Dual-frequency Global Navigation Satellite System Receiver Research Articles

Evaluation of The Effect of Spoofing on Dual-Frequency Global Navigation Satellite System (GNSS)

This paper aims to assess the impact of Global Navigation Satellite System (GNSS) spoofing on the performance of a Garmin GPSMAP 66sr dual-frequency GNSS receiver. The evaluation is conducted through field assessments under three conditions: 1) single-frequency GPS L1 coarse acquisition (C/A) only, 2) single-frequency GPS L1 C/A and Galileo E1 open service (OS), and 3) dual-frequency GPS L1 C/A and L5, as well as Galileo E1 OS and E5a. The results emphasise the critical role of multifrequency GNSS in mitigating spoofing. In the dual-frequency multi-GNSS mode, spoofing does not occur as the GPS L5 and Galileo E5a signals remain unaffected by spoofing signals in the L1 / E1 band. In the single-frequency multi-GNSS mode, the higher number of observed GNSS satellites contributes to higher minimum spoofing power levels and longer durations between position fix loss and spoofing as compared to the GPS only mode.

A Cost-Effective GNSS Solution for Continuous Monitoring of Landslides

The development of low-cost dual-frequency global navigation satellite system (GNSS) receivers in recent years has enabled the use of these devices in numerous applications. In the monitoring of natural hazards, such as landslides, these devices can be considered suitable sensors. In this work, dual-frequency GNSS receivers and antennas were used for setting up near-real-time continuous low-cost GNSS monitoring systems (LGMSs) under field conditions. The SimpleRTK2B board, which integrates the u-blox ZED-F9P dual-frequency GNSS chip and the survey-calibrated GNSS antenna are the main components of the GNSS system. The LGMS was installed and tested for six months in the Laze landslide located in the northwestern part of Slovenia. A total of four GNSS systems were deployed, three of which were located in pillars in the landslide itself and one in a stable area. Open-source software was used to postprocess the acquired data, providing daily coordinates in static relative and precise point positioning (PPP) positioning modes. The results of six months of near-real-time monitoring showed that the Laze landslide was stable during this period, with only minor changes in the vertical component. The trend of decreasing ellipsoid height was evident at all stations, although it was in the range of a few millimeters. To validate the results in static relative positioning mode, the coordinate differences between low-cost and high-end geodetic GNSS instruments were estimated and found to be in the range of 5 mm or less, while the difference between horizontal and spatial positions was less than 7 mm for all stations. The same data were processed in PPP, vertical displacements were not detected as in the static relative positioning mode due to the lower accuracy of the method itself. Considering the six-month performance of a low-cost GNSS system under field conditions, it can be emphasized that these devices are capable of performing near real-time continuous monitoring of slow movements with high accuracy and decreased costs. In addition, an experimental test was performed to identify the size of detected displacements in real-time kinematic (RTK). Based on the achieved results, it was concluded that 20 mm spatial displacements are detectable with LGMSs in RTK considering only 15 s of observations.

Low-Cost Dual-Frequency GNSS Receivers and Antennas for Surveying in Urban Areas.

Low-cost dual-frequency global navigation satellite system (GNSS) receivers have recently been tested in various positioning applications. Considering that these sensors can now provide high positioning accuracy at a lower cost, they can be considered an alternative to high-quality geodetic GNSS devices. The main objectives of this work were to analyze the differences between geodetic and low-cost calibrated antennas on the quality of observations from low-cost GNSS receivers and to evaluate the performance of low-cost GNSS devices in urban areas. In this study, a simple RTK2B V1 board u-blox ZED-F9P (Thalwil, Switzerland) was tested in combination with a low-cost calibrated and geodetic antenna in open-sky and adverse conditions in urban areas, while a high-quality geodetic GNSS device was used as a reference for comparison. The results of the observation quality check show that low-cost GNSS instruments have a lower carrier-to-noise ratio (C/N0) than geodetic instruments, especially in the urban areas where the difference is larger and in favor of the geodetic GNSS instruments. The root-mean-square error (RMSE) of the multipath error in the open sky is twice as high for low-cost as for geodetic instruments, while this difference is up to four times greater in urban areas. The use of a geodetic GNSS antenna does not show a significant improvement in the C/N0 and multipath of low-cost GNSS receivers. However, the ambiguity fix ratio is larger when geodetic antennas are used, with a difference of 1.5% and 18.4% for the open-sky and urban conditions, respectively. It should be noted that float solutions may become more evident when low-cost equipment is used, especially for short sessions and in urban areas with more multipath. In relative positioning mode, low-cost GNSS devices were able to provide horizontal accuracy lower than 10 mm in urban areas in 85% of sessions, while the vertical and spatial accuracy was lower than 15 mm in 82.5% and 77.5% of the sessions, respectively. In the open sky, low-cost GNSS receivers achieve a horizontal, vertical, and spatial accuracy of 5 mm for all sessions considered. In RTK mode, positioning accuracy varies between 10-30 mm in the open-sky and urban areas, while better performance is demonstrated for the former.

