Navigation Signal Processingfor GNSS Software Receivers -- Contents -- Preface -- Acknowledgments -- 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 -- 1.8.3 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 -- 1.91 A Model for the GPS C/A-Code Signal -- 1.9.2 A Model for the Galileo E1 Open-Service Signal -- 1.9.3 Pulsed GNSS Signals -- 1.9.4 Gaussian Double Pulse -- References -- Chapter 2 Software-Defined Radio -- 2.1 Definitions -- 2.2 Communication Radios -- 2.2.1 GNU Radio -- 2.2.2 Joint Tactical Radio System -- 2.3 GNSS Software Receivers -- 2.3.1 Front Ends -- 2.3.2 Illustrative Applications -- 2.3.3 High-End GNSS Software Receivers -- 2.4 Technology Evaluation and Discussion -- References -- Chapter 3 GNSS Receiver Structure and Dataflow -- 3.1 GNSS Sample Handling -- 3.2 Module Diagram -- 3.2.1 USB Front-End Driver -- 3.2.2 IF Sample Buffer -- 3.2.3 Sensor Interface -- 3.2.4 Postprocessing Mode -- 3.2.5 Master Receiver -- 3.2.6 Receiver -- 3.2.8 Channel -- 3.2.9 Acquisition Manger -- 3.2.10 Level-1 and Level-2 Acquisitions -- 3.2.11 Navigation Processor -- 3.2.12 Positioning with RAIM -- 3.2.13 Navigation Modules -- 3.2.14 Input and Output Modules -- 3.2.15 Receiver Status -- 3.2.16 Navigation Records -- 3.2.17 AGNSS and SISNET Connection -- 3.3 Execution Flow -- 3.3.1 Computer with Four CPU Cores -- 3.3.2 Computer with a Single CPU Core -- 3.4 GNSS Reference Station Configuration -- 3.4.1 Acquisition Parameters -- 3.4.2 Tracking Parameters.

3.4.3 Performance Results -- 3.5 Discussion -- References -- Chapter 4 Signal Estimation -- 4.1 Parameters of Interest -- 4.1.1 Useful Parameters -- 4.1.2 Nuisance Parameters -- 4.1.3 Relationship Between the Parameters -- 4.2 Nonrandom Parameter Estimation -- 4.2.1 Position CRLB Without Nuisance Parameters -- 4.2.2 Position Estimation with Nuisance Parameters -- 4.2.3 Single-Step Maximum Likelihood Estimation -- 4.2.4 Cascaded Estimation -- 4.3 LSQ Correlators/Discriminators -- 4.3.1 Model for One or More Propagation Paths -- 4.3.2 Single Propagation Path -- 4.3.3 Correlation Point -- 4.3.4 Linearization -- 4.3.5 Multiple Propagation Paths -- 4.3.6 Two Propagation Paths: Code-Phase CRLB -- 4.3.7 Two Propagation Paths: Doppler CRLB -- 4.3.8 Two Propagation Paths: Remark on Other Bounds -- 4.4 Data Reduction -- 4.4.1 Sufficient Statistics -- 4.4.2 Multicorrelator Approach -- 4.4.3 First-Derivative Approach -- 4.4.4 Colored Noise -- 4.5 Bayesian Approach -- 4.5.1 Minimum Mean-Squared Error Estimation -- 4.5.2 Kalman-Bucy Filter -- 4.5.3 Other Filters -- 4.5.4 Use of Kalman Filters in GNSS Signal Processing -- 4.6 Squaring Loss Revisited -- 4.7 Numerical Simulation -- 4.7.1 Evaluation of Bounds -- 4.7.2 Cost Function -- 4.7.3 LSQ Solution -- 4.8 Discussion -- References -- Chapter 5 Signal Detection -- 5.1 Detection Principles -- 5.1.1 Simple Hypothesis Testing -- 5.1.2 Composite Hypothesis Testing -- 5.2 Detection Domains -- 5.2.1 Pseudorange Domain Detection -- 5.2.2 Position Domain Detection -- 5.3 Preprocessing -- 5.4 Clairvoyant Detector for Uniformly Distributed Phase -- 5.5 Energy Detector -- 5.6 Bayesian Detector -- 5.7 Generalized Likelihood-Ratio Detector -- 5.7.1 Single Coherent Integration -- 5.7.2 Multiple Coherent Integrations -- 5.7.3 Considering Navigation Signal Interference -- 5.7.4 Data and Pilot -- 5.8 System-Detection Performance.

