Navigation Signal Processing for GNSS Software Receivers (Gnss Technology and Applications)

Navigation Signal Processingfor GNSS Software Receivers......Page 2
Contents......Page 6
Preface......Page 14
Acknowledgments......Page 18
1.1 Signal Generation......Page 20
1.2 Signal Propagation......Page 21
1.3 Signal Conditioning......Page 22
1.4 Motivation for a Generic Signal Model......Page 23
1.5 Sampling......Page 24
1.7 Stochastic Noise Model......Page 25
1.8 Short-Period Signal Model......Page 26
1.8.1 Zeroth-Order Moment of Signal Power......Page 27
1.8.4 First-Order Moment of Signal Power Variations......Page 28
1.8.5 Separation of Code and Carrier Correlation......Page 29
1.91 A Model for the GPS C/A-Code Signal......Page 30
1.9.2 A Model for the Galileo E1 Open-Service Signal......Page 32
1.9.3 Pulsed GNSS Signals......Page 33
1.9.4 Gaussian Double Pulse......Page 34
References......Page 35
2.1 Definitions......Page 36
2.2.2 Joint Tactical Radio System......Page 38
2.3.1 Front Ends......Page 41
2.3.2 Illustrative Applications......Page 44
2.3.3 High-End GNSS Software Receivers......Page 47
References......Page 49
3.1 GNSS Sample Handling......Page 52
3.2 Module Diagram......Page 58
3.2.3 Sensor Interface......Page 59
3.2.6 Receiver......Page 60
3.2.9 Acquisition Manger......Page 61
3.2.12 Positioning with RAIM......Page 62
3.2.17 AGNSS and SISNET Connection......Page 63
3.3 Execution Flow......Page 64
3.3.1 Computer with Four CPU Cores......Page 65
3.3.2 Computer with a Single CPU Core......Page 67
3.4.1 Acquisition Parameters......Page 69
3.4.2 Tracking Parameters......Page 70
3.4.3 Performance Results......Page 71
3.5 Discussion......Page 73
References......Page 74
4.1 Parameters of Interest......Page 76
4.1.2 Nuisance Parameters......Page 77
4.2 Nonrandom Parameter Estimation......Page 78
4.2.1 Position CRLB Without Nuisance Parameters......Page 81
4.2.2 Position Estimation with Nuisance Parameters......Page 82
4.2.3 Single-Step Maximum Likelihood Estimation......Page 86
4.2.4 Cascaded Estimation......Page 88
4.3 LSQ Correlators/Discriminators......Page 91
4.3.1 Model for One or More Propagation Paths......Page 92
4.3.2 Single Propagation Path......Page 95
4.3.3 Correlation Point......Page 110
4.3.4 Linearization......Page 116
4.3.5 Multiple Propagation Paths......Page 117
4.3.6 Two Propagation Paths: Code-Phase CRLB......Page 119
4.3.8 Two Propagation Paths: Remark on Other Bounds......Page 123
4.4.1 Sufficient Statistics......Page 125
4.4.3 First-Derivative Approach......Page 126
4.5 Bayesian Approach......Page 127
4.5.1 Minimum Mean-Squared Error Estimation......Page 128
4.5.2 Kalman–Bucy Filter......Page 129
4.5.3 Other Filters......Page 131
4.5.4 Use of Kalman Filters in GNSS Signal Processing......Page 132
4.6 Squaring Loss Revisited......Page 133
4.7 Numerical Simulation......Page 136
4.7.1 Evaluation of Bounds......Page 137
4.7.2 Cost Function......Page 138
4.7.3 LSQ Solution......Page 139
4.8 Discussion......Page 143
References......Page 144
5.1 Detection Principles......Page 148
5.1.1 Simple Hypothesis Testing......Page 149
5.1.2 Composite Hypothesis Testing......Page 150
5.3 Preprocessing......Page 152
5.4 Clairvoyant Detector for Uniformly Distributed Phase......Page 153
5.5 Energy Detector......Page 156
5.6 Bayesian Detector......Page 157
5.7 Generalized Likelihood-Ratio Detector......Page 159
5.7.1 Single Coherent Integration......Page 160
5.7.2 Multiple Coherent Integrations......Page 161
5.7.3 Considering Navigation Signal Interference......Page 166
5.7.4 Data and Pilot......Page 168
5.8 System-Detection Performance......Page 173
5.8.2 Mean Acquisition Time......Page 174
5.8.4 Independent Bin Approximation......Page 175
5.8.5 Code-Phase and Doppler Losses......Page 176
5.9 Long Integration Times and Differential Detectors......Page 177
5.10 Discussion......Page 178
References......Page 180
6.1.1 Quantization Rule......Page 182
6.1.2 Matched Filter......Page 184
6.1.3 Evaluation of Expected Values......Page 186
6.1.4 Infinite Number of Bits......Page 188
6.1.5 Numerical Evaluation......Page 189
6.3 ADC Requirements for Pulse Blanking......Page 193
6.3.2 Pulse Blanking......Page 194
