Bearings-only target motion analysis with acoustic propagation models of uncertain fidelity

The augmented bearings-only target motion analysis (TMA) problem arises when the bearing measurements of the classical bearings-only TMA problem are augmented with received signal-to-noise ratio (SNR) measurements. A combined acoustic propagation and sensor (CAPS) performance prediction model specifying the conditional density of the SNR measurements is assumed given; however, mismatch may exist between the CAPS model and the real world. We present a novel "missing data" formulation of the augmented bearings-only TMA problem using an empirical maximum a posteriori (EMAP) method for target parameter estimation, and show that it provides a natural and straightforward technique for mitigating CAPS model mismatch. The EMAP approach leads to an iteratively reweighted, linear least-squares algorithm for solving both the augmented bearings-only TMA problem and the classical (nonaugmented) bearings-only TMA problem. Examples are provided.     

GPS code and carrier multipath mitigation using a multiantennasystem

Multipath is a major source of error in high precision Global Positioning System (GPS) static and kinematic differential positioning. Multipath accounts for most of the total error budget in carrier phase measurements in a spacecraft attitude determination system. It is a major concern in reference stations, such as in Local Area Augmentation Systems (LAAS), whereby corrections generated by a reference station, which are based on multipath corrupted measurements, can significantly influence the position accuracy of differential users. Code range, carrier phase, and signal-to-noise (SNR) measurements are all affected by multipath, and the effect is spatially correlated within a small area. In order to estimate and remove code and carrier phase multipath, a system comprising a cluster of five GPS receivers and antennas is used at a reference station location. The spatial correlation of the receiver data, and the known geometry among the antennas, are exploited to estimate multipath for each satellite in each antenna in the system. Generic receiver code and carrier tracking loop discriminator functions are analyzed, and relationships between receiver data, such as code range, carrier phase, and SNR measurements, are formulated and related to various multipath parameters. A Kalman filter is described which uses a combination of the available information from the antennas (receivers) in the multiantenna cluster to estimate various multipath parameters. From the multipath parameters, the code range and carrier phase multipath is estimated and compensated. The technique is first tested on simulated data in a controlled multipath environment. Results are then presented using field data and show a significant reduction in multipath error     

Analysis of airborne GPS multipath effects using high-fidelity EM models

Airborne GPS systems are being upgraded to provide sufficient positioning accuracy to support automatic landing operations in low visibility conditions. This is made possible by differential GPS (DGPS), in which the errors common to the airborne receiver and ground station are removed by knowledge of the latter's precise location. However, errors specific to the airborne system remain, of which the dominant components are receiver noise and multipath. To support the assessment of the integrity of the signal in space, these residual errors are incorporated in a statistically based error model, designated as the "standard model." The standard model is defined as the standard deviation of a Gaussian distribution that overbounds the residual pseudo-range (PR) error. It relates the standard deviation of the overbounding distribution to the elevation angle of the satellite relative to the local level coordinate system. The international community is currently developing improved standards to enable DGPS systems to support landings in the worst visibility conditions (i.e., CAT III). As a part of this development, the standard model for multipath is being re-evaluated and an improved model is sought. In order to better characterize the residual multipath errors, tools for accurate calculation of the airframe scattering effects are needed. Development of such tools is the subject of this paper. A new method for accurately computing pseudo-range error, based on the use of high-fidelity EM models, is described. This approach provides new insight into the mechanisms causing multipath error.     

