NEWSLETTER Volume 14, Number 3 The Quarterly Newsletter of The Institute of Navigation Fall 2004

INSIDE GPS- Flight GLONASS Records Cooperation And The Speed Of GPS

Dr. Charles R. Cahn, Page 10 ION Funds Development of NovAtel Flight Recorder System for NAA By Trevor Brophy

ussia and the United States have signed ilots of all experience levels and disci- Ra joint statement that said that both Pplines go to the National Aeronautics sides intend to cooperate on matters of civil Association of America (NAA) when they want satellite-based navigation. recognition for flying faster, higher or longer The State Department’s statement said, than other pilots. The NAA sanctions numer- “Delegations of the United States and the ous record-attempts by pilots wishing to set ION GNSS 2004, Page 10 Russian Federation met in Washington national or world records for aircraft travel. D.C. on December 9-10, 2004, to continue Speed records can be set over distances as Features discussions on matters relating to GPS and short as 3km to as long as around the world. New GPS Space Policy Announced 2 GLONASS cooperation.” Now, with the help of NovAtel Inc’s GPS The Aviation GNSS Receiver ...... 4 “Both sides reiterated their commitment expertise, the 3km speed record can be veri- Lunar Navigation ...... 6 to continuing these talks and reaffirmed that fied using an extremely accurate GPS receiver ION GNSS 2004 ...... 9-11 the United States and the Russian Federation placed on the record-hopeful aircraft. Departments intend to continue to provide the GPS and The 3km low-elevation record is consid- Reaching Out ...... 3 GLONASS civil signals appropriate for com- ered by some to be the most prestigious of the mercial, scientific and safety of life use on records. Over such distances, aircrafts reach Calendar ...... 3 a continuous, worldwide basis, free of direct speeds of several hundreds of km/h. Pilots

Portney’s Corner Age of Maturity ...... 7 user fees.” must navigate their planes up and down a The statement also said that both sides 3km course and two 1km approach zones From the ION Historian MK2 MOD6 SINS History ...... 8 intend to establish working groups on mat- four times as shown in Figure 1. During the ters of development and use of GLONASS and flight, the plane must stay within a 200m GNSS Around the Globe News in Brief, Section News, GPS and their respective augmentations and wide corridor and cannot rise more than Launches, and more ...... 12–15 that both sides will start preliminary negotia- 150m above the ground while in the course. RTCA Corner ...... 17 tions on an agreement for GPS-GLONASS cooperation.  Timing continued on page 16

The Institute of Navigation • 3975 University Drive, Suite 390 • Fairfax, Virginia 22030 The Purpose of The ION® CALENDAR The Institute of Navigation, founded in 1945, reaching out! is a nonprofit professional society dedicated JANUARY 2005 to the advancement of the art and science 24–26: ION National Technical of navigation. It serves a diverse com- Meeting, San Diego, California GPS Monument Installed munity including those interested in air, Contact: The ION space, marine, land navigation and position Tel: +1 703-383-9688 determination. Although basically a national Fax: +1 703-383-9689 he President authorized a new GPS internationally accepted positioning, naviga- organization, its membership is worldwide, Web: www.ion.org at Maryland High School and it is affiliated Tnational policy on Dec. 8 that establishes tion, and timing services; and (6) promote with the International Association of guidance and implementation actions for U.S. technological leadership in applications APRIL 2005 nder an agreement between Peter Cahall, principal of the Watkins Mill High School Institutes of Navigation. 12–14: International space-based positioning, navigation, and involving space-based positioning, naviga- in Gaithersburg, Maryland, and ION Washington, D.C. Section Chair Jim Doherty, the 2004-05 National Symposium on Certification U timing programs, augmentations, and activi- tion, and timing services. To achieve this Section’s Stipend Steering Committee (SSC) installed a GPS monument on the hillside over- Executive Committee of Galileo System & Service ties for U.S. national and homeland security, goal, the United States Government will: President: Dr. Penina Axelrad (CERGAL 2005), Braunschweig, looking the football field of Watkins Mill High School. civil, scientific, and commercial purposes. • Provide uninterrupted access to U.S. Executive Vice President: James Doherty Germany Students in the Earth science class of instructor Erol Miller will use the monument to cali- The policy provides guidance for: (1) space-based global, precise positioning, navi- Treasurer: John Clark Contact: The German Institute of brate the accuracy of the Garmin GPS 72 and 76 receivers which they used last year and will development, acquisition, operation, sus- gation, and timing services for U.S. and allied Eastern Region Vice President: Navigation use this year in the “Survey your football field” activity. When SSC member Franck Boynton Tel: +49-(0) 228-20197-0 tainment and modernization of the Global national security systems and capabilities Dr. John Raquet has surveyed the monument, its coordinates in datums of WGS 84, NAD27, NAD83 and the Western Region Vice President: Fax: +49-(0) 228-20197-19 Positioning System and U.S.-developed, owned through the Global Positioning System, with- Maryland Grid will be posted on the school web site together with the method of survey. The John Lavrakas Web: www.dgon.de and/or operated systems used to augment out being dependent on foreign positioning, Satellite Division Chair: survey measurement data will be preserved for use by students. Using a $2,500 stipend from or otherwise improve the Global Positioning navigation, and timing services; Dr. Elizabeth Cannon MAY 2005 the ION Council in FY04, the SSC bought twelve GPS receivers and ten books for activities to System and/or other space-based positioning, • Provide on a continuous, worldwide Immediate Past President: Larry Hothem 23–25: The 12th St. Petersburg interest high school students in the art and science of navigation. navigation, and timing signals; (2) develop- basis civil space-based, positioning, naviga- International Conference How to Reach The ION on Integrated Navigation ment, deployment, sustainment, and modern- tion, and timing services free of direct user Telephone: 703-383-9688 Systems, St. Petersburg, Russia ization of capabilities to protect U.S. and allied fees for civil, commercial, and scientific uses, Facsimile: 703-383-9689 Contact: Dr. George T. Schmidt 1 2 3 access to and use of the Global Positioning and for homeland security through the Global Web site: http://www.ion.org Tel: +1 617-258-3841 System for national, homeland, and economic Positioning System and its augmentations, E-mail: [email protected] E-mail: [email protected] security, and to deny adversaries access to and provide open, free access to information ION National Office Web: www.elektropribor.spb.ru any space-based positioning, navigation, and necessary to develop and build equipment to 3975 University Drive, Suite 390 Fairfax, Virginia 22030 JUNE 2005 timing services; and (3) foreign access to the use these services; 27–29: The ION 61st. Annual Global Positioning System and United States • Improve capabilities to deny hostile Meeting; Royal Sonesta Hotel, Government augmentations, and interna- use of any space-based positioning, naviga- Cambridge, Massachusetts tional cooperation with foreign space-based tion, and timing services, without unduly and systems based on the Global Positioning Contact: The ION 4 positioning, navigation, and timing services, disrupting civil and commercial access to civil System. Seek to ensure that foreign space- Tel: +1 703-383-9688 Fax: +1 703-383-9689 1. The hole that Franck dug. including augmentations. positioning, navigation, and timing services based positioning, navigation, and timing Web: www.ion.org 2. 4-foot reinforcing bars. outside an area of military operations, or for systems are interoperable with the civil ser- 3. Terry mixing and mixing The Goal homeland security purposes; vices of the Global Positioning System and its JULY 2005 4. Montgomery County Public The fundamental goal is to ensure that the • Improve the performance of space-based augmentations in order to benefit civil, com- 19–22: The European School’s GPS Monument United States maintains space-based posi- positioning, navigation, and timing services, mercial, and scientific users worldwide. At a Navigation Conference GNSS Marker No. 1. tioning, navigation, and timing services, including more robust resistance to interfer- minimum, seek to ensure that foreign systems 2005, Munich, Germany Contact: The German Institute of augmentation, back-up, and service denial ence for, and consistent with, U.S. and allied are compatible with the Global Positioning Navigation Install team below, left to right: David Winfield, Below: Field house and capabilities that: (1) provide uninterrupted national security purposes, homeland security, System and its augmentations and address Tel: +49-(0) 228-20197-0 Franck Boynton, and Terry McGurn GPS monument marker. availability of positioning, navigation, and and civil, commercial, and scientific users mutual security concerns with foreign provid- Fax: +49-(0) 228-20197-19 timing services; (2) meet growing national, worldwide; ers to prevent hostile use of space-based posi- Web: www.enc-gnss2005.com homeland, economic security, and civil • Maintain the Global Positioning System tioning, navigation, and timing services; and requirements, and scientific and commercial as a component of multiple sectors of the • Promote the use of U.S. space-based SEPTEMBER 2005 13–16: ION GNSS 2005, Long demands; (3) remain the pre-eminent mili- U.S. Critical Infrastructure, consistent with positioning, navigation, and timing ser- Beach Convention Center, Long tary space-based positioning, navigation, and Homeland Security Presidential Directive- vices and capabilities for applications at the Beach California timing service; (4) continue to provide civil 7, Critical Infrastructure Identification, Federal, State, and local level, to the maxi- Contact: The ION services that exceed or are competitive with Prioritization, and Protection, dated Dec. 17, mum practical extent. Tel: +1 703-383-9688 foreign civil space-based positioning, naviga- 2003; —The complete fact sheet on the U.S. Fax: +1 703-383-9689 Web: www.ion.org tion, and timing services and augmentation • Encourage foreign development of space-based positioning, navigation, and systems; (5) remain essential components of positioning, navigation, and timing services timing policy is posted at www.ostp.gov.

