gnss receiver - software radio concept františek vejražka czech technical university in prague...
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GNSS Receiver -
Software Radio Concept
František VejražkaCzech Technical University in Prague
Faculty of Electrical Engineering
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 2
Why we have developed GNSS Receiver ?• Czech economy needs satellite
navigation
• Grant of Ministry of Transport „Implementation of Galileo System in the Czech Republic“
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 3
Receiver concept: 1. Present situation• GPS signal available only• several GLONASS satellites (14)• no Galileo signals in early future
– Giove A, Dec. 2005 - no ranging signals– Giove B, June 2007 (?)– first SV 2009 (?) [Hein, Jeju 2006]– full constellation 2011
• CR government imperative: to prepare for Galileo
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 4
Receiver concept: 2. Requirements• 2006: prepare applications with GPS
(&GLONASS) signals use
• 2009: be able to add Galileo signals even with uncompleted constellation
• 2011: use full Galileo constellation signals and to support them by GPS &
GLONASS and by differential corrections (EGNOS)
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 5
Receiver concept: 3. Decision
Receiver should process signals
• GPS: C/A L1, L2C, L5C
• GLONASS: L1, L2
• GALILEO: L1, E5a, E5b (~ OS service)
and later
• GPS III: L1C
• GALILEO: E1, E2, E6
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 6
Receiver concept: How to realize it?• HW: to do basic processing only on highest frequencies where digital processing is impossible
• SW: to process signals digitally on as highest frequencies as it is possible
SOFTWARE DEFINED RADIO ARCHITECTURE
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 7
Software Defined Radio Architecture• Processor only solution
• Processor & programmable logic
RF frontend
ADC Computer
RF frontend
ADC Programmablelogic Computer
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 8
Architectures Comparison
Processor only solution
Processor & prog. logic
Cost + -Bandwidth ++ +++GNSS performance
GPS L1 C/A
WAAS/EGNOS
Galileo L1
GPS L1, L2, L5
WAAS/EGNOS
Galileo L1, E5
GLONASS
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 9
Aim of the Experimental GNSS Receiver• Signal processing algorithms development tool• Algorithms validation in experiments in real
environmentRequirements• High performance• High flexibility
Processor & programmable logic
receiver architecture
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 10
Experimental GNSS Receiver Development
20
2002 2004 2006 2008
Bandwidth[MHz]
2000
40
60
80
2nd generation
3rd generation
1st generation
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 11
Experimental GNSS Receiver G3Features• Four RF channels • Bandwidth >80 MHz• Capability
– GPS L1 C/A– GLONASS– WAAS/EGNOS– Galileo L1– GPS L5– Galileo E5, E5A, E5B– NON GNSS signals processing
• Complex signal processing• Integration with terrestrial
navigation and communication systems
Synthetiser
Com plex m ixer
cos
sin
E5 filter LNA
E5 base bandChebyshev filter
ADC
ADC
I
Q
Galileo E5 front end
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 12
Correlator Logic schema
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 13
CorrelatorResults of analysis & simulations
20 25 30 35 40 45 50 55 60 6510
-2
10-1
100
101
102
Noncoherent E5 DLL Performance with Envelope Type Detector (Bn = 3Hz)
Pc/N
0 [dB-Hz]
DLL t
rackin
g e
rror
(1)
[ns]
theoretical performancetheoretical coherent perf.simul.: independent DLLsimul.: mena E5a and E5bsimul.: mean E5
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 14
Correlator structure
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 15
Correlator realization
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 16
Correlator realization
32 bits NCO and PRN generatorof GPS and EGNOS codes
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 17
Correlator realization
32 bits NCO and PRN generatorof GPS and EGNOS codes
32 bits NCOand complex (IQ) mixer
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 18
Development procedure
Program in SimulinkCompilationTesting, validation
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 19
Development procedure
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 20
Development procedure
Program in SimulinkCompilationTesting, validation
Compiled programsaved in receiver memoryTesting
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 21
Development procedureRealization
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 22
Application of designed receiver:1. GPS EGNOS Receiver for Railway
Features• Based on Experimental GNSS Receiver G2• L1 & L2 RF channels• External EGNOS data input • Certified software
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 23
Application of designed receiver:1. GPS EGNOS Receiver for Railway
On Board Unit
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 24
Application of designed receiver:1. GPS EGNOS Receiver for Railway
Control Panel of Locomotive On Board Unit
Locomotive On Board Unit
Dispatcher Screen
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 25
Application of designed receiver:2. GIOVE A signal reception
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 26
Application of designed receiver:3. EGNOS Monitoring Station
Features• Experimental GNSS Receiver G2• Four L1 RF units:
– 1x hemisphere antenna for GPS & EGNOS &Galileo
– 3x directional antenna for EGNOS message reception
Improved SNR & BER for EGNOS message channel
Directional antenna prototype
Gain 17 dB
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 27
Application of designed receiver:4. Research of Egnos Signal Availability
Investigation of the EGNOS satellite shadowing
EGNOSGNSS
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 29
Application of designed receiver:4. Research of Egnos Signal Availability
Country
Town
Unblocked
Blocked
Distance [km]
1 4 8
Unblocked
Blocked
Distance [km]
1 4 8
PRN 120 IOR, Prague, Czech Republic, elevation 15
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 30
Application of designed receiver:4. Research of Egnos Signal Availability
positionmeassurement
maximumacceptable age
of message
FLAG
NO FLAG
position OK
message age
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 31
EGNOS Service AvailabilityExample: Msg. No. 2
0 50 100 1500
0.2
0.4
0.6
0.8
1
0 50 100 1500
0.2
0.4
0.6
0.8
1
Sparsely built-up town Undulating country Flat country
0 50 100 1500
0.2
0.4
0.6
0.8
1
Age [s] Age [s] Age [s]
Pro
babi
lity
Pro
babi
lity
Pro
babi
lity
Probability that message age exceeds given threshold
threshold 18 s (for aircraft enroute navigation!)
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 32
EGNOS Service Availability – Expert Finding• EGNOS signal is not generally available for a
land mobile user• EGNOS service can be ensured by
distribution of the EGNOS messages trough data channel with high availability for a land mobile user
EGNOS monitoring station
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 33
EGNOS Monitoring Station
Reasons
• Reception of the EGNOS messages for further distribution via highly available channel
• Monitoring of all EGNOS and GPS satellites in view– Investigation of the GNSS system behavior
– Investigation of the receiver problem
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 34
Plans for Future
• GNSS receiver of the third generation
• Implementation of the Galileo signal processing including E5 band
• Integration with terrestrial navigation and communication systems with good indoor availability like DTV
• Non GNSS signal ranging
Czech Technical University in Prague
NavSup 2006
November 14-16, 2006, Gdynia, Poland Vejražka: GNSS Receiver – SW Radio Concept ... 35
Conclusions
Experimental SW receiver is excellent tool for:
• experiments with GNSS signals• prototyping of algorithms for non standard applications• non standard GNSS measurements• signal reception of early phase Galileo• education in GNSS techniques
Thank you for your attentionFrantišek Vejražka
Czech Technical University in Prague,Czech Republic