Tutorials and CGSIC: September 12–13 Oregon Convention ... · Plenary Session ... Registered...

September 12–16, 2016Tutorials: September 12–13

Show Dates: September 14–15

Oregon Convention CenterPortland, Oregon

ION GNSS+ 2016The 29th International Technical Meeting of the Satellite Division of The Institute of Navigation

GNSS+ Other Sensors in Today’s MarketplaceContentsOregon Convention Center Floor Plans ............................................... 2Program Organizers .............................. 3CGSIC .................................................... 4–5Tutorials ..............................................6–10Plenary Session .................................... 11Technical Sessions ........................ 12–23 Exhibitor Listing ............................24–25 Special Events and Programs ............ 27Conference Overview ..........Back Cover

Registration HoursMonday, September 12 8:00 a.m.–7:00 p.m.Tuesday, September 13 8:00 a.m.–7:00 p.m.Wednesday, September 14 8:00 a.m.–5:00 p.m.Thursday, September 15 8:00 a.m.–5:00 p.m.Friday, September 16 8:00 a.m.–12:00 p.m.

Mobile Services, Connectivity and Social MediaMobile App: To access the ION GNSS+ program and other conference information on your mobile device point your browser to m.ion.orgWi-Fi: Complimentary Wi-Fi Access (limited to lobby areas and meeting rooms, will not work in the exhibit hall). Network Name is IONGNSS; no password is required. Social Media: Follow us on Facebook, Twitter and Instagram at @ionavigation. The meeting hashtag is #iongnss.

Access to Technical Materials and Business ServicesTechnical Paper Copies Online: Registered attendees may download copies of conference presentations and technical papers online for free by logging in to the ION website at www.ion.org/gnss. Presentations will only be made available once the full technical paper is submitted. Only papers provided to the ION by the presenting authors will be available. If a desired paper is not available, please contact the author directly.Conference Proceedings: Official conference proceedings are scheduled for distribution in November to eligible conference participants.Customized Conference Schedule: Build a customized schedule of conference papers at www.ion.org/gnss.Other Services: A Business Center will provide the use of computers, printer/copier and internet access on a self-service basis in the registration area. A baggage check will be offered on Friday.

MAX Light Rail PassesA free pass for use September 12-16 is available to ION GNSS+ attendees, and can be picked up at the ION GNSS+ registration desk when you pick up your conference badge. Each attendee will be issued only one MAX pass. Please carry your transit pass with you at all times; we suggest you keep your pass in your badge holder. The pass will be valid upon receipt and will not require validation, stamping, ticket exchange or any additional step before riding the MAX light rail, streetcars or busses in the city of Portland. If you lose your pass, the adult fare is $2.50 for 2-hours or $5 for a one-day pass. The fine for riding MAX without a valid pass/ticket is $175.

Safety InformationThe Oregon Convention Center is a public building. Attendees are encouraged to keep their personal property in their possession at all times and not assume their personal belongings will be safe if left unattended.

Photographs/Video Recording/Barcoded BadgesYour presence at ION GNSS+ constitutes your agreement to be photographed, filmed, videotaped or otherwise recorded by conference management, or its agents, and your agreement that your image or voice may be distributed in print or electronic communications media without any compensation being paid to you. Video recording by participants is not allowed without written permission of ION during any portion of the conference. Photographs of copyrighted presentations are for personal use only and are not to be reproduced or distributed. Do not photograph any images labeled as proprietary. Flash photography, or any form of photography, that disturbs those around you, is prohibited. Your badge features a barcode. With your permission, exhibitors may scan the barcode to obtain your name and contact information.

ONSITE PROGRAMSeptember 12–16, 2016

Tutorials and CGSIC: September 12–13Oregon Convention Center

See Page 27 for Details

A Totally

Come as you were and join us for one righteous party!

Radical80’s Celebration30 Years of ION GPS/GNSS/GNSS+

Wednesday, Sept. 148:00 p.m.–10:00 p.m., Exhibit Hall B

2

THANK YOU TO OUR EVENT SUPPORTERS:

Mobile Application Self-Service Business Center

LEVEL 1

Women in PNT

LEVEL 2

Oregon Convention Center Floor Plans

3

ION GNSS+ 2016 Program Organizers

Chair Dr. John BetzThe MITRE Corporation

Immediate Past Chair Dr. Jade MortonColorado State University

Treasurer Dr. Grace GaoUniversity of Illinois at Urbana-Champaign

European Technical Advisor Dr. Terry MooreUniversity of Nottingham, UK

Vice Chair Dr. Frank van DiggelenGoogle

Secretary Mr. Doug TaggartOverlook Systems Technologies

Technical Advisor Dr. José Ángel Ávila RodríquezEuropean Space Agency, The Netherlands

Technical Advisor Dr. Yuanxi YangNational Administration of GNSS and Applications, China

Technical Advisor Dr. Hiroaki MaedaLighthouse Technology and Consulting Co., Japan

Dr. Heidi KuusniemiFinnish Geospatial Research Institute, Finland

Dr. Kurt ZimmermanTrimble

Dr. Jiyun LeeKAIST, South Korea

Dr. Alex StrattonRockwell Collins

Program Co-ChairMr. Neil GereinNovAtel, Inc., Canada

Program Co-ChairDr. Sherman LoStanford University

Pacific Rim Technical Advisor Dr. Allison KealyThe University of Melbourne, Australia

Dr. Brent LedvinaVirginia Tech

Dr. Michael VethVeth Research Associates

Tutorials Chair Ms. Patricia Doherty Boston College

ION President Dr. Dorota Grejner-BrzezinskaThe Ohio State University

Technical Advisor Dr. Sergey KarutinCentral Institute of Machine Building, Russia

Research and Innovations Tracks

The 30th International Technical Meeting of the

Satellite Division of The Institute of Navigation

ION GNSS+ 2017

September 25 – 29, 2017 Show Dates: Sept. 27 – 28

Tutorials: Sept. 25 – 26

Oregon Convention Center Portland, Oregon

www.ion.org/gnss

An opportunity to show to the world’s leading authorities on

global navigation satellite systems!

SAVE THE DATE:

Plenary Session ChairDr. Frank van DiggelenGoogle

Satellite Division Officers

Technical Chairs

Applications and Advances Tracks

General ChairDr. John BetzThe MITRE Corporation

4 3

September 12 - 13, 2016The CGSIC is open and free to all ION GNSS+ registrants

56th Meeting of theCivil GPS Service Interface Committee

at the ION GNSS+ 2016 Conference Oregon Convention Center•Portland, Oregon

Monday Concurrent Subcommittees Room A106 • September 12, 2016

09:00-12:30

International Information Session

14:00 Introduction – Dr. Włodzimierz Lewandowski Polish Central Office of Measures

14:10 Report from NRL – Francine Vannicola Naval Research Laboratory (NRL)

14:30 Report from USNO – Stephen Mitchell U.S. Naval Observatory (USNO)

14:55 Report from NIST – Michael Lombardi, National Institute of Standards and Technology (NIST)

16:20 New, Robust High-Performance GPS Timing Receiver Bruce Penrod, EndRun Technologies

16:40 GPS and Time Synchronization in the Electric Industry Alison Silverstein, North American SynchroPhasor Initiative (NASPI)

17:00 Using GPS Precise Point Positioning to Test the Theory of Relativity – Dr. Demetrios Matsakis, USNO

14:10 Recommended Procedure for Post-Processing Static GPS Surveys in OPUS-Projects – Dan Gillins, Daren Kerr, Oregon

State University and Mark Armstrong, NOAA NGS14:40 GPS Adjacent Band Compatibility Program –

Karl Shalberg, Zeta Associates; Hadi Wassaf, USDOT/Volpe Center; and Stephen Mackey, USDOT/Volpe Center

15:20 Break15:40 From Decadal Time Series to High RateReal – Time Data Streams: The Temporal Spectrum of GNSS Data and

Products from UNAVCO and the EarthScope Plate Boundary Observatory (PBO) – David Philips, UNAVCO

16:20 Space Weather Action Plan and the GPS/GNSS User Community – Robert Steenbrugh, NOAA-National Weather Service

16:40 Future NGS Datums and Updated Coordinates at CORS – Kevin Choi, NOAA-National Geodetic Survey

17:00 Group Discussion

09:00-12:30

U.S. States and Local Government Session James Arnold, U.S. Department of Transportation, Chair

14:00-17:30

Timing Session Dr. Wlodzimierz Lewandowski,

Polish Central Office of Measures (GUM), Chair

09:00 Introductions, Opening and Administrative Items – James Arnold, U.S. Department of Transportation

09:10 NDGPS Program Update – Captain Russell Holmes, U.S. Coast Guard Navigation Center

09:20 GPS Forensics – Matt Peterson, Robson Forensics

10:20 Break

09:50 GPS/GNSS Interference Mitigation – Jan Van Hess Septentrio Satellite Navigation

10:40 The Future of the Plate Boundary Observatory (PBO) Geodetic Resource From Now to 2028 – UNAVCO

11:10 Testing PPP-RTK for RTN Integrity and Remote Projects – Gavin Schrock, Seattle Public Utilities

11:40 State Reports

Survey, Mapping and Geosciences Session Dr. Giovanni Sella, National Oceanic and Atmospheric Administration (NOAA) National Geodetic Survey (NGS), Chair

Monday Concurrent Subcommittees Room A105 • September 12, 2016

14:00-17:30

14:00 CORS Network Status Update – Giovanni Sella, NOAA NGS

John Wilde, Global Strategic Sales, NAVBLUE, Chair 09:00 Introductions – John Wilde, NAVBLUE

09:05 SVN-23 - UK Effects and What HappenedCharles Curry, Chronos Ltd

09:30 Quazi-Zenith Satellite System (QZSS) Update – Mr. Yoshiyuki Murai, NEC Corporation

09:55 Research Streams in GNSS for SESAR 2020 – Gerhard Berz, Expert EUROCONTROL

11:10 "GPS and Galileo Monitoring with Jamming and Spoofing Navigation and Surveilance Detection System

TBD, European GNSS Agency (GSA), Czech Republic

10:40 "Singing in the RAIM" for Navigation and Surveillance John Wilde, NAVBLUE

10:20 Break

15:20 Break

16:00 How Industry Utilizes GPS for Traceable Frequency Measurements and Calibrations – Jeff Gust

Chief Corporate Metrologist, Fluke Calibration

15:00 Attributing GIS Data: Mitigating "Death by GPS – Rick Hamilton, Coast Guard Navigation Center

15:40 Report from APL – Jeffrey Garstecki, Johns Hopkins Applied Physics Lab (APL)

54

September 12 - 13, 2016The CGSIC is open and free to all ION GNSS+ registrants

56th Meeting of theCivil GPS Service Interface Committee

at the ION GNSS+ 2016 Conference Oregon Convention Center • Portland, Oregon

Tuesday, September 13, 2016

Room A105/A10609:00-12:00

CGSIC Plenary Session A

13:30 Subcommittee Reports

Report from International Information Subcommittee – Mr. John Wilde, NAVBLUE

Report from Timing Subcommittee – Dr. Wlodzimierz Lewandowski, Polish Central Office of Measures (GUM)

Report from U.S. States and Local Government Subcommittee – James Arnold, U.S. Department of Transportation (DOT)

Report from Surveying, Mapping, and Geosciences Subcommittee – Giovanni Sella, National Geodetic Survey (NGS)

14:10 Navigation Programs Update – Ms. Deborah Lawrence, Navigation Programs Manager, Federal Aviation Administration,

(FAA), U.S. Department of Transportation

14:30 NDGPS Program Update – Mr. James Arnold, U.S. Department of Transportation and Captain Russell Holmes, U.S. Coast Guard

14:50 GPS User Support Forum – Mr. Hank Skalski, GPS Civil Liaison, Air Force Space Command

GPS UTC Offset Event – Panel of experts from U.S. Air Force and U.S. Coast Guard

15:30 Break

15:50 NGA Support to Civilian PNT – Mr. Robert Wong, Senior Analyst, GPS Support Division, National Geospatial-Intelligence Agency

16:10 Adjacent Band Compatibility Assessment – Ms. Karen Van Dyke, Mr. Stephen Mackey and Mr. Hadi Wassaf U.S. Department of Transportation

17:00 Q/A Panel (Presenters)

17:30 Adjourn

09:00 Welcome/ Opening – Karen Van Dyke, U.S. Department of Transportation, CGSIC Chair

09:05 Meeting Overview – Captain Russell Holmes, Commanding Officer, U.S. Coast Guard Navigation Center (NAVCEN), Deputy Chair

09:10 Key Note Address – Brigadier General Mark Baird, Vice Commander, Space and Missile Systems Center, Los Angeles Air Force Base

09:30 U.S. National Space-Based PNT Update – Mr. Harold Martin, Director, National Coordination Office for Space-Based Position, Navigation and Timing

10:10 GPS Constellation Status and Performance – Lieutenant Colonel Charlie Norsky, Commander U.S. Air Force Second Space Operations Squadron

09:50 GPS Program Update – Colonel Steven P. Whitney, Director, U.S. Air Force GPS Directorate

10:30 Break

10:45 U.S. GPS/GNSS International Activities Update – Mr. Jeffrey M. Auerbach, Senior GNSS Advisor, U.S. Department of State, Office of Space and Advanced Technology

11:10 DHS PNT Update – Mr. John Dragseth, Office of Infrastructure Protection, National Protection and Programs Directorate,

U.S. Department of Homeland Security

11:35 Q/A Panel (Presenters)

12:00 – 13:30 Lunch

Room A105/A10613:30-17:30

CGSIC Plenary Session B

16:30 GPS User Perspectives – Open Forum

6

ION GNSS+ 2016 TUTORIALSIO

N G

NSS+ 2016 TU

TORIA

LS General Inform

ation and Schedule

Pre-Conference Tutorial Information The ION GNSS+ pre-conference tutorials have been organized to provide in-depth learning of specific GNSS related disciplines prior to the start of the technical program. All courses will be taught in a classroom setting at the Oregon Convention Center by some of the world’s leading GNSS educators.

Electronic course notes will be provided to attendees via the meeting website. Note that power will NOT be made avail-able to course attendees for individual laptop computers; please come prepared with adequate battery power if required. It is also recommended that attendees dress in layers to accommodate varying temperatures in the facility.

Tutorial Costs and RegistrationTutorial Cost: $400 per course if registered and paid by August 12; $450 per course if payment is received after August 12. Please reference the ION GNSS+ registration form for other registration policies. Registration: Registration for the ION GNSS+ tutorials is accomplished online through the normal conference registration process. ION reserves the right to cancel a tutorial if adequate registration is not obtained. If a course is cancelled the full cost of the course will be refunded via the original payment method.

Date/Time Course Instructor

Monday, September 121:30 p.m.–5:00 p.m. Select from:Room B110/111 Fundamentals of GNSS 1: GPS Emphasis Dr. Chris BartoneRoom B114/115/116 GNSS Receiver Design 1: RF Front-End Theory Dr. Sanjeev GunawardenaRoom B118/119 Kalman Filter Applications to Integrated Navigation 1 Dr. James Farrell, Dr. Frank van GraasRoom B113 Real-Time Kinematic (RTK) GNSS Positioning Dr. Mark Petovello

6:00 p.m.–9:30 p.m. Select from:Room B110/111 Fundamentals of GNSS 2: GPS Emphasis Dr. Chris BartoneRoom B114/115/116 GNSS Receiver Design 2: Baseband Signal Processing Dr. Sanjeev Gunawardena

and ImplementationRoom B118/119 Kalman Filter Applications to Integrated Navigation 2 Dr. James Farrell, Dr. Frank van GraasRoom B113 Precise Point Positioning (PPP) Dr. Sunil Bisnath

Tuesday, September 139:00 a.m.–12:30 p.m. Select from:Room B118/119 Introduction to Multi-Constellation GNSS Signals Dr. Christopher HegartyRoom B110/111 Ubiquitous Positioning Dr. Ramsey FaragherRoom B114/115/116 Approaches for Resilient and Robust PNT Mr. Logan Scott

1:30 p.m.–5:00 p.m. Select from:Room B118/119 Guidance, Navigation and Control of Small UAVs Dr. Demoz Gebre-Egziabher,

Dr. Hamid MoktarzadehRoom B114/115/116 Raw GNSS Measurements from Android Phones Dr. Frank van Diggelen, Mr. Steve Malkos, Dr. Mohammed Khider

ION GNSS+ 2016 TUTORIALS SCHEDULE

7

Fundamentals of GNSS 1: GPS EmphasisRoom B110/111This course covers the fundamentals of GNSS with major emphasis on GPS. The course begins with an overview of GNSS and GPS. Presentation of coordinate frames and spread spectrum techniques used in GNSS are illustrated. GPS signal structure and navigation data formats (legacy and modernized) will be discussed. (Only a brief over of other GNSS such as Galileo, GLONASS, BeiDou, QZSS, and IRNSS will be presented.) This course concludes with an overview of GNSS antenna and receiver technologies. Topics to be covered include:• Introduction to positioning systems • A brief historical timeline of GNSS• GPS Segments: space segment and SV blocks;

ground control & improvement programs; user segment and applications

• GPS Link Budget• Fundamental concept of GNSS position and time

determination • Coordinate frames and datum’s used in the

application of GNSS: Earth Centered Inertial; Earth Centered Earth Fixed; Latitude, Longitude, Height; Height: MSL/Orthometric height, Ellipsoidal height, Geoid Undulation; WGS-84 and the International Terrestrial Reference Frame; Local Level Tangent; Coordinate Conversion

• GNSS signal structure formats; legacy and modernized signals: Direct Sequence Spread Spectrum; auto and cross correlation; Legacy GPS: C/A, P(Y) code formats; Motivation for modernized signal formats

• Modernized GPS: L2C signal format, status; L5 signal format, status; L1C signal format, status

• Other GNSSs (Galileo, GLONASS, BeiDou, QZSS, IRNSS)-brief overview

• GPS Navigation Message Data Format Descriptions : NAV, CNAV, CNAV-2

• Overview of GNSS antenna technologies: Antenna technologies vs. performance vs. application; Antenna Technologies: dipoles, helix, patches, multi-band GNSS; Ground plane effects

• Overview of GNSS receiver technologies: Carrier tracking loops (frequency and phase lock loops); Code tracking loops (order and delay variations)

Course Level: Beginner

Dr. Chris G. Bartone, P.E. is a professor at Ohio University with over 30 years of professional experience. He received his PhD EE from Ohio University, a MSEE from the Naval Postgraduate School, and BSEE from Penn State. He previously worked for the Naval Air Warfare Center, performing RDT&E on CNS systems. Dr. Bartone has developed and teaches a number of GPS, radar, wave propagation and antenna classes. His research concentrates on all aspects of navigation.

Kalman Filter Applications to Integrated Navigation 1 Room B118/119The focus of this course is on the basic theory, an intuitive understanding as well as practical considerations, for the design and implementation of Kalman filters. Although many new types of filters are published in the literature, the Kalman filter is still the optimal and most efficient solution for the majority of integrated navigation systems. The course starts with a review of statistics and detailed insights into the most important noise processes, including random walk and Gauss-Markov processes. This is followed by a review of state variables and an overview of Kalman filters, including linear, linearized and extended filters. Matlab®-based examples are provided to facilitate hands-on experience with Kalman filters for integrated navigation applications. For those having no previous experience with modern estimation, a review of fundamentals is included. Linear systems are characterized in terms of (1) a vector containing the minimum number of independent quantities required to define its state at any instant of time and (2) a matrix expression capable of propagating that state from one time to another. In combination with expressions relating measurements to states, a standard cycle is formed whereby a system's entire time history is continuously produced, with the best accuracies achievable from any combination of sensors, extravagant or austere, providing any sequence of measurements that can be incomplete, intermittent and indirect, as well as imprecise. That already wide versatility is broadened further by straightforward extension to systems with nonlinearities (Extended Kalman Filter; EKF) which has proved adequate for a host of applications (including some to be discussed in this tutorial). The relation between Kalman (sequential) and block (weighted least squares) estimation is illustrated, and a number of important subtleties that often go unrecognized will be uncovered. Course Level: The course is at the beginner-level and will enhance understanding of the principles of filtering at the beginner and intermediate levels. Dr. James L. Farrell is an ION Fellow and author of over 80 journal and conference manuscripts. He authored Integrated Aircraft Navigation (Academic Press, 1976) and GNSS Aided Navigation and Tracking (2007). His technical experience includes teaching appointments at Marquette and UCLA, Honeywell, Bendix-Pacific, and Westinghouse in design, simulation, and validation/ test for modern estimation algorithms in navigation and tracking applications, and digital communications system design. As president and technical director of VIGIL INC. he has continued his teaching and consulting on inertial navigation and tracking for private industry, DOD, and university research. Dr. Frank van Graas is a Fritz J. and Dolores H. Russ Professor of Electrical Engineering at Ohio University, where he has been on the faculty since 1988. He is an ION past president (1998- '99) and currently serves as the ION treasurer. He served as the ION's Executive Branch Science and Technology Policy Fellow at NASA (2008-2009 academic year). At Ohio University his research includes GNSS, inertial navigation, low-frequency signals, LADAR/EO/IR, surveillance and flight test. He is an ION Fellow and has received the ION's Kepler (1996), Distinguished Service (1999), Thurlow (2002), and Burka (2010) awards.

