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2.
3.
4.
5.
6.
I.
INTRODUCTION
II.
ABIA SYSTEM
where:
(1)
(2)
manoeuvre.
T Correct
manoeuvre.
To maintain navigation safety, the condition:
(3)
Parameter
EIRP(including
)
Nominal value
Gt
26.8 dBW
Ls
182.4 dB
and
La
2 dB
Nf
-138.5 dBW
where
Pt
Gr
(4)
Gt
(5)
Fig. 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
multipath and test the performance of the ABIA system in
section 5. Secondly, the multipath detection scheme
implemented in the ABIA system is presented.
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. The fading channel assumes that
the power delay profile and the Doppler spectrum are
separable, and is therefore modelled as a linear finite-impulse
response (FIR) filter.
The output samples of the signal from the multipath
channel y i
are related to the input samples s i by:
N2
y i=
sin g n
(6)
n=N 1
where
gn= ak sinc
k=1
k
n ,N 1 n N 2
Ts
( )
(7)
ak
a 2k
pdf Rayl ( ak ) = 2 exp ( 2 )
(8)
pdf Rice ( a k )=
ak
ak
a k +1
I (
2 0
)exp (
2
(9)
95 horizontal accuracy=2 2x + 2y
95 vertical accuracy=2 z
y1
and
T=
[ ( y 1 y 2 ) +d /2(a 1+ a2) ]
(a1 a2 )
(10)
The error
contributes to the bias in
T
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]:
1
(13)
(14)
where
The modules of the IFG and its outputs are shown in Fig.
12. The assigned integrity thresholds for multipath are based
on multipath channel models, the theoretical ranging errors
they produce, and the probability of multipath detection using
the ELP variable. The multipath channel model, in turn, relies
on models of the navigation environment and the satellite
constellation. Table 2 describes the thresholds for triggering
caution and warning flags for all error sources that the flag
generator is able to detect. The thresholds for signal
attenuation are based on the signal strength that a given
receiver can successfully track. The thresholds for antenna
masking are based on the number of visible satellites required
to compute a position. Thresholds for aircraft operations in all
phases of flight is found in [4, 5]. The key contribution of this
research lies in the integrity thresholds assigned for multipathinduced error.
2.
Type of alert
Error
Source
Thresholds
Masking
When number
of visible
satellites drops
to below 5
Multipath
When 2drms
0.90
min(HAL,VAL)
Caution Flag
Signal
attenuatio
When
C /N 0
drops below 53
dB-Hz
Warning Flag
Masking
When number
of visible
satellites drops
to below 4
Multipath
Signal
attenuatio
n
When 2drms
0.90
min(HAL,VAL)
When
Warning Flags
19~30,32~39,41~47
C /N 0
drops below 52
dB-Hz
1~58
Warning Flags
9~11,23~25,27~42,48~51,55~57
VII.
RESULTS
DISCUSSION
CONCLUSIONS
[1]
[2]
3,8,16~49
[3]
REFERENCES
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]