Abstract
The performance of global navigation satellite system (GNSS) receivers in dynamic modes is mostly assessed using results obtained from independent maneuvering of vehicles along similar trajectories at different times due to limitations of receivers, payload, space, and power of moving vehicles. However, such assessments do not ensure valid evaluation because the same GNSS signal environment cannot be ensured in a different test session irrespective of how accurately it mimics the original session. In this study, we propose a valid methodology that can evaluate the dynamic performance of multiple GNSS receivers in various positioning modes with only one dynamic test. We used the record-and-replay function of RACELOGIC’s LabSat3 Wideband and developed a software that can log and re-broadcast Radio Technical Commission for Maritime Services (RTCM) messages for the augmented systems. A preliminary static test and a drone test were performed to verify proper operation of the system. The results show that the system could efficiently evaluate the performances of stand-alone, differential GNSS, and real time kinematics positioning for three GNSS receivers in two different positioning modes by repeatedly re-radiating the recorded signals acquired through only one flight. Our proposed system is expected to be useful in evaluating dynamic navigation performance accurately and conveniently in a valid manner.
Highlights
global navigation satellite system (GNSS) signals transmitted by medium Earth orbit (MEO) satellites [1] are affected by noise and errors during propagation through atmospheric layers [2]
It is complicated to configure a real-time system, and impossible to perform the test using a single device. To solve this problem practically, we propose a method that enables a rover GNSS receiver to operate in differential GNSS (DGNSS), real-time kinematic (RTK), or network RTK modes using the radio frequency (RF) signal replayed at only one device
With more applications of GNSS and more users relying on position, the evaluation of positioning performance is becoming increasingly more important
Summary
GNSS signals transmitted by medium Earth orbit (MEO) satellites [1] are affected by noise and errors during propagation through atmospheric layers [2]. In addition to errors and noise, the GNSS positioning performance completely depends on various factors, such as the positioning mode, receiver location, signal reception time, satellite geometry, and constellation [3]. Because of these vulnerabilities and dependency to signal environments, field testing with real signals before applying the high-accurate applications is very important to analyze whether their navigation and position will work as planned in the real world. The performance of GNSS is generally assessed through long-term static positioning error analysis for several hours or even days [4]. Static test environments allow sufficient power, time, and space for the comparison of the performance of various
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