ION

GN

SS+ 2016 TUTO

RIALS–M

onday, September 12

GNSS Receiver Design 1: RF Front-End Theory and DesignRoom B114/115/116This is the first of a two-part sequence covering the design and practical implementation of GNSS receivers using the latest RF and digital signal processing technologies. Topics to be covered are applicable to a wide range of GNSS user equipment design from reference receivers through aviation-grade, military and low-power consumer grade single chip devices. Material will be presented from both a theoretical and practical perspective, with case studies as well as overviews of the latest commercial GNSS chipsets. The course includes several MATLAB® demos designed to enhance understanding of concepts. For those wishing to follow along in class, the GNSS software receiver toolbox used is available through the instructor’s blog (ChameleonChips.com; min system requirements: Windows® OS and MATLAB 2007b). This section (Part 1) covers the design of GNSS RF front-ends from LNA to ADC. Topics to be covered include:• Overview of received GNSS signals: Link budget

and system noise figure, signal structures, PSD, spreading codes and their auto and cross-correlation properties

• Front-end architectures: Superheterodyne vs. direct conversion, analog vs. digital downconversion, baseband vs. IF sampling, and direct RF sampling. Guidelines for selecting appropriate front-end architecture for given application

• Frequency planning and control: image frequencies, bandwidth and filter selection, reference clock types and parameters, PLL synthesizers, and cost-performance tradeoffs

• RF/IF component parameters important for GNSS applications including selection guidelines

• Implementation intricacies: Factors affecting the performance of GNSS receivers such as passband group delay variation and component-induced multipath

• Sampling subsystem: AGC, ADC specifications and dynamic range considerations

• Front-end design considerations for expected levels of in-band and adjacent-band interference

• GNSS front-end implementation options including PCB-level design and commercial GNSS MMICs

• Sample processing and analysis demonstrations for actual GNSS receiver front-ends of various center frequencies, bandwidths, sampling schemes and bit depths

Course Level: Beginner to Intermediate

Dr. Sanjeev Gunawardena is a research assistant professor with the Autonomy & Navigation Technology (ANT) Center at the Air Force Institute of Technology. Previously he was a senior research engineer and principal investigator with the Ohio University Avionics Engineering Center (AEC), where he served as lead developer of multi-frequency instrumentation-grade GNSS receiver front-ends, FPGA-based next-generation GNSS processors, and multi-sensor data collection systems for scientific research. He received the 2007 RTCA William E. Jackson Award for outstanding contribution to aviation for the application of transform-domain technology for high-fidelity GNSS performance monitoring. Dr. Gunawardena received a BS in engineering physics, and a BSEE, MSEE and PhD EE from Ohio University.

Tutorials: Monday Afternoon1:30 p.m.–5:00 p.m.

TUTORIALS–Monday, September 12

8

applicable to a wide range of GNSS user equipment design from reference receivers through aviation-grade, military and low-power consumer grade single chip devices. Material will be presented from both a theoretical and practical perspective, with case studies as well as overviews of the latest commercial GNSS chipsets. The course includes several MATLAB® demos designed to enhance understanding of concepts. For those wishing to follow along in class, the GNSS software receiver toolbox used is available through the instructor’s blog (ChameleonChips.com; min system requirements: Windows® OS and MATLAB 2007b). This section (Part 2) covers digital signal processing from sample correlation through the formation of range measurements. Also covered are implementation techniques using dedicated hardware, programmable logic (FPGA), GPU, and CPU, including hardware/software partitioning strategies. Topics to be covered include:

• Overview of received GNSS signals: Signal structures of GPS, GLONASS, Galileo, BeiDou, QZSS and IRNSS

• Correlation processing: Time, frequency and transform-domain techniques. Advanced correlator architectures for multipath mitigation and signal deformation monitoring

• Complexity reduction for real-time implementation and impacts thereof

• Signal acquisition algorithms, rapid acquisition techniques, transition to tracking, bit/symbol synchronization, and state machine-based low-level channel control

• Tracking: FLL/PLL and DLL, carrier aided code, inter-frequency aiding, loop tightening techniques, noise bandwidth, tracking performance, block (batch) processing and open-loop tracking techniques

• Measurement computation: Navdata extraction/decoding, TOT/TOR registers, and formation of pseudo range and carrier phase

• Implementation techniques and platforms from MATLAB® to dedicated hardware

• Software signal acquisition and tracking demos for: GPS (L1-C/A, L2C, and L5), GLONASS (L1 and L2), Galileo (E1B/C, E5a, and E5b), BeiDou (B1I and B2I) and QZSS


Dr. Sanjeev Gunawardena is a research assistant professor with the Autonomy & Navigation Technology (ANT) Center at the Air Force Institute of Technology. Previously he was a senior research engineer and principal investigator with the Ohio University Avionics Engineering Center (AEC), where he served as lead developer of multi-frequency instrumentation-grade GNSS receiver front-ends, FPGA-based next-generation GNSS processors, and multi-sensor data collection systems for scientific research. He received the 2007 RTCA William E. Jackson Award for outstanding contribution to aviation for the application of transform-domain technology for high-fidelity GNSS performance monitoring. Dr. Gunawardena received a BS in engineering physics, and a BSEE, MSEE and PhD EE from Ohio University.

Kalman Filter Applications to Integrated Navigation 2Room B118/119 Integration of GPS with an Inertial Measurement Unit (GPS/IMU) is used to illustrate the application of Kalman Filtering to integrated navigation. The course starts with a brief summary of the

alone and differential perspective A case study using real GPS data will be used throughout the course to illustrate user state solution and performance metrics (i.e., error, DOPs) for stand-alone (without atmospheric corrections), with atmospheric corrections, and differential positioning. Topics to be covered include:• GNSS Observables: code, carrier, and date

formats: RINEX, NMEA, and manufacture unique formats

• Calculation of the GPS space vehicle (SV) position using the broadcast Kepler parameters (ephemeris and almanac)

• SV clock, relativistic, and single-frequency corrections

• Transit time (i.e., Earth rotation) correction• GPS Time Considerations: GPS week number,

time of week, local time, UTC and the leap second

• Calculation of user state (i.e., position, velocity, and time): Ordinary-least squares solution

• Associated user solution performance parameters (i.e., dilution of precision terms)

• Case Study: Stand-alone performance illustration (no atmospheric corrections)

• Atmosphere Errors (“stand-alone” perspective): Ionosphere error sources and characterization, models and mitigation; Troposphere error sources and characterization, models and mitigation; Case Study: Stand-alone performance illustration (with atmospheric corrections)

• GPS error budget• Error characterization for a “stand-alone” user:

Satellite orbit and clock errors; Signal multipath error characterization, analysis, and mitigation techniques; Code-minus-Carrier Analysis ; Smoothing

• General Types of Augmentation; (PPP, A-GPS, DGNSS)

• Differential GNSS and different ways to implement it: Correction-based methods (Illustrated DGPS examples); Measurement-based methods; Single, double, and triple differencing techniques

• Case Study: DGPS performance illustrationCourse Level: Beginner to Intermediate (This course is more advanced than a simple user's introductory course; but not too detailed for the beginner.)

Dr. Chris G. Bartone, P.E. is a professor at Ohio University with over 30 years of professional experience. He received his PhD EE from Ohio University, a MSEE from the Naval Postgraduate School, and BSEE from Penn State. He previously worked for the Naval Air Warfare Center, performing RDT&E on CNS systems. Dr. Bartone has developed and teaches a number of GPS, radar, wave propagation and antenna classes. His research concentrates on all aspects of navigation.

GNSS Receiver Design 2: Baseband Signal Processing and ImplementationRoom B114/115/116 This is the second of a two-part sequence covering the design and practical implementation of GNSS receivers using the latest RF and digital signal processing technologies. Topics to be covered are

Real-Time Kinematic (RTK) GNSS PositioningRoom B113 This course presents the key principles associated with high accuracy real-time kinematic (RTK) GNSS positioning. After briefly reviewing the relevant concepts of GNSS positioning, the course presents the different measurements and error sources that limit positioning accuracy. The geographic and temporal variability of the errors will be addressed, as appropriate. Once the GNSS errors are understood, focus turns to mitigation of these errors through measurement differencing and linear measurement combinations. The motivation for these approaches will be explained in the context of trying to resolve the carrier phase ambiguities. To this end, ambiguity resolution strategies in the position and ambiguity domains are discussed. Mathematical formulations for the various approaches are introduced. Geometry-free ambiguity resolution is discussed along with its advantages and disadvantages relative to geometry-based approaches. The benefit of using different linear phase combinations and/or ambiguity values is presented. The course concludes with a look at how to predict the success of the ambiguity resolution process, the role of additional frequencies and systems in ambiguity resolution, and a brief look at multiple reference station approaches. Case studies will be included in electronic format only. Users and programmers will gain knowledge in the wide range of aspects that need to be considered when trying to achieve high positioning accuracy with GNSS. Course Level: Intermediate to Advanced

Dr. Mark Petovello is a professor in the Position, Location and Navigation (PLAN) group in the Department of Geomatics Engineering, University of Calgary. Since 1998 he has been involved in a variety of navigation research areas including satellite-based navigation, inertial and dead-reckoning navigation, ambiguity resolution, reliability analysis and software-based GNSS receivers. He has extensive experience in navigation algorithm development, implementation and refinement, and is co-creator of several navigation-related software packages.

Fundamentals of GNSS 2: GPS EmphasisB110/111 This course covers the fundamentals of GNSS with major emphasis on GPS regarding user functions, solutions, and performance. The core functions that need to be performed in obtaining a user solution using GPS in an error free environment will initially be explained. Atmospheric effects from the ionosphere and troposphere as well as error mitigation techniques will be covered from a stand-

ION

GN

SS+ 2016 TUTO

RIALS–M

onday, September 12

Tutorials: Monday Evening6:00 p.m.–9:30 p.m.

Tutorials: Monday Afternoon1:30 p.m.–5:00 p.m.

TUTORIALS–Monday, September 12

9

Kalman Filter followed by the steps required to implement the filter, including the selection of the state variables, observability, error sources, sensor bandwidth, update rate, time synchronization, lever arm, and identification of the noise processes. At the conclusion of the course, participants should be able to understand the underlying principles that lead to the successful design and implementation of Kalman filters for integrated navigation applications. The approach presented offers a major benefit enabled by a departure from other IMU/satnav integrations. Precise carrier phase observations one second apart provide streaming velocity for dead reckoning, yielding huge improvement in multiple aspects of performance (robustness, integrity, interoperability, immunity to below-mask ionospheric and tropospheric degradations, etc.). Flight-verified cm/sec velocity performance, including an instance of zero elevation above horizon, is shown. Of crucial significance, integration with a low-cost IMU is shown to be sufficiently dramatic to conclude that there is little reason not to use it.

Course Level: The course is designed to follow Kalman Filter Applications to Integrated Navigation 1, and will also be of benefit to intermediate-level attendees who are familiar with filtering concepts and inertial navigation principles.

Dr. James L. Farrell is an ION Fellow and author of over 80 journal and conference manuscripts. He authored Integrated Aircraft Navigation (Academic Press, 1976) and GNSS Aided Navigation and Tracking (2007). His technical experience includes teaching appointments at Marquette and UCLA, Honeywell, Bendix-Pacific, and Westinghouse in design, simulation, and validation/ test for modern estimation algorithms in navigation and tracking applications, and digital communications system design. As president and technical director of VIGIL INC. he has continued his teaching and consulting on inertial navigation and tracking for private industry, DOD, and university research.

Dr. Frank van Graas is a Fritz J. and Dolores H. Russ Professor of Electrical Engineering at Ohio University, where he has been on the faculty since 1988. He is an ION past president (1998- '99) and currently serves as the ION treasurer. He served as the ION's Executive Branch Science and Technology Policy Fellow at NASA (2008-2009 academic year). At Ohio University his research includes GNSS, inertial navigation, low-frequency signals, LADAR/EO/IR, surveillance and flight test. He is an ION Fellow and has received the ION's Kepler (1996), Distinguished Service (1999), Thurlow (2002), and Burka (2010) awards.

Precise Point Positioning (PPP) Room B113 This course will begin with the development of the Precise Point Positioning (PPP) GNSS measurement processing technique. A detailed treatment of the data processing mathematical models will follow, focusing on the parameterization of functional and stochastic models. Descriptions of the necessary error modeling will be given, including a discussion of solution sensitivity. The requisite sequential data filtering mathematics will be provided with examples. Positioning performance with various measurement inputs and modes (static, kinematic, single- / dual-frequency, single-

/ multi-constellation) will be investigated and illustrated with examples. Current scientific and commercial applications will be reviewed. Recent data processing advances will be described. The course will conclude with a discussion of the future prospects for the PPP technique.


Dr. Sunil Bisnath is an associate professor of Geomatics Engineering, Department of Earth and Space Science and Engineering, Lassonde School of Engineering, York University, Toronto, Canada. His research interests include precise GNSS positioning and navigation algorithms and applications. Sunil previously held positions at the Harvard-Smithsonian Center for Astrophysics, Boston, and the University of Southern Mississippi, NASA Stennis Space Center. He holds a BSc and MSc from the University of Toronto, and a PhD from the University of New Brunswick.

Introduction to Multi-Constellation GNSS SignalsRoom B118/119This course provides an overview of multi-constellation GNSS signals. Digital modulation techniques used for satellite navigation systems will be described, including a discussion of important characteristics such as pseudorandom noise codes, autocorrelation/cross-correlation properties, power levels, and polarization. Common features found in modern GNSS signal designs will be introduced, including dataless (pilot) components, square-wave subcarriers, secondary codes, forward error correction, and error detecting coding. The present and future signals of the Global Positioning System (GPS), including C/A-code, P(Y)-code, L2 civil (L2C), L5, M-code, and L1 civil (L1C) will be detailed, as will the signals for GLONASS, GALILEO, BeiDou, satellite-based augmentation systems (SBAS), and other emerging satellite navigation systems. This class is intended for anyone with an interest in better understanding multi-constellation GNSS signals, including researchers, design engineers, application developers, end-users, systems engineers, managers and executives. Attendees are assumed to have a familiarity with the basic concepts of satellite navigation.


Dr. Christopher J. Hegarty is the Director for CNS Engineering & Spectrum with The MITRE Corporation. He is the chair of RTCA’s Program Management Committee, co-chair of RTCA Special Committee 159, and associate editor of NAVIGATION. He was the recipient of the 2005 ION Johannes Kepler Award, and served as ION President in 2008. He is a Fellow of the ION, the IEEE, and the co-author of Understanding GPS: Principles and Applications, 2nd Edition.

ION

GN

SS+ 2016 TUTO

RIALS–M

onday, September 12 • Tuesday, Septem

ber 13

Ubiquitous PositioningRoom B110/111Over $1 trillion of the US economy and over €800 billion of the European economy are dependent on GNSS for positioning or timing solutions. However, we typically spend over 80% of our time indoors, where GNSS does not yet penetrate. The global indoor location-based market is also expected to exceed $10 billion by the end of this decade. The aim of a ubiquitous positioning system is to provide a tracking solution in all environments. Highly-reliable ubiquitous positioning systems must not just cover indoor and outdoor operations, but must also be capable of providing outdoor tracking solutions when traditional GNSS receivers are experiencing jamming or spoofing. This short course will open with an overview of the current commercial and military technologies that aim to address the ubiquitous positioning problem by providing multiple, redundant, indoor and outdoor positioning capabilities. The step-by-step development of a fully-functioning ubiquitous positioning system based around a smartphone sensor platform, particle filtering, and Simultaneous Localization and Mapping (SLAM) will then be demonstrated. While no knowledge of programming will be assumed for the course, the attendee will be provided with all the information needed to develop their own cutting-edge smartphone-based self-learning ubiquitous tracking system. We will also cover the benefits that can be provided by adding peripherals such as a low cost software-defined radio to a smartphone-based system. The course will wrap up with a look at some of the future technologies in this space that are currently under development by a range of technology providers.


Dr. Ramsey Faragher is an expert in GNSS-denied positioning, sensor fusion, and machine-learning. He is the founder and CEO of Focal Point Positioning, a Fellow of the Royal Institute of Navigation, and a Bye Fellow of Queens’ College, Cambridge. Previously he has held research positions at the University of Cambridge and was a principal scientist at BAE Systems where he developed the NAVSOP opportunistic positioning suite and other GNSS-denied tracking technologies.

Approaches for Resilient & Robust Positioning, Navigation and TimingB114/115/116GPS has been described as the stealth utility. Diverse elements of national infrastructure and military capability are critically reliant on GPS for precise location and time, often in ways that are not obvious. This tutorial provides a high level perspective on the effects of interference on GPS receivers and offers some possible threat mitigation approaches and policy recommendations. The tutorial starts with a discussion of how important GPS is to the US economy and some of the potential GPS threats and vulnerabilities. Then, after a quick review of how GPS determines position, the focus is on the effects of various interference types on specific GPS signals. The effects of ground mobile propagation in limiting effective jammer range are examined. Military mitigations such adaptive arrays, and IMU aiding are discussed. Civil jamming examples and incidents are then covered along with methods to detect, identify and militate against their effects. In particular, the

Tutorials: Tuesday Morning9:00 a.m.–12:30 p.m.

TUTORIALS–Monday, September 12 • Tuesday, September 13

10

Dr. Frank van Diggelen is a Principal Engineer at Google, where he leads the Android Location & Context Group. He is also Vice Chair of the ION Satellite Division, and a Consulting Professor at Stanford University where he teaches GNSS. Previously he worked at Broadcom and Global Locate, developing and implementing A-GNSS. He has taught many classes on GNSS and Navigation, including for NavtechGPS, at previous ION conferences, and online with Coursera. He is the most recent recipient of the ION Kepler award, the author of the textbook “A-GPS”, and holds over 80 issued US patents on GNSS. He has a PhD EE from Cambridge University.Steve Malkos is the Technical Program Manager in Google’s Android Location & Context Group. He manages all engineering aspects for Android’s Location and Context programs. Mr. Malkos is responsible for defining these initiatives within Google which includes everything from GPS, Fused Location Provider (FLP), Android Sensor Hub, Sensors, and more. Mr. Malkos has been involved in the field of location now for over 13 years. Prior to his role at Google, he worked as an Associate Program Management Director at Broadcom, where he managed engineering teams within Broadcom’s GNSS software. He holds a B.S. in Computer Science from Purdue University, currently holds 8 patents and has many more pending patents in the field of location.Dr. Mohammed Khider is a software engineer in Google’s Android Location & Context team. Within Android, he is a member of a research team that works on improving positioning accuracy of mobile devices in challenging indoor and urban canyon environments. He received his PhD in Electrical Engineering with focus on "Multisensor based Positioning for Pedestrian Navigation" from the University of Ulm, Germany. Prior to his role at Google, he was a Research Associate at the Institute of Communication and Navigation at the German Aerospace Center (DLR) where he worked on various research projects related to positioning and navigation. Mohammed has been actively involved in the field of location and context for over 10 years. His research interests are navigation, multi-sensor fusion, mobility models, signal processing and context-aware services.

Dr. Demoz Gebre-Egziabher is an associate professor in the Department of Aerospace Engineering and Mechanics at the University of Minnesota. His research deals with the design of multi-sensor navigation and attitude determination systems. He was the past secretary of the Satellite Division of the ION and has also served as associate editor of navigation for the IEEE Transactions on Aerospace and Electronic Systems. He is an associate fellow of the American Institute of Aeronautics and Astronautics (AIAA). Dr. Hamid Mokhtarzadeh is a design and navigation engineer at Toro's Center for Advanced Turf Technology where he works on machine sensing and dynamics applications. He was formerly a postdoctoral associate at the University of Minnesota where he led research on improved navigation and georeferencing for UAV-based precision agriculture applications. He received his aerospace engineering PhD, also from the University of Minnesota, for research on cooperative navigation in GNSS-stressed or denied environments.

Raw GNSS Measurements from Android PhonesRoom B114/115/116 Google recently announced that raw GNSS measurements are available to apps in the Android N operating system. This means you can get Pseudoranges, Dopplers and Carrier Phase from a phone or tablet. In this 3½ hour class you will learn to access and use these raw measurements.The tutorial is hands-on; we will bring phones for you to use. You will collect, view, and process raw measurements. You will leave the class with the data, Google software tools, and the knowledge of how to use them.The class comprises three parts:1. Description of the available data: We will review

the data that is accessible by developers (i.e. you) in Android. This is the theoretical part of the class, and we will review the definitions of the different types of GNSS measurements, their physical meaning, and how to use them for analysis and location.

2. The Android Software Stack: You will learn how data flows through the Android software stack. In this part of the course you will open your laptops, and we will show you where online to find the definitions of the different data structures. You’ll learn which of these is available to you at the Application layer. At the end of this section we will provide Android N phones that you can use for the rest of the class.

3. Using the data: After a break to collect GNSS measurements outside, you will download the data from the phones and do some processing. We will provide software tools that you can use during and following the class. The tools allow you to log data from an Android N device, view the raw measurements, and do basic measurement analysis and position computation.

