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The motivation: Detection of different Ionosphere gradients, which cause different ionospheric delays in aviation applications (GBAS) The objectives: First, estimate the airborne and ground ionospheric delays and second, monitor the ionospheric. Bias between both estimates and compare it to a threshold The contribution: Present a GBAS Ionospheric monitor monitor that allows to estimate the ionospheric differential delay without moving to a whole Dual-Frequency GBAS concept.
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Ionosphere monitoring in GBAS usingdual frequency GNSS measurements
Joan Erencia Guerrero
Supervisors:Thomas Dautermann (DLR)Michael Felux (DLR)Gabriele Giorgi (TUM)
Satellite SubsystemSatellite Subsystem
Ionosphere monitoring in GBAS using DF measurementsINTRODUCTION
GBAS
differential GNSS
approach and landing
Airborne SubsystemAirborne Subsystem
Ground SubsystemGround Subsystem
Aviation Benefits:
Safety, efficiency, capacity and cost
2
Outline
1. Motivation, objectives and contribution
2. Theory and methods
3. Results
4. Conclusions and future work
3
Ionosphere monitoring in GBAS using DF measurementsMOTIVATION
4
Time [s]
Ion
os
ph
eric
del
ay [
m]
Ionosphere 𝑰 𝑮𝑵𝑫𝑰 𝑨𝑰𝑹
Nominal Ionosphere No biases
Similar trends(No ionospheric events)
Ionosphere monitoring in GBAS using DF measurementsMOTIVATION
5
Time [s]
Ion
os
ph
eric
del
ay [
m]
𝑰 𝑮𝑵𝑫𝑰 𝑨𝑰𝑹
1. Ionospheric spatial gradient
Ionosphere
bias
Initial bias
Ionosphere monitoring in GBAS using DF measurementsMOTIVATION
6
Time [s]
Ion
os
ph
eric
del
ay [
m]
𝑰 𝑮𝑵𝑫𝑰 𝑨𝑰𝑹
2. Ionospheric temporal gradient Converging trend during approach(ionospheric gradient stationary or not moving w/airplane)
𝑰 𝑮𝑵𝑫𝑰 𝑨𝑰𝑹
Ionosphere monitoring in GBAS using DF measurementsMOTIVATION
7
Time [s]
Ion
os
ph
eric
del
ay [
m]
3. Ionospheric moving gradient Bias constant during approach(ionospheric gradient moving w/airplane speed and direction)
Ionosphere monitoring in GBAS using DF measurementsOBJECTIVES
Estimate
OBJECTIVE 1
8
Monitor
OBJECTIVE 2
Monitor ionospheric differential delay between Airborne and Ground
Time [s]
Ion
osp
her
ic d
elay
[m
]
Time [s]Io
no
sph
eric
Dif
f. d
elay
[m
]
Threshold
Ionosphere monitoring in GBAS using DF measurementsMOTIVATION, OBJECTIVES AND CONTRIBUTION
1. Ionospheric spatial gradient initial bias
2. Ionospheric temporal gradient trend over time
3. Ionospheric gradient moving w/ airplane bias, no trend
1. Estimate GBAS subsystems ionospheric delays (,)
2. Monitor ionospheric differential bias
OBJECTIVES
All ionospheric gradients cannot be detected with single-frequency GNSS.
The proposed ionospheric monitor estimates the ionospheric differential delay without moving to a whole Dual-Frequency GBAS concept.
CONTRIBUTION
MOTIVATION
9
Outline
1. Motivation, objectives and contribution
2. Theory and methods
3. Results
4. Conclusions
10
Ionosphere monitoring in GBAS using DF measurements
Estimate
OBJECTIVE 1
𝑰 𝑮𝟐
𝑰 𝑮𝟑𝑰 𝑮𝟏
𝑰 𝑨𝑰𝑹
1.1. Estimate the ionospheric delay for a receiver
1.2. Estimate the ionospheric delay for each SS
11
Time [s]
Ion
osp
her
ic d
elay
[m
] 𝑰 𝑨𝑰𝑹𝑰 𝑮𝟏𝑰 𝑮𝟐𝑰 𝑮𝟑
Using Pseudorange measurements (C1–P2)
Ionosphere monitoring in GBAS using DF measurements THEORY
Estimate the ionospheric delay for a single receiverGeometry-free ionosphere preserving lin.comb.
