INSTITUTE OF NAVIGATION1 September 16–20, 2019 Exhibit Hall: September 18 and 19 Hyatt Regency...

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September 16–20, 2019Exhibit Hall: September 18 and 19Hyatt Regency Miami

FLORIDA

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INSTITUTE OF NAVIGATION

The 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation

www.ion.org/gnss

ONSITE PROGRAM

Floor Plan ................................................. 2Program Organizers ............................... 3CGSIC..................................................... 4–5Short Courses ...................................... 6–7Tutorials ..............................................8–10Plenary Session .................................... 11Technical Sessions ......................... 12–23 Exhibitor Listing .............................24–25 Special Events and Programs ............. 26Conference Overview ...........Back Cover

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TERRACE LEVEL (FLOOR 1) ION GNSS+ SESSIONS

ION GNSS+ 2019 • September 16-20, 2019• Miami, Florida

HYATT REGENCY MIAMI FLOOR PLAN

LOBBY LEVEL: (FLOOR 2)EXHIBIT HALL AND REGISTRATION

ION GNSS+ Exhibit Hall

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Mobile Services, Wi-Fi and Social MediaMobile App: To access the ION GNSS+ program and other conference information on your mobile device point your browser to m.ion.org

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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.

Badge ReprintsLost and/or forgotten badges cannot be reprinted. Conference badges are nontransferable.

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. 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 papers at www.ion.org/gnss.

Other Services: A Business Center provides computer, printer, copier and internet access on a self-service basis in the registration area. A baggage check will be offered on Friday.

Business Center sponsored by:

GENERAL CONFERENCE INFORMATION

HYATT REGENCY MIAMI FLOOR PLAN

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MEDIA PARTNERS

CONFERENCE FRIENDPlenary ChairPatricia Doherty Boston College

THANK YOU TO OUR EVENT SUPPORTERS

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Satellite Division Officers

Commercial and Policy

Research

Publication Chairs

ION GNSS+ 2019 Program Organizers

Chair Dr. Chris Hegarty The MITRE Corporation

Immediate Past Chair Dr. Frank van Diggelen Google

Treasurer Tim Murphy Boeing Commercial Airplanes

European Technical Advisor Dr. José-Ángel Ávila-Rodríguez ESA, The Netherlands

Vice Chair Patricia Doherty Boston College

Secretary Dr. Jason Rife Tufts University

TRACK FDr. Sabrina Ugazio Ohio University

Satellite Division Officers

Technical Track Chairs

Program Co-ChairDr. Heidi Kuusniemi, University of Vaasa & Finnish Geospatial Research Institute, Finland

Program Co-ChairTim Murphy Boeing Commercial Airplanes

Pacific Rim Technical Advisor Dr. Allison Kealy RMIT University, Australia

Tutorials Chair Dr. John Raquet IS4S

Commercial and Policy

Research

TRACK C Dr. Oscar Pozzobon Qascom, Italy

TRACK B Dr. Di Qiu Polaris Wireless, Inc.

TRACK A Samantha Smearcheck, Johns Hopkins Univ.–APL

TRACK DDr. Mathieu Joerger Virginia Tech

TRACK EDr. Daniele Borio European Commission, JRC, Italy

General ChairDr. Chris Hegarty The MITRE Corporation

ION President Dr. Y. Jade Morton University of Colorado at Boulder

Peer Review Co-Chair Dr. Terry Moore The University of Nottingham, U.K.

Peer Review Co-Chair Dr. Allison Kealy RMIT University, Australia

Publication Chairs

Peer Review Co-ChairDr. Jihye ParkOregon State University

Plenary ChairPatricia Doherty Boston College

4 ION GNSS+ 2019 • September 16-20, 2019 • Miami, Florida

8:15 a.m. CGSIC Registration Desk–Brickell Ballroom Foyer

Morning Session (Brickell Ballroom)TIMING SESSIONChair: Dr. Stefania Römisch, National Institute of Standards and Technology (NIST)

Deputy Chair: Dr. Lin Yi, NASA Jet Propulsion Laboratory (JPL)

9:00 Introduction, Dr. Stefania Römisch, NIST

9:10 USNO Laboratory Update, Mr. Stephen Mitchell, U.S. Naval Observatory (USNO)

9:30 NRL Time and Frequency Activities, Ms. Francine Vannicola, Naval Research Laboratory

9:50 Report from JPL, Dr. Lin Yi, Jet Propulsion Laboratory (JPL)/Caltech

10:00 Controlling Clocks, Dr. Demetrios Matsakis, Master Clock Inc.

10:10 Development of a Satellite-Based Cold Atom Clock, Dr. Liang Liu, Chinese Academy of Sciences

10:30 Break

10:50 Kepler: Optical Technologies for Global Satellite Navigation and Time Metrology, Dr. Christopher Guenter, German Aerospace Center (DLR)

11:10 Current and Future Atomic Clocks – Roadmap and Applications, Dr. David Scherer, MITRE

11:30 Impact of GGTO Determination and Accuracy on Positioning and Timing, Dr. Pascale Defraigne, Royal Observatory of Belgium

11:50 Resilient PNT for the Civilian Sector, Dr. Arthur Schulz, MITRE

12:10 Discussion

12:30 Session End

Afternoon Concurrent SessionsINTERNATIONAL INFORMATION SESSION (BRICKELL BALLROOM)Chair: Mr. John Wilde, SPACEKEYS

2:00 Introduction, Mr. John Wilde, SPACEKEYS

2:10 Commercialization & Corporatization of GNSS Service Providers, Dr. Dejian Kong, Assistant Professor, China University of Political Science and Law

2:40 Characterization of Radio Frequency Interference for GNSS Maritime Applications, Mr. Emilio Pérez-Marcos, Research Fellow, German Aerospace Center: Institute of Communications and Navigation

