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This study investigates the relationship between geomagnetic activities and ionospheric scintillations, focusing on how solar and geomagnetic parameters influence ionospheric disturbances across varying time frames and latitudes. Utilizing indices such as Kp, Dst, sunspot numbers, and the F10.7 solar flux, we elucidate the dynamics influencing ionospheric conditions, which are vital for the reliability of satellite communications, particularly in low-latitude regions. Our analysis demonstrates a clear correlation between periods of high solar activity and increased geomagnetic disturbances, leading to heightened ionospheric scintillations, such as occurred during the solar maximum of 2015. In contrast, 2020—a solar minimum period—exhibited fewer disturbances, highlighting the impact of solar activity levels on ionospheric conditions. Innovatively employing ConvGRU networks, this research advances the modeling and prediction of ionospheric scintillations by integrating deep learning techniques suited to the spatiotemporal complexities of ionospheric data. The ConvGRU model effectively captures both temporal sequences and spatial distributions, offering enhanced accuracy in depicting ionospheric scintillation patterns crucial for satellite-based navigation and communication systems. Ground-based GNSS data from 121 stations across South America, collected during 2015 and 2020, provide a robust dataset for our analysis. The study highlights the influence of the solar cycle on ionospheric scintillations, with the years of maximum and minimum solar activity showing significant differences in scintillation intensity and frequency. Our evaluation of the ConvGRU models using statistical parameters demonstrated their potential for reliable ionospheric scintillation prediction. The research underscores the necessity of integrating adaptive mechanisms within models to effectively handle the dynamic nature of ionospheric disturbances influenced by external geomagnetic and solar factors. This study enhances the understanding of ionospheric scintillations and significantly advances predictive modeling capabilities using advanced machine learning techniques. The potential establishment of real-time alert systems for ionospheric disturbances could significantly benefit civilian applications, enhancing the operational efficiency of technologies reliant on accurate ionospheric information.

Precision point positioning (PPP) utilizing the Global Navigation Satellite System (GNSS) is a traditional and widely employed technology. Its performance is susceptible to observation discontinuities and unfavorable geometric configurations. Consequently, the integration of the Inertial Navigation System (INS) and GNSS makes full use of their respective advantages and effectively mitigates the limitations of GNSS positioning. However, the GNSS/INS integration faces significant challenges in complex and harsh urban environments. In recent years, the geometry between the user and the satellite has been effectively improved with the advent of lower-orbits and faster-speed Low Earth Orbit (LEO) satellites. This enhancement provides more observation data, opening up new possibilities and opportunities for high-precision positioning. Meanwhile, in contrast to the traditional extended Kalman filter (EKF) approach, the performance of the LEO-enhanced GNSS/INS tightly coupled integration (TCI) can be significantly improved by employing the factor graph optimization (FGO) method with multiple iterations to achieve stable estimation. In this study, LEO data and the FGO method were employed to enhance the GNSS/INS TCI. To validate the effectiveness of the method, vehicle data and simulated LEO observations were subjected to thorough analysis. The results suggest that the integration of LEO data significantly enhances the positioning accuracy and convergence speed of the GNSS/INS TCI. In contrast to the FGO GNSS/INS TCI without LEO enhancement, the average enhancement effect of the LEO is 22.16%, 7.58%, and 10.13% in the north, east, and vertical directions, respectively. Furthermore, the average root mean square error (RMSE) of the LEO-enhanced FGO GNSS/INS TCI is 0.63 m, 1.21 m, and 0.85 m in the north, east, and vertical directions, respectively, representing an average improvement of 41.91%, 13.66%, and 2.52% over the traditional EKF method. Meanwhile, the simulation results demonstrate that LEO data and the FGO method effectively enhance the positioning and convergence performance of GNSS/INS TCI in GNSS-challenged environments (tall buildings, viaducts, underground tunnels, and wooded areas).