OBJECTIVE 1
𝑩𝝆
12
𝝃𝝆
Frequency
dependent
1.1. Single rx
𝑰 𝝆𝑳𝑰 𝝆 +¿ +¿¿
Using Carrier phase measurements (L1–L2)
Ionosphere monitoring in GBAS using DF measurements THEORY
13
Estimate the ionospheric delay for a single receiver Geometry-free ionosphere preserving lin.comb.
Frequency
dependent
𝑩𝚽 𝝃𝚽
OBJECTIVE 1
1.1. Single rx
𝑳𝑰𝚽 +¿ +¿¿𝑰𝚽 𝝀𝚽𝑵𝚽+¿
Ionosphere monitoring in GBAS using DF measurements THEORY
Code noise
Code bias
14
Ionospheric delay* (*using GIM)
Phase bias
+
Estimate the ionospheric delay for a single receiver Geometry-free ionosphere-preserving lin.comb.
OBJECTIVE 1
1.1. Single rx
𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆
𝑰𝒐𝒏
(Phase-based approach)(Code-based approach)
1. Reduce code noise 2. Estimate biases
Ionosphere monitoring in GBAS using DF measurements THEORY
15
LPF𝝆𝟏𝟐
𝚽𝟏𝟐
𝝆𝟏𝟐, 𝒔𝒎𝒕
(𝝉=𝟔𝟎𝟎𝒔 )(𝝉=𝟑𝟎𝟎𝒔 )(𝝉=𝟏𝟎𝟎𝒔 )
𝑳 𝑰 𝝆=𝟏
𝟏−𝒇 𝟏𝟐
𝒇 𝟐𝟐
(𝝆𝟏− 𝝆𝟐 )
𝑳 𝑰𝝓=𝟏
𝟏−𝒇 𝟏𝟐
𝒇 𝟐𝟐
(𝝀𝟏𝝓𝟏−𝝀𝟐𝝓𝟐)
¿𝝆𝟏𝟐
¿𝚽𝟏𝟐
Estimate the ionospheric delay for a single receiver Reduce code noise
OBJECTIVE 1
1.1. Single rx
𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆
𝑰𝒐𝒏
𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆 , 𝒔𝒎𝒕
𝑰𝒐𝒏
Ionosphere monitoring in GBAS using DF measurements THEORY
16
Estimate the ionospheric delay for a single receiver Estimate biases
𝑩𝝆𝚽
OBJECTIVE 1
Remember the bias to be estimated:
Using the code-phase differential bias
Estimating the biases now will involve:
1. Estimate code biases
2. Estimate differential bias
1.1. Single rx
𝑩𝝆
Ionosphere monitoring in GBAS using DF measurements THEORY
17
Estimate the ionospheric delay for a single receiver Estimate code biases ()
OBJECTIVE 1
Estimate code biases
, are constant over 24h[1]
i. are obtained from IONEX files
ii. are calibrated using GIM
Sv IFB
1.1. Single rx
Rx IFB
Sv IFB𝑩𝝆
Rx IFB
[1] Sardon et al, “Estimation of the transmitter and receiver differential biases and the ionospheric total electron content from global positioning system observations”
𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆 , 𝒔𝒎𝒕
𝑰𝒐𝒏
Estimate the ionospheric delay for a single receiver Estimate phase bias
Ionosphere monitoring in GBAS using DF measurements THEORY
18
OBJECTIVE 1
1.1. Single rx
𝑩𝝆𝚽
𝑩𝝆𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆 , 𝒔𝒎𝒕
𝑰𝒐𝒏
Estimate differential bias
1. Wait smoothing time in order to use the
code-smoothed estimate
2. Compute code-phase differential bias:
3. Indirect estimation of phase bias as:
Estimate the ionospheric delay for a single receiver Summary of the method
Ionosphere monitoring in GBAS using DF measurements THEORY
19
OBJECTIVE 1
1.1. Single rx
𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆
𝑰𝒐𝒏
𝜿𝚽𝑳 𝑰𝝓
𝜿𝝆 𝑳𝑰 𝝆
𝑰𝒐𝒏
Rx IFB
Sv IFB𝑩𝝆
𝑩𝝆𝚽
Ionospheric delay estimates
1. Geo-free iono-preserving:
2. Code-noise smoothing (LPF)
3. Code biases
i. with from IONEX, from GIM.
