On the Impact of Channel Cross-Correlations in High-Sensitivity Receivers for Galileo E1 OS and GPS L1C Signals

One of the most promising features of the modernized global navigation satellite systems signals is the presence of pilot channels that, being data-transition free, allow for increasing the coherent integration time of the receivers. Generally speaking, the increased integration time allows to better average the thermal noise component, thus improving the postcorrelation SNR of the receiver in the acquisition phase. On the other hand, for a standalone receiver which is not aided or assisted, the acquisition architecture requires that only the pilot channel is processed, at least during the first steps of the procedure. The aim of this paper is to present a detailed investigation on the impact of the code cross-correlation properties in the reception of Galileo E1 Open Service and GPS L1C civil signals. Analytical and simulation results demonstrate that the S-curve of the code synchronization loop can be affected by a bias around the lock point. This effect depends on the code cross-correlation properties and on the receiver setup. Furthermore, in these cases, the sensitivity of the receiver to other error sources might increase, and the paper shows how in presence of an interfering signal the pseudorange bias can be magnified and lead to relevant performance degradatio

The Impact of Interference on GNSS Receiver Observables – A Running Digital Sum Based Simple Jammer Detector

A GNSS-based navigation system relies on externally received information via a space-based Radio Frequency (RF) link. This poses susceptibility to RF Interference (RFI) and may initiate failure states ranging from degraded navigation accuracy to a complete signal loss condition. To guarantee the integrity of the received GNSS signal, the receiver should either be able to function in the presence of RFI without generating misleading information (i.e., offering a navigation solution within an accuracy limit), or the receiver must detect RFI so that some other means could be used as a countermeasure in order to ensure robust and accurate navigation. Therefore, it is of utmost importance to identify an interference occurrence and not to confuse it with other signal conditions, for example, indoor or deep urban canyon, both of which have somewhat similar impact on the navigation performance. Hence, in this paper, the objective is to investigate the effect of interference on different GNSS receiver observables in two different environments: i. an interference scenario with an inexpensive car jammer, and ii. an outdoor-indoor scenario without any intentional interference. The investigated observables include the Automatic Gain Control (AGC) measurements, the digitized IF (Intermediate Frequency) signal levels, the Delay Locked Loop and the Phase Locked Loop discriminator variances, and the Carrier-to-noise density ratio (C/N0) measurements. The behavioral pattern of these receiver observables is perceived in these two different scenarios in order to comprehend which of those observables would be able to separate an interference situation from an indoor scenario, since in both the cases, the resulting positioning accuracy and/or availability are affected somewhat similarly. A new Running Digital Sum (RDS) -based interference detection method is also proposed herein that can be used as an alternate to AGC-based interference detection. It is shown in this paper that it is not at all wise to consider certain receiver observables for interference detection (i.e., C/N0); rather it is beneficial to utilize certain specific observables, such as the RDS of raw digitized signal levels or the AGC-based observables that can uniquely identify a critical malicious interference occurrence

Radio Frequency Interference Impact Assessment on Global Navigation Satellite Systems

The Institute for the Protection and Security of the Citizen of the EC Joint Research Centre (IPSC-JRC) has been mandated to perform a study on the Radio Frequency (RF) threat against telecommunications and ICT control systems. This study is divided into two parts. The rst part concerns the assessment of high energy radio frequency (HERF) threats, where the focus is on the generation of electromagnetic pulses (EMP), the development of corresponding devices and the possible impact on ICT and power distribution systems. The second part of the study concerns radio frequency interference (RFI) with regard to global navigation satellite systems (GNSS). This document contributes to the second part and contains a detailed literature study disclosing the weaknesses of GNSS systems. Whereas the HERF analysis only concerns intentional interference issues, this study on GNSS also takes into account unintentional interference, enlarging the spectrum of plausible interference scenarios.JRC.DG.G.6-Security technology assessmen

