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ENGINEERINGSATELLITE-BASED
NAVIGATION ANDTIMING
IEEE Press445 Hoes Lane
Piscataway, NJ 08854
IEEE Press Editorial BoardTariq Samad, Editor in Chief
George W. Arnold Vladimir Lumelsky Linda ShaferDmitry Goldgof Pui-In Mak Zidong WangEkram Hossain Jeffrey Nanzer MengChu ZhouMary Lanzerotti Ray Perez George Zobrist
Kenneth Moore, Director of IEEE Book and Information Services (BIS)
Technical Reviewers
Jon Anderson, Canyon Consulting
Jose-Angel Avila-Rodrıguez, European Space Agency (ESA)
Frank van Diggelen, Broadcom Corporation
Other Technical Reviewers
Michael Braasch, Ohio University
Alex Cerruti, The MITRE Corporation
Sergey Karutin, Russian Federal Space Agency (Roscosmos)
Phillip Ward, Navward Consulting
Yuanxi Yang, China National Administration of GNSS and Applications
ENGINEERINGSATELLITE-BASED
NAVIGATION ANDTIMING
Global NavigationSatellite Systems,
Signals, and Receivers
John W. Betz
The Following Material Has Been Approved by The MITRE Corporation and the U.S. Air Force Space andMissile Systems Center for Public Release; Distribution Unlimited:
Part I and Appendix A: Air Force Case Number 13-0985
Part II: Air Force Case Number 13-3073
Part III: Air Force Case Number 14-2724
Part IV: Air Force Case Number 14-4351
The author’s affiliation with The MITRE Corporation is provided for identification purposes only, and is notintended to convey or imply MITRE’s concurrence with, or support for, the positions, opinions or viewpointsexpressed by the author.
Copyright © 2016 by The Institute of Electrical and Electronics Engineers, Inc.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved.Published simultaneously in Canada.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or byany means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permittedunder Section 107 or 108 of the 1976 United States Copyright Act, without either the prior writtenpermission of the Publisher, or authorization through payment of the appropriate per-copy fee to theCopyright 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 beaddressed 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/permission.
Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts inpreparing this book, they make no representations or warranties with respect to the accuracy or completenessof the contents of this book and specifically disclaim any implied warranties of merchantability or fitness fora particular purpose. No warranty may be created or extended by sales representatives or written salesmaterials. The advice and strategies contained herein may not be suitable for your situation. You shouldconsult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss ofprofit or any other commercial damages, including but not limited to special, incidental, consequential, orother damages.
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Library of Congress Cataloging-in-Publication Data is available.
ISBN: 978-1-118-61597-3
Printed in the United States of America
10 9 8 7 6 5 4 3 2 1
For Donna
CONTENTS
Preface xv
Acknowledgments xvii
Useful Constants xix
List of Acronyms and Abbreviations xxi
About the Author xxvii
1 INTRODUCTION 11.1 Satnav Revolution 2
1.2 Basic Principles of Satnav 5
1.3 Satnav Attributes 12
1.4 Book Structure and How to Use This Book 12
1.5 More to Explore 14
Reference 15
PART I SYSTEM AND SIGNAL ENGINEERING 17
2 SATELLITE ORBITS AND CONSTELLATIONS 192.1 Kepler’s Laws 20
2.2 Orbital Deviations from Ideal 25
2.3 Constellations 26
2.4 Useful Geometry Calculations 30
2.5 Summary 35
Review Questions 35
References 36
3 SATNAV SIGNALS 373.1 Signals, Signal Processing, and Spreading Modulations 38