Finally, we will give you specific examples of research projects and applications that you can develop with the tools and knowledge obtained in the class. For example: How to build a GNSS data analysis app; how to build a crowd-sourced jammer detector; etc.To tailor this tutorial to your own needs, visit this online form and let us know what you’d like us to cover in the class: http://bit.ly/1TJknwWLevel: Beginner to Intermediate

ION

GN

SS+ 2016 TUTO

RIALS–Tuesday, Septem

ber 13

importance of maintaining situational awareness for establishing environmental context is examined. Techniques for detecting civil spoofing and authenticating signals will also be discussed. Resilient “anywhere, anytime” position and timing will entail using a system of systems, not just a particular system. Different system/sensor combinations shine in different environments but only if correctly matched to the environment. This tutorial also examines some of the alternate approaches currently being fielded and under development with an eye towards their strengths, weaknesses, and synergisms in differing environments and applications. Other timing and location systems surveyed will include: other SATNAV systems such as Glonass, Galileo and Beidou; eLoran/VLF; Locata’s position and time system; WiFi positioning; select LTE/4G capabilities; Pedestrian Dead Reckoning (PDR); and Chip Scale Atomic Clock (CSAC) developments.


Logan Scott has over 35 years of military and civil GPS systems engineering experience. He is a consultant specializing in radio frequency signal processing and waveform design. At Texas Instruments, he pioneered approaches for building jamming-resistant digital receivers. He is a cofounder of Lonestar Aerospace, an advanced decision analytics company. He is a partner at GeoCodex LLC developing location aware security architectures for mobile applications. Logan is a Fellow of the ION and holds 39 US patents.

Guidance, Navigation and Control of Small UAVsRoom B118/119Small Unmanned Aerial Vehicles (SUAVs) present unique challenges when it comes to guidance, navigation and control. This is due to, in part, the severe size, weight, power and cost (SWAPc) constraints associated with these vehicles. In this short course we will discuss the challenges and some solutions to the GNC problem associated with SUAVs. Course Content:

• Introduction: What are small UAVs? How do they different from other aerial vehicles and what are the unique GNC challenges? Sample of growing applications: remote sensing, mapping, avionics research and development.

• SUAV Flight Control System (FCS) architectures: What are the components for the small UAV autopilot?

• GNC System and Design: Requirements and design of robust navigation, guidance and control systems for SUAVs.

• Operational challenges: Requirements for legal operation of small UAVs.


Tutorials: Tuesday Afternoon1:30 p.m.–5:00 p.m.

Tutorials: Tuesday Morning9:00 a.m.–12:30 p.m.

TUTORIALS–Tuesday, September 13

11

Welcome, Meeting Highlights and Introduction of Technical Committee

ION GNSS+ Plenary SessionTuesday, September 13, 2016 • 6:30 p.m.–8:30 p.m. • Oregon Ballroom

Satellite Division Chair Dr. John Betz The MITRE Corporation

Satellite Navigation and Technology for Africa

Patricia Doherty Boston CollegeThe Satellite Navigation and Technology for Africa program allows African scientists and

engineers to explore GNSS applications to increase food security, manage natural resources, provide emergency location services, improve surveying and mapping, and make land, water and air navigation systems safer and more precise. This program, sponsored in part by the ION Satellite Division, will be presented.

Keynote Address: The Positioning System of the BrainNobel Laureate, Professor John O’Keefe Neuroscientist and Professor at the Sainsbury Wellcome Centre for Neural Circuits and Behaviour and the Research Department of Cell and Developmental Biology at University College LondonProfessor John O'Keefe is the winner of the Nobel Prize in Physiology

and Medicine for discovering cells that constitute a positioning system in the brain. He will explain how animals and humans find their way - by working out the relationship between where they are and where other things are. The brain does this by representing places (where you are now), and representing distances and directions. Prof. O'Keefe and his colleagues have established which part of the brain does this, and how it works. Your brain has cells that represent places; so when you are in a familiar environment different cells represent different locations in this environment. There are cells that represent directions, for where you are looking and where you are moving; and there are also cells that tell the distances moved in particular directions. All this together forms a so called "cognitive map", which is a framework for identifying where you are, where other things are in your environment, and how to get from one place to another.

Opening of the Plenary SessionSatellite Division Vice-Chair Dr. Frank van DiggelenGoogle

PLENARY SESSION–Tuesday, September 13 ION

GN

SS+ 2016 PLENA

RY SESSION

–Tuesday, September 13

Program Overview by Track ChairsThe speakers will be given five minutes each to highlight the key hot topics that will be discussed during the week. It will be a fast and fun snapshot of what is happening in the world of GNSS+ and over the course of the conference.

Moderator: Alan Cameron, GPS World

Presenters:Dr. Brent Ledvina, Virginia TechDr. Alex Stratton, Rockwell CollinsDr. Kurt Zimmerman, TrimbleDr. Michael Veth, Veth Research AssociatesDr. Heidi Kuusniemi, Finnish Geospatial Research Institute, FinlandDr. Jiyun Lee, KAIST, South Korea

12

Wednesday, Septem

ber 14

Wednesday Morning, September 14, 8:30 a.m.–12:15 p.m.Room A107/108/109 8:30 a.m.–12:15 p.m.

A1: Advances in GNSS Software-defined Receivers

Dr. Thomas Pany, IFEN GmbH, Germany

Dr. Pau Closas, Centre Tecnològic de Telecomunicacions de Catalunya, Spain

8:35 Demonstration of Cloud GNSS Signal Processing: V. Lucas-Sabola, G. Seco-Granados, J.A. López-Salcedo, Universitat Autonoma de Barcelona (UAB), Spain; J.A. García-Molina, European Space Agency (ESA) & HE Space, The Netherlands; M. Crisci, ESA, The Netherlands

8:57 Accelerating GNSS Software Receivers: C. Fernández-Prades, J. Arribas, P. Closas, CTTC, Spain

9:20 Fast Fourier Transform (FFT) Algorithms Implementation for Real Time Global Navigation Satellite Systems (GNSS) Receivers in Embedded Processors: D. Miralles, J. Huard, N.C. Shivaramaiah, D.M. Akos, R. Blay, University of Colorado Boulder

9:43 Implementation and Analysis of GNSS Software Receiver on Embedded CPU-GPU Heterogeneous Architecture: K.W. Park, W.J. Jang, Chungbuk National University, South Korea; M.J. Lee, Agency for Defense Development, South Korea; S. Kim, Hanyang University, South Korea; C. Park, Chungbuk National University, South Korea

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 Exploiting Standardized Metadata for

GNSS SDR Remote Processing: A Case Study: A. Favenza, Istituto Superiore Mario Boella, Italy; N. Linty, F. Dovis, Politecnico di Torino, Italy

11:03 Low Duty-Cycling of Direct GPS Positioning for Fast Continuous Navigation Estimation: Y. Ng and G.X. Gao, University of Illinois at Urbana-Champaign

11:26 Simultaneous Frequency Search with a Randomized Dirichlet Kernel for Fast GPS Signal Acquisition: C. Yang, Sigtem Technology, Inc.; A. Soloviev, QuNav; M. Veth, Veth Research Associates; E. Blasch, AFRL

11:48 Open-Loop Tracking of GNSS Signals at Audio Processing Rates: C.R. Benson and S.U. Qaisar, University of New South Wales Canberra, Australia

Alternates1. Acquisition Performance Comparison of

New Generation of GNSS BOC-modulated Signals: M. Foucras, U. Ngayap, B. Ekambi, ABBIA GNSS Technologies, France

2. GNSS SDR Based on Multi-channel Multi-Band Multi-System RFFE IC: D. Tcherniakovski, K. Veprev, F. Nikolai, A. Tsikhamirava, NTLab, Belarus

12:15 p.m. –1:15 p.m., Informal Luncheon, Exhibit Hall • 1:15 p.m.–1:45 p.m., Free Time in Exhibit Hall

Dr. Patrick Robertson, Google

Dr. Gert Trommer, Karlsrühe Institute of Technology, Germany

Room C120/121/122 8:30 a.m.–12:15 p.m.

B1: Multisensor Navigation in Challenging Environments 1

8:35 Plug and Play Sensor Fusion for Lane-Level Positioning of Connected Cars in GNSS-Challenged Environments: A. Soloviev, M. Veth, C. Yang, QuNav

8:57 Reliable RTK Positioning with Tight Coupling of 6 Low-Cost Sensors: P. Henkel and H. Hentati, Technical University of Munich, Germany

9:20 Context Determination for Adaptive Navigation using Multiple Sensors on a Smartphone: H. Gao and P.D. Groves, University College London

9:43 Terahertz (THz) Interferometry for Bearing Angle Measurement: J.S. Parker, Tufts University

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 Decentralized Filtering for Automatic

Reconfiguration of Integrated Navigation Systems: I. Lakshminarayan and D. Gebre-Egziabher, University of Minnesota

11:03 High Precision Localisation in Customised GNSS Receiver for Railway Applications: M. Breuer, T. Konrad, D. Abel, RWTH Aachen University, Germany

11:26 Robust Positioning from Visual-Inertial and GPS Measurements: U. Niesen, V.N. Ekambaram, J. Jose, L. Garin, X. Wu, Qualcomm Research

11:48 Scale and 2D Relative Pose Estimation of two Cooperative Rovers using Monocular Cameras and Sparse Range Measurements: C. Zhu, G. Giorgi, Technische Universität München (TUM), Germany; C. Günther, German Aerospace Center (DLR), & TUM, Germany

Alternates1. A Map-aided GNSS Positioning Method of

EoT (End-of-Train) Units for Train Integrity Monitoring: J. Liu, B-G. Cai, D. Lu, Beijing Jiaotong University (BJTU), China; D. Spiegel, Technical University of Braunschweig, Germany; J. Wang, BJTU, China

2. Multisensor Data Fusion for Pedestrians in Spatial Disorientation Events: E. Pulido Herrera and D. Sierra, Universidad Industrial de Santander, Colombia

3. A New Indoor Positioning Method Based on Zigbee System: H. Guo, S. Fang, Nanchang University, China; M. Yu, Jiangxi Normal University, China

Blue Text Indicates Student Paper Award Winner

Jolana Dvorska, Honeywell

Dr. Grace Gao, University of Illinois at Urbana-Champaign

Room B117/118/1198:30 a.m.–12:15 p.m.

C1: GNSS Augmentation Systems and Integrity 1

8:35 Expanded Ionospheric Estimation and Threat Model Algorithms for SBAS: E. Bang, Korea Advanced Institute of Science and Technology, South Korea

8:57 Satellite Selection for Multi-Constellation SBAS: T. Walter, J. Blanch, Stanford University; V. Kropp, University FAF Munich, Germany

9:20 I mplementation and Testing of Clustered ARAIM in a GPS/Galileo Receiver: M. Orejas, J. Skalicky, U. Ziegler, Honeywell International

9:43 Assessment of Alternation Techniques to Mitigate Differential Ionosphere for GBAS: J. Dennis, ISI/Pragmatics, Inc.

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 Experimental Validation of an Ionospheric

Monitoring Scheme for Dual Frequency GBAS: M. Felux, M.S. Circiu, D. Gerbeth, M. Caamano, German Aerospace Center, (DLR), Germany

11:03 Avionics-Based GNSS Integrity Augmentation for UAS Mission Planning and Real-time Trajectory Optimisation: R. Sabatini, RMIT University, Australia; T. Moore, C. Hill, The University of Nottingham, UK

11:26 A Novel GNSS Integrity Augmentation System for Autonomous Airport Ground Operations: S. Bijjahalli, S. Ramasamy and R. Sabatini, RMIT University, Australia

11:48 Exploitation of Existing Ground Infrastructure for GNSS-augmentation and Integrity in Road Applications: Feasibility Study and Performance Evaluation: S. Ugazio, M. Visintin, L. Lo Presti, Politecnico di Torino, Italy

Alternates1. Analyses of Relation Between Motion in

Flight and Response of Loosely-coupled GNSS Aided AHRS: M. Naruoka, Y. Shimizu, T. Fujiwara, T. Tsujii, Japan Aerospace Exploration Agency, Japan

2. An Enhanced Integrity Monitoring Technique for GNSS-based Positioning in the Railway Domain: S. Damy, A. Majumdar, W. Ochieng, Imperial College London, UK

3. Implementation of ARAIM using the Ground-based Regional Integrity Monitoring System (GRIMS) of China: L. Li, R. Xue, Y. Zhu, Beihang University, China

4. Real Data and Real Time SBAS Dual Frequency Multiconstellation (DFMC) Platform: J. Barrios, G. Fernández, V.M. Esteban, J. Celada, M.A. Fernández, D. Rizzo, J. Ostolaza, GMV, Spain

5. Integrity of SBAS Ionosphere Corrections for Equatorial Region: F. Haddad, M. Dall’Orso, T. Authié, Thales Alenia Space, France


APPLICATIONS AND ADVANCES SESSIONS

RESEARCH AND INNOVATIONS SESSIONS

13

Wednesday, Septem

ber 14Wednesday Morning, September 14, 8:30 a.m.–12:15 p.m.

Dr. Lauri Wirola, HERE, Finland

Will Morrison, Qualcomm

Dr. John Betz, The MITRE Corporation

Dr. José Ángel Ávila Rodríguez, ESA, The Netherlands

Dr. Gary McGraw, Rockwell Collins

Room A105/1068:30 a.m.–10:05 a.m.

D1a: Current Advances in Indoor Location (with demonstrations)

8:35 Smartphone-based Hybrid Indoor Positioning System with Integration of Wi-Fi Fingerprinting and Magnetic Matching: P-Y. Huang and S-S. Jan, National Cheng Kung University, Taiwan; D.S. De Lorenzo and I. Tseng, Athentek Inc., Taiwan

8:57 IndoorGuide – A Multi Sensor Pedestrian Navigation System for Precise and Robust Indoor Localization: J. Ruppelt and G.F. Trommer, Karlsruhe Institute of Technology (KIT), Germany

9:20 Error Modelling and Algorithms Analysis for Multi-Sensor Infrastructure-free Indoor Navigation: L. Chen, L. Ruotsalainen, S. Gröhn, M. Kirkko-Jaakkola, R. Guinness, S. Kaasalainen, H. Kuusniemi, Finnish Geospatial Research Institute, Finland

9:43 The Improvement of Location Fingerprint Altas of WLAN Indoor Positioning Technology: L. YaQing, Z. Zhi, T. Rui, G. Hang, Y. Min, Jiangxi Normal University, China

10:05–10:35, Break. Refreshments in Exhibit HallAlternates

1. The Indoor Location Technology Based on Mems IMU Assisted with Magnetometer and iBeacon: Z. Tao and Y. Shutian, Southeast University of China

2. A New Smartphone-based Indoor GPS Positioning System: R. Xu, J. Liu, The Nanjing University of Aeronautics and Astronautics (NUAA), China; W. Chen, The Hong Kong Polytechnic University, Hong Kong; R. Li, NUAA, China

3. Positioning Algorithm Adaptation of an Indoor Navigation System for Virtual Reality Game Applications: S. Zhao, M. Jia, Tsinghua University, China; D. Dong, Beijing Sun Light Technology Co. Ltd., China; X. Cui, Tsinghua University, China

Room A105/106 10:35 a.m.–12:15 p.m.

D1b: Land-Based Applications 1

Dr. Di Qiu, Polaris Wireless

Dr. Kyle Snow, Topcon Positioning

10:40 A Method for Multipath Detection and Mitigation in Railway Control Applications: A. Neri, V. Palma, Radiolabs, Italy; F. Rispoli; Ansaldo STS, Italy; S. Pullen, S. Zhang, S. Lo, and P. Enge, Stanford University

11:03 A Study on Cycle Slip Detection for Integrated Navigation of Single Frequency GNSS Receiver and Low Cost INS: Y. Kim, J. Song, C. Kee, Seoul National University, South Korea; B. Partk, Sejong University, South Korea

11:26 An Integrated Algorithm Based on BeiDou/GPS/IMU and its Application for Anomalous Driving Detection: R. Sun, Nanjing University of Aeronautics and Astronautics, China; K. Han, J. Hu, Imperial College London, UK; H. Bai, Nanjing University of Science and Technology, China; W.Y. Ochieng, Imperial College London, UK

11:48 Achievement of Continuous Decimeter-Level Accuracy Using Low-Cost Single-Frequency Receivers in Urban Environments: M. Higuchi and N. Kubo, Tokyo University of Marine Science & Technology, Japan

Alternates for D1b listed to the right

D1b: Land-Based Applications 1 – Alternates1. Generation and Evaluation of the Track Map

Database for GNSS-based Train Positioning Using a Map-tool-chain: J. Wang, W-J. Tao, B-G. Cai, J. Liu, Beijing Jiaotong University, China; D. Spiegel, Technical University of Braunschweig, Germany

2. Measurement of Concrete Bridge Dynamic Responses Using 100 Hz GNSS and Accelerometer Data: A.P.C. Larocca, University of Sao Paulo, Brazil; J. Olympio de Araújo Neto, Federal Institute of South Minas Gerais, Brazil; J.L. Alves Trabanco, State University of Campinas, Brazil; M.C. dos Santos, University of New Brunswick, Canada

3. A Reverse Approach to GNSS Antenna Specifications for London Bus’s Next-generation Bus Transportation: X. Zhang, Z. Zhang, X. Zhan, Shanghai Jiao Tong University, China; Y. Xue, National Time Service Center, China; S. Feng, W. Ochieng, Imperial College London, UK


Room B113/114/115/116 8:30 a.m.–12:15 p.m.

E1: PANEL: Status of GPS, GLONASS, Galileo, BeiDou, and QZSS

This session provides an update on satellite-based navigation systems in operation or under development. A representative for each system will provide a system overview, summarize current or planned characteristics and performance, report recent programmatic events, update schedule and plans, and summarize ongoing interactions with other service providers. Questions from the audience are encouraged.Panel Topics1. GPS: Col Steven Whitney, Director, Global

Positioning Systems Directorate2. GLONASS: Dr. Sergey Karutin, Deputy Director

General, Central Research Institute for Machine Building

3. Galileo Program Status: Eric Chatre, European Space Agency, Belgium and Marco Falcone, European Space Agency Galileo System Manager, The Netherlands

10:05–10:35, Break. Refreshments in Exhibit Hall4. BeiDou: Dr. Jun Shen, Deputy Director,

International Cooperation Center, China Satellite Navigation Office, China

5. QZSS: Yoshiyuki Murai, Executive Director, Promotion of QZSS Utilization, Quasi-Zenith Satellite System Services Inc., Japan

6. Panel Discussion

Room B110/111/112 8:30 a.m.–12:15 p.m.

F1: GNSS+ Augmentations for High Performance and Safety

Critical Applications

8:35 SBAS DSVP: An SBAS DFMC Service Volume Software Prototype: D. Salos, M. Mabilleau, Egis Avia, France; C. Rodriguez, N. Suard, H. Secretan, CNES, France

8:57 New Orbit Determination and Clock Synchronisation Modules for EGNOS: A. Rouanet Labé, R. Lembachar, T. Authié, S. Trilles, Thales Alenia Space, France; F. Mercier, CNES, France

9:20 Assessment of Different Dual-frequency Dual-constellation GBAS Processing Modes Based on Flight Trials: M-S. Circiu, German Aerospace Center (DLR) & RWTH Aachen University, Germany; M. Felux, D. Gerbeth, M. Caamano, DLR, Germany; M. Meurer, DLR & RWTH Aachen University, Germany

9:43 Authentication Concepts for Satellite-Based Augmentation Systems: A. Dalla Chiara, Qascom, Italy; I. Fernandez Hernandez, E. Chatre, EU Commission, Belgium; V. Rijmen, University of Leuven, Belgium; G. Da Broi, O. Pozzobon, Qascom, Italy; J. Caro Ramon, J. Fidalgo, GMV, Spain; N. Laurenti, G. Caparra, S. Sturaro, University of Padova, Italy

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 Total Electron Content Evaluation for the

Development of a Mexican Ionospheric Monitoring System: V.J. Gatica-Acevedo, M. Sanchez-Meraz, C.J. Sosa-Paz, National Polytechnic Institute, Mexico

11:03 The Arctic Testbed – Experimentation Results on SBAS in the Arctic Region: P.E. Kvam, Kongsberg Seatex, Norway; M. Porretta, S. Schlueter and Katarzyna Urbanska, European Space Agency; G. Fernández Serrano, GMV, Spain; Y.L. Andalsvik, A.M. Solberg, NMA; P. Thomas, CGI; D. Lekaim, D. Joly, TAS-F

11:26 A Safe Option to Pave the Way for the Implementation of a Satellite Based Augmentation System: J. Ostolaza, M. López, J. Autrán, J.J. Lera, D. Pérez, GMV, Spain; V. Boissinot, D. Hill, AVANTI, Spain

11:48 Design of Integrity Function on Centimeter Level Augmentation Service (CLAS) in Japanese Quasi-Zenith Satellite System: S. Fujita, M. Miya, Y. Sato, K. Ota, R. Hirokawa, J. Takiguchi, Mitsubishi Electric Corporation, Japan

Alternates1. ARAIM in Flight: R.E. Phelts, J. Blanch, Y-H.

Chen, T. Walter, P. Enge, Stanford University; S. Riley, Trimble Navigation, Ltd.

2. FMBS Study on Benefit of EGNOS use on Navigation Safety: P. Zalewski, L. Gucma, Maritime University of Szczecin, Poland; S. Gewies, German Aerospace Center (DLR), Germany; K. Urbanska, S. Schlueter, EGNOS Project Office, European Space Agency (ESA), France; M. Porretta, European Space and Technology Research Centre (ESTEC/ESA), The Netherlands

Boubeker Belabbas, German Aerospace Center (DLR), Germany



14

Wednesday, Septem

ber 14

Wednesday Afternoon, September 14, 1:45 p.m.–5:30 p.m.

