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Eng. Proc., 2025, ENC 2024

European Navigation Conference 2024

Noordwijk, The Netherlands | 22–24 May 2024

Volume Editor:

Terry Moore, Royal Institute of Navigation, UK

Number of Papers: 60
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Cover Story (view full-size image): The European Navigation Conference 2024 (ENC 2024) was held from 22 to 24 May 2024 at the European Space Research and Technology Centre (ESTEC) in Noordwijk, The Netherlands. The conference was [...] Read more.
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10 pages, 2268 KiB  
Proceeding Paper
Evaluation of H-ARAIM Reference Algorithm Performance Using Flight Data
by Natali Caccioppoli, David Duchet and Gerhard Berz
Eng. Proc. 2025, 88(1), 1; https://doi.org/10.3390/engproc2025088001 - 14 Mar 2025
Viewed by 309
Abstract
Currently, relevant efforts are being dedicated to the implementation of Advanced Receiver Autonomous Integrity Monitoring (ARAIM) in future aviation receiver standards. These contributions focus on the specific aspects of algorithm processing and performance using simulated or real static user grid data. However, significant [...] Read more.
Currently, relevant efforts are being dedicated to the implementation of Advanced Receiver Autonomous Integrity Monitoring (ARAIM) in future aviation receiver standards. These contributions focus on the specific aspects of algorithm processing and performance using simulated or real static user grid data. However, significant differences in the quality of measurements made by ground receivers compared to an avionics receiver may arise due to operational constraints such as space weather (troposphere and/or ionosphere), multipath, signal outages, and cycle slips. The objective of our work is to evaluate the Horizontal-ARAIM (H-ARAIM) reference algorithm sensitivity in an operational scenario using GPS and GALILEO dual-frequency flight data. Navigation performances are analyzed for typical arrival and approach maneuvers with respect to positioning accuracy and integrity for Required Navigation Performance (RNP) specifications, along with the evaluation of algorithm computational load when subjected to the dynamics of the aircraft. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 4626 KiB  
Proceeding Paper
Performance Analysis for the Galileo High-Accuracy Service and Related Work in the DLR Galileo Competence Center
by Marios Smyrnaios, Wolfgang Dilg, Katharina Lutz, Bernhard Röttgers and Johann Furthner
Eng. Proc. 2025, 88(1), 2; https://doi.org/10.3390/engproc2025088002 - 14 Mar 2025
Viewed by 378
Abstract
A system for monitoring and analyzing GNSS performance is being developed at DLR’s Galileo Competence Centre. Various parameters are monitored in order to characterize the performance of the four global satellite navigation systems. The focus of this contribution is on the extension of [...] Read more.
A system for monitoring and analyzing GNSS performance is being developed at DLR’s Galileo Competence Centre. Various parameters are monitored in order to characterize the performance of the four global satellite navigation systems. The focus of this contribution is on the extension of our system with monitoring and analysis capabilities for the Galileo HAS and specifically for the Internet Data Distribution component of the service. An initial analysis of the content of the HAS messages and the positioning performance of the service at example IGS station locations is discussed. Our analysis shows the continuous availability of the internet distribution component of the service and a horizontal positioning performance of the order of 20 cm or better for 95% of the epochs of the selected time periods and for the selected station locations. In addition to HAS, we also examined an additional set of performance parameters, which show similar performance levels between the Galileo, GPS and BeiDou systems. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 7682 KiB  
Proceeding Paper
Maximum Tolerable Multipath for Successful Meta-Signal Sub-Carrier Ambiguity Fixing
by Mohamed Bochkati, Ece Kayacilar, Muhammad S. Hameed, Markel Arizabaleta-Diez and Thomas Pany
Eng. Proc. 2025, 88(1), 3; https://doi.org/10.3390/engproc2025088003 - 14 Mar 2025
Viewed by 193
Abstract
The prospect of GNSS meta-signal tracking promises the synergy of both code reliability and the high precision of sub-carrier observations. The latter has the advantage, in comparison to carrier-phase observations, of having wavelengths in the order of a few meters instead of cm-level. [...] Read more.
The prospect of GNSS meta-signal tracking promises the synergy of both code reliability and the high precision of sub-carrier observations. The latter has the advantage, in comparison to carrier-phase observations, of having wavelengths in the order of a few meters instead of cm-level. This realizes the possibility of resolving sub-carrier-phase ambiguities without the need for a reference station providing positioning solutions with a sub-meter level of accuracy. In the frame of the HANDS-CD project led by IGASPIN GmbH, a synthetic meta-signal observation formed from Galileo E5a and E5b signals using the widelaning concept will be demonstrated in this contribution. This analysis is performed based on a simulated kinematic trajectory. The synthetic meta-signal observations are fed into an extended Kalman filter-based positioning engine called the meta-signal positioning engine (M-SiPE-tool), which applies the least-squares ambiguity decorrelation adjustment (LAMBDA) ambiguity fixing method to resolve the sub-carrier ambiguities. To assess the robustness of the positioning filter against signal impairments, the observations of many Galileo satellites are synthetically contaminated by multipath reflection with different amplitudes. The outcome of the positioning engine exhibits successful sub-carrier ambiguity fixing and provides a sub-decimeter positioning accuracy for a code multipath amplitude of less than 30 m, or for a sub-carrier multipath amplitude of less than 0.5 m. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 3772 KiB  
Proceeding Paper
LDACS PNT Architecture Integrating Asymmetric Two-Way Timing Filters for Enhanced and Reliable Positioning
by Gianluca Zampieri, Gary McGraw, Brandon Weaver and Michael Meurer
Eng. Proc. 2025, 88(1), 4; https://doi.org/10.3390/engproc2025088004 - 17 Mar 2025
Viewed by 186
Abstract
This research investigates the positioning performance of the L-band Digital Aeronautical Communications System (LDACS) and presents a system architecture based on carrier-smoothed ground-to-air pseudoranges (PRs), along with clock corrections derived from asymmetric two-way time and frequency transfer (A-TWTFT) filters. The objective is to [...] Read more.
This research investigates the positioning performance of the L-band Digital Aeronautical Communications System (LDACS) and presents a system architecture based on carrier-smoothed ground-to-air pseudoranges (PRs), along with clock corrections derived from asymmetric two-way time and frequency transfer (A-TWTFT) filters. The objective is to achieve required positioning accuracy and integrity for aviation operations, addressing the complexities associated with utilizing a terrestrial communications system for complementary positioning, navigation, and timing (CPNT). Through error covariance analysis, this study assesses the steady-state value, convergence time, and bounding performances of the filters. The positioning performance highlights the benefits provided by the proposed architecture. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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8 pages, 2885 KiB  
Proceeding Paper
Resilient Time Dissemination Fusion Framework for UAVs for Smart Cities
by Sorin Andrei Negru, Triyan Pal Arora, Ivan Petrunin, Weisi Guo, Antonios Tsourdos, David Sweet and George Dunlop
Eng. Proc. 2025, 88(1), 5; https://doi.org/10.3390/engproc2025088005 - 17 Mar 2025
Viewed by 269
Abstract
Future smart cities will consist of a heterogeneous environment, including UGVs (Unmanned Ground Vehicles) and UAVs (Unmanned Aerial Vehicles), used for different applications such as last mile delivery. Considering the vulnerabilities of GNSS (Global Navigation System Satellite) in urban environments, a resilient PNT [...] Read more.
Future smart cities will consist of a heterogeneous environment, including UGVs (Unmanned Ground Vehicles) and UAVs (Unmanned Aerial Vehicles), used for different applications such as last mile delivery. Considering the vulnerabilities of GNSS (Global Navigation System Satellite) in urban environments, a resilient PNT (Position, Navigation, Timing) solution is needed. A key research question within the PNT community is the capability to deliver a robust and resilient time solution to multiple devices simultaneously. The paper is proposing an innovative time dissemination framework, based on IQuila’s SDN (Software Defined Network) and quantum random key encryption from Quantum Dice to multiple users. The time signal is disseminated using a wireless IEEE 802.11ax, through a wireless AP (Access point) which is received by each user, where a KF (Kalman Filter) is used to enhance the timing resilience of each client into the framework. Each user is equipped with a Jetson Nano board as CC (Companion Computer), a GNSS receiver, an IEEE 802.11ax wireless card, an embedded RTC (Real Time clock) system, and a Pixhawk 2.1 as FCU (Flight Control Unit). The paper is presenting the performance of the fusion framework using the MUEAVI (Multi-user Environment for Autonomous Vehicle Innovation) Cranfield’s University facility. Results showed that an alternative timing source can securely be delivered fulfilling last mile delivery requirements for aerial platforms achieving sub millisecond offset. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 1170 KiB  
Proceeding Paper
The ConTAD Project: Detection of Multi-Container Loss for Safety of Navigation
by Moritz Oberjatzas, Christian Denker, Hanns-Christian Wüstner and Moritz Schmidt
Eng. Proc. 2025, 88(1), 6; https://doi.org/10.3390/engproc2025088006 - 17 Mar 2025
Viewed by 189
Abstract
In recent years, there has been a significant increase in the number of shipping containers lost at sea. Such incidents result in environmental pollution and economic costs. Given that the underlying causes of container loss are not yet fully understood, it is reasonable [...] Read more.
In recent years, there has been a significant increase in the number of shipping containers lost at sea. Such incidents result in environmental pollution and economic costs. Given that the underlying causes of container loss are not yet fully understood, it is reasonable to assume that further incidents will occur in the future. The research in the ConTAD project aims to automatically detect multi-container loss with the use of advanced container tracking technology. This paper presents the concept behind the targeted container tracking device, which will be designed to reduce the environmental and economic impact of container loss in the future. A container loss accident phase model is proposed to visualize the impact of the new container tracking technology. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1305 KiB  
Proceeding Paper
Low-Cost SDR for GNSS Interference Mitigation Using Spatial Diversity Techniques
by Lucía Pallarés-Rodríguez, David Gómez-Casco, Noori Bni-Lam, Gonzalo Seco-Granados, José A. López-Salcedo and Paolo Crosta
Eng. Proc. 2025, 88(1), 7; https://doi.org/10.3390/engproc2025088007 - 17 Mar 2025
Viewed by 434
Abstract
This paper addresses the feasibility of implementing spatial diversity techniques to mitigate interference signals using low-cost GNSS receivers. Global Navigation Satellite Systems (GNSSs) remain at the core of navigation technologies and obtaining precise and robust positioning solutions in harsh scenarios becomes essential for [...] Read more.
This paper addresses the feasibility of implementing spatial diversity techniques to mitigate interference signals using low-cost GNSS receivers. Global Navigation Satellite Systems (GNSSs) remain at the core of navigation technologies and obtaining precise and robust positioning solutions in harsh scenarios becomes essential for the proper functioning of modern applications. Furthermore, this challenge is even more complex when mass-market receivers are addressed, since the previous requirements must be achieved while maintaining low-cost architectures. A promising solution is to use beamforming techniques, which exploit the spatial domain to achieve enhanced reliability and robustness. In this paper, the potential of beamforming in mass-market receivers is analyzed by implementing two interference mitigation techniques and using a five-channel low-cost software defined radio (SDR), KrakenSDR. The results show that the algorithms implemented are able to mitigate strong interference signals, allowing the GNSS receiver to compute an accurate positioning solution. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 3939 KiB  
Proceeding Paper
Interference Monitoring from Low Earth Orbit: The OPS-SAT Experiment
by Francesco Menzione, Ottavio M. Picchi, Tommaso Senni, Vladimir Zelenevskiy, Luca Cucchi, Andrea Piccolo and Joaquim Fortuny-Guasch
Eng. Proc. 2025, 88(1), 8; https://doi.org/10.3390/engproc2025088008 - 17 Mar 2025
Viewed by 331
Abstract
In the context of the Jammertest 2023, a collaborative experiment was carried out by the European Commission Joint Research Centre (JRC), the European Space Operations Centre of ESA (ESOC), the Norwegian Communication Authority, and the Norwegian Defense Research Establishment (FFI) to explore potential [...] Read more.
