Navigation signal processing for GNSS software receivers:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Boston [u.a.]
Artech House
2010
|
| Schriftenreihe: | Artech House GNSS technology and applications series
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | EUR 96,84 |
| Beschreibung: | XVII, 352 S. graph. Darst. 26 cm |
| ISBN: | 1608070271 9781608070275 |
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Datensatz im Suchindex
| _version_ | 1804141082762543104 |
|---|---|
| adam_text | Titel: Navigation signal processing for GNSS software receivers
Autor: Pany, Thomas
Jahr: 2010
Contents
Preface
Acknowledgments
XIII
xvii
CHAPTER 1
Radio Navigation Signals
1.1 Signal Generation
1.2 Signal Propagation
1.3 Signal Conditioning
1.4 Motivation for a Generic Signal Model
1.5 Sampling
1.6 Deterministic Received Signal Model
1.7 Stochastic Noise Model
1.8 Short-Period Signal Model
1.8.1 Zeroth-Order Moment of Signal Power
1.8.2 First-Order Moment of Signal Power
1.8.3 Second-Order Moment of Signal Power
1.8.4 First-Order Moment of Signal Power Variations
1.8.5 Separation of Code and Carrier Correlation
1.9 Exemplary Signals
1.9.1 A Model for the GPS C/A-Code Signal
1.9.2 A Model for the Galileo El Open-Service Signal
1.9.3 Pulsed GNSS Signals
1.9.4 Gaussian Double Pulse
References
1
1
2
3
4
5
6
9
9
10
11
11
13
14
15
16
CHAPTER 2
Software-Defined Radio
2.1
2.2
2.3
2.4
Definitions
Communication Radios
2.2.1 GNU Radio
2.2.2 Joint Tactical Radio System
GNSS Software Receivers
2.3.1 Front Ends
2.3.2 Illustrative Applications
2.3.3 High-End GNSS Software Receivers
Technology Evaluation and Discussion
References
17
17
19
19
19
22
22
25
28
30
30
Contents
CHAPTER 3
GNSS Receiver Structure and Dataflow 33
3.1 GNSS Sample Handling 33
3.1.1 Real-Time Mode 34
3.1.2 Postprocessing Mode 38
3.2 Module Diagram 39
3.2.1 USB Front-End Driver 40
3.2.2 IF Sample Buffer 40
3.2.3 Sensor Interface 40
3.2.4 Postprocessing Mode 41
3.2.5 Master Receiver 41
3.2.6 Receiver 41
3.2.7 Master Channel 42
3.2.8 Channel 42
3.2.9 Acquisition Manager 42
3.2.10 Level-1 and Level-2 Acquisitions 43
3.2.11 Navigation Processor 43
3.2.12 Positioning with RAIM 43
3.2.13 Navigation Modules 44
3.2.14 Input and Output Modules 44
3.2.15 Receiver Status 44
3.2.16 Navigation Records 44
3.2.17 AGNSS and SISNET Connection 44
3.3 Execution Flow 45
3.3.1 Computer with Four CPU Cores 46
3.3.2 Computer with a Single CPU Core 48
3.4 GNSS Reference Station Configuration 50
3.4.1 Acquisition Parameters 50
3.4.2 Tracking Parameters 51
3.4.3 Performance Results 52
3.5 Discussion 54
References 55
Chapter*
Signal Estimation 57
4.1 Parameters of Interest 57
4.1.1 Useful Parameters 58
4.1.2 Nuisance Parameters 58
4.1.3 Relationship Between the Parameters 59
4.2 Nonrandom Parameter Estimation 59
4.2.1 Position CRLB Without Nuisance Parameters 62
4.2.2 Position Estimation with Nuisance Parameters 63
4.2.3 Single-Step Maximum Likelihood Estimation 67
4.2.4 Cascaded Estimation 69
4.3 LSQ Correlators/Discriminators 72
Contents
4.3.1 Model for One or More Propagation Paths 73
4.3.2 Single Propagation Path 76
4.3.3 Correlation Point 91
4.3.4 Linearization 97
4.3.5 Multiple Propagation Paths 98
