Analysis of Receiver-To-Receiver Aiding in Cooperative Vector Tracking

Tanner M. Watts, Scott M. Martin, and David M. Bevly

Peer Reviewed

Abstract:	This paper evaluates the signal tracking aiding capability between GNSS receivers with cooperative vector processing. The problem is studied with the conventional base-rover DGPS system, where the base station operates in a clear sky environment, and the dynamic rover travels under low C/N0 ratio signal conditions. Analytical rule-of-thumb and Monte-Carlo simulation results indicate PNT stability improvements with respect to standalone vector tracking can vary from 2 to 30 dB. Overall, noise sensitivity improvements to vector tracking from cooperation increase as filter order decreases, satellite geometry worsens, and as the EKF process noise becomes very low or very high. Experimental testing in dense foliage and urban canyon areas demonstrate base aiding from cooperation can stabilize and improve rover navigation in comparison to standalone approaches.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	2405 - 2429
Cite this article:	Watts, Tanner M., Martin, Scott M., Bevly, David M., "Analysis of Receiver-To-Receiver Aiding in Cooperative Vector Tracking," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 2405-2429. https://doi.org/10.33012/2021.17941
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