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A comparative study on spectral analysis of global navigation satellite systems
1.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 390 A COMPARATIVE STUDY ON SPECTRAL ANALYSIS OF GLOBAL NAVIGATION SATELLITE SYSTEMS Boney Bose Kunnel [1] , Susan Abraham [2] , R Kumar [3] , Swarna Ravindra Babu[4] [1][2][3] SRM University, Chennai, India -603203 [4] Samsung, Bengaluru, India ABSTRACT The introduction of new Global and regional navigation satellite systems has simplified land, air and marine navigation. However, use of similar spectral bands would cause notable effects such as interference, noise and performance issues on existing navigation satellite systems. Apart from inter system and intra system interference issues among these systems, researchers are more interested in making use of all these systems in a single receiver to improve positioning accuracy. By analyzing the spectrums and modulations of each of these Global Navigation Satellite Systems, it is possible to answer many queries on interoperability and compatibility among them. Navigation satellite systems such as GPS, Galileo, GLONASS and Compass are considered in this paper. These systems are compared and effect of one system on another is studied using spectral analysis. Keywords: Compass, Galileo, GLONASS, GPS, Spectral analysis. 1. INTRODUCTION Man’s desire to explore unknown places led to inventions like the magnetic compass. A Global Navigation Satellite System (GNSS) is a modern day compass, which uses artificial satellites to find the user position anywhere on earth. Though 3D positioning can be achieved by using four satellites, greater number of satellites will drastically improve accuracy. With availability of multiple Global and regional navigation systems, even if one satellite system is unavailable, user can make use of another system if both navigation systems offer interoperability. The main requirements for interoperability are common or very close centre frequency, similar kind/family of modulations and signal characteristics, common geodetic INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATION ENGINEERING & TECHNOLOGY (IJECET) ISSN 0976 – 6464(Print) ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April, 2013, pp. 390-398 © IAEME: www.iaeme.com/ijecet.asp Journal Impact Factor (2013): 5.8896 (Calculated by GISI) www.jifactor.com IJECET © I A E M E
2.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 391 and time references. [1]. Thus availability of two or more satellite navigation systems further aids positioning accuracy. Global Positioning System (GPS), managed by the United States DOD is the most popular satellite navigation system. The user receiver can be fixed absolutely anywhere like vehicles, mobile phones or even in spectacles as in those developed by Google recently. GPS L1 C/A and L5 are considered in this paper. Galileo, managed by the European Union is another active GNSS that provides highly accurate and guaranteed positioning services. Galileo E1 and E5 signals are considered here. Another global navigation satellite system is GLONASS of Russia which uses Frequency Division Multiple Access (FDMA) technique in both L1 and L2 sub-bands [3]. Compass or Beidou Navigation Satellite system (BDS) of China, when fully deployed will consist of five Geostationary Earth Orbit (GEO) satellites, twenty-seven Medium Earth Orbit (MEO) satellites and three Inclined Geosynchronous Satellite Orbit (IGSO) satellites [16]. The remainder of the paper is organized as follows: Section 2 describes various constellations considered for spectral analysis where as section 3 explain the numerical results and figures. The paper concludes with section 4. 2. GNSS CONSTELLATIONS 2.1.1 GLOBAL POSITIONING SYSTEM(GPS) The United States GPS consist of 24 satellite constellation in 6 orbital planes, inclined at 55 degrees with respect to equator. GPS signal basically consist of PRN codes and ranging information. 2.1.2 GPS L1 C/A GPS L1 uses Coarse/Acquisition (C/A) code which is Bi-phase modulated at a chip rate of 1.023MHz. The C/A code is 1ms long and belongs to the family of Gold codes, generated using shift registers where position of feedback determine pattern of sequence. The navigation data rate used is 50Hz and is 20 ms long, thus requiring 20 C/A codes for each data bit [1,2]. 2.1.3 GPS L5 GPS L5 uses two codes namely in phase (I5) code and quadrature phase (Q5) code at 10.23Mcps. Each code is modulo-2 sum of two sub sequences XA and XB where, XA & XB are 8190 & 8191 length codes respectively that are restarted to run for 1 ms duration (length of 10230 chips). Data is 50 bps which is half rate convolution encoded. QPSK modulation is performed onto an 1176.45MHz carrier [4]. The GPS L5 generation is shown in Fig 1. 2.1.4 GALILEO 2.1.5 Galileo E1 The E1 signal is composed of three channels A, B and C. E1-A is a restricted access signal, E1-B is the data signal whereas E1-C is the data-free signal (pilot signal). Galileo E1 uses Binary Offset Carrier modulation. A basic understanding of BOC modulation is shown in Fig 2.
