Navigation Message Research Articles

TrustCNAV: Certificateless aggregate authentication of civil navigation messages in GNSS

The Global Navigation Satellite System (GNSS) is capable of accurate positioning because it can provide high-precision data. These data are transmitted to the receiver in the form of navigation messages, called civil navigation messages (CNAV). As it is transmitted in an open, transparent environment without data integrity protection mechanisms and secure data transmission measures, the CNAV is suspected to spoofing attacks. In 2023, the OPSGROUP has received approximately 50 reports of GPS spoofing activity. A spoofed plane's navigation system will show it as being in a different place - a security risk if a jet is guided to fly into a hostile country's airspace. To prevent the forging of GNSS positioning data by spoofing attacks targeting CNAV, we propose a certificateless aggregation authentication for CNAV by using the elliptic curve discrete logarithm problem and the combination of the GNAV structural characteristics, called TrustCNAV. Security proof and performance analysis indicate that this authentication scheme can resist spoofing attacks and ensure data security of CNAV, also it avoids pairing operations with high computational complexity, thus meeting security requirements without causing too much time and communication consumption.

A Stepped-Wedge, Cluster-Randomized, Multisite Study of Text Messaging Plus Peer Navigation to Improve Adherence and Viral Suppression Among Youth on Antiretroviral Therapy.

To address the need for improved virologic suppression among youth living with HIV (YLH) on antiretroviral treatment (ART), we evaluated peer navigation plus TXTXT daily text message ART reminders. YLH aged 15-24 on ART for at least 3 months at six research sites in four Nigerian cities. Using a stepped-wedge design, Cluster 1 was non-randomized, while Clusters 2 and 3 were randomized to sequences of routine care (control period) and 48 weeks of the combination intervention (intervention period). The primary endpoint was viral suppression (HIV-1 RNA <200 copies/mL) at week 48 of the intervention. Secondary endpoints included adherence measured by self-report (90% considered adherent). Post-hoc analysis assessed virologic control at <50 copies/mL and <1000 copies/mL. Generalized estimating equations determined the difference between intervention and control periods in the intention-to-treat population. We enrolled 558 YLH and followed 541 over time, mean age 18 years, 53.8% female, 71.7% perinatally infected, and 38.6% virologically non-suppressed at enrollment. For the primary endpoint, the intervention periods displayed a small, non-significant increase in viral suppression < 200 copies/mL (OR = 1.16 [0.88, 1.54], p = 0.297). There was a significant effect of the combination intervention on virologic control <1000 copies/mL (OR = 1.42 [1.03, 1.94], p = 0.030). Self-reported adherence also improved (OR = 2.07 [1.46, 2.95], p < 0.001). Peer navigation plus daily text message ART reminders demonstrated limited benefit among ART-experienced, predominantly perinatally-infected YLH, with no significant effect on viral suppression below 200 copies/mL despite improvement in self-reported adherence.

A method for estimating the rotation errors of BDS broadcast ephemeris using global satellite laser ranging data

Abstract The BeiDou-3 Navigation Satellite System (BDS-3) generates navigation messages from a regional ground tracking network and inter-satellite links, relying on predicted station coordinates and Earth rotation parameters (ERPs). These procedures, however, may lead to orientation errors in the broadcast ephemeris, termed constellation rotation errors. Traditionally, these errors are monitored through Helmert transformation analysis comparing broadcast and post-processed orbits, a method that highlights discrepancies between the global navigation satellite system (GNSS) terrestrial reference frame (TRF) and the International TRF (ITRF) but suffers from a two-week evaluation delay. This study proposes a near real-time approach for estimating constellation rotation errors using high-precision satellite laser ranging (SLR) data, representing the difference between GNSS TRF and ITRF through the International laser ranging service TRF. The impact of SLR data quantity and distribution on rotation estimation accuracy is investigated, and the effectiveness of this method on BDS-3 orbits with ERP-induced orientation deficiencies is validated. Results show that the root mean square of broadcast orbit errors and the orbit user ranging error reduce from 0.8/0.7/0.2 m to 0.1/0.1/0.1 m, respectively. This demonstrates the method’s capability for real-time monitoring and correcting orientation errors within BDS-3 navigation messages.