重庆机场终端区容量评估的仿真研究

确定和提高终端区容量,对减少航班延误和保障飞行安全有着较高的意义。考虑终端区系统自身的复杂性和影响因素的随机性,当前多采用计算机仿真技术对终端区容量进行评估。使用SIMMOD PLUS仿真软件对重庆机场系统和终端区系统进行联合仿真,结合当地管制工作负荷情况以及流量控制策略,对重庆机场终端区容量的大小进行评估。并对SIMMOD PLUS软件给出的各个节点延误量进行统计分析,找出了限制终端区运行的瓶颈所在,设计相应的空域结构优化方案,实现提升终端区容量的目的。仿真结果表明,方案合理、有效。     

Adaptive SNR-based carrier phase multipath mitigation technique

An improved technique that mitigates specular multipath in Global Positioning System (GPS) differential carrier phase measurements is described. It adaptively estimates the spectral parameters (frequency, amplitude, phase offset) of multipath in the associated signal-to-noise ratio (SNR), and then constructs a profile of the multipath error in the carrier phase. A multipath correction is subsequently made by subtracting the profile from the actual phase measurement data. The technique is demonstrated on ground based experimental data, as well as flight data from the atmospheric research satellite CRISTA-SPAS. Ground experiments were conducted on static platforms in severe multipath environments. Multipath was deliberately introduced by either strategic placement of reflectors or electronic injection. This allowed for some control over the strength and frequency of the multipath. Averaging the results from 43 ground and 18 flight data sets, the differential carrier phase multipath was reduced by 47%. The complete results for both ground and flight tests are presented and are accompanied by discussions of individual cases     

Receiver-channel based adaptive blind equalization approach for GPS dynamic multipath mitigation

Aiming at mitigating multipath effect in dynamic global positioning system (GPS) satellite navigation applications, an approach based on channel blind equalization and real-time recursive least square (RLS) algorithm is proposed, which is an application of the wireless communication channel equalization theory to GPS receiver tracking loops. The blind equalization mechanism builds upon the detection of the correlation distortion due to multipath channels; therefore an increase in the number of correlator channels is required compared with conventional GPS receivers. An adaptive estimator based on the real-time RLS algorithm is designed for dynamic estimation of multipath channel response. Then, the code and carrier phase receiver tracking errors are compensated by removing the estimated multipath components from the correlators’ outputs. To demonstrate the capabilities of the proposed approach, this technique is integrated into a GPS software receiver connected to a navigation satellite signal simulator, thus simulations under controlled dynamic multipath scenarios can be carried out. Simulation results show that in a dynamic and fairly severe multipath environment, the proposed approach achieves simultaneously instantaneous accurate multipath channel estimation and significant multipath tracking errors reduction in both code delay and carrier phase.     

Multipath-adaptive GPS/INS receiver

Multipath interference is one of the contributing sources of errors in precise global positioning system (GPS) position determination. This paper identifies key parameters of a multipath signal, focusing on estimating them accurately in order to mitigate multipath effects. Multiple model adaptive estimation (MMAE) techniques are applied to an inertial navigation system (INS)-coupled GPS receiver, based on a federated (distributed) Kalman filter design, to estimate the desired multipath parameters. The system configuration is one in which a GPS receiver and an INS are integrated together at the level of the in-phase and quadrature phase (I and Q) signals, rather than at the level of pseudo-range signals or navigation solutions. The system model of the MMAE is presented and the elemental Kalman filter design is examined. Different parameter search spaces are examined for accurate multipath parameter identification. The resulting GPS/INS receiver designs are validated through computer simulation of a user receiving signals from GPS satellites with multipath signal interference present The designed adaptive receiver provides pseudo-range estimates that are corrected for the effects of multipath interference, resulting in an integrated system that performs well with or without multipath interference present.     

The Effect of Multipath Reflections on Spaceborne Interferometer Accuracy

This paper presents a discussion of multipath disturbance of a satellite interferometer. A mathematical expression is developed, in which an upper bound of the error of the measured angle difference and position locations owing to multipath is expressed in terms of geometrical system parameters and the amplitude and phase of the multipath signal. Because diffuse reflection from a rough surface is predominant, the spectrum of multipath reflections is calculated. Multipath rejection by filtering is discussed, and curves for the position errors are presented.     

