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OPINIONS & DEPARTMENTS

Out in Front 6Business Hand at the HelmBy Alan Cameron

THE SYSTEM 10The Best-Laid Plans — Filing of the Third Report by LightSquared/GPS Technical Working Group; LightSquared Interference with Emergency Services, Public Safety; ICAO to Weigh Locata for Back-up APNT; GAGAN Transponder in Orbit

THE BUSINESS 16

The recent broadcast of the first CDMA signal from the new GLONASS-K satellite culminates a long series of events that began in 1989. A key participant gives a first-hand account of the history of many meetings, formal and informal, that created true interoperability between the two major satellite systems, giving users a modern GNSS in action. By Javad Ashjaee

DEFENSE

Mitigation for Missles 50Fuzzy Logic and Intelligent Tracking Loops Cope with InterferenceA fuzzy tracking system performs as a narrow bandwidth tracking system in terms of noise reduction, and a wide bandwidth tracking system in terms of dynamic response, overcoming the contradiction between receiver bandwidth requirements using classical tracking techniques for either noise reduction or dynamic tracking. By Ahmed M. Kamel, Daniele Borio, John Nielsen, and Gérard Lachapelle

June 2011VOL. 22, NUMBER 6gpsworld.com

INNOVATION

MBOC Signal Options 68Performance of Multiplexed Binary Offset Carrier Modulations for Modernized GNSS SystemsThe M-code is a binary-offset-carrier (BOC) signal — a split spectrum signal — that places most of its power near the edges of the allocated GPS frequency bands, thereby having negligible impact on the legacy signals. A signal with better acquisition capabilities and improved multipath performance (while still compatible with the existing GPS signals) was a multiplexed BOC modulation, MBOC(6,1,1/11). The MBOC spectrum can be achieved by following one of several different signal-construction paths with some resulting differences in how a receiver tracks the signal and its associated performance. By E. Simona Lohan, Mohammad Z. H. Bhuiyan, and Heikki Hurskainen

www.gpsworld.com June 2011 | GPS World 3

SPECIAL SECTION 302011 Buyers Guide The only industry guide to GNSS manufacturers and service providers lists more than a hundred companies and their offerings in dozens of categories.

Corporate Profiles Leaders in the GNSS marketplace describe their products, services, and corporate capabilities in special advertiser-sponsored pages throughout the Buyers Guide.

How GPS and GLONASS Got Together — and Other Recent Events 60

online resourcesonline resources

GPs World | June 2011 www.gpsworld.com4

Hottest Pages @ GPSWorld.comMarch 21 – April 21, 2011

1 LightSquared: It’s Worse than You Think: (Survey Scene newsletter)

2 First Responders Find LightSquared Interference with Emergency Services, Public Safety

3 Troubled GPS Satellite SVN49 Removed from Active Service

4 GIS on a Sphere(GSS Weekly newsletter)

5 Trimble’s Acquisition of Ashtech to Bring Brand-Name Recognition to Spectra-Precision Line

6 Innovation: GLONASS

7 Opening Up Indoors(May GPS World)

8 Your Interference Questions — Answered!(GNSS Design & Test newsletter)

9 Data Shows Disastrous GPS Jamming from FCC-Approved Broadcaster

10 Did the Geography Department at UCLA Accurately Estimate bin Laden’s Hideout Three Years Ago?

» June Webinar» Weekly neWs

Moderated by Eric Gakstatter, Contributing Editor for Survey June 23, 10 a.m. Pacific / 1 p.m. Eastern / 6 p.m. Greenwich Platinum Sponsor: Hemisphere GPS

The final report from the FCC Technical Working Group on LightSquared/GPS Interference/Desensitization comes due on June 15. The report will summarize all testing results of GPS receivers under LightSquared conditions: terrestrial transmitters in the 1525 MHz–1559 MHz range immediately adjacent to the L1 band (1559–1610 MHz) where GPS and other GNSSs operate.

Webinar speakers will analyze the results with particular attention to effects on survey and other high-precision uses. Register for this free webinar at gpsworld.com/webinar, where you can also download audio and slides of the first two LightSquared-GPS webinars, broadcast in April and May.

In Navigate!, the weekly e-mail newsletter published by the editors of GPS World.Always a fresh Top Story, and a breadth of news items, product releases, events, and other happening stuff that we can’t always fit into the pages of this magazine. Plus, delivered to your e-mail inbox in a more timely fashion — every Tuesday.

LightSquared-GPS: The Finale

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» neWsletter excerPtSpace Symposium, Partnership Council Offer Valuable Information From the Defense PNT newsletter, May 2011 By Don JewellAs the steward of GPS and as a warfighter himself, General Willie Shelton is the only four-star officer from any service that has manned up, stood tall, and been counted on the LightSquared issue, which is an ominous harbinger of a possibly disastrous future for our warfighters and first responders — actually, it poses a threat for all GPS users. General Shelton was a featured speaker at this year’s National Space Symposium, the 27th and better than ever. The warfighter panel presentation on the last day of the GPS Partnership Council was the highlight of the event. To see and hear how the panel of Army Rangers, Navy SEALs, USAF Special Operators, and USAF aviators and others actually use GPS not only to accomplish their missions but to save lives every day is exciting. The warfighter panel provided feedback on how warfighters’ lives depend on GPS. These young men and women are going in harm’s way and they deserve the best equipment and support we can provide. Read more at www.gpsworld.com/defense-space.

DON JEWELL Contributing Editor for Defense

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Imet Chris Litton at my first European Navigation Conference in Sevilla, Spain, May 2001. I recall a long

conversation over a dinner of Moorish and Andalusian dishes, attended by the staffs of NavCom Technology and GPS World, in the Mesón Don Raimundo.

Over the years we met again and again at conferences hither and yon. “Great cities of the world!” became our greeting. As sales manager for NavCom, then for the NavCom division of John Deere & Co., from 1995 to 2007, Chris saw many more of those cities than I did. A GPS road warrior.

I’m very happy to announce that we now play on the same team — to your ultimate benefit. Meet J. Christopher Litton, international account executive and ad manager for GPS Worldmagazine, website, e-newsletters, webinars, and the whole enterprise.

Add to his decade-plus at Navcom the subsequent years, up to present

date, doing similar things for Septentrio Satellite Navigation, earlier experience as co-founder of Litton Consulting Group, where he helped establish NavCom, and deep background as U.S. Navy gunner’s mate missile system specialist.

As a result, your business partner here knows more about GNSS markets and technology than the editor. That not only distinguishes us from the crowd — it’s got to be worth something. To you.

For the 6.7 percent of our subscribers who are actual or potential advertising decision-makers, this is worth a great deal. Give him a ring or shoot him an e-mail query about reaching your business development goals. He’ll have something concrete, knowledgeable, and effective to suggest. He can implement your message, simultaneously and synergistically, across many platforms: print, electronic, social media, exhibits, and more. He’ll visit you for an in-depth skull session. A GNSS road warrior, traveling to all cities of the world, great and small.

The balance of 93.3 percent — or really, all our readers — will benefit from Chris’ knowledge and marketplace vision, helping me shape and steer this vast starship across the far reaches of positioning, navigation, and timing.

Business Hand at the Helm

OUT IN FRONT

Your business partner at this magazine knows more about GNSS markets and technology than the editor. That’s got to be worth something.

GPS World | June 2011 www.gpsworld.com8

EDITORIAL

Editor in Chief Alan Cameron | [email protected] Editor Tracy Cozzens | [email protected] Director RJ Pooch | [email protected]

EDITORIAL OFFICES201 Sandpointe Avenue, Suite 500,Santa Ana, CA 92707-8716 USA714-338-6700 | Fax 714-338-6717www.gpsworld.com | [email protected]

CONTRIBUTING EDITORS

Innovation Richard Langley | [email protected] PNT Don Jewell | [email protected] Insider Kevin Dennehy | [email protected] Professional OEM Tony Murfin | [email protected] Eric Gakstatter | [email protected] Bill Thompson | [email protected] Pulse Janice Partyka | [email protected]

ADVERTISING

Publisher George Casey | [email protected] | 216-706-3752

International Account ManagerChris Litton | [email protected] | 323-229-6165

Marketing Manager Sarah Joy Obaña | [email protected] | 714-338-6763

Vice President, Industrial & Specialty GroupKevin Stoltman | [email protected] | 216-706-3740

PUBLISHING SERVICES

Production Manager Sue Gigliotti | [email protected]

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President & CEO: Kerry C. GumasEVP & CFO: Tom CaridiEVP: Tony D’AvinoEVP: Gideon DeanQUESTEX WORLDWIDE HEADQUARTERS275 Grove Street, Newton, MA 02466, USA617-219-8300 | Toll-Free 888-552-4346 | Fax 617-219-8310

MANUSCRIPTS: GPS World welcomes unsolicited articles but cannot be held responsible for their safekeeping or return. Send to: 201 Sandpointe Avenue, Suite 500, Santa Ana, CA 92707-8716 USA. Every precaution is taken to ensure accuracy, but publishers cannot accept responsibility for the accuracy of information supplied herein or for any opinion expressed. REPRINTS: Reprints of all articles are available (500 minimum). Contact 800-290-5460, ext. 100, e-mail [email protected]. DIRECT MAIL LIST RENTAL: Ilene Schwartz, Kroll Direct, 216-371-1667, fax 216-371-1669 e-mail [email protected]. SUBSCRIBER SERVICES: To subscribe, change your address, and all other services, e-mail [email protected] or call 866-344-1315 (1-847-763-9594 outside the U.S.). PERMISSIONS: Contact 800-494-9051 ext. 100 or [email protected]. INTERNATIONAL LICENSING: Contact e-mail [email protected]. ACCOUNTING OFFICE and OFFICE OF PUBLICATION: 306 West Michigan St., Ste 200, Duluth, MN 55802, USA.

GPS WORLD does not verify any claims or other information appearing in any of the advertisements contained in the publication and cannot take any responsibility for any losses or other damages incurred by readers in reliance on such content.

Published monthly

www.gpsworld.com

Chris Litton

Policy and system news and developments | GPS | Galileo | GLONASS

SYSTEMTHE


Policy and system news and developments | GPS | Galileo | GLONASS

SYSTEMTHE

10

Slow but steady progress of the Working Group (WG) convened by the Federal

Communications Commission (FCC) to study the GPS overload/desensitization issue is related in the group’s Third [monthly] Pogress Report, filed with the FCC on May 16. For the third consecutive time, the report contains little in terms of actual results of testing for interference/desensitization of GPS receivers by the proposed LightSquared terrestrial signal. It continues to carefully lay out the ground rules adopted by several subteams for testing the particular receivers in their domain. As of the date of filing, it reported, “testing is underway for six device categories and has been completed for the Space-Based Receivers category.”

The full Progress Report is available at www.gpsworld.com/L2third.

As related in May’s The System, the Working Group has self-divided into sub-teams.

Aviation Sub‐Team. Laboratory testing

was scheduled to be completed by May 20, conducted by Zeta Associates. The team’s report is being compiled, and some receivers were to be made available for field testing near Las Vegas.

The Federal Aviation Administration (FAA) issued a flight advisory warning pilots that GPS service in one area of Nevada could be “unreliable or unavailable” May 16–27, during LightSquared testing. Tests were to be conducted in six-hour blocks.

“Pilots are strongly encouraged to report anomalies during testing to the appropriate ARTCC to assist in the determination of the extent of GPS degradation during tests,” said the advisory.

Cellular Sub‐Team. Two of the three laboratories engaged to perform radiated and conducted testing have added work shifts to complete their processes by the TWG’s deadline; the third lab is being configured. Forty-five models of GPS-enabled cell phones will undergo testing, following a detailed procedure described in Appendix D to

the report. General Location/Nav Sub‐Team. This

team recently added new members representing public safety users at the request of the National Public Safety Telecommunications Council (NPSTC). See related article, “LightSquared Interference with Emergency Service.“ The sub‐team has accumulated live‐sky GPS test data for use in dynamic testing scenarios, and plans further field tests in the Las Vegas, Nevada, area, described in Appendix G.

High-Precision, Networks, Timing. The sub teams have completed testing of all devices in the NAVAIR lab facility. Some team members expect to have some receivers of the same models that have been tested by NAVAIR available for field testing in Las Vegas, and are working to develop test procedures for the field tests.

Space-Based Receivers. The team completed its laboratory testing activities as reported on April 16, and is now reviewing the initial draft analysis of the impacts.

The Best-Laid Plans: Filing of the Third Report by LightSquared/GPS Technical Working Group

Law enforcement, emergency medical service (EMS), and fire first-responders in the state of New Mexico who participated in LightSquared/GPS interference testing at Holloman Air Force Base have submitted reports verifying a negative effect of LightSquared transmissions on their GPS equipment.

A cover letter from the New Mexico E-911 program director states that the reports “substantiate concerns that the LightSquared network will . . . jeopardize 911 and public safety nationwide.”

The director of emergency services for Otero County, New Mexico, writes that “during the testing process the

[ambulance’s automatic vehicle location] unit was limited to only being able to see 7 satellites at any location and upon moving just 50 yards from our position at the test site towards the [LightSquared] tower were diminished to 3 or 4 satellites and at 60 yards unable to establish any satellite connections. This is still approximately 1/8 of a mile from the tower.”

The tests were conducted on April 15 and 16 of this year at Holloman Air Force Base, in a live sky environment.

For the full report, including letters from the New Mexico State Police and the Otero County Emergency Services director, see www.gpsworld.com/firstreponse.

LightSquared Interference with Emergency Services, Public Safety

report anomalies during testing to the appropriate ARTCC to assist in the determination of the extent of GPS degradation during tests,” said the

Two of the three laboratories engaged to perform radiated and conducted testing have added work shifts to complete their processes by the TWG’s deadline; the third lab is being configured. Forty-five models of GPS-enabled cell phones will undergo testing, following a detailed

sub teams have completed testing of all devices in the NAVAIR lab facility. Some team members expect to have some receivers of the same models that have been tested by NAVAIR available for field testing in Las Vegas, and are working to develop test procedures for the field tests.

Space-Based Receivers. The team completed its laboratory testing activities as reported on April 16, and is now reviewing the initial draft analysis of the impacts.

LightSquared in Las VegasShort-changing the Testswww.gpsworld.com/L2hot

LATE-BREAKING NEWS

THE SYSTEM


Senate LetterMeanwhile, the U.S. Senate is showing increasing signs of life in response to the problem. As of May 23, a total of 32 senators had signed a letter to the FCC initially drafted on April 15 by two U.S. senators from the heartland, Pat Roberts (Republican, Kansas) and Ben Nelson (Democrat, Nebraska). The joint public letter urges action in the form of “asking the FCC to take all necessary steps to protect GPS.”

What sway, if any, the Senate holds over the FCC, which forms part of the executive (presidential) branch of government, remains unclear. However, the letter does signal some heightened interest in Washington, presumably as a result of hearing from constituents. Kansas and Nebraska, of course, have large-scale farming activity, in which precision agriculture driven by GPS plays a significant role.

The two original authors state that “the International Bureau, a sub-organization within the FCC, granted a conditional waiver to allow a single company, called LightSquared, to build tens of thousands of ground stations that may cause widespread

interference to neighboring GPS signals.”

The letter goes on to outline the many key roles that GPS plays in economic activity and specifically in “economic recovery,” public safety, aviation, and national defense. “Reliable GPS affects virtually every American,” Nelson and Roberts assert.

They close by “calling on the FCC to ensure that GPS is not compromised in any way. To do so, the full commission must be involved and require LightSquared to objectively demonstrate non-interference as a condition prior to any operation of its proposed service. Anything less is an unacceptable risk to public safety.”

The latest signer, Senator Chuck Grassley of Iowa, writes on his website that “Given the FCC’s haste so far, I worry that LightSquared will not have interference problems resolved before given the green light to become fully operational. Farmers shouldn’t have to worry that they’re planting the correct seed or applying the precise amount of fertilizer needed for the soil to optimally produce the crop, and ambulance drivers shouldn’t have to

weather taking a wrong turn or driving into a ditch because a new system is scrambling their existing navigational technology.”

Grassley adds, “If anything, the shadows around the LightSquared project should have led the FCC to proceed with caution rather than step on the gas. Yet the opposite happened. The agency originally planned to take public comment on a key regulation necessary for green-lighting the project for only one week. The commission relented and held the comment period open longer only after consumers and affected businesses protested.”

Defense. Congressman Mike Turner included language in the National Defense Authorization Act (NDAA) that requires the Secretary of Defense to notify Congress if he determines there is widespread interference with the military’s use of GPS caused by a commercial communications service. Turner, the House Armed Services Subcommittee chairman on Strategic Forces, has legislative jurisdiction over space and satellite systems, and included the provision in his Mark of the NDAA.

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THE SYSTEM

“The Need for an Alternative PNT” was presented to the International Civil Aviation Organization’s (ICAO) 10th meeting in Montreal, Canada, on May 19 by the Australian delegation, proposing a new method for alternative position, navigation, and time (APNT). ICAO accepted the paper, and the Locata technology it describes, placing it on the table as a potential back-up to GPS. The organization will take up the discussion at its next meeting in October. A PDF of the paper is viewable at www.gpsworld.com/locata_icao.

Locata Corporation of Griffith, Australia, also released preliminary post-processing analysis on data collected during its APNT flight trial on May 9. An aircraft fitted with a Locata receiver and several truth-reference devices recorded data for three hours while flying at approximately 7,000 feet. The Locata receiver tracked a ground-based network of six LocataLites, which provided positioning signals to cover an area of approximately 1,500 square kilometers. The aircraft flew pre-defined patterns that gave varying distances to LocataLites (3–49 kilometers) during the test.

During this trial, the Locata first acquired and tracked

LocataLite signals at a range of 51.9 kilometers, according to the company, which provided an early-stage assessment of the performance of the Locata pseudorange-based (code)

▲ Figure 1 Difference in East, North, and Height between preliminary Locata pseudorange-based solution and high-precision differential carrier-phase GPS solution.

Locata Flight Results; ICAO to Weigh for Alternative PNT

THE SYSTEM

solution against a high-precision carrier-phase differential GPS solution. Figure 1 shows the difference in East, North, and Height between the high-precision GPS truth carrier solution and the Locata code solution. Relative to the high-precision GPS, the Locata code solution has a 95 percent RMS in horizontal of 2.1 meters and 3.2 meters in vertical. The company attributed the larger difference in the vertical to worse dilution of precision in the vertical component for this specific physical deployment of its network. Over this test data analysis, the Locata’s average VDOP of 3.3 compared to an average HDOP of 1.5.

One test objective, the company stated, was to obtain information on the significant tropospheric effects inherent in a ground-based system over these sorts of ranges. Further detailed analysis is now underway to measure and then reduce the residual biases present in the Locata code solution. For this first-pass data analysis these biases are approximately –0.8 meters in North and –1.1 meters in height. When these residual biases are further analyzed and reduced, Locata anticipates that the 95 percent RMS code-solution accuracies will improve to better than 1 meter horizontal and 2.5 meters vertical.

Locata emphasized that this is an early-stage analysis of first flight tests, expressly designed to provide data for a better understanding of the Locata system’s performance characteristics in ICAO-type APNT applications, and for a USAF-contracted LocataNet deployment at White Sands Missile Range that will cover more than 6,500 square kilometers. Further flight trials are planned in the near future to refine the system.

In Q3/2011 Locata expects papers to be published on carrier-phase performance observed over multiple flights, with presentations during ION 2011 Conference in Portland, Oregon.

