	2 Theory and Fundamentals
	3 GPS Site Data and Meteorological Data Analysis
	4 Analysis of Influencing Factors
	5 Conclusions
	Acknowledgement
	References
High Temporal Resolution of PWV Acquisition Method and Its Preliminary Application in Yunnan
	Abstract
	1 Introduction
	2 Data and Method
		2.1 Data Description
		2.2 Study Method
	3 Comparative Analysis of Meteorological Parameters of ECMWF
		3.1 Comparison of Meteorological Parameters Between Grids
		3.2 Comparative Analysis of Meteorological Parameters Between Stations
		3.3 PWV Accuracy Evaluation
	4 Monitoring ENSO Events Based on PWV
		4.1 Daily Variation of PWV
		4.2 PWV Response to ENSO
	5 Conclusion
	Acknowledgements
	References
Soil Moisture Inversion Based on Beidou SNR and Carrier Phase Combinations
	Abstract
	1 Introduction
	2 Method
		2.1 GNSS-IR Method
		2.2 L4 Method
	3 Experiment and Result Analysis
		3.1 Field Experiment Campaign
		3.2 Data Processing
		3.3 Result Analysis
	4 Conclusion
	Acknowledgments
	References
An Improved Method of ZTD Model in Yunnan Province Based on GPT2w Model
	Abstract
	1 Introduction
	2 GPT2w Model and Acquisition of ZTD
	3 Improved GPT2w Model for ZTD Estimation
		3.1 Experiment Introduction
		3.2 Time Series Analysis and Establishment of ZTD Residuals Model
			3.2.1 Time Series Analysis of ZTD Residuals
			3.2.2 Establishment of ZTD Residual Model
	4 Model Validation
		4.1 IGPT2w Model Internal and External Verification
		4.2 Improvement Rate of ZTD Estimation by IGPT2w
		4.3 The 2D Distribution of IGPT2w ZTD in Different Seasons
	5 Conclusion
	Acknowledgments
	References
Inclusion of Side Signals on GNSS Water Vapor Tomography with a New Height Factor Model
	Abstract
	1 Introduction
	2 GNSS Tomography Method with Height Factor Model
		2.1 The Principle of GNSS Tomography
		2.2 Dynamicity of Tropopause
		2.3 Height Factor Model for Side Signals
		2.4 Tomographic Observation Equations with the Fusion of Side Signals
	3 Tomographic Experiment
	4 Results and Discussion
		4.1 Contribution Analysis of the Side Signals
		4.2 Comparison of Water Vapor Profiles
		4.3 Comparison of Each Layer Tomographic Results
	5 Conclusion
	Acknowledgments
	References
Real-Time Attitude Estimation for High-Speed UAV in High-Frequency Environmental Dithering Based on AMCF
	Abstract
	1 Introduction
	2 Frame Definitions
	3 Attitude Calculation by Quaternion
	4 Attitude Calculation Optimized in UAV Dynamic Condition
		4.1 Disturbance Acceleration Compensation
		4.2 Adaptive Mahony Complementary Filter
	5 Experimental Verification and Results Analysis
		5.1 Experiment Equipment
		5.2 UAV High-Speed Taxiing Experiment
		5.3 UAV Flight Experiment
	6 Conclusions
	Acknowledgments
	References
Modeling and Simulation of GNSS-R Signals with Ocean Currents
	Abstract
	1 Introduction
	2 Ocean Currents Model
		2.1 Wave Spectrum Model
		2.2 Ocean Currents Model
	3 Model of GNSS Reflected Signals with Effect of Ocean Currents
		3.1 Establishment of Model
		3.2 Noise Analysis
	4 Simulation and Verification
	5 Conclusion
	Acknowledgments
	References
Coastal GNSS-R Code Delay Altimetry Using GPS L5 Signals
	Abstract
	1 Introduction
	2 The Principle of Coastal GNSS-R Code Delay Altimetry
		2.1 Geometric Model of Coastal GNSS-R Altimetry
		2.2 Code Delay
	3 Coastal Experiment
		3.1 Experiment Location and Instruments
		3.2 Process of Data
		3.3 Conclusion
	4 Discussion
	Acknowledgements
	References
An Improved Height Rate Correction Method Based on Robust Regression for Sea Level Estimation in GNSS Interferometry Reflectometry
	Abstract
	1 Introduction
	2 SNR Analysis
		2.1 Classical Correction Method
		2.2 Dynamic Correction Method
	3 Result
	Acknowledgments
	References
Application Research and Error Analysis of GNSS-MR Technology in Snow Depth Measurement
	Abstract
	1 Introduction
	2 Basic Principle of Snow Depth Measurement Using GNSS-MR Technology Based on SNR
