Search Results (29)

As space systems evolve towards cis-lunar missions and beyond, the demand for precise yet low-size, -weight, and -power (SWaP) clocks and synchronization methods becomes increasingly critical. We introduce a novel clock synchronization approach based on the Kuramoto oscillator model that facilitates the creation of an ensemble timescale for satellite constellations. Unlike traditional ensembling algorithms, the proposed Kuramoto method leverages nearest-neighbor interactions to achieve collective synchronization. This method simplifies the communication architecture and data-sharing requirements, making it well suited for dynamically connected networks such as proliferated low Earth orbit (pLEO) and lunar or Martian constellations, where intersatellite links may frequently change. Through simulations incorporating realistic noise models for small-scale atomic clocks, we demonstrate that the Kuramoto ensemble can yield an improvement in stability on the order of 1/√N, while mitigating the impact of constellation fragmentation and defragmentation. The results indicate that the Kuramoto oscillator-based algorithm can potentially deliver performance comparable to established techniques like Equal Weights Frequency Averaging (EWFA), yet with enhanced scalability and resource efficiency critical for future spaceborne PNT and communication systems. Full article

The rapid development of Low Earth Orbit Position, Navigation, and Timing (LEO-PNT) constellations presents opportunities to augment Global Navigation Satellite Systems (GNSSs) with additional signals from Low Earth Orbit (LEO) satellites, thereby improving performance and reliability for users. This research study addresses the challenges posed by the interdependency between LEO and GNSS layers, which can lead to cascading faults. By extending Receiver Autonomous Integrity Monitoring (RAIM)-like capabilities to spaceborne receivers, specifically through Timing Receiver Autonomous Integrity Monitoring (T-RAIM), this paper aims to mitigate these risks. This study validates the integration of T-RAIM with advanced Precise Real-Time On-board Orbit Determination (P2OD) techniques in LEO scenarios using a hardware-in-the-loop test environment. The findings demonstrate that the architecture with T-RAIM can maintain nominal positioning and timing accuracy even in the presence of GNSS clock faults, ensuring continuous system functionality without requiring P2OD restarts. This capability is crucial to preventing service interruptions and enhancing the robustness of LEO-PNT solutions. The proposed integration handles the computational load and complexity while accommodating the limited resources of spaceborne receivers, offering a viable and robust LEO-PNT solution. The experimental results show that T-RAIM effectively mitigates the impact of pseudorange ramp errors, maintaining stable clock bias and preserving the integrity of orbit determination and time synchronization. Full article

The integration of low Earth orbit (LEO) satellite constellations into the Global Navigation Satellite System (GNSS) has emerged as a prominent research focus, as LEO satellites can significantly enhance the precision of GNSS positioning, navigation, and timing (PNT) services. In the design of LEO navigation constellations, the development of an efficient broadcast ephemeris model is critical for delivering high-accuracy navigation solutions. This study extends the conventional 16-parameter Keplerian broadcast ephemeris model by proposing enhanced 18-, 20-, 22-, and 24-parameter models, ensuring compatibility with existing GNSS ephemeris standards. The performance of these models was evaluated using precise science orbit from five satellites at varying altitudes, ranging from 320 km to 1336 km. By analyzing fitting errors, Signal-in-Space Range Error (SISRE), and Message Size Bits (MSB) across different fitting arc durations and parameter counts, the optimal model configuration was identified. The results demonstrate that the 22-parameter model, which was constructed by augmenting the standard 16-parameter ephemeris with $(\dot{a}$, $\dot{n}$, $Crs3$, $Crc3$, $Crs1$, $Crc1$) delivers the best balance of accuracy and efficiency. With a fitting arc length of 20 min, the SISRE for the GRACE-A (320 km), GRACE-C (475 km), Sentinel-2A (786 km), HY-2A (966 km), and Sentinel-6A (1336 km) satellites were measured at 8.88 cm, 6.21 cm, 2.87 cm, 2.11 cm, and 0.75 cm, respectively. Meanwhile, the corresponding MSB remained compact at 501, 490, 491, 487, and 476 bits. These findings confirm that the proposed 22-parameter broadcast ephemeris model meets the stringent accuracy requirements for next-generation LEO-augmented GNSSs, paving the way for enhanced global navigation services. Full article

