GNSS Systems and Engineering

Shusen Tan, Senior Engineer, Beijing Satellite Navigation Center, Beijing, China.  Tan has been working in this area for over 20 years and his areas of expertise include the Construction and Application of China Beidou Radio Navigation and Positioning Satellite System, and Construction and Application of Global Navigation Satellite System (GNSS). In 2010 he was awarded with the Significant Contributions Person Award in Promoting the Development of China Satellite Navigation and Positioning Industry from Global Positioning System Applications Society. He is the Editor of three books (in Chinese) and author of 50 peer-reviewed journal and transaction full papers.

• Preface xiii1 Overview 11.1 Origin of GLONASS 21.1.1 Stage 1: Satellite Radio Positioning 21.1.2 Stage 2: RNSS 21.1.3 Stage 3: Satellite Navigation Positioning Reporting 31.2 Development and Future Plans for the GPS System 31.3 Development and Future Plans for GLONASS 51.4 Development and Future of the Chinese Navigation Satellite System 81.5 Galileo Navigation Satellite System 101.6 Indian Navigation Satellite System 111.7 Japanese Regional Navigation Satellite System 122 Concept and Application Prospects of Satellite Positioning Reporting Engineering 132.1 Satellite Positioning Reporting Service 132.2 Type of Service and Frequency Assignment 132.3 System Interference Analysis and Strategy 172.3.1 L Frequency Band Interference Analysis 172.3.2 S Frequency Band Interference Analysis 172.4 Service Optimization of Satellite Positioning Reporting Engineering 182.4.1 Integration of RDSS with RNSS and MSS 182.4.2 Integration of RDSS andWAAS 192.4.3 Integration of RDSS and TDRSS 192.5 RDSS Application 202.5.1 Aviation Application 202.5.2 Aerospace Application 212.5.3 Navigation Application 222.5.4 Land Transportation Application 222.5.5 Hazardous and Difficult Site Monitoring 223 Principles of Satellite Positioning Reporting 233.1 Theory of Positioning Reporting 233.2 Main Factors Affecting Positioning Accuracy 273.3 Accuracy of MCC Time Delay Measurement 273.4 Space Propagation Time Delay Error 283.5 Geometric Figure and Positioning Accuracy 293.6 User Elevation and Positioning Accuracy 304 Engineering Design of the Satellite Positioning Reporting System 334.1 System Composition 334.2 System Function Design 334.2.1 Outbound Function Design 344.2.2 Inbound Function Design 364.2.3 System Processing Capability 364.3 System Technical Index Design 374.3.1 System Coverage Area 374.3.2 System Capacity Design 374.3.2.1 System Outbound Capacity Design 384.3.2.2 System Inbound Capacity Design 384.3.3 System Positioning Accuracy Design 404.4 Signal System Design 414.4.1 Outbound Signal Design 414.4.2 Inbound Signal Design 434.5 System Frequency Design 434.5.1 Influence of the Frequency Stability of a Transponder on System Performance 444.5.2 Satellite-Ground Frequency Adjustment 444.6 Engineering Design of Positioning Reporting Satellites 454.6.1 Excellent Capability of Beam Coverage 454.6.2 Design of EIRP and G/T Value 464.7 MCC Engineering Design 484.7.1 MCC Outbound Link Design 494.7.2 MCC Inbound Link Design 494.7.3 Satellite Orbit Determination and Prediction 504.7.4 Dual-SatelliteWide Area Differential Processing 514.7.5 MCC Service Processing 534.8 RDSS Application Terminal Design 544.8.1 Single Address User Receiver 544.8.2 Multi-Address User Receiver 554.8.3 RDSS Double-Model User Receiver 555 Comprehensive Theory of RDSS and Engineering Design 575.1 Definition of CRDSS 575.2 Theory of CRDSS 585.2.1 Navigation Position Reporting Service 585.2.2 RNSS Continuous Navigation Service 595.2.3 Mission Comparison between CRDSS Service and RNSS Service 605.2.4 CRDSS System Position Reporting Capability Analysis 615.2.5 CRDSS Global Coverage Analysis 625.2.6 Realization of the CRDSS Personalized Service 645.3 CRDSS system Engineering Design 655.3.1 Application Object and Design Principle 655.3.1.1 Application Objects 655.3.1.2 Design Principle 655.3.2 Constellation Selection and Coverage Area Design 665.3.2.1 Constellation Selection 665.3.2.2 CAT-I Integrity Broadcasting Constellation Design 675.3.2.3 Air Traffic Control Coverage Area Design in the Region of China 685.3.2.4 CRDSS Coverage Area Design 685.3.3 Precision Analysis and Index Distribution 705.3.3.1 Total Precision Requirement 