3.2 Effects of Doppler and of Ionospheric Propagation 59
3.3 Satnav Signal Characteristics 65
3.4 Satnav Signal Structure 86
3.5 Summary 92
Review Questions 92
References 99
vii
viii CONTENTS
4 LINK BUDGETS 1024.1 Free-Space Path Loss 103
4.2 Calculating Maximum and Minimum Specified Received Power inSignal Specifications 107
4.3 Terrestrial Link Budgets 112
4.4 Building Penetration and Foliage Losses 116
4.5 Summary 119
Review Questions 119
References 120
5 CORRELATOR OUTPUT SNR, EFFECTIVE C/N0, AND I/S 1225.1 Channel Model and Ideal Receiver Processing 122
5.2 Correlator Output SNR With No Interference 125
5.3 Correlator Output SNR With Interference: Spectral SeparationCoefficients and Processing Gain 127
5.4 Effective C/N0 129
5.5 Interference-to-Signal Power Ratios and Effective C/N0 130
5.6 A Deeper Look at Spectral Separation Coefficients 130
5.7 Multiple Access Interference and Aggregate Gain of a Constellation 133
5.8 Summary 135
Review Questions 136
References 138
6 ERROR SOURCES AND ERROR CHARACTERIZATION 1396.1 Sources of Error in Satnav Positioning and Timing Calculation 140
6.2 Dilution of Precision and Error Measures 146
6.3 Positioning Errors for Standalone and Differential Satnav Receivers 150
6.4 Other Error Sources 152
6.5 Summary 153
Review Questions 154
References 155
PART II SATNAV SYSTEM DESCRIPTIONS 157
7 NAVSTAR GLOBAL POSITIONING SYSTEM 1637.1 GPS History and Plans 165
7.2 GPS Description 167
7.3 GPS Signals 168
CONTENTS ix
7.4 Summary 196
Review Questions 197
References 198
8 SATELLITE-BASED AUGMENTATION SYSTEMS 2018.1 SBAS History and Plans 202
8.2 SBAS Description 204
8.3 SBAS Signals 205
8.4 Summary 209
Review Questions 210
References 211
9 GLONASS 2129.1 GLONASS History and Plans 213
9.2 GLONASS Description 214
9.3 GLONASS Signals 215
9.4 Summary 222
Review Questions 224
References 224
10 GALILEO 22610.1 Galileo History and Plans 227
10.2 Galileo Description 228
10.3 Galileo Signals 230
10.4 Summary 248
Review Questions 249
References 250
11 BEIDOU SYSTEM 25211.1 BDS History and Plans 253
11.2 BDS Description 254
11.3 BDS Signals 257
11.4 Summary 262
Review Questions 264
References 264
12 QUASI-ZENITH SATELLITE SYSTEM 26612.1 QZSS History and Plans 267
12.2 QZSS Description 268
x CONTENTS
12.3 QZSS Signals 270
12.4 Summary 280
References 281
13 INDIAN REGIONAL SATELLITE SYSTEM 28213.1 IRNSS History and Plans 283
13.2 IRNSS Description 283
13.3 IRNSS Signals 284
13.4 Summary 289
References 289
PART III RECEIVER PROCESSING 291
14 RECEIVER FRONT END 29714.1 Front-End Components 298
14.2 Front-End Noise Figure 321
14.3 Front-End Architectures and Frequency Plans 323
14.4 Summary 328
Review Questions 329
References 331
15 ANALOG-TO-DIGITAL CONVERSION 33315.1 Introduction to Analog-to-Digital Conversion and Automatic Gain
Control 334
15.2 Linear Analog-to-Digital Conversion 338
15.3 Precorrelator Analog-to-Digital Conversion—The DigitizingCorrelator 340
15.4 Summary 362
Review Questions 362
References 363
16 ACQUISITION 36416.1 Initial Conditions for Acquisition 367
16.2 Initial Synchronization Basics 370
16.3 Initial Synchronization Computation 383
16.4 Initial Synchronization Performance 392
16.5 Other Aspects of Acquisition 396
16.6 Summary 401
CONTENTS xi
Review Questions 403
References 404
17 DISCRETE-UPDATE TRACKING LOOPS 40617.1 Discrete-Update Tracking Loop Formulation 408
17.2 Discrete-Update Tracking Loop Design 412
17.3 Tracking Loop Characterization 416
17.4 Summary 426
References 427
18 CARRIER TRACKING AND DATA DEMODULATION 42818.1 Signal Processing for Carrier Tracking 429
18.2 Frequency-Locked Loops 442
18.3 Costas Loops 447
18.4 Phase-Locked Loops 450
18.5 Data Message Demodulation 453
18.6 Summary 462
