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Benefits of Combined GPS/GLONASS Processing for High Sensitivity Receivers (URL UCGE Reports Number 20333 Department of Geomatics Engineering Benefits of Combined GPS/GLONASS Processing for High Sensitivity Receivers (URL: http://www.geomatics.ucalgary.ca/graduatetheses) by Mohamed Essam Hassan Roshdy Tamazin July 2011 UNIVERSITY OF CALGARY Benefits of Combined GPS/GLONASS Processing for High Sensitivity Receivers by Mohamed Essam Hassan Roshdy Tamazin A THESIS SUBMITTED TO THE FACULTY OF GRADUATE STUDIES IN PARTIAL FULFILMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE DEPARTMENT OF GEOMATICS ENGINEERING CALGARY, ALBERTA July, 2011 © Mohamed Tamazin 2011 Abstract This thesis presents a comprehensive study on the advantages of using combined processing of the Global Positioning System (GPS) and the Global Navigation Satellite System (GLONASS) for receivers in comparison with a GPS-only receiver in degraded signal environments. Existing commercial High Sensitivity (HS) GPS receivers suffer significant degradations in many environments such as in indoor environments and urban canyons due to restricted visibility of available satellites. Even if a sufficient number of satellites are available, the geometric Dilution of Precision (DOP), the noise and multipath can often be large, leading to large errors in position. Currently there are more than twenty-four active GLONASS satellites in orbit. It is therefore advantageous to concentrate on combining the GPS and GLONASS measurements to achieve more reliable and accurate navigation solutions. In this research, data was collected in an indoor environment and in urban canyons. A software receiver, namely GSNRx™, was used to process the data in both standard and high sensitivity modes. The analysis studies the benefits of combined HS GPS/GLONASS processing in terms of measurement availability, pseudorange degradation, signal power degradation, navigation solution availability, residual analysis, positioning accuracy and DOP. The combined use of GLONASS and GPS provides significant improvement in all of the above performance measures. Recommendations for future work are made for improvements. ii Acknowledgements My thanks are wholly devoted to ALLAH for His blessings and for helping me to accomplish this work successfully. I am honoured that my work has been supervised by Prof. Gérard Lachapelle. I would like to express my deepest gratitude and sincere appreciation for his help, valuable advice, continuing support, endless patience and guidance throughout the preparation of this work. I greatly appreciate his tireless efforts and regular follow-ups while checking and revising this work, as he was keen on producing an outstanding piece of work. I wish to express my deep indebtedness and gratitude to my mother and father for their understanding, encouragement and unconditional support. I also owe special gratitude to my sister Dina for her help. I would like to thank Dr. Cillian O’ Driscoll who inspired and motivated me during the crucial initial stages of my research. I am thankful to PLAN research engineers, Dr. Jared Bancroft, Dr. Haris Afzal and Dr. James Curran, for their generosity in sharing knowledge, suggestions and helpful advice. I also wish to acknowledge a good friend of mine, Dr. Mohamed Youssef, for helping me right from the time I landed in Calgary. His guidance, technical as well as personal, has always helped me to take the right steps in my career. I cannot forget to thank PLAN graduate students, Ahmed Kamel, Billy Chan, Peng Xie, Pratibha Anantharamu, Shashank Satyanarayana and Tao Lin, for beneficial discussions and for graciously sharing their time and knowledge with me. Finally, I would like to thank all my friends in Calgary who continue making my new life here an exciting experience. iii Table of Contents Abstract .......................................................................................................................... ii Acknowledgements ....................................................................................................... iii Table of Contents ........................................................................................................... iv List of Tables.................................................................................................................vii List of Figures and Illustrations ...................................................................................... ix List of Abbreviations ..................................................................................................... xv CHAPTER ONE: INTRODUCTION .............................................................................. 1 1.1 Chapter Outline...................................................................................................... 1 1.2 Introduction ........................................................................................................... 1 1.3 Background ........................................................................................................... 2 1.3.1 Urban Canyon and Indoor Positioning ........................................................... 2 1.3.2 Assisted and High Sensitivity GPS Receiver .................................................. 3 1.4 Research Objective ................................................................................................ 4 1.5 Literature Review .................................................................................................. 5 1.6 Thesis Outline ........................................................................................................ 6 CHAPTER TWO: OVERVIEW OF GLONASS .............................................................. 8 2.1 Chapter Outline...................................................................................................... 8 2.2 Overview of GLONASS ........................................................................................ 8 2.2.1 The Space Segment ........................................................................................ 9 2.2.2 The Control Segment ................................................................................... 11 2.2.3 The User Segment........................................................................................ 12 2.2.4 GLONASS Modernization ........................................................................... 12 2.2.4.1 First Generation (GLONASS)............................................................. 13 2.2.4.2 Second Generation (GLONASS-M) .................................................... 13 2.2.4.3 Third Generation (GLONASS-K) ....................................................... 13 2.3 GLONASS Signal Characteristics ........................................................................ 14 2.3.1 GLONASS RF Frequency Plan .................................................................... 15 2.3.2 Signal Structure ........................................................................................... 16 2.3.2.1 Standard Accuracy Ranging Code (C/A-Code) ................................... 17 2.3.2.2 High Accuracy Ranging Code (P-Code) ............................................. 18 2.3.3 Intra-system Interference ............................................................................. 18 2.3.4 GLONASS Navigation Message .................................................................. 19 2.4 Comparison between GPS and GLONASS .......................................................... 19 2.4.1 Time Reference Systems .............................................................................. 20 2.4.1.1 GLONASS Time System .................................................................... 20 2.4.1.2 Time Transformation .......................................................................... 21 2.4.2 Coordinate Systems ..................................................................................... 22 2.4.2.1 PZ-90 (GLONASS) ............................................................................ 22 2.4.2.2 WGS-84 (GPS) ................................................................................... 23 2.5 Advantages of Combined GPS and GLONASS .................................................... 25 CHAPTER THREE: OVERVIEW OF GNSS RECEIVER DESIGN AND TEST MEASURES ......................................................................................................... 27 iv 3.1 Chapter Outline.................................................................................................... 27 3.2 General Overview of GNSS Receiver Architecture .............................................. 27 3.2.1 Signal Acquisition ....................................................................................... 32 3.2.2 Signal Tracking............................................................................................ 35 3.3 GNSS Software Receivers – GSNRx™ ................................................................ 36 3.3.1 Overview of GSNRxTM ................................................................................ 37 3.3.2 GSNRxTM Software Receiver Architecture................................................... 37 3.3.3 GSNRx™ Standard versus High Sensitivity Mode ....................................... 40 3.3.4 Assisted High Sensitivity GSNRxTM ............................................................ 41 3.4 Estimation Methods Used .................................................................................... 43 3.4.1 Least-Squares Approach .............................................................................
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