Currently, it remains a challenge to effectively monitor areas experiencing intense precipitation and the associated atmospheric conditions on a global scale. This challenge arises due to the limitations on both active and passive remote sensing methods. Apart from the lack of observations in remote areas, the quality of some observations deteriorates when heavy precipitation is present, making it difficult to obtain highly accurate measurements of the thermodynamic parameters driving these weather events. However, there is a promising solution in the form of the Global Navigation Satellite System (GNSS) Polarimetric Radio Occultation (PRO) technique. This approach provides a way to assess the large-scale bulk-hydrometeor characteristics of regions with heavy precipitation and the meteorological conditions associated with them. PRO offers vertical profiles of atmospheric variables, including temperature, pressure, water vapor pressure, and information about hydrometeors, all in a single fine-vertical resolution observation. To continue validating the PRO technique, we make use of polarimetric weather data from Next Generation Weather Radars (NEXRAD), focusing on comparing specific differential phase shift (Kdp) structures to PRO observable differential phase shift (ΔΦ). We have seen that PAZ and NEXRAD exhibit a good agreement on the vertical structure of the observable ΔΦ and that their combination could be useful for enhancing our understanding of the microphysics underlying heavy precipitation events.

Low Earth Orbit (LEO) constellations have ecently gained tremendous attention in the navigational field due to their arger constellation size, faster geometry variations, and higher signal power evels than Global Navigation Satellite Systems (GNSS), making them favourable for Position, Navigation, and Timing (PNT) purposes. Satellite signals are heavily attenuated from the atmospheric ayers, especially from the ionosphere. Ionospheric delays are, however, expected to be smaller in signals from LEO satellites than GNSS due to their ower orbital altitudes and higher carrier frequency. Nevertheless, unlike for GNSS, there are currently no standardized models for correcting the ionospheric errors in LEO signals. In this paper, we derive a new model called Interpolated and Averaged Memory Model (IAMM) starting from existing International GNSS Service (IGS) data and based on the observation that ionospheric effects epeat every 11 years. Our IAMM model can be used for ionospheric corrections for signals from any satellite constellation, including LEO. This model is constructed based on averaging multiple ionospheric data and eflecting the electron content inside the ionosphere. The IAMM model’s primary advantage is its ability to be used both online and offline without needing eal-time input parameters, thus making it easy to store in a device’s memory. We compare this model with two benchmark models, the Klobuchar and International Reference Ionosphere (IRI) models, by utilizing GNSS measurement data from 24 scenarios acquired in several European countries using both professional GNSS eceivers and Android smartphones. The model’s behaviour is also evaluated on LEO signals using simulated data (as measurement data based on LEO signals are still not available in the open-access community; we show a significant eduction in ionospheric delays in LEO signals compared to GNSS. Finally, we highlight the remaining open challenges toward viable ionospheric-delay models in an LEO-PNT context.

The landslide monitoring method that uses the Sentinel 1A Interferogram Synthetic Aperture Radar (InSAR) through the Stanford Method for Persistent Scatterers (StaMPS) method is a complimentary but complex procedure without exact guidelines. Hence, this paper delivered a parametric test by examining the optimal settings of the Sentinel 1A Persistent Scatterer (PS)- and Small Baseline Subset (SBAS)-InSAR using the StaMPS compared to the Global Navigation Satellite Systems (GNSS) in landslide cases. This study first revealed parameters with the suggested values, such as amplitude dispersion used to describe amplitude stability, ranging from 0.47 to 0.48 for PS and equal to or more than 0.6 for SBAS in WuWanZai, Ali Mt. The study further examined the suggested values for other factors, including the following: unwrap grid size to re-estimate the size of the grid; unwrap gold n win as the Goldstein filtering window to reduce the noise; and unwrap time win as the smoothing window (in days) for estimating phase noise distributions between neighboring pixels. Furthermore, the study substantiated the recommended settings in the Woda and Shadong landslide cases with the GNSS, inferring that the SBAS has adequate feasibility in practical landslide monitoring.

