Clock Offsets Research Articles

Integrated orbit determination and time synchronization using inter-satellite observations for BDS-3 satellites with satellite clock drifts estimated simultaneously

Abstract By simultaneously estimating satellite clock drifts (SCDs) as either constant parameters or piece-wise parameters, we present an improved integrated orbit determination and time synchronization approach for BDS-3 satellites with raw inter-satellite link (ISL) observations. Experiments with L-band data from seven monitoring stations in China and ISL data from eight satellites of the third-generation Beidou Navigation Satellite System (BDS-3) were carried out and the two SCD estimation strategies are validated. It is demonstrated that, with SCDs estimated, the quality of orbits and clock offsets is comparable to those with SCDs corrected using predicted values. The accuracy of the estimated orbits and clocks are up to 0.019 m (radial) and 0.095 ns, respectively, with improvements of 95% and 90%, when compared with the results using the L-band data alone. It is also demonstrated that estimating SCDs time slice by time slice is slightly worse in accuracy but superior in coping with possible frequency jump of satellite clocks.

A new methodology for evaluating the neighbor discovery time in schedule-based asynchronous duty-cycling wireless sensor networks

Duty cycling is a fundamental mechanism for battery-operated wireless networks, such as wireless sensor networks. Due to its importance, it is an integral part of several Medium Access Protocols and related wireless technologies. In Schedule-based Asynchronous Duty Cycle, nodes activate and deactivate their radio interfaces according to a pre-designed schedule of slots, which guarantees overlapping uptime between two neighbors, independent of the offset between their internal clocks, making communication between them possible. This paper presents a new methodology for evaluating the Neighbor Discovery Time (NDT) of Schedule-based Asynchronous Duty Cycle. Differently from previous methodologies, it accounts for the possibility of the slots in the schedules of the two neighbors not being perfectly border-aligned — an unrealistic assumption in practice. By means of simulation, we show that not taking this under consideration can lead to an overestimate of the NDT by a factor of 2 depending on the particular scenario, thus justifying the importance of our work.•We propose a new subslot-based methodology for computing the NDT of a wakeup schedule used for asynchronous duty cycling.•It replaces the traditional slot-based methodology, by dividing slots into subslots, allowing for the analysis of non-integer clock offsets between nodes, and further allowing mathematical models to consider the more realistic continuous-time case.•Our validation data shows that the slot-based methodology may overestimate NDT by a factor of up to 2, making the proposed subslot-based methodology much more precise.

Base Station Clock Offset of Cellular Measurements and Its Impact on Positioning

Base Station Clock Offset of Cellular Measurements and Its Impact on Positioning

Regional multi-station real-time time transfer using an undifferenced multi-GNSS network solution

Real-time time transfer is the basis for the time synchronization and establishment and maintenance of time scales. In this contribution, we present a regional multi-station real-time time transfer approach, in which observations from multi-global navigation satellite system (GNSS) received at regional multi-station are integrated to conduct an undifferenced network solution. Consequently, the simultaneous estimation of receiver clock offsets for multiple stations becomes possible, enabling the execution of real-time time transfer. One week of observation data from five multi-GNSS Experiment (MGEX) stations located in Europe are selected to generate four links (distances from 919.7 to 2153.4 km), and four schemes are designed, i.e., GPS-only, BDS-3-only, Galileo-only, and GPS/BDS-3/Galileo (GCE) solutions, respectively. Experiment results show that the mean number of observations, time dilution of precision (TDOP) values, and standard deviation (STD) of clock offset difference time series between the Center for Orbit Determination in Europe (CODE) and the estimated solutions for four time links are 90, 76, 72, 239 and 0.34, 0.38, 0.39, 0.21 and 0.039, 0.050, 0.043, 0.036 ns for GPS-only, BDS-3-only, Galileo-only, and GCE solutions, respectively. When the averaging time is shorter than 7680 s, the frequency stability of GCE solutions shows the best performance. The mean frequency stability of four time links at 7680 s is 6.59 × 10–15,7.25 × 10–15, 6.88 × 10–15 and 5.96 × 10–15 for GPS-only, BDS-3-only, Galileo-only, and GCE solutions, respectively. The GCE solution shows the best performance among the four schemes in terms of the number of observations, TDOP, STD, and frequency stability. The experiment results demonstrate that this approach is suitable for regional multi-station real-time time transfer.