3.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March representeisBOC E1 signal has a Code length of 4092 with chipping rate of Secondary code on pilot with length 25 chips increases repetition interval to 100. Very long code is used to reduce effects of cross correlation from other satellites [6, 8]. Galileo E1 shares same frequency as GPS L1 which 2.1.6 Galileo E5 Galileo E5 uses an alternative of BOC modulation, Alternate Binary Offset Carrier represented as AltBOC(15, 10). The difference from traditional BOC is that the sub function is a complex rectangular exponential that only centre frequency. Two PRN codes are modulated on orthogonal components. The two in phase components E5aI and E5bI carry the data modulation whereas the two quadrature components E5aQ and E5bQ are pilot signals. The da convolution encoding scheme. The primary codes used in the Galileo E5 signal are 10230 chips long. Apart from primary codes, shorter and slower secondary codes are used to obtain tiered codes. Tiered codes have very [7]. International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 392 Fig 1: GPS L5 generation Fig 2: BOC Modulation ) f f , f f BOC( :asdrepresente o c o s FrequencyReferencef RateChipf FrequencySubcarrierf o c s − − − E1 signal has a Code length of 4092 with chipping rate of 1.023MHz and repeats every 4ms. Secondary code on pilot with length 25 chips increases repetition interval to 100. Very long code is used to reduce effects of cross correlation from other satellites [6, 8]. Galileo E1 shares same frequency as GPS L1 which is 1575.42MHz. Galileo E5 uses an alternative of BOC modulation, Alternate Binary Offset Carrier represented as AltBOC(15, 10). The difference from traditional BOC is that the sub function is a complex rectangular exponential that only shifts the spectrum up or down of the centre frequency. Two PRN codes are modulated on orthogonal components. The two in phase components E5aI and E5bI carry the data modulation whereas the two quadrature components E5aQ and E5bQ are pilot signals. The data rate used is 250sps with a half rate convolution encoding scheme. The primary codes used in the Galileo E5 signal are 10230 chips long. Apart from primary codes, shorter and slower secondary codes are used to obtain tiered codes. Tiered codes have very good auto-correlation and cross-correlation properties International Journal of Electronics and Communication Engineering & Technology (IJECET), ISSN April (2013), © IAEME 1.023MHz and repeats every 4ms. Secondary code on pilot with length 25 chips increases repetition interval to 100. Very long code is used to reduce effects of cross correlation from other satellites [6, 8]. Galileo E1 Galileo E5 uses an alternative of BOC modulation, Alternate Binary Offset Carrier represented as AltBOC(15, 10). The difference from traditional BOC is that the sub-carrier shifts the spectrum up or down of the centre frequency. Two PRN codes are modulated on orthogonal components. The two in phase components E5aI and E5bI carry the data modulation whereas the two quadrature ta rate used is 250sps with a half rate convolution encoding scheme. The primary codes used in the Galileo E5 signal are 10230 chips long. Apart from primary codes, shorter and slower secondary codes are used to obtain correlation properties
4.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 393 2.1.7 GLONASS GLONASS uses L1 and L2 bands. L1 sub-band carrier is modulated by modulo 2 operations of PRN Ranging code, Navigation message and an auxiliary meander sequence whereas L2 sub-band carrier is modulated by modulo 2 operations of PRN Ranging code and an auxiliary meander sequence. The PRN ranging code is generated as Maximum length sequence of shift register and has a period of 1 ms with a bit rate of 511 kbps. The digital data in GLONASS is transmitted at a rate of 50bps [3]. The nominal frequencies used in GLONASS L1 is defined as 562.5KHz∆f1602MHz,f where,∆fK.ff 101 101k1 == += K is the Frequency number (channel) 2.1.8 BEIDOU B1-I The carrier frequency of Beidou B1 signal is 1561.098 MHz. The signal consists of carrier frequency, ranging code and Navigation message. The final B1 signal is obtained as a sum of in-phase and quadrature phase components out of which China has released only B1-I signal details. The PRN code used in B1I has a Chip rate of 2.046Mcps and length 2046chips [16]. QPSK modulation is used to generate the Beidou B1 Signal and can be represented as follows. )2sin().