5.8.1 Idealized Assumptions -- 5.8.2 Mean Acquisition Time -- 5.8.3 System Probabilities -- 5.8.4 Independent Bin Approximation -- 5.8.5 Code-Phase and Doppler Losses -- 5.9 Long Integration Times and Differential Detectors -- 5.10 Discussion -- References -- Chapter 6 Sample Preprocessing -- 6.1 ADC Quantization -- 6.1.1 Quantization Rule -- 6.1.2 Matched Filter -- 6.1.3 Evaluation of Expected Values -- 6.1.4 Infinite Number of Bits -- 6.1.5 Numerical Evaluation -- 6.2 Noise-Floor Determination -- 6.3 ADC Requirements for Pulse Blanking -- 6.3.1 Front-End Gain and Recovery Time -- 6.3.2 Pulse Blanking -- 6.3.3 ADC Resolution -- 6.4 Handling Colored Noise -- 6.4.1 Spectral Whitening -- 6.4.2 Modified Reference Signals -- 6.4.3 Overcompensation of the Incoming Signal -- 6.4.4 Implementation Issues -- 6.5 Sub-Nyquist Sampling -- References -- 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 -- 7.5.3 Variance -- 7.5.4 L2P(Y)-Code Carrier-Phase Discriminator Noise -- 7.6 Incorporating Colored Noise -- 7.6.1 White-Noise Transformation -- 7.6.2 Early-Late Code Discriminator with Infinite Sample Rate -- 7.7 Comparison of Finite and Infinite Sample Rates -- References -- Chapter 8 Discriminators -- 8.1 Noncoherent Discriminators -- 8.1.1 Code Discriminator -- 8.1.2 Doppler Discriminator -- 8.1.3 Phase Discriminator -- 8.1.4 Clipping -- 8.2 S-Curve Shaping -- 8.2.1 Code-Discriminator Performance Characteristics.

8.2.2 Optimum S-Curve -- 8.2.3 Frequency-Domain S-Curve Shaping -- 8.2.4 Discussion -- 8.3 Multipath Estimating Techniques -- 8.3.1 The LSQ Equations -- 8.3.2 Calibration -- 8.3.3 General Procedure -- 8.3.4 Correlator Placement -- 8.3.5 Initial Values -- 8.3.6 Number of Required Iterations -- 8.3.7 Multipath Detection -- 8.3.8 Discussion -- 8.4 From Discriminator Noise to Position Accuracy -- References -- Chapter 9 Receiver Core Operations -- 9.1 Test-System Configuration -- 9.2 Signal-Sample Bit Conversion -- 9.2.1 Algorithm -- 9.2.2 Numerical Performance -- 9.2.3 Discussion and Other Algorithms -- 9.3 Resampling -- 9.3.1 Algorithm -- 9.3.2 Numerical Performance -- 9.3.3 NCO Resolution -- 9.3.4 Discussion and Other Algorithms -- 9.4 Correlators -- 9.4.1 SDR Implementation -- 9.4.2 Discussion and Other Algorithms -- 9.5 Fast Fourier Transform -- 9.5.1 Algorithm -- 9.5.2 Convolution Theorem -- 9.5.3 Time-Domain Correlation and Data Preparation -- 9.5.4 Spectral Shifting -- 9.5.5 Limited-Size Inverse FFT -- 9.5.6 Circular Correlation with Doppler Preprocessing -- 9.5.7 Handling Secondary Codes -- 9.5.8 Asymptotic Computational Performance -- 9.5.9 Reported FFT Performance Values -- 9.5.10 Discussion and Number of Correlators -- 9.6 Reality Check for Signal Tracking -- 9.7 Power Consumption -- 9.8 Discussion -- References -- Chapter 10 GNSS SDR RTK System Concept -- 10.1 Technology Enablers -- 10.1.1 Ultra-Mobile PCs -- 10.1.2 Cost-Effective High-Rate Data Links -- 10.2 System Overview -- 10.2.1 Setup -- 10.2.2 Sample Applications -- 10.2.3 Test Installation and Used Signals -- 10.3 Key Algorithms and Components -- 10.4 High-Sensitivity Acquisition Engine -- 10.4.1 Doppler Search Space -- 10.4.2 Correlation Method -- 10.4.3 Clock Stability -- 10.4.4 Line-of-Sight Dynamics -- 10.4.5 Flow Diagram and FFT Algorithms -- 10.4.6 Acquisition Time.

10.5 Assisted Tracking -- 10.5.1 Vector-Hold Tracking -- 10.5.2 Double-Difference Correlator -- 10.6 Low-Cost Pseudolites -- 10.6.1 Continuous-Time Signals -- 10.6.2 Pulsed Signals -- 10.7 RTK Engine -- References -- Chapter 11 Exemplary Source Code -- 11.1 Intended Use -- 11.2 Setup -- 11.2.1 Required Software -- 11.2.2 Preparing the Simulation -- 11.2.3 Signal Selection and Simulation Parameters -- 11.3 Routines -- 11.3.1 True Cramér-Rao Lower Bound -- 11.3.2 Discriminator Noise Analysis -- 11.3.3 FFT Acquisition -- 11.3.4 Simplified Vector Tracking with Multipath Mitigation and Spectral Whitening -- Appendix -- A.1 Complex Least-Squares Adjustment -- A.1.1 Definitions -- A.1.2 Probability Density Function -- A.1.3 The Adjustment -- A.1.4 Real- and Complex-Valued Estimated Parameters -- A.1.5 A Posteriori Variance of Unit Weight -- A.1.6 Example -- A.1.7 Discussion -- A.2 Representing Digital GNSS Signals -- A.2.1 Complex-Valued Input Signal -- A.2.2 Real-Valued Input Signal -- A.2.3 Comparing Real- and Complex-Valued Signals -- A.3 Correlation Function Invariance -- A.4 Useful Formulas -- A.4.1 Fourier Transform -- A.4.2 Correlation Function -- A.4.3 Correlation with an Auxiliary Function -- A.4.4 Correlation with Doppler -- A.4.5 Correlation in Continuous Time -- A.4.6 Probability Density Functions -- References -- Abbreviations -- List of Symbols -- About the Author -- Index.