Cube: An Open-Source Software for Clock Offset Estimation and Precise Point Positioning with Ambiguity Resolution

Precise point positioning (PPP) is a prevalent, high-precision spatial absolution positioning method, and its performance can be enhanced by ambiguity resolution (AR). To fulfill the growing need for high-precision positioning, we developed an open-source GNSS data processing package based on the decoupled clock model called Cube, which integrates decoupled clock offset estimation and precise point positioning with ambiguity resolution (PPP-AR). Cube is a secondary development based on RTKLIB. Besides the decoupled clock model, Cube can also estimate legacy clocks for the International GNSS Service (IGS), as well as clocks with satellite code bias extraction, and perform PPP-AR using the integer-recovered clock model. In this work, we designed satellite clock estimation and PPP-AR experiments with one week of GPS data to validate Cube’s performance. Results show that the software can produce high-precision satellite clock products and positioning results that are adequate for daily scientific study. With Cube, researchers do not need to rely on public PPP-AR products, and they can estimate decoupled clock products and implement PPP-AR anytime.

BDS-3 full-frequency precise point positioning: models and performance comparison

With the BDS-3 six-frequency integration, there are more choices to implement the precise point positioning (PPP) technology. To take full advantage of the multi-frequency combination, six typical BDS-3 six-frequency PPP models using uncombined observation (UC), five dual-frequency ionospheric-free (IF) combinations (IF2), four triple-frequency IF combinations (IF3), three four-frequency IF combinations (IF4), two five-frequency IF combinations (IF5), and a single six-frequency IF combination (IF6) were constructed and compared. The results indicate that the positioning accuracies of the six models are similar. The static positioning accuracies reach 4, 3–5, and 12–14 mm in the east, north, and up directions, respectively, while the kinematic positioning accuracies are 24–26, 16–17, and 42–43 mm, respectively. Regarding the convergence times, the UC model is slightly worse than the five IF combined models, except for some cases in the up direction. In the static mode, benefiting from the smallest noise amplification factor, the average convergence times of the IF6 model are the shortest, reaching 12.1, 5.5, and 13.4 min in the three directions, respectively, and are 7%, 15%, and 6% shorter than those of the UC model. In the kinematic mode, with the combination of more signals into a single IF combination, the noise level of the IF combined observables gradually decreases, but the convergence times gradually increase. The kinematic average convergence times of the IF2 model are 15.3, 3.6, and 18.0 min in the three directions, which are 6%, 22%, and 10% and 1%, 16%, and 20% shorter than those of the UC and IF6 models, respectively. In addition, the observation residuals, and the estimates of inter-frequency bias, tropospheric zenith wet delay, and receiver clock offsets from different models were compared and analyzed. The specific selection of the model should be based on actual situations.

On the effect of clock offsets and quantization on learning-based adversarial games

In this work, we consider systems whose components suffer from clock offsets and quantization and study the effect of those on a reinforcement learning (RL) algorithm. Specifically, we consider an off-policy iterative RL algorithm for continuous-time systems, which uses input and state data to approximate the Nash-equilibrium of a zero-sum game. However, the data used by this algorithm are not consistent with one another, in that each of them originates from a slightly different time instant of the past, hence putting the convergence of the algorithm in question. We prove that, given that these timing inconsistencies remain below a certain threshold, the iterative off-policy RL algorithm will still converge epsilon-closely to the desired Nash policy. However, this result is conditional to a certain Lipschitz continuity and differentiability condition on the input-state data collected, which is indispensable in the presence of clock offsets. A similar result is also derived when quantization of the measured state is considered. Finally, unlike prior work, we provide a sufficiently rich data condition for the execution of the iterative RL algorithm, which can be verified a priori across all iteration indices. Simulations are performed, which verify and clarify theoretical findings.