Indian SBAS AloftThe Indian Space Research Organisation successfully launched a GSAT-8 satellite, carrying a GPS-Aided Geo Augmentation Navigation (GAGAN) satellite-based augmentation system (SBAS) transponder, on May 21, aboard an Ariane-V launch vehicle, from Kourou, French Guiana. The satellite will be stationed at 55 degrees east longitude.

Galileo Picks October 20The first two operational/validation satellites of the Galileo project received a launch date of October 20 of this year. Antonio Tajani, European Commission vice-president for industry and entrepreneurship, predicted that this will keep the system on track for provision of “three early services in 2014/2015 based on an initial constellation of 18 satellites.”


Industry news and developments | GPS | Galileo | GLONASS

BUSINESSTHE


Septentrio Announces Tiny, Low Power RTK Receiver» SURVEY/GIS

Septentrio has announced the AsteRx-m, a very low power GPS/GLONASS dual-frequency RTK

receiver which is smaller than a credit card. The new board is aimed specifi-cally at integration in hand-held de-vices, mobile computing platforms, and other solutions requiring high accuracy combined with low power in applica-tions where space is at a premium.

Mobile computing has made spec-tacular inroads into the market in the last few years, and has now become a ubiquitous feature of modern electron-ics, Septentrio said. Handheld devices and mobile computing platforms with L1-GPS for GIS applications have been around for some time. However, users are beginning to demand higher ac-curacy, functionality, and robustness in their mobile GNSS-enabled devices. To cater to these requirements, Septentrio is launching the AsteRx-m.

The AsteRx-m can offer full dual-fre-quency GPS-only RTK capability while consuming less than 500 mW and GPS/GLONASS RTK at less than 600 mW, Septentrio said. It also covers the func-tionality range from GPS-L1 only to full GPS- GLONASS L1-L2, providing the same performance, robustness and availability as “full-size” state-of-the-art dual-frequency RTK receivers, the com-pany said.

The AsteRx-m combines power-saving technology with Septentrio’s GReCo3 GNSS ASIC and GNSS+ suite of tracking and positioning firmware. It makes high-precision RTK positioning available in a very compact and low-power package for handheld devices, unmanned vehicles, and other power-sensitive high-accuracy applications.

“The AsteRx-m builds on the field-proven quality and performance of the AsteRx2 platform with a special focus

on low power and small size, targeted at handheld and battery-operated ap-plications,” said Peter Grognard, man-aging director of Septentrio. “Providing GPS and GLONASS L1 and L2 in a form factor previously limited to L1-only or GPS-only processing, at a power consumption that is half that of com-parable platforms, it effectively delivers twice the might for half the power.”

Septentrio will start shipping AsteRx-m in the third quarter of 2011.

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THE BUSINESS

GPS Study of Chile’s Megaquake Shifts Epicenter 40 Kilometers» SURVEYING

Rakon Named Kiwi Hi-Tech Company of the Decade

» CONSUMER/GLONASS

» PROFESSIONAL OEM

Tablet PC with GLONASS LaunchedRussian 3G operator Skylink has intro-duced what it calls the world’s first tab-let PC with GLONASS and GPS.

The Skylink Xpad works on Android 2.2 operating system. It has a seven-inch display, a SIM card slot, an 800-MHz processor, 512-MB of RAM, and a 3.2 megapixel camera. A battery life of 5-7 hours is expected.

Components have been developed

by the Mastone company, based in China, but the GLONASS applica-tion is supported by the MDM6600 chipset from Qualcomm. Utilizing data from both satellite positioning systems should increase accuracy in urban environments, Skylink says. The computers will be manufac-tured in China.

The GLONASS tablet is expected to

hit store shelves in the fourth quarter of 2011, with a retail price of 14,000 rubles (about $500 US).

Rakon, an Auckland-based company specializing in timing and frequency components, has been named the New Zealand Trade and Enterprise Hi-Tech Company of the Decade (2000-2010). The company was also named the 2011 PwC Hi-Tech Company of the Year, an honor also bestowed at the New Zea-land Hi-Tech Awards May 6.

The Hi-Tech Awards recognize excel-lence across New Zealand’s software, electronics, biotechnology, telecom-munications, and creative technology industries.

The international judging panel was impressed by all five contenders for the Company of the Decade Award, com-menting that, "collectively the compa-nies give great weight to the argument that geography is not destiny — you can build a great global business no matter where you start from." The judges described Rakon as "gutsy and innovative, with an excellent team and spectacular growth," declaring that "Rakon is a company that is truly inter-national in appeal."

Rakon specializes in production

of high-performance quartz crystal components used for timing reference and frequency control. Rakon is the first company in the award's 17-year history to twice win the Company of the Year award, and the first company to be recognized as a leading company in the industry over the last 10 years. “It means a lot to us to receive recognition for all the hard work and success we’ve had over the last decade,” said Brent Robinson, Rakon CEO. “We were up against some fantastic companies and it was quite humbling to win."

Using data from more than 20 GPS sta-tions, researchers in France relocated the epicenter of the 8.8-magnitude earthquake that struck off the coast of southern Chile on February 27, 2010, by 40 kilometers (25 miles).

In a study published online by Sci-ence magazine, the researchers con-clude that the earth ruptured at about three kilometers per second.

“We analyzed cGPS (continuous GPS) and survey GPS data from before, during, and after the Maule event to determine the deformation of the Earth’s surface close to the earthquake

rupture,” wrote Christophe Vign of the Laboratoire de Geologie de l’ENS in Paris, who is lead author of the study. “We use data from Global Positioning System networks in Central Chile to infer the static deformation and the kinematics of the 2010 megawatt 8.8 Maule mega-thrust earthquake. From elastic modeling, we find a total rup-ture length of ~500 km where slip (up to 15 m) concentrated on two main asperities situated on both sides of the epicenter. We find that rupture reached shallow depths, probably extending up to the trench.

“The low frequency hypocenter is relocated 40 km southwest of initial estimates," the authors conclude. "This epicenter is different from those re-ported by seismological services. It is located 15 km south of the epicenter by the Servicio Sismologico Nacional (SSN) of the University of Chile and is al-most 40 km southwest of the epicenter reported by NEIC (the USGS National Earthquake Information Center).”

The scientists also found that vertical displacements reached 1.8 meters of uplift at the tip of the Arauco peninsula, the land point closest to the trench.

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www.gpsworld.com June2011 | GPs World 27

Moreeventsonline:www.gpsworld.com/events

» eVents

navigation strategies europe 2011June 15–16, Berlin, Germanywww.thewherebusiness.com/navigationstrategieseurope/

Twodaysoffocusedanalysisanddebateoncurrenttopicsandchallenges,andopportunitiestomeetmarketleaders.

JsDe/iOn Joint navigation Conference 2011June 28–June 30, Colorado Springs, Colorado; www.ion.org

ThelargestU.S.militarynavigationconference.Atten-danceatforofficialuseonly(FOUO)sessionsrestrictedtoU.S.citizens.ClassifiedsessionsJune30have4-EyesaccessforcitizensoftheU.S.,Australia,CanadaandtheUK.Allpartici-pantsmustestablishaneedtoknowandbeapprovedbytheJointNavigationWarfareCentersecurityoffice.

iAG General Assembly at the iuGG 2011June 28–July 7, 2011, Melbourne, Australia; www.iag-aig.org

InternationalAssociationofGeodesyassemblyheldaspartofthemajorIUGG2011internationalconference,EarthontheEdge:ScienceforaSustainablePlanet,amulti-disci-plinaryconferencepresentedbytheeightscientificassocia-tionsoftheInternationalUnionofGeodesyandGeophysics.

esri international user Conference July 11–15, San Diego, Californiawww.www.esri.com/events/user-conference/

TheEsriInternationalUserConferenceofferstoabout13,000attendeesasmanyas275technicalsessionsandalargeexhibithallforexploringthepowerofgeospatialtech-nology.Pre-conferenceseminarsandaGISManagersOpenSum-mitareplanned.

iOn Gnss 2011September 20–23 Portland, Oregon www.ion.org

TheInstituteofNavigation’sGNSS2011conferencewilltakeplaceattheOregonConventionCenter.Registrationinformationisavailableonline.

Garmin Launches Montana Rugged Handheld » COnsumer Oem

GarminInternationalInc.hasan-nouncedtheMontanahandheldGPSdevice,whatitcallsitsmostadvancedhandheld,featuringaruggedized

designwithmultiplemountingandbatteryoptions,dual-orientationandscreenlayoutoptions,andsupportforawiderangeofGarmincartography.

TheMontanahasabarometricaltimeterforelevationprofilingandabilitytoprofiletherouteaheadusingincludedworldwideelevationmodel.Theincluded3-axiscompassgivesitaheadingwhilestandingstillornotheldlevel.Montana’stouchscreenisfourinchesandthephotostakenbyitsfive-megapixelautofocuscameraaredisplayedinsunlight-readablebrilliantcolor,Garminsaid.

“Montanawasdesignedwiththe‘getdirty,gohard,thengohomecrowd’inmind,whoarealwaysafteradventure,”saidDanBartel,Garmin’svicepresidentofworldwidesales.“FromnavigatingwaterwaysinyourboatandtraversingthebackcountryinyourATV,tohikingtheAustrianAlpsandevenreceivingspokenturn-by-turndirectionsonthe

waytothegrocerystore,Montanahastheversatilityandmappingcompat-ibilitytodowhatyouneeditto.”

Montanaisfullywaterproofandcapableofwithstandingmudandgrit,evenwhenconnectedtoitsoptionalpoweredmount,Garminsaid.TheMontanacanbeusedwiththepowermountcapabilityandCityNavigatorforspoken,turn-by-turndrivingdirec-tions,orwithamountforamotorcycleorATV.Onfoot,headphonescanbepluggedintoMontana’s3.5-millimeteraudiojacktohearthespokenprompts.

Garminoffersdetailedtopographic,marine,androadmaps.MontanaalsosupportsBirdsEyeSatelliteImagery(subscriptionrequired)thatletsusersdownloadsatelliteimagestotheirdeviceandintegratethemwiththeirmaps.MontanaiscompatiblewithCustomMaps,freesoftwarethattrans-formspaperandelectronicmapsintodownloadablemaps.


the buSineSS

Great Positive Strokes from Nike/TomTom Watch» Product revieW

APPLICATION-FOCUSED FLEET MANAGEMENT AND ASSET TRACKING ANTENNA SOLUTIONS FROM PCTEL

Agriculture Aviation Positive Train Control Public Safety

PCTEL designs and manufactures high performance antennas to provide precise location, maximum durability, and ease of installation.

APPLICATIONS:

■ Vehicle/Asset Tracking■ Public Safety■ Positive Train Control■ Specialized Satellite Tracking■ Aviation■ Network Timing■ Precision Measurement– Public Safety, Agriculture– Construction, Mining, Utilities

TECHNOLOGIES:

■ GPS L1/L2/L5/GLONASS/Galileo/ Beidou/Iridium/Globalstar/Inmarsat■ High Out-of-Band Rejection■ Integrated Receivers■ Multiband GPS■ Embedded/Covert Solutions

FOR YOUR CUSTOM, APPLICATION-SPECIFIC, GPS/SATCOM ANTENNA DESIGNS CONTACT THE PCTEL SALES TEAM.

phone 630.372.6800 toll-free 800.323.9122 website www.antenna.comemail [email protected]

By David Loveall

My first impression of the new Nike+ SportWatch (with GPS powered by TomTom) was, “How is a brick that size not going to get in the way of this 50-year-old runner who still thinks he’s all that and a bag of chips?”

Sure, it’s larger than a standard running watch, but it needs to be. Not only does it need to pack in all those nifty features, it makes it easy to read while bouncing down the running trail. It also turned out to be one of the nicest fans I ever met.

It charges through one’s laptop, and the program has all kinds of logging and organizational training aids for the run-ner who is A.D.D. about their training. However, at this stage of my game, I’m all about distance, time, and fending off aging so I can still have something to brag about. This gizmo even helped me do that.

I took it out of the box, put the chip in my Pegasus trainers, pressed two buttons, took a few steps, and was on my way, negotiating routes that I had been running for years. The first mile clicked off really fast, then the second. It’s almost like the Nike TomTom silently coached me to push a little harder. What I also instantly discovered is that my distances

have been grossly underesti-mated. Thus my times always seemed slower that I thought. Global Positioning Systems from space don’t cheat. They are exact and yet this watch was also encouragingly friendly with its accuracy. At the end of what I thought all these years was just over seven miles, the watch congratulated me on a “record setting” pace for 9.14 miles. A few days later, I ran hills. Accepting the times would be a bit slower, the display at the end treated me to another accolade: “And the crowd went wild!” Then it systematically ran through the fastest mile, pace, total time, and estimated calories burned.

This gadget not only helps you run better because of all the information it puts out and organizes, it also gives you the GPS all of us runners need — Great Positive Strokes at the end of your efforts. And I’m definitely a fan of that.

DaviD LoveaLL is a Eugene, Oregon-based photographer and 2009 Boston marathoner.

❚❙ CORPORATE PROFILE ❙❚❚❙ PRODUCT & SERVICES DIRECTORY ❙❚B U Y E R S G U I D E 2 0 1 1

The Company Directory on page 32 gives manufacturer’s contact information.The Products and Services Directory begins on page 38.

38 AccessoriesBuffer boxesCable assembliesCommunications datalinks/modemsConnectorsPower supplies/convertersOther

38 AntennasAntijam/interference suppression unitsGPS, integratedGPS, external

40 Differential GPSDGPS-capable radiobeacon receiversReal-time DGPS correction servicesReal-time DGPS receiversReference stations

40 Digital compasses

40 Electronic charts/maps

40 GLONASS hardware/software

40 Integrated navigation equipmentDead reckoningInertialRadiobeacon

40 Integrated instrumentation with GPSAutomated machine controlBar code scannerCamerasDataloggerInfrared/multispectral sensorsIntegrity monitoring

Laser rangefindersPC/laptop/handheld computerVariable-rate controllersVideography (including time/position captioning)Wireless communicationsYield monitors

40 Ionospheric calibrators

40 MappingChartplottersData conversionDigital mapbasesGeographic info systemsImageryInterfacesSystemsTravel information databases

42 Photogrammetry/GPS integrated systems

42 Precise ephemeris information

42 Publications, guides, videos, training software, etc.

42 Receiver componentsAlphanumeric displaysBandpass filtersChips/ICsGraphical DisplaysInterfacesModulesQuartz crystalsRF amplifiers/preamplifiers

44 Receiver-performance analysis

44 ReceiversAttitude/direction findingAutomatic vehicle locationAviationComputer GPS cards/modulesDigital signal prcessor integrated chip (DSP-IC)Geodetic/geophysicalHandheldLand vehicle navigation/route guidanceMarineMilitaryOEM modules/engines/chipsetsPCMCIA cardsRadio frequency integrated chip (RF-IC)Software receiversSpaceSurveyingSurveying/GISSurveying/RTKTimingTracking

47 Satellite signal simulators/pseudolites

47 Security code decryption devices

47 Seminars/training

47 SoftwareCoordinate conversionGeodetic surveyingGeotaggingGIS/LISGPS-related Internet applications (mapping, navigation, tracking, etc.)MappingMission planningNavigation/route guidance

Network adjustmentOrbit analysis and simulationPre-/postprocessingSystem performance analysisVehicle/vessel/asset tracking

48 Surveying-related equipmentDataloggersElectronic fieldbooksPen-based survey/GIS

49 System design/integration

49 TimingTime-code generatorsTime-transfer stationsTiming clocksTiming/frequency systems

49 Tracking services (mobile assets, roadside assistance, E-911, etc.)

49 Vehicle location/tracking workstations and systems (computer-aided dispatch)

This information is provided by the manufacturers. Every effort has been made to ensure accuracy; however, GPS World is not responsible for the content of the information or for the performance of equipment listed. To appear in the 2012 Buyers Guide, e-mail [email protected] before March 15, 2012.

Buyers Guide2011


❚❙ CORPORATE PROFILE ❙❚


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❚❙ PRODUCT & SERVICES DIRECTORY ❙❚B U Y E R S G U I D E 2 0 1 1

746 Test Squadron1644 Vandergrift RdHolloman AFB, NM 88330

Phone:(866) 256-7878

Email:[email protected]

Fax:(575) 679-1759

Key Contacts:Paul BenshoofChief, Strategic Development(575) 679-1769Paul.Benshoof@ holloman.af.mil

Angelo TrunzoDirector, GPS Test Center of Expertise(575) 679-2234Angelo.Trunzo@ holloman.af.mil

Company DescriptionThe 746th Test Squadron (746 TS) operates the Central Inertial and GPS Test Facility (CIGTF) at Holloman Air Force Base, New Mexico. With more than 50 years of experience, this established test facility provides expert test and evaluation of inertial navigation systems (INS) and components, the Global Positioning System (GPS) and embedded GPS/INS (EGI) navigation and guidance systems, as well as performs trade studies, technical oversight consultation services and analyses regarding GPS platform integration. The 746 TS also manages the tri-service GPS Test Center of Expertise (COE) chartered to support GPS test and evaluation initiatives.

GPS Vulnerability and Field TestingWith the expanding success of GPS comes the threat of GPS denial by our adversaries. The 746 TS has assembled deployable threat equipment and capabilities to emulate these possible threats along with developing extensive test methods to evaluate GPS equipment against electromagnetic signals. The 746 TS can generate almost any world-wide GPS threat and is uniquely qualified to characterize the navigational operation of any GPS receiver when subjected to such a threat.

Navigation Test and Evaluation Laboratory (NavTEL)NavTEL provides an RF sterile laboratory environment with the capability to simulate GPS satellite signals that replicate real-world operations in a controlled, scientific manner. Using proven techniques and state-of-the-art hardware, NavTEL executes tests which simulate complex navigation scenarios. The technical and cost-saving benefits of testing in NavTEL before real-world testing are immeasurable.

Flight and Field TestingThe 746 TS conducts flight and field testing of inertial, GPS, and integrated navigation and guidance systems in both benign and EW environments. Ground vehicle testing

can determine the operational capability of the test article prior to the more complex, dynamic and expensive flight test environ-ment. Flight testing is performed to char-acterize and verify test item performance in flight conditions typical of operational aircraft. Available aircraft include the C-12J, AT-38B, UH-1, and others as requested.

CIGTF Reference System (CRS)The 746 TS provides a wide variety of Time Space Position Information (TSPI) truth reference systems, configurable to meet customer requirements on test vans, helicopters, and other test bed aircraft. Among our precision reference assets is the CIGTF Reference System (CRS). With 3D position and velocity accuracies as good as 0.35 m and 0.010 m/s respectively, this system is becoming the standard reference system for test and evaluation of DoD’s navigation and guidance systems. Rack-mountable and completely mobile, a significant feature of this system is its ability to provide accurate reference data for the test of GPS and/or GPS-aided systems in electronic warfare environments.

Inertial TestingThe 746 TS tests and evaluates precision inertial components (accelerometers and gy-roscopes) and systems used for navigation, guidance and control, as well as pointing and tracking systems. The laboratory features a 53Y three-axis table isolated to the 10’s of nano-g, as well as a precision centrifuge capability that includes a 120-inch radius arm capable of developing 0.5 to 50 g with a g stability of better than 1 ppm, worst case.

Sled Test CapabilityThe Holloman High Speed Test Track, instru-mented by 746 TS personnel, is uniquely applicable to testing guidance and naviga-tion components and subsystems. Sled test programs minimize risks and reduce costs of ownership of newly developed guidance systems and components and provide a means of testing guidance hard-ware in a near operational environment.