Review Questions 463
References 465
19 CODE TRACKING 46719.1 Signal Processing for Code Tracking 468
19.2 Discriminators for Code Tracking 474
19.3 Carrier-Aided Code Tracking 480
19.4 Code Tracking Performance in White Noise 481
19.5 Code Tracking Performance in White Noise and Interference 489
19.6 Ambiguous Code Tracking 492
19.7 Summary 498
Appendix 19.A RMS Bandwidth 499
Review Questions 502
References 502
20 POSITION, VELOCITY, AND TIME CALCULATION 50420.1 Forming Measurements 505
20.2 Reducing Pseudorange Errors 508
20.3 Standard Point Positioning 515
20.4 Blending Solutions From Multiple Satnav Systems 520
20.5 Velocity Calculation 522
xii CONTENTS
20.6 Working with Disadvantaged Receivers 524
20.7 Precise Point Positioning 527
20.8 Integrity Monitoring: Receiver Autonomous Integrity Monitoringand Fault Detection and Exclusion 529
20.9 Summary 530
Review Questions 531
References 534
PART IV SPECIALIZED TOPICS 537
21 INTERFERENCE 53921.1 Interference Characteristics 540
21.2 Effects of Interference on Receiver Operation 541
21.3 Dealing with Interference 542
21.4 Summary 549
References 550
22 MULTIPATH 55122.1 Multipath Characteristics 552
22.2 Multipath Effects 556
22.3 Multipath Mitigation 560
22.4 Summary 567
References 568
23 AUGMENTATIONS USING DIFFERENTIAL SATNAV 57023.1 Overview of Differential Satnav 571
23.2 Code-Based Differential Systems 574
23.3 Carrier-Based Differential Systems 576
23.4 Summary 586
References 586
24 ASSISTED SATNAV 58824.1 Reducing IFU and ITU 590
24.2 Provision of Clock Corrections, Ephemeris, and Data Message Bits 591
24.3 Block Processing 592
24.4 Computing Pseudoranges and Position 592
24.5 Summary 593
Reference 594
CONTENTS xiii
25 INTEGRATED RECEIVER PROCESSING 59525.1 Kalman Filter Overview 596
25.2 Loosely and Tightly Coupled Sensor-Integrated Satnav Processing 599
25.3 Standalone Vector Tracking 603
25.4 Ultratightly Coupled Sensor-Integrated Satnav Processing 605
25.5 Summary 606
References 607
A THEORETICAL FOUNDATIONS 609A.1 Some Useful Functions and Their Properties 610
A.2 Fourier Transforms 611
A.3 Signal Theory and Linear Systems Theory 611
A.4 Stochastic Processes 613
A.5 Some Results for Keyed Waveforms 615
A.6 Bandwidth Measures 619
A.7 Matrices and Matrix Algebra 621
A.8 Taylor Series and Linearization 623
A.9 Coordinate System Overview 624
References 625
Index 627
PREFACE
The world of satellite-based navigation and timing opened for me in 1997, when AlanMoore, then the project leader of MITRE’s GPS work for the Air Force, asked me aquestion in the corridor about how to design a new military signal that could share thesame frequency band as existing GPS signals while being spectrally separated from civilsignals. My off-the-cuff suggestion of a coherently modulated pair of subcarriers ledto my development of Binary Offset Carrier and then involvement in other aspects ofsatnav. Since I had worked on spread spectrum communications, radar, sonar, and othersignal-processing applications, satnav seemed to be a natural outlet for my interestsand experience. There was a rich corpus of deep technical work to learn from, as wellas many challenging problems still demanding innovative solutions. The GPS JointProgram Office was the place to be—full of excitement and plans for the future of GPS,with GPS legends roaming the halls.
Galileo, emerging in the early 2000s, provided an opportunity for collaborationwith European colleagues to meet mutual goals of compatibility and interoperability.Japan’s QZSS, Russian interest in CDMA signals, China’s BeiDou, and India’s IRNSSall also emerged, providing additional challenges to be addressed, as well as additionalcolleagues to learn from.
