Galileo and EGNOS as an asset for UTM safety and security

GAUSS (Galileo-EGNOS as an Asset for UTM Safety and Security) is a H2020 project1 that aims at designing and developing high performance positioning systems for drones within the U-Space framework focusing on UAS (Unmanned Aircraft System) VLL (Very Low Level) operations. The key element within GAUSS is the integration and exploitation of Galileo and EGNOS exceptional features in terms of accuracy, integrity and security, which will be key assets for the safety of current and future drone operations. More concretely, high accuracy, authentication, precise timing (among others) are key GNSS (Global Navigation Satellite System) enablers of future integrated drone operations under UTM (UAS Traffic Management) operations, which in Europe will be deployed under U-Space [1]. The U-Space concept helps control, manage and integrate all UAS in the VLL airspace to ensure the security and efficiency of UAS operations. GAUSS will enable not only safe, timely and efficient operations but also coordination among a higher number of RPAS (Remotely Piloted Aircraft System) in the air with the appropriate levels of security, as it will improve anti-jamming and anti-spoofing capabilities through a multi-frequency and multi-constellation approach and Galileo authentication operations. The GAUSS system will be validated with two field trials in two different UTM real scenarios (in-land and sea) with the operation of a minimum of four UTM coordinated UAS from different types (fixed and rotary wing), manoeuvrability and EASA (European Aviation Safety Agency) operational categories. The outcome of the project will consist of Galileo-EGNOS based technological solutions to enhance safety and security levels in both, current UAS and future UTM operations. Increased levels of efficiency, reliability, safety, and security in UAS operations are key enabling features to foster the EU UAS regulation, market development and full acceptance by the society.Peer ReviewedPostprint (author's final draft

PERFORMANCE EVALUATION OF LOW-COST PRECISION POSITIONING METHODS FOR FUTURE PORT APPLICATIONS

In recent times, a lot of research has been conducted to improve the accuracy of various positioning systems. The motivation behind this trend is to ensure high quality GNSS services for various applications. In particular, emphasis has been placed on improving the level of accuracy of consumer grade GNSS receivers. Significant improvements in the quality of signal reception of these receivers would enable low-cost solutions for asset management in for example, harbor areas. Research in Receiver Autonomous Integrity Monitoring - Fault Detection and Exclusion (RAIM-FDE) algorithms give users the ability to exclude satellites with degraded signals, hereby improving the performance of the GNSS solution. This research investigates and evaluates the performance of various customer grade GNSS positioning systems intended for port applications. Various high precision techniques such as Precise Point Positioning and Real-Time Kinematic were conducted and accuracy levels were noted on Multi-band receivers, Single frequency receivers, and GNSS-enabled smartphone. Our final conclusion suggests optimal low-cost GNSS solutions for asset monitoring and management

Performance Analysis of Using the Next generation Australian SBAS with Precise Point Positioning Capability for Intelligent Transport Systems

© 2019 IEEE. In 2018, a next-generation Satellite-Based Augmentation System (SBAS) test-bed was launched in Australia/New-Zealand in preparation for building an operational system. This new generation SBAS includes Ll legacy SBAS, new dual-frequency multi-constellation (DFMC) SBAS, and orbit and clock corrections for precise point positioning (PPP) using GPS and Galileo. In this paper, the next generation SBAS and its models are first presented, and the benefits of using its new components are discussed. Test results for lane identification applications in Intelligent Transport Systems (ITS) are presented and analyzed. Kinematic tests were performed in different ITS environments. These are characterized by different levels of sky-visibility and multipath, including clear sky, suburban, low-density urban, and high-density urban environments. Performance analysis show that results vary widely depending on the operational conditions but all SBAS solutions have better positioning accuracy compared with the standalone solutions that are currently used in transport applications. The DFMC SBAS slightly outperformed the Ll SBAS, with accuracy at sub-meter, and it has advantages during periods of fluctuations of the ionosphere with an extended coverage area. As expected, the SBAS-based PPP solutions have shown to give the best positioning precision and accuracy among all tested solution types, with sub-decimeter level accuracy, provided that enough convergence time is available. The paper concluded by giving remarks on the use of this new technology for ITS

Client-server-based LBS architecture: A novel positioning module for improved positioning performance

