Artech House Applied Satellite Navigation Using GPS, GALILEO, and Augmentation Systems

294 Pages·2016·2.8 MB·English

by  Artech House

Applied Satellite Navigation Using GPS,
GALILEO, and Augmentation Systems
Ramjee Prasad
Marina Ruggieri
artechhouse.com
Library of Congress Cataloging-in-Publication Data
Prasad, Ramjee.
Applied satellite navigation using GPS, GALILEO, and augmentation systems / Ramjee
Prasad, Marina Ruggieri.
p. cm. — (Artech House mobile communications series)
Includes bibliographical references and index.
ISBN 1-58053-814-2 (alk. paper)
1. Artifical satellites in navigation I. Ruggieri, Marina. II. Title. III. Series.
VK562.P73 2005
623.89’3–dc22
2005041995
British Library Cataloguing in Publication Data
Prasad, Ramjee
AppliedsatellitenavigationusingGPS,GALILEO,andaugmentationsystems.—(Artech
House mobile communications series)
1. Artifical satellites in navigation 2. Global positioning system
I. Title II. Ruggieri, M. (Marina), 1961–
629’.045
ISBN 1-58053-814-2
Cover design by Yekaterina Ratner
© 2005 Ramjee Prasad and Marina Ruggieri
All rights reserved.
PrintedandboundintheUnitedStatesofAmerica.Nopartofthisbookmaybereproduced
orutilizedinanyformorbyanymeans,electronicormechanical,includingphotocopying,
recording,orbyanyinformationstorageandretrievalsystem,withoutpermissioninwriting
from the publisher.
Alltermsmentionedinthisbookthatareknowntobetrademarksorservicemarkshave
beenappropriatelycapitalized.ArtechHousecannotattesttotheaccuracyofthisinforma-
tion.Useofaterminthisbookshouldnotberegardedasaffectingthevalidityofanytrade-
mark or service mark.
International Standard Book Number: 1-58053-814-2
10 9 8 7 6 5 4 3 2 1
Contents
Preface xi
Acknowledgments xiii
CHAPTER 1
Introduction 1
1.1 Introduction to Navigation: A Historical Perspective 1
1.2 Evolution of Satellite Navigation 4
1.2.1 The Pioneers 5
1.2.2 GALILEO: The European Challenge 7
1.3 Preview of the Book 11
References 12
CHAPTER 2
Navigation Basics 15
2.1 Coordinate Systems 17
2.1.1 Earth-Centered Inertial Coordinate System 18
2.1.2 Earth-Centered Earth-Fixed Coordinate System 19
2.1.3 World Geodetic System – 1984 (WGS-84) 20
2.2 Time Systems 24
2.3 Navigation Equations 25
2.3.1 Land Survey Techniques: Triangulation, Trilateration,
and Traversing 25
2.3.2 Position Determination Through Satellite Ranging Signals 26
2.3.3 Basic Navigation Algorithms 27
2.4 Required Navigation Performance (RNP) 34
References 35
CHAPTER 3
The Global Positioning System 39
3.1 Introduction 39
3.2 GPS System Architecture 39
3.2.1 Space Segment 40
3.2.2 Control Segment 41
3.2.3 User Segment 43
3.3 GPS Signals 46
3.4 Signal Propagation Effects 51
vii
viii Contents
3.5 GPS Performance 53
References 56
CHAPTER 4
Augmentation Systems 61
4.1 Introduction 61
4.2 Integrity Monitoring 62
4.3 Differential GPS 65
4.4 Satellite-Based Augmentation Systems (SBAS) 70
4.4.1 WAAS 72
4.4.2 EGNOS 76
4.4.3 Extension of SBAS Systems 81
4.5 Ground-Based Augmentation Systems (GBAS) 82
4.6 Aircraft-Based Augmentation Systems (ABAS) 84
References 85
CHAPTER 5
GALILEO 91
5.1 Introduction 91
5.2 The GALILEO Program 92
5.3 GALILEO Services 96
5.3.1 GALILEO Satellite-Only Services 96
5.3.2 GALILEO Locally Assisted Services 102
5.3.3 EGNOS Services 103
5.3.4 GALILEO Combined Services 103
5.4 The GALILEO System 103
5.4.1 Global Component 103
5.4.2 Local Components 108
5.4.3 Integration with EGNOS 109
5.4.4 User Segment 110
5.4.5 External Components 111
5.5 Interoperability 112
5.6 Security Aspects 115
References 116
CHAPTER 6
GPS Modernization Toward GPS III 119
6.1 Introduction 119
6.2 Space Segment Modernization 120
6.3 Control Segment Modernization 122
6.4 GPS Modernization Signals 122
6.4.1 L1 Signal 124
6.4.2 L2 Signal 124
6.4.3 L5 Signal 126
6.5 GPS Modernization Performance and Signal Capabilities 127
6.6 GPS III Features 129
References 131
Contents ix
CHAPTER 7