In 2006, Dr. Chris Hegarty put me in touch with Ms. Carolyn McDonald ofNavtechGPS, and Carolyn agreed to sponsor my development and teaching of a shortcourse emphasizing modernized satnav signals and receiver processing. Later versions ofthis course benefitted from course blocks developed by other experts under my direction.That course, and its extensions over the years, forms the basis of this book.
As my work on GPS and other satnav systems continued, it became clear thatsystem engineering and signal engineering interact strongly with system design andreceiver design. Such thinking was innate to legends like Dr. Charlie Cahn, but notnecessarily to less experienced engineers. Also, design involves continual trades betweenimplementation complexity and performance, further complicated by the need to assessimplementation complexity in the context of future technologies, when signals would beused and receivers would be developed. Yet, no textbooks existed that depicted satnavsystem engineering and signal engineering in an organized and comprehensive way, orthat clearly portrayed complexity and performance trades. Many books summarized thehistory of GPS and described the original GPS signals, but no text provided a balanceddescription of all current and planned satnav systems and their signals, including themodernized GPS signals. Multiple texts captured decades of experience in processing theoriginal GPS signals, but books were not available to describe explicitly the processing
xv
xvi PREFACE
of new and modernized signals with their different features and technical characteristics.Further, new techniques have been developed and the satnav literature has been enrichedby many excellent papers over the past decade, yet these new contributions have notbeen captured and integrated into a single resource.
This book is my attempt to provide a set of more comprehensive and currentperspectives.
John W. Betz
ACKNOWLEDGMENTS
Long before I began working on GPS, I was benefitting from colleagues and mentors.Mr. Roger Boyell, who worked with me at RCA Government Systems, was an exemplarof how to skillfully blend technical work and technical communication. Professor JohnProakis, whose clear teaching style and excellent textbooks were essential to my graduateeducation, was kind enough to serve as my PhD advisor. At The Analytical SciencesCorporation (TASC), working with Mr. Robert Pinto was like graduate school all overagain, while Dr. Seymour Stein, through his consulting work at TASC, demonstratedhow theoretical analysis could guide and affect real-world applications.
At MITRE, Mr. Alan Moore provided me with the opportunity to work on GPS, andwas extremely supportive of our efforts. Dr. Kevin Kolodziejski, who originally was mygraduate student, became a colleague and co-author on multiple award-winning papers.From the beginning Dr. Chris Hegarty, one of the world’s premier satnav engineers,has been an extremely helpful colleague. I was fortunate to serve on two signal designteams with Dr. Charlie Cahn, whose contributions to the design of every GPS signaldemonstrated his unparalleled insight, productivity, technical breadth, and technicaldepth, combined with admirable humility and absence of self-promotion.
Much of my work on satnav has been with or for the US Air Force, and I havebenefitted from the resulting association with outstanding Air Force officers. As GPSChief Engineer early in this century, Col. Rick Reaser (Retired) was a mentor andguide in the challenging areas of spectrum management and international interactions.Col. Jon Anderson, PhD (Retired), was the Air Force Captain in 1997 who hosted themeeting where I introduced the Offset Carrier concept; he has remained a friend andcolleague over these years as we have worked in different areas of satnav together.It was a pleasure to work with Col. Mark Crews, PhD (Retired), who served as GPSChief Engineer; Mark made fundamental decisions related to GPS Modernization whileleading GPS’s international outreach with Europe, Russia, and Japan during criticaltimes. Lt. Bryan Titus was a partner during the early days of GPS–Galileo discussions,and Lt. Col. Bryan Titus remains a colleague and friend as our careers have intersectedagain. Col. David Goldstein, PhD, in my opinion the prime example of a technical leaderin the Air Force, has been a trusted colleague.
Mr. Thomas Stansell, through his consulting work for the US Air Force and USState Department, has had tremendous effect on GPS in this century and on me. I admirehis style and his influence, and appreciate what he has done for me.
The Institute of Navigation (ION) and its members have provided a welcoming,stimulating, and educational environment for me and thousands of others in the field ofsatnav. Thanks to Ms. Lisa Beaty and the staff at the ION National Office for all they doto make the ION a very special professional organization.
xvii
xviii ACKNOWLEDGMENTS
Ms. Carolyn McDonald, and her company, NavtechGPS, have been integral to GPSand to satnav for decades. NavtechGPS’s early close relationship with the ION, andcontinuing support of instructors like me, has provided opportunities for our professionalgrowth while literally educating a generation of satnav engineers. Thanks to Carolynfor her friendship and support over these many years, and for originally sponsoring thepreparation of course notes that led to many of the chapters of this book.