Real-Time Estimation of BDS-3 Satellite Clock Offset with Ambiguity Resolution Using B1C/B2a Signals

The third generation of the BeiDou navigation satellite system (BDS-3) can transmit five-frequency signals. The real-time satellite clock offset of BDS-3 is typically generated utilizing the B1I/B3I combination with the ambiguity-float solutions. By conducting the ambiguity resolution (AR), the reliability of the satellite clock offset can be improved. However, the performance of BDS-3 ambiguity-fixed real-time satellite clock offset with B1C/B2a signals remains unknown and unrevealed. In this contribution, the performance of the BDS-3 ambiguity-fixed satellite clock offset with the new B1C/B2a signals is investigated. One week of observation data from 85 stations was used to perform ambiguity-fixed satellite clock offset estimation. For B1I/B3I and B1C/B2a signals, the wide-lane (WL) uncalibrated phase delay (UPD) on the satellite end is fairly stable for one day, while the narrow-lane (NL) UPD standard deviation (STD) amounts to 0.122 and 0.081 cycles, respectively. The mean ambiguity fixing rate is 80.7% and 78.0% for these two signal combinations, and the time to first fix (TTFF) for the B1C/B2a signals is remarkably shorter than that of the B1I/B3I signals. The STDs of the ambiguity-float and -fixed satellite clock offsets are 0.033 and 0.026 ns, respectively, for the B1I/B3I combination, and it is reduced to 0.024 and 0.023 ns for B1C/B2a signals, respectively. Using the estimated UPD and clock offset products, the positioning performance of the kinematic Precise Point Positioning (PPP)-AR results amounts to 1.56, 1.23, and 4.46 cm in the east, north, and up directions for B1I/B3I signals, respectively. It is improved to 1.36, 1.16, and 4.25 cm using the products estimated with the B1C/B2a signals, with improvements of 12.8%, 5.7%, and 4.7% in three directions, respectively. The experiments showed that the performances of the ambiguity-fixed satellite clock offsets and the PPP-AR results using B1C/B2a signals are better than those of B1I/B3I.

A method to assess the quality of GNSS satellite phase bias products

As part of the International GNSS Service (IGS), several analysis centers provide GPS and Galileo satellite phase bias products to support precise point positioning with ambiguity resolution (PPP-AR). Due to the high correlation with satellite orbits and clock offsets, it is difficult to assess directly the precision of satellite phase bias products. Once outliers exist in satellite phase biases, PPP-AR results are no longer reliable and the combination of satellite phase bias products from IGS analysis centers also gets difficult. In this contribution, we propose a method independent of ground measurements to detect outliers in satellite phase biases by computing the total Difference of satellite Orbits, Clock offsets and narrow-lane Biases at the midnight epoch between two consecutive days. Results over 180 days show that about 0.2, 1.1, 2.0 and 0.1% of the total DOCB values for GPS satellites exceed 0.15 narrow-lane cycles for CODE final, CODE rapid, CNES/CLS final and WUHN rapid satellite products, respectively, while the same outlier-ratios for Galileo satellites are 0.1, 0.9, 0.4 and 0.1%, respectively. As an important contribution to the orbit, clock and bias combination task, we check the consistency of satellite phase bias products between two analysis centers before and after removing these detected outliers from individual analysis centers. It is convincing that the number of large differences of satellite phase biases between two analysis centers is notably reduced.

Real-Time Precise Orbit Determination of Low Earth Orbit Satellites Based on GPS and BDS-3 PPP B2b Service

This study investigates and verifies the feasibility of the precise point positioning (PPP)-B2b enhanced real-time (RT) precise orbit determination (POD) of low Earth orbit (LEO) satellites. The principles and characteristics of matching various PPP-B2b corrections are introduced and analyzed. The performance and accuracy of broadcast ephemeris and PPP-B2b signals are compared and evaluated by referring to the precise ephemeris. The root mean square (RMS) errors in the Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS)-3 broadcast ephemeris orbits in the along direction are larger than those in the other two (radial and cross) directions, and correspondingly, the along component PPP-B2b corrections are greatest. The continuity and smoothness of the GPS and BDS-3 broadcast ephemeris orbits and clock offsets are improved with the PPP-B2b corrections. The availability of PPP-B2b corrections is comprehensively analyzed for the TJU-01 satellite. Several comparative schemes are adopted for the RT POD of the TJU-01 satellite using the broadcast ephemeris and PPP-B2b corrections. The RT POD performance is improved considerably with the broadcast ephemeris corrected by the PPP-B2b signals. The RMS of the RT orbital errors in the radial, along, and cross directions is 0.10, 0.13, and 0.09 m, respectively, using BDS-3 and GPS PPP-B2b corrections, with reference to the solutions calculated with the precise ephemeris. The accuracy is improved by 5.1%, 43.9%, and 28.7% in the three directions, respectively, relative to that achieved with the broadcast ephemeris. It is concluded that a greater proportion of received PPP-B2b satellite signals corresponds to a greater improvement in the accuracy of the RT POD of the LEO satellite.