Antenna and attitude modeling of modernized GLONASS satellites

Next to the legacy frequency division multiple access (FDMA) signals in the L1 and L2 band, modernized GLONASS satellites of the M+, K1, and K2 generation also transmit new code division multiple access (CDMA) signals on L3, and, in part, the L1 and L2 frequencies. Depending on the specific satellite platform, either a common antenna or two distinct antennas are used for the individual signals. As a novel feature, the new CDMA navigation messages provide information on the antenna phase center locations as well as the spacecraft orientation during rate-limited noon and midnight turns. We establish a comprehensive set of phase center positions for the individual GLONASS antennas from manufacturer data and information in the CDMA navigation messages, inferred from the comparison of FDMA and CDMA broadcast ephemerides, and obtained from antenna baseline estimates using a triple-frequency carrier phase combination. Based on these, reference values for the signal-specific PCOs of each block of modernized GLONASS spacecraft are derived that may be used to extend the current antenna model of the International GNSS Service (IGS) to all frequency bands. Complementary to the analysis of antenna phase center information, the new CDMA attitude model for GLONASS-K satellites is reviewed. Algorithms for computing relevant parameters of the rate-limited yaw slews including the ramp-up and -down phase based on the Sun/orbit geometry are derived that enable a concise attitude modeling in GLONASS orbit determination and precise point positioning. The model is validated through comparison with yaw angle estimates derived from triple-frequency observations showing consistency at the 1° level for the K2 satellite. On the other hand, unexpected accelerations during noon turns of GLONASS-M+ are identified, which may cause short-term yaw angle deviations of up to 20° relative to attitude models in common use within the IGS.

An Enhanced FGI-GSRx Software-Defined Receiver for the Execution of Long Datasets.

The Global Navigation Satellite System (GNSS) software-defined receivers offer greater flexibility, cost-effectiveness, customization, and integration capabilities compared to traditional hardware-based receivers, making them essential for a wide range of applications. The continuous evolution of GNSS research and the availability of new features require these software-defined receivers to upgrade continuously to facilitate the latest requirements. The Finnish Geospatial Research Institute (FGI) has been supporting the GNSS research community with its open-source implementations, such as a MATLAB-based GNSS software-defined receiver `FGI-GSRx' and a Python-based implementation `FGI-OSNMA' for utilizing Galileo's Open Service Navigation Message Authentication (OSNMA). In this context, longer datasets are crucial for GNSS software-defined receivers to support adaptation, optimization, and facilitate testing to investigate and develop future-proof receiver capabilities. In this paper, we present an updated version of FGI-GSRx, namely, FGI-GSRx-v2.0.0, which is also available as an open-source resource for the research community. FGI-GSRx-v2.0.0 offers improved performance as compared to its previous version, especially for the execution of long datasets. This is carried out by optimizing the receiver's functionality and offering a newly added parallel processing feature to ensure faster capabilities to process the raw GNSS data. This paper also presents an analysis of some key design aspects of previous and current versions of FGI-GSRx for a better insight into the receiver's functionalities. The results show that FGI-GSRx-v2.0.0 offers about a 40% run time execution improvement over FGI-GSRx-v1.0.0 in the case of the sequential processing mode and about a 59% improvement in the case of the parallel processing mode, with 17 GNSS satellites from GPS and Galileo. In addition, an attempt is made to execute v2.0.0 with MATLAB's own parallel computing toolbox. A detailed performance comparison reveals an improvement of about 43% in execution time over the v2.0.0 parallel processing mode for the same GNSS scenario.