3:10 Activities of the UN International Committee on Global Navigation Satellite Systems (ICG), Ms. Sharafat Gadimova, ICG Executive Secretariat, United Nations Office of Outer Space Affairs

3:30 Update on BeiDou Navigation Satellite System (BDS), Dr. Jun Shen, Deputy Director, International Cooperation Center, China Satellite Navigation Office

4:00 Progress Towards a Regional SBAS Service for Australia and New Zealand, Mr. Simon Reynolds, Senior SBAS Engineer, Geoscience Australia and Mr. Dave Collett, Senior Positioning Advisor, Land Information New Zealand

4:30 Korea PNT Update, Dr. Jong Uk (James) Park, Korean COSPAR Committee, Space Science Division, Korea Astronomy and Space Science Institute

5:00 Discussion

5:30 Session End

SURVEYING, MAPPING, AND GEOSCIENCES SESSION (ORCHID BALLROOM)Chair: Ms. Francine Coloma, NOAA National Geodetic Survey

Co-Chair: Mr. Neil Winn, U.S. National Park Service

2:00 Current Status and the Future of CORS Network, Ms. Francine Coloma, CORS Team Geodesist, NOAA National Geodetic Survey

2:20 Determining Positions After 2022, Mr. Denis Riordan, NGS Regional Advisor of South East, NOAA National Geodetic Survey

2:40 InSAR, Dr. Falk Amelung, Professor, University of Miami

3:00 FRPN Moving Forward, Mr. Ron Hanson, FPRN Manager, Florida Department of Transportation

3:20 Break

4:00 GNSS Positioning Accuracy in the NPS/DOI, Mr. Neil Winn, GIS Specialist, National Park Service

4:20 The Status of Geologic and Geomorphic Mapping in Florida, Mr. Guy "Harley" Means, Assistant State Geologist, Florida Geological Survey, Florida Department of Environmental Protection

4:40 GPS and InSAR Monitoring of Coastal Subsidence in Florida: Implications to Coastal Flooding Hazard Assessments, Dr. Shimon Wdowinski, Associate Professor, Florida International University, Department of Earth and Environment

5:00 Ionospheric Product Developments at the Space Weather Prediction Center, Mr. Rob Steenburgh, Space Scientist, NOAA Space Weather Prediction Center

5:30 Session End

59th Meeting of the Civil GPS Service Interface Committee (CGSIC): Monday, September 16

CGSIC is free, and is open to all ION GNSS+ Registrants

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59th Meeting of the Civil GPS Service Interface Committee (CGSIC): Tuesday, September 17–Plenary Session–Jasmine Ballroom

CGSIC is free, and is open to all ION GNSS+ Registrants

ION GNSS+ 2019 • September 16-20, 2019 • Miami, Florida

8:00 a.m. CGSIC Registration Desk–Jasmine Ballroom Foyer

Morning Plenary Session (Jasmine Ballroom)9:00 Welcome/Opening, Ms. Karen Van Dyke, Director, PNT and Spectrum Management, U.S. Department of Transportation, Chair, CGSIC

9:05 Meeting Overview, Captain Michael Glander, Commanding Officer, U.S. Coast Guard Navigation Center (NAVCEN), Deputy Chair, CGSIC

9:10 Keynote Address, Ms. Diana Furchtgott-Roth, Deputy Assistant Secretary, Office of the Assistant Secretary for Research and Technology, U.S. Department of Transportation

9:30 U.S. National Space-Based PNT Update, Mr. Harold "Stormy" Martin, Director, National Coordination Office for Space-Based Positioning, Navigation, and Timing

9:50 GPS Program Update, Lieutenant Colonel Ken McDougall, Chief, GPS Integration Branch, U.S. Air Force GPS Directorate

10:10 GPS Constellation Status and Performance, Lieutenant Colonel Ken McDougall, Chief, GPS Integration Branch, U.S. Air Force GPS Directorate

10:30 Break

10:45 GPS International Activities, Mr. Jeff Auerbach, U.S. Department of State, Office of Space and Advanced Technology

11:10 Update on DHS PNT Actions, Mr. James Platt, PNT Program Management Office, U.S. Department of Homeland Security

11:35 Q/A, Panel Presenters

12:00 Lunch (on your own)

Afternoon Plenary Session (Jasmine Ballroom)

1:30 Subcommittee Reports:

• International Information Subcommittee, Mr. John Wilde, SPACEKEYS

• Timing Subcommittee, Dr. Stefania Römisch, NIST

• Surveying, Mapping, and Geosciences Subcommittee, Ms. Francine Coloma, NOAA National Geodetic Survey

2:10 WAAS Program Status, Ms. Deborah Lawrence, Federal Aviation Administration, U.S. Department of Transportation

2:30 Civil Signal Operational Capability IPT, Dr. Andrew Hansen, Principal, Aviation Modeling & System Design, Volpe Center, U.S. Department of Transportation

2:50 Automated Flight Termination System, Ms. Lisa Valencia, AFTS Program Manager, NASA Kennedy Space Center

3:10 Report: Economic Benefits of GPS (Sponsored by Commerce Department), Mr. Alan O'Connor, RTI International

3:30 Break

3:40 The GNSS Space Service Volume (SSV): Expanding the Future of GNSS Navigation in Space, Mr. Joel Parker, Navigation and Mission Design, Goddard Space Flight Center, NASA

4:10 User Support Forum

• NAVCEN User Update

• Public Interface Control Working Group, Mr. Daniel Godwin, Section Chief, GPS Requirements, U.S. Air Force GPS Directorate and 2nd Lt Benjamin Ratner, GPS Requirements, U.S. Air Force GPS Directorate

4:30 GPS User Perspectives:

• The Role of Civil Signal Authentication in Trustable Systems, Mr. Logan Scott, President, LS Consulting

5:00 Q/A, Panel Presenters

5:30 Adjourn

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Monday Afternoon1:30 p.m.–3:00 p.m.