Using high-precision travel time extraction to detect time deviation of seismic instruments

The method of seismic ambient noise cross-correlations (NCFs) has been demonstrated to be applicable for time offset measurement, especially in evaluating instrument clocks. Continuous recording of seismic ambient noise data makes it possible to analyze the performance of seismic instruments online. However, long-term cross-correlation and stacking calculations are required to obtain accurate travel time from ambient noise, which greatly reduces the time resolution of instrument performance detection. Therefore, we propose a travel time extraction method based on time-frequency analysis, which could obtain the travel time accurately even though the NCF has a low signal-to-noise ratio (SNR), and it is applied to the measurement of clock offsets in seismic instruments. The method combines S Transform and dictionary learning to improve the SNR of NCFs, and uses a peak extraction algorithm based on short-time Fourier transform to obtain accurate travel times. Additionally, the travel time drift of the station pair can be obtained by calculating the travel time difference between causal and acausal parts of NCFs. Using the data from ambient noise observations and the real data with time errors to verify that the proposed method can obtain accurate travel time for NCF with SNR lower than 6 and it can pick up a time offset as low as one sampling point, the detectable change is 0.046% of travel time, which is crucial for detecting weak changes in the performance of seismic instruments.

Joint Clock Offset and Skew Estimation Based on Correlated Propagation Delays in Internet of Bio-Nano Things

Joint Clock Offset and Skew Estimation Based on Correlated Propagation Delays in Internet of Bio-Nano Things

An un-differenced epoch-piecewise parallel estimation of the GNSS satellite clock offsets

Precise Point Positioning (PPP) requires a satellite clock product with an interval of 30-s. It is indispensable to re-estimate the high sampling product after orbit determination. However, as the number of navigation satellites increases, their generation efficiency is severely affected. Therefore, an un-differenced epoch-piecewise parallel clock offset estimation method is proposed. Based on 120 stations, the 30-s clocks of 118 satellites were parallel estimated by four blocks within 19 min with a 3.5 times improved efficiency. The standard deviations between the estimated clock and the released products are 0.06, 0.06, 0.29, 0.10, and 0.15 ns for GPS, Galileo, GLONASS, BDS2, and BDS3 MEO satellites, respectively. When the 30-s interval clock products are used than 300-s, the convergence time of kinematic PPP for the BDS/Galileo and GPS/BDS/Galileo/GLONASS improves by 22 % and 33 %, respectively, while the three-dimensional RMS decreases by 5 mm (10 %) and 12 mm (28 %), respectively.

Improved Acoustic Tracking of RAFOS-Enabled Profiling Floats through the New Software Package artoa4argo

