Beidou Status

Satellite Navigation Seminar > TUM > 14 May 2013
Slide 1
From China with Love
*)

The BeiDou Navigation System
O. Montenbruck
(1)
,

P. Steigenberger
(2)
, A. Hauschild
(1)

(1)
DLR/GSOC, Oberpfaffenhofen
(2)
TUM/IAPG, Munich
*)
a modern spy story?
Slide 2
Contents
System Overview
End User Equipment
Tracking Network
Data Analysis
Orbit and Clock Determination
Navigation Message
Code Biases and Positioning
Slide 3
Space Segment
DongFangHong-3 (DFH-3) bus
1.8 x 2,2 x 2.5 m
3

17 m width, 27 m
2
1.5 - 2 t dry mass
Orbits
MEO (12h53m; 13 rev in 7d)
GEO
IGSO (i=55)
Chinese and European Rb clocks
Laser retroreflector
2-way time transfer system (GEO)
C-band communication (GEO)
Slide 4
Constellation Status (Dec. 2012)
# Satellite Int. Sat. ID PRN Notes
1 M1 2007-011A C30 Suspected clock problems (Hauschild et al. 2012)
2 G2 2009-018A n/a Inactive; uncontrolled
3 G1 2010-001A C01 140.0 E
4 G3 2010-024A C03 110.5 (from 84.0 between Nov 7 and 22, 2012)
5 G4 2010-057A C04 160.0 E
6 I1 2010-036A C06 ~120 E
7 I2 2010-068A C07 ~120 E
8 I3 2011-013A C08 ~120 E
9 I4 2011-038A C09 ~95 E
10 I5 2011-073A C10 ~95 E
11 G5 2012-008A C05 58.75 E
12 M3 2012-018A C11
13 M4 2012-018B C12
14 M5 2012-050A C13
15 M6 2012-050B C14
16 G6 2012-059A C02 80.0E
Slide 5
Ground Tracks
BeiDou-capable monitoring stations (MGEX/CONGO/others)
1 May 2013
Slide 6
Signals
B1I/Q & B2I: BPSK(2), 2046 chips
B2Q & B3I/Q : BPSK(10), 10230 chips
B1I: Open Service ICD
B2I, B3I: known code generator structure
from high-gain antennas; inferred codes
L5 L2 L1
B1
B3 B2
E5a E5b E6 E2-L1-E1
GPS Galileo COMPASS
1176.450 MHz
1278.750 MHz
1575.420 MHz
1561.098 MHz
1268.520 MHz
1207.14 MHz 1227.60 MHz 1176.450 MHz
f
(Thlert et al. 2010) (Stanford Univ.)
Slide 7
End User Equipment
Unicore UR240/260 (B1,B2,(B3))
Trimble NetR9 (B1,B2,B3) Septentrio AsteRx3 (B1,B2) Javad TriumphVS (B1,B2)
ComNav M300 (B1,B2)
Slide 8
Tracking Network (MGEX, CONGO, others)
Slide 9
Signal Strength
GMSD station (Trimble NetR9 and choke ring antenna)
(GPS Solut (2013) 17:211222)
Wuhan (Unicore UB240 CORS)
(Shi et al., GPS Solutions 17:103, 2013)
Slide 10
Code Noise and Multipath (Chennai)
Trimble NetR9 and
Zephyr antenna
Boresight angle
dependent multipath!?
(IGS WS 2012)
Slide 11
Triple-Carrier Combination
BeiDou (GEO)
QZSS
Difference of two ionosphere-free linear combinations
(GPS Solut (2013) 17:211222)
Slide 12
Phase Noise (Triple-Frequency Combination)
3F
~ 2.5
1F

(GPS Solut (2013) 17:211222)
Slide 13
BeiDou-Only Relative Positioning (Extra-Widelaning)
Curtin Univ. Perth (8 m Baseline)
(GPS Solut (2013) 17:211222)
Slide 14
Orbit Determination
(Only) 6 stations (spring 2012)
Bernese S/W
1-2 dm accuracy for IGSOs, 0.5-1 m for GEOs
SLR residuals 15-30 cm