In the context of the Jammertest 2023, a collaborative experiment was carried out by the European Commission Joint Research Centre (JRC), the European Space Operations Centre of ESA (ESOC), the Norwegian Communication Authority, and the Norwegian Defense Research Establishment (FFI) to explore potential RF interference monitoring in the navigation GNSS band from LEO. The experiment utilizes the ESA OPS-SAT satellite and the possibility of transmitting a custom jamming signal pattern during the Jammertest event. The objective is to validate the feasibility of detecting and locating ground-generated jamming signals using SDR technology on-board LEO. The insight into the signal structure and location provides a unique chance to assess the performance and limitations of this approach in a real-world scenario. This paper presents the processing of raw RF data collected during the in-flight experiment, including the generation of frequency difference of arrival (FDOA) observables and emitter geolocation. Despite the constraints posed by onboard resources and mission limitations, this work offers a persuasive proof of concept and suggests new guidelines for implementing this technology on future LEO missions. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 5167 KiB  
Proceeding Paper
GNSS Constellations Monitoring Using a Phased Array Antenna System
by Lionel Tombakdjian, Noori BniLam, Fabien Ferrero and Paolo Crosta
Eng. Proc. 2025, 88(1), 9; https://doi.org/10.3390/engproc2025088009 - 18 Mar 2025
Viewed by 321
Abstract
This study presents a novel approach to enhance GNSS (Global Navigation Satellite System) signal reception using an eight-port beamformer tailored for satellite navigation applications. The beamformer architecture integrates key stages including filtering, amplification, phase shifting, and signal combination to optimize signal reception. For [...] Read more.
This study presents a novel approach to enhance GNSS (Global Navigation Satellite System) signal reception using an eight-port beamformer tailored for satellite navigation applications. The beamformer architecture integrates key stages including filtering, amplification, phase shifting, and signal combination to optimize signal reception. For demonstration, a GNSS signal generator simulates a four-element phased array antenna, emitting GPS L1 constellation signals across four outputs connected to the beamformer ports. By manipulating phase settings on each port, the beamformer enables beam steering, showcasing improved signal detection. The results highlight the efficacy of the custom beamformer in enhancing GNSS signal reception and suggest promising implications for satellite signal tracking and navigation. This research contributes valuable insights into advanced antenna design and signal processing strategies for optimizing GNSS performance. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 8349 KiB  
Proceeding Paper
Hybrid Cycle Slip Detection Method for Smartphone Global Navigation Satellite System
by Naman Agarwal and Kyle O’Keefe
Eng. Proc. 2025, 88(1), 10; https://doi.org/10.3390/engproc2025088010 - 18 Mar 2025
Viewed by 292
Abstract
The main roadblock to precise Smartphone GNSS positioning is erroneous carrier phase data which is highly prone to cycle slips (CSs). There is a dearth of research on cycle slip detection and repair (CSDR) methods for Smartphone GNSS. Existing literature on CSDR methods [...] Read more.
The main roadblock to precise Smartphone GNSS positioning is erroneous carrier phase data which is highly prone to cycle slips (CSs). There is a dearth of research on cycle slip detection and repair (CSDR) methods for Smartphone GNSS. Existing literature on CSDR methods is based on phase data captured by professional-grade receivers. These methods can be broadly categorized into two groups: (1) Geometry-Free CSDR (GF-CSDR) and (2) Geometry-Based CSDR (GB-CSDR). GF-CSDR methods rely on individual satellite measurements, whereas the GB-CSDR technique considers the whole satellite–receiver geometry. This paper proposes a real-time single-frequency CSDR method combining both GF and GB-CSDR. Experimental results are presented for a static and a kinematic smartphone dataset. It is shown that although reliable CS detection is possible for Smartphone GNSS, CS repair reliability is limited due to the carrier phase precision quality. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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7 pages, 2872 KiB  
Proceeding Paper
Drone-Based Radar Terrain-Referenced Navigation Using a Low-Cost Automotive-Class FMCW Radar to Enable GNSS-Denied Navigation
by John Markow and Aled Catherall
Eng. Proc. 2025, 88(1), 11; https://doi.org/10.3390/engproc2025088011 - 19 Mar 2025
Viewed by 357
Abstract
Drones are increasingly being used for a variety of applications, but their use can be hampered when Global Navigation Satellite System (GNSS) signals are unavailable. This paper presents Terrain-Referenced Navigation (TRN) from a class 1 drone using a low-cost, automotive-class mm-wave radar to [...] Read more.
Drones are increasingly being used for a variety of applications, but their use can be hampered when Global Navigation Satellite System (GNSS) signals are unavailable. This paper presents Terrain-Referenced Navigation (TRN) from a class 1 drone using a low-cost, automotive-class mm-wave radar to enable accurate navigation in GNSS-denied environments. The radar-derived elevation profile of the ground beneath the drone as it flies is compared to a light detection and ranging (lidar)-based digital terrain map, and using a particle filter, the drone’s position is estimated. Results show that mm-wave radar TRN can provide an accurate navigation capability in the absence of GNSS and offers several advantages over other alternative navigation technologies. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2900 KiB  
Proceeding Paper
Sensitivity Analysis of Galileo OSNMA Cross-Authentication Sequences
by Aleix Galan, Cillian O’Driscoll, Ignacio Fernandez-Hernandez and Sofie Pollin
Eng. Proc. 2025, 88(1), 12; https://doi.org/10.3390/engproc2025088012 - 20 Mar 2025
Viewed by 279
Abstract
The Galileo Open Service Navigation Message Authentication (OSNMA) service has been transmitting stably in recent years and is expected to be declared operational in the next months. While the protocol is very flexible, most of the parameters, such as key and tag sizes [...] Read more.
The Galileo Open Service Navigation Message Authentication (OSNMA) service has been transmitting stably in recent years and is expected to be declared operational in the next months. While the protocol is very flexible, most of the parameters, such as key and tag sizes and cryptographic functions, have been already fixed in view of the operational declaration. However, some degree of flexibility remains in the tag and cross-authentication sequence. The cross-authentication sequence defines the satellites “cross-authenticated” by an authenticating Galileo satellite and is one of the main properties of the OSNMA protocol. It facilitates the authentication of nearby Galileo satellites for higher redundancy against losses, authenticating data from satellites not connected to the ground and therefore not transmitting OSNMA, and authenticating GPS or other data in the future. It has a significant impact on OSNMA performance: if the sequence is too long, many cross-authenticated satellites will not be seen by the users, limiting the optimal use of the OSNMA bandwidth, and with a major impact on TBA (Time Between Authentications) and Time To First Authenticated Fix (TTFAF). If the sequence is too short, several non-connected but visible satellites may remain unauthenticated, also degrading performance. This paper presents an analysis with real SIS data from different cross-authentication sequences transmitted by Galileo in recent months, involving different tag distribution and a number of cross-authenticated satellites including open-sky static, dynamic, and urban environments. This work shows the degradation with sub-optimal cross-authentication sequences and identifies current bottlenecks, proposing some recommendations for future sequences. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 7211 KiB  
Proceeding Paper
Monitoring and Data Distribution of the Galileo High-Accuracy Service System and User Performance
by Paolo Zoccarato, Francesco Menzione, Ciro Gioia, Joaquim Fortuny-Guasch and Matteo Paonni
Eng. Proc. 2025, 88(1), 13; https://doi.org/10.3390/engproc2025088013 - 20 Mar 2025
Viewed by 459
Abstract
Global Navigation Satellite Systems (GNSSs) provide free services such as the Galileo High-Accuracy Service (HAS) to enhance navigation precision. The Joint Research Centre (JRC) developed a monitoring system for HAS corrections from Galileo signals and the internet, comparing them with Multi-GNSS Experiment (MGEX) [...] Read more.
Global Navigation Satellite Systems (GNSSs) provide free services such as the Galileo High-Accuracy Service (HAS) to enhance navigation precision. The Joint Research Centre (JRC) developed a monitoring system for HAS corrections from Galileo signals and the internet, comparing them with Multi-GNSS Experiment (MGEX) products. HAS is also exploited to compute daily position and timing solutions of IGS stations and JRC receivers. Performance is evaluated by analyzing HAS ephemeris errors and positioning accuracy considering single- and dual-constellation modes. Signal-in-space and Internet data distribution HAS corrections, their streams, and the derived experimental HAS products are stored at the JRC and made available for research. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 4167 KiB  
Proceeding Paper
Toward Context-Aware GNSS Positioning: A Preliminary Analysis
by Giovanni Cappello, Antonio Maratea, Ciro Gioia, Antonio Angrisano, Silvio Del Pizzo and Salvatore Gaglione
Eng. Proc. 2025, 88(1), 14; https://doi.org/10.3390/engproc2025088014 - 21 Mar 2025
Viewed by 266
Abstract
The vast majority of GNSS users move in urban areas, where the signal conditions are highly unstable and multipath or gross errors make GNSS navigation unreliable or plainly unfeasible. In this study, features from real GNSS data collected by different grades of receivers [...] Read more.
The vast majority of GNSS users move in urban areas, where the signal conditions are highly unstable and multipath or gross errors make GNSS navigation unreliable or plainly unfeasible. In this study, features from real GNSS data collected by different grades of receivers have been compared to find candidate statistical indicators of the context that allow the automatic recognition of open sky or obstructed environments. The features considered are all pre-PVT and snapshot-based and hence suitable for real-time applications. They are namely the number of visible satellites, the dilution of precision, multipath linear combination with dual-frequency measurements, and the C/N0 difference between each couple of satellites in the same epoch at the same frequency. All measurements have been gathered both in open sky and in obstructed scenarios. The evidences suggest multipath linear combination and the C/N0 difference between couples of satellites as the most promising baselines for an environment classifier based on Machine Learning. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2560 KiB  
Proceeding Paper
Making a Good Thing Better: Jammertest 2023 Jamming, Meaconing, Spoofing, and Synchronization on the Norwegian Coast
by Aiden Morrison, Nadezda Sokolova, Nicolai Gerrard, Harald Hauglin, Thomas Rødningen and Anders Rødningsby
Eng. Proc. 2025, 88(1), 15; https://doi.org/10.3390/engproc2025088015 - 24 Mar 2025
Viewed by 246
Abstract
Jammertest is the largest known GNSS jamming, meaconing, and spoofing test event in the world, which has an open policy towards both user participation and user communication with no restrictions on the sharing of data or publication of results. The organizers implemented several [...] Read more.