746th Test Squadron



746th Test Squadron 1644 Vandergrift RoadHolloman AFB, NM [email protected]

A – B

Accubeat5 HaMarpeh St.Jerusalem 91450 [email protected]

Acumen Instruments2625 N. Loop Drive Ste 2200Ames, IA [email protected]

www.acumeninstruments.com

Allis Communications Co. Ltd.

10-3 Fl., No. 31-1, Lane 169, Kangning St.

Xizhi Dist., New Taipei City 221,

Taiwan (R.O.C.)[email protected]

ALLSAT GmbHAm Hohen Ufer 3A30159 [email protected]

Altus Positioning Systems20725 Western Ave, Ste 100Torrance, CA [email protected]

Antenova Ltd.Far Field HouseAlbert Road, Stow-cum-QuyCambridge, CB25 9AREngland+44-1223-810600 [email protected]

Applanix85 Leek CrescentRichmond Hill, Ontario Canada L4B [email protected]

Ashtech451 El Camino Real, Suite 210Santa Clara, CA 950501-408-572-1103; EMEA/APAC HQ: +33 (2) 28 09 3800

[email protected]

www.ashtech.com

AXIO-NET GmbHAm Hohen Ufer 3a Hannover, Lower Saxony 30159

+49 511 123 718 [email protected]

BAE Systems62 TAL 10920 Technology Place San Diego, CA [email protected]/gxp

Baseband Technologies, Inc.

Ste #498, 3553 31 Street NW Calgary, Alberta T2L 2K7 Canada [email protected]

Beijer Electronics, Inc.2212 South West Temple #50 Salt Lake City, Utah 84115801-466-8770www.beijerelectronicsinc.com

Blue Sky Network1298 Prospect Street, Ste 1D La Jolla, CA 92037 [email protected]

Brandywine Co mmunications

1153 Warner Ave.Tustin, CA [email protected]

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CAST Navigation LLCOne Highwood Drive, Ste 100Tewksbury, MA [email protected]

CellGuide Ltd.12 Hamada StreetBeit Tamar, RehovotIsrael 76703+972-8-9365152 [email protected] www.cell-guide.com

Communication & Navigation (C&N)

Durisolstrasse 7A-4600 [email protected]

CSR plcChurchill HouseCambridge Business Park Cambridge, Cambridgeshire

CB4 0WZ United Kingdom [email protected]

deCarta4 North 2nd St., Suite 950San Jose, CA [email protected]

DeLorme2 DeLorme DriveP.O. Box 298Yarmouth, ME [email protected]

COMPANY DIRECTORYThis annual two-part directory guides you to product manufacturers

and service providers in the GNSS industry. The company directory

begins below; the products and services directory starts on page 38.

C O M PA N Y D I R E C T O RY

Buyers Guide

+ CORPORATE PROFILES

2011



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CAST Navigation, LLC One Highwood Drive, Suite 100, Tewksbury, MA 01876

Phone: 978-858-0130

Fax: 978-858-0170


Web: www.castnav.com

Corporate DescriptionCAST Navigation, LLC (CAST) leads the way with over two decades of GPS experience, customer loyalty and product reliability. CAST simulators are engineering tools designed to support navigation system research, development, systems integration and test. CAST continues to grow and expand its capabilities not only in the GPS signal arena but also in the use of the latest hardware components to build our windows based satellite signal generator. Our proprietary generator uses FPGA technology that enables rapid expansion of capabilities and unlimited growth. Our newest systems are cost effective and extremely reliable with very low failure rates. Using our windows GUI, the user will find operating the system is very easy and intuitive. CAST’s only business is building simulators and prides itself in being the best.

Product Research and InnovationOur willingness to respond to the unique requirements of a customer has encouraged CAST to respond to the latest advancements in GPS signals as well as begin development of the alternative GLONASS and Galileo signals.

The introduction of the new portable EMT (EGI Maintenance Tester) line has made a major break through in providing flight-line test equipment for the EGI. The CAST 3500 series is reliable and portable for the end users. The EMT3500-1T for example is a laptop sized tester that allows the end user to perform a wide

range of functions and tests without the expense of removing the EGI unit (saving on cost, aircraft down time, and man-hours). CAST also has developed a 3D visualization tool that far exceeds that of its competitors. This enhanced visualization software (CAST 175) provides the user with a 3 dimensional animated view of the terrain surrounding the vehicle.

Client BaseCAST has become a world leader in the

design, development, manufacturing, and integration of globally

innovative GPS/INS Simulators and

associated equipment for a broad list of

customers including the military, prime US and foreign vendors, and commercial users. Some of the platforms supported

include: F-35 Lighting II, F-22 Raptor, B-1B Lancer, B-2 Spirit,

E-2 Hawkeye, E-3 Sentry, F-15 Eagle, F-16 Fighter Falcon,

F/A-18 Super Hornet, AH-64A/D Apache, Eurofighter Typhoon, UH-60 Blackhawk, CH-47/MH-47E Chinook, SLAM-ER missile, and JDAM smart weapons.

CAST CommitmentThe CAST Navigation team remains committed to maintaining the highest of ethical standards and dedication to excellence in all of our operational aspects, and our aspirations to exceed our customers’ expectations is unsurpassed. Customer support, coupled with our R&D philosophy to look not only at the next generation but to the one after that, have made CAST the leader and benchmark setter within the industry.

CAST Navigation, LLC

❚❙ COMPANY DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1


DigitalGlobe1601 Dry Creek Drive #260

Longmont, CO [email protected]

E – F

Eka Technologies, Inc.

2985 E. Hillcrest Dr. #203

Thousand Oaks, CA 91362

[email protected]

EndRun Technologies2270 Northpoint PkwySanta Rosa, CA [email protected]

www.endruntechnologies.com

ERCOGENERTour Montparnasse33 Avenue du Maine - BP 103

F-75755 PARIS CEDEX 15

+33 (0)1.45.38.02.34 [email protected]://ercogener.com

eRide Inc.One Letterman Drive, C310

San Francisco, CA 94129

[email protected]

Esterline CMC Electronics

600 Dr. Frederik Philips Blvd.

Saint-Laurent, Quebec H4M

2S9Canada514-748-3100www.cmcelectronics.ca

Fastrax Ltd.Valimotie 7FI-01510 VantaaFinland+358 424 733 [email protected], [email protected]

www.fastraxgps.com

FEI-Zyfer, Inc.7321 Lincoln WayGarden Grove, CA 92841

714-933-4000 [email protected]

ftech Corporation16 Nan-ke 9th Rd.Science-based Industrial Park

Tainan [email protected]

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GENEQ, Inc.8047 Jarry St. EastMontréal, QC H1J 1H6Canada514-354-2511 [email protected]

Geodetics, Inc.2649 Ariane DriveSan Diego, CA [email protected]

GPSantennas.com17900 Crusader Ave.Cerritos, CA 90703GPSantennas.com

GPS2CAD4109 W. Laurel Ln.Phoenix, AZ [email protected]

GPS Insight LLC21803 N Scottsdale Rd, Ste 220

Scottsdale, AZ [email protected]

GPS Networking, Inc.

3915 Outlook Blvd, Ste A

Pueblo, CO 81008 800-463-3063 [email protected]

www.gpsnetworking.com

Greenray Industries, Inc.

840 West Church RoadMechanicsburg, PA 17055

[email protected]

greenrayindustries.com

Hemisphere GPS4110 9th Street SECalgary, AB T2G [email protected]

www.hemispheregps.com

Hirschmann Car Communication

1116 Centre Rd.Auburn Hills, MI [email protected]

www.hirschmann-car.com

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IFEN GMBHAlte Gruber Strasse 685586 [email protected]

ikeGPS Americas4775 W. Panther Creek Drive #440-105

The Woodlands, TX 77381

[email protected]

Impact Power, Inc.18218 East McDurmott, Ste E

Irvine, CA [email protected]

Inventek Systems2 Republic RoadBillerica, MA [email protected]

www.inventeksys.com

ITT Communications Systems

GNSS Solutions 2193 Anchor Court Thousand Oaks, CA 91320

805-373-3200www.cs.itt.com/gnss.html

ITT Electronics Systems

Antenna Products Technologies

585 Johnson Avenue Bohemia, NY [email protected]

http://cs.itt.com/c4products.html

ITT Geospatial Systems

Positioning, Navigation and Timing Systems

77 River Road Clifton, NJ 07014 973-284-3001www.geospatial.itt.com

Jackson Labs Technologies, Inc.

170 Knowles Drive, Ste 208

Los Gatos, CA [email protected]

www.jackson-labs.com

JAVAD GNSS900 Rock AvenueSan Jose, CA [email protected] www.javad.com

John Deere AMS4140 NW 114th St.Urbandale, IA 50322888-GRN-STARwww.johndeereag.com

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KCS BVKuipershaven 22Al Dordrecht, [email protected]

Laird [email protected]

www.lairdtech.com

Larsen Antennas/Pulse Electronics

3611 NE 112th Ave.Vancouver, WA 98682360-944-7551 [email protected]

www.larsen-antennas.com

Leica Geosystems AG

Heinrich-Wild-StrasseCH-9435 HeerbruggSwitzerlandwww.leica-geosystems.com

Locata111 Canberra AvenueGriffi th, ACT [email protected]

www.locatacorp.com

Lockheed Martin Mission Systems and Sensors

1801 State Route 17COwego, NY [email protected]

www.lockheedmartin.com/products/GSTARGPSAntiJamSolutions/

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Microsemi (formerly White Electronic Designs)

3601 East University Drive

Phoenix, AZ 85034-7254

602-437-1520www.microsemi.com

Microwave Filter Company, Inc.

6743 Kinne Street East Syracuse, NY 13057

(800) 448-1666mfcsales@microwavefi lter.com

www.microwavefi lter.com


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Locata Corporation111 Canberra Avenue,Griffith, ACT 2603AUSTRALIA

Phone: +61-2-6126-5700

Web:www.locatacorp.com

The Future Begins in 2011

Some straight talkfrom Down UnderNo slick “mission statement” here, folks. Locata exists for only one purpose. We are a new ground-based network that improves GPS-style positioning - locally. We remove the limitations of a 1970’s satellite-based system so it will now deliver 21st Century performance.

Positioning re-inventedLocata is the inventor, developer and only supplier of revolutionary new wireless positioning technology, created in stealth mode. LocataTech devices create, for the first time, a “local terrestrial replica” of a GPS satellite constellation - both indoors and outdoors. Locata calls this Your Own GPS.

We are the only company in the world that can do this.

Look closely at this industry and the need for LocataTech is now patently obvious. A Silicon Valley exec recently told us:

“For positioning in the future it has become exceedingly clear to everyone that GPS now needs a terrestrial component.”

Yes, it does.And Locata has invented it.

Locata: like GPS rebornLocata promises previously unattainable control and performance for GPS-style applications in any place where GPS is erratic, jammed or unavailable – be it industrial, military, indoor, or urban. Just like GPS did in the past, Locata gives our

partners a technology platform that is the new tool they need to revolutionize what can be done with positioning - again.

Our “terrestrial component” improves GPS to deliver the positioning your children want, not the positioning your parents needed. We’ve named this new combination of satellite and terrestrial constellations GPS 2.0. It’s like GPS reborn in 2011, and it presents the entire industry with incredible new business opportunities…

Disruptive technologyIt’s easy to visualize a LocataNet . Imagine an independent sate l l i te constellation (like GPS, Glonass, Galileo…) except it’s on the ground. You or your company, your campus, your city – you own it. It can be designed to transmit at any power, any frequency or any density your applications need. Because it “looks just like another constellation” Locata can slot seamlessly into current GPS position solutions. Or it can be set up independently so that if all the satellites simply vanished (LightSquared, anyone??) no-one would even notice.

Show me the money!Locata exits stealth mode in September at ION 2011. We actively seek qualified integration partners that know a game-changer when they see one. Opportunity knocks. New markets await. Locata is now open for business.

Information & expressions of interest: [email protected]

2011: Leica Geosystems – Locata for mining

2011: First flight trial – USAF Locata system

�� CORPORATE PROFILE ��

❚❙ CORPORATE PROFILE ❙❚❚❙ COMPANY DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1


Microwave Photonic Systems

1155 Phoenixville Pike, Ste 106

West Chester, PA 19380 [email protected]

www.microwavephotonicsystems.com

Mobile Mark, Inc.3900-B River RoadSchiller Park, IL [email protected]

NavCom Technology20780 Madrona Ave.Torrance, CA 90503 [email protected]

www.navcomtech.com

Navman Wireless OEM Solutions

27422 Portola Parkway, Ste 320

Foothill Ranch, CA 92610

[email protected]

www.navmanwirelessoem.com

NovAtel, Inc.1120 68th Ave N.E., Calgary, AB T2E 8S5 [email protected]

NVS Technologies AGLetzaustrasse 2CH-9462 MontlingenSwitzerland+41 71 760 [email protected]

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OmniSTARDillenburgsingel 69, 2263 HW

Leidschendam / P.O. Box 113,

2260 AC LeidschendamThe Netherlands+31 (0)70 [email protected]

Oscilloquartz SARue des Brévards 16CH-2002 NeuchatelSwitzerland+41-32-722-5555osa@oscilloquartz.comwww.oscilloquartz.com

Pacifi c Crest Corporation

510 DeGuigne DriveSunnyvale, CA 95085info@pacifi ccrest.comwww.pacifi ccrest.com

PCTEL471 Brighton DriveBloomingdale, IL [email protected]

www.antenna.com

Polaris Wireless301 North Whisman Street

Mountain View, California 94043

[email protected]

www.polariswireless.com

Q – R

QinetiQ Ltd.Cody Technology ParkIvely Road, Farnborough

Hants GU14 0LXUnited Kingdom+44 (0) 8700 100 [email protected]

Racelogic Ltd.Unit 10, Swan Business Centre Osier Way, Buckingham,

Bucks, MK18 1TBUnited Kingdom+44-1280-823803 [email protected]

Rakon Ltd.8 Sylvia Park RoadMt. WellingtonAuckland 1060New [email protected]

Raytheon Space and Airborne Systems

P.O. Box 902EO/E18/G132El Segundo, CA 90245-0902

[email protected]

www.raytheon.com

REDTAIL Telematics3990 Old Town Avenue Ste B-104

San Diego, CA 92110 [email protected]

www.redtailtelematics.com

Rohde & SchwarzMühldorfstraße 1581671 München (Munich)

Germanywww2.rohde-schwarz.com

S – T

Septentrio NV/SAUbicenter, Philipssite 53001 Leuven, Belgium+32-16-300800, +1-888-655-9998

[email protected]

Spectracom Corporation

95 Methodist Hill DriveRochester, NY [email protected]

www.spectracomcorp.com

Spectratime8408 Big Timber Dr.Austin, TX [email protected]

Spirent Federal Systems, Inc.

22345 La Palma Ave. #105

Yorba Linda, CA [email protected]

www.SpirentFederal.com

SPIRIT TelecomA. Solzhenizyna, 27 Moscow 109004, Russia+7 (495) [email protected]

www.spiritdsp.com

STMicroelectronicsVia Olivetti, 220041 Agrate Brianza (MI)

Italywww.st.com/gps

Symmetricom2300 Orchard Parkway San Jose, CA [email protected]

www.symmetricom.com

Systron Donner Inertial

2700 Systron Drive Concord, CA 94518 [email protected] www.systron.com

Tallysman Wireless308 Legget Drive, Ste 202

Ottawa, Ontario K2K 1Y6

[email protected]

Teejet TechnologiesP.O. Box 7900North Avenue at Schmale Road

Wheaton, IL 60187 [email protected]

Telogis Fleet Management Software

85 Enterprise, Ste 450Aliso Viejo, CA [email protected]

TEW America2860 Zanker Road, Ste 201

San Jose, CA 95134 [email protected]

www.tewamerica.com

Thales3, rue Toussaint CatrosLe Haillan 33187, [email protected]

www.thalesgroup.com

Trimble935 Stewart DriveSunnyvale, CA [email protected]

www.trimble.com

U– Z

u-blox AGZuercherstrasse 68CH-8800 [email protected]

VGI Solutions/OnPOZ Precise Positioning

4101 Molson St., Ste 400

Montreal, Quebec H1Y 3L1

[email protected]

www.vgisolutions.com



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❚❙ COMPANY DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1

Pacific Crest510 DeGuigne DriveSunnyvale, CA 94085

Phone: 1-408-481-80701-800-795-1001

Fax: 1-408-481-8984


Web:www.PacificCrest.com

Pacific Crest is the leading supplier of wireless data communication solutions designed for positioning and remote sensing applications. The company is also responsible for the sale and support of Trimble’s high-accuracy GNSS board sets to the OEM and system integrator market. The combination of world class communication and GNSS technology with Pacific Crest’s reputation for customizing solutions, results in an unrivaled offering in the marketplace. Pacific Crest provides a total customer solution that reduces the size, cost, and complexity of critical data communications and positioning systems.

Markets ServedPacific Crest serves a broad cross-section of major markets with its rugged and reliable radio and positioning solutions. These markets are broken down into two discrete application segments: precise positioning and remote sensing.

Precise positioning applications include land/marine surveying, construction and machine control, agriculture, and infrastructure monitoring. These applications utilize both Global Navigation Satellite Systems (GNSS) technology and the radio links that communicate Real-Time Kinematic (RTK) corrections from GNSS reference stations to GNSS rover receivers. Pacific Crest is uniquely positioned in the Geomatics industry in that it offers both the GNSS positioning technology and the radio links required for precise positioning.

Remote Sensing applications include environmental monitoring, water management, and pipeline/transmission line management. These applications require the broadcast of digital information from remote sensing devices to central offices that process the data for decision making. Devices such as weather stations, pH meters and pressure sensors

relay their measurements to radio links for broadcast back to the central stations which, in turn, send command/control instruction back to the remote sensors.

Positioning SolutionsPacific Crest offers Trimble’s latest centimeter-level positioning technology to system integrators for a variety of guidance and control applications. The Trimble GNSS receiver modules harness GPS L1/L2/L5 and GLONASS L1/L2 signals and are easy-

to-integrate into specialized or custom hardware solutions to provide fast

RTK initialization with proven low-elevation tracking.

Configurations include a single-board

solution for precise

position and heading; decimeter

positioning with OmniSTAR XP/HP

support; and tracking the experimental Galileo GIOVE-A

and GIOVE-B test satellites for signal evaluation and test purposes.

Radio SolutionsRadio modems from Pacific Crest provide wireless data links for RTK positioning and remote sensing. These broad spectrum transceivers offer up to 35 Watts of power and over-the-air link rates as high as 19,200 bps. Pacific Crest is the leading provider of high-performance data links for the Geomatics industry based on the acceptance of its communications protocols as the standard for RTK surveying.

Compact and lightweight, the radios are also watertight and rugged enough for the toughest environments. They are easily configurable in the field with an enhanced user interface. Easy-to-integrate modules are also available to system integrators seeking the best radio modems possible.

Pacific Crest

cost, and complexity of critical data communications and

its rugged and reliable radio and positioning solutions. These markets are broken down into two discrete application segments: precise positioning and remote sensing.

to-integrate into specialized or custom hardware solutions to provide fast

RTK initialization with proven low-elevation tracking.

