GNSS Applications and Methods -- Contents -- Preface -- Chapter 1 Global Navigation Satellite Systems: Present and Future -- 1.1 Introduction -- 1.1.1 Current and Planned GNSS Constellations -- 1.1.2 GNSS User Architectures -- 1.1.3 Current GNSS Applications -- 1.1.4 Positioning Performance Measures -- 1.2 GNSS Signal Improvements -- 1.2.1 Additional GPS Frequencies -- 1.2.2 Higher Accuracy Ranging -- 1.2.3 Longer Ranging Codes -- 1.2.4 Higher Transmit Power Levels -- 1.3 Advanced Receiver Technology -- 1.3.1 Conventional Receivers -- 1.3.2 FPGA-Based Receivers -- 1.3.3 Software-Defined GNSS Receivers -- 1.4 Road Map: How To Use This Book -- 1.5 Further Reading -- References -- Chapter 2 GNSS Signal Acquisition and Tracking -- 2.1 Introduction -- 2.2 GNSS Signal Background -- 2.2.1 BOC Signal Modulation -- 2.2.2 PRN Codes -- 2.3 Searching for PSK Signals -- 2.4 Tracking PSK Signals -- 2.4.1 Phase-Locked Loop (PLL) -- 2.4.2 Frequency-Locked Loop (FLL) -- 2.4.3 Delay-Locked Loop (DLL) -- 2.5 Searching for BOC Signals -- 2.6 Tracking BOC Signals -- 2.6.1 BOC Tracking Using a Single Sideband (SSB) -- 2.6.2 BOC Tracking with Multiple-Gate Discriminators (MGD) -- 2.6.3 BOC Tracking with the Bump-Jumping (BJ) Algorithm -- 2.6.4 BOC Tracking with the Dual Estimator (DE) -- References -- Chapter 3 GNSS Navigation: Estimating Position, Velocity, and Time -- 3.1 Overview -- 3.2 Position, Velocity, and Time (PVT) Estimation -- 3.2.1 Estimating Receiver Position and Clock Bias -- 3.2.2 Impact of Ionosphere Errors -- 3.2.3 Impact of Satellite-User Geometry (DOP) -- 3.2.4 Estimating Receiver Velocity and Clock Drift -- 3.2.5 Estimating Time -- 3.2.6 PVT Estimation Using an Extended Kalman Filter (EKF) -- 3.2.7 Enhanced Accuracy via Carrier Phase Positioning -- 3.2.8 Error Sources -- 3.3 GNSS Simulator -- 3.3.1 GNSS Simulator Measurement Details.

3.3.2 GNSS Simulator Interface Files -- 3.3.3 Postprocessing GNSS Simulator Output Files -- 3.4 GNSS Simulator Examples -- 3.4.1 Example 1: Simple Navigation -- 3.4.2 Example 2: Traveling Between Destinations -- 3.4.3 Example 3: Waypoint Navigation Using FlightGear -- 3.4.4 Example 4: Dual-Frequency Calculation -- 3.4.5 Example 5: Adding Galileo Satellites -- 3.4.6 Example 6: Spacecraft-Based Receiver -- 3.5 Summary -- 3.6 Programs and Tools Provided on the DVD -- References -- Chapter 4 Differential GNSS: Accuracy and Integrity -- 4.1 Introduction to DGNSS -- 4.2 Fundamentals of Differential GNSS -- 4.2.1 Error Sources and Degree of Spatial Correlation -- 4.2.2 Local Versus Regional DGNSS Corrections and DGNSS Networks -- 4.2.3 Means of Distributing DGNSS Corrections -- 4.2.4 Managing the Latency of DGNSS Corrections -- 4.3 DGNSS Integrity Threats and Mitigations -- 4.3.1 Integrity Threats and GNSS Faults -- 4.3.2 Integrity Threats from DGNSS System Faults -- 4.3.3 Integrity Threats from Signal Propagation Anomalies -- 4.4 Summary -- 4.5 Data Provided on the DVD -- References -- Chapter 5 A GPS Software Receiver -- 5.1 Introduction and Background -- 5.2 License, Development Environments, and Tools -- 5.2.1 License -- 5.2.2 GNU/Linux -- 5.2.3 Microsoft Windows -- 5.2.4 Apple Mac OS X -- 5.2.5 Displaying the Receiver Output -- 5.3 Example Data Sets -- 5.3.1 Data Set 1 -- 5.3.2 Data Set 2, for Use with WAAS Corrections Data -- 5.4 Using the fastgps Software Receiver -- 5.4.1 Configuration File -- 5.4.2 Output Files -- 5.5 fastgps Software Receiver Architecture -- 5.5.1 Timing and Clock Management -- 5.5.2 Main Processing Loop -- 5.5.3 Acquisition -- 5.5.4 Tracking -- 5.5.5 Navigation -- 5.6 Suggested Future Improvements -- 5.7 Further Reading -- References -- Chapter 6 Integration of GNSS and INS: Part 1 -- 6.1 Introduction -- 6.2 Inertial Navigation.

