Engineering Satellite-Based Navigation and Timing

John W. Betz, PhD, is a Fellow of The MITRE Corporation and an internationally recognized expert in satellite-based navigation and timing. He is an innovator whose technical contributions and personal involvement have shaped the design of modernized GPS as well as other satnav systems. He is a sought-after speaker and instructor with multiple award-winning publications, and is a Fellow of the IEEE and the Institute of Navigation. His extensive knowledge, combined with his ability to provide a clearly structured and comprehensive depiction of all aspects of satnav engineering, promise to make this book the standard text and reference for this field.

• Preface xvAcknowledgments xviiUseful Constants xixList of Acronyms and Abbreviations xxiAbout the Author xxvii1 Introduction 11.1 Satnav Revolution 21.2 Basic Principles of Satnav 51.3 Satnav Attributes 121.4 Book Structure and How to Use This Book 121.5 More to Explore 14Reference 15Part I System and Signal Engineering 172 Satellite Orbits and Constellations 192.1 Kepler’s Laws 202.2 Orbital Deviations from Ideal 252.3 Constellations 262.4 Useful Geometry Calculations 302.5 Summary 35Review Questions 35References 363 Satnav Signals 373.1 Signals, Signal Processing, and Spreading Modulations 383.2 Effects of Doppler and of Lonospheric Propagation 593.3 Satnav Signal Characteristics 653.4 Satnav Signal Structure 863.5 Summary 92Review Questions 92References 994 Link Budgets 1024.1 Free-Space Path Loss 1034.2 Calculating Maximum and Minimum Specified Received Power in Signal Specifications 1074.3 Terrestrial Link Budgets 1124.4 Building Penetration and Foliage Losses 1164.5 Summary 119Review Questions 119References 1205 Correlator Output SNR, Effective C/N0, and I/S 1225.1 Channel Model and Ideal Receiver Processing 1225.2 Correlator Output SNR with No Interference 1255.3 Correlator Output SNR with Interference: Spectral Separation Coefficients and Processing Gain 1275.4 Effective C/N0 1295.5 Interference-to-Signal Power Ratios and Effective C/N0 1305.6 A Deeper Look at Spectral Separation Coefficients 1305.7 Multiple Access Interference and Aggregate Gain of a Constellation 1335.8 Summary 135Review Questions 136References 1386 Error Sources and Error Characterization 1396.1 Sources of Error in Satnav Positioning and Timing Calculation 1406.2 Dilution of Precision and Error Measures 1466.3 Positioning Errors for Standalone and Differential Satnav Receivers 1506.4 Other Error Sources 1526.5 Summary 153Review Questions 154References 155Part II Satnav System Descriptions 1577 Navstar Global Positioning System 1637.1 GPS History and Plans 1657.2 GPS Description 1677.3 GPS Signals 1687.4 Summary 196Review Questions 197References 1988 Satellite-Based Augmentation Systems 2018.1 SBAS History and Plans 2028.2 SBAS Description 2048.3 SBAS Signals 2058.4 Summary 209Review Questions 210References 2119 GLONASS 2129.1 GLONASS History and Plans 2139.2 GLONASS Description 2149.3 GLONASS Signals 2159.4 Summary 222Review Questions 224References 22410 Galileo 22610.1 Galileo History and Plans 22710.2 Galileo Description 22810.3 Galileo Signals 23010.4 Summary 248Review Questions 249References 25011 Beidou System 25211.1 BDS History and Plans 25311.2 BDS Description 25411.3 BDS Signals 25711.4 Summary 262Review Questions 264References 26412 Quasi-Zenith Satellite System 26612.1 QZSS History and Plans 26712.2 QZSS Description 26812.3 QZSS Signals 27012.4 Summary 280References 28113 Indian Regional Satellite System 28213.1 IRNSS History and Plans 28313.2 IRNSS Description 28313.3 IRNSS Signals 28413.4 Summary 289References 289Part III Receiver Processing 29114 Receiver Front End 29714.1 Front-End Components 29814.2 Front-End Noise Figure 32114.3 Front-End Architectures and Frequency Plans 32314.4 Summary 328Review Questions 329References 33115 Analog-To-Digital Conversion 33315.1 Introduction to Analog-to-Digital Conversion and Automatic Gain Control 33415.2 Linear Analog-to-Digital Conversion 