Beruflich Dokumente
Kultur Dokumente
Urban Environment
Suraj Bijjahalli, Subramanian Ramasamy and Roberto Sabatini
School of Engineering-Aerospace and Aviation Discipline
RMIT University
Melbourne, VIC 3000
roberto.sabatini@rmit.edu.au
AbstractGNSS based UAS navigation in urban
environments is limited in terms of accuracy and integrity by the
presence of severe signal multipath and antenna masking. An
Aircraft-Based Integrity Augmentation (ABIA) system for GNSS
receivers is presented. The proposed system relies on detailed
models of signal propagation and multipath to predict GNSS
positioning accuracy in urban environments. This capability is
used to augment path-planning functionalities in UAS Traffic
Management (UTM). The performance of the proposed system is
demonstrated in simulated trajectories in urban canyons,
wherein positioning integrity is threatened by multipath and
masking.
2.
I.
INTRODUCTION
3.
4.
5.
6.
II.
ABIA SYSTEM
(1)
(2)
where :
(3)
III.
Pt
Parameter
EIRP(including
)
(4)
Gr
Gt
and
respectively (dBic).
Ls
Nf
La
Nominal value
Gt
26.8 dBW
Ls
182.4 dB
La
2 dB
Nf
-138.5 dBW
Figure 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.
gn= ak sinc
k=1
N2
y i=
sin g n
n=N 1
where
(6)
where
Ts
the channel.
k
n ,N 1 n N 2
Ts
( )
(7)
th
k th echo.
echo.
pdf Rayl ( ak ) =
ak
a 2k
exp
(
)
2
2 2
(8)
pdf Rice ( a k )=
ak
ak
a k +1
I (
2 0
)exp (
2
)
(9)
Fig.9. Gains of LOS signal (red) and multipath component (blue), and channel impulse response.
95 vertical accuracy=2 z
y1
and
y2
are the
a1
and
[ ( y 1 y 2 ) +d /2(a 1+ a2) ]
(a1 a2 )
The error T
contributes to the bias in pseudorange
measurements d at every epoch. Given n visible
satellites, the covariance in the positioning errors dx can
be shown to be linearly related to the covariance of the
pseudorange errors d by [11]:
where
of
by the ABIA system to raise integrity alerts in low altitude
navigation in this paper.
V.
1.
2.
Type of alert
Caution Flag
Error Source
Masking
Multipath
Signal attenuation
Masking
Multipath
Signal attenuation
Thresholds
When number of visible satellites drops to below 5
When 2drms 0.90 min(HAL,VAL)
When C / N 0 drops below 53 dB-Hz
Warning Flag
When number of visible satellites drops to below 4
When 2drms 0.90 min(HAL,VAL)
When C / N 0 drops below 52 dB-Hz
during the trajectory at which ABIA raises masking integrity
alerts(for trajectory 1).
The modelled environment and the UAV geometry is
imported into the MATLABTM environment as shown
in Figure 15.The following integrity augmentation
modules of the system architecture are implemented in
MATLABTM:
3,8,16~49
Warning Flags
19~30,32~39,41~47
RESULTS
1~58
Warning Flags
9~11,23~25,27~42,48~51,55~57
VII.
DISCUSSION
CONCLUSIONS
REFERENCES
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]