Dr. Laura Ruotsalainen, Finnish Geospatial Research Institute, Finland

Dr. Aiden Morrison, SINTEF, Norway

Edward Powers, U.S. Naval Observatory

Dr. John Raquet, Air Force Institute of Technology

Dr. Demoz Gebre-Egziabher, University of Minnesota

Adrien Perkins, Stanford University

Room A107/108/109 1:45 p.m.–5:30 p.m.

A2: GNSS Receiver Processing and Navigation Algorithms 1

1:50 Optimal Navigation with Multi-constellation GNSS: A Satellite Selection Algorithm: A-L. Tao and S-S. Jan, National Cheng Kung University, Taiwan

2:12 Satellite Selection of Multi-GNSS: Y. Cheng, J. Dambeck, F. Holzapfel, Technical University of Munich, Germany

2:35 Single Frequency GPS/BDS Precise Positioning Algorithm for Low-cost Receivers: X. Zuo, Y. Chen, C. Li, G. Pan, X. Shi, Hi-Target Survey Instruments Company Ltd., China

2:58 Demonstrated Interference Detection and Mitigation with a Multi-frequency High Precision Receiver: F. Gao and S. Kennedy, NovAtel Inc., Canada3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 INS Aided Multi-GNSS Robust Positioning with Centralized and Distributed Fusion Algorithm: B. Liu, X. Zhan, M. Chen, Shanghai Jiao Tong University, China

4:23 Potential Limitations of RAIM in Assured Navigation: J-C. Juang, National Cheng Kung University, Taiwan

4:46 Computationally Efficient Unscented Kalman Filtering Techniques for Launch Vehicle Navigation using a Space-borne GPS Receiver: S. Biswas, L. Qiao, A. Dempster, The University of New South Wales, Australia

5:08 Performance Evaluations of an Equatorial GPS Amplitude Scintillation Detector Using a Machine Learning Algorithm: Y. Jiao, J. Hall, Y. Morton, Colorado State University

Alternates1. Enhanced Multi-GNSS PVT Solution When

Using Chip Scale Atomic Clocks: T. Krawinkel and S. Schön, Leibniz Universität Hannover, Germany

2. The Advanced Replica Transformation & Storage (ARTS) Technique: A. Richardson, M. Turner, D. DeCastro, M. Batiste, Airbus, UK

3. Effects of Jamming on the Accuracy of GPS Position Solutions in an Experimental Set-up: B. Lubbers and P. Oonincx, Netherlands Defence Academy, The Netherlands

4 Effective Utilization of Space Service Volume through Combined GNSS: A. Rathinam, A.G. Dempster, University of New South Wales, Australia

5. Multi-Constellation GNSS: New Bounds on GDOP and a Related Satellite Selection Process: P.F. Swaszek, University of Rhode Island; R.J. Hartnett, U.S. Coast Guard Academy; K.C. Seals, U.S. Coast Guard Academy

6:00 p.m.– 8:00 p.m., Exhibitor Hosted Reception, Exhibit Hall A • 8:00 p.m.–10:00 p.m., ION Satellite Division’s 30th Anniversary Celebration, Exhibit Hall B

Room C120/121/122 1:45 p.m.–5:30 p.m.

B2: Remote Sensing, Space Applications, Timing, and Clock

Technology

1:50 An Investigation of GPS Satellite Clock Offsets Prediction Accuracy with Different Update Intervals and Application to Real-Time PPP: H. Yang and Y. Gao, University of Calgary, Canada

2:12 Multi-receiver GPS Based Direct Time Estimation for PMU’s: S. Bhamidipati, Y. Ng and G.X. Gao, University of Illinois at Urbana-Champaign

2:35 TWSTFT for BDS: Status and Applications: S. Zhou, X. Hu, Shanghai Astronomical Observatory (SHAO), Chinese Academy of Sciences (CAS), China; L. Liu, Beijing Satellite Navigation Center (BSNC), China; Y. Cao, SHAO, CAS, China; R. Guo, L. Zhu, Z. Chang, BSNC, China; C. Tang, X. Gong, R. Li, SHAO, CAS, China; J. Chen, China Top Communication Co., Ltd., China

2:58 Application of X-Ray Pulsar Navigation: A Characterization of the Earth Orbit Trade Space: W.H. Yu, NASA3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 The Performance Analysis of an UAV Borne Vector Gravimetry System: C-A. Lin, National Cheng Kung University, Taiwan

4:23 Great Lake Surface Characterization with GNSS Reflectometry: S. Datta-Barua, E. Donarski, N. Wang, K. Herron, and B. Pervan, Illinois Institute of Technology

4:46 COREGAL: Exploring Galileo E5 Reflected Signals for Biomass Applications: T. Peres, J. Silva, P. Silva, DEIMOS Engenharia, Portugal; J.M. Palomo, DEIMOS Space, Spain; O. Pena, Tecnalia, Spain; L. Guerriero, University of Rome Tor Vergata, Italy; N. Carvalhais, Max-Planck-Institute, Germany; O. Cartus, GAMMA Remote Sensing and Consulting, Switzerland; I. Colomina, GeoNumerics, Spain

5:08 Evaluation of the Ionospheric F2 Characteristics Inferred from Radio Occultations Exploiting the Availability of Formosat-3/COSMIC Data Over Half a Solar Cycle: A. Aragon-Angel, EC, Joint Research Centre (JRC), Italy; M. Limberger, Technischen Universität München (DGFI-TUM), Germay; M. Hernández-Pajares, Universidad Politécnica de Cataluñya, Spain; D. Altadill, Observatori de l’Ebre (OE), CSIC, Universitat Ramon Llull, Spain; E. Erdogan, M. Schmidt, DGFI-TUM, Germany

Alternates1. MISTRALE: Soil Moisture Mapping Service Based on

a RPAS-embedded GNSS-Reflectometry Sensor: L. Van de Vyvere, and O. Desenfans, M3 Systems Belgium; F. Martín, A. Mollfulleda, StarLab; J. Darrozes, GET

2. A New Network-Based Synchronization Approach for Pseudolite and Improvements on Robustness: T. Wang, Z. Yao, S. Yun, M. Lu, Tsinghua University, China

3. GPS Attitude Determination for VELOX-CI Near-Equatorial LEO Microsatellite: G.X. Lee, F. Cao, Y-F. Tsai, S.T. Chin, W.S. Lim, K.S. Low, K.V. Ling, E.K. Poh, C.S. Lim, Nanyang Technological University, Singapore


Room B117/118/119 1:45 p.m.–5:30 p.m.C2: UAV Navigation

1:50 Wind Effects in Novel UAV Autonomous Navigation Based on Vehicle Dynamic Model: M. Khaghani and J. Skaloud, École Polytechnique Fédérale de Lausanne (EPFL), Switzerland

2:12 Centimeter-level GNSS Positioning for UAVs and Other Mass-Market Applications: C. Mongrédien, J-P. Doyen, u-blox, Switzerland; M. Strom, u-blox, Finland; D. Ammann, u-blox, Switzerland

2:35 Precise UAV Position and Attitude Estimation by Multiple GNSS Receivers for 3D Mapping: T. Suzuki, Y. Takahashi, Y. Amano, Waseda University, Japan

2:58 GNSS Interference in Unmanned Aerial Systems: W. De Wilde, J-M. Sleewaegen, R. Deurloo, G. Cuypers, B. Bougard, Septentrio Satellite Navigation, Belgium3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 Integration of INS/Barometer and Local Area DGNSS to Support High Integrity Unmanned Aerial Vehicles (UAV) Navigation: J. Lee, M. Kim and J. Lee, Korea Advanced Institute of Science and Technology, South Korea; S. Pullen, Stanford University

4:23 Graphical Approach for MAV Sensors Fusion: Z. Gong, L. Pei, D. Zou, R. Miao, P. Liu, W. Yu, Shanghai Jiao Tong University, China

4:46 Signals of Opportunity Aided Inertial Navigation: J. Morales, P. Roysdon, and Z.M. Kassas; University of California, Riverside

5:08 Landmark Based Autonomous Snowplow Navigation: M. Bowyer, E. Aitken, A. Bertani, Z. DeGeorge, S.A. Rawashdeh, University of Michigan - Dearborn

Alternates1. Collaborative Navigation between a

Ground Vehicle and an Unmanned Aerial Vehicle in GNSS-Challenged Environments: V. Sivaneri and J.N. Gross, West Virginia University

2. Vision-Aided LAMBDA Method with Wide-Laning for Attitude Determination of UAVs: A. Shetty and G.X. Gao, University of Illinois at Urbana-Champaign

3. Aircraft Dynamics Model Augmentation of GNSS Based Navigation and Guidance Systems for RPAS: F. Cappello, R. Sabatini, S. Ramasamy, RMIT University, Australia

4. Designing and Building a Multi-Copter Platform that Mitigates GNSS Interference from its Own Onboard Electronics: X.H. Fang, Y. Ng, G.X. Gao, University of Illinois at Urbana-Champaign



15

Wednesday, Septem

ber 14Wednesday Afternoon, September 14, 1:45 p.m.–5:30 p.m.

Fergus Noble, Swift Navigation

Steve Mole, Broadcom Dr. Xiaochun Lu, National Time Service Center, CAS, China

Dr. Jun Shen, Beijing Unistrong Science and Technology Co. Ltd., China

Pierre Delsaux, European Commission, Belgium

6:00 p.m.– 8:00 p.m., Exhibitor Hosted Reception, Exhibit Hall A • 8:00 p.m.–10:00 p.m., ION Satellite Division’s 30th Anniversary Celebration, Exhibit Hall B

Room B113/114/115/116 1:45 p.m.–5:30 p.m.

D2: PANEL: Urban Navigation

Fifty-four percent of the world’s population lives in urban areas, a proportion that is expected to increase to 66 percent by 2050. However, mobile positioning in urban environments continues to be a frustrating experience for users.

We have all experienced the difficulties of positioning in urban environments, whether it’s a car navigation system giving the wrong directions or our cell phone maps showing us several city blocks away from our true location. In addition to this, many mobile applications such as emergency caller location are demanding higher accuracy under all conditions.

GNSS positioning techniques suffer from several sources of measurement error in deep urban canyons. These include multipath reflections and non-line-of-sight signal tracking. These are compounded by poor sky-view leading to few usable satellites and high dilution of precision.

In recent years there have been a number of novel approaches to improving positioning performance in these challenging environments. We now have more options than just GNSS. MEMS sensors are now inexpensive and incorporated in most of our devices. We also have WiFi access point databases, other location beacons and other signals as well as a plethora of new GNSS constellations and bands with enhanced multipath resistance to add to our positioning arsenal.

The panelists will discuss ideas such as fusion of GNSS data with all these new sources of information as well as new, novel proposals. This panel will present candidate practical strategies to mitigate these large errors and will be available for audience questions after the presentations. Most recently, we have access to raw GNSS pseudoranges, Doppler and carrier phase in Android devices.

The panelists will discuss ideas such as fusion of GNSS data with all these new sources of information as well as new, novel proposals. This panel will present candidate practical strategies to mitigate these large errors and will be available for audience questions after the presentations.

1. Dr. Frank van Diggelen, Google

2. Manuel del Castillo, Broadcom

3. Dr. Paul Groves, University College London

4. Rod Bryant, u-blox, Australia

5. Dr. Todd Humphreys, University of Texas at Austin

6. Upamanyu Madhow, Uber

3:25–3:55, Break. Refreshments in Exhibit Hall

Room A105/106 1:45 p.m.–3:25 p.m.

E2a: BeiDou: Hosted by the Chinese Academy of Sciences

1. An Open Testing Platform for BeiDou/GNSS: Haitao Wu, Academy of Opto-Electronics, Chinese Academy of Sciences, China

2. Precise Orbit Determination for Multi-GNSS Satellites in Wuhan IGS-MGEX Analysis Center: Qile Zhao, GNSS Research Center of Wuhan University, China

3. BDS Applications: From Experiments to Mass Deployment: Dr. Jun Shen, Beijing Unistrong Science and Technology Co. Ltd., China

4. China GNSS Haoping Radio Observatory and Monitoring Results: Jin Wang, National Time Service Center, Chinese Academy of Sciences, China

5. BeiDou Signal Parameters Characterization During Strong Equatorial Ionospheric Scintillation: Dongyang Xu, Colorado State University

Room A105/106 3:55 p.m.–5:30 p.m.

E2b: PANEL: Galileo Evolutions

The deployment of Galileo has shifted into high gear and it is time to start paving the way for evolutions. Lessons learnt, and the ambition of Galileo to remain at the cutting edge of the world of satellite navigation, are the inspiration for Europe’s modernization program. This panel will provide an insight into how the next generation of Galileo could look. Invited panelists from the European Commission (EC), European Space Agency (ESA) and European GNSS Agency (GSA) will share their views and visions with the audience.1. European Space Agency (ESTEC): Dr. Gustavo

López-Risueño, Head of the Galileo 2nd Generation System Engineering Unit, ESA/ESTEC, The Netherlands

2. European Commission (EC): Eric Chatre, Head of Sector–Exploitation and Services, DG for Internal Market, Industry, Entrepreneurship and SMEs, EU Satellite Navigation Programs, European Commission, Belgium

3. European Space Agency (ESA): Miguel Manteiga Bautista, Head of GNSS/Galileo Evolution Program and Strategy Division, Directorate of Galileo Project and Navigation-related activities, ESA -ESTEC European Space Agency, The Netherlands

4. European GNSS Agency (GSA): Marco Caparrini, GNSS Service Evolution R&D Engineer, Galileo Exploitation Department, European GNSS Agency, Prague

Dr. Altti Jokinen, NovAtel, Canada China

Bobby Johnson, Veripos, U.K

Room B110/111/112 1:45 p.m.–5:30 p.m.

F2: Precise Point Positioning (PPP) and L-band Services

1:50 Undifferenced GLONASS Ambiguity Resolution Over Inhomogeneous Receivers: Introducing Ionosphere Corrections or Resolving Ionosphere-free Ambiguities?: J. Geng, X. Chen, Q. Wen, H. Chang, Wuhan University, China

2:12 Facing Some Critical Challenges in Real-Time Precise Point Positioning: A. El-Mowafy, Curtin University, Australia

2:35 JPL’s Real-Time Orbit Determination for GPS, GLONASS, BeiDou, and Galileo: M. Miller, Y. Bar-Sever, W. Bertiger, N. Harvey, L. Romans, A. Sibthorpe, B. Szilagyi, M. Vallisneri, Jet Propulsion Laboratory, California Institute of Technology

2:58 StarFire™ SF3: Worldwide Centimeter-Accurate Real Time GNSS Positioning: D. Liwen, C. Yiqun, L. Adhika, Z. Michael and Z. Yuki, John Deere3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 Integer Ambiguity Resolution Enabled PPP and RTK Solutions Using GPS and Glonass Observations: X. Liu, M. Goode, M. Stone, Fugro Intersite BV, The Netherlands; J. Tegedor, and R. Strandli, Fugro Satellite Positioning AS, Norway

4:23 PPP Integrity for Advanced Applications, Including Field Trials with Galileo, Geodetic and Low-Cost Receivers, and a Preliminary Safety Analysis: M.D. Laínez Samper, P.F. Navarro Madrid, I. Rodríguez Pérez, J.D. Calle Calle, M.M. Romay Merino, GMV, Spain

4:46 Triple Frequency PPP with Trimble CenterPoint RTX: U. Weinbach, M. Brandl, X. Chen, R. Drescher, M. Glocker, H. Landau, F. Pastor, N. Reussner, K. Thomas, Trimble TerraSat GmbH, Germany

5:08 Demonstration: E5b Signal Containing Value-Added Information Broadcast in Real Time via the SES ASTRA 5B GEO Satellite: M. Aubault-Roudier, D. Laurichesse, CNES, France; H. Al Bitar, M. Raimondi, P. Lesage, A. Sfeir, M. Klein, Thales Alenia Space, France; M. Sihrener, ESSP, France; N. Ramponi, SES Techcom, Luxembourg

Alternates1. GAPS Single- and Dual-Frequency PPP Using GPS,

BeiDou, and Galileo Observables: R.M. White, R.B. Langley, University of New Brunswick, Canada; S. Banville, Natural Resources Canada

2. BDS Fractional Cycle Bias (FCB) Estimation Augmented by Multipath Mitigation: M. Wang, H. Chai, D. Zhao, Zhengzhou Institute of Surveying and Mapping, China

3. Estimation Methods of Spherical Cap Harmonic Models Based on Kalman Filter for Regional Ionospheric Delays: M. Ohashi, The University of Shiga Prefecture, Japan; A. Yamada, Y. Yamamoto, Y. Kubo, S. Sugimoto, Ritsumeikan University, Japan

4. Compact SSR Messages with Integrity Information for Satellite Based PPP-RTK Service: R. Hirokawa, Y. Sato, S. Fujita, M. Miya, Mitsubishi Electric, Japan



16

Thursday, September 15

Thursday Morning, September 15, 8:30 a.m.–12:15 p.m.

12:15 p.m.–1:15 p.m., Informal Luncheon, Exhibit Hall • 1:15 p.m.–1:45 p.m., Free Time in Exhibit Hall

Dr. Olivier Julien, ENAC, France

Dr. Ali Broumandan, University of Calgary, Canada

Dr. Christoph Günther, German Aerospace Center (DLR), Germany

Logan Scott, LS Consulting

Dr. Andrew Hansen, US DOT Volpe Center

Dr. Grace Xingxin Gao, University of Illinois Urbana-Champaign

Room C120/121/122 8:30 a.m.–12:15 p.m.

A3: Signal Processing for Degraded Environments

8:35 Band-limiting and Dispersive Effects on High Order BOC Signals: C. O’Driscoll, Independent Consultant, Ireland; J.A. Ávila-Rodríguez, R. Ioannides, R. Prieto Cerdeira, ESA/ESTEC, The Netherlands

8:57 Adaptive Multi-hypothesis Vector Tracking System–Design and Implementation: M. Karaim, Queen’s University, Canada; M. Youssef, ATC, Scientific Drilling International; A. Noureldin, T.B. Karamat, Royal Military College of Canada

9:20 A Modified Viterbi Decoder for Joint Data-Recovery and Cycle-Slip Correction: J.T. Curran, Joint Research Center of the European Commission, Italy

9:43 Comparison Between AGC Control and Statistical Based Methods for Low Power Interference Detection: M. Pini, B. Motella, Istituto Superiore Mario Boella, Italy L. Lo Presti, Politecnico di Torino, Italy

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 Interference Mitigation Using a Dual-

Polarized Antenna in a Real Environment: M. Sgammini, S. Caizzone, A. Hornbostel, M. Meurer, German Aerospace Center (DLR), Germany

11:03 Limits of Narrowband Interference Mitigation Using Adaptive Notch Filters: J. Wendel, F.M. Schubert, Airbus Defence & Space, Germany; A. Rügamer, S. Taschke, Fraunhofer IIS, Germany

11:26 Reduced Multipath Channel Modelling Preserving Representative GNSS Receiver Testing: F. Ribaud, M. Ait-Ighil, ONERA, The French Aerospace Lab, France; S. Rougerie, CNES, France; J. Lemorton, ONERA, The French Aerospace Lab, France; O. Julien, ENAC, Toulouse, France; F. Perez-Fontan, University of Vigo, Spain

11:48 Effective Satellite Selection Methods for RTK-GNSS NLOS Exclusion in Dense Urban Environments: H. Tokura, N. Kubo, Tokyo Universities of Marine Science and Technology, Japan

Alternates1. On the Threat of Systematic Jamming of GNSS:

J.T. Curran, M. Bavaro, Joint Research Center of the European Commission, Italy; P. Closas, Centre Tecnologic Telecomunicacions Catalunya (CTTC), Spain; M. Anghileri, Airbus DS GmbH, Germany; M. Navarro, CTTC, Spain; B. Schotsch, Airbus DS GmbH, Germany; S. Pfletschinger, University of Applied Sciences, Germany

2. Anti-multipath Performance of Hierarchical MEDLL Integrated with Carrier Smoothing for Indoor Pseudolite Positioning: Y. Kou, J. Ye, Beihang University, China; J. Chen, National University of Defense Technology, China; J. Wang, University of New South Wales, Australia; X. Weng, Beihang University, China

3. Carrier Phase Tracking and Navigation Message Demodulation Approach for Vector Tracking Loops using Serial PLL: S. Zhao, X. Cui, Z. Yao, M. Lu, Tsinghua University, China

4. Combined Satellite Selection Algorithm and Road Model for GNSS in Constrained Environments: Y-E. Lee, A-L. Tao, S-S. Jan, National Cheng Kung University, Taiwan

Room B113/114/115/116 8:30 a.m.–10:05 a.m.

B3a: PANEL: Assured PNT

Access to reliable and accurate PNT has become mission critical in diverse sectors. For example, without access to PNT, aircraft can’t fly safely, emergency responders can’t respond as effectively, traders can’t meet strict regulatory requirements, and military forces can’t readily coordinate actions. The number of critical dependencies on PNT is increasing rapidly and so, there is a strong need to assure access and integrity, even under adverse conditions. This panel will explore how this might be accomplished.Adversity comes in many forms; RF interference, and cyber attack to name a couple. The potential solutions also come in many forms; multi-GNSS, civil signal authentication, eLoran, vision aided navigation, LTE Proximity Services, magnetic sensing, WiFi ranging, network connected crowd sensing, and so forth. Differing combinations of sensors/methods will excel depending on the environment but only if they are correctly matched to the environment and can recognize and eliminate manipulated measurements. Diverse sensing methods can yield improved integrity through cross confirmations and consistency checks. Panelists will have the opportunity to expound upon their vision of how ubiquitous, high-integrity PNT might be achieved.