Complex Indicated Angles Applied to Unresolved Radar Targets and Multipath

The off-axis angle indicated by a conventional monopulse radar is only the real part of a "complex indicated angle." The presence of unresolved targets or multipath distorts the real part (causing an erroneous angle indication) and also produces an imaginary part, which can easily be measured by processing the normally unused quadrature-phase component of the difference signal. Under certain conditions the angles, amplitude ratio, and relative phase of two unresolved targets can theoretically be determined by meas urements of the complex indicated angle on two pulses separated by a short interval. In the special case of multipath, known relationships between the unresolved target and image theoretically permit determination of target elevation with a single pulse.     

Multipath mitigation method based on Gaussian mixture model in RF relative measurement

Radio Frequency (RF) technology represents a high-precision relative navigation solution that has significant potential for application to earth-orbiting satellites. In precision applications, multipath errors dominate the total error because observables, which are used to estimate carrier-phase integer ambiguity, are not always subject to a Gaussian distribution when dual-frequency ambiguity estimation methods are used in the presence of multipath. As it has been shown that ranging observables obey a Gaussian mixture distribution, this study proposes improvements to the accuracy of estimation based on multipath mitigation founded on the Gaussian mixture model. To this end, such a model is created for integer ambiguity resolution in the presence of multipath, using which the theoretical error in dual-frequency ambiguity estimation is derived. Expectation Maximization (EM), which aids dual-frequency ambiguity estimation, is subsequently proposed to reduce the effect of multipath errors. Finally, two experimental scenarios are implemented to test the performance of the proposed method. The results show that EM-aided dual-frequency ambiguity estimation reduces the range error to approximately 20% in comparison with simple dual-frequency ambiguity estimation. Therefore the proposed technique is effective for multipath mitigation in RF relative measurement.     

多径效应对GPS载波相位观测量的影响

推导了ＧＰＳ接收机中多径效应引入的最大载波相位跟踪误差的闭合形式。得到以下结论：当直达信号跟踪误差不超过１码片时,最大载波测相多径误差为１／４周,该值出现在测码伪距多径误差最小的情况下;当直达信号跟踪误差超过或等于１码片时,接收机跟踪多径信号,信号误检发生。     

Polarization Effect on Multipath for Extended Targets

The results of a theoretical investigation of the influence of polarization on multipath are presented. First, the case of a point target is examined and it is confirmed that the multipath effect tends to vanish for rough sea and small grazing angles. Models of a buoy and of a large ship are then introduced and it is shown that, for targets that are extended in height, the multipath effect for vertical and horizontal polarization is substantially the same.     

GNSS多径抑制基带处理算法综述CSCD

随着全球导航卫星系统(GNSS)信号体制的不断更新,接收机应用环境越来越复杂,多径误差抑制技术也在不断发展进步。其中,基于改进基带的多径抑制算法由于成本和效果综合较优,受到了国内外研究人员的重视。论文首先阐述了GNSS多径抑制的基本原理,综述了传统的GNSS参量式和非参量式多径抑制算法的研究现状和实现方式,然后探讨分析了新体制信号中提高抗多径性能的方法,总结了当前GNSS多径抑制基带处理研究中的主要问题,最后展望了其未来的发展趋势。     

Multipath Fluctuation Effects in Track-While-Scan Radar

A theoretical model of diffuse multipath reflections from rough surfaces is applied to the prediction of multipath power distribu tions in radar coordinates: elevation angle, time delay, and Dop pler frequency. These distributions are used to predict radar tracking errors in elevation angle, for both monopulse and scan ning antenna systems, and typical results are presented. These show a small increase in tracking error for scanning systems, on radially approaching targets, caused by sensitivity of these trackers to amplitude scintillation of the composite direct-plus multipath signal. Effects of knife-edge diffraction and of vegetation ion are briefly considered.     

