UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education The 16th Asia-Pacific Conference on Communications 31 Oct. - 3 Nov. 2010, Auckland, New Zealand Page 1 Dr Xiaoying Kong University of Technologies, Sydney. Australia Dr Li Liu The University of Sydney, Australia Dr Tich Phuoc Tran University of Technologies, Sydney. Australia Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Global Navigation Satellite Systems (GNSS) Global Navigation Satellite Systems –Positioning, navigation, & timing data Global Positioning System (GPS) Russian - GLONASS European Union- Galileo satellite system China - Beidou Japan - Quasi-Zenith Satellite System (QZSS) APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 2

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education GNSS Errors Global Navigation Satellite Systems provide services to global end users with high quality positioning data but with errors. –Selective availability (SA), satellite ephemeris errors, satellite geometry, multipath effect, atmospheric effects, clock inaccuracies, … APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 3

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education DGPS, WAAS - improving positioning accuracy Differential GPS (DGPS) uses fixed ground stations to correct stand-alone GPS. Wide Area Augmentation System (WAAS) consists of ground stations and reference stations, which collect, calculate and transmit correction data APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 4 When fixed ground station signals are unavailable Land navigations, air navigations and robot positioning need to rely on stand- alone GPS

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education improving positioning accuracy Most efforts –understanding the characteristics of GPS error sources modeling multipath effects modeling ionospheric effects … white-box approach APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 5 ????

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Our approach Black-box approach –End users view point APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 6 improving positioning accuracy input output input

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Black box model - our approach APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 7

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education 2 phases - our approach Configuration I APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 8 Positioning error modeling Using PSD Positioning error de-correlation Configuration II

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Phase I - Error models APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 9 Configuration I Configuration II

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Phase II – de-correlation APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 10 Aiding sensor – inertial measurement sensors Integrated positioning system Shaping filter Configuration I

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Model - Configuration I Xiaoying Kong UTS:FEIT:CRINPage 11 Process model Observation model A

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Phase II – de-correlation APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 12 Shaping filter Configuration II

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Model - Configuration II Xiaoying Kong UTS:FEIT:CRINPage 13 Process model Observation model A H

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Phase II – de-correlation APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 14 Configuration II frequency domain time domain

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Conclusions Black box approach, from end users view point Investigate the external behaviors No efforts on modeling many individual error sources and receiver noises Accuracy improved Can be applied in the situations –when satellite configurations and receiver change APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 15

UTS:Faculty of Engineering and IT International Leaders in Practice-Based Education Thank you APCC 2010 Modeling Satellite Positioning Errors in Different Configurations from End User's Viewpoint Page 16 Questions?