Efficient Delay Tracking Methods with Sidelobes Cancellation for BOC-Modulated Signals

In positioning applications, where the line of sight (LOS) is needed with high accuracy, the accurate delay estimation is an important task. The new satellite-based positioning systems, such as Galileo and modernized GPS, will use a new modulation type, that is, the binary offset carrier (BOC) modulation. This type of modulation creates multiple peaks (ambiguities) in the envelope of the correlation function, and thus triggers new challenges in the delay-frequency acquisition and tracking stages. Moreover, the properties of BOC-modulated signals are yet not well studied in the context of fading multipath channels. In this paper, sidelobe cancellation techniques are applied with various tracking structures in order to remove or diminish the side peaks, while keeping a sharp and narrow main lobe, thus allowing a better tracking. Five sidelobe cancellation methods (SCM) are proposed and studied: SCM with interference cancellation (IC), SCM with narrow correlator, SCM with high-resolution correlator (HRC), SCM with differential correlation (DC), and SCM with threshold. Compared to other delay tracking methods, the proposed SCM approaches have the advantage that they can be applied to any sine or cosine BOC-modulated signal. We analyze the performances of various tracking techniques in the presence of fading multipath channels and we compare them with other methods existing in the literature. The SCM approaches bring improvement also in scenarios with closely-spaced paths, which are the most problematic from the accurate positioning point of view.</p

Collective unambiguous positioning with high-order BOC signals

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.The unambiguous estimation of high-order BOC signals in harsh propagation conditions is still an open problem in the literature. This paper proposes to overcome the limitations observed in state-of-the-art unambiguous estimation techniques based on the application of existing direct positioning techniques and the exploitation of the spatial diversity introduced by arrays of antennas. In particular, the ambiguity problem is solved as a multiple-input multiple-output (MIMO) estimation problem in the position domain.Peer ReviewedPostprint (author's final draft

A Survey on Low-Power GNSS

With the miniaturization of electronics, Global Navigation Satellite Systems (GNSS) receivers are getting more and more embedded into devices with harsh energy constraints. This process has led to new signal processing challenges due to the limited processing power on battery-operated devices and to challenging wireless environments, such as deep urban canyons, tunnels and bridges, forest canopies, increased jamming and spoofing. The latter is typically tackled via new GNSS constellations and modernization of the GNSS signals. However, the increase in signal complexity leads to higher computation requirements to recover the signals; thus, the trade-off between precision and energy should be evaluated for each application. This paper dives into low-power GNSS, focusing on the energy consumption of satellite-based positioning receivers used in battery-operated consumer devices and Internet of Things (IoT) sensors. We briefly overview the GNSS basics and the differences between legacy and modernized signals. Factors dominating the energy consumption of GNSS receivers are then reviewed, with special attention given to the complexity of the processing algorithms. Onboard and offloaded (Cloud/Edge) processing strategies are explored and compared. Finally, we highlight the current challenges of today’s research in low-power GNSS.Peer reviewe

