Startseite Technik Experimental results of multipath behavior for GPS L1-L2 and Galileo E1-E5b in static and kinematic scenarios
Artikel
Lizenziert
Nicht lizenziert Erfordert eine Authentifizierung

Experimental results of multipath behavior for GPS L1-L2 and Galileo E1-E5b in static and kinematic scenarios

  • Alexandra Avram EMAIL logo , Volker Schwieger und Noha El Gemayel
Veröffentlicht/Copyright: 31. Juli 2019
Veröffentlichen auch Sie bei De Gruyter Brill

Abstract

Current trends like Autonomous Driving (AD) increase the need for a precise, reliable, and continuous position at high velocities. In both natural and man-made environments, Global Navigation Satellite System (GNSS) signals suffer challenges such as multipath, attenuation, or loss-of-lock. As Highway Assist and Highway Pilot are AD next steps, multipath knowledge is necessary for this typical user-case and kinematic situations.

This paper presents a multipath performance analysis for GPS and Galileo satellites in static, slow, and high kinematic scenarios. The data is provided from car test-drives in both controlled and unrestricted, near-natural environments. The Code-Minus-Carrier (CMC) and cycle-slip implementations are validated with measurement data from consecutive days. Multipath statistical models based on satellite elevation are evaluated for the three investigated scenarios. Static models derived from the car setup measurements for GPS L1, L2 and Galileo E1 and E5b show a good agreement with a state-of-the-art model as well as the enhanced Galileo signals performance. Slow kinematic multipath results in a controlled environment showed an improvement for both navigation systems compared to the static measurements at the same place. This result is confirmed by static and slow kinematic multipath simulations with the same GNSS receiver. Post-processing analysis on highway measurements revealed a bigger multipath bias, compared to the open-sky static and slow kinematic measurement campaigns. Although less critical as urban or rural, this indicates the presence of multipath in this kind of environment as well. The impact of different parameters, including receiver architecture and Signal-to-noise ratio (SNR) are analyzed and discussed. Differential position (DGNSS) based on code is computed for each epoch and compared against GNSS/INS integrated position for all three measurement campaigns. The most significant 3D absolute error occurs where the greatest multipath envelope is found.

Acknowledgment

The authors thank Robert Bosch GmbH for the support in the realization of the measurement campaigns.

References

[1] P. Teunissen and A. Kleusberg, GPS for Geodesy, Springer, 1998.10.1007/978-3-642-72011-6Suche in Google Scholar

[2] B. Hofmann-Wellenhof, H. Lichtenegger and E. Wasle, GNSS – Global Navigation Satellite Systems, Wien: Springer, 2007.Suche in Google Scholar

[3] G. Xu and Y. Xu, GPS Theory, Algorithms and Applications, Springer, 2016.10.1007/978-3-662-50367-6_10Suche in Google Scholar

[4] S. Gleason and D. Gebre-Egziabher, GNSS Applications and Methods, Norwood, MA: Artech House, 2009.Suche in Google Scholar

[5] K. Yedukondalu, A. Sarma and V. Satya Srinivas, Estimation and mitigation of GPS multipath interference using adaptive filtering, Progress in Electromagnetics Research, pp. 133–148, 2011.10.2528/PIERM11080811Suche in Google Scholar

[6] E.-R. Ahmed, Introduction to GPS: The Global Positioning System, Artech House, 2002.Suche in Google Scholar

[7] D. Medina, K. Gibson, R. Ziebold and P. Closas, Determination of Pseudorange Error Models and Multipath Characterization under Signal-Degraded Scenarios, in ION, 2018.10.33012/2018.16094Suche in Google Scholar

[8] Y. Xang, X. Chen and P. Liu, Statistical Multipath Model based on experimental GNSS Data in Static Urban Canyon Environment, Sensors, vol. 1149, 2018.10.3390/s18041149Suche in Google Scholar PubMed PubMed Central

[9] O. Le Marchand, P. Bonnifait, J. Ibanez-Guzman, D. Betaille and F. Peyret, Characterization of GPS multipath for passenger vehicles across urban environments, Italy: ATTI dell’Istituto Italiano di Navigazione, 2009, pp. 77–88.Suche in Google Scholar

[10] S. M. Circiu, M. Felux, B. Belabbas, M. Meurer, J. Lee, M. Kim and S. Pullen, Evaluation of GPS L5, Galileo E1 and Galileo E5a performance in Flight Trials for Multi Frequency Multi Constellation GBAS, in Proceedings of the 28th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2015), pp. 897–906, 2015.Suche in Google Scholar

[11] S. M. Circiu, S. Caizzone, M. Felux, C. Enneking and M. Meurer, Improved airbone multipath modelling, in Institute of Navigation (ION GNSS), Miami, 2018.10.33012/2018.15855Suche in Google Scholar

[12] J. P. Weiss, Modeling and Characterization of Multipath in Global Navigation Satellite System Ranging Signals, University of Colorado, Colorado, 2007.Suche in Google Scholar

[13] A. Pirsiavash, A. Broumandan, G. Lachapelle and K. O’Keefe, GNSS Code Multipath Mitigation by Cascading Measurement Monitoring Techniques, Sensors, vol. 1967, 2018.10.3390/s18061967Suche in Google Scholar PubMed PubMed Central

[14] M. Irsigler, Multipath Propagation, Mitigation and Monitoring in the Light of Galileo and the Modernized GPS, München: University of the Arrmed Forces Munich, 2008.Suche in Google Scholar