Steigenberger et al. (2013) Orbit and clock
analysis of Compass GEO and IGSO
satellites, Journal of Geodesy
DOI 10.1007/s00190-013-0625-4
Slide 15
Clock Performance
Clock performance fully competitive with normal GNSS Rb clocks
(but less than Rb-IIF and GAL-PHM)
(GPS Solut (2013) 17:211222)
Slide 16
Navigation Message D1 (MEO, IGSO)
Slide 17
Navigation Message D2 (GEO)
Slide 18
Broadcast Ephemeris Model
|
|
|
.
|
\
|
=
|
|
|
.
|
\
|
O
0
) sin(
) cos(
) ( ) ( u r
u r
i
z
y
x
x z
R R
|
|
|
.
|
\
|
O =
|
|
|
.
|
\
|
0
) sin(
) cos(
) ( ) ( ) 5 ( )) ( (
0
u r
u r
i t t
z
y
x
x z x w z
R R R R e
D1 (MEO, IGSO)
D2 (GEO)
GM
and

differ
from GPS /
Galileo

Inclination w.r.t.
intermediate plane
Slide 19
Age of Data
MEOs
IGSOs
Uplink stations
only in China!?
Slide 20
Broadcast Orbit Accuracy SLR Residuals
Note: no antenna offset correction applied
Slide 21
Group Delays
) / (
DCB ) / (
DCB
2
B3
2
B1 B1
sat rcv
B3
B3 B2
2
B2
2
B1 B1
sat rcv
B2
B3 B1 B1
sat rcv
B1
f f I T t c t c P
f f I T t c t c P
I T t c t c P
+ + + =
+ + + + =
+ + + + =
o o
o o
o o
T
GD1
?
Broadcast clock refers to B3 signal (not ionosphere-free B1/B2)!
Potential incompatibility of broadcast and precise clock products
Knowledge of DCB
B2-B3
required for dual-frequency positioning
D1 SF1
T
GD2
!
Slide 22
Differential Code Bias Determination
-15.0
-10.0
-5.0
0.0
5.0
10.0
15.0
C01 C02 C03 C04 C05 C06 C07 C08 C09 C10 C11 C12 C13 C14
D
C
B

B
1
-
B
3

[
n
s
]
SIN1
CHEN
KZN2
CUTA
GMSD
TGD1-mean
-15.0
-10.0
-5.0
0.0
5.0
10.0
15.0
C01 C02 C03 C04 C05 C06 C07 C08 C09 C10 C11 C12 C13 C14
D
C
B

B
2
-
B
3

[
n
s
]
SING1 CHEN0
KZN23 CUTA1
GMSD1 TGD2-mean
DCB =
mean code difference after
GIM ionosphere correction
Slide 23
Single-Point Positioning with Broadcast Ephemeris
Single-frequency observations corrected with global ionosphere map
Best performance for B1-only positioning (TGDs?)
Station
(ID, Receiver)
GPS
L1
GPS
L1/L2
BDS
B1
BDS
B2
BDS
B3
BDS
B1/B2
BDS
B1/B3
PDOP
BDS
Singapore
(SIN1,NetR9)
E
N
U
3D
0.70 m
0.87 m
1.71 m
2.04 m
0.85m
0.59 m
2.04 m
2.29 m
0.78 m
0.98 m
2.16 m
2.50 m
0.89 m
1.35 m
3.50 m
3.86 m
0.90 m
1.22 m
3.52 m
3.83 m
1.36 m
0.93 m
2.34 m
2.86 m
1.14 m
1.13 m
3.13 m
3.52 m
1.9
Tanegashima
(GMSD,NetR9)
E
N
U
3D
0.86 m
1.24 m
3.09 m
3.44 m
0.80 m
0.99 m
2.01 m
2.38 m
0.90 m
1.28 m
3.06 m
3.44 m
1.03 m
1.78 m
3.98 m
4.48 m
1.07 m
1.59 m
3.90 m
4.34 m
1.43 m
1.57 m
4.32 m
4.81 m
1.66 m
1.89 m
3.95 m
4.68 m
2.6
Slide 24
Ionosphere Model
Standard model (all Satellites)
Provides TEC at ionospheric pierce point (in geographic long/lat)
Klobuchar-like model parameters (
0
3
,
0
3
)
Updated 6x per day
Best accuracy for North Asia, GPS model preferrable for global use

SBAS data (GEO satellites)
Real-time ionospheric range delays (at B1)
6-min updates
Ionosphere Grid long 70..145 long, 10..55 and 7.552.5 latitude
Data confined to China mainland
Slide 25
Summary and Outlook
BeiDou is 3rd system to offer a (regional) standalone navigation service
User equipment readily available but limited amount of monitoring stations
Promising initial analysis and test results
Competitive system: 3 frequencies, good clocks, good broadcast ephemerides

ICD update should address dual-frequency use
IGS (MGEX) needs to incorporate BeiDou into product chain
Key spacecraft data (attitude, phase center) missing for precise processing

(When) will BeiDou switch to new GPS/GAL-like signals at L1/E1?
Will B3I remain unencrypted?

Beidou Status

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Satellite Navigation Seminar > TUM > 14 May 2013

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