().(. )2cos().().(.)( j o j Q j QQ j o j I j IIj tftDtCA tftDtCAtS ϕ ϕ +Π+ +Π= (1) Where j is the satellite number, A is signal amplitude, C is the ranging code, D represents data modulated on ranging code., of represents carrier frequency and j φ represents the initial carrier phase. 3. SIMULATION RESULTS All simulations were performed in MATLAB. The spectrum of GPS L1 C/A and Galileo E1 are shown in Fig 3. Both the spectrums are centred at 1575.42MHz. Fig 3: Galileo E1 and GPS L1 Spectrums -4 -2 0 2 4 -200 -180 -160 -140 -120 -100 -80 -60 -40 Frequency [MHz] Power[dBW/Hz] Galileo BOC(1,1) GPS C/A
5.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 394 As observed from Fig 4, the main lobe of GPS L1 has a bandwidth of around 2.046 MHz and contains maximum power. The side lobes have a little power distributed among them. Galileo E1 using BOC (1, 1) has a spectrum that splits the main lobe into two distinct parts each with 2 MHz bandwidth. Due to this split, the interference caused by Galileo on GPS is negligible and both can co-exist on the same carrier frequency. The spectrums of GPS L5 and Galileo E5 are plotted in Fig 4. Both these spectrums are centred at 1176.45 MHz. The main lobe occupies a bandwidth of around 20 MHz and the different modulations used by the signals allow for interoperability. The power spectrum of GLONASS L1 for K=-7 channel is shown in Fig 5. Fig 4: Galileo E5 and GPS L5 Spectrums Fig 5: GLONASS L1 power spectrum As seen from Fig 5, the main lobe of GLONASS occupies a bandwidth of around 1 MHz. The relatively new constellation of Beidou B1 spectrum is shown in Fig 6. The main lobe occupies a bandwidth of 4 MHz. Since the carrier frequency of Beidou is 1561.098 MHz, it causes negligible interference to its neighbours GPS L1 and Galileo E1 also on the 15 GHz band. -4 -3 -2 -1 0 1 2 3 4 x 10 7 -240 -220 -200 -180 -160 -140 -120 -100 -80 -60 -40 Frequency[Hz] Power[dBW/Hz] Galileo E5 and GPS L5 Power spectrum centred at 1176.45 MHz Galileo E5 GPS L5 -5 -4 -3 -2 -1 0 1 2 3 4 x 10 6 -240 -220 -200 -180 -160 -140 -120 -100 -80 -60 -40 Power Spectrum of GLONASS L1 C/A Code Frequency (Hz) Power(dBW/Hz)
6.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 395 Fig 6: Power Spectrum of Beidou B1 Correlations of various constellations are also shown below. Fig 7 shows auto correlations of GPS L1 C/A and Galileo E1. BPSK modulation has limited ranging capability and requires high performance receivers. BOC provides better performance at frequencies away from centre frequency thus causing negligible interference effects on each other. Autocorrelation of GLONASS L1 and Beidou B1 are shown in fig 8. Fig 7: Autocorrelation of GPS L1 and Galileo E1 -6 -4 -2 0 2 4 6 x 10 6 -320 -300 -280 -260 -240 -220 -200 -180 -160 -140 Power Spectrum of BEIDOU B1 Signal Frequency (Hz) Power(dBW/Hz) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 x 10 4 0 2 4 6 x 10 4 GPS L1 C/A Code Autocorreleation Lag 0 2 4 6 8 10 12 14 16 18 x 10 4 -5 0 5 10 x 10 4 Galileo E1 BOC(1,1) Autocorreleation Lag
7.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 396 Fig 8: Autocorrelation of GLONASS L1 and BEIDOU B1 Fig 9: Normalized autocorrelations of Galileo E5 and GPS L5 Fig 9 shows the normalized correlations of GPS L5 (I code and Q code) and Galileo E5 AltBOC. The E5 has a sharp correlation peak that aids in tracking. -5 -4 -3 -2 -1 0 1 2 3 4 5 x 10 4 0 1 2 3 x 10 4 Lags Autocorrelation GLONASS L1 -200 -150 -100 -50 0 50 100 150 200 0 50 100 Lags Autocorrelation BEIDOU B1 -250 -200 -150 -100 -50 0 50 100 150 200 250 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 Lags Autocorrelation Correlation plots Galileo E5 I5 code (GPS L5) Q5 code (GPS L5)
8.