Jammertest is the largest known GNSS jamming, meaconing, and spoofing test event in the world, which has an open policy towards both user participation and user communication with no restrictions on the sharing of data or publication of results. The organizers implemented several changes and enhancements within the 2023 test campaign to further broaden the appeal and applicability of the tests for as many demographics of GNSS users as possible. More than 200 participants from 19 nations took part in person from 18 to 22 September at the test sites along the west coast of the Andøy island. This paper summarizes the design and motivation of the tests and test venue with particular attention to the efforts taken to provide users with precision timing and frequency references independent of the denied and disrupted GNSS signals. Aspects of surveilling and enforcing unintentional emissions, and real-time communication and coordination to the large number of distributed participants are also discussed. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 2383 KiB  
Proceeding Paper
WiFi–Round-Trip Timing (WiFi–RTT) Simultaneous Localisation and Mapping: Pedestrian Navigation in Unmapped Environments Using WiFi–RTT and Smartphone Inertial Sensors
by Khalil J. Raja and Paul D. Groves
Eng. Proc. 2025, 88(1), 16; https://doi.org/10.3390/engproc2025088016 - 24 Mar 2025
Viewed by 360
Abstract
A core problem relating to indoor positioning is a lack of prior knowledge of the environment. To date, most WiFi–RTT research assumes knowledge of the access points in an indoor environment. This paper provides a solution to this problem by using a simultaneous [...] Read more.
A core problem relating to indoor positioning is a lack of prior knowledge of the environment. To date, most WiFi–RTT research assumes knowledge of the access points in an indoor environment. This paper provides a solution to this problem by using a simultaneous localisation and mapping (SLAM) algorithm, using WiFi–RTT and pedestrian dead reckoning, which uses the inertial sensors in a smartphone. A WiFi–RTT SLAM algorithm has only been researched in one instance at the time of writing; this paper aims to expand the exploration of this problem, particularly in relation to the use of outlier detection and motion models. For the trials, which were 35 steps long, the final mobile device horizontal positioning error was 1.01 m and 1.7 m for the forward and reverse trials, respectively. The results of this paper show that unmapped indoor positioning using WiFi–RTT is feasible for metre-level indoor positioning, given correct access point calibration. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 1633 KiB  
Proceeding Paper
Signal Design and Compatibility Assessment for LEO Navigation Augmentation System
by Tao Yan, Ying Wang, Lang Bian and Yansong Meng
Eng. Proc. 2025, 88(1), 17; https://doi.org/10.3390/engproc2025088017 - 25 Mar 2025
Viewed by 278
Abstract
With the booming development of low earth orbit (LEO) satellite constellations, improving the global navigation satellite system (GNSS) performance based on LEO satellites is attracting more and more research attention. To shorten the convergence time of precise point positioning (PPP) with the help [...] Read more.
With the booming development of low earth orbit (LEO) satellite constellations, improving the global navigation satellite system (GNSS) performance based on LEO satellites is attracting more and more research attention. To shorten the convergence time of precise point positioning (PPP) with the help of the LEO navigation augmentation system, the dedicated LEO navigation augmentation signals need to be broadcasted, and the signals need to meet some special design requirements. This paper takes the GNSS L1 and L5 frequency bands as examples to design the LEO navigation augmentation signals. From the perspective of reducing interference to GNSS signals, the carrier frequency of the LEO navigation augmentation signal is selected, and the modulation type is designed. In order to support both high-precision measurement and high data rate, it is proposed that the LEO navigation signal consists of a measurement component and a data component with a high data rate. These two signal components are combined into one composite signal using the multiplexing code shift keying (MCSK) method. On this basis, compatibility between LEO navigation augmentation signals and GNSS signals is evaluated. The impact of LEO navigation augmentation signals on GNSS signals is further analyzed. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1430 KiB  
Proceeding Paper
Improvement of PNT Performances Using DLCNS in the Lunar Navigation System
by Andrea Massaccesi, Marco Fortunato, Jacopo Capolicchio and Lorenzo Marchionne
Eng. Proc. 2025, 88(1), 18; https://doi.org/10.3390/engproc2025088018 - 25 Mar 2025
Viewed by 253
Abstract
The increasing complexity of lunar exploration missions necessitates stricter navigation requirements, especially when human life is involved. Extensive research is currently being conducted on various positioning systems suitable for the lunar environment. These include both the exploitation of terrestrial GNSS (Global Navigation Satellite [...] Read more.
The increasing complexity of lunar exploration missions necessitates stricter navigation requirements, especially when human life is involved. Extensive research is currently being conducted on various positioning systems suitable for the lunar environment. These include both the exploitation of terrestrial GNSS (Global Navigation Satellite System) signals, and the deployment of a lunar-dedicated satellite system known as the Lunar Communication and Navigation Service (LCNS). In order to meet the demanding navigation requirements, the usage of one or more lunar beacons to enhance Positioning, Navigation, and Timing (PNT) performance for different assets is under investigation to complement the LCNS system. This research aims to demonstrate the improvement of PNT accuracy by exploiting Differential LCNS (DLCNS) positioning techniques. To this end, both Single Point Positioning (SPP) and DLCNS techniques along with estimation algorithms such as Weighted Least Squares (WLS) and Extended Kalman Filter (EKF) were developed in a simulated lunar environment to assess their performances. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2091 KiB  
Proceeding Paper
Early Detection of Coherent GNSS Spoofing Attacks with Cluster Analysis at Receiver Acquisition Stage
by Jan M. Becker
Eng. Proc. 2025, 88(1), 19; https://doi.org/10.3390/engproc2025088019 - 25 Mar 2025
Viewed by 239
Abstract
The resilience of Global Navigation Satellite System (GNSS) usage against spoofing attacks can be increased by signal monitoring algorithms aiming to detect a spoofing signal at the acquisition stage of GNSS receiver signal processing. A common approach is to search for the presence [...] Read more.
The resilience of Global Navigation Satellite System (GNSS) usage against spoofing attacks can be increased by signal monitoring algorithms aiming to detect a spoofing signal at the acquisition stage of GNSS receiver signal processing. A common approach is to search for the presence of multiple correlation peaks in the absolute value of the Cross-Ambiguity Function (CAF). In this context, it is particularly challenging to detect spoofing signals with a correlation peak closely aligned to that of the authentic signal, as is the case at the early stage of a coherent spoofing attack. In the present work, a spoofing detection method is proposed that monitors the magnitude of the CAF by means of clustering techniques. It is designed to detect the pull-off during a coherent power-matched spoofing attack already at an early stage. The method is evaluated for the GPS L1 C/A signal based on a static scenario from the Texas Spoofing Test Battery (TEXBAT) data set as well as for the Galileo E1-B signal based on a real-world digital snapshot recording in the E1 frequency band that is augmented by emulated spoofing signals at the level of digital signal processing. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 2578 KiB  
Proceeding Paper
Concept of a Multi-Receiver-Vector Tracking Algorithm Within a Gnss Network
by Stefan Laller and Philipp Berglez
Eng. Proc. 2025, 88(1), 20; https://doi.org/10.3390/engproc2025088020 - 26 Mar 2025
Viewed by 157
Abstract
This paper deals with the concept of a GNSS monitoring network, which fulfills requirements in relation to sustainability, cost efficiency and flexibility. For the proposed approach, the hardware of the GNSS monitoring stations should be reduced to a minimum. Therefore, Remote Radio Head [...] Read more.
This paper deals with the concept of a GNSS monitoring network, which fulfills requirements in relation to sustainability, cost efficiency and flexibility. For the proposed approach, the hardware of the GNSS monitoring stations should be reduced to a minimum. Therefore, Remote Radio Head sensors or especially RF Front-Ends, which are already used in the field of GNSS, should be used. In this concept, GNSS network stations are equipped with an antenna, an RF Front-End, and hardware for data transfer (raw I&Q samples) to a central processing facility. The idea is to realize a collaborative processing of all receivers with a Multi-Receiver-Vector Tracking (MRVT) algorithm in one single Software-Defined GNSS receiver (SDR). Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 4438 KiB  
Proceeding Paper
Impact of Solar Cycle 25 on GNSS Measurements: Analysis of Ionospheric Scintillation and Positioning Challenges
by Ali Broumandan, Isabelle Tremblay and Sandy Kennedy
Eng. Proc. 2025, 88(1), 21; https://doi.org/10.3390/engproc2025088021 - 26 Mar 2025
Viewed by 260
Abstract
As the peak of solar cycle 25 approaches, increased ionospheric and scintillation activity is being observed, which is negatively impacting the quality of GNSS measurements and presenting challenges in the positioning domain. Ionospheric refraction and diffraction introduce delays and distortions to GNSS carrier [...] Read more.
As the peak of solar cycle 25 approaches, increased ionospheric and scintillation activity is being observed, which is negatively impacting the quality of GNSS measurements and presenting challenges in the positioning domain. Ionospheric refraction and diffraction introduce delays and distortions to GNSS carrier phase measurements, leading to positioning errors that exceed the anticipated accuracies. These position errors can be a significant concern for users across the world who depend on precise GNSS positioning, such as in agriculture, offshore marine positioning and autonomous automotive positioning. To understand the direct impact on NovAtel receivers and its positioning engines, a comprehensive analysis was conducted. A closer look was taken at what happened in 2023–2024 by characterizing scintillation using the amplitude scintillation index (S4) values in an equatorial region. Additionally, the scintillation effect on the receivers was characterized through the analysis of C/N0, lock breaks, double differences and other indicators. With a substantial amount of data collected at 20° latitude, where high solar activity occurs due to the proximity to the equator, the positioning performance of Real-Time Kinematic (RTK) and Precise Point Positioning (PPP) was analyzed. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 4307 KiB  
Proceeding Paper
Combined Navigation and Tracking with Applications to Low Earth Orbit Satellites
by Fabio Pisoni, Domenico Di Grazia, Giovanni Gogliettino, Thyagaraja Marathe, Paul Tarantino, Tyler Reid and Mathieu Favreau
Eng. Proc. 2025, 88(1), 22; https://doi.org/10.3390/engproc2025088022 - 28 Mar 2025
Cited by 1 | Viewed by 323
Abstract
Low Earth Orbit (LEO) satellites complement classic GNSS by offering stronger signals, improved visibility, and system redundancy. Typical high speeds in LEO orbits generate rapid variations of the receiver-to-satellite geometry, which can improve the convergence of Precise Point Positioning (PPP) algorithms. However, high [...] Read more.
Low Earth Orbit (LEO) satellites complement classic GNSS by offering stronger signals, improved visibility, and system redundancy. Typical high speeds in LEO orbits generate rapid variations of the receiver-to-satellite geometry, which can improve the convergence of Precise Point Positioning (PPP) algorithms. However, high dynamics also induce strong Doppler rates at the receiver, which make the tracking procedures more difficult. In this paper, a loosely combined navigation and tracking architecture is applied to a Xona PULSAR™ Demonstration Signal in the L-Band such that the dynamic stress perceived by the receiver is mitigated. Other practical aspects of the Xona PULSAR™ receiver will be also discussed. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 6650 KiB  
Proceeding Paper
Real-Time Kinematic Positioning Using Multi-Frequency Smartphone Measurements
by Francesco Zanini, Melania Susi, Gabriele Losi and Dmitry Nikitin
Eng. Proc. 2025, 88(1), 23; https://doi.org/10.3390/engproc2025088023 - 28 Mar 2025
Viewed by 344
Abstract
Nowadays, several smartphones on the market provide multi-frequency multi-constellations GNSS measurements, including carrier phase ones, allowing the achievement of high-accuracy positioning by exploiting Real Time Kinematic (RTK) or Precise Point Positioning (PPP) techniques. This paper will showcase the effectiveness of using smartphone measurements [...] Read more.