ION Newsletter 2 Fall 2004 ION Newsletter 3 Fall 2004 A Breed Apart

The Aviation GNSS Receiver By John Studenny, CMC Electronics and Barbara Clark, Federal Aviation administration

John Studenny Barbara Clark

he airspace above us is an unnatural establishing standards that mitigate risk and parameters are either an indirect or direct refer to RTCA DO-229C, a specification for production Tplace for humans to be. We don’t have by applying a disciplined, systematic certifi- result of safety requirements, and if that aviation WAAS/GPS receivers. More advanced from start wings. Only through human ingenuity are cation process. This high confidence is our weren’t enough, an additional performance WAAS/GPS receivers implement Built-In-Test- to finish. we are able to travel and live above solid safety assurance, our “guarantee.” parameter is specified—system integrity. Equipment (BITE) to carry out self diagnos- Finally, terra firma. The one thing that differentiates GNSS is an exceptional navigation Integrity is roughly the self-verification of tics. Self diagnostics are done at power-up although traveling and living on terra firma from the system offering positioning accuracy that a system’s performance or a measure of trust and are performed continuously while in use. this type of airspace above us is that the airspace doesn’t is unmatched by other navigation systems. in the system’s performance. For naviga- While this is going on, the receiver is approval easily forgive error, or failure of any kind. GPS navigators have become ubiquitous; tion systems, performance generally equates being exposed to the harsh aviation envi- does not cover the installation of the equip- Gravity will quickly demonstrate just how they are available in stores as consumer with accuracy and precision. The navigation ronment. This ment into an aircraft, the manufacturer unforgiving the airspace can be. The real items. Shopping for aviation GPS systems, receiver is expected to be able to determine environment is documents the operating procedures, question is how likely are those errors and when conditions exist that may result in the characterized aircraft installation procedures, and any failures to be and how will they affect the air- In aviation, every system receiver presenting misleading or erroneous by extreme tem- relevant limitations. craft. Avoiding the dire consequences of error navigation information. Sometimes, aviation equipment is or failure is the subject of safety. Aviation, is characterized by its Safety practitioners use approved in conjunction with the entire and civil aviation in particular, is about quantitative analyses to aircraft and is granted to airplane “type safety first and foremost. intended function and establish and provide perature swings (from -55 certificate” or “supplemental type certificate” The subject of safety is complicated. evidence of the certi- to +75 Celsius), lots of holders. In these cases, flight tests may also Safety practitioners, such as aviation equip- at least its probability of fied aviation system’s vibration, shock of land- be required for the first approval of equip- ment suppliers, go through a significant compliance with these ing, humidity, salt-fog, ment on a given aircraft type to demonstrate learning curve to understand, and then continuous operation, specifications. corrosive fluids, sand and that the installed aviation receiver integrates apply the concepts of safety to their trade. dust, exposure to fungus, safely with the rest of the aircraft, pilot “Certification” is a cornerstone of aviation probability of failure and Receiver Requirements electro-magnetic radiation and conducted included. safety. To “certify” is to approve and declare Let’s take a closer look at what an aviation currents, high power radar, and lightning, to Yes, there is a great difference between that something or someone, whatever or types of failure modes, receiver has to do. The first thing it has to name a few. Aviation equipment is exposed to aviation GPS receivers and the consumer whomever that might be, has met an estab- do is demonstrate it reliably captures GPS this environment routinely, and must operate GPS receivers found in stores. And it all has lished set of standards. The standards and impact of failures on the signals within a fixed amount of time. This without fault, and not imperil the aircraft or to do with your Safety-of-Life. approvals are provided by the Civil Aviation sounds pretty easy. The receiver has to be its occupants. Each certified aviation system Authorities (CAA). Each nation-state has aircraft operation, and able do this with one satellite set 18 dB above goes through a “qualification program” that such a CAA; in the United States that body is all the rest, a worst case satellite cross-cor- proves it can safely and continuously operate —Dr. John Studenny is the Aerospace the Federal Aviation Administration (FAA). expected operating time relation scenario while being subject to the in the aviation environment. Systems Engineering manager at CMC Ever try navigating in a car at night in presence of radio frequency interference. Electronics, Montreal. He has been rain or slick snow? A little stressful? Ever try between failures. Navigation performance, and integrity, Design and Production involved with GPS receiver development it with no lights whatsoever? How about at are tough things to guarantee under these Design and production approvals for avia- since 1990 and with GPS/INS integra- 1,000 feet above terra firma and descending? the buyer finds aviation GPS systems cost conditions. A non-aviation GPS receiver tion equipment can be granted by CAA’s to tion since 1981. His technical areas span That is the environment an aircraft can and more. They’re bigger and weigh more. But could get confused under such conditions manufacturers based on the equipment’s receiver architecture, receiver performance does fly in routinely. don’t all GPS receivers do the same thing? and output erroneous positions—they compliance with a CAA established set of analysis, algorithm development for RAIM, If they were to provide navigation without weren’t designed to cope with such environ- requirements. The CAA may ask the manu- navigation, and GPS signal processing. The ‘Guarantee’ of Safety any guaranteed safety assurance, the answer ments. After signal capture, the received facturer to produce evidence of adherence to Barbara Clark is an engineer with One of the systems that gets the aircraft would be yes. satellite data has to be validated. There are sound engineering practices and/or adher- the FAA’s Aircraft Certification Service. She through the skies back to terra firma, with In aviation, every system is characterized various, and proprietary techniques on how ence to approved development processes such has worked in the areas of modeling and “guaranteed” safety, is the navigation and by its intended function and at least its prob- best to do that. Then, the receiver must com- as RTCA DO-178B and RTCA DO-254. The simulation of aircraft aerodynamics and precision approach guidance system onboard ability of continuous operation, probability pute a position fix—and validate it. evidence are the detailed plans, documented performance, in the analysis of flight con- the aircraft. The key is the guarantee of of failure and types of failure modes, impact One method is to use a Fault Detection development work, work products, and test trol systems, and on the signal-in-space safety. But can we ever really guarantee of failures on the aircraft operation, and and Exclusion (FDE) algorithm. Another results. In short, these practices require that and airborne equipment standards devel- anything? Perhaps not in the strictest sense. expected operating time between failures. complimentary technique is Step Error the engineering team demonstrate verifica- opment for ground based augmentations However, high confidence is built through Performance specifications on these Detection. Readers with a technical slant can tion and validation of their development and to GPS.