1. Karen Van Dyke, U.S. DOT/VOLPE Center 2. Rick Hamilton, U.S. Coast Guard Navigation Center3. Prof. Charles Curry, Chronos Technology Limited, UK4. Dr. Paul Groves, University College London 5. Dr. Andrey Soloviev, QuNav 6. Dr. Michael Meurer, German Aerospace Center (DLR), Germany

Room B113/114/115/116 10:35 a.m.–12:15 p.m.

B3b: PANEL: PNT Privacy and Security

As commercial, PNT-dependent location-based services (LBS) –e.g., electronic tolling, fleet/driver monitoring, mobile phone–based geolocation apps, etc. –continue to be rolled out, concerns about the security and authenticity of GNSS signals and position reporting have arisen. While Galileo is discussing the possibility to launch an OS authentication service, the industries and various GNSS communities are still searching for practical GPS anti-spoofing solutions. Furthermore, the concept and demand of and demand for location “trust,” which involves both security and integrity, is slowing arising.At the same time, controversy about personal location privacy have accompanied these commercial developments and prompted legislative efforts to limit public and private surveillance of individuals as well as stimulated interest in finding technical solutions to protect geolocation privacy. In the United States, several bills have been introduced in Congress to address privacy concerns, including a Geolocation Privacy and Surveillance (“GPS”) Act, the Online Communications and Geolocation Protection Act, and the Location Privacy Protection Act. In Europe, the General Data Protection Regulation (GDPR), approved in April 2016, will replace 28 different EU Member States’ laws with a single, unifying data protection law that includes personal location. This panel will address the legal, technical, and operational aspects of PNT Privacy and Security.

1. Logan Scott, LS Consulting 2. Dr. Paul McBurney, GopherHush Corp. 3. Dr. Rigas Ioannides, European Space Agency/ESTEC,

Greece 4. Kimberly McCullough, Legislative Director/Counsel

for Oregon ACLU (American Civil Liberties Union)

Oscar Pozzobon, QASCOM S.R.L., Italy

Glen Gibbons, Inside GNSS

Room B117/118/119 8:30 a.m.–12:15 p.m.C3: UAV Navigation 1

(Invited Speakers Session)

Autonomous vehicles (AV) are a reality and not a distant one. Commercial development of AV systems has entered the consumer phase. This is true across aviation, surface, and maritime modes where advances in propulsion, guidance, and control have enabled previously unachievable performance. Much like the personal communications revolution that has played out over the last two decade, AV technology has trickled down from very specialized applications to the consumer market at a breath-taking pace right into household use.In this pair of sessions, we have invited leaders from across the AV sector to share their perspectives on those burgeoning fields of AV technology and future applications. We intend these exchanges to seed further connections between the navigation community and the wider AV community by sharing not only technological insights but also broader consideration on the policy and economic aspects the AV sector. There is no shortage of examples where technical understanding out-paced legal, safety, and even environmental understanding. As the premier professional society for advancing a key technology–navigation–that enables AV systems and applications, ION is taking the initiative to bring technical experts and thought leaders together with the hope of drawing a more common technological, political, and economic understanding.

8:35 Multi-Intruder Aircraft, Multi-Sensor Tracking System for Unmanned Aircraft Systems: Dr. Vibhor Bageshwar, Honeywell International

8:57 Targeted UAS Observations of Complex Atmospheric Phenomena: Prof. Eric Frew, University of Colorado, Boulder

9:20 Quantifying Safety of Autonomous Car Navigation (car): Prof. Mathieu Joerger, University of Arizona

9:43 Dense RTK: Mass-Market Autonomous Control Positioning: Prof. Todd Humphreys, University of Texas at Austin

10:05-10:35, Break. Refreshments in Exhibit Hall10:40 Lessons Learned in using UAS in

Challenging Maritime Environments” (air/marine): Todd Jacobs, NOAA, Senior Project Scientist, UAS Program

11:03 UAVs vs. Natural Autonomous Vehicles (NAVs)-Are We Closing the Gap?: Dr. John Raquet, Air Force Institute of Technology

11:26 Using UAVs to Develop Novel GNC Concepts (or: Things One Would Not Do in A Real Airplane): Prof. Demoz Gebre: University of Minnesota, Minneapolis

Following the speaker presentations there will be a question and answer session: Moderated by Session Co-chairs

EXHIBITOR DEMONSTRATION9:00 a.m.–9:45 a.m.

NovAtel’s OEM7 Interference Detection and Mitigation DemonstrationRoom C124



17


Thursday Morning, September 15, 8:30 a.m.–12:15 p.m

12:15 p.m.–1:15 p.m., Informal Luncheon, Exhibit Hall • 1:15 p.m.–1:45 p.m., Free Time in Exhibit Hall

Dr. Jianghui Geng, Wuhan University, China

Dr. Bernard Schnaufer, Rockwell Collins

Jonathan Auld, NovAtel Inc., Canada

Angelo Joseph, Rockwell Collins

Dr. Alan Grant, General Lighthouse Authorities, U.K.

Dr. Richard Hartnett, US Coast Guard Academy

Room A105/106 8:30 a.m.–12:15 p.m.

D3: High Precision GNSS Positioning 1

8:35 The Validation and Accuracy Analysis of BDS Solar Radiation Pressure Models: X. Wang, Q. Zhao, X. Hu, Shanghai Astronomical Observatory, CAS, China; R. Guo, Beijing Satellite Navigation Center, China

8:57 Improving Multi-GNSS Real-time Precise Point Positioning Services: Y. Liu, Wuhan University, China & German Research Center for Geosciences (GFZ), Germany; M. Ge, GFZ, Germany; Y. Lou, C. Shi, Wuhan University, China

9:20 Integer Satellite Clock Combination for Precise Point Positioning with Ambiguity Resolution: G. Seepersad, York University & Natural Resources Canada (NRCan); S. Banville, P. Collins, NRCan, Canada; S. Bisnath, York University, Canada; F. Lahaye, NRCan, Canada

9:43 Real-time Estimation of BDS High-rate Satellite Clock Offsets with Prior Troposphere Constraints: Y. Liu, Beijing Institute of Tracking and Telecommunications Technology, China; W. Fu, Q. Zhang, G. Huang, Chang’an University, China

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 Numerical Weather Prediction Based

Troposphere Correction Service for Real Time Precise Point Positioning: L. Yang, C. Hill, T. Moore, The University of Nottingham, UK; J. Jones, UK Met Office, UK; R. Prieto-Cerdeira, ESA/ESTEC, The Netherlands

11:03 Fast PPP Convergence Using Multi-constellation and Triple-frequency Ambiguity Resolution: D. Laurichesse, CNES, France; A. Blot, CS-SI, France

11:26 Galileo, an Ace up in the Sleeve for PPP Techniques: I. Rodríguez Pérez, J.D. Calle Calle, L. Martínez Fernández, G. Tobías González, M. Romay, M.D. Laínez, P.F. Navarro, GMV, Spain

11:48 Phase Cycle Slip Mitigation by Piecewise Polynomial Doppler FIT: T.G. Dvorkind, RAFAEL Advanced Defense Systems Ltd. Israel

Alternates1. Multi-GNSS PPP Performance Assessment

with Different Ranging Accuracies in Challenging Scenarios: J. Míguez Sánchez, European Space Agency (ESA) and Universitat Autònoma de Barcelona (UAB), Spain; J.V. Perello Gisbert, R. Orus Pérez, J. García Molina, ESA; F. Gonzales, ESA; X. Serena, GMV, Spain; G. Seco Granados, UAB, Spain; M. Crisci, ESA

2. Recommended Procedure for Post-Processing Static GPS Surveys in OPUS-Projects: D.T. Gillins, Oregon State University; D. Kerr, United States Military Academy; M.L. Armstrong, Geodesist, NOAA’s National Geodetic Survey

3. Characterising High Precision GNSS Receiver Positioning Performance using Internal Receiver Uncertainties from Repeatable Real World Signals: A.R. Tengku, A. Kealy, University of Melbourne, Australia; S. Fuller, ThinkSpatial, Australia

Room A107/108/109 8:30 a.m.–10:05 a.m.

E3a: GNSS Augmentation Systems and Integrity 2

8:35 Integrity Monitoring for Advanced Driver Assistance Systems: A. El-Mowafy, Curtin University,

Australia; N. Kubo, Tokyo University of Marine Science and Technology, Japan

8:57 SBAS-Africa: A Cost Effective Southern African Solution Serving Multiple Market Sectors: J. Ostolaza, D. Pérez, J.J. Lera, GMV; D. Hill, V. Boissinot, AVANTI Communications; W. Roberts, NSL; S. Basker, Traxis; E. Avenant, G. Lamprecht, SANSA; S. Sheppard, P. Milway, Adroit Economics; Mercedes Reche, Pildo Labs.

9:20 Analysis and Statistical Characterization of SBAS Signal-In-Space (SIS) Orbit and Clock Corrections for GPS and Their Applicability to Today’s Mass Market Multi-GNSS Personal Navigation: M. Bahrami, G. Ffoulkes-Jones, Q. Zhang, Intel Mobile and Communications Group, UK

9:43 Performance Differentiation in a Tightly Coupled GNSS/INS Solution: R. Dixon and M. Bobye, NovAtel Inc., Canada

Alternates1. EDAS and gmvBRAVE: An Easy Solution for SBAS

Algorithm Evaluation: L. García, E. Arnal, B. Ochoa, J. Cegarra, GMV-AD, Spain

2. Satellite Selection Methodology for Horizontal Navigation and Integrity Algorithms: D. Gerbeth, I. Martini, M. Rippl, M. Felux, German Aerospace Center (DLR), Germany

3. An On-board Autonomous Detection Method of Carrier Leakage on GNSS Signal: R. Zhiqiang, Z. Hongbo, S. Hua, S. Chao, H. Zhijun, Beihang University, China

Room A107/108/10910:35 a.m.–12:15 p.m.

E3b: Modernization of GNSS 1

Dr. Stuart Riley, Trimble

Kazuma Gunning, Stanford University

10:40 On the Inherent Tracking Error Caused by Imperfect Spreading Code of GNSS Signal: J. Zhang, Z. Yao, Tsinghua University, China; J. Shen, BeiJing UniStrong Science & Technology Co., Ltd., China; M. Lu, Tsinghua University, China

11:03 Full Received System Time with a New Set of Secondary Codes: M. Torroja and J. de Salas, Broadcom Ltd.

11:26 Dual Mode Galileo PRS and GPS PPS P(Y): Future of Secure Navigation: N. Davies, A. Evans, M. Jones, M. Macleod, R. Bowden, QinetiQ, UK; D. Hagan, H. Mayoh, D. Mathews, Rockwell Collins, UK

11:48 Data Integrity for GPS and Galileo Signals used by Civil Aviation: A. Garcia-Pena and O. Julien, ENAC, France

Alternates1. A Modified Min-Sum Decoding Algorithm for LDPC

Codes Based on Analysis of Overestimate Value: X. Chen, H. Zhao, W. Feng, Z. He, C. Sun, Beihang University, China

2. GLONASS Time Scale Interoperability with other GNSS: P.P. Bogdanov, A.V. Druzhin, T.V. Primakina, Institute of Radionavigation and Time, Russia

Room B110/111/112 8:30 a.m.–12:15 p.m.

F3: Marine Applications

8:35 Maritime Trials in Europe and Africa Using GNSS-based Enhanced Systems: J. Ostolaza, G. Cueto-Felgueroso, M.A. Fernández, M. Cueto, A. Cezón, M. López, GMV, Spain; D. Hill, V. Boissinot, AVANTI, Spain

8:57 R-Mode–The Potential to Support Resilient PNT Through the re-use of Existing Maritime Infrastructure: A. Grant, P. Williams, General Lighthouse Authorities of the United Kingdom and Ireland; M. Hoppe, German Federal Waterways and Shipping Administration, Germany

9:20 Initial On-Air Experimentation of MF-DGNSS R-Mode as an Alternative Position Navigation and Timing Service: G.W. Johnson, Alion Science and Technology; P.F. Swaszek, University of Rhode Island; J. Alberding, Alberding GmbH, Germany; M. Hoppe, Federal Waterways and Shipping Administration, Germany

9:43 Performance Evaluation and A New Disaster Prevention System of Precise Point Positioning at Sea: E. Saito, N. Kubo, Tokyo University of Marine Science and Technology, Japan; K. Shimoda, National Institute for Sea Training, Japan

10:05–10:35, Break. Refreshments in Exhibit Hall10:40 GNSS Receivers Jamming Resilience in the

Close to the Shore Navigation Scenario: L. Bonenberg, University of Nottingham, UK; O. Glomsvoll, The Royal Norwegian Naval Academy, Norway

11:03 Experimental Evaluation of the Impact of Jamming on Maritime Navigation: R. Ziebold, M. Romanovas, S. Gewies, DLR, Institute of Communications and Navigation, Germany

11:26 EDAS for a DGPS Maritime Service: EGNOS Based VRS Performance with Pre-Broadcast Integrity Monitoring: J. Morán, E. Lacarra, J. Vázquez, M.A. Sánchez, ESSP SAS, Spain; T. Horváth, Alberding GmbH, Germany

11:48 Maritime Resilient PNT in Europe… Where Now?: M. Bransby and P. Williams, General Lighthouse Authorities of the UK and Ireland

Alternates 1. E-GNSS use for Autonomous Vessels: Value

Proposition & Market Aspects: A. Cezón, M. Cueto, G. Cueto-Felgueroso, M. López Cabeceira, J. Corzo Delibes, L. García, GMV, Spain; M. Lopez-Martinez, GSA

2. Research of BDS International Standardization on IMO: S. Qian, China Waterborne Transport Research Institute, China; X. Hui, China Maritime Safety Administration, China

3. SBAS use in Maritime: A. Grant, G. Shaw, J. Šafár and N. Ward, General Lighthouse Authorities of the United Kingdom and Ireland

EXHIBITOR DEMONSTRATION11:00 a.m.–11:45 a.m.

Labsat Wideband: Every GNSS Signal, in a Tiny PackageRoom C124



18


Thursday Afternoon, September 15,1:45 p.m.–5:30 p.m.

Dr. Fabio Dovis, Politecnico di Torino, Italy

Dr. Gonzalo Seco-Granados, Universitat Autònoma de Barcelona, Spain

Dr. Kevin Brink, Air Force Research Laboratory, Munitions Directorate

Dr. Andrey Soloviev, QuNav

Dr. Demoz Gebre-Egziabher, University of Minnesota

Dr. John Raquet, Air Force Institute of Technology

Room B117/118/119 1:45 p.m.–5:30 p.m.

A4: Next Generation RF and Digital Signal Processing Receiver Techniques

1:50 Self-contained Calibration Determination by Jointly Solving the Attitude Estimation and Calibration Problem: S. Zorn, RWTH Aachen University, Germany; M. Meurer, RWTH Aachen University, and German Aerospace Center (DLR), Germany)

2:12 A Multi-band GNSS Signal Sampler Module with Open-Source Software Receiver: D. Akos, N.C. Shivaramaiah, University of Colorado Boulder

2:35 Correlator Beamforming for Multipath Mitigation at Relatively Low Cost: Initial Performance Results: S. Gunawardena and J. Raquet, Air Force Institute of Technology

2:58 High-Performance GNSS Antennas with Phase-Reversal Quadrature Feeding Network and Parasitic Circular Array: N. Yang, and J. Freestone, NovAtel Inc., Canada3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 Performance Evaluation of High Sensitivity GNSS Techniques in Indoor, Urban and Space Environments: E. Domínguez, A. Pousinho, P. Boto, GMV, Spain; D. Gómez-Casco, S. Locubiche-Serra, G. Seco-Granados, J. A. López-Salcedo, UAB, Spain; H. Fragner, F. Zangerl, RUAG, Austria; O. Peña, Tecnalia, Spain; D. Jiménez-Baños, European Space Agency, The Netherlands

4:23 Opportunistic Use of Metropolitan RF Beacon Signals for Urban and Indoor Positioning: C. Yang, A. Soloviev, M. Veth, QuNav; D. Qiu, Polaris Wireless

4:46 Performance Evaluation of VDFLL Architectures for a Dual Constellation L1/E1 GNSS Receiver in Challenging Environments: E. Shytermeja, A. Garcia-Pena, O. Julien, ENAC, France

5:08 An Optimized Acquisition Scheme with Half Interleaving Code Patterns in a QZSS LEX Single Frequency Receiver: H. Zhang, Queensland University of Technology, Australia

Alternates1. A New Tracking Loop Scheme for High

Dynamics Real-Time GNSS Receivers with Hardware Correlators: P.A. Roncagliolo and J.G. García, National University of la Plata (UNLP), Argentina

2. Complexity Reduction for High Sensitivity Acquisition of GNSS Signals with a Secondary Code: J. Leclère, R. Jr. Landry, LASSENA, École de Technologie Supérieure, Canada

3. Subcarrier Aided Code Tracking of High Order BOC Signals: C. O'Driscoll, Independent Consultant, Ireland; J.A. Ávila Rodríguez, R. Ioannides, R. Prieto Cerdeira, ESA/ESTEC, The Netherlands

4. 4-channel Multiband All GNSS Compliant RF Front End IC: Bringing Professional Level Equipment to Mass Market: D. Tcherniakovski, I. Antonov, A. Kolotkin, A. Kavaleuski, NTLab, Belarus


Room C120/121/122 1:45 p.m.–3:25 p.m.

B4a: Cooperative and Collaborative Navigation

1:50 Collaborative Monocular SLAM with Crowd Sourced Data: J. Huai, The Ohio State University; G. Józków, Wroclaw University of Environmental and Life Sciences, Poland; C. Toth, D. Grejner-Brzezinska, The Ohio State University

2:12 PeerAppear: A P2P Framework for Collaborative Visual Localization: A. Compton and J. Pecarina, Air Force Institute of Technology

2:35 Shinerbot: Bio-inspired Collaborative Robot Swarm Navigation Platform: E. Luo, X.H. Fang, Y. Ng, G.X. Gao, University of Illinois at Urbana-Champaign

2:58 Virtual Coupling: A Cooperative and Collaborative Autonomous Navigation Application: A. Trzuskowsky, M. Wehr, D. Abel, RWTH Aachen University, Germany3:25–3:55, Break. Refreshments in Exhibit Hall

Alternates1. Estimating Covariance Models for Collaborative Integrity

Monitoring: L. Yang and Jason Rife, Tufts University2. Performance Analysis of a New Collaborative and

Multimodal Framework for Indoors Navigation using Smartphones: M. Sakr, N. El-Sheimy, The University of Calgary, Canada

3. Infrastructure vs Peer to Peer Cooperative Positioning: A Comparative Analysis: S. Goel, The University of Melbourne, Australia & Indian Institute of Technology Kanpur (IIT), India; A. Kealy, The University of Melbourne, Australia; B. Lohani, IIT Kanpur, India

Room C120/121/122 3:55 p.m.–5:30 p.m.

B4b: Advanced Inertial Sensing and Algorithms

Ralph Hopkins, Draper Wayne Soehren, Honeywell

4:00 Toward a Navigation-Grade Miniaturized Gyroscope: M. Katoozi, B. Buchanan, T. Bocek, The Boeing Company

4:23 Thermal Control System for the FOG-Based SINS with TEC: L. Fu, H. Lu, L. Wang, Beihang University, China

4:46 Using Converted Linear Measurements Taken by a Human Operator for INS Aiding: T.J. Montgomery and M. Pachter, Air Force Institute of Technology

5:08 A Low Cost INS/GNSS/Vehicle Speed Integration Method for Land Vehicles: R. Sugiura, Y. Nakai, Y. Kubo, S. Sugimoto, Ritsumeikan University, Japan; S. Mizukami, T. Imamura and H. Kumagai, Tamagawa Seiki Co., Ltd., Japan

Alternates1. A Study on Tracking the Attitude of Agricultural

Machineries Based on Tightly-coupled GNSS/AHRS: D. Hai-feng, L. Cheng-gang, P. Guo-fu, S. XiaoYu, Hi-Target Survey Instruments Company Ltd, China

2. Research of Rapid Relocation Technology Assisted by IMU in the GPS/SINS Ultra-tightly Coupled Navigation System: C. Jiang, S. Chen, K. Chen, X. Qu, Nanjing University of Science and Technology, China

Room B113/114/115/116 1:45 p.m.–5:30 p.m.

C4: UAV Navigation 2 (Invited Speakers Session)

Autonomous vehicles (AV) are a reality and not a distant one. Commercial development of AV systems has entered the consumer phase. This is true across aviation, surface, and maritime modes where advances in propulsion, guidance, and control have enabled previously unachievable performance. Much like the personal communications revolution that has played out over the last two decade, AV technology has trickled down from very specialized applications to the consumer market at a breath-taking pace right into household use.In this pair of sessions, we have invited leaders from across the AV sector to share their perspectives on those burgeoning fields of AV technology and future applications. We intend these exchanges to seed further connections between the navigation community and the wider AV community by sharing not only technological insights but also broader consideration on the policy and economic aspects the AV sector. There is no shortage of examples where technical understanding out-paced legal, safety, and even environmental understanding. As the premier professional society for advancing a key technology—navigation—that enables AV systems and applications, ION is taking the initiative to bring technical experts and thought leaders together with the hope of drawing a more common technological, political, and economic understanding.1:50 Interference Detection with UAS Assets

(air): Adrien Perkins, Stanford University2:12 Integrity Monitoring for UAS Flight Control

Software (air): Prof. Jason Rife, Tufts University 2:35 Economic and Policy Considerations for AV

Systems in Transportation (surface/air): Dr. Andrew Hansen, USDOT/OST-R/Volpe Center

2:58 Navigating UAVs in GPS-challenged Environment: Prof. Grace Xingxin Gao: University of Illinois at Urbana Champaign3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 Persistent Aerial Surveillance (air): Dr. Jim Keller, University of Pennsylvania

4:23 Bio-inspired Autonomous Vehicles (air): Prof. Rick Lind, University of Florida

4:46 UAV Inspection of Exhaust Shafts: Prof. Richard Voyles (air), Purdue University

Following the speakers presentations there will be a question and answer session: Moderated by Session Co-chairs

EXHIBITOR DEMONSTRATION2:00 p.m.–2:45 p.m.

