André Hauschild

Initial assessment of the COMPASS/BeiDou-2 regional navigation satellite system

An initial characterization and performance assessment of the COMPASS/BeiDou-2 regional navigation system is presented. Code and carrier phase measurements on up to three frequencies have been collected in March 2012 with a small regional network of monitoring stations. The signal and measurement quality are analyzed and compared with the Japanese Quasi Zenith Satellite System. A high level of stability is demonstrated for the inter-frequency carrier phase biases, which will facilitate the application of triple-frequency undifferenced ambiguity resolution techniques in future precise point positioning applications. The performance of the onboard Rubidium frequency standards is evaluated in comparison to ground-based hydrogen masers and shown to be well competitive with other GNSS satellite clocks. Precise orbit and clock solutions obtained in post-processing are used to study the presently achievable point positioning accuracy in COMPASS/BeiDou-2-only navigation. Finally, the benefit of triple-frequency measurements and extra-wide-lane ambiguity resolution is illustrated for relative positioning on a short baseline.

Characterization of Compass M-1 signals

An analysis of observations from China’s first medium earth orbit satellite Compass M-1 is presented, with main focus on the first orbit and clock solution for this satellite. The orbit is computed from laser ranging measurements. Based on this orbit solution, the apparent clock offset is estimated using measurements from two GNSS receivers, which allow Compass tracking. The analysis of the clock solutions reveals unexpectedly high dynamics in the pseudorange and carrier-phase observations. Furthermore, carrier-to-noise density ratio, pseudorange noise, and multipath are analyzed and compared to GPS and GIOVE. The results of the clock analysis motivate further research on the signals of the geostationary satellites of the Compass constellation.

Signal, orbit and attitude analysis of Japan's first QZSS satellite Michibiki

Results are presented for Michibiki, the first satellite of Japan’s Quasi-Zenith Satellite System. Measurements for the analysis have been collected with five GNSS tracking stations in the service area of QZSS, which track five of the six signals transmitted by the satellite. The analysis discusses the carrier-to-noise density ratio as measured by the receiver for the different signals. Pseudorange noise and multipath are evaluated with dual-frequency and triple-frequency combinations. QZSS uses two separate antennas for signal transmission, which allows the determination of the yaw orientation of the spacecraft. Yaw angle estimation results for an attitude mode switch from yaw-steering to orbit-normal orientation are presented. Estimates of differential code biases between QZSS and GPS observations are shown in the analysis of the orbit determination results for Michibiki. The estimated orbits are compared with the broadcast ephemerides, and their accuracy is assessed with overlap comparisons.

A study on the dependency of GNSS pseudorange biases on correlator spacing

We provide a comprehensive overview of pseudorange biases and their dependency on receiver front-end bandwidth and correlator design. Differences in the chip shape distortions among GNSS satellites are the cause of individual pseudorange biases. The different biases must be corrected for in a number of applications, such as positioning with mixed signals or PPP with ambiguity resolution. Current state-of-the-art is to split the pseudorange bias into a receiver- and a satellite-dependent part. As soon as different receivers with different front-end bandwidths or correlator designs are involved, the satellite biases differ between the receivers and this separation is no longer practicable. A test with a special receiver firmware, which allows tracking a satellite with a range of different correlator spacings, has been conducted with live signals as well as a signal simulator. In addition, the variability of satellite biases is assessed through zero-baseline tests with different GNSS receivers using live satellite signals. The receivers are operated with different settings for multipath mitigation, and the changes in the satellite-dependent biases depending on the receivers’ configuration are observed.

GPS Based Attitude Determination for the Flying Laptop Satellite

This paper introduces the GPS based attitude determination system (GENIUS) onboard the university small satellite Flying Laptop. The attitude determination algorithm which is based on a Kalman Filter and processes single differences of the C/A-code and carrier phase measurements is shortly described. The algorithm uses the LAMBDA-method to resolve the integer ambiguities of the double differences of the carrier phase measurements. These resolved ambiguities are then used to fix the single difference ambiguities in the filter. The results of ground based tests and numerical simulations are introduced and the accuracy of the attitude determination algorithm is assessed.