Global navigation satellite systems (GNSS) has been applied to the sounding of precipitable water vapor (PWV) due to its high accuracy and high spatiotemporal resolutions. PWV obtained from GNSS (GNSS-PWV) can be used to investigate extreme weather phenomena, such as the formation mechanism and prediction of rainfalls. In the study, a new, improved model for rainfall forecasting was developed based on GNSS data and rainfall data for the 9-year period from 2010 to 2018 at 66 stations located in the USA. The new model included three prediction factors—PWV value, PWV increase, maximum hourly PWV increase. The two key tasks involved for the development of the model were the determination of the thresholds for each prediction factor and the selection of the optimal strategy for using the three prediction factors together. For determining the thresholds, both critical success index (CSI) and true skill statistic (TSS) were tested, and results showed that TSS outperformed CSI for all rainfall events tested. Then, various strategies by combining the three prediction factors together were also tested, and results indicated that the best forecast result was from the case that any two of the prediction factors were over their own thresholds. Finally, the new model was evaluated using the GNSS data for the 2-year period from 2019 to 2020 at the above mentioned 66 stations, and the probability of detection (POD) and false-alarms rate (FAR) were adopted to measure the model performances. Over the 66 stations, the POD values ranged from 73% to 97% with the mean of 87%, and the FARs ranged from 26% to 77% with the mean of 53%. Moreover, it was also found that both POD and FAR values were related to the region of the station; e.g., the results at the stations that are located in humid regions were better than the ones located in dry regions. All these results suggest the feasibility and good performance of using GNSS-PWV for forecasting rainfall.

Centimetre-level accurate ionospheric corrections are required for a high accuracy and rapid convergence of Precise Point Positioning (PPP) GNSS positioning solutions. This research aims to evaluate the accuracy of a local/regional ionospheric delay model using a linear interpolation method across Australia. The accuracy of the ionospheric corrections is assessed as a function of both different latitudinal regions and the number and spatial density of GNSS Continuously Operating Reference Stations (CORSs). Our research shows that, for a local region of 5° latitude ×10° longitude in mid-latitude regions of Australia (~30° to 40°S) with approximately 15 CORS stations, ionospheric corrections with an accuracy of 5 cm can be obtained. In Victoria and New South Wales, where dense CORS networks exist (nominal spacing of ~100 km), the average ionospheric corrections accuracy can reach 2 cm. For sparse networks (nominal spacing of >200 km) at lower latitudes, the average accuracy of the ionospheric corrections is within the range of 8 to 15 cm; significant variations in the ionospheric errors of some specific satellite observations during certain periods were also found. In some regions such as Central Australia, where there are a limited number of CORSs, this model was impossible to use. On average, centimetre-level accurate ionospheric corrections can be achieved if there are sufficiently dense (i.e., nominal spacing of approximately 200 km) GNSS CORS networks in the region of interest. Based on the current availability of GNSS stations across Australia, we propose a set of 15 regions of different ionospheric delay accuracies with extents of 5° latitude ×10° longitude covering continental Australia.

Global navigation satellite system (GNSS) differential code bias (DCB) is one of main errors in ionospheric modeling and applications. Accurate estimation of multiple types of GNSS DCBs is important for GNSS positioning, navigation, and timing, as well as ionospheric modeling. In this study, a novel method of multi-GNSS DCB estimation is proposed without using an ionospheric function model and global ionosphere map (GIM), namely independent GNSS DCB estimation (IGDE). Firstly, ionospheric observations are extracted based on the geometry-free combination of dual-frequency multi-GNSS code observations. Secondly, the VTEC of the station represented by the weighted mean VTEC value of the ionospheric pierce points (IPPs) at each epoch is estimated as a parameter together with the combined receiver and satellite DCBs (RSDCBs). Last, the estimated RSDCBs are used as new observations, whose weight is calculated from estimated covariances, and thus the satellite and receiver DCBs of multi-GNSS are estimated. Nineteen types of multi-GNSS satellite DCBs are estimated based on 200-day observations from more than 300 multi-GNSS experiment (MGEX) stations, and the performance of the proposed method is evaluated by comparing with MGEX products. The results show that the mean RMS value is 0.12, 0.23, 0.21, 0.13, and 0.11 ns for GPS, GLONASS, BDS, Galileo, and QZSS DCBs, respectively, with respect to MGEX products, and the stability of estimated GPS, GLONASS, BDS, Galileo, and QZSS DCBs is 0.07, 0.06, 0.13, 0.11, and 0.11 ns, respectively. The proposed method shows good performance of multi-GNSS DCB estimation in low-solar-activity periods.