Assessing Potential Performance of GPS and Galileo in context of Broadcast Precise Orbits and Clock Corrections

The global navigation satellite system (GNSS) is becoming a vital positioning technology across various services. The ephemeris quality is one of the factors that directly impact the user's position accuracy. Some applications, such as investigations into Earth's crustal dynamics, need more precise ephemeris data than broadcast ephemeris. Several institutions, such as the international GNSS service (IGS), have developed precise orbital services to enable these applications. Unfortunately, data rates for such precise orbits are often confined to 15 minutes. In this paper, in order to generate precise ephemeris with the broadcast sampling period, the well-known Lagrange interpolation method is used. Furthermore, a comparative GPS and Galileo position analysis corresponding to the broadcast and precise ephemeris over a typical day in September 2021 is presented. To get insight into comparative positioning analysis over Hyderabad Station, the ENU (East-North-Up) directional errors, satellite visibility and horizontal accuracy parameters are considered. Based on the numerical analysis, standalone Galileo has similar capabilities to GPS, and it can be used in Multi-GNSS over India and its surrounding areas. This work may help in the development of single- or dual-frequency GNSS receivers for civilian navigation services.

Low-Cost GNSS and Real-Time PPP: Assessing the Precision of the u-blox ZED-F9P for Kinematic Monitoring Applications

With the availability of low-cost, mass-market dual-frequency GNSS (Global Navigation Satellite System) receivers, standalone processing methods such as Precise Point Positioning (PPP) are no longer restricted to geodetic-grade GNSS equipment only. However, with cheaper equipment, data quality is expected to degrade. This same principle also affects low-cost GNSS antennas, which usually suffer from poorer multipath mitigation and higher antenna noise compared to their geodetic-grade counterparts. This work assesses the quality of a particular piece of low-cost GNSS equipment for real-time PPP and high-rate dynamic monitoring applications, such as strong-motion seismology. We assembled the u-blox ZED-F9P chip in a small and light-weight data logger. With observational data from static experiments—which are processed under kinematic conditions—we assess the precision and stability of the displacement estimates. We tested the impact of different multi-band antenna types, including geodetic medium-grade helical-type (JAVAD GrAnt-G3T), as well as a low-cost helical (Ardusimple AS-ANT2B-CAL) and a patch-type (u-blox ANN-MB) antenna. Besides static tests for the assessment of displacement precision, strong-motion dynamic ground movements are simulated with a robot arm. For cross-validation, we collected measurements with a JAVAD SIGMA G3T geodetic-grade receiver. In terms of precision, we cross-compare the results of three different dual-frequency, real-time PPP solutions: (1) an ambiguity-float solution using the Centre National d’Études Spatiales (CNES) open-source software, (2) an ambiguity-float and an AR (ambiguity-resolved) solution using the raPPPid software from TU Vienna, and (3) and a PPP-RTK solution using the u-blox PointPerfect positioning service. We show that, even with low-cost GNSS equipment, it is possible to obtain a precision of one centimeter. We conclude that these devices provide an excellent basis for the densification of existing GNSS monitoring networks, as needed for strong-motion seismology and earthquake-early-warning.

