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1、ISSUE 2USER TECHNOLOGY REPORTE D I TO R S S PE C IALAUTOMATION2018More information on the European Union is available on the Internet(http:/europa.eu).Luxembourg:Publications Office of the European Union,2018ISBN:978-92-9206-035-0ISSN:2467-3854doi:10.2878/743965Copyright European GNSS Agency,2018Inf

2、ormation contained in the document may be excerpted,copied,printed and provided to third parties only under the condition that the source and copyright owner is clearly stated as follows:“Source:GNSS User Technology Report,Issue 2,copyright European GNSS Agency,2018”.For reproduction or use of photo

3、s and any other artistic material,permission must be sought directly from the copyright holder.The designations employed,the presentation of the materials and the views expressed by authors,editors,or expert groups do not necessarily represent the opinions,decisions or the stated policy of either GS

4、A or the European Commission.The mention of specific companies or of certain manufacturers products does not imply that they are endorsed or recommended by the GSA in preference to others of a similar nature that are not mentioned.Errors and omissions excepted,the names of proprietary products and c

5、opyright holders are distinguished by initial capital letters.The present document is being distributed without warranty of any kind,either express or implied in relation to its content and/or use.In no event shall the GSA be liable for damages arising from the content and use of the present documen

6、t.This document and the information contained in it is subject to applicable copyright and other intellectual property rights under the laws of the Czech Republic and other states.No part of this document,including any part of the information contained therein,in whichever format,whether digital or

7、otherwise,may be altered,edited or changed without prior express and written permission of the European GNSS Agency,to be requested via https:/www.gsa.europa.eu/contact-us,clearly stating the element(document and/or information)and term of use requested.Should you become aware of any breach of the a

8、bove terms of use,please notify the European GNSS Agency immediately,through the above-mentioned contact site.Any breach of these terms of use may be subject to legal proceedings,seeking monetary damages and/or an injunction to stop the unlawful use of the document and/or any information contained t

9、herein.By downloading,forwarding,and/or copying this document or any parts thereof,in whichever format,whether digital or otherwise,the user acknowledges and accepts the above terms of use as applicable to him/her.GNSS USER TECHNOLOGY REPORTISSUE 22018GNSS User Technology Report|Issue 2,20184FOREWOR

10、DDear Reader,We are truly living in the Golden Age of GNSS.With everyone now carrying a space receiver in their pocket and using satellites to move,play and work,GNSS has become a ubiquitous technology.However,I believe the real development and the most important one,as it allows all of these device

11、s to work better is the shift towards a higher accuracy for all stemming from dual-and multi-frequency.Galileo is at the forehead of this evolution,being the advanced GNSS enabling for instance autonomous transport applications.Supporting evidence,coming from the LBS market,is the introduction of th

12、e first dual frequency smartphone in May 2018.This is only the beginning.As we approach the threshold of living on a planet where every person has a GNSS device,satellite navigation will serve as the backbone of a digitally connected world.With information on positioning,velocity and timing driving

13、growth in a wide array of context-aware applications,GNSS will be an important enabler for everything from the Internet of Things to Augmented Reality and autonomous vehicles.The GSAs GNSS User Technology Report Issue 2 takes an in-depth look at the latest state-of-the-art GNSS receiver technology,a

14、long with providing expert analysis of the evolutionary trends that are set to define the global GNSS landscapes and our daily lives in the coming years.In the following pages,you will find an in-depth look at applications and solutions within the safety-and,liability-critical transport,high precisi

15、on,timing and mass market macrosegments.This edition also features an editors special devoted to automation and to the increasingly important role GNSS plays in a number of partially-or fully-automated tasks and functions.This publication was written with the contribution of leading GNSS receiver an

16、d chipset manufacturers and is meant to serve as a valuable tool to support your planning and decision-making with regard to developing,purchasing and using GNSS user technology.We look forward to receiving your feedback and working with you in continuing this exciting E-GNSS evolution.back and work

17、ing with you in continuing this exciting E-GNSS evolution.Carlo des DoridesExecutive DirectorThe European GNSS Agency(GSA)Prague,October 2018FOREWORDGNSS User Technology Report|Issue 2,2018 EXECUTIVE SUMMARY5The coming years will see two new GNSS(Galileo and BeiDou),and two RNSS(QZSS and NavIC),reac

18、h full operational capability.In parallel,the modernisation of existing GNSS(GPS and GLONASS)is also well underway.Thus,in just a few years there will be four global and three regional satel-lite navigation systems,and more than 100 satellites providing open access to more accurate and reliable PNT

19、services,including through the use of multiple frequencies.Public augmentation systems,such as EGNOS,are also evolving to become multi-constellation and multi-frequency.A very clear trend identified in the previous issue of this report was widespread support for multiple constellations,which is conf

20、irmed here as the baseline for todays new receivers.The most important new trend identified in this issue is the rapid adoption of multiple frequen-cies(almost 10 percentage points more in the last two years)including for consumer devices,as evidenced by the market introduction of the first dual-fre

21、quency smartphone in May 2018.The second frequency of choice for these new devices is E5a/L5,which has either already been adopted or is planned to be supported by all global constellations,with efforts led by Galileo.Beyond the maturity and evolution of the core upstream infrastructure(GNSS,RNSS,SB

22、AS),and owing to the possibilities it offers,we also observe the growth of new value-added services proposed by the system providers themselves,or by private industry.This is particularly true of high-accuracy services,which until recently were offered primarily to professional users in the surveyin

23、g,mapping,engineering or precision agriculture domains,but are now propagating out to the mass market not just for driverless cars,but also for all kinds of augmented reality applications.New service providers emerge,new alliances appear,and new distribution methods are proposed,including via mobile

24、 telephone networks,to serve the emerging“high accuracy for all”markets.The free Galileo High-Accuracy Service(HAS)and QZSS Centimetre-Level Accuracy Service(CLAS)are just two examples of this tendency.In addition to the trend for high accuracy,there is a growing awareness of the need to ensure both

25、 safety and security of the PNT solutions.This trend is especially important where PNT will be at the core of systems where humans are out of the control loop,such as in autonomous vessels,cars or drones.Galileo authentication services,namely the Navigation Message Authentication(NMA)and the Signal

26、Authentication Services(SAS),are important contributions to this security.At least one leading private GNSS augmentation service provider has begun marketing“trusted positioning”through“real-time ephemeris data and navigation message authentication”,confir-ming that high accuracy is not the endgame,

27、but rather trusted and resilient high accuracy remains the ultimate goal.This flourishing offer of core and augmentation services means that the choices available to receiver manufacturers,system integrators and application developers are more diverse than ever before.In the mass market domain,we ar

28、e seeing a divide between chipsets optimised for entry level IoT products,where energy per fix is the primary driver,and high end,where positioning performance is more important.The former receivers tend to be single(or dual)constellation,single frequency,narrow band;all factors that contribute to s

29、atisfying the requirements for very low power consumption.The latter have widely adopted multiple constellations(four GNSS),wider band processing,with up to 80 channels,and the most advanced versions now offer dual frequency capability,which leads to greater accuracy.The transport and safety critica

30、l domain is traditionally constrained by regulations and stan-dards,and therefore slower in adopting new technologies.The emergence of the driverless car,professional or prosumer drones,and autonomous vessel developments have shaken this segment of the industry,and it is now evolving at a very fast

31、pace for these,as yet unregulated,applications.Multiple constellation,multiple frequency,INS hybridisation,and sensor fusion are all being used to contribute to the required assured and safe positioning solutions.Whilst current solutions demonstrate that the high accuracy essential to autonomous app

32、lications is achievable,work is still required to reach the high levels of integrity,continuity,and security that must be guaranteed for safety-of-life applications.In the professional domain,high accuracy is achieved with triple or quadruple frequency receivers,using all constellations and signals

33、as well as RTK,NRTK and increasingly real time PPP augmentation services.Receivers have several hundreds of channels,and have started to allocate some of these to detecting unwanted(jamming,spoofing,or multipath)signals.The combined availability of powerful mobile computers,tablets,or even smartphon

34、es,and of affordable dual frequency chipsets developed for the mass market,make it possible to run high-accuracy PVT solutions on such devices.By adding application-specific software,these developments combine to enable mapping,GIS data collection,and potentially surveying appli-cations on consumer

35、electronics devices.This is further supported by the availability of GNSS raw measurements on Android devices.Many of the technical advances observed in this report are driven by the will to use GNSS-derived position or time not only for information purposes,but also for monitoring,and increasingly

36、today for controlling tasks,such as those encountered in robotics or navigation of all kinds of unmanned carriers.The Editors special section of this issue is devoted to automation,and to the increasingly important role GNSS plays in a number of partially-or fully-automated tasks and functions.The m

37、ost publicised examples are found in the transport domain,with driverless cars,autonomous vessels and drones,but as the interested reader will see,GNSS-based automation applications go well beyond transport.The analysis of GNSS user technology trends is supported by testimonials from key suppliers o

38、f receiver technology:Broadcom,Javad,Kongsberg,Leica,Maxim Integrated,Meinberg,Novatel,Orolia-Spectracom,Qualcomm,Septentrio,STMicroelectronics,Thales,Trimble and u-blox pre-senting their latest innovations in the field.EXECUTIVE SUMMARYGNSS User Technology Report|Issue 2,20186TABLE OF CONTENTSFOREW

39、ORD 4EXECUTIVE SUMMARY 5INTRODUCTION 7GNSS USER TECHNOLOGY OVERVIEW 9MASS MARKET SOLUTIONS 28TRANSPORT SAFETY-AND LIABILITY-CRITICAL SOLUTIONS 41HIGH PRECISION AND TIMING SOLUTIONS 57EDITOR S SPECIAL:AUTOMATION 74ANNEXES 85 GNSS CONSTELLATIONS AND FREQUENCIES 86 AUGMENTATION SYSTEMS 87 GNSS KEY PERF

40、ORMANCE PARAMETERS 88 LIST OF ACRONYMS 89 METHODOLOGY 90 ABOUT THE AUTHORS 91GNSS User Technology Report|Issue 2,2018INTRODUCTION 7DAWNING OF NEW ERA:TOWARDS AUTOMATED SYSTEMSThere are four main dimensions of PNT systems technology development that enable the future of automated,intelligent position

41、ing systems.As presented in the PNT technology drivers on the right,the location systems must be ubiquitous,secure,accurate and connected to provide basis for modern automation and ambient intelligence.The advent of automated systems has progressed very rapidly in the last months thanks to the devel

42、opment alongside all four dimensions of the pyramid base.The Editors special of this issue of the GSA Technology Report is therefore devoted to automation.Main areas of innovationGNSS is and will remain for the foreseeable future an integral part of PNT solutions.It cannot,however,provide alone the

43、ubiquitous,accurate,safe,assured PNT information that is required.Maintaining performance in all contexts requires the fusion of multiple positioning technologies and sensors.Accuracy is obtained thanks to multi constellation,multi-frequency GNSS,augmented by PPP-RTK services and hybridised with INS

44、 and other sensors.Connectivity relies on the integration with both satellite and terrestrial networks,such as 5G,LEOs,or LPWANs.Ubiquity is provided by complementary positioning technologies and sensors.Security is provided by the combination of independent redundant technologies,cybersecurity,and

45、authentication.This complex ecosystem is depicted in the following diagram:Ultra preciseMEMSNon PNTsupportingtechnologiesPNT technologycomponentsMulti-frequencyGNSSMulti-constellationGNSSRadarINSGNSS&A-GNSSBlockchain5G3D MappingLPWANMachine learningCybersecurityMega LEOconstellationsSpace/groundnetw