The ionospheric response and the associated mechanisms to geomagnetic storms are very complex, particularly during the February 2014 multiphase geomagnetic storm. In this paper, the low-latitude ionosphere responses and their coupling mechanisms, during the February 2014 multiphase geomagnetic storm, are investigated from ground-based magnetometers and global navigation satellite system (GNSS), and space weather data. The residual disturbances between the total electron content (TEC) of the International GNSS Service (IGS) global ionospheric maps (GIMs) and empirical models are used to investigate the storm-time ionospheric responses. Three clear sudden storm commencements (SSCs) on 15, 20, and 23 February are detected, and one high speed solar wind (HSSW) event on 19 February is found with the absence of classical SSC features due to a prevalent magnetospheric convection. The IRI-2012 shows insufficient performance, with no distinction between the events and overestimating approximately 20 TEC units (TECU) with respect to the actual quiet-time TEC. Furthermore, the median average of the IGS GIMs TEC during February 2014 shows enhanced values in the southern hemisphere, whereas the IRI-2012 lacks this asymmetry. Three low-latitude profiles extracted from the IGS GIM data revealed up to 20 TECU enhancements in the differential TEC. From these profiles, longer-lasting TEC enhancements are observed at the dip equator profiles than in the profiles of the equatorial ionospheric anomaly (EIA) crests. Moreover, a gradual increase in the global electron content (GEC) shows approximately 1 GEC unit of differential intensification starting from the HSSW event, while the IGS GIM profiles lack this increasing gradient, probably located at higher latitudes. The prompt penetration electric field (PPEF) and equatorial electrojet (EEJ) indices estimated from magnetometer data show strong variability after all four events, except the EEJ’s Asian sector. The low-latitude ionosphere coupling is mainly driven by the variable PPEF, DDEF (disturbance dynamo electric fields), and Joule heating. The auroral electrojet causing eastward PPEF may control the EIA expansion in the Asian sector through the dynamo mechanism, which is also reflected in the solar-quiet current intensity variability.

Introducing ionospheric information into a precise point positioning (PPP) solution enables faster ambiguity resolution and significantly improves positioning accuracy. To compute such corrections over wide areas, sparse networks with potentially irregular station distributions are often used. This aspect brings a new level of complexity as ionospheric corrections should be weighted appropriately in the PPP filter. This paper presents a possible implementation of grid-based wide-area slant ionospheric delay corrections, with a focus on the reported uncertainties. A balance is obtained between obtaining corrections with formal errors small enough to enable fast convergence, while large enough to overbound most errors. Based on least-squares collocation, the method uses satellite-specific variograms based on the 99th percentile values in each distance bin. Tested in southern Canada over a 53-week period in 2020, ionospheric grids allowed dual-frequency receivers to obtain around 5 cm accuracy in each horizontal component within 5 min of static data collection. For single-frequency solutions using data from geodetic receivers, positioning errors were reduced by over 60% for both static and kinematic processing.

Stochastic models play a crucial role in global navigation satellite systems (GNSS) data processing. Many studies contribute to the stochastic modeling of GNSS observation noise, whereas few studies focus on the stochastic modeling of process noise. This paper proposes a method that is able to jointly estimate the variances of observation noise and process noise. The method is flexible since it is based on the least-squares variance component estimation (LS-VCE), enabling users to estimate the variance components that they are specifically interested in. We apply the proposed method to estimate the variances for the dual-frequency GNSS observation noise and for the process noise of the receiver code bias (RCB). We also investigate the impact of the stochastic model upon parameter estimation, ambiguity resolution, and positioning. The results show that the precision of GNSS observations differs in systems and frequencies. Among the dual-frequency GPS, Galileo, and BDS code observations, the precision of the BDS B3 observations is highest (better than 0.2 m). The precision of the BDS phase observations is better than two millimeters, which is also higher than that of the GPS and Galileo observations. For all three systems, the RCB process noise ranges from 0.5 millimeters to 1 millimeter, with a data sampling rate of 30 s. An improper stochastic model of the observation noise results in an unreliable ambiguity dilution of precision (ADOP) and position dilution of precision (PDOP), thus adversely affecting the assessment of the ambiguity resolution and positioning performance. An inappropriate stochastic model of RCB process noise disturbs the estimation of the receiver clock and the ionosphere delays and is thus harmful for timing and ionosphere retrieval applications.