Nowadays, several smartphones on the market provide multi-frequency multi-constellations GNSS measurements, including carrier phase ones, allowing the achievement of high-accuracy positioning by exploiting Real Time Kinematic (RTK) or Precise Point Positioning (PPP) techniques. This paper will showcase the effectiveness of using smartphone measurements for RTK under different scenarios and for different applications using baselines of different lengths. The impact of the smartphone’s antenna on the solution will also be analysed. The assessment will be performed by evaluating different key performance indicators, including the time to first fix and the horizontal/vertical accuracy. This paper shows that around a 99% fix position can be achieved even using the smartphones’ antennas for the static case under open sky conditions. Moreover, high percentages of fix solutions can also be achieved in kinematic mode by ad hoc tuning of the RTK algorithm. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 5586 KiB  
Proceeding Paper
Investigation of Static and Kinematic Surveying Performance of Handheld GNSS Receiver
by Reha Metin Alkan, Serdar Erol, Bilal Mutlu and Muhammed Yahya Bıyık
Eng. Proc. 2025, 88(1), 24; https://doi.org/10.3390/engproc2025088024 - 28 Mar 2025
Cited by 1 | Viewed by 253
Abstract
In this study, the static and kinematic positioning performance of the Garmin GPSMAP 66sr handheld GNSS receiver has been tested. For the static test, GNSS data was collected for 24 h and divided into shorter sessions of 1, 2, and 4 h to [...] Read more.
In this study, the static and kinematic positioning performance of the Garmin GPSMAP 66sr handheld GNSS receiver has been tested. For the static test, GNSS data was collected for 24 h and divided into shorter sessions of 1, 2, and 4 h to assess the performance of the receiver as a function of occupation time. The whole and subgroup data were processed by the relative method for different satellite constellations using three reference stations, to form a very short (45 m), short (5.1 km), and relatively long (73.2 km) baselines. For the kinematic test, the data was collected for approximately 1 h and processed with the relative method. Additionally, the whole and subgroup static and kinematic GNSS data of the Garmin receiver were also processed with the Canadian Spatial Reference System-Precise Point Positioning (CSRS-PPP) online service. All Garmin static and kinematic solutions (both relative and PPP) were compared with those calculated by the geodetic receiver. The overall static results show that the Garmin GPSMAP 66sr handheld receiver provides accuracy in a few centimeters with the relative method when integer ambiguities were correctly fixed and in the decimeter-to-meter level using the PPP technique. For the kinematic scenario, the results were relatively poor within the level of decimeters with the relative method while the level of meters with the PPP technique. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 2874 KiB  
Proceeding Paper
Analysis of GNSS Signal Correlation in Terrestrial Vehicles
by David Gómez-Casco, Xurxo Otero Villamide and Paolo Crosta
Eng. Proc. 2025, 88(1), 25; https://doi.org/10.3390/engproc2025088025 - 28 Mar 2025
Viewed by 191
Abstract
This paper deals with the analysis of the distortion of the correlation functions in real vehicular scenarios. A multicorrelator GNSS receiver is used to process the data collected in urban and rural environments. Two methods are proposed to evaluate the distortion of the [...] Read more.
This paper deals with the analysis of the distortion of the correlation functions in real vehicular scenarios. A multicorrelator GNSS receiver is used to process the data collected in urban and rural environments. Two methods are proposed to evaluate the distortion of the correlation functions due to the presence of multipath. The first one consists of analyzing the error of the estimated correlation functions and the second one is based on estimating the multipath signals by implementing a Non-linear Least Squares (NLS) algorithm. The paper determines the number of reflected signals and assesses the differences and similarities between both scenarios. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 3200 KiB  
Proceeding Paper
GNSS Accuracy Under White Gaussian Noise Jamming
by Barend Lubbers
Eng. Proc. 2025, 88(1), 26; https://doi.org/10.3390/engproc2025088026 - 28 Mar 2025
Viewed by 251
Abstract
The jamming of Global Navigation Satellite Systems (GNSSs) is now a major threat for GNSS-based Position, Navigation, and Timing (PNT) users. A jammed receiver will lose its fix at a certain distance and will not be able to provide PNT information. At greater [...] Read more.
The jamming of Global Navigation Satellite Systems (GNSSs) is now a major threat for GNSS-based Position, Navigation, and Timing (PNT) users. A jammed receiver will lose its fix at a certain distance and will not be able to provide PNT information. At greater distances, there will be a fix, so this PNT information can be obtained; however, the information will be less accurate, as the carrier-to-noise (C/N0) ratios of the received signals will be suppressed by the jammer. In this paper, the pseudo-range accuracy of a GNSS receiver under jamming conditions is investigated in order to provide more insight into the effects of a jammer on the accuracy of a GNSS receiver. The theory available in the literature will be reviewed, after which this theory will be evaluated by comparing the theoretical results with actual measurements using a high-end GNSS signal simulator and a software-defined GNSS receiver. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 852 KiB  
Proceeding Paper
Advanced Receiver Autonomous Integrity Monitoring and Local Effect Models for Rail, Maritime, and Unmanned Aerial Vehicles Sectors
by Javier de Toro, Carlos Sanz, Elena Labrador, Roxana Clopot, Florin Mistrapau, Javier Fidalgo, Enrique Domínguez, Ginés Moreno, Fulgencio Buendía, Ana Cezón, Merle Snijders, Heiko Engwerda, Juliette Casals, Sophie Damy, Matteo Sgammini and Juan Pablo Boyero
Eng. Proc. 2025, 88(1), 27; https://doi.org/10.3390/engproc2025088027 - 31 Mar 2025
Viewed by 202
Abstract
Advanced Receiver Autonomous Integrity Monitoring (ARAIM) represents an advancement over RAIM, designed to utilize dual-frequency and multi-constellation technologies. Originally developed for aviation, the European Commission (EC) is now exploring its broader application. This paper examines the adaptation of ARAIM for rail, maritime, and [...] Read more.
Advanced Receiver Autonomous Integrity Monitoring (ARAIM) represents an advancement over RAIM, designed to utilize dual-frequency and multi-constellation technologies. Originally developed for aviation, the European Commission (EC) is now exploring its broader application. This paper examines the adaptation of ARAIM for rail, maritime, and Unmanned Aerial Vehicles (UAVs) sectors. It briefly discusses aspects of the integrity concept, including architecture and user algorithms while the main focus is on characterizing local error models for local effects using real data campaigns. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1920 KiB  
Proceeding Paper
Radar-Altimeter Inertial Vertical Loop—Multisensor Estimation of Vertical Parameters for Autonomous Vertical Landing
by Tomas Vaispacher, Radek Baranek, Pavol Malinak, Vibhor Bageshwar and Daniel Bertrand
Eng. Proc. 2025, 88(1), 28; https://doi.org/10.3390/engproc2025088028 (registering DOI) - 31 Mar 2025
Viewed by 2042
Abstract
The design, key functionalities, and performance requirements placed on modern aircraft navigation systems must adhere to the needs imposed by the progressively growing UAS/UAM and eVTOL segments, especially for terminal area operations in urban areas. This paper describes the design, implementation, and real-time [...] Read more.
The design, key functionalities, and performance requirements placed on modern aircraft navigation systems must adhere to the needs imposed by the progressively growing UAS/UAM and eVTOL segments, especially for terminal area operations in urban areas. This paper describes the design, implementation, and real-time validation of Honeywell’s Kalman filter-based radar-altimeter inertial vertical loop (RIVL) prototype. Inspired by the legacy of barometric altimeter-based technology, the RIVL prototype aims to provide high accuracy and integrity estimates of vertical parameters (altitude/height above ground and vertical velocity). The results from simulation tests, flight tests, and crane tests demonstrate that the vertical parameters estimated by the prototype satisfy vertical performance requirements across different terrains and scenarios. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 2773 KiB  
Proceeding Paper
Spatial Sensitivity of Navigation Using Signal-of-Opportunity (SoOP) from Starlink, Iridium-Next, GlobalStar, OneWeb, and Orbcomm Constellations
by Ahmad Esmaeilkhah and Rene Jr Landry
Eng. Proc. 2025, 88(1), 29; https://doi.org/10.3390/engproc2025088029 - 31 Mar 2025
Viewed by 410
Abstract
This paper presents a thorough investigation into the EKF-based SoOP navigation algorithm’s sensitivity to spatial parameters and receiver- and transmitter-related properties. Utilizing the innovative SoOPNE simulation platform, our study unveils significant insights. For instance, at high latitudes, Iridium-Next, and Oneweb show a ten-fold [...] Read more.
This paper presents a thorough investigation into the EKF-based SoOP navigation algorithm’s sensitivity to spatial parameters and receiver- and transmitter-related properties. Utilizing the innovative SoOPNE simulation platform, our study unveils significant insights. For instance, at high latitudes, Iridium-Next, and Oneweb show a ten-fold accuracy improvement over Orbcomm. Additionally, discrepancies between predicted and actual satellite trajectories, with a nominal drift of approximately 250 m, result in navigation errors of around 400 m. Our findings underscore the critical importance of addressing these factors to optimize SoOP navigation performance. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 3571 KiB  
Proceeding Paper
Putting the Synthetic Global Navigation Satellite System Meta-Signal Paradigm into Practice: Application to Automotive Market Devices
by Domenico Di Grazia, Fabio Pisoni, Giovanni Gogliettino, Ciro Gioia and Daniele Borio
Eng. Proc. 2025, 88(1), 30; https://doi.org/10.3390/engproc2025088030 - 2 Apr 2025
Cited by 1 | Viewed by 259
Abstract
The synthetic meta-signal reconstruction approach enables the generation of wideband Global Navigation Satellite System (GNSS) measurements from side-band observations. This approach is of particular interest for automotive market devices where, for instance, hardware constraints do not allow full-band Galileo Alternative Binary Offset Carrier [...] Read more.
The synthetic meta-signal reconstruction approach enables the generation of wideband Global Navigation Satellite System (GNSS) measurements from side-band observations. This approach is of particular interest for automotive market devices where, for instance, hardware constraints do not allow full-band Galileo Alternative Binary Offset Carrier (Alt-BOC) processing. In this paper, the applicability of the synthetic GNSS meta-signal paradigm is extended by introducing a half-cycle ambiguity detector for the reconstructed carrier phases and a jump detector for the pseudoranges. These accessories make the reconstruction approach more robust and suitable for mass market devices. Tests conducted using the STMicroelectronics TeseoV receiver demonstrate the validity and potential of this approach. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 4642 KiB  
Proceeding Paper
Diversity Architecture for Robust GNSS/INS Navigation in Launcher Applications
by Fabio Scibona, Sergi Dueñas Pedrosa, Brendan David Polidori, Samuele Fantinato, Stefano Carletta, Paolo Teofilatto, Giovanni Palmerini and Eleftherios Plakidis
Eng. Proc. 2025, 88(1), 31; https://doi.org/10.3390/engproc2025088031 - 8 Apr 2025
Viewed by 224
Abstract
The ESA DIVERGENCE (Diversity Architecture for Robust GNSS Receivers in Launcher Applications) project is focused on the design of a GNSS/INS hybrid navigation system and an appropriate FDIR/FDE algorithm for GNC applications in launchers and re-entry vehicles. The main goal is to demonstrate [...] Read more.
