ION 2004 National Technical Meeting
January 26-28, 2004
Catamaran Resort Hotel - San Diego, California
TABLE OF CONTENTS
PLENARY SESSION
Satellite Navigation Update
Daniel P. Salvano, Federal Aviation Administration, 1
Wide Area Augmentation System (WAAS)
Daniel Hanlon, Federal Aviation Administration, 19
LAAS Program Status
Daniel Hanlon, Federal Aviation Administration, 40
Joint Precision Approach and Landing System (JPALS)
Brandon Beers, JPALS, 52
GPS and GALILEO: Evolution Towards GNSS
James Miller, U.S. Department of Transportation, 73
A1: WAAS, LAAS AND INTEGRITY
Status Update on GPS Integrity Failure Modes and Effects Analysis
K. Van Dyke, DOT/Volpe Center; K. Kovach, ARINC; J. Lavrakas, B. Carroll, Overlook
Systems, 92
The Effects of Large Ionospheric Gradients on Single Frequency Airborne Smoothing
Filters for WAAS and LAAS
T. Walter, S. Datta-Barua, J. Blanch, P. Enge, Stanford University, 103
Range Biases on the WAAS Geostationary Satellites
R.E. Phelts, T. Walter, P. Enge, Stanford University; D.M. Akos, University
of Colorado; K. Shalberg, T. Morrissey, Zeta Associates Inc., 110
Recommendations on the Use of the L2 Civil (L2C) Signal for WAAS
D. G. O’Laughlin, M.B. El-Arini, M. Tran, T. Kim, C. Hegarty, S.D.
Ericson, The MITRE Corporation, 121
GPS Augmentation Using Japanese Quasi-Zenith Satellite System
F. Wu, N. Kubo, A. Yasuda, Tokyo University of Marine Science and Technology,
Japan; S. Verhagen, P. Joosten, Delft University of Technology, The Netherlands,
135
A New Position Domain Algorithm to Improve WAAS Availability and Continuity
While Maintaining Integrity
G. Mu, J.P. Havlicek, J. Fagan University of Oklahoma, 145
A Study on High-Accuracy Positioning System Enhanced by Quasi-Zenith Satellites
T. Furukawa, M. Saito, A. Akaishi, Mitsubishi Electric Corporation, Japan,
157
A2: INDOOR NAVIGATION / MULTIPATH MITIGATION
Network-Based Nationwide RTK-GPS and Indoor Navigation Intended for Seamless
Location Based Services
H. Higuchi, A. Harada, T. Iwahashi, S. Usui, J. Sawamoto, J. Kanda, K. Wakimoto,
S. Tanaka Mitsubishi Electric Corporation, Japan, 167
Performance of a Precision Indoor Positioning System Using a Multi-Carrier
Approach
D. Cyganski, J. Orr, W.R. Michalson, Worcester Polytechnic Institute, 175
Effect of the Error in the Line-of-Sight Unit Vector on Pseudolite-Based
Positioning Systems
C. Kee, H. So, J. Kim, H. Jun, Seoul National University, Korea; P. Enge,
S. Pullen, Stanford University, 181
Measurements and Modeling of the Satellite-to-Indoor Channel for Galileo
F. Perez-Fontan, B. Sanmartin, University of Vigo, Spain; A. Steingass,
A. Lehner, J. Selva, German Aerospace Center, Germany; E. Kubista, Joanneum
