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L-G-0015436434-0054602840.Pdf Position, Navigation, and Timing Technologies in the 21st Century IEEE Press 445 Hoes Lane Piscataway, NJ 08854 IEEE Press Editorial Board Ekram Hossain, Editor in Chief Jón Atli Benediktsson David Alan Grier Elya B. Joffe Xiaoou Li Peter Lian Andreas Molisch Saeid Nahavandi Jeffrey Reed Diomidis Spinellis Sarah Spurgeon Ahmet Murat Tekalp Position, Navigation, and Timing Technologies in the 21st Century Integrated Satellite Navigation, Sensor Systems, and Civil Applications Volume 1 Edited by Y. T. Jade Morton, University of Colorado Boulder Frank van Diggelen, Google James J. Spilker, Jr., Stanford University Bradford W. Parkinson, Stanford University Associate Editors: Sherman Lo, Stanford University Grace Gao, Stanford University Copyright © 2021 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Published by John Wiley & Sons, Inc., Hoboken, New Jersey. Published simultaneously in Canada. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750-8400, fax (978) 750-4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008, or online at http://www.wiley.com/go/permissions. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762-2974, outside the United States at (317) 572-3993 or fax (317) 572-4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com. Library of Congress Cataloging-in-Publication Data Names: Morton, Y. Jade, editor. | Van Diggelen, Frank Stephen Tromp, editor. | Spilker, James J., Jr., 1933- editor. | Parkinson, Bradford W., editor. Title: Position, navigation, and timing technologies in the 21st century : integrated satellite navigation, sensor systems, and civil applications / editors, Y. Jade Morton, University of Colorado Boulder, Frank van Diggelen, Google, James J. Spilker, Jr., Stanford University, Bradford W. Parkinson, Stanford University. Description: First edition. | Hoboken : Wiley/IEEE Press, [2020] | Includes index. | Contents: Introduction, early history, and assuring PNT (PTA) / Bradford W. Parkinson, Stanford University, USY, T. Jade Morton, University of Colorado Boulder, US, Frank van Diggelen, Google, US, James J. Spilker Jr., Stanford University, US – Fundamentals of satellite-based navigation and timing / John W. Betz, The Mitre Corporation, US – The Navstar Global Positioning System / John W. Betz, The Mitre Corporation, US. Identifiers: LCCN 2020044255 (print) | LCCN 2020044256 (ebook) | ISBN 9781119458340 (set ; hardback) | ISBN 9781119458418 (volume 1 ; hardback) | ISBN 9781119458494 (volume 2 ; hardback) | ISBN 9781119458463 (volume 1 ; adobe pdf) | ISBN 9781119458456 (volume 1 ; epub) | ISBN 9781119458425 (volume 2 ; adobe pdf) | ISBN 9781119458401 (volume 2 ; epub) Subjects: LCSH: Mobile geographic information systems. Classification: LCC G109.4 .P67 2020 (print) | LCC G109.4 (ebook) | DDC 910.285–dc23 LC record available at https://lccn.loc.gov/2020044255 LC ebook record available at https://lccn.loc.gov/2020044256 Cover Design: Wiley Cover Images: Global telecommunication network © NicoElNino/Getty Images, GPS Satellite © BlackJack3D/iStockphoto Set in 9.5/12.5pt STIXTwoText by SPi Global, Pondicherry, India 10987654321 In Memory of: Ronald L. Beard Per Enge Ronald Hatch David Last James J. Spilker, Jr. James B. Y. Tsui vii Contents Preface xiii Contributors xv Part A Satellite Navigation Systems 1 1 Introduction, Early History, and Assuring PNT (PTA) 3 Bradford W. Parkinson, Y.T. Jade Morton, Frank van Diggelen, and James J. Spilker Jr. 2 Fundamentals of Satellite-Based Navigation and Timing 43 John W. Betz 3 The Navstar Global Positioning System 65 John W. Betz 4 GLONASS 87 S. Karutin, N. Testoedov, A. Tyulin, and A. Bolkunov 5 GALILEO 105 José Ángel Ávila Rodríguez, Jörg Hahn, Miguel Manteiga Bautista, and Eric Chatre 6 BeiDou Navigation Satellite System 143 Mingquan Lu and Zheng Yao 7 IRNSS 171 Vyasaraj Rao 8 Quasi-Zenith Satellite System 187 Satoshi Kogure, Yasuhiko Kawazu, and Takeyasu Sakai 9 GNSS Interoperability 