More recently, I have had the distinct pleasure of working with two other giants ofsatnav. Dr. Pratap Misra, a gentleman in the truest sense of the word, has been as kindand thoughtful a colleague as one could ever desire. Dr. Frank van Diggelen, with hisdeep insights combined with entertaining and stimulating style, has been an enjoyableand thought-provoking colleague and collaborator.
My daughter, Dr. Sharon Molly (Betz) Marroquin, carefully reviewed the first 15chapters in their original manuscript form, providing valuable corrections and sugges-tions before the births of Hannah Molly and, later, Joseph Daniel, rightly diverted herattention and time.
This manuscript, in its entirety, had to be reviewed by the Air Force before its publicrelease. Thanks to the Air Force officers, especially Capt. Nate Howard and Capt. DougPederson, for performing these reviews in addition to all of their other duties workingon GPS and serving the nation. Also, I cannot thank enough the following colleagueswho reviewed the manuscript in its entirety, providing many valuable comments andcorrections: Dr. Frank van Diggelen, Dr. Jon Anderson, Professor Jade Morton, andDr. Jose-Angel Avila Rodrıguez. In addition, many thanks to Mr. Phillip Ward, Dr. SergeyKarutin, Professor Yuanxi Yang, Dr. Jeffrey Hebert, Dr. Alex Cerruti, and ProfessorMichael Braasch for their reviews of selected chapters. The resulting book benefitsconsiderably from the careful attention and thoughtful suggestions of these reviewers.
My father, the late Edward S. Betz, MD, who was an electrical engineer beforebecoming a physician, influenced me to select electrical engineering as an undergraduatemajor, leading me to a fascinating and rewarding professional career. Thanks to mymother, Joanna Wells Betz, who has been everything a mother should be. She has beena continual source of encouragement during this effort.
Most importantly, thanks to my wonderful and loving family, especially my wife,Donna, who endured the countless evenings and weekends required to write thismanuscript and go through the challenging process of publication. Thanks also to ourfour children, Christopher, Sharon, Peter, and James, along with their spouses and chil-dren, for their encouragement and support.
Thanks be to God.
USEFUL CONSTANTS
Boltzmann constant: kB = 1.3806488 × 10−23 Joules/K (equivalently, watts/(K-Hz)) [1]
Earth gravitational constant: 𝜇e = 3.986005 × 1014 m3/s2 [2]
Earth radius: [3]
Equatorial radius: 6,378,137.0 m
Arithmetic mean radius of semi-axes: 6,371,008.7714 m
Radius of sphere of equal area: 6,371,007.1809 m
Radius of sphere of equal volume: 6,371,000.7900 m
Earth rotation rate: Ωe = 7.2921151467 × 10−5 rad/s [2]
Pi: 𝜋 = 3.1415926535898 [2]
Speed of light: c = 2.99792458 × 108 m/s [2]
Note: Some values may vary slightly with different satnav systems and geodetic refer-ence systems.
REFERENCES
1. The NIST Reference on Constants, Units, and Uncertainty, National Institute of Standards andTechnology, http://physics.nist.gov/cgi-bin/cuu/Value?k, accessed January 17, 2015.
2. IS-GPS-200, http://www.gps.gov/technical/icwg/, accessed January 17, 2015.
3. National Imagery and Mapping Agency Technical Report, NIMA TR350.2, Third Edition,January 3, 2000, Department of Defense World Geodetic System 1984, Its Definition andRelationships with Local Geodetic Systems, available at http://earth-info.nga.mil/GandG/publications/tr8350.2/wgs84fin.pdf, accessed January 17, 2015.