A Fast Time Synchronization Method for Large Scale LEO Satellite Networks Based on A Bionic Algorithm

A fast time synchronization method for large-scale LEO satellite networks based on a bionic algorithm is proposed. Because the inter-satellite links are continuously established and interrupted due to the relative motion of the satellites, the topology of the LEO satellite networks is time varying. Firstly, according to the ephemeris information in navigation messages, a connection table which records the connections between satellites is generated. Then, based on the connection table, the current satellite network topology is calculated and generated. Furthermore, a bionic algorithm is used to select some satellites as time source nodes and calculate the hierarchy of the clock transmission tree. By taking the minimum level of the time transmission tree as the optimization objective, the time source nodes and the clock stratums of the whole satellite networks are obtained. Finally, the onboard computational center broadcasts the time layer table to all the satellites in the LEO satellite networks and the time synchronization links can be established or recovered fast.

Analysis of Post-Processed Pseudorange-Based Point Positioning with Different Data Sources for the Current Galileo Constellations.

The Galileo satellite navigation system now provides initial services. With further satellite launches, the performance of Galileo will gradually improve, and new services will be introduced. This study aims to provide a comprehensive analysis of Galileo Single Point Positioning (SPP) using different broadcast ephemeris data sources. This study investigates the completeness of Galileo navigation message records from different institutions. The results show that IGS provides the best completeness across different data sources (ECR > 70%), while IGN exhibits the lowest completeness. Analyze the proportions of different data sources within the Galileo navigation message in the broadcast ephemeris files provided by IGS during the study period. The proportions of FNAV_258, INAV_513, INAV_516, and INAV_517 during the study period are 25.83%, 24.76%, 23.61%, and 25.80%, respectively, suggesting better data completeness for FNAV_258 and INAV_517 and poorer completeness for INAV_513 and INAV_516. Finally, this study explores SPP solutions for GPS and Galileo systems using different data sources. The results indicate that a higher ECR corresponds to better positioning performance. Although GPS exhibits smaller error fluctuations and smoother positioning results, Galileo's SPP positioning accuracy surpasses that of GPS. The introduction of dual-frequency observations effectively reduces data dispersion and enhances vertical positioning accuracy.

SISRE of BDS-3 MEO: Evolution as well as Comparison between D1 and B-CNAV (B-CNAV1, B-CNAV2) Navigation Messages

The signal-in-space range error (SISRE) has a direct impact on the performance of global navigation satellite systems (GNSSs). It is an important indicator of navigation satellite space server performance. The new B-CNAV navigation messages (B-CNAV1 and B-CNAV2) are broadcast on the satellites of the Beidou Global Navigation Satellite System (BDS-3), and they are different from D1 navigation messages in satellite orbit parameters. The orbit accuracy of B-CNAV navigation messages lacks analyses and comparisons with D1. The accuracy and stability of the new hydrogen and rubidium clocks on BDS-3 satellites need annual analyses of long time series, which will affect the service quality of this system. Based on precise ephemeris products from the Center for Orbit Determination in Europe (COD), the orbit error, clock error, and SISRE of 24 medium Earth orbit (MEO) satellite D1 and B-CNAV navigation messages of BDS-3 were computed, analyzed, and compared. Their annual evolution processes for the entire year of 2022 were studied. Thanks to the use of inter-satellite links (ISLs) adopted by BDS-3 MEO satellites, the ages of the ephemeris are accurate and the percent of ages of data, ephemerides (AODEs), and ages of data and clocks (AODCs) shorter than 12 h were 99.95% and 99.96%, respectively. In addition, the broadcast orbit performance was also improved by ISLs. The root mean square (RMS) values of the BDS-3 MEO broadcast ephemeris orbit error were 0.067 m, 0.273 m, and 0.297 m in the radial, cross, and along directions, respectively. Moreover, the 3D RMS value was 0.450 m. Thanks to the use of new orbit parameters in the B-CNAV navigation messages of BDS-3 MEO, its satellite orbit accuracy was obviously better than that of D1 in the radial direction. Its improved accuracy can reach up to about 1.2 cm, and the percentage of its accuracy improvement was about 19.06%. With respect to clock errors, the timescale differences between the two clock products were eliminated to assess the accuracy of broadcasting ephemeris clock errors. A standard deviation value of 0.256 m shows good performances as a result of the use of the two new types of atomic clocks, although the RMS value was 0.541 m due to a nonzero mean bias. Overall, the accuracy of atomic clocks was good. For the new hydrogen and rubidium atomic clocks, their RMS and standard deviation were 0.563 m and 0.231 m and 0.519 m and 0.281 m, respectively. The stability of the former was better than that of the latter. However, due to the nonzero mean bias the latter was better than the former in accuracy. The RMS value of the SISRE of BDS-3 MEO’s broadcast ephemeris was 0.556 m, and the value was 0.920 m when it had a 95% confidence level. In contrast, after deducting the influence of the clock error, the value of SISRE_ORB was 0.092 m. Since the satellite clock error was substantially larger than the orbit radial error, the SISRE was mainly affected by the clock error, and their annual evolutions were consistent. Because of the improvement to the B-CNAV’s navigation message with respect to orbit radial accuracy, SISRE_ORB has improved in accuracy. Compared to D1, it had a significant effect on improving the accuracy of SISRE_ORB, and the percentage of the accuracy improvement was 8.40%.