Permission to distribute obtained from publisher.This work presents a new efficient positioning module that operates over client-server LBS architectures. The aim of the proposed module is to fulfil the position information requirements for LBS pedestrian applications by ensuring the availability of reliable, highly accurate and precise position solutions based on GPS single frequency (L1) positioning service. The positioning module operates at both LBS architecture sides; the client (mobile device), and the server (positioning server). At the server side, the positioning module is responsible for correcting user’s location information based on WADGPS corrections. In addition, at the mobile side, the positioning module is continually in charge for monitoring the integrity and available of the position solutions as well as managing the communication with the server. The integrity monitoring was based on EGNOS integrity methods. A prototype of the proposed module was developed and used in experimental trials to evaluate the efficiency of the module in terms of the achieved positioning performance. The positioning module was capable of achieving a horizontal accuracy of less than 2 meters with a 95% confidence level with integrity improvement of more than 30% from existing GPS/EGNOS services

Second Generation SBAS – Performance Analysis and Bridging Positioning and Integrity Monitoring during SBAS Outages in the Urban Environment

Improved SBAS is expected to be a primary positioning method for many land applications such as Intelligent Transport Systems (ITS). In 2017, a second-generation SBAS test-bed was initiated in Australia and New-Zealand in preparation for building an operational system. In addition to the traditional L1 legacy SBAS signals, the Australian/NZ SBAS provides dual-frequency multi-constellation (DFMC) SBAS signals and SBAS-based PPP service for GPS and Galileo observations. This article addresses the use of SBAS in land applications from three important aspects. Firstly, the performance of the different SBAS solution methods is assessed in two main applications, transportation and mining. Tests were conducted under various environments, including open sky, low- and high-density urban, and mining. Performance analysis showed that SBAS solutions provide better positioning than single point positioning, and the DFMC SBAS solutions have better precision than L1 SBAS solutions. Furthermore, SBAS-based PPP solutions delivered a few-dm accuracy, which is a bit worse than traditional PPP with corrections received via the Internet. It is shown that SBAS performance is strongly dependent on the application environment. Secondly, tests show that SBAS outages may occur in urban areas, thus, the paper proposed prediction of the SBAS orbit and clock corrections as time series to enable positioning. The orbits are predicted using Holt-Winters’ method and clock corrections were predicted using a second order polynomial with sinusoidal components. A position error due to prediction grow with time, but was less than 0.26m after 15 minutes of prediction. Finally, the impact of SBAS outages on computation of the protection levels (PL) needed for integrity monitoring of the new DFMC SBAS is illustrated. It is shown that Horizontal-PLs can reach more than 10 m, which is not suitable for ITS when the previous SBAS parameters before the outage were used, and thus methods are proposed for future research