Impact Study of Unintentional Interference on GNSS Receivers

This work has been performed in the context of an Administrative Arrangement for DG HOME. The overall scope is to perform an impact assessment of radio frequency (RF) interference on critical infrastructures relying on GNSS-services for timing and synchronization purposes. In WP3, the analysis has been divided into the impact of intentional interference on critical infrastructures presented in WP3.1 and the analysis of unintentional interference, covered in this report. DVB-T has been identied as the most important source of unintentional interference in the GNSS frequency bands and therefore a special attention is paid to this interference source. The main motivation to assess the performance reduction of receivers due to unintentional interference, is related to the high probability of these events. Unintentional interference stems from out-of-band emissions or spurious transmissions. Four different scenarios have been considered in this work, covering (i) additive white Gaussian noise, (ii) continuous wave interference, (iii) pulsed continuous wave nterference and (iv) interference that stems from the third harmonic of DVB-T transmissions. All these scenarios are highly relevant and are frequently observed in realistic signal conditions. The scenario of DVB-T interference receives most of the attention in this work, since DVB-T has become the most widely adopted digital terrestrial television broadcasting standard in the world. Harmonics of the DVB-T signal could possibly fall together with the GPS L1 or Galileo E1 bands and as such become a threat. DVB-T services are operational in more than 40 countries, with more than 75% of the deployment in Europe. In the coming years, DVB-T is expected to be deployed in more than 100 countries. In the frame of this work, different tools have been developed to quantify the impact of unintentional interference. First, a laboratory testbed has been set up, that allows to take real GPS L1 signals, combine them with synthetic interfering signals and test the robustness of different commercial and professional receivers. Further, in order to have a full control of the signal characteristics and the implementation details of the receiver, a simulation platform has been developed. This simulation tool generates GNSS as well as interfering signals, and observes consequently the impact on the acquisition or tracking performance for different receiver implementations. Finally, since it is difcult to reach statistical signicance for the acquisition performance, an analytical tool has been developed allowing to evaluate the effects of interference. This report summarises the relevant results for the four considered scenarios. For the assessment of the acquisition performance the analytical tool and the simulation platform have been used. In order to evaluate the tracking performance, experimental work has been conducted with real receivers and simulations have been performed. For the acquisition, the report quanties how much the probability of detection and the probability of false alarm are affected by the presence of interference. For the tracking, the main result of this report is the quantication of the signal degradation in terms of C=N0 and in terms of the variance of the position solution. In the scenario of DVB-T Page 2 of 94 WP3.2 interference, the degradation of the signal quality has been determined as a function of the DVB-T third harmonic power and the distance between the victim receiver and the DVB-T base station.JRC.DG.G.6-Security technology assessmen

Assessment of Measurement Distortions in GNSS Antenna Array Space-Time Processing

Antenna array processing techniques are studied in GNSS as effective tools to mitigate interference in spatial and spatiotemporal domains. However, without specific considerations, the array processing results in biases and distortions in the cross-ambiguity function (CAF) of the ranging codes. In space-time processing (STP) the CAF misshaping can happen due to the combined effect of space-time processing and the unintentional signal attenuation by filtering. This paper focuses on characterizing these degradations for different controlled signal scenarios and for live data from an antenna array. The antenna array simulation method introduced in this paper enables one to perform accurate analyses in the field of STP. The effects of relative placement of the interference source with respect to the desired signal direction are shown using overall measurement errors and profile of the signal strength. Analyses of contributions from each source of distortion are conducted individually and collectively. Effects of distortions on GNSS pseudorange errors and position errors are compared for blind, semi-distortionless, and distortionless beamforming methods. The results from characterization can be useful for designing low distortion filters that are especially important for high accuracy GNSS applications in challenging environments

Advanced Integration of GNSS and External Sensors for Autonomous Mobility Applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Jamming of GPS & GLONASS signals - a study of GPS performance in maritime environments under jamming conditions, and benefits of applying GLONASS in Northern areas under such conditions

