gps and glonass vector tracking for navigation in...
TRANSCRIPT
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GPS and GLONASS Vector Tracking for Navigation in Challenging Signal Environments
Tanner Watts, Scott Martin, and David Bevly
GPS and Vehicle Dynamics Lab – Auburn UniversityOctober 29, 2019
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GPS Applications (GAVLAB)
2
Autonomous Vehicles
TruckPlatooning
PreciseTiming
UAVs
Good GPS SignalEnvironment
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Challenging Signal Environments
• Navigation demand increasing in the following areas:
• Cites/Urban Areas
• Forests/Dense Canopies
• Blockages (signal attenuation)
• Reflections (multipath)
3
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Contested Signal Environments
4
• Signal environment may experience interference
• Jamming Transmits “noise” signals to receiver Effectively blocks out GPS
• Spoofing Transmits fake GPS signals to
receiver Tricks or may control the receiver
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Contested Signal Environments
5
• These interference devices are becoming more accessible GPS Jammers
GPS Simulators
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Traditional GPS Receiver
6
Signals processed individually:
• Known as Scalar Tracking
• Delay Lock Loop (DLL) for Code
• Phase Lock Loop (PLL) for Carrier
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Traditional GPS Receiver
7
Attenuated or DistortedSatellite Signal
• Feedback loops fail in the presence of significant noise
• Especially at high dynamics
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Vector Tracking Receiver
8
• Process signals together through the navigation solution
• Channels track each other’s signals together
• 2-6 dB improvement
• Requires scalar tracking initially
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Vector Tracking Receiver
9
Vector Delay Lock Loop (VDLL)
• Code tracking coupled to position navigation
• DLL discriminators inputted into estimator
• Code frequencies commanded by predicted pseudoranges
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Vector Tracking Receiver
10
Vector Frequency Lock Loop(VFLL)
• Doppler tracking coupled to velocity navigation
• FLL discriminators inputted into estimator
• Dopplers commanded by predicted pseudorange-rates
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James Spilker’s Vector Delay Lock Loop
11
IndividualTracking
LoopsNavigationProcessor
MeasurementPredictions
Feedbackto Tracking
Loops
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GLONASS
12
• GNSS owned and operated by Russian Federation
• GLONASS L1 Signal:▫ L1 BPSK modulated satellite signal▫ 50 kcps PRN code (half of GPS)▫ 50 bps data message (same as GPS)▫ FDMA over CDMA
• Vector tracking can also be applied to this signal
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GLONASS Recording Capability
13
IFEN SX3 Front-End
IFEN SX3: Records both GPS and GLONASS L1
Separate front-ends
20 MHz sampling rate, 50 MHz bandwidth for each front-end