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ION GNSS+ 2019 SHORT COURSES–TAUGHT BY ION MASTERSPre-Conference Short Course Information Monday’s short courses are provided on a complimentary basis to all paid ION GNSS+ attendees with the compliments of the Satellite Division and the ION Master Instructors. ION Master Instructors are internationally recognized GNSS experts and educators. All of the ION Masters have generously donated their time and talents to this effort, as a service to the GNSS community, with the ION’s gratitude.

Short courses are presented lecture style. Electronic course notes are the intellectual property of the ION Master Instructor and are provided to registered attendees at the discretion of the instructor via the meeting website.

Included with all Paid ION GNSS+ Registrations

Time Course Instructor1:30 p.m.–3:00 p.m. Select from:Room: Flagler GNSS 101: An Introduction Dr. Pratap MisraRoom: Monroe Introduction to Space Weather Patricia H. DohertyRoom: Tuttle Sensor Integration for Personal Navigation Dr. Dorota A. Grejner-Brzezinska

3:30 p.m.–5:00 p.m. Select from:Room: Flagler GNSS 102: Measurements from Phones, L1, L5 and Carrier Phase Dr. Frank van DiggelenRoom: Monroe Approaches for Resilient and Robust Positioning, Logan Scott

Navigation and Timing (PNT)Room : Tuttle Using a Sextant: Celestial Navigation Dr. Richard J. Hartnett

SHORT COURSE SCHEDULE

GNSS 101: An IntroductionAn overview of the principles of satellite navigation and the requisite technologies that matured in the second-half of the 20th century leading to the development of Transit, which became operational in 1964, followed by GPS in 1995. The principal technologies required for a Global Navigation Satellite System (GNSS) are stable space platforms in predictable orbits, global coordinate frames, spread spectrum signals and ultra-stable clocks. These technologies made GNSS possible, but it’s the revolution in integrated circuits that led to a receiver chip, which adds about $1 to the cost of a smartphone and can determine, virtually instantaneously, your position within a couple of meters, velocity within 5 cm/s, and time within 50 ns. These innovations have transformed how we move about, transact commerce and fight wars. As a preview to GNSS 102, this class will also introduce L5, group-delay, intersystem biases and the basics of carrier phase.

Dr. Pratap Misra, an ION Fellow and Kepler Award recipient, has been active in the GNSS field for 30 years, starting with a project at MIT Lincoln Laboratory aimed at combining measurements from GPS and GLONASS to improve navigation for civil aviation.

SHORT COURSE DESCRIPTIONSIntroduction to Space WeatherSpace Weather is an emerging field of space science that studies how the Sun influences the Earth’s space environment, and the impacts of those interactions on technological and society. Some of the most intense interactions can damage our Earth-orbiting commercial and scientific satellites; threaten astronaut safety; intro-duce high levels of radiation for crews and passengers in flights crossing over the poles; disrupt electric power grids, oil pipelines and the reliability and accuracy of global communications and navigation systems, includ-ing GNSS. With society’s ever-increasing dependence on space-based technology it is important to be aware of Space Weather, its potential impacts and what govern-ments are doing to enhance forecasting and mitigation of its most damaging effects.

This course will introduce the basic physical concepts of the source of Space Weather. This includes information on the Sun, solar wind, eruptive solar phenomena, mag-netosphere, ionosphere and geomagnetic induction. The course will continue with a view of the impacts of Space Weather on technological systems in space and on the ground. Finally, we will introduce current government policy and plans to enhance forecasting capabilities and mitigation of Space Weather.

Patricia H. Doherty is the director and a senior scientist of the Institute for Scientific Research at Boston College where she leads studies of space physics, space weather, ionospheric and atmospheric effects on space-based systems,

and ionospheric measurement techniques. She is an ION Fellow; recipient of the ION’s Burka, Weems and Distinguished Service Awards; recipient of the GPS World Leadership Award; and a past ION president.

Sensor Integration for Personal NavigationA review of the state-of-the-art navigation sensors and techniques suitable for personal and pedestrian navigation, with an extension to the Unmanned Aerial Systems (UAS) navigation. Personal Navigation (PN) is defined as navigation for military and emergency personnel, while pedestrian navigation refers to location/navigation/tracking of all other types of mobile users. An emphasis will be on navigation sensors and techniques in GNSS-challenged environments, such as inertial measurement unit (IMU), wireless local area network, IR and RF transponders, and ultra-wideband (UWB) networks, as well as 2D and 3D active and passive imaging sensors. Following the technology overview, sample implementations and performance assessment of selected navigation system prototypes will be presented. System design, as well as a summary of the performance analysis in the mixed indoor-outdoor environments, with special emphasis on dead-reckoning (DR) performance, will be discussed.

Dr. Dorota A. Grejner-Brzezinska is the Lowber B. Strange Endowed Chair and the associate dean for research in the College of Engineering at The Ohio State University (OSU) and a director of the Satellite Positioning and Inertial Navigation (SPIN) Laboratory. Her research interests

cover GPS/GNSS algorithms, GPS/inertial and other sensor integration for navigation in GPS-challenged environments, sensors and algorithms for indoor and personal navigation, and mobile mapping. She is a Fellow of the ION, RIN and IAG; recipient of the ION’s Kepler and Thurlow awards; a past ION president; and a member of the National Academy of Engineering.