RTK+OSNMA Positioning for Road Applications: An Experimental Performance Analysis in Finland.

We compare the performance of dual-band (GPS L1/L2 and Galileo E1/E5a) real-time kinematic (RTK) positioning in an open sky and urban scenarios in southern Finland using two different authentication schemes: one using only satellites authenticated by Galileo's open service navigation message authentication (OSNMA) service (which at the moment of our tests led to using only authenticated Galileo satellites) and the other with no authentication. The results show the actual trade-off between accuracy and availability vs. authenticity associated with using only OSNMA-authenticated satellites, while the authentication of only Galileo satellites is possible (e.g., a drop of RTK positioning availability from 96.67 to 86.01% in our open sky and from 73.55 to 18.65% in our urban scenarios, respectively), and an upper bound of the potential performance that could be reached in similar experimental conditions had the authentication of GPS satellites been supported (e.g., an overall 14 cm and 10.20 m 95% horizontal accuracy in our open sky and urban scenarios, with below 30, 20 and 10 cm during 97.39, 96.03 and 92.43% of the time in the open sky and 49.12, 45.96 and 39.63% in the urban scenarios, respectively).

An Experimental Performance Assessment of Galileo OSNMA.

We present Galileo Open Service Navigation Message Authentication (OSNMA) observed operational information and key performance indicators (KPIs) from the analysis of a ten-day-long dataset collected in static open-sky conditions in southern Finland and using our in-house-developed OSNMA implementation. In particular, we present a timeline with authentication-related events, such as authentication status and type, dropped navigation pages, and failed cyclic redundancy checks. We also report other KPIs, such as the number of simultaneously authenticated satellites over time, time to first authenticated fix, and percentage of authenticated fixes, and we evaluate the accuracy of the authenticated position solution. We also study how satellite visibility affects these figures. Finally, we analyze situations where it was not possible to reach an authenticated fix, and offer our findings on the observed patterns.

Satellite Navigation Message Authentication in GNSS: Research on Message Scheduler for SBAS L1.

SBAS is mainly used in civil aviation and navigation, and will be applied to autonomous driving in the future. Given the open signal format of the Satellite Based Augmentation System (SBAS), which exposes security threats such as spoofing attacks, the utilization of SBAS navigation message authentication technology can improve the SBAS anti-spoofing ability from the system side. SBAS message authentication technology has become the future direction of SBAS system development. However, during the initial design of SBAS on L1, message authentication technology was not considered, and the addition of authentication messages will lead to further strain on existing message bandwidth resources. Therefore, in response to the issue of insufficient bandwidth resources after adding authentication messages to SBAS L1, a study on message scheduler for SBAS L1 authentication was conducted. A fixed time sequence dynamic message scheduler for incorporating authentication messages was proposed. This scheduler reduces the frequency of broadcasting clock error parameters to mitigate the impact of adding authentication messages. Furthermore, an optimized fixed time sequence dynamic message scheduler based on SBAS clock error messages was introduced. The results show that the message scheduler can not only improve the flexibility of SBAS message broadcasting, but also shorten the update interval of various types of messages under the premise of meeting the maximum update interval requirement. With minimal impact on the maximum message update interval, it improves the integrity, authenticity, and availability of messages. This approach can increase the effective message ratio in SBAS to over 91%, and the optimal solution reduces the initial user positioning time to 26 s.