Where are your kids tonight?–GPS Performance Evaluation in a World of Jammers and SpoofersRoom C124



19


Thursday Afternoon, September 15, 1:45 p.m.–5:30 p.m.

Dr. Todd Humphreys, University of Texas at Austin

Dr. Byungwoon Park, Sejong University, South Korea

Dr. Stuart Riley, Trimble Kazuma Gunning, Stanford University

Dr. Di Qiu, Polaris Wireless Dr. Kyle Snow, TOPCON Positioning Systems

Room A105/106 1:45 p.m.–5:30 p.m.

D4: High Precision GNSS Positioning 2

1:50 A Novel Approach for Processing GNSS Multi-systems/Multi-frequencies for Geodesy and Remote Sensing Applications: G. Hajj and Y. Bar-Sever, Jet Propulsion Laboratory

2:12 Track Constrained RTK for Railway Applications: A. Neri, Radiolabs, Italy; S. Sabina, Ansaldo STS, Italy; R. Capua, SOGEI; P. Salvatori, University of Roma TRE, Italy

2:35 QZSS RTK-PPP Application to Autonomous Cars: K. Asari, S. Matsuoka, H. Amitani, Satellite Positioning Research and Application Center (SPAC), Japan

2:58 Analysis of BDS Ambiguity Resolution with Satellite-induced Code bias Correction: T. Geng, X. Xie, Q. Zhao, X. Su, Wuhan University, China3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 RTK in Urban Environment Using a Low Cost Single Frequency Receiver: Y. Wang and O. Julien, ENAC, France

4:23 Hybrid Static plus Real-Time GNSS Survey Networks: An efficient Approach for Height Modernization Surveys: D.T. Gillins, M.L. Dennis, B. Weaver, M. Olsen, and C. Parrish, Oregon State University

4:46 Millimeter Accuracy of RTK Positioning Employing Helix Antennas with Cutoff Patterns: D. Tatarnikov, A. Stepanenko, A. Astakhov, L. Rapoport, Topcon Technology Center, Russia

5:08 A Totally SDR Single-Frequency Augmentation Infrastructure for RTK Land Surveying: Development and Test: R. Capua, A. Caporale, L. Gattuso, M. Giangolini, D. Tufillaro, C. D'Amico, D. Antonetti, Sogei, Italy; A. Bottaro, Geoweb, Italy; F.C. Ferrante, Italian Revenue Agency, Italy

Alternates1. GPS/GLONASS Compact Network RTK for

Land Vehicle Users Reducing Required Broadcast Bandwidth: J. Song, Seoul National University, South Korea; B. Park, Sejong University, South Korea; S. Jeon, C. Kee, Seoul National University, South Korea

2. An Algorithm of Detecting and Repairing One Cycle Wide Lane Integer Ambiguity Error for Short Baseline: S. Liu, L. Zhang, J. Li, M. Li, Beijing Institute of Technology, China

Room A107/108/1091:45 p.m.–5:30 p.m.

E4: Modernization of GNSS 2

1:50 Near-Earth Navigation Constellation Completely Autonomous Operation of Space-based Anchor Technology: C. Liucheng, Beijing Satellite Navigation Engineer Center, China

2:12 Galileo Simple Box-wing Model Plus ECOM2 for Improving Orbit and Clock Prediction Performances: A.J. García Sánchez, D.L. Arriero, G. Tobías, GMV, Spain

2:35 Centimeter Level Augmentation Service (CLAS) in Japanese Quasi-Zenith Satellite System, its User Interface, Detailed Design, and Plan: M. Miya, S. Fujita, Y. Sato, K. Ota, R. Hirokawa, J. Takiguchi, Mitsubishi Electric Corporation, Japan

2:58 First Experimentation Results with the Full Galileo CS Demonstrator: D. Calle, S. Cancela, E. Carbonell, I. Rodríguez, G. Tobías, GMV, Spain; O. Pozzobon, C. Sarto, Qascom, Italy; I. Fernández, European Commission, Belgium; J. Simón, GSA; G. Seco-Granados, University of Barcelona, Spain3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 NANU Analysis for 2007 through 2015: J.W. Lavrakas, Advanced Research Corporation

4:23 GPS Receiver Impact from the UTC Offset (UTCO) Anomaly of 25-26 January 2016: K. Kovach, P.J. Mendicki, The Aerospace Corporation; E. Powers, US Naval Observatory; B. Renfro, ARL, The University of Texas at Austin

4:46 The GPS Block IIR Antenna Panel Pattern and its Use on-Orbit: W. Marquis, Lockheed Martin

5:08 Maturation of GPS III Signal Integrity Improvements: A. Peckjian, A. Katronick and S. Shaw, Lockheed Martin

Alternates1. Alternative MEO Constellation

Configurations to Improve Coverage and Resiliency While Lowering Space Segment Cost: E. Anderson and F. Czopek, Microcosm Inc.

2. Advanced Message Generation Facility for Future GNSS Broadcasting: S. Fantinato, L. Canzian, N. Montini, S. Montagner, O. Pozzobon, Qascom, Italy J.A. Avila-Rodríguez, R. Ioannides, F. Zanier, ESA-ESTEC, The Netherlands

3. GPS OCX Program Update: W. Sullivan and S. Moran, Raytheon Intelligence, Information and Services

4. A Decentralized Method for BeiDou Satellite Autonomous Orbit Determination Based on Schmidt-Kalman Filter: Z. He, H. Zhao, W. Feng, C. Sun, Beihang University, China

5. International Committee on Global Navigation Satellite Systems: 10 Years of Achievement, 2005–2015: S. Gadimova, United Nations, Austria

Room B110/111/112 1:45 p.m.–5:30 p.m.

F4: Land-Based Applications 2

1:50 NovAtel CORRECT with Precise Point Positioning (PPP): Recent Developments: A. Jokinen, C. Ellum, I. Webster, S. Masterson, NovAtel Inc., Canada

2:12 EDAS (EGNOS Data Access Service): Differential GNSS Corrections for Land Applications: E. Lacarra, P. Gomez, J. Vázquez, M.A. Sánchez, ESSP SAS, Spain

2:35 Innovative Design for GNSS/MSS Survey/GIS Receiver: I. Khazanov, D. Kozlov, G. Zyryanov, Spectra Precision, Trimble, Russia

2:58 A Dynamic Velocity Estimation Algorithm for Vehicular Applications Based on Multi-Constellation GNSS: J. Zhang, Y. Zhu, B. Zhang, J. Li, B. Shen, ITTIC, China; Jian Liu, Beijing Marine Communication & Navigation Co., China3:25–3:55, Break. Refreshments in Exhibit Hall

4:00 Technologies for Optimized Pass-to-Pass Positioning Performance: J.B. Neumann, C. Ellum, A. Salycheva, B. Culling, Novatel Inc., Canada

4:23 GNSS Receiver Clock-Based Integrity Monitoring Method for Train Localization: T. Takewa, W. Tsujita, T. Iwamoto, Mitsubishi Electric Corporation, Japan

4:46 GNSS for Train Location Determination Hazardous Event Probability Analysis: D. Lu, B. Cai, J. Wang, J. Liu, Beijing Jiaotong University, China

5:08 ISO/IEC 17025 Norm-confirmative Quality Assessment of EGNOS Augmented GPS Receivers: D. Spiegel and E. Schnieder, Technical University of Braunschweig, Germany

Alternates1. Urban Environments, magicPPP Put to the

Test: J.D. Calle Calle, P.F. Navarro Madrid, G. Tobías González, GMV, Spain

2. Performance Validation of Low Cost GNSS Sensors for Land Monitoring and Hazard Mitigation: E. Benedetti, L. Brack and W. Roberts, Nottingham Scientific Limited, UK

3. Modeling of Nonlinear Errors for Integrated GPS/MEMS-based INS Navigation Systems: M. Ismail and E. Abdelqawey, MTC, Egypt; N.I. Ziedan, Zagazig University, Egypt

4. Low Cost MEMS Only DR (MoDR) Solution using GNSS and MEMS INS Sensor: H. Kim, S. Do, J. Choi, Telit Wireless Solution, GNSS R&D, South Korea; S. Severance, D. Liao, Telit Wireless Solution, GNSS R&D, USA

EXHIBITOR DEMONSTRATION4:00 p.m.–4:45p.m.

Galileo and LBS: Update on the Status and Future of Galileo-Enabled DevicesRoom C124



Capt. Frank Clark, USAF GPSD

20

Friday, September 16

Friday Morning September 16, 8:30 a.m.–12:15 p.m.

12:15 p.m. –1:30 p.m., ION GNSS+ Awards Luncheon, Oregon Ballroom

Dr. Cecile Mongredien, uBlox, Switzerland

Dr. Mark Psiaki, Virginia Tech

John Nielson, Rockwell Collins Thomas Löffler, Diehl BGT Defence GMBH & CO. KG, Germany

Dr. Gary Bust, The Johns Hopkins University/APL

Dr. Susumu Saito, Electronic Navigation Research Institute (ENRI), Japan

Room A107/108/109 8:30 a.m.–12:15 p.m.

A5: GNSS Receiver Processing and Navigation Algorithms 2

8:35 A Performance Analysis of Optimal Combinations for BeiDou Triple-frequency Observations: L. Shu, Technology and Engineering Center for Space Utilization (CSU), Chinese Academy of Sciences (CAS), China; R. Ding, Beijing Research Institute of Telemetry, China; H. Wei, China Aeronautical Radio Electronics Research Institute, China; W. Wang, CSU, CAS, China

8:57 A Design of Improved Multipath Vector Tracking Loop Based on the Blind Equalizer: D. Li, C. Han, J. Zhao, W. Niu, G. Wu, Taiyuan University of Technology, China

9:20 A Galileo E6-B/C Receiver: Signals, Prototype, Tests and Performance: E. Goehler, I. Krol, M. Bodenbach, J. Winkel, IFEN GmbH, Germany; I. Fernandez-Hernandez, European Commission, Belgium; Gonzalo Seco-Granados, Universitat Autònoma de Barcelona, Spain

9:43 Codeless Code Tracking of BOC Signals: C. O'Driscoll, Independent Consultant, Ireland; J.T. Curran, Joint Research Centre of the European Commission, Italy

10:05–10:35, Break. Refreshments served Lobby B10:40 A Novel Fast Direct Acquisition for P Code

in the High Dynamic Circumstance: W. Ningyuan, F. Wenquan, Z. Hongbo, École Centrale de Pékin, China

11:03 Acquisition of all 3 GNSS Signals of GPSL1CA, GPSL1C and GalileoE1OS Simultaneously in a Single Processing Chain: A. Albu-Rghaif and I.A. Lami, University of Diyala, Iraq & The University of Buckingham, UK

11:26 Intelligent Urban Positioning using Shadow Matching and GNSS Ranging Aided by 3D Mapping: M. Adjrad and P.D. Groves, University College London

11:48 Dynamics-based System Noise Adaption of an Extended Kalman Filter for GNSS-only Kinematic Processing: G. Boffi, A. Wieser, Institute of Geodesy and Photogrammetry ETH Zurich, Switzerland

Alternates1. Multipath and NLOS Signals Identification

and Satellite Selection Algorithms for Multi-Constellation Receivers: N.I. Ziedan, Zagazig University, Egypt

2. A Joint Acquisition Algorithm Based on Primary Code and Secondary Code for GNSS Signals: Z. Liu, Z. Yao, M. Lu, Y. Zhao, National Digital Switching System Engineering Technology Center (CNDSC), China

3. A BeiDou Weak Signal Acquisition Method with INS-aiding: F. Wu, Y. Fu, T. Jan, Y. Liang, Beihang University, China

Room C120/121/122 8:30 a.m.–12:15 p.m.

B5: Multisensor Navigation in Challenging Environments 2

8:35 Simultaneous Localization and Mapping in Multipath Environments: Mapping and Reusing of Virtual Transmitters: C. Gentner, B. Ma, R. Pöhlmann, M. Ulmschneider, T. Jost, A. Dammann, German Aerospace Center (DLR), Germany

8:57 An Extended Kalman Filter for Autonomous Snow Removal, Featuring Ultra-Wideband Beacons: M. Klein, C. Hart, R. Quinn, Case Western Reserve University

9:20 Agent-based Self-configuring Pinger Network in Solid Glacier Environments: S. Schoenitz, S. Reuter, S. Jeschke, Institute of Information Management in Mechanical Engineering, Germany

9:43 Situational Awareness for Tactical Applications: L. Ruotsalainen, R. Guinness, S. Gröhn, M. Kirkko-Jaakkola, L. Chen, H. Kuusniemi, Finnish Geospatial Research Institute (FGI), NLS, Finland

10:05–10:35, Break. Refreshments served Lobby B10:40 Preconditions for a Reliable & Robust

Detection of Wrong-way Driving on Highways with GNSS and Autonomous Sensors: K. Frankl, H. Beckmann, Universität der Bundeswehr München, Germany; J. Wang, M. Metzner, V. Schwieger, University of Stuttgart, Germany; B. Eissfeller, Universität der Bundeswehr München, Germany

11:03 A Drone Based Firefighter Supporting Navigation System Using IR-UWB and Inertial Sensor: J.H. Lee, Lee Technology Korea Co., Ltd., South Korea; K. Kim, Korea Aerospace Industries, Ltd., South Korea; S. Oh, J.B. Jung, J.C. Lee, Lee Technology Korea Co., Ltd., South Korea; T. Lee, Korea Institute of Science and Technology, South Korea

11:26 Integration of Code-Based Precise Point Positioning and Reduced Inertial Sensor System: H.E. Ibrahim, Ryerson University, Canada; T.B. Karamat, Royal Military College of Canada; A. El-Rabbany, Ryerson University; A. Noureldin, Royal Military College of Canada

11:48 GNSS-Receiver with Open Interface for Deeply Coupling and Vector Tracking: M. Overbeck, F. Garzia, C. Strobel, N. Apelt, M. Saad, W. Felber, Fraunhofer IIS, Germany

Alternates1. Crowdsensing-based Organic Fingerprint

for Wi-Fi Location: W. Gao, C. Xu, L. Pei, Shanghai Jiao Tong University, China

2. Detection of Magnetic Anomaly Based on a Classifier for Smartphone Attitude Estimation: S.Y. Park, S.J. Heo, C.G. Park, Seoul National University, South Korea

3. Optimized Anchor Node Selection Algorithm Considering Power and Accuracy for Indoor Integrated Navigation System Based on INS/UWB: M. Jia, X. Cui, M. Lu, Tsinghua University, China; T. Wang, Beijing Institute of Tracking and Telecommunication Technology, China

Room B117/118/119 8:30 a.m.–12:15 p.m.

C5: Atmospheric Science 1

8:35 Tropospheric Duct Anomaly Threat Model for High Integrity and High Accuracy Navigation: S. Khanafseh, Illinois Institute of Technology; A. Von Engeln, EUMETSAT; B. Pervan, Illinois Institute of Technology

8:57 Evaluation of Surface Variables from Global Reanalysis Models and their Application in Precipitable Water Vapour Retrieval from GNSS Observations over Nigeria: O.A. Isioye, University of Pretoria, South Africa

9:20 Deriving the Mean Tropospheric Temperature Model using AIRS and AMSU for GNSS Precipitable Water Vapour Estimation: R. Suwantong, C. Satirapod, P. Srestasathiern, C. Kitpracha, R. Suwantong and P. Srestasathiern, Geo-informatics and Space Technology Development Agency, Thailand; C. Satirapod, C. Kitpracha, Chulalongkorn University, Thailand

9:43 UNB3m-NN: Using Real Meteorological Data to Improve the Prediction of the UNB3m Tropospheric Propagation Delay Model through Assimilation in a Neural Network: T. Nikolaidou, M.C. Santos, R.B. Langley, University of New Brunswick, Canada

10:05–10:35, Break. Refreshments served Lobby B10:40 Middle-Latitude Ionospheric Irregularities

and Scintillation During Geomagnetic Storms: X. Pi, A.J. Mannucci, Jet Propulsion Laboratory; B.L. Valant-Spaight, Propagation Research Associates, Inc.; R. Viereck, Space Weather Prediction Center, NOAA

11:03 Impact of GNSS Receiver Tuning on the Estimation of Scintillation Indices: S. Rougerie, CNES, France; M.A. Ighil, V. Fabbro, ONERA, France

11:26 Studies of Equatorial Plasma Bubbles and the Associated Ionospheric TEC Gradients over South America: R. Pradipta and P.H. Doherty, Boston College

11:48 Impact of TEC Depletion in EGNOS Accuracy: S. Magdalento, P. Pintor, R. Chaggara, O. Nouvel, R. Roldan, ESSP SAS, Spain

Alternates1. A New Approach for Ionospheric TEC

Prediction at a GPS Station: M.M. Hoque, N. Jakowski, J. Berdermann, German Aerospace Center (DLR), Germany

2. Equatorial Amplitude Scintillation Spectrum Analysis and Fading Characteristics on GPS Signals: Y. Jiao, D. Xu, Y. Morton, C. Rino, Colorado State University

3. Determination on the Vertical Gradient of the Precipitable Water Vapor Over Taiwan: T-K. Yeh, H-C. Shih, National Taipei University, Taiwan; C-S. Wang, Geoscience Australia, Australia; S. Choy, RMIT University, Australia




21


Friday Morning September 16, 8:30 a.m.–12:15 p.m.


Dr. Stewart Cobb, Satelles

Gavin Schrock, xyHt

Dr. Anthony Rowe, Carnegie Mellon University

Steve Malkos, Google

James Miller, NASA Dr. Sanjeev Gunawardena, Air Force Institute of Technology

Room B113/114/115/116 8:30 a.m.–10:05 a.m.

D5a: PANEL: Navigation 2026

What will the PNT environment look like in a decade’s time? The panel will also discuss recent and near-future developments in PNT technologies.

1. Jason Y. Kim: Senior Advisor, National Coordination Office for Space Based Positioning, Navigation, and Timing

2. Dr. Bruno Bougard: Research and Development Director, Septentrio Satellite Navigation, Belgium

3. Dr. Matthew Cashen: Vice President of Sensors, AOSense Inc.

4. Ranwa Haddad: Principal Director, Navigation Division, The Aerospace Corporation

5. Dr. Randy Villahermosa: Principal Director at the Research and Program Development, The Aerospace Corporation The Aerospace Corporation

6. Caitlin Durkovich: Assistant Secretary for Infrastructure Protection (IP), Department of Homeland Security

7. Greg Turetzky, Strategic Business Development, Intel Corporation

Room B113/114/115/116 10:35 a.m.–12:15 p.m .