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GNSS 102: Measurements from Phones, L1, L5 and Carrier PhaseNEW! Version 3.0.3.0 of Google GNSS Analysis App for desktops released; get it at https://g.co/gnsstoolsIf you enjoyed the “Measurements from Phones” class last year–come back! We have a whole new set of data and tools for you. After a brief overview of GNSS raw measurements in phones, we will spend most of the course on the new signals available from smartphones, L5 and Carrier Phase, and the new tools and features available to you (free) including the new release of the Google GNSS Analysis Tools for desktops (see http://g.co/GNSSTools). In this course we will use these tools to analyze: L1 vs L5 sensitivity, L1-L5 group delay, Inter-system biases, and carrier-phase residuals (from which you can see things like phase-drift, and cycle slips). We will also show you custom filters on the raw measurement fields. Example: Do you want to analyze only those signals with C/No > 20 dBHz? Just specify 'Cn0DbHz>20' and the Analysis Tool takes care of it for you. Similarly, for any other Boolean operations on any of the twenty-six fields reported through the raw measurements API.This class is a follow-on to “GNSS 101–An Introduction”. In GNSS 101 you will be introduced to the fundamentals of GNSS, including L5, group-delay, inter-system biases, and the basics of carrier phase. In GNSS 102, you will learn how to make actual measurements of these values from actual phones.

Dr. Frank van Diggelen is a principal engineer at Google, where he leads high accuracy location development for Android. He is also ION executive vice president and a lecturer at Stanford University, where he teaches GNSS. Previously he worked at Broadcom and Global

Locate, developing and implementing Assisted-GNSS, which makes GNSS work in cell phones. He is an ION Thurlow Award and Kepler Award recipient, an ION and RIN Fellow, the author of the textbook “A-GPS”, and holds over 90 issued US patents on GNSS. He has a PhD EE from Cambridge University.

Approaches for Resilient and Robust Positioning, Navigation and Timing (PNT)Diverse elements of international infrastructure are critically reliant on GNSS 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 GNSS receivers and offers some possible threat mitigation approaches and policy recommendations. The tutorial starts with a discussion of potential GNSS threats and vulnerabilities. Then, after a quick review of how receivers determine position, the focus is on the effects of various interference types on select signals. The effects of ground mobile propagation in limiting effective jammer range are examined. Mitigations, such as adaptive arrays and IMU aiding, are discussed. Civil jamming examples and incidents are covered, along with methods to detect, identify and militate against their effects. In particular, the importance of maintaining situational awareness for establishing environmental context is examined. Techniques for detecting civil spoofing and authenticating signals will be discussed.

Logan Scott has over 40 years of military and civil GPS systems engineering experience. He specializes in radio frequency signal processing and waveform design. He has pioneered approaches for building jamming-resistant digital receivers and has long advocated

for hardening civil infrastructure. Logan is an ION Fellow and holds 42 patents.

Using a Sextant: Celestial NavigationHow do modern navigators use a sextant, chronometer, stars, and almanac information to solve for ship or aircraft position? The fundamentals are likely more straightforward than you realize! Today’s mariner typically uses six tools to solve for vessel position:

• An almanac (or computer) that predicts precise location of celestial bodies as a function of time;

• A reasonably accurate timepiece;• A device to measure elevation angle of a celestial

body (e.g., sextant);• A “star finder”;• A navigational chart; and• A mathematical or tabular method to convert

observations to contours (lines) of position.

This short course will cover some theory; however, the primary focus will be on the practice of using these six tools to solve for vessel position. Final discussions will focus on experiences with celestial navigation, with topics to include best times to shoot stars, horizon challenges, sources of error, and typical accuracy.

Dr. Richard J. Hartnett is a professor of Electrical Engineering at the U.S. Coast Guard Academy in New London, CT, having retired in 2009 from the USCG as a Captain (O-6). His current research interests include the mathematics of positioning, statistical signal

processing methods in electronic navigation, and autonomous vehicle design.

Monday Afternoon3:30 p.m.–5:00 p.m.

Cognizant Autonomous Systems FOR Safety Critical Applications

(CASSCA) Conference PNT for Unmanned Systems

September 16-17, 2019 - Hibiscus Room - Hyatt Regency Miami

Attend for free with your ION GNSS+ 2019 conference badge

CO-LOCATED CONFERENCE

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

TUTORIAL SCHEDULE

TUTORIAL DESCRIPTIONS

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ION GNSS+ 2019 TUTORIALSPre-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 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 available 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 Registration: Registration for the ION GNSS+ tutorials is accomplished through the regular conference registration process, at a cost of $450 per tutorial. 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.

Additional Tutorial Registration Fee Required for Attendance

Time Course Instructor9:00 a.m.–12:30 p.m. Select from:Room: Flagler Multi-constellation GNSS Signals and Systems Dr. Chris G. BartoneRoom: Monroe Fundamentals of Inertial Navigation Systems and Aiding Dr. Michael BraaschRoom: Tuttle Kalman Filter Applications to Integrated Navigation 1 Dr. James L. Farrell / Dr. Frank van Graas

1:30 p.m.–5:00 p.m. Select from:Room: Flagler Introduction to Multiband and Multi-constellation SatNav Dr. Sanjeev Gunawardena

Receivers using PythonRoom: Monroe Autonomous System Navigation and Machine Learning Dr. Mike Veth / Dr. Don VenableRoom: Tuttle Kalman Filter Applications to Integrated Navigation 2 Dr. James L. Farrell / Dr. Frank van Graas

Multi-constellation GNSS Signals and SystemsCourse Level: Beginner

This course emphasizes the fundamentals of multi-constellation GNSS. The course begins with an overview of GNSS followed by presentation on each of the GNSS in operation and/or development today. The course will highlight common features of the various GNSSs and point out key differences between them. Topics to be covered include:

