Synthesis Algorithm for Effective Detection of GNSS Spoofing Attacks

A sparse global navigation satellite system (GLONASS) signal acquisition method based on compressive sensing and multiple measurement vectors is proposed. The nonsparse GLONASS signal can be represented sparsely on our proposed dictionary which is designed based on the signal feature. Then, the GLONASS signal is sensed by a normalized orthogonal random matrix and acquired by the improved multiple measurement vectors acquisition algorithm. There are 10 cycles of pseudorandom codes in a navigation message, and these 10 pseudorandom codes have the same row sparse structure. So, the acquisition probability can be raised by row sparse features theoretically. A large number of simulated GLONASS signal experiments show that the acquisition probability increases with the increase in the measurement vector column dimension. Finally, the practical availability of the new method is verified by acquisition experiments with the real record GLONASS signal. The new method can reduce the storage space and energy loss of data transmission. We hope that the new method can be applied to field receivers that need to record and transmit navigation data for a long time.

In urban road environments, global navigation satellite system (GNSS) signals may be interrupted due to occlusion by buildings and obstacles, resulting in reduced accuracy and discontinuity of combined GNSS/inertial navigation system (INS) positioning. Improving the accuracy and robustness of combined GNSS/INS positioning systems for land vehicles in the presence of GNSS interruptions is a challenging task. The main objective of this paper is to develop a method for predicting GNSS information during GNSS outages based on a long short-term memory (LSTM) neural network to assist in factor graph-based combined GNSS/INS localization, which can provide a reliable combined localization solution during GNSS signal outages. In an environment with good GNSS signals, a factor graph fusion algorithm is used for data fusion of the combined positioning system, and an LSTM neural network prediction model is trained, and model parameters are determined using the INS velocity, inertial measurement unit (IMU) output, and GNSS position incremental data. In an environment with interrupted GNSS signals, the LSTM model is used to predict the GNSS positional increments and generate the pseudo-GNSS information and the solved results of INS for combined localization. In order to verify the performance and effectiveness of the proposed method, we conducted real-world road test experiments on land vehicles installed with GNSS receivers and inertial sensors. The experimental results show that, compared with the traditional combined GNSS/INS factor graph localization method, the proposed method can provide more accurate and robust localization results even in environments with frequent GNSS signal loss.

The traditional measurement of signal bandwidth using single-carrier frequency sweeping is not suitable for global navigation satellite system (GNSS) signal. A new analysis technique of signal bandwidth with digital signal processing technique has been developed. After the GNSS signal is highly sampled, the spectrum of the actual GNSS signal and the ideal signal generated locally are evaluated in digital domain. The bandwidth of GNSS signal can be calculated. Simulation has been done for the proposed measurement technique using spectrum evaluation algorithm of the Periodogram and the Welch respectively. The simulation results shows that the GNSS signal bandwidth can be accurately estimated after the ideal and actual signal spectrum are evaluated and calculated using the Welch. The simulation results show that The estimating accurate of signal bandwidth can be higher than 99.9% in the case of the proper parameters have been set for Welch.

The Global Navigation Satellite System (GNSS) signals are often blocked or interfered in complex geographical or electromagnetic environments, which may make GNSS receivers unable to provide satisfying navigation and positioning services. There have been many ground-based or space-based GNSS augmentation systems to improve the resilience of GNSS positioning, of which most of them rely on additional infrastructures. In this study, a smartphone-based tightly-coupled positioning method was developed using the images from a build-in monocular camera and GNSS signals. In this method, the feature points with the known coordinates are regarded as 'visual pseudolite' and the distance between the camera and the feature points was calculated according to the photogrammetry approaches and used to estimate the user positioning with GNSS signals. The experimental results showed the feasibility of the tightly-coupled positioning algorithm and reached the positioning accuracy of ±5.56 m (1?), which is significantly higher than that of GNSS-only and vision-only positioning solutions.