[15] A. Beitler, A. Tollkuhn, D. Giustiniano and B. Plattner, CMCD: Multipath Detection for Mobile GNSS Receivers, in Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, California, 2015.Suche in Google Scholar

[16] Y. Georgiadou and A. Kleusberg, On carrier signal multipath effects in relative GPS positioning, Manuscripta Geodaetica, pp. 172–179, 1988.Suche in Google Scholar

[17] J. S. Subirana, J. J. Zornoza and M. Hernandez-Pajares, GNSS DATA PROCESSING, Volume I: Fundamentals and Algorithms, Netherlands: ESA Communications, 2013.Suche in Google Scholar

[18] N. Inc, PwrPak7, Hexagon, [Online]. Available: https://www.novatel.com/products/gnss-receivers/enclosures/pwrpak7/. [Accessed 17 01 2019].Suche in Google Scholar

[19] C.-L. Chang, Anti-Multipath Filter with Multiple Correlators in GNSS Receviers, in Adaptive Filtering Applications, InTech, 2011, pp. 381–399.10.5772/16696Suche in Google Scholar

[20] J. O. Winkel, Modelling and Simulating GNSS Signal Structures and Receivers, München: University of the Arrmed Forces Munich, 2000.Suche in Google Scholar

[21] J. Jones, P. Fenton and B. Smith, Theory and Performance of the Pulse Aperture Correlator, in Institute of Navigation (ION GNSS), Miami, 2004.Suche in Google Scholar

[22] P. W. Ward, J. W. Betz and C. J. Hegarty, Understanding GPS: Principles and Applications, 2nd Edition, Artech House, 2005.Suche in Google Scholar

[23] B. W. Parkinson, J. J. Spilker Jr. and M. S. Braasch, Multipath Effects, in Global Positioning Systems Theory and Applications Volume I, USA: American Institute of Aeronautics and Astronautics, 1995, pp. 547–566.Suche in Google Scholar

[24] E. S. Agency, ESA Navipedia, European Space Agency, 19 06 2019. [Online]. Available: https://gssc.esa.int/navipedia/index.php/GPS_Space_Segment. [Accessed 25 01 2019].Suche in Google Scholar

[25] L. Zhang, Qualitätssteigerung von Low-Cost-GPS Zeitreihen für Monitoring – Applikationen durch zeitlich-räumliche Korrelationsanalyse, Stuttgart: Univerity of Stuttgart, 2016.Suche in Google Scholar

[26] L. Zhang and V. Schwieger, Investigation of a L1-optimized Choke Ring Ground Plane for a Low-Cost GPS Receiver-System, Journal of Applied Geodesy, no. 1862-9016, pp. 55–64, 2017.10.1515/jag-2017-0026Suche in Google Scholar

[27] B. C. A.-.E. Systems, Electromagnetic Modeling of Airframe and Ground Bounce Multipath, 2005.Suche in Google Scholar

[28] K. Yedukondalu, A. Sarma and S. V. Srinivas, Multipath Mitigation Using LMS adaptive filtering for GPS Applications, in IEEE Applied Electromagnetics Conference, Kolkata, India, 2009.10.1109/AEMC.2009.5430568Suche in Google Scholar

[29] K. Yedukondalu, A. D. Sarma, A. Kumar and K. Satyanarayana, Spectral Analysis and Mitigation of GPS Multipath Error Using Digital Filtering for Static Applications, IETE Journal of Research, vol. 59, no. 2, pp. 156–166, March–April 2013.10.4103/0377-2063.113036Suche in Google Scholar

[30] J. Á. Á. Rodríguez, Navipedia, 14 02 2014. [Online]. Available: https://gssc.esa.int/navipedia/index.php/Galileo_Signal_Plan#Galileo_E5_Band. [Accessed 31 01 2019].Suche in Google Scholar

[31] P. W. Ward, W. J. Betz and J. C. Hegarty, GPS Satellite Signal Characteristics, in Understanding GPS Principles and Applications, Norwood: Artech House, 2006, pp. 113–124.Suche in Google Scholar

[32] W. J. Sennott and D. Pietraszewski, Experimental Measurement and Characterization of Ionospheric and Multipath Errors in Differential GPS, Navigation, vol. 34, no. 2, pp. 160–173, 1987. 10.1002/j.2161-4296.1987.tb01497.x.Suche in Google Scholar

[33] G. Lachapelle, W. Falkenberg, D. Neufeldt and P. Kielland, Marine DGPS Using Code and Carrier in a Multipath Environment, in Proceedings of the 2nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1989), Colorado Spring, 1989.Suche in Google Scholar

[34] I. D. V. Srilatha, S. B. G. Rao, S. S. Rani, S. Ravindra Babu, R. Goswami and C. Kumari, Investigation of GDOP for Precise user Position Computation with all Satellites in view and Optimum four Satellite Configurations, The Journal of Indian Geophysical Union, vol. 13, no. 3, p. 139148, 2009.Suche in Google Scholar

Received: 2019-03-15
Accepted: 2019-07-10
Published Online: 2019-07-31
Published in Print: 2019-10-25

© 2019 Walter de Gruyter GmbH, Berlin/Boston

Heruntergeladen am 6.3.2026 von https://www.degruyterbrill.com/document/doi/10.1515/jag-2019-0010/html
Button zum nach oben scrollen