46、orks integrationCooperative PNTPeer to peerSLAMCSACPPP-RTKVisual navigationSignals ofopportunitySensor fusionCamerasUltrasoundLidarMEMSGNSS-INShybridisationTHE PNT ECOSYSTEM:STATE OF MATURITY AUTOMATION ANDAMBIENT INTELLIGENCEUBIQUITYSeamless indoor andoutdoor positioningCONNECTIVITYExchange of data

47、with the infrastructureand other usersSECURITYRobust and securepositioning,includingdata privacyACCURACYPNT data at decimetrelevel,available“everywhere,for everyone”PNT TECHNOLOGY DRIVERS PYRAMIDGNSS User Technology Report|Issue 2,20188INTRODUCTIONHOW TO READ THIS REPORTThis report has been divided

48、into three sections which cover the main areas related to GNSS technology.In the opening section,GNSS User Technology overview,we present a summary of recent developments and future trends in GNSS.We focused on multi-constellations and multi-frequency applications that drive the new trends,and also

49、achieve greater accuracy whilst maintaining high integrity.Updates on Galileo,GLONASS,BeiDou,GPS and Regional Navigation Satellite Systems are described in detail.You can also find infor-mation regarding the evolution in signal processing and how antenna capabilities drive receiver performance.Anoth

50、er topical area featured is anti-spoofing and anti-jamming trends,and how vulnerabilities can be mitigated.The section concludes with a description of elements that drive innovation,and highlights innovation centres in Europe.The second section consists of three sub-sections where specific applicati

51、ons and solutions are presented,grouped into macrosegments.1.Mass market presenting high-volume receivers for consumer devices.Automotive(not safety critical),consumer drones,smartphones,and specialised IoT devices from mHealth to robotics are all covered.2.Transport safety-and liability-critical so

52、lutions presenting receivers built in accordance with standards to deliver such solutions.Automotive,aviation,professional drones,maritime,search and rescue and,new to this issue of the TR,space-borne GNSS applications are all covered.3.High precision and timing solutions presenting receivers design

53、ed to deliver the highest accuracy(position or time)possible.Agricul-ture,GIS,Surveying and Timing and Synchronisation applications are all covered.The third Editors special section focuses on the important trend of Automation.Here we provide both a current overview and a future vision of automation

54、,explain the interconnection between GNSS and automation,show the benefits of fusion of many different data,explain why artificial intelligence is not the same as automation and focus on automation trends mainly in road transportation,but also in the drone and maritime domains.Finally,in the annexes

55、 you will find a general overview of GNSS positioning technologies,augmentation services,key performance parameters,and definitions,as well as the methodology used to write this technology report.Mass market consumer solutionsTransport safety-and liability-critical solutionsHigh precision and timing

56、 solutionsGNSS today 10GNSS evolution 11GNSS signals 12GNSS augmentations 13System of systems 14Receiver design 15Position processing 16 Multiple frequency 17Signal processing 18GNSS antennas 19Receivers capabilities 20-21GNSS vulnerabilities 22Protecting GNSS 23PNT beyond GNSS 24European R&D 25-27G

57、NSS USER TECHNOLOGY OVERVIEW9 ESAGNSS User Technology Report|Issue 2,201810GNSS USER TECHNOLOGY OVERVIEW GNSS TODAYOPERATIONAL*GNSS SATELLITESINTEROPERABLE MULTI-GNSS IS THE REALITY TODAYMultiple constellations provide navigation servicesThe four GNSS GPS(USA),GLONASS(RF),BeiDou(PRC)and Galileo(EU)a

58、re currently in either full operational capability(FOC)or nearing FOC status,with the two most recent constellations due to complete deployment by 2020.As a result there were already over 100 GNSS satellites in orbit as of December 2017.Three Regional Navigation Satellite Systems(RNSS),namely the In

59、dian NavIC,the Chinese BeiDou(phase 2)and Japanese QZSS complete the picture and further increase the number of navigation satellites in their respective coverage areas.Satellite Based Augmentation Systems(SBAS)broadcast GNSS-like signals primarily dedicated to the provision of integrity information

60、 and wide area corrections,but which can also be used as extra navigation signals.Signals and services:interoperability of open services for a true multi-GNSS worldGNSS,RNSS and SBAS providers are coordinating their efforts,notably through the United Nations Office for Outer Space Affairs(UNOOSA)and

61、 its International Committee on Global Navigation Satellite Systems(ICG).The ICG“strives to encourage and facilitate compatibility,interoperability and transparency between all the satellite navigation systems,to promote and protect the use of their open service applications and thereby benefit the

62、global community”1.Notably this coordination leads to the adoption of current or modernised open signals of compat-ible frequency plans,common multiple access schemes(with GLONASS adding CDMA to its legacy FDMA scheme),and modulation schemes(e.g.Galileo E1 and GPS L1C).This facilitates the design of

63、 multi-GNSS chipsets and receivers,to the benefit of the end users.Although interoperability is the commonly agreed goal,each GNSS/RNSS can provide specific services through dedicated signals.This is indeed the case of(restricted access)governmental services2 such as Galileo Public Regulated Service

64、(PRS)or GPS Precise Positioning Service(PPS),but also of value added services(e.g.Galileo High-Accuracy Service(HAS),QZSS L6 or BeiDou short messaging service)which may be provided for free or for a fee.Frequencies:a scarce resource to be protectedAll these systems transmit or plan to transmit navig

65、ation signals in two common frequency ranges;L5/E5/B2/L3 signals in the lower L Band(1164-1215 MHz)and L1/E1/B1 signals in the upper L Band(1559-1610 MHz).The frequency ranges are often referred to by the signal names they contain,such as the L1 or E5 band.These frequency bands are allocated worldwi

66、de to GNSS on a primary basis and are shared with aeronautical radio navigation service(ARNS)systems.Some of these systems also broadcast additional signals in other frequency bands located in the range 1215-1300 MHz,so-called L2&E6 bands.These are also global GNSS bands but are allocated on a non-i

67、nterference basis.2000009200820072006200520042003200220GPSGLONASSGalileoBeiDou406080*Excluding satellites under test or commissioning1 www.unoosa.org/oosa/en/ourwork/icg/icg.html2 Not discussed in this report GNSS User Technology Report|Issue 2,2018GNSS EV

68、OLUTION GNSS USER TECHNOLOGY OVERVIEW 11GNSS INFRASTRUCTURE IS CONTINUOUSLY EVOLVINGGalileo and BeiDou plan to reach full operating capacity with their latest technology by 2020.In parallel GPS and GLONASS are engaged in modernisation efforts leading to better performance and higher interoperability

69、.GPS The US is currently engaged in an ambitious GPS modernisation programme,which has deployed new satellites(GPS III)from the beginning of 2018.These satellites are the first to feature the new L1C signal,almost identical to its Galileo OS counterpart on E1.They will also broadcast the legacy L1 a

70、nd the more recent L2C and L5 signals,resulting in the future availability of four civil GPS signals.The discontinuation of codeless and semi-codeless GPS access is expected to be completed by 2020 when civil users are encouraged to transition to the L2C signal.More at:www.gps.gov GLONASS The first

71、current generation GLONASS satellite,GLONASS-K,entered service in February 2016.GLONASS-K satellites transmit CDMA signals(currently at L3=1202.025 MHz in the E5 band,but also in future at the L1 and L2 frequencies)in addition to the legacy FDMA ones,and also host a SAR transponder.The next generati

72、on constellation will be based upon GLONASS K2 and KM platforms,which are planned to be launched after 2020.These satellites feature improved clock stability,and new control,command,and ODTS technologies.More at:www.glonass-iac.ru/en BeiDouThe third generation BeiDou system(BDS-3)is currently being

73、deployed with the goal of completing the constellation of 35 satellites by 2020 to provide global service.The final global system will transmit signals at the B1(E1/L1),B2(E5/L5)and B3(E6)frequencies.Sharing frequency bands and closely similar signal wave-forms with GPS and Galileo,BDS-3 significant

74、ly contributes to the interoperable,multiple-GNSS world.BeiDou will operate the largest constellation of 35 satellites,including the regional system.This regional system will offer two services;a Wide-Area Differential Service and a Short Message Service.The former offers improved accuracy over the

75、global offering,whilst the latter allows short,two-way communication for commercial purposes.More at: GalileoAfter the declaration of Initial Services on 15 December 2016,Galileo continues its deployment and will reach its full operational capability(FOC)in 2020.As of end of August 2018,the constell

76、ation includes 26 satellites in orbit,of which 17 are fully operational.In addition to providing a high quality open service based on innovative signals1 in the E1 and E5 bands,Galileo was also the first GNSS constellation to feature a SAR capability,including the provision of a return link to users

77、 in distress.Galileo also features other unique capabilities,such as the provision of Navigation Message Authentication(OS-NMA),and an encrypted navigation signal on E6,the Signal Authentication Service(SAS).OS-NMA and SAS represent the first protection against spoofing available to civilian GNSS us

78、ers.Finally,Galileo will provide free access to a High-Accuracy Service(HAS)through the use of an open data channel via the E6 frequency,used to broadcast high-accuracy augmentation messages.More at:www.gsc-europa.eu QZSSThe current four satellite system(three IGSO+one GEO)provides three satellite v

79、isibility at all times from locations in the Asia-Oceania regions.QZSS services will officially begin on 1 November 2018,while the current plan is to have a seven-sat-ellite constellation by 2023.The primary purpose of QZSS is to increase the availability of GPS in Japans numerous urban canyons.A se

80、condary function is performance enhancement,increasing both accuracy and reliability of GPS.QZSS will provide a variety of services,from the basic Satellite PNT Service based on the transmission of GPS-like signals,but also an SBAS Transmission Service,a future Public Regulated Service,a Sub-metre L

81、evel Augmentation Service(SLAS),a Centimetre Level Augmentation Service(CLAS),and a variety of other services exploiting the data links of QZSS(e.g.a Satellite Report for Disaster and Crisis Management).More at:qzss.go.jp/en NavICNavIC-1L was successfully launched on 12 April 2018,to increase the Na

82、vIC constellation to seven operational satellites.NavIC covers India and a region extending 1,500 km(930 mi)around it,with plans for further coverage extension by increasing the number of satellites in the constellation from seven to eleven.NavIC signals consist of a Standard Positioning Service and

83、 a Precision Service.Both are carried on L5(1176.45 MHz)and S band(2492.028 MHz).More at:www.isro.gov.in/irnss-programme 1 The initial Galileo E1 BOC(1,1)was used as the common baseline signal structure for EU/US cooperation discus-sions leading to the design and adoption of the current L1C(GPS)and

84、E1b/c(Galileo).GNSS User Technology Report|Issue 2,201812GNSS USER TECHNOLOGY OVERVIEW GNSS SIGNALSTHE MAJORITY OF SYSTEMS WILL REACH FOC WITH NEW SIGNALS IN FIVE YEARSGround segment updatesNew signals and capabilities require not only to be implemented on sat-ellites,but also to be monitored and co

85、ntrolled by the GNSS ground seg-ment.Whilst Galileo and BeiDou are in their first generation,both GPS and GLONASS are modernising their con-trol segments.The GPS ground segment will be upgraded to the“Next Generation Control Segment”or OCX,which has undergone initial deployment in 2018.Similarly,new

86、 GLONASS capabilities are supported by a modernised ground segment with the objective to improve the system accuracy down to 0.6m Sig-nal In Space Ranging Error(SISRE),and synchronization of GLONASS Timescale with UTC(SU)to less than 2ns.Disclaimer:Systems deployment plans based upon publicly availa