Project thesis submitted in part fulfilment of the requirements for the degree of Master of Science in Positioning and Navigation Technology, The University of Nottingham.Growing dependence on Global Navigation Satellite System (GNSS), especially GPS, for positioning and navigation at sea has raised a concern about the potential risks of signal interference. Technology for jamming is easily available, and in recent years there have been many cases of intentional jamming. As GPS is the principal means of position fixing used by the Norwegian Navy, important questions to find answers to is how vulnerable the GPS and the Electronic Chart Display and Information System (ECDIS) are to a jamming attack, and further whether employing the Glonass satellite system in addition to GPS will provide better performance regarding robustness and redundancy when receivers are exposed to jamming. By having a Coast Guard Vessel operating inshore the Norwegian fjords as case, this research aims to explore these issues and it does so by asking the following research questions: - Will employing Glonass in addition to GPS provide better performance in Northern areas when the systems are exposed to GNSS jammers? - How is the ability of the existing GPS system on board a Norwegian Coastguard Vessel to provide a reliable position when there is a jamming threat, and how will the ECDIS system on board handle an eventually loss of GPS position? The study consists of two jamming tests: A static test where focus is to analyze and compare the GPS and Glonass system and a dynamic test where the GPS and ECDIS system on board is analyzed when exposed to jamming. The results from the static test showed that the jammer has effect on large distances, and that the different receivers used react differently when exposed to jamming. Further, the carrier-to-noise ratios for Glonass are less affected by the jammer, and the receiver is able to track Glonass satellites with lower carrier-to-noise ratios than GPS satellites. We have seen that utilizing Glonass satellites in addition to GPS satellites in the receiver contribute to a later loss of position fix and an earlier calculation of new position under difficult jamming conditions. The dynamic test showed that the marine grade GPS receiver is easy to jam. A weak jamming signal caused the GPS receivers to give misleading information without any warning from itself or the ECDIS system. The ECDIS system provided an adequate DR positioning, but there are issues that need to be resolved for better functionality. As Glonass signals has shown to be more resistant to jamming than GPS signals, applying the Glonass system in addition to GPS might provide benefits with regards to reliability and redundancy, especially for maritime navigation in Northern areas where the Glonass satellites also have higher elevation and better coverage than GPS