The solar terminator is a moving boundary between day-side and night-side regions on the Earth, which is a substantial source of perturbations in the ionosphere. In the vicinity of the solar terminator, essential parameters like S4 index measurements are widely analyzed in order to monitor and predict perturbations in the ionosphere. The utilization of the scintillation index S4 is a well-accepted approach to describe the amplitude/intensity fluctuation of a received signal, predominantly caused by small-scale irregularities of the ionospheric plasma. We report on the longitudinal daily and seasonal occurrence of GNSS signal scintillations, using the data derived from the GNSS stations in Bahir Dar, Ethiopia, Lomé, Togo and Dakar, Senegal. The observed seasonal climatology of GNSS signal scintillations in equatorial Africa is adequately explained by the alignment of the solar terminator and local geomagnetic declination line. It should be pointed out that the strongest scintillations are most frequently observed during the time when the solar terminator is best aligned with the geomagnetic declination line. At all three stations, the comparison of computational and observational results indicated that the scintillation activity culminated around equinoxes in the years 2014, 2015 and 2016. Comparatively, the western equatorial Africa sector has the most intense, longest-lasting, and highest scintillation occurrence rate in equinoctial seasons in all three years. For the first time, we show that the seasonal variation of the scintillation peaks changes systematically from west to east at equatorial GNSS stations over Africa. A detailed analysis of the solar day–night terminator azimuth at ionospheric heights including the time equation shows that the scintillation intensity has a maximum if the azimuth of the terminator coincides with the declination line of the geomagnetic field. Due to the remarkable change of the declination by about 10° at the considered GNSS stations, the distance between scintillation peaks increases by 46 days when moving westward from the Bahir Dar to the Dakar GNSS station. The observations agree quite well with the computational results, thus confirming Tsunoda’s theory.

Radio frequency fingerprinting (RFF) methods are becoming more and more popular in the context of identifying genuine transmitters and distinguishing them from malicious or non-authorized transmitters, such as spoofers and jammers. RFF approaches have been studied to a moderate-to-great extent in the context of non-GNSS transmitters, such as WiFi, IoT, or cellular transmitters, but they have not yet been addressed much in the context of GNSS transmitters. In addition, the few RFF-related works in GNSS context are based on post-correlation or navigation data and no author has yet addressed the RFF problem in GNSS with pre-correlation data. Moreover, RFF methods in any of the three domains (pre-correlation, post-correlation, or navigation) are still hard to be found in the context of GNSS. The goal of this paper was two-fold: first, to provide a comprehensive survey of the RFF methods applicable in the GNSS context; and secondly, to propose a novel RFF methodology for spoofing detection, with a focus on GNSS pre-correlation data, but also applicable in a wider context. In order to support our proposed methodology, we qualitatively investigated the capability of different methods to be used in the context of pre-correlation sampled GNSS data, and we present a simulation-based example, under ideal noise conditions, of how the feature down selection can be done. We are also pointing out which of the transmitter features are likely to play the biggest roles in the RFF in GNSS, and which features are likely to fail in helping RFF-based spoofing detection.