Performance evaluation of real-time orbit determination for LUTAN-01B satellite using broadcast earth orientation parameters and multi-GNSS combination

Real-time orbit determination (RTOD) for spacecraft using the space-borne GNSS technique needs earth orientation parameters (EOPs) for the required coordinate transformation between earth-fixed and inertial reference frames. GPS and BDS transmit EOPs in modernized navigation messages, which enables GNSS-equipped spacecraft to update EOPs onboard and improves the RTOD automaticity. However, the impact of broadcast EOP errors on RTOD has not yet been evaluated. With the GPS and BDS-3 observations collected from a Chinese low-earth orbit (LEO) mission, the LUTAN-01B satellite, we analyze the LEO RTOD performance with broadcast EOPs and GPS/BDS-3 combination for the first time. In RTOD, we parameterize the ephemeris signal-in-space range error (SISRE) to account for its slow-varying signature and to compensate for the EOP errors. Without estimating SISRE, the RTOD precision using broadcast EOPs is 70.1 cm with only GPS observations and 42.4 cm with only BDS-3, revealing degradations of 5.1 cm (7.8%) and 3.3 cm (8.4%) compared to those using the precise C04 EOPs, respectively. With SISRE estimated, the impact of broadcast EOP error is compensated and the RTOD precisions with broadcast EOPs show identical results to those with C04, reaching 36.3 cm with GPS and 25.8 cm with BDS-3. Combining GPS and BDS-3 further improves the RTOD precision to 23.9 cm. Furthermore, we show that the RTOD precision can be further improved by using GPS and BDS broadcast EOPs’ differences to correct ephemeris rotation errors. With this correction, the precision improvement of BDS-3 independent and GPS/BDS-3 combined RTOD increases significantly when BDS-3 broadcast EOPs suffer large errors due to long update intervals. During the experiment period, their maximum orbital improvements reach 10.2 and 7.7 cm, respectively, while the average improvements are both around 1.5 cm.

Processing of retransmitted GPS signals in the problem of measuring the total electron content in the ionosphere

Objectives. For a method for estimating the total electron content in the ionosphere based on the retransmission of the L1 GPS navigation signal by a repeater nanosatellite (SR) to the frequencies of 150/400 MHz allocated for geophysical research and their reception at a ground-based receiving point (RP), it is necessary to develop the algorithms for coherent accumulation of received relayed signals and measurement of the difference between their delays at observation intervals up to a few seconds.Methods. The proposed algorithms provide phase demodulation of the received signals at each of the relay frequencies in accordance with the dynamics of the mutual spatial movement of the navigation satellite (NS), SR and RP; multiplying the result by the estimate of the navigation message combined time delay, generated by the receiver of the direct navigation signal on the NS-RP route, intra-period processing over the entire duration of the observation in a filter matched with the signal of the navigation satellite, and inter-period coherent accumulation of the results of intra-period processing at a single-valued range interval. Coherent accumulation, taking into account a random uncontrolled shift in the frequency of the retransmitted signal, is implemented by discrete Fourier transform of the vectors formed for each resolution element in the delay time from inter-period readings of the results of intra-period processing, taking into account the range migration during the mutual movement of the NS, SR and RP.Results. It is shown that by the output signal of the coherent accumulator makes it is possible to detect retransmitted signals at each of the retransmission frequencies, to measure accurately the difference in delay times, and estimate the total electron content on the SR-RP path. The results of modeling are presented, confirming the efficiency of the proposed algorithms in estimating the total electron content on the SR-RP route.Conclusion. An algorithm for coherent accumulation of received retransmitted signals and measurement of the difference between their delays is developed, and its simulation is performed. The algorithm can be used for estimating TEC based on the retransmission of signals from GPS.