GNSS array-based acquisition: theory and implementation

This Dissertation addresses the signal acquisition problem using antenna arrays in the general framework of Global Navigation Satellite Systems (GNSS) receivers. The term GNSS classi es those navigation systems based on a constellation of satellites, which emit ranging signals useful for positioning. Although the American GPS is already available, which coexists with the renewed Russian Glonass, the forthcoming European contribution (Galileo) along with the Chinese Compass will be operative soon. Therefore, a variety of satellite constellations and signals will be available in the next years. GNSSs provide the necessary infrastructures for a myriad of applications and services that demand a robust and accurate positioning service. The positioning availability must be guaranteed all the time, specially in safety-critical and mission-critical services. Examining the threats against the service availability, it is important to take into account that all the present and the forthcoming GNSSs make use of Code Division Multiple Access (CDMA) techniques. The ranging signals are received with very low precorrelation signal-to-noise ratio (in the order of ���22 dB for a receiver operating at the Earth surface). Despite that the GNSS CDMA processing gain o ers limited protection against Radio Frequency interferences (RFI), an interference with a interference-to-signal power ratio that exceeds the processing gain can easily degrade receivers' performance or even deny completely the GNSS service, specially conventional receivers equipped with minimal or basic level of protection towards RFIs. As a consequence, RFIs (either intentional or unintentional) remain as the most important cause of performance degradation. A growing concern of this problem has appeared in recent times. Focusing our attention on the GNSS receiver, it is known that signal acquisition has the lowest sensitivity of the whole receiver operation, and, consequently, it becomes the performance bottleneck in the presence of interfering signals. A single-antenna receiver can make use of time and frequency diversity to mitigate interferences, even though the performance of these techniques is compromised in low SNR scenarios or in the presence of wideband interferences. On the other hand, antenna arrays receivers can bene t from spatial-domain processing, and thus mitigate the e ects of interfering signals. Spatial diversity has been traditionally applied to the signal tracking operation of GNSS receivers. However, initial tracking conditions depend on signal acquisition, and there are a number of scenarios in which the acquisition process can fail as stated before. Surprisingly, to the best of our knowledge, the application of antenna arrays to GNSS signal acquisition has not received much attention. This Thesis pursues a twofold objective: on the one hand, it proposes novel arraybased acquisition algorithms using a well-established statistical detection theory framework, and on the other hand demonstrates both their real-time implementation feasibility and their performance in realistic scenarios. The Dissertation starts with a brief introduction to GNSS receivers fundamentals, providing some details about the navigation signals structure and the receiver's architecture of both GPS and Galileo systems. It follows with an analysis of GNSS signal acquisition as a detection problem, using the Neyman-Pearson (NP) detection theory framework and the single-antenna acquisition signal model. The NP approach is used here to derive both the optimum detector (known as clairvoyant detector ) and the sov called Generalized Likelihood Ratio Test (GLRT) detector, which is the basis of almost all of the current state-of-the-art acquisition algorithms. Going further, a novel detector test statistic intended to jointly acquire a set of GNSS satellites is obtained, thus reducing both the acquisition time and the required computational resources. The eff ects of the front-end bandwidth in the acquisition are also taken into account. Then, the GLRT is extended to the array signal model to obtain an original detector which is able to mitigate temporally uncorrelated interferences even if the array is unstructured and moderately uncalibrated, thus becoming one of the main contributions of this Dissertation. The key statistical feature is the assumption of an arbitrary and unknown covariance noise matrix, which attempts to capture the statistical behavior of the interferences and other non-desirable signals, while exploiting the spatial dimension provided by antenna arrays. Closed form expressions for the detection and false alarm probabilities are provided. Performance and interference rejection capability are modeled and compared both to their theoretical bound. The proposed array-based acquisition algorithm is also compared to conventional acquisition techniques performed after blind null-steering beamformer approaches, such as the power minimization algorithm. Furthermore, the detector is analyzed under realistic conditions, accounting for the presence of errors in the covariance matrix estimation, residual Doppler and delay errors, and signal quantization e ects. Theoretical results are supported by Monte Carlo simulations. As another main contribution of this Dissertation, the second part of the work deals with the design and the implementation of a novel Field Programmable Gate Array (FPGA)-based GNSS real-time antenna-array receiver platform. The platform is intended to be used as a research tool tightly coupled with software de ned GNSS receivers. A complete signal reception chain including the antenna array and the multichannel phase-coherent RF front-end for the GPS L1/ Galileo E1 was designed, implemented and tested. The details of the digital processing section of the platform, such as the array signal statistics extraction modules, are also provided. The design trade-o s and the implementation complexities were carefully analyzed and taken