4.3.6 Two Propagation Paths: Code-Phase CRLB 100
4.3.7 Two Propagation Paths: Doppler CRLB 104
4.3.8 Two Propagation Paths: Remark on Other Bounds 104
4.4 Data Reduction 106
4.4.1 Sufficient Statistics 106
4.4.2 Multicorrelator Approach 107
4.4.3 First-Derivative Approach 107
4.4.4 Colored Noise 108
4.5 Bayesian Approach 108
4.5.1 Minimum Mean-Squared Error Estimation 109
4.5.2 Kalman-Bucy Filter 110
4.5.3 Other Filters 112
4.5.4 Use of Kalman Filters in GNSS Signal Processing 113
4.6 Squaring Loss Revisited 114
4.7 Numerical Simulation 117
4.7.1 Evaluation of Bounds 118
4.7.2 Cost Function 119
4.7.3 LSQ Solution 120
4.8 Discussion 124
References 125
CHAPTER 5
Signal Detection 129
5.1 Detection Principles 129
5.1.1 Simple Hypothesis Testing 130
5.1.2 Composite Hypothesis Testing 131
5.2 Detection Domains 133
5.2.1 Pseudorange Domain Detection 133
5.2.2 Position Domain Detection 133
5.3 Preprocessing 133
5.4 Clairvoyant Detector for Uniformly Distributed Phase 134
5.5 Energy Detector 137
5.6 Bayesian Detector 138
5.7 Generalized Likelihood-Ratio Detector 140
5.7.1 Single Coherent Integration 141
5.7.2 Multiple Coherent Integrations 142
5.7.3 Considering Navigation Signal Interference 147
5.7.4 Data and Pilot 149
5.8 System-Detection Performance 154
5.8.1 Idealized Assumptions 155
5.8.2 Mean Acquisition Time 155
______________________________________ Contents
5.8.3 System Probabilities 156
5.8.4 Independent Bin Approximation 156
5.8.5 Code-Phase and Doppler Losses 157
5.9 Long Integration Times and Differential Detectors 158
5.10 Discussion 159
References 161
CHAPTER 6
Sample Preprocessing 163
6.1 ADC Quantization 163
6.1.1 Quantization Rule 163
6.1.2 Matched Filter 165
6.1.3 Evaluation of Expected Values 167
6.1.4 Infinite Number of Bits 169
6.1.5 Numerical Evaluation 170
6.2 Noise-Floor Determination 174
6.3 ADC Requirements for Pulse Blanking 174
6.3.1 Front-End Gain and Recovery Time 175
6.3.2 Pulse Blanking 175
6.3.3 ADC Resolution 176
6.4 Handling Colored Noise 178
6.4.1 Spectral Whitening 178
6.4.2 Modified Reference Signals 179
6.4.3 Overcompensation of the Incoming Signal 180
6.4.4 Implementation Issues 180
6.5 Sub-Nyquist Sampling 180
References 182
185
185
187
188
189
191
191
192
193
194
194
197
197
199
200
202
202
CHAPTER 7
Correlators
7.1 Correlator and Waveform-Based Tracking
7.2 Generic Correlator
7.2.1 Expected Value
7.2.2 Covariance
7.2.3 Variance
7.3 Correlator Types with Illustration
7.3.1 P-Correlator
7.3.2 F-Correlator
7.3.3 D-Correlator
7.3.4 W-Correlator
7.4 Difference Correlators
7.4.1 Single-Difference P-Correlators
7.4.2 Double-Difference P-Correlators
7.5 Noisy Reference Signal for Codeless Tracking
7.5.1 Expected Value
7.5.2 Covariance
Contents
7.5.3 Variance 204
7.5.4 L2 P(Y)-Code Carrier-Phase Discriminator Noise 204
7.6 Incorporating Colored Noise 206
7.6.1 White-Noise Transformation 206
7.6.2 Early-Late Code Discriminator with Infinite Sample Rate 208
7.7 Comparison of Finite and Infinite Sample Rates 212
References 214
CHAPTER 8
Discriminators 217
8.1 Noncoherent Discriminators 217
8.1.1 Code Discriminator 217
8.1.2 Doppler Discriminator 221
8.1.3 Phase Discriminator 223
8.1.4 Clipping 225
8.2 S-Curve Shaping 225
8.2.1 Code-Discriminator Performance Characteristics 226
