GLOBAL NAVIGATION SATELLITE SYSTEMS – SIGNAL, THEORY AND APPLICATIONS Edited by Shuanggen Jin Global Navigation Satellite Systems – Signal, Theory and Applications Edited by Shuanggen Jin Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2012 InTech All chapters are Open Access distributed under the Creative Commons Attribution 3.0 license, which allows users to download, copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. As for readers, this license allows users to download, copy and build upon published chapters even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. Notice Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published chapters. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Romana Vukelic Technical Editor Teodora Smiljanic Cover Designer InTech Design Team First published February, 2012 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Global Navigation Satellite Systems – Signal, Theory and Applications, Edited by Shuanggen Jin p. cm. ISBN 978-953-307-843-4 Contents Preface IX Part 1 GNSS Signals and System 1 Chapter 1 High Sensitivity Techniques for GNSS Signal Acquisition 3 Fabio Dovis and Tung Hai Ta Chapter 2 Baseband Hardware Designs in Modernised GNSS Receivers 33 Nagaraj C. Shivaramaiah and Andrew G. Dempster Chapter 3 Unambiguous Processing Techniques of Binary Offset Carrier Modulated Signals 53 Zheng Yao Chapter 4 Evolution of Integrity Concept – From Galileo to Multisystem 77 Mario Calamia, Giovanni Dore and Alessandro Mori Part 2 GNSS Navigation and Applications 105 Chapter 5 Estimation of Satellite-User Ranges Through GNSS Code Phase Measurements 107 Marco Pini, Gianluca Falco and Letizia Lo Presti Chapter 6 GNSS in Practical Determination of Regional Heights 127 Bihter Erol and Serdar Erol Chapter 7 Precise Real-Time Positioning Using Network RTK 161 Ahmed El-Mowafy Chapter 8 Achievable Positioning Accuracies in a Network of GNSS Reference Stations 189 Paolo Dabove, Mattia De Agostino and Ambrogio Manzino VI Contents Chapter 9 A Decision-Rule Topological Map-Matching Algorithm with Multiple Spatial Data 215 Carola A. Blazquez Chapter 10 Beyond Trilateration: GPS Positioning Geometry and Analytical Accuracy 241 Mohammed Ziaur Rahman Chapter 11 Improved Inertial/Odometry/GPS Positioning of Wheeled Robots Even in GPS-Denied Environments 257 Eric North, Jacques Georgy, Umar Iqbal, Mohammed Tarbochi and Aboelmagd Noureldin Chapter 12 Emerging New Trends in Hybrid Vehicle Localization Systems 279 Nabil Drawil and Otman Basir Chapter 13 Indoor Positioning with GNSS-Like Local Signal Transmitters 299 Nel Samama Chapter 14 Hybrid Positioning and Sensor Integration 339 Masahiko Nagai Part 3 GNSS Errors Mitigation and Modelling 357 Chapter 15 GNSS Atmospheric and Ionospheric Sounding 359 Shuanggen Jin Chapter 16 Ionospheric Propagation Effects on GNSS Signals and New Correction Approaches 381 M. Mainul Hoque and Norbert Jakowski Chapter 17 Multipath Mitigation Techniques for Satellite-Based Positioning Applications 405 Mohammad Zahidul H. Bhuiyan and Elena Simona Lohan Preface Global Positioning System (GPS) has been widely used in navigation, positioning, timing, and scientific questions related to precise positioning on Earth’s surface as a highly precise, continuous, all-weather and real-time technique, since GPS became fully operational in 1993. In addition, when the GPS signal propagates through the Earth’s atmosphere and ionosphere, it is delayed by the atmospheric refractivity. Nowadays, the atmospheric and ionospheric delays can be retrieved from GPS observations, which have facilitated greater advancements in meteorology, climatology, numerical weather models, atmospheric science, and space weather. Furthermore, GPS multipath as one of the main error sources has been recently recognized that GPS reflectometry (GPS-R) from the Earth’s surface could be used to sense the Earth’s surface environments. Together, with the US's modernized GPS-IIF and planned GPS-III, Russia’s restored GLONASS, the coming European Union's GALILEO system, and China's Beidou/COMPASS system, as well as a number of Space Based Augmentation Systems (SBAS), such as Japan's Quasi-Zenith Satellite System (QZSS) and India’s Regional Navigation Satellite Systems (IRNSS), more potentials for the next generation multi-frequency and multi-system global navigation satellite systems (GNSS) will be realized. Therefore, it is valuable to provide detailed information on GNSS techniques and applications for readers and