Validation of regional and global ionosphere maps from GNSS measurements versus IRI2016 during different magnetic activity

Abstract This manuscript explores the divergence of the Vertical Total Electron Content (VTEC) estimated from Global Navigation Satellite System (GNSS) measurements using global, regional, and International Reference Ionosphere (IRI) models over low to high latitude regions during various magnetic activity. The VTEC is estimated using a territorial network consisting of 7 GNSS stations in Egypt and 10 GNSS stations from the International GNSS Service (IGS) Global network. The impact of magnetic activity on VTEC is investigated. Due to the deficiency of IGS receivers in north Africa and the shortage of GNSS measurements, an extra high interpolation is done to cover the deficit of data over North Africa. A MATLAB code was created to produce VTEC maps for Egypt utilizing a territorial network contrasted with global maps of VTEC, which are delivered by the Center for Orbit Determination in Europe (CODE). Thus we can have genuine VTEC maps estimated from actual GNSS measurements over any region of North Africa. A Spherical Harmonics Expansion (SHE) equation was modelled using MATLAB and called Local VTEC Model (LVTECM) to estimate VTEC values using observations of dual-frequency GNSS receivers. The VTEC calculated from GNSS measurement using LVTECM is compared with CODE VTEC results and IRI-2016 VTEC model results. The analysis of outcomes demonstrates a good convergence between VTEC from CODE and estimated from LVTECM. A strong correlation between LVTECM and CODE reaches about 96 % and 92 % in high and low magnetic activity, respectively. The most extreme contrasts are found to be 2.5 TECu and 1.3 TECu at high and low magnetic activity, respectively. The maximum discrepancies between LVTECM and IRI-2016 are 9.7 TECu and 2.3 TECu at a high and low magnetic activity. Variation in VTEC due to magnetic activity ranges from 1–5 TECu in moderate magnetic activity. The estimated VTEC from the regional network shows a 95 % correlation between the estimated VTEC from LVTECM and CODE with a maximum difference of 5.9 TECu.

Research and Development of Real-time High-precision GNSS Receivers: A Feasible Application for Surveying and Mapping in Vietnam

In recent years, the Global Navigation Satellite System (GNSS) has been widely applied insurveying and mapping. Currently, in Vietnam, dual-frequency GNSS receivers are quite extensivelyapplied with the real-time kinematic (RTK) measurement technique using a continuously operatingreference station network. However, high-accuracy GNSS receivers are often expensive, sometimes notmeeting the needs of users for specific applications. This research develops two types of low-cost highprecisionGNSS receivers for RTK positioning for different purposes. First, the millimeter precisionGNSS receiver used in real-time displacement monitoring is based on Trimble's BD970 mainboardtechnology and some other modules. These components are interconnected according to a standarddesign scheme and assembled in an enclosure to form a GNSS receiver. In addition, a GNSS datatransmission in the National Marine Electronics Association standard format by Networked Transport ofRadio Technical Commission for Maritime Services via Internet Protocol (NTRIP) has beendesigned and developed. The GNSS receiver after development is loaded with program code written inthe C# programming language, using the Arduino programming tool. Second, the GNSS receivers havethe centimeter accuracy for RTK positioning used in surveying and mapping based on U-blox'smainboard technology and some other modules. These modules are also connected together according toa standard design scheme and assembled in an enclosure to form a complete GNSS receiver. Theevaluation results show that the designed and developed GNSS receivers completely meet therequirements of surveying and mapping in coal mines in Vietnam, such as real-time monitoring oflandslides, surveying and topographical mapping and other surveying works to serve the mining process.

Efficient FPGA Implementation of a Dual-Frequency GNSS Receiver with Robust Inter-Frequency Aiding.

Multiple frequency global navigation satellite system (GNSS) has become more complex due to the existence of extra channels. Typically, auxiliary methods are used to synchronize the second signals at other bands by aiding the acquired channel parameters. However, there are critical limitations because the reception of GNSS signals is subject to uncertainties due to noise carrier injection or circuit interference. The relationship between the two Doppler frequencies can be affected by uncertainties. Therefore, we aimed to implement an efficient dual-frequency field-programmable gate array (FPGA), performing a direct aid tracking method for the secondary channel to achieve resource efficiency and inner aid robustness. A robust estimator that directly links two loops in the two bands is proposed. In this scheme, (1) a robust estimator able to cope with uncertainty; (2) a primary tracking scheme to obtain the error boundary, and (3) a tracked bit-boundary for the initial code phase of the second channel are used. Based on experiments on the FPGA, the robust channel link can achieve direct aid tracking, and 31.02% of the original hardware resources from the aided acquisition module were released satisfactorily.