xix
LIST OF ACRONYMS ANDABBREVIATIONS
2DRMS twice the distance root mean squareAAI Airports Authority of IndiaADC analog to digital conversion, or analog to digital converterAGC automatic gain controlA-GPS assisted GPSARAIM Advanced Receiver Autonomous Integrity MonitoringARNS Aeronautical Radio Navigation ServiceAS anti-spoofAS Authorized ServiceASCII American Standard Code for Information InterchangeASIC application-specific integrated circuitAWGN additive white Gaussian noiseBAW bulk acoustic waveBCH Bose, Chaudhuri, and HocquenghemBDS BeiDou SystemBDT BeiDou TimeBGBES BeiDou Ground Base Enhancement Systembps bits per secondBRSD Between Receiver Single DifferencingBSQ bandlimiting, sampling, and quantizationBSSD Between Satellite Single DifferencingC/A Coarse/AcquisitionC/N0 carrier power to noise power spectral densityCAF cross-ambiguity functionCC composite clockCE50 Circular Error 50%, the radius of a circle centered at the true value
containing 50% of the estimatesCE90 Circular Error 90%, the radius of a circle centered at the true value
containing 90% of the estimatesCED clock correction and ephemeris dataCEP Circular Error Probable, the same as CE50CFAR constant false alarm rateCGCS2000 China Geodetic Coordinate System 2000CNSS Compass Navigation Satellite SystemCORS continuously operated reference stationCRC cyclic redundancy check
xxi
xxii LIST OF ACRONYMS AND ABBREVIATIONS
CRPA controlled reception pattern antennaCS commercial serviceCSC carrier-smoothed codeCSK code shift keyingDASS Distress Alerting Satellite SystemdB decibelsdBi decibels referenced to an isotropic antennadBic decibels referenced to an isotropic circularly polarized antennadBil decibels referenced to an isotropic linearly polarized antennadBm decibels referenced to one milliwattdBW decibels referenced to one wattDFT discrete Fourier transformDLL delay-locked loopDOP dilution of precisionDRMS distance root mean squareDSSS direct sequence spread spectrumECEF Earth-centered, earth-fixedECI Earth-centered, inertialEGNOS European Geostationary Navigation Overlay ServiceEKF extended Kalman filterENU East-North-Up coordinate systemEOP Earth Orientation ParametersFAA Federal Aviation Administration (of the United States)FDE fault detection and exclusionFEC forward error controlFFT fast Fourier transformFIR finite impulse responseFLL frequency-locked loopFPGA field-programmable gate arrayFRPA fixed reception pattern antennaGaAs gallium arsenideGAGAN GPS And Geo-Augmented NavigationGagg Aggregate gain of interference powerGCS Galileo control systemGEO geostationaryGGTO GNSS to GPS Time OffsetGIVE Grid Ionosphere Vertical ErrorGLONASS GLObal NAvigation Satellite SystemGMS Galileo mission systemGNSS Global Navigation Satellite SystemGoJ Government of JapanGPS Global Positioning SystemGST Galileo System TimeGTRF Galileo Terrestrial Reference FrameworkHDOP horizontal dilution of position
LIST OF ACRONYMS AND ABBREVIATIONS xxiii
HEO highly elliptical orbitHOW handover wordI/S interference to signal ratio (power ratio)ICAO International Civil Aviation OrganizationICD Interface Control DocumentIDFT inverse discrete Fourier transformIF intermediate frequencyIGP ionospheric grid pointIGS International GNSS ServiceIGSO inclined geosynchronous orbitIID independent and identically distributedIMES Indoor MEssaging SystemIMU inertial measurement unitINS inertial navigation systemIP3 third-order intercept pointIR image rejectIRNSS Indian Regional Satellite SystemIS interface specificationISRO Indian Space Research OrganizationITRF International Terrestrial Reference FrameITU International Telecommunications UnionITU-R International Telecommunications Union Radio SectorJGS Japan satellite navigation Geodetic SystemKF Kalman filterL2CL long spreading code used for the GPS and QZSS L2C signals pilot
componentL2CM medium length spreading code used for the GPS and QZSS L2C signals
