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Position, Navigation, and Timing Technologies in the 21st Century

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Страница 1 Table of Contents List of Tables List of Illustrations Guide Pages Страница 7Страница 8Страница 9Страница 10Страница 11 Contributors Страница 13 35 Overview of Volume 2: Integrated PNT Technologies and Applications 35.1 Generalized Navigation Framework 35.1.1 What Is a Navigation Sensor? 35.2 Summary of Content of Volume 2 36 Nonlinear Recursive Estimation for Integrated Navigation Systems 36.1 Introduction 36.1.1 Notation 36.2 Linear Estimation Foundations 36.2.1 Typical Recursive Estimation Framework 36.3 Nonlinear Filtering Concepts 36.3.1 Effects of Nonlinear Operations on Random Processes – Breaking Up with Gauss 36.3.2 Gaussian Sum Filters 36.3.2.1 Multiple Model Adaptive Estimation 36.3.3 MMAE Example – Integer Ambiguity Resolution 36.3.4 Particle Filters 36.3.5 Grid Particle Filtering 36.3.6 Grid Particle Filter Example Application 36.3.7 Sampling Particle Filter (SIS/SIR) 36.3.8 Sequential Importance Sampling Recursive Estimator 36.3.9 Sampling Particle Filter Demo 36.3.10 Strengths and Weaknesses of Approaches 36.4 Summary and Conclusions References 37 Overview of Indoor Navigation Techniques 37.1 Introduction 37.2 Overview of Technical Terms 37.3 Performance Metrics 37.4 Indoor Localization Signal Classification 37.4.1 Infrared Radiation (IR) and Visible Light 37.4.2 RF Signals 37.4.2.1 Personal and Local Area Networks 37.4.2.2 Broadcast and Wide Area Networks 37.4.2.3 Challenges 37.4.3 Ultrasound 37.4.4 Inertial and Mechanical 37.4.5 Other Signals 37.5 Indoor Localization Techniques 37.5.1 Triangulation 37.5.1.1 Angle‐Based Methods 37.5.1.2 Time‐Based Methods 37.5.1.3 Signal‐Property‐Based Methods 37.5.2 Fingerprinting 37.5.3 Proximity 37.5.4 Dead Reckoning 37.5.5 Map Matching 37.5.6 Hybrid Techniques 37.5.6.1 GPS‐Based Techniques 37.5.6.2 Techniques Fusing RF Signals with Dead Reckoning 37.5.6.3 Techniques Fusing RF Signals with Other Signals 37.5.6.4 Techniques Fusing Dead Reckoning with Non‐RF Signals 37.6 Open Research Issues References 38 Navigation with Cellular Signals of Opportunity 38.1 Introduction 38.2 Overview of Cellular Systems 38.3 Clock Error Dynamics Modeling 38.4 Navigation Frameworks in Cellular Environments 38.4.1 Mapper/Navigator Framework 38.4.2 Radio SLAM Framework 38.5 Navigation with Cellular CDMA Signals 38.5.1 Forward Link Signal Structure 38.5.1.1 Modulation of Forward Link CDMA Signals 38.5.1.2 Pilot Channel 38.5.1.3 Sync Channel 38.5.1.4 Paging Channel 38.5.1.5 Transmitted Signal Model 38.5.1.6 Received Signal Model 38.5.2 CDMA Receiver Architecture 38.5.2.1 Correlation Function 38.5.2.2 Acquisition 38.5.2.3 Tracking 38.5.2.4 Message Decoding 38.5.3 Code Phase Error Analysis 38.5.3.1 Discriminator Statistics 38.5.3.2 Closed‐Loop Analysis 38.5.4 Cellular CDMA Navigation Experimental Results 38.5.4.1 Pseudorange Analysis 38.5.4.2 Ground Vehicle Navigation 38.5.4.3 Aerial Vehicle Navigation 38.6 Navigation with Cellular LTE Signals 38.6.1 LTE Frame and Reference Signal Structure 38.6.1.1 Frame Structure 38.6.1.2 Timing Signals 38.6.1.3 Received Signal Model 38.6.2 LTE Receiver Architecture 38.6.2.1 Acquisition 38.6.2.2 System Information Extraction 38.6.2.3 Tracking 38.6.2.4 Timing Information Extraction 38.6.3 Code Phase Error Analysis 38.6.3.1 Coherent DLL Tracking 38.6.3.2 Non‐Coherent DLL Tracking 38.6.3.3 Code Phase Error Analysis in Multipath Environments 38.6.4 Cellular LTE Navigation Experimental Results 38.6.4.1 Pseudorange Analysis 38.6.4.2 Ground Vehicle Navigation 38.6.4.3 Aerial Vehicle Navigation 38.7 BTS Sector Clock Bias Mismatch 38.7.1 Sector Clock Bias Mismatch Detection 38.7.2 Sector Clock Bias Discrepancy Model Identification 38.7.3 PNT Estimation Performance in the Presence of Clock Bias Discrepancy 38.8 Multi‐Signal Navigation: GNSS and Cellular 38.8.1 DOP Reduction 38.8.2 GPS and Cellular Experimental Results 38.8.2.1 Ground Vehicle Navigation 38.8.2.2 Aerial Vehicle Navigation 38.9 Cellular‐Aided INS 38.9.1 Radio SLAM with Cellular Signals 38.9.2 Simulation Results 38.9.3 Experimental Results References 39 Position, Navigation and Timing with Dedicated Metropolitan Beacon Systems 39.1 Metropolitan Beacon System (MBS) 39.1.1 System Description 39.1.2 Signal Description 39.1.3 Comparison of MBS Signal with GNSS Signals 39.1.4 Receiver Architecture 39.1.4.1 Signal Dynamic Range and Gain Control 39.1.4.2 Signal Acquisition, Tracking, and Ranging 39.1.4.3 Position Calculation 39.1.5 Assisted Mode of MBS 39.1.6 MBS System for Time and Frequency Synchronization 39.1.7 Standardization (3GPP, OMA) and MBS Call Flows 39.1.8 Performance Results 39.1.9 Conclusion References 40 Navigation with Terrestrial Digital Broadcasting Signals 40.1 PNT Mechanisms with Broadcasting Signals 40.2 Representative Terrestrial Digital Broadcasting Signals 40.2.1 Acquisition and Tracking of ATSC‐8VSB Signals for Timing and Ranging 40.2.2 Acquisition and Tracking of DVB‐T Signals for Timing and Ranging 40.2.3 ISDB‐T Signals for Timing and Ranging 40.2.4 DTMB Signals for Timing and Ranging 40.2.5 Next‐Gen ATSC 3.0 Signals for Timing and Ranging 40.3 Pseudorange Measurements from Broadcasting Signals 40.4 Practical Issues and Search for Solutions 40.4.1 Analysis of Geometry Effect on Positioning Performance 40.4.2 Radio Dead Reckoning with Mixed SOOP 40.4.3 Toward Practical Robust Operations References {buyButton}

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