ION Newsletter 4 Fall 2004 ION Newsletter 5 Fall 2004 etary transportation system that would use libration points as terminals for an inter- LUNAR NAVIGATION WITH planetary shuttle. This approach would offer Portney’s Corner increased operational flexibility in terms of launch windows, rendezvous, aborts, etc. in You can Find More of Portney’s LIBRATION POINT ORBITERS comparison to elliptical orbit transfers. More Ponderables and Brain Teasers recently, other works [6, 7] have shown Joe Portney at www.navworld.com J. Russell Carpenter, that patching together unstable trajectories NASA Goddard Space Flight Center AND GPS departing Earth-Moon libration points with stable trajectories approaching planetary libration points may also offer lower overall ASA is currently studying a Vision fuel costs than elliptical orbit transfers. Nfor Space Exploration [1] based The lunar navigation infrastructure should Age of Maturity on spiral development of robotic and evolve to support such concepts. piloted missions to the moon and Mars, but Another concept Farqhuar described research into how to perform such missions was a deep space relay at an equilateral has continued ever since the first era of Earth-Moon libration point (L4 and/or L5) lunar exploration. One area of study that a that would serve as a high data rate opti- number of researchers have pursued is libra- cal navigation and communications relay tion point navigation and communication satellite. The advantages in comparison to relay concepts. These concepts would appear a geosynchronous relay are minimal Earth to support many of NASA’s current require- occultation, distance from large noise sourc- ments for navigation and communications es on Earth, easier pointing due to smaller coverage for human and robotic spacecraft relative velocity, and a large baseline for operating in cis-lunar space and beyond. interferometry if both L4 and L5 are used. In trading libration point concepts against Figure 1: Representative cis-lunar trajectory: 1) cis-lunar transfer, 2) lunar swingby, 3) L1 orbit, 4) L1 departure, 5) capture into Such a relay could initially support lunar lunar polar orbit and descent. other options, designers must consider issues missions as well. such as the number of spacecraft required to provide coverage, insertion and stationkeep- A libration point concept advocated for errors of 10 km and 10 mm/sec, would GPS Navigation ing costs, power and data rate requirements, many years by Farquhar [2] is a lunar relay be on the order of 2–3 m/sec per month, Barton et al. [8] studied the use of the frequency allocations, and many others. satellite operating in the vicinity of the assuming maneuvers approximately every Global Positioning System (GPS) for navi- translunar Earth-Moon libration point, often two days. A survey of stationkeeping costs for gation en route between the earth and the Born on a full Moon? How long (nearest whole number year) until Libration Points designated L2, providing “Earth-to-lunar a larger variety of libration point orbits in moon. Assuming modest modifications that this Moon returns to this same relative position to the Earth? The libration points, which Figure 1 depicts far-side and long-range surface-to-surface the Earth-Moon system has been performed would improve GPS receiver sensitivity by along with a typical cis-lunar trajectory, are navigation and communications capabil- by Folta and Vaughn[4]. approximately 10 dB and a high-gain direc- equilibrium locations for an infinitesimal ity.” Reference [2] lists several advantages Another concept Farquhar described is tional receiver antenna, they showed that A. 60 years mass in the rotating coordinate system that of such a system in comparison to a lunar the use of the cis-lunar Earth-Moon libra- GPS signals viewed over the earth’s limb B. 57 years follows the motion of two massive bodies in orbiting relay satellite constellation. Among tion point (L1) for lunar orbit rendezvous, would support post-translunar injection C. 56 years circular orbits with respect to their common these are one or two vs. many satellites for rather than low lunar orbit as was done (TLI) navigation out to about half the lunar D. 19 years barycenter. There are three co-linear points coverage, simplified acquisition and track- for Apollo. Farquhar claims this technique distance. They also showed GPS navigation along the line connecting the massive bod- ing due to very low relative motion, much requires only slightly higher fuel cost than could support a mid-course trim burn for In 1961 Dr. Gerald S. Hawkins, an astronomer educated at the ies: between the bodies, beyond the second- longer contact times, and simpler antenna low lunar orbit rendezvous for short-stay at least several hours after TLI, but if the University of Manchester, reduced data obtained from Stonehenge ary body, and beyond the primary body. The pointing; however, access from lunar polar equatorial landings. More recently, Condon trim burn was more than 8 hours after TLI, on the alignment of 50 compass sightings and entered the data into relative distances of these points along the sites is challenging. An obvious additional and Wilson [5] have estimated that libration there was not enough GPS information to an IBM 7090 computer. In less than 60 seconds, he unraveled the line connecting the bodies depend on the advantage of such a system is that uninter- point rendezvous missions have significant estimate the post-burn state. This level of mass ratios. There are also two points that rupted links to Earth avoid performing criti- advantages over lunar orbit rendezvous mis- GPS coverage might support the L1 lunar mystery of a 4,000 year old temple revealing that it served as a solar- form equilateral triangles with the massive cal maneuvers “in the blind,” when direct sions when global access, long stay times, rendezvous scenario, especially if augmented lunar observatory, as well as a religious edifice. Among his findings bodies. Ideally, motion in the neighborhood communications to Earth is not possible. and anytime aborts are driving requirements by additional signals from NASA’s Tracking which were expected (based on various stone orientations) were the of the co-linear points is unstable, while for human exploration missions. However, and Data Relay Satellite System (TDRSS), or four rise and set positions of the Sun on the summer and winter sol- motion near the equilibrium points is stable. Estimated Stationkeeping Cost these trades, and the trade vs. lunar surface from navigation assets in the vicinity of the stices and the unexpected eight (owing to lunar wobble) lunar posi- However, in the real world, the motions Renault and Scheeres[3] have estimated that rendezvous, are significantly complicated by moon. Using new, dataless GPS signals and tions paired on either side of the Sun’s positions. are highly perturbed so that a satellite will the stationkeeping cost for such a satellite, as yet undetermined abort requirements. require stationkeeping maneuvers. when considering the impact of navigation Farquhar also described an interplan- Libration continued on page 18 Portney continued on page 19

ION Newsletter 6 Fall 2004 ION Newsletter 7 Fall 2004 ION GNSS 2004: Best Presentation Awards From the ION Historian One of a Series of Columns By he Satellite Division of the Institute of Navigation tradition- relevance, timeliness and originality of technical work/information; 20 ION Historian Marvin May ally recognizes the best presentation given in each session. percent: quality of visual aids (legibility, relevance to topic, etc.); and 10 Recipients are selected by the session’s co-chairs. The criteria percent, quality of presentation delivery (enthusiasm, enjoyment as a used to evaluate each presentation is as follows: 70 percent: speaker, etc.). Marvin May T MK 2 MOD 6 SINS HISTORY Session A1: GNSS Receiver Session D2: Land Applications 2- Session A4: GNSS ASICs, Session D5: GPS Modernization/ Algorithms 1 Dynamic Applications Chipsets, & Antennas GPS III A New Multipath and Noise Mitigation Integrated Positioning Algorithms for Phase Effects Analysis of Patch Antenna Hybrid Galileo/W-CDMA Receiver Technique Using Data/Data-Less Transport Telematics Applications: W.Y. CRPAs for JAPALS: U.S. Kim, D. De Lorenzo, Prototype for Mass-Market Applications: n late 1955, the Secretary of Defense autho- tial navigator. In this configuration, the Navigation Signals: O. Julien, G. Lachapelle, Ochieng, M.A. Quddus, R.B. Noland, J. Gautier, P. Enge, Stanford University; J.A. Orr, G. Heinrichs, E. Wittmann, IfEN GmbH, Irized a sea-based Intercontinental Ballistic inertial sensors (gyroscopes and acceler- M.E. Cannon, The University of Calgary, Imperial College London, U.K Worcester Polytechnic Institute Germany; R. Kronberger, C. Drewes, Infineon Canada Technologies AG, Germany; T. Ostermann, Session E2: Inertial Navigation Session B4: Integrated Missile (ICBM) to help negate the Union of ometers) remain fixed in orientation with A. Springer, University of Linz, Germany; L. Session B1: Unintentional Systems Navigation Systems 2 Maurer, DICE GmbH & Co KG, Germany Soviet Socialist Republic’s nuclear threat. In respect to the stars. Interference & Jamming An ANFIS-Based Modeling of Thermal Drift Deeply Integrated GPS/Low-Cost IMU December of the same year, the Navy estab- The major breakthroughs of gyro GNSS Interference Localisation Method of MEMS-Based Inertial Sensors: W. Abdel- for Low CNR Signal Processing: Flight Test Session E5: Ground-Based Employing Inverse Diffraction Integration Hamid, The University of Calgary, Canada Results and Real-Time Implementation: A. Augmentation Systems 1 lished the Special Projects Office to rapidly design were the improvement in rotor with Parabolic Wave Equation Propagation: Soloviev, S. Gunawardena, F. van Graas, Ohio Failure Analysis of LAAS Integrated Session F2: Atmospheric Effects pursue a program to develop a submarine- bearings, the air-lubricated bearings of T.A. Spencer, R.A. Walker, Queensland 2-Troposphere University Multipath Limiting Antennas Using High- Top: SINS MK2 Mod6 Interior View University of Technology, Australia; R. Hawkes, Fidelity Electromagnetic Models: D.N. Aloi, 4-D Tropospheric Tomography Using a Session C4: Galileo Integrity launched missile capability, known as the the output axis, and the symmetrical rotor Defence Science and Technology Organisation S. Kiran, Oakland University Ground-Based Regional GPS Network and & Augmentations