Research, Austria; B. Arbesser-Rastburg, European Space Agency, The Netherlands,
190
Modeling of the GNSS Directional Radio Channel in Urban Areas Based on Synthetic
Environments
O. Esbri-Rodriguez, A. Konovaltsev, A. Hornbostel, German Aerospace Center,
Germany, 203
GNSS Signal Reliability Testing in Urban and Indoor Environments
H. Kuusniemi, G. Lachapelle, The University of Calgary, Canada, 210
Multipath Performance Analysis for Future GNSS Signals
M. Irsigler, G.W. Hein, B. Eissfeller, University FAF Munich, Germany, 225
A3: MEMS AND GPS ATTITUDE SYSTEMS AND
APPLICATIONS
Honeywell MEMS Inertial Technology & Product Status
J.G. Hanse, Honeywell Defense & Space Electronic Systems, 239
Low Cost MEMS Inertial Measurement Unit
A. Kourepenis, J. Connelly, J. Sitomer, Charles Stark Draper Laboratory
Inc., 246
Head Tracking for 3-D Audio Using a GPS-Aided MEMS IMU
J.M. Joffrion, J.F. Raquet, Air Force Institute of Technology, 252
Improving the Performance of MEMS-Based Inertial Sensors by Removing Short-Term
Errors Utilizing Wavelet Multi-Resolution Analysis
W. Abdel-Hamid, A. Osman, The University of Calgary, Canada; A Noureldin,
Royal Military College of Canada; N. El-Sheimy, The University of Calgary, Canada,
260
Development of a Low-Cost Solution for GPS/Gyro Attitude Determination
C. Wang, G. Lachapelle, The University of Calgary, Canada, 267
A Generic Interface Standard for Inertial Measurement Units
S. Davison, J. Stevenson, QinetiQ, U.K.; J. Owen, Defence Science and Technology
Laboratory (DSTL), U.K.; S.L. Saks, Aerospace Corporation, 277
B1: GPS MODERNIZATION, GALILEO AND QZSS
Modeling the Affects of High-Powered Signals on the Civilian GPS User
K.R. Meyer, Advanced Information Engineering Services, a General Dynamics
Company, 287
The Proposed State Vector Representation of Broadcast Navigation Message
for User Equipment Implementation of GPS Satellite Ephemeris Propagation
R. DiEsposti, J. DiLellio, C. Kelley, The Boeing Company; A. Dorsey, Lockheed
Martin; H. Fliegel, J. Berg, C. Edgar, The Aerospace Corporation; T. McKendree,
Raytheon Fullerton; P. Shome, Federal Aviation Administration, 294
Concatenated Sequential Codes: Performance Attributes and Applications for
Galileo
A.R. Pratt, Orbstar Consultants, U.K.; M.D. Powe, J.I.R. Owen, DSTL, U.K,
313
Time Dissemination and Synchronization for Galileo Users
A. Moudrak, J. Furthner, A. Konovaltsev, H. Denks, J. Hammesfahr, German
Aerospace Center (DLR), Germany, 323
Multipath Performance of the New GNSS Signals
C. Hegarty, M. Tran, J.W. Betz, The MITRE Corporation, 333
Flight Test Evaluation of a GPS Attitude Determination System Using Non-Dedicated
GPS Receiver
N.P. Oliveira Leite, Instituto de Aeronáutica e Espaço, Brazil;