	3 An Example Analysis of GNSS-MR Snow Depth Measurement
		3.1 Data Introduction
		3.2 Selection of the Satellite Azimuth Angles
		3.3 Selection of the Satellite Elevation Angle
		3.4 Study and Analyze the Relationship Between Snow Depth and Measurement Error
	4 Conclusions
	Acknowledgements
	References
Tide Height Inversion and Accuracy Analysis Based on GNSS-MR Technology
	Abstract
	1 Introduction
	2 Theoretical of Tide Height Inversion by GNSS-MR
		2.1 Fundamental
		2.2 Accuracy Analysis
	3 An Example Analysis of Tide Height Inverted by GNSS-MR
		3.1 Station Environment
		3.2 Analysis of the Inversion Results of an Ebb Tide Period
		3.3 Analysis of the Inversion Results of a Year in 2018
	4 Conclusions
	Acknowledgements
	References
Research on Sea Surface Height Measurement Based on GNSS-IR Dual Frequency Data Fusion
	Abstract
	1 Introduction
	2 GNSS-IR Sea Surface Height Retrieval Principle
	3 Double-Frequency Data Fusion Based on the Peak Weighting Method
	4 Experimental Analysis of GNSS-IR Monitoring Sea Level Change
		4.1 Experiment Description
			4.1.1 SC02 Station, Friday Harbor, USA
			4.1.2 Shandong University Seaside Trestle Station
		4.2 Processing and Analyzing Experimental Data
	5 Conclusion
	Acknowledgement
	References
Application of Fitting of Moving Quadric Surface to Height Anomaly Fitting in the Band-Shaped Area
	Abstract
	1 Introductions
	2 Height Anomaly
	3 Methods of Height Anomaly Fitting
		3.1 Quadric Surface Fitting
		3.2 Fitting of Piecewise Quadric Surface (FPQS)
		3.3 Fitting of Moving Quadric Surface (FMQS)
	4 Results and Discussion
		4.1 Accuracy Analysis of FPQS
		4.2 Accuracy Analysis of FMQS
		4.3 Comparison with Third Order Leveling
		4.4 Feasibility of Leveling Replacement
	5 Conclusions
	References
Instant PPP with Low-Cost Multi-constellation Dual-Frequency GNSS Chipset
	Abstract
	1 Introduction
	2 Methodology
	3 Field Tests and Results
	4 Conclusions
	References
Preliminary Research on GNSS Multipath Interpret the Process of Vegetation Growth
	Abstract
	1 Introduction
	2 Theoretical System of Multipath Interpret Vegetation Growth
	3 Result of GNSS Multipath Interpret Vegetation Growth
		3.1 Data Sources
		3.2 Results and Analysis
			3.2.1 Correlation Analysis
			3.2.2 Comparing Phenology Metrics Estimated by NMRI and NDVI
	4 Conclusions
	Acknowledgements
	References
Calibration and Error Analysis of the BF-1 Demonstration GNSS-R Satellites
	Abstract
	1 Introduction and Background
	2 Power Calibration
		2.1 Hardware Structure and Working Method
		2.2 DDM Value
		2.3 Total Gain and Power Value After Calibration
			2.3.1 Thermal Noise of Calibration Load and Receiver Device
			2.3.2 Power Value After Calibration
	3 Geometry Calibration
		3.1 Influencing Factors
		3.2 Calibration Effect
	4 Error Analysis
		4.1 Error Analysis of Power Calibration
		4.2 Error Analysis of Geometry Calibration
	5 Conclusions
	References
Application and Technology of Bufeng-1 GNSS-R Demonstration Satellites on Sea Surface Wind Speed Detection
	Abstract
	1 Introduction
	2 Overview of the Demonstration Satellites
		2.1 Overview of the Satellites
		2.2 Twin Satellites Networking
	3 Design of GNSS-R Winds Detection
		3.1 Power Self-Calibration
		3.2 Geometric Correction and Wind Speed Inversion
	4 On-Orbit Testing
		4.1 DDM Collection
			4.1.1 The Chinese First Spaceborne Sea Surface DDM
			4.1.2 The World’s First Spaceborne Sea Surface BDS-R DDM
			4.1.3 The World’s First Spaceborne Inland BDS-R DDM
		4.2 Performances on Wind Observation
			4.2.1 ECWMF Trained Results
			4.2.2 ASCAT Trained Results
	5 Conclusion
	References
Study on the Correlation Between GNSS Vertical Time Series and the Space-Time Distribution of Groundwater in California
	Abstract
	1 Introduction
	2 Data and Methods
		2.1 GPS Data Processing
		2.2 Measured Well Data and Rainfall Data
	3 Results
	4 Conclusion
	Acknowledgments
	References
