Current Global Navigation Satellite Systems Research Articles

Alignment measurement of immersed tunnels based on laser differential imaging

The precision of underwater alignment for tunnel elements directly impacts the closure state of immersed tunnels. The current global navigation satellite system measurement tower method provides centimeter-level precision; however, this is insufficient due to the tower deformation at great water depths, which fails to meet alignment requirements. In this study, a novel immersed tunnel alignment measurement method using laser differential imaging is developed. A unique sensor layout is designed to measure the axial angle and distance between tunnel elements. The system design is implemented, and its laser data processing scheme is optimized to improve performance base on this sensor layout. The experimental results demonstrate that the accuracy of underwater laser spot extraction is better than 1.16 pixels, and the precision of axial angle and axial distance alignment measurements is better than 25″ and 1.6 mm, with repeatability precision exceeding 10.55″ and 0.53 mm. The laser-based alignment measurement method is not affected by the depth of water, satisfying the required precision of immersed tunnel alignment. These results can be applied to future immersed tunnel installations without measuring towers, providing a novel method for achieving automated and unmanned intelligent construction of immersed tunnels.

GNSS Ground deformation observation network optimization assisted using prior InSAR-derived ground surface deformation and multiscale iteration estimation

ABSTRACT Ground surface deformation must be monitored to understand and prevent geological hazards. Global navigation satellite system (GNSS) technology has been widely used in deformation monitoring; however, current GNSS station layout strategies are often subjective and lack theoretical guidance. Therefore, in this study, a GNSS deformation observation network optimization method was developed based on interferometric synthetic aperture radar (InSAR) prior to deformation assistance. This method considers the deformation distribution, cost, accuracy, topography, and actual monitoring requirements and uses kriging interpolation and multiscale iterative optimization to obtain the reference number, spatial distribution, and deformation capture accuracy of GNSS stations in areas experiencing deformation. Simulation experiments showed that the proposed method strengthened the spatial deformation monitoring ability of GNSS by 46%–68% compared with the traditional station layout methods, which ignore the distribution of the deformation. Then, based on the small baseline subset (SBAS) InSAR technology and applying the new method, we evaluated the number and location of the most suitable GNSS stations for a mining area and found that 89.6% of the error was less than 1.5 cm, which further illustrates the practicability and reliability of the proposed method. This method provides an effective supplement to station layouts for monitoring GNSS deformation.

Machine learning approach for GNSS geodetic velocity estimation

This study aimed to investigate the performance of machine learning (ML) algorithms in determining horizontal velocity at specific points using the current Global Navigation Satellite System (GNSS) velocity field. To achieve this objective, the analysis utilized the most comprehensive velocity field available for Turkey, where 70% of the GNSS velocities was allocated for training the ML algorithms, while the remaining 30% was used for testing. Contrary to the previous research, the significance of considering the tectonic structure within the study area was emphasized at this point. To determine the tectonic structure of the horizontal velocity field in the region, a preliminary clustering procedure was conducted. Subsequently, distinct ML algorithms were trained using velocity fields associated with different tectonic plates. Moreover, to investigate the impact of the tectonic domain, the entire velocity field was also tested using ML algorithms without considering the tectonic structure. Four different ML algorithms, namely, Gradient Boosting Machines (GBM), LightGBM, Random Forest (RF), and eXtreme Gradient Boosting Machines (XGBoost), were employed to estimate the horizontal velocities (east and north components). The findings imply that incorporating the tectonic structure improved the performance of machine learning predictions, as indicated by the GBM algorithm's decreased root-mean-square error values. In addition, when the tectonic structure was taken into account, the accuracy assessment values for the RF and XGBoost algorithms in the east component decreased significantly. In terms of predicting GNSS velocities, the RF algorithm exhibited the lowest root-mean-square error values compared to other algorithms. The horizontal velocity differences between averages of the reference velocity field and the RF velocity estimates are maximum 0.4 mm/yr.

Evaluating Optical Clock Performance for GNSS Positioning.

