Global Navigation Satellite System Augmentation Research Articles

Strong Ionospheric Spatial Gradient Events Induced by Signal Propagation Paths Aligned With Equatorial Plasma Bubbles

Low-latitude ionospheric behavior directly interferes with a wide range of applications dependent on signals and information from satellites. The most severe and variable events are plasma bubbles and ionospheric scintillation. During plasma bubble events, large and steep plasma density gradients may intersect transionospheric signal from satellites, especially around the equatorial anomaly region. Large ionospheric spatial gradients (or decorrelations) are a critical component of ionospheric threat models for global navigation satellite systems augmentation systems; however, the models cannot assimilate abrupt changes in ionospheric behavior. In this article, an investigation of the relationship between plasma depletions, the occurrence of scintillation, and strong ionospheric spatial decorrelation events was conducted. The results indicate that strong scintillations occur when large gradients are verified. Additionally, the most critical ionospheric spatial gradients were verified mostly under certain conditions: when satellite signals are aligned with the plasma bubble propagation along geomagnetic field lines. Therefore, even though amplitude scintillation may degrade communications, the critical gradient events seem to be related to a particular configuration of satellite signal across the ionosphere. Thus, it is recommended that ionospheric threat models for augmentation systems in low-latitude regions consider this alignment aspect.

Fault-Free Protection Level Equation for CLAS PPP-RTK and Experimental Evaluations.

Centimeter level augmentation system (CLAS) of the quasi-zenith satellite system (QZSS) is the first precise point positioning-real time kinematic (PPP-RTK) augmentation system of the global navigation satellite system (GNSS), which is currently providing services for Japan. CLAS broadcasts the state-space representation of correction messages along with integrity messages regarding satellite faults and the quality index of each correction. In other GNSS augmentation systems, such as the space-based augmentation system (SBAS) of GNSS, the quality indices of correction messages are used to generate fault-free protection levels that represent a position bound containing a true user position with a probability of missed detections. Although the protection level equations are well defined for the SBAS, a protection level equation for the CLAS PPP-RTK service has not been rigorously discussed in the literature. This paper proposes a fault-free protection level equation for the PPP-RTK methods that considers the probability of correct integer ambiguity fixes in the GNSS carrier phase measurements as well as the CLAS correction quality messages. The computed protection levels with position errors were experimentally compared by processing the GNSS measurements from the GNSS Earth Observation Network (GEONET) stations in Japan and the L6 messages from the CLAS broadcast using the virtual reference station-real time kinematic (VRS-RTK) techniques. Our results, based on the GEONET dataset spanning 7 days, showed that the computed protection levels using the proposed equations were larger than the position errors for all epochs. In the dataset, the RMS errors of the CLAS VRS-RTK position were 4.6 and 14 cm in the horizontal and vertical directions, respectively, whereas the horizontal protection levels ranged from 25 cm to 2.3 m and the vertical protection levels ranged from 50 cm to 5.2 m based on fault-free integrity risk of .

Space weather: risk factors for Global Navigation Satellite Systems

Extreme space weather events affect the stability and quality of the global navigation satellite systems (GNSS) of the second generation (GPS, GLONASS, Galileo, BeiDou/Compass) and GNSS augmentation. We review the theory about mechanisms behind the impact of geomagnetic storms, ionospheric irregularities, and powerful solar radio bursts on the GNSS user segment. We also summarize experimental observations of the space weather effects on GNSS performance in 2000–2020 to confirm the theory. We analyze the probability of failures in measurements of radio navigation parameters, decrease in positioning accuracy of GNSS users in dual-frequency mode and differential navigation mode (RTK), and in precise point positioning (PPP). Additionally, the review includes data on the occurrence of dangerous and extreme space weather phenomena and the possibility for predicting their impact on the GNSS user segment.
 