Suspension Cable Bridge Deflection Determination Using Kinematic PPP with High-Rate GPS Satellite Clock Corrections
	Abstract
	1 Introduction
	2 High-Rate GPS Satellite Clock Correction Estimation
	3 High-Rate Kinematic PPP Experiment
	4 Conclusion
	Acknowledgment
	References
Radiosonde-Based New Spatiotemporal Modelling for the Construction of Temperature Profiles for GNSS Applications
	Abstract
	1 Introduction
	2 Data and Methodologies
		2.1 Data
		2.2 Methodologies
			2.2.1 Investigating Relationship Among ZDD, ZHD and PWV
			2.2.2 Establishing Models for the Ratio of ZDD-lev to ZDD
			2.2.3 Constructing Temperature Profiles
	3 Results
	4 Conclusion
	Acknowledgements
	References
Analysis of Temporal and Spatial Variation of Crustal Strain Around Longmenshan Fault Based on GNSS Observation
	Abstract
	1 Introduction
	2 Research Area and GNSS Data
	3 Block Model
	4 Analysis of Crustal Strain Around Longmenshan Fault
		4.1 Construction of Grid Velocity Field Model
		4.2 Dynamic Characteristics of Regional Crustal Strain Rate Field
		4.3 Analysis of Crustal Strain Characteristics Before and After Strong Earthquakes
	5 Conclusion
	References
Design and Research of Missile-Borne High Dynamic Satellite Navigation Device
	Abstract
	1 Introduction
	2 Missile-Borne High Dynamic Satellite Navigation Device Solution
		2.1 High Dynamic Receiver
		2.2 Two Side-Wall Antennas
	3 Dynamic Stress of Missile-Borne Environment
		3.1 High Dynamic
		3.2 High Spin
	4 Carrier Tracking Loop Strategy
	5 Simulation Scene Test
	6 Conclusion
	References
Navigation and Location-Based Service
Detecting Community Structure of Urban Hotspot Regions
	Abstract
	1 Introduction
	2 Method
		2.1 Data Preprocessing
		2.2 Hotspot Region Detection
		2.3 Spatial Discretization
		2.4 Community Structure Detection
	3 Experimental Results
		3.1 Distribution of Hotspot Regions
		3.2 Community Structure of Hotspot Regions
	4 Discussion and Conclusion
	References
FM and DTMB Signal Fingerprinting Positioning System Based on Multi-peak Gaussian Distribution Model
	Abstract
	1 Introduction
	2 Location Fingerprint Positioning Based on FM and DTMB Signals
		2.1 Signal Selection
		2.2 System Construction
	3 Probabilistic Location Matching Algorithm
		3.1 Construction of Offline Location Fingerprint Database
		3.2 Multi-peak Gaussian Distribution Model
	4 Analysis of Experimental Results Under Gaussian Distribution Fitting
		4.1 Only FM Signal as Signal Source
		4.2 FM Signal Plus DTMB Signal Joint Positioning
	5 Conclusion
	Acknowledgments
	References
Kinematic Positioning Algorithm Based on the Grey Prediction Model for Urban Navigation
	Abstract
	1 Introduction
	2 Grey Prediction Model
	3 Kinematic Positioning Filtering Algorithm Based on Prediction
		3.1 Kinematic Positioning Filtering Based on Forecast State Parameters
		3.2 Dynamic Positioning Filtering Based on Forecast Pseudo-range Observations
	4 Experiment and Analysis
		4.1 Grey Prediction Accuracy Analysis
		4.2 Positioning Test Under Ideal Conditions
		4.3 Data Processing and Analysis Under Real Environment
	5 Conclusion
	Acknowledgements
	References
A New Adaptive Estimation Algorithm Based on CT Model and Ellipsoid Constraint
	Abstract
	1 Introduction
	2 Kalman Filter Algorithm
	3 Filtering Algorithm Based on CT Combined with CV
	4 Adaptive Estimation Algorithm of the Dynamic Model
	5 Experiment and Analysis
	6 Conclusion
	References
Fault-Tolerant Navigation Method for Unmanned Aerial Vehicle Based on Heterogeneous Pseudorange Augmentation
	Abstract
	1 Introduction
	2 Fault-Tolerant Navigation Scheme Based on Pseudorange Augmentation
	3 Loran-C/Beidou Augmented Pseudorange Observation Model
	4 Loran-C Assisted Integrity Detection Algorithm
		4.1 Augmented Pseudorange System Integrity Protection Level Algorithm
		4.2 Loran-C Assisted Fault Detection and System Fault-Tolerance Algorithm
	5 Simulation Results and Analysis
	6 Conclusion
	Acknowlegements
	References