8.2.2 Optimum S-Curve 227
8.2.3 Frequency-Domain S-Curve Shaping 228
8.2.4 Discussion 231
8.3 Multipath Estimating Techniques 231
8.3.1 The LSQ Equations 232
8.3.2 Calibration 235
8.3.3 General Procedure 235
8.3.4 Correlator Placement 236
8.3.5 Initial Values 236
8.3.6 Number of Required Iterations 237
8.3.7 Multipath Detection 237
8.3.8 Discussion 238
8.4 From Discriminator Noise to Position Accuracy 238
References 239
CHAPTER 9
Receiver Core Operations 241
9.1 Test-System Configuration 241
9.2 Signal-Sample Bit Conversion 242
9.2.1 Algorithm 243
9.2.2 Numerical Performance 244
9.2.3 Discussion and Other Algorithms 245
9.3 Resampling 245
9.3.1 Algorithm 245
9.3.2 Numerical Performance 245
9.3.3 NCO Resolution 246
9.3.4 Discussion and Other Algorithms 248
9.4 Correlators 248
9.4.1 SDR Implementation 249
____________________________________________________________Contents
9.4.2 Discussion and Other Algorithms 250
9.5 Fast Fourier Transform 251
9.5.1 Algorithm 251
9.5.2 Convolution Theorem 252
9.5.3 Time-Domain Correlation and Data Preparation 253
9.5.4 Spectral Shifting 256
9.5.5 Limited-Size Inverse FFT 257
9.5.6 Circular Correlation with Doppler Preprocessing 260
9.5.7 Handling Secondary Codes 263
9.5.8 Asymptotic Computational Performance 267
9.5.9 Reported FFT Performance Values 267
9.5.10 Discussion and Number of Correlators 269
9.6 Reality Check for Signal Tracking 271
9.7 Power Consumption 272
9.8 Discussion 274
References 275
CHAPTER 10
GNSS SDR RTK System Concept 277
10.1 Technology Enablers 277
10.1.1 Ultra-Mobile PCs 277
10.1.2 Cost-Effective High-Rate Data Links 278
10.2 System Overview 279
10.2.1 Setup 279
10.2.2 Sample Applications 280
10.2.3 Test Installation and Used Signals 280
10.3 Key Algorithms and Components 281
10.4 High-Sensitivity Acquisition Engine 281
10.4.1 Doppler Search Space 282
10.4.2 Correlation Method 284
10.4.3 Clock Stability 284
10.4.4 Line-of-Sight Dynamics 287
10.4.5 Flow Diagram and FFT Algorithms 287
10.4.6 Acquisition Time 288
10.5 Assisted Tracking 289
10.5.1 Vector-Hold Tracking 290
10.5.2 Double-Difference Correlator 291
10.6 Low-Cost Pseudolites 297
10.6.1 Continuous-Time Signals 299
10.6.2 Pulsed Signals 299
10.7 RTK Engine 304
References 305
iteiilili
Exemplary Source Code 307
11.1 Intended Use 307
Contents
11.2 Setup 307
11.2.1 Required Software 307
11.2.2 Preparing the Simulation 308
11.2.3 Signal Selection and Simulation Parameters 308
11.3 Routines 308
11.3.1 True Cramer-Rao Lower Bound 308
11.3.2 Discriminator Noise Analysis 308
11.3.3 FFT Acquisition 308
11.3.4 Simplified Vector Tracking with Multipath Mitigation
and Spectral Whitening 309
APPENDIX
A.l Complex Least-Squares Adjustment 311
A. 1.1 Definitions 311
A. 1.2 Probability Density Function 312
A.1.3 The Adjustment 312
A. 1.4 Real- and Complex-Valued Estimated Parameters 314
A. 1.5 A Posteriori Variance of Unit Weight 315
A. 1.6 Example 318
A. 1.7 Discussion 320
A.2 Representing Digital GNSS Signals 320
A.2.1 Complex-Valued Input Signal 320
A.2.2 Real-Valued Input Signal 321
A.2.3 Comparing Real- and Complex-Valued Signals 322
A.3 Correlation Function Invariance 326
A.4 Useful Formulas 329
A.4.1 Fourier Transform 329