International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 397 4. CONCLUSION The increasing number of Global Navigation Satellite Systems is no longer a result of resistance against American monopoly in Satellite Navigation. Various countries with Global and regional navigation systems are trying to support one another to provide users with accurate positioning information. The negative effects of inter system and intra system interferences are negligible compared to the advantages when these constellations interoperate. Once inter operability is achieved, with a single user receiver, a user can receive and acquire signals of different constellations thus improving positioning accuracy to an unimaginable level. The GPS L1 and Galileo E1 can interoperate without causing much interference as BOC modulation splits the main lobe of the spectrum away from L1 centre frequency. Similarly, Galileo E5 and GPS L5 can co-exist due to AltBOC modulation in Galileo. Thus even if different GNSS use similar carrier frequency, effect of one constellation on another is very less. The future works include receiving a particular frequency spectrum and perform acquisition to obtain Doppler measurements and trying to predict another frequency spectrum. REFERENCES [1] W. Liu, C.R. Zhai, X.Q. Zhan, Y.H. Zhang, “Assessment and analysis of radio frequency compatibility among several global navigation satellite systems’’, IET Radar, Sonar and Navigation, Volume 5, Issue 2, pp 128-136, September 2011. [2]James Bao-Yen, Tsui, Fundamentals of Global Positioning System Receivers-a software approach, John Wiley & sons, second edition, 2005. [3] Global Navigation Satellite System ‘Interface Control Document’, Moscow, 1998. [4] Global Positioning System Directorate Systems Engineering and Integration Interface Specification IS-GPS-705B Navstar GPS Space Segment/user segment L5 Interfaces, September 2011. [5] Francosis D Cote, Ioannis N. Psaromiligkos, Warren J. Gross, “GNSS Modulation: A Unified Statistical Description," IEEE Transactions on Aerospace and Electronic Systems, Vol. 47, Issue 3, pp 1814-1836, July 2011. [6] Kai Borre, ‘The E1 Galileo signal’, Aalborg University, Denmark, May 2009. [7] Nagaraj C Shivaramaiah, Andrew G Dempster, ‘The Galileo E5 AltBOC: Understanding the Signal Structure’, International Global Navigation Satellite Systems Society Symposium, December 2009. [8] European GNSS Galileo ‘Signal In Space Interface Control Document.’ [9] Safaa Dawoud, “GNSS principles and comparison’’, Potsdam University, Potsdam, Germany [10] Sophia Y. Zheng, “Signal acquisition and tracking for a software GPS receiver’’, Virginia Polytechnic Institute and State University, Blacksburg, Virginia, February 2005. [11] M.N.Venkatesh Babu.S, K.Lakshmi Narayana, , “Implementation of the Modernized GPS Signals L2C, L5 and their Tracking Strategies’’, International Journal of Engineering Research and Applications (IJERA) , Vol. 2, Issue 4 , pp.2148-2152, July-August 2012. [12] Elliott D Kaplan, Christopher J Hegarty, Understanding GPS Principles and Applications, Artech House, INC., London, second edition, 2006. [13] Roger Canalda Pedros, ‘Galileo Signal Generation’, Department of Computer and Electronic Engineering, University of Limerick, April 2009.
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International Journal of
Electronics and Communication Engineering & Technology (IJECET), ISSN 0976 – 6464(Print), ISSN 0976 – 6472(Online) Volume 4, Issue 2, March – April (2013), © IAEME 398 [14] Wallner, Rodriguez, Hein, Rushanan ‘Galileo E1 OS and GPS L1C Pseudo Random Noise Codes - Requirements, Generation, Optimization and Comparison’, 20th International Technical Meeting of the Satellite Division of Institute of Navigation, pp 1549-1563, September 2007. [15] Hein, Goddet, Issler, Martin, Erhard, Rodriguez, Pratt ‘Status of Galileo Frequency and Signal Design’, Members of the Galileo Signal Task force, European Commission ,Brussels. [16] China Satellite Navigation Office, ‘Beidou Navigation Satellite System Interface Control Document Test Version’, December 2011. [17] Seema vora, Prof.Mukesh Tiwari and Prof.Jaikaran Singh, “Gsm Based Remote Monitoring of Waste Gas at Locally Monitored Gui with the Implementation of Modbus Protocol and Location Identification Through GPS”, International Journal of Advanced Research in Engineering & Technology (IJARET), Volume 3, Issue 2, 2012, pp. 52 - 59, ISSN Print: 0976-6480, ISSN Online: 0976-6499. [18] Cyju Varghese, John Blesswin, Navitha Varghese and Sonia Singha,, “A Novel Approach for Satellite Imagery Storage by Classifying the Non-Duplicate Regions”, International journal of Computer Engineering & Technology (IJCET), Volume 1, Issue 2, 2010, pp. 147 - 159, ISSN Print: 0976 – 6367, ISSN Online: 0976 – 6375. [19] B.V. Santhosh Krishna, AL.Vallikannu, Punithavathy Mohan and E.S.Karthik Kumar, “Satellite Image Classification using Wavelet Transform”, International journal of Electronics and Communication Engineering &Technology (IJECET), Volume 1, Issue 1, 2010, pp. 117 - 124, ISSN Print: 0976- 6464, ISSN Online: 0976 –6472.
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