Configurations include a single-board

position and heading; decimeter

positioning with OmniSTAR XP/HP

support; and tracking the

❚❙ CORPORATE PROFILE ❙❚❚❙ PRODUCT & SERVICES DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1 ❚❙ PRODUCT & SERVICES DIRECTORY ❙❚B U Y E R S G U I D E 2 0 1 1


Accessories

Buffer boxesALLSAT GmbH

Cable assembliesALLSAT GmbHBlue Sky NetworkBrandywine CommunicationsHirschmann Car CommunicationImpact Power, Inc.JAVAD GNSSLarsen Antennas/Pulse ElectronicsLeica GeosystemsMicrowave Photonic SystemsNavCom TechnologyPCTELTeejet TechnologiesTrimble

Communications datalinks/modemsALLSAT GmbHAshtechBlue Sky NetworkJAVAD GNSSJohn Deere AMSLeica GeosystemsKCS BVNavCom TechnologyPacific CrestQinetiQ Ltd.Tallysman Wireless

Trimble

ConnectorsAccubeatALLSAT GmbHHirschmann Car CommunicationJAVAD GNSSLarsen Antennas/Pulse ElectronicsPCTELTeejet TechnologiesTrimble

Power supplies/convertersALLSAT GmbHImpact Power, Inc.JAVAD GNSSLeica GeosystemsNavCom TechnologyTrimble

OtherBlue Sky NetworkJackson Labs Technologies, Inc.JAVAD GNSSMicrowave Filter Company, Inc.

Antennas

Antijam/interference suppression units

CAST Navigation LLCITT Electronics Systems

JAVAD GNSSLockheed Martin Mission Systems and

SensorsMicrowave Photonic SystemsNavCom TechnologyNovAtel, Inc.NVS Technologies AGPCTELQinetiQ Ltd.Raytheon Space and Airborne Systems Spirent Federal Systems, Inc.

GPS, integrated746th Test Squadron Antenova Ltd.AshtechBaseband Technologies, Inc.Blue Sky NetworkBrandywine CommunicationsEka Technologies, Inc.ERCOGENERFastrax Ltd.ftech CorporationGPSantennas.comGPS Networking, Inc.Hemisphere GPSHirschmann Car CommunicationikeGPS AmericasImpact Power, Inc.Inventek SystemsITT Electronics SystemsJAVAD GNSS

KCS BVLaird TechnologiesLarsen Antennas/Pulse ElectronicsLeica GeosystemsLockheed Martin Mission Systems and

SensorsMobile Mark, Inc.NavCom TechnologyNavman Wireless OEM SolutionsNovAtel, Inc.Oscilloquartz SAPCTELRacelogic Ltd.Spectracom CorporationSpectratimeSymmetricomSystron Donner InertialTallysman WirelessTeejet TechnologiesTrimbleu-blox AG

GPS, externalAllis Communications Co. Ltd.AshtechBlue Sky NetworkDeLormeEndRun TechnologiesERCOGENERFastrax Ltd.ftech CorporationGPSantennas.com

+ CORPORATE PROFILES

PRODUCT & SERVICES DIRECTORY

Buyers Guide2011

P R O D U C T & S E R V I C E S D I R E C T O RY

PCTEL provides antenna solutions for network timing, military applications, aircraft navigation and vehicle tracking with designs incorporating precise performance, maximum durability, and ease of installation.

PCTEL

Phone: 630.372.6800Toll-Free Phone: 800.323.9122Email: [email protected]: www.antenna.com

ftech provides high performance GPS receivers and RF modules for various applications which included professional industrial fi eld and consumer electronics products.

ftech

Phone: +886-6-6008999Fax: +886-6-5050826Email: [email protected]


Racelogic Unit 10, Swan Business Centre, Osier Way, Buckingham, MK18 1TB, UK


Web: www.labsat.co.uk

Key contacts: Mark Sampson, Product Manager

Phone: +44 (0)1280 823803

LabSatTesting devices live in the field is realistic but impossible to repeat. On the other hand, simulation is unrealistic and doesn’t take into account the effects of real environments. LabSat takes the benefits of live sky and simulation by enabling users to record and then replay GNSS RF data as well as user generated scenarios. This gives a blend of realism and repeatability that is invaluable in testing, and makes developing GPS, GLONASS or GALLILEO products easier and more effective.

LabSat is the original record and replay system, and is also the most affordable full constellation product available, with most of the work in reproducing GNSS signals handled by a standard laptop PC, reducing hardware costs and making the unit more portable.

Elements unique to LabSat include the ability to record synchronised multi camera video with the data, serial data record/replay, and selectable 2 or 4 bit sampling.

Customers include Nokia, RIM (Blackberry Smartphone), ST Ericsson, Telefonica, Thales Aerospace, Bosch, Siemens, BMW, Daimler Chrysler, Fujitsu, Broadcom, General Motors, Delphi, Raytheon, Denso, Nav N Go, Seiko Epson and Samsung.

Who makes LabSat?LabSat is designed and manufactured by Racelogic, experts in the field of GNSS testing, simulation, and data logging for the automotive, marine, mining, and GNSS development industries. With all R&D and manufacturing at its UK headquarters, Racelogic supply systems to users in over 86 countries and are an ISO 9001 company.

SatGen Software. Enables fast and accurate creation of user generated simulation scenarios

LabSat. Offers the ability to record and replay GPS +

GLONASS data in a compact, simple to use device

LabSat offers repeatable and realistic GNSS device testing


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GPS Networking, Inc.Hemisphere GPSHirschmann Car CommunicationikeGPS AmericasImpact Power, Inc.Inventek SystemsITT Electronics SystemsJAVAD GNSSKCS BVLaird TechnologiesLarsen Antennas/Pulse ElectronicsLeica GeosystemsMobile Mark, Inc.NavCom TechnologyNavman Wireless OEM SolutionsNovAtel, Inc.NVS Technologies AGOscilloquartz SAPacific CrestPCTELRacelogic Ltd.Spectracom CorporationSpectratimeSymmetricomTallysman WirelessTeejet TechnologiesTrimbleu-blox AG

GPS/communicationsAllis Communications Co. Ltd.AshtechBlue Sky NetworkBrandywine CommunicationsFastrax Ltd.ftech CorporationGPSantennas.comHirschmann Car CommunicationImpact Power, Inc.Inventek SystemsJackson Labs Technologies, Inc.JAVAD GNSSJohn Deere AMSKCS BVLaird TechnologiesLarsen Antennas/Pulse ElectronicsLeica GeosystemsMicrowave Photonic SystemsMobile Mark, Inc.NavCom TechnologyNovAtel, Inc.Oscilloquartz SAPCTELRacelogic Ltd.Spectracom CorporationSpectratimeSymmetricomTallysman WirelessTrimble

Differential GPS

DGPS-capable radiobeacon receivers

ALLSAT GmbHAshtechftech CorporationGENEQ, Inc.Hemisphere GPSJAVAD GNSSLeica GeosystemsNovAtel, Inc.NVS Technologies AGRacelogic Ltd.Trimble

Real-time DGPS correction servicesALLSAT GmbHAXIO-NET GmbHGeodetics, Inc.Hemisphere GPSJAVAD GNSSJohn Deere AMSLeica GeosystemsNavCom TechnologyNovAtel, Inc.NVS Technologies AGOmniSTARPacific CrestRacelogic Ltd.Trimble

Real-time DGPS receiversALLSAT GmbHAshtechCommunication & Navigation (C&N)Esterline CMC ElectronicsFastrax Ltd.GENEQ, Inc.Geodetics, Inc.JAVAD GNSSJohn Deere AMSLeica GeosystemsNavCom TechnologyNovAtel, Inc.NVS Technologies AGOscilloquartz SARacelogic Ltd.Septentrio NV/SASPIRIT TelecomTeejet TechnologiesTrimble

Reference stationsALLSAT GmbHAshtechAXIO-NET GmbH

Communication & Navigation (C&N)eRide , Inc.Geodetics, Inc.JAVAD GNSSJohn Deere AMSLeica GeosystemsNavCom TechnologyNovAtel, Inc.NVS Technologies AGPacific CrestSeptentrio NV/SATrimble

Digital compasses

Eka Technologies, Inc.Hemisphere GPSikeGPS AmericasLeica GeosystemsJAVAD GNSSTrimble

Electronic charts/maps

DeLormeDigitalGlobeikeGPS AmericasJAVAD GNSSJohn Deere AMSLeica GeosystemsTrimble

GLONASS hardware/softwareALLSAT GmbHAshtechBrandywine CommunicationsCAST Navigation LLCCellGuide Ltd.Fastrax Ltd.IFEN GMBHImpact Power, Inc.JAVAD GNSSJohn Deere AMSLeica GeosystemsMicrowave Photonic SystemsNavCom TechnologyNovAtel, Inc.NVS Technologies AGOscilloquartz SAPacific CrestPCTELRacelogic Ltd.Septentrio NV/SASpectracom CorporationSpirent Federal Systems, Inc.SPIRIT TelecomTallysman WirelessTeejet TechnologiesTrimble

Integrated Navigation Equipment

Dead reckoningApplanixeRide , Inc.Fastrax Ltd.NovAtel, Inc.NVS Technologies AGSystron Donner InertialTrimbleu-blox AG

Inertial746th Test Squadron ApplanixCAST Navigation LLCeRide , Inc.Fastrax Ltd.Geodetics, Inc.JAVAD GNSSNavCom TechnologyNovAtel, Inc.Racelogic Ltd.Septentrio NV/SASpirent Federal Systems, Inc.Systron Donner InertialTeejet TechnologiesTrimble

RadiobeaconJAVAD GNSSLocataNVS Technologies AGRacelogic Ltd.

Integrated Instrumentation with GPS

Automated machine controlAshtechCommunication & Navigation (C&N)Geodetics, Inc.Hemisphere GPSJAVAD GNSSJohn Deere AMSKCS BVLeica GeosystemsNavCom TechnologySPIRIT TelecomTeejet TechnologiesTrimble

Bar code scannerKCS BVTrimble

Best GPS Multiband Antennas to optimize Tracking & Fleet Management. Combine GPS with Cellular, WiFi, Public Safety, Orbcomm, M2M and more!

Mobile Mark, Inc.

3900-B River RoadSchiller Park IL 60176Phone: (847) 671-6690Fax: (847) 671-6715Email: [email protected]: Ken Lukowski, VP Sales

Acumen’s DataBridge SDR2 is a self-contained, low-power tool for logging RS-232 and other serial data to flash media—an ideal replacement for PC-based data systems.

Acumen Instruments Corp.

2625 N Loop Dr Ste 2200Ames IA 50010Phone: 515-296-5369Email: [email protected]



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❚❙ PRODUCT & SERVICES DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1 ❚❙ PRODUCT & SERVICES DIRECTORY ❙❚B U Y E R S G U I D E 2 0 1 1

World leaders in frequency control solutions enabling GPS performance.

Application engineering and support offices: USA, Japan, China, Taiwan, England, Germany, France, New Zealand, Korea and Malaysia.

Rakon LimitedHead Office:8 Sylvia Park Road,Mt WellingtonAuckland 1060New Zealand

Phone:+64 9 573 5554


Web:www.rakon.com

Growth through Speed and InnovationSince its inception in 1967, Rakon has advanced, grown and diversified to become a global leader in frequency control solutions.

No. 1 in GPSRakon are world leaders of frequency control solutions which enable GPS performance. The world’s leading companies choose Rakon because of their unrivalled application understanding and technical expertise. Since developing the first 0.5 ppm TCXO for GPS applications, Rakon continues to pioneer next generation frequency control technology, enabling GPS performance in extreme environments.

Diverse Solutions and MarketsRakon don’t just make products, they create custom solutions. Rakon has an extensive portfolio of products with extreme performance capabilities including crystals, XOs, VCXOs, TCXOs, OCXOs, SAW oscillators, crystal filters, Digital Dispersive delay Lines (DDL), Digital Pulse Compression Sub-systems (DPCSS) and complete RF subsystems. Rakon’s specialty products include the RF module; a miniaturised GPS radio frequency front end module (GRM). The module is ‘plug and play’ – ensuring virtually no receiver RF design time and simplifying material requirements. Its OCXO solutions can deliver accuracies of sub 0.05 ppb.

Rakon’s GPS markets include consumer GPS such as PNDs, smart wireless devices and mobile phones. Other GPS

markets include surveying, agriculture, locator beacons, communications infrastructure, military and aerospace.

Rakon WorldwideApplications engineering support is available globally. Offices are located in the USA, NZ, England, France, China, Taiwan, Germany, Japan, Malaysia and Korea.

Manufacturing sites are located in NZ, India, England, France and soon China.

Visit Rakon’s website at rakon.com or contact one of our international locations by emailing [email protected]

State-of-the-art testing technology

Precision and accuracy at every level

❚❙ CORPORATE PROFILE ❙❚❚❙ PRODUCT & SERVICES DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1


Core TechnologySeptentrio develops all critical building blocks for its high-performance GNSS re-ceivers in-house. Septentrio products are built around:• The advanced Septentrio GNSS chipset

solutions• Septentrio’s GNSS+ algorithms:

• tracking for superior sensitivity • high precision positioning• APME multipath mitigation• exceptionally stable tracking under

high vibration conditions• AIM+ Advanced Interference Monitor-

ing & Mitigation• GNSS/Inertial navigation solutions• Certifi able Avionics GNSS fi rmware

Versatile OEM GNSS Receivers...Septentrio designs and sells high-performance OEM Satellite Navigation Receivers for all GNSS systems: GPS, Galileo, GLONASS, Compass and SBAS.

PolaRx® familyThe PolaRx family of receivers is a com-plete platform of high-end multi-frequency GNSS reference station receivers.

AsteRx® familyThe AsteRx family is a platform of com-pact multi-frequency, single- or multi-an-tenna rover receivers featuring low power consumption, high update rates and easy integration in various static or kinematic products.

All receivers can be delivered as OEM board or in a rugged enclosure. Septentrio also delivers antennas, cables and other accessory products.They are provided with intuitive graphical user interface software and various software tools to facilitate instant use and easy inte-gration in various applications.

… for Demanding ApplicationsSeptentrio offers a broad range of reliable and competitive OEM products for use in existing and emerging markets.• Land & Marine Survey and Mapping • Machine Control for Agriculture,

Construction, Mining, Dredging, Marine Engineering

• High Integrity Navigation for land, sea & air• SBAS applications • Continuously Operating Reference

Stations and Networks• Precise Time and Frequency Transfer• Scientifi c applications• Certifi able avionics

Galileo & SeptentrioGalileo is the European contribution to the world of GNSS, adding signifi cantly to the capabilities of Satellite Navigation sig-nals. From its beginning, Septentrio has staunchly supported and actively contrib-uted to the Galileo program. The fi rst ever GNSS receiver to receive live Galileo sig-nals was designed and built by Septentrio. Septentrio continues to play a key role in the realization of Galileo. Septentrio pro-vides its customers with the earliest possi-ble access to Galileo receiver technology.

Working with SeptentrioSeptentrio’s international team of GNSS experts covers all aspects of advanced GNSS receiver design. Our open and fl ex-ible collaboration with customers allows short fi rmware development cycles while maintaining quality as a key element, re-sulting in high customer satisfaction.

Septentrio HeadquartersGreenhill Campus, Interleuvenlaan 15GB-3001 LeuvenBELGIUM

Phone: +32 (0)16 300 800

Fax: +32 (0)16 221 640

USA Offi ce20725 Western Avenue, Suite #144Torrance, CA 90501

Phone: +1 (888) 655-9998 (toll-free)

Fax: +1 (323) 297-4648

Email:[email protected]@[email protected]

Web:www.septentrio.com

Septentrio

Septentrio, PolaRx and AsteRx are registered trademarks in the United States and/or other countries. All other company names and products mentioned herein may be the property of their respective companies. © 2011 Septentrio. All rights reserved.

11-05-11 GPS World Buyers Guide.indd 1 12/05/11 09:58

CameraBaseband Technologies, Inc.DeLormeEka Technologies, Inc.ikeGPS AmericasJAVAD GNSSKCS BVTeejet TechnologiesTrimble

DataloggerAcumen InstrumentsAshtechBaseband Technologies, Inc.Communication & Navigation (C&N)DeLormeFastrax Ltd.ftech CorporationikeGPS AmericasJAVAD GNSSJohn Deere AMSKCS BVLeica GeosystemsNovAtel, Inc.PCTELRacelogic Ltd.Septentrio NV/SASPIRIT TelecomTallysman WirelessTrimble

Infrared/multispectral sensorsDigitalGlobeTrimble

Integrity monitoringGeodetics, Inc.JAVAD GNSSKCS BVLeica GeosystemsNavCom TechnologyNovAtel, Inc.Septentrio NV/SATrimble

Laser rangefindersikeGPS AmericasLeica GeosystemsTrimble

PC/laptop/handheld computerAshtechBaseband Technologies, Inc.Beijer Electronics, Inc.DeLormeGeodetics, Inc.ikeGPS AmericasJAVAD GNSS

John Deere AMSKCS BVLeica GeosystemsRacelogic Ltd.SPIRIT TelecomTrimble

Variable-rate controllersHemisphere GPS JAVAD GNSSJohn Deere AMSNavCom TechnologyTeejet TechnologiesTrimble

Videography (including time/position captioning)

ApplanixJAVAD GNSSTrimble

Wireless communicationsBeijer Electronics, Inc.DeLormeFastrax Ltd.ftech CorporationGeodetics, Inc.ikeGPS AmericasJAVAD GNSSJohn Deere AMSKCS BVLeica GeosystemsMicrowave Photonic SystemsNavCom TechnologyNovAtel, Inc.Oscilloquartz SAPacific CrestPCTELQinetiQ Ltd.Racelogic Ltd.Spectracom CorporationSpectratimeSymmetricomTallysman WirelessTrimble

Yield monitorsJohn Deere AMSNavCom TechnologyTrimble

Ionospheric calibrators

Geodetics, Inc.

Mapping

Chartplotters

Microwave Filter Company offers filter products and components to 50 GHz. Contact our technical staff with your filter requirements.

Microwave Filter Company, Inc.

6743 Kinne Street, East Syracuse, New York 13057, Tel: (800) 448-1666 • Fax: (315) 463-1467 Email: [email protected] www.microwavefilter.comContact: Sandy Nelepovitz

Jackson Labs Technologies, Inc. designs and manufactures Precision Timing and Frequency References including ground-breaking Chip Scale Atomic Oscillators (CSACs) and ultra-miniature GPS Disciplined Oscillators. All products are made in the U.S.A. Product groups are offered that specifically target the following markets: miniature UAV’s, full scale UAV’s, manned air-craft including jet fighters, tracked vehicles, man-packs, commercial, and telecom applications. A large selection of available output frequencies such as 10MHz, 16MHz, 25MHz, 50MHz, and 100MHz are offered, as well as a large selection of oscillator stabilities, phase noise performance, and temperature ranges. Our smallest product is less than 1 inch square and consumes less than 0.5W, and our highest performance product is slightly larger than a pack of cigarettes, and is based on a Cesium Vapor Atomic Reference for ultra-fast warm-up, very low power, and very good holdover performance.

Jackson Labs Technologies, Inc.

170 Knowles Drive, Suite 208Los Gatos, CA. 95032Phone: (408) 866-8078 • Fax: (408) 866-8481www.jackson-labs.com

AsteRx2i HDC receiver, Septentrio.