4. Bias estimate
i. with
Code estimate:
Phase estimate:
Ionosphere monitoring in GBAS using DF measurements
Estimate
OBJECTIVE 1
20
1.1. Estimate the ionospheric delay for a receiver
1.2. Estimate the ionospheric delay for each SS
𝑰 𝑨𝑰𝑹
Time [s]
Ion
osp
her
ic d
elay
[m
] 𝑰 𝑨𝑰𝑹𝑰 𝑮𝑵𝑫
𝑰 𝑮𝑵𝑫
Ground SubsystemGround Subsystem
BR01 BR02 BR03
Airborne SubsystemAirborne Subsystem
AIRB
Ionosphere monitoring in GBAS using DF measurements THEORY
21
Estimate the ionospheric delay for each SS
Average ground ionospheric delay estimates
OBJECTIVE 1
1.2.
Code-phase approach Phase-based approach
𝑰 𝑮𝑵𝑫 ,𝝆=𝟏𝑵 ∑
𝒋=𝟏
𝟑
𝑰𝟏 𝝆 ,𝒈𝒏𝒅 ( 𝒋 )𝑰 𝑮𝑵𝑫 ,𝚽= 𝟏𝑵 ∑
𝒋=𝟏
𝟑
𝑰𝟏𝚽 ,𝒈𝒏𝒅 ( 𝒋 )
𝑰 𝑨𝑰𝑹 ,𝚽=𝑰𝟏𝚽 ,𝐚𝐢𝐫Single receiver estimateSingle receiver estimate
𝑰 𝑨𝑰𝑹 ,𝝆=𝑰𝟏𝝆 ,𝐚𝐢𝐫
Average over Ground station receiver estimates
Average over Ground station receiver estimates
1.1. Estimate the ionospheric delay for a receiver
1.2. Estimate the ionospheric delay for each SS
Ionosphere monitoring in GBAS using DF measurements
Estimate
OBJECTIVE 1
22
𝑰 𝑮𝟐
𝑰 𝑮𝟑𝑰 𝑮𝟏
𝑰 𝑨𝑰𝑹
Time [s]
Ion
osp
her
ic d
elay
[m
] 𝑰 𝑨𝑰𝑹𝑰 𝑮𝟏𝑰 𝑮𝟐𝑰 𝑮𝟑
𝑰 𝑮𝑵𝑫
𝑰 𝑮𝑵𝑫
Ionosphere monitoring in GBAS using DF measurements23
Monitor
OBJECTIVE 2
𝑰 𝑨𝑰𝑹
𝑰 𝑮𝑵𝑫
2.1. Compute the ionospheric alarm threshold
2.2. Estimate the ionospheric differential delay
Time [s]
Ion
osp
her
ic d
elay
[m
] 𝑻𝒉𝒓𝒆𝒔𝒉𝒐𝒍𝒅
Monitor Compute the ionospheric alarm threshold
OBJECTIVE 2
Ionosphere monitoring in GBAS using DF measurements THEORY
24
2.1. Threshold
An ionospheric gradient of
is considered dangerous[2]
Near airport :
Far airport :𝒅𝑨𝑰𝑹−𝑮𝑵𝑫
𝑰 𝑨𝑰𝑹
𝑰 𝑮𝑵𝑫
[2] “GBAS CAT II/III Development Baseline SARPs,
Ionosphere monitoring in GBAS using DF measurements25
Monitor
OBJECTIVE 2
𝑰 𝑨𝑰𝑹
𝑰 𝑮𝑵𝑫
2.1. Compute the ionospheric alarm threshold
2.2. Estimate the ionospheric differential delay
Time [s]
Ion
osp
her
ic d
elay
[m
] 𝑰 𝑨𝑰𝑹𝑰 𝑮𝑵𝑫
𝑰 𝑫𝑫= 𝑰 𝑨𝑰𝑹− 𝑰𝑮𝑵𝑫
𝑰 𝑮𝑵𝑫
𝑰 𝑨𝑰𝑹
Ionosphere monitoring in GBAS using DF measurements THEORY
26
Monitor
Estimate the ionospheric differential delay
OBJECTIVE 2
2.2.
