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Vector-Based and Ultra-Tight GPS/INS Receiver Performance in the Presence of Continuous Wave Jamming

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Vector-Based and Ultra-Tight GPS/INS Receiver Performance in the Presence of Continuous Wave Jamming University of Calgary PRISM: University of Calgary's Digital Repository Graduate Studies The Vault: Electronic Theses and Dissertations 2015-02-03 Vector-based and Ultra-Tight GPS/INS Receiver Performance in the Presence of Continuous Wave Jamming Krasovski, Sergey Krasovski, S. (2015). Vector-based and Ultra-Tight GPS/INS Receiver Performance in the Presence of Continuous Wave Jamming (Unpublished master's thesis). University of Calgary, Calgary, AB. doi:10.11575/PRISM/28635 http://hdl.handle.net/11023/2080 master thesis University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission. Downloaded from PRISM: https://prism.ucalgary.ca UNIVERSITY OF CALGARY Vector-based and Ultra-Tight GPS/INS Receiver Performance in the Presence of Continuous Wave Jamming by Sergey Krasovski A THESIS SUBMITTED TO THE FACULTY OF GRADUATE STUDIES IN PARTIAL FULFILMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE GRADUATE PROGRAM IN GEOMATICS ENGINEERING CALGARY, ALBERTA JANUARY, 2015 © Sergey Krasovski 2015 Abstract This thesis investigates the ability of a vector-based Global Positioning System (GPS) receiver and an ultra-tight GPS/inertial receiver to detect and mitigate Continuous Wave (CW) interference in tracking and navigation domains. In this work, an Interference Detector (ID) is incorporated into the tracking domain of a GPS software receiver and a new observation weighting (OW) algorithm is developed to help classify GPS measurements when CW signal is present. Results show that both vector-based and ultra-tight GPS receivers, accompanied by the ID and OW, offer better navigation solution accuracies in CW jamming than their un- aided counterparts. Specifically, aided receivers improved the horizontal position approximately by a factor of two, while the horizontal velocity errors of the aided vector- based receiver were reduced by a factor of four compared to that of the un-aided counterpart during interference. Also, the novel OW technique set more appropriate observation variances than the carrier-to-noise (C/N0) weighting in jamming. ii Acknowledgements I would like to thank my supervisor, Professor Mark Petovello, for his continued support and encouragement, attention to detail and unique perspective on my research. Your hard work, enormous motivation and dedication to research have been a super powerful source of inspiration for me over these two and a half years. Thank you for having your doors always opened for me and thank you for your trust in me. Special gratitude is addressed to my co-supervisor, Professor Gérard Lachapelle. It was a big honour to study under your guidance. Literally every advice you have given to me is very much appreciated. Also, thank you for exposing me to world-class resources and accepting me to your top-level scientific team. Additionally, thank you for taking me to several fantastic hikes and introducing to the breathtaking Canadian Rockies. All my accomplishments would not be possible without my parents. I cannot express all my love and respect to them only with words. You are the ones who gave me the chance to see the World, and I will always value your limitless care, love and understanding. I would like to thank all my relatives who have always supported and cheered me during my graduate studies. Big thanks go to many members of the PLAN Group: Zhe He, Ali Broumandan, Srinivas Bhaskar, Vijaykumar Bellad and G. S. Naveen for sharing your technical experience and helping with my data collections. My C++ gurus, Bernhard Aumayer and Bashir Kazemipur, for their advices and help, which greatly improved my coding skills. Tiantong Ren, Paul Verlaine Gakne and Adam Clare for sharing the office with me and being so friendly and supportive. I could not dream of better office mates. The Great Nepalese Anup Dhital. Our football discussions and games, hikes and conversations were a great fun, which will never be forgotten. Erin Kahr, Rakesh Kumar and Jingjing Dou, for being so nice and friendly. iii All amazing graduate students from the PLAN Group, who supported me and accompanied for hundreds of coffee breaks, thank you. To all executives of the G3, who made my social life within the department interesting and dynamic, thank you very much. I would also like to thank my Belarusian friends Katia, Dima Kuziuberdin, and Masha. Your friendship and kindness are very important to me. To the staff of the Department of Geomatics Engineering, thank you a lot. Your smiles were always supportive and warm. I would like to acknowledge the Calgary Airport Authority for providing me with financial support. iv Dedication To my beloved mama and papa, Elena and Pavel. Without you, I wouldn't be even a fraction of who I am. v Table of Contents Abstract ............................................................................................................................ ii Acknowledgements ......................................................................................................... iii Dedication ....................................................................................................................... v Table of Contents ............................................................................................................ vi List of Tables ................................................................................................................... x List of Figures and Illustrations ........................................................................................ xi List of Abbreviations ...................................................................................................... xiv List of Symbols ............................................................................................................. xvii Epigraph ........................................................................................................................ xxi CHAPTER ONE: INTRODUCTION ................................................................................. 1 1.1 Background ........................................................................................................... 2 1.1.1 Problems of Radio-Frequency Interference in GNSS .................................... 2 1.1.2 Overview of RFI Signals ................................................................................ 4 1.1.3 GNSS Receiver Concept ............................................................................... 6 1.2 Related Research in RFI Detection and Mitigation ................................................ 9 1.2.1 Multi-Antenna and Pre-Correlation Methods ................................................ 10 1.2.2 Post-Correlation Methods ............................................................................ 14 1.3 Research Objective and Motivation ..................................................................... 19 1.4 Author’s Contributions ......................................................................................... 22 1.5 Thesis Outline ...................................................................................................... 23 CHAPTER TWO: GPS SOFTWARE RECEIVER ARCHITECTURE ............................. 26 2.1 Overview .............................................................................................................. 26 2.2 GPS L1 Signal Structure ...................................................................................... 26 vi 2.3 GPS Signal Acquisition ........................................................................................ 28 2.4 GPS Signal Tracking ........................................................................................... 31 2.4.1 Frequency Lock Loop and Delay Lock Loop ................................................ 32 2.4.2 Phase Lock Loop ......................................................................................... 35 2.4.3 Kalman Filter Based Tracking ...................................................................... 36 2.5 Signal Lock Metrics.............................................................................................. 37 2.5.1 Carrier-to-Noise Ratio (C/N0) ....................................................................... 38 2.5.2 Frequency Lock Indicator (FLI) .................................................................... 39 2.5.3 Phase Lock Indicator (PLI) ........................................................................... 40 2.6 Navigation Solution .............................................................................................. 41 2.6.1 Observation Model ....................................................................................... 42 2.6.2 Kalman Filter Design Considerations ........................................................... 45 2.6.3 Reliability Testing in Kalman Filtering .......................................................... 50 2.7 Receiver Implementation Approaches ................................................................. 52 2.1.1 Scalar GPS Receiver ................................................................................... 52 2.1.2 Vector-based GPS Receiver ........................................................................ 54 2.1.3 Ultra-tight GPS/INS Receiver ......................................................................
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