Due to the low signal power, the Global Navigation Satellite System (GNSS) signal is vulnerable to interference and even cannot be captured or tracked in harsh environments. As an alternative, the Low Earth Orbit (LEO) satellite has been widely used in the navigation field due to the advantages of low cost and strong signals. It is becoming a significant component of the new combined navigation system with GNSS. The combination of an LEO Doppler signal and GNSS observables can improve the positioning accuracy and high-precision positioning convergence time of the GNSS receiver. However, the GNSS signal receiving capability cannot be improved from this data fusion level. We propose a novel assisted structure where GNSS signal acquisition and Doppler tracking are assisted by LEO Doppler positioning. The receiver uses the LEO signal to achieve Doppler positioning firstly. Then, the coarse position with the GNSS navigation messages received from LEO, as well as the estimated clock information, is used to assist in the acquisition and tracking of GNSS. In this way, the GNSS receiver’s sensitivity can get the benefit from this integrated system. The paper presents the structure of the assisted receiver and analyzes the assisted GNSS signal acquisition and carrier tracking performance in detail. Simulation experiments of this assisted structure are carried out to verify its superiority of acquisition and tracking sensitivity in comparison with standalone GNSS receivers. Theoretical analysis and experimental results show that the proposed acquisition method can achieve 90% detection probability at a carrier-to-noise ratio (C/N0) of 15 dB-Hz, which is about 8 dB higher than the conventional acquisition method without assistance; the proposed tracking method can track weak signals of 5 dB-Hz, which is about 4 dB higher than the conventional method. Therefore, this novel LEO-assisted receiver has significantly improved weak signal acquisition and tracking sensitivity.

The global navigation satellite system (GNSS) signal modulation type plays a crucial role in determining the performances of positioning, navigation and timing (PNT) services. Currently, the binary offset carrier (BOC) modulation signal and binary coded symbol (BCS) modulation signal are both bipolar signals, which greatly restrict the room of improving the GNSS signal performance. Therefore, multi-level coded symbol (MCS) modulation has received great attention in the field of GNSS signal design. The MCS modulation is the most extensive step-coded symbol modulation mode, where BOC modulation and BCS modulation are its special cases. Since the waveform symbol of the MCS modulation signal can be arbitrarily valued, the optimal GNSS signal can be designed. However, like the BOC modulation signal, the MCS modulation signal also has the problem of ambiguous tracking, and then results in a large pseudo range measurement error, which is unacceptable for the new generation GNSS with high accuracy. In recent years, the unambiguous tracking of GNSS signals has become a hot research subject in the navigation signal processing domain and many methods are presented, and those methods can be divided into three categories:BPSK-like method, bump jump (BJ) method, and side-peak cancellation (SC) method. However, these methods are designed for BOC signal, and they are not suitable for MCS signal. Therefore, in this paper we propose a general unambiguous tracking algorithm based on the pseudo correlation function (PCF), which is suitable for MCS modulated signals. Firstly, the unitary expression of MCS modulated signal based on waveform value vector is given, then the unitary formula of cross-correlation function for MCS signal is derived and the definition of PCF is given. Then the constraint condition which should be satisfied to realize unambiguous tracking is analyzed in depth, and the universal constructing method of two reference signals and the relationship between each other are derived according to this constraint condition, which brings great convenience for solving the specific MCS signal. The code tracking loop model of GNSS receiver based on the proposed method is illustrated. It is observed that the proposed method can receive different MCS signals under the same receiver loop framework, and can simplify the design of the receiver while eliminating the tracking ambiguous problem. Finally, as a special case of MCS signal, the applications of the proposed method in four kinds of BOC signals are discussed respectively, and then the waveform value vector of the reference signal and the unitary expression of code discriminator are derived. Simulation results show that the proposed method can effectively solve the ambiguous tracking problem of MCS signal, which has good performance and broad application prospect.

A distinctive feature of modern Global Navigation Satellite System (GNSS) signals is that they transmit multiple signal components at the same carrier frequencies. The idea of joints across the signal channels from the same carrier frequency and even across different frequencies has been presented in many studies for tracking purposes. Carrier joint tracking is required on the premise that the frequency and phase relationship between signals are nominal values, and the bias of carrier characteristics between signals is drowned in noise as the signal reaches the ground, which requires high-gain receiving equipment to restore the original signal. The space signal-quality monitoring and evaluation system built by the National Timing Center of the Chinese Academy of Sciences is based on a 40 m dish antenna, which can automatically track a single satellite and achieve a high-fidelity reception of navigation signals to a certain extent, realizing fine signal quality monitoring (SQM) of GNSS satellites. Based on this platform, we discuss four types of time distributions of the combined signals among different signal components and provide a method to estimate the carrier characteristic bias between GNSS signals. We derived the correction method of carrier characteristic bias in the joint reception by the joint tracking mathematical model. Under the conditions of narrow correlation and unobstructed case, the carrier characteristic deviation does not vary significantly with the correlator interval and the satellite elevation angle. Based on the results of stability analysis, it is recommended that the receivers should update the carrier frequency bias correction number of the intra-frequency signal and carrier phase bias correction number of the intra-frequency signal monthly. The carrier phase deviation correction number of the inter-frequency signal is performed daily. The measured data from satellites show that the phase accumulation error of the joint tracking carrier loop can be eliminated to achieve long-term stable tracking after frequency bias correction. After the carrier phase bias correction, the joint positioning accuracy of the B2a and B2b signals was improved by 0.81%, and those of the B1C, L1C, E1C, and B2a signals were improved by 0.35%, 0.04%, 0.20%, and 0.11%, respectively. The positioning accuracy improvement effect of inter-frequency signals was greater than that of intra-frequency signals after carrier phase correction.