Regional Assimilation of GPS-Derived TEC into GIMs

Global ionosphere models may not be accurate enough in regions where there are insufficient observations. Therefore, there is strong interest in regional ionosphere modeling using observations from dual-frequency Global Navigation Satellite System (GNSS) receivers in such regions. This paper presents a data assimilation method for hourly total electron content (TEC) modeling along with estimation of the receivers’ differential code biases (DCBs). For this purpose, first, initial values for slant TEC (STEC) and the receivers’ DCBs are estimated utilizing global ionosphere maps (GIMs). Second, STEC is expanded to a linear combination of spherical radial basis functions with time-dependent coefficients to reduce the number of unknowns, and a constrained least-squares adjustment is applied to resolve the corrected STEC and DCB values in the study area using observations from dual-frequency GNSS receivers. Third, the resolved STEC at ionospheric pierce points (IPPs) are converted to vertical TEC (VTEC) using a mapping function and assimilated into the background provided by spatial and temporal interpolation of GIM. Retrieved VTECs are weighted according to the satellites’ elevation angles, and an objective function is defined to determine the background’s covariance matrix. In this study, the Iranian permanent Global Positioning System (GPS) network is used to construct the regional hourly VTEC model and calculate hourly DCB variations. The proposed method is validated in two ways. First, some of the VTEC values are excluded from the dataset for use as test data and compared with modeling results. The root mean square (RMS) of the constructed regional assimilative model on test data is significantly better than GIM. Second, the RINEX file of Tehran station, whose observations did not play a role in modeling, is corrected using the regional model. The single-frequency positioning results with corrected observations show much better accuracy than GIMs.

Assessment of Static Positioning Accuracy Using Low-Cost Smartphone GPS Devices for Geodetic Survey Points’ Determination and Monitoring

Recent developments enable to access raw Global Navigation Satellite System (GNSS) measurements of mobile phones. Initially, researchers using signals gathered by mobile phones for high accuracy surveying were not successful in ambiguity fixing. Nowadays, GNSS chips, which are built in the latest smartphones, deliver code and primarily carrier phase observations available for detailed analysis in post-processing applications. Therefore, we decided to check the performance of carrier phase ambiguity fixing and positioning accuracy results of the latest Huawei P30 pro smartphone equipped with a dual-frequency GNSS receiver. We collected 3 h of raw static data in separate sessions at a known point location. For two sessions, the mobile phone was mounted vertically and for the third one—horizontally. At the same time, a high-class geodetic receiver was used for L1 and L5 signal comparison purposes. The carrier phase measurements were processed using commercial post-processing software with reference to the closest base station observations located 4 km away. Additionally, 1 h sessions were divided into 10, 15, 20 and 30 min separate sub-sessions to check the accuracy of the surveying results in fast static mode. According to the post-processing results, we were able to fix all L1 ambiguities based on Global Positioning System (GPS)-only satellite constellation. In comparison to the fixed reference point position, all three 1 h static session results were at centimeters level of accuracy (1–4 cm). For fast static surveying mode, the best results were obtained for 20 and 30 min sessions, where average accuracy was also at centimeters level.

Precipitable Water Vapor Retrieval from Shipborne GNSS Observations on the Korean Research Vessel ISABU

We estimate precipitable water vapor (PWV) from data collected by the low-cost Global Navigation Satellite System (GNSS) receiver at a vessel. The dual-frequency GNSS receiver that the vessel ISABU is equipped with that is operated by the Korea Institute of Ocean Science and Technology. The ISABU served in the Pacific Ocean for scientific research during a period from August 30 to September 21, 2018. It also performs radiosonde observations to obtain a vertical profile of troposphere on the vessel’s path. The GNSS-derived PWV is compared to radiosonde observations and the Atmospheric Infrared Sounder (AIRS) on NASA’s Aqua satellite output. A bias and root-mean-square (RMS) error between shipborne GNSS-PWV and radiosonde-PWV were −1.48 and 5.22 mm, respectively. When compared to the ground GNSS-PWV, shipborne GNSS-PWV has a relatively large RMS error in comparison with radiosonde-PWV. However, the GNSS observations on the vessel are still in good agreement with radiosonde observations. On the other hand, the GNSS-PWV is not well linearly correlated with AIRS-PWV. The RMS error between the two observations was approximately 8.97 mm. In addition, we showed that the vessel on the sea surface has significantly larger carrier phase multipath error compared to the ground-based GNSS observations. This also can result in reducing the accuracy of shipborne GNSS-PWV. However, we suggest that the shipborne GNSS has sufficient potential to derive PWV with the kinematic precise point positioning (PPP) solution on the vessel.