705.3.3.2 Observation Equipment Error Analysis 715.3.3.3 Point Positioning and Single Reference Station Differential Positioning Error Analysis 715.3.3.4 Base Network Pseudorange Differential Positioning Accuracy Analysis 725.3.3.5 Single Reference Station Carrier Phase Differential Positioning Error Analysis 745.3.3.6 Narrow Correlation Pseudorange Differential Positioning Accuracy Analysis 775.3.4 Selection of Precision Positioning Scheme 785.3.5 Guidance Service 785.3.6 Two-way Data Transmission Link Design of the S/L- Frequency Band 795.3.6.1 Design Condition and Design Item Parameters 795.3.6.2 Estimation of Outbound Link Level and Capacity 795.3.6.3 Estimation of Inbound Link Level and Capacity 805.4 CRDSS Navigation Positioning Satellite 825.4.1 Mission and Functional Parameter 825.4.2 RNSS Satellite 835.4.3 CRDSS Satellite 835.4.3.1 Regional CRDSS Satellite 835.4.3.2 Global CRDSS Satellite 875.5 CRDSS Ground System 885.5.1 Function and Composition of Ground System 885.5.2 Measurement and Control Center (MCC) 895.5.2.1 CRDSS Service User Distance Measurement and Positioning Equation 895.5.2.2 Distance Measurement System Scheme 905.5.3 GNSS Reference Station System 925.5.3.1 Local Class I Precision Approach Reference Station System 935.5.3.2 The 1.0 m Level Reference System 935.5.4 Multiple System Satellite Clock Error Determination 935.5.4.1 Compass Satellite Clock Error Determination 945.5.5 Multiple System Satellite Precise Orbit Determination and Application 955.5.6 Formation and Application of Ionosphere Correction Parameter 965.5.7 GNSS High-Accuracy Real-Time Dynamic Positioning 975.5.8 CRDSS High Accuracy Quasi Real-Time Positioning 985.6 Typical Application Scheme 995.6.1 High Accuracy Pseudorange Double Difference Application Scheme 995.6.1.1 Pseudorange Double Difference RDSS Positioning Principle 995.6.1.2 Pseudorange Double Difference RDSS Positioning Distance and Observation Parameters Correction and Precision Analysis 1015.6.1.3 L Frequency Band Double Difference Distance Correction 1035.6.1.4 Pseudorange Double Difference RDSS Positioning Accuracy Estimation 1045.6.1.5 MCC Total Distance Measurement Scheme 1055.6.2 Design Scheme of the Double Module User Terminal 1066 Anti-Interference and Low Exposure Technology of the Satellite Positioning User 1116.1 Self-Adaptive Spatial Filtering Principle 1116.2 Basic Algorithm of Self-Adaptive Filtering 1126.3 Self-Adaptive Nulling Antenna Engineering Design 1156.4 Low Exposure Transmission Array Antenna Design 1157 Concept of Satellite Navigation and the Principle of Positioning and Velocity Measurement 1177.1 Concept of Satellite Navigation 1177.2 Satellite Navigation Principle 1197.2.1 Solutions of the Navigation Mission 1217.2.2 Concept and Definition of the Pseudorange 1227.2.3 Navigation Positioning Equation 1237.3 Geometric Precision Factor 1257.4 Satellite Navigation Velocity Measurement Principle 1277.5 Positioning Velocity Measurement Precision 1297.5.1 Positioning Accuracy of Global System 1307.5.2 Global and Regional Augmentation System Positioning Accuracy 1307.5.3 Global, Regional, and Local Augmentation Positioning Accuracy 1307.6 Distance Difference and Radial Velocity Difference 1307.7 Combined Method 1317.8 Carrier Phase Difference Method 1318 Performance Demand and General Design of RNSS 1338.1 Essential Performance of RNSS 1338.1.1 Value-Added Performance of RNSS 1398.1.2 High-Dimensional Performance of RNSS 1408.2 Mission and Procedure of the General Design 1418.3 Mission and Procedure of Engineering Design 1439 SystemDesign of Satellite Navigation 1459.1 System Design Principle and Content 1459.1.1 System Design Principle 1469.1.1.1 Adhering to the Long-Term Duty and Continuity 1469.1.1.2 Adhering to Coordination and Integration 1469.1.1.3 Laying Emphasis on Economy and Technical Feasibility 1469.1.1.4 Security and Competitiveness 1479.1.2 System Design Content 1479.2 Service Mode and Content 1489.3 Satellite Orbit and Constellation Selection 1509.3.1 Orbital Altitude 1509.3.2 Track of Sub-Satellite Point and its Effect on Measurement and Control Plan 1529.3.3 Orbital Plane and the Number of Constellation Satellites 1549.3.4 Selection of Types of Satellite Orbits 1589.4 Signal Frequency and Modulation Coding Mode 1609.4.1 Selection Principle of Navigation Signal Frequency 1609.4.2 