A Method for PPP Ambiguity Resolution Based on Bayesian Posterior Probability
	Abstract
	1 Introduction
	2 Method
		2.1 The Traditional Ambiguity Resolution of the Client
		2.2 The Ambiguity Resolution Method Based on Bayesian
	3 Experiment and Analysis
		3.1 Two Kinds of FCB Product
		3.2 Performance of Single Station PPP AR
		3.3 The Success Rate and Missing Detection Rate of Ambiguity Resolution
	4 Summary
	Acknowledgement
	References
Convergence Analysis on Iterative Algorithm in Ultra-Wideband Positioning Under Ill-Conditioned Configuration
	Abstract
	1 Introduction
	2 The Orthogonality Condition to the Nonlinear Least Squares Solution of Distance Equations in UWB Positioning
	3 The Optimization Iterative Methods for UWB Positioning
		3.1 The Barycenter Method
		3.2 The Gauss–Newton Method
		3.3 The Regularized Gauss–Newton Method
		3.4 The Closed-Form Newton Method
	4 Numerical Examples
		4.1 Static Test
		4.2 Dynamic Test
	5 References
	Acknowledgments
	References
Comparison of RDSS Timing for BD-2 and BD-3 System
	Abstract
	1 Introduction
	2 RDSS Timing Principle and Data
		2.1 One-Way Timing Principle
		2.2 Two-Way Timing Principle
		2.3 RDSS Measured Data
	3 One-Way Timing Analysis of BD-2 and BD-3
		3.1 One-Way Timing Results of Regional System
		3.2 One-Way Timing Results of Global System
		3.3 Summary
	4 Two-Way Timing Analysis of BD-2 and BD-3
		4.1 Two-Way Timing Results of Regional System
		4.2 Two-Way Timing Results of Global System
		4.3 Summary
	5 Conclusions
	Acknowledgments
	References
A Multi-constellation Positioning Method Based on Optimal Stochastic Modelling
	Abstract
	1 Introduction
	2 Orbit Determination for GPS and BDS
		2.1 Spatio Tempora Unification
		2.2 Orbit Determination Error Analysis
	3 Stochastic Model Analysis and Optimization
		3.1 Equal Weight Model
		3.2 Prior Models
		3.3 Posterior Model
		3.4 Stochastic Model Optimization Steps
	4 Experimental Results and Analysis
		4.1 Number of Visible Satellites
		4.2 Geometric Distribution
		4.3 Positioning Results and Availability Analysis
	5 Conclusion
	Acknowledgements
	References
BDS-3/GNSS Data Quality and Positioning Performance Analysis
	Abstract
	1 Introduction
	2 GNSS Data Quality Analysis Indicators
		2.1 Data Integrity Rate
		2.2 Signal-Noise Ratio
		2.3 Cycle Slip Ratio
		2.4 Multipath Error
	3 Data Quality Analysis
		3.1 Data Source
		3.2 Data Integrity Rate
		3.3 Signal-Noise Ratio
		3.4 Cycle Slip Ratio
		3.5 Multipath Error
	4 Positioning Accuracy Analysis
		4.1 Single-Point Positioning Analysis
		4.2 Precise-Point-Positioning Analysis
	5 Conclusion
	Acknowledgements
	References
A BEIDOU Short Message Based Method for Position Information Distribution of Reentry Vehicles
	Abstract
	1 Introduction
	2 System Design
		2.1 Satellite-Ground Link Design
		2.2 System Onboard Design
		2.3 Key Devices Design
			2.3.1 BDS Receiver Design
			2.3.2 BDS Antenna Design
			2.3.3 GNSS Antenna Design
	3 Availability in a Typical Application
		3.1 Doppler Adaptation
		3.2 Adaptation for the Power Level Fluctuation
	4 Experiment Verifications
		4.1 Introduction
		4.2 Comparison with the Traditional Design
	5 Conclusion
	References
A Two-Dimensional Point Cloud Matching Method Based on ICP Improvement
	Abstract
	1 Introduction
	2 Improved ICP Algorithm
		2.1 Dynamic Initial Value Matching Method
		2.2 Radius Threshold Screening Preprocessing Method
		2.3 Comparative Analysis of Algorithm Performance
	3 Experimental Results and Analysis
		3.1 Experimental Instruments and Scenes
		3.2 Experimental Process and Results
	4 Conclusion
	References
DTMB and FM Signals Indoor Fingerprint Positioning System Based on Compressive Sensing
	Abstract
	1 Introduction
	2 Principle of Fingerprint Matching Localization Algorithm
	3 CS-Based Fingerprint Positioning System
		3.1 Offline Stage
		3.2 Online Stage
	4 Experimental Results and Analysis
		4.1 Offline Stage CS Reconstruction Accuracy