Atomic clocks are highly precise timing devices used in numerous Positioning, Navigation, and Timing (PNT) applications on the ground and in outer space. In recent years, however, more precise timing solutions based on optical technology have been introduced as current technology capabilities advance. State-of-the-art optical clocks-predicted to be the next level of their predecessor atomic clocks-have achieved ultimate uncertainty of 1 × 10-18 and beyond, which exceeds the best atomic clock's performance by two orders of magnitude. Hence, the successful development of optical clocks has drawn significant attention in academia and industry to exploit many more opportunities. This paper first provides an overview of the emerging optical clock technology, its current development, and characteristics, followed by a clock stability analysis of some of the successfully developed optical clocks against current Global Navigation Satellite System (GNSS) satellite clocks to discuss the optical clock potentiality in GNSS positioning. The overlapping Allan Deviation (ADEV) method is applied to estimate the satellite clock stability from International GNSS Service (IGS) clock products, whereas the optical clock details are sourced from the existing literature. The findings are (a) the optical clocks are more stable than that of atomic clocks onboard GNSS satellites, though they may require further technological maturity to meet spacecraft payload requirements, and (b) in GNSS positioning, optical clocks could potentially offer less than a 1 mm range error (clock-related) in 30 s and at least 10 times better timing performance after 900 s in contrast to the Galileo satellite atomic clocks-which is determined in this study as the most stable GNSS atomic clock type used in satellite positioning.

An Improved Parameter Estimation Method for High-Efficiency Multi-GNSS-Integrated Orbit Determination

The increased number of satellites and stations leads to the serious time consumption of the integrated precise orbit determination (POD), especially in the current global navigation satellite system (GNSS) with more than 120 satellites. To improve the computational efficiency of multi-GNSS-integrated POD, this paper proposed an improved parameter estimation method based on intel oneAPI high-performance computing, where the inactive parameters are eliminated in a batch mode. Compared with the classical estimation method based on the “one-by-one” elimination, the efficiencies were significantly improved with ratios of 2.53, 4.21, and 5.38 for 79, 126, and 171 stations’ GPS/BDS/Galileo/GLONASS-integrated POD, respectively. The elapsed time of the improved method by using 126 stations was the same as that of 79 stations’ POD by the classical estimation method. In terms of precision, the one-dimensional root mean square error (RMS) reductions were 0.1 cm (7%), 34.3 cm (11%), 1.9 cm (18%), 0.4 cm (8%), 0.2 cm (13%), and 0.4 cm (13%) for GPS, BDS GEO, BDS IGSO, BDS MEO, Galileo, and GLONASS satellites, respectively.

Integrity Verification of Distributed Nodes in Critical Infrastructures.

The accuracy and reliability of time synchronization and distribution are essential requirements for many critical infrastructures, including telecommunication networks, where 5G technologies place increasingly stringent conditions in terms of maintaining highly accurate time. A lack of synchronization between the clocks causes a malfunction of the 5G network, preventing it from providing a high quality of service; this makes the time distribution network a very viable target for attacks. Various solutions have been analyzed to mitigate attacks on the Global Navigation Satellite System (GNSS) radio-frequency spectrum and the Precision Time Protocol (PTP) used for time distribution over the network. This paper highlights the significance of monitoring the integrity of the software and configurations of the infrastructural nodes of a time distribution network. Moreover, this work proposes an attestation scheme, based on the Trusted Computing principles, capable of detecting both software violations on the nodes and hardware attacks aimed at tampering with the configuration of the GNSS receivers. The proposed solution has been implemented and validated on a testbed representing a typical synchronization distribution network. The results, simulating various types of adversaries, emphasize the effectiveness of the proposed approach in a wide range of typical attacks and the certain limitations that need to be addressed to enhance the security of the current GNSS receivers.

Rapid Source Determination of the 2021 Mw 7.4 Maduo Earthquake by a Dense High-Rate GNSS Network in the Tibetan Plateau

Abstract High-rate Global Navigation Satellite Systems (GNSS) observations from an integrated network in the Tibetan plateau were used for rapid source determination of the 2021 Mw 7.4 Maduo earthquake. Constrained by high-rate displacements from nine stations near the source, the magnitude was essentially determined as early as 20 s after the origin time (OT), whereas the 39-s-long rupture propagated only approximately halfway, and together with the epicenter location and rupture length, they were completely determined 29 s after the OT or 10 s before the rupture completion. In addition, to test the capability and feasibility of current GNSS networks for rapid source determination in the Tibetan plateau, two experiments were further implemented to invert source parameters by real observations at farther sites and synthetic observations induced by an Mw 7.0 modeled earthquake. The results demonstrate that current GNSS networks are capable and feasible to provide rapid source determination and earthquake early warning in approximately 30 s after the OT for large earthquakes (Mw 7.0+) based on current station density, spatial coverage and communication conditions in the Tibetan plateau.