Navigation Frequency Recommended by the ITU 1609.4.3 Signal Frequency and Bandwidth Selection 1649.4.4 Satellite Multiple Access Identification and Ranging Code Design 1669.4.5 Navigation Signal Modulation Methods 1739.4.5.1 Binary Offset Carrier (BOC) Modulation 1759.4.6 Selected Error Correction Coding of Navigation Message 1799.4.7 Advocates of the Compass Operators Toward Satellite Navigation Frequency Compatibility and Compass Signal Structure 1819.5 Time Standard and Timing Pattern of Satellite Navigation 1829.5.1 Satellite Navigation Time System (SATNAVT) 1839.5.2 Universal Time (UT) (Greenwich Mean Solar Time) 1839.5.3 Universal Time Coordinated (UTC) 1839.5.4 Julian Period 1849.5.5 Timing Method of Satellite Navigation Time (SATNAVT) 1849.6 Navigation Satellite Trajectories and Ephemeris Expressions 18610 Design of the Satellite Navigation Operation Control System 19310.1 Mission and Composition of the Satellite Navigation Operation Control System 19310.2 Satellite Time Synchronization and Timing 19410.2.1 Method of Satellite-Ground Time Synchronization 19410.2.1.1 Method of Satellite-Ground Pseudorange Time 19410.2.2 Method of Inter-Station Time Synchronization 19510.2.2.1 Method of Two-Way Satellite Time Transfer 19610.2.2.2 Method of Two-Way Satellite Common View 19610.2.2.3 Method of Two-Way GEO Satellite Common View 19610.2.3 User Timing Service 19710.2.3.1 Prediction Model for the Satellite Clock Error 19710.3 Correction of Navigation Signal Spatial Propagation Delay 19810.3.1 Ionosphere Model Correction for Single Band Users 20010.3.1.1 Ionosphere Correction in Regional Grid 20210.4 Determination of Precise Orbit and Satellite Clock Error 20310.4.1 Correction of Satellite Orbit 20410.4.2 Accuracy Estimation 20510.5 IntegrityMonitoring and Prediction 20610.5.1 Satellite-Ground Two-Way Pseudorange Time Synchronization Separated Satellite Integrity 20610.5.2 Integrity of DLL Related Monitoring Satellite Payload 20710.5.2.1 How to Conduct the Distortion Determination of Satellite Signals 20710.6 Integration of Operation Control System 20910.6.1 Combination of RNSS and RDSS to Realize Integration ofThree Functions of Navigation, Communication, and Identification 20910.6.1.1 Basic Principles and Methods of Integration 20910.6.1.2 Performance Features of RNSS and RDSS Integration 21010.6.2 Realization of Integration with a Foreign System by Multiple-System Information Fusion 21010.7 Operation and Control of Multi-System JointWide Area Augmentation System 21110.7.1 System Composition 21210.7.2 SystemWorking Principle 21310.7.3 GEOS Satellite Correction Parameters and Integrity Broadcast Message 21610.7.4 Satellite IntegrityMonitoring 21710.7.5 Composition of the Monitoring Station 21810.7.6 Master Control Station JointWide Area Differential Software Function 22011 Navigation Satellites and Navigation Payload 22511.1 Satellite and Navigation Payload History 22511.2 Navigation Satellite Platform 22911.3 Navigation Payload Requirements 23211.4 GPS Satellite Navigation Payload 23211.4.1 Atomic Frequency Standard 23311.4.2 On-Board Processing 23311.4.3 Wave Band System 23411.4.4 Horizontal Link 23511.4.5 Autonomous Navigation 23511.5 GLONASS Navigation Satellite and Navigation Payload 23811.5.1 Functions of the GLONASS Navigation Satellite 23811.5.2 Satellite Composition 23911.5.2.1 Navigation Transmitter 23911.5.2.2 Time System 24011.5.2.3 Control Combination System 24111.5.2.4 Orientation and Stable System as well as Its Auxiliary Equipment 24211.6 Galileo Navigation Satellite and Alternative Schemes of Navigation Payload 24211.6.1 Satellite Definition 24211.6.2 MEO Satellite Configuration 24411.6.3 Payload of MEO Satellite Navigation 24611.6.4 GEO Satellite and Navigation Load 24711.7 Compass Satellite Navigation and Payload 24811.8 Comparison and Development Direction of Navigation Payload 24912 Satellite Navigation User Receiver 25112.1 Relative Motion Characteristics Between the User and the Satellite 25112.2 PseudorangeMeasurement and Error Analysis 25612.2.1 Types and Characteristics of Pseudorange Error 25712.2.2 Dynamic Stress Error 25812.2.3 Pseudorange Random Error 25812.2.4 Pseudorange Smoothing Technology 26012.3 Positioning and Filtering Processing 26112.3.1 α/β Tracker 26112.3.2 Kalman Filter 265References 271Further Reading 273Index 275