33815.3 Precorrelator Analog-to-Digital Conversion—The Digitizing Correlator 34015.4 Summary 362Review Questions 362References 36316 Acquisition 36416.1 Initial Conditions for Acquisition 36716.2 Initial Synchronization Basics 37016.3 Initial Synchronization Computation 38316.4 Initial Synchronization Performance 39216.5 Other Aspects of Acquisition 39616.6 Summary 401Review Questions 403References 40417 Discrete-Update Tracking Loops 40617.1 Discrete-Update Tracking Loop Formulation 40817.2 Discrete-Update Tracking Loop Design 41217.3 Tracking Loop Characterization 41617.4 Summary 426References 42718 Carrier Tracking and Data Demodulation 42818.1 Signal Processing for Carrier Tracking 42918.2 Frequency-Locked Loops 44218.3 Costas Loops 44718.4 Phase-Locked Loops 45018.5 Data Message Demodulation 45318.6 Summary 462Review Questions 463References 46519 Code Tracking 46719.1 Signal Processing for Code Tracking 46819.2 Discriminators for Code Tracking 47419.3 Carrier-Aided Code Tracking 48019.4 Code Tracking Performance in White Noise 48119.5 Code Tracking Performance in White Noise and Interference 48919.6 Ambiguous Code Tracking 49219.7 Summary 498Appendix 19.A RMS Bandwidth 499Review Questions 502References 50220 Position, Velocity, and Time Calculation 50420.1 Forming Measurements 50520.2 Reducing Pseudorange Errors 50820.3 Standard Point Positioning 51520.4 Blending Solutions from Multiple Satnav Systems 52020.5 Velocity Calculation 52220.6 Working with Disadvantaged Receivers 52420.7 Precise Point Positioning 52720.8 Integrity Monitoring: Receiver Autonomous Integrity Monitoring and Fault Detection and Exclusion 52920.9 Summary 530Review Questions 531References 534Part IV Specialized Topics 53721 Interference 53921.1 Interference Characteristics 54021.2 Effects of Interference on Receiver Operation 54121.3 Dealing with Interference 54221.4 Summary 549References 55022 Multipath 55122.1 Multipath Characteristics 55222.2 Multipath Effects 55622.3 Multipath Mitigation 56022.4 Summary 567References 56823 Augmentations Using Differential Satnav 57023.1 Overview of Differential Satnav 57123.2 Code-Based Differential Systems 57423.3 Carrier-Based Differential Systems 57623.4 Summary 586References 58624 Assisted Satnav 58824.1 Reducing IFU and ITU 59024.2 Provision of Clock Corrections, Ephemeris, and Data Message Bits 59124.3 Block Processing 59224.4 Computing Pseudoranges and Position 59224.5 Summary 593Reference 59425 Integrated Receiver Processing 59525.1 Kalman Filter Overview 59625.2 Loosely and Tightly Coupled Sensor-Integrated Satnav Processing 59925.3 Standalone Vector Tracking 60325.4 Ultratightly Coupled Sensor-Integrated Satnav Processing 60525.5 Summary 606References 607A Theoretical Foundations 609A.1 Some Useful Functions and Their Properties 610A.2 Fourier Transforms 611A.3 Signal Theory and Linear Systems Theory 611A.4 Stochastic Processes 613A.5 Some Results for Keyed Waveforms 615A.6 Bandwidth Measures 619A.7 Matrices and Matrix Algebra 621A.8 Taylor Series and Linearization 623A.9 Coordinate System Overview 624References 625Index 627

John Betz’s book is a welcome and much needed addition to the GNSS literature. The title includes “engineering” and the book contents and clarity do not disappoint.  All GNSS and their signal structure descriptions are rightfully integrated from the start. The organization and detailed treatment of the systems’ signal engineering and receiver processing are superb.  Text and formulas are supported by highly informative figures in color to facilitate understanding. Questions inserted at the end of selected chapters will help readers to test their skills. The high quality reflects the extensive experience and knowledge of the author. The book is a must for GNSS engineers and graduate students.  The use of high quality glossy paper results in a practical format to read and carry around.Dr.  Gérard LachapelleProfessor Emeritus and Faculty ProfessorGeomatics EngineeringSchulich School of EngineeringUniversity of Calgary