 The main conclusions of the review are as follows: 1) the positioning error in GNSS users may increase up to 10 times in various modes during extreme space weather events, as compared to the background level; 2) GNSS space and ground segments have been significantly modernized over the past decade, thus allowing a substantial increase in noise resistance of GNSS under powerful solar radio burst impacts; 3) there is a great possibility for increasing the tracking stability and accuracy of radio navigation parameters by introducing algorithms for adaptive lock loop tuning, taking into account the influence of space weather events; 4) at present, the urgent scientific and technical problem of modernizing GNSS by improving the scientific methodology, hardware and software for monitoring the system integrity and monitoring the availability of required navigation parameters, taking into account the impact of extreme space weather events, is still unresolved.

Космическая погода: факторы риска для глобальных навигационных спутниковых систем

Extreme space weather events affect the stability and quality of the global navigation satellite systems (GNSS) of the second generation (GPS, GLONASS, Galileo, BeiDou/Compass) and GNSS augmentation. We review the theory about mechanisms behind the impact of geomagnetic storms, ionospheric irregularities, and powerful solar radio bursts on the GNSS user segment. We also summarize experimental observations of the space weather effects on GNSS performance in 2000–2020 to confirm the theory. We analyze the probability of failures in measurements of radio navigation parameters, decrease in positioning accuracy of GNSS users in dual-frequency mode and differential navigation mode (RTK), and in precise point positioning (PPP). Additionally, the review includes data on the occurrence of dangerous and extreme space weather phenomena and the possibility for predicting their im- pact on the GNSS user segment. The main conclusions of the review are as follows: 1) the positioning error in GNSS users may increase up to 10 times in various modes during extreme space weather events, as compared to the background level; 2) GNSS space and ground segments have been significantly modernized over the past decade, thus allowing a substantial in- crease in noise resistance of GNSS under powerful solar radio burst impacts; 3) there is a great possibility for increasing the tracking stability and accuracy of radio navigation parameters by introducing algorithms for adaptive lock loop tuning, taking into account the influence of space weather events; 4) at present, the urgent scientific and technical problem of modernizing GNSS by improving the scientific methodology, hardware and software for monitoring the system integrity and monitoring the availability of required navigation parameters, taking into account the impact of extreme space weather events, is still unresolved.

A Resilient Smartphone Positioning Approach by Tightly Integrating the Monocular Camera and GNSS Signals

The Global Navigation Satellite System (GNSS) signals are often blocked or interfered in complex geographical or electromagnetic environments, which may make GNSS receivers unable to provide satisfying navigation and positioning services. There have been many ground-based or space-based GNSS augmentation systems to improve the resilience of GNSS positioning, of which most of them rely on additional infrastructures. In this study, a smartphone-based tightly-coupled positioning method was developed using the images from a build-in monocular camera and GNSS signals. In this method, the feature points with the known coordinates are regarded as 'visual pseudolite' and the distance between the camera and the feature points was calculated according to the photogrammetry approaches and used to estimate the user positioning with GNSS signals. The experimental results showed the feasibility of the tightly-coupled positioning algorithm and reached the positioning accuracy of ±5.56 m (1?), which is significantly higher than that of GNSS-only and vision-only positioning solutions.

Drones and global navigation satellite systems: current evidence from polar scientists.

Aerial unmanned vehicles, so-called drones, present a paradigm shift away from the long-term use by scientists of manned aeroplanes and helicopters. This is evident from the number of research articles that focus on data obtained with drones. This article examines the use of aerial drones for scientific research in cryospheric regions, especially Antarctica and the Arctic. Specifically, it aims to provide insights into the choices and performance of global navigation satellite systems (GNSS) use for drones, including augmentation systems. Data on drone GNSS navigation and positioning in the context of scientific polar research have been scarce. Drone survey data obtained from polar scientists in April 2019 is the first representative sample from this close-knit global community across the specialisms of climatology, ecology, geology, geomorphology, geophysics and oceanography. The survey results derived from 16 countries revealed that 14.71% of scientists used GALILEO, 27.94% used GLONASS and 45.59% used GPS. Many used a combination of two or more GNSS. Multiple regression analysis showed that there is no strong relationship between a specific pattern of GNSS augmentation and greater positioning accuracy. Further polar drone studies should assess the effects of phase scintillation on all GNSS, therefore BEIDOU, GALILEO, GLONASS and GPS.