D5b: Next-generation Sensors in Phones, Tablets and Wearables

10:40 Lowest Noise 6 DoF MEMS IMU: R.M. Boysel, L.J. Ross, R.R. Zegarelli, Motion Engine, Inc., Canada

11:03 Mediatek Next Generation Sensor Hub Platform: D. Chou, C-Y. Chong, C-L. Lee, MediaTek Inc., Taiwan

11:26 Traceability for PNT Security Service: T. Liu, H. Wu, D. Li, Academy of Opto-Electronics Chinese Academy of Sciences, China

11:48 Multi-modal Navigation: Getting from Here to There: D. Kuehn, Federal Highway Administration

Alternates1. Moving Forward to the Future Low-Cost PPP

Paradigm: J.D. Calle Calle, P.F. Navarro Madrid, I. Rodríguez Pérez, G. Tobías González, GMV, Spain

2. A High Precision Indoor Positioning Method Based on Visible Light Communication with Visual Information Matching: G. Yingkui, D. Lizhi, L. Bingcheng, Y. Guang, Academy of Opto-Electronics, CAS, China

Dr. Daniele Borio, European Commission, Joint Research Centre, Italy

Alexander Rügamer, Fraunhofer IIS, Germany

8:35 A Novel Navigation Message Authentication Scheme for GNSS Open Service: G. Caparra, S. Sturaro, N. Laurenti, University of Padova, Italy; C. Wullems, European Space Agency/ESTEC, TEC-ETN, The Netherlands

8:57 Message Authentication, Anti-Replay Protection and Channel Coding: J.T. Curran, EC Joint Research Centre, Italy; C. O’Driscoll, Independent Consultant, Ireland

9:20 GNSS Receiver Fingerprinting for Security-Enhanced Applications: D. Borio, C. Gioia, G. Baldini, J. Fortuny, EC Joint Research Centre, Institute for the Protection and Security of the Citizen (IPSC), Italy

9:43 GNSS Spoof Detection Using Passive Ranging: P.F. Swaszek, University of Rhode Island; R.J. Hartnett, U.S. Coast Guard Academy; K.C. Seals, U.S. Coast Guard Academy

10:05–10:35, Break. Refreshments served Lobby B10:40 An INS Monitor Against GNSS Spoofing

Attacks during GBAS and SBAS-assisted Aircraft Landing Approaches: C. Tanil, S. Khanafseh, B. Pervan, Illinois Institute of Technology

11:03 Using Tactical and MEMS Grade INS to Protect Against GNSS Spoofing in Automotive Applications: S. Manickam and K. O'Keefe, University of Calgary, Canada

11:26 Secure Position and Time Information by Server Side PRS Snapshot Processing: A. Rügamer, D. Rubino, I. Lukcin, S. Taschke, M. Stahl, W. Felber, Fraunhofer IIS, Germany

11:48 Joint Antenna Array Attitude Tracking and Spoofing Detection Based on Phase Difference Measurements: M. Appel, A. Konovaltsev, M. Cuntz, German Aerospace Center (DLR), Germany; M. Meurer, DLR, & RWTH Aachen University, Germany

Alternates1. Detailed Analysis of the TEXBAT

Datasets Using a High Fidelity Software GPS Receiver: A. Lemmenes, P. Corbell, S. Gundawardena, Air Force Institute of Technology

2. Effect of Tracking Parameters on GNSS Receivers Vulnerability to Spoofing Attack: A. Broumandan, A. Jafarnia-Jahromi, S. Daneshmand, G. Lachapelle, University of Calgary, Canada

3. Spatial Spoofing Signal Suppression Using the Constellation Covariance Matrix: L. Kurz, S. Zorn, T.G. Noll, RWTH Aachen University, Germany

4. The First Steps Towards using Galileo Public Regulated Service (PRS) for Governmental Authorised Applications in the UK: E. Aguado, B. Wales, M. Dumville, Nottingham Scientific Limited (NSL), UK; P. Cruddace, S. Hancock, Ordnance Survey of Great Britain, UK; P. Lindsay, C. Campbell, UK Space Agency, UK

Room A105/106 8:30 a.m.–12:15 p.m.

E5: Methods for Authentication and Anti-spoofing

Room B110/111/112 8:30 a.m.–12:15 p.m.

F5: Aerospace Applications 1

8:35 Error Analysis for the Combination of Angular, Ranging, and Barometric Measurements: E. Nossek, O. Osechas, German Aerospace Center (DLR), Germany; M. Meurer, DLR and RWTH Aachen University, Germany

8:57 Achieving GNSS Compatibility and Interoperability to Support Space Users: J.J. Miller, NASA HQ; F.H. Bauer, FBauer Aerospace Consulting Services; A.J. Oria, Overlook Systems Technologies, Inc.; S. Pace, George Washington University; J.J.K. Parker, NASA GSFC

9:20 Validation of GNSS Multipath Model for Space Proximity Operations Using the Hubble Servicing Mission 4 Experiment: B. Ashman, Goddard Space Flight Center; J. Veldman, P. Axelrad, University of Colorado; J. Garrison, Purdue University; L. Winternitz, Goddard Space Flight Center

9:43 Third Party On-Board Navigation Software for AGGA-4-Based Space GNSS Receivers: Test Results for GEO Mission: J.S. Silva, H.D. Lopes, P.F. Silva. DEIMOS Engenharia, Portugal; C. Valle, A. Latorre, DEIMOS Space, Spain; C. Pommer, M. Sust, RUAG Space, Austria; J.A. Garcia-Molina, European Space Agency, The Netherlands

10:05–10:35, Break. Refreshments served Lobby B10:40 Validation of a Space Mission Oriented

INS/GNSS Navigator through Utilization of UAVs: M. Wis, M. Kerr, A. Latorre, G. Veccione, DEIMOS SPACE SLU, Spain

11:03 Flight Performance Investigations of Enhanced Rotorcraft Operations in Mountainous Areas–Towards a More Ambitious RNP Performance: M. Troller, M. Scaramuzza, H. Wipf, M. Nyffenegger, Skyguide, Swiss Air Navigation Services, Switzerland; H. Leibundgut, Swiss Air Rescue, Switzerland

11:26 GNSS-Based Dual-Antenna Heading Augmentation for Attitude and Heading Reference Systems: B. Schnaufer, G. McGraw, H. Phan, A. Joseph, Rockwell Collins

11:48 An Aided Wide Area Multilateration System Using Aircraft Altitude Information: S-L. Jheng and S-S. Jan, National Cheng Kung University, Taiwan

Alternates1. Multi-Receiver Direct Position Estimation

based on Hardware-accelerated C++ Receiver: A.H-P. Chu and G.X. Gao, University of Illinois at Urbana-Champaign

2. New Effective Multipath Mitigation and Initial Assessment of the Radio and Inertial Navigation Sensor("RINA"): S. Yamazaki, K. Sunami, T. Nakamura, M. Kawakami, JAXA, Japan

3. Modeling and Simulation of GPS Signal Measurement for Airborne Relative Navigation: K. Zhao, Engility Corp.



22


Friday Afternoon, September 16, 1:45 p.m.–4:50 p.m.


Dr. Anna Jensen, KTH Royal Institute of Technology, Sweden

Dr. Paul Alves, Hemisphere GNSS, Canada

Dr. Paul D. Groves, University College London

Dr. Kyle Kauffman, Air Force Institute of Technology

Victoria Kropp, University FAF Munich, Germany

Dr. Andriy Konovaltsev, German Aerospace Center (DLR), Germany

Room B113/114/115/116 1:45 p.m.–4:00 p.m.

A6a: PANEL: High-Accuracy GNSS–How Good Does it Get?

The state of the art research related to real time kinematic positioning (RTK), and to precise point positioning (PPP) in real time and post mission. Factors limiting improvement in position accuracy and in convergence / initialization time will be discussed including ambiguity resolution. Panelists will also present their views on future performance considering multi constellation multi frequency methodologies for next generation high-accuracy GNSS positioning.1. The NRCan PPP Service: Towards Fast

Convergence: Dr. Simon Banville, Natural Resources Canada

2. Some Issues Still in the Way to Ultimate Precision: Dr. Oscar Colombo, USRA/NASA Goddard Space Flight Center

3. Think Globally, Act Locally: Challenges of an Australian PPP-RTK Service: Dr. Stavros Melachroinos, Geoscience Australia

4. The Ascent and Realities of PPP: Dr. Sunil Bisnath, York University, Canada

5. Increasing the Availability of High Accuracy Positioning: Sandra Kennedy, NovAtel, Inc., Canada

6. Galileo and High Accuracy Services: Alvaro Mozo, European GNSS Agency, Czech Republic

7. HIgh-accuracy Positioning Solutions and Services–Techonology and Applications: Dr. Rodrigo Leandro, Hemisphere GNSS

8. High Accuracy GNSS Positioning: Ubi Sumus? Quo Vadimus?: Dr. Richard Langley, University of New Brunswick, Canada

Room B110/111/112 3:20 p.m.–4:50 p.m.

A6b: Atmospheric Science 2

Dr. Gary Bust, The Johns Hopkins University/APL

Dr. Susumu Saito, Electronic Navigation Research Institute (ENRI), Japan

Room C120/121/122 1:45 p.m.–4:50 p.m.

B6: Navigation Using Environmental Features

1:50 Validation of a Magnetic Anomaly Navigation Model with Fight Test Data: A. Canciani and J. Raquet, Air Force Institute of Technology

2:12 Gaussian Mixture Filter for Multipath Assisted Positioning: M. Ulmschneider, C. Gentner, German Aerospace Center (DLR), Germany; R. Faragher, Focal Point Positioning, UK; T. Jost, DLR, Germany

2:35 Smartphone Navigation Using Barometric Altitude and Topographic Maps: P. Smagowski, Military Institute of Armament Technology, Poland; J . Raquet, Air Force Institute of Technology; K. Kauffman, VRA/ANT Center

2:58 Direct Positioning Utilizing Non Line of Sight (NLOS) GPS Signals: Y. Ng and G.X. Gao, University of Illinois at Urbana-Champaign

3:20 Sensitivity Analysis of 3D Building Model-assisted Snapshot Positioning: R. Kumar and M.G. Petovello, University of Calgary, Canada

3:42 Integration of GNSS Positioning and 3D Map using Particle Filter: T. Suzuki, Waseda University, Japan

4:04 Real-Time Implementation of Vision-Aided Monocular Navigation for Small Fixed-Wing Unmanned Aerial Systems: T. Machin, J. Raquet, D. Jacques, J. Pecarina, Air Force Institute of Technology; D. Venable, Air Force Research Laboratory

4:26 Integrating Vision Based Navigation with INS and GPS for Land Vehicle Navigation in Challenging GNSS Environments: Y. Sun, Harbin Engineering University, China & Queen's University, Canada; M.T. Rahman, Queen's University, Canada; T.B. Karamat, Royal Military College of Canada; A. Noureldin, RMC & Queen's University, Canada; Y. Gao, Harbin Engineering University, China

Alternates 1. Analysis of a New Navigation System Based

on Partially Tight Integration of IMU-Visual Odometry with Loosely Coupled GPS: M. Sahmoudi and R. Navya, ISAE-SUPAERO, Toulouse University, France

2. Tightly Coupled Kinematics Visual Odometry /PPP System for Land Vehicle Navigation: F. Liu and Y. Gao, University of Calgary, Canada

Room B117/118/119 1:45 p.m.–4:50 p.m.

C6: GNSS Augmentation Systems and Integrity 3

1:50 Mitigation of Short Duration Satellite Outages for Advanced RAIM and other GNSS Integrity Systems: J. Blanch, T. Walter, P. Enge, Stanford University

2:12 Exploiting Satellite Motion in ARAIM: Measurement Error Model Refinement Using Experimental Data: M. Joerger and B. Pervan, Illinois Institute of Technology

2:35 Requirements and Performance of Horizontal and Vertical ARAIM Exclusion Algorithm: Y. Zhai, M. Joerger, B. Pervan, Illinois Institute of Technology

2:58 Nominal Range Error Analysis to Support ARAIM: S. Perea, M. Meurer, German Aerospace Center, DLR & RWTH Aachen, Germany; l. Martini, M. Rippl, DLR, Germany; M. Joerger, B. Pervan, Illinois Institute of Technology

3:20 Kalman Filter-Based GNSS Integrity Monitoring: S. Bhattacharyya, Indian Institute of Technology, India; D. Gebre-Egziabher, University of Minnesota, Twin Cities

3:42 Signal Quality Monitoring for New GNSS Signals: J-B. Pagot, P. Thevenon, O. Julien, ENAC, France; F. Amarillo-Fernandez, ESA, the Netherlands; D. Maillard, Cap Gemini, France

4:04 Horizon-to-elevation Mask: A Potential Benefit to Ionospheric Gradient Monitoring: S. Zaminpardaz, Curtin University, Australia

4:26 Robust Chi-Square Monitor Performance with Noise Covariance of Unknown Aspect-Ratio: J. Rife, Tufts University

Alternates1. Experimental Evaluation in Multipath

Scenarios of a Novel Framework for GNSS Integrity Based on the Transient Change Detection Theory: D. Egea-Roca, G. Seco-Granados, J.A. López-Salcedo, Universitat Autònoma de Barcelona, Spain

2. Automated GPS Signal-in-Space Anomalies Monitoring Over More than 11 Years: C. López de Echazarreta, ESA, GNSS Regional Augmentation Systems Division, France; A. Pandele, Romanian Institute of Space Science (ISS), Romania; J. Sanz, J.M. Juan, Universitat Politécnica de Catalunya, Spain

3. GPS SISRE/URA Integrity Analysis for ARAIM: F. Mistrapau, B. Bija, G. Cueto-Felgueroso, M. Odriozola, M. Azaola, A. Cezón, GMV, Spain; F. Amarillo, ESA

4. A Frequency Domain-based Detection Technique for Digital Distortion on GNSS Signals: C. Sun, H. Zhao, C. Zhuang, W. Feng, Beihang University, China


3:20 DCB Estimation Based on Uncombined PPP: Y. Xiang, University of Calgary, Canada

3:42 Ionospheric Storms of Solar Cycle 24 and Their Impact on the WAAS Ionospheric Threat Model: L. Sparks, JPL California Institute of Technology; E. Altshuler, Sequoia Research

4:04 Ionosphere Ray-Tracing of RF Signals and Solution Sensitivities to Model Parameters: M.L. Psiaki, Virginia Tech

4:26 Real-time Ionosphere Monitoring by Three-dimensional Tomography Over Japan: S. Saito, ENRI, Japan; S. Suzuki, M. Yamamoto, Kyoto University, Japan; C-H. Chen, National Cheng Kung University, Taiwan; A. Saito, Kyoto University, Japan

Alternate1. Assessing Ionospheric Scintillation Effects for

Future GNSS Radio Occultation Missions: M. Najmafshar and S. Skone, University of Calgary, Canada




23


Friday Afternoon, September 16, 1:45 p.m.–4:50 p.m.


Dr. Paul McBurney, GopherHush

Nicolas Schneckenburger, German Aerospace Center (DLR), Germany

James Miller, NASA Dr. Sanjeev Gunawardena, Air Force Institute of Technology

Scott Burgett, Garmin International

Dr. David Choi, T he MITRE Corporation

Room A105/106 1:45 p.m.–3:20 p.m.

D6a: Complementary PNT 1

1:50 Particle Filter Based WiFi Positioning System Implementation Using WiFiSLAM Radio Map: B. Shin, C. Kim, J. Kim, Korea Institute of Science and Technology (KIST), South Korea; S. Jeon, C. Kee, Seoul National University, South Korea; T. Lee, KIST, South Korea

2:12 Obstruction-Aware Bluetooth Low Energy Indoor Positioning: A. Affendi Juri and T. Arslan, University of Edinburgh, UK

2:35 Performance Characterization of Positioning in MISO LTE Systems: K. Shamaei, J. Khalife, and Z.M. Kassas, University of California, Riverside

2:58 The 5G Localization Waveform Ranging Accuracy over Time-Dispersive Channels–An Evaluation: E. Staudinger, M. Walter, A. Dammann, German Aerospace Center (DLR), Germany

Alternates 1. Sources of Error Characterization for Navigation

Using Cellular CDMA Signals: J. Khalife and Z.M. Kassas, University of California, Riverside

2. Indoor Localization for Bluetooth Low Energy Devices Using Weighted Off-set Triangulation Algorithm: X. Hou, T. Arslan, A. Juri, University of Edinburgh, UK

Room A105/1063:20 p.m.–4:50 p.m.

D6b: Complementary PNT 2

Dr. Paul McBurney, GopherHush

Nicolas Schneckenburger, German Aerospace Center (DLR), Germany

3:20 A Modular Approach to Integrity for APNT: O. Osechas, B. Belabbas, E. Nossek, M. Meurer, German Aerospace Center (DLR), Germany

3:42 Navigating From Low Earth Orbit: T. Reid, A. Neish, T. Walter, P. Enge, Stanford University

4:04 Automated High Precision Optical Tracking of Aircraft and Non-cooperative Flying Objects: S. Guillaume, A. Geiger, Institute of Geodesy and Photogrammetry, ETH Zurich, Switzerland; M. Scaramuzza, Skyguide, Switzerland

4:26 Modelling the L-Band Air to Ground Channel for Navigation Applications: N. Schneckenburger, T. Jost, U-C. Fiebig, German Aerospace Center (DLR), Germany; D. Matolak, University of South Carolina; R. Sun, National Institute of Standards and Technology

Alternates 1. An Accurate and Robust Standalone Terrestrial

Timing Receiver for Indoor Deployment: S. Deshpande, P. Wouter, A. Raghupathy, S. Meiyappan, NextNav Inc.

2. Crowdsourced & Clustering-based WiFi Localization Technique Leveraging Range Query: B. Yu, T. Lee, H. Kim, J-S. Choi, M. Seo, Korea Institute of Science and Technology, South Korea

Room A107/108/109 1:45 p.m.–4:50 p.m.

E6a: Interference and Spectrum Protection 1

1:50 Method and Results of Testing GNSS Receivers’ Robustness Against RFI Signals: Y. Ying, T. Whitworth, M. Dumville, Nottingham Scientific Ltd. UK

2:12 Interference Localization using a Controlled Radiation Pattern Antenna (CRPA): G. Berz, P. Barret, Eurocontrol, Belgium; B. Disselkoen, M. Richard, Rockwell Collins; O. Bleeker, ADSE; V. Rocchia, F. Jacolot, DSNA; T. Bigham, FAA

2:35 Empirical Assessment and Modelling of RFI Impact on Aviation GPS/SBAS Receiver Performance: M. Scaramuzza, M. Troller, P. Truffer, H. Wipf, Skyguide, Swiss Air Navigation Services Ltd., Switzerland; H. Leibundgut, Swiss Air-Rescue, Switzerland; S. Rämi, M. Bertschi, Swiss Air Force, Switzerland

2:58 Assessment of the Effect of Quantization on the Degradation Brought by Interference on a GNSS Receiver: O. Julien and A. Blais, ENAC, France

Alternates 1. Potential Threats by a Symmetric Deployment

of Replay Devices Against Synchronization via a Navigation Satellite System: T. Iwamoto, Mitsubishi Electric Corporation, Japan

2. Monitor, Detect, Characterise, Mitigate and Protect–Introducing STRIKE3: M. Pattinson, M. Dumville, Y. Ying, Nottingham Scientific Ltd. UK; Z. Bhuiyan, H. Kuusniemi, Finnish Geospatial Research Institute, Finland; B. Gabrielsson, A. Waern, Swedish Defence Research Agency (FOI), Sweden; M. Poloskey, Automotive & Rail Innovation Center (ARIC) of AGIT mbH; S. Hill, Satellite Applications Catapult Limited; N. Shivaramaiah, S. Kibe, GNSS Labs; S. Lee, ETRI, Japan; J. Reyes Gonzalez, European GNSS Agency (GSA)

Room B110/111/112 1:45 p.m.–3:20 p.m.

F6a: Aerospace Applications 2

1:50 High Accuracy Near-Real-Time Orbit Determination of Low Earth Satellite in Support of Radio Occultations and Tactical Ocean Altimetry: Y. Bar-Sever, Jet Propulsion Laboratory, California Institute of Technology

2:12 Effects of IGS Products on GNSS-based Precise Orbit Determination: Z. Kang, B. Tapley, S. Bettadpur, Center of Space Research, The University of Texas at Austin

2:35 Precise Onboard Orbit Determination for LEO Satellites with Real-Time Orbit and Clock Corrections: A. Hauschild, German Aerospace Center (DLR/GSOC), Germany; J. Tegedor, Fugro Satellite Positioning AS, Norway; O. Montenbruck, DLR/GSOC, Germany; H. Visser, Fugro Intersite BV, The Netherlands; M. Markgraf, DLR/GSOC, Germany

2:58 Chang’E-5T Orbit Determination Using GNSS Observations: Q. Zhao, X. Su, T. Geng, X. Xie, Wuhan University, Wuhan, China

Alternates 1. Performance Assessment of Radio Occultation

Experiment on a Near Equatorial Orbit Microsatellite: Y-F. Tsai, G.X. Lee, B. Li, S.T. Chin, W.S. Lim, K.S. Low, Nanyang Technological University, Singapore

2. Development and Verification of LQG based Attitude Determination and Control Algorithm of Cube-satellite “SNUGLITE” using GPS and Multiple Sensors: J.Y. Jang, Y. Kim, H. No, S.K. Yu, M. Choi, C. Kee, Seoul National University, South Korea

3. Robust Control Law Design for Satellite Tracking Mode: A. M. Elbeltagy, Y. Z. Elhalwagy, A. M. Bayoumy Ali, A. M. Youssef, MTC, Egypt

Room B113/114/115/116 4:05 p.m.–4:50 p.m.

F6b: PANEL: Unmanned Safety Certification

Mitch Narins, Strategic Synergies, LLC

Al Simon, Rockwell Collins

This panel discussion will address certification and operational approval of high-performance unmanned aerial systems (UAS). Discussion will address progress on technical standards and policies for certifying and approving UAS; technology advancements that address operational hazards, security and privacy issues; technology gaps and vulnerability issues associated with UAS in civil airspace; roadmaps and plans for UAS certification.

1. Don Walker: Federal Aviation Administration Aircraft Cert.

2. John Moore: Rockwell Collins

3. William (Will) Mahoney: Northrup Grumman Aircraft Cert.

E6b: Interference and Spectrum Protection 2 3:20 Demonstration of UAV Based GPS Jammer

Localization During a Live Interference Exercise: A. Perkins, L. Dressel, S. Lo, P. Enge, Stanford University

3:42 Jammer Localization: From Crowdsourcing to Synthetic Detection: D. Borio, C. Gioia, EC Joint Research Centre (JRC), Institute for the Protection and Security of the Citizen (IPSC), Italy; A. Štern, F. Dimc, University of Ljubljana, Slovenia; G. Baldini, EC JRC, IPSC, Italy

4:04 Developing a Real-world Threats Test Framework and Methodology for PNT Systems and Devices: G. Buesnel, J. Pottle, R. Boyles, F. Simon-Galabadon, M. Holbrow, Spirent Communications, UK

4:26 An Analysis of Near-band Harmful Interference on Civilian GPS Receivers: C. Brashar, New Mexico Institute of Mining and Technology

Alternates 1. PROGRESS Project: Jamming and Spoofing Detection and

Localization System for Protection of GNSS Ground-based Infrastructures: G. Gamba, A. Dalla Chiara, O. Pozzobon, Qascom S.r.l., Italy; N. Ribière-Tharaud, CEA; J-P. Vincent, Thales Alenia Space, France

2. From Agnostic to Model-Based GNSS Jamming Detection: D. Borio, E. Cano, C. Gioia, EC Joint Research Centre (JRC), Institute for the Protection and Security of the Citizen (IPSC), Italy

3. Performance Evaluation of the Direct Acquisition of GPS-like VBOC Signals Against Noise and Interference–Technical Report: I.F. Progri, Giftet Inc.