Signal quality and positioning performance of GPS/BDS-3/GLONASS/Galileo in polar regions

Growing activities in the Arctic and Antarctica call for more navigation and positioning services in these regions. The current GNSS (Global Navigation Satellite System) constellations, which have the capability of fully global positioning services, consist of GPS, BDS-3, GLONASS and Galileo. In this study, multi-GNSS observations of 2 stations from international GNSS monitoring and assessment system (iGMAS) and 10 stations from multi-GNSS experiment (MGEX) are selected to assess the signal quality and positioning performance of multi-GNSS in polar regions. After the fully operational global services of BDS-3 from July 31, 2020, this is the first time to assess the positioning performance of GPS/BDS-3/GLONASS/Galileo in polar regions. For BDS-3 and GPS, its number of visible satellites (NVS) is between 6 and 12 and position dilution of precision (PDOP) is approximately 2, which is slightly better than that of GLONASS and Galileo. As for signal to noise ratio (SNR) and multipath (MP) delay, each frequency of BDS/GPS/GLONASS/Galileo exhibits generally similar strength, and among them, the B2a signal of BDS-3 has stronger anti-multipath ability. In terms of positioning performance, the results from solution independent exchange (SINEX) are taken as the reference for more objective validation. For single-constellation, the precise point positioning (PPP) accuracy of BDS-3 is at the level of centimeters, which is equivalent to GPS, GLONASS, and Galileo. The multi-constellation PPP was analyzed with double/triple/quadruple-constellation combinations. Compared to single-constellation, the multi-constellation combination slightly improves positioning accuracy, and as the number of available satellites in multi-constellation combinations greatly increases, the convergence is accelerated.

A Femto-Satellite Localization Method Based on TDOA and AOA Using Two CubeSats

This article presents a feasibility analysis to remotely estimate the geo-location of a femto-satellite only using two station-CubeSats and the communication link between the femto-satellite and each CubeSat. The presented approach combines the Time Difference Of Arrival (TDOA) and Angle Of Arrival (AOA) methods. We present the motivation, the envisioned solution together with the constraints for reaching it, and the best potential sensitivity of the location precision for different (1) deployment scenarios of the femto-satellite, (2) precisions in the location of the CubeSats, and (3) precisions in each CubeSat’s Attitude Determination and Control Systems (ADCS). We implemented a simulation tool to evaluate the average performance for different random scenarios in space. For the evaluated cases, we found that the Cramér-Rao Bound (CRB) for Gaussian noise over the small error region of the solution is highly dependent on the deployment direction, with differences in the location precision close to three orders of magnitude between the best and worst deployment directions. For the best deployment case, we also studied the best location estimation that might be achieved with the current Global Navigation Satellite System (GNSS) and ADCS commercially available for CubeSats. We found that the mean-square error (MSE) matrix of the proposed solution under the small error condition can attain the CRB for the simulated time, achieving a precision below 30 m when the femto-satellite is separated by around 800 m from the mother-CubeSat.

GNSS User Technology: State-of-the-Art and Future Trends

Advances in the miniaturization, computational capabilities, and cost reduction of semiconductor technology have made global navigation satellite systems (GNSSs) the favorite choice for positioning. Currently, positioning is a key factor for many essential tasks in our modern society and will become even more important with the advent of new concepts such as the Internet of Things (IoT), smart cities and autonomous driving. The extensive use of GNSSs in a wide range of applications has caused their migration from the professional segment to the mass-market segment in terms of both technology and performance. This presents new and more stringent requirements in terms of accuracy, robustness, ubiquity, and continuity for the original “open sky” GNSS design. GNSS technology has experienced an unprecedented evolution in the last decade, and it is expected to exponentially evolve in the next decade. This evolution is considered in this paper with the aim of providing a unified reference for current GNSS receiver technologies and solutions and its expected evolution in the next decade. We consider receiver concepts, antennae, RF front ends, digital signal processing, and positioning algorithms. The impacts on the different GNSS market segments and applications are also analyzed.