		4.2 Online Stage Compression Sensing Precise Positioning
	5 Conclusion
	Acknowledgements
	References
Daily Climatological Fields Based on GNSS Radio Occultation Measurements: A Feasibility Study
	Abstract
	1 Introduction
	2 Data
		2.1 RO Data
		2.2 Re-Analyses Data
	3 Construction of RO Climatological Fields
	4 Validation of RO Climatological Fields
	5 Summary and Conclusion
	Acknowledgments
	References
Stochastic Modeling of BeiDou Double-Difference Observation and Impact Analysis
	Abstract
	1 Introduction
	2 Realistic Stochastic Model
		2.1 Elevation-Dependent Model
		2.2 Time Correlation of Observables
		2.3 Cross Correlation of Observables
	3 Estimation of Cross and Time Correlation Coefficient
	4 Impact of Realistic Stochastic on Positioning and IAR
		4.1 Impact of Cross Correlation on Positioning
		4.2 Impact of Time Correlation on Positioning
		4.3 Impact of Physical Correlation on IAR
	5 Concluding Remarks
	References
Research on Key Performance of BeiDou Global Short Message Communication Service
	Abstract
	1 Introduction
	2 System Solution Overview
	3 Constellation Design and Coverage Performance Analysis
		3.1 Coverage Analysis
		3.2 Analysis of Uninterrupted Visible Time
	4 Key Indicators and Performance Analysis
		4.1 Capacity Analysis
			4.1.1 Reverse Link Capacity
			4.1.2 Forward Link Capacity
		4.2 Communication Delay and Hop Count
			4.2.1 Reverse Link Capability Simulation
			4.2.2 Forward Link Capability Simulation
	5 Conclusion
	References
An Algorithm of Passive Location About Satellite Navigation Disturb Source Based on Combat Platforms Networking
	Abstract
	1 Introduction
	2 Design of Interference Source Location Method Based on Platform Networking
	3 Multi-platform Passive Cooperative Positioning Algorithm
		3.1 Basic Principles of Cooperative Positioning
		3.2 Disadvantages of Two Platform Positioning
			3.2.1 Special Point
			3.2.2 False Points
		3.3 Multi-platform Collaborative Positioning Algorithm
	4 Experiment and Result Analysis
	5 Conclusion
	References
Satellite Navigation Signal and Signal Processing
Real-Time Parallel Generation Method of Weil Code and Its Implementation in New GNSS Signal
	Abstract
	1 Introduction
	2 Weil Code Generation
		2.1 GPS L1C Signal Ranging Code
		2.2 BDS B1C Signal Ranging Code
	3 Real-Time Parallel Weil Code Generator
		3.1 Current Receiver Processing Methods and Existing Problems
		3.2 Real-Time Parallel Weil Code Generator
		3.3 Weil Code Generator Implementation
	4 Conclusion
	References
Pseudorandom Code Error Monitoring Method for GNSS Signal
	Abstract
	1 Introduction
	2 Navigation Signal and Its Generation Procedure
	3 Detection Method of Pseudorandom Code Error
	4 Validation of the Method
	5 Concluding Remarks
	References
Research on MPSK Modulation Based GNSS Signals with High Data Rate
	Abstract
	1 Introduction
	2 GNSS Signals Based on MPSK Modulation
		2.1 CSK Modulation
		2.2 MPSK Modulation
		2.3 GNSS Signals Based on MPSK
	3 Performance Analysis of GNSS Signals Based on MPSK Modulation
		3.1 Tracking Performance Analysis
		3.2 Demodulation Performance Analysis
		3.3 CSK vs. MPSK
	4 Constant Envelope Multiplexing Method of MPSK Signal
	5 Application Example
	6 Conclusions
	References
The Base Stations’ Networking Scheme and Spreading Code Optimization Strategy of TC-OFDM
	Abstract
	1 Introduction
	2 Theoretical Analysis
		2.1 Characteristics of Spreading Codes
		2.2 Okumura-Hata Model
	3 System Analysis
		3.1 Cellular Networking Model
		3.2 Selection Strategy of Spreading Codes Based on Greedy Algorithm of Quadratic Optimization
	4 Simulation and Analysis
		4.1 Feasibility Analysis of Cellular Network Layout
		4.2 Analysis of Spreading Code Optimization Results
	5 Summary
	Acknowledgements
	References
Frame Synchronization Method for BDS B2a Signal Under the Constraint of Non-binary LDPC Code
	Abstract
	1 Introduction
	2 System Model
	3 Proposed Method