Research on the GNSS Augmentation System Based on the AIS

At present, the Global Navigation Satellite System (GNSS) has become an important satellite navigation system in the maritime domain. In order to guarantee marine navigation safety, the GNSS augmentation system based on the automatic identification system (AIS) is presented, and the basic system structure of two solutions and transport mechanisms of differential augmentation information are given in this paper. The experimental results show that the developed system can greatly improve the positioning accuracy of offshore moving vehicles to enhance marine navigation safety.

Performance Evaluation of Adjusted Spherical Harmonics Ionospheric Model Over Indian Region

The ionosphere is perceived to be a predominant source of ranging error of Global Navigation Satellite System (GNSS) signals to degrade the positional accuracy. The suitable ionospheric model is necessary to improve the positional accuracy of GNSS and Satellite-Based Augmentation System (SBAS) users. In this paper, the regional ionospheric model (RIM) over the Indian region is implemented based on the adjusted spherical harmonics function (ASHF) model from dense GPS TEC stations over the Indian region. Also, the evaluation of the different ASHF order models conducted to identify the proper order of the ASHF model for Indian low latitude ionospheric calm and adverse space weather conditions. The results confirm that the 4th order ASHF ionospheric model can identify the northern Equatorial Ionization Anomaly (EIA) TEC crest patterns over the Indian region. The comparison of the 4th order ASHF ionospheric model carried out with dual and single frequency ionospheric models like as Klobuchar model, Centre for Orbit Determination in Europe (CODE) Klobuchar model, NeQuick G model, BeiDou System (BDS2) model and CODE Global Ionospheric Maps (GIM) models. The outcome of the results indicates that the 4th Order ASHF ionospheric model would be potential for single and dual-frequency ionospheric models for GNSS and SBAS systems.

Time synchronization requirement of global navigation satellite system augmentation system based on pseudolite

Global navigation satellite systems are widely used across the world because of their continuous/all-weather, global coverage, and high precision positioning. But, three-dimensional positioning accuracy, especially in the vertical direction, remains insufficient because of the geometric distribution of satellites. This is especially true for air-borne objects such as unmanned aerial vehicles, civil aviation devices, and missiles. To solve this problem, we adopt a satellite-ground joint positioning system based on a pseudo-satellite (pseudolite). The introduction of ground pseudolites can significantly reduce the vertical dilution of precision and improve positioning accuracy. This method has been proposed in the 1980s. However, we have to ask a question, as long as we add a pseudolite, can the positioning accuracy be improved? The answer is no. Pseudolites can cause time synchronization problems with satellites, and the resulting timing errors of the pseudolite are converted into pseudorange errors, reducing accuracy. Here, we seek to evaluate the impact of the reduced vertical dilution of precision and the increased range errors associated with the introduction of a pseudolite on the ground. We derive a mathematical formula to explain this relationship. We conclude that when the satellite range error and the change in the position dilution of precision associated with a pseudolite are known, we can calculate an approximate limit for the pseudolite timing accuracy to ensure that the use of the pseudolite improves the positioning accuracy. This work should be of great value in guiding engineering practice.

