||Design and Verification of Lean Ground-based Positioning System
||Department of Electrical Engineering
Global navigation satellite system
Ground-based positioning system
Navigation and positioning play an important role in our society. With the availability of satellite-based navigation systems, many infrastructures have relied on global navigation satellite system to facilitate positioning, navigation, and timing services. The signals from navigation satellites are known to be relatively weak and highly susceptible to interference. To complement the limitation of GNSS system, several ground-based localization systems have been developed. However, considering the cost of development and deployment, there is a lack of means in providing reliable and accurate positioning service in a cost-effective manner. The objective of the thesis is to design a lean ground-based positioning system and develop key techniques that are essential to the system with a simple control segment. The system simplifies the structure and reduces the development cost. When the signals from navigation satellites are subject to interference, the system can provide indoor or local localization service. The thesis focuses on the positioning analysis and the verification of positioning performance. Several key technologies are developed in this system, including code division multiple access, spread spectrum, and localization algorithm. Based on the software-defined radio, the transmitters and receivers are developed. Simulations and experiments are then setup to verify the function and evaluate the performance. The feasibility and autonomy of the system will be highly beneficial to the design of the positioning system with applications in navigation, security, and disaster mitigation.
List of Tables VII
List of Figures VIII
List of Abbreviations XI
Chapter 1 Introduction 1
1.1 Objectives 1
1.2 Literature Review 2
1.3 Contributions of the Thesis 4
1.4 Thesis Organization 5
Chapter 2 Positioning System 6
2.1 Lean Positioning System Structure 6
2.2 Spread Spectrum Modulation 13
2.3 Signal Front End 15
2.4 Acquisition 17
2.5 Tracking 20
2.5.1 Carrier Tracking 21
2.5.2 Code Tracking 22
2.6 Positioning 24
Chapter 3 Algorithms in the Positioning System 27
3.1 Carrier Smoothing 27
3.2 System Error 31
3.2.1 Monitoring of Clock Error 33
3.2.2 Positioning with Corrected Message 35
Chapter 4 Simulation and Analysis 37
4.1 Estimator Analysis 37
4.2 Simulation Results 38
Chapter 5 Experimental Results and Analysis 44
5.1 Experimental Structure and Environment 44
5.2 Experimental Results 54
5.2.1 Carrier Smoothing Results 54
5.2.2 Clock Error Analysis of Transmitters 57
5.2.3 Positioning Results 63
Chapter 6 Conclusion and Future Works 73
6.1 Summary 73
6.2 Future Works 73
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