❚❙ CORPORATE PROFILE ❙❚❚❙ PRODUCT & SERVICES DIRECTORY ❙❚ B U Y E R S G U I D E 2 0 1 1

Core TechnologySeptentrio develops all critical building blocks for its high-performance GNSS re-ceivers in-house. Septentrio products are built around:• The advanced Septentrio GNSS chipset

solutions• Septentrio’s GNSS+ algorithms:

• tracking for superior sensitivity • high precision positioning• APME multipath mitigation• exceptionally stable tracking under

high vibration conditions• AIM+ Advanced Interference Monitor-

ing & Mitigation• GNSS/Inertial navigation solutions• Certifi able Avionics GNSS fi rmware

Versatile OEM GNSS Receivers...Septentrio designs and sells high-performance OEM Satellite Navigation Receivers for all GNSS systems: GPS, Galileo, GLONASS, Compass and SBAS.

PolaRx® familyThe PolaRx family of receivers is a com-plete platform of high-end multi-frequency GNSS reference station receivers.

AsteRx® familyThe AsteRx family is a platform of com-pact multi-frequency, single- or multi-an-tenna rover receivers featuring low power consumption, high update rates and easy integration in various static or kinematic products.

All receivers can be delivered as OEM board or in a rugged enclosure. Septentrio also delivers antennas, cables and other accessory products.They are provided with intuitive graphical user interface software and various software tools to facilitate instant use and easy inte-gration in various applications.

… for Demanding ApplicationsSeptentrio offers a broad range of reliable and competitive OEM products for use in existing and emerging markets.• Land & Marine Survey and Mapping • Machine Control for Agriculture,

Construction, Mining, Dredging, Marine Engineering

• High Integrity Navigation for land, sea & air• SBAS applications • Continuously Operating Reference

Stations and Networks• Precise Time and Frequency Transfer• Scientifi c applications• Certifi able avionics

Galileo & SeptentrioGalileo is the European contribution to the world of GNSS, adding signifi cantly to the capabilities of Satellite Navigation sig-nals. From its beginning, Septentrio has staunchly supported and actively contrib-uted to the Galileo program. The fi rst ever GNSS receiver to receive live Galileo sig-nals was designed and built by Septentrio. Septentrio continues to play a key role in the realization of Galileo. Septentrio pro-vides its customers with the earliest possi-ble access to Galileo receiver technology.

Working with SeptentrioSeptentrio’s international team of GNSS experts covers all aspects of advanced GNSS receiver design. Our open and fl ex-ible collaboration with customers allows short fi rmware development cycles while maintaining quality as a key element, re-sulting in high customer satisfaction.

Septentrio HeadquartersGreenhill Campus, Interleuvenlaan 15GB-3001 LeuvenBELGIUM

Phone: +32 (0)16 300 800

Fax: +32 (0)16 221 640

USA Offi ce20725 Western Avenue, Suite #144Torrance, CA 90501

Phone: +1 (888) 655-9998 (toll-free)

Fax: +1 (323) 297-4648

Email:[email protected]@[email protected]

Web:www.septentrio.com

Septentrio

Septentrio, PolaRx and AsteRx are registered trademarks in the United States and/or other countries. All other company names and products mentioned herein may be the property of their respective companies. © 2011 Septentrio. All rights reserved.

11-05-11 GPS World Buyers Guide.indd 1 12/05/11 09:58

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❚❙ PRODUCT & SERVICES DIRECTORY ❙❚B U Y E R S G U I D E 2 0 1 1




JAVAD GNSSLeica Geosystems

Data conversionALLSAT GmbHAshtechBAE SystemsGeodetics, Inc.JAVAD GNSSJohn Deere AMSLeica GeosystemsTrimble

Digital mapbasesdeCartaDeLormeDigitalGlobeikeGPS Americas

Geographic info systemsALLSAT GmbHApplanixAshtechBAE SystemsDeLormeGENEQ, Inc.Geodetics, Inc.Hemisphere GPS ikeGPS AmericasJAVAD GNSSJohn Deere AMSLeica GeosystemsTrimble

ImageryApplanixBAE SystemsdeCartaDeLormeDigitalGlobeJAVAD GNSSJohn Deere AMSLeica GeosystemsTrimble

InterfacesALLSAT GmbHAshtechBAE SystemsGeodetics, Inc.JAVAD GNSS

Trimble

SystemsALLSAT GmbHApplanixAshtechDeLormeGENEQ, Inc.Geodetics, Inc.JAVAD GNSSJohn Deere AMSNavCom TechnologyTrimble

Travel information databasesDeLorme

Photogrammetry/GPS integrated systems

ApplanixBAE SystemsDeLormeDigitalGlobeGeodetics, Inc.JAVAD GNSSLeica GeosystemsNavCom TechnologyTrimble

Precise ephemeris information

746th Test Squadron Geodetics, Inc.NavCom TechnologyTrimble

Publications, guides, videos, training software, etc.

JAVAD GNSSJohn Deere AMSLeica GeosystemsTrimble

Receiver components

Alphanumeric displays

JAVAD GNSSJohn Deere AMSLeica GeosystemsTrimble

Bandpass filtersJAVAD GNSSMicrowave Filter Company, Inc.Navman Wireless OEM SolutionsPCTEL

Chips/ICsAshtechCellGuide Ltd.CSR plceRide , Inc.Fastrax Ltd.JAVAD GNSSNavCom TechnologyNavman Wireless OEM SolutionsNVS Technologies AGSTMicroelectronicsTrimbleu-blox AG

Graphical DisplaysGeodetics, Inc.GPSantennas.comJAVAD GNSSJohn Deere AMSLeica GeosystemsNovAtel, Inc.Racelogic Ltd.Trimble

InterfacesAshtechGeodetics, Inc.JAVAD GNSSNavCom TechnologyNovAtel, Inc.Trimble

ModulesAntenova Ltd.AshtechBaseband Technologies, Inc.CellGuide Ltd.DeLormeERCOGENEReRide , Inc.Fastrax Ltd.ftech CorporationGeodetics, Inc.Hemisphere GPSJAVAD GNSSJohn Deere AMSNavCom TechnologyNavman Wireless OEM Solutions

NovAtel, Inc.NVS Technologies AGOscilloquartz SAPacific CrestRakon Ltd.Raytheon Space and Airborne SystemsSpectratimeSPIRIT TelecomThalesTrimbleu-blox AG

Quartz crystalsGreenray IndustriesJAVAD GNSSOscilloquartz SARakon Ltd.SpectratimeSymmetricomTEW America

RF amplifiers/preamplifiersAllis Communications Co. Ltd.EndRun TechnologiesGPS Networking, Inc.JAVAD GNSSMicrowave Photonic SystemsNavCom TechnologyNVS Technologies AGPCTELTallysman WirelessTrimble

Receiver-performance analysis

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Receivers

Attitude/direction findingAshtechDeLormeGeodetics, Inc.Hemisphere GPSInventek SystemsJAVAD GNSSNavCom TechnologyNovAtel, Inc.

Antenova is a leading provider of high performance integrated antennas and RF antenna modules for embedded GPS applications.

Antenova Ltd.

Far Field HouseAlbert Road, QuyCambridge CB25 9AR, UKPhone: +1 (0) 1223 810 600Fax: + 44 (0) 1223 810 650www.antenova.com

GSS6400 Record Replay System, Spirent Federal.


Spirent Federal Systems 22345 La Palma Ave, Ste 105 Yorba Linda, CA 92887

Phone: 714 692 6565

Fax: 714 692 6567


Web: www.spirentfederal.com

Key contacts: Jeff Martin Director of Sales

Kalani Needham Sales Manager

Spirent GSS8000 Simulation System

Spirent Federal SystemsGNSS Simulators

Spirent is the world’s leading provider of GPS/GNSS simulators. We provide simulators that cover all applications, including research and development, integration/verification, and production testing. With a broad line of products, we are sure to have the right solution for you.

GSS8000Our flagship simulator, the GSS8000, is fully approved for Y-code, SAASM, AES M-code and SDS M-code testing. We provide options and configurations for testing GNSS interference effects and interference mitigation techniques, such as integrated GPS/inertial testing, CRPA testing, and jamming/anti-jam simulation.

We have delivered simulators that produce both legacy signals as well as modernized signals such as L2C, L5, and L1C. In addition to the complete spectrum of GPS signals, systems can include GLONASS L1/L2 plus all frequencies and services of Galileo. Add to the list SBAS (WAAS, MSAS & EGNOS) and Japan’s Quasi-Zenith Satellite System (QZSS), and you have the most comprehensive GPS/GNSS simulator in the world.

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With more than 25 years of GPS/GNSS simulation experience, Spirent provides simulators that incorporate the highest levels of quality, accuracy, fidelity, and reliability with unparalleled performance and customer support.

Controlled Reception Pattern Antenna (CRPA) Test System

Spirent GSS7790 Simulation System


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Greenray manufactures quartz crystal oscillators for use in a variety of industries including military, communications and instrumentation; several products are used in GPS-related applications.

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Spectratime manufactures and markets high-performance, cost-effective crystal, rubidium and maser oscillators, smart integrated GPS clocks and systems, and testing instruments.

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Autonomous navigation systems onboard precision guided missiles or fighter planes depend on GNSS and its very weak signals for positioning and

navigation. Performance of a GPS receiver usually depends on the phase-lock loops (PLLs) used to down-convert these weak signals and track their carrier phase and frequency. A PLL can properly work only if its bandwidth is wide enough to track the signal dynamics, which can be significantly high, given the extremely rapid movements, accelerations, and direction changes of a missile or plane. On the other hand, wide-loop bandwidths allow larger portions of noise and interference to enter the tracking loops and disturb the signal tracking process. Excessive noise and interference can lead to loss of lock.

Aiding from a frequency lock loop (FLL) allows reducing the PLL bandwidth. This cannot prevent, however, frequent loss of lock and can be strongly affected by interference. The tradeoff between bandwidth requirements motivates design of alternative tracking systems replacing conventional FLL-

assisted-PLLs.We used fuzzy systems to design and test an innovative

FLL-assisted-PLL. The output of a fuzzy controller that replaced standard loop filters drives the numerically controlled oscillator (NCO). The proposed fuzzy frequency phase lock loop (FFPLL) uses both frequency and phase discriminator outputs to generate the required frequency changes to tune the NCO, which in turn generates the local carrier for signal down-conversion.

The main core of any fuzzy system is its fuzzy sets or membership functions (MFs) that map input/output parameters into defined linguistic variables describing the input/output states. Loop discriminator outputs mainly depend on the incoming signal carrier-to-noise power density ratio (C/N0) and have a probability density function (PDF) that, under lock conditions, can be accurately approximated by a Gaussian distribution. Although the mean of this Gaussian distribution is zero under normal tracking conditions, it can be affected by sudden changes

Mitigation for Missiles Fuzzy Logic and Intelligent Tracking Loops Cope with InterferenceA fuzzy tracking system performs as a narrow bandwidth tracking system in terms of noise reduction, and a wide bandwidth tracking system in terms of dynamic response, overcoming the contradiction between receiver bandwidth requirements using classical tracking techniques for either noise reduction or dynamic tracking. Ahmed M. Kamel, Daniele Borio, John Nielsen, and Gérard Lachapelle, University of Calgary

Precision Guidance | defense

www.gpsworld.com June2011| GPs World 51

in the presence of dynamics that can cause cycle slips and other phase errors. The standard deviation of this distribution is also dependent on the signal quality and hence on the interference level. For these reasons, the discriminator output values have been clustered into several overlapped Gaussian MFs that can linguistically describe their state. The variance of the Gaussian MFs assigned to the phase and frequency discriminator outputs are adaptively tuned according to the incoming signal quality. So any change in the interference power level leads to variations in the Gaussian MF variance to ensure accurate linguistic description of the discriminator output signal. The fuzzy rules are selected to tune the NCO and ensure accurate and robust signal tracking.

We assess performance of the fuzzy tracking system in the presence of different power levels of interference. To generate GPS signals corrupted by radio frequency (RF) interference, we used a hardware GPS signal simulator combined with two external signal generators, and applied different interference levels combined with missile harsh dynamics to test the proposed system. Results show that the fuzzy tracking system significantly improves system robustness and accuracy such that it is able to track very high dynamics with reduced tracking jitter. The system shows resilience against strong interference up to a certain extent where increasing jamming levels are compensated by the online adaptation of the MF distribution on the basis of a small amount of data or C/N0 information.

The system performs favorably against standard tracking loops that cannot sustain the same level of dynamics and interference. The adaptive FFPLL can sustain interference power levels up to J/S = 40 dB. Even when the algorithm loses lock, a fast, reliable reacquisition is obtained when the interference power is reduced.

Theoretical BasisMost physical processes are nonlinear in nature. Linear approximations and models are employed because linear systems are simple, understandable, and can provide acceptable approx-imations of the actual processes. Unfortunately, most tracking problems are too complex, and their linear approximation does not provide sufficient insight on the system in all environmental conditions.

Standard tracking loop filters are obtained by solving an optimization problem where the noise characteristics and the order of the signal dynamics are known. Different loop orders are obtained for different orders of dynamics. Moreover, the optimization problem is usually solved by considering a linear approximation of the loop. These assumptions are strong, but the standard solution can fail to provide satisfactory performance when the loop is no longer working in its linearity region, or the noise characteristics are not completely known. In such conditions, an approach based on a linguistic description of the system variables may be preferable. In that sense, fuzzy control systems provide sufficient tools for designing a robust alternative to standard loop filter.

In previous cases where researchers tried to use fuzzy techniques for PLL design, they used fuzzy logic controllers (FLCs) in parallel with a classic PLL architecture. We take a different approach, designing a new fuzzy rule-based tracking system to replace the standard FLL-assisted-PLL. The new system uses the noisy phase and frequency discriminator outputs and directly produces a control signal that represents the frequency

change required by the NCO to maintain phase lock.

new signal-Tracking ApproachGPS L1 signals consist of carrier, spreading code, and navigation data. To successfully demodulate the navigation data from the received signal, an exact carrier wave replica must be generated, generally using PLLs and FLLs. Figure 1 shows the basic block diagram of a standard PLL. The two first multiplication stages are required to wipe off the input signal carrier and pseudorandom noise (PRN) code required for any CDMA communication system. A local replica of the PRN code is provided by the delay lock loop (DLL) and is used to remove the PRN sequence from the incoming signal. The carrier loop discriminator is used to estimate the phase error between local and incoming carrier. The discriminator output, which represents the phase error, is then filtered and used to tune the NCO, which adjusts the frequency of the local carrier wave. Thus, the local carrier wave tends to be a precise replica of the input signal carrier.

PLL design is a challenging task, particularly if the receiver is affected by high dynamics, or if the input signal power is low due to signal interference or degraded environments. It is therefore desirable to provide robust algorithms for the PLL design.

FLLs are more resilient against signal dynamics and produce accurate velocity measurements. PLLs however also provide signal-phase information, leading to a simplified data demod-ulation process as compared to FLLs. Several attempts to combine the benefits of both loops have been done in the past, leading to various

▲▲ Figure 1 BasicPLLblockdiagram(courtesyofKaiBorre).

FLL-assisted-PLL schemes where the joint use of the two loops becomes an effective way to accomodate high signal dynamics. The ability of a tracking loop to track signal dynamics is also determined by the loop order. For high dynamic scenarios, a 3rd order PLL is usually used as it is only sensitive to acceleration jerks. Higher-order PLLs can produce system instability and greater noise level. Figure 2 shows the loop filter of a typical 2nd order FLL-assisted 3rd order PLL, where T is the update period of the loop. All the gains shown in the figure are design parameters and function of loop bandwidths, Bnp and Bnf, as reported in Table 1.

The response of a GPS receiver to different signal-to-noise levels depends mainly on the code and carrier (phase/ frequency) tracking loop bandwidths. However, there is a trade-off between noise resistance and response to dynamics. Narrow bandwidth track-ing loops are more resistant to noise, which makes them suitable for moderate jamming environments. Wide bandwidth tracking loops are more responsive to dynamics. Thus, tracking loop bandwidth requirements for GPS receivers are conflicting. One solution is to adapt the tracking loop bandwidth to the receiver measured carrier-power-to-noise density ratio (C/N0) and receiver dynamics. However, this approach can hardly solve for both concerns at the same time; trade-off must be found.

Automatic control methods based on artificial intelligence approaches (for example, fuzzy systems, neural networks, and genetic algorithms) have emerged as an alternative model to analytic control theory. One of the greatest advantages of fuzzy controllers is the simple and intuitive design. On the other hand, this simplicity is perhaps the primary cause of their initial slow acceptance among the control community.

Figure 3 shows the structure of the system design, where the standard loop filter is replaced by the proposed

FFPLL controller. The fuzzy controller is composed of three consecutive layers named as fuzzification, fuzzy associative memories (FAMs, or fuzzy rules or fuzzy associations), and defuzzification layers.

The fuzzification layer is composed of a number of fuzzy sets characterized by MFs determined by the designer. These MFs are responsible for converting the crisp input values into linguistic values. The defuzzification layer is related to the fuzzification layer through the FAM rules that compose the second layer. FAM rules operate in parallel and to different degrees. Each is a set-level implication and represents ambiguous expert knowledge or learned input-output transformations. The system nonlinearly transforms exact or fuzzy state inputs to a fuzzy set output. This output is defuzzified with a centroid operation to generate an exact numerical output.

System DesignThe fuzzy frequency/phase tracking system is designed to rapidly recover the signal frequency in the presence of large frequency errors, that is, after acquisition/reacquisition, and to behave as a PLL, with precise phase recovery, in the case of small frequency errors. The fuzziness of the system inputs is mainly due to the low power of GPS

signals with respect to thermal noise, the main source of phase/frequency jitter. Noise distribution then plays a major role in the system design. This is why an a priori knowledge of expected signal parameters such as C/N0 is essential. This knowledge can be achieved during signal acquisition or in the first stages of signal tracking. For example; a signal with a C/N0 equals to 39 dB-Hz, in static condition and in an interference-free environment, is characterized by a phase discriminator output with a distribution approximately Gaussian as shown in Figure 4. The standard deviation of this signal, when using a standard PLL, can be theoretically calculated as follows:

where (rad) is the standard deviation the dot-product discrim-inator, which also suits well the arctangent discriminator used in this research, T (s) is the predetection


DefenSe | Precision Guidance Precision Guidance | DefenSe

▲▲ Figure 3 Schematic diagram of a fuzzy tracking loop design.

▲▲ Figure 2 Schematic of a loop filter of a 2nd order FLL-assisted 3rd order PLL (courtesy of Elliot Kaplan).

▲▲ Table 1 FLL-assisted-PLL loop filter gains.



integration time and c / n0 carrier to noise power expressed as a ratio (Hz).

Figure 4 shows the time-domain representation for the phase-discriminator output during tracking the incoming signal received from PRN 5 using a 4 Hz 3rd-order PLL in 1-millisecond coherent integration time and its histogram with the Gaussian function approximation. The corresponding Gaussian probability density function (PDF) in this case covers the signal expected values in standard tracking conditions at certain C/N0 levels, and it can be linguistically described as zero-state if compared to the ideal phase discriminator output. The mean and standard deviation, which are the two main parameters that govern the Gaussian distribution function, are directly related to the signal dynamics and signal quality respectively.

Receiver dynamics can cause phase tracking errors, and hence the distribution mean will be shifted from zero. On the other hand, the changes in signal quality will produce changes in the standard deviation as illustrated in Equation (1). An appropriate mapping between the signal PDF and fuzzy MFs can be made, and in this case, the probability of occurrence described by the PDF will be replaced by a degree of occurrence sensed by a number of overlapped Gaussian MFs as shown in Figure 4(c).

Using this approach, both phase and frequency-error inputs in addition to the NCO tuning-frequency output domains are clustered into several overlapping Gaussian fuzzy sets, each of them describing a certain linguistic definition of input or output value (big, medium, small, zero, and so on). The number of MFs adopted for the fuzzy controller is reported in Table 2.