F. Walter, Instituto Tecnológico de Aeronáutica, Brazil, 343
B2: RECEIVER AND ANTENNA TECHNOLOGIES
Tracking Loop Dynamics and Synchronous AGC for GPS
J. Hill, University of Hartford, 352
Performance of GPS/Galileo Receivers Using m-PSK BOC Signals
A.R. Pratt, Orbstar Consultants, U.K.; J.I.R. Owen, DSTL, U.K, 362
Real Time Block Processing Engine for Software GNSS Receivers
S. Gunawardena, F. van Graas, A. Soloviev, Ohio University, 371
Implementation and Verification of a Software-Based IF GPS Signal Simulator
L. Dong, C. Ma, G. Lachapelle, The University of Calgary, Canada, 378
An Enhanced Acquisition Process of a Maximum Likelihood GPS Receiver
I.F. Progri, California State Polytechnic University; M.C. Bromberg, Elected
Engineering Inc.; W.R. Michalson, Worcester Polytechnic Institute, 390
GPS Antenna Phase and Group Delay Corrections
F. van Graas, C. Bartone, T. Arthur, Ohio University, 399
Development and Flight Testing of a Low Cost VHF Datalink Antenna for the
Ground-Based Regional Augmentation System
W.S. Ely, Airservices Australia, GNSS Program Office, Australia, 409
Navigation Signal Processing with FPGAs
J. Hill, University of Hartford, 420
B3: CARRIER PHASE POSITIONING
A High Performance Projected DGPS Ambiguity Resolution Technique
Y. Zhang, C. Bartone, Ohio University, 428
Improved Triple-Frequency GPS/GALILEO Carrier Phase Ambiguity Resolution
Using a Stochastic Ionosphere Modeling
O. Julien, P. Alves, M.E. Cannon, G. Lachapelle, The University of Calgary,
Canada, 441
Improvement of Positioning Performance Using Standardized Network RTK Messages
H.-J. Euler, S. Seeger, O. Zelzer, F. Takac, B.E. Zebhauser, Leica Geosystems
AG, Switzerland, 453
Test Results of RTK-GPS Using Low-Rate Data-Link
C. Kee, J. Kim, S. Kim, J. Kim, S. Lee, Seoul National University, Korea,
462
Analysis of the Network Geometry and Station Separation for Network-Based
RTK
D.A. Grejner-Brzezinska, I. Kashani, P. Wielgosz, Ohio State University,
469
Vehicle Positioning by Network-Based RTK-GPS Using Area Correction Parameter
(FKP) Via TV Wave in Japan
C. Fan, N. Kubo, Tokyo University of Marine Science and Technology, Japan;
K. Nishikawa, Mitsubishi Electric Co., Japan; K. Sasano, TV Asahi Co., Japan;
T. Tanaka, LSI Japan Co., Ltd., Japan; H. Hasegawa, GeoNet, Inc., Japan; H.
Namie, National Defense Academy of Japan, 475
An Adaptive Kinematic GPS Positioning Technique
G.-S. Huang, National Chin-Yi Institute of Technology, Taiwan; C.-C. Tsai,
National Chung Hsing University, Taiwan, 483
B4: ATMOSPHERIC EFFECTS
Ionosphere Spatial Gradient Threat for LAAS: Mitigation and Tolerable Threat
Space
M. Luo, S. Pullen, T. Walter, P. Enge, Stanford University, 490
A Study of the Ionospheric Effect on GBAS (Ground-Based Augmentation System)
Using the Nation-Wide GPS Network Data in Japan
T. Yoshihara, N. Fujii, Electronic Navigation Research Institute, Japan;
A. Saito, Graduate School of Science, Kyoto University, Japan, 502
Performance of a Tomographic Approach to SBAS Ionospheric Estimation in the
Equatorial Region
R. Lejeune, M.B. El-Arini, The MITRE Corporation/CAASD, 512
A New Ionospheric Estimation Algorithm for SBAS Combining Kriging and Tomography
J. Blanch, T. Walter, P. Enge, Stanford University, 524
Estimating SBAS Ionospheric Delays Without Grids: The Conical Domain Approach
L. Sparks, A. Komjathy, A.J. Mannucci, Jet Propulsion Laboratory, California
Institute of Technology, 530
Correlation Structure of the Equatorial Ionosphere
S. Rajagopal, T. Walter, S. Datta-Barua, J. Blanch, Stanford University;
T. Sakai, Electronic Navigation Research Institute, 542