The Optimal Location of Ground-Based GNSS Augmentation Transceivers

Modern Global Navigation Satellite Systems (GNSS) allow for positioning with accuracies ranging from tens of meters to single millimeters depending on user requirements and available equipment. A major disadvantage of these systems is their unavailability or limited availability when the sky is obstructed. One solution is to use additional range measurements from ground-based nodes located in the vicinity of the receiver. The highest accuracy of distance measurement can be achieved using ultra wide band (UWB) or ZigBee phase shift measurement. The position of the additional transmitter must be carefully selected in order to obtain the optimal improvement in the dilution of precision (DOP), which reflects the improvement in the geometry of solution. The presented case study depicts a method for selecting the optimal location of a ground-based ranging source. It is based on a search of a minimum DOP value as a transmitter location function. The parameters of objective function are the elevation and azimuth of the transceiver. The solution was based on a limited-memory Broyden–Fletcher–Goldfarb–Shanno with Box constraints (L-BFGS-B) method and a numerical optimization algorithm for parameter value estimation. The presented approach allows for the selection of the optimal location of a ground-based source of ranging signals in GNSS processing from a geometry of solution point of view. This can be useful at the design stage of an augmentation network of ground-based transceivers. This article presents a theoretical basis and a case study presenting the selection of the optimal location of a ground-based ranging source.

GNSS Augmentation by FM Radio Symbiosis

Emerging applications, such as improved all-weather safety for self-driving vehicles, require public positioning precision and reliability beyond the capability of open global navigation satellite system (GNSS) services. To meet these requirements, next-generation public positioning, navigation, and time (PNT) services should: 1) deliver ubiquitously available differential corrections and assistance information for massive numbers of concurrent users with fixed delay, indoor penetration and stable bit rate signals and 2) have navigation signals that are extremely enriched against challenging scenarios. The dilemma is that the free-of-charge public PNT service makes it a formidable challenge to build a dedicated information infrastructure. In this context, a natural question arises: where should we seek next-generation public PNT services in the age of Internet of Things? In this paper, we propose GNSS augmentation by FM radio symbiosis. Specifically, we propose GNSS augmentation-optimized digital data broadcasting for which the signal symbiotically co-exists with the analog FM radio in band and in channel without sensibly affecting the existing FM service. With this symbiotic digital data broadcasting, we then propose a GNSS augmentation system that can: 1) broadcast real-time kinematics correction to massive numbers of concurrent GNSS receivers to achieve outdoor precision at the centimeter-level; 2) deliver fine time GNSS assistance for significantly improved receiver sensitivity; and 3) provide common-view timing to enable GNSS independent ground positioning beacon signals. A prime challenge therein is to separate the symbiotic digital signal from the much stronger, spectrum-overlapping co-channel FM signal; this challenge represents a non-orthogonal de-multiplexing problem that is solved by a novel modulation structure. A prototype was designed, and field tests by authorized third parties were conducted with excellent results.

Real-Time Ionospheric Threat Adaptation Using a Space Weather Prediction for GNSS-Based Aircraft Landing Systems

The use of ground-based augmentation systems (GBASs) is increasing in the national airspace system and also in many nations to support aircraft precision approaches and landing. An anomalous ionospheric event if undetected can cause a potential threat to users of single-frequency-based global navigation satellite system augmentation systems. Current GBAS utilize the pre-defined “worst case” ionospheric threat model in their computation of user position errors to consider all possible ionospheric conditions. This could lead to an excessive availability penalty by adding conservatism on the resulting error bounds. This paper proposes a methodology of real-time ionospheric threat adaptation that adjusts the ionospheric threat model in real time instead of always using the same threat model. This is done by using predicted values of space weather indices for determining the corresponding threat model based on an established relationship between space weather indices and ionospheric threats. Since space weather prediction itself is not reliable due to prediction errors, an uncertainty model was derived from 17 years of historical data. When applied to Category I GBAS in the Conterminous United States, this method lowered the upper bound of the current threat model about 95% of the time during the 17 years (from 1995 to 2011) using the bounded prediction value of the disturbance-storm time index.