87、ble information as of July 2018.SYSTEMPROVIDERSIGNAL2002120222023SATELLITE NAVIGATION SYSTEMSGLOBAL COVERAGEGPSL1FOC(30)L1 C(0-30)L2FOC(30)L2 CFOC(30)IOC(19-30)L5(12-30)GALILEOE1IS(12-26)ES(26-30)FOC(30)E5IS(12-26)ES(26-30)FOC(30)E6IS(12-26)ES(26-30)FOC(30)GLONASSL1 FDMAFOC(24)L1 CDMA(0-2

88、4)L2 FDMAFOC(24)L2 CDMA(0-24)L3 CDMA(0-24)L5 CDMA(0-24)BEIDOUB1FOC(35)B2FOC(35)B3(12-35)(12-35)(12-35)FOC(35)REGIONALCOVERAGEQZSSIOC(4-7)IRNSSL5FOC(7)S-BandFOC(7)SATELLITE AUGMENTATION SYSTEMSREGIONAL COVERAGEWAASL1FOC(2+1)L5Under development EGNOSL1FOC(2+1)L5Under developmentSDCML1FOC(3)L3FOC(3)L5F

89、OC(3)SNASB1B1CFOC(3)B2AFOC(3)GAGANL1FOC(3)L5Under developmentMSASL1FOC(2)QZSSKAZZL1FOC(4)L5L1L5Under developmentIOCFOCUnder developmentDevelopment PlansThe figure on the right shows the current development plans for each satellite navigation system over the next five years.The signal sets,status and

90、 number of satellites*are reported as follows:Signal status No service Initial services Full services*The number in bracket indicates the number of satellites.GNSS User Technology Report|Issue 2,2018GNSS AUGMENTATIONS GNSS USER TECHNOLOGY OVERVIEW 13PUBLICLY AVAILABLE AND SUBSCRIPTION BASED AUGMENTA

91、TION SOLUTIONS ENHANCE GNSS PERFORMANCEWAASSDCM*EGNOSMSASSACCSABDSBASKAASAustralianSBASASECNASBASGAGANResearching expansion ofcoverage to GULF regionUnder development/definitionAustralian SBASTesting until 2019 formultiple user sectorsBDSBAS4 GEO satellites by 2020KAASOpen Service in 2020MSAS2017:MC

92、MF experimentV2 in 2020 for non-aviationSDCM2020:L1,L3C,L5CEGNOSV3 in 2025:MC(GPS+Galileo)MF(L1/E1+L5/E5)SACCSAFirst testing in 2011*System not yet certified for civil aviationWAAS2019:Ground infrastructure for L5 L2 P(Y)to GPS L5 FOC over 2 yearsGAGANSBAS move to dual frequency and new sectorsAcros

93、s the world SBAS systems are testing and imple-menting changes to support dual-frequency and,in many cases,multiple constellations.In most cases L5/E5a is used as the second frequency signal,resulting in a dual frequency system.Some,such as MSAS and SCDM,intend to provide corrections for three frequ

94、encies.At the same time as implementing systems meeting avia-tion LPV-200(CAT-I)requirements,EGNOS,WAAS,QZSS,SCDM,and BDSBAS all have specific plans to support user sectors beyond aviation.Sectors such as agriculture and maritime already enjoy benefits from SBAS in some applications,but future servi

95、ces will look to exploit the increased accuracy offered by dual frequency for more demanding applications.Commercial augmentation services now use PPP and are moving towards V2.0,targeting the mass market Commercial augmentation services have been mature for some time,but they are currently evolving

96、 to version 2.0.Almost all global providers now offer PPP services to provide world-wide coverage.Regional Network Real Time Kinematic(N-RTK)augmentation service providers also increasingly incorporate a PPP service to provide a complete solution portfolio.Whilst established service providers embrac

97、e PPP to complete their offerings,newcomers benefit from its reduced infrastructure cost to propose novel services and facilitate emerging high-accuracy mass market applications such as autonomous vehicles or augmented reality.Whilst providing very high accuracy,existing services do not fully meet t

98、he needs of these emerging applications.For example the typical convergence or re-convergence time associated with PPP correction services will need to be improved to address automotive applications in urban environments,or to satisfy consumer expectations.Beyond this,such applications require integ

99、rity and robustness alongside high accuracy.Future services will have to work with receivers built on newly developed mass market premium chipsets,which support dual frequency and multi-con-stellation but are subject to power and hardware size constraints compared to traditional precision GNSS equip

100、ment.The move to address the mass market is resulting in increased availability and affordability of these services.SBAS INDICATIVE SERVICE AREASGNSS User Technology Report|Issue 2,201814GNSS USER TECHNOLOGY OVERVIEW SYSTEM OF SYSTEMSFOR USERS GNSS IS PART OF A SYSTEM OF SYSTEMSGalileo and Copernicu

101、s for sustainable developmentThe UNOOSA(United Nations Office for Outer Space Affairs)and the GSA published a joint report in 2018 focusing on how E-GNSS and Copernicus support the UNs Sustainable Devel-opment Goals(SDGs).From providing the maps needed to find the best locations for renewable energy

102、 infrastruc-ture,to outlining the most fuel-efficient flight paths,optimising road transportation routes and infrastructure monitoring,applications using both GNSS and EO provide the answer to many societal challenges.Indeed the report highlighted that all of the United Nations 17 Sustainable Devel-

103、opment Goals were positively impacted by the combined use of E-GNSS and Copernicus,and of those 13 significantly benefit.The report can be downloaded at:www.unoosa.orgCopernicus is the European system for monitoring the Earth and is coordinated and managed by the European Commission.The development

104、of the observation infrastructure is performed under the aegis of the European Space Agency for the space component and by the European Environment Agency and EU countries for the in situ component.It consists of a complex set of systems which collect data from multiple sources:earth obser-vation sa

105、tellites and in situ sensors such as ground stations,airborne sensors,and sea-borne sensors.It processes this data and provides users with reliable and up-to-date information through a set of services related to environmental and security issues.The services address six thematic areas:land,marine,at

106、mosphere,climate change,emergency management,and security.They support a wide range of applications,including environment protection,management of urban areas,regional and local planning,agriculture,forestry,fisheries,health,transport,climate change,sustainable devel-opment,civil protection,and tour

107、ism.For more information see:www.copernicus.euUNITED NATIONSUNITED NATIONS OFFICE FOR OUTER SPACE AFFAIRSEuropean Global Navigation Satellite System and Copernicus:Supporting the Sustainable Development GoalsBUILDING BLOCKS TOWARDS THE 2030 AGENDASynergies between systemsThe future of space technolo

108、gies relies on two words:integration and fusion.Ubiquitous localization and timing,ubiquitous sensing,ubiquitous Connectivity,3D digital model-ling:these major technological trends are fuelling the fourth industrial revolution,characterized by the integration and fusion of different space and ground

109、 technologies and infrastructures;and a new,enhanced representation of our physical world.These technologies will cause radical transformations of our society,such as those related to auton-omous driving and to an extensive use of drones in commercial applications.With their funda-mental role in loc

110、alization and timing,remote sensing and communications,space technologies play an essential role in enabling such a future.As a matter of example,in autonomous driving and autonomous drones operations(more gener-ally,for whatever concerns Autonomous Things),satellites not only provide ubiquitous com

111、mu-nications,but also ubiquitous positioning and timing.Furthermore,Earth observation(remote sensing)merged with the IoTs ubiquitous sensing delivers an accurate,detailed and enhanced 3D representation of the world.Thus,from mapping to farm management to environmental monitoring to autonomous mobile

112、 robotics,a wealth of innovative applications already benefit from the combined use of Europes two flagship space programs:Galileo and Copernicus.Many of these applications also depend on device connectivity;be it to receive assistance or augmentation data,to exchange with peers or to optimise the d

113、ata flow between field and office,one always assumes that the device is connected.This is where,in areas without sufficient terres-trial networks coverage,the invisible third pillar of the space applications,Communications comes into play and provides the necessary connection that enables the seamle

114、ss integration of our devices and information systems.Communication has always been a close cousin to posi-tioning,as well as a complement.The current trend in this field is to propose very large or mega constellations of LEO satellites to provide affordable wideband connectivity worldwide.There are

115、 indeed several such plans,backed by major multinational companies:NameProposed network sizeKey backing organisationsONEWEB720 Initial,2,000 targetAirbus,Virgin,Qualcomm,Intelsat,BhartiSTARLINK4,425 initial,12,000 targetSpaceXBOEING1,400-3,000BoeingSuch networks of LEO satellites have the potential

116、to play a similar role as 4G/5G telephony with respect to GNSS,i.e.a kind of symbiosis whereby GNSS can position the satellites,which in return can provide assistance and augmentation data and even complementary positioning signals.ESAGNSS User Technology Report|Issue 2,2018RECEIVER DESIGN GNSS USER

117、 TECHNOLOGY OVERVIEW 15ALL COMPONENTS OF GNSS RECEIVER ARE SUBJECT TO INTENSIVE DEVELOPMENTThe evolution of receiver design has been enabled by techno-logical developments in the semiconductor industry,including increased processing power to support more GNSS channels,and the development of low-cost

118、 MEMS sensors that allow tighter coupling with different sensors and bring positioning to GNSS-deprived locations.Simultaneously,market pressures have exerted a pull towards increased accuracy,improved performance in difficult envi-ronments,and reduced time to first fix(TTFF).This simplified diagram

119、 presents the building blocks of a typical GNSS receiver alongside the main characteristics(the most important or rapidly evolving of which are highlighted in red).This architecture is typical of a self-contained GNSS receiver.The trend towards multi-frequency receivers does not signifi-cantly affec

120、t this functional diagram,but it does impact several components,notably the antenna 1,the RF front-end,and the Baseband processing which are(in a gross approxima-tion)replicated for each frequency.1.Antenna(+preamplifier)Receives,amplifies and band-pass filters GNSS signals.Dimensions:Selectivity No

121、ise factor Gain Radiation pattern Phase Centre Bandwidth Multi-frequency Multipath rejection Single or multiple antenna inputs Jamming mitigation6.Input/Output interfacesConverts data produced in internal formats into such recognised formats as NMEA.After reformatting,the data is output over a suita

122、ble data interface such as RS-232 Serial data,Ethernet,Bluetooth or a combination of several.The selection of the interface is often application domain specific.2.RF down convertorDown-converts and filters RF signals to an intermediate frequency(IF)compatible with analogue-to-digital converter(ADC)a

123、cceptable input.Dimensions:Input frequency/ies Phase noise Linearity Automatic Gain Control(AGC)Isolation3.Analogue to Digital converterConverts the analogue IF signal into a digital representation.Dimensions:Linearity Number of bits/Dynamic range Jitter Bandwidth Interface to baseband4.Baseband pro

124、cessingAcquires and tracks incoming signals,demodulates navigation data.Dimensions:Number of channels Measurement rate Measurement noise(C/N0)Multipath immunity Signals/modulations processed Dynamics Interference cancellation Jamming mitigation5.PVT(&Application)processingComputes the estimated posi

125、tion and receiver time offset relative to the constellations reference time.Dimensions:Solution type(GNSS,Differential GNSS)Real Time Kinematic(RTK),Precise Point Positioning(PPP),)Single or Multi constellation Update rate LatencyLocalOscillatorRFRFFront-EndAnalogueto DigitalconverterAntennaAnalogue

