SARHA – Development of a Sensor-Augmented GPS/EGNOS/Galileo Receiver for Urban and Indoor Environments

The main objective of the project ‘SARHA - Sensor-Augmented EGNOS/Galileo Receiver for Handheld Applications in Urban and Indoor Environments’ is the development of a modern satellite navigation receiver with autonomous sensor augmentation. Additionally, the hybrid navigation system will be enhanced by a transponder capable of receiving absolute position updates from transmitters installed inside buildings. The transponder will allow the SARHA system to significantly increase reliability and accuracy of the positioning solutions indoors. The hybrid navigation software is split up into two parts. The first one will be implemented directly on the GPS receiver, whereas the second part will run on a microcontroller. Thus, a small, low-performance microcontroller can be used, representing the first step towards the reduction of size, weight and power consumption of the mobile system. This paper provides an overview on personal mobility and typical applications related to the system, describes the system architecture and the hybrid navigation software in detail. Furthermore, emphasis is laid on a comparison of different step detection algorithms, showing their advantages and disadvantages. Based on the Galileo signal definition, additional analysis set up to explore the signal characteristics in comparison to the GPS signals, are provided. Improvements due to the Galileo signal availability in urban and indoor environments are assessed and will later ensure seamless integration of enhanced technologies into the continuous developments

Global positioning system: theory and practice

This book is dedicated to Dr. Benjamin William Remondi for many reasons. The project of writing a Global Positioning System (GPS) book was con­ ceived in April 1988 at a GPS meeting in Darmstadt, Germany. Dr. Remondi discussed with me the need for an additional GPS textbook and suggested a possible joint effort. In 1989, I was willing to commit myself to such a project. Unfortunately, the timing was less than ideal for Dr. Remondi. Therefore, I decided to start the project with other coauthors. Dr. Remondi agreed and indicated his willingness to be a reviewer. I selected Dr. Herbert Lichtenegger, my colleague from the Technical University Graz, Austria, and Dr. James Collins from Rockville, Maryland, U.S.A. In my opinion, the knowledge ofthe three authors should cover the wide spectrum of GPS. Dr. Lichtenegger is a geodesist with broad experience in both theory and practice. He has specialized his research to geodetic astron­ omy including orbital theory and geodynamical phenomena. Since 1986, Dr. Lichtenegger's main interest is dedicated to GPS. Dr. Collins retired from the U.S. National Geodetic Survey in 1980, where he was the Deputy Director. For the past ten years, he has been deeply involved in using GPS technology with an emphasis on surveying. Dr. Collins was the founder and president of GeofHydro Inc. My own background is theoretically oriented. My first chief, Prof. Dr. Peter Meissl, was an excellent theoretician; and my former chief, Prof. Dr.mult. Helmut Moritz, fortunately, still is