The ESA DIVERGENCE (Diversity Architecture for Robust GNSS Receivers in Launcher Applications) project is focused on the design of a GNSS/INS hybrid navigation system and an appropriate FDIR/FDE algorithm for GNC applications in launchers and re-entry vehicles. The main goal is to demonstrate architecture robustness with respect to possible threats and weaknesses introduced by GNSS and INS technology. A baseline navigation system architecture has been developed through a sensor fusion algorithm, which combines IMU, GNSS/DGNSS, a radar altimeter, and a star sensor to cover the accuracy requirements for all the flight phases. The navigation system has been designed to be easily adaptable to multiple applications, such as expendable launch vehicles, micro-launchers, reusable first stage boosters and unmanned re-entry vehicles. The most critical threats/failures were considered for the development of the FDIR/FDE algorithm, comprising GNSS signal outages, spoofing, satellite/receiver clock bias/drift discontinuities, IMU failures, saturation, vibration rectification, coning and sculling, and INS software numerical failures. A preliminary description of the implemented robust FDIR/FDE techniques is reported, and an analysis is conducted to compare the performance before and after FDIR/FDE algorithm implementation in a representative launcher scenario. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 4034 KiB  
Proceeding Paper
Flight Test Results of Separation Assurance Methods for Joint Manned and Unmanned Aircraft Operations Using GNSS Measurement-Based ADS-L
by Benjamin Lochow, Anne-Sophie Polz, Vanessa Kempen and Maarten Uijt de Haag
Eng. Proc. 2025, 88(1), 32; https://doi.org/10.3390/engproc2025088032 - 8 Apr 2025
Viewed by 178
Abstract
This paper discusses a precise relative navigation and separation assurance system based on the exchange of Global Navigation Satellite (GNSS) measurements via new message types for Automatic Dependent Surveillance–Light (ADS-L). A measurement-based ADS-L implementation, which transmits raw measurements from the GNSS receiver rather [...] Read more.
This paper discusses a precise relative navigation and separation assurance system based on the exchange of Global Navigation Satellite (GNSS) measurements via new message types for Automatic Dependent Surveillance–Light (ADS-L). A measurement-based ADS-L implementation, which transmits raw measurements from the GNSS receiver rather than aircraft state vectors and performance parameters, is utilized to improve surveillance performance and add integrity to the surveillance solution. Furthermore, recent flight tests with one manned aircraft and two UASs are discussed, and the benefits of using GNSS measurement-based ADS-L data for separation assurance as opposed to traditional methods are reviewed. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 666 KiB  
Proceeding Paper
Galileo Timing Receiver Standard
by Héctor Llorca, Javier Fidalgo, Ricardo Píriz, Javier Bárcena, Francisco Arribas, Valeria Catalano, Gert-Jan Pauwels, Joaquim Fortuny, Beatrice Motella, Javier Tegedor, Matteo Sgammini, Miguel Aguilera, Juan Pablo Boyero and Tom Willems
Eng. Proc. 2025, 88(1), 33; https://doi.org/10.3390/engproc2025088033 - 9 Apr 2025
Viewed by 197
Abstract
The European Commission (EC) is taking steps towards the implementation of a Galileo Timing Service. This service is now formally part of the mission of the Galileo Second Generation, and it puts emphasis on serving critical infrastructure. Implementing a proper service implies putting [...] Read more.
The European Commission (EC) is taking steps towards the implementation of a Galileo Timing Service. This service is now formally part of the mission of the Galileo Second Generation, and it puts emphasis on serving critical infrastructure. Implementing a proper service implies putting all the necessary elements in place to be able to meet the defined level of performance. In order to ensure the correct processing of the service’s signals and a minimum level of performance of the user receiver, corresponding standards are needed. Therefore, a fundamental element in the Galileo Timing Service concept is the standardization of Galileo Timing Receivers. The STARLITE project (Preparation of Standards for Galileo Timing Receivers) funded by the EC is the first international initiative to develop standards for GNSS Timing Receivers. The target users for the standard are all Galileo Timing users, with a special focus on critical infrastructure within the telecommunications, finance and energy sectors. The standard leverages the specificities of the Galileo Timing Service. This will become fundamental in order to ensure the end-to-end performance for those users operating a receiver compliant with the standard. At the same time, the standard allows the use of other systems to further enhance the performance. The project helped to establish a formal Working Group (WG9) for the development of the standard under CEN/CENELEC JTC5. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1082 KiB  
Proceeding Paper
Improving Structural Power Content Analysis Robustness for Satellite Navigation Applications
by Jelle Rijnsdorp and Andre Young
Eng. Proc. 2025, 88(1), 34; https://doi.org/10.3390/engproc2025088034 - 14 Apr 2025
Viewed by 143
Abstract
Many critical applications exhibit a growing dependency on Global Navigation Satellite Systems (GNSS), which has led to GNSS jamming and spoofing becoming an increasing threat to society. The Structural Power Content Analysis (SPCA) algorithm is a pre-despreading, low-complexity, and effective method to detect [...] Read more.
Many critical applications exhibit a growing dependency on Global Navigation Satellite Systems (GNSS), which has led to GNSS jamming and spoofing becoming an increasing threat to society. The Structural Power Content Analysis (SPCA) algorithm is a pre-despreading, low-complexity, and effective method to detect spoofing events, but in practice it is seen that false alarms are being generated in certain jamming scenarios. To mitigate these effects, alternative filtering techniques are evaluated and tested on both simulated data and publicly available spoofing datasets. Effective false alarm reduction with only a minor degradation in spoofing detection sensitivity is demonstrated. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 4122 KiB  
Proceeding Paper
UKSBAS Testbed Performance Assessment of Two Years of Operations
by Javier González Merino, Fernando Bravo Llano, Michael Pattinson, Madeleine Easom, Juan Ramón Campano Hernández, Ignacio Sanz Palomar, María Isabel Romero Llapa, Sangeetha Priya Ilamparithi, David Hill and George Newton
Eng. Proc. 2025, 88(1), 35; https://doi.org/10.3390/engproc2025088035 - 21 Apr 2025
Viewed by 228
Abstract
Current Satellite-Based Augmentation Systems (SBASs) improve the positioning accuracy and integrity of GPS satellites and provide safe civil aviation navigation services for procedures from en-route to LPV-200 precision approach over specific regions. SBAS systems, such as WAAS, EGNOS, GAGAN, and MSAS, already operate. [...] Read more.
Current Satellite-Based Augmentation Systems (SBASs) improve the positioning accuracy and integrity of GPS satellites and provide safe civil aviation navigation services for procedures from en-route to LPV-200 precision approach over specific regions. SBAS systems, such as WAAS, EGNOS, GAGAN, and MSAS, already operate. The development of operational SBAS systems is in transition due to the extension of L1 SBAS services to new regions and the improvements expected by the introduction of dual frequency multi-constellation (DFMC) services, which allow the use of more core constellations such as Galileo and the use of ionosphere-free L1/L5 signal combination. The UKSBAS Testbed is a demonstration and feasibility project in the framework of ESA’s Navigation Innovation Support Programme (NAVISP), which is sponsored by the UK’s HMG with the participation of the Department for Transport and the UK Space Agency. UKSBAS Testbed’s main objective is to deliver a new L1 SBAS signal in space (SIS) from May 2022 in the UK region using Viasat’s Inmarsat-3F5 geostationary (GEO) satellite and Goonhilly Earth Station as signal uplink over PRN 158, as well as L1 SBAS and DFMC SBAS services through the Internet. SBAS messages are generated by GMV’s magicSBAS software and fed with data from the Ordnance Survey’s station network. This paper provides an assessment of the performance achieved by the UKSBAS Testbed during the last two years of operations at the SIS and user level, including a number of experimentation campaigns performed in the aviation and maritime domains, comprising ground tests at airports, flight tests on aircraft and sea trials on a vessel. This assessment includes, among others, service availability (e.g., APV-I, LPV-200), protection levels (PL), and position errors (PE) statistics over the service area and in a network of receivers. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2333 KiB  
Proceeding Paper
Assessment of Situational Awareness in Relation to Advanced Navigation Systems Using Ship Handling Simulators
by Hari Sundar Mahadevan, Ashwarya Kumar, Robert Grundmann and Anastasia Schwarze
Eng. Proc. 2025, 88(1), 36; https://doi.org/10.3390/engproc2025088036 - 25 Apr 2025
Viewed by 238
Abstract
Digitalization has revolutionized the maritime industry, particularly in navigation systems. The use of advanced tools such as the Electronic Chart Display and Information System (ECDIS) has increased the need for information processing. However, the complexity of these systems can be overwhelming for navigators. [...] Read more.
Digitalization has revolutionized the maritime industry, particularly in navigation systems. The use of advanced tools such as the Electronic Chart Display and Information System (ECDIS) has increased the need for information processing. However, the complexity of these systems can be overwhelming for navigators. To address the concern of usability of these complex navigation systems, training with simulator data allows the crew to familiarize themselves with these systems, handle complex navigation scenarios effectively, support the transition from paper-based systems to digital systems, and help in improving their situational awareness (SA) at sea. We propose a tool that provides optimal conditions for assessing situational awareness and informing the development of intuitive systems and user interfaces. In the maritime safety domain, there is an inverse correlation between situational awareness and scenario/system complexity, highlighting the importance of effective training and assessments to improve SA. The proposed tool utilizes the Situational Awareness Global Assessment Technique (SAGAT) method, widely used in other domains, to calculate an individual’s SA score. It evaluates participants’ situational awareness in different navigational scenarios on Ship Handling Simulators, using dynamic questionnaires and contextual maps. Additionally, it integrates a rule-based system to assess participants’ performance and calculate a situational awareness score in real time, offering possibilities for assessing the SA of navigators. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 3058 KiB  
Proceeding Paper
Establishing Large-Scale Network PPP-RTK Through a Decentralized Architecture with a Common Pivot Station
by Cheolmin Lee, Sulgee Park and Sanghyun Park
Eng. Proc. 2025, 88(1), 37; https://doi.org/10.3390/engproc2025088037 - 30 Apr 2025
Viewed by 142
Abstract
In this study, we introduce a decentralized architecture aimed at enhancing the efficiency of precise point positioning real-time kinematics (PPP-RTK) in large-scale networks with a common pivot station. Initially, we partition the extensive network into multiple smaller subnetworks (SNs), each with a common [...] Read more.
In this study, we introduce a decentralized architecture aimed at enhancing the efficiency of precise point positioning real-time kinematics (PPP-RTK) in large-scale networks with a common pivot station. Initially, we partition the extensive network into multiple smaller subnetworks (SNs), each with a common pivot station. The augmentation parameters for each SN are then computed using the precise orbit corrections and ionosphere-weighted constraints. However, directly applying the estimated augmentation parameters to users across subnetworks poses challenges due to inter-subnetwork discontinuities. These discontinuities arise from variations in the network configurations and the time correlation of the Kalman filters, despite the use of the same pivot station. To address this, common augmentation parameters, such as the satellite clocks and phase biases from each SN, are integrated into a unified set of parameters and broadcast to users. The aligned common augmentation parameters are then fed back into each SN, and the Kalman filter is re-updated to mitigate the inter-subnetwork discontinuities. The proposed architecture offers a reduced computational burden compared to the centralized PPP-RTK architecture, which handles a full-scale network simultaneously. Unlike previous research on decentralized PPP-RTK, the use of a common pivot station ensures a consistent basis for the common augmentation parameters. This approach enables seamless user positioning during transitions between SNs, eliminating the need to reset the user navigation filter during handover operations and simplifying the integration process. To evaluate the effectiveness of our proposed architecture, we gather dual-frequency global positioning system (GPS) observation data from over 40 continuously observed reference stations (CORSs) in Korea. These data are then partitioned into four SNs, each sharing a common pivot station. Subsequently, we compare the static positioning error and processing time of our proposed architecture with those of the centralized architecture. Additionally, the mitigation performance of the inter-network discontinuities is shown. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2968 KiB  
Proceeding Paper
Performance Analysis of Spoofing and Interference Detection Techniques for Satellite-Based Augmentation System and Global Navigation Satellite System Reference Receivers
by Xavier Álvarez-Molina, Gonzalo Seco-Granados, Marc Solé-Gaset, Sergi Locubiche-Serra and José A. López-Salcedo
Eng. Proc. 2025, 88(1), 38; https://doi.org/10.3390/engproc2025088038 - 29 Apr 2025
Viewed by 179
Abstract
Global Navigation Satellite System (GNSS) reference receivers are an essential part of ground stations that make the operation of Satellite-Based Augmentation Systems (SBAS) possible. Recently, there has been increasing concern about spoofing and interference events, which may seriously hinder the operation of GNSS [...] Read more.