Legal and Market Policy of Satellite Navigation 133
7.1 Introduction 133
7.2 GPS 135
7.2.1 Market Aspects 135
7.2.2 Cost Aspects 136
7.2.3 GPS Standard Formats 137
7.2.4 GPS Federal Authorities 139
7.3 Augmentation Systems 140
7.3.1 WAAS 140
7.3.2 EGNOS 141
7.4 GALILEO 142
7.4.1 Legal Framework for GALILEO 143
7.4.2 The Joint Undertaking Statutes 145
7.4.3 Supervisory Authority and Centre for Security and Safety
Regulations 146
7.4.4 The PPP Bidding Process 147
7.4.5 Toward Business Development for the European Industry 149
7.4.6 Standards and Certification 150
References 151
CHAPTER 8
Layer Issues 153
8.1 Introduction 153
8.2 Land/Water Layer 154
8.2.1 Land 154
8.2.2 Water 186
8.3 Air Layer 190
8.3.1 Airplanes 190
8.3.2 Other Aircraft 196
8.4 Space Layer 197
References 202
CHAPTER 9
Integration with Existing and Future Systems 209
9.1 Introduction 209
9.2 Integration with Other Navigation Systems 210
9.2.1 Radio-Navigation Systems 210
9.2.2 Mechanical Navigation Systems 220
9.3 Integration with Communications Systems 233
9.3.1 2G/3G Mobile Networks 233
9.3.2 Satellite Networks 240
9.3.3 Emergency Networks 245
References 247
x Contents
CHAPTER 10
Open Issues and Perspectives 253
10.1 A Step Ahead for Aviation: The Free Flight 253
10.2 HAP-Based Integrated Networks 255
10.3 B3G Mobile Networks 257
10.4 Digital Divide 259
10.5 B2G GNSS 259
10.6 Navigation Services Penetration 261
10.7 Conclusions 264
References 264
List of Acronyms 267
About the Authors 277
Index 281
Preface
Onewhoperformshisdutywithoutassociationwiththemodesofmaterialnature,
withoutfalseego,withgreatdeterminationandenthusiasm,andwithoutwavering
in success or failure is said to be a worker in the mode of goodness.
—The Bhagvad Gita(18.26)
BeforeMay 1,2000—whenU.S. PresidentBill Clintonorderedtheremoval ofthe
intentional performance degradation of the Global Positioning System
(GPS)—satellite-basednavigationwasconsideredanicheoftheentirespacemarket
and military forces were its main users.
That day dramatically changed the destiny of satellite navigation: in fact, the
increased accuracy for civilian GPS receivers, induced by Clinton’s decision, has
opened the door to an avalanche of novel services, new typologies of users, and
advanced integration architectures for both existing systems and newly conceived
ones.
The satellite navigation world is hence experiencing a quick and fascinating
evolution;andifwebelievethatabookisasignofatimeworthyofbeingdescribed
in a permanent form, this is certainly the time to write a book on satellite naviga-
tion. The question is, which book about navigation do we currently need?
GPS and its modernization plan seem mature for several civilian applications;
the U.S. Department of Defense is studying the new generation system GPS III;
Europe,throughajointventurebetweentheEuropeanCommissionandtheEuro-
pean Space Agency, is living the fascinating challenge of developing GALILEO,
whosepreliminaryphaseshavebeencompleted.Inthemeantime,thankstothesuc-
cess of GPS, navigation users’ awareness about the incredible potential of Global
Satellite Navigation Systems (GNSS) continuously increases. In this context, the
deployment of satellite-based augmentation systems in various countries (e.g.,
WAAS in the United States and Canada, EGNOS in Europe, MSAS in Japan,
GAGANinIndia,SNASinChina),aswellasground-andaircraft-basedaugmenta-
tions, is somehow filling the gap between the navigation users’ dreams and the
time-to-deployment of the second generation GNSS (i.e., GALILEO and GPS III).
xi
xii Preface
Anotherinteresting aspect in theevolving picture ofthenavigation worldcon-
cerns integration with communications systems: wireless network designers have
becomefullyawareoftheimportanceoflocalizationforadvancedservicesandthey
are ready to implement satellite navigation technologies in new generation user
terminals.