Absolute distance determination in the open air with an uncertainty of a few tenths of a millimetre is increasingly required in many applications that involve high precision geodetic metrology. No matter the technique used to measure, the resulting distances must be proven consistent with the unit of length (SI-metre) as realized in the outdoor facilities traditionally used in length metrology, which are also known as calibration baselines of reference. The current calibration baselines of reference have distances in the range of 10 to 1000 m, but at present there is no solution on the market to provide distances with submillimetric precision in that range. Consequently, new techniques such as multi-wave interferometry, two-wave laser telemeters or laser trackers are being developed. A possible alternative to those sophisticated and expensive techniques is the use of widely used Global Navigation Satellite Systems (GNSS) in order to provide a GNSS-Based Distance Meter (GBDM). The use of a GBDM as a potential technique for length metrology has been thoroughly analysed in several European research projects by using the state-of-the-art geodetic software, such as Bernese 5.2, but no definite conclusions have been drawn and some metrological questions are considered still open. In this paper, we describe a dedicated approach to build up a submillimetric GBDM able to be applied in the current calibration baselines of reference, as well as possible methods to cope with the multipath error of the GNSS signals which is the major limitation for the practical uptaking of the technique in metrology. The accuracy of the proposed approach has been tested following the length metrology standards in four experiments carried out in the Universitat Politècnica de València (UPV). The results demonstrate that the proposed GBDM can provide an accuracy of a few tenths of a millimetre in the current calibration baselines of reference.

This paper describes a dataset of continuous GNSS positioning solutions referring to slope movements in the Ca’ Lita landslide (Northern Apennines, Italy). The dataset covers the period from 24 March 2016 to 17 July 2019 and includes time-series of the daily position of three GNSS rovers located in different parts of the landslide: head zone, upper track zone, and lower track zone. Two different types of continuous GNSS arrays have been used: one is based on high-end Leica geodetic receivers, and the other is based on low-cost effective Emlid receivers. Displacements captured in the dataset are up to more than a hundred meters and are characterized by prolonged phases of slow movement and moderately rapid acceleration phases. The data presented in this contribution were used to underline slope processes and validate displacements retrieved by the application of digital image correlation to a stack of a satellite images.

This is a data descriptor paper for a set of raw GNSS signals collected via roof antennas and Spectracom simulator for general-purpose uses. We give one example of possible data use in the context of Radio Frequency Fingerprinting (RFF) studies for signal-type identification based on front-end hardware characteristics at transmitter or receiver side. Examples are given in this paper of achievable classification accuracy of six of the collected signal classes. The RFF is one of the state-of-the-art, promising methods to identify GNSS transmitters and receivers, and can find future applicability in anti-spoofing and anti-jamming solutions for example. The uses of the provided raw data are not limited to RFF studies, but can extend to uses such as testing GNSS acquisition and tracking, antenna array experiments, and so forth.

This paper proposes to treat the jammer classification problem in the Global Navigation Satellite System bands as a black-and-white image classification problem, based on a time-frequency analysis and image mapping of a jammed signal. The paper also proposes to apply machine learning approaches in order to sort the received signal into six classes, namely five classes when the jammer is present with different jammer types and one class where the jammer is absent. The algorithms based on support vector machines show up to 94 . 90 % accuracy in classification, and the algorithms based on convolutional neural networks show up to 91 . 36 % accuracy in classification. The training and test databases generated for these tests are also provided in open access.

GNSS-based applications are susceptible to different threats, including radio frequency interference. Ensuring that the new applications can be validated against the latest threats supports the wider adoption and success of GNSS in higher value markets. Therefore, the availability of standardized GNSS receiver testing procedures is central to developing the next generation of receiver technologies. The EU Horizon2020 research project STRIKE3 (Standardization of GNSS Threat reporting and Receiver testing through International Knowledge Exchange, Experimentation and Exploitation) proposed standardized test procedures to validate different categories of receivers against real-world interferences, detected at different monitoring sites. This paper describes the recorded interference signatures, their use in standardized test procedures, and analyzes the result for two categories of receivers, namely mass-market and professional grade. The result analysis in terms of well-defined receiver key performance indicators showed that performance of both receiver categories was degraded by the selected interference threats, although there was considerable difference in degree and nature of their impact.