Real-Time Modeling of Regional Tropospheric Delay Based on Multicore Support Vector Machine

Real-time modeling of regional troposphere has attracted considerable research attention in the current GNSS field, and its modeling products play an important role in global navigation satellite system (GNSS) real-time precise positioning and real-time inversion of atmospheric water vapor. Multicore support vector machine (MS) based on genetic optimization algorithm, single-core support vector machine (SVM), four-parameter method (FP), neural network method (BP), and root mean square fusion method (SUM) are used for real-time and final zenith tropospheric delay (ZTD) modeling of Hong Kong CORS network in this study. Real-time ZTD modeling experiment results for five consecutive days showed that the average deviation (bias) and root mean square (RMS) of FP, BP, SVM, and SUM reduced by 48.25%, 54.46%, 41.82%, and 51.82% and 43.16%, 48.46%, 30.09%, and 33.86%, respectively, compared with MS. The final ZTD modeling experiment results showed that the bias and RMS of FP, BP, SVM, and SUM reduced by 3.80%, 49.78%, 25.71%, and 49.35% and 43.16%, 48.46%, 30.09%, and 33.86%, respectively, compared with MS. Accuracy of the five methods generally reaches millimeter level in most of the time periods. MS demonstrates higher precision and stability in the modeling of stations with an elevation at the average level of the survey area and higher elevation than that of other models. MS, SVM, and SUM exhibit higher precision and stability in the modeling of the station with an elevation at the average level of the survey area than FP. Meanwhile, real-time modeling error distribution of the five methods is significantly better than the final modeling. Standard deviation and average real-time modeling improved by 43.19% and 24.04%, respectively.

A broadcast ephemeris design of LEO navigation augmentation satellites based on the integration-type ephemeris model

Low Earth orbit (LEO) satellites are a promising type of navigation augmentation satellite for current global navigation satellite systems. Aiming at the navigation function, an effective broadcast ephemeris model needs to be designed for LEO satellites. An enhanced integration-type broadcast ephemeris model is proposed in this study. First, the short-term periodical variation characteristics of LEOs’ accelerations in the Earth-centered Earth-fixed coordinate system are analyzed. The Chebyshev polynomials and harmonic functions are then applied to represent the variation perturbation of accelerations. Tests using simulated and real data from LEO satellites at altitudes from 600 to 1400 km are conducted to evaluate the fit accuracy of the proposed models in terms of arc length, integration method, integration step length, orbital altitude, inclination, eccentricity, etc. The fit accuracy is dramatically improved compared to that of the current GLONASS integration-type broadcast model, where fit errors less than 10 cm are achieved with an arc length of 20 min.

General relativistic effects acting on the orbits of Galileo satellites

The first pair of satellites belonging to the European Global Navigation Satellite System (GNSS)—Galileo—has been accidentally launched into highly eccentric, instead of circular, orbits. The final height of these two satellites varies between 17,180 and 26,020 km, making these satellites very suitable for the verification of the effects emerging from general relativity. We employ the post-Newtonian parameterization (PPN) for describing the perturbations acting on Keplerian orbit parameters of artificial Earth satellites caused by the Schwarzschild, Lense–Thirring, and de Sitter general relativity effects. The values emerging from PPN numerical simulations are compared with the approximations based on the Gaussian perturbations for the temporal variations of the Keplerian elements of Galileo satellites in nominal, near-circular orbits, as well as in the highly elliptical orbits. We discuss what kinds of perturbations are detectable using the current accuracy of precise orbit determination of artificial Earth satellites, including the expected secular and periodic variations, as well as the constant offsets of Keplerian parameters. We found that not only secular but also periodic variations of orbit parameters caused by general relativity effects exceed the value of 1 cm within 24 h; thus, they should be fully detectable using the current GNSS precise orbit determination methods. Many of the 1-PPN effects are detectable using the Galileo satellite system, but the Lense–Thirring effect is not.