Multi-GNSS signals acquisition techniques for software defines receivers

Any commercially viable wireless solution onboard Smartphones should resolve the technical issues as well as preserving the limited resources available such as processing and battery. Therefore, integrating/combining the process of more than one function will free up much needed resources that can be then reused to enhance these functions further. This thesis details my innovative solutions that integrate multi-GNSS signals of specific civilian transmission from GPS, Galileo and GLONASS systems, and process them in a single RF front-end channel (detection and acquisition), ideal for GNSS software receiver onboard Smartphones. During the course of my PhD study, the focus of my work was on improving the reception and processing of localisation techniques based on signals from multi-satellite systems. I have published seven papers on new acquisition solutions for single and multi-GNSS signals based on the bandpass sampling and the compressive sensing techniques. These solutions, when applied onboard Smartphones, shall not only enhance the performance of the GNSS localisation solution but also reduce the implementation complexity (size and processing requirements) and thus save valuable processing time and battery energy. Firstly, my research has exploited the bandpass sampling technique, if being a good candidate for processing multi-signals at the same time. This portion of the work has produced three methods. The first method is designed to detect the GPS, Galileo and GLONASS-CDMA signals’ presence at an early stage before the acquisition process. This is to avoid wasting processing resources that are normally spent on chasing signals not present/non-existent. The second focuses on overcoming the ambiguity when acquiring Galileo-OS signal at a code phase resolution equal to 0.5 Chip or higher and this achieved by multiplying the received signal with the generated sub-carrier frequency. This new conversion saves doing a complete correlation chain processing when compared to conventionally used methods. The third method simplifies the joining implementation of the Galileo-OS data-pilot signal acquisition by constructing an orthogonal signal so as to acquire them in a single correlation chain, yet offering the same performance as using two correlation chains. Secondly, the compressive sensing technique is used to acquire multi-GNSS signals to achieve computation complexity reduction over correlator based methods, like Matched Filter, while still maintaining acquisition integrity. As a result of this research work, four implementation methods were produced to handle single or multi-GNSS signals. The first of these methods is designed to change dynamically the number and the size of the required channels/correlators according to the received GPS signal-power during the acquisition process. This adaptive solution offers better fix capability when the GPS receiver is located in a harsh signal environment, or it will save valuable processing/decoding time when the receiver is outdoors. The second method enhances the sensing process of the compressive sensing framework by using a deterministic orthogonal waveform such as the Hadamard matrix, which enabled us to sample the signal at the information band and reconstruct it without information loss. This experience in compressive sensing led the research to manage more reduction in terms of computational complexity and memory requirements in the third method that decomposes the dictionary matrix (representing a bank of correlators), saving more than 80% in signal acquisition process without loss of the integration between the code and frequency, irrespective of the signal strength. The decomposition is realised by removing the generated Doppler shifts from the dictionary matrix, while keeping the carrier frequency fixed for all these generated shifted satellites codes. This novelty of the decomposed dictionary implementation enabled other GNSS signals to be combined with the GPS signal without large overhead if the two, or more, signals are folded or down-converted to the same intermediate frequency. The fourth method is, therefore, implemented for the first time, a novel compressive sensing software receiver that acquires both GPS and Galileo signals simultaneously. The performance of this method is as good as that of a Matched Filter implementation performance. However, this implementation achieves a saving of 50% in processing time and produces a fine frequency for the Doppler shift at resolution within 10Hz. Our experimental results, based on actual RF captured signals and other simulation environments, have proven that all above seven implementation methods produced by this thesis retain much valuable battery energy and processing resources onboard Smartphones

A New Acquisition Algorithm with Elimination Side Peak for All BOC Signals

A new inhibition side peak acquisition (ISPA) algorithm is proposed for binary offset carrier (BOC) modulated signals, which will be utilized in global navigation satellite systems (GNSS). We eliminate all side peaks of the BOC correlation function (CF) by structuring special sequences composed of PRN code and cycle rectangular sequences. The new algorithm can be applied to both generic sine- and cosine-phased BOC signals, as well as to all modulation orders. Theoretical and simulation results demonstrate that the new algorithm can completely eliminate the ambiguity threat in the acquisition process, and it can adapt to lower SNR. In addition, this algorithm is better than the traditional algorithms in acquisition performance and inhibition side peak ability

A New Acquisition Algorithm with Elimination Side Peak for All BOC Signals

A new inhibition side peak acquisition (ISPA) algorithm is proposed for binary offset carrier (BOC) modulated signals, which will be utilized in global navigation satellite systems (GNSS). We eliminate all side peaks of the BOC correlation function (CF) by structuring special sequences composed of PRN code and cycle rectangular sequences. The new algorithm can be applied to both generic sine-and cosine-phased BOC signals, as well as to all modulation orders. Theoretical and simulation results demonstrate that the new algorithm can completely eliminate the ambiguity threat in the acquisition process, and it can adapt to lower SNR. In addition, this algorithm is better than the traditional algorithms in acquisition performance and inhibition side peak ability

Multipath Propagation, Mitigation and Monitoring in the Light of Galileo and the Modernized GPS

