ADVANTAGES OF DEPLOYMENT OF BESPOKE GNSS POSITION ESTIMATION METHODS IN NAVIGATION DOMAIN BASED ON RAW GNSS PSEUDORANGES

1. ADVANTAGES OF DEPLOYMENT OF
BESPOKE GNSS POSITION
ESTIMATION METHODS IN
NAVIGATION DOMAIN BASED ON
RAW GNSS PSEUDORANGES
Prepared by
Renato Filjar1
1Faculty of Engineering, University of Rijeka, Croatia

2. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES

3. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Introduction and motivation
• Rising needs for transparent and flexible GNSS-based
position estimation process that suits requirements for
different classes of GNSS applications
• Advancements in mathematical methods, and
computing algorithms, performance, and architectures
• Software-Defined Radio (SDR)
• Google LLC opens access to raw GNSS pseudoranges
through Location API as a framework for third-party
utilisation

4. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• GNSS positioning (position estimation) process

5. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• What does affect the GNSS positioning
accuracy?

6. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Advanced GNSS SDR architectures

7. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Google Location API

8. POSITION
ESTIMATION
PROCESS
BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Proposed generalised utilisation of Google
Location API on Android devices
Tailored by trusted parties
for targeted applications in
GNSS SDR receiver (within
a smartphone)

9. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Proposed generalised utilisation of Google
Location API on Android devices – case of
tackling effects of positioning environment

10. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Proposed generalised utilisation of Google
Location API on Android devices – case of
ionospheric delay correction

11. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Proposed generalised utilisation of Google
Location API on Android devices – case of
improved position estimation methodology

12. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Proposed generalised utilisation of Google
Location API on Android devices – case of
Positioning-as-a-Service

13. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Conclusion
• Access to raw GNSS pseudoranges opens room for:
– utilisation of improved and advanced position
estimation methods in GNSS SDR receivers in Android-
based devices (affects IoT, ITS, ADS-B, AIS, eCall and
many other services and systems)
– technology and business developments
• Trust in provided raw GNSS pseudorange data – for
future assessment
• We continue our research segments of GNSS position
estimation methods and techniques, bespoke GNSS error
correction models , and Positioning-as-a-Service concept

14. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Selected references
• Filić, M, and Filjar, R. (2018). Modeling the Relation between GNSS Positioning Performance
Degradation, and Space Weather and Ionospheric Conditions using RReliefF Features Selection.
Accepted for presentation at 31st International Technical Meeting ION GNSS+ 2018. Miami, FL.
• Filić, M. (2018). On development of the forecasting model of GNSS positioning performance
degradation due to space weather and ionospheric conditions. Proc 2nd URSI Atlantic Radio Science
Conference. Gran Canaria, Canary Islands, Spain.
• Filić, M, Filjar, R. (2018). Smartphone GNSS positioning performance improvements through
utilisation of Google Location API. Proc of 41st International Convention MIPRO/CTI, 507-510.
Opatija, Croatia. Available at: http://mipro-proceedings.com/hr/cti
• Filić, M, Filjar, R, Weng J. (2018). An IGS-based simulator of ionospheric conditions for GNSS
positioning quality assessment. Coordinates, 14(1), 31-34. Available at: https://bit.ly/2BHu22j
• Filić, M. (2017). Analysis of the position estimation procedure based on given GNSS pseudoranges
in a GNSS SDR receiver (MSc thesis, in Croatian). Faculty of Science, University of Zagreb. Available
at: https://zir.nsk.hr/islandora/object/pmf%3A3230
• Filić, M. (2017). A comparative study of forecasting methods for space weather-caused GNSS
positioning performance degradation. Invited poster presentation at UN/USA Workshop on the
International Space Weather Initiative. Boston College. Chestnut Hill, MA.
• Filić, M, Grubišić, L, and Filjar, R. (2017). Improvement of standard GPS position estimation
algorithm through utilization of Weighted-Least-Square Approach. Proc of 11th Annual Baška GNSS
Conference, 7-18. Baška, Krk Island, Croatia.

15. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Selected references
• Filic, M, Filjar, R, Ruotsalainen, L. (2016). An SDR-Based Study of Multi-GNSS Positioning
Performance During Fast-Developing Space Weather Storm. TRANSNAV, 10(3), 395-400. doi:
10.12716/1001.10.03.03. Available at: https://bit.ly/2fxAvph
• Filjar, R., S. Kos, S. Krajnovic. (2013). Dst index as a potential indicator of approaching GNSS
performance deterioration. J of Navigation, 66(1), 149-160. Cambridge University Press.
doi:10.1017/S037346331200029X
• Filjar, R., Brčić, D., Kos, S. Single-frequency Horizontal GPS positioning Error Response to a
Moderate Ionospheric Storm over Northern Adriatic. Chapter in: Weintrit, A. (editor) (2013).
Advances in Marine Navigation. Taylor & Francis Group. London, UK.
• Filjar, R. (2008). A Study of Direct Severe Space Weather Effects on GPS Ionospheric Delay. J
of Navigation, 61, 115-128. doi:10.1017/S0373463307004420
• Filjar, R, Huljenić, D, and Dešić, S. (2002). Distributed Positioning: A Network-Supported
Method for Satellite Positioning Performance. Journal of Navigation, 55, 477-484. doi:
10.1017/S0373463302001996
• Rumora, I, Jukić, O, Filić, M, and Filjar, R. (2018). A study of GPS positioning error associated
with tropospheric delay during Numa Mediterranean cyclone. Int J for Traffic and Transport
Engineering. Belgrade, Serbia.
• Rumora, I, Sikirica, N, and Filjar, R. (2018). An Experimental Identification of Multipath Effect
in GPS Positioning Error. TRANSNAV, 12(1), 29-32. doi: 10.12716/1001.12.01.02. Available at:
https://bit.ly/2Lw0o6c

16. BESPOKE GNSS POSITION ESTIMATION
METHODS BASED ON RAW PSEUDORANGES
• Selected references
• Cannon, P et al. (2013). Extreme space weather: impacts on engineered systems and
infrastructure. Royal Academy of Engineering. London, UK. Available at:
http://bit.ly/11OdBNN
• GSA GNSS Raw Measurements Task Force. (2017). Using GNSS raw measurements on Android
devices (white paper). European GNSS Agency. Prague, Czechia. Available at:
http://bit.ly/2BiQ4s2
• Gustafsson, F. (2010). Statistical Sensor Fusion (2nd ed). Studentlitteratur AB. Linkoepping,
Sweden.
• Oxley, A. (2017). Uncertainties in GPS positioning: a mathematical discourse. Academic
Press/Elsevier. London, UK.
• Sanz Subirana, J, Juan Zornoza, J M, and Hernandez-Pajares, M. (2013). GNSS Data
Processing – Vol. I: Fundamentals and Algorithms. European Space Agency (ESA). Nordwijk,
The Netherlands.
• UK Government Office for Science. (2018). Satellite-Derived Time and Position: A Study of
Critical Depndecies. HM Government of the UK and NI. Available at: https://bit.ly/2E2STnd,
accessed on 24 March, 2018.
• Zogg, J-M. (2010). GPS: Essentials of satellite navigation (Compendium). Available at:
http://bit.ly/fhT71T

17. Contact:
Prof Renato Filjar, PhD FRIN
E-mail: renato.filjar@gmail.com
THANK YOU FOR YOUR ATTENTION!
13th Annual Baška GNSS Conference,
Baška,Krk Island, Croatia,
5 – 8 May, 2019