Single-Frequency Time-Step Ionospheric Delay Gradient Estimation at Low-Latitude Stations

The irregularity of the local-area ionospheric delay is a primary impediment for Ground-Based Augmentation System (GBAS) services. Excessive ionospheric delay gradients may degrade aircraft positioning for high precision landing systems. Therefore, the spatial gradients of the nominal background ionosphere must be studied as their statistics will be sent to the approaching aircraft. For the well-known station-pair method, ionospheric delay gradient estimation requires at least 2 Global Navigation Satellite System (GNSS) reference stations. This method can be applied to both single or dual-frequency GNSS receivers. However, when the GNSS stations are far apart, it is not suitable for estimating the ionospheric delay gradients at short baselines, and the time-step method is an attractive alternative. In this work, we propose a single-frequency time-step method for ionospheric delay gradient estimation. Careful baseline length selection is needed, due to ionospheric piercing point movements. We applied our method to GNSS data in 2014, at the peak of the 24th solar cycle, and showed that the standard deviations of the vertical ionospheric delay gradients were comparable to those derived from the dual-frequency time-step method. The standard deviations of vertical ionospheric gradients, $\sigma _{\mathrm {VIG}}$ , ranged between 4 and 6 mm/km. The $\sigma _{\mathrm {VIG}}$ values around the equinoxes were ~1.5 mm/km greater than at other times.

Analysis of Tiangong-2 orbit determination and prediction using onboard dual-frequency GNSS data

Tiangong-2 is the first Chinese real space laboratory, launched into earth orbit with an altitude of approximately 393 km on September 15, 2016. Precise orbit determination (POD) is one of the essential conditions for conducting onboard scientific research. The precise orbit of Tiangong-2 is mainly determined by the reduced-dynamic method using space-borne global navigation satellite system (GNSS) data, which are collected by an onboard dual-frequency GNSS receiver. The in-flight performance of the receiver is first assessed in terms of tracking ability, code multipath errors and noise levels of code and carrier phase observations. Then, the effects of refined non-gravitational force models and GNSS antenna phase center variations (PCVs) on the POD are analyzed. The estimated empirical accelerations are substantially reduced by 45% in the along-track direction using a macro-model compared to that using a cannonball model for drag computation. The application of antenna PCVs correction leads to better consistency between reduced-dynamic and kinematic orbit solutions. Satellite laser ranging validation shows that the accuracy of Tiangong-2 precise orbits is 1.7 cm after using the improved reduced-dynamic method. Based on the orbit determination results, the quality of Tiangong-2 orbit predictions is assessed for periods without and with the refined non-gravitational force models. The use of the macro-model and high-quality density models for drag computation is shown to help improve orbit prediction quality.

Lever-arm and boresight correction, and field of view determination of a spectroradiometer mounted on an unmanned aircraft system

