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I.
INTRODUCTION
II.
ABIA SYSTEM
(4)
Parameter
EIRP(including
Nominal value
26.8 dBW
182.4 dB
2 dB
(1)
-138.5 dBW
(3)
(2)
where:
= 10
(5)
Fig. 1. RC Time-response.
Signal multipath:
In addition to the signal attenuation due to free-space loss
and atmospheric effects described previously, multipath, or
signal reflection prior to arriving at the receiver antenna,
induces further fading in the signal, which ultimately impacts
signal measurements and tracking. This section is divided
into two parts: First, the multipath channel model used in this
research is described. The model is used to simulate urban
The computed multipath delay is used to initialize a bandlimited discrete multipath channel modelled using a TappedDelay Line (TDL) as shown in Fig. 8 in order to model the
effect on the received signal. The fading channel assumes that
the power delay profile and the Doppler spectrum are
separable, and is therefore modelled as a linear finite-impulse
response (FIR) filter.
The output samples of the signal from the multipath
channel are related to the input samples by:
=
where
(6)
(7)
)=
exp (
(8)
)=
( )exp (
(9)
V.
The modules of the IFG and its outputs are shown in Fig.
12. The assigned integrity thresholds for multipath are based
on multipath channel models, the theoretical ranging errors
they produce, and the probability of multipath detection using
the ELP variable. The multipath channel model, in turn, relies
on models of the navigation environment and the satellite
constellation. Table 2 describes the thresholds for triggering
caution and warning flags for all error sources that the flag
generator is able to detect. The thresholds for signal
attenuation are based on the signal strength that a given
receiver can successfully track. The thresholds for antenna
masking are based on the number of visible satellites required
to compute a position. Thresholds for aircraft operations in all
phases of flight is found in [4, 5]. The key contribution of this
research lies in the integrity thresholds assigned for multipathinduced error.
(10)
The error
contributes to the bias in pseudorange
measurements
at every epoch. Given visible satellites,
the covariance in the positioning errors
can be shown to be
linearly related to the covariance of the pseudorange errors
by [11]:
(
)=(
) (
(11)
= 2
95%
= 2
95%
= 2
(12)
+
(13)
(14)
where , , and
are the diagonal elements of
( ).
These estimated accuracy levels are used by the ABIA system
to raise integrity alerts in low altitude navigation in this paper.
1.
2.
Type of alert
Caution Flag
Warning Flag
Error
Source
Thresholds
Masking
When number
of visible
satellites drops
to below 5
Multipath
When 2drms
0.90
min(HAL,VAL)
Signal
attenuation
When CN
drops below 53
dB-Hz
Masking
When number
of visible
satellites drops
to below 4
Multipath
When 2drms
0.90
min(HAL,VAL)
Signal
attenuation
When CN
drops below 52
dB-Hz
RESULTS
IX.
[1]
[2]
3,8,16~49
Warning Flags
19~30,32~39,41~47
[3]
[4]
1~58
Warning Flags
9~11,23~25,27~42,48~51,55~57
VII.
[6]
DISCUSSION
[5]
CONCLUSIONS
[7]
[8]
[9]
[10]
[11]
[12]
[13]
REFERENCES