Multipath Angle Error Reduction Using Multiple-Target Methods

The usual methods of reducing multipath angle errors in monopulse tracking radar achieve only limited success because they do not attack the root of the problem. A more correct approach is to accept the multipath signal as a second target and utilize a two-target signal processor which angle tracks both wavefronts. The processor will decouple the return signals so that relatively interference-free data on both waves are obtained. In this paper a signal processor for separating signal from (N - 1) multipath components is developed. The processor is then specialized to the case of only one multipath signal and evaluated by a computer simulation. Data show that large improvements are possible as compared to the usual monopulse tracking system. In particular, the usual large bias errors at low elevation angles are eliminated. Tracking precision compares favorably with the theoretically best possible for two-target tracking systems.     

On Optimizing Array Reception of Multipath

This paper reviews system configuration requirements and analyzes detectability performance characteristics for maximum likelihood array reception of multipath. Performance is analyzed to determine the effects of channel multipath structure (multipath delay and signal power division among the paths), space-time correlation properties of the incident processes, and the array spacing. It is shown by a series of case studies, that for single element coupling, as well as array coupling, an increased multipath delay factor results in decreased system detectability for fixed signal and noise intensity levels. The performance capacity is degraded as the available signal power tends to distribute more uniformly between the paths. These effects are attributed to the loss of effective signal energy concentration, resulting in a lower effective pre-detection signal-to-noise ratio. An investigation of the effects upon system performance, due to array element spacing, shows that performance is enhanced by increasing the spacing relative to the multipath delay factor and the reciprocal signal bandwidth. The former is the result of a more directive detectability (beam) pattern arising from the increased spacing. In effect, with increased spacing, the main lobe of the pattern is narrowed, while the side lobes are optimally suppressed by the required noise related array element link, frequency filters (weights).     

Analysis of an adaptive algorithm for unbiased multipath time delay estimation

The multipath equalization time delay estimator (METDE) provides an adaptive approach for estimating the difference in arrival times of a signal received at spatially separated sensors as well as the multipath channel characteristics. However, the parameter estimates of the METDE are biased in the presence of noise. The METDE algorithm is improved for unbiased parameter estimation via minimizing a modified cost function. Convergence behaviors and variances of the system variables of the amended method are derived. Computer simulations are included to corroborate the theoretical analysis and to evaluate the adaptive multipath delay estimation performance of the proposed algorithm.     

Moving scanning emitter tracking by a single observer using time of interception: Observability analysis and algorithm

The target motion analysis (TMA) for a moving scanning emitter with known fixed scan rate by a single observer using the time of interception (TOI) measurements only is investigated in this paper.By transforming the TOI of multiple scan cycles into the direction difference of arrival (DDOA) model,the observability analysis for the TMA problem is performed.Some necessary conditions for uniquely identifying the scanning emitter trajectory are obtained.This paper also proposes a weighted instrumental variable (WIV) estimator for the scanning emitter TMA,which does not require any initial solution guess and is closed-form and computationally attractive.More importantly,simulations show that the proposed algorithm can provide estimation mean square error close to the Cramer-Rao lower bound (CRLB) at moderate noise levels with significantly lower estimation bias than the conventional pseudo-linear least square (PLS) estimator.     

SNR-based multipath error correction for GPS differential phase

Carrier phase multipath is currently the limiting error source for high precision Global Positioning System (GPS) applications such as attitude determination and short baseline surveying. Multipath is the corruption of the direct GPS signal by one or more signals reflected from the local surroundings. Multipath reflections affect both the carrier phase measured by the receiver and signal-to-noise ratio (SNR). A technique is described which uses the SNR information to correct multipath errors in differential phase observations. The potential of the technique to reduce multipath to almost the level of receiver noise was demonstrated in simulations. The effectiveness on real data was demonstrated with controlled static experiments. Small errors remained, predominantly from high frequency multipath. The low frequency multipath was virtually eliminated. The remaining high frequency receiver noise can be easily removed by smoothing or Kalman filtering