Polaris submarine. Admiral Arleigh Burke, drive motors. These changes resulted in  Left: SINS MK2 Mod 6 Electronics and Vertical Profile Constraints: V.A. Hoyle, S.H. Modernizing WAAS: T. Walter, P. Enge, Session F5: GPS Meteorology Interference Cancellation Using Power Skone, N.A. Nicholson, The University of Stanford University; P. Reddan, Zeta Production of Regional 1 km x 1 km Water Chief of Naval Operations, appointed Rear great improvement in mass shift under MARDAN Computer Suite Minimization and Self-Coherence Calgary, Canada Associates Incorporated Vapor Fields Through the Integration of Properties of GPS Signals: Y.T.J. Morton, Admiral William F. Raborn to become the first acceleration, and an inertial system; the GPS and MODIS Data: Z. Li, University Miami University; L.L. Liou, D.M. Lin, J.B.Y. Session A3: GNSS Session D4: Scientific/Timing College London, U.K. director. XN1 was flown as early as 1950. The required tor to limit the errors of the other gyros. The 4 Tsui, Air Force Research Laboratory; O. Zhou, Software Receivers Applications A ship’s inertial navigation system (SINS) accuracy of this system was maintained for 1 gyro configuration was identified as the MOD Miami University Navigator GPS Receiver for Fast Thermal Modelling of GPS Block IIR Session A6: Location Acquisition and Weak Signal Space Satellites for Precise Orbit Prediction: S. Based Services Session C1: GNSS Status was deemed crucial for the submarine’s navi- hour. Additional improvements were made for 6. The MOD 7 in current use is almost identi- Applications: L. Winternitz, M. Moreau, Adhya, University College London, U.K. Three Dimensional Fuzzy Logic-Based Map and Plans G.J. Boegner, Jr., NASA-GSFC; S. Sirotzky, QSS Matching Algorithm for Location Based gation and its primary role of initializing the the XN2 through XN5 systems. cal to the MOD 6; it is the production version Analysis of Potential CW Interference Session E4: Aviation Group, Inc. Service Applications in Urban Canyons: S. Effects Caused by UWB Devices on GNSS Applications 2 missile’s guidance system. Navigation was for the navigation core of the Trident I Fleet Syed, M.E. Cannon, The University of Calgary, Receivers: B. Godefroy, M. Poncelet, J. Session B3: Integrated Airborne Multipath Investigation via a GPS Canada seen as a critical aspect of the Fleet Ballistic Designed for Guidance Ballistic Missile system. Chenebault, Pole Star, France Navigation Systems 1 Software Receiver: D.M. Akos, J.P. Weiss, Missile’s (FBM) feasibility because of the The XN6 was designed specifically for guid- Although many improvements were made Optimising the Integration of Terrain University of Colorado; T. Murphy, The Boeing Session B6: Algorithms Session D1: Land Applications 1- Referenced Navigation with INS and GPS: Company; S. Pullen, Stanford University & Methods 2 Static Applications effect that it had on overall system accuracy, ance of the Navajo Missile. It contained since the original N7, the embedded Mardan P.D. Groves, R.J. Handley, QinetiQ Ltd., U.K.; Wide Area Real Time Kinematics with Great Britain’s GPS Height Corrector Session F4: Precise A.R. Runnalls, Data Fusion Research Limited, Galileo and GPS Signals: M. Hernandez- and because of interservice rivalry, which a full digital-type computer with the bold computer is of the same obsolete 1950’s tech- Surface: M. Ziebart, J. Iliffe, P. Cross, Point Positioning U.K./University of Kent, U.K. Pajares, J.M. Juan, J. Sanz, R. Orús, gAGE/UPC, University College London, U.K.; R. Forsberg, Real-Time Point Positioning Performance prompted the Air Force to doubt the Navy’s innovation of a large magnetic memory rotor nology of cat’s whisker diodes and discrete Spain; A. Garcia-Rodriguez, ESTEC/ESA, The G. Strykowski, Kortog and Matrikelstyrelsen, Session C3: Multipath Evaluation of Single-Frequency Receivers Netherlands; O.L. Colombo, GEST/NASA ability to successfully launch an ICBM at sea. supported on a flat-faced gas bearing. State- transistors. Its performance enhanced by using Denmark; C. Tscherning, University of Evaluation of Multipath Error and Using NASA’s Global Differential GPS Copenhagen, Denmark Signal Propagation in Complex 3D System: R. Muellerschoen, B. Iijima, R. Session C6: Galileo & GPS/ Minimizing the time between exposures for of-the-art computer electronic components at both sides of the memory rotor disk to increase Urban Environments for GPS Multipath Meyer, Y. Bar-Sever, Jet Propulsion Laboratory, Galileo Receivers Session E1: Aviation Indentification: Y. Suh, The University of Tokyo, California Institute of Technology; E. Accad, Combined GPS/Galileo Highly- radionavigation and satellite fixes for “reset- the time were cats-whisker diodes and discrete its memory size. The Mardan is still in use on Applications 1 Japan; Y. Konishi, NEC Japan; T. Hakamata, Raytheon ITSS Configurable High-Accuracy Receiver: LAAS Reference Antennas-Key Siting ting” the SINS was a critical requirement to transistor circuitry. The gas bearing was an the few remaining operating MK2 SINS. Tokyo University of Marine Science and L.E. Aguado, G.J. Brodin, J.A. Cooper, The Considerations: A.R. Lopez, BAE Systems Session A5: Indoor Positioning Technology, Japan; D. Manandhar, R. Shibasaki, University of Leeds, U.K.; I.D. Alston, Raytheon ensure stealth for survivability. extension of the research work then in prog- The Fleet Ballistic Missile submarines Right Hand Circularly Polarized (RHCP) Session F1: Atmospheric The University of Tokyo, Japan; N. Kubo, Tokyo Systems Limited, U.K. Effects on the Measurements and Solutions ress on gas spin bearings for gyro rotors. from the Polaris through Trident 1 have Effects 1-Ionosphere University of Marine Science and Technology, of the Pseudolite-Based Indoor Navigation Session D6: Space Applications GPS Scintillations in the European Arctic Japan Inertial Navigators Although the Navajo Missile was cancelled, had versions of the MK2 SINS from 1959 to Systems: H. Jun, Seoul National University, Gravity Probe B GPS Receivers: P. Related to the Large-Scale Ionospheric Session D3: Marine South Korea Shestople, J. Li, A. Ndili, Stanford University; Building upon World War II German rock- the XN6 became the production N6A, and the present time. Although MK2 SINS were Convection: C.N. Mitchell, University of Bath, Applications & Tools K. Schrock, NASA U.K.; G. De Franceschi, L. Alfonsi, I.N.G.V., Session B5: Algorithms etry experience, inertial navigators had went on to fame in 1958 by navigating the retained on retired SSBN submarines that Low-Cost GPS Based Wave Height and Italy; M. Lester, University of Leicester, U.K. & Methods 1 Session E6: Ground-Based Direction Sensor for Marine Safety: M. been developed at the MIT Instrumentation USS Nautilus and the USS Skate on historic were converted to other programs, the last GPS Receiver Architecture Effects on Augmentation Systems 2 Session A2: GNSS Receiver Harigae, I. Yamaguchi, T. Kasai, H. Igawa, Controlled Reception Pattern Antennas for A Method of Over Bounding Ground Laboratory, under Dr. Charles Draper, and at transpolar missions to the North Pole. It also two Trident 1 submarines, the USS Henry Algorithms 2 Japan Aerospace Exploration Agency, Japan; JPALS: D.S. De Lorenzo, J. Gautier, P. Enge, Based Augmentation System (GBAS) DirAc: An Integrated Circuit for Direct H. Nakanishi, T. Murayama, Japan Weather the Autonetics Division of North American became the basis for the N7, which bore the M. Jackson (SSBN 730) and the USS Alaska Stanford University; D. Akos, University of Heavy Tail Error Distributions: R. Braff, C. Acquisition of M-Code Signal: J.W. Betz, J.D. Association, Japan; Y. Iwanaka, Zeni Lite Buoy Colorado at Boulder Shively, The MITRE Corporation Aviation, for use in bomber aircraft and long- designation MK 2 SINS, and used the highly (SSBN 731), are currently being converted to Fite, P.T. Capozza, The MITRE Corporation Co., Ltd.; H. Suko, Furuno Electric Co., Ltd. Session C5: GNSS range cruise missiles. The Instrumentation accurate G7A gyros with gas spin bearings. SSGN tactical weapon systems. With them, Session B2: Military Applications Session F6: Network-Based Session E3: Space-Based Interoperability & Systems Techniques for RTK LOCO GPSI: Detection and Location of Augmentation Systems Laboratory had also worked for the Navy on The MK 2 SINS was designed specifically the FBM MK2 SINS, one of the spectacular Performance Validation, Modeling The Double Difference Effect of GPS Interference/Jamming: K. Simonsen, The Ionospheric Impact of the October & Testing Ionospheric Correction Latency on applying SINS technology to submarines even for long-term seaboard use aboard Fleet technological breakthroughs of the FBM pro- SPAWAR Systems Center San Diego; M. 2003 Storm Event on WAAS: A. Komjathy, GNSS – Coordinating the GPS-Galileo- Instantaneous Ambiguity Resolution in Suycott, SAIC; R. Crumplar, Whitney, Bradley, L. Sparks, A.J. Mannucci, Jet Propulsion before the Polaris program. For the Polaris Ballistic Missile submarines. It’s modifica- grams will be relegated to history. GLONASS Constellations: C.W. Kelley, Long-Range RTK: I. Kashani, Ohio State & Brown Inc.; S. Sloat, SAIC Laboratory/California Institute of Technology; K.F. Davis, D.M. Nguyen, Boeing Integrated University / Technion - Israel Institute of program, the Laboratory’s work was executed tions and improvements evolved from MOD 1 A. Coster, MIT Haystack Laboratory Session C2: Galileo System Design Defense Systems Technology; P. Wielgosz, Ohio State University by its industrial partner the Sperry Gyroscope to MOD 7. For the MOD 3, an improved G7B —Marvin B. May teaches naviga- Galileo Integrity Monitoring Network Session F3: Carrier Phase / University of Warmia and Mazury in Corporation, pioneers of gyrocompass tech- gyro was produced which had a higher angu- tion courses for the Applied Research Simulation and Optimization: M. van den Positioning Olsztyn, Poland; D.A. Grejner-Brzezinska, Bossche, C. Bourga, B. Lobert, Alcatel Space, An Innovative Algorithm for Carrier-Phase Ohio State University nology, and a firm with numerous Navy lar momentum, and consequently a higher Laboratory, Navigation Research and France Navigation: R. Hatch, R.T. Sharpe, Y. Yang, contracts. The MIT Laboratory/Sperry SINS accuracy. An additional gimbal was added to Development Center, Pennsylvania State NavCom Technology, Inc. was implemented as a space stabilized iner- the platform to support a 4th Gyro as a moni- University.