• GNSS Segments; space, ground, user segments

• GNSS Link Budget• Fundamental concept of GNSS position and

time determination• GNSS Coordinate frames, datum’s and time• GNSS antenna & receiver technologies–

overview• GNSS signal structure formats: Carrier,

Code, Data• Direct Sequence Spread Spectrum; auto

and cross correlation• GPS legacy and modernized signals:• GPS SV Blocks• Legacy GPS: C/A, P(Y) code and NAV

formats

• Modernized GPS: L2C, L5, L1C, CNAV and CNAV-2 formats

• GLONASS• GLONASS SV versions• Legacy C/A, P codes and FDMA signals• Modernized CDMA codes and frequencies• Galileo, E1, E6/E6P, E5a, E5b, AltBOC, SAR

Codes, frequencies and data formats• BeiDou, BDS I, BDS II, BDS III, B1, B2, B3

signals and formats• SBAS used throughout the Globe• QZSS, L1, L2, L5, L6 signals, codes and

services• NAViC: L5, S band signals, message types• GNSS corrections for clock, code,

atmospheric, transit time, etc.• GNSS User Solutions

Dr. Chris G. Bartone, P.E. is a professor at Ohio University with over 35 years of professional experience and is an ION Fellow. He received his PhD EE from Ohio University, a MSEE from the Naval Postgraduate School and BSEE from Penn State. Dr.

Bartone has developed, and teaches, a number of GPS, radar, wave propagation and antenna classes. His research concentrates on all aspects of navigation.

Fundamentals of Inertial Navigation Systems and AidingCourse Level: Beginner

This tutorial will start by highlighting the basic principles of operation of an inertial navigation system. The course will focus initially on the concepts underlying the algorithms used to determine position, velocity and attitude from inertial sensor measurements. Key error characteristics will be described as well such as Schuler oscillation and vertical channel instability. We will also consider the impact of various sensor errors on system performance. The tutorial will continue by covering the basics of Kalman filtering and aided-inertial systems. The daunting matrix mathematics involved in the full algorithm can be extremely intimidating to the newcomer. The basic concepts of estimation theory will be briefly reviewed, and the Kalman Filter will be described first in terms of simple one-dimensional problems for which the full algorithm reduces to an approachable set of scalar equations. We will look at the performance of the filter in some simple case studies and by the end will have an intuitive feel for how the full filter operates. We will apply the Kalman filter to the aiding of inertial systems. We will see how external sources of position and velocity (such as GPS) can be used first to measure inertial system error and then, with the aid of the Kalman filter, to estimate and correct inertial sensor error as well as system error.

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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.

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.

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Dr. Michael Braasch is the Thomas Professor of Electrical Engineering and a principal investigator with the Ohio University Avionics Engineering Center. Mike has over 30 years of experience in navigation research; and has taught graduate-level courses

in inertial navigation, Kalman filtering and integrated navigation for the past 20 years. Dr. Braasch has also taught short courses on these subjects at all of the major inertial navigation system manufacturers in the United States. Dr. Braasch is an ION Fellow, a Senior Member of the IEEE and is an instrument-rated commercial pilot.

Kalman Filter Applications to Integrated Navigation 1Course Level: The course is at the beginner-level and will enhance understanding of the principles of filtering at the beginner and intermediate levels.

The 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

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Introduction to Multiband and Multi-constellation SatNav Receivers using PythonCourse Level: Beginner to Intermediate

This hands-on course aims to provide attendees with a solid understanding of the fundamentals of satellite timing and navigation (satnav) software receivers and associated signal processing. For those who attended the course last year, this course builds on that initial version and adds multiband (L1/E1, L5/E5a) and multi-constellation (GPS, Galileo) support. The course is divided into multiple modules, each comprised of a short lecture followed by the completion of a Python project that reinforces the concepts and techniques covered. By the end of the course, attendees will have a functional satnav software receiver running on their laptop that takes a multiband live-sky sampled data file, acquires and tracks visible open GPS and Galileo signals and outputs signal observables (i.e., carrier-to-noise-density ratio(C/N0) , accumulated Doppler range, uninitialized pseudorange). This open-source code may be further developed to yield a fully-functional satnav SDR that is ideal for research.

Topics covered:

• Overview of satnav bands, signal structures, link budget, and receiver architecture

• FFT-based signal acquisition engines• Correlation across satellite-referenced time

epochs on data referenced to receiver epochs: the split-sum correlator

• Carrier tracking loops: FLL, PLL and FLL-aided-PLL

• Code tracking loops: DLL, non-coherent vs. coherent tracking, correlator spacing and carrier aiding

• Tracking of open GPS and Galileo signals, including the new L1C signal

• Inter-frequency aiding• Duty cycling for low-power mobile applications• Tracking channel state machines• Measurement computation• Effects of fixed-point processing on tracking

performance and measurement accuracy• Performance improvement with Python

multiprocessing

Pre-requisites and equipment: Basic understanding of digital signal processing, object-oriented programming concepts and the Python programming language are required to work on the partially complete software projects provided. Attendees must supply their own laptop computers with adequate battery power. The instructor will provide relevant information and software to registered attendees in advance of the course.

Dr. Sanjeev Gunawardena is a research assistant professor with the Autonomy & Navigation Technology (ANT) Center at the Air Force Institute of Technology (AFIT). He has over 20 years of experience in RF, digital and FPGA-based system design. His expertise includes satnav

receiver design, advanced satnav signal processing and implementation. 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.

10

ION

GN

SS+ 2019 TUTO


ber 17

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

TUTORIALS–Tuesday, September 17

Autonomous System Navigation and Machine LearningCourse Level: Beginner to Intermediate

The revolution in autonomous vehicle development is providing novel solutions in an ever-growing range of applications. A critical component of autonomous vehicle design is the navigation system, which is required to provide a robust, accurate, navigation solution in a wide-range of operating environments. In this short course, we explore the concepts and technology associated with developing and testing navigation systems for autonomous vehicles, both using traditional multi-sensor fusion techniques and via artificial neural networks (i.e., deep learning).