Global Navigation Satellite System (GNSS) reference receivers are an essential part of ground stations that make the operation of Satellite-Based Augmentation Systems (SBAS) possible. Recently, there has been increasing concern about spoofing and interference events, which may seriously hinder the operation of GNSS receivers in liability- and safety-critical applications and, in particular, SBAS ground stations. In this context, the goal of this paper is two-fold. On the one hand, a set of spoofing and interference detection techniques should be presented specifically tailored to operate with the outputs provided by a NovAtel G-III SBAS reference receiver. On the other hand, assessing these techniques with various tests conducted using a Safran Skydel GSG-8 GNSS RF simulator in order to validate their implementation and effectiveness is necessary. This work concludes with an analysis of the obtained results, providing insightful recommendations and guidelines. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1265 KiB  
Proceeding Paper
Indoor Signal Strength Evaluation of the Orbcomm Low Earth Orbit Satellite Constellation
by Wout Van Uytsel, Thomas Janssen, Maarten Weyn and Rafael Berkvens
Eng. Proc. 2025, 88(1), 39; https://doi.org/10.3390/engproc2025088039 - 29 Apr 2025
Viewed by 242
Abstract
In this connected world, communication in all kinds of complex environments is crucial. As a result, indoor satellite communication could enable many new applications and use cases. In this study, we explore the potential of Low Earth Orbit (LEO) satellites to provide indoor [...] Read more.
In this connected world, communication in all kinds of complex environments is crucial. As a result, indoor satellite communication could enable many new applications and use cases. In this study, we explore the potential of Low Earth Orbit (LEO) satellites to provide indoor coverage. This is done by evaluating the signal strength of Orbcomm LEO satellite signals in multiple indoor environments within a suburban home. Starting from IQ samples, we developed an algorithm to calculate the Carrier-to-Noise Density Ratio (C/N0) as a key performance metric to compare environments when the Carrier-To-Noise Ratio (CNR) is above 0 dB. By utilizing a Software Defined Radio (SDR) in combination with this algorithm, we were able to evaluate the signal strength differences between environments. We found that the LEO satellite signals penetrated into every environment including the basement. The signals were even received with high signal strength in the attic, reaching values above 55 dB-Hz. Moreover, the signals were well received in every above-ground environment. Unsurprisingly, the satellite signals were received the weakest in the basement and only for a short duration of time. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 906 KiB  
Proceeding Paper
Evaluation and Simulation of Ultra-Wide Band (UWB) Transceiver Timebases
by Václav Navrátil and Josef Krška
Eng. Proc. 2025, 88(1), 40; https://doi.org/10.3390/engproc2025088040 - 29 Apr 2025
Viewed by 170
Abstract
Ultra-Wide Band (UWB) real-time localization systems usually require either precise and robust synchronization of the anchor transceivers or sufficiently stable clocks for methods referred to as “synchronization-free”. Typically, reasonably priced crystals or TCXOs are utilized as frequency references for the UWB transceivers. Clock [...] Read more.
Ultra-Wide Band (UWB) real-time localization systems usually require either precise and robust synchronization of the anchor transceivers or sufficiently stable clocks for methods referred to as “synchronization-free”. Typically, reasonably priced crystals or TCXOs are utilized as frequency references for the UWB transceivers. Clock characterization and simulation are necessary to evaluate and tune the synchronization or positioning algorithms without the need of hardware-pulling of the UWB reference oscillators. In this paper, the method of transceiver clock stability measurement is presented, and several modules with various clock sources are evaluated. As a reference, a UWB module with a clock derived from a Caesium standard is utilized. A method for simulating typical timestamp-series errors attributed to UWB transceiver clocks is provided as well. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 1163 KiB  
Proceeding Paper
Deriving a Dilution of Precision Indicator for GNSS Factor Graph Optimization Solutions
by Paul Thevenon, Hakim Cherfi and Julien Lesouple
Eng. Proc. 2025, 88(1), 41; https://doi.org/10.3390/engproc2025088041 - 30 Apr 2025
Viewed by 104
Abstract
Dilution of Precision (DOP) is routinely used in GNSS to assess the quality of the constellation geometry for the positioning algorithm. Those DOP indicators are computed from the estimation covariance of a snapshot weighted least squares (WLS) estimate under certain hypotheses. This paper [...] Read more.
Dilution of Precision (DOP) is routinely used in GNSS to assess the quality of the constellation geometry for the positioning algorithm. Those DOP indicators are computed from the estimation covariance of a snapshot weighted least squares (WLS) estimate under certain hypotheses. This paper proposes to define DOP indicators for GNSS solutions based on Factor Graph Optimization (FGO). FGO solutions have become popular in the GNSS domain. They allow to easily model probabilistic contraints, called factors, over a large time window, by mixing observations and motion constraints accross consecutive epochs. The solution is solved by performing a batch WLS estimation for the states at all considered epochs, using all available factors. Due to the simple nature of the estimation algorithm—a WLS solution—it is possible to derive the theoretical estimation error covariance, which will indicate the accuracy of the computed solution. In this paper, a formula is proposed to approximate the DOP for the FGO solution. Then, the formula is validated in various scenarios involving fixed or changing satellite visibility. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 3582 KiB  
Proceeding Paper
Analysis and Validation of Distributed GNSS Spoofing Threat
by Minghan Zhong, Hong Li and Mingquan Lu
Eng. Proc. 2025, 88(1), 42; https://doi.org/10.3390/engproc2025088042 - 6 May 2025
Viewed by 172
Abstract
This paper delves into the distributed GNSS spoofing threat, a sophisticated deployment structure wherein multiple spoofing antennas each emit a single spoofing signal to the victim receiver. This study analyzes the challenges associated with executing distributed spoofing and proposes potential structures to address [...] Read more.
This paper delves into the distributed GNSS spoofing threat, a sophisticated deployment structure wherein multiple spoofing antennas each emit a single spoofing signal to the victim receiver. This study analyzes the challenges associated with executing distributed spoofing and proposes potential structures to address them. To validate the distributed spoofing threat, an experimental platform is designed specifically for distributed spoofing. Field test results confirm that distributed spoofing can effectively manipulate the victim’s PVT solution, underscoring the potential hazard of this sophisticated GNSS spoofing threat. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2834 KiB  
Proceeding Paper
UWB-Based Positioning Is Not Invulnerable from Spoofing Attacks: A Case Study of Crazyswarm
by Mahyar Shariat, Jelena Gabela Majić, Max Brandstätter and Wolfgang Kastner
Eng. Proc. 2025, 88(1), 43; https://doi.org/10.3390/engproc2025088043 - 7 May 2025
Viewed by 146
Abstract
Spoofing attacks pose a threat to drones, which can lead to their crash or takeover. As a countermeasure, the European Space Agency has implemented the Timed Efficient Loss-tolerant Authentication (TESLA) broadcast protocol in the Galileo Open Service Navigation Message Authentication (OSNMA) to detect [...] Read more.
Spoofing attacks pose a threat to drones, which can lead to their crash or takeover. As a countermeasure, the European Space Agency has implemented the Timed Efficient Loss-tolerant Authentication (TESLA) broadcast protocol in the Galileo Open Service Navigation Message Authentication (OSNMA) to detect such events. This study explores the application of TESLA in detecting spoofing attacks targeted at drone swarms that rely on positioning systems utilizing ultra-wideband (UWB) technology. The results of our experiments reaffirm that UWB-based positioning systems are not automatically invulnerable from spoofing attacks and that cryptographic methods such as TESLA are required to provide a layer of protection against spoofing attacks to detect them effectively. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 2181 KiB  
Proceeding Paper
Integrating Multi-Sensor Augmented PNT to Enhance Outdoor Human Motion Capture Using Low-Cost GNSS Receivers
by Andrea Maffia, Georgii Kurshakov, Tiziano Cosso, Vittorio Sanguineti and Giorgio Delzanno
Eng. Proc. 2025, 88(1), 44; https://doi.org/10.3390/engproc2025088044 - 8 May 2025
Viewed by 200
Abstract
We are working on an innovative approach to outdoor human motion capture, using a wearable device that integrates a low-cost GNSS (Global Navigation Satellite System) receiver and an INS (Inertial Navigation System) via a zero-velocity update (ZUPT) methodology. In this study, we focused [...] Read more.
We are working on an innovative approach to outdoor human motion capture, using a wearable device that integrates a low-cost GNSS (Global Navigation Satellite System) receiver and an INS (Inertial Navigation System) via a zero-velocity update (ZUPT) methodology. In this study, we focused on using these devices to reconstruct the foot trajectory. Our work addresses the challenge of capturing precise foot movements in uncontrolled outdoor environments, a task traditionally constrained by the limitations of laboratory settings. We equipped devices that combine inertial measurement units (IMUs) with GNSS receivers in the following configuration: one on each foot and one on the head. We experimented with different GNSS data processing techniques, such as Post-Processed Kinematic (PPK) positioning with and without Moving Base (MB), and after the integration with the IMU, we obtained centimeter-level precision in horizontal and vertical positioning for various walking speeds. This integration leverages a loosely coupled GNSS/INS approach, where the GNSS solution is independently processed and subsequently used to refine the INS outputs. Enhanced by ZUPT and Madgwick filtering, this method significantly improves the trajectory reconstruction accuracy. Indeed, our research includes a study of the impact of moving speed on the performance of these low-cost GNSS receivers. These insights pave the way for future exploration into tightly coupled GNSS/INS integration using low-cost GNSS receivers, promising advancements in fields like sports science, rehabilitation, and well-being. This work seeks not only to contribute to the field of wearable technology, but also to open possibilities for further innovation in affordable, high-accuracy personal navigation and activity monitoring devices. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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7 pages, 3448 KiB  
Proceeding Paper
Two-Stage Beamforming Technique for GNSS Applications
by Noori BniLam, Samah Chazbeck, Szabolcs Berki, Raffaele Fiengo and Paolo Crosta
Eng. Proc. 2025, 88(1), 45; https://doi.org/10.3390/engproc2025088045 - 9 May 2025
Viewed by 239
Abstract
In this paper, we introduce a robust beamforming technique using array antennas. The proposed solution constitutes two stages; the first stage exploits the space-alternating generalized expectation-maximization (SAGE) algorithm to decompose the received GNSS signal into its constituent signals, i.e., direct and reflected signals. [...] Read more.