users. This book is devoted to presenting recent results and development in GNSS theory, system, signals, receiver, and applications with a number of chapters. First, the basic framework of GNSS system and signals processing are introduced and illustrated. The core correlator architecture of the next generation GNSS receiver baseband hardware is presented and power consumption estimates are analyzed for the new signals at the core correlator level and at the channel level, respectively. Because the performance of the traditional GNSS is constrained by its inherent capability, an innovative design methodology for future unambiguous processing techniques of Binary offset carrier (BOC) modulated signals is proposed. Some practical design examples with this methodology are tested to show the practicality and to provide reference for further algorithm development. More and more future GNSS systems and the integrity of multi-GNSS system, including GPS, Galileo, GLONASS, and Beidou are very important for future high precision navigation and positioning. Here, the integrity concepts are proposed for the different constellations (GPS/EGNOS and Galileo) and some performances are evaluated. X Preface Second, high precise GNSS navigation and positioning are subject to a number of errors sources, such as multipath and atmospheric delays. The challenges and mitigation of GNSS multipath effects are discussed and evaluated. In general, the better multipath mitigation performance can be achieved in moderate-to-high C/N0 scenarios (for example, 30 dB-Hz and onwards). Due to complicated situations and varied environments of GNSS observations, the multipath mitigation remains a challenging topic for future research with the multitude of signal modulations, spreading codes, spectrum placements, and so on. Concerning the atmospheric and ionospheric delays, it is normally mitigated using models or dual-frequency GNSS measurements, including higher order ionospheric propagation effects. In contrast, the delays and corresponding products can be retrieved from ground-based and space borne GNSS radio occultation observations, including high-resolution tropospheric water vapor, temperature and pressure, tropopause parameters, and ionospheric total electron content (TEC) as well, which have been used in meteorology, climatology, atmospheric science, and space weather. Third, the wide GNSS applications in navigation, positioning, topography, height system, wheeled robots status, and engineering surveying are introduced and demonstrated, including hybrid GNSS positioning, multi-sensor integration, indoor positioning, Network Real Time Kinematic (NRTK), regional height determination, etc. For example, the precise outdoor 3-D localization solution for mobile robots can be determined using a loosely-coupled kalman filter (KF) with a low-cost inertial measurement unit (IMU) and micro electro-mechanical system (MEMS)-based sensors, wheel encoders and GNSS. Also, GNSS can precisely monitor the vibration and characterize the dynamic behavior of large road structures, particularly the bridges. These results are comparable with the displacement transducer and vibration test on a wooden cable-stayed footbridge. In addition, Network RTK methods are presented, as well as their applications, including in engineering surveying, machine automation, and in the airborne mapping and navigation. This book provides the basic theory, methods, models, applications, and challenges of GNSS navigation and positioning for users and researchers who have GNSS background and experience. Furthermore, it is also useful for the increasing number of the next generation multi-GNSS designers, engineers, and users community. We would like to gratefully thank InTech Publisher, Rijeka, Croatia, for their processes and cordial cooperation with publishing this book. Prof. Shuanggen Jin Shanghai Astronomical Observatory, Chinese Academy of Sciences, Shanghai, China . GLOBAL NAVIGATION SATELLITE SYSTEMS – SIGNAL, THEORY AND APPLICATIONS Edited by Shuanggen Jin Global Navigation Satellite Systems – Signal, Theory and Applications. Global Navigation Satellite Systems – Signal, Theory and Applications, Edited by Shuanggen Jin p. cm. ISBN 978-953-307-843-4 Contents Preface IX Part 1 GNSS Signals and. Quasi-Zenith Satellite System (QZSS) and India’s Regional Navigation Satellite Systems (IRNSS), more potentials for the next generation multi-frequency and multi-system global navigation satellite systems