Analysis of a grid ionospheric vertical delay and its bounding errors over West African sub-Saharan region

Investigating the effects of the Equatorial Ionization Anomaly (EIA) ionosphere and space weather on Global Navigation Satellite Systems (GNSS) is very crucial, and a key to successful implementation of a GNSS augmentation system (SBAS) over the equatorial and low-latitude regions. A possible ionospheric vertical delay (GIVD, Grid Ionospheric Vertical Delay) broadcast at a Ionospheric Grid Point (IGP) and its confidence bounds errors (GIVE, Grid Ionospheric Vertical Error) are analyzed and compared with the ionospheric vertical delay estimated at a nearby user location over the West African Sub-Saharan region. Since African sub-Saharan ionosphere falls within the EIA region, which is always characterized by a disturbance in form of irregularities after sunset, and the disturbance is even more during the geomagnetically quiet conditions unlike middle latitudes, the need to have a reliable ionospheric threat model to cater for the nighttime ionospheric plasma irregularities for the future SBAS user is essential. The study was done during the most quiet and disturbed geomagnetic conditions on October 2013. A specific low latitude EGNOS-like algorithm, based on single thin layer model, was engaged to simulate SBAS message in the study. Our preliminary results indicate that, the estimated GIVE detects and protects a potential SBAS user against sampled ionospheric plasma irregularities over the region with a steep increment in GIVE to non-monitored after local sunset to post midnight. This corresponds to the onset of the usual ionospheric plasma irregularities in the region. The results further confirm that the effects of the geomagnetic storms on the ionosphere are not consistent in affecting GNSS applications over the region. Finally, this paper suggests further work to be investigated in order to improve the threat integrity model activity, and thereby enhance the availability of the future SBAS over African sub-Saharan region.

GBAS airport availability simulation tool

A global navigation satellite system augmentation system availability analysis tool has been developed to simulate a ground-based augmentation system (GBAS) prototype, an integrity monitor test bed, to evaluate its operational benefits at an airport of interest. The proposed availability simulation tool includes all GBAS ground facility algorithms as well as a graphical user interface that allows the user to modify simulation options and parameters. The output of the simulation tool is presented in a Stanford chart to help visualize the performance. The chart indicates the availability and integrity. The performance is evaluated primarily in the vertical position domain because of the weaker satellite geometry and more stringent required navigation performance as compared to those of the horizontal position domain. The simulation tool is implemented in Qt (http://www.qt.io/), an open-source cross-platform toolkit, allowing the tool to run on various devices. The computations are performed in the associated C++ code. The Newark Liberty International Airport (ICAO code: KEWR) is used as a simulation example to demonstrate the utility of the developed tool for investigating how reduced error models impact GBAS availability at the airport.

Augmented GNSS differential corrections minimum mean square error estimation sensitivity to spatial correlation modeling errors.

Railway signaling is a safety system that has evolved over the last couple of centuries towards autonomous functionality. Recently, great effort is being devoted in this field, towards the use and exploitation of Global Navigation Satellite System (GNSS) signals and GNSS augmentation systems in view of lower railway track equipments and maintenance costs, that is a priority to sustain the investments for modernizing the local and regional lines most of which lack automatic train protection systems and are still manually operated. The objective of this paper is to assess the sensitivity of the Linear Minimum Mean Square Error (LMMSE) algorithm to modeling errors in the spatial correlation function that characterizes true pseudorange Differential Corrections (DCs). This study is inspired by the railway application; however, it applies to all transportation systems, including the road sector, that need to be complemented by an augmentation system in order to deliver accurate and reliable positioning with integrity specifications. A vector of noisy pseudorange DC measurements are simulated, assuming a Gauss-Markov model with a decay rate parameter inversely proportional to the correlation distance that exists between two points of a certain environment. The LMMSE algorithm is applied on this vector to estimate the true DC, and the estimation error is compared to the noise added during simulation. The results show that for large enough correlation distance to Reference Stations (RSs) distance separation ratio values, the LMMSE brings considerable advantage in terms of estimation error accuracy and precision. Conversely, the LMMSE algorithm may deteriorate the quality of the DC measurements whenever the ratio falls below a certain threshold.