126、IFDigitalIFInputs/OutputsUser InterfaceBasebandProcessing PVTProcessingRaw Data&Navigation messagePowerSupply123456GNSS RECEIVER FUNCTIONAL BLOCK DIAGRAMGNSS User Technology Report|Issue 2,201816GNSS USER TECHNOLOGY OVERVIEW POSITION PROCESSINGTHE PVT COMPUTATION STRATEGY DICTATES THE ACCURACY BUT A

127、LSO THE ROBUSTNESS OF THE SOLUTIONGNSS observationsGNSS receivers perform measurements on the incoming navigation signals to obtain direct observables which can be of two types,the code phase and the carrier phase.These are meas-ures of the same physical quantity,the pseudorange,albeit with rather d

128、ifferent characteristics.CHARACTERISTICS OF GNSS OBSERVABLESObservableTypical precisionAmbiguity RemarksCode phase1 m 1 code length(300 km for a C/A code duration of 1 ms)The primary GNSS observable.Robust though limited in precisionCarrier phase1 cm 1 carrier wavelength(19 cm at E1/L1)Used for high

129、-accuracy PVT estimation.Requires ambiguity resolutionThese observables are contaminated by a number of errors which must be modelled,estimated or eliminated in order to compute an accurate PVT solution.When performed simultaneously on several frequencies,several satellites,or by several receivers,t

130、hese observations can be linearly combined to form derived observables with particular interest for processing;for instance,this is the case of the“iono-free”,the“widelane”,or with several other combinations.PVT processing strategies come in two groups-Code phase-based solutions that are robust but

131、exhibit limited accuracy,and Carrier phase-based solutions that can potentially offer very high accuracy,but with greatly reduced robustness and at the cost of the resolution of the ambiguities.Single Point PositioningSingle Point Positioning(SPP)is the default method.It is based on the use of code

132、phase observ-ables,either single frequency or dual frequency,possibly smoothed with carrier observations,and adjusted in a navigation filter,which is generally a least squares(LSQ),weighted least squares(WLSQ),Kalman or extended Kalman(EKF)filter.When only single frequency observables are avail-able

133、,a model(Klobuchar,NeQuick)is applied to account for ionospheric delays.Otherwise these are estimated or eliminated by an iono-free linear combination.The PVT accuracy depends on that of the received clock and ephemeris data(CED),and of the models used(all residual errors will propagate in the posit

134、ion solution).Since residual errors in SPP are larger than the signal wave-length,carrier phase observations can only be used for smoothing the solution.Augmented GNSSWhenever the performance achieved with SPP is insufficient,augmentation methods are used.They allow cancellation or precise modelling

135、/estimation of the residual measurement errors.Differential GNSS:This method assumes a high spatial&temporal correlation of GNSS error components.It makes use of a reference receiver with known coordinates to determine the lump-sum of GNSS errors for visible satellites,and broadcasts this informatio

136、n.Users GNSS positioning is improved by applying GNSS range correction as measured by the reference station.RTK:Real time Kinematic is the version of DGNSS that uses carrier phase observables instead of(carrier phase smoothed)code phase observables.It implies a successful resolution of the carrier p

137、hase ambiguities,which is all the more likely as multiple frequencies are used and the reference to receiver distance(baseline)remains small.Network DGNSS/RTK:These are versions of the above where a network of reference sites is used rather than just one,to extend the operational area and/or improve

138、 the redundancy of the solution.Common to all three methods is the determination and use of a lump correction,and collectively they are known as observation space representation(OSR)techniques.They provide a position solution relative to the reference station(network).The next two methods attempt to

139、 differen-tiate the different components of GNSS observations error satellite clocks,orbits&signal biases,atmospheric delay/advance etc.Since the state of the GNSS error components is determined,this approach is called a state space representation(SSR)technique.SBAS:This method uses a national or ev

140、en continent-wide network of(dual frequency)refer-ence stations to estimate corrections split into several components including satellites orbits and clocks,and a real-time ionosphere model.These are broadcast(using a GNSS like signal)to receivers that reconstruct the correction in the observation d

141、omain and use a standard PVT filter.PPP and PPP-AR:This is the ultimate evolution of the SSR concept.All individual error compo-nents are estimated either at the network(worldwide)or at the receiver level.When these estimates are accurate enough to resolve the carrier phase ambiguities,precise unamb

142、iguous carrier phase estimates of the pseudoranges can be used and yield sub decimetre accuracy.This mode is referred to as PPP with ambiguity resolution(PPP-AR).Whatever the augmentation strategy used,it implies relying on a(network of)reference station(s)and obtaining a solution relative to it.Fur

143、thermore,a real-time communication link is required.Finally,all carrier phase-based solutions require an estimation of the ambiguities,and continuous,cycle slip free measurements(thus excluding receiver duty cycling).GNSS User Technology Report|Issue 2,201817MULTIPLE FREQUENCY GNSS USER TECHNOLOGY O

144、VERVIEW AFTER E1 AND E5 WHICH THIRD FREQUENCY WILL BE ADOPTED?BeiDou1176.45 MHz1207.140 MHz1227.60 MHz1237 MHz1254 MHz1268.52 MHz1278.75 MHz1561.098 MHz1575.42 MHz1593 MHz1610 MHzGPSGalileoL5GLONASSB2aE5aB2IL3E5bL2B3B1IL1 C/AE6E1L1L2CDual frequencyDual frequency receivers offer significant advantage

145、s over single frequency receivers in terms of achievable accuracy,but also in terms of improved resistance to jamming.L5/E5a signals are located in frequency bands shared with ARNS,which are subject to increased regulatory protection(similar to L1/E1)and will hence be used for safety-critical transp

146、ort appli-cations,and will also be supported by SBAS(standards in development).L5/E5a will therefore be broadcast on more satellites than any other frequency.Additionally,signals on L5/E5a offer the advantages of a high chipping rate and of a higher received power than E1/L1 or L2.This makes L5/E5a

147、a natural choice for future dual frequency receivers,although currently there is a larger selection of GPS L2 capable receivers for legacy reasons.After many years of use limited to professional or governmental users(mainly because of high cost),the first dual frequency chipset for the mass market w

148、as launched in 2017(incorporating L1/E1 and L5/E5a).Several more are either available or announced in 2018.Triple frequencyWhile there are very compelling reasons to adopt dual frequency technology,the case for triple frequency is less clear and currently only high accuracy,professional grade receiv

149、ers have adopted it.The main rationale behind triple frequency adoption is to improve the performance of the carrier phase ambiguity resolution algorithms,necessary for high-accuracy processing(RTK,Network RTK and PPP AR).These improvements are along three characteristics;the maximum separation from

150、 a reference station(for RTK and N-RTK),the reliability of the solution,and the time required to obtain and validate this solution.When the selection of the two primary frequencies is dictated by their separation,their ARNS status and the sheer number of satellites that will use them,the choice of a

151、 third(or middle)frequency is far less obvious Galileo and BeiDou make use of the E6 band,while GPS and GLONASS will continue to utilise the L2 band.Additionally,QZSS supports both E6 and L2C.Research papers typically show some advantages for E6 in terms of PVT processing,while some RF engineers fav

152、our L2 because the reduced frequency offset from E5 simplifies implementation.An important and possibly decisive factor in favour of the E6 choice is the fact that Galileo and QZSS intend to use this frequency not only as a GNSS signal,but also as a data channel to broadcast(free)PPP augmentation me

153、ssages,thus enabling the receivers to perform a PPP solution without requiring any other(external)communication channel.MAJOR GNSS POSITION COMPUTATION STRATEGIESMethodSPPDGNSSRTKSBASPPPObservableCodeCodeCarrierCodeCode/CarrierPositioningAbsolute(in the GNSS reference frame)RelativeRelativeRelativeA

154、bsolute(in the tracking network reference frame)Comm LinkNoYesYesYes (GNSS like)YesSingle Frequency(SF)Dual Frequency(DF)Triple Frequency(TF)SF or DFSFMostly DFSF(SF)DF or TFTime to First Accurate FixRx TTFFAs SPP+time to receive correctionsAs DGNSS+time to resolve ambiguitiesAs DGNSSAs RTK,but time

155、 to estimate ambiguities significantly higher(more unknowns)Horizontal Accuracy5-10 m DF15-30 m SF 1 m to 5 m1 cm+1 ppm baseline 1 m 10 cm to 1 mCoverageWorldwideUp to 100s kmUp to 10s kmUp to 1000s kmWorldwideGNSS FREQUENCIES IN THE L BAND GNSS User Technology Report|Issue 2,201818GNSS USER TECHNOL

156、OGY OVERVIEW SIGNAL PROCESSINGEVOLUTION IN SIGNAL PROCESSING OPENS NEW POSSIBILITIES FOR USERSShortest pathL1L5Shortest pathSource:S.K.Moore,IEEE SpectrumThe inexorable march to high accuracy solutions from the surveying market in the 1990s,to all market segments today,has been enabled through the a

157、vailability of more signals,increased processing power,and silicon miniaturisation.Mass market dual frequency chips blur the lines with professional productsIn less than ten years,the mass market chips have evolved from products capable of processing a single(L1 GPS)narrow band,low sample rate signa

158、l to dual wide band(Upper L Band-Full E1/L1-quad constellation+Partial Lower L Band),high sampling rates for the recently introduced multi-constellation dual frequency products.Such products feature two complete wideband RF front-ends,one for the upper L-band,one for the lower L-band(L5-E6),with sep

159、arate RF inputs and separate external SAW filters to maximise performance.For economies of scale a popular design is to use two identical front ends,albeit tuned to different frequencies.As the upper L-band covers 60MHz,but the full lower L-band almost 150 MHz,this strategy results in tuning choices

160、 for the lower frequencies(e.g.tuning on L5/E5a or on L2).As each individual signal does not require wide bandwidth or high sample rate,the functions of IF filters,frequency mapping to baseband,and down-sampling are performed in configurable digital hardware(pre-processors),before being fed to the G

161、NSS baseband processor.The discriminator stage,which yields the output of the correlation,is also evolving to perform additional accuracy and integrity functions.Owing to silicon density and new signals with a faster chipping rate(L5/E5),the direct and reflected components of the signal(multipath)ca

162、n be identified and thus the direct signal tracked.For NLOS(non-line of sight)signals where only the reflection is received,the Doppler frequency can be established,and if not compatible with the user motion and the angle from the satellite,rejected.This approach also helps detect and reject spoofed

163、 signals.Such implementation(both front end and baseband)resembles that of dual frequency profes-sional grade receivers of yesterday,with a trade-off between power consumption and processing.The very large quantities in which such chips are produced however allow access to state-of-the-art component

164、s technology(7-14 nanometre process),thus limiting the impact of the higher specifi-cations on cost and power consumption for consumer devices,such as smartphones.With regards to chips optimised for the IoT,such performance-driven design is not suitable and low energy designs are used instead.These

165、are single frequency,narrow band,single or dual constel-lation products which can deliver a suitable performance level at minimal cost and energy per position fix.Cutting edge developments improve carrier phase trackingWith the trend towards high-precision GNSS requiring carrier-phase solutions and

166、ambiguity reso-lution,the signal processing must maintain phase lock in compromised situations.Techniques utilised include vector tracking(where the signal processing loops of all satellites are driven collectively using the error signals from the satellite channels that do have signal),and ultra-ti

167、ght coupling(where the input signals from other sensors such as inertial or vehicle speed are also used to drive the signal tracking loops).Professional designs implement trustworthiness featuresSafety critical or high-precision receivers have prioritised performance over cost or power consump-tion