into account. As a proof-of-concept, the problem of GNSS vulnerability to interferences was addressed using the presented platform. The array-based acquisition algorithms introduced in this Dissertation were implemented and tested under realistic conditions. The performance of the algorithms were compared to single antenna acquisition techniques, measured under strong in-band interference scenarios, including narrow/wide band interferers and communication signals. The platform was designed to demonstrate the implementation feasibility of novel array-based acquisition algorithms, leaving the rest of the receiver operations (mainly, tracking, navigation message decoding, code and phase observables, and basic Position, Velocity and Time (PVT) solution) to a Software De ned Radio (SDR) receiver running in a personal computer, processing in real-time the spatially- ltered signal sample stream coming from the platform using a Gigabit Ethernet bus data link. In the last part of this Dissertation, we close the loop by designing and implementing such software receiver. The proposed software receiver targets multi-constellation/multi-frequency architectures, pursuing the goals of e ciency, modularity, interoperability, and exibility demanded by user domains that require non-standard features, such as intermediate signals or data extraction and algorithms interchangeability. In this context, we introduce an open-source, real-time GNSS software de ned receiver (so-named GNSS-SDR) that contributes with several novel features such as the use of software design patterns and shared memory techniques to manage e ciently the data ow between receiver blocks, the use of hardware-accelerated instructions for time-consuming vector operations like carrier wipe-o and code correlation, and the availability to compile and run on multiple software platforms and hardware architectures. At this time of writing (April 2012), the receiver enjoys of a 2-dimensional Distance Root Mean Square (DRMS) error lower than 2 meters for a GPS L1 C/A scenario with 8 satellites in lock and a Horizontal Dilution Of Precision (HDOP) of 1.2.Esta tesis aborda el problema de la adquisición de la señal usando arrays de antenas en el marco general de los receptores de Sistemas Globales de Navegación por Satélite (GNSS). El término GNSS engloba aquellos sistemas de navegación basados en una constelación de satélites que emiten señales útiles para el posicionamiento. Aunque el GPS americano ya está disponible, coexistiendo con el renovado sistema ruso GLONASS, actualmente se está realizando un gran esfuerzo para que la contribución europea (Galileo), junto con el nuevo sistema chino Compass, estén operativos en breve. Por lo tanto, una gran variedad de constelaciones de satélites y señales estarán disponibles en los próximos años. Estos sistemas proporcionan las infraestructuras necesarias para una multitud de aplicaciones y servicios que demandan un servicio de posicionamiento confiable y preciso. La disponibilidad de posicionamiento se debe garantizar en todo momento, especialmente en los servicios críticos para la seguridad de las personas y los bienes. Cuando examinamos las amenazas de la disponibilidad del servicio que ofrecen los GNSSs, es importante tener en cuenta que todos los sistemas presentes y los sistemas futuros ya planificados hacen uso de técnicas de multiplexación por división de código (CDMA). Las señales transmitidas por los satélites son recibidas con una relación señal-ruido (SNR) muy baja, medida antes de la correlación (del orden de -22 dB para un receptor ubicado en la superficie de la tierra). A pesar de que la ganancia de procesado CDMA ofrece una protección inherente contra las interferencias de radiofrecuencia (RFI), esta protección es limitada. Una interferencia con una relación de potencia de interferencia a potencia de la señal que excede la ganancia de procesado puede degradar el rendimiento de los receptores o incluso negar por completo el servicio GNSS. Este riesgo es especialmente importante en receptores convencionales equipados con un nivel mínimo o básico de protección frente las RFIs. Como consecuencia, las RFIs (ya sean intencionadas o no intencionadas), se identifican como la causa más importante de la degradación del rendimiento en GNSS. El problema esta causando una preocupación creciente en los últimos tiempos, ya que cada vez hay más servicios que dependen de los GNSSs Si centramos la atención en el receptor GNSS, es conocido que la adquisición de la señal tiene la menor sensibilidad de todas las operaciones del receptor, y, en consecuencia, se convierte en el factor limitador en la presencia de señales interferentes. Un receptor de una sola antena puede hacer uso de la diversidad en tiempo y frecuencia para mitigar las interferencias, aunque el rendimiento de estas técnicas se ve comprometido en escenarios con baja SNR o en presencia de interferencias de banda ancha. Por otro lado, los receptores basados en múltiples antenas se pueden beneficiar del procesado espacial, y por lo tanto mitigar los efectos de las señales interferentes. La diversidad espacial se ha aplicado tradicionalmente a la operación de tracking de la señal en receptores GNSS. Sin embargo, las condiciones iniciales del tracking dependen del resultado de la adquisición de la señal, y como hemos visto antes, hay un número de situaciones en las que el proceso de adquisición puede fallar. En base a nuestro grado de conocimiento, la aplicación de los arrays de antenas a la adquisición de la señal GNSS no ha recibido mucha atención, sorprendentemente. El objetivo de esta tesis doctoral es doble: por un lado, proponer nuevos algoritmos para la adquisición basados en arrays de antenas, usando como marco la teoría de la detección de señal estadística, y por otro lado, demostrar la viabilidad de su implementación y ejecución en tiempo real, así como su medir su rendimiento en escenarios realistas. La tesis comienza con una breve introducción a los fundamentos de los receptores GNSS, proporcionando