The course begins with an overview of sensors commonly used for autonomous systems including inertial sensors, GNSS, laser scanners, and image-based sensors. The associated error models are developed for each sensor and examples are presented regarding performance using experimental data. Next, sensor integration approaches are developed including traditional Kalman filtering and proceeding to nonlinear filtering techniques. Comparisons are made regarding performance trade-offs for the various approaches. Finally, an overview of deep learning approaches for autonomous system navigation and associated performance capabilities is presented. The tutorial will begin with an overview of artificial neural network frameworks including: convolutional neural networks (CNN) and recurrent neural networks (RNN). The development will include both a theoretical and algorithmic perspective along with a review of hardware requirements for real-time implementation. Emphasis will be placed on designing a deep learning-based approach for navigation using a monocular camera sensor using open-source data.

Dr. Mike Veth is the co-founder of Veth Research Associates. His research focus is applying nonlinear estimation theory to optimally combine a wide range of sensors and non-traditional navigation sources to enable robust autonomous applications. He received

his BS in Electrical Engineering from Purdue University and a PhD in Electrical Engineering from the Air Force Institute of Technology. He has served the ION as Eastern Region Vice President, Dayton Section chair, session chair, track chair and program chair. Dr. Veth has authored over 40 technical articles and book chapters in areas relating to computer vision, navigation and control theory. He is a member of the ION, a Senior Member of the IEEE and a graduate of the US Air Force Test Pilot School.

Dr. Don Venable is currently a principal researcher at Veth Research Associates. Previously, he was a senior electronics engineer at the Navigation and Communications Branch of the Air Force Research Laboratory (AFRL), Sensors Directorate. His research focus is combining

probabilistic deep learning with traditional Bayesian estimation theory for non-GPS navigation and object tracking applications. He received his PhD from the Air Force Institute of Technology and both his MS and BS in Electrical Engineering from Ohio University. For his dissertation research, he designed and built a novel optical navigation system for airborne applications. Dr. Venable is active in the Institute of Navigation.

Kalman Filter Applications to Integrated Navigation 2Course Level: The course is designed to follow Kalman Filter Applications to Integrated Navigation 1 and Inertial Navigation, and will also be of benefit to intermediate-level attendees who are familiar with filtering concepts and inertial navigation principles.

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 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 of 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 belowmask 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.

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.

11

Welcome, Meeting Highlights and Introduction of Technical CommitteeSatellite Division Chair Dr. Chris HegartyThe MITRE Corporation

ION GNSS+ Plenary SessionTuesday, September 17, 2019 • 6:30 p.m.–8:30 p.m. • Jasmine Ballroom

Opening of the Plenary SessionSatellite Division Vice Chair Patricia DohertyBoston College

A Day Without Satellites

Dr. Pål Brekke Norwegian Space Agency, Norway

Journey to the Sun

Dr. Nicola Fox Director, Heliophysics Division, NASA

11

ION

GN

SS+ 2019 PLENA

RY SESSION

Tuesday, September 17

PLENARY SESSION–Tuesday, September 17

It’s easy to overlook the central role satellites play today, simply because of how seamlessly they integrate into our daily lives. From tens of thousands of kilometers away, navigation satellites help us navigate with incredible precision. Our global communications systems would not work without satellites. Satellites also enable remote regions, ships and aircraft to communicate with the rest of world. We use satellites for TV feeds, tracking ships, oil spill detection as well as providing accurate weather forecasts. But what if a superstorm from the Sun disrupts all satellites? What would be the impact on our technology based society? This presentation will outline how it would be to wake up one morning to a day without satellites.

Dr. Brekke is a solar physicist and senior advisor at the Norwegian Space Agency. He worked for six years at NASA Goddard Space Flight Center as the Deputy Project Scientist for SOHO. He is a Norwegian delegate to several ESA Programme Boards and also a Professor at the University of Svalbard. Dr. Brekke is also an author of several international popular science books about the Sun and the Northern Lights translated into seven languages. He has recently produced the award-winning documentary "The Northern Lights–a Magic Experience. He is also a member of the exclusive Explorers Club in New York.

Keynote Addresses

NASA Heliophysics research studies a vast system stretching from the Sun to the Earth, to far beyond the edge of the planets. Studying this system - much of it driven by the Sun's constant outpouring of solar wind - not only helps us understand fundamental information about how the universe works, but also helps protect our technology and astronauts in space. NASA seeks knowledge of near-Earth space, because, when extreme, space weather can interfere with our communications, satellites and power grids. The study of the Sun and space can also teach us more about how stars contribute to the habitability of planets throughout the universe.

Mapping out this interconnected system requires a holistic study of the Sun's influence on space, Earth and other planets. NASA has a fleet of spacecraft strategically placed throughout our heliosphere -- from Parker Solar Probe at the Sun observing the very start of the solar wind, to satellites around Earth, to the farthest human-made object, Voyager, which is sending back observations on interstellar space. Each mission is positioned at a critical, well-thought out vantage point to observe and understand the flow of energy and particles throughout the solar system–all helping us untangle the effects of the star we live with.

Dr. Fox is Heliophysics Division Director in the Science Mission Direcorate at NASA Headquarters in Washington, D.C. Until August 2018, Dr. Fox worked at the Applied Physics Lab at the John Hopkins University where she was the chief scientist for Heliophysics and the project scientist for NASA's Parker Solar Probe. Dr. Fox served as the deputy project scientist for the Van Allen Probes, and the operations scientist for the International Solar Terrestrial Physics program. Dr. Fox received her BS in Physics and PhD in Space and Atmospheric Physics from the Imperial College of Science, Technology and Medicine in London. She received an MD in Telematics and Satellite Communications from the University of Surrey.