Blockchain-Based Authentication of GNSS Civil Navigation Message

The Civil Navigation Message (CNAV) of the Global Navigation Satellite System (GNSS) is transmitted in an open channel without authentication and integrity protection mechanism. Therefore, the CNAV is facing the threat of interception and tampering, and it is vulnerable to spoofing attacks. To guarantee the authenticity and integrity of CNAV, we propose a cryptographic anti-spoofing scheme of CNAV in GNSS based on consortium blockchain using domestic cryptographic algorithms. In this scheme, we design a CNAV authentication model based on satellites, ground stations and key management center. And implement the authentication protocol to achieve the purpose of preventing CNAV in GNSS from being tampered with. On the basis of the authentication of the entities, the scheme further realizes the functions of information source authentication and integrity protection of the legitimate senders. And on the basis of satisfying security, the protocol has lower computing and communication cost, simplifies the process of re-authentication of information source, and has great practicability for receivers that use civil navigation message to achieve navigation and positioning functions.

Integrity monitoring of NavIC by parsing broadcast ephemeris

Abstract Global navigation satellite systems (GNSS) are used to provide position estimation to the users. These navigation systems must meet the required navigation parameters (RNP) parameters. Among them integrity being the important parameter, defined as a navigation system’s honesty of the information provided to the user by satellites. The extremity of error due to clocks, ephemeris etc., broadcasted in navigation message of NavIC will result in inaccurate information provided by the satellites that tamper the Navigation with Indian constellation (NavIC) system integrity. The information provided by the satellites may be faulty due to various error sources and cannot be used for applications which require very high accuracy. Integrity of the information provided by satellites plays a vital role and the system needs to be notified accordingly. The traditional methods receiver autonomous integrity monitoring (RAIM) algorithms require both navigation and observation data for implementation and involves several computations, hence in this paper an efficient approach considering only navigation message is proposed to monitor the integrity of NavIC. The NavIC Navigation data of 28 days data corresponding to 4 months is collected from IGS website. The integrity check is performed considering the satellite‘s User Range Accuracy Upper Bound (URA UB), fit interval and health parameters from navigation message. It is observed from the results that there are specific instances of integrity failure of NavIC system. However, it is also noticed that 99.5 % of times the integrity provided by NavIC is within specified limits that guarantee the NavIC utility for critical applications.

Satellite navigation method based on high-speed frequency hopping signal

Global navigation satellite system has been widely used, but it is vulnerable to jamming. In military satellite communications, frequency hopping (FH) signal is usually used for anti-jamming communications. If the FH signal can be used in satellite navigation, the anti-jamming ability of satellite navigation can be improved. Although a recently proposed time-frequency matrix ranging method (TFMR) can use FH signals to realize pseudorange measurement, it cannot transmit navigation messages using the ranging signal which is crucial for satellite navigation. In this article, we propose dual-tone binary frequency shift keying-based TFMR (DBFSK-TFMR). DBFSK-TFMR designs an extended time-frequency matrix (ETFM) and its generation algorithm, which can use the frequency differences in different dual-tone signals in ETFM to modulate data and eliminate the negative impact of data modulation on pseudorange measurement. Using ETFM, DBFSK-TFMR not only realizes the navigation message transmission but also ensures the precision and unambiguous measurement range of pseudorange measurement. DBFSK-TFMR can be used as an integrated solution for anti-jamming communication and navigation based on FH signals. Simulation results show that DBFSK-TFMR has almost the same ranging performance as TFMR.