C1: MILITARY SYSTEMS AND APPLICATIONS
Code and Phase Multipath Characterization for Beam-Steering Receivers
R.J. Eggert, J.R. Gutierrez, J.F. Raquet, Air Force Institute of Technology,
551
GPS Multipath Mitigation Assessment of Digital Beam Forming Antenna Technology
in a JPALS Dual Frequency Smoothing Architecture
G.A. McGraw, R.S.Y. Young, K. Reichenauer, Rockwell Collins; J. Stevens,
F. Ventrone, ARINC Engineering Services, 561
A Demonstration of Advanced Spinning-Vehicle Navigation
J.H. Doty, D.A. Anderson, Rockwell Collins, Inc.; T.D. Bybee, Alliant Techsystems
Inc., 573
Simplified Survey System
G.S. Graham, U.S. Army RDECOM; J.W. Smith CAS, Inc.; K.R. Peake, NTA, Inc.,
585
Evaluating Airborne Navigation Systems Using Commercial WADGPS Receivers
S.A. Wright, H.A. Klotz, Jr., The Boeing Company, 589
GPS Anomaly Resolution and the Satellite Reference Station (SRS)
A. Chasko, D.A. Garay, 746th Test Squadron, 598
C2: SPACE SYSTEMS AND APPLICATIONS
High Accuracy Kinematic Spacecraft Relative Positioning Using Dual-Frequency
GPS Carrier Phase Data
R. Kroes, Delft University of Technology, Delft Institute for Earth Oriented
Space Research The Netherlands; O. Montenbruck, German Space Operations Center,
Germany, 607
Simulated Positioning Performance of the JPL Mars Network Operating in Conjunction
with the European Netlanders Mission
K. O’Keefe, G. Lachapelle, S. Skone, The University of Calgary, Canada,
614
Architecture and Performance Testing of a Software GPS Receiver for Space-Based
Applications
K. Gold, A. Brown, NAVSYS Corporation, 624
A Miniature GPS Receiver for Precise Orbit Determination of the SUNSAT 2004
Micro-Satellite
O. Montenbruck, German Space Operations Center, Germany; B. Nortier, Stellenbosch
University, South Africa; S. Mostert, Sun Space and Information Systems (Pty)
Ltd, South Africa, 636
Improving Kinematic LEO POD with the Use of Space-Based and Ground-Based
GPS Transceiver Constellation: Feasibility Study
D. Grejner-Brzezinska, C.-K. Hong, T.-S. Bae, Ohio State University, 643
Analysis of the GLONASS and GPS Signals Availability at the GEO
S.V. Averin, Y.M. Urlichich, A.A. Vinogradov, V.V. Dvorkin, Federal State
Unitary Enterprise, Russian Institute of Space Device Engineering, Russia, 652
C3: MARINE NAVIGATION APPLICATIONS
GNSS Augmentation Systems in the Maritime Sector
M. Fairbanks, N. Ward, The General Lighthouse Authorities, U.K and Ireland;
W. Roberts, M. Dumville, V. Ashkenazi, Nottingham Scientific Ltd, U.K, 662
Novel Signal Designs for Improved Data Capacity from DGPS Radiobeacons
R. Hartnett, K. Gross, M. McKaughan, U.S. Coast Guard Academy; P. Enge,
Stanford University; P. Swaszek, University of Rhode Island; G. Johnson, John
J. McMullen Associates, Inc.; A. Cleveland, M. Parsons, U.S.C.G. Command &
Control Engineering Center, 674
Improvements of USCG RTK Positioning Performance Using External NOAA Tropospheric
Corrections Integrated with a Multiple Reference Station Approach
P. Alves, Y.W. Ahn, J. Liu, G. Lachapelle, The University of Calgary, Canada;
D. Wolfe, A. Cleveland, U.S. Coast Guard, 689
Enhanced Loran for Maritime Harbor Entrance and Approach
B. Peterson, K. Dykstra, Peterson Integrated Geopositioning, LLC; P.F. Swaszek,
University of Rhode Island; J. Macaluso, K.M. Carroll, A. Hawes, U.S. Coast
Guard Loran Support Unit; G.K. Weeks Jr., U.S. Coast Guard Command and Control
Center, 699
Field Measurements of dLoran for Harbor Entrance and Approach
W.J. Pelgrum, Reelektronika b.v., Delf University of Technology, The Netherlands;
A.W.S. Helwig, G.W.A. Offermans, Reelektronika b.v., The Netherlands; E. Johannessen,