6.2.1 Inertial Sensors -- 6.2.2 Coordinate Frames -- 6.2.3 Mechanization Equations -- 6.2.4 System Initialization -- 6.2.5 INS Error Model -- 6.3 GNSS/INS Integration Concepts -- 6.3.1 Motivation for GNSS/INS Integration -- 6.3.2 Integration Architecture Overview -- 6.3.3 Loose GNSS/INS Integration -- 6.3.4 Tight GNSS/INS Integration -- 6.3.5 Deep GNSS/INS Integration -- 6.4 Filtering/Estimation Algorithms -- 6.4.1 Overview of Extended Kalman Filter (EKF) for GNSS/INS -- 6.4.2 Time Evolution of a GNSS/INS System -- 6.5 GNSS/INS Integration Implementation -- 6.5.1 IMU Sensor Error Models -- 6.5.2 GNSS/INS Integration: Step-by-Step -- 6.6 Practical Considerations -- 6.6.1 Lever Arm -- 6.6.2 Timing Requirements -- 6.7 Summary and Further Reading -- References -- Chapter 7 Integration of GNSS and INS: Part 2 -- 7.1 Introduction -- 7.2 Case Study 1: Low-Cost GNSS/INS Integrated Navigator -- 7.3 Case Study 2: Vehicle Sideslip Estimation -- 7.3.1 Motivation -- 7.3.2 Observability -- 7.4 Case Study 3: INS To Aid High-Accuracy GNSS -- 7.4.1 GNSS Ambiguity-Resolution Overview -- 7.4.2 Benefits of INSs to Ambiguity Resolution -- 7.5 Software Examples -- References -- Chapter 8 Integrated LADAR, INS, and GNSS Navigation -- 8.1 Introduction -- 8.2 LADAR-Based TERRAIN Integration Methodology -- 8.3 LADAR-Based Terrain-Referenced Position Estimation -- 8.3.1 Position Estimate and SSE Surface -- 8.3.2 Exhaustive Grid Search -- 8.3.3 Gradient-Based Search -- 8.4 Estimation of Inertial Velocity Error -- 8.5 Case Studies of TERRAIN System Performance -- 8.5.1 Case Study I-General Positioning System -- 8.5.2 Case Study II-Precision Approach Guidance System -- References -- Chapter 9 Combining GNSS with RF Systems -- 9.1 Location System Alternatives -- 9.2 RF Location Types and Classifications -- 9.2.1 Location by Proximity.