A comparison analysis on forward error correction technology: a future perspective for GNSS

PurposeThe main aim of this study is to elaborately examine the error correction technology for global navigation satellite system (GNSS) navigation messages and to draw a conceptual decision support framework related to the modernization of the GNSS and other systems.Design/methodology/approachThe extensive simulation model developed in Matrix Laboratory (MATLAB) is used to evaluate the performance of forward error correction (FEC) codes such as Hamming, Bose–Chaudhuri–Hocquenghem, convolutional, turbo, low-density parity check (LDPC) and polar codes under different levels of noise.FindingsThe performance and robustness of the aforementioned algorithms are compared based on the bit length, complexity and execution time of the GNSS navigation message. In terms of bit error rate, LDPC coding exhibits more ability in the robustness of the navigation message, while polar code gives better results according to the execution time.Practical implicationsIn view of future new GNSS signals and message design, the findings of this paper may provide significant insight into navigation message modernization and design as an important part of GNSS modernization.Originality/valueTo the best of the authors’ knowledge, this is the first study that conducts a direct comparison of various FEC algorithms on GNSS navigation message performance against noise, taking into consideration turbo and newly developed polar codes.

Performance analysis of the BDSBAS-B1C message in trial operation stage

BeiDou Satellite-based Augmentation System (BDSBAS) has come into the trial operation stage since July, 2020. To evaluate the characteristic of the augmentation message in BDSBAS-B1C signal, the effectiveness of the message content was firstly analyzed, and then the validity of the broadcasting strategy was estimated. Finally, the accuracy of the user equivalent ranging error (UERE) and the single frequency positioning error with different correction parameters in BDSBAS-B1C message was evaluated. Based on the above analysis, the effectiveness of the augmentation message was preliminarily verified with the results showing that: (1) the BDSBAS-B1C message type, information content and update interval have basically met the international standard; (2) the accuracy of the UERE obtained with the augmentation message had an obvious improvement in contrast to that of the UERE obtained with the usual navigation message of the GPS satellites, and the ionospheric delay was one of the important factors which affected the accuracy of the UERE; (3) the positioning accuracy obtained with the augmentation message was also improved, and the improvement was more obvious in the service areas with high availability of the ionospheric parameters.

Performance analysis of cross-frequency Doppler-assisted carrier phase tracking

Using the Doppler frequency obtained from tracking a GNSS pilot signal to aid in tracking another signal modulated with higher rate navigation messages in a different frequency band can improve tacking robustness and lower the message demodulation threshold. Based on an analysis of received signal frequency coherence, a linearized mathematical model of the cross-frequency Doppler-assisted carrier phase tracking loop is built, a thermal noise jitter calculation equation for the assisted tracking loop is derived, and its dynamic stress response characteristics are examined. The loop design requirements for eliminating the influence of inter-frequency frequency bias are clarified, as are the cross-frequency assist signal selection criteria. Monte Carlo simulations and preliminary field tests validate the theoretical results using the B1C pilot signal-aided tracking B2b signal of the MEO satellite in the BeiDou satellite navigation system (BDS). Experimental results show that the carrier phase tracking threshold of the B2b signal can be reduced by about 4 dB.

Conceptual Navigation and Positioning Solution for the Upcoming Lunar Mining and Settlement Missions Based on the Earth’s Mining Experiences: Lunar Regional Navigation Transceiver System

Precise drilling and excavation in future Lunar mining sites as well as in building habitats areas will be supported by robotized instrumentation. To ensure accurate positioning of facilities or structures, customized surveying instruments will be used to perform measurements needed for calculating locations of surveyed objects. Precise positioning in unexplored areas is difficult, even on the Earth, with all available support. This issue becomes even more complex on the Moon’s surface, considering environmental conditions and the absence of Earth logistics. This paper solves a problem of centimeter-precision positioning on the Moon’s surface. The solution is called Lunar Regional Navigation Transceiver System (LRNTS). It is based on a network of transceiver facilities, holding onboard both navigation transmitters and receivers. Transmitting modules of LRNTS act in the same way as the Global Navigation Satellite Systems (GNSS) space segment, sending navigation messages to the receivers. Receiving modules are needed for self-calibration of LRNTS to calculate their coordinates. In this paper, 12 different LRNTS-simulated configuration setups within Shackleton Crater are tested against positioning accuracy and visibility along the crater. The results show that LRNTS of nine transceivers can achieve sub-centimeter horizontal and better than 2 cm vertical accuracy, with consistent visibility of six and more transceivers throughout the Shackleton Crater.