Code-phase approach Phase-based approach
𝑰𝑫 𝑫𝝆=𝑰 𝑨𝑰𝑹 ,𝝆− 𝑰𝑮𝑵𝑫 ,𝝆𝑰𝑫 𝑫𝚽=𝑰 𝑨𝑰𝑹 ,𝚽− 𝑰𝑮𝑵𝑫 ,𝚽
𝐼𝐺𝑁𝐷 ,𝜌=1𝑁∑
𝑗=1
3
𝐼 1𝜌 ,𝑔𝑛𝑑 ( 𝑗 )
with:𝐼𝐺𝑁𝐷 , Φ=
1𝑁∑
𝑗=1
3
𝐼 1Φ,𝑔𝑛𝑑 ( 𝑗 )
with:
Ionosphere monitoring in GBAS using DF measurements27
Monitor
OBJECTIVE 2
𝑰 𝑨𝑰𝑹
𝑰 𝑮𝑵𝑫
2.1. Compute the ionospheric alarm threshold
2.2. Estimate the ionospheric differential delay
Time [s]
Ion
osp
her
ic d
elay
[m
]
𝑻𝒉𝒓𝒆𝒔𝒉𝒐𝒍𝒅𝑰 𝑫𝑫= 𝑰 𝑨𝑰𝑹− 𝑰𝑮𝑵𝑫
Outline
1. Motivation, objectives and contribution
2. Theory and methods
3. Results
4. Conclusions and future work
28
Ionosphere monitoring in GBAS using DF measurements RESULTS
GROUND SUBSYSTEM AIRBORNE SUBSYSTEM
Monitor performance
1. Smoothing2. Elevation3. Distance to airport4. Cycle slips5. User dynamics
29
GNSS RX
RWY
Ionosphere monitoring in GBAS using DF measurements RESULTS
30
Code-based Monitor performance using different smoothing constant
𝑰𝑫 𝑫𝝆=𝑰 𝑨𝑰𝑹 ,𝝆− 𝑰𝑮𝑵𝑫 ,𝝆
𝐼𝐺𝑁𝐷 ,𝜌=1𝑁∑
𝑗=1
3
𝐼 1𝜌 ,𝑔𝑛𝑑 ( 𝑗 )
with:
Residual noise:
Caused by code noise
Reduced with larger
smoothing constants
Ionosphere monitoring in GBAS using DF measurements RESULTS
31
Phase-based monitor performance using different smoothing constant
𝐼𝐺𝑁𝐷 , Φ=1𝑁∑
𝑗=1
3
𝐼 1Φ,𝑔𝑛𝑑 ( 𝑗 )
with:
Initialization bias error:
Caused by estimate
Reduced with larger
smoothing constants
𝑰𝑫 𝑫𝚽=𝑰 𝑨𝑰𝑹 ,𝚽− 𝑰𝑮𝑵𝑫 ,𝚽
Ionosphere monitoring in GBAS using DF measurements RESULTS
32
Monitor performance considering the user dynamics
GNSS RX
Ionosphere monitoring in GBAS using DF measurements RESULTS
33
Monitor performance considering the user dynamics
Phase-based approach (red)
Jumps in the estimates.
No line-of-sight during turns for a
satellite with low elevation.Bias in the iono. estimates
Code-based approach (blue)
Large noise/MP in some epochs
Problem in smoothing code-based
estimate due to phase jumps
Bad trend in the filter initialization
Measure Waiting after losing
phase measurements
𝜿𝝉
Outline
1. Motivation, objectives and contribution
2. Theory and methods
3. Results
4. Conclusions and future work
34
Ionosphere monitoring in GBAS using DF measurements
𝑰 𝑮𝑵𝑫𝑰 𝑨𝑰𝑹
Monitor ionospheric differential delay
between Airborne and Ground subsystems
Time [s]
Ion
os
ph
eric
del
ay [
m]
Time [s]Io
no
sp
her
ic D
iff.
del
ay [
m]
Threshold
35
Ionosphere monitoring in GBAS using DF measurements CONCLUSIONS
36
If this ionospheric monitor were to be implemented:
1. Frequency-dependent biases monitoring To meet integrity requirements, the esimation of biases should be
monitored
2. Ground Subsystem implementation of the monitorEstimation of ground ionospheric delay and broadcast to service area
3. Airborne Subsystem implementation of the monitor Estimation of airborne ionospheric delay
Alarm threshold computation
Ionospheric differential delay, based on estimates
4. Short-term and long-term ionosphere monitoringStorage of monitor data results during approaches.
Characterization of Iono for a certain airport for certain time series (years)
Ionosphere monitoring in GBAS using DF measurements FUTURE WORK
37
Future work would include:
1. Assessing monitor performance using L1-L5 signals L1 – L5 bands will be used for Safety-of-Life application
Noise in these signals is uncorrelated
2. Monitor verification using data with iono events
Performance of the monitor with the different ionospheric gradients
Effects of signal scintillation on the monitor
3. Statistical study
It is presented a concept for iono. monitoring using two frequencies
The use of this monitor would require a study to describe ,...
Ionosphere monitoring in GBAS using DF measurements
𝑰 𝑮𝑵𝑫𝑰 𝑨𝑰𝑹
Thank you for your attention
Questions?