Table of Contents

Cover

Title Page

Preface

Chapter 1: Overview

1.1 Origin of GLONASS
1.2 Development and Future Plans for the GPS System
1.3 Development and Future Plans for GLONASS
1.4 Development and Future of the Chinese Navigation Satellite System
1.5 Galileo Navigation Satellite System
1.6 Indian Navigation Satellite System
1.7 Japanese Regional Navigation Satellite System

Chapter 2: Concept and Application Prospects of Satellite Positioning Reporting Engineering

2.1 Satellite Positioning Reporting Service
2.2 Type of Service and Frequency Assignment
2.3 System Interference Analysis and Strategy
2.4 Service Optimization of Satellite Positioning Reporting Engineering
2.5 RDSS Application

Chapter 3: Principles of Satellite Positioning Reporting

3.1 Theory of Positioning Reporting
3.2 Main Factors Affecting Positioning Accuracy
3.3 Accuracy of MCC Time Delay Measurement
3.4 Space Propagation Time Delay Error
3.5 Geometric Figure and Positioning Accuracy
3.6 User Elevation and Positioning Accuracy

Chapter 4: Engineering Design of the Satellite Positioning Reporting System

4.1 System Composition
4.2 System Function Design
4.3 System Technical Index Design
4.4 Signal System Design
4.5 System Frequency Design
4.6 Engineering Design of Positioning Reporting Satellites
4.7 MCC Engineering Design
4.8 RDSS Application Terminal Design

Chapter 5: Comprehensive Theory of RDSS and Engineering Design

5.1 Definition of CRDSS
5.2 Theory of CRDSS
5.3 CRDSS system Engineering Design
5.4 CRDSS Navigation Positioning Satellite
5.5 CRDSS Ground System
5.6 Typical Application Scheme

Chapter 6: Anti-Interference and Low Exposure Technology of the Satellite Positioning User

6.1 Self-Adaptive Spatial Filtering Principle
6.2 Basic Algorithm of Self-Adaptive Filtering
6.3 Self-Adaptive Nulling Antenna Engineering Design
6.4 Low Exposure Transmission Array Antenna Design

Chapter 7: Concept of Satellite Navigation and the Principle of Positioning and Velocity Measurement

7.1 Concept of Satellite Navigation
7.2 Satellite Navigation Principle
7.3 Geometric Precision Factor
7.4 Satellite Navigation Velocity Measurement Principle
7.5 Positioning Velocity Measurement Precision
7.6 Distance Difference and Radial Velocity Difference
7.7 Combined Method
7.8 Carrier Phase Difference Method

Chapter 8: Performance Demand and General Design of RNSS

8.1 Essential Performance of RNSS
8.2 Mission and Procedure of the General Design
8.3 Mission and Procedure of Engineering Design

Chapter 9: System Design of Satellite Navigation

9.1 System Design Principle and Content
9.2 Service Mode and Content
9.3 Satellite Orbit and Constellation Selection
9.4 Signal Frequency and Modulation Coding Mode
9.5 Time Standard and Timing Pattern of Satellite Navigation
9.6 Navigation Satellite Trajectories and Ephemeris Expressions

Chapter 10: Design of the Satellite Navigation Operation Control System

10.1 Mission and Composition of the Satellite Navigation Operation Control System
10.2 Satellite Time Synchronization and Timing
10.3 Correction of Navigation Signal Spatial Propagation Delay
10.4 Determination of Precise Orbit and Satellite Clock Error
10.5 Integrity Monitoring and Prediction
10.6 Integration of Operation Control System
10.7 Operation and Control of Multi-System Joint Wide Area Augmentation System

Chapter 11: Navigation Satellites and Navigation Payload

11.1 Satellite and Navigation Payload History
11.2 Navigation Satellite Platform
11.3 Navigation Payload Requirements
11.4 GPS Satellite Navigation Payload
11.5 GLONASS Navigation Satellite and Navigation Payload
11.6 Galileo Navigation Satellite and Alternative Schemes of Navigation Payload
11.7 Compass Satellite Navigation and Payload
11.8 Comparison and Development Direction of Navigation Payload

Chapter 12: Satellite Navigation User Receiver

12.1 Relative Motion Characteristics Between the User and the Satellite
12.2 Pseudorange Measurement and Error Analysis
12.3 Positioning and Filtering Processing

References

Further Reading

Index

End User License Agreement

List of Illustrations

Chapter 3: Principles of Satellite Positioning Reporting

Figure 3.1 Principle of positioning.
Figure 3.2 Chart for positioning system signal flow.
Figure 3.3 Schematic drawing of geodial surface.