The Chinese BeiDou system (BDS), having different types of satellites, is an important addition to the ever growing system of Global Navigation Satellite Systems (GNSS). It consists of Geostationary Earth Orbit (GEO) satellites, Inclined Geosynchronous Satellite Orbit (IGSO) satellites and Medium Earth Orbit (MEO) satellites. This paper investigates the receiver-dependent bias between these satellite types, for which we coined the name “inter-satellite-type bias” (ISTB), and its impact on mixed receiver attitude determination. Assuming different receiver types may have different delays/biases for different satellite types, we model the differential ISTBs among three BeiDou satellite types and investigate their existence and their impact on mixed receiver attitude determination. Our analyses using the real data sets from Curtin’s GNSS array consisting of different types of BeiDou enabled receivers and series of zero-baseline experiments with BeiDou-enabled receivers reveal the existence of non-zero ISTBs between different BeiDou satellite types. We then analyse the impact of these biases on BeiDou-only attitude determination using the constrained (C-)LAMBDA method, which exploits the knowledge of baseline length. Results demonstrate that these biases could seriously affect the integer ambiguity resolution for attitude determination using mixed receiver types and that a priori correction of these biases will dramatically improve the success rate.

Nowadays, location-enabled mobile phones are becoming more and more widespread. Various players in the mobile business forecast that, in the future, a significant part of total wireless revenue will come from Location-Based Services (LBS). An LBS system extracts information about the user’s geographical location and provides services based on the positioning information. A successful LBS service should create value for the end-user, by satisfying some of the users’ needs or wants, and at the same time preserving the key factors of the mobile wireless device, such as low costs, low battery consumption, and small size. From many users’ perspectives, location services and mobile location capabilities are still rather poorly known and poorly understood. The aim of this research is to investigate users’ views on the LBS, their requirements in terms of mobile device characteristics, their concerns in terms of privacy and usability, and their opinion on LBS applications that might increase the social wellbeing in the future wireless world. Our research is based on two surveys performed among 105 students (average student age: 24 years) from two European technical universities. The survey questions were intended to solicit the youngsters’ views on present and future technological trends and on their perceived needs and wishes regarding Location-Based Services, with the aim of obtaining a better understanding of designer constraints when building a location receiver and generating new ideas related to potential future killer LBS applications.

Various measurement monitoring techniques are investigated to mitigate the effect of global navigation satellite systems (GNSS) code multipath through error correction, stochastic weighting of measurements and detection and exclusion (or de-weighting) of affected measurements. Following a comprehensive review of each approach, the paper focuses on detection/exclusion and detection/de-weighting techniques where several single and dual-frequency monitoring metrics are employed in a combination with time-averaging and the M of N detection strategy. A new Geometry-Free (GF) detection metric is proposed given its capability to be combined with a preceding Code-Minus-Carrier (CMC)-based error correction to reduce the number of excluded or de-weighted measurements and thus preserve the measurement geometry. Three geometry-based algorithms, namely measurement subset testing, consecutive exclusion and iterative change of measurement weights are investigated to address multipath scenarios with multiple simultaneously affected measurements. Experimental results are provided using GPS L1, L2C and L5 data collected in multipath environments for static and kinematic scenarios. For GPS L1, the proposed combined method shows more than 38% improvement over a conventional Carrier-to-Noise-density ratio (C/N0)-based Least-Squares (LS) solution in all but deep urban canyons. Lower performance was observed for L2C and L5 frequencies with a limited number of satellites in view.

Location information is one of the most vital information required to achieve intelligent and context-aware capability for various applications such as driverless cars. However, related security and privacy threats are a major holdback. With increasing focus on using Global Navigation Satellite Systems (GNSS) for autonomous navigation and related applications, it is important to provide robust navigation solutions, yet signal spoofing for illegal or covert transportation and misleading receiver timing is increasing and now frequent. Hence, detection and mitigation of spoofing attacks has become an important topic. Several contributions on spoofing detection have been made, focusing on different layers of a GNSS receiver. This paper focuses on spoofing detection utilizing self-contained sensors, namely inertial measurement units (IMUs) and vehicle odometer outputs. A spoofing detection approach based on a consistency check between GNSS and IMU/odometer mechanization is proposed. To detect a spoofing attack, the method analyses GNSS and IMU/odometer measurements independently during a pre-selected observation window and cross checks the solutions provided by GNSS and inertial navigation solution (INS)/odometer mechanization. The performance of the proposed method is verified in real vehicular environments. Mean spoofing detection time and detection performance in terms of receiver operation characteristics (ROC) in sub-urban and dense urban environments are evaluated.