Among the numerous potential sources of GNSS signal degradation, multipath takes on a prominent position. Unlike other errors like ionospheric or tropospheric path delays which can be modeled or significantly reduced by differential techniques, multipath influences cannot be mitigated by such approaches. Although a lot of multipath mitigation techniques have been proposed and developed in the past among them many receiver internal approaches using special signal processing algorithms multipath (especially multipath with small geometric path delays) still remains a major error source. This is why multipath has been a major design driver for the definition of the Galileo signal structure carried out in the past years and the subsequent signal optimization activities. This thesis tries to provide a broad and comprehensive insight into various aspects of multipath propagation, mitigation and monitoring (without claiming to be exhaustive). It contains an overview of the most important aspects of multipath propagation, including the discussion of different types of multipath signals (e.g. specular vs. diffuse multipath, satellite vs. receiver multipath or hardware-induced multipath), typical characteristics such as periodic signal variations whose frequency depends on the satellite-antenna-reflector geometry and the impact on the signal tracking process within a GNSS receiver. A large part of this thesis is dedicated to aspects of multipath mitigation, first providing a summary of the most common multipath mitigation techniques with a special focus on receiver-internal approaches such as the narrow correlation technique, double-delta correlator implementations, the Early-Late Slope (ELS) technique or Early/Early tracking implementations. However, other mitigation approaches such as using arrays of closely spaced antennas or multipath-limiting antennas are discussed as well. Some of these techniques are used for subsequent multipath performance analyses considering signals of the (modernized) GPS and Galileo. These analyses base on a new methodology to estimate typical and meaningful multipath errors making use of multipath error envelopes that are scaled in a suitable way to account for different multipath environments. It will be shown that typical (mean) multipath errors can be derived from these scaled envelopes by computation of the envelopes running average and that these mean multipath errors are of the same order as multipath errors obtained from complex statistical channel models. Another part of this thesis covers various aspects of multipath detection and monitoring. First, current techniques for multipath detection and monitoring are described and discussed with respect to their benefits and drawbacks or their real-time capability. Among the considered approaches are techniques like code minus carrier monitoring, SNR monitoring, the use of differenced observations or spectral and wavelet analysis. Following this introductory overview, a completely new approach for real-time multipath monitoring by processing multi-correlator observations will be introduced. Previously being used primarily for the detection of Evil Waveforms (signal failures that originate from a malfunction of the satellites signal generation and transmission hardware), the same basic observations (linear combinations of correlator outputs) can be used for the development of a multi-correlator-based real-time multipath monitoring system. The objective is to provide the user with instant information whether or not a signal is affected by multipath. The proposed monitoring scheme has been implemented in the form of a Matlab-based software called RTMM (Real-Time Multipath Monitor) which has been used to verify the monitoring approach and to determine its sensitivity.Die Qualität eines Satellitensignals wird durch eine Vielzahl potenzieller Fehlerquellen negativ beeinflusst. Neben atmosphärischen Einflüssen tragen Mehrwegeeinflüsse einen wesentlichen Anteil zum Gesamtfehlerbudget der Satellitennavigation bei. Während eine ganze Reihe von Fehlereinflüssen durch geeignete Modellierung oder differenzielle Verfahren deutlich reduziert werden können, ist dies durch die räumliche Dekorrelation der Mehrwegeeffekte nicht möglich. Obwohl in der Vergangenheit eine Vielzahl von Verfahren zur Mehrwegereduzierung vorgeschlagen und entwickelt wurden, stellen Mehrwegesignale noch immer eine wesentliche, stets zu berücksichtigende Fehlerquelle dar. Aus diesem Grund spielten die zu erwartenden Mehrwegefehler auch eine sehr wichtige Rolle im Zuge der Definition sowie der Optimierung der Galileo-Signalstruktur und können somit als wesentliches Design-Kriterium angesehen werden. Die vorliegende Arbeit gibt einen umfassenden Einblick in verschiedene Aspekte der Mehrwegeausbreitung, -reduzierung sowie der Detektion und der Überwachung auftretender Mehrwegeeffekte. Die Arbeit beschreibt zunächst die wichtigsten Aspekte der Mehrwegeausbreitung, wobei beispielsweise unterschiedliche Arten von Reflexionen oder unterschiedliche Entstehungsarten ebenso diskutiert werden wie typische Auswirkungen von Mehrwegesignalen wie die Entstehung periodischer Signalvariationen. Solche Signalvariationen sind in starkem Maße abhängig von der durch die Satellitenposition, dem Antennenstandpunkt und der Lage des Reflexionspunktes definierten Geometrie. Die Frequenz dieser Signalvariationen wird für unterschiedliche geometrische Verhältnisse berechnet. Zudem werden der Einfluss bzw. die Auswirkungen einer Mehrwegeausbreitung auf den Signalverarbeitungsprozess in einem GNSS Empfänger aufgezeigt. Einen weiteren Schwerpunkt dieser Arbeit bilden die derzeit gebräuchlichen Methoden zur Reduzierung von Mehrwegeeinflüssen. Dabei werden zunächst die wichtigsten empfängerinternen Ansätze vorgestellt. Aber auch Methoden wie die Verwendung von Antennenarrays oder spezieller Antennen bleiben nicht unberücksichtigt. Einige dieser Methoden bilden im Folgenden die Grundlage für die Bestimmung von typischen Mehrwegefehlern. Dazu wird eine neuartige Methodik vorgestellt, um aus Hüllkurven des Mehrwegefehlers aussagekräftige mittlere Mehrwegefehler zu bestimmen. Hierzu werden die Hüllkurven mit Hilfe einiger aus statistischen Kanalmodellen abgeleiteter Parameter in geeigneter Weise skaliert, um unterschiedlichen Mehrwegeumgebungen Rechnung zu tragen. Es wird gezeigt, dass die mit Hilfe dieser relativ einfachen und effizienten Methode ermittelten Mehrwegefehler in derselben Größenordnung liegen wie die aus komplexen statistischen Kanalmodellen ermittelten Fehler. Einen weiteren Themenkomplex stellen Methoden zur Detektion und zum Monitoring von Mehrwegeeinflüssen dar. Dabei werden zunächst derzeit verwendete Ansätze vorgestellt und hinsichtlich ihrer Vor- und Nachteile sowie hinsichtlich ihrer Echtzeitfähigkeit diskutiert. In Anschluss daran wird ein neuartiger Ansatz zur Detektion und zum Monitoring von Mehrwegesignalen in Echtzeit vorgestellt, der auf der Auswertung von Multikorrelatorbeobachtungen basiert. Ziel dieser Entwicklung ist es, einen potenziellen Nutzer sofort darüber informieren zu können, wenn ein Signal mit Mehrwegefehlern behaftet ist. Der vorgeschlagene Ansatz wurde in Form einer Matlab-basierten implementiert, welche im Folgenden zur Verifizierung und zur Bestimmung der Empfindlichkeit des Verfahrens verwendet wird