4. More Accurate Model for GNSS Radio Frequency Compatibility Assessment: X. Huang, G. University, China; W. Liu, Shanghai Maritime University, China; X. Wang, B. Chen, Guangxi University, China




24

EXHIBIT HALL HOURSWednesday: 10:00 a.m.–8:00 p.m.

Thursday: 9:00 a.m.–6:00 p.m.

The world’s largest GNSS showcase!Network with more than 1,000 Attendees from over 45 Different Countries!

Acutronic USA Inc700 Waterfront Dr.Pittsburgh, PA 15222, USAWeb: www.acutronic.comBooth: 415

Autonomy and Navigation Technology Center/AFIT 2950 Hobson Way Wright-Patterson AFB, OH 45433,

USA Phone: 937-255-3636 x4754Email: [email protected] Web: www.afit.edu/ANTBooth: 507

Beijing BDStar Navigation Co., Ltd. BDStar Navigation Bldg., No. 7Fengxian East Road, Yongfeng

Industrial Base Haidian District, Beijing 100094, ChinaWeb: www.navchina.comBooth: 116

ComNav Technology, Ltd Chengliu Middle Rd., Bldg. 2Shanghai 201801, ChinaWeb: www.comnavtech.comBooth: 115

Coordinates Magazine A002. Mansara Apt, C-9 Vasundhara

EnclaveDelhi 110096, IndiaWeb: www.mycoordinates.orgBooth: 108

DataGrid/navXperience GmbHQuerweg 20 13591 Berlin, Germany Phone: +49 30 37589670Email: dirk.kowalewski@navxperience.

com Web: www.navxperience.com Booth: 517

ION GNSS+ 2016 Exhibitors–As of August 2016Companies shaded in green are ION Corporate Members

CAST Navigation1 Highwood Dr., Ste. 100Tewksbury, MA 01876, USAWeb: www.castnav.com Booth: 215

Champion Instruments4317 Park Dr., Ste. 200Norcross, GA 30093, USAWeb: www.championinstruments.

com Booth: 416

Chronos Technology Stowfield House Upper Stowfield,

Lydbrook Gloucestershire GL17 9PD, United

Kingdom Phone: +44 1594 862200Email: [email protected]: www.chronos.co.uk Booth: 114

Deimos SpaceRonda de Poniente 19, 2 - 2ª 28760 Tres Cantos, Madrid, SpainPhone: +34 918063450Email: mercedes.fernandez@deimos-

space.com Web: www.elecnor-deimos.com Booth: 417

DT Research2000 Concourse Dr.San Jose, CA 95131, USAEmail: [email protected]: www.dtresearch.comBooth: 419

European CommissionAvenue D’Auderghen, Office 07/246Brussels 1049, Belgium Web: ec.europa.eu/galileo Booth: E

Fraunhofer IISNordostpark 8490411 Nuremberg, GermanyWeb: www.iis.fraunhofer.deBooth: 316

25

ION GNSS+ 2016 Exhibitors–As of August 2016Companies shaded in green are ION Corporate Members

German Aerospace CenterOberpfaffenhofen82234 Wessling, GermanyWeb: www.dlr.de/kn Booth: D

GigPeak Inc 130 Baytech Dr.San Jose, CA 95134, USAWeb: www.gigpeak.comBooth: 511

GMV Aerospace and Defence S.A.U. Calle Isaac Newton, 11 28760 Tres Cantos, Madrid, Spain Web: www.gmv.com Booth: 508

GPS Networking, Inc373 E Industrial Blvd.Pueblo West, CO 81007, USAWeb: www.gpsnetworking.comBooth: 110

GPS World1360 E 9th St., Ste. 1070Cleveland, OH 44114, USAWeb: www.GPSWorld.comBooth: 217

Harris Corporation400 Initiative Dr. Rochester, NY 14606, USAWeb: www.harris.com Booth: 503

Ideal Aerosmith3001 South Washington St.Grand Forks, ND 58201, USAPhone: 701-757-3400Email: [email protected] Web: www.idealaerosmith.com Booth: 117

IFEN GmbHAlte Gruber Str. 6 85586 Poing, GermanyPhone: +49 (0)8121 22 38 20Email: [email protected] Web: www.ifen.com Booth: 208

Inside GNSS1574 Coburg Rd. #233Eugene, OR 97401, USAWeb: www.insidegnss.com Booth: 409

iP-Solutions5-4-7 AkasakaThe Hexagon Building 7FMinato-ku, Tokyo, Japan 107-0052Web: www.ip-solutions.jpBooth: 519

Jet Propulsion Laboratory4800 Oak Grove Dr.Pasadena, CA 91109, USAWeb: jpl.nasa.gov Booth: 509

L-3 IEC602 E. Vermont Ave.Anaheim, CA 92807, USAPhone: 714-758-4156Email: [email protected] Web: www.l-3com.com/iecBooth: 104

Labsat By RacelogicUnit 10 Swan Business Centre, Osier

Way Buckingham, Bucks MK18 1TB, United

KingdomPhone: +44 (0) 1280 823803Email: [email protected] Web: www.labsat.co.uk Booth: F

Lockheed Martin12257 S Wadsworth Blvd.Littleton, CO 80125, USAWeb: www.lockheedmartin.com Booth: C

Microsemi Frequency and Time Corporation3870 N First St.San Jose, CA 95131, USAWeb: www.microsemi.com Booth: 119

Munich Satellite Navigation SummitIsta of Universitaet der Bundeswehr,

Werner-Heisenberg-Weg 3985577 Neubiberg, GermanyWeb: www.munich-satellite-

navigation-summit.orgBooth: 513

NavtechGPS5501 Backlick Rd., #230Springfield, Virginia 22151, USA Phone: 703-256-8900Email: [email protected] Web: www.navtechgps.com Booth: 214

Northrop Grumman21240 Burbank Blvd.Woodland Hills, CA 91367, USAPhone: 818-715-4716Email: [email protected] Web: www.northropgrumman.com Booth: 314

NovAtel, Inc1120 68th Ave. NECalgary, Alberta T2E8S5, CanadaPhone: 403-295-4988Email: [email protected] Web: www.novatel.com Booth: B

NTLab420, 41 Surganova St.220013 Minsk, Belarus Phone: +375172900999 ext. 427Email: [email protected] Web: www.ntlab.com Booth: 501

Overlook Systems Tech, Inc1950 Old Gallows Rd., Ste 400Vienna, VA 22182, USAWeb: www.overlooksys.com Booth: 518

Rohde & Schwarz USA, Inc6821 Benjamin Franklin Dr.Columbia, MD 21046, USAPhone: 503-403-4728 Email: [email protected]

schwarz.com Web: www.rohde-schwarz.com Booth: 109

Rx Networks, Inc1201 West Pender St., Ste. 800 Vancouver, BC V6E 2V2, CanadaPhone: 404-314-3281Email: [email protected] Web: www.rxnetworks.com Booth: 218

Sensonor ASKNUDSRØDVEIEN 7 P.O. BOX 1004 3194 Horten, NorwayPhone: +1 408 707 0694Email: [email protected] Web: www.sensonor.comBooth: 317

Septentrio23848 Hawthorne Blvd., Ste. 200Torrance, CA 90505, USAWeb: www.septentrio.com Booth: 216

Silicon Sensing Systems LimitedClittaford Rd Plymouth PL6 6DE United KingdomWeb: www.siliconsensing.com Booth: 418

Skydel Solutions1319 Rue des PluviersLongueuil, Quebec, J4G 2N4, CanadaWeb: www.skydelsolutions.com Booth: 118

Spectracom1565 Jefferson Rd., Ste. 460Rochester, NY 14623Phone: 585-321-5800Email: [email protected] Web: www.spectracom.comBooth: 319

Spirent CommunicationsAspen WayPaignton, Devon TQ4 TQR, United

KingdomPhone: +44 1803 546325Email: [email protected]: www.spirent.com/positioningBooth: A

Spirent Federal Systems1402 West State Rd.Pleasant Grove, UT 84062, USAEmail: [email protected]: www.spirentfederal.com/GPS Booth: A

SYNTONY SAS5 Bd Jean Auguste Ingres Colombe Parc Bat. A1, 31 770

Colomiers, France Phone: +33 5 81 319 919Email: [email protected]: www.syntony.fr Booth: 100

SYRLINKS28 Rue Robert KellerZAC des Champs Blancs35510 Cesson-Sévigné, France Phone: +33 (0)2 99 00 94 52Web: www.syrlinks.com Booth: 514

Systron Donner Inertial2700 Systron Dr. Concord, CA 94518, USAWeb: www.systron.com Booth: 414

Technology Advancement Group (TAG)22355 Tag WayDulles, VA 20166, USAPhone: 703-889-1630Email: [email protected] Web: www.tag.com Booth: 315

Telit Wireless Solutions3131 RDU Center Dr., Ste. 135Morrisville, NC 27560Email: [email protected] Web: www.telit.com Booth: 515

ITM International Technical Meeting

PTTIPrecise Time and Time IntervalSystems Appplications Meeting

January 30 - February 2, 2017Hyatt Regency Monterey

Monterey, California

www.ion.org

Co-located 2017 International Technical Meeting (ITM) and Precise Time and Time Interval (PTTI) Systems and Applications Meeting

ONE Registration Fee, TWO Technical Events and a Commercial Exhibit

Pacifi c PNT2017 May 1–4, 2017

Marriott Waikiki Beach, Honolulu, Hawaii

www.ion.org/pnt

Register and reserve your hotel room

by March 28 to take advantage of

discounted rates

Where East Meets West in the Global Cooperative Development of Positioning,

Navigation and Timing Technology

27

Wednesday, September 14Attendee Luncheon 12:15 p.m.–1:15 p.m., Exhibit Hall A

This event is included with all full conference, student, exhibit only, and Wednesday single day registrations. See registration desk onsite to purchase tickets for guests.

Women in PNT Networking LuncheonKeynote Presentation: Women Don’t Ask: Strategies for Optimizing Professional Development 12:15 p.m.–1:45 p.m. Oregon Ballroom 201

Why are women hesitant to negotiate? Why do women not seek out leadership roles? Why don’t women ask? Participants will walk away with a greater understanding of why gender norms often discourage women from reaching their full professional potential. This workshop offers strategies for increasing your own professional growth. Topics include negotiating, knowing your value and networking.

All women attending the ION GNSS+ 2016 conference are invited to attend this luncheon, brought to you by Women in Positioning, Navigation and Timing (PNT). Women in PNT is a voluntary networking initiative designed to support and engage women who are in the early stages of their careers with women who are established professionals in the field.

Keynote Speaker: Nicole Nieto is a Program Manager at The Ohio State University (OSU), where she serves to advance women faculty through consultations, initiatives and leadership development.

This event will take place during the regular Wednesday lunch break. Attendance is free. Seating will be on a first come, first serve basis, based on availability.

Sponsored by:

Exhibitor Hosted Reception 6:00 p.m.–8:00 p.m., Exhibit Hall A

Join this year’s exhibitors as they host a social evening of information and cuisine. All exhibit booths will be open. Take this opportunity to review developments in GNSS technology, talk shop, get the specifics directly from the vendors, and learn about what has been happening in the GNSS marketplace during the past year. This event is included with any type of registration. Traveling companions 21 and older are welcome.

Wednesday, September 14 30th Anniversary Celebration 8:00 p.m.–10:00 p.m, Exhibit Hall B

Celebrate 30 years of ION GPS, ION GNSS, and ION GNSS+ with a 1980's style celebration, featuring the decade's best food, games, and music. 1980's dress is encouraged; raffle tickets for prizes will be given to those who attend in costume. This event is included with all registrations. Traveling companions 21 years of age and older are welcome to attend.

Thursday, September 15Attendee Luncheon 12:15 p.m.–1:15 p.m., Exhibit Hall AThis event is included with all full conference, student, exhibit only and Thursday single day registrations. See registration desk onsite to purchase tickets for guests.

Friday, September 16Johannes Kepler and Bradford W. Parkinson Awards Luncheon 12:15 p.m.–1:30 p.m., Oregon Ballroom 201

The purpose of the Kepler Award is to honor an individual for sustained and significant contributions to the development of satellite navigation.

The Bradford Parkinson Award, which honors Dr. Parkinson for his leadership in establishing both the U.S. Global Positioning Systems and the Satellite Division of The Institute of Navigation, is given to an outstanding graduate student in the field of Global Navigation Satellite Systems. The deadline for submitting nominations for both awards is June 30. See www.ion.org/awards for application requirements.

This event is included with a full, or Friday single day, conference registration. Tickets for exhibitors, students and/or guests may be purchased during registration or by visiting the ION GNSS+ registration desk onsite.

Previous Kepler Award Winners at ION GNSS+ 2015 (left to right): Dr. Pratap Misra, Dr. Günter W. Hein, Dr. AJ Van Dierendonck, Mr. Karl Kovach, Mr. Tom Stansell, Dr. Frank van Diggelen, Dr. Per Enge , Dr. John Betz, Dr. Gary McGraw, Dr. Todd Walter , Dr. Frank van Graas, and Dr. Richard Langley.

Special Events and Programs

(continued)ITM International Technical Meeting

PTTIPrecise Time and Time IntervalSystems Appplications Meeting

January 30 - February 2, 2017Hyatt Regency Monterey

Monterey, California

www.ion.org

Co-located 2017 International Technical Meeting (ITM) and Precise Time and Time Interval (PTTI) Systems and Applications Meeting

ONE Registration Fee, TWO Technical Events and a Commercial Exhibit

Pacifi c PNT2017 May 1–4, 2017

Marriott Waikiki Beach, Honolulu, Hawaii

www.ion.org/pnt

Register and reserve your hotel room

by March 28 to take advantage of

discounted rates

Where East Meets West in the Global Cooperative Development of Positioning,

Navigation and Timing Technology

ION Plenary Session: Tuesday, Sept. 13 • 6:30 p.m.–8:30 p.m. • Oregon Ballroom • Oregon Convention Center

Portland, Oregon Sept. 13–16, 2016

The Positioning System of the Brain: Nobel Laureate, Professor John O’Keefe

8:30 a.m.–12:15 p.m.A1: Advances in GNSS Software-defined ReceiversRoom A107/108/109

1:45 p.m.–5:30 p.m. A2: GNSS Receiver Processing and Navigation Algorithms 1Room A107/108/109

8:30 a.m.–12:15 p.m. B1: Multisensor Navigation in Challenging Environments 1Room C120/121/122

1:45 p.m.–5:30 p.m. B2: Remote Sensing, Space Applications, Timing, and Clock TechnologyRoom C120/121/122

8:30 a.m.–12:15 p.m.C1: GNSS Augmentation Systems and Integrity 1 Room B117/118/119

1:45 p.m.–5:30 p.m. C2: UAV NavigationRoom B117/118/119

8:30 a.m.–10:05 a.m.D1a: Current Advances in Indoor Location (with demos)Room A105/10610:35 a.m. – 12:15 p.m.D1b: Land Based Applications 1Room A105/106

1:45 p.m.–5:30 p.m. D2: PANEL: Urban NavigationRoom B113/114/115/116

8:30 a.m.–12:15 p.m.E1: PANEL: Status of GPS, GLONASS, Galileo, BeiDou and QZSSRoom B113/114/115/116

1:45 p.m.–3:25 p.m. E2a: BeiDou: Hosted by the Chinese Academy of SciencesRoom A105/1063:55 p.m.–5:30 p.m. E2b: PANEL: Galileo EvolutionsRoom A105/106

8:30 a.m.–12:15 p.m.A3: Signal Processing for Degraded EnvironmentsRoom C120/121/122

1:45 p.m.–5:30 p.m.A4: Next Generation RF and Digital Signal Processing Receiver TechniquesRoom B117/118/119

8:30 a.m.–12:15 p.m.A5: GNSS Receiver Processing and Navigation Algorithms 2Room A107/108/109

1:45 p.m.–3:20 p.m.A6a: PANEL: High-Accuracy GNSS—How Good Does it Get?Room B113/114/115/116

3:20 p.m.–4:50 p.m.A6b: Atmospheric Science 2Room B110/111/112

8:30 a.m.–10:05 a.m.B3a: PANEL: Assured PNTRoom B113/114/115/116

10:35 a.m.–12:15 p.m.B3b: PANEL: PNT Privacy and SecurityRoom B113/114/115/116

1:45 p.m.–3:25 p.m. B4a: Cooperative and Collaborative NavigationRoom C120/121/122

3:55 p.m.–5:30 p.m. B4b: Advanced Inertial Sensing and AlgorithmsRoom C120/121/122

8:30 a.m.–12:15 p.m. B5: Multisensor Navigation in Challenging Environments 2Room C120/121/122

1:45 p.m.–4:50 p.m.B6: Navigation Using Environmental FeaturesRoom C120/121/122

8:30 a.m.–12:15 p.m.C3: UAV Navigation 1 (Invited Speakers Session)Room B117/118/119

1:45 p.m.–5:30 p.m.C4: UAV Navigation 2 (Invited Speakers Session)Room B113/114/115/116

8:30 a.m.–12:15 p.m. C5: Atmospheric Science 1 Room B117/118/119

1:45 p.m. – 4:50 p.m.C6: GNSS Augmentation Systems and Integrity 3Room B117/118/119

8:30 a.m.–12:15 p.m.D3: High Precision GNSS Positioning 1Room A105/106

1:45 p.m.–5:30 p.m.D4: High Precision GNSS Positioning 2Room A105/106

8:30 a.m.–10:05 p.m.D5a: PANEL: Navigation 2026Room B113/114/115/116

10:35 a.m.–12:15 p.m.D5b: Next-generation Sensors in Phones, Tablets and WearablesRoom B113/114/115/116

1:45 p.m.–3:20 p.m.D6a: Complementary PNT 1 Room A105/106

3:20 p.m.–4:50 p.m.D6b: Complementary PNT 2Room A105/106

8:30 a.m.–10:05 p.m.E3a: GNSS Augmentation Systems and Integrity 2Room A107/108/109

10:35 a.m.–12:15 p.m.E3b: Modernization of GNSS 1Room A107/108/109

1:45 p.m.–5:30 p.m.E4: Modernization of GNSS 2Room A107/108/109

8:30 a.m.–12:15 p.m.E5: Methods for Authentication and Anti-spoofingRoom A105/106

1:45 p.m.–3:20 p.m.E6a: Interference and Spectrum Protection 1Room A107/108/109

3:20 p.m.–4:50 p.m.E6b: Interference and Spectrum Protection 2Room A107/108/109

8:30 a.m.–12:15 p.m.F1: GNSS+ Augmentations for High Performance and Safety Critical ApplicationsRoom B110/111/112

1:45 p.m.–5:30 p.m. F2: Precise Point Positioning (PPP) and L-band ServicesRoom B110/111/112

8:30 a.m.–12:15 p.m.F3: Marine ApplicationsRoom B110/111/112

1:45 p.m.–5:30 p.m.F4: Land-Based Applications 2Room B110/111/112

8:30 a.m.–12:15 p.m.F5: Aerospace Applications 1Room B110/111/112

1:45 p.m.–3:20 p.m.F6a: Aerospace Applications 2Room B110/111/112

3:20 p.m.–4:50 p.m.F6b: PANEL: Unmanned Safety CertificationRoom B113/114/115/116


Wed

nesd

ay, S

epte

mbe

r 14

12:15 p.m. – 1:30 p.m., ION GNSS+ Awards Luncheon, Oregon Ballroom

Frid

ay, S

epte

mbe

r 16

Thur

sday

, Sep

tem

ber 1

5

Dr. Brent Ledvina,Virginia Tech

TRACK D Mass-Market and Commercial

Applications

Dr. Alex Stratton,Rockwell Collins

TRACK F High-Performance and

Safety-Critical Applications

ION GNSS+ 2016

Dr. Kurt Zimmerman,Trimble

TRACK E System Updates,

Plans and Policies

Dr. Michael Veth,Veth Research Associates

TRACK B Multisensor Navigation

Dr. Heidi Kuusniemi,Finnish Geospatial Research Institute, Finland

TRACK A Algorithms and Methods

Dr. Jiyun Lee,KAIST, South Korea

TRACK C Advanced GNSS

Technologies

12:15 p.m.–1:15 p.m., Informal Luncheon, Exhibit Hall • 1:15 p.m. –1:45 p.m., Free Time in Exhibit Hall

Green Titles = Research and Innovations Sessions Blue Titles = Applications and Advances Sessions

6:00 p.m. –8:00 p.m., Exhibitor Hosted Reception, Exhibit Hall A8:00 p.m. –10:00 p.m., ION Satellite Division's 30th Anniversary Celebration, Exhibit Hall B

Tutorials and CGSIC: September 12–13 Oregon Convention ... · Plenary Session ... Registered...

Documents

Transcript of Tutorials and CGSIC: September 12–13 Oregon Convention ... · Plenary Session ... Registered...