Dagoberto Salazar

Wide Area RTK: A satellite navigation system based on precise real‐time ionospheric modelling

[1] The Wide Area Real Time Kinematic (WARTK) is an augmentation system concept for multi-frequency users based on precise real-time ionospheric modeling. It is able to provide a high accuracy and integrity GNSS positioning service over continental areas using the infrastructure of a network of permanent ground monitor stations, such as the European Geostationary Navigation Overlay Service (EGNOS) network of Ranging and Integrity Monitoring Stations (RIMS) in Europe. In this way, it allows an additional benefit to be obtained from these reference stations, that is, the network has the potential to support two independent systems: a satellite-based augmentation system, such as EGNOS, and a high-precision positioning service, based on WARTK. Indeed, thanks to the accuracy of the ionospheric corrections provided, WARTK users have available in real-time an extra constraint per satellite between the carrier phase ambiguities, which helps solve them quickly. Once such ambiguities have been solved, the GNSS user obtains navigation accurate to within 20 cm at the 95th percentile (about 10 cm RMS). Moreover, this precise positioning is achieved in a few minutes (with two frequency signals) or in a single epoch, after initial convergence of the tropospheric delay (with three frequency signals), even up to hundreds of kilometers away from the nearest reference station. While previous WARTK research has been devoted to implementing the concept and assessing its feasibility, considering in particular the accuracy achievable, the work reported in this paper focused on consolidating the results by analyzing a large and representative data set, and on deeper analysis of the integrity issue. It was carried out in the context of the Multi-constellation Regional System (MRS) project, within the European Space Agency GNSS Evolution Programme, with the aim of designing a high accuracy service for GPS and/or Galileo. Three months of actual data, from more than 25 permanent GPS stations in Europe, have been processed (some of them as a roving user), for high-, mid- and low-solar cycle conditions (in 2002, 2004 and 2006 respectively). In addition, several ionospheric storms occurred during the selected periods, with Dst values reaching up to � 150 nT. Results based on these data show that user domain integrity was maintained for baselines of up to 400 km. At the 95th percentile, the daily horizontal and vertical position errors were 20 and 30 cm, respectively, and the corresponding protection levels were about 1 and 2 m. The convergence time was around 5 minutes with actual GPS constellation data. The benefits of using a multi-constellation system were also studied, with simulated GPS and three-frequency Galileo data, showing that it is possible to reduce the convergence time to a few seconds.

Global prediction of the vertical total electron content of the ionosphere based on GPS data

[1] Although vertical total electron content (VTEC) forecasting is still an open subject of research, the use of predictions of the ionospheric state at a scale of several days is an area of increased interest. A global VTEC forecast product for two days ahead, which is based exclusively on actual Global Positioning System (GPS) data, has been developed in the frame of the International Global Navigation Satellite Systems (GNSS) Service (IGS) Ionospheric Working Group (IGS Iono‐WG). The UPC ionospheric VTEC prediction model is based on the Discrete Cosine Transform (DCT), which is widely used in image compression (for instance, in JPEG format). Additionally, a linear regression module is used to forecast the time evolution of each of the DCT coefficients. The use of the DCT coefficients is justified because they represent global features of the whole two‐ dimensional VTEC map/image. Also, one can therefore introduce prior information affecting the VTEC, for instance, smoothness or the distribution of relevant features in different directions. For this purpose, the use of a long time series of final/rapid UPC VTEC maps is required. Currently, the UPC Predicted product is being automatically generated in test mode and is made available through the main IGS server for public access. This product is also used to generate two days ahead preliminary combined IGS Predicted product. Finally, the results presented in this work suggest that the two days ahead UPC Predicted product could become an official IGS product in the near future.

The ESA/UPC GNSS-Lab tool (gLAB): An advanced multipurpose package for GNSS data processing

Satellite Navigation has become a keystone for the development of Europe and its citizens. It is then essential to provide adequate educational programmes so to ensure a prepared workforce for the GNSS sector in Europe. In this context, ESA has launched a complete Satellite Navigation Educational program, called EDUNAV, aiming at providing up-to-date GNSS based educational material and educational tools. The GNSS-Lab (gLAB) Educational Software Tool is part of this ESA EDUNAV initiative. gLAB, developed under ESA Contract by the research group of Astronomy and Geomatics (gAGE) from the Universitat Politecnica de Catalunya (UPC), is an interactive educational multipurpose package to process and analyse GNSS data. gLAB performs precise modeling of GNSS observables (pseudorange and carrier phase) at the centimetre level, allowing both standalone GPS positioning and PPP. Every single error contributor may be assessed independently, which, in turn, provides a major educational benefit. gLAB is adapted to a variety of standard formats like RINEX-3.00, SP3, ANTEX and SINEX files, among others. Moreover, functionality is also included for GPS, Galileo and GLONASS, allowing performing some data analysis with real multi-constellation data. The gLAB software tool is quite flexible, able to run under Linux and Windows operating systems and is provided free of charge by ESA to universities and GNSS professionals.

C3 in UAS as a Means for Secondary Navigation

Unmanned Air Systems (UAS) navigate using Global Navigation Satellite Systems (GNSS), but GNSS vulnerability precludes its use as the only means of navigation and requires a secondary means of navigation. A differentiating characteristic of UAS is their periodic communications with the ground station. This paper analyses the adequacy of employing UAS Command, Control and Communications (C3) as a secondary means of navigation. With no additional infrastructure, an Extended Kalman Filter (EKF) is used to process C3 messages and to obtain the positions of the UAS. Navigation accuracy and integrity are calculated in a scenario with three UAS. The obtained results meet the International Civil Aviation Organization (ICAO) Performance-Based Navigation (PBN) requirements.