Precise point positioning (PPP) and its integer ambiguity resolution-enabled variant, PPP-RTK (real-time kinematic), can benefit enormously from the integration of multiple global navigation satellite systems (GNSS). In such a multi-GNSS landscape, the positioning convergence time is expected to be reduced considerably as compared to the one obtained by a single-GNSS setup. It is therefore the goal of the present contribution to provide numerical insights into the role taken by the multi-GNSS integration in delivering fast and high-precision positioning solutions (sub-decimeter and centimeter levels) using PPP-RTK. To that end, we employ the Curtin PPP-RTK platform and process data-sets of GPS, BeiDou Navigation Satellite System (BDS) and Galileo in stand-alone and combined forms. The data-sets are collected by various receiver types, ranging from high-end multi-frequency geodetic receivers to low-cost single-frequency mass-market receivers. The corresponding stations form a large-scale (Australia-wide) network as well as a small-scale network with inter-station distances less than 30 km. In case of the Australia-wide GPS-only ambiguity-float setup, 90% of the horizontal positioning errors (kinematic mode) are shown to become less than five centimeters after 103 min. The stated required time is reduced to 66 min for the corresponding GPS + BDS + Galieo setup. The time is further reduced to 15 min by applying single-receiver ambiguity resolution. The outcomes are supported by the positioning results of the small-scale network.

This paper introduces a novel double-differential vector phase-locked loop (DD-VPLL) for Global Navigation Satellite Systems (GNSS) that leverages carrier phase position solutions as well as base station measurements in the estimation of rover tracking loop parameters. The use of double differencing alleviates the need for estimating receiver clock dynamics and atmospheric delays; therefore, the navigation filter consists of the baseline dynamic states only. It is shown that using vector processing for carrier phase tracking leads to a significant enhancement in the receiver sensitivity compared to using the conventional scalar-based tracking loop (STL) and vector frequency locked loop (VFLL). The sensitivity improvement of 8 to 10 dB compared to STL, and 7 to 8 dB compared to VFLL, is obtained based on the test cases reported in the paper. Also, an increased probability of ambiguity resolution in the proposed method results in better availability for real time kinematic (RTK) applications.

The performance of Signal Quality Monitoring (SQM) techniques under different multipath scenarios is analyzed. First, SQM variation profiles are investigated as critical requirements in evaluating the theoretical performance of SQM metrics. The sensitivity and effectiveness of SQM approaches for multipath detection and mitigation are then defined and analyzed by comparing SQM profiles and multipath error envelopes for different discriminators. Analytical discussions includes two discriminator strategies, namely narrow and high resolution correlator techniques for BPSK(1), and BOC(1,1) signaling schemes. Data analysis is also carried out for static and kinematic scenarios to validate the SQM profiles and examine SQM performance in actual multipath environments. Results show that although SQM is sensitive to medium and long-delay multipath, its effectiveness in mitigating these ranges of multipath errors varies based on tracking strategy and signaling scheme. For short-delay multipath scenarios, the multipath effect on pseudorange measurements remains mostly undetected due to the low sensitivity of SQM metrics.

In urban areas or space-constrained environments with obstacles, vehicle localization using Global Navigation Satellite System (GNSS) data is hindered by Non-Line Of Sight (NLOS) and multipath receptions. These phenomena induce faulty data that disrupt the precise localization of the GNSS receiver. In this study, we detect the outliers among the observations, Pseudo-Range (PR) and/or Doppler measurements, and we evaluate how discarding them improves the localization. We specify a contrario modeling for GNSS raw data to derive an algorithm that partitions the dataset between inliers and outliers. Then, only the inlier data are considered in the localization process performed either through a classical Particle Filter (PF) or a Rao-Blackwellization (RB) approach. Both localization algorithms exclusively use GNSS data, but they differ by the way Doppler measurements are processed. An experiment has been performed with a GPS receiver aboard a vehicle. Results show that the proposed algorithms are able to detect the ‘outliers’ in the raw data while being robust to non-Gaussian noise and to intermittent satellite blockage. We compare the performance results achieved either estimating only PR outliers or estimating both PR and Doppler outliers. The best localization is achieved using the RB approach coupled with PR-Doppler outlier estimation.