9.2.2 Location by Radio Direction Finding (DF) and Angle of Arrival (AOA) -- 9.2.3 Location Using Doppler Frequency -- 9.2.4 Location Estimation Using Signal Strength -- 9.2.5 Location Using Time, Phase, and Differential Timing of Arrival (TOA,POA, and TDOA) -- 9.3 Estimation Methods -- 9.3.1 Deterministic Estimation Using Triangulation -- 9.3.2 Deterministic Estimation Using Nearest Neighbor -- 9.3.3 Nonranging-Based Location Estimation -- 9.3.4 Probabilistic Estimation Using Centroid/Center of Mass -- 9.3.5 Bayesian State Estimation -- 9.4 Integration Methods -- 9.4.1 Least-Squares Integration -- 9.4.2 Kalman Filter Integration -- 9.4.3 Contextual Processing -- 9.5 Example Systems -- 9.5.1 Pseudolites -- 9.5.2 Synchrolites -- 9.5.3 Self-Synchronizing Networks -- 9.5.4 GPS and Relative Navigation -- 9.5.5 TV-Based Location -- 9.5.6 Integration of Cellular Location Systems and GNSS -- 9.6 Examples Included on the DVD -- 9.6.1 RF Antennas -- 9.6.2 Doppler Calculations -- 9.6.3 K-Nearest Neighbor Plot -- 9.7 Further Reading -- References -- Chapter 10 Aviation Applications -- 10.1 Introduction -- 10.2 Classes of Aviation Augmentation Systems -- 10.3 Benefits of GPS and Augmentations to Aviation Users -- 10.3.1 Oceanic Flight -- 10.3.2 Overland Flight: En Route, Terminal, and Nonprecision Approach -- 10.3.3 Precision Approach and Landing -- 10.4 Future of GNSS Navigation in Aviation -- 10.4.1 GNSS Modernization -- 10.4.2 Next-Generation Air Traffic Management System (NextGen) -- 10.4.3 Backup Navigation Capabilities for Aviation -- 10.5 Functionality of Aviation Augmentation Systems -- 10.5.1 Augmentation System Performance Requirements -- 10.5.2 Error Bounding Under Nominal Conditions -- 10.5.3 Error Bounding Under Anomalous Conditions -- 10.5.4 Monitoring -- 10.6 Conclusion -- 10.7 Further Reading -- References.

Chapter 11 Integrated GNSS and Loran Systems -- 11.1 Introduction -- 11.2 Loran Overview -- 11.2.1 Loran-C -- 11.2.2 eLoran -- 11.3 Theory of Operation -- 11.4 Historical Reasons for GNSS/Loran Integration -- 11.5 Integration Scenarios -- 11.5.1 Position-Domain Integration -- 11.5.2 Range-Domain Integration -- 11.5.3 Dej́a` Vu Navigation: A Case Study of Range-Domain Integration -- 11.5.4 Integrity with Range-Domain Integration -- 11.5.5 Improved Accuracy for Loran Integrity -- 11.6 Conclusions -- References -- Chapter 12 Indoor and Weak Signal Navigation -- 12.1 Introduction -- 12.2 Signal Processing Considerations Related to Weak Signals -- 12.2.1 Acquisition of Weak Signals -- 12.2.2 Clock Stability and Integration Times -- 12.2.3 Tracking of Weak Signals -- 12.2.4 Cross-Correlation and Interfering Signals -- 12.2.5 Multipath Mitigation -- 12.2.6 Benefits of Future GNSS -- 12.3 Aiding Possibilities and Supportive Systems -- 12.3.1 Assistance -- 12.3.2 Supportive Systems for GNSS -- 12.4 Navigation Algorithms for Difficult Signal Conditions -- 12.4.1 Constraints on User Motion -- 12.4.2 Map Matching -- 12.4.3 Adaptive Algorithms -- 12.5 Quality and Integrity Monitoring -- 12.5.1 Introduction to Integrity Monitoring -- 12.5.2 Reliability Testing -- 12.5.3 Weighted Least-Squares Notation -- 12.5.4 Residuals and Redundancy -- 12.5.5 Global Test -- 12.5.6 Local Test -- 12.5.7 Null Hypothesis and Alternative Hypothesis -- 12.5.8 Parameters for Fault Detection and Exclusion -- 12.5.9 Multiple Outliers -- 12.5.10 Fault Detection and Exclusion in Kalman Filtering -- 12.5.11 Quality Control -- 12.5.12 The Practical Side of Quality Control -- 12.6 Examples Included on the DVD -- 12.6.1 Example 1: Acquisition of Weak Signals -- 12.6.2 Example 2: Fault Detection and Exclusion -- 12.7 Summary -- 12.8 Further Reading -- References.

Chapter 13 Space Applications.