168、for a long time.Highly intensive signal processing allows the implementation of direction of arrival processing,which provides orientation and anti-jamming/anti-spoofing.Receivers use full bandwidth processing to produce low noise,low multipath measurements.Furthermore,high precision receivers featu

169、ring hundreds of channels can dedicate a portion of the channels to tracking unwanted(multipath or spoofing)signals and eliminating them from the solution.The demand for processing power is a multifaceted problem:the more satellites used in the solu-tion,the more effective the processing becomes;how

170、ever,the signals must still be subject to the full suite of processing(such as notch filters)to maintain the phase relationships of the signals if centimetre level accuracies are to be achieved.While safety-critical receivers are slower in adopting new signals due to standardisation issues,they shar

171、e a no compromise approach on signal quality with high-precision products,and often adopt similar technical solutions,first proven in the high-precision world.L5 VS.L1 MULTIPATH DISCRIMINATION CAPABILITYGNSS User Technology Report|Issue 2,201819GNSS ANTENNAS GNSS USER TECHNOLOGY OVERVIEW ANTENNA CAP

172、ABILITIES DRIVE RECEIVER PERFORMANCECombinerSplitterRFINCoaxUpper L BrandLower L BrandCableCoaxCableRFIN E5SplitterRFIN E1AntennaDUAL FREQUENCYAntennaSINGLE FREQUENCYThere is an increasing demand for high-performance,low-cost antennas.In the Mass Market Solutions section of this report we discuss th

173、e introduction of dual frequency into smartphones,together with access to raw measurements.These two changes could result in decimetre or centimetre accuracy,but this can only be achieved when the antenna delivers multi-frequency signal reception,and phase centre stability.Meeting the demand for low

174、-cost,high-performance antennasGNSS antennas vary from tiny linear ceramic bars in phones,through active patch antennas in vehicles,to large sophisticated helix antennas for survey and reference station use,with choke rings and other large expensive precautions to minimise multipath.In all but the l

175、owest-cost imple-mentations,they include an LNA and a SAW filter.For multiple frequency the complexity more than doubles,as the element itself must support the two frequencies,then the signal must be amplified,divided through a separate SAW filter for each band before amplification,and recombined to

176、 send down the coax to the GNSS receiver.This is illustrated in the diagram on the right.Here the red filter passes only the wanted lower L band and the blue filter passes only the wanted upper L band,while other unwanted signals such as radar or communication do not pass to the receiver.The challen

177、ge is to deliver this capability within the low-cost and space constraints typical to consumer devices.In the automotive world,dual-frequency patch antennas are the most likely solution.Trading antenna cost against signal processingPresently antennas in consumer equipment are optimised for cost rath

178、er than performance.As better sensitivity is achieved through signal processing,there is a tendency to use less effective antennas in combination with fewer analogue filters in the front end,and less attention to self-in-terference(e.g.phone clocks and peripherals).With dual frequency,the low-cost l

179、inear ceramic antennas of the smartphone are unlikely to suffice,particularly if the centimetre level accuracy of PPP and RTK is to be achieved.One approach would be the use of helical ceramic antennas,which are intrinsically wider band than patch antennas.Their profile is not as easy to integrate i

180、nto devices,however,and would require careful design to avoid the antenna being subject to interference from the board.Choosing which frequencies and mitigation techniques to supportWhen determining receiver specifications,the designer must choose which frequency bands will be supported and how.This

181、 is a multidimensional issue,as the antenna must match the range of frequencies selected,and suitably reject local interfering signals.In applications that can support higher costs,the use of phased arrays can allow the mitigation of jamming signals and multipath by adjusting the response to steer b

182、eams and nulls to satellites and jammers respectively.These are not however appropriate for centimetre accuracy,as the antenna phase centre is variable.Integration of positioning and communication antennas as an option for the futurePositioning and communications already show a high degree of overla

183、p with tracking,assistance data,and the smartphone.Further integration is possible using ranging on LTE signals to add information to the position calculation,and this may have better indoor penetration than GNSS.A shared receiving antenna may also be possible,but the issues associated with sharing

184、with a transmitter would need to be assessed.The challenge is to avoid GNSS signals being blocked(jammed)by adjacent band LTE signals,or harmonics of lower LTE bands.SINGLE VS.DUAL FREQUENCY GNSS RECEIVER RF FRONT END BLOCK DIAGRAMGNSS User Technology Report|Issue 2,201820GNSS USER TECHNOLOGY OVERVI

185、EW RECEIVERS CAPABILITIESMULTI-CONSTELLATION IS STANDARD IN TODAYS RECEIVERS0%20%40%60%80%100%GPSGalileoGLONASSBeiDouSBASQZSSNavICConstellation capability of GNSS receivers11 shows the percentage of receivers capable of trackingeach constellation12340%10%15%5%20%25%35%30%40%Supported constellations

186、by GNSS receivers2GPS onlyGPS+GLONASSGPS+Galileo+GLONASS GPS+GalileoGPS+GLONASS+BeiDouGPS+BeiDouGPS+Galileo+BeiDouAll 2 shows the percentage of receivers capable of tracking 1,2,3 or all the 4 GNSS constellationsMost of the current generation of receivers will still be within their product lifecycle

187、 as all constella-tions reach FOC status in 2020.As a result,manufacturers are now earnestly addressing all constel-lations,which has led to a dramatic increase in support for multi-constellation capabilities across the overall market.The vast majority of current receivers are multi-constellation,an

188、d the most popular way to provide multi-constellation support is to cover all constellations,which represents over 30%of receivers.The legacy use of single or dual GNSS(GPS/GPS+GLONASS)is reserved for applications with low performance requirements,or where regulations have not yet been updated to mu

189、lti-constellation.SBAS remains strongly supported,with almost 70%of receivers including the capability.Integra-tion of QZSS has remained relatively stable,NavIC has begun to see adoption.Multi-constellation has seen increasing adoption owing to the benefits it brings to receiver perfor-mance,particu

190、larly in environments with constrained sky view such as urban canyons.The range of benefits include:Increased availability*-particularly in the aforementioned constrained environments,where shadowing would prevent a single constellation providing an adequate,or in some cases any,solution.Increased a

191、ccuracy*-better geometry,and more signals which allow the receiver to reject compromised inputs(e.g.from multipath).Improved robustness*-several independent systems are harder to spoof than a single one.Analysis of GNSS receivers capabilitiesThe GSAs independent analysis assesses the capabilities of

192、 over 500 receivers,chipsets and modules currently available on the market.For the analysis,each device is weighted equally,regardless of whether it is a chipset or receiver and no matter what its sales volume is.The results should therefore be interpreted as the split of constellation support in ma

193、nufacturers offerings,rather than what is in use by end users.Disclaimer:The above charts reflect manufacturers publicly available claims regarding their products capabilities and judgement on the domains to which they are applicable.Use in actual applications may vary due to issues such as certific

194、ation,implementation in the end user product,and software/firmware configuration.*The Key Performance Parameters are defined in Annex III.GNSS User Technology Report|Issue 2,201821RECEIVERS CAPABILITIES GNSS USER TECHNOLOGY OVERVIEW MULTI-FREQUENCY IS COMMON IN HIGH PRECISION,BUT IS ENTERING OTHER D

195、OMAINS20%30%10%60%70%80%40%50%2134Supported frequencies by GNSS receivers2L1/E1 OnlyL1/E1+L5/E5L1/E1+L2+L5/E5L1/E1+L2 All FreqL1/E1+L2+E62 shows the percentage of receivers capable of tracking 1,2,3or all the 4 frequencies0%0%20%40%60%80%100%L1/E1L2L5/E5E6Frequency capability of GNSS receivers11 sho

196、ws the percentage of receivers supporting each frequency bandAs new signals are becoming available from an ever larger number of satellites,receivers beyond traditional high-precision applications(for example commercial drones)are also demanding performance that can best be supported by multi-freque

197、ncy.Simultaneously,multi-frequency receivers have been launched for the mass market,although have not yet seen wide-scale adoption.This has resulted in a drop of nearly 10%in the production of receivers that are single-frequency only,over the last two years.The legacy configuration of L1/E1+L2 is st

198、ill the most common multi-frequency combination,with over 20%of models(often linked with the use of only GPS or GPS+GLONASS).In the current transition period(E5a/L5 signals rapidly growing in numbers),several designs offer a configurable second frequency(either L2 or E5)that is selected by the custo

199、mer when placing the order.This results in a claimed“triple frequency”capability for such products,even though the actual use is dual frequency.As the data for this reports statistics are captured based on claimed capability(not on actual implemented configuration)they are represented as L1+L2+L5 in

200、 the chart below.E6 is increasingly supported,having grown from 1%in 2016 to 5%today,but unlike E5/L5 remains limited to high-accuracy receivers.Multi-frequency capabilities provide the following benefits:Improved accuracy*:Multi-frequency receivers allow to estimate ionospheric delays.They are enab

201、ling differential techniques in practice,extending to triple-frequency allows integer ambiguity resolution in less time,which may be required in some applications.Improved robustness*:Frequency diversity provides some protection against simple jamming,especially if the receiver does not require L1 s

202、ignals to initiate positioning.Analysis of GNSS receivers capabilitiesThe GSAs independent analysis assesses the capabilities of over 500 receivers,chipsets and modules currently available on the market.For the analysis,each device is weighted equally,regardless of whether it is a chipset or receive

203、r and no matter what its sales volume is.The results should therefore be interpreted as the split of frequency bands supported in manufacturers offerings,rather than what is in use by end users.Disclaimer:The above charts reflect manufacturers publicly available claims regarding their products capab

204、ilities and judgement on the domains to which they are applicable.Use in actual applications may vary due to issues such as certification,implementation in the end user product,and software/firmware configuration.*The Key Performance Parameters are defined in Annex III.1989First commercialGPS simula

205、tor:STR2740simulator2009First low costrecord,replayand GPSsimulation2013BladeRFSDR board ableto simulate GNSS signal2014HackRFone SDRboard2016LimeSDR-mini2018A USB3 toVGA adapterable to replayGNSS signal150,000 6,000 650 300 99 5 GNSS User Technology Report|Issue 2,201822GNSS USER TECHNOLOGY OVERVIE

206、W GNSS VULNERABILITIESANTI-JAMMING AND ANTI-SPOOFING DEVELOPMENT ACTIVITIES IN THE SPOTLIGHTDuring the 1st Galileo User Assembly held in Madrid in November 2017,the importance of protecting against vulnerabilities was strongly high-lighted as a common theme of user demands across applications sector

207、s.Jamming remains a challengeAt source,transmitted GNSS satellite signal power is equivalent to a 40-watt lightbulb.20,000 km later,the signal arriving on Earth is very weak and extremely sensitive to interference and jamming.Even mW level interfer-ence in GNSS bands can disrupt GNSS reception up to

208、 several hundred metres,and cheap jammer devices available for a few euros on eBay aim to do this.Therefore defeating jamming impacts remains a key challenge.More sophisticated jammers do not only affect all GNSS frequencies but also jam mobile phone and Wi-Fi frequencies,thus denying almost all rad

209、io commu-nications within range and making contingency measures more difficult.Interference monitoringTo handle the growth in use of such illegal jamming devices,many govern-ments,together with research and academic institutes,are developing inter-ference monitoring systems that could be deployed in

210、 critical or sensitive areas.Their purpose is to locate and identify jammer types as well as several other parameters(jamming duration,power,etc.).These systems help map and log jamming events,useful to the authorities,as well as being a poten-tial value-added service for operators.Moreover,in order