The precise point positioning (PPP) method in GNSS is based on the processing of undifferenced phase observations. For long static sessions, this method provides results characterized by accuracies better than one centimeter, and has become a standard practice in the processing of geodetic permanent stations data. However, a drawback of the PPP method is its slow convergence, which results from the necessity of jointly estimating the coordinates and the initial phase ambiguities. This poses a challenge for very short sessions or kinematic applications. The introduction of new satellites in Low Earth Orbits (LEO) that provide phase observations for positioning, such as those currently provided by GNSS constellations, has the potential to radically improve this scenario. In this work, a preliminary case study is discussed. For a given day, two configurations are analyzed: the first considers only the GNSS satellites currently in operation, while the second includes a simulated constellation of LEO satellites. For both configurations, the geometric quality of a PPP solution is evaluated over different session lengths throughout the day. The adopted quality index is the trace of the cofactor matrix of the estimated coordinates, commonly referred to as the position dilution of precision (PDOP). The simulated LEO constellation demonstrates the capability to enhance positioning performance, particularly under conditions of good sky visibility, where the time needed to obtain a reliable solution decreases significantly. Furthermore, even in scenarios with limited satellite visibility, the inclusion of LEO satellites helps to reduce PDOP values and overall convergence time. Full article

In Global Navigation Satellite System (GNSS)-denied environments, opportunistic positioning using non-cooperative Low Earth Orbit (LEO) satellite signals has shown strong potential. However, dynamic platforms face challenges in maintaining sufficient satellite counts and favorable geometric distributions due to limited signal quality and short observation windows. To address this, we propose a fast satellite selection algorithm based on the Non-Dominated Sorting Whale Optimization Algorithm (NSWOA) for dynamic, multi-constellation LEO opportunistic navigation. By introducing Pareto non-dominated solutions, the algorithm balances Doppler Geometric Dilution of Precision (DGDOP), signal strength, residual visibility time, and receiver sensitivity. Through iterative optimization, it constructs a subset of satellites with minimal DGDOP while reducing computational burden, enabling real-time fusion and switching at the receiver end. We validate the algorithm through UAV-based experiments in dynamic scenarios. Compared to GWO, PSO, and NSGA-II, the proposed method achieves computation time reductions of 27.06%, 27.05%, and 68.57%, respectively. It also reduces the overall navigation solution time to 54.96% of that required when using all visible satellites, significantly enhancing real-time responsiveness and system robustness. These results demonstrate that the NSWOA-based satellite selection algorithm outperforms existing intelligent methods in both computational efficiency and optimization accuracy, making it well-suited for real-time, multi-constellation LEO dynamic opportunistic navigation. Full article

Low Earth orbit (LEO) satellites offer a revolutionary potential for positioning, navigation, and timing (PNT) services due to their stronger signal power and rapid geometric changes compared to traditional global navigation satellite systems (GNSS). However, dedicated LEO navigation systems face high costs, so opportunity navigation based on LEO satellites is a potential solution. This paper presents an orthogonal frequency division multiplexing (OFDM)-based LEO navigation system and analyzes its navigation performance. We use 5G new radio (NR) as the satellite transmitting signal and introduce the NR signal components that can be used for navigation services. The LEO NR system and a novel zero-padding correlation (ZPC) are introduced. This ZPC receiver can eliminate cyclic prefix (CP) and inter-carrier interference, thereby improving tracking accuracy. The power spectral density (PSD) for the NR navigation signal is derived, followed by a comprehensive analysis of tracking accuracy under different NR configurations (bandwidth, spectral allocation, and signal components). An extended Kalman filter (EKF) is proposed to fuse pseudorange and pseudorange rate measurements for real-time positioning. The simulations demonstrate an 80% improvement in ranging precision (3.0–4.5 cm) and 88.3% enhancement in positioning accuracy (5.61 cm) compared to conventional receivers. The proposed ZPC receiver can achieve centimeter-level navigation accuracy. This work comprehensively analyzes the navigation performance of the LEO NR system and provides a reference for LEO PNT design. Full article

This paper addresses the selection and justification of ephemeris parameters to be broadcast in a LEO-PNT navigation message. The temporal evolution of LEO orbital elements is analyzed, proving that the GPS/GAL model needs to evolve to cope with LEO orbit dynamics and to ensure high-accuracy ephemeris. In addition, the ephemeris fitting process is performed systematically for different sets of parameters allowing the most convenient parameter combinations to be determined. If adequate parameters are included in an ephemeris model, the fitting error tends to reduce. Beyond ephemeris parametrization, the length of the fitting interval significantly influences the achievable accuracy—for short fitting intervals of 5–10 min with an optimal set of ephemeris parameters, a SISRE at WUL in the order of 1 to 7 mm is obtained. Full article