In this paper, we introduce a robust beamforming technique using array antennas. The proposed solution constitutes two stages; the first stage exploits the space-alternating generalized expectation-maximization (SAGE) algorithm to decompose the received GNSS signal into its constituent signals, i.e., direct and reflected signals. The SAGE algorithm estimates the angle of arrival (AoA) and the received covariance matrix for both the direct and reflected signals. The second stage, on the other hand, utilizes the Minimum Variance Distortionless Response (MVDR) algorithm to produce the weight vector that steers the main beam towards the satellite’s direction and the nulls towards the multipath effect. The MVDR uses the AoA of the direct path and the covariance matrix of the reflected path to minimize the multipath effect. The experimental results reveal that the proposed technique improves the received signal strength and the location estimation accuracy, as compared to a single-antenna system. Furthermore, the proposed technique outperforms the traditional MVDR technique in the tested environment. Finally, the 95% 3D position error of the proposed solution is 5.2 m, and the position dilution of precision (pdop) is 0.84. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1714 KiB  
Proceeding Paper
Efficient Detection of Galileo SAS Sequences Using E6-B Aiding
by Rafael Terris-Gallego, Ignacio Fernandez-Hernandez, José A. López-Salcedo and Gonzalo Seco-Granados
Eng. Proc. 2025, 88(1), 46; https://doi.org/10.3390/engproc2025088046 - 9 May 2025
Viewed by 40
Abstract
Galileo Signal Authentication Service (SAS) is an assisted signal authentication capability under development by Galileo, designed to enhance the robustness of the European Global Navigation Satellite System (GNSS) against malicious attacks like spoofing. It operates by providing information about some fragments of the [...] Read more.
Galileo Signal Authentication Service (SAS) is an assisted signal authentication capability under development by Galileo, designed to enhance the robustness of the European Global Navigation Satellite System (GNSS) against malicious attacks like spoofing. It operates by providing information about some fragments of the unknown spreading codes in the E6-C signal. Unlike other approaches, Galileo SAS uniquely employs Timed Efficient Stream Loss-tolerant Authentication (TESLA) keys provided by Open Service Navigation Message Authentication (OSNMA) in the E1-B signal for decryption, avoiding the need for key storage in potentially compromised receivers. The encrypted fragments are made available to the receivers before the broadcast of the E6-C signal, along with their broadcast time. However, if the receiver lacks an accurate time reference, searching for these fragments—which typically last for milliseconds and have periodicities extending to several seconds—can become impractical. In such cases, the probability of detection is severely diminished due to the excessively large search space that results. To mitigate this, initial estimates for the code phase delay and Doppler frequency can be obtained from the E1-B signal. Nevertheless, the alignment between E1-B and E6-C is not perfect, largely due to the intrinsic inter-frequency biases they exhibit. To mitigate this issue, we can leverage auxiliary signals like E6-B, processed by High Accuracy Service (HAS)-compatible receivers. This is a logical choice as E6-B shares the same carrier frequency as E6-C. This could help in obtaining more precise estimates of the location of the encrypted fragments and improving the probability of detection, resulting in enhanced robustness for the SAS authentication process. This paper presents a comparison of uncertainties associated with the use of the E1-B and E6-B signals, based on real data samples obtained with a custom-built Galileo SAS evaluation platform based on Software Defined Radio (SDR) boards. The results show the benefits of including E6-B in SAS processing, with minimal implementation cost. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 781 KiB  
Proceeding Paper
Study of Proposed SIS Monitoring Strategies for a Lunar Navigation System
by Daniele Musacchio, Laura De Leo and Mattia Carosi
Eng. Proc. 2025, 88(1), 47; https://doi.org/10.3390/engproc2025088047 - 9 May 2025
Viewed by 107
Abstract
The deployment of a lunar navigation satellite system will be justified by the provision of navigation services to the many planned lunar missions that will include both orbiting and surface users. In this context, system monitoring and system validation will require an innovative [...] Read more.
The deployment of a lunar navigation satellite system will be justified by the provision of navigation services to the many planned lunar missions that will include both orbiting and surface users. In this context, system monitoring and system validation will require an innovative approach different from common GNSS terrestrial application, considering the initial absence of a ground station on the lunar surface. A trade-off will be performed between three proposed strategies for the monitoring of navigation signals broadcasted by lunar-orbiting satellites, considering the advantages and disadvantages and proposing the best strategy to verify the structure and/or content of the navigation signal. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 3265 KiB  
Proceeding Paper
IEC-61108-7 SBAS Standard for Shipborne Receivers: Preliminary Testing Validation Activities
by Javier Tegedor, Joaquim Fortuny, Guillermo Fernandez, Elisabet Lacarra, Ettore Canestri, Silvia Porfili and Ciro Gioia
Eng. Proc. 2025, 88(1), 48; https://doi.org/10.3390/engproc2025088048 - 12 May 2025
Viewed by 152
Abstract
The IEC 61108-7 standard focuses on the minimum performance required by shipborne receivers using satellite-based augmentation system (SBAS) L1 signals to be compliant with the performance specified in IMO Resolution A.1046(27). Apart from the minimum performance requirements, the standard specifies the testing methods [...] Read more.
The IEC 61108-7 standard focuses on the minimum performance required by shipborne receivers using satellite-based augmentation system (SBAS) L1 signals to be compliant with the performance specified in IMO Resolution A.1046(27). Apart from the minimum performance requirements, the standard specifies the testing methods and a full set of scenarios with their pass/fail criteria. To verify the feasibility of the tests defined in the standard, a comprehensive test campaign was carried out in a joint effort by the European Satellite Services Provider (ESSP) and the European Commission’s Joint Research Centre (JRC) under the coordination of the European Union Agency for the Space Programme (EUSPA). This paper presents an assessment of the validity and appropriateness of the test scenarios and the minimum performance requirements specified in the IEC-61108-7 standard. To conduct the campaign, dedicated setups were designed and implemented at the JRC and ESSP laboratories, where live and simulated GPS+SBAS signals were used. For the analysis, all the test cases (TCs) described in the standard were implemented, and two commercial devices were tested. From the results, it emerged that all the TCs were properly designed and implemented, thereby confirming the feasibility of the tests defined in IEC 61108-7. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1948 KiB  
Proceeding Paper
Exploitation of 5G, LTE, and Automatic Identification System Signals for Fallback Unmanned Aerial Vehicle Navigation
by Adrian Winter, Aiden Morrison, Oliver Hasler and Nadezda Sokolova
Eng. Proc. 2025, 88(1), 49; https://doi.org/10.3390/engproc2025088049 - 13 May 2025
Viewed by 127
Abstract
Reliable Position, Navigation, and Timing (PNT) is becoming more and more important, considering the proliferation of highly autonomous safety- and liability-critical systems. Due to their vulnerability to various threats such as deliberate Radio Frequency Interference (RFI), including jamming, spoofing, and others, there is [...] Read more.
Reliable Position, Navigation, and Timing (PNT) is becoming more and more important, considering the proliferation of highly autonomous safety- and liability-critical systems. Due to their vulnerability to various threats such as deliberate Radio Frequency Interference (RFI), including jamming, spoofing, and others, there is significant research into finding backup/fallback solutions that allow safe mission completion or termination. This work compares two such systems: one based on Angle of Arrival (AoA) measurement and one based on cellular (4G and 5G) signals. The results are generated using simulations, which are substantiated by real-world performance measurements. It is shown that both systems have the potential to serve as backup navigation solutions and that the cellular system outperforms the AoA-based solution, albeit at a much higher price and with higher computational requirements. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1156 KiB  
Proceeding Paper
In-Band Medium-Frequency R-Mode Signal Quality Estimation †
by Filippo Giacomo Rizzi, Lars Grundhöfer, Niklas Hehenkamp, Stefan Gewies, Daniel Medina and Juan Manuel Gandarias
Eng. Proc. 2025, 88(1), 50; https://doi.org/10.3390/engproc2025088050 - 13 May 2025
Viewed by 44
Abstract
Assessing the quality of a received signal is of fundamental importance to predict the performance of the receiver. In general, the signal to noise ratio (SNR) or the carrier to noise density C/N0 ratio is used as an indicator to [...] Read more.
Assessing the quality of a received signal is of fundamental importance to predict the performance of the receiver. In general, the signal to noise ratio (SNR) or the carrier to noise density C/N0 ratio is used as an indicator to describe the signal quality of most receivers. For the medium-frequency (MF) R-Mode, a terrestrial positioning navigation and timing (PNT) system, the knowledge of the SNR or C/N0 is important for monitoring purposes, helping the service operator to assess the healthiness of the transmitted signals, as well as for the users to optimize the receiver algorithms and performance. In this paper, we present how the C/N0 can be estimated from the output of the discrete Fourier transform (DFT). The DFT is already used in the receiver to perform the phase estimation; hence, the receiver computational load is reduced. Theory is first presented and discussed, followed by the definition of the estimator, which is tested with Monte Carlo simulation as well as with real data to validate the approach. The results show good agreement between theory, simulation, and in-field measurements, which proves that the estimated C/N0 is a good indicator to measure the received signal quality under optimal propagation condition. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 1729 KiB  
Proceeding Paper
On the Edge Model-Aided Machine Learning GNSS Interference Classification with Low-Cost COTS Hardware
by Simon Kocher, David Contreras Franco, Antonia Dietz and Alexander Rügamer
Eng. Proc. 2025, 88(1), 51; https://doi.org/10.3390/engproc2025088051 - 14 May 2025
Viewed by 192
Abstract
Interference signals can disrupt global navigation satellite system (GNSS) receivers and degrade or deny a position-velocity-time (PVT) solution. After detecting an interference signal, classifying its type can provide insight into its cause and help determine the necessary next steps to counteract it. In [...] Read more.
Interference signals can disrupt global navigation satellite system (GNSS) receivers and degrade or deny a position-velocity-time (PVT) solution. After detecting an interference signal, classifying its type can provide insight into its cause and help determine the necessary next steps to counteract it. In this paper, we present a method for interference detection and a resource-efficient model-aided on-the-edge machine learning (ML) model for interference signal classification running on low-cost commercial-off-the-shelf (COTS) hardware, enabling a highly cost-effective spectral monitoring solution. The choice of detection metrics is justified based on real-world spectral monitoring data from a German highway and the capability of the ML model to generalize across different environments is demonstrated in an outdoor field test. Overall, we present an operationally ready GNSS interference detection and classification system. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 803 KiB  
Proceeding Paper
A Novel Navigation Message for Future LCNS Satellites
by Filipe De Oliveira Salgueiro, Floor Thomas Melman, Richard Swinden, Yoann Audet, Pietro Giordano and Javier Ventura-Traveset
Eng. Proc. 2025, 88(1), 52; https://doi.org/10.3390/engproc2025088052 - 14 May 2025
Viewed by 157
Abstract
With the renewed interest in the Moon, several countries are launching projects to explore the Moon (at both institutional and private level). As part of the Moonlight Programme, the European Space Agency (ESA) is developing Lunar Communication and Navigation Services (LCNS) with its [...] Read more.
With the renewed interest in the Moon, several countries are launching projects to explore the Moon (at both institutional and private level). As part of the Moonlight Programme, the European Space Agency (ESA) is developing Lunar Communication and Navigation Services (LCNS) with its industrial partners. The Moon orbits, specifically the Elliptical Lunar Frozen Orbits (ELFO), are quite different compared to the GNSS orbits. This work presents a novel orbit model for the LCNS that can support different ELFOs and other orbits. The performance of the new model is measured in terms of accuracy and the number of bits (required to broadcast the information) against other available models. Such a model could be used to broadcast the ephemeris of the LCNS satellites within the navigation message of the LunaNet Augmented Forward Signal (AFS). Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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13 pages, 6636 KiB  
Proceeding Paper
Estimation of the Effect of Single Source of RF Interference on an Airborne Global Navigation Satellite System Receiver: A Theoretical Study and Parametric Simulation
by Ahmad Esmaeilkhah and Rene Jr Landry
Eng. Proc. 2025, 88(1), 53; https://doi.org/10.3390/engproc2025088053 - 14 May 2025
Viewed by 71
Abstract
This paper addresses the critical issue of unwanted interference in airborne GNSS receivers, crucial for navigational safety. Previous studies often simplified the problem, but this work offers a comprehensive approach, considering factors like Earth’s reflective properties, 3D calculations, and distinct radiation patterns. It [...] Read more.