Chapter 4: Engineering Design of the Satellite Positioning Reporting System

Figure 4.1 System composition.
Figure 4.2 Format of the outbound signal.
Figure 4.3 Inbound signal format.
Figure 4.4 Link frequency assignment.
Figure 4.5 Satellite-ground frequency adjustment scheme flow diagram.
Figure 4.6 Fast acquisition principle.
Figure 4.7 Combination of orbit determination distance and observation quantity.

Chapter 5: Comprehensive Theory of RDSS and Engineering Design

Figure 5.1 Selection of positioning satellite and principle of positioning of CRDSS.
Figure 5.2 Service comparison between RDSS and RNSS.
Figure 5.3 Coverage diagram of two GEO satellites.
Figure 5.4 Global rescue coverage based on GEO4 and GEO5 as well as Asia-Pacific coverage based on GEO1, GEO2, and GEO3.
Figure 5.5 Ionosphere grid calculation diagram.
Figure 5.6 Weakening diagram of multiple narrow correlators on multipath error.
Figure 5.7 Guidance service system composition.
Figure 5.9 S/L beam coverage.
Figure 5.8 C/S, L/S transponder configuration.
Figure 5.10 CRDSS positioning satellite selection and positioning principle.
Figure 5.11 Pseudorange double difference RDSS positioning principle.
Figure 5.12 R_ua distance sum signal flow chart.
Figure 5.13 Pseudorange double difference measurement.
Figure 5.14 Basic design requirement of inbound signal.
Figure 5.15 Block diagram of a double module user terminal.

Chapter 6: Anti-Interference and Low Exposure Technology of the Satellite Positioning User

Figure 6.1 Improvement of the main lobe.
Figure 6.2 Suppression of the main lobe.
Figure 6.3 N antenna array digital beam formation block diagram.
Figure 6.4 Schematic diagram of the uniform circular path delay.

Chapter 7: Concept of Satellite Navigation and the Principle of Positioning and Velocity Measurement

Figure 7.1 Positioning principle of transit.
Figure 7.2 Schematic diagram of pseudorange and clock error.

Chapter 8: Performance Demand and General Design of RNSS

Figure 8.1 Block diagram of system architecture and engineering procedures.
Figure 8.2 Engineering design of the system.

Chapter 9: System Design of Satellite Navigation

Figure 9.1 Schematic diagram of satellite altitude.
Figure 9.2 Angle of visibility of satellite.
Figure 9.3 Track of sub-satellite point.
Figure 9.4 Example of a track of GPS sub-satellite point.
Figure 9.5 Track of the sub-satellite point of IGSO.
Figure 9.6 Relationship of vertical location accuracy (99.7% availability) and the number and altitude of MEO satellites.
Figure 9.7 Relationship of vertical accuracy and the number and altitude of satellites (with 3 GEO satellites, each curve corresponding to a different altitude: from 20,500 to 30,500 km, with a step length of 2000 km).
Figure 9.8 Relationship of vertical accuracy and the number and altitude of planes (MEO 24 satellites).
Figure 9.9 Relationship of vertical accuracy and the number of planes and the satellite altitude (30 satellites).
Figure 9.10 Occupation condition of navigation frequency.
Figure 9.11 Mutual spectral interference between CCNS and GPS.
Figure 9.12 The m-sequence register with linear feedback.
Figure 9.13 Gold code sequence.
Figure 9.14 Variation block diagram of a GPS p-code generator.
Figure 9.15 Block diagram of super long code generated using the compound method.
Figure 9.16 Block diagram of super long code generated using the parameter control method.
Figure 9.17 Allocation scheme for the same PR code.
Figure 9.18 Allocation scheme for different PR codes.
Figure 9.19 Block diagram of a normal QPSK modulator.
Figure 9.20 Power spectrum relationship between m code and C/A code, P code.
Figure 9.21 Block diagram of a linear subcarrier signal generator.
Figure 9.22 Block diagram of BOC signal generation.
Figure 9.23 BOC (10, 5) baseband signal.
Figure 9.24 Block diagram of CRC coding.
Figure 9.25 Geocentric coordinate system.