This paper explores the usage of LEO-PNT (Positioning, Navigation, and Timing) for providing navigation integrity to GNSS (Global Navigation Satellite System) constellations. LEO mega-constellations, which are positioned between GNSSs and users, offer closer-to-the user geometry, improving performance, reducing the time to alarm (TTA) and enabling integrity monitoring without complex ground segments of any sort. The aim is to use future LEO mega-constellations as integrity monitors for a forthcoming European Global Navigation Satellite System (EGNSS) specifically focused on automotive users, which has minimal onboard satellite capabilities and no ground involvement. This plan builds on earlier studies, anticipating the performance of the upcoming LEO-PNT In-Orbit Demonstration. Full article

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

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

The recent rapid deployment of low-Earth-orbit (LEO) broadband constellations has positioned these systems as expected emerging navigation sources, thereby driving research interest in integrated navigation and communication (INAC) technologies. Existing INAC waveforms face various challenges in LEO environments, including limited ranging accuracy due to high mutual interference (MI) between signal components, a heavy signal processing burden for navigation users, or degraded data transmission reliability. We propose an INAC waveform named delay–Doppler block division multiplexing (DDBDM) in this work. MI is effectively reduced by modulating pseudo-random noise (PRN) codes and data separately on orthogonal delay–Doppler (DD) blocks. Navigation and communication signals in DDBDM can be separated in the frequency band, which allows the user to receive only the bandwidth occupied by the navigation subcarriers, reducing the signal processing overhead. Moreover, data transmission in the DD domain exhibits a low bit error rate in high-mobility channels, which enables fast and reliable navigation augmentation information for users. Simulation results demonstrate that DDBDM offers superior navigation performance and data transmission reliability compared to existing INAC schemes. The proposed waveform enhances the performance of the LEO INAC system and effectively extends the position, navigation, and timing (PNT) service capability. Full article

Terrestrial and satellite communications, tactical data links, positioning, navigation, and timing (PNT), as well as distributed sensing will continue to require precise timing and the ability to synchronize and disseminate time effectively. However, the supply of space-qualified clocks that meet Global Navigation Satellite Systems (GNSS)-level performance standards is limited. As the awareness of potential disruptions to GNSS due to adversarial actions grows, the current reliance on GNSS-level timing appears costly and outdated. This is especially relevant given the benefits of developing robust and stable time scale references in orbit, especially as various alternatives to GNSS are being explored. The onboard realization of clock ensembles is particularly promising for applications such as those providing the on-demand dissemination of a reference time scale for navigation services via a proliferated Low-Earth Orbit (pLEO) constellation. This article investigates potential inter-satellite network architectures for coordinating time and frequency across pLEO platforms. These architectures dynamically allocate radio resources for clock data transport based on the requirements for pLEO time scale formations. Additionally, this work proposes a model-based control system for wireless networked timekeeping systems. It envisions the optimal placement of critical information concerning the implicit ensemble mean (IEM) estimation across a multi-platform clock ensemble, which can offer better stability than relying on any single ensemble member. This approach aims to reduce data traffic flexibly. By making the IEM estimation sensor more intelligent and running it on the anchor platform while also optimizing the steering of remote frequency standards on participating platforms, the networked control system can better predict the future behavior of local reference clocks paired with low-noise oscillators. This system would then send precise IEM estimation information at critical moments to ensure a common pLEO time scale is realized across all participating platforms. Clock steering is essential for establishing these time scales, and the effectiveness of the realization depends on the selected control intervals and steering techniques. To enhance performance reliability beyond what the existing Linear Quadratic Gaussian (LQG) control technique can provide, the minimal-cost-variance (MCV) control theory is proposed for clock steering operations. The steering process enabled by the MCV control technique significantly impacts the overall performance reliability of the time scale, which is generated by the onboard ensemble of compact, lightweight, and low-power clocks. This is achieved by minimizing the variance of the chi-squared random performance of LQG control while maintaining a constraint on its mean. Full article