Past, present and future of atomic clocks for GNSS

Global Navigation Satellite Systems (GNSS) are enabled by atomic clocks, which provide the timing precision and accuracy required for the ranging measurements. Significant investments have been made and will continue to be made, to improve GNSS atomic clock technology and reduce the signal-in-space user range error. After providing a baseline by reviewing current GNSS satellite atomic clock technology, we discuss how far, and in what directions, atomic clock technology should be pushed to provide maximum benefits to GNSS performance, reliability and cost.

Quality analysis of dual-frequency smartphone-based ionospheric TEC measurements: what can be achieved?

The growing quality of smartphone-based Global Navigation Satellite Systems (GNSS) chipsets opens a new frontier for scientific research in positioning, navigation and timing ap- plications. The portability and affordability of these instruments could enhance the current GNSS receiver global network for atmospheric monitoring purposes. However, the quality of the measurements gathered from smartphones have not yet been fully assessed. In this paper, an analysis of the quality of smartphone-based Total Electron Content (TEC) mea- surements is performed. The primary focus of this work is to provide a general analysis on the potential of using smartphone observations for ionospheric sciences. Dual-frequency phase observations are used to measure the relative TEC. For this experiment, GPS L1/L5 and Galileo E1/E5a observations acquired with the Xiaomi Mi8 and Huawei Mate20 X smartphones were considered. Both devices are equipped with the Broadcom BCM47755 chipset, which enables GNSS dual-frequency measurements. More than 100 hours of phase observations at mid-latitude during a low solar activity period were gathered. Three differ- ent setup configurations were defined to assess the effects multipath or signal strength may have in the quality of the phase observations. In addition, to detect and discard unrealistic fluctuating phase observations, a quality-check was performed. In the results, good agree- ment between the slant TEC (sTEC) measurements from the smartphone and the sTEC obtained from a co-located geodetic receiver is presented. Furthermore, the amount and quality of observations discarded by the quality-check are reported, which emphasises the use of the signal strength to indicate the quality of phase observations. The results indicate that the C/N0 and multipath are important —when gathering the data from a geodetic antenna, around 80% of the collected data passed a quality threshold. However, collecting data with the addition of an attenuator, or directly from the smartphone antenna, reduced the valid data to below 50%. However, given the ease of use of a smartphone for data collection, even at 50% of data being usable, this shows potential as a useful course of TEC for ionospheric observations.

Proposal of spread spectrum MSK for BDS RDSS signal modulation

BPSK is the basis of current GNSS (Global Navigation Satellite System) signals. BDS (Beidou navigation satellite system) RDSS (Radio Determination Satellite Service) system also adopts BPSK to realize communication and ranging simultaneously. To realize higher system capacity, RDSS signals overlap in time and frequency domain. The signal performance is heavily determined by the MAI (Multiple Access Interference) between overlapping signals. In this paper, SSMSK (spread spectrum MSK) is proposed. The signal performance is investigated under four conditions considering the main lobe bandwidth and the receiver bandwidth. The maximum number of overlapping signals for SSMSK is 11.7% higher than BPSK when the receiver bandwidth is for the side subcarrier. And the value is 10.6% when the receiver bandwidth is. SSMSK can be received utilizing BPSK local signal. When the receiving bandwidth is 2 R c , the correlation peak of SSMSK_BPSK is identical to BPSK. The tracking accuracy of SSMSK is higher than BPSK when the correlation interval is between 0.2-1 chips. The accuracy of SSMSK_BPSK is higher than BPSK when the correlation interval is 0.5 chips. The disadvantage of SSMSK is larger quantization word length. SSMSK is a better modulation for RDSS based on the comprehensive performance.

Navigation of a robot tractor using the centimeter level augmentation information via Quasi-Zenith Satellite System

The study evaluates the Centimeter Level Augmentation Service (CLAS) of the Quasi-Zenith Satellite System (QZSS) for controlling a robot tractor. The QZSS transmits augmentation information through an L6 signal to enhance the positioning accuracy of the Global Navigation Satellite System (GNSS). Besides accessing the augmentation information through the L6 signal using a commercial QZSS receiver, this paper also introduces a method for using CLAS with a dual frequency receiver that cannot receive the L6 signal. Stationary and dynamic positioning experiments prove that the QZSS is able to improve the accuracy and availability of the current GNSS. Compensating for the biases of the CLAS positioning results relative to the current GNSS, a robot tractor works along with GNSS-based navigation within 5 cm accuracy.