센티미터 급 광역 보강항법 시스템의 반송파 위상 기반 보정정보 생성 알고리즘에 관한 연구

학위논문(박사)--서울대학교 대학원 :공과대학 기계항공공학부,2020. 2. 기창돈.Recently, the demand for high-precision navigation systems for centimeter-level service has been growing rapidly for various Global Navigation Satellite System (GNSS) applications. The network Real-Time Kinematic (RTK) is one of the candidate solution to provide high-accuracy position to user in real-time. However, the network RTK requires a lot of reference stations for nationwide service. Furthermore, it requires high-speed data-link for broadcasting their scalar-type corrections. This dissertation proposed a new concept of satellite augmentation system called Compact Wide-Area RTK, which provides centimeter-level positioning service on national or continental scales to overcoming the limitation of the legacy network RTK methods. Using the wide-area network of multiple reference stations whose distance is 200~1,000 km, the proposed system generates three types of carrier-phase-based corrections: satellite orbit corrections, satellite code/phase clock (CPC) corrections, tropospheric corrections. Through the strategy of separating the scalar-type corrections of network RTK into vector forms of each error component, it is enable to expand network RTK coverage to continental scale using a similar number of reference stations as legacy meter-level Satellite-Based Augmentation System (SBAS). Furthermore, it is possible to broadcast their corrections over a wide-area using geosynchronous (GEO) satellite with extremely low-speed datalink of 250 bps likewise of legacy SBAS. To sum up, the proposed system can improve position accuracy by centimeter-level while maintaining the hardware infrastructure of the meter-level legacy SBAS. This study mainly discussed on the overall system architecture and core algorithms for generating satellite CPC corrections and tropospheric corrections. This study proposed a new Three-Carrier Ambiguity Resolution (TCAR) algorithm using ionosphere-free combinations to correctly solve the integer ambiguity in wide-area without any ionospheric corrections. The satellite CPC corrections are calculated based on multiple stations for superior and robust performance under communication delay and outage. The proposed algorithm dramatically reduced the latency compensation errors and message amounts with compare to conventional RTK protocols. The tropospheric corrections of the compact wide-area RTK system are computed using GPS-estimated precise tropospheric delay and weather data based model together. The proposed algorithm adopts spherical harmonics function to significantly reduce the message amounts and required number of GPS reference stations than the network RTK and Precise Point Positioning-RTK (PPP-RTK), while accurately modeling the spatial characteristic of tropospheric delay with weather data together. In order to evaluate the user domain performance of the compact wide-area RTK system, this study conducted the feasibility test on mid-west and south USA using actual GPS measurements. As a result, the 95% horizontal position error is about 1.9 cm and the 