This paper presents one of the solutions to the problem of multipath propagation and effects on Global Navigation Satellite Systems (GNSS) signals in urban canyons. GNSS signals may reach a receiver not only through Line-of-Sight (LOS) paths, but they are often blocked, reflected or diffracted from tall buildings, leading to unmodelled GNSS errors in position estimation. Therefore in order to detect and mitigate the impact of multipath, a new ray-tracing model for simulation of GNSS signals reception in urban canyons is proposed - based on digital 3D maps information, known positions of GNSS satellites and an assumed position of a receiver. The model is established and validated using experimental, as well as real data. It is specially designed for complex environments and situations where positioning with highest accuracy is required - a typical example is navigation for blind people.

Detecting and processing Global Navigation Satellite System (GNSS) signals indoors and in urban canyons, have gained a great deal of attention due to the problems of very weak signals and hostile environments. The detection of GNSS signals is generally based on the application of a statistical test, derived from the maximum likelihood theory. The work presented here considers a new approach to the detection of weak GNSS signals using a Bayesian technique within a scenario where the search space size is already reduced to a few tens of cells using some kind of assisted information. The search space cells are considered as candidate cells, where each candidate cell is associated with a code delay and a Doppler frequency. For each candidate cell, a posteriori probability is propagated for a fixed number of operation cycles. At the end of the process, the maximum a posterior (MAP) criterion is used to select the correct cell. Simulation results are presented indicating that the proposed method provides a significant performance advantage over other reference schemes. They include a noncoherent integration scheme and another scheme which also utilizes the posterior probabilities as decision statistics but differs in the mechanism of probability propagation.

To address the critical technical challenge of positioning failure in unmanned mining trucks induced by global navigation satellite system (GNSS) signal attenuation in complex open-pit coal mine environments, particularly the significant trajectory oscillation during cornering in IMU-LiDAR integrated navigation under the simulated GNSS outage condition (with a focus on the challenging scenario of GNSS outage), this study proposes a collaborative positioning method integrating inertial measurement unit (IMU) and LiDAR based on the extended Kalman filter (EKF). A nonlinear system fusion positioning model was established, where IMU high-frequency motion estimation serves as the prediction equation and LiDAR point cloud matching (adopting the normal distribution transformation, NDT, algorithm) acts as the observation equation. The EKF algorithm performs optimal estimation on both the position estimation results of IMU and the pose information of LiDAR obtained via NDT, effectively suppressing the cumulative errors of IMU and the matching jitter of LiDAR under feature degradation scenarios. To verify the algorithm's performance comprehensively, a standardized experimental vehicle platform was constructed, and tests were conducted under multi-route, multi-speed, and repeated trial conditions. To simulate a representative and controllable weak-GNSS condition, the GNSS signal was programmatically blocked to emulate a complete outage scenario. Results indicate that while individual positioning algorithms exhibit significant tracking jitter in curved sections, the proposed IMU-LiDAR fusion trajectory closely matches the preset path. Compared to standalone IMU/LiDAR algorithms, the fusion method reduces average offset by up to 24.51% and standard deviation by up to 34.15%; when compared with mainstream open-source integrated navigation algorithms such as FAST-LIO2 and LIO-SAM, it also demonstrates superior positioning accuracy and trajectory stability. These research findings provide reliable technical support for intelligent construction in open-pit coal mines.

The reflected GNSS signals at the L-band is significantly advantageous in soil moisture monitoring as they are sensitive to the dielectric properties determined by the volumetric water content of topsoil, and they can penetrate vegetation, except in very dense forests. The Global Navigation satellite system Occultation Sounder (GNOS-II) with a reflectometry technique onboard the Fengyun-3E (FY-3E) satellite, launched on 5 July 2021, is the first mission that can receive reflected Global Navigation Satellite System (GNSS) signals from GPS, BeiDou and Galileo systems. This paper presents the soil moisture retrieval results from the FY-3E GNOS-II mission using 16 months of data. In this study, the reflectivity observations from different GNSS systems were firstly intercalibrated with some differences analyzed. Observations were also corrected by considering vegetation attenuation for 16 different land cover classifications. Finally, an empirical model was constructed for volumetric soil moisture (VSM) estimation, where the reflectivity of GNOS-II was linearly related to the SMAP reference soil moisture for each 36 km ease grid. The overall root-mean-square error of the retrieved soil moisture is 0.049 compared with the SMAP product, and 0.054 compared with the in situ data. The results of the three GNSS systems show similar levels of accuracy. This paper, for the first time, demonstrates the feasibility of global soil moisture retrieval using multiple GNSS signals.