The number of fuzzy sets associated with each fuzzy variable is a design parameter selected according to the required tracking accuracy. How much these contiguous sets should overlap is also a design issue depending on the problem at hand; too much overlap blurs the distinction between the fuzzy set values, whereas too little overlap

▲▲ figure 4 (a)TimedomainrepresentationofaPLLphasediscriminatoroutput,(b)HistogramandGaussianapproximation,(c)AnexampleofmappingbetweenPDFandMF.


DefenSe | Precision Guidance

can produce excessive overshoot and undershoot.

The fuzzy rules that relate all the linguistic variables can be expressed as:

Ri : if x1 is Ai1 and x2 is A

i2,

then y is Bi. i = 1, 2 . . . 81where x1, x2, and y are linguistic variables, and Ai

1, Ai2 and Bi

are linguistic labels (or fuzzy sets) characterized by an MF. A defuzzification process is used to determine a crisp value according to the fuzzy output from the inference mechanism. The fuzzy centroid method, which calculates the center of the area of the inference mechanism output possibility distribution, is used as defuzzification strategy in the FFPLL. The output y is obtained as

(2)

where n is the number of fuzzy output sets, yi is the numerical value of the ith output membership function, and u(yi) represents its membership value at the ith quantization level. Table 3 shows the fuzzy rule table providing the human knowledge base of the controller.

Gaussian MFs ended by trapezoidal

rules were chosen as shown in Figure 5, Figure 6, and Figure 7, respectively. The variance of each Gaussian function can be changed according to signal noise level as described earlier, and online adaptation can be performed as described in a later paragraph. The FAMs are designed to act like an FLL for fast frequency tracking recovery in case of large frequency error indicated by the frequency discriminator. That can be seen in Table 3 in all the rules except when the frequency error is in the zero region. In this case it starts to look for the phase error, which is indicated by the phase discriminator for accurate phase tracking, and to extract the required data message.

Interference effectsAs shown in Equation (1), higher C/N0 values ensure a small noise standard

deviation, hence accurate and stable tracking. Increasing signal interference level will decrease the C/N0 level.

Interference signal power usually changes according to the receiver maneuver by approaching or moving away from a jammer, jammer motion,

▲▲ Table 3 Fuzzy rules. The terms are B: big, MB: medium big, M: medium, S: small, and Ze: zero.

▲▲ Figure 8 Modified FFPLL with estimation of phase and frequency discriminator output standard deviation for MF online adaptation.

▲▲ Table 2 Distribution of fuzzy membership functions.

▲▲ Figure 5 Phase membership functions.

▲▲ Figure 6 Frequency membership functions.

▲▲ Figure 7 NCO tuning frequency membership functions.

Type Fuzzy Variable Number of MFs Input(1) Phase 9 Input(2) Frequency 9 output Tuning frequency 11



or to the jammer power changes. These changes affect the effective C/ NO on the receiver side. The analogy between Gaussian noise distribution and fuzzy MFs as shown in Figure 4 still holds, but a continuous change of the MF parameters — particularly the standard deviation — is required to cope with the C/N0 variations.

For online adaptation of the MFs, the noise standard deviation associated with the phase and frequency discriminator outputs must be continuously estimated. This can be done using past samples from the phase and frequency discriminators. Small analysis windows, used for collecting past phase and frequency discriminator samples, should be used to properly follow rapid changes due to the interfering signal. A tradeoff between sensitivity and accuracy must be taken into consideration. For this research, we found a small analysis window with a width of 1 second to be enough for good sensitivity at high dynamics. Figure 8 shows the modified FFPLL system with the standard deviation estimation. This information is used for the online adaptation of the Gaussian fuzzy MFs.

Test and simulationThe primary equipment used for testing the proposed algorithm is a hardware simulator. The hardware configuration is capable of producing GPS signals in the L1, L2 and L5 frequencies in addition to adjustable additive interference through two separate signal generators. Several custom scenarios representing typical missile motion in space have been designed and tested. The radio frequency (RF) signals are collected through a front end after passing through an external low noise amplifier (LNA) using sampling frequency of 10 MHz, and saved for post-processing.

To assess performance of the tracking algorithm under interference and dynamic effects, we designed two categories of simulation scenarios. The first category is designed to test

interference effects where a static receiver with gradually increasing interference level has been used. Both the interference and high dynamic effects are examined in the second category, in which scenarios of a missile that maneuvers near an interference source are designed. Four different tracking schemes are used for GPS signal tracking. They

include the usage of a standard PLL with narrow and wide bandwidths (4 Hz and 14 Hz, respectively), FLL-assisted-PLL using narrow bandwidths (3/4 Hz), and finally the new FFPLL. The performance of each algorithm is evaluated by assessing the continuity of tracking during high dynamics, that is, the ability of the receiver to maintain lock, and the noise standard

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deviation of the estimated Doppler.

Interference effect on AccuracyThe first test category involves studying the interference effect on GPS signal tracking capability and accuracy, using a custom scenario of a static GPS receiver with gradually increasing interference level. A continuous wave (CW) interference signal centered at the L1 frequency is combined with the generated GPS L1 signal and collected by the front end for post processing. Figure 9 shows the increasing interference effect on the signal quality particularly the signal C/N0. In this scenario, the jamming to signal (J/S) interference power is gradually increased every 10 seconds in steps of 10 dB each starting from 0 dB higher than the GPS L1 power.

After reaching an interference power of about 40 dB higher than the GPS power, none of the tracking algorithms

was able to track the signal and hence 40 dB is considered the maximum jamming tracking threshold. Figure 10 shows the estimated Doppler standard deviation for PRN 23 using the four tracking schemes described earlier at different interference levels. It is clear that the FFPLL scheme is superior to the other three conventional tracking schemes in terms of Doppler tracking jitter and hence tracking accuracy. The changes in C/N0 level due to the

increasing interference level affect the discriminators output noise level as described in equation (1). These effects can be noticed clearly in Figure 10. On the contrary, these changes are almost absorbed by the adaptive FFPLL, and hence the C/N0 changes have a minimum effect on the Doppler tracking accuracy.

Interference and High DynamicsThe second test category assesses

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▲▲ Figure 9 PRN 23 C/N0 level changes due to increasing interference power.

▲▲ Figure 10 Doppler standard deviation calculated for PRN 23 using four tracking configurations.



the system performance under CW interference and high dynamics. The scenario considered here comprises the effect of missile maneuver near an interference source. Due to this maneuver, the GPS signal C/N0 is changed with the distance from the interference source. The missile velocity in this scenario is increased to reach 300 meters/second performing hard maneuvers with acceleration up to 8 g and jerks up to 50 g/second. The same scenario is repeated five times with different CW interference powers. Due to missile high dynamics narrow bandwidth PLL or FLL/PLL was not able to provide continuous signal tracking and losing lock occurred, that is why only a 14 Hz bandwidth PLL and FFPLL are considered. Interference powers generated are 20, 30, 40, 45, 50 dB respectively above normal GPS signal power. Figure 11 shows the 3D plot of missile trajectory and its

maneuver near the jammer, while Figure 12 shows the effect of this maneuver on the signal C/N0 for PRN 3 when a 40 dB interference signal is applied. C/N0 increases and decreases according to the separation from the interference source.

Tracking results show the ability of continuous tracking under interference level up to 40 dB higher than the GPS signal for both PLL 14 Hz and FFPLL. Higher levels of interference lead to tracking loss. FFPLL is able to recover tracking mode and retrieve the signal phase when interference source is disabled due to missile maneuver away from the jamming source whereas the wideband PLL is not able to retrieve back the signal phase in these high dynamics conditions.

Figure 13 shows the effect of adding a 40-dB interference signal on PRN 3 estimated Doppler and Doppler standard deviation respectively, using PLL 14 Hz and FFPLL. Tracking

▲▲ Figure 11 3Dplotofthemissilemaneuvernearaninterferencesource.

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▲▲ Figure 12 C/N0evaluatedasafunctionoftimeforPRN3duringmaneuveraroundaninterferencesource.



continuity is achieved using both algorithms; the interference signal greatly affects PLL tracking accuracy whereas FFPLL tracking accuracy is much better in both interference and interference free conditions.

ConclusionsThe fuzzy tracking system solves the contradiction between receiver bandwidth requirements using classical tracking techniques for either noise reduction or dynamics tracking. It shows better performance in both cases since it performs as a narrow bandwidth tracking system in terms of noise reduction, and a wide bandwidth tracking system in terms of dynamic response.

The fuzzy tracking algorithm FFPLL provided tracking robustness in very high dynamics and signal interference up to 40 dB higher than GPS L1 power. The noise level calculated from the estimated Doppler is small, equivalent to results obtained with a very narrow PLL bandwidth under normal

conditions. During high dynamics, tracking continuity is achieved using FFPLL with dynamic performance comparable to a wideband PLL or FLL/PLL. Signal tracking recovery is achieved if the interference power causing signal tracking denial is reduced or turned off.

ManufacturersSpirent GSS7700 simulator, National Instruments PXI 5661 front-end.

Ahmed m. KAmel is a Ph.D. candidate in the Position, Location and Navigation (PLAN) Group at the University of Calgary. He holds an M.Sc. in electrical engineering from Military Technical College (MTC), Cairo, Egypt. dANIele BorIo received a Ph.D. in electrical engineering from Politecnico di Torino, Italy, was a senior research associate in PLAN Group, and is a post-doctoral fellow at the Joint Research Centre of the European Commission. JohN NIelSeN is an associate professor at the University of Calgary.GérArd lAchApelle is professor of geomatics engineering at U. of Calgary, Canada Research Chair in wireless location, and head of the PLAN Group.

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▲▲ fIGure 13 Estimated Doppler calculated for PRN 3 using PLL 14 Hz and FFPLL at J/S = 40 dB.

• GPS and GLONASS Modernization

• GPS and GNSS Interoperability for Military Applications

• GPS/Galileo Compatibility and Interoperability

• Integrated Applications of Earth Observation, Communication and GNSS

• Interference and Spectrum Management

• Land Based Applications

• LBS Technology and Applications

• Location Based Services

• Marine Navigation

• Multi-Constellation User Receivers

• New Multi-Constellation GNSS Product Announcements

• New Product and Commercial Service Announcements

• Next Generation GNSS Integrity

• Pedestrian Navigation

• Advanced Multi-Constellation Integrity Concepts

• Advances in Military GPS Systems

• Algorithms & Methods

• Alternatives and Backups to GNSS (academic focus)

• Alternatives and Backups to GNSS (consumer/commercial focus)

• Aviation Applications

• Galileo and other Emerging GNSS (COMPASS, QZSS, IRNSS)

• Galileo System Design and Services

• Geodesy and Surveying

• GNSS Algorithms and Methods

• GNSS and the Atmosphere

• GNSS Ground Based Augmentation Systems (GBAS)

• GNSS Simulation and Testing

• GNSS Space Based Augmentation Systems (SBAS)

• Portable Navigation Devices

• Precise Point Positioning and RTK

• Precise Positioning and RTK for Civil Applications

• Precise Positioning and RTK for Military Applications

• Preserving the Availability and Integrity of GNSS in Harsh Environments

• Receiver & Antenna Technology

• Regulatory Service Applications

• Remote Sensing with GNSS & Integrated Systems

• Robust Navigation in GNSS-Denied and GNSS-Challenged Environments

• Software Receivers and GNSS Antennas

• Timing and Scientifi c Applications

• Urban and Indoor Navigation Technology (academic focus)

• Urban and Indoor Navigation Technology (commercial focus)

The 24th International Technical Meeting of the Satellite Division of The Institute of Navigation

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GNSS | GLONASS

October 18, 1989, the Queen Elizabeth Auditorium in London, around 8:30 am. Unknown to me, two 60-minute periods were about to imprint themselves

indelibly on my memory. I walked up the stairs to the exhibition booth of my

company, Ashtech, at The Royal Institute of Navigation conference. My good friend, the late Ann Beatty, met me and asked, “Any news from home?”

I thought it was just a casual customary question, and

replied: “Thanks, all OK.” She had a strange look on her face. She continued: “Are all your family really OK?” I replied again: “Thanks, all good.” She then realized that I had no clue about the cataclysmic event that had hit the San Francisco Bay area. She abruptly said, “Don’t you know? The big one came! The big earthquake hit San Francisco!”

Californians know the rumors that when The Big One comes, Nevada will have ocean frontage. Now she was telling me that The Big One came! I rushed to the phone, and the recorded AT&T message said, “All lines to your area are out of service.” It took me another hour to fi nd out that this was not yet The Big One, and that my family was safe. I

Javad Ashjaee

The recent broadcast of the first CDMA signal from the new GLONASS-K satellite culminates a long series of events that began in 1989. A key participant gives a first-hand account of the history of many meetings, formal and informal, that created true interoperability between the two major satellite systems, giving users a modern GNSS in action.

How GPS and GLONASS Got Together — and Other Recent Events

GLONASS | GNSS


will never forget these 60 minutes of my life. Never!Nor will I ever forget the events of the next 60 minutes.After the stress had settled a bit, a delegation from the

Russian Space Agency visited our booth. First they expressed their sympathy regarding the earthquake. Then we discussed GPS technology and its similarities with GLONASS. Both systems were fairly new then, although GPS had started fi rst, with a Block I launch in 1978, followed by GLONASS with a launch in 1982. At the time we met in London, GPS was fl ying 12 satellites, and GLONASS also had 12 in orbit.

The Russian delegation visited all GPS manufacturers’ booths in the exhibition hall and then gathered in the coffee area for their private discussions. A few hours before the conference closed, they returned to our booth and said, “We want to combine GPS and GLONASS, and you are our fi rst choice.” Simply put, I was fascinated and excited.

After working out visa and travel details, four months later I arrived in Moscow in the cold days of February 1990. It was still the Soviet Union.

I had grown up in Iran where the U.S.S.R. was our neighbor to the north. Remembering the global political landscape of my childhood days, I felt both fascination and

fear as my airplane landed at Moscow airport.Upon meeting the people who greeted me at the airport,

my fears disappeared, and my fascination grew stronger.Our fi rst formal meeting took place in the Institute of

Space Device Engineering (ISDE), a division of the Russian Space Agency that was responsible for the GLONASS program. The OPENING PHOTO shows me with the late Dr. Nikolay Yemelianovich Ivanov, director of the GLONASS program, at that fi rst meeting.

I want to focus a bit on the GLONASS team and applaud them for their efforts. What makes the GLONASS team special is that they worked under much harder political

▲ FIRST MOSCOW MEETING The late Dr. Vadim Alexandrovich Salichev, a GLONASS program scientist, is on the far right, next to Dr. Ivanov. On the far left, next to me, sits Dr. Yury Nikolayevich Korolev, GLONASS senior scientist.

▲ DR. NIKOLAY YEMELIANOVICH IVANOV signs the protocol of our cooperation to combine GPS and GLONASS.

▲ IN THE EVENING after the first meeting they took me to a restaurant for dinner. This photo with Dr. Ivanov, director of the GLONASS program, shows how fast our friendship grew.

How GPS and GLONASS Got Together — and Other Recent Events


GNSS | GLONASS

and financial conditions than the GPS or Galileo teams. But still they were able to make the project successful. The Soviet Union and later Russia went through huge political, economic, social, and geographical revolutions, but the

GLONASS team managed to keep the satellite navigation program alive and successful.

Galileo’s management, while enjoying much more stability and financial luxury, can certainly appreciate and understand the significance of what the GLONASS team accomplished. Galileo also benefitted from the European integration of 27 countries, while the Soviet Union disintegrated into 15 separate nations.

Despite all their heroic work, individuals on the GLONASS team have received almost no international recognition. At home they went unnoticed, due to their political situations. For example, the highest international recognition that Dr. Ivanov received was that he became a member of the GPS World Advisory Board, which I facilitated. In this article, I want to salute some members that I know and at least keep their names and photos recorded in the GPS World archives.

In the first meeting, everyone recognized and emphasized the great potential of combining GPS and GLONASS for a variety of applications. I became more assured of the deep desires of my hosts to make this happen. They had prepared detailed charts and plans, especially for high-precision applications. They also gave me the GLONASS Interface

▲▲ second moscow meeting. On the right side are Dr. Ivanov and his team. On the left side, the second person from the left is the late Dr. Stanislav Ulianovich Sila-Navitsky. Behind me is my then-vice president Jon Ladd and two of our best engineers, Roger Helkey and Robert Lorenz. Years later Jon joined NovAtel as its CEO and did a great job in growing NovAtel.

▲▲ ion 1990 Ashtech Booth displaying U.S.S.R. and American flags.

▲▲ ReAL dinneR in General Gusev’s Paris hotel room. General Gusev is on the right. Facing him is Dr. Ivanov. With his back to the camera is Dr. Salichev, and facing the camera are Stas and Bob Lorenz. General Gusev still has a consulting role with ISDE. GLONASS misses the three on the left: Stas, Ivanov, and Salichev, who have all passed away.

▲▲ inteRview with RussiAn tv upon announcement of our combined GPS and GLONASS products in Moscow. In back on the left is Dr. Viktor Stepanovich Kislov, now deputy executive head, Russian Cadastre and Cartography Registration; next to him, his deputy Dr. Boris Alexandrovich Altshuller, now director of Land Survey of Russia.

▲▲ this is how it’s done. Satnav discussion in General Gusev’s Paris hotel room. Ivanov is pouring, Stas is laughing.

GLONASS | GNSS

www.gpsworld.com June2011| GPS World 63

Control Document (ICD) for the first time.

We signed a cooperation protocol and agreed to explore technical details in our next meeting, which occurred a few months later. There I began to know Dr. Stanislav “Stas” Ulianovich Sila-Navitsky, at that time the chief scientist of Dr. Ivanov’s team. Later he became my vice president in three companies that I founded. He also became my best friend of 19 years, before he passed away on May 7, 2010.

We had several meetings in Moscow and one in Paris in the headquarters of our partner SAGEM.

I have wonderful memories of all the meetings. One meeting in Paris included General Leonid Ivanovich Gusev, the head of ISDE. One evening Stas called my hotel room and asked me to cancel our dinner at a famous French restaurant and instead join them for a “real dinner.” Apparently General Gusev was tired of French food! The real dinner took place in the General’s hotel room, and the menu consisted of dark Russian bread, Russian kielbasa sausage, Russian seledka herring, and an abundance of Russian vodka.

Our first announcement of combining GPS and GLONASS was published in GPS World magazine, in only its second issue, March/April 1990. That year we had a poster banner in our Institute of Navigation exhibition, showing the American flag and the Soviet flag (hammer and sickle) next to each other. My very good friend, Colonel Gaylord Green, the second director of the GPS Joint Program Office, refused to have his picture taken with me in front of that banner. Instead, we stood over to another side of the booth for his photo.

A few months after the Paris meeting, the political process known as perestroika began and caused the Soviet Union to end. Life became extremely difficult for Russians.

I called Stas to discuss the situation. We concluded that we had no choice but to continue the plan on our own if we wanted to combine GPS and

GLONASS. I went back to Moscow several times, and in February 1992 officially opened the Moscow office of Ashtech. This office is still operational in Moscow with about 10 percent of the original team. It is now in the process of being purchased by Trimble Navigation. What a turn of events!

In 1996 we introduced the first combined GPS and GLONASS receiver; the product announcement appeared in GPS World, July 1996.