		3.1 EMS Algorithm
		3.2 Proposed Frame Synchronization Method
	4 Simulation Analysis and Conclusion
	5 Conclusion
	References
Quality Analysis of Signal for BDS-3 Basic System
	Abstract
	1 Introduction
	2 Data Collection
	3 Data Quality Evaluation Indexes
		3.1 Data Integrity Rate
		3.2 Signal-to-Noise Ratio
		3.3 Multipath Effect
		3.4 Ionospheric Delay and Change Rate
		3.5 Cycle Slip Ratio
	4 Conclusions
	Acknowledgements
Subcarrier Periodic Shifting BOC Modulations
	Abstract
	1 Introduction
	2 Subcarrier Periodic Shifting BOC Modulations
	3 Simulation and Analysis
		3.1 Autocorrelation Functions and Power Spectral Density
		3.2 Anti-interference Ability
		3.3 Gabor Bandwidth
		3.4 Multipath Error Envelop
	4 Conclusions
	Acknowledgments
	References
Analysis of Multipath Error Characteristics of BeiDou Navigation Signal
	Abstract
	1 Introduction
	2 Pseudorange Multipath Extracting Method
	3 Analysis of BDS Signal Multipath Observation Data
		3.1 Analysis of BDS Signal Multipath Observation Data
			3.1.1 Spectral Characteristics of GEO, MEO, IGSO Satellite Pseudorange Multipath Error
			3.1.2 Multipath Characteristics Comparison Based on Elevation Variation
		3.2 Comparison of Pseudorange Multipath Error Characteristics of Signals on Different Working Bandwidth
			3.2.1 BPSK (2) and BPSK (10)
			3.2.2 TMBOC (6, 1, 4/33) and BOC (1, 1)
		3.3 Comparative Analysis of Pseudorange Multipath Error Characteristics Under Different Receiver Parameters
			3.3.1 Effects of Different RF Bandwidths
			3.3.2 Effects of Different Correlator Intervals
	4 Conclusions
	Acknowledgements
	References
A Coherent Processing Technique with High Precision for BDS B1I and B1C Signals
	Abstract
	1 Introduction
	2 Problem Description
		2.1 System Constraints and Signal Model
		2.2 Ranging Potential and Tracking Challenges
	3 Proposed Algorithm
	4 Experimental Results
	5 Conclusions
	References
Preliminary Analysis of BDS-3 and Galileo Compatible Interoperable Positioning Performance
	Abstract
	1 Introduction
	2 Analysis Indicators
		2.1 SNR
		2.2 Multipath
		2.3 Pseudorange and Phase Noise
		2.4 Single Point Positioning Accuracy
		2.5 BDS-3 SBAS Positioning Accuracy
	3 Experimental Results
		3.1 SNR
		3.2 Pseudorange Multipath
		3.3 Noise of Pseudorange and Phase
		3.4 Pseudorange Single Point Positioning
		3.5 Position Accuracy of BDS-3 SBAS
	4 Conclusion
	References
Robust GNSS Triple-Carrier Joint Estimations Under Strong Ionosphere Scintillation
	Abstract
	1 Introduction
	2 Tri-Frequency GPS Carrier Model
		2.1 Dynamic Model
		2.2 Measurement Model
	3 Tri-frequency GPS Carrier Model
	4 Strong Ionosphere Scintillation Simulation and Performance Analysis
		4.1 Ionosphere Scintillation Simulator
		4.2 Triple-Carrier Tracking Results
	5 Conclusion
	Acknowledgement
	References
Research on Enhancement Scheme of GPS Occultation Open-Loop Tracking Strategy
	Abstract
	1 Introduction
	2 Tracking Strategy Program Analysis
		2.1 Defects of Traditional Tracking Strategies
		2.2 Optimize Tracking Strategy Plan and Effect
	3 Verification Analysis
		3.1 Data Sources
		3.2 GPS Atmospheric Occultation Inversion Algorithm
		3.3 Analysis of Inversion Results
	4 Summary
	Thanks
	References
Policies, Regulations, Standards and Intellectual Properties
Patent Analysis Reveals the Development Route of the Indoor High-Accuracy Positioning Technology
	Abstract
	1 General Situation of Indoor High-Precision Positioning Technology Patent
	2 Patent Technology Route Analysis of Indoor	High-Precision Positioning
	3 Conclusion
	Reference
Research on Legal Protection Mechanism of BeiDou Related Names and Marks
	Abstract
	1 Introduction
	2 The Status Quo of Legal Protection of BeiDou Related Names and Marks
		2.1 Malicious Cybersquatting
		2.2 False Propaganda of Confusing BeiDou’s Relevant Names and Marks
		2.3 Abuse Leads to Dilution of BeiDou’s Relevant Name and Mark