ION Newsletter 8 Fall 2004 ION Newsletter 9 Fall 2004 STITUT IN E E O

H F T A Special Report: ION GNSS 2004 N N A O V IGATI

ION GNSS 2004 Kepler Award Recipient

or more than thirty years, Dr. FCharles R. Cahn has been a pioneer and a major contributor in the analysis and design of GPS signal structures and receivers. His work on the 621-B program and during Phase-I of GPS was vital in defining the GPS signal structures we enjoy Plenary panelists from left to right: Jeffrey N. Shane, Under Secretary of Transportation for Policy, U.S. Department of Transportation; today. Rainer Grohe, Executive Director, Galileo Joint Undertaking; Kirk Lewis, More recently, he has made Moderator, Institute for Defense Analyses; Dr. Bradford W. Parkinson, critical contributions to the GPS mod- Chairman of the Board of Trustees, The Aerospace Corporation; Frank Kruesi, ernization program, including the President, The Chicago Transit Authority. analysis and design of key elements Program Committee and Satellite Division Officers: From left to right: Dr. Paul Kline, Honeywell; of the military GPS signal while a Eric Chatre, Galileo Joint Undertaking, France; Karen Van Dyke, U.S. Dept. of Transportation, Volpe Center; Dr. Charles R. Cahn core member of the GPS moderniza- John Lavrakas, Overlook Systems Technologies; Dr. Chris Hegarty, The MITRE Corporation; Dr. Susan Skone, tion signal development team. University of Calgary, Canada; and Peter Fyfe, Boeing. Not pictured: Dr. Dennis Akos, University of Colorado; Lt. Col. (S) Jon Anderson, Ph.D., USAF. Dr. Cahn has was first to propose essential portions of the L2 and L5 civilian signal structure, and L1/L2 military signal structure that would not exist today without his insight and analysis. He subsequently designed and conducted a performance analysis of the ranging codes to be used for the new L2 Civilian Signal (L2C) and a Time Division Multiplexing scheme used to implement these signals on the IIR-M and IIF GPS satellites. Dr. Cahn was also instrumental in the development and analysis of a similar Time Division Data Multiplexing approach for the M-code signal, enabling benefits of a dataless signal component. Dr. Cahn’s most recent contribution to the modernized GPS signal structure was the discovery of a flaw in the forward error correction algorithm for the M- code and a recommended correction that is being implemented in the IIR-M and IIF satellites. Without Dr. Cahn’s involvement, this flaw would have likely been overlooked until a time when it was far too costly to fix. While Dr. Cahn has made several notable contributions to the GPS modern- ization efforts in recent years, his contributions to GPS signal and receiver devel- opments have spanned a lifetime. Drawing upon a decade of experience in the design of direct-sequence spread spectrum signals and receivers for line-of-sight and satellite communication systems, Dr. Cahn made key contributions to the selection, analysis, and design of the waveforms and receivers for satellite-based navigation during the 621B system studies and demonstrations (1968-1973) that became the foundation of the GPS program. Dr. Cahn served as vice president and chief scientist at Magnavox Advanced Products and Systems Company in Torrance, Calif., from September 1962 until April 1990 and as chief scientist at SiRF Technology from November 1995 to July 1998. Outside these periods, Dr. Cahn worked an independent consultant. Since September 2000, in addition to consulting, he served as chief technology officer for Wireless Home Corporation (subsequently bought out by Western Multiplex, then Proxim). As a consultant to The Aerospace Corporation, he continues to be an extraordinarily productive contributor to both the civil and military GPS ION Government Fellows ready to expound on their Kepler Winners at ION GNSS 2004 (from left to right): Dr. Frank van Graas (‘96), Ronald Hatch (‘94), modernization programs. experiences. Left to right: Marie Lage, former congressional Dr. Günter Hein (‘02), Dr. Charles R. Cahn (‘04), Dr. Bradford W. Parkinson (‘91), Thomas Stansell Jr. (‘03), Dr. Cahn is an IEEE Fellow, an ION Honorary Fellow, and a 2003 NAVSTAR fellow for Sen. Olympia Snowe (R-ME); Dr. Clark Cohen, Dr. Per Enge (‘00) and Dr. Rudy Kalafus (‘92). Not pictured: Dr. Elizabeth Cannon (‘01), Dr. A.J. Van Dierendonck GPS AWARD Recipient. He has published 33 technical papers and holds six former congressional fellow for Sen. Carl Levin (D-MI); and (‘93), Prof. Gérard Lachapelle (‘97), Dr. James Spilker Jr. (‘99), Dr. Peter Daly (‘98), and Dr. Richard J. Anderle patents. He bachelor’s, master’s and Ph.D degrees are in electrical engineering Congratulations to the ION GNSS 2004 Sponsored Student Winners. This year, twenty-eight students from 10 countries were awarded Bill Klepczynski, executive fellow at the Office of Space and (posthumously, ‘95). from Syracuse University. travel grants to attend ION GNSS 2004 in Long Beach, Calif., and present their research in the technical program. Advanced Technology at the U.S. State Department.

