Recent Enhancements of the Multi-Sensor Navigation Analysis Tool (MuSNAT)

Markel Arizabaleta, Hepzibah Ernest, Jürgen Dampf, Thomas Kraus, Daniela Sanchez-Morales, Dominik Dötterböck, Andreas Schütz, Thomas Pany

Abstract:	This paper summarizes recent developments carried out to improve the Multi-Sensor Navigation Analysis Tool (MuSNAT) developed at the Universität der Bundeswehr München. A stand-alone Universal Software Radio Peripheral (USRP) from National Instruments with an embedded PC has been adapted to run MuSNAT in real-time and is characterized with the typical GNSS receiver parameters (front-end, no. of channels, power consumption). The extension to LTE (and 5G) processing as well as developments related to I/Q to intermediate frequency (IF) conversion are illustrated with the example of an multipath estimating discriminator. A C++ to MATLAB interface is introduced to allow rapid prototyping of sophisticated receiver algorithms. The interface is used for PPP processing (Galileo High Accuracy Service), LiDAR odometry, and deep GNSS/INS coupling. The performance of MuSNAT in post-processing on the most powerful desktop CPUs (AMD Threadripper) is characterized.
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:	2733 - 2753
Cite this article:	Arizabaleta, Markel, Ernest, Hepzibah, Dampf, Jürgen, Kraus, Thomas, Sanchez-Morales, Daniela, Dötterböck, Dominik, Schütz, Andreas, Pany, Thomas, "Recent Enhancements of the Multi-Sensor Navigation Analysis Tool (MuSNAT)," 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. 2733-2753. https://doi.org/10.33012/2021.17960
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