Back home in the United States, the situation was different. Supporting GLONASS was an unpatriotic act. The most prominent figures of GPS teased me for wasting my time with GLONASS. The news favored their arguments: the Russian economy was

going downhill. In September 1998, the Russian ruble collapsed more than 300 percent within a week. Banks closed. Even Coca Cola was not able to pay its employees in Russia because of bank closures. Many western companies left Russia. During that period, I intentionally stayed longer times in Moscow and managed to pay our employees without a day of delay. Furthermore, a more than three-fold rate change in favor of the dollar made our employees relatively rich, because their salaries were based on the U.S. dollar.

I remained confident that GLONASS would succeed because I had seen the enthusiasm and dedication of GLONASS management

▲▲ announcement oftheagreementtobuildacombinedGPS/GLONASSreceiver,inthesecondissueofGPSWorld,March/April1990.


GNSS | GLONASS

and engineers.My Ashtech partners wanted to take

the company public to recoup their investments. They thought Wall Street would negatively view GLONASS and the Russian connection. So my aspiration did not match theirs, and I started Javad Positioning System (JPS) in 1996. About 90 percent of the staff engineers followed me to JPS.

One of John Scully’s vice presidents did to Ashtech what Scully did to Apple. Meanwhile JPS became very successful, as Apple did when Steve Jobs returned.

Subsequent to another event and termination of some obligations and commitments, I started JAVAD GNSS in June 2007. Almost all of the key people followed me again. Our current team has a history of working together for close to 20 years.

In JAVAD GNSS we raised the bar of GPS/GLONASS integration to a higher level and focused in two new directions. The first was to eliminate

the problem of GLONASS inter-channel biases, which is inherent to the GLONASS frequency-division multiple access (FDMA) signal structure. The second was to support the opinion of GLONASS engineers who were pushing for a new code-division multiple access (CDMA) signal for GLONASS, similar to the GPS signal.

We resolved the GLONASS inter-channel biases issue around 2009 and announced, “Our GLONASS is as good as GPS.”

On the second front, we worked with the top managements of ISDE and the Information Analysis Center (IAC) of the Russian Space Center to demonstrate the advantages of CDMA for high-precision applications.

Some years ago, Stas had confided in me that the issue of CDMA was nothing new, and had been extensively deliberated at all levels of various GLONASS organizations during the early design phase of the system. The result of all these discussions was that engineers and technical people favored CDMA, but the higher management, mostly influenced by the military organizations, held out for FDMA. The reason for favoring FDMA is still a secret, though some believe that they just wanted to be different from GPS and did not see much advantage in CDMA. Some also believed FDMA gave better jamming protection.

Of course in those very early days, no one imagined using GPS or GLONASS for high-precision applications, and as such truly there was not much difference between CDMA and FDMA. Much later, the notion of using carrier phase of GPS and GLONASS signals for high-precision applications was discovered, and then the advantages of CDMA became relevant, as Dr. Ivanov also hinted in our first meeting.

After we combined GPS and GLONASS, and as a lot of our worldwide users began comparing the two systems, the issue of CDMA

versus FDMA again came up for discussion among the GLONASS authorities.

More recently, since 2007, we had several meetings in the offices of ISDE in Moscow, in IAC in Korolev (the Russian Space City), and several in our JAVAD GNSS office in Moscow. Most importantly, we had several meetings in my Moscow apartment, enhanced by Russian vodka and the best Armenian cognac, courtesy of Sergey Revnivykh, head of IAC. All meetings were open and candid, discussing and demonstrating the advantages of CDMA, in support of the ISDE engineers who were reluctant to express their opinion above certain levels.

I also met with the head of the Russian Space Agency, Dr. Anatoly Nikolayevich Perminov, who per-sonally supported and sponsored me in obtaining an extended Russian residency visa. Let me also express my appreciation for receiving the Medal of Honor from the Russian Cosmonauts Federation, along with the official astronaut watch. I don’t understand the reason for receiving a Kalashnikov AK-47 semi-automatic rifle from ISDE for my birthday. I wonder how I can transport it home!

General Anatoly Shilov (deputy di-rector of the Russian Space Center), Dr. Vicheslav Dvorkin (GLONASS deputy general designer), Sergey Revnivykh, Viktor Kosenko (first deputy of chief GLONASS designer) and Sergey Karutin (GLONASS se-nior scientist) are the new generation of GLONASS leaders who deserve credit for supporting CDMA on GLONASS. Recently, a new GLONASS-K sat-ellite was launched, transmitting an experimental CDMA signal in addi-tion to the legacy signals. Almost im-mediately, we announced tracking of the new GLONASS-K satellite and its new L3 signal details, hours after it started transmitting. See GPS World archives and our website for details of this signal which seems, in all aspects,

▲▲ First GPs/GLONAss rEcEivEr, from the pages of GPS World, July 1996.

GLONASS | GNSS

www.gpsworld.com June2011| GPS World 65

as good as GPS.Another new issue of significant international concern

was a new frequency for GLONASS. This issue was more political than technical, and is discussed under the umbrella of interoperability.

In the early days of my frequent travels to Russia, the KGB probably suspected that I was a CIA agent — and the CIA probably suspected that I was a KGB agent! I would not be surprised if both the CIA and KGB monitored every bit of my travels and activities. After some years, the San Francisco airport authorities stopped interrogating me for my activities in Russia any time I came back home. Perhaps because of their deep investigations, I earned the trust and friendship of both sides, and their confidence that I had nothing in mind other than helping to integrate GPS and GLONASS. I was an unofficial member and friend of both U.S. and Russian delegations during the so-called interoperability discussions since 2007, which sometimes touched on the CDMA issue as well.

Some of the most fruitful and friendly discussions between the U.S. and Russian delegations occurred in my apartment in Moscow, after their official meetings. Ken Hodgkins of U.S. State Department; Mike Shaw, director of the National Space-Based Positioning, Navigation, and Timing Coordination Office; David Turner, director of the Center for Space Policy & Strategy; Scott Feairheller of the U.S. Air Force; and Tom Stansell, consultant to the GPS Wing were some of my honored guests.

The new GLONASS frequency discussions are still in progress, and I am proud to host and support both sides the best that I can. Sometimes it is fun to observe that discussions resemble poker games where hands are known to all sides, but players still try to bluff each other! Let’s leave it at that for now.

In May of this year, I had a conversation with General Anatoly Shilov, now second-in-command of the Russian Space Agency, reporting to the first deputy of the minister of defense, General Vladimir Popovkin, who recently replaced Dr. Perminov as head of the Russian Space Center. This is an indication of increased attention and support from the Russian government to its GLONASS program. In our conversation, General Shilov was enthusiastic and optimistic that the GLONASS program will move forward faster.

GLONASS has proven to be a real and reliable complement to GPS. If it were not for the failure of the launch of three GLONASS satellites in December 2010, its constellation would be complete and fully, globally operational today. It will happen soon. Sergey Revnivykh estimates that currently the system has 99.8 percent global coverage.

Today, a truly reliable and fast RTK is not possible without combining GPS and GLONASS satellites.

The most recent testimony to the success of GLONASS comes from the long-time GLONASS opponents who once

▲▲ STAS helping ourcookpreparedinnerformydaughterandherfriendswhentheyvisitedMoscow.

FDMA and CDMAMultipleaccess,abasicconceptindatacommunication,employsseveraltransmitterstosendinformationsimultaneouslyoverasinglechannel.Thecode-divisionmultipleaccess(CDMA)approachadoptedbyGPSinthe1970s(andbyGalileoandCompasssincethen)usesspread-spectrumtechnologyandaspecialcodingscheme,whereeachtransmitterisassignedaseparateorthogonalcode,toallowseveralmessagestobemultiplexedoverthesamesingle-frequencyphysicalchannel.Bycontrast,frequency-divisionmultipleaccess(FDMA),alsoaspread-spectrumpassiverangingtechnique,dividesthechannelbyfrequency.BradParkinsonstatedthat“theCDMAmodulationusedforpassiverangingisclearlythemostfundamentalinnovationofGPS”inGPS World,July2010.

▲▲ MeDAl oF honoroftheRussianCosmonautsFederation.Thecertificatereads:“RussianCosmonautsFederationMedalofhonor.AccordingtothedecisionofthePresidiumofRussianCosmonautsFederation,fromJanuary26,2009,JavadAshjaeeisawardedthisMedalofHonorforparticipationintheimplementationofspaceprojects.”ThisisauniquerecognitionforaforeignerinRussia.


GNSS | GLONASS

criticized me for supporting the system. Recently they had to pay a lot of money to acquire the first company that I founded in Moscow, which they believed would never survive.

This year at JAVAD GNSS, I and most of my original employees and GLONASS designers are celebrating our 20th year in Russia, and we are working harder to make the integration of GPS and GLONASS even better.

On May 7, 2010, Stas lost to leukemia. He was not present to witness the successful introduction of our TRIUMPH-VS receivers. My refrigerators in Moscow are full of medicines that he brought for me any time I had a little cold. I miss him a lot, and our team is dedicated to following the path that Stas loved so much.

I want to briefly summarize the current status and the future of GPS and GLONASS from the users’ point of view.

GLONASS now has 24 satellites transmitting FDMA signals in two frequency bands. The failure in the last launch to deploy three more satellites delayed completion of the constellation to the end of 2011. The good thing about GLONASS is that both of its L1 and L2 signals are not encrypted and give better data than GPS P1 and P2 that are encrypted.

GLONASS is considering a plan to add CDMA signals to all satellites and not suffer from inter-channel biases. But it will take about 10 years for this plan to become complete for public use, even if the plan is approved and followed. At JAVAD GNSS, we have already mitigated the effect of GLONASS inter-channel biases to the accuracy of better than 0.2 millimeters. We made GLONASS FDMA the same as GPS CDMA by adding some innovations (patent pending) and enhanced algorithms.

The GPS plan is to add a third frequency signal (called L5) and add an unencrypted signal in L2. But it will take several years to have enough new satellites transmitting these new signals to make them usable for daily work.

In the near term, we have two complete systems, consisting of about 30 GPS and 27 GLONASS satellites. The current

non-encrypted GLONASS signals give it an edge over the current GPS encrypted signals, given the fact that we have mitigated the GLONASS FDMA inter-channel biases.

GLONASS is also enhancing its control segment to better monitor GLONASS satellites and improve the system’s clock and orbit parameters. Most of these errors are cancelled in differential and high-precision applications anyway.

Existence of two complete and free systems, GPS and GLONASS, will place some doubt on the future of Galileo, as it will be extremely difficult for Galileo to hope to collect money from users to fund itself. The addition of Galileo, as a third system, will not really add much benefit for users anyway. The only push for deploying Galileo must come from some European military organizations to support their specific interest.

I have been extremely fortunate also to have had the opportunity to work on GPS from its early days, co-pioneering high-precision applications at Trimble Navigation. I owe a lot to Charlie Trimble, who helped me to lift myself up when I sought refuge in the United States in 1981. He taught me GPS as well as dedication in business. I also benefitted from Sunday meetings with Dr. Bradford Parkinson, the first program director of GPS, who was and still is a board member of Trimble Navigation. I am curious to find out how Brad, as a board member, voted in the recent matter of the purchase of Ashtech. Since leaving Trimble, my innovative products at Ashtech, JPS, and JAVAD GNSS have been well documented through the years in GPS World.

My emphasis on GLONASS in this memoir is only to record some histories and recognize GLONASS and some of its pioneers who were often overlooked. GPS is already a well-known, well-established system and is the backbone of GNSS.

As a final note, let me add that our current JAVAD GNSS products have the option of tracking all current and future signals of GPS, GLONASS, QZSS, and Galileo. Yes, Galileo too!

▲▲ informal interoperability meeting in my Moscow apartment. From left to right: David Sterne, Pentagon GPS team; Glen Gibbons, former editor of GPS World; Col. Mark Crews, GPS Wing representative (he signed the CDMA memorandum with Russia in 2007); Dr. Stanislav “Stas” Ulianovich Sila-Navitsky of JAVAD GNSS; Mike Shaw, then director of the U.S. PNT Coordinating Office; myself; Sergey Revnivykh; Ken Hodgkins, U.S. State Department; Ekaterina Andrushak, Russian Space Center international relations; Dr. Rudolph Bakitko, senior GLONASS designer; and Scott Feairheller of the U.S. Air Force.

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INNOVATION | GNSS Modernization

In July 2007, the United States and Europe announced agreement on the use of the multiplexed binary

offset carrier (MBOC) modulation as a common baseline for Galileo Open Service signals in the E1 band and GPS L1C signals in the L1 band. According to the most recent Galileo Signal-In-Space Interface Control Document (SIS-ICD; see Further Reading), the MBOC power spec-tral density (PSD) has been fi xed to

GMBOC ( f ) = 10

11GBOC (1,1) ( f )+ 1

11GBOC (6,1) ( f )

(1)where GBOC(m,n)( f ) is the normalized PSD of a BOC(m,n)-modulated pseu-dorandom noise (PRN) code with sine phasing. The indices m and n are related to the sub-carrier frequency, fsc, and the chip frequency, fc, via m = fsc/fref and n = fc/fref, respectively; fref = 1.023 MHz is the reference C/A-code frequency, and NB = 2fsc/fc = 2m/n is the BOC modulation index.

The MBOC PSD is obtained by taking the data and pilot channels together. The data and pilot chan-nels can use, independently, one of the following modulations: compos-ite binary offset carrier (CBOC) or time-multiplexed binary offset carrier (TMBOC) modulations. CBOC and TMBOC, in turn, have several vari-ants. Since the data and pilot channels are typically processed independent-ly, it is important to understand the differences between various CBOC and TMBOC modulations and this is the primary goal of this article. There are several possible ways to achieve a PSD as given in Equation (1) and they are based on combining the data and pilot channels in the Galileo and modernized GPS systems. The main

IN GEOFFREY CHAUCER’S 1391 ESSAY, A Treatise on the Astrolabe (one of the earli-est known instruction manuals in English), he says (with modern spelling) “Right as diverse paths lead the folk the right way to Rome.” He was talking about the use of English rather than Latin or another language to convey the same information. And we now commonly use the shortened version of this expression — all roads lead to Rome — to express the sentiment that a par-ticular problem can be solved in different ways.

So it was with the decision by the United States and Europe to use a common, interoperable signal for the new GPS III civil service and the Galileo Open Service on the L1/E1 frequency of 1575.42 MHz. The road to “Rome” was tedious, long, and a little bumpy at times. A number of studies and a lot of rhetoric centered on how to make the new signal compatible with the legacy GPS L1 signals, the C/A-code and the P(Y)-code, as well as the modernized GPS military signal on L1, the M-code.

A similar compatibility issue had been solved when the M-code was added to the legacy GPS signals, starting with the Block

IIR-M satellites. The M-code is a binary-offset-carrier (BOC) signal — a split spectrum signal — that places most of its power near the edges of the allo-cated GPS frequency bands, thereby having negligible impact on the legacy signals. The M-code modulation, designated BOC(10.23,5.115) and com-monly abbreviated BOC(10,5), uses a subcarrier frequency of 10.23 MHz and a spreading code rate of 5.115 megachips per second to achieve the desired spectral separation. This design provides military users with an improved sig-nal with little impact on civil users.

Similar approaches were initially proposed for the new GPS L1C and Galileo E1/L1 OS signals with a BOC(1,1) modulation initially agreed on. However, further studies showed that a signal with better acquisition capabilities and improved multipath performance (while still compatible with the existing GPS signals) was a multiplexed BOC modulation, MBOC(6,1,1/11), formed by multiplexing a wideband signal, BOC(6,1), with a narrow-band signal, BOC(1,1), in such a way that 1/11th of the power is allocated, on average, to the high frequency component. Such a signal has the added benefit that one can choose whether to make use of just the low-frequency component in, say, a simple “mass market” receiver or also use the high-frequency compo-nent for more demanding applications.

It turns out that the agreed-upon MBOC spectrum can be achieved by fol-lowing one of several different signal-construction paths with some resulting differences in how a receiver tracks the signal and its associated performance. In this month’s column, we take a look at some of the options.

The MBOC spectrum can be achieved in different ways.

INNOVATION INSIGHTS with Richard Langley

MBOC Signal OptionsPerformance of Multiplexed Binary Offset Carrier Modulations for Modernized GNSS SystemsE. Simona Lohan, Mohammad Z. H. Bhuiyan, and Heikki Hurskainen


GNSS Modernization | INNOVATION

modulation types for pilot or data channels that can be used in order to achieve (when combined) the MBOC PSD can be summarized as follows:

1. The CBOC method: CBOC is formed via a weighted sum or difference of BOC(1,1)- and BOC(6,1)-modulated code symbols (where the BOC(1,1) part is passed through a delay block in order to match the rate of the BOC(6,1) part) as defined in Equation (2):

sCBOC (t) = w1sBOC (1,1),h (t) ± w2sBOC (6,1) (t) (2)where sBOC(1,1),h is the up-sampled BOC(1,1)-modulated code (that is, the code provided at the same rate as the sBOC(6,1) signal), sBOC(6,1) is the BOC(6,1)-modulated code, and w1 and w2 are amplitude weighting factors, chosen in such a way to match (as closely as possible, when both data and pilot channels are considered) the PSD of Equa-tion (1), with w1

2 + w22 = 1. When the two right-hand terms

are added in Equation (2), CBOC(+) is formed; when sub-tracted, CBOC(–) is formed. A third alternative for CBOC implementation is to use the CBOC(+/–) approach, where the odd-numbered chips are CBOC(+)-modulated and the even chips are CBOC(–)-modulated. The current Galileo SIS-ICD uses a CBOC(+) variant (also called CBOC in-phase) for the E1-B data channel and a CBOC(–) variant (also called CBOC anti-phase) for the E1-C data-less (or pilot) channel.

2. The time-multiplexed BOC (TMBOC) method: the whole signal is divided into blocks of N code symbols with M (<N) code symbols sine-BOC(1,1)-modulated, while N-M code symbols are sine-BOC(6,1)-modulated. The typ-ical shorthand notation for this variety of TMBOC would be TMBOC(6,1,(N-M)/N), referring to the sine-BOC(6,1) component of the signal. This time-domain division may

be applied for both pilot and data channels, individually. The choice of the N and M parameter values depends on the desired power percentage of the pilot channel with re-spect to the data channel. We have shown in earlier work (see Further Reading) that, from the point of view of the MBOC autocorrelation function, TMBOC and CBOC(+) implementations are equivalent, as long as the weights are related to the N and M values using w1 = √(M/N) and w2 = √((N-M)/N). Various TMBOC implementations exist ac-cording to the values chosen for N and M and according to whether the BOC(1,1) code symbols are in phase or out of phase with the BOC(6,1) code symbols. For example, for a 50-percent/50-percent power split between the pilot and data channels using in-phase code symbols, M = 9 and N = 11 (that is, TMBOC(6,1,2/11) is used), while for a 75-percent/25-percent power split between the pilot and data channels (again, using in-phase code symbols), M = 29 and N = 33 (that is, TMBOC(6,1,4/33) is used).

A major difference between CBOC and TMBOC sig-nals is that CBOC signals have four different levels (as a weighted sum or difference of two sub-carriers), while TMBOC signals have only two levels. The impact of these differences in the tracking stage of a receiver has been analyzed, for example, by a team of researchers led by Ol-ivier Julien (see Further Reading). They showed that an optimal CBOC receiver should generate a local replica that also has four levels, resulting in a replica encoded on more than just one bit. This complicates the CBOC re-ceiver architecture, compared to TMBOC 1-bit receiver architectures. In terms of performance, a CBOC(–) receiv-er proved to have the same delay-tracking variance perfor-mance as a TMBOC(6,1,4/33) receiver and both slightly outperform a TMBOC(6,1,1/11) receiver. And consider-

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ing multipath error performance, a TMBOC(6,1,4/33) re-ceiver was shown to give the best performance, followed very closely by a CBOC(–) receiver. Our research extends this earlier study.