Abstract. Typically, in situations where Global Navigation Satellite System (GNSS) signals are unavailable, navigation systems rely on integrating GNSS and inertial navigation system (INS) data. While such integration can provide accurate positioning during short GNSS signal outages, it cannot sustain prolonged GNSS outages. The reason for this is that the system's performance depends solely on the INS and can result in significant errors over time. To address this issue, additional onboard sensors are necessary. This study proposes a navigation system that integrates INS and LiDAR simultaneous localization and mapping (SLAM) using an extended Kalman filter (EKF). The system was tested using the raw KITTI dataset in various outdoor driving scenarios without GNSS signals. It is shown that the proposed system significantly outperformed the INS-only system, with an average RMSE improvement of around 93% and 58% in the horizontal and the up directions, respectively.

The study of climate change is an important field of research. Monitoring of atmospheric variability especially the tropospheric precipitable water vapor (PWV) is a powerful way to investigate climate change. Global navigation satellite systems (GNSS) provide a good tool for studying atmospheric parameters as GNSS signals along its path from the satellites to the ground based receivers suffer a significant delay due to the refractivity of earth’s atmosphere. GNSS signals are not only delayed but also refracted in the neutral atmosphere. The zenith wet delays (ZWD) caused by the troposphere can be estimated during the geodetic processing of GNSS signals. Since the ZWD is tightly correlated to the PWV, GNSS observations can be used to study the changes of PWV. In this study GNSS data from the Egyptian permanent GNSS network (EPGN), International GNSS Service (IGS), EUREF Permanent Network (EPN) and Scripps Orbit and Permanent Array Center (SOPAC), for the years 2013 and 2014, were used. These GNSS stations provided a good geometrical coverage over the respective region. All GNSS data were processed using Bernese V 5.2 software. The needed product from GNSS data processing is the tropospheric zenith total delay (ZTD) over each GNSS site. The ZTD is divided based on physical parameters into zenith hydrostatic delay (ZHD) and zenith wet delay (ZWD). The ZWD is the basic observable used to calculate PWV. The values of the PWV were calculated and its variation over the study area was investigated. The quality of calculated PWV values from GNSS data evaluated against traditional Radiosonde (RS) measurements. The results of GNSS PWV showed good agreement with RS PWV when the PWV values were low, but this agreement became worse at high PWV values as the differences between the two techniques increased. The correlation coefficient between RS PWV and GNSS PWV varied from 0.31 to 0.84. Standard deviation of the differences between RS PWV and GNSS PWV ranged from 2.369 to 5.973 mm. The PWV estimated from GNSS observations had annual cycle, and its cycle in 2013 was different from that in 2014. The PWV differences between the 2 years clarified that the water vapor content over the east Mediterranean in most of 2014 days was higher than that in 2013. Furthermore, PWV variations were noted on both temporal and spatial scales. The highest temporal variation value was 25.41 mm whereas the maximum value of the spatial variation was 19.67 mm. The present study illustrated the importance of using geodetic networks to provide atmospheric information.

Measurements of carrier frequency phase differences of global navigation satellite system signals between multiple antennas are used in many coordinate and navigation applications. Global navigation satellite systems signal simulators are used for controlling global navigation satellite systems receiver’s instrumental errors. Therefore, it is necessary to determine the systematic error of the carrier frequency phase of generated signals for signal simulators. For this purpose a new calibration method of global navigation satellite systems simulators was developed. Method is based on refined errors model of generated phase differences of two radio frequency channels of the simulator. The proposed method was implemented using a wideband oscilloscope as an analog-to-digital converter. Approbation of the calibration method was carried out by comparison with the measurement results obtained using the State secondary standard of units of complex transmission coefficients in the range of 0...–60 dB and complex reflection coefficients in the range of 0.002–1 in the frequency range of 0.05–65 GHz (registration No. 2.1.ZZT.0210.2015). The calibration method allows one to determine carrier frequencies phase offsets of navigation signals for global navigation satellite systems simulators with expanded uncertainty (with a coverage factor of 3) of 1°. The proposed method provides the required accuracy of generating phase differences of the carrier frequencies of global navigation satellite systems signals is ensured for modern types of global navigation satellite systems simulators.

Ground-based GNSS ZTD/IWV estimation system for numerical weather prediction in challenging weather conditions