12 ION GNSS+ 2018 • September 24-28, 2018• Miami, Florida

Room: Brickell8:30 a.m.–12:15 p.m.

Session A1: Applications of Raw GNSS Measurements from Smartphones

Room: Flagler8:30 a.m.–12:15 p.m.

Session B1: GNSS Augmentation Systems and Integrity 1

Room: Monroe8:30 a.m.–12:15 p.m.

Session C1: Land-Based Applications

Wednesday, Septem

ber 18

Wednesday Morning, September 18, 8:30 a.m.–12:15 p.m.

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

COMMERCIAL AND POLICY SESSIONS

RESEARCH SESSIONS

8:35 The Performance of GNSS-IMU Integration of Smartphone Based on In-flight Calibration of IMU Using Android GNSS Raw Measurements: D. Shin, T. Lee, Korea Institute of Science and Technology, South Korea; B. Park, Sejong University, South Korea; E. Kim, Hongik University, South Korea

8:57 Assessment of GNSS Performance on Dual-Frequency Smartphones: M. Navarro-Gallardo, Airbus GmbH, Germany; J. Redelkiewicz, F. Diani, M. Sunkevic, European GNSS Agency, Czech Republic; S. Damy, J. Fortuny-Guasch, Joint Research Centre of European Commission, Italy

9:20 PPP with External Antenna Addition on Smartphones: A. Blot, D. Laurichesse, C. Rouch, Centre National d’Études Spatiales, France; C. Granger, ALTRAN, France

9:43 Toward Achieving Robust Sub-meter Kinematic Positioning on Android with Multi-constellation GNSS: J. Liu, C. Xu, R. Zhang, L. Zhao, FMI

10:40 Achieving Resilient 3D-Mapping-Aided GNSS through New Approaches to Outlier Detection: P. Groves and M. Adjrad, University College London, UK

11:03 GNSS NLOS Pseudorange Correction based on Skymask for Smartphone Applications: H-F. Ng, G. Zhang, L-T. Hsu, The Hong Kong Polytechnic University, Hong Kong

11:26 An Integrated GNSS/PDR Fusion Navigation System with Raw Measurements from Smartphone: L. Guo, Wuhan University, China; J. Wang, Beijing UniStrong Science & Technology Co., Ltd., China; F. Wang, J. Sang, W. Liu, Wuhan University, China

11:48 GNSS POWER: An Innovative Stand-Alone Approach for Real Time Navigation: M. Fortunato and A. Mazzoni, Sapienza University of Rome, DICEA, Italy

Alternate1. High Accuracy Application of Mobile GNSS

Chipset Based on MediaTek Solution: P-H. Jau, H. Chen, CT Weng, MediaTek Inc., Taiwan

Dr. Mohammed Khider Google

Dr. Wouter PelgrumN extNav

Dr. Sam Pullen Stanford University

Dr. Euiho Kim Hongik University, South Korea

8:35 Fault-Free Integrity Analysis of Mega-Constellation-Augmented GNSS: D. Racelis, Virginia Tech; B. Pervan, Illinois Institute of Technology; M. Joerger, Virginia Tech

8:57 Integrity Real-time Performance of the Trimble RTX Correction Service: C. Rodriguez-Solano, M. Brandl, X. Chen, M. Herwig, A. Kipka, P. Kreikenbohm, H. Landau, C. Pagels, F. Pastor, N. Reussner, U. Weinbach, Trimble TerraSat GmbH, Germany

9:20 Assessment of Dual-frequency Signal Quality Monitor to Support CAT II/III GBAS: J. Song, C. Milner, I. Selmi, ENAC, Université de Toulouse, France; O. Julien, u-Blox AG, Switzerland

9:43 Ionospheric Delay Gradient Threat Model for GBAS based on GPS Data in China: Z. Wang, T. Li, Q. Li, Y. Zhu, Beihang University, China

10:40 Analysis of Test Statistic and Position Error Cross-Correlation Effect on Integrity Risk: E. Bang, C. Milner, C. Macabiau, ENAC, Université de Toulouse, France; E. Gallon, B. Pervan, Illinois Institute of Technology; P. Estival, DSNA, France

11:03 Advanced RAIM Demonstrator and Integrity Support Message Prototyping: I. Martini, European Commission, Belgium; M. Sgammini, European, Commission, Joint Research Center (JRC), Italy

11:26 Mass Market Lane Accurate Positioning with High Integrity: R. Bryant, O. Julien, C. Hide, u-blox, Switzerland; I. Shret, Polymatch Insight Limited, UK

11:48 Integrity Algorithm of Kalman-Filter Based Multi-Sensor Navigation System for Sensor Fault in the Filter Prediction Step: J. Lee, M. Kim, D. Min, J. Lee, Korea Advanced Institute of Science and Technology, South Korea

Alternates 1. Quantifying Integrity Risk over Exposure Time

Intervals: . Zhai, X. Zhan, S. Wang, Shanghai Jiao Tong University, China; B. Pervan, Illinois Institute of Technology

2. A Dual-frequency Ground Based Augmentation System Prototype for GPS and BDS: Y-T. Sung, Y-W. Lin, S-J. Yeh, S-S. Jan, National Cheng Kung University, Taiwan

3. Tighter GDOP Bounds and Their use in Satellite Subset Selection: P.F. Swaszek, University of Rhode Island; R.J. Hartnett, K.C. Seals, U.S. Coast Guard Academy; R.M.A. Swaszek, Boston University

Livio Marradi Thales Alenia Space, Italy

Lionel Ries European Space Agency, The Netherlands

8:35 Coursa Drive: Integrated Navigation Solution for Autonomous Vehicles: A. Ali, B. Chan, M. Omr, and J. Georgy, TDK, Canada