A multi-technique approach for characterizing the SVN49 signal anomaly, part 1: receiver tracking and IQ constellation

A characterization of the signal anomaly of SVN49 is presented. A mathematical model is developed to relate the observed multipath to the internal signal reflection. The analyses provided are based on measurements, which have been collected during a dedicated tracking campaign with a 30-m dish antenna. Data on the L1 and L2 frequency have been collected with four different receivers. In addition, IQ samples have been recorded directly with a spectrum analyzer. The multipath combination of the receiver measurements on L1 and L2 is analyzed to demonstrate the effect of the signal reflections on different correlator spacing. The capability to suppress the signal reflection with receiver multipath mitigation methods is demonstrated. Finally, preliminary estimates of the attenuation, delay, and phase shift over elevation are obtained from an IQ sample analysis.

A multi-technique approach for characterizing the SVN49 signal anomaly, part 2: chip shape analysis

Due to a satellite internal reflection at the L5 test payload, the SVN49 (PRN1) GPS satellite exhibits a static multipath on the L1 and L2 signals, which results in elevation-dependent tracking errors for terrestrial receivers. Using a 30-m high-gain antenna, code and carrier phase measurements as well as raw in-phase and quadrature radio frequency samples have been collected during a series of zenith passes in mid-April 2010 to characterize the SVN49 multipath and its impact on common users. Following an analysis of the receiver tracking data and the IQ constellation provided in Part 1 of this study, the present Part 2 provides an in-depth investigation into chip shapes for the L1 and L2 signals. A single reflection model is found to be compatible with the observed chip shape distortions and key parameters for an elevation dependent multipath model are derived. A good agreement is found between multipath parameters derived independently from raw IQ-samples and measurements of a so-called Vision Correlator. The chip shapes and their observed variation with elevation can be used to predict the multipath response of different correlator types within a tracking receiver. The multipath model itself is suitable for implementation in a signal simulator and thus enables laboratory testing of actual receiver hardware.

Basic Observation Equations

This chapter introduces the fundamental observation equations for multiconstellation global navigation satellite systems (GNSS s). It starts with an introduction of the basic observation equations for pseudorange, carrier-phase, and Doppler measurements. In the remainder of the chapter, the parameters used in modeling the basic observation equations are discussed. The parameters covered in the discussion are relativistic effects, atmospheric delays, the carrier-phase wind-up effect, antenna phase-center offset and variation, pseudorange and carrier-phase biases, and finally multipath errors and receiver noise.

Real Time Satellite Clocks in Precise Point Positioning

Computing a position with Single Frequency Precise Point Positioning (SF-PPP) algorithms compels to the use of satellite clock corrections, and for use with real-time applications, only a limited set of sources for orbit and clock data is available, for example the predicted Ultra Rapid products of the International GNSS Service (IGS). Recently, real-time clock estimates have become available, for example the RETICLE clocks developed by GSOC/DLR. In this research, first a comparison is made in the satellite clock error domain as the real-time RETICLE and predicted Ultra Rapid corrections are compared to the Final IGS clock corrections. The empirical standard deviation of clock differences between Final and RETICLE clocks become less than 0.4 ns. Differences between Final and Ultra Rapid clocks lead to a standard deviation of around 2 ns. Secondly the single frequency precise point positioning position errors in the North, East and Up directions are investigated. With the use of the RETICLE clocks the empirical standard deviation of the position errors in the North and East directions are between 2 and 3 dm and in the Up direction around 5 dm. These results are comparable with the accuracies reached when using Final products.

Results of the GNSS receiver experiment OCAM-G on Ariane-5 flight VA 219

The fifth Automated Transfer Vehicle was launched on 29 July 2014 with Ariane-5 flight VA 219 into orbit from Kourou, French Guiana. For the first time, the ascent of an Ariane rocket was independently tracked with a Global Navigation Satellite System (GNSS) receiver on this flight. The GNSS receiver experiment OCAM-G was mounted on the upper stage of the rocket. Its receivers tracked the trajectory of the Ariane-5 from lift-off until after the separation of the Automated Transfer Vehicle. This article introduces the design of the experiment and presents an analysis of the data gathered during the flight with respect to the GNSS tracking status, availability of navigation solution, and navigation accuracy.