This paper addresses the critical issue of unwanted interference in airborne GNSS receivers, crucial for navigational safety. Previous studies often simplified the problem, but this work offers a comprehensive approach, considering factors like Earth’s reflective properties, 3D calculations, and distinct radiation patterns. It introduces Spatial Interference Distribution Expression Heat-map and Operation Efficacy Plot graphs to visualize interference distribution along flight paths. The results highlight the significance of physical configuration and distance from interference sources on receiver performance. The algorithm developed can assess interference effects on GNSS receivers and aid in selecting optimal flight paths for minimal interference. This research enhances understanding and management of unintentional interference in airborne navigation systems. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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9 pages, 2822 KiB  
Proceeding Paper
Performance Analysis of CUDA-Based Galileo Signal Quality Monitoring
by Florian Binder, Daniel J. Bauer, Thomas Pany and Torben Schüler
Eng. Proc. 2025, 88(1), 54; https://doi.org/10.3390/engproc2025088054 - 15 May 2025
Viewed by 79
Abstract
The aim of this study was to develop basic findings for a continuous Signal Quality Monitoring system based on a measurement campaign. Four Galileo satellites were repeatedly recorded, using a dish antenna, and their metrics were analyzed. Due to the stable course, thresholds [...] Read more.
The aim of this study was to develop basic findings for a continuous Signal Quality Monitoring system based on a measurement campaign. Four Galileo satellites were repeatedly recorded, using a dish antenna, and their metrics were analyzed. Due to the stable course, thresholds for the detection of threat models can be determined. These values were tested against simulated signals and the sensitivity of the detection was found to be satisfactory. Based on the convergence behavior of the data, a measurement duration of 180–200 s can be recommended. Finally, the influence of the GPU and memory clock on the performance of predefined conditions close to the receiver was tested. The core clock of the GPU was identified as the bottleneck of the processing. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 11179 KiB  
Proceeding Paper
GNSS Jamming Observed on Sounding Rocket Flights from Northern Scandinavia
by Benjamin Braun, Oliver Montenbruck, Markus Markgraf, Marcus Hörschgen-Eggers and Rainer Kirchhartz
Eng. Proc. 2025, 88(1), 55; https://doi.org/10.3390/engproc2025088055 - 16 May 2025
Viewed by 168
Abstract
Since 2022, DLR’s Mobile Rocket Base (MORABA) has observed jamming of GNSS signals on sounding rockets launched from Esrange in northern Sweden and Andøya Space Center (ASC) in northern Norway. The jamming primarily affected the GPS L1, Galileo E1 and BeiDou B1C and [...] Read more.
Since 2022, DLR’s Mobile Rocket Base (MORABA) has observed jamming of GNSS signals on sounding rockets launched from Esrange in northern Sweden and Andøya Space Center (ASC) in northern Norway. The jamming primarily affected the GPS L1, Galileo E1 and BeiDou B1C and B1I signals on the L1 frequency band and was noticeable through a pronounced reduction in the carrier-to-noise ratio of the received GNSS signals. Jamming was observed in northern Sweden at an altitude above 22 km and in northern Norway at an altitude above 36 km. Geometric considerations made it possible to roughly localize the source of the jamming signals from the points of the flight path marking the start and end of interference. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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11 pages, 4185 KiB  
Proceeding Paper
Enhancing GNSS PPP Algorithms with AI: Towards Mitigating Multipath Effects
by Álvaro Tena, Adrián Chamorro and Jesús David Calle
Eng. Proc. 2025, 88(1), 56; https://doi.org/10.3390/engproc2025088056 - 19 May 2025
Viewed by 115
Abstract
Nowadays, high precision and reliability of Global Navigation Satellite Systems are increasingly important in positioning applications. Machine learning is used to improve the performance of the GSHARP PPP algorithm by reducing the effect of multipath on GNSS measurements. The clustering analysis is conducted [...] Read more.
Nowadays, high precision and reliability of Global Navigation Satellite Systems are increasingly important in positioning applications. Machine learning is used to improve the performance of the GSHARP PPP algorithm by reducing the effect of multipath on GNSS measurements. The clustering analysis is conducted on the primary GNSS data points with the goal of discovering and analyzing patterns in the multipath interference. This study represents an early attempt to apply AI to the GSHARP PPP algorithm. Since Lightweight Machine Learning is used in this research, it is easier to integrate and might lay the groundwork for future integration of advanced deep learning methods. About 50 h of data collected from different environments (e.g., highways and urban areas) serves as the training data for these algorithms, which ensures their robustness and real-world applicability. The use of machine learning clustering inside the PPP algorithm serves as a way to improve its performance against multipath effects, as well as provide a platform for subsequent development of precision GNSS systems through AI technologies. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 4421 KiB  
Proceeding Paper
Geometric Analysis of LEO-Based Monitoring of GNSS Constellations
by Can Oezmaden, Omar García Crespillo, Michael Niestroj, Marius Brachvogel and Michael Meurer
Eng. Proc. 2025, 88(1), 57; https://doi.org/10.3390/engproc2025088057 - 19 May 2025
Viewed by 91
Abstract
The last decade has seen a surge in the development and deployment of low Earth orbit (LEO) constellations primarily serving broadband communication applications. These developments have also influenced the interest providing positioning, navigation, and timing (PNT) services from LEO. Potential services include new [...] Read more.
The last decade has seen a surge in the development and deployment of low Earth orbit (LEO) constellations primarily serving broadband communication applications. These developments have also influenced the interest providing positioning, navigation, and timing (PNT) services from LEO. Potential services include new ranging signals from LEO, augmentation of global navigation satellite systems (GNSS), and monitoring of GNSS. The latter promises an advantage over existing ground-based monitoring due to the reception of observables with reduced atmospheric error contributions and the potential for lower costs. In this paper, we investigate the influence of LEO constellation design on the line-of-sight visibility conditions for GNSS monitoring. We simulate a series of Walker constellations in LEO with a varying number of total satellites, orbital planes, and orbital heights. From the simulated data, we gather statistics on the number of visible GNSS and LEO satellites, durations of visibility periods, and the quality of this visibility quantified by the dilution of precision (DOP) metric. Our findings indicate that increasing the total number of LEO satellites results in diminishing returns. We find that constellations with relatively few total satellites equally yield an adequate monitoring capability. We also identify orbital geometric constraints resulting in suboptimal performance and discuss optimization strategies. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 2559 KiB  
Proceeding Paper
An End-To-End Solution Towards Authenticated Positioning Utilizing Open-Source FGI-GSRx and FGI-OSNMA
by Muwahida Liaquat, Mohammad Zahidul H. Bhuiyan, Toni Hammarberg, Saiful Islam, Mika Saajasto and Sanna Kaasalainen
Eng. Proc. 2025, 88(1), 58; https://doi.org/10.3390/engproc2025088058 - 19 May 2025
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Abstract
This paper presents an end-to-end solution towards authenticated positioning using only Galileo E1B signal by utilizing the Open Service Navigation Message Authentication (OSNMA). One of the primary objectives of this work is to offer a complete OSNMA-based authenticated position solution by releasing FGI-GSRx-v2.1.0 [...] Read more.
This paper presents an end-to-end solution towards authenticated positioning using only Galileo E1B signal by utilizing the Open Service Navigation Message Authentication (OSNMA). One of the primary objectives of this work is to offer a complete OSNMA-based authenticated position solution by releasing FGI-GSRx-v2.1.0 (an open-source software-defined multi-constellation GNSS receiver) update. The idea is to bridge the gap between two open-source implementations by the Finnish Geospatial Research Institute (FGI): FGI-GSRx and FGI-OSNMA (an open-source Python software package). FGI-GSRx-v2.1.0 utilizes FGI-OSNMA as an OSNMA computation engine to generate the authentication events with the information of whether a tag is valid or not. FGI-GSRx computes the position authentication at the navigation layer with the Galileo E1B satellites that are OSNMA verified and have C/N0 greater than 30 dB-Hz. OSNMA-based position authentication is shown through the findings from two real-world open sky use cases: (i) a clean nominal scenario and (ii) a spoofing scenario recorded during the Jammertest 2023 in Andøya, Norway. In the case of the spoofing scenario, the software receiver stops offering an authenticated position solution. A detailed comparison between the authenticated and non-authenticated position solutions also highlights the damage spoofing could cause to the end user in deviating the user’s position on a target spoofed location. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 1598 KiB  
Proceeding Paper
Improving Magnetic Flux Density Fingerprint Map Matching by Mitigating AC-Induced Variability
by Peter J. Thompson, Paul D. Groves, Owen J. Griffiths, Robin J. Handley and David R. Selviah
Eng. Proc. 2025, 88(1), 59; https://doi.org/10.3390/engproc2025088059 - 20 May 2025
Viewed by 87
Abstract
Magnetic flux density (MFD) map matching is a technique that can provide absolute position solutions by comparing a series of MFD measurements with a database. Map matching relies on the consistent measurement of the same physical phenomena during the surveying and positioning phases. [...] Read more.
Magnetic flux density (MFD) map matching is a technique that can provide absolute position solutions by comparing a series of MFD measurements with a database. Map matching relies on the consistent measurement of the same physical phenomena during the surveying and positioning phases. However, fluctuations in MFD due to alternating current (AC) electricity, influenced by dynamic power requirements, pose a challenge. This paper analyses the characteristics of the influences of AC sources on MFD measurements. It shows that employing spectral filtering can isolate magnetic perturbations from AC sources, which could be used to enhance the magnetic map matching’s resilience to this form of temporal change. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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10 pages, 562 KiB  
Proceeding Paper
Characteristics of Experimental VDE-SAT Ranging Signals and System Performance Analysis for Critical Navigation
by Øyvind Bryhn Pettersen, Jose van den IJssel and Sven-Ingve Rasmussen
Eng. Proc. 2025, 88(1), 60; https://doi.org/10.3390/engproc2025088060 - 21 May 2025
Viewed by 88
Abstract
Traditional Global Navigation Satellite Systems (GNSSs) are subject to intentional or unintentional disturbances in the northern regions of Norway, leading to loss of critical infrastructure. The VHF Data Exchange System (VDES) has been suggested as an alternative source of positioning, navigation and timing [...] Read more.
Traditional Global Navigation Satellite Systems (GNSSs) are subject to intentional or unintentional disturbances in the northern regions of Norway, leading to loss of critical infrastructure. The VHF Data Exchange System (VDES) has been suggested as an alternative source of positioning, navigation and timing (PNT), based on statistical estimates. However, an empirical investigation into the feasibility of such a contingency-system has only recently become possible after the launch of the NorSat-TD satellite with purpose-designed VDES ranging capabilities. This paper presents an analysis of the characteristics of empirical VDE-SAT range measurements and a system-level performance analysis of a single-satellite system. In total, 1121 VDE-SAT pseudorange observations obtained from 54 satellite passes, recorded from July to October 2023, are analyzed. Residual analysis shows that these observations have a large and constant mean error of about 416 km, with a standard deviation of 335.2 m. The previously neglected atmospheric propagation effects on a VDE-SAT range measurement are shown to be significant, and the largest effect is likely to be the time-delay due to the ionosphere. The system performance analysis shows that VDE-SAT as a PNT-source has potential to be a navigation backup system, with a target metric positioning accuracy of 1000 m. This project was funded by the ESA NAVISP program. Full article
(This article belongs to the Proceedings of European Navigation Conference 2024)
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