211、 to enhance GNSS receiver robustness,the EUs GNSS Radio Equipment Directive(RED-2014/53/EU)mandates that all receivers sold in the EU have a certain level of resistance to out-of-band interference.Spoofing,the emerging threatSpoofing uses GNSS-like signals to trick GNSS receivers into computing fals

212、e positions,velocities and/or times.Even though GNSS signal specifications are open,spoofing has long been considered as difficult to implement and only possible for governmental organisations because considerable resources are needed to generate credible false signals.The relatively recent availabi

213、lity of low cost USRP(Universal Software Radio Peripheral)allows GNSS-like signals to be generated in software and then transmitted in GNSS bands.A simple 5 USB to VGA adapter can spoof L1 GPS signals using open source software available on the Internet.GNSS SPOOFING CAPABLE DEVICES EVOLUTION COSTSp

214、oofer Detection feature available in Javad productsThe most recent innovations from JAVAD GNSS is isolating signals from spoofers,which cause receivers to provide incorrect position solutions if not protected against.The anti-spoofing option,which is available in all OEM boards too,defends against s

215、poofers and provides the following information-Tracked:Signals that are successfully tracked.Used:Signals that are used in position calculation.Spoofed:With 864 channels and about 130,000 quick acquisition correlators in our TRIUMPH chip,we have resources to assign more than one channel to each sate

216、llite to find ALL signals that are transmitted with that GNSS satellite PRN code.If we detect more than one reasonable and consistent correlation peak for any PRN code,we know that we are being spoofed and can identify the spoofed signals.Jammed:Signals that are blocked by jammers.Replaced:The real

217、signal is jammed and a fake signal is put on top of it.Faked:Signals that do not exist or real satellite is not visible.Follow the news on Testimonial provided by the companyGNSS User Technology Report|Issue 2,2018STRIKE3The use of GNSS is increasing in every aspect of our daily lives,requiring more

218、 and more constancy and predictability.STRIKE 3 aims to develop international standards for threat reporting and GNSS receiver testing.The process involves the development and deployment of an international GNSS interference monitoring network to capture the scale and dynamics of the problem,and req

219、uires international GNSS partners to develop,negotiate,promote and implement the standards as stated above.Ultimately the goal is suppression of international threats,by building a threat database based on central logging and analysis,which can be utilised in receiver testing.The project is already

220、outputting statistics on the number of GNSS interference events detected at its various sites.Thousands of interference events have been detected per month highlighting the scale of the problem to be resolved.More information can be found at:www.gnss-strike3.eu23PROTECTING GNSS GNSS USER TECHNOLOGY

221、OVERVIEW DIFFERENT TECHNIQUES ARE USED TO MITIGATE SIGNAL VULNERABILITIESJamming mitigationSignificant efforts were spent to overcome the jamming challenge,leading to the development of several technologies over the past few years.The first approach is to implement filtering banks(in the time or fre

222、quency domains)at receiver RF Front End to excise the spurious signal.The efficiency of these techniques depends of the nature of the interferers and of the computation resources(and cost)dedicated to the filtering.CW(continuous wave)interferers can easily be removed by low-cost filtering such as No

223、tch filters.Chirp signal jammers(technology widely found in in-car GNSS jammers),on the other hand,are more difficult to combat as these kinds of devices sweep a large frequency band.Another approach is to avoid receiving the jammed signal at antenna level.Considering that the main threats are jammi

224、ng devices emitting from the ground,the idea is to use antennas with patterns designed to receive only signals coming from the sky or able to control patterns to null signals coming from the direction where the jamming signal is detected.These technologies are costly however and used only in applica

225、tions where GNSS is critical.Finally,although cancelling jamming is challenging,detecting it remains easier(using Automatic Gain Control monitoring,for instance).The last solution is to design a system implementing contingency measures(see Increased PNT resilience section on right)to be able to swit

226、ch to a complementary solution in case GNSS-jam-ming is detected.Spoofing mitigationIn response to this threat,the GNSS community developed several technologies to defeat GNSS spoofing both at receiver and system levels.These techniques encompass spoofing detection by monitoring signal metrics in or

227、der to detect flaws in the forged signal(signal power,time incon-sistency,etc.),or the implementation of a built-in GNSS system defence solution such as the OS Navigation Message Authentication(OS-NMA)mechanism currently deployed by Galileo.These latter techniques,however,mostly allow detection of s

228、poofing only,not avoidance.The ultimate solution to fight against spoofing is to provide a way to avoid forging of a false signal.This is achievable by ciphering the whole GNSS signal such as in the Galileo Signal Authentication Service(SAS).Increased PNT resilienceIncreasing PNT resilience is on th

229、e agenda of many countries and industry players.The main areas currently investigated are:INS-An Inertial Navigation System is composed of motion sensors(accelerometer,gyrometer and magnetometer)allowing determination of the absolute movement of a platform.Using this information and knowledge of the

230、 last position,it is possible using dead reckoning to provide an estimation of position,velocity and time of the platform after spoofing or jamming detection.SOP-Signal of Opportunity positioning consists of using non-GNSS signals(AM/FM radio,cellular,digital television,Bluetooth,Wi-Fi,etc.)to compl

231、ement GNSS and INS.It has been demonstrated that the fusion of SOP pseudoranges in a tightly coupled GNSS/SOP/INS system produces a better navigation solution than a traditional tightly coupled GNSS/INS framework.Complementary systems-Using other complementary PNT systems developed with distinct tec

232、hnologies such as eLoran or STL could improve resilience for some applications.GNSS User Technology Report|Issue 2,201824GNSS USER TECHNOLOGY OVERVIEW PNT BEYOND GNSSCOMPLEMENTARY TECHNOLOGIES TO GNSS SUPPORT ENVIRONMENT INDEPENDENT PNTINDOORSOUTDOORSABSOLUTERELATIVEMEMS/INSCameraMagnetometerAcousti

233、c/UltrasoundOdometer/PedometerCSAC(Radar/Lidar)WLAN/WPAN/LPWANCamera4G/5GVisible Light CommunicationPressure/BarometerCSACSOOPMEMS/INSCameraMagnetometerAcoustic/UltrasoundOdometer/PedometerCSACRadar/LidarRadio Nav.&SOOPCamera4G/5GLPWAN/(WLAN/WPAN)Pressure/BarometerCSACThere are certain contexts wher

234、e the usage of GNSS services is difficult or even impossible.Urban canyons are an example of the former,due to multipath effects and a reduction of the number of satellites in view.Tunnels,indoors or the underground are an example of the latter.This gap in coverage or performance is not acceptable f

235、or many applications,and is addressed by using complementary technologies in the user PNT solution.Useful ResourcesThe European Radionavigation Plan(ERNP)and its US counterpart,the Federal Radionavigation Plan(FRP)both discuss publicly provided alternative PNT systems,albeit as their name implies,fo

236、cussing on radio-electrical means.The GSA GNSS User Technology Reports(issue 1,2016)includes a review of PNT technologies and sensors.2017FEDERALRADIONAVIGATIONPLANPublished by Department of Defense,Department of Homeland Security,and Department of Transportation This document is available to the pu

237、blic through the National Technical Information Service,Springfield,Virginia 22161DOT-VNTSC-OST-R-15-01 ISSUE 1USER TECHNOLOGY REPORT2016Issue 1GNSS User Technology Report|Issue 2,201825EUROPEAN R&D GNSS USER TECHNOLOGY OVERVIEW EUROPEAN GNSS DOWNSTREAM INDUSTRY LEADING THE WAY IN INNOVATION Thanks

238、to substantial investments in R&D,the European GNSS downstream industry is at the cutting edge of innovation in GNSS applications and services.It holds a strong position in several domains:transport;high precision,timing and asset management;security and resilience.Leveraging on Galileo differentiat

239、ors,European actors keep developing user technology answering the needs of ubiquitous positioning,automation and secure positioning.“Europe has a fantastic opportunity to benefit from GNSS technology innovation in terms of quality of life,growth and jobs creation”Gard Ueland,Chairman Galileo Service

240、sGalileo ServicesThe leading industry organisation focusing on down-stream in the European GNSS programmes:Non-profit association founded in 2002 Promotes the interest of EU,users and the Euro-pean GNSS downstream industry Network*representing more than 180 companies Member companies active across t

241、he whole value chain and in all domains of applications Collaborates with national and European decision makers to foster development of the European downstream industry Enabling Europe to take a substantially larger share of the valuable global downstream market*In 2009 Galileo Services and OREGIN(

242、Organization of European GNSS equipment and service Industries)joined forcesPage provided by Galileo Services.For more information:www.galileo-services.orgGNSS User Technology Report|Issue 2,201826GNSS USER TECHNOLOGY OVERVIEW EUROPEAN R&DH2020 AND FUNDAMENTAL ELEMENTS DRIVE INNOVATION OF THE GNSS A

243、PPLICATIONS AND TECHNOLOGYGNSS downstream R&D programmes in EuropeTo foster the adoption of Galileo and EGNOS-powered services across all market segments,the GSA supports two complementary R&D funding mechanisms:Fundamental Elements focuses on supporting the development of innovative chipsets,receiv

244、ers and other associated technologies that integrate Galileo and EGNOS into competi-tive devices for dedicated user communities/target markets.Horizon 2020(H2020)encourages the adoption of Galileo and EGNOS via content and appli-cation development.It also supports the integration of their services i

245、nto devices,along with their eventual commercialisation.The Fundamental Elements of European GNSSWith a budget of 111 million for the 2015 2020 timeframe,“Fundamental Elements”aims to develop market-ready GNSS chipsets,receivers and antennas.The markets targeted by these end-products include all seg

246、ments,to varying degrees:Aviation,Location Based Services(LBS),Agriculture,Surveying,Rail,Road,Maritime,Timing and Synchronisation and PRS.The financial instruments for funding Fundamental Elements-supported activities include grants and tenders/procurements.Grants are the preferred financial instru

247、ment,with funding generally provided to beneficiaries for up to 70%of the total budget of the grant agreements(up to 100%for the tenders/procurements).More information can be found here:www.gsa.europa.eu/r-d/gnss-r-d-programmes/fundamental-elements Horizon 2020Horizon 2020 is the current EU Research

248、 and Innovation programme,offering nearly 80 billion in funding for the 2014 2020 period.European GNSS applications are part of the Space Theme,having synergies with topics on societal challenges.Three E-GNSS calls were successfully concluded with a total budget of 100.9 million(for statistics see n

249、ext page).More information about the projects can be found here:www.gsa.europa.eu/gnss-h2020-projects A fourth call opens in October 2018 and runs until March 2019.Actions under the call are focused on two main types of activities;development of innovative Galileo and EGNOS-enabled applications in d

250、ifferent market segments,and European GNSS awareness raising and capacity building.The aim of the first type of activity is to support the market uptake of European GNSS in Europe and beyond.The innovative applications should leverage the differentiators of the EGNOS and Galileo systems,for example:

251、multi-frequencies,high accuracy,authentication services,better accuracy for single-frequency users.Areas of innovation will include Galileo and EGNOS-enabled applications with commercial impact,that will foster green,safe and smart mobility,digitisation,and will also support societal resilience and

252、contribute to the protection of the environment.The second type of activity is dedicated to the development of E-GNSS competences.The actions will focus on raising awareness and providing opportunities for the creation of networks of indus-trial relationships.International cooperation is welcome as

253、part of the action,when adding value and increasing the impact.Overall,these activities will help to maximise the uptake of Galileo and EGNOS and to exploit the potential of the European GNSS industry,and also contribute to growth,competitiveness and jobs in this sector,while capturing public benefi