algunos detalles sobre la estructura de las señales de navegación y la arquitectura del receptor aplicada a los sistemas GPS y Galileo. Continua con el análisis de la adquisición GNSS como un problema de detección, aplicando la teoría del detector Neyman-Pearson (NP) y el modelo de señal de una única antena. El marco teórico del detector NP se utiliza aquí para derivar tanto el detector óptimo (conocido como detector clarividente) como la denominada Prueba Generalizada de la Razón de Verosimilitud (en inglés, Generalized Likelihood Ratio Test (GLRT)), que forma la base de prácticamente todos los algoritmos de adquisición del estado del arte actual. Yendo más lejos, proponemos un nuevo detector diseñado para adquirir simultáneamente un conjunto de satélites, por lo tanto, obtiene una reducción del tiempo de adquisición y de los recursos computacionales necesarios en el proceso, respecto a las técnicas convencionales. El efecto del ancho de banda del receptor también se ha tenido en cuenta en los análisis. A continuación, el detector GLRT se extiende al modelo de señal de array de antenas para obtener un detector nuevo que es capaz de mitigar interferencias no correladas temporalmente, incluso utilizando arrays no estructurados y moderadamente descalibrados, convirtiéndose así en una de las principales aportaciones de esta tesis. La clave del detector es asumir una matriz de covarianza de ruido arbitraria y desconocida en el modelo de señal, que trata de captar el comportamiento estadístico de las interferencias y otras señales no deseadas, mientras que utiliza la dimensión espacial proporcionada por los arrays de antenas. Se han derivado las expresiones que modelan las probabilidades teóricas de detección y falsa alarma. El rendimiento del detector y su capacidad de rechazo a interferencias se han modelado y comparado con su límite teórico. El algoritmo propuesto también ha sido comparado con técnicas de adquisición convencionales, ejecutadas utilizando la salida de conformadores de haz que utilizan algoritmos de filtrado de interferencias, como el algoritmo de minimización de la potencia. Además, el detector se ha analizado bajo condiciones realistas, representadas con la presencia de errores en la estimación de covarianzas, errores residuales en la estimación del Doppler y el retardo de señal, y los efectos de la cuantificación. Los resultados teóricos se apoyan en simulaciones de Monte Carlo. Como otra contribución principal de esta tesis, la segunda parte del trabajo trata sobre el diseño y la implementación de una nueva plataforma para receptores GNSS en tiempo real basados en array de antenas que utiliza la tecnología de matriz programable de puertas lógicas (en ingles Field Programmable Gate Array (FPGA)). La plataforma está destinada a ser utilizada como una herramienta de investigación estrechamente acoplada con receptores GNSS definidos por software. Se ha diseñado, implementado y verificado la cadena completa de recepción, incluyendo el array de antenas y el front-end multi-canal para las señales GPS L1 y Galileo E1. El documento explica en detalle el procesado de señal que se realiza, como por ejemplo, la implementación del módulo de extracción de estadísticas de la señal. Los compromisos de diseño y las complejidades derivadas han sido cuidadosamente analizadas y tenidas en cuenta. La plataforma ha sido utilizada como prueba de concepto para solucionar el problema presentado de la vulnerabilidad del GNSS a las interferencias. Los algoritmos de adquisición introducidos en esta tesis se han implementado y probado en condiciones realistas. El rendimiento de los algoritmos se comparó con las técnicas de adquisición basadas en una sola antena. Se han realizado pruebas en escenarios que contienen interferencias dentro de la banda GNSS, incluyendo interferencias de banda estrecha y banda ancha y señales de comunicación. La plataforma fue diseñada para demostrar la viabilidad de la implementación de nuevos algoritmos de adquisición basados en array de antenas, dejando el resto de las operaciones del receptor (principalmente, los módulos de tracking, decodificación del mensaje de navegación, los observables de código y fase, y la solución básica de Posición, Velocidad y Tiempo (PVT)) a un receptor basado en el concepto de Radio Definida por Software (SDR), el cual se ejecuta en un ordenador personal. El receptor procesa en tiempo real las muestras de la señal filltradas espacialmente, transmitidas usando el bus de datos Gigabit Ethernet. En la última parte de esta Tesis, cerramos ciclo diseñando e implementando completamente este receptor basado en software. El receptor propuesto está dirigido a las arquitecturas de multi-constalación GNSS y multi-frecuencia, persiguiendo los objetivos de eficiencia, modularidad, interoperabilidad y flexibilidad demandada por los usuarios que requieren características no estándar, tales como la extracción de señales intermedias o de datos y intercambio de algoritmos. En este contexto, se presenta un receptor de código abierto que puede trabajar en tiempo real, llamado GNSS-SDR, que contribuye con varias características nuevas. Entre ellas destacan el uso de patrones de diseño de software y técnicas de memoria compartida para administrar de manera eficiente el uso de datos entre los bloques del receptor, el uso de la aceleración por hardware para las operaciones vectoriales más costosas, como la eliminación de la frecuencia Doppler y la correlación de código, y la disponibilidad para compilar y ejecutar el receptor en múltiples plataformas de software y arquitecturas de hardware. A fecha de la escritura de esta Tesis (abril de 2012), el receptor obtiene un rendimiento basado en la medida de la raíz cuadrada del error cuadrático medio en la distancia bidimensional (en inglés, 2-dimensional Distance Root Mean Square (DRMS) error) menor de 2 metros para un escenario GPS L1 C/A con 8 satélites visibles y una dilución de la precisión horizontal (en inglés, Horizontal Dilution Of Precision (HDOP)) de 1.2

