A survey of hybridisation methods of GNSS and wireless LAN based positioning system <s> GNSS <s> Fundamentals of Satellite Navigation. GPS Systems Segments. GPS Satellite Signal Characteristics and Message Formats. Satellite Signal Acquisitions and Tracking. Effects of RF Interference on GPS Satellite Signal Receiver Tracking. Performance of Standalone GPS. Differential GPS. Integration of GPS with other Sensors. Galileo. The Russian GLONASS, Chinese Bediou, and Japanese QZSS Systems. GNSS Markets and Applications. <s> BIB001 </s> A survey of hybridisation methods of GNSS and wireless LAN based positioning system <s> GNSS <s> Foreword. Acknowledgements. Preface. Chapter 1. A brief history of navigation and positioning. 1.1 The first age of navigation. 1.2 The age of the great navigators. 1.3 Cartography, lighthouses and astronomical positioning. 1.4 The radio age. 1.5 The first terrestrial positioning systems. 1.6 The era of artificial satellites. 1.7 Real-time satellite navigation constellations today. 1.8 Exercises. Bibliography. Chapter 2. A brief explanation of the early techniques of positioning. 2.1 Discovering the world. 2.2 The first age of navigation and the longitude problem. 2.3 The first optical based calculation techniques. 2.4 The first terrestrial radio based systems. 2.5 The first navigation satellite systems: TRANSIT and PARUS/TSIKADA. 2.6 The second generation of navigation satellite systems: GPS, GLONASS and Galileo. 2.7 The forthcoming third generation of navigation satellite systems: QZSS and COMPASS. 2.8 Representing the world. 2.9 Exercises. Bibliography Chapter 3. Development, deployment and current status of satellite based navigation systems. 3.1 Strategic, economical and political aspects. 3.2 The global positioning satellite systems: GPS, GLONASS and Galileo. 3.2.1 The Global Positioning System : GPS. 3.2.2 The GLONASS. 3.2.3 Galileo. 3.3 The GNSS1: EGNOS, WAAS and MSAS. 3.4 The other satellite based systems. 3.5 Differential satellite based commercial services. 3.6 Exercises. Bibliography. Chapter 4. Non-GNSS positioning systems and techniques for outdoors. 4.1 Introduction (large area without contact or wireless systems). 4.2 The optical systems. 4.3 The terrestrial radio systems. 4.4 The satellite radio systems. 4.5 Non-radio based systems. 4.6 Exercises. Bibliography. Chapter 5. GNSS system descriptions. 5.1 System description. 5.2 Summary and comparison of the three systems. 5.3 Basics of GNSS positioning parameters. 5.4 Introduction to error sources. 5.5 Concepts of differential approaches. 5.6 SBAS system description (WAAS and EGNOS). 5.7 Exercises. Bibliography. Chapter 6. GNSS navigation signals: description and details. 6.1 Navigation signal structures and modulations for GPS, GLONASS and Galileo. 6.2 Some explanations of the concepts and details of the codes. 6.3 Mathematical formulation of the signals. 6.4 Summary and comparison of the 3 systems. 6.5 Developments. 6.6 Error sources. 6.7 Time reference systems. 6.8 Exercises. Bibliography. Chapter 7. Acquisition and tracking of GNSS signals. 7.1 Transmission part. 7.2 Receiver architectures. 7.3 Measurement techniques. 7.4 Exercises. Bibliography. Chapter 8. Techniques for calculating positions. 8.1 Calculating the PVT solution. 8.2 Satellite's position computations. 8.3 Quantified estimation of errors. 8.4 Impact of pseudo range errors on the computed positioning. 8.5 Impact of geometrical distribution of satellites and receiver (notion of DOP). 8.6 Benefits of augmentation systems. 8.7 Discussion on interoperability and integrity. 8.8 Effect of multipath on the navigation solution. 8.9 Exercises. Bibliography. Chapter 9. Indoor positioning problem and main techniques (Non-GNSS). 9.1 General introduction to indoor positioning. 9.2 A brief review of possible techniques. 9.3 Network of sensors. 9.4 Local area telecommunication systems. 9.5 Wide-area telecommunication systems. 9.6 Inertial systems. 9.7 Recap tables and global comparisons. 9.8 Exercises. Bibliography. Chapter 10. GNSS-based indoor positioning and a summary of indoor techniques. 10.1 HS-GNSS. 10.2 A-GNSS. 10.3 Hybridization. 10.4 Pseudolites. 10.5 Repeaters. 10.6 Recap tables and comparisons. 10.7 Possible evolutions with availability of the future signals. 10.8 Exercises. Bibliography. Chapter 11. Applications of modern geographical positioning systems. 11.1 Introduction. 11.2 A chronological review of the past evolution of applications. 11.3 Individual applications. 11.4 Scientific applications. 11.5 Applications for public regulatory forces. 11.6 Systems under development. 11.7 Classifications of applications. 11.8 Privacy issues. 11.9 Current receivers and systems. 11.10 Conclusion and discussion. 11.11 Exercises. Bibliography. Chapter 12. The forthcoming revolution. 12.1 Time and space. 12.2 Development of current applications. 12.3 The possible revolution of everybody's daily life. 12.4 Possible technical positioning approaches and methods for the future. 12.5 Conclusion. 12.6 Exercises. Bibliography. Index. <s> BIB002 </s> A survey of hybridisation methods of GNSS and wireless LAN based positioning system <s> GNSS <s> This paper charts the history of Global Satellite Navigation Systems (GNSS) from the earliest days of the ‘Space Race’ in the 1960s and 1970s to the latest plans for modernisation of existing systems and the development of new systems yet to be deployed or become operational. The paper is based on lectures and presentations given by the author to postgraduate students at The University of Nottingham, students on the RAF General Duties Aero-Systems Course at the Air Warfare Centre, RAF Cranwell and to a number of RIN, RAeS and IEE Branches and to local aviation groups. <s> BIB003
The first satellite navigation system, called TRAN-SIT, was developed in the late fifties BIB003 . About fifteen years later NAVSTAR GPS and GLONASS were taken into service but it took until the mid nineties that both systems were fully operational BIB002 . GNSSs are designed as a positioning system providing an accurate, continuous three-dimensional position and velocity, and time information. Fundamental for all GNSSs is the unidirectional link between the satellites and the (passive) receiver, thus allowing an unlimited number of users. In GPS, Galileo and in future in GLONASS too BIB003 , a code division multiple access (CDMA) scheme is used to identify each satellite. The main purpose of that CDMA scheme is to carry out the time measurement. The codes are designed to be orthogonal to each other, to create a clear autocorrelation peak and no cross-correlation peak. The time-of-arrival (TOA) of a signal is obtained by correlating in incoming code with a local replica of the same code. To find the starting point of the code, the local replica is shifted until the codes coincide and the correlation peaks. The TOA corresponds to the time difference that the local code had to be shifted. To estimate a position, additional to the TOA the positions of the transmitter must be known to the receiver. That information is send via the same signals within the so called navigation message. This message contains in addition to the satellite precise orbital information (ephemeris) the satellite clock correction data. TOAs of at least four satellites are converted into distances. Because the time measurements contain the error of the receiver clock, these distances are called pseudo ranges. Via lateration of four satellites the receiver clock error and a three-dimensional position is estimated. To solve the lateration equation non-iterative (Bancroft's algorithm) and iterative algorithm (Kalman filter, least squares) may be used. For continuous position estimation, the algorithm to estimate position, velocity and time (PVT) is usually a Kalman filter BIB001 BIB002 .