Theseactivitieshighlighttheneedforabookfocusedonfuturetrendsofsatellite
navigation, taking a broad picture of the past, capturing the present evolution and
challenges,andenvisagingthedirectionsforaneffectiveexploitationofnavigation
services in the user-centric global vision of the future.
Thisbookprovidesadeeptechnical,scientific,andstrategicvisionofnavigation
systems belonging to different countries and in various development stages. The
authorsaimedatfocusingwiththesamedepthonthetechnical/architecturalaspects
anduser-relatedaspects(terminals,services,security,guarantees)ofsatellitenaviga-
tion,harmonizingthemwithlegal/market issuesaswellaswithhintsandthoughts
for new proposals and initiatives in the field.
Duetoitsmultipurposenature,thisbookcanbeusedatvariouseducationallev-
els, including masters ofscience anddoctoralstudentswhomight finditbeneficial
as a reference/design book and prospective source. At the same time, this book is
suited for professional engineers and managers, as an aid in consolidating a future
vision about the navigation world and in the subsequent planning and strategic
decision-making process.
The reader is offered a large view of the navigation world in the book’s 10
chapters, which move from the navigation historical and analytical fundamentals
(Chapters 1 and 2, respectively) through the description of present and future
milestones of the satellite navigation scenario—GPS (Chapter 3), augmentation
systems (Chapter 4), GALILEO (Chapter 5), GPS modernization and GPS III
(Chapter 6)—up to key aspects of future trends in navigation, including legal and
market policy (Chapter 7), services (Chapter 8), and integration with existing and
future systems (Chapter 9). The book concludes with open issues and perspectives
regarding the fascinating navigation adventure (Chapter 10).
Acknowledgments
This book has been realized thanks to the efforts and enthusiasm of an extraordi-
naryteamthatdeeplybelievesinthesatellitenavigationworldanditspotential.In
particular, the authors wish to thank Daniele Teotino, Marino Donarelli, and
Mirko Antonini for their valuable contribution.
ThesupportofCinziaFogliaandJunkoPrasadisalsogratefullyacknowledged.
xiii
C H A P T E R 1
Introduction
Navigationistheprocessthatdrivesapersonduringhisorhermovementbetween
twopoints,enablinganancientdreamofthehumanrace:theknowledgeofposition
at any given time. This need derives from the spirit of discovery and exploration
that every human being has, a sign of our common essence:
Considerate la vostra semenza:
fatti non foste a viver come bruti,
ma per seguir virtute e canoscenza.
Think of the roots from which you sprang, and show
that you are human, not unconscious brutes
but made to follow virtue, and to know.
—Dante Alighieri,La Divina Commedia, Inferno, Canto XXVI
We have maps that show the Earth, we have conquered the space around the
Earth,andwehaveconqueredtheMoon;weareworkingtoconquertherestofthe
universe.
We cannot live without journeying and each journey, be it either only a few
kilometerslongortowherenonehasbeenbefore,needssupporttoreachtheright
location.
1.1 Introduction to Navigation: A Historical Perspective
Terrestrial navigation has relied for millenniums on maps, signs, and the human
senseofdirection[1,2];itisonlyinrecenttimesthatradiosignalshavehelpedland
navigation. The most important tools for navigation were created to ensure safety
during maritime journeys.
The first infrastructure created as a navigational aid was the lighthouse. The
world’s first lighthouses were erected about 2,000 years ago: the Colossus on the
Rhodes Island in Greece and Pharos at Alexandria in Egypt. It was not until the
nineteenthcenturythattheFresnellensimprovedtheperformanceoflighthousesby
increasing their range significantly.
Seatravelwasconsideredunsafeforalongtimeandthebest-knownexplorers,
such as Bartholomeu Diaz, Ferdinand Magellan, Sir Francis Drake, Amerigo
Vespucci, and Christopher Columbus, were considered brave sea captains [3].
These men used primitive instruments to calculate the position and speed of their
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