Same clock (TCXO)
Allows for easy data synchronization
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GLONASS Recording Capability
14
IFEN SX3 Front-End
Time Estimation:TOD = mod TOW, 86400 s + 3 h − 18 s − τ
TOD = GLONASS Time of Day s
TOW = GPS Time of Week (s)
τ = GLONASS offset from UTC > 1 μs
Estimate 1 clock bias, 1 clock drift, and the time offset
3-hour difference between Greenwich, UK
and Moscow, Russia
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GLONASS Recording Capability
15
IFEN SX3 Front-End
GLONASS Time accounts for leap seconds, UTC
does not
Time Estimation:TOD = mod TOW, 86400 s + 3 h − 18 s − τ
TOD = GLONASS Time of Day s
TOW = GPS Time of Week (s)
τ = GLONASS offset from UTC > 1 μs
Estimate 1 clock bias, 1 clock drift, and the time offset
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GLONASS Recording Capability
16
IFEN SX3 Front-End
Time Estimation:TOD = mod TOW, 86400 s + 3 h − 18 s − τ
TOD = GLONASS Time of Day s
TOW = GPS Time of Week (s)
τ = GLONASS offset from UTC > 1 μs
Estimate 1 clock bias, 1 clock drift, and the time offset
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GPS and GLONASS Positioning
17
24-hour sky plot over Auburn, AL• Enhanced satellite geometry Overcome environment blockages Better estimation of PVT
• Frequency diversity Jamming protection
• Constellation diversity Spoofing protection
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GPS and GLONASS Positioning
18
24-hour sky plot over Auburn, AL• Defense sector stays away from
combining GPS and GLONASS
• Most commercial receivers take advantage of both systems Scalar processing Federated estimation
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GPS and GLONASS Vector Tracking
19
• Vector Delay/Frequency Lock Loop (VDFLL)
• Centralized Extended Kalman Filter (EKF)
• All tracking commands defined solely by PVT solution
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Navigation Processor
20
State Vector:• ECEF Position (m)• ECEF Velocity (m/s)• Receiver Clock Bias (m/s)• Time Offset (m)• Receiver Clock Drift (m/s)
Model:
�𝑥𝑥𝑘𝑘+1�̇𝑥𝑥𝑘𝑘+1�𝑦𝑦𝑘𝑘+1�̇𝑦𝑦𝑘𝑘+1�̂�𝑧𝑘𝑘+1̂̇𝑧𝑧𝑘𝑘+1�𝑏𝑏𝑘𝑘+1�τ𝑘𝑘+1�̇𝑏𝑏𝑘𝑘+1
=
𝟏𝟏00000000
𝑻𝑻𝟏𝟏0000000
00𝟏𝟏000000
00𝑻𝑻𝟏𝟏00000
0000𝟏𝟏0000
0000𝑻𝑻𝟏𝟏000
000000𝟏𝟏00
0000000𝟏𝟏0
000000𝑻𝑻0𝟏𝟏
�𝑥𝑥𝑘𝑘+1�̇𝑥𝑥𝑘𝑘+1�𝑦𝑦𝑘𝑘+1�̇𝑦𝑦𝑘𝑘+1�̂�𝑧𝑘𝑘+1̂̇𝑧𝑧𝑘𝑘+1�𝑏𝑏𝑘𝑘+1�τ𝑘𝑘+1�̇𝑏𝑏𝑘𝑘+1
Mitigates noise sharing in VDFLL
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Measurement Observation
21
δρ1𝐺𝐺𝐺𝐺𝐺𝐺⋮
δρ𝑛𝑛𝐺𝐺𝐺𝐺𝐺𝐺δρ̇1𝐺𝐺𝐺𝐺𝐺𝐺⋮
δρ̇𝑛𝑛𝐺𝐺𝐺𝐺𝐺𝐺δρ1𝐺𝐺𝐿𝐿𝐿𝐿⋮
δρ𝑚𝑚𝐺𝐺𝐿𝐿𝐿𝐿
δρ̇1𝐺𝐺𝐿𝐿𝐿𝐿⋮
δρ̇𝑚𝑚𝐺𝐺𝐿𝐿𝐿𝐿
=
𝒂𝒂𝒙𝒙𝟏𝟏𝑮𝑮𝑮𝑮𝑮𝑮⋮
𝒂𝒂𝒙𝒙𝒏𝒏𝑮𝑮𝑮𝑮𝑮𝑮0⋮0
𝒂𝒂𝒙𝒙𝟏𝟏𝑮𝑮𝑳𝑳𝑳𝑳⋮
𝒂𝒂𝒙𝒙𝒎𝒎𝑮𝑮𝑳𝑳𝑳𝑳0⋮0
0⋮0
𝒂𝒂𝒙𝒙𝟏𝟏𝑮𝑮𝑮𝑮𝑮𝑮⋮
𝒂𝒂𝒙𝒙𝒏𝒏𝑮𝑮𝑮𝑮𝑮𝑮0⋮0
𝒂𝒂𝒙𝒙𝟏𝟏𝑮𝑮𝑳𝑳𝑳𝑳⋮
𝒂𝒂𝒙𝒙𝒎𝒎𝑮𝑮𝑳𝑳𝑳𝑳
𝒂𝒂𝒚𝒚𝟏𝟏𝑮𝑮𝑮𝑮𝑮𝑮⋮
𝒂𝒂𝒚𝒚𝒏𝒏𝑮𝑮𝑮𝑮𝑮𝑮0⋮0
𝒂𝒂𝒚𝒚𝟏𝟏𝑮𝑮𝑳𝑳𝑳𝑳⋮
𝒂𝒂𝒚𝒚𝒎𝒎𝑮𝑮𝑳𝑳𝑳𝑳0⋮0
0⋮0
𝒂𝒂𝒚𝒚𝟏𝟏𝑮𝑮𝑮𝑮𝑮𝑮⋮
𝒂𝒂𝒚𝒚𝒏𝒏𝑮𝑮𝑮𝑮𝑮𝑮0⋮0
𝒂𝒂𝒚𝒚𝟏𝟏𝑮𝑮𝑳𝑳𝑳𝑳⋮
𝒂𝒂𝒚𝒚𝒎𝒎𝑮𝑮𝑳𝑳𝑳𝑳
𝒂𝒂𝒛𝒛𝟏𝟏𝑮𝑮𝑮𝑮𝑮𝑮⋮
𝒂𝒂𝒛𝒛𝒏𝒏𝑮𝑮𝑮𝑮𝑮𝑮0⋮0
𝒂𝒂𝒛𝒛𝟏𝟏𝑮𝑮𝑳𝑳𝑳𝑳⋮
𝒂𝒂𝒛𝒛𝒎𝒎𝑮𝑮𝑳𝑳𝑳𝑳0⋮0
0⋮0
𝒂𝒂𝒛𝒛𝟏𝟏𝑮𝑮𝑮𝑮𝑮𝑮⋮
𝒂𝒂𝒛𝒛𝒏𝒏𝑮𝑮𝑮𝑮𝑮𝑮0⋮0
𝒂𝒂𝒛𝒛𝟏𝟏𝑮𝑮𝑳𝑳𝑳𝑳⋮
𝒂𝒂𝒛𝒛𝒎𝒎𝑮𝑮𝑳𝑳𝑳𝑳
𝟏𝟏⋮𝟏𝟏0⋮0𝟏𝟏⋮𝟏𝟏0⋮0
0⋮00⋮0𝟏𝟏⋮𝟏𝟏0⋮0
0⋮0𝟏𝟏⋮𝟏𝟏0⋮0𝟏𝟏⋮𝟏𝟏
Δ�𝑥𝑥𝑘𝑘+1Δ �̇𝑥𝑥𝑘𝑘+1Δ�𝑦𝑦𝑘𝑘+1Δ �̇𝑦𝑦𝑘𝑘+1Δ�̂�𝑧𝑘𝑘+1Δ ̂̇𝑧𝑧𝑘𝑘+1Δ�𝑏𝑏𝑘𝑘+1Δ�τ𝑘𝑘+1Δ�̇𝑏𝑏𝑘𝑘+1