Megapulse, 714
DGPS Availability and Accuracy in a Harbor Area
G. Johnson, John J. McMullen Associates, Inc.; R. Hartnett, U.S. Coast Guard
Academy; P. Swaszek, University of Rhode Island, 721
Enhanced Loran for Timing and Frequency
K. Carroll, U.S. Coast Guard Loran Support Unit; T. Celano, C. Biggs, Timing
Solutions Inc.; G.K. Weeks Jr., U.S. Coast Guard Command and Control Center,
735
Study on GPS Application to Draught Measuring System on Board
S. Okuda, Y. Arai, Marine Technical College, Japan, 740
C4: ATMOSPHERIC EFFECTS 2
Ionospheric Electron Density Profiles from Single-Frequency GPS Tracking
of Sounding Rockets
O. Montenbruck, M. Markgraf, German Space Operations Center, Germany; G.
Schmitt, Kayser-Threde GmbH, Germany, 746
3-Dimensional Assimilative Ionospheric Modeling for Regions of Large TEC
Gradient
X. Pi, G.A. Hajj, Jet Propulsion Laboratory, California Institute of Technology
/ University of Southern California; B.D. Wilson, A.J. Mannucci, A. Komjathy,
L. Mandrake,
Jet Propulsion Laboratory, California Institute of Technology; C. Wang, G. Rosen,
University of Southern California, 753
Evaluation of Ionospheric Interpolation Algorithms for Regional and National
GPS Networks in Canada
Y. Moon, S. Skone, The University of Calgary, Canada, 761
D1: NATIONAL AIRSPACE, AVIATION SYSTEMS
AND PRECISION APPROACH
Error and Availability Analysis of Cat IIIb LAAS Augmented by Radar Altimeter
C.A. Shively, T.T. Hsiao, The MITRE Corporation/CAASD, 771
Program for the Investigation of Airborne Multipath Errors
T. Murphy, R. Friedman, Boeing Commercial Airplanes; J. Booth, P. Geren,
Boeing Phantom Works; N. Molloy, Boeing Air Traffic Management; B. Clark, J.
Burns, Federal Aviation Administration, 781
The High Resolution Aeronautical Multipath Navigation Channel
A. Steingass, A. Lehner, German Aerospace Center (DLR), Germany; F. Perez-Fontan,
E. Kubista, Joanneum Research, Austria; M.J. Martin, University of Vigo, Spain;
B. Arbesser-Rastburg, European Space Agency, The Netherlands, 793
Definition, Testing, and Application of Instrument Landing System Critical
Areas
L.N. Spohnheimer, Federal Aviation Administration; D.A. Quinet, M. Mowry,
Ohio University, 805
B-value Research for FAA LAAS Station Integrity and Fault Detection
H. Wen, J. Havlicek, J. Fagan, University of Oklahoma, 817
Opportunities to Improve the Safety and Security of Airport Surface Movements
at Airports Due to the WAAS Implementation
D.M. Damjanovic, Space Imaging LLC, 823
D2: ALGORITHMS AND METHODS
Huber’s M-estimation in GPS Positioning: Computational Aspects
X.-W. Chang, Y. Guo, McGill University, Canada, 829
A New Formulation and Solution to Navigation State Vector Estimation Problem
C. Shapiro, Independent Consultant, 840
A Block Processing Carrier to Noise Ratio Estimator for the Global Positioning
System
M. Sayre, Ohio University, 862
PRC Generation in Time-Latency: Is RRC Still Required Even if S/A Has Been
Turned Off?
C. Kee, B. Park, J. Kim, S. Cho, Seoul National University, Korea, 869
A GPS Velocity Sensor: How Accurate Can It Be? –A First Look
L. Serrano, D. Kim, R.B. Langley, University of New Brunswick, Canada; K.
Itani, Furuno Electric Co., Ltd., Japan; M. Ueno, CNRS 13S Laboratory, France,
875
A Design Technique to Remove the Correlation Ambiguity in Binary Offset Carrier
(BOC) Spread Spectrum Signals
P.W. Ward, Navward GPS Consulting, 886
Unsteady Aerodynamic Analysis Under Wind Shear Effect by EKF Method on FDR
Data
C.-S. Ho, C.-T. Weng, National Cheng Kung University, Taiwan, 897
D3: INTEGRATED MULTI-SENSOR NAVIGATION
AND GUIDANCE SYSTEMS 1
An Efficient Method for Considering Time Correlated Noise in GPS/INS Integration
J. Wendel, G.F. Trommer, University of Karlsruhe, Germany, 903
Development and Simulation of a Pseudolite-Based Flight Reference System
T.J. Bouska, J.F. Raquet, Air Force Institute of Technology, 912
Implementation of Deeply Integrated GPS/Low-Cost IMU for Reacquisition and
Tracking of Low CNR GPS Signals
A. Soloviev, F. van Graas, S. Gunawardena, Ohio University, 923
INS and INS/GPS Accuracy Improvement Using Autoregressive (AR) Modeling of
INS Sensor Errors
S. Nassar, K-P. Schwarz, N. El-Sheimy, The University of Calgary, Canada,
936
A Cost Effective Approach to Inertial Sensor Selection Combining Simulation
and Empirical Analysis
V. Nadkarni, J. Peake, Trimble Navigation, 945
Implementation of a Skewed-Redundant Low-Cost INS in a Fast-Prototyping
Environment
R. Giroux, Ecole de Technologie Superieure, Canada; S. Sukkarieh, M. Bryson,
The University of Sydney, Australia, 954
E1: LAND AND PRECISION SURVEYING APPLICATIONS
Measuring the Effect of Helicopter Rotors on GPS Reception
J.R.A. Stevens, ARINC Engineering Services; G.J. Brodin, J.A. Cooper, CAA
Institute of Satellite Navigation, University of Leeds, UK, 962
Urban Traffic Flow Prediction by Using GPS and Neural Networks Theory
A. Meneses, Santa Maria da Feira City Hall, Portugal; I. Osório,
Faculty of Sciences, University of Porto, Portugal, 974
Fuzzy Logic Based-Map Matching Algorithm for Vehicle Navigation System in
Urban Canyons
S. Syed, M.E. Cannon, The University of Calgary, Canada, 982
An Algorithm for Instantaneous Position Estimation of GPS Satellites in SBAS
Applications
R. Gupta, A.S. Ganeshan, ISRO Satellite Centre, India, 994
Dynamic Surface Response of a Local Area Induced by Chi-Chi Earthquake Using
Accelerograph and GPS Solutions
C.-S. Ho, C.-F. Lee, J.-Y. Yu, National Cheng Kung University, Taiwan; J.-H.