6.3.3 ADC Resolution......Page 195
6.4.1 Spectral Whitening......Page 197
6.4.2 Modified Reference Signals......Page 198
6.5 Sub-Nyquist Sampling......Page 199
References......Page 201
7.1 Correlator and Waveform-Based Tracking......Page 204
7.2 Generic Correlator......Page 206
7.2.1 Expected Value......Page 207
7.2.2 Covariance......Page 208
7.3 Correlator Types with Illustration......Page 210
7.3.1 P-Correlator......Page 211
7.3.2 F-Correlator......Page 212
7.3.4 W-Correlator......Page 213
7.4.1 Single-Difference P-Correlators......Page 216
7.4.2 Double-Difference P-Correlators......Page 218
7.5 Noisy Reference Signal for Codeless Tracking......Page 219
7.5.2 Covariance......Page 221
7.5.4 L2P(Y)-Code Carrier-Phase Discriminator Noise......Page 223
7.6.1 White-Noise Transformation......Page 225
7.6.2 Early–Late Code Discriminator with Infinite Sample Rate......Page 227
7.7 Comparison of Finite and Infinite Sample Rates......Page 231
References......Page 233
8.1.1 Code Discriminator......Page 236
8.1.2 Doppler Discriminator......Page 240
8.1.3 Phase Discriminator......Page 242
8.2 S-Curve Shaping......Page 244
8.2.1 Code-Discriminator Performance Characteristics......Page 245
8.2.2 Optimum S-Curve......Page 246
8.2.3 Frequency-Domain S-Curve Shaping......Page 247
8.3 Multipath Estimating Techniques......Page 250
8.3.1 The LSQ Equations......Page 251
8.3.3 General Procedure......Page 254
8.3.5 Initial Values......Page 255
8.3.7 Multipath Detection......Page 256
8.4 From Discriminator Noise to Position Accuracy......Page 257
References......Page 258
9.1 Test-System Configuration......Page 260
9.2 Signal-Sample Bit Conversion......Page 261
9.2.1 Algorithm......Page 262
9.2.2 Numerical Performance......Page 263
9.3.2 Numerical Performance......Page 264
9.3.3 NCO Resolution......Page 265
9.4 Correlators......Page 267
9.4.1 SDR Implementation......Page 268
9.4.2 Discussion and Other Algorithms......Page 269
9.5.1 Algorithm......Page 270
9.5.2 Convolution Theorem......Page 271
9.5.3 Time-Domain Correlation and Data Preparation......Page 272
9.5.4 Spectral Shifting......Page 275
9.5.5 Limited-Size Inverse FFT......Page 276
9.5.6 Circular Correlation with Doppler Preprocessing......Page 279
9.5.7 Handling Secondary Codes......Page 282
9.5.9 Reported FFT Performance Values......Page 286
9.5.10 Discussion and Number of Correlators......Page 288
9.6 Reality Check for Signal Tracking......Page 290
9.7 Power Consumption......Page 291
9.8 Discussion......Page 293
References......Page 294
10.1.1 Ultra-Mobile PCs......Page 296
10.1.2 Cost-Effective High-Rate Data Links......Page 297
10.2.1 Setup......Page 298
10.2.3 Test Installation and Used Signals......Page 299
10.4 High-Sensitivity Acquisition Engine......Page 300
10.4.1 Doppler Search Space......Page 301
10.4.3 Clock Stability......Page 303
10.4.5 Flow Diagram and FFT Algorithms......Page 306
10.4.6 Acquisition Time......Page 307
10.5 Assisted Tracking......Page 308
10.5.1 Vector-Hold Tracking......Page 309
10.5.2 Double-Difference Correlator......Page 310
10.6 Low-Cost Pseudolites......Page 316
10.6.2 Pulsed Signals......Page 318
10.7 RTK Engine......Page 323
References......Page 324
11.2.1 Required Software......Page 326
11.3.3 FFT Acquisition......Page 327
11.3.4 Simplified Vector Tracking with Multipath Mitigation and Spectral Whitening......Page 328
A.1.1 Definitions......Page 330
A.1.3 The Adjustment......Page 331
A.1.4 Real- and Complex-Valued Estimated Parameters......Page 333
A.1.5 A Posteriori Variance of Unit Weight......Page 334
A.1.6 Example......Page 337
A.2.1 Complex-Valued Input Signal......Page 339
A.2.2 Real-Valued Input Signal......Page 340
A.2.3 Comparing Real- and Complex-Valued Signals......Page 341
A.3 Correlation Function Invariance......Page 345
A.4.1 Fourier Transform......Page 348
A.4.2 Correlation Function......Page 350
A.4.3 Correlation with an Auxiliary Function......Page 351
A.4.4 Correlation with Doppler......Page 352
A.4.5 Correlation in Continuous Time......Page 353
A.4.6 Probability Density Functions......Page 355
References......Page 357
Abbreviations......Page 358
List of Symbols......Page 362
About the Author......Page 364
Index......Page 366