	3 The Current Legal Protection and Path Selection of BeiDou Related Names and Marks
		3.1 Protection of Trademark Law
		3.2 Protection of Anti-unfair Competition Law
		3.3 Other Special Legal Protections
	4 Legal Improvement of BeiDou Related Name and Mark Protection
		4.1 Clarify the Ownership of BeiDou Related Names and Marks
		4.2 Strengthen the Name Management and Law Enforcement Inspection of the BeiDou Industry Sector
		4.3 Improve the Rights Protection Mechanism to Protect BeiDou’s Development Rights
	5 Conclusion
	References
Quantitative Research of Satellite Navigation Industry Policy Based on Text Analysis
	Abstract
	1 Introduction
	2 Three-Dimensional Analysis Framework of Satellite Navigation Industry Policy
		2.1 X Dimension: Dimensions of Policy Tools for Satellite Navigation
		2.2 Y Dimension: Dimensions of the Satellite Navigation Industry Chain
		2.3 Z Dimension: Dimension of the Satellite Navigation Industry Policy Objects
		2.4 3D Frame Construction
	3 3D Quantitative Analysis of Satellite Navigation Industry Policy
		3.1 Satellite Navigation Industry Policy Text Selection and Coding
		3.2 Three-Dimensional Quantitative Analysis of Satellite Navigation Industry Policy Text
			3.2.1 Quantitative Analysis of X Dimension: Satellite Navigation Industry Policy Tool
			3.2.2 Quantitative Analysis Based on the Y Dimension: The Satellite Navigation Industry Chain
			3.2.3 Quantitative Analysis of the Z Dimension: Satellite Navigation Industry Policy Objects
	4 Quantitative Analysis of the Satellite Navigation Industry Policy Text Hot Spots
		4.1 Quantitative Analysis of the Types of Satellite Navigation Industry Policy Issuers
		4.2 Quantitative Analysis of Satellite Navigation Industry Policy Release Time
		4.3 Quantitative Analysis of Keyword Sentences in the Satellite Navigation Industry Policy Text
			4.3.1 Improve Infrastructure Construction
			4.3.2 Develop the Core Technologies
			4.3.3 Increase the Application Scale
	5 Conclusion
	References
Development Strategy of Chinese Satellite Navigation Technology: A Research Based on SWOT Method
	Abstract
	1 Introduction
	2 Research Methods
	3 SWOT Analysis of China Satellite Navigation Development
		3.1 Identification of Key Factors
		3.2 Internal Factor Analysis
			3.2.1 Dominant Factor Analysis
			3.2.2 Analysis of Disadvantages
		3.3 Analysis of External Factors
			3.3.1 Opportunity Analysis
			3.3.2 Challenge Analysis
	4 Suggestions
		4.1 Strategic Choices to Cope with China’s Satellite Navigation Technology Security Risks
			4.1.1 Strength-Opportunity Strategy
			4.1.2 Independent Innovation Strategy
		4.2 Speeding up the Construction of Satellite Navigation Technology Safety Pre-alarming Monitoring System
			4.2.1 The Mechanism of Satellite Navigation Technology Safety Warning Monitoring System
			4.2.2 Operation Logic of Satellite Navigation Technology Safety Pre-alarming System
	5 Conclusion
	References
Technologies for Navigation of Autonomous Systems
Integrated Error Compensation Method for Three-Axis Magnetometer in Geomagnetic Navigation
	Abstract
	1 Introduction
	2 Compensation Model
		2.1 EKF Algorithm
		2.2 Nonlinear Least Square Algorithm
		2.3 Joint Estimation Iterative Algorithm
	3 Simulation
	4 Experimental System
	5 Experimental Result
	6 Discussion
	7 Conclusion
	References
Azimuth Error Suppression Method Based on the Rotation Modulation and Acoustic Navigation Assistance for Polar Grid SINS
	Abstract
	1 Introduction
	2 The Azimuth Error Analysis of the Grid SINS
		2.1 The Grid Frame
		2.2 The Azimuth Error Propagation Characteristic of the Grid SINS
	3 The Novel Grid SINS Mechanization Without Longitude
		3.1 The Grid SINS Mechanization
		3.2 The Single-Axis Rotation Modulation for Grid SINS
	4 The Nonlinear Grid SINS/Acoustic Navigation Integration Filter Model
		4.1 The Error Function of the Grid SINS with Large Misalignment Angle
		4.2 The Integration Filter Model