95% vertical position error is 7.0 cm after the integer ambiguity is correctly fixed using GPS-only signals. The user ambiguity resolution takes about 2 minutes, and success-fix rate is about 100 % when stable tropospheric condition. In conclusion, the compact wide-area RTK system can provide centimeter-level positioning service to wide-area coverage with extremely low-speed data link via GEO satellite. We hope that this new system will consider as candidate solution for nationwide centimeter-level service such as satellite augmentation system of the Korea Positioning System (KPS).최근 자율주행자동차, 무인 드론 배송, 충돌 회피, 무인트랙터를 이용한 스마트 무인 경작 등 위성항법시스템(GNSS, Global Navigation Satellite System)을 사용하는 다양한 응용분야에서 수 cm 수준의 정밀 위치 정보에 대한 요구가 급격히 증가하고 있다. 본 학위논문에서는 1 m 급의 정확하고 신뢰성 높은 위치 서비스를 제공하는 기존의 정지궤도위성 기반 광역 보강항법 시스템(SBAS, Satellite-Based Augmentation System)의 기준국 인프라를 유지하면서 항법 성능을 수 cm 수준으로 향상시키기 위해 반송파 위상 기반의 초정밀 보정정보 생성 알고리즘에 관한 연구를 수행하였다. 실시간 정밀 측위(RTK, Real-Time Kinematic)는 반송파 위상 측정치에 포함된 미지정수를 정확하게 결정하여 수 cm 수준의 정밀 항법 서비스를 가능하게 하는 대표적인 기법이다. 그 중에서도 약 50~70 km 간격으로 분포된 다수의 기준국 정보를 활용하는 Network RTK 기법은 동적 사용자의 빠르고 정확한 위치 결정이 가능한 인프라로서 주목받고 있다. 하지만 스칼라 형태로 구성된 Network RTK 보정정보는 각 기준국 별로 관측된 위성 수에 따라 생성이 되기 때문에 보정 데이터 량이 상당히 방대하다. 메시지 전송에 필요한 데이터 량이 많을수록 고속의 통신 환경을 필요로 하며, 메시지 시간 지연이나 통신 단절에 매우 취약한 문제를 가지고 있다. 또한 스칼라 형태의 보정정보는 사용자와 기준국 간의 거리가 멀어질수록 보정 오차가 크게 발생하기 때문에 대륙 혹은 나라 규모의 광역에서 서비스하기 위해서는 수십~수백 개 이상의 기준국 인프라 구축이 필수적이다. 예를 들어, SBAS가 한반도 지역 서비스를 위해 5~7개의 기준국이 필요한 반면 Network RTK는 90~100개의 기준국이 필요하다. 즉 Network RTK는 시스템 구축 및 유지 비용이 SBAS 대비 약 15배 정도 많이 들게 된다. 본 논문에서는 기존 Network RTK의 문제점을 해결하기 위한 방법으로 대륙 급 광범위한 영역에서 실시간으로 cm급 초정밀 위치결정 서비스 제공이 가능한 Compact Wide-Area RTK 라는 새로운 개념의 광역보강항법시스템 아키텍처를 제안하였다. Compact Wide-Area RTK는 약 200~1,000 km 간격으로 넓게 분포된 기준국 네트워크를 활용하여 반송파 위상 기반의 정밀한 위성 궤도 보정정보, 위성 Code/Phase 시계 보정정보, 대류층 보정정보를 생성하는 시스템이다. 기존 스칼라 형태의 Network RTK 보정정보 대신 오차 요소 별 벡터 형태의 정밀 보정정보를 생성함으로써 데이터 량을 획기적으로 절감하고 서비스 영역을 확장할 수 있다. 최종적으로 SBAS와 마찬가지로 250 bps의 저속 통신 링크를 가진 정지궤도위성을 통해 광역으로 보정정보 방송이 가능하다. 본 논문에서는 3가지 보정정보 중 위성 Code/Phase 시계 보정정보와 대류층 보정정보 생성을 위한 핵심 알고리즘에 대해 중점적으로 연구하였다. 반송파 위상 기반의 정밀 보정정보 생성을 위해서는 먼저 미지정수를 정확하게 결정해야 한다. 본 논문에서는 삼중 주파수 반송파 위상 측정치의 무-전리층 조합을 활용하여 전리층 보정정보 없이도 정확하게 미지정수 결정 가능한 새로운 방법을 제안하였다. 위성 Code/Phase 시계 보정정보는 통신 지연 및 고장 시 우수하고 강건한 성능을 위해 다중 기준국의 모든 측정치를 활용하여 추정된다. 이 때 각 기준국 별 서로 다른 미지정수 때문에 발생하는 문제는 앞서 정확하게 결정된 기준국 간 이중차분 된 미지정수를 활용하여 수준을 조정하는 과정을 통해 해결이 가능하다. 그 결과 생성된 위성 Code/Phase 보정정보 메시지의 크기, 변화율, 잡음 수준이 크게 개선되었고, 통신 지연 시 오차 보상 성능이 기존 RTK 프로토콜 보다 99% 향상 됨을 확인하였다. 대류층 보정정보는 적은 수의 기준국 만을 활용하여 정확하게 대류층을 모델링하기 위해 자동 기상관측시스템으로부터 수집한 기상 정보를 추가로 활용하여 생성된다. 본 논문에서는 GNSS 기준국 네트워크로부터 정밀하게 추정된 반송파 위상 기반 수직 대류층 지연과 기상정보 기반으로 모델링 된 수직 대류층 지연을 함께 활용할 수 있는 새로운 알고리즘을 제안하였다. 구면조화함수를 사용하여 Network RTK 및 PPP-RTK 보다 필요한 메시지 양과 기준국 수를 크게 감소시키면서도 RMS 2 cm 수준으로 정확한 보정정보 생성이 가능함을 확인하였다. 본 논문에서 제안한 Compact Wide-Area RTK 시스템의 항법 성능을 검증하기 위해 미국 동부 지역 6개 기준국의 실측 GPS 데이터를 활용하여 테스트를 수행하였다. 그 결과 제안한 시스템은 미지정수 결정 이후 사용자의 95% 수평 위치 오차 1.9 cm, 95% 수직 위치 오차 7.0 cm 로 위치를 정확하게 결정하였다. 사용자 미지정수 결정 성능은 대류층 안정 상태에서 약 2분 내로 100% 의 성공률을 가진다. 