δρ = Pseudorange Error (Code Phase Error)
δρ̇ = Doppler Error (Carrier Frequency Error)
𝑛𝑛 GPS Channels𝑚𝑚 GLONASS Channels
𝑎𝑎𝑥𝑥, 𝑎𝑎𝑦𝑦, 𝑎𝑎𝑧𝑧 = Receiver to Satellite Unit Vectors
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Vector NCO Commands
22
Code Frequency: 𝑓𝑓code = 𝑓𝑓chip −�ρ𝑘𝑘+1−�ρ𝑘𝑘𝑇𝑇λchip
Carrier Frequency: 𝑓𝑓carrier = 𝑓𝑓IF −�̇ρ𝑘𝑘λ𝐿𝐿1
𝑓𝑓chip = Chipping Rate (cps) �ρ = Predicted Pseudorange (m)
T = Integration Period (s) λchip = PRN Chip Width (m/chip)
𝑓𝑓IF = Intermediate Frequency (Hz) [Must account for FMDA in GLONASS]�̇ρ = Predicted Pseudorange Rate (m/s) λL1 = Carrier Wavelength (m/cyc)
�𝛒𝛒 = 𝒇𝒇(𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏,𝐂𝐂𝐂𝐂𝐏𝐏𝐂𝐂𝐂𝐂 𝐁𝐁𝐏𝐏𝐁𝐁𝐏𝐏)�̇𝛒𝛒 = 𝒇𝒇(𝐕𝐕𝐕𝐕𝐂𝐂𝐏𝐏𝐂𝐂𝐏𝐏𝐏𝐏𝐕𝐕,𝐂𝐂𝐂𝐂𝐏𝐏𝐂𝐂𝐂𝐂 𝐃𝐃𝐃𝐃𝐏𝐏𝐃𝐃𝐏𝐏)
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ECEF Transformation Matrix
23
• GPS and GLONASS both use ECEF coordinate frames
• GPS uses World Geodetic System 1984 (WGS84)
• GLONASS uses Parametry Zemli 1990 (PZ-90) Have used many versions Current version: PZ-90.11
• Officially, WGS84 and PZ-90.11 are the same Within centimeters
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ECEF Transformation Matrix
24
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ECEF Transformation Matrix
25
• PZ-90.11 to WGS84 coordinate transformation developed empirically Based on static data sets in Alabama and Iowa Differential corrections not used
• Coordinate transformation is applied to GLONASS satellite positions
• Helps horizontal positioning
𝑥𝑥𝑦𝑦𝑧𝑧
=𝑢𝑢𝑣𝑣𝑤𝑤
+−30
00
m𝑥𝑥 𝑦𝑦 𝑧𝑧 𝑇𝑇 = WGS84 Position (m)
𝑢𝑢 𝑣𝑣 𝑤𝑤 𝑇𝑇 = PZ90.11 Position (m)
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Heavy Tree Foliage Results
26
Entering MovingThrough
Exiting
GPS VDFLLGLONASS VDFLLCombined VDFLLUblox
Combined and Ublox solutions maintain accurate positions on the bridge
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Urban Canyon Results
27
Vehicle Lane
GPS VDFLLGLONASS VDFLLCombined VDFLLUblox
Combined Scalar
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Urban Canyon Results
28
GPS VDFLLGLONASS VDFLLCombined VDFLLUblox
Exiting Urban Canyon Open Sky Environment
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Jamming Experiment
29
Jamming Map• GPS L1 jamming tests performed
at Edwards Airforce Base
• September 2019
• GLONASS L1 not jammed
Receiver Trajectory⁄𝑱𝑱 𝑮𝑮 = 𝟒𝟒𝟒𝟒 − 𝟔𝟔𝟒𝟒 𝐝𝐝𝐁𝐁
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Jamming Experiment
30
10 GPS Satellites
5 GLONASS Satellites
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Jamming Position Results
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START
TURNAROUND
END
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Jamming Position Results
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GPS Fails
GLONASS Fails
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Jamming C/No Results
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10 of 10 GPS channels lose lock
4 of 5 GLONASS channels lose lock
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Jamming C/No Results