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

Design and development of a technological demonstrator for the study of high dynamics GNSS receivers

[ES] En el marco de esta tesis se van a estudiar, principalmente, los efectos del movimiento de alta dinámica en receptores de Sistemas Globales de Navegación por Satélite (GNSS). El término alta dinámica es un término utilizado para referirse al movimiento de los vehículos en los que van embarcados receptores GNSS, los cuales se mueven lo suficientemente rápido como para causar un gran desplazamiento en frecuencia de la portadora debido al efecto Doppler. Se identificarán los problemas inherentes a este tipo de entornos y se estudiarán y propondrán soluciones. Para poder efectuar el estudio de estos fenómenos, se diseñará un demostrador tecnológico (conjunto de hardware y software para prueba y prototipado de tecnologías) en el que desarrollar el estudio de los casos de interés. Con el fin de trabajar en un entorno repetible, se utilizará un generador de señal GNSS. La señal generada se traslada a un receptor de radiofrecuencia definido por software, Software Defined Radio (SDR). Este tipo de receptor únicamente se encarga de digitalizar la señal de entrada y de llevar las muestras digitales a un ordenador, de modo que todo el procesado de señal se implementa en dicho ordenador. Este esquema de trabajo es ideal habida cuenta de su simplicidad y flexibilidad. Dicha flexibilidad conlleva la posibilidad de sintonizar el demostrador para poder estudiar una amplia gama de arquitecturas de receptor GNSS. Una vez se haya ensamblado el demostrador, se comprobará su correcto funcionamiento en escenarios conocidos usando los algoritmos más utilizados a día de hoy en receptores GNSS. Asegurado el correcto funcionamiento, se comparará el rendimiento de algoritmos de referencia con los algoritmos a estudiar y se extraerán conclusiones.[CA] En aquest treball s'estudiaran, principalment, els efectes del moviment d'alta dinámica en receptors de Navegació per Satèl.lit GNSS (Global Navigation Satellite System). La denominació alta dinámica, s'utilitza per a descriure el moviment dels vehicles dins dels quals hi han receptors GNSS. El moviment d'aquests vehicles és suficientment ràpid com per a causar un gran desplaçament en freqüència de la freqüència portadora. Aquest desplaçament és consqüència de l'efecte Doppler. S'identificaran els problemes inherents d'aquest tipus de entorns GNSS i es propsararàn solucions. Per a estudiar l'efecte de l'alta dinàmica, es dissenyarà un demostrador tecnològic (conjunt de maquinari i software per a proves i prototipat de tecnologies) en que es pot desenvolupar l'estudi dels casos d'interès. Amb l'objectiu d'aconseguir treballar en un entorn repetible s'utilitzarà un generador de senyal GNSS. El senyal es processarà mitjançant un receptor SDR (Software Defined Radio). Aquest tipus de receptor s'encarrega del processat que fa un receptor GNSS en un PC. Aquesta filosofia de treball és idónia per la seua flexibilitat i simplicitat. Quan s'haja ensamblat el demostrador, és comprovarà el seu correct funcionament en escenaris de prova utilitzant els algoritmes implementats en receptors GNSS comercials. En aquest moment, el demostrador estarà preparat per a estudiar el casos d'alta dinàmica, que és l'objectiu fonamental d'aquest treball.[EN] The study of the effects of the high dynamics on Global Navigation Satellite System (GNSS) receivers constitute the main matter of study in this work. The term high dynamics refers to the movement of vehicles that carry GNSS embedded receivers, which move fast enough to generate a large carrier frequency drift caused by the Doppler effect. The problems linked to these environments will be characterized and solutions to counteract possible signal impairments will be discussed. In order to correctly characterize these problems, a technological demonstrator (set of hardware components interacting with software tools enabling fast prototyping) will be designed and constructed. Using this technological demonstrator, different case studies will be developed. With the aim of achieving experimental repeatability, a GNSS signal generator will be used. The generated GNSS signal is fed to a Software Defined Radio (SDR) GNSS receiver. This receiver type is in charge of digitizing the analog RF signal and carrying the resulting samples to a computer in which signal processing tasks implementing the functions of GNSS receivers, take place. The main advantage linked to the usage of this work scheme is that by changing the software part, different receiver architectures can be implemented in a simple manner. Furthermore, by taking advantage of the flexible architecture it is possible to tune the detector in such a manner that it is possible to implement many different architecture types. Once the technological demonstrator is assembled, tests to assure its correct operation will be conducted by performing comparisons with the behaviour of well-known GNSS receivers in known scenarios. Later on, comparative tests using signals from high dynamics scenarios will take place. Insight and analysis of comparative performance will be given.Alcaide Guillén, C. (2019). Design and development of a technological demonstrator for the study of high dynamics GNSS receivers [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/131697TESI

Physical Layer Challenges and Solutions in Seamless Positioning via GNSS, Cellular and WLAN Systems

As different positioning applications have started to be a common part of our lives, positioning methods have to cope with increasing demands. Global Navigation Satellite System (GNSS) can offer accurate location estimate outdoors, but achieving seamless large-scale indoor localization remains still a challenging topic. The requirements for simple and cost-effective indoor positioning system have led to the utilization of wireless systems already available, such as cellular networks and Wireless Local Area Network (WLAN). One common approach with the advantage of a large-scale standard-independent implementation is based on the Received Signal Strength (RSS) measurements.This thesis addresses both GNSS and non-GNSS positioning algorithms and aims to offer a compact overview of the wireless localization issues, concentrating on some of the major challenges and solutions in GNSS and RSS-based positioning. The GNSS-related challenges addressed here refer to the channel modelling part for indoor GNSS and to the acquisition part in High Sensitivity (HS)-GNSS. The RSSrelated challenges addressed here refer to the data collection and calibration, channel effects such as path loss and shadowing, and three-dimensional indoor positioning estimation.This thesis presents a measurement-based analysis of indoor channel models for GNSS signals and of path loss and shadowing models for WLAN and cellular signals. Novel low-complexity acquisition algorithms are developed for HS-GNSS. In addition, a solution to transmitter topology evaluation and database reduction solutions for large-scale mobile-centric RSS-based positioning are proposed. This thesis also studies the effect of RSS offsets in the calibration phase and various floor estimators, and offers an extensive comparison of different RSS-based positioning algorithms