Tsai, Central Weather Bureau, Ministry of Transportation and Communications,
Taiwan, 1005
E2: INTERFERENCE AND SPECTRUM MANAGEMENT
GPS Jamming Environment Prediction Based on Discrete Data Sampling
J. Fitch, Advanced Information Engineering Services, A General Dynamics
Company, 1011
Trial Results of a Prototype System to Locate GPS Radio Interference Sources
Using Time-Difference-of-Arrival Measurements
S. Shemar, G. Bond, P. Edmonds, B. Ashforth, S. Harding, QinetiQ Ltd., UK,
1018
Interference Effects on the GPS Signal Acquisition
S. Deshpande, M.E. Cannon, The University of Calgary, Canada, 1026
Spectrum Implications for the Use of L2C for Aviation
D.J. Chadwick, The MITRE Corporation, 1037
GPS L5 And GALILEO E5a/E5b Signal-to-Noise Density Ratio Degradation Due
to DME/TACAN Signals: Simulations and Theoretical Derivation
F. Bastide, ENAC/STNA, France; E.Chatre, Galileo Interim Support Structure,
France; C. Macabiau, ENAC, France; B. Roturier, STNA, France, 1049
Pulsed RFI Effects on Aviation Operations Using GPS L5
R. J. Erlandson, Consultant; T. Kim, C. Hegarty, The MITRE Corporation;
A.J. Van Dierendonck, AJ Systems, 1063
E3: INTEGRATED MULTI-SENSOR NAVIGATION AND GUIDANCE SYSTEMS
2
GPS-IMU-Loran Integration for Airborne Applications
D.A. Anderson, J.H. Doty, Rockwell Collins, Inc., 1077
Statistical and Spectral Analysis of Data From Helicopter Test Flights Using
GPS Lateral Guidance and Barometric Vertical Navigation
D.P. Stapleton, Innovative Solutions International, Mike Monroney Aeronautical
Center, 1087
Tightly Coupled GPS/INS/CCD Integration Based on GPS Carrier Phase Velocity
Update
S. Moafipoor, D.G. Brzezinska, C.K. Toth, Ohio State University, 1094
Kinematic Azimuth Alignment of INS Using GPS Velocity Information
A. O. Salycheva, M.E. Cannon, The University of Calgary, Canada, 1103
Collaborative GPS/INS Navigation in Urban Environment
F. Berefelt, B. Boberg, J. Nygårds, P. Strömbäck, S.-L.
Wirkander, Swedish Defence Research Agency (FOI), Sweden, 1114
Integration of GPS and INS Using Float Ambiguities with Application to Precise
Positioning for JPALS
M.G. Petovello, M.E. Cannon, G. Lachapelle, A. Huang, V. Kubacki, The University
of Calgary, Canada, 1126
Non-Linear Navigation Architecture of Integrated GPS/INS for Autonomous or
Remote-Pilot Vehicles
C.-Y. King, Hsiuping Institute of Technology, Taiwan, 1137
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