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1 GPS and 1 GLONASS channel lose lock
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Jamming Scalar Results
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GPS and GLONASS Scalar Tracking Fails
Dead Reckoning by Model
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Jamming Tracking Results
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Conclusions
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• Positioning performance improves when using both GPS and GLONASS▫ With the PZ90.11 to WGS84 coordinate transformation▫ Be mindful of GLONASS in bad signal environments
• Combining GPS and GLONASS into the VDFLL enhances receiver robustness
• Need differential data to improve coordinate transformation
• Analyze the algorithm in GPS and/or GLONASS spoofing environments
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Some Future Work
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• Characterize the estimated offset between GPS and GLONASS times▫ Requires significantly longer data sets
• Potential for many things:▫ Integrity checking▫ Spoofing detection▫ Receiver clock discipling▫ Satellite clock analysis ▫ GNSS synchronization
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References
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• [1] James J. Spilker. Vector Delay Lock Loop Processing of Radiolocation Transmitter Signals, Stanford, CA, March 1995. US Patent 5,398,034.
• [2] J. Sennott and D. Senffner. Navigation Receiver with Coupled Signal-Tracking Channels, Bloomington, IL, August 1994. US Patent 5,343,209.
• [3] Kai Borre, Dennis Akos, Nicolaj Bertelsen, Peter Rinder, and Soren Holdt Jensen. A Software-Defined GPS and Galileo Receiver: A Single Frequency Approach. Birkhauser, 2007.
• [4] Matthew V. Lashley. Modeling and Performance Analysis of GPS Vector Tracking Algorithms. PhD Dissertation, Auburn University, December 2009.
• [5] Dennis M. Akos. A Software Radio Approach to Global Navigation Satellite System Receiver Design. PhD Dissertation, Ohio University, August 1997.
• [6] Chao-heh Cheng. Calculations for Positioning with the Global Navigation Satellite System. Master’s Thesis, Ohio University, August 1998.
• [7] Pratap Misra. Integrated Use of GPS and GLONASS: Transformation Between WGS84 and PZ-90. In Proceedings of ION GPS 1996, Kansas City, MO, September 1996, pp. 307-314.
• [8] Senlin Peng. Implementation of Real-Time Sofware Receiver for GPS or GLONASS L1 Signals. Master’s Thesis, Virginia Polytechnic Institute and State University, January 2010.
• [9] M. Zhodzishsky, S. Yudanov, V. Veitsel, and J. Ashjaee. Co-OP Tracking for Carrier Phase. In Proceedings of the 11th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GPS 1998), Nashville, TN, September 1998, pp. 653-664.
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Thank You
Questions?
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Fault Detection and Exclusion
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