205 Thomas A. Stansell, Jr. 10 GNSS Signal Quality Monitoring 215 Frank van Graas and Sabrina Ugazio 11 GNSS Orbit Determination and Time Synchronization 233 Oliver Montenbruck and Peter Steigenberger 12 Ground-Based Augmentation System 259 Boris Pervan viii Contents 13 Satellite-Based Augmentation Systems (SBASs) 277 Todd Walter Part B Satellite Navigation Technologies 307 14 Fundamentals and Overview of GNSS Receivers 309 Sanjeev Gunawardena and Y.T. Jade Morton 15 GNSS Receiver Signal Tracking 339 Y.T. Jade Morton, R. Yang, and B. Breitsch 16 Vector Processing 377 Matthew V. Lashley, Scott Martin, and James Sennott 17 Assisted GNSS 419 Frank van Diggelen 18 High-Sensitivity GNSS 445 Frank van Diggelen 19 Relative Positioning and Real-Time Kinematic (RTK) 481 Sunil Bisnath 20 GNSS Precise Point Positioning 503 Peter J.G. Teunissen 21 Direct Position Estimation 529 Pau Closas and Grace Gao 22 Robust Positioning in the Presence of Multipath and NLOS GNSS Signals 551 Gary A. McGraw, Paul D. Groves, and Benjamin W. Ashman 23 GNSS Integrity and Receiver Autonomous Integrity Monitoring (RAIM) 591 Sam Pullen and Mathieu Joerger 24 Interference: Origins, Effects, and Mitigation 619 Logan Scott 25 Civilian GNSS Spoofing, Detection, and Recovery 655 Mark Psiaki and Todd Humphreys 26 GNSS Receiver Antennas and Antenna Array Signal Processing 681 Andrew O’Brien, Chi-Chih Chen and Inder J. Gupta Part C Satellite Navigation for Engineering and Scientific Applications 717 27 Global Geodesy and Reference Frames 719 Chris Rizos, Zuheir Altamimi, and Gary Johnston 28 GNSS Geodesy in Geophysics, Natural Hazards, Climate‚ and the Environment 741 Yehuda Bock and Shimon Wdowinski Contents ix 29 Distributing Time and Frequency Information 821 Judah Levine 30 GNSS for Neutral Atmosphere and Severe Weather Monitoring 849 Hugues Brenot 31 Ionospheric Effects, Monitoring, and Mitigation Techniques 879 Y. Jade Morton, Zhe Yang, Brian Breitsch, Harrison Bourne, and Charles Rino 32 GNSS Observation for Detection, Monitoring, and Forecasting Natural and Man-Made Hazardous Events 939 Panagiotis Vergados, Attila Komjathy, and Xing Meng 33 GNSS Radio Occultation 971 Anthony J. Mannucci, Chi O. Ao, and Walton Williamson 34 GNSS Reflectometry for Earth Remote Sensing 1015 James Garrison, Valery U. Zavorotny, Alejandro Egido, Kristine M. Larson, Felipe Nievinski, Antonio Mollfulleda, Giulio Ruffini, Francisco Martin, and Christine Gommenginger Part D Position, Navigation, and Timing Using Radio Signals-of-Opportunity 1115 35 Overview of Volume 2: Integrated PNT Technologies and Applications 1117 John F. Raquet 36 Nonlinear Recursive Estimation for Integrated Navigation Systems 1121 Michael J. Veth 37 Overview of Indoor Navigation Techniques 1141 Sudeep Pasricha 38 Navigation with Cellular Signals of Opportunity 1171 Zaher (Zak) M. Kassas 39 Position, Navigation and Timing with Dedicated Metropolitan Beacon Systems 1225 Subbu Meiyappan, Arun Raghupathy, and Ganesh Pattabiraman 40 Navigation with Terrestrial Digital Broadcasting Signals 1243 Chun Yang 41 Navigation with Low-Frequency Radio Signals 1281 Wouter Pelgrum and Charles Schue 42 Adaptive Radar Navigation 1335 Kyle Kauffman 43 Navigation from Low Earth Orbit 1359 Part 1: Concept, Current Capability, and Future Promise Tyler G.R. Reid, Todd Walter, Per K. Enge, David Lawrence, H. Stewart Cobb, Greg Gutt, Michael O’Connor, and David Whelan 43 Navigation from Low-Earth Orbit 1381 Part 2: Models, Implementation, and Performance Zaher (Zak) M. Kassas x Contents Part E Position, Navigation, and Timing Using Non-Radio signals of Opportunity 1413 44 Inertial Navigation Sensors 1415 Stephen P. Smith 45 MEMS Inertial Sensors 1435 Alissa M. Fitzgerald 46 GNSS-INS Integration 1447 Part 1: Fundamentals of GNSS-INS Integration Andrey Soloviev 46 GNSS-INS Integration 1481 Part 2: GNSS/IMU Integration Using a Segmented Approach James Farrell and Maarten Uijt Haag 47 Atomic Clocks
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