data componentL5I the Inphase data component of the GPS L5 signalL5Q the Quadraphase pilot component of the GPS L5 signalLAMBDA Least-squares AMBiguity Decorrelation AdjustmentLC inductor-capacitorLDPC low density parity checkLEO low Earth orbitLEX QZSS experimental signalLHCP left-hand circularly polarizedLNA low noise amplifierLO local oscillatorLTI linear time invariantMAI multiple access interferenceMC master clockMDR multipath-to-direct path ratioMEO medium Earth orbitMMIC monolithic microwave integrated circuitMOOC Massively Online Open Course
xxiv LIST OF ACRONYMS AND ABBREVIATIONS
MS mobile stationMSAS MTSAT-based Satellite Augmentation SystemMTSAT Multifunctional Transport SatelliteNANU Notice Advisory to Navstar UsersNAQU Notice Advisory to QZSS UsersNavwar navigation warfareNCO numerically controlled oscillatorNDGPS nationwide differential GPSNGA National Geospatial AgencyNICT Japan’s National Institute of Information and Communications Tech-
nologyNMCT navigation message correction tableNRC National Research CouncilOCXO oven-controlled crystal oscillatorOLS ordinary least squaresONSP Office of National Space Policy (of Japan)OS Open ServiceP(Y) precision(encrypted)PAPR peak to average power ratioPDOP position dilution of precisionPDP power-delay profilePFD power flux densityPLL phase locked loopPN pseudo-noisePNT positioning, navigation, and timingppm parts per millionPPP precise point positioningPPS precise positioning servicePRN Pseudo-Random NumberPRS Public Regulated ServicePSD power spectral densityPVT position, velocity, and timePZ-90 Parametri Zemli (English translation, Parameters of the Earth) 1990Q quality factor (of a filter)QOC quadrature offset carrierQPSK-R quadrature phase shift keying with rectangular spreading symbolsQZS Quasi-Zenith SatelliteQZSS Quasi-Zenith Satellite SystemQZSST QZSS TimeRAAN right ascension of the ascending nodeRAIM Receiver Autonomous Integrity MonitoringRC resistor-capacitorRDSS Radio Determination Satellite SystemRF radio frequency
LIST OF ACRONYMS AND ABBREVIATIONS xxv
RHCP right-hand circularly polarizedRMS root mean-squaredRNSS radio navigation satellite serviceR-S Reed-SolomonRS restricted serviceRSS root sum-squaredRTK real-time kinematicSA selective availabilitySAIF submeter class augmentation with integrity functionSAR search and rescueSAR/GPS search and rescue GPSSARS search and rescue serviceSAW surface acoustic waveSBAS Satellite-Based Augmentation SystemSC super criticalSDCM System for Differential Correction and MonitoringSE50 Spherical Error 50%, the radius of a sphere centered at the true value
containing 50% of the estimatesSE90 Spherical Error 90%, the radius of a sphere centered at the true value
containing 90% of the estimatesSEP Spherical Error Probable, the same as SE50SiGe HBT silicon-germanium heterojunction bipolar transistorSIR signal-to-interference power ratioSISRE signal in space ranging errorSNR signal-to-noise ratioSoL Safety-of-LifeSPP standard point positioningSPS PS SPS Performance SpecificationSPS standard positioning servicesps symbols per secondSSC spectral separation coefficientSUD Standard Under DampedSV space vehicleTCXO temperature compensated crystal oscillatorTDOP time dilution of precisionTGP tropospheric grid pointTLM telemetry wordTOA time of arrivalTOI time of intervalTT&C telemetry, tracking, and command (sometimes telemetry, tracking, and
control)TTIS time to initial synchronizationUDRE User Differential Range ErrorUEE user equipment error
xxvi LIST OF ACRONYMS AND ABBREVIATIONS
UERE user equivalent ranging errorURA user range accuracyUSNO United States Naval ObservatoryUTC (NICT) Coordinated Universal Time as maintained by National Institute of
Information and Communications TechnologyUTC coordinated universal timeUTC ultra-tight couplingUTC(USNO) Coordinated Universal Time as maintained by USNOVDOP vertical dilution of precisionVGA variable gain amplifierVLL vector locked loopWAAS Wide Area Augmentation SystemWGS84 World Geodetic System 1984WLS weighted least squaresXO crystal oscillator
ABOUT THE AUTHOR
Dr. John W. Betz
Dr. John W. Betz is a Fellow of The MITRE Corporation, providing technical contri-butions and leadership to MITRE’s work program, spanning research to applications.His work has involved satellite-based navigation, signal analysis and signal processing,communications, sensors, electronic warfare, and systems engineering.