ION Newsletter 10 Fall 2004 ION Newsletter 11 Fall 2004 GNSS Around the Globe

Section News

ALBERTA SECTION. NEW ENGLAND HOUSTON SECTION. W A S H I N G T O N SOCAL SECTION. The The October meeting SECTION. On August On July 27, the Houston SECTION. The Wash- Southern California was held at the Calgary 25, the section held section held its meet- ington, D.C. section held Section’s Oct. 20 meeting Centre for Innovative Technology. its thirty-fifth meeting at The MITRE ing at Rudi Lechner’s Restaurant. Ian its Aug. 24 meeting was hosted by Boeing Space Systems Flashlight presentations were given Corporation in Bedford, Mass. Alan Florence of Kongsberg-Simrad gave a at the Department of Transportation and held in the Boeing Seal Beach of the 5 GNSS 2004 papers from The Zorn, formerly of Dynamics Research talk on the application of Autonomous headquarters. Ralph Braibanti, direc- Complex, Building 86. The meeting University of Calgary that received Corporation, gave a presentation on the Underwater Vehicles navigation for tor of the Department of State’s Office was well attended even though free- Best Presentation Awards at ION “Navigation of Strategic Submarines.” conventional uses, such as the Prestige of Advanced Technology, discussed ways were flooded and it was raining GNSS 2004 in Long Beach, Ca. The Since the onset of the cold war, tanker investigation and the position- the latest events in the negotiation heavily. Frank Czopek, GPS Block II/IIA presentations were as follows: accurate strategic submarine naviga- ing of seismic nodes. process, and the challenges that lie Satellite program manager, presented (1) An ANFIS-Based Modeling tion has been a technological chal- Florence spoke about the problems ahead since the U.S.-European Union an historical overview of the GPS satel- of Thermal Drift of MEMS-Based lenge. Mission covertness severely faced in transferring this technology Summit in Ireland where Secretary of lite program at Seal Beach and showed Inertial Sensors: W. Abdel-Hamid, limits access to usual fix sources such both in on-line operation and post- State Colin Powell and the European slides of the manufacturing floor facili- The University of Calgary, Canada; (2) as stellar and GPS. Yet port-to-port processing, and he touched on what Commission Vice President Loyola de ties in its heyday. 4-D Tropospheric Tomography Using a navigation by pure inertial means is is planned for the next phase of this Palacio signed an agreement on GPS After his very interesting presenta- Ground-Based Regional GPS Network not sufficiently accurate to meet the technology, including which companies and Galileo cooperation. tion Frank led a walking tour of the and Vertical Profile Constraints: V.A. strategic mission. In his talk, Zorn may be interested in using it. facilities, highlighting the immense Hoyle, S.H. Skone, N.A. Nicholson, investigated how the strategic subma- At its September meeting, Tim Thermo-Vac chambers, spin table, SoCal Section members around Navstar monument of satellites it manufactured and launched. The University of Calgary, Canada; rine meets this navigation challenge Pinington of Seamap presented and manufacturing room area. He vehicle—the infamous ax incident to dedicate the facility for the Saturn At the end of the meeting the (3) Products and Applications for through tradeoffs and technology. “Locating Whales.” He discussed described what the areas were like where a space vehicle was attacked Project in 1966. The property used for attendees all grouped around the Precise Point Positioning Moving Navigation developments from the current mitigation measures for during the 3-shift GPS SV manufactur- and damaged with an ax. the manufacture of the Block I, II, and Navstar Monument for a photograph. Towards Real-Time: P.A. Héroux, Polaris to Trident were briefly sur- protecting marine mammals that ing schedule and also discussed a little The tour ended with a look at IIA satellites is designated to be sold The monument depicts each satellite Natural Resources Canada; Y. Gao, veyed and future trends were explored. rely primarily on visual observers known incident by eco-terrorists that the glass encased, chrome plated later this year because it is surplus to manufactured in the facility, and when The University of Calgary, Canada; (4) Stringent accuracy requirements are stationed on the survey vessel. The resulted in actual damage to a space shovel that Werner Von Braun used Boeing’s needs. it was launched. Three Dimensional Fuzzy Logic-Based met by a combination of highly accu- Mineral Management Services have Map Matching Algorithm for Location rate (“strategic grade”) inertial navi- recently completed an environmental Based Service Applications in Urban gation systems and various types of assessment evaluating the potential Canyons: S. Syed, M.E. Cannon, The both conventional and unconventional environmental impacts of geological ANNUAL AWARD NOMINATIONS REQUESTED University of Calgary, Canada; (5) fix sources. GPS remains the most and geophysical activities in the Gulf New Multipath and Noise Mitigation accurate and convenient fix source, but of Mexico. Potentially adverse, but Members are encouraged to  Superior Achievement along with brochures on the receive appropriate recognition. Technique Using Data/Data-Less concerns over the vulnerability of the not significant impacts were identified submit nominations for one or Award— for individuals background and purpose of each In addition to the above Navigation Signals: O. Julien, GPS satellites and exposure of the sub- for marine mammals and mitigation more of the following annual making outstanding contribu- award, are available from the awards, the winner of the Samuel G. Lachapelle, M.E. Cannon, The marine during fix-taking operations guidelines continue to encourage the awards given by the Institute tions to the advancement of ION National office by phone, 703- M. Burka Award—for outstanding University of Calgary, Canada. limits its usefulness in this mission. use of passive acoustic monitoring of Navigation for excellence in navigation. 383-9688, or via the Web site at achievement in the preparation of Various alternative “quiet” fix sources systems. The problem in locating a navigation.  Thomas Thurlow Award— www.ion.org. Nominations must be papers advancing navigation and were reviewed, and these include cor- Sperm Whale through passive acoustics  Early Achievement Award— for outstanding contributions to received by February 21, 2005. space guidance—as chosen by the relation sonar velocity, bottom map sees a variety of positioning-related for an individual early in his or the science of navigation. The awards and accompany- editorial panel of ION’s journal, matching, gravity map matching, and issues come together. He explained her career who has made an  Tycho Brahe Award—for ing engraved bronze plaques will NAVIGATION, will be honored. gravity estimation techniques. some of the ways this problem is being outstanding achievement in the outstanding achievement in be presented at the ION’s Annual Address correspondence to Zorn is currently a National Science addressed to improve the accuracy of art and science of navigation. space navigation. Meeting, June 27–29, 2005, in Award Nomination Committee, Foundation fellow in the Ph.D. pro- the detection methods.  Norman P. Hays Award—  Captain P.V.H. Weems Cambridge, Mass. The ION® urges The Institute of Navigation, gram in Aeronautics and Astronautics The newly elected Houston Section for outstanding encourage- Award—for continuing con- you to participate in the nomina- 3975 University Drive, Suite 390, at Stanford University. He is also chair officers are as follows: Stephen Browne, ment, inspiration and support tributions to the art and science tion process so that a representa- Fairfax, VA 22030, phone: 703- of the New England Section. In May, chair; Etienne Marc, vice chair; Dave leading to the advancement of of navigation. tive group of deserving individuals 383-9688; fax: 703-383-9689; Zorn retired from Dynamics Research Gentle, secretary; Chuck Holt, trea- navigation. Official nomination forms, from the navigation community will e-mail: [email protected]. Corporation where he managed the surer; Keith Vickery, membership, and Navigation Systems Department. Phil Summerfield, speaker liaison.

ION Newsletter 12 Fall 2004 ION Newsletter 13 Fall 2004 GNSS Around the Globe Continued

Nominations Requested Parkinson Award Winner for Parkinson Award Announced at GNSS 2004

raduate students in GNSS technology, applications, or policy who have n Sept 24, at the ION GNSS 2004 Awards Luncheon in Long Beach, Gcompleted a single-author thesis or dissertation and who are ION® OCalifornia, Dr. Juan Blanch became the recipient of the the first members are eligible for this prestigious award and $2,500 honorarium. Bradford W. Parkinson Award. The award, which includes a personalized Nominations are to be submitted by a regular or research faculty member plaque and a $2,500 scholarship, was presented to Dr. Juan Blanch. of a college or university. The award honors Dr. Bradford W. Parkinson for Dr. Blanch graduated from the Ecole Polytechnique in France in 1999, establishing the U.S. Global Positioning System and the Satellite Division of majoring in applied mathematics and physics. In 2000, he obtained a the Institute of Navigation. master of science degree in aeronautics and astronautics from Stanford For application details and entry rules go to www.ion.org. Nominations University and joined its GPS laboratory, working on ionospheric estima- must be received by June 30, 2005. tion for the Wide Area Augmentation System (WAAS). In January 2004, he graduated with a master’s degree in electrical engineering and a Ph.D. in aeronautics with the thesis “Using Kriging to Bound Satellite Ranging Errors Due to the Ionosphere.” He then joined the Stanford GPS Graduate Students Receive Laboratory as a research associate, where he has been implementing the ION Section Sponsored Awards algorithms developed in his thesis in WAAS and studying new clock and ephemeris correction algorithms for the next generation WAAS. r. Grejmer-Brzezinska of Ohio The ION® congratulates Dr. Blanch on his achievement. DState University presented Yudan Yi with the ION Dayton Section Sponsored Graduate Student Award in August. Yudan Lavrakas Recognized received a certificate and $2,000. n honor of Col. Leonard R. Sug- groups, including the New Mexico bachelor of science in engineering Yudan Yi has been involved in a At ION GNSS 2004 Ierman’s (Ret.) many contributions Academy of Science, the Mesilla Valley from MIT and a masters of business number of research projects related Dr. Dorota Grejner-Brzezinska (left) The Institute Extends Its Thanks and years of service, the New Mexico Economic Development Alliance, and administration from the University of to GPS algorithm development and presenting the ION award to Yudan Yi State University announced that the the United Nations Association. Among Chicago. implementation, inertial navigation and GPS fusion, and multisensor inte- t ION GNSS 2004 outgoing Satellite Division Chair John Lavrakas new NASA Space Grant Consortium his most innovative initiatives are the After retiring from military service, grated airborne and land-based mapping systems. He is an ION member, Awas recognized for his leadership. Lavrakas served on the Satellite building will be named the Leonard R. High Tech Consortium of Southern New Len stayed in New Mexico and became actively involved in research in the art and science of navigation. Yudan Division Executive Committee for the past four years: two as vice chair and Sugerman Space Research Laboratory. Mexico and the Southwest Space Task the assistant to the director of the also received the ION GNSS 2002 Sponsored Student Paper Award, and two as division chair, during which the central theme of his tenure had On Dec. 11, the university bestowed on Force, an advocacy group dedicated to Physical Science Laboratory at New third place in the Student Paper Competition at the Heiskanen Symposium been outreach. As chair, he also served on the ION Executive Committee. Len an honorary doctoral degree. establishing an inland launch site in Mexico State University. In this capac- in Geodesy, held at OSU in October 2002. He is also a winner of the 2002 In that capacity, he championed the Institute’s outreach efforts by formal- Delta II Launch For more than 25 years, Len Suger- southern New Mexico. ity, he participated in the launches of American Association for Geodetic Surveying Graduate Fellowship Award. izing an Outreach Committee. He has been a key participant in the efforts man has committed himself to volun- Len Sugerman was born in New sounding rockets, missiles, and high to reach the next generation of navigators by supporting the development A Delta II launch vehicle tary public service. His central focus has York City and attended the renowned altitude balloons on every continent. In n August 24, the Dayton Section also awarded Jason Smith, a of education modules (a set of curriculum) to creatively teach navigation to on Nov. 6 carried the latest been to educate and motivate youth Stuyvesant High School. In 1942, he 1984, he received his masters in public Ofull-time graduate student in the Department of Computer Science elementary and middle school students. And this past June, the Satellite in New Mexico and to work towards joined the U.S. Air Force and 33 years administration from the Department and Systems Analysis at Miami University with theION Dayton Section Division sponsored the ION’s first Autonomous Lawn Mower Competition replacement GPS satellite, retaining high tech jobs. Len notes in later, he retired as a colonel. of Government at New Mexico State Sponsored Graduate Student Award for the 2004–2005 academic year, in Dayton, Ohio to reach out to bright university students and the profes- putting the GPS IIR-13 particular the aging civilian workforce During his distinguished military University. which also included a certificate and $2,000. Jason Smith has been engaged sors that mentor them. John also recognized the U.S. government’s need spacecraft en route to its at the White Sands Missile Range, the career, he oversaw the development Sugerman’s volunteer work has in navigation related research since the spring of 2003. He has successfully for experienced technical navigation support. To help satisfy that need, he 11,000nm orbit at slot 1, NASA Johnson Space Center, and other and testing of many generations of earned him many awards, includ- implemented a USB2.0-based high speed data interface between a radio worked to establish an ION Executive Fellow who currently supports the U.S. plane D of the 29 satellite government facilities in the state, and bomb-navigation, guidance, altitude ing the New Mexico Distinguished frequency front end and software GPS receivers processing unit in 2003. The State Department and who is sure to have an impact on government poli- highlights the need for a local pool of control and autopilot systems for air- Public Service Award from Gov. Gary system is now being used in real time data collection at the AFRL/WPAFB. cies affecting the GPS industry for years to come. Lavrakas continued with constellation. It will replace well-trained young people to fill these craft and missiles. Johnson. Smith is currently working on an integrated location and physiology moni- the development of the ION GNSS conference organization and leadership, GPS IIA-11 launched in positions. In the 1950s and ’60s, Len served in Len Sugerman currently serves on toring and processing system. Jason has a 3.9 grade point average and is including renaming the conference to ION GNSS, thereby extending the 1991. Towards this goal, Len Sugerman the Pentagon and at Andrews Air Force the Dean’s Council for Excellence in the an ION member. He is interested in pursuing work in navigation-related arms of the ION® to satellite navigation systems worldwide. has been an active member of many Base. During this time, he earned a Social Sciences and Humanities. fields after graduation.