본 논문에서 제안한 시스템이 향후 한국형 위성항법 시스템(KPS, Korean Positioning System)의 전국 단위 센티미터 급 서비스를 위한 알고리즘으로 활용되기를 기대한다.CHAPTER 1. Introduction 1 1.1 Motivation and Purpose 1 1.2 Former Research 4 1.3 Outline of the Dissertation 7 1.4 Contributions 8 CHAPTER 2. Overview of GNSS Augmentation System 11 2.1 GNSS Measurements 11 2.2 GNSS Error Sources 14 2.2.1 Traditional GNSS Error Sources 14 2.2.2 Special GNSS Error Sources 21 2.2.3 Summary 28 2.3 GNSS Augmentation System 29 2.3.1 Satellite-Based Augmentation System (SBAS) 29 2.3.2 Real-Time Kinematic (RTK) 32 2.3.3 Precise Point Positioning (PPP) 36 2.3.4 Summary 40 CHAPTER 3. Compact Wide-Area RTK System Architecture 43 3.1 Compact Wide-Area RTK Architecture 43 3.1.1 WARTK Reference Station (WRS) 48 3.1.2 WARTK Processing Facility (WPF) 51 3.1.3 WARTK User 58 3.2 Ambiguity Resolution and Validation Algorithms of Compact Wide-Area RTK System 59 3.2.1 Basic Theory of Ambiguity Resolution and Validation 60 3.2.2 A New Ambiguity Resolution Algorithms for Multi-Frequency Signals 65 3.2.3 Extra-Wide-Lane (EWL) Ambiguity Resolution 69 3.2.4 Wide-Lane (WL) Ambiguity Resolution 71 3.2.5 Narrow-Lane (NL) Ambiguity Resolution 78 3.3 Compact Wide-Area RTK Corrections 83 3.3.1 Satellite Orbit Corrections 86 3.3.2 Satellite Code/Phase Clock (CPC) Corrections 88 3.3.3 Tropospheric Corrections 89 3.3.4 Message Design for GEO Broadcasting 90 CHAPTER 4. Code/Phase Clock (CPC) Correction Generation Algorithm 93 4.1 Former Research of RTK Correction Protocol 93 4.1.1 Observation Based RTK Data Protocol 93 4.1.2 Correction Based RTK Data Protocol 95 4.1.3 Compact RTK Protocol 96 4.2 Satellite CPC Correction Generation Algorithm 100 4.2.1 Temporal Decorrelation Error Reduced Methods 102 4.2.2 Ambiguity Level Adjustment 105 4.2.3 Receiver Clock Synchronization 107 4.2.4 Averaging Filter of Satellite CPC Correction 108 4.2.5 Ambiguity Re-Initialization and Message Generation 109 4.3 Correction Performance Analysis Results 111 4.3.1 Feasibility Test Environments 111 4.3.2 Comparison of RTK Correction Protocol 113 4.3.3 Latency Compensation Performance Analysis 116 4.3.4 Message Data Bandwidth Analysis 119 CHAPTER 5. Tropospheric Correction Generation Algorithm 123 5.1 Former Research of Tropospheric Correction 123 5.1.1 Tropospheric Corrections for SBAS 124 5.1.2 Tropospheric Corrections of Network RTK 126 5.1.3 Tropospheric Corrections of PPP-RTK 130 5.2 Tropospheric Correction Generation Algorithm 136 5.2.1 ZWD Estimation Using Carrier-Phase Observations 138 5.2.2 ZWD Measurements Using Weather Data 142 5.2.3 Correction Generation Using Spherical Harmonics 149 5.2.4 Correction Applying Method for User 157 5.3 Correction Performance Analysis Results 159 5.3.1 Feasibility Test Environments 159 5.3.2 Zenith Correction Domain Analysis 161 5.3.3 Message Data Bandwidth Analysis 168 CHAPTER 6. Compact Wide-Area RTK User Test Results 169 6.1 Compact Wide-Area RTK User Process 169 6.2 User Performance Test Results 173 6.2.1 Feasibility Test Environments 173 6.2.2 User Range Domain Analysis 176 6.2.3 User Ambiguity Domain Analysis 182 6.2.4 User Position Domain Analysis 184 CHAPTER 7. Conclusions 189 Bibliography 193 초 록 207Docto