With MITRE since 1989, Dr. Betz has held a variety of positions supporting theAir Force and the Department of Defense. He has led activities involving research andapplication of signal processing to problems in sensing, communications, navigation, andintelligence. From 2001 to 2002 he was Chief Engineer of the Intelligence, Surveillance,and Reconnaissance Integration Systems Program Office at the Air Force ElectronicSystems Center, Hanscom Air Force Base.
His work on satellite-based positioning and timing (satnav) began in 1997, when heled the design of modulation and acquisition for the new GPS military M-code signal.He developed the binary offset carrier (BOC) spreading modulation selected for theGPS M-code signal and also adopted by all of the world’s satellite-based navigationsystems. He also has contributed to theory and practice of satellite-based navigationreceiver processing, signal quality, security, and radio frequency compatibility. He alsohelped design the GPS L1C civil signal, and developed the multiplexed-BOC (MBOC)
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xxviii ABOUT THE AUTHOR
spreading modulation adopted for GPS L1C and for other interoperable signals onthe European Galileo system and the Chinese BeiDou system, along with the time-multiplexed BOC waveform used for the GPS L1C signal. He has been a lead technicalcontributor to the U.S. delegation in negotiations leading to the 2004 Agreement betweenthe U.S. and European Community concerning GPS and Galileo. Since 2004, he hascontributed to U.S. activities on working groups addressing topics in compatibility andinteroperability with Europe, Japan, the Russian Federation, China, and India, leading toother satnav systems’ adoption of civil signals compatible and interoperable with GPSand each other.
He continues to be involved in signal and system engineering for GPS, and playeda lead role in the GPS Enterprise Modernization Analysis of Alternatives that recom-mended substantial changes to planned military GPS, identifying more affordable androbust capabilities for warfighters. Most recently, his work has emphasized developmentand application of more secure and robust satnav capabilities for military and civilianapplications.
He was a member of the Air Force Scientific Advisory Board (SAB) from 2004through 2012, leading the Science and Technology Reviews of Air Force ResearchLaboratory, and from 2008 to 2011 was Chairman of the SAB. He has also served asa consultant to the SAB and the Defense Science Board, and since 2013 has servedon the National Space-Based Positioning, Navigation and Timing Advisory Board, aPresidential advisory committee.
Before joining MITRE, he worked at The Analytic Sciences Corporation and RCAAutomated Systems, and has been Adjunct Professor of Electrical and Computer Engi-neering and lecturer at Northeastern University.
He has authored or co-authored more than 50 research publications in journals,book chapters, and conferences, and is co-inventor on four patents and patent applica-tions. Awards include the International Association of Institutes of Navigation’s JohnHarrison Award (2015); Secretary of the Air Force Distinguished Public Service Award(2014), the highest public service award to private citizens by the Air Force; Institute ofNavigation Satellite Division’s Johannes Kepler Award (2013); Institute of NavigationThurlow Award (2011); Fellow of the IEEE (2009); Carlton Best Paper Award, IEEEAerospace and Electronic Systems Society (2009); MITRE Trustees’ Award for interna-tional leadership in advancing global positioning, navigation, and timing (2008); namedone of GPS World Magazine’s “Fifty Leaders to Watch in GNSS” (2008); Fellow of theInstitute of Navigation (2006); U.S. State Department Superior Honor Award (2004);MITRE President’s Award for Contributions to GPS/Galileo Negotiations (2004); BurkaBest Paper Award, Institute of Navigation (2001); MITRE President’s Award for Contri-butions to GPS Modernization Design (1999); MITRE Best Paper Award (1995); BestPaper Award, IEEE Acoustics, Speech, and Signal Processing Society (1986); doctoralstudies sponsored by the RCA Graduate Studies Program. He was awarded a BSEE(high honors) from University of Rochester (1976), and Masters (1979) and PhD (1984)Degrees in Electrical and Computer Engineering from Northeastern University.