Abstract In sea ice–covered polar oceans, profiling Argo floats are often unable to surface for 9 months or longer, rendering acoustic RAFOS tracking the only method to obtain unambiguous under-ice positions. Tracking RAFOS-enabled floats has historically relied on the ARTOA3 software, which had originally been tailored toward nonprofiling floats in regions featuring the sound fixing and ranging (SOFAR) channel with acoustic ranges of approximately 1000 km. However, in sea ice–covered regions, RAFOS tracking is challenged due to (i) reduced acoustic ranges of RAFOS signals, and (ii) enhanced uncertainties in float and sound source clock offsets. A new software, built on methodologies of previous ARTOA versions, called artoa4argo, has been created to overcome these issues by exploiting additional float satellite fixes, resolving ambiguous float positions when tracking with only two sources and systematically resolving float and sound source clock offsets. To gauge the performance of artoa4argo, 21 RAFOS-enabled profiling floats deployed in the Weddell Sea during 2008–12 were tracked. These have previously been tracked in independent studies with a Kalman smoother and a multiconstraint method. The artoa4argo improves tracking by automating and streamlining methods. Although artoa4argo does not necessarily produce positions for every time step, which the Kalman smoother and multiconstraint methods do, whenever a track location is available, it outperforms both methods. Significance Statement Argo is an international program that collects oceanic data using floats that drift with ocean currents and sample the water column from 2000-m depth to the surface every 7–10 days. Upon surfacing, the float acquires a satellite position and transmits its data via satellite. In polar regions, with extensive seasonal sea ice coverage, floats are unable to surface for many months. Thus, any under-ice samples collected are missing positions, hampering their use in scientific endeavors. Since monitoring of polar regions is imperative to better understand and predict the effects of climate change, hydroacoustic tracking is employed there. Here a new acoustic tracking software, artoa4argo, is introduced, which improves tracking of these floats.

An Interstation Undifferenced Real-Time Time Transfer Method with Refined Modeling of Receiver Clock

Due to their advantages of high measurement accuracy and wide coverage, global navigation satellite systems (GNSSs) can carry out long-distance time transfers, among which the precise point positioning (PPP) method is widely used. However, the accuracy and stability of PPP real-time time transfer are restricted by the real-time satellite clock offset products. In addition, the receiver clock offset is usually estimated using the white noise model, which ignores the correlation of the clock offsets between adjacent epochs and the stability of the atomic clock itself. In order to obtain higher performance time transfer results, we propose an interstation undifferenced time transfer method with refined modeling of the receiver clock. This method takes the satellite clock offset as the parameter to be estimated, which can avoid the influence of external satellite clock offset products. In addition, the refined modeling of the receiver clock can improve the strength of the model and the accuracy of time transfer. Based on the ultrarapid satellite orbit products provided by the International GNSS Service (IGS), time transfer experiments are carried out using data from IGS observatories and self-collected data. The results show that sub-nanosecond accuracy can be achieved in real-time time transfer using this method. Compared with the traditional PPP model, the accuracies of the four time links are increased by 88.4%, 92.9%, 88.6%, and 74.5%, respectively, and the stability is increased by approximately 66.4% on average. Moreover, after applying the clock offset constraint model, frequency stability is further improved, in which the short-term stability is improved significantly, with a maximum of 86.9% and an average improvement of approximately 66.8%.

Towards low‐complexity state estimation for rigid bodies based on range difference measurements

AbstractThe rigid body localization (RBL) technique is capable of estimating the state of a rigid body, including its translation and orientation, by utilizing the interactions between sensors and landmarks. The prevalent RBL methods employ precise time‐of‐flight measurements (or range measurements) to estimate the state. However, the clock offsets in range measurements in asynchronous networks are unavoidable, leading to performance degradation for state estimators. Therefore, range difference measurements have been adopted to solve the RBL problem. However, existing approaches struggle to achieve desirable performance while maintaining computational efficiency. To address this issue, a new closed‐form state estimator for asynchronous networks is introduced. The proposed algorithm leverages the Taylor‐series expansion technique to enhance accuracy while keeping computational overhead low. Numerical experiments demonstrate that the proposed method achieves state‐of‐the‐art performance with high computational efficiency under small Gaussian noises.

Localizing multiple sound sources using an array of autonomous, asynchronous receivers

Time-difference-of arrival (TDOA) methods are well established and commonly used to localize sound sources in bioacoustic applications. TDOA methods generally require/assume that the receivers of the acoustic array are time-synchronized. Time synchronization can be achieved in various ways, including by connecting the receivers to a common data aquisition device, or by using control/calibration sources of known location to time synchronize. In this talk, we introduce a TDOA approach that can be used with an array of autonomous, asynchronous receivers. The approach requires that multiple sources are detected over the array, and localizes the sources simultaneously in addition to solving for clock offsets between the receivers. This approach offers potential cost and time savings since it can be used with autonomous receivers and since it does not require control/calibrationsources. Simulation results will be used to illustrate and explore the approach, and results from an experiment using asynchronous microphones will be presented. [Work supported in part by ONR.]