This study addresses the correction of lever-arm offset and boresight angle, and field of view (FOV) determination to enable accurate footprint determination of a spectroradiometer mounted on an unmanned aircraft system (UAS). To characterise the footprint, an accurate determination of the spectroradiometer position and orientation (pose) must be acquired with a global navigation satellite system (GNSS) and an inertial measurement unit (IMU). Accurate pose estimation requires an accurate lever-arm and boresight correction between the pose measuring sensors and the spectroradiometer. Similarly, the spectroradiometer FOV is required to determine the footprint size as a function of above ground level (AGL) flying height. The system used in this study consists of an IMU with dual-frequency and dual-antenna GNSS receiver, a machine vision camera, and a point-measuring spectroradiometer (Ocean Optics QE Pro). The lever-arm offset was determined from a scaled 3D point cloud of the system, created using photos of the airframe and processed with the structure-from-motion (SfM) algorithm. The boresight angles were estimated with stationary experiments by computing the difference between the orientations of the IMU, the spectroradiometer, and the camera. The orientation of the spectroradiometer was determined by moving a spectrally distinct target into the FOV. The orientation of IMU was measured by averaging its readings during the stationary epoch, while SfM was employed as an independent technique to estimate the orientation of the camera. The footprint of the spectroradiometer for a combination of AGL height and Gershun tube aperture ring was determined experimentally, enabling computation of the effective FOV. In-flight validation of the lever-arm and boresight correction was performed by comparing the corrected pose of the co-mounted camera with the pose derived from SfM as the reference. Our experimental results demonstrate that controlled determination and correction of lever-arm and boresight increases the pose estimation accuracy and thereby supports the direct georeferencing of a UAS-mounted spectroradiometer point observation.

UAV-Based Oblique Photogrammetry for Outdoor Data Acquisition and Offsite Visual Inspection of Transmission Line

Regular inspection of transmission lines is an essential work, which has been implemented by either labor intensive or very expensive approaches. 3D reconstruction could be an alternative solution to satisfy the need for accurate and low cost inspection. This paper exploits the use of an unmanned aerial vehicle (UAV) for outdoor data acquisition and conducts accuracy assessment tests to explore potential usage for offsite inspection of transmission lines. Firstly, an oblique photogrammetric system, integrating with a cheap double-camera imaging system, an onboard dual-frequency GNSS (Global Navigation Satellite System) receiver and a ground master GNSS station in fixed position, is designed to acquire images with ground resolutions better than 3 cm. Secondly, an image orientation method, considering oblique imaging geometry of the dual-camera system, is applied to detect enough tie-points to construct stable image connection in both along-track and across-track directions. To achieve the best geo-referencing accuracy and evaluate model measurement precision, signalized ground control points (GCPs) and model key points have been surveyed. Finally, accuracy assessment tests, including absolute orientation precision and relative model precision, have been conducted with different GCP configurations. Experiments show that images captured by the designed photogrammetric system contain enough information of power pylons from different viewpoints. Quantitative assessment demonstrates that, with fewer GCPs for image orientation, the absolute and relative accuracies of image orientation and model measurement are better than 0.3 and 0.2 m, respectively. For regular inspection of transmission lines, the proposed solution can to some extent be an alternative method with competitive accuracy, lower operational complexity and considerable gains in economic cost.

An iterative method for attitude determination based on misaligned GNSS baselines

Multiple Global Navigation Satellite System (GNSS) antennae systems have been among the well-known approaches to attitude determination of moving platforms in recent years. However, the constraints on the onboard GNSS antennae configuration, that is, installing the antennae baselines along the main axes of the platform, can lead to practical difficulties and inevitable uncertainty. In this contribution we present an iterative method to obtain the accurate attitudes by means of the onboard misaligned baselines. In order to remove the effects of the horizontal and vertical misalignments from GNSS observations of the baselines, attitude-induced corrections have been developed through the relative lever-arm coordinates of the onboard antennae. This approach provides us with more freedom from spatial distribution of the onboard antennae. The performance of the proposed method has been analyzed by simulated data and an actual experiment in low- and high-dynamic situations. The simulation has been designed to evaluate the capability and reliability of the iterative method under the presence of small and large misalignments. The field experiment was carried out in the offshore waters of Kish harbor using three dual-frequency GNSS receivers with choke-ring antennae onboard a survey vessel, which was also equipped with an inertial measurement unit (IMU). The maximum allowable misalignments, the convergence of the iteration, and the advantage of the proposed method over the trigonometric approach in spite of applying the traditional calibration are presented. The long-term stability of GNSS attitude determination as well as IMU accuracy degradation, due largely to the increase in the time-varying biases/noises, have demonstrated the potential of the method to estimate the accuracies and biases of the onboard inertial sensor. The overall results affirm that the presented method can effectively provide the platform attitudes using the misaligned GNSS baselines with as much flexibility as possible for the onboard antennae configuration.