254、ts.More information about the upcoming call can be found here:www.gsa.europa.eu/r-d/h2020/introductionGNSS User Technology Report|Issue 2,201827EUROPEAN R&D GNSS USER TECHNOLOGY OVERVIEW THREE H2020 E-GNSS CALLS RESULTED IN OUTSTANDING NUMBER OF PARTICIPATING ENTITIESEuropean Space Week 2018:Make sp

255、ace in your calendarMark your calendar for European Space Week 2018,and dont miss out on the leading European space programmes conference,connecting business,policy-makers,international experts and space application user communities,which will take place in Marseille,France,on 3-6 December 2018.For

256、more information visit the event website at:www.euspaceweek.euThree E-GNSS H2020 calls in a nutshellMember States of the European Union:Entities from 24 Member States involved 53 coordinators and 333 partners involved in totalNon-EU countries:Entities from 20 countries involved Two coordinators and

257、39 partners involved in totalNon-EU countries(outside of depicted area)Number ofPartnersAustralia 1Brazil 5Canada 1China 2Egypt 1Israel 1 and 2coordinatorsIndia 3Japan 2South Korea 2Morocco 1Malaysia 1Palestine 1Senegal 3Togo 1Thailand 2Tunisia1Taiwan2United Statesof America1Vietnam2Member States of

258、 the European Union(EU):AT Austria,BE Belgium,BG Bulgaria,CY Cyprus,CZ Czech Republic,DK Denmark,DE Germany,EE Estonia,EL Greece,ES Spain,FI Finland,FR France,HR Croatia,HU Hungary,IE Ireland,IT Italy,LT Lithuania,LU Luxembourg,LV Latvia,MT Malta,NL Netherlands,PL Poland,PT Portugal,RO Romania,SE Sw

259、eden,SI Slovenia,SK Slovakia,UK United Kingdom.Non-EU countries:CH Switzerland,MK Macedonia,MD Moldova,NO Norway,RS Serbia,TR Turkey,UA Ukraine,XK Kosovo.Member States of the European Union 1 Number of coordinators 1 Number of partnersE-GNSS H2020 CALLS:NUMBER OF PARTNERS AND COORDINATORS PER COUNTR

260、YMacrosegment characteristics 29Industry landscape 31Receiver capabilities 32Receiver form factor 33Drivers and trends 34-39E-GNSS added value 40MASS MARKET SOLUTIONS28 GettyimagesGNSS User Technology Report|Issue 2,2018MACROSEGMENT CHARACTERISTICS29Characterisation of mass market solutionsSolutions

261、 presented in this chapter have mainly been developed for the following mass market applications:Location Based Services(LBS),covering smartphones/tablets,wearables and portable devices;Internet of Things(IoT)consisting of physical devices connected to the internet;Automotive solutions,covering trac

262、king and navigation(as self-driving vehicles are safety-crit-ical,they have been included in the next macrosegment);Drones,including implementations with basic navigation to those featuring high-fidelity cameras supporting First Person View(FPV).Location Based Services still play the main role in th

263、e mass market.Customers require their smart-phones,tablets,tracking devices,digital cameras,portable computers,fitness gear and other devices to use GNSS positioning.Taking into account the rate of introduction of new technologies,we might expect further development in:Artificial intelligence;Real-t

264、ime tailor-made ecosystems;Hyper mobility(e.g.medical-grade mobile devices linked to digital healthcare platforms);Shared responsibility(e.g.accountability for decisions taken).To achieve the required performance in existing LBS devices,other technologies are frequently adopted to complement GNSS.Th

265、ese include assistance data derived from:Cellular network positioning;WLAN(Wireless Local Area Network)or Wi-Fi positioning;Wireless Personal Area Network(WPAN);Low Power Wide Area Network(LPWAN);RFID;Ultra-Wide Band(UWB);MEMS gyros and accelerometers.Key performance parameters for mass marketWhile

266、in the report for previous years the key performance parameters were defined as:Availability;Power consumption;TTFF;Indoor penetration.Recent developments,especially in consumer drones,mapping and GIS and mHealth,have increased the importance of:Accuracy;Continuity;Robustness and Integrity.A number

267、of applications shift from on demand to continuous location information,imposing more stringent requirements on a wider variety of KPPs.AVAILABILITY AND POWER CONSUMPTION STILL RULE,BUT HIGH ACCURACY CAPABILITIES ARE APPEARING IN PREMIUM DEVICESKey Performance Parameter(KPP)*Mass Market SolutionsAva

268、ilabilityAccuracyContinuityIntegrityRobustnessIndoor penetrationTime To First Fix(TTFF)LatencyPower consumption Low priority Medium priority High priority*The Key Performance Parameters are defined in Annex IIIMASS MARKET KEY PERFORMANCE PARAMETERSGNSS User Technology Report|Issue 2,2018 MACROSEGMEN

269、T CHARACTERISTICS305-10mPeriodicContinuousACCURACYUPDATE RATE30mW10-30mW10mWLeisureMaritime andGA NavigationmHealthPLBsConsumerdroneLBSnavigationSporttrackingAutomotivenavigationGeocatchingAugmentedRealityMappingand GISPower consumptionCONSUMERS PLACE DIVERSE DEMANDS ON GNSSManufacturers strive to a

270、chieve economies of scale in production of their hardware,but users expect different levels of performance across applications,and a one-size-fits-all approach means that the smartphone chipset is not quite the solution to every situation.Instead manufacturers combine their chips in different ways,a

271、nd utilise different techniques at the firmware/software level to optimise performance.The chart below shows how the key performance parameters(addressable by GNSS)are tuned in devices targeting different consumer applications.The figure charts the relative accuracy(x-axis),update rate(y-axis),and p

272、ower consumption(bubble size)of GNSS chipsets used in mass market applications today.For accuracy,the performance ranges from 5-10 m to sub-metre,with augmented reality and mapping/GIS demanding decimetre accuracy.For update rate,the performance ranges from periodic autonomous update(allowing the re

273、ceiver to hibernate fully between updates),to continuous tracking with no possibility to reduce duty-cycle.Power consumption ranges from 30 mW,which is effectively supported through an external power supply.RELATIVE PERFORMANCE OF MASS MARKET RECEIVERSGNSS User Technology Report|Issue 2,2018INDUSTRY

274、 LANDSCAPE31THE MASS MARKET SUPPLY CHAIN REMAINS STABLEMass market is no longer confined to LBS using smartphonesWhilst this market is still growing,new areas are now established(automotive,wearables and the Internet of Things,etc.)and emerging ones(enterprise applications,social networking,sports&g

275、ames,and quickly developing consumer drones)are also influencing technology development.There is now great potential for applications connecting diverse technologies OBD(On Board Diagnostics),inertial navigation,Bluetooth,low-energy beacons,etc.The main players in the LBS GNSS market are components

276、manufacturers,device integrators and vendors,service&content providers,and application developers/retailers and stores.From a geographical point of view,non-EU players are dominant in the mass market.North Amer-ican companies are leading the chipset market,and Asian companies are ahead in terms of h

277、andset revenues.Significant mass market characteristics are a focus of manufacturers in different segments undoubted dominance of Qualcomm,Broadcom and MediaTek in the smartphone market,and a focus of u-blox and STMicroelectronics in the automotive and IoT segments.Sony Semiconductor Solutions Corpo

278、ration is a new player in wearables alongside Qualcomm,Broadcom,Mediatek and u-blox entering the market with super low-power solutions.Intel continues to lead in laptops and is entering into smartphones and IoT.In drone technology evolution,the ubiquity of smartphone chipsets has supported the expon

279、en-tial growth of consumer drones.The PNT performance demanded by drones,however,is acceler-ating the drive for accuracy and integrity(to support geofencing)in high volume chipsets.Companies focus on success in innovation and implementation,which are beyond metrics like market share.They are also co

280、vering slightly different parts of the solution,with Qualcomm or Mediatek dominating in integrating mobile connectivity and GNSS,and Broadcom focusing on GNSS sensor hubs.GNSS IoT modules have been manufactured both by established receiver makers such as Qual-comm,Intel,and u-blox,and companies focu

281、sing on module manufacturing like Quectel and SIMcom.Leading manufacturers,shown in the table below have not changed since issue 1 of this report.Despite this stability in global chipset supply leadership,emerging technologies are increasingly allowing start-ups to find their niche in the market.BRO

282、ADCOMNorth AINFINEONEINTELNorth AMEDIATEKAsia-PQUALCOMMNorth ASAMSUNGAsia-PSPREADTRUMAsia-PSTMICROELECTRONICSEU-BLOXEuropewww.u-Note:This list does not include system and terminal integrators,and therefore some key industry players may not appear in the list.GettyimagesLEADING COMPONENTS MANUFACTURE

283、RSGNSS User Technology Report|Issue 2,2018RECEIVER CAPABILITIES32By 2018 multi-constellation has become standard,and multi-frequency chipsets are available in volume production for the mass market.This is beginning to create a divide between premium chipsets,where perfor-mance can differentiate prod

284、ucts,and low-cost chipsets,where cost and power consumption dominate.Multi-constellation adoptionAs FOC for all GNSS constellations is within the lifecycle of current prod-ucts,multi-constellation(MC)capabilities(and the ability to utilise them selectively in energy saving modes)has become the norm

285、for high-volume devices.In the mass market world,most applications must operate in environments with constrained sky view,like urban canyons and indoors.Whilst the communications technology inherent in such devices are complementary,GNSS still provides the core solution,and simultaneous MC processin

286、g offers improved availability and achieved accuracy(compromised signals can be rejected from the solution).As new ASICs are increasingly expensive to design and build,products differentiate their capabilities through firm-ware configuration at the module and device level,rather than hardware.Adopti

287、on of Galileo,BeiDou,GLONASS,and QZSS have all increased since the previous issue of the Technology Report.Support for all constellations is now the most common approach.Processing load and resultant energy consumption remain issues which developers must balance against performance,and in practice l

288、ow-cost devices may utilise architectures that operate constellation-specific func-tionality.This leads to a divide between premium,high-performance,and low-cost,low-power receivers within the mass market.Multi-frequencyWhilst nearly all current devices utilise L1/E1 signals only,2017 saw the introd

289、uction of premium mass market chipsets which incorporate L5/E5a signals.Smartphones incorporating these chipsets were first launched in June 2018,with many others expected to follow.Dual frequency receivers offer improved accuracy and robustness,and access to high precision techniques(PPP and RTK)cu

290、rrently only common in more specialised receivers,blurring the line with professional products.0%20%40%60%80%100%L1/E1L2L5/E5E60%20%40%60%80%100%GPSGalileoGLONASSBeiDouSBASQZSSNavICFrequency capability of GNSS receivers1Constellation capability of GNSS receivers20%100%80%60%40%20%123421340%10%15%5%2

291、0%25%35%30%40%Supported frequencies by GNSS receivers3Supported constellations by GNSS receivers4GPS onlyGPS+GLONASSGPS+Galileo+GLONASS GPS+GalileoGPS+GLONASS+BeiDouGPS+BeiDouGPS+Galileo+BeiDouAll L1/E1 OnlyL1/E1+L5/E5L1/E1+L2+L5/E5L1/E1+L2 All FreqL1/E1+L2+E61 shows the percentage of receivers supp

292、orting each frequency band2 shows the percentage of receivers capable of trackingeach constellation3 shows the percentage of receivers capable of tracking 1,2,3or all the 4 frequencies4 shows the percentage of receivers capable of tracking 1,2,3 or all the 4 GNSS constellationsL5/E5,1%L1/E1+L5/E5,1%