The Global Navigation System Scope (GNSScope): a toolbox for the end-to-end modelling simulation and analysis of GNSS

The thesis provides a detailed overview of the work carried out by the author over the course of the research for the award of the degree of Doctor of Philosophy at the University of Westminster, and the performance results of the novel techniques introduced into the literature. The outcome of the work is collectively referred to as the Global Navigation System Scope (GNSScope) Toolbox, offering a complete, fully reconfigurable platform for the end-to-end modeling, simulation and analysis of satellite navigation signals and systems, covering the signal acquisition, tracking, and range processing operations that take place in a generic Global Navigation Satellite System (GNSS) receiver, accompanied by a Graphical User Interface (GUI) providing access to all the techniques available in the toolbox. Designed and implemented entirely in the MATLAB mathematical programming environment using Software Defined Radio (SDR) receiver techniques, the toolbox offers a novel new acquisition algorithm capable of handling all Phase-Shift Keying (PSK) type modulations used on all frequency bands in currently available satellite navigation signals, including all sub-classes of the Binary Offset Carrier (BOC) modulated signals. In order to be able to process all these signals identified by the acquisition search, a novel tracking algorithm was also designed and implemented into the toolbox to track and decode all acquired satellite signals, including those currently intended to be used in future navigation systems, such as the Galileo test signals transmitted by the GIOVE satellites orbiting the Earth. In addition to the developed receiver toolbox, three novel algorithms were also designed to handle weak signals, multipath, and multiple access interference in GNSScope. The Mirrored Channel Mitigation Technique, based on the successive and parallel interference cancellation techniques, reduces the hardware complexity of the interference mitigation process by utilizing the local code and carrier replicas generated in the tracking channels, resulting in a reduction in hardware resources proportional to the number of received strong signals. The Trigonometric Interference Cancellation Technique, used in cross-correlation interference mitigation, exploits the underlying mathematical expressions to simplify the interference removal process, resulting in reduced complexity and execution times by reducing the number of operations by 25% per tracking channel. The Split Chip Summation Technique, based on the binary valued signal modulation compression technique, enhances the amount of information captured from compressing the signal to reveal specific filtering effects on the positive and negative polarity chips of the spreading code. Simulation case studies generated entirely using the GNSScope toolbox will be used throughout the thesis to demonstrate the effectiveness of the novel techniques developed over the course of the research, and the results will be compared to those obtained from other techniques reported in the literature

Radio frequency interference detection and mitigation techniques for navigation and Earth observation