The Global Navigation Satellite System (GNSS) provides critical positioning, navigation, and timing (PNT) services worldwide, enabling a wide range of applications from everyday use to advanced scientific and military operations. The importance of Low Earth Orbit (LEO) PNT systems lies in their ability to enhance the GNSS by implementing signals in additional frequency bands, offering increased signal strength, reduced latency, and improved accuracy and coverage, particularly in challenging environments such as urban canyons or polar regions, thereby addressing the limitations of the traditional Medium Earth Orbit (MEO) GNSS. This paper details the system engineering of a novel CubeSat-based multi-regional PNT system tailored for deployment in LEO. The proposed system leverages on a miniaturized CubeSat-compatible PNT payload that includes a chip-scale atomic clock (CSAC) and relies on MEO GNSS technologies to deliver positioning and timing information across multiple regions. The findings indicate that the proposed CubeSat-based PNT system offers a viable solution for enhancing global navigation and timing services, with potential commercial and scientific applications. This work contributes to the growing body of knowledge on LEO-based PNT systems and lays the groundwork for future research and development in this rapidly evolving field. Full article

The BeiDou-3 navigation satellite system (BDS-3) has officially provided positioning, navigation, and timing (PNT) services to global users since 31 July 2020. With the application of inter-satellite link technology, global integrity monitoring becomes possible. Nevertheless, the content of integrity monitoring is still limited by the communication capacity of inter-satellite links and the layout of ground monitoring stations. Low earth orbit (LEO) satellites have advantages in information-carrying rate and kinematic velocity and can be used as satellite-based monitoring stations for navigation satellites. Large numbers of LEO satellites can provide more monitoring data than ground monitoring stations and make it easier to obtain full-arc observation data. A new challenge of redundant data also arises. This study constructs multi-source observation links with satellite-to-ground, inter-satellite, and satellite-based observation data, proposes an integrity monitoring method with optimization of observation links, and verifies the performance of integrity monitoring with different observation links. The experimental results show four findings. (1) Based on the integrity status of BDS-3, the proposed system-level integrity mode can realize full-arc anomaly diagnosis in information and signals according to the observation conditions of the target satellite. Apart from basic navigation messages and satellite-based augmentation messages, autonomous messages and inter-satellite ranging data can be used to evaluate the state of the target satellite. (2) For a giant LEO constellation, only a small number of LEO satellites need to be selected to construct a minimum satellite-based observation unit that can realize multiple returns of navigation messages and reduce the redundancy of observation data. With the support of 12 and 30 LEO satellites, the minimum number of satellite-based observation links is 1 and 4, respectively, verifying that a small amount of LEO satellites could be used to construct a minimum satellite-based observation unit. (3) A small number of LEO satellites can effectively improve the observation geometry of the target satellite. An orbit determination observation unit, which consists of chosen satellite-to-ground and/or satellite-based observation links based on observation geometry, is proposed to carry out fast calculations of satellite orbit. If the orbit determination observation unit contains 6 satellite-to-ground monitoring links and 6/12/60 LEO satellites, the value of satellite position dilution of precision (SPDOP) is 38.37, 24.60, and 15.71, respectively, with a 92.95%, 95.49%, and 97.12% improvement than the results using 6 satellite-to-ground monitoring links only. (4) LEO satellites could not only expand the resolution of integrity parameters in real time but also augment the service accuracy of the navigation satellite system. As the number of LEO satellites increases, the area where UDRE parameters can be solved in real time is constantly expanding to a global area. The service accuracy is 0.93 m, 0.88 m, and 0.65 m, respectively, with augmentation of 6, 12, and 60 LEO satellites, which is an 8.9%, 13.7%, and 36.3% improvement compared with the results of regional service. LEO satellites have practical application values by improving the integrity monitoring of navigation satellites. Full article

The recent rapid development of low Earth orbit (LEO) constellation-based navigation techniques has enhanced the ability of position, navigation, and timing (PNT) services in deep attenuation and interference environments. However, existing navigation modulations face the challenges of high acquisition complexity and do not improve measurement precision at the same signal strength. We propose a pulsed orthogonal time frequency space (Pulse-OTFS) signal, which naturally converts continuous signals into pulses through a special delay-Doppler domain pseudorandom noise (PRN) code sequence arrangement. The performance evaluation indicates that the proposed signal reduces at least 89.4% of the acquisition complexity. The delay measurement accuracy is about 8 dB better than that of the traditional binary phase shift keying (BPSK) signals with the same bandwidth. It also provides superior compatibility and anti-multipath performance. The advantages of fast acquisition and high-precision measurement are verified by processing the real signal in the developed software receiver. As Pulse-OTFS occupies only one time slot of a signal period, it can be easily integrated with OTFS-modulated communication signals and used as a navigation signal from broadband LEO satellites as an effective complement to the global navigation satellite system (GNSS). Full article