Performance Evaluation of Different GNSS Positioning Modes

This paper gives a comparison of different GPS positioning modes using RTKLIB which is free and open-source software. The modes tested in this work are Single point positioning (SPP), precise point positioning (PPP), Satellite-based augmentation system (SBAS), Differential GPS (DGPS), and Real-Time Kinematic (RTK). The data for tests were obtained from NetR9 receivers, these types of receivers are multi-frequencies and multi-constellation receivers that provide carrier and phase measurements. The SPP mode is the very simplest mode, it can be used for applications where accuracy is not less than 5m, and it can be improved to achieve 1m by using SBAS corrections but only in the coverage area of the system. The DGPS can also provide 1m accuracy using a second receiver as a base station which can increase the cost of the operation. For applications that need very high accuracy, RTK and PPP can be used to reach centimeter-level accuracy. RTK needs a base station in addition to the rover receiver used for the positioning; PPP uses precise orbital and clock solutions which are not available in real time for all users

Using PPP Information to Implement a Global Real-Time Virtual Network DGNSS Approach

Global Navigation Satellite Systems (GNSS) provide positioning services for connected and autonomous vehicles. Differential GNSS (DGNSS) has been demonstrated to provide reliable, high quality range correction information enabling real-time navigation with sub-meter or centimeter accuracy. However, DGNSS requires a local reference station near each user, which for a continental or global scale implementation would require a dense network of reference stations whose construction and maintenance would be prohibitively expensive. Precise Point Positioning (PPP) affords more flexibility as a public service for GNSS receivers, but its State Space Representation (SSR) format is not currently supported by most receivers. This article proposes a novel Virtual Network DGNSS (VN-DGNSS) design that capitalizes on the PPP infrastructure to provide global coverage for real-time navigation without building physical reference stations. Correction information is computed using data from public GNSS SSR data services and transmitted to users by Radio Technical Commission for Maritime Services (RTCM) Observation Space Representation (OSR) messages which are accepted by most receivers. The real-time stationary and moving platform testing performance, using u-blox M8P and ZED-F9P receivers, surpasses the Society of Automotive Engineering (SAE) specification (68% of horizontal error $\leqslant$ 1.5 m and vertical error $\leqslant$ 3 m) and shows significantly better horizontal performance than GNSS Open Service (OS). The moving tests also show better horizontal performance than the ZEDF9P receiver with Satellite Based Augmentation Systems (SBAS) enabled and achieve the lane-level accuracy which requires 95% of horizontal errors less than 1 meter.Comment: 14 pages, 8 tables, 4 figures, Code and data are available at https://github.com/Azurehappen/Virtual-Network-DGNSS-Projec

Performance Analysis of GPS Aided Geo Augmented Navigation (GAGAN) Over Sri Lanka

Satellite-Based Augmentation Systems (SBAS) are being developed worldwide due to their unique advantage of wide area coverage. GPS Aided Geo Augmented Navigation (GAGAN) is an Indian implementation of SBAS, with three (03) geo stationary satellites in space covering a huge area even beyond Indian Territory. This study focused on analyzing the improvement in position solution with GAGAN corrections over Sri Lanka. In order to test its performances, several dual and single frequency GNSS receivers have been used for this experiment and one receiver is configured as SBAS receiver and other two were kept as GPS stand-alone receivers. For investigate its coverage over Sri Lanka; observations were carried out over seven (07) known control stations of 6 different districts. At each of the tested stations the GAGAN active L1 receiver has always shown a significant accuracy improvement over L1 uncorrected observations. Further, five out of the 7 observation locations the calculated average 3D positional errors are lower than 1m. Almost 79% of observations (out of 24 hours of observations) have shown acceptable 3D positional accuracy, of less than 1m, for many spatial data collection applications. However, the local DGPS correction has shown higher reliability than GAGAN corrections with almost 85% of observations with less tan 1m, 3D positional error.Satellite-Based Augmentation Systems (SBAS) are being developed worldwide due to their unique advantage of wide area coverage. GPS Aided Geo Augmented Navigation (GAGAN) is an Indian implementation of SBAS, with three (03) geo stationary satellites in space covering a huge area even beyond Indian Territory. This study focused on analyzing the improvement in position solution with GAGAN corrections over Sri Lanka. In order to test its performances, several dual and single frequency GNSS receivers were used in this experiment, one receiver was configured as SBAS receiver and other two were kept as GPS stand-alone receivers. Observations were carried out over seven (07) known control stations of six (6) different districts to investigate its coverage over Sri Lanka. At each of the tested stations the GAGAN active L1 receiver has always shown a significant accuracy improvement over L1 uncorrected observations. Further, five out of the seven (7) observation locations the calculated average 3D positional errors were lower than 1 m. Almost 79% of observations (out of 24 hours of observations) have shown acceptable 3D positional accuracy, of less than 1m, for many spatial data collection applications. However, the local DGPS correction has shown higher reliability than GAGAN corrections with almost 85% of observations with less than 1 m, 3D positional error

Precise Orbit Determination of CubeSats

CubeSats are faced with some limitations, mainly due to the limited onboard power and the quality of the onboard sensors. These limitations significantly reduce CubeSats' applicability in space missions requiring high orbital accuracy. This thesis first investigates the limitations in the precise orbit determination of CubeSats and next develops algorithms and remedies to reach high orbital and clock accuracies. The outputs would help in increasing CubeSats' applicability in future space missions