ION Newsletter 14 Fall 2004 ION Newsletter 15 Fall 2004 Timing continued from page 1 RTCA Corner: Special The flight speed is recorded as the average Committee -159 Global Corporate speed through any four consecutive passes of Positioning System Report the course. Profile

Current Challenges The 64th meeting of Special Chair: Larry Chesto, Consultant Until now, these records have been verified Committee-159 was held on October Vice Chair: George Ligler, PMEI using stopwatches, high-speed cameras and 8 at RTCA. Program Director: Harold Moses, barometric altimeters. As aircraft technology RTCA, Inc. CMC Electronics is a world improves and speeds increase, these methods Figure 1: 3km Course Flight Path Next Meeting: March 7-11, 2005 Secretary: Young Lee, The MITRE leader in the design, manu- no longer provide the required accuracy of Corporation facture, sales and support of 0.25 percent. Furthermore, there are a num- high-technology electronics ber of issues with the current systems that released a request for proposal to GPS compa- During a flight, data is collected onto both products for the aviation, make them expensive and inconvenient. nies around the world. receivers. Items approved by the committee and the on ionosphere, carrier methods, coasting infrared sensing, global Obviously, using stopwatches is prone to NovAtel Inc. of Calgary, Alberta, Canada After a flight, data from both receivers is reports of select work groups follow. performance, tight LAAS/inertial integra- positioning and space elec- human error – especially when humans are responded with a proposal that would use transferred onto a PC and processed using dif- tion, gravity modeling and testing. The iner- tronics markets. The compa- trying to track aircrafts traveling at hundreds existing GPS units and modified post-process- ferential GPS to produce aircraft position data Special Committee 159 met in plenary tial appendix in DO-229C will be updated. ny’s principal locations are of km/h. People can inadvertently stop the ing software. Two highly accurate GPS receiv- as accurate as 2cm. The newly-developed soft- session on October 8 at RTCA. The com- in Montreal, Quebec; Ottawa, watches at the wrong time, lose sight of the ers would be donated and an engineering ware then interpolates the data points to find mittee approved an update to DO-245- WG-4, GPS/LAAS, approved the update to Ontario; Cincinnati, Ohio; plane, or any number of other problems. internship student would modify the software precise start and stop time for the aircraft as it Minimum Aviation System Performance DO-245. This update still needs harmoniza- and Chicago, Illinois. Alternatively, high-speed cameras can be travels through the 3km course. The result is Standards for Local Area Augmentation tion with EUROCAE when they define their CMC’s capabilities are used at each end of the 3km course to avoid speed calculations that greatly exceed the 0.25 System (LAAS). That will be considered for Category II/III requirements. An update to human errors. The cameras take time-tagged With NovAtel’s leading percent accuracy requirement. The software approval at the December 9 PMC meeting. DO-246B GNSS Based Precision Approach broadened by NovAtel Inc., pictures many times a second. These pictures also performs checks to make sure that pilots The committee also established an Antenna Local Area Augmentation System (LAAS) its subsidiary in Calgary, must then be manually reviewed post-flight to GPS technology, and stay within course width and height boundar- Working Group (WG-7) to develop a MOPS Signal-in-Space Interface Control Document Alberta, and a network of determine exactly when the aircraft crossed a ies, removing the need for other height and for operation with L1, L5, and Galileo E1/E2 (ICD) will be submitted to the committee in sales and service agents and particular line. Unfortunately, these cameras ION funding, the NAA width monitoring. and E5A frequencies. March 2005 for approval. representatives supporting are expensive to use and have limited storage Another key added feature is that digital CMC’s activities worldwide. capacity so camera recording must be closely now has a timing system security was added to the DL-4 firmware The SC 159 plenary reviewed current WG-6, GPS/Interference, is continuing to CMC Electronics’ busi- monitored. Also, synchronizing the times on and post processing software. This ensures Working Group activities. work on an update to DO-235A Assessment ness strategy is to gain a two cameras 3km apart has proven difficult. that greatly exceeds its that would-be cheaters are unable to provide of Radio Frequency Interference relevant leadership position in grow- In fact, at a recent record attempt, the high- bogus data. All flight data from the DL-4s can WG-1, 3rd Civil Frequency, met jointly to the GNSS with a target date of March ing niche markets where speed cameras fell out of synchronization and accuracy requirements, be guaranteed as legitimate. with WGs-2 & 6 on L5/Galileo issues. The 2007. Galileo effects and new operational products and systems of the data from the stopwatches was required. update of DO-261 NAVSTAR GPS L5 scenarios will be included. utmost quality, highest reli- The record’s restrictions on height and protects against cheaters Handoff to the NAA Signal Specification was discussed. WG-1 ability and most innovative width are also cumbersome to officiate. Once development was complete, the system currently recommends that DO-261 not be WG-8, GPS/GRAS, has developed a draft features are required. The Several methods have been used in the past and is very convenient for was handed over to the NAA for testing on updated and that the DoD Interface Control MOPS with 18 open issues. This MOPS is company is a major sup- such as hovering planes, video taping the actual planes. The system passed its first test Document be used in conjunction with DO- scheduled for completion by October 2005. plier to the aerospace and aircraft’s altimeter or using sight-gates on the record attempt officials. with flying colors and will soon be put to 261 for guidance on L5 signal specifications. high-technology industries, ground to monitor height and width. These another test to compare it with current timing This issue will be discussed again at the next RTCA, Inc. is a private, not-for-profit cor- airlines, military agencies poration that develops consensus-based methods have worked, but require a good deal to include processing for the 3km record methods. With NovAtel’s leading GPS technol- meeting. and government customers of setup and organization to work properly. attempt. NovAtel’s proposal was accepted and ogy, and ION funding, the NAA now has a recommendations regarding commu- nications, navigation, surveillance and around the world. Trevor Brophy from the University of Calgary timing system that greatly exceeds its accura- WG-2, GPS/WAAS, is addressing WAAS Formerly known as NovAtel’s Solution was hired to begin development of the system cy requirements, protects against cheaters and open issues and L5 WAAS. An update to air traffic management (CNS/ATM) sys- tem issues. RTCA functions as a federal Canadian Marconi Company, To combat these challenges, the NAA con- under the guidance of Pat Fenton. is very convenient for record attempt officials. DO-229C is planned for early 2006. advisory committee. Its recommenda- CMC Electronics has been tacted the ION to see if a GPS system could be The existing “DL-4” GPS receivers log This is another excellent GPS application and tions are used by the Federal Aviation designing and building inno- used to verify the 3km record attempts. GPS is data at rates of up to 20Hz. This data is has given at least one university student a WG-2A, GPS/GLONASS, continues to Administration (FAA) as the basis for vative communication and already in use by the Fédération Aéronautique recorded onto removable compact flash cards keen interest in GPS technology. monitor GLONASS activity. No new informa- policy, program and regulatory deci- electronics systems since Internationale” (FAI) to record glider flights. in the units. Using 64Mbyte cards, data can be tion was available. sions, and by the private sector as the 1903. It was thought that such systems could be recorded for nearly 2 hours. One of the units —Trevor Brophy is a computer basis for development, investment and adapted for use in powered aircrafts. The ION is to be placed in the aircraft, while the other engineering student at The University of WG-2C, GPS/Inertial, continues to focus other business decisions. agreed to provide funding for the project and is placed in a fixed position on the ground. Calgary, Canada