Radio-Frequency Interference (RFI) signals are undesired signals that degrade or disrupt the performance of a wireless receiver. RFI signals can be troublesome for any receiver, but they are especially threatening for applications that use very low power signals. This is the case of applications that rely on the Global Navigation Satellite Systems (GNSS), or passive microwave remote sensing applications such as Microwave Radiometry (MWR) and GNSS-Reflectometry (GNSS-R). In order to solve the problem of RFI, RFI-countermeasures are under development. This PhD thesis is devoted to the design, implementation and test of innovative RFI-countermeasures in the fields of MWR and GNSS. In the part devoted to RFI-countermeasures for MWR applications, first, this PhD thesis completes the development of the MERITXELL instrument. The MERITXELL is a multi-frequency total-power radiometer conceived to be an outstanding platform to perform detection, characterization, and localization of RFI signals at the most common MWR imaging bands up to 92 GHz. Moreover, a novel RFI mitigation technique is proposed for MWR: the Multiresolution Fourier Transform (MFT). An assessment of the performance of the MFT has been carried out by comparison with other time-frequency mitigation techniques. According to the results, the MFT technique is a good trade-off solution among all other techniques since it can mitigate efficiently all kinds of RFI signals under evaluation. In the part devoted to RFI-countermeasures for GNSS and GNSS-R applications, first, a system for RFI detection and localization at GNSS bands is proposed. This system is able to detect RFI signals at the L1 band with a sensitivity of -108 dBm at full-band, and of -135 dBm for continuous wave and chirp-like signals when using the averaged spectrum technique. Besides, the Generalized Spectral Separation Coefficient (GSSC) is proposed as a figure of merit to evaluate the Signal-to-Noise Ratio (SNR) degradation in the Delay-Doppler Maps (DDMs) due to the external RFI effect. Furthermore, the FENIX system has been conceived as an innovative system for RFI detection and mitigation and anti-jamming for GNSS and GNSS-R applications. FENIX uses the MFT blanking as a pre-correlation excision tool to perform the mitigation. In addition, FENIX has been designed to be cross-GNSS compatible and RFI-independent. The principles of operation of the MFT blanking algorithm are assessed and compared with other techniques for GNSS signals. Its performance as a mitigation tool is proven using GNSS-R data samples from a real airborne campaign. After that, the main building blocks of the patented architecture of FENIX have been described. The FENIX architecture has been implemented in three real-time prototypes. Moreover, a simulator named FENIX-Sim allows for testing its performance under different jamming scenarios. The real-time performance of FENIX prototype has been tested using different setups. First, a customized VNA has been built in order to measure the transfer function of FENIX in the presence of several representative RFI/jamming signals. The results show how the power transfer function adapts itself to mitigate the RFI/jamming signal. Moreover, several real-time tests with GNSS receivers have been performed using GPS L1 C/A, GPS L2C, and Galileo E1OS. The results show that FENIX provides an extra resilience against RFI and jamming signals up to 30 dB. Furthermore, FENIX is tested using a real GNSS timing setup. Under nominal conditions, when no RFI/jamming signal is present, a small additional jitter on the order of 2-4 ns is introduced in the system. Besides, a maximum bias of 45 ns has been measured under strong jamming conditions (-30 dBm), which is acceptable for current timing systems requiring accuracy levels of 100 ns. Finally, the design of a backup system for GNSS in tracking applications that require high reliability against RFI and jamming attacks is proposed.Les interferències de radiofreqüència (RFI) són senyals no desitjades que degraden o interrompen el funcionament dels receptors sense fils. Les RFI poden suposar un problema per qualsevol receptor, però són especialment amenaçadores per les a aplicacions que fan servir senyals de molt baixa potència. Aquest és el cas de les aplicacions que depenen dels sistemes mundials de navegació per satèl·lit (GNSS) o de les aplicacions de teledetecció passiva de microones, com la radiometria de microones (MWR) i la reflectometria GNSS (GNSS-R). Per combatre aquest problema, sistemes anti-RFI s'estan desenvolupament actualment. Aquesta tesi doctoral està dedicada al disseny, la implementació i el test de sistemes anti-RFI innovadors en els camps de MWR i GNSS. A la part dedicada als sistemes anti-RFI en MWR, aquesta tesi doctoral completa el desenvolupament de l'instrument MERITXELL. El MERITXELL és un radiòmetre multifreqüència concebut com una plataforma excepcional per la detecció, caracterització i localització de RFI a les bandes de MWR més utilitzades per sota dels 92 GHz. A més a més, es proposa una nova tècnica de mitigació de RFI per MWR: la Transformada de Fourier amb Multiresolució (MFT). El funcionament de la MFT s'ha comparat amb el d'altres tècniques de mitigació en els dominis del temps i la freqüència. D'acord amb els resultats obtinguts, la MFT és una bona solució de compromís entre les altres tècniques, ja que pot mitigar de manera eficient tots els tipus de senyals RFI considerats. A la part dedicada als sistemes anti-RFI en GNSS i GNSS-R, primer es proposa un sistema per a la detecció i localització de RFI a les bandes GNSS. Aquest sistema és capaç de detectar senyals RFI a la banda L1 amb una sensibilitat de -108 dBm a tota la banda, i de -135 dBm per a senyals d'ona contínua i chirp fen un mitjana de l'espectre. A més a més, el Coeficient de Separació Espectral Generalitzada (GSSC) es proposa com una mesura per avaluar la degradació de la relació senyal a soroll (SNR) en els Mapes de Delay-Doppler (DDM) a causa del impacte de les RFI. La major contribució d'aquesta tesi doctoral és el sistema FENIX. FENIX és un sistema innovador de detecció i mitigació de RFI i inhibidors de freqüència per aplicacions GNSS i GNSS-R. FENIX utilitza la MFT per eliminar la interferència abans del procés de correlació amb el codi GNSS independentment del tipus de RFI. L'algoritme de mitigació de FENIX s'ha avaluat i comparat amb altres tècniques i els principals components de la seva arquitectura patentada es descriuen. Finalment, un simulador anomenat FENIX-Sim permet avaluar el seu rendiment en diferents escenaris d'interferència. El funcionament en temps real del prototip FENIX ha estat provat utilitzant diferents mètodes. En primer lloc, s'ha creat un analitzador de xarxes per a mesurar la funció de transferència del FENIX en presència de diverses RFI representatives. Els resultats mostren com la funció de transferència s'adapta per mitigar el senyal interferent. A més a més, s'han realitzat diferents proves en temps real amb receptors GNSS compatibles amb els senyals GPS L1 C/A, GPS L2C i Galileo E1OS. Els resultats mostren que FENIX proporciona una resistència addicional contra les RFI i els senyals dels inhibidors de freqüència de fins a 30 dB. A més a més, FENIX s'ha provat amb un sistema comercial de temporització basat en GNSS. En condicions nominals, sense RFI, FENIX introdueix un petit error addicional de tan sols 2-4 ns. Per contra, el biaix màxim mesurat en condicions d'alta interferència (-30 dBm) és de 45 ns, el qual és acceptable per als sistemes de temporització actuals que requereixen nivells de precisió d'uns 100 ns. Finalment, es proposa el disseny d'un sistema robust de seguiment, complementari als GNSS, per a aplicacions que requereixen alta fiabilitat contra RFI.Postprint (published version