On robust estimation of the location parameter

Navigation systems engineering is a red-hot area. More and more technical professionals are entering the field and looking for practical, up-to-date engineering know-how. This single-source reference answers the call, providing both an introduction to overall systems operation and an in-depth treatment of architecture, design, and component integration. This book explains how satellite, on-board, and other navigation technologies operate, and it gives practitioners insight into performance issues such as processing chains and error sources. Providing solutions to systems designers and engineers, the book describes and compares different integration architectures, and explains how to diagnose errors. Moreover, this hands-on book includes appendices filled with terminology and equations for quick referencing.

Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems

This newly revised and greatly expanded edition of the popular Artech House book Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a current and comprehensive understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, and environmental feature matching . It provides both an introduction to navigation systems and an in-depth treatment of INS/GNSS and multisensor integration. The second edition offers a wealth of added and updated material, including a brand new chapter on the principles of radio positioning and a chapter devoted to important applications in the field. Other updates include expanded treatments of map matching, image-based navigation, attitude determination, acoustic positioning, pedestrian navigation, advanced GNSS techniques, and several terrestrial and short-range radio positioning technologies. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frames, multi-frame kinematics, Earth models, gravity, Kalman filtering, and nonlinear filtering. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including context-dependent and cooperative positioning. DVD Included: Features eleven appendices, interactive worked examples, basic GNSS and INS MATLAB simulation software, and problems and exercises to help you master the material.

Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition

Spectrum is one of the most precious radio resources. With the increasing demand for wireless communication, efficiently using the spectrum resource has become an essential issue. With the Federal Communications Commission's (FCC) spectrum policy reform, secondary spectrum sharing has gained increasing interest. One of the policy reforms introduces the concept of an interference temperature - the total allowable interference in a spectral band. This means that secondary users can use different transmit powers as long as the sum of these power is less than the interference threshold. In this paper, we study two problems in secondary spectrum access with minimum signal to interference noise ratio (quality of service (QoS)) guarantee under an interference temperature constraint. First, when all the secondary links can be supported, a nonlinear optimization problem with the objective to maximize the total transmitting rate of the secondary users is formulated. The nonlinear optimization is solved efficiently using geometric programming techniques. The second problem we address is, when not all the secondary links can be supported with their QoS requirement, it is desirable to have the spectrum access opportunity proportional to the user priority if they belong to different priority classes. In this context, we formulate an operator problem which takes the priority issues into consideration. To solve this problem, first, we propose a centralized reduced complexity search algorithm to find the optimal solution. Then, in order to solve this problem distributively, we define a secondary spectrum sharing potential game. The Nash equilibria of this potential game are investigated. The efficiency of the Nash equilibria solutions are characterized. It is shown that distributed sequential play and an algorithm based on stochastic learning attain the equilibrium solutions. Finally, the performances are examined through simulations

Dynamic Spectrum Access with QoS and Interference Temperature Constraints

This second edition of Dr. Grove's book (the original was published in 2008) could arguably be considered a new work. At just under 1,000 pages (including the 11 appendices on the DVD), the second edition is 80% longer than the original. Frankly, the word "book" hardly seems adequate, considering the wide range of topics covered. "Mini-encyclopedia" seems more appropriate. The hardcover portion of the book comprises 18 chapters, and the DVD includes the aforementioned appendices plus 20 fully worked examples, 125 problems or exercises (with answers), and MATLAB routines for the simulation of many of the algorithms discussed in the main text. Here is a brief overview of the contents: ▸ Chapters 1–3: an overview of the diversity of positioning techniques and navigation systems; fundamentals of coordinate frames, kinematics and earth models; introduction to Kaiman filtering ▸ Chapters 4–6: inertial sensors, inertial navigation, and lower-cost dead reckoning systems ▸ Chapters 7–12: principles of radio positioning, short-, medium-, and long-range radio navigation, as well as extensive coverage of global navigation satellite systems (GNSS) ▸ Chapter 13: environmental feature matching. ▸ Chapters 14–16: various integration topics, including inertial navigation system (INS)/GNSS integration, alignment, zero-velocity updates, and multisensor integration ▸ Chapter 17: fault detection. ▸ Chapter 18: applications and trends. In summary, this book is an excellent reference (with numerous nuggets of wisdom) that should be readily handy on the shelf of every practicing navigation engineer. In the hands of an experienced instructor, the book will also serve students as a great textbook. However, the lack of examples integrated in the main text makes it difficult for the book to serve as a self-study guide for those that are new to the field.