ION Newsletter 16 Fall 2004 ION Newsletter 17 Fall 2004 Libration continued from page 6 that this study did not address. Nevertheless, in Astrodynamics 2004 , Univelt, San Diego, these results would appear to support CA, 2004. Portney’s Corner from page 7 [8] G. H. Barton, S. W. Shepard, and T. J. Brand, And the Answer is C the need for further investigation of the “Proposed Autonomous Lunar Navigation Earth–Moon L2 Orbiter concept as a means System,” Astrodynamics 1993 , Univelt, San Found at Stonehenge were the famous to 5º 18'—average about 5º 9'). Moon’s Orbit to provide a great deal of capability with Diego, CA, 1993. mounds and the mysterious 56 Aubrey The orbit of the Moon undergoes Figure 1 minimal investment, as a starting point for [9] J. R. Carpenter, D. C. Folta, M. C. Moreau, holes whose significance became evident a precessional motion known as a comprehensive lunar and planetary navi- and D. A. Quinn, “Libration Point Navigation when correlated with the Moon’s 18.61 year the regression of the nodes due to Concepts Supporting the Vision for Space gation and communications infrastructure Exploration,” to appear in Astrodynamics orbital period. Earth-solar gravitational effects beyond near Earth orbit. 2004 , Univelt, 2004. The Moon and the Earth are in the (similar to the precession of the [10] M. Beckman and M. Concha, “Lunar same relative positions after 18.61 years. To equinox due to luni-solar effects References Prospector Orbit Determination Results,” the nearest whole number year, three orbital upon the Earth). Astrodynamics 1998 , Univelt, 1998. [1] NASA, “The Vision for Space Exploration,” periods (3 x 18 2/3) yield the 56 year lunar In both cases the Moon and NP–2004–01–34–HQ, cycle. The motion of the Moon around the the Earth are ellipsoids whose Figure 2: Earth-Moon L2 Orbiters’ trajectories. The direc- NASA Headquarters, tion of the moon’s motion is toward the viewer, and the Washington, DC 20546, Earth is affected principally by the Earth axes of rotation are tilted to their earth is to the right of the scene. The amplitudes of the February 2004. ������������������ and the Sun. The revolution of the Moon orbital planes. Thus, they both orbits in the direction normal to the moon’s orbit plane are [2] R. W. Farquhar, “The and its rotation around the Earth are both behave as gyros spinning at an approximately 25,000 km, and they extend approximately Control and Use equal in duration. This is the reason that angle inclined to the perpen- 50,000 km on either side of the Earth-Moon-L2 line. The of Libration-Point amplitude of the motion toward and away from the moon Satellites,” Tech. Rep. the same side of the Moon faces the Earth dicular axes to their respective covers about 25,000 km. These orbits are nearly as large NASA TR R–346, NASA (the libration of the Moon allows us to see orbital planes and under the as would be feasible, and may provide adequate coverage Goddard Space Flight �������������� up to 59 percent of the Moon). influence of the Sun and Earth’s of the lunar polar regions. Center, 1970. As the Moon orbits the Earth, the eccen- or Moon’s gravitational forces [3] C. A. Renault and D. J. tricity of its orbit varies slightly. The Earth’s and other planets which owing Scheeres, “Statistical telemetering the GPS navigation message Analysis of Control orbit about the Sun is an ellipse that causes to their out-of-the-plane centers via a distinct communications link to lunar Maneuvers in Unstable ��������������������������������� the distance to the Sun from the Earth to produce the precessional effects. Orbital Environments,” navigation receivers, avoiding the need ������������������������������� vary. The distance of the Moon to the Earth The two nodes are at opposite points and at hole 56. At this time, the critical prediction for the users to decode the GPS ephemeri- Journal of Guidance, varies as its path is in an ellipse. The change the intersections of the Moon’s orbital plane based on the alignment of the stone (at Control and Dynamics, ��������������������������� des, could likely achieve more significant Vol. 26, No. 5, in the gravitational pull upon the Moon var- with the ecliptic plane. The line joining the hole 56) through the center of the circle improvements in GPS receiver sensitivity. September–October ies from a maximum when it is on the side two points is the apse. This nodal line turns of holes and the sighting on the heel stone Such a system might support limited GPS 2003, pp. 758–769. ���������������� of the Earth closer to the Sun to a minimum westward with a retrograde motion in the to view the midwinter eclipse of the moon ��������������������� navigation all the way to the Earth-side [4] D. C. Folta and F. J. when it is on the opposite side of the Earth. ecliptic making a complete journey in 18.61 would be verified. Vaughn, “A Survey of ��������������������� lunar surface. Earth-Moon Libration An observer in celestial space would notice years when the Moon and the Earth return The number 56 is a perfect multiple of 2 NASA Goddard has made a preliminary Orbits: Stationkeeping a wiggle in the Moon’s orbit about the Sun to their same relative positions. When the 18 ⁄3 and the closest whole number mul- assessment of a lunar navigation infra- Strategies and Intra- as a result of this latter effect. This occurs Moon in its orbital plane crosses the eclip- tiple of 18.61 which is the actual period of structure based on the concepts described Orbit Transfers,” to as the influence of the Sun’s gravitational tic in its journey from south to north this the nodes of regression of the Moon. It is to by Farquhar and Barton et al. Our study appear in Astrodynamics force on the Moon is greater than that of the marks the ascending node and the arrival be emphasized that any specific lunar event 2004 , Univelt, 2004. [9] indicates that accuracies of better than [5] G. L. Condon and S. Earth’s (despite the Earth’s close proximity of a full Moon’s eclipse. This occurs when such as a full Moon will reoccur in its same 1 km and 5 cm/sec may be feasible for a W. Wilson, “Lunar to the Moon). All these effects contribute to the Moon, Earth and Sun are in alignment relative position with respect to the Earth in cis-lunar transfer scenario that uses GPS Orbit vs. Libration the Moon’s complex orbital behavior. and the Moon is in the Earth’s shadow. The 56 years to the closest whole number year. pseudo-ranges in combination with one- Point and Lunar descending node is located where the Moon It is to be noted that the ancient Greeks Surface Rendezvous ����������� way Doppler measurements from one or Methodologies for The Celestial Sphere crosses the ecliptic in its journey from north were aware of a 19-year lunar cycle which more Earth–Moon L2 Orbiters that Figure Human Lunar Missions,” ��������������������� Navigators and astronomers utilize the celes- to south. marked the repetition of eclipses on the 2 shows. These are quite promising in com- Guidance and Control ������������� tial sphere (Figure 1) in their analyses of same calendar date (but not with the same parison with the trans-lunar post-maneuver 2004 , Univelt, 2004. astronomical problems. The Earth is placed Aubrey Hole 56 consistent Moon-Earth relative position as results on the order of kilometers and doz- [6] D. C. Folta, “Servicing in the center of the celestial sphere and the Hawkins found that Aubrey hole 56 could occurs when the Moon makes a complete And Deployment Of ens of centimeters per second that Beckman National Resources In ���������������� celestial sphere is given an infinite radius. be used to predict the year when an eclipse journey through a cycle of the regression and Concha [10] achieved during Lunar Sun-Earth Libration ���������������� The celestial bodies are located on the celes- of the Moon or Sun will occur within 15 of the nodes of 18.61 years). The metonic Prospector using two-way Doppler from Deep Point Orbits,” tial sphere in accordance with their celestial days of midwinter. He concluded that the cycle of 19 years marks the eclipse of the Space Network 34- and 26-meter tracking Proceedings of the World coordinates. The two planes of concern are: Aubrey holes could act as a digital comput- Moon on the same calendar date. Meton Space Congress, 2002. sites. It should be noted that the real-world [7] K. C. Howell, 1) the ecliptic which contains the apparent ing machine by moving two sets of three observed that 235 lunar months were very results of Reference [10] were achieved in “Representation of path of the Sun, and 2) the orbital plane of stones, at the winter or summer solstice, close in duration to 19 solar years. This the face of all the constraints posed by an invariant manifolds for the Moon. The orbit of the Moon is inclined one position at a time. This would begin at knowledge was used as the basis for the operational environment, including, most applications in three- to the ecliptic at the angle i (varying from 5º the solstices each year ultimately reaching ancient Greek calendar. body systems,” to appear notably, imperfectly performed maneuvers

ION Newsletter 18 Fall 2004 ION Newsletter 19 Fall 2004 THE ION® NATIONAL TECHNICAL MEETING • WWW.ION.ORG

January 24–26, 2005 • San Diego, Calif. • The Catamaran Hotel Session Topics Galileo and GPS Modernization Marine Applications GPS/Galileo Enhanced Applications Military Applications GNSS Interoperability Location-Based Services and Indoor Navigation GNSS Receiver Software and Algorithms Algorithms, Analysis and Methods Augmentation Systems Atmospheric Effects Space Applications Carrier Phase Based Positioning Integrated Multi-Sensor Systems MEMS and Low Cost Inertial Systems Aviation Applications Land-Based Applications

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