Chapter 10: Design of the Satellite Navigation Operation Control System

Figure 10.1 Transient process of orbital maneuver.
Figure 10.2 Schematic diagram of correlated characteristics.
Figure 10.3 Concept of the multi-system joint wide area augmentation system.
Figure 10.4 Ephemeris error of augmentation satellite.
Figure 10.5 Instance diagrams of estimated ephemeris errors under over-determined and underdetermined conditions.
Figure 10.6 Composition of the joint monitoring station.
Figure 10.7 Diagram of software processing function for the foreign satellite system.
Figure 10.8 Internal data flow of the system.

Chapter 11: Navigation Satellites and Navigation Payload

Figure 11.1 Antenna beam width and path loss values [15].
Figure 11.2 Horizontal link transponder and data unit block diagram.
Figure 11.3 AUTONAV processing block diagram.
Figure 11.4 Block diagram of Galileo MEO/GEO satellite subsystems.
Figure 11.5 Block diagram of TT&C system (I).

Chapter 12: Satellite Navigation User Receiver

Figure 12.1 Satellite navigation user receiver.
Figure 12.2 Geometrical relationship of pseudorange.
Figure 12.3 Typical DLL delay locked loop.
Figure 12.4 Navigation processor with α/β Tracker.
Figure 12.5 Navigation processor with Kalman tracker.
Figure 12.6 Conversion from pseudorange to the user state coordinate.
Figure 12.7 Relationship between processed noise and measurement noise and its influence on the predicted, the actual, and the observed pseudoranges.
Figure 12.8 Flow chart of Kalman filter implementation.

List of Tables

Chapter 2: Concept and Application Prospects of Satellite Positioning Reporting Engineering

Table 2.1 Comparison between satellite positioning reporting engineering and satellite navigation engineering
Table 2.2 US 1618 MHz frequency spectrum management^a
Table 2.3 US 2492 MHz frequency spectrum management^a
Table 2.4 US 5100 MHz frequency spectrum management^a

Chapter 4: Engineering Design of the Satellite Positioning Reporting System

Table 4.1 Channel Level with Bandwidth of 16 MHz in 6 GHz Frequency Band from MCC to Satellite
Table 4.2 Typical 2491.75 MHz Frequency Signal Level from Satellite to User
Table 4.3 Typical 1618.25 MHz Link Level with Bandwidth of 16.5 MHz from User to Satellite
Table 4.4 4 GHz Frequency Band 16.5 MHz Bandwidth Link Level from Satellite to MCC

Chapter 5: Comprehensive Theory of RDSS and Engineering Design

Table 5.1 Position reporting performance comparison between CRDSS and GPS
Table 5.2 Typical signal level of 2483.5∼2500 MHz from satellite to user
Table 5.3 Typical signal level of 1610∼1626.5 MHz from user to satellite
Table 5.4 CAT-I requirement proposed by the ICAO
Table 5.5 Precision positioning service indexes
Table 5.6 Standard point positioning and single reference station pseudorange differential positioning error Table (in m)
Table 5.7 WASS pseudorange differential positioning error assignment (in m)
Table 5.8 Calculation of outbound link level
Table 5.9 Inbound link level calculation
Table 5.10 Link level calculation under antenna aperture D = 1.3 m
Table 5.11 L link level calculation under antenna aperture D = 1.3 m
Table 5.12 Assignment of 1.0 m accuracy design parameter

Chapter 7: Concept of Satellite Navigation and the Principle of Positioning and Velocity Measurement

Table 7.1 Civil aviation requirement proposed by the ICAO [6]
Table 7.2 Galileo A-level public and professional application service performance requirement [7]
Table 7.3 Galileo B-level service performance requirement [7]

Chapter 8: Performance Demand and General Design of RNSS

Table 8.1 Safeguarding requirements for Russian radio aviation navigation
Table 8.2 Russian index requirements for the descent stage of flight landing
Table 8.3 Safeguarding requirements for Russian radio navigation of marine vessels
Table 8.4 Planning requirements for Russian radio navigation.^*
Table 8.5 Federal Radio Navigation Proposal Requirements of the United States Department of Transportation
Table 8.6 US Federal Aviation Administration FAA Navigation System Precision Standard
Table 8.7 Requirements of the US Radio Technical Commission for Aeronautics RTCASC 159 for the RAIM Integrity Recommendation