293、MULTI-CONSTELLATION IS NOW STANDARD FOR MASS MARKET RECEIVERS,IS MULTI-FREQUENCY NEXT?Disclaimer:The above charts reflect manufacturers publicly available claims regarding their products capabilities and judgement on the domains to which they are applicable.Use in actual applications may vary due to

294、 issues such as certification,implementation in the end user product,and software/firmware configuration.GNSS User Technology Report|Issue 2,2018RECEIVER FORM FACTOR33MASS MARKET CHIPSETS VARY BETWEEN LBS,IOT,DRONES AND AUTOMOTIVEDisclaimer:The above specifications represent a typical chip/SoC packa

295、ge or module based on manufacturers published literature for their latest products.Consequently discrepancies may exist between the installed receivers characteristics and those stated above.*Excludes chipsets for safety-critical/autonomous applications.*Premium chipsets now incorporate dual frequen

296、cy but are not yet typical.FeaturesLBSIoTDrones*Automotive*Dimensions15 x 15 x 3 mm3 x 3.2 x 0.36 mm10 x 10 x 1.5 mm10 x 10 x 2 mmWeight1.6 g0.5 g1 g1gOperating temperature range-40 to+85C-40 to+85C-40 to+85C-40 to+105CPower supply2.5-3.6 V1.4-3.6 V2.7-3.6 V3.0-3.6 VCurrent consumptionHibernate10 mA

297、10 A30 A30 AAcquisition100 mA28 mA28 mA10 mATracking28 mA3-8 mA21 mA28 mANumber of channels80727216Number of frequencies1*111*Time-To-First-FixCold start26 s26 s40 s40 sHot start1 s1 s1 s1sAided starts2 s2s3 s2.5 sSensitivityTracking 167 dBm160 dBm167 dBm-159 dBmAcquisition160 dBm160 dBm146 dBm-146

298、dBmCold start148 dBm148 dBm145 dBm146 dBmHot start156 dBm157 dBm155 dBm-155 dBmMax navigation update rate5 Hz4Hz18Hz30HzVelocity accuracy0.05 m/s0.2-0.05 m/s0.05 m/s0.03 m/sHorizontal position accuracyAutonomous2.5m1.2m2.5m2.5mSBAS2mN/AN/A2mAccuracy of time pulse signalRMS30 nsN/A30 ns30 ns99%60 nsN

299、/A60 ns60 nsFrequency of time pulse signal0.25 to 10HzN/A0.25 to 10Hz0.25 to 10HzOperational limitsDynamics4gN/A4g4gAltitude50,000 mN/A50,000 m50,000 mVelocity500 m/sN/A300 m/s300 m/sMass market receivers have evolved rapidly in recent years.LBS devices remain primarily E1/L1 and support multiple co

300、nstellations,but dual-frequency receivers have now been launched.For IoT,manufacturers have developed receivers with less than 3 mA continuous tracking power consumption.Consumer Drone offer-ings utilise low-cost GNSS receivers designed for LBS devices.Some of the current generation of consumer auto

301、motive modules incorporate dual frequency.As self-driving cars reach the market and the GNSS function becomes mission critical,new chipset generations will evolve to meet the safety requirements of ISO 26262,ASIL and will be reported in the Transport safety-and liability-critical solutions section.I

302、n the past,constellation support differentiated low-cost and premium LBS receivers;today the differentiator is frequencies.The majority will continue to utilise only L1/E1 and may claim multi-constellation support,but favour single-con-stellation operation to keep power consumption low.The latest ge

303、neration of receivers however includes those with L1/E1 and L5/E5a,and target premium smartphones that seek to deliver applications such as augmented reality.IoT receivers now frequently incorporate multi-constellation,but may process them selectively to save power.Continued development of power sav

304、ing modes of operation now offers reduced sensitivity,update rate,and disabling SBAS tracking in return for significantly reduced power consumption.Duty-cycling remains the favoured approach to reduce power consumption,and A-GNSS remains integral to delivering the required fast TTFF.Drone receivers

305、are typically supplied to drone manufacturers as a module incor-porating MEMS accelerometers/gyros along with other functions.Sharing common features with LBS receivers,a typical receiver will provide multi-constellation solutions.Consumer drones mission time is constrained by propulsion,meaning tha

306、t power consumption of the GNSS module is a lower concern than in LBS.Automotive receivers are less constrained by power consumption than other mass market chipsets.As a result they do not sacrifice sensitivity by duty-cycling,can track all satellites in the sky including SBAS,and are also starting

307、to adopt multi-frequency.They also operate with external active antennas,which provide improved signal strength.Tightly coupling satellite and MEMS based inertial measurements allows high-rate position output,even in compromised scenarios.TYPICAL STATE-OF-THE-ART RECEIVER SPECIFICATIONS FOR THE MASS

308、 MARKET SEGMENTGNSS User Technology Report|Issue 2,2018DRIVERS AND TRENDS34DUAL FREQUENCY ENTERS HIGH-VOLUME RECEIVERSIn 2017 and 2018 manufacturers launched multi-frequency receivers for the mass market.These architectures open the door to high-precision techniques,which could result in decimetre a

309、ccuracy in high-volume receivers.New receivers provide dual frequencyIn September 2017 Broadcom launched their BCM47755,the first dual-frequency(DF)chipset aimed at the smartphone market.In February 2018 u-blox launched their F9 chip,and STM launched their latest Teseo receiver,both targeting automo

310、tive applications and supporting L1+L2 or L1+L5 frequencies.Intel presented a dual frequency prototype in early 2018,and Qualcomm demonstrated their Snapdragon X24 LTE,supporting concurrent multi-constellation,multi-fre-quency GNSS at the Mobile World Congress(Barcelona)in February 2018.Dual frequen

311、cy addresses consumer demand for accuracyUser demand for more stringent horizontal and vertical accuracy,for example in applications such as mHealth,augmented reality,and the migration of mapping GIS to high volume devices1,has led accuracy requirements to tighten from metre to decimetre level.Deliv

312、ering high accuracy requires carrier phase positioning with ambiguity resolution.Dual frequency measurements enable direct ionosphere delay estimation,and use of techniques such as wide laning for quasi instantaneous,“on the fly”ambiguity resolution.In urban environments,multi-constellation is also

313、needed to achieve an accurate solution(in order to provide good dilu-tion of precision,residuals for Fault Detection and Elimination(FDE),and sufficient multipath-free measurements).Promising potentialIn January 2018 the GPS World magazine published updated results from Trimbles investigation into“P

314、ositioning with Android:GNSS observables”2.Using a proprietary positioning engine,they were able to demonstrate the possibility of centimetre level accuracy using the BCM47755 chipset and antenna in ideal conditions.Compared to existing professional GNSS devices the convergence time(for ambiguity re

315、solution)was compromised,however the study provided a glimpse of future possibilities for consumer receivers.Similarly Novatel tested the Teseo APP(Automotive Precise Positioning)and Teseo V chipsets with their high-precision positioning engine and correction services,in order to demonstrate signifi

316、cant reductions in position errors utilising the dual-frequency capabilities of the chipset3.These results show that sub-metre accuracy is possible with the right conditions.As techniques evolve to address the limitations of mass market hardware,such performance will become commonplace.This will und

317、erpin a suite of new applications like augmented reality.Remaining challenges solved with L1/E1 and L5/E5a for the mass market?There are challenges remaining to be addressed in terms of delivering sufficient accuracy,such as development of low-cost antennas with good phase centre stability and impro

318、ved duty cycling to reduce power consumption2.The combination of L1/E1 and L5/E5a can unlock performance gains through higher chipping rates,but these require an increase in receiver power that must be kept minimal.1 Report on location-based services user needs and requirements.2 http:/ https:/www.g

319、sa.europa.eu/sites/default/files/expo/luis_serrano_stm.pdf Will next gen smartphones be classified based on the quality of their GNSS?Smartphones with dual-frequency(L1/E1+L5/E5)GNSS receivers have recently hit the market(the first being Xiaomis Mi 8),and they stand out thanks to their unprecedented

320、 location accuracy.These smartphones will be using the Broadcom BCM47755 Dual-Frequency GNSS receiver chip,introduced in 2017 and the first one ever designed and produced for the mass market.It uses the more advanced L5/E5 signals available from Galileo and from the latest GPS satel-lites,in additio

321、n to traditional L1/E1 signals.The BCM47755 is capable of producing fixes with thirty-centimetre accuracy,and also mitigates urban multipath induced errors in a much more reliable way than legacy GNSS receivers.As these dual frequency GNSS smartphones become available in the market,customers will st

322、art experiencing the enhanced location accuracy.These new smartphones will also showcase Galileos critical contribution to the accuracy,because if Galileo signals were not available,then more than half of the L5/E5 signals would vanish,and the chip would fall back to traditional L1/E1 performance.We

323、 believe dual-frequency GNSS will soon become a performance differentiation factor,so much so that next generation smartphones will be classified based on the quality of their GNSS receiver.Customers will consider the GNSS technology in the smartphone as one of the factors when selecting the device

324、they want to purchase.This demand will push the smartphone OEMs to make the dual-frequency GNSS feature visible to their customers.maybe showing a unique location icon on the top bar of the display whenever dual-frequency is used.A clear indication of the GNSS quality.Time will tell.Testimonial prov

325、ided by the companyGNSS User Technology Report|Issue 2,2018DRIVERS AND TRENDS35ACCESS TO RAW MEASUREMENTS OPENS NEW POSSIBILITIES FOR APP DEVELOPERS AND USERSGoogle made GNSS raw measurements available on Android Nougat and higher in 2016.Since then third party developers can access carrier and code

326、 measurements,as well as decoded navigation messages in a growing number of consumer receivers.This opens the door for the use of advanced GNSS processing techniques that have previously been restricted to professional receivers.Several application areas stand to profit from the potential increase i

327、n accuracy,such as augmented reality,location based advertising,mobile health,and asset management.Depending on the device,the API can provide access to navigation messages,carrier phase measurements and to parameters needed to generate pseudoranges.Android raw measurements task forceLaunched in Jun

328、e 2017 and coordinated by the European GNSS Agency(GSA),the GNSS Android Raw Measurements Task Force aims to share knowledge and expertise on Android raw measure-ments and their use,including their potential for high accuracy posi-tioning techniques relevant to mass market applications.The Task Forc

329、e includes GNSS experts,scientists and GNSS market players,all of whom are dedicated to promoting a wider use of these raw measurements.As a first output of this joint endeavour,the Task Force has published a“White Paper on using GNSS Raw Measurements on Android devices”.The White Paper provides an

330、insight into the topic,including guidance on how to derive pseudoranges from the raw measurements,first testing results using various positioning tech-niques,practical tips,and an outlook on its use.More information,including upcoming workshops,can be found at:www.gsa.europa.eu/gnss-raw-measurements

331、-task-forceThe White Paper can be downloaded at www.gsa.europa.euScientific use and research and development As raw measurements are avaible on an open source platform,the barrier to entry for development of novel hardware and software solutions is dramatically reduced.Scientific users can use obser

332、vations for testing harware and new post processing algorithms.Integrity and Robustness Access to raw measurements allows applications to include unique interference detection and elimination techniques.SBAS corrections can be incorporated without the need for additional equipment.Raw measurements a

333、llow applications to compare solutions between constellations and provide spoofing protection,or even use genuine system features such as OS-NMA.Increased accuracy Subject to hardware limitations,access to raw measurements means a developer can employ advanced positioning techniques and create a solution currently only available in professional receivers.It results in a technological push to devel