Minimum of PDOP and its applications in inter-satellite links (ISL) establishment of Walker-δ constellation

Within the next decade, there will be a number of GNSS (Global Navigation Satellite System) available, i.e. modernized GPS, Galileo, restored GLONASS, BeiDou and many other regional GNSS augmentation systems. Thus, measurement redundancies and geometry of the satellites can be improved. GDOP (Geometric Dilution of Precision) and PDOP (Position Dilution of Precision) are associated with the constellation geometry of satellites, and they are the geometrically determined factors that describe the effect of geometry on the relationship between measurement error and position error. GDOP and PDOP are often used as standards for selecting good satellites to meet the desired positioning precision. In this paper, the related conclusions of minimum of GDOP which was discussed are given, and it is used to study the minimum of PDOP for two cases that the receiver is on the earth’s surface and the receiver is on satellite. The corresponding theorem and constructive solutions of minimum of PDOP are given. Then, the rationality of the ISL (inter-satellite link) establishment criteria in Walker-δ constellation is discussed by using the theory of minimum of PDOP. Finally, the minimum of PDOP is calculated when the number of satellites is 4–10, and these results are verified by using Monte Carlo method.

종합적 품질평가 기법을 이용한 국내 GPS 상시관측소의 데이터 품질 분석

During extreme ionospheric storms, anomalous ionospheric delays and gradients could cause potential integrity threats to users of GNSS (Global Navigation Satellite System) augmentation systems. GNSS augmentation ground facilities must monitor these ionospheric anomalies defined by a threat model and alarm the users of safely-of-life applications within time-to-alerts. Because the ionospheric anomaly threat model is developed using data collected from GNSS reference stations, the use of poor-quality data can degrade the performance of the threat model. As the total number of stations increases, the number of station with poor GNSS data quality also increases. This paper analyzes the quality of data collected from Korean GPS reference stations using comprehensive GNSS data quality check algorithms. The results show that the range of good and poor qualities varies noticeably for each quality parameter. Especially erroneous ionospheric delay and gradients estimates are produced due to poor quality data. The results obtained in this study should be a basis for determining GPS data quality criteria in the development of ionospheric threat models.

위성항법시스템 적용을 위한 전리층 지연값 기울기 연구

Ionospheric storms, caused by the interaction between Solar and geomagnetic activities, may degrade the differential GNSS(Global Navigation Satellite Systems) performance significantly, and the importance of the ionospheric storm research is growing for the GBAS(Ground-Based Augmentation System) and SBAS(Satellite-Based Augmentation System) development. In order to support Korean GNSS augmentation system development, a software tool for analyzing the regional ionosphere is being developed and its preliminary results are discussed. After brief description of the ionosphere and ionospheric storm, the research topics on the GBAS applications are discussed. The need for ionospheric spatial gradient analysis is described and some results on the ionospheric spatial gradient during recent storm periods are discussed.

A System Concept for GNSS Augmentation Data Link

The advent of the Global Navigation Satellite System (GNSS) is having a profound impact on surveying, mapping, and navigation. Nowhere is this more evident than in civil aviation. In addition to the capability for cost effective precise positioning and navigation, there is now the possibility to conceive systems based on this technology that for the first time can provide automatic dependent surveillance (ADS), cockpit display of traffic information (CDTI), and collision avoidance (CA) functions at, and incremental cost to, the aircraft operator relative to the cost of a GNSS navigation capability alone. To accomplish the precise navigation and other functions a complementary data link is needed. Preferably this data link should enable the needed functionality, without the need for the government to create an extensive ground infrastructure or mandate artificially expensive airborne equipage. Instead, aircraft equipage should be driven by the system’s ability to deliver the desired user benefits with cost effective flexible avionics systems. This article specifically addresses a concept to accomplish these desired aviation functions, referred to here as the GNSS augmentation data link. © 1994 John Wiley & Sons, Inc.