A.4.2 Correlation Function 331
A.4.3 Correlation with an Auxiliary Function 332
A.4.4 Correlation with Doppler 333
A.4.5 Correlation in Continuous Time 334
A.4.6 Probability Density Functions 336
References 338
Abbreviations 339
List of Symbols 343
About the Author 345
Index 347
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| id | DE-604.BV036047267 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:10:13Z |
| institution | BVB |
| isbn | 1608070271 9781608070275 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018939021 |
| oclc_num | 505873717 |
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| owner_facet | DE-706 DE-M347 DE-898 DE-BY-UBR |
| physical | XVII, 352 S. graph. Darst. 26 cm |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | Artech House |
| record_format | marc |
| series2 | Artech House GNSS technology and applications series |
| spelling | Pany, Thomas Verfasser (DE-588)1232206741 aut Navigation signal processing for GNSS software receivers Thomas Pany Boston [u.a.] Artech House 2010 XVII, 352 S. graph. Darst. 26 cm txt rdacontent n rdamedia nc rdacarrier Artech House GNSS technology and applications series EUR 96,84 Artificial satellites in navigation Global Positioning System GNSS-2 (DE-588)4713269-3 gnd rswk-swf Empfänger (DE-588)4123135-1 gnd rswk-swf Satellitennavigation (DE-588)4202846-2 gnd rswk-swf Signalverarbeitung (DE-588)4054947-1 gnd rswk-swf Satellitennavigation (DE-588)4202846-2 s GNSS-2 (DE-588)4713269-3 s Empfänger (DE-588)4123135-1 s Signalverarbeitung (DE-588)4054947-1 s DE-604 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018939021&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Pany, Thomas Navigation signal processing for GNSS software receivers Artificial satellites in navigation Global Positioning System GNSS-2 (DE-588)4713269-3 gnd Empfänger (DE-588)4123135-1 gnd Satellitennavigation (DE-588)4202846-2 gnd Signalverarbeitung (DE-588)4054947-1 gnd |
| subject_GND | (DE-588)4713269-3 (DE-588)4123135-1 (DE-588)4202846-2 (DE-588)4054947-1 |
| title | Navigation signal processing for GNSS software receivers |
| title_auth | Navigation signal processing for GNSS software receivers |
| title_exact_search | Navigation signal processing for GNSS software receivers |
| title_full | Navigation signal processing for GNSS software receivers Thomas Pany |
| title_fullStr | Navigation signal processing for GNSS software receivers Thomas Pany |
| title_full_unstemmed | Navigation signal processing for GNSS software receivers Thomas Pany |
| title_short | Navigation signal processing for GNSS software receivers |
| title_sort | navigation signal processing for gnss software receivers |
| topic | Artificial satellites in navigation Global Positioning System GNSS-2 (DE-588)4713269-3 gnd Empfänger (DE-588)4123135-1 gnd Satellitennavigation (DE-588)4202846-2 gnd Signalverarbeitung (DE-588)4054947-1 gnd |
| topic_facet | Artificial satellites in navigation Global Positioning System GNSS-2 Empfänger Satellitennavigation Signalverarbeitung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018939021&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT panythomas navigationsignalprocessingforgnsssoftwarereceivers |