Design, Implementation and Validation of a GNSS Measurement Exclusion and Weighting Function with a Dual Polarized Antenna.

Global Navigation Satellite Systems (GNSSs) have become a ubiquitous tool for our modern society to carry out vital tasks such as transportation, civil engineering or precision agriculture. This breath has reached the realm of safety-critical applications such as time management of critical infrastructures or autonomous vehicles, in which GNSS is an essential tool nowadays. Unfortunately, current GNSS performance is not enough to fulfill the requirements of these professional and critical applications. For this reason, the FANTASTIC project was launched to boost the adoption of these applications. The project was funded by the European GNSS agency (GSA) in order to enhance the robustness and accuracy of GNSS in harsh environments. This paper presents the part related to the development of a weighting and exclusion function with a dual circularly polarized antenna. The idea is to reduce the effects of multipath by weighting and/or excluding those measurements affected by multipath. The observables and other metrics obtained from a dual polarized antenna will be exploited to define an exclusion threshold and to provide the weights. Real-world experiments will show the improvement in the positioning solution, using all available constellations, obtained with the developed technique.

Initial Assessment of the LEO Based Navigation Signal Augmentation System from Luojia-1A Satellite.

A low Earth orbiter (LEO)-based navigation signal augmentation system is considered as a complementary of current global navigation satellite systems (GNSS), which can accelerate precise positioning convergence, strengthen the signal power, and improve signal quality. Wuhan University is dedicated to LEO-based navigation signal augmentation research and launched one scientific experimental satellite named Luojia-1A. The satellite is capable of broadcasting dual-frequency band ranging signals over China. The initial performance of the Luojia-1A satellite navigation augmentation system is assessed in this study. The ground tests indicate that the phase noise of the oscillator is sufficiently low to support the intended applications. The field ranging tests achieve 2.6 m and 0.013 m ranging precision for the pseudorange and carrier phase measurements, respectively. The in-orbit test shows that the internal precision of the ephemeris is approximate 0.1 m and the clock stability is 3 × 10−10. The pseudorange and carrier phase measurement noise evaluated from the geometry-free combination is about 3.3 m and 1.8 cm. Overall, the Luojia-1A navigation augmentation system is capable of providing useable LEO navigation augmentation signals with the empirical user equivalent ranging error (UERE) no worse than 3.6 m, which can be integrated with existing GNSS to improve the real-time navigation performance.

Refinement of global ionospheric coefficients for GNSS applications: Methodology and results

We developed the methodology for the optimal estimation of global ionospheric coefficients of the current Global Navigation Satellite Systems (GNSSs), including the eight- and ten-parameter Klobuchar-like as well as NeQuick models. The ionospheric coefficients of those correction models are calculated from two sets of globally distributed tracking stations of the International GNSS Services (IGS). Performance of the re-estimated Klobuchar-like and NeQuick coefficients are validated during 2002–2014 over the continental and oceanic areas, respectively. Over the continental areas, GPS TECs derived from 40 ground GPS receivers are selected as reference. The eight-, ten-parameter Klobuchar-like and NeQuick models can mitigate the ionospheric delay by 65.8, 67.3 and 75.0%, respectively. Over the global oceans, the independent TECs derived from Jason-1&2 altimeters are used as reference. The re-estimated ionospheric correction models can mitigate 56.1–66.7% of the delay errors. Compared to the original GPS Ionospheric Correction Algorithm (ICA), performance of those eight-, ten-parameter Klobuchar-like and NeQuick models has improved 3.4, 5.9 and 13.4% during the whole test period, respectively. The methodology developed here takes the advantage of high-quality ionospheric TECs derived from the global network of GNSS receivers. The re-estimated ionospheric coefficients can be used as precise ionospheric products to monitor and assess GNSS broadcast ionospheric parameters and to improve the performance of various single-frequency GNSS applications.