PPP-RTK with Rapid Convergence Based on SSR Corrections and Its Application in Transportation

Real-time Kinematic (RTK) positioning provides centimeter-level positioning accuracy within several seconds, but it has to rely on a nearby base station. Although Precise Point Positioning (PPP) supplies precise positions with one receiver, its convergence time takes several tens of minutes, which makes PPP not well suited for real-time kinematic applications where a rapid convergence is required. PPP-RTK integrates the benefits of PPP and RTK, which actually is PPP augmented by a ground GNSS network. The satellite orbit, clock offsets, signal biases, ionospheric and tropospheric corrections are determined based on this GNSS network, modeled as state space information and transmitted to PPP users. By applying these State Space Representation (SSR) corrections, a real-time kinematic PPP-RTK approach is developed and implemented, which can instantly resolve the ambiguities to integers and realize rapid convergence. In a static scenario, it realized an instant ambiguity resolution and a rapid convergence within 2 s in more than 90% of 120 hourly sessions. The PPP-RTK has been applied and evaluated in a kinematic scenario on the highway. The horizontal positioning errors are almost lower than 0.1 m except for the time of passing through bridges. After passing bridges, the PPP-RTK successfully resolved ambiguities within 2 s in 90.6% of the cases and achieved convergence in horizontal within 5 s in more than 90% of the cases. The PPP-RTK with a precision of 0.1 m and rapid convergence of several seconds benefits the precise navigation of automobile on the highway, which will support the development of autonomous driving in future.

Real-Time Security Warning and ECU Identification for In-Vehicle Networks

Vehicle intelligence and networking have manifested the significance of the embedded Controller Area Network (CAN) bus. However, the lack of message encryption and identity authentication leaves Electric Control Units (ECUs) exposed to cyber-attacks. To identify the potential attacks on the CAN, intrusion detection systems are required with consideration of their computational burden and their application in vehicles. Therefore, we propose a lightweight ECU identification scheme. Explicitly, the proposed method records the periodic intervals of frames and calculates accumulated clock offsets with the recursive least square algorithm; meanwhile, the empirical rules are adopted to eliminate the noises. Then, the ECU fingerprints have been formulated with the derived clock skew, clock offsets as well as their expectations. Furthermore, to accurately identify the attackers in the masquerade attacks, a double-verified attacker identification approach is proposed, in which the data dependency and intra-inter class algorithm are respectively utilized for better executability. Finally, we have tested the proposed method with an actual vehicle and the results manifest that the proposed method could identify the abnormal ECUs with an identification accuracy of at least 98% and its execution time is less than 3ms.

Bayesian Filtering for Joint Multi-User Positioning, Synchronization and Anchor State Calibration

Millimeter (mmWave) positioning can go beyond classical localization, allowing to extract more complete situational awareness in terms of, e.g, clock offsets, antenna orientations or landmark locations. In this article, we formulate an extended Kalman filtering (EKF)-based framework called MU-PoSAC ( <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">M</u> ulti- <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">U</u> ser <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Po</u> sitioning, <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">S</u> ynchronization and <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</u> nchor State <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">C</u> alibration), that allows to jointly estimate and track the locations and clock offsets of multiple users together with the unknown locations and orientation offsets of the anchors, building on angle-of-arrival (AoA) and time-of-arrival (ToA) measurements. We provide an extensive set of numerical results in the context of mmWave 5 G New Radio (NR) deployment in an industrial facility with moving robots and other industrial vehicles, incorporating full-scale ray-tracing for accurate propagation modeling as well as actual uplink reference signal based AoA and ToA estimators. Our numerical results show that estimating and tracking the overall system state is feasible, and that a single reference anchor can further enhance the estimation accuracy. In addition, more users are shown to lead to better performance, due to the beneficial coupling of the anchor state. Therefore, our study demonstrates that in order to maximize the estimation performance, it is desirable to have at least one anchor state precisely known, and to have multiple users in the system. Finally, the important practical aspect of Line-of-Sight (LoS) blockage is addressed. It is shown that in the considered industrial use case, the proposed MU-PoSAC framework can offer robustness against intermittent LoS blockage.