Chapter 9: System Design of Satellite Navigation

Table 9.1 Galileo Business Characteristics [7]
Table 9.2 UERE of the first action
Table 9.3 UERE of the second action
Table 9.4 Walker/GPS performance comparison
Table 9.5 E5 signal
Table 9.7 E2–L1-E1 signal
Table 9.8 Examples of main parameters for BOC
Table 9.9 Requirements and content of GPS navigation data
Table 9.10 Signal structures of Compass global system
Table 9.11 GPST-UTC clock correction parameters (taken from p. 18 of GPS telex message sub-frame 4)
Table 9.12 Comparison of ephemeris expressions and selection criteria
Table 9.13 Parameters of ephemeris expression [15]
Table 9.14 Definition of ephemeris expressions
Table 9.15 Scale factors for ephemeris parameters

Chapter 10: Design of the Satellite Navigation Operation Control System

Table 10.1 GPS ionosphere parameters [14]
Table 10.2 Basic relationship between ionosphere correlation properties and distance
Table 10.3 Grid point 1GP number demonstration

Chapter 11: Navigation Satellites and Navigation Payload

Table 11.1 Initial GPS launch history
Table 11.2 GLONASS unfolding phase
Table 11.3 Navigation data grouping

Chapter 12: Satellite Navigation User Receiver

Table 12.1 Analog computation of relative motion dynamic characteristics for Beijing static users
Table 12.2 Analog computation of relative motion dynamic characteristics for Sanya static users
Table 12.3 Pseudorange measurement accuracy for the two code element widths and different correlation space
Table 12.4 Functional relationship between α and the deviation error caused by variance reduction rate and acceleration

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Preface

The contemporary satellite navigation system has become an important infrastructure in the main developed countries. The US Global Positioning System (GPS) and the Russian Global Navigation Satellite System (GLONASS), established in the middle 1990s, are not only important military equipment but also widely used in the fields of global navigation and positioning, high precision time transfer, spacecraft tracking telemetry and control, and so on. The European Union started building the Galileo Satellite Navigation System at the end of the twentieth century. China has started building the China Compass Navigation Satellite System since the mid-1990s. The Compass Satellite Navigation and Positioning Reporting System was successfully built on December 27, 2012, realizing the service capability in Asia-Pacific Region. The author, starting from the Compass Satellite Navigation and Positioning Reporting System and engineering practice and taking the Radio Determination Satellite System (RDSS) and Radio Navigation Satellite Service (RNSS) as the important content, wrote GNSS Systems and Engineering: The China Compass Navigation and Position Location Satellite.

This book consists of three parts, 15 chapters in total. The first part includes four chapters introducing the theory and engineering design of Radio Determination Satellite Service (RDSS) mainly including basic concepts, fundamental principle, engineering design, user equipment technology, and so on. Chapter 5, Theory and Engineering Design of Navigation and Determination Satellite Service, serves as a link between the previous and following chapters introducing the theory and design of Radio Navigation and Determination Satellite Service integrating RDSS and RNSS. The third part includes the next nine chapters that introduce the theory and engineering design of Radio Navigation Satellite Service (RNSS), mainly including basic concepts, fundamental principle, engineering design, application examples, user equipment testing, and so on.

During writing and compiling of this book, departments at all different levels and relevant experts provided care and support. I would like to thank Xu Qifeng and Xie Youcai for their valuable revision comments; Wang Gang, researcher, for providing the analog computation result of the relative motion features of the static-state user; and to thank the China Aerospace Science and Technology Corporation (CASC) for providing the GLONASS document. I express my sincere thanks to Dr. Chen Xiangdong, Senior Engineer Zhao Wenjun, Zhang Aiyong, Mo Zhongqiu, Qu Wenke, Shen Fei, Yang Hua, Wei Gang, Li Yanyan, Jiao Cheng, Zhu Weigang, Zhao Jing, Hou Li, Yan Jianhua, Luo Keke; they made great effort in manuscript preparation, printing, and illustration preparation. At the same time, I express special thanks to Dr. Chen Xiangdong, Dr. Li Lin, Dr. He Feng, Dr. Sun Li, Dr. Ma Min, Dr. Li Min, Dr. Hu Caibo, Dr. Hu Zhirui, Dr. Tang Bin, Dr. Yang Huafeng, Tang Yun, Wang Sen, Shi Xin, Wang Chuhan, Zhang Linfeng, Zhang Hui, Dou Changjiang, Sha Hai, Dr. Wang Dongxia, Xin Jie, and Li Yanjie, for their great effort in translating the book.

The Chinese Beidou Navigation and Position Location Satellite