	5 Experiments and Performance Analysis
	6 Conclusion
	References
X-Ray Pulsar-Based Navigation Method Verification by Insight-HXMT Satellite Data
	Abstract
	1 Introduction
	2 Profile for Insight-HXMT
		2.1 Insight-HXMT’s Payloads
		2.2 Insight-HXMT’s Scientific Data
	3 Methods for X-Ray Pulsar-Based Navigation
		3.1 Principle
		3.2 Process of Measurement Value
		3.3 Navigation Filter
	4 X-Ray Pulsar-Based Navigation Verification
		4.1 The Data Used for Experiments
		4.2 The Procedure of the Experiments
		4.3 Results of the Experiments
	5 Discussion
	Acknowledgements
	References
High Precision Integrated Navigation Algorithms for Weak Observation of Quasi-One-Dimensional Application and on Track Test
	Abstract
	1 Introduction
	2 System Algorithm Description
		2.1 Algorithm Architecture
		2.2 INS State Vector Construction
	3 Observation Model and Preprocessing
		3.1 Observation Model
		3.2 IMU Weak Observation State Processing
	4 Adaptive Scene Modeling Filtering
		4.1 Multi-model Adaptive Estimation (MMAE)
		4.2 Innovation-Sequences Adaptive Estimation (IAE)
	5 On Track Testing and Results Analysis
		5.1 Experiment Configuration
		5.2 Experiment Result on Track
		5.3 Data Analysis
	6 Conclusion and Suggestion
	Acknowledgements
	References
Design and Verification of Long-Term Reliable Autonomous Navigation System of Navigation Satellite
	Abstract
	1 Introduction
	2 The System Design
		2.1 Scene Profile Analysis
		2.2 Working Mode Design
		2.3 Adaptive Data Processing Design
		2.4 Intelligent Startup Synchronization Design
	3 Testing and Validation
	4 Conclusion
	References
Research on the Verification of Autonomous Navigation Technology Based on Inter-satellite Link of BDS Satellite
	Abstract
	1 Introduction
	2 Autonomous Navigation Technology of BDS System
		2.1 Autonomous Navigation Operation Mode
		2.2 Key Algorithms for Autonomous Navigation
			2.2.1 Key Algorithms for Autonomous Navigation [9, 10]
			2.2.2 Broadcast Ephemeris Fitting Algorithm [11]
	3 Autonomous Navigation Simulation and Ion-Orbit Test Results
		3.1 Key Algorithms for Autonomous Navigation
		3.2 Verification Results of Autonomous Navigation Based on Orbit Data
	4 Conclusion
	References
Research on Inter-satellite Link Network Routing Algorithm Based on Multi-objective Optimization
	Abstract
	1 Introduction
	2 Routing Planning Algorithm Design
		2.1 Path Search
		2.2 Path Sorting and Selection
		2.3 Generation of Route Planning Table
	3 Building a Multi-objective Optimization Model for Routing Planning
		3.1 Objective Function
		3.2 Input Variables and Value Constraints
	4 Model Solving Based on NSGA-II
		4.1 Pareto Optimal Solution and Frontier
		4.2 Characteristics of NSGA-II Algorithm
		4.3 Chromosome Coding
		4.4 Model Solving Process
	5 Simulation Analysis
		5.1 Simulation Scenarios and Parameter Settings
		5.2 Results and Analysis
	References
Pedestrian Autonomous Positioning System Based on Inertial Navigation
	Abstract
	1 Introduction
	2 Fundamental Principles
	3 Attitude Solution Based on Complementary Filtering
	4 Zero-Speed Detection and Update
		4.1 Zero-Speed Detection
		4.2 Zero-Speed Update
	5 System Hardware Design
		5.1 System Structure
		5.2 Low-Power Power Management Strategies
	6 Experiment
	7 Conclusion
	Fund Projects
	Appendices
	References
Integrated Precise Positioning System for Autonomous Level II Driving Offering Lane Level Accuracy
	Abstract
	1 Introduction
	2 System Description
		2.1 Precise Point Positioning (PPP)
		2.2 Inertial Navigation System (INS)
		2.3 PPP/INS Integration
	3 Results and Discussion
		3.1 Open-Sky
		3.2 Passing Bridges
		3.3 Downtown
		3.4 Underground Parking Lot
	4 Conclusion
	References
Reliable Localization Using Multi-sensor Fusion for Automated Valet Parking Applications
	Abstract
	1 Introduction
		1.1 Background
		1.2 Motivation
		1.3 Objectives
	2 Technology
	3 Results and Discussion
	4 Conclusion
	References
Author Index