Principles of GNSS, inertial, and multisensnr integrated navigation systems, 2nd edition [Book review]

Current signaling for GPS employs phase shift keying (PSK) modulation using conventional rectangular (non-return to zero) spreading symbols. Attention has been focused primarily on the design of the spreading code and selection of the keying rates. But better modulation designs are available for next-generation radionavigation systems, offering improved performance and the opportunity for spectrum sharing while retaining implementation simplicity. This paper describes a class of particularly attractive modulations called binary offset carrier (BOC). It presents important characteristics of modulations for radionavigation, introduces several specific BOC designs that satisfy different applications in evolving radionavigation systems, describes receiver processing for these modulations, and provides analytical and numerical results that describe the modulations' performance and demonstrate advantages over comparable conventional PSK modulations with rectangular spreading symbols.

Binary Offset Carrier Modulations for Radionavigation

This paper describes the Multiplexed Binary Offset Carrier (MBOC) spreading modulation that has been recommended by the GPS-GALILEO Working Group on Interoperability and Compatibility. The MBOC(6,1,1/11) power spectral density is a mixture of BOC(1,1) spectrum and BOC(6,1) spectrum, that would be used by GALILEO for its Open Service (OS) signal at L1 frequency, and also by GPS for its modernized L1 Civil (L1C) signal. A number of different time waveforms can produce the MBOC(6,1,1/11) spectrum, allowing flexibility in implementation, although interoperable waveforms remains an objective for GALILEO and GPS. The time-multiplexed BOC (TMBOC) implementation interlaces BOC(6,1) and BOC(1,1) spreading symbols in a regular pattern, whereas composite BOC (CBOC) uses multilevel spreading symbols formed from the weighted sum of BOC(1,1) and BOC(6,1) spreading symbols, interplexed to form a constant modulus composite signal. This paper provides information on the history, motivation, and construction of MBOC signals. It then shows various performance characteristics, and summarizes their status in GALILEO and GPS signal design.

MBOC: The New Optimized Spreading Modulation Recommended for GALILEO L1 OS and GPS L1C

An integral aspect of GPS Modernization is transmission
of a new military signal in the current frequency bands
around L1 and L2 in addition to the currently used P(Y)
code and C/A code signals. There are considerable
advantages to a new military signal whose spectrum is
distinct from those of the current signals. This paper
describes the offset carrier modulations and their
characteristics, showing that they provide many
advantages for Modernization. The parametric families of
linear and binary offset carrier modulations are defined.
Various modulation properties are presented and compared
for representative binary offset carrier modulation designs
relevant to GPS Modernization.

The Offset Carrier Modulation for GPS Modernization

Code tracking is an important attribute of receivers for Global Positioning System (GPS) and other global navigation satellite systems (GNSS). This paper and its sequel provide analytical expressions for performance of code-tracking loops using early-late discriminators, under small-error conditions. Expressions are provided for output signal-to-noise-plus-interference ratio (SNIR) and code-tracking error for arbitrary signal spectra, and Gaussian noise and interference having arbitrary spectral shapes. This first paper addresses coherent early-late processing (ELP) for given receiver precorrelation bandwidth and given early-late spacing, also providing a tight lower bound on code-tracking error independent of discriminator design. Theoretical expressions are derived, showing that code-tracking accuracy depends on more than merely signal-to-noise ratio and early-late spacing - the shape of signal and interference spectra are important, as is the receiver precorrelation bandwidth.

Generalized Theory of Code Tracking with an Early-Late Discriminator Part I: Lower Bound and Coherent Processing

The effect of narrowband interference on GPS code tracking accuracy is important, but has not been thoroughly evaluated. Theory shows that the effect of interference depends on details of receiver design, specially front-end bandwidth and early-late spacing in the discriminator, and that it has a different effect on code tracking accuracy than it does on some other aspects of GPS receiver performance.
This paper compares theoretical predictions with experimental results to examine the effect of Gaussian interference on code tracking accuracy. Experimental results are obtained using MITRE’s real-time hardware testbed, measuring the effect of different interference
frequencies on code tracking accuracy. Additional experimental results, obtained using a Novatel 3951-R 12 channel L1 C/A code receiver, are provided. The close correspondence between experimental results and
theoretical predictions validates the theory, leading to better
understanding of this important phenomenon. The results show that, for C/A code receivers, narrowband interference at frequencies away from band center can degrade code tracking accuracy more than interference having the same power at band center, even though the receiver’s measured signal-to-noise ratio degrades more when narrowband 
interference frequency is located at band center.

John W. Betz

Papers

Binary Offset Carrier Modulations for Radionavigation

MBOC: The New Optimized Spreading Modulation Recommended for GALILEO L1 OS and GPS L1C

The Offset Carrier Modulation for GPS Modernization

Generalized Theory of Code Tracking with an Early-Late Discriminator Part I: Lower Bound and Coherent Processing

Effect of Narrowband Interference on GPS Code Tracking Accuracy