Examples of CBOC and TMBOC waveforms are shown in FIGURE 1. Here, w1 = (10/11) and the TMBOC waveform has every first chip BOC(6,1)-modulated (inside blocks of 11 chips). In the figure, only the first five modulated chips are shown for clarity.

Our article addresses the following issues: First, we an-alyze the spectral differences between various CBOC and TMBOC modulations in terms of their effect on receiver performance. Secondly, we look at the navigation data er-ror probability, the tracking error variance in the presence of noise, and the robustness of the signal in the presence of multipath and bandwidth limitations of MBOC variants, by taking into account the spectral differences between the different variants. Thirdly, we justify the choice of

CBOC(+) for data channels and CBOC(–) for pilot chan-nels in the Galileo SIS-ICD in terms of these receiver per-formance criteria.

Spectral Differences of CBOC/TMBOC ModulationsThe spectral differences refer to the differences in the PSD of various waveforms. We recall that the PSD is the Fourier transform of the CBOC/TMBOC autocorrelation function. CBOC/TMBOC signals are formed from the convolution of PRN code waveforms, CBOC/TMBOC modulation waveforms, and navigation data (when pres-ent). If the same PRN code is used for the BOC(1,1) and BOC(6,1) modulations, some cross-correlation terms ap-pear in the autocorrelation function, which will also ap-pear in the frequency spectrum. Indeed, following the model, after straightforward derivations, we obtain the generic CBOC/TMBOC PSD as:

G( f ) = w12 HBOC (1,1),h ( f )

2+ w2

2 HBOC (6,1) ( f )2

+2 kw1w2Re HBOC (1,1),h ( f )HBOC (6,1) ( f )( ) (3)

where HBOC(1,1),h(f) and HBOC(6,1)(f) are the following Fourier transforms of the modulation waveforms:

HBOC (1,1),h ( f ) = TBsinc(π fTB )e− jπ fTB1− e− j2π fTc

1+ e− j2π f

Tc2

⎛

⎝

⎜⎜

⎞

⎠

⎟⎟

1− e− j2π f

Tc2

1− e− j2π fTB

⎛

⎝

⎜⎜⎜

⎞

⎠

⎟⎟⎟

(4)

HBOC (6,1) ( f ) = TBsinc(π fTB )e− jπ fTB

1− e− j2π fTc

1+ e− j2π fTB

⎛

⎝⎜

⎞

⎠⎟

(5)Above, TB = TC/12 is the BOC(6,1) sub-interval and sinc(x) = sin(x)/x. The formula given in Equation (3) covers all CBOC/TMBOC cases: k = +1 for CBOC(+) and TMBOC, k = –1 for CBOC(–), and k = 0 for CBOC(+/–), respectively. Equation (3) characterizes either the pilot channel’s PSD or the data channel’s PSD. In order to achieve the PSD of Equation (1), data and pilot channels should be combined. For example, if k = 0, any combination of data and pilot channels is possible in order to attain the PSD. If k ≠ 0, then the data channel should use in-phase combining (k = +1) and the pilot channel should use anti-phase combining (k = –1) or vice versa.

Now, if we take as a reference the PSD of CBOC(+/–) (which, incidentally, is also the PSD of Equation (1)), the spectral differences between the other CBOC/TMBOC modulations and CBOC(+/–) are quantized by the follow-ing equation:

E( f ) =

2kw1w2

π 2 f 2TB

tan(π fTB ) tan(π fTc

2) sin2 (π fTc )

(6)Examples of spectral difference between CBOC(+/–

0 2 4-1.0

-0.5

0

0.5

1.0

Chip interval

0 2 4-1.0

-0.5

0

0.5

1.0

Chip interval

0 2 4-1.0

-0.5

0

0.5

1.0

Chip interval

0 2 4-1.0

-0.5

0

0.5

1.0

Chip interval

CBOC(+) signal CBOC(-) signal

CBOC(+/-) signal TMBOC signal

-20 -15 -10 -5 0 5 10 15 20-0.08

-0.06

-0.04

-0.02

0

0.02

0.04

0.06

0.08

Frequency, f (MHz)

E(f)

CBOC(+)CBOC(-)TMBOC(6,1,29/33)TMBOC(6,1,9/11)

▲ FIGURE 1 Example of MBOC waveforms for a PRN sequence [1, -1, 1, -1, -1].

▲ FIGURE 2 Examples of PSD spectral differences (linear scale) between various CBOC/TMBOC implementations and CBOC(+/–) assuming an MBOC receiver.



) and each of the following modulations: CBOC(–), CBOC(+), and TMBOC(6,1,(N-M)/N), respectively, are shown in FIGURE 2. Clearly, these differences are very small.

Impact on System PerformanceAs mentioned before, pilot and data channels typically use different CBOC/TMBOC modulations, in order to achieve an overall PSD as described by Equation (1). Now, based on the derivations we have presented so far, the fol-lowing questions can be addressed: Which are the most suitable modulations (among the four discussed here; namely, CBOC(+), CBOC(–), CBOC(+/–), and TMBOC) to be used for a pilot channel and for a data channel, re-spectively; and how will the differences in the PSDs affect the error probability of the decoded signal and the track-ing performance of each channel?

Uncoded Error Probability and Fractional Out-of-Band Energy.Data and pilot channels are usually processed indepen-dently and then combined (for example, non-coherently) in order to perform the line-of-sight (LOS) signal delay estimation and the navigation data detection. Since dif-ferent CBOC or TMBOC modulations can be used for the data and pilot channels, one question to be addressed here is what is the most suitable modulation type. Addition-ally, the carrier-to-noise-density ratio (C/N0) deterioration when another modulation type is employed is also impor-tant. These two issues are addressed in this section.

One important spectral parameter that allows us to answer the question about error probability in the de-coded data is the so-called fractional out-of-band energy (FOBE), which tells us about the fraction of the signal power remaining outside a certain double-sided band-width, Bw. FOBE is related to the power containment fac-tor, used by some authors, via (1 – FOBE(Bw)). Clearly, FOBE depends on the signal modulation type. The higher FOBE is, the greater the deterioration of the signal energy we have after the receiver bandwidth limiting fi lters, and thus the higher error probability of the decoded signal we have. From the data-channel point of view, correctly de-coding the navigation data is very important and there-fore, low FOBE is the most important characteristic when

Modulation Bw = 24.552 MHz Bw = 8 MHz

CBOC(+/–) 1.57 1.90

CBOC(+) 1.55 1.80

CBOC(–) 1.60 2.01

BOC(1,1) 0 0

BOC(6,1) 0.77 13.81

TMBOC(6,1,4/33) 0.07 0.41 ▲ TABLE 1 Differences in CNR (in dB) needed to achieve the same 10-2 error probability of the decoded signal with various CBOC/TMBOC modulations. The reference performance is computed at the C/N0 for BOC(1,1) modulation (37.44 dB-Hz at Bw = 24.552 MHz and 37.67 dB-Hz at Bw = 8 MHz)



choosing the modulation type. The bit error probability in decoding a binary signal, such as a BOC or MBOC signal, can be computed by taking into account the signal energy deterioration due to filtering. Using the basic formula for computing the bit error probability in decoding a 2-level signal (in the cases of BOC or TMBOC modulation) or a 4-level signal (in the case of CBOC modulation), we can compare the performance of various TMBOC and CBOC modulations in terms of error probability of the decoded data bits, as shown in FIGURE 3. Clearly, the error probabil-ity criterion is more important for a data channel than for a pilot channel. Sine-BOC(1,1) and BOC(6,1) modulations are included in the comparison of Figure 3 as benchmarks. A double-sided bandwidth of 24.552 MHz was considered here, following the choice in the Galileo SIS-ICD.

As seen in Figure 3, in terms of the error probability of the decoded signal, BOC(1,1) modulation gives the best

results, followed closely by TMBOC(6,1,4/33). In order to achieve an error probability of 10-2, the CNR differences shown in TABLE 1 are needed for the different modulation types. From Table 1, it can be seen that, among CBOC modulations, the CBOC(+) modulation is the best option from the point of view of decoding the data, and, there-fore, it makes it a suitable option for data channels, as cho-sen in the Galileo SIS-ICD. We remark that the huge CNR gap for BOC(6,1) at Bw = 8 MHz is due to the fact that the power containment of a BOC(6,1) signal is very poor at such a low bandwidth.

Gabor Bandwidth and Tracking Error Variance. Another im-portant spectral parameter of interest in this analysis is the root-mean-square (RMS) or Gabor bandwidth. A larg-er RMS or Gabor bandwidth permits a higher accuracy against thermal noise and the tracking accuracy is approx-imately inversely proportional to the RMS bandwidth. The code-tracking error variance is an important param-eter when trying to achieve accurate location estimates. Indeed, a Cramér-Rao lower bound (CRLB) on the track-ing error variance has been derived by other researchers. Following the derivation for CRLB on the tracking error variance, we can also compare the performance of various CBOC and TMBOC modulations, as presented in FIGURE 4. Clearly, this criterion is more important for a pilot chan-nel than for a data channel. A double-sided receiver band-width of 24.552 MHz was considered here.

In terms of the tracking error variance bound, which linearly decreases with the CNR (on a dB scale), the CNR differences between various modulations are shown in TABLE 2 for a 4-Hz tracking-loop bandwidth. Clearly, from Table 2, CBOC modulations are better in terms of track-ing error variance than TMBOC modulation, and, among the CBOC variants, CBOC(–) has the best performance. This justifies the fact that the Galileo SIS-ICD has cho-sen the CBOC(–) as the best option for pilot channels. We can also see in Table 2 that the bandwidth limitation has an important effect on the tracking error bounds, as ex-pected. At low receiver bandwidth (such as 8 MHz), the differences between various modulations are rather small, while at high or infinite bandwidths, BOC(6,1) modulation is by far the best option, followed by CBOC(–) with a 1.69 dB gap in CNR (that is, CBOC(–) requires an additional 1.69 dB in order to achieve the same tracking error perfor-mance as BOC(6,1)).

Multipath Error Envelope. The typical procedure for evalu-ating the performance of a multipath-mitigation technique is via the multipath error envelope (MEE). The MEE curves are obtained for two extreme phase variations of a multipath signal with respect to the LOS component while varying the multipath (that is, second path) delays from 0 to 1.2 chips at maximum, since the multipath errors be-come less significant after that. The upper multipath er-

20 25 30 35 4010-4

10-3

10-2

10-1

100

C/N0 (dB-Hz)

Erro

r pro

babi

lity

CBOC(+/-)CBOC(+)CBOC(-)TMBOC(6,1,4/33)BOC(1,1)BOC(6,1)

20 22 24 26 28 30 32 34 3610-5

10-4

10-3

C/N0 (dB−Hz)

Trac

king

erro

r var

ianc

e bo

und

(sec

onds

2 )

CBOC(+/−)CBOC(+)CBOC(−)TMBOC(6,1,4/33)BOC(1,1)BOC(6,1)

▲ FIGURE 3 Detection error probability for CBOC/TMBOC-modulated signals with a 24.552 MHz double-sided bandwidth.

▲ FIGURE 4 Cramér-Rao lower bound on tracking error variance (in seconds2) for CBOC/TMBOC-modulated signals with a 24.552 MHz double-sided bandwidth.



ror envelope can be obtained when the paths are in-phase (that is, 0° phase difference) and the lower multipath er-ror envelope when the paths are out-of-phase (that is, 180° phase difference). In MEE analysis, several simplifying assumptions are usually made in order to distinguish the performance degradation caused by the multipath only. Such assumptions include zero additive white Gaussian noise, ideal infinite-length PRN codes, zero residual Dop-pler shift, and zero initial code-delay error.

The MEE curves are generated here for different vari-ants of MBOC implementation. The multipath perfor-mance of these MBOC variants with a BOC(1,1)-mod-ulated reference receiver is also presented. In the MEE generation, the second path amplitude was fixed at 3 dB lower than the LOS component. The MEE curves were generated for a 24.552 MHz double-sided bandwidth. The narrow early-minus-late (nEML) correlator with an ear-ly-late correlator spacing of 0.0833 chips was used here as a tool for evaluating the performance of the different MBOC variants in the presence of multipath. The nEML is based on the idea of narrowing the spacing between the early and late correlator pair, where the choice of correla-tor spacing depends on the receiver’s available front-end bandwidth along with the associated sampling frequency.

MEE curves are shown for all of the examined MBOC variants in FIGURE 5. It can be observed from the figure that CBOC(–) has the best multipath mitigation performance followed by the TMBOC(6,1,4/33) and CBOC(+) variants. A similar conclusion can be drawn when a BOC(1,1) ref-erence receiver is used instead of the respective MBOC reference receiver. However, from Figure 5, it is obvious that there is a moderate performance degradation when a BOC(1,1) reference receiver is used instead of the respec-tive MBOC version, as expected intuitively.

Simulation Results in Multipath Fading ChannelSimulations have been carried out in closely spaced mul-tipath scenarios for different MBOC variants with a finite front-end bandwidth. The simulation profile is summa-rized in TABLE 3. A Rayleigh fading channel model is used in the simulation, where the number of channel paths is fixed to two. The successive path separation is random be-tween 0.02 and 0.35 chips. The channel paths are assumed to obey a decaying power delay profile (PDP).

The received signal duration is 0.8 seconds for each particular C/N0 level. The tracking errors are computed after each NcNnc-milliseconds interval (in this case, NcNnc = 20 milliseconds). In the final statistics, the first 600 mil-liseconds are ignored in order to remove the initial error bias that may come from the delay difference between the received signal and the locally generated reference code. Therefore, for the above configuration, the left-over track-ing errors after 600 milliseconds are mostly due to the ef-

0 0.2 0.4 0.6 0.8 1.0 1.2 1.4-6

-4

-2

0

2

4

6

Multipath spacing (chips)

Mul

tipat

h er

ror (

met

ers)

CBOC(+)CBOC(-)TMBOC(6,1,4/33)CBOC(+), BOC(1,1) rxCBOC(-), BOC(1,1) rxTMBOC(6,1,4/33), BOC(1,1) rx


Parameter Value

Channel profile 2-path Rayleigh fading channel

Path power Decaying PDP with μ = 0.1 chip

Path spacing Random between 0.02 and 0.35 chip

Path phase Random between 0 and 2π

Samples per chip, Ns 48

E-L spacing, ΔEL 0.0833 chip

Number of correlators, M 3

Double-sided bandwidth 24.552 MHz

Filter type and order Finite impulse response and 6th order

Coherent integration, Nc 20 milliseconds

Non-coherent integration, Nnc 1 block

Initial delay error ± 0.1042 chip

First path delay Random between 0 and 0.1042 chip

Tracking-loop bandwidth 2 Hz

Tracking-loop order 1st order

▲ TABLE 3 Simulation profile description.

▲ FIGURE 5 Multipath error envelope curves for a narrow early-minus-late correlator with a 24.552 MHz double-sided bandwidth.

Modulation Bw = 24.552 MHz Bw= 8 MHz

CBOC(+/-) 2.18 0.32

CBOC(+) 2.73 0.50

CBOC(-) 1.69 0.15

BOC(1,1) 4.24 0

BOC(6,1) 0 6.78

TMBOC(6,1,4/33) 2.22 0.65

▲ TABLE 2 Differences in CNR (in dB) needed to achieve the same tracking-error variance bound with various CBOC/TMBOC modulations.


fect of multipath only. We ran the simulations for 1,000 statistical points, for each C/N0 level. The RMS error (RMSE) of the delay estimates can be plotted in meters, by using the relationship RMSEm = RMSEchips•c•Tc, where c is the speed of light, Tc is the chip duration, and RMSEchips is the RMSE in chips. An RMSE versus C/N0 plot for the given multipath channel profi le is shown in FIGURE 6.

As seen in the fi gure, the CBOC(–) reference receiver has the best multipath mitigation performance under a good C/N0 (that is, 40 dB-Hz and higher) followed by the other two MBOC variants (CBOC(+) and TMBOC(6,1,4/33)), which exhibit almost similar performance. A similar con-clusion can be drawn for the BOC(1,1) reference receiver, where the CBOC(–)-modulated transmitted signal with BOC(1,1) reference receiver showed the best multipath mitigation performance among all three of the studied MBOC variants. In Figure 6, we observe that the small performance deterioration caused by use of a BOC(1,1) reference receiver is visible only under good C/N0 condi-tions (that is, 40 dB-Hz and higher).

ConclusionsThis article discusses the spectral differences between CBOC and TMBOC modulations and their impact on system performance. The exact frequency-domain form of the PSD for CBOC and TMBOC waveforms has been shown and the impact on tracking error variance bounds and on the error probability of the demodulated signal has been discussed. In addition, the multipath mitigation

performances of different MBOC variants were present-ed in terms of RMSE and multipath error envelopes. It was shown that the CBOC(–) variant is the best variant in terms of multipath mitigation and tracking error variance, while TMBOC behaves better than CBOC in terms of er-ror probability of the demodulated data. We also showed that the spectral differences and the differences between CBOC and TMBOC variants in terms of the two con-sidered performance criteria are rather small, especially when the receiver bandwidth is not very high, and, there-fore, several variants of MBOC can indeed be used for design and research purposes.

AcknowledgmentsThe research leading to the results presented in this ar-ticle received funding from the European Union’s Sev-enth Framework Programme (FP7/2007-2013) under grant agreement number 227890 (the Galileo-Ready Advanced Mass Market Receiver–GRAMMAR–project). This re-search work has also been supported by the Academy of Finland and by the Tampere Doctoral Programme in In-formation Science and Engineering. Particular thanks are also addressed to Stephan Sand from the German Aero-space Center (DLR), Institute of Communications and Navigation, for his useful comments.

ELENA SIMONA LOHAN has been an adjunct professor in the Department of Communications Engineering at Tampere University of Technology (TUT) in Hervanta, Finland, since 2007. She obtained her Ph.D. degree in wireless communications from TUT. She also graduated with an M.Sc. in electrical engineering from “Politehnica” University of Bucharest, and with a diplôme d'études approfondies in econometrics from Ecole Polytechnique, Paris. Lohan is currently leading the research activities in signal processing for wireless communications in the Department of Communications Engineering at TUT.

MOHAMMAD ZAHIDUL H. BHUIYAN is a researcher in the Department of Communications Engineering at TUT. His main research areas are multipath mitigation and software receiver design for satellite-based positioning applications.

HEIKKI HURSKAINEN received an M.Sc. degree in electrical engineering and a doctoral degree in computing and electrical engineering from TUT in 2005 and 2009, respectively. Currently, Hurskainen is a senior research scientist in TUT’s Department of Computer Systems where he works on satellite navigation research projects.

30 35 40 450

5

10

15

20

25

30

C/N0 (dB-Hz)

Roo

t-mea

n-sq

uare

erro

r (m

eter

s)

CBOC(+)CBOC(-)TMBOC(6,1,4/33)CBOC(+), BOC(1,1) rxCBOC(-), BOC(1,1) rxTMBOC(6,1,4/33), BOC(1,1) rx

▲ FIGURE 6 Root-mean-square error versus carrier-to-noise-density ratio for different MBOC variants in a two-path fading channel with 24.552 MHz double-sided bandwidth.

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Further ReadingFor references related to this article, go to gpsworld.com and click on Richard Langley’s Innovation under Inside GPS World in the left-hand navigation bar.

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