8:57 Assessing the Performance of GNSS Receivers with Legacy and Mass Market State Space Correction Services: G. Seepersad, A. Parkins, C. Mongredien, C. Hide, M. Strom, P. Fairhurst, D. Ammann, u-blox, Switzerland

9:20 Autonomous Vehicle High-Accuracy Position and Integrity Engine Performance Results: E. Domínguez Tijero, A. Chamorro Moreno, M.T. Fernández Calzón, GMV, Spain; J. García, FICOSA, Spain; J. Ibañez-Guzmán, E. Stawiarski, RENAULT, France; P. Xu, University of Technology of Compiègne, France; G. Avellone, F. Pisoni, STMicroelectronics, Italy; E. Falletti, LINKS Foundation, Italy; M. Ortiz, IFSTTAR, France

9:43 Assessing the Performances of Hybridized GNSS Receivers in Railway Environment: G. Carrie, C. Gernot, Syntony GNSS, France; A. Barré, SNCF, France; J. Korsakissok, Syntony GNSS, France

10:40 A New GNSS-PPP/INS Data Fusion for Global Infrastructureless Safe Train Positioning: M. Cunha, S. Meyer, iXblue, France; F. Fund, R. Legros, GEOFLEX, France; D. Laurichesse, N. Karouche, CNES, France; A. Barre, SNCF, France

11:03 A Tightly-Coupled GNSS/INS/MM Integration System Based on Binary Search Algorithm for Train Localization Applications: D. Liu, Beijing Jiaotong University (BJTU), China; W. Jiang, BJTU, Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation, China; B. Cai, State Key Laboratory of Rail Traffic Control and Safety, BJTU, EMC and GNSS Technology for Rail Transportation, China; J. Wang, W. Shangguan, BJTU, EMC and GNSS Technology for Rail Transportation, China

11:26 Galileo and EGNOS Adoption in Automotive Emergency Call System (eCall): K. Boniface, C. Gioia, M. Susi, J. Fortuny-Guasch, European Commission, Joint Research Centre, Italy; F. Sbardellati, European GNSS Agency, Czech Republic

11:48 Hybridizing GNSS with Sensors and Terrestrial Technologies for Positioning in 5G: G. Cueto-Felgueroso, GMV, Spain; F. Grec, ESA; J.A. del Peral-Rosado, G. Seco-Granados, UAB, Spain; C. Gentner, E. Staudinger, German Aerospace Center (DLR), Germany; D. Bartlett, u-blox; E. Serna, Telefónica I+D; M. Azaola, A. Fernández, F. Blázquez, F. Mata, GMV, Spain; R. Prieto-Cerdeira, L. Ries, ESA

Alternates 1. Interference Detection and Position Improvement Using

Android Smartphones Raw Measurements, SNR and NLOS Detection: S. Roberts, L. Bonenberg, C. Hancock, O. Ogundipe, F. Basile, X. Meng, R. Qu, J. Jing, University of Nottingham, UK

2. GNSS/Inertial Vehicular Engine (GIVE) for Automotive Navigation: A. Soloviev, A. Vadlamani, J.D. Sharon, C. Yang, QuNav

3. Filtering and Sensor Augmentation for GPS Measurement Reduction in WildLife Tags: M. Lichtenstein and G.H. Elkaim, UC Santa Cruz

10:05 a.m. - 10:35 a.m. - Morning Refreshments in the Exhibit Hall, sponsored by:

13ION GNSS+ 2018 • September 24-28, 2018• Miami, Florida

Room: Tuttle8:30 a.m.–12:15 p.m.

Session D1: Connected and Collaborative Autonomy

Room: Jasmine8:30 a.m.–12:15 p.m.

Session E1: PANEL: PNT Security and Robustness

Wednesday, Septem

ber 18Wednesday Morning, September 18, 8:30 a.m.–12:15 p.m.



RESEARCH ASESSIONS

Dr. Nadezda Sokolova Sintef, Norway

8:35 Collaborative Snapshot Positioning via Distributed Array Processing: J. A. Garcia-Molina, European Space Agency, ESA/ESTEC, The Netherlands; J.A. Fernandez-Rubio, Universitat Politecnica de Catalunya, Spain

8:57 A Theoretical Study on the Benefits of Integrating GNSS and Collaborative Relative Ranges: A. Minetto, Politecnico di Torino, Italy

9:20 Multi-Epoch Multi-Agent Collaborative Localization Using Grid-based 3DMA GNSS and Inter-Agent Ranging: S. Tanwar, G.X. Gao, Stanford University

9:43 Cooperative Localization of Networked Multi-agent System: J. Lin, J-J. Gehrt, R. Zweigel and D. Abel, RWTH Aachen University, Germany

10:40 Analysis of Rank-1 Updating in Decentralized Estimation for Collaborative Navigation: C. Yang, A. Soloviev, QuNav; A. Rutkowski, Air Force Research Laboratory

11:03 Integrity Monitoring Algorithm for GNSS-based Cooperative Positioning Applications: C. Zhuang, H. Zhao, S. Hu, C. Sun, W. Feng, Beihang University, China

11:26 Distributed Cooperative SLAM-based Integrity Monitoring Via a Network of Receivers: S. Bhamidipati, University of Illinois at Urbana-Champaign; G.X. Gao, Stanford University

11:48 Small Satellite Formation Flying Simulation with Multi-Constellation GNSS and Applications to Future Multi-Scale Space Weather Observations: Y. Peng, W.A. Scales, M.C. Esswein, Virginia Tech; M.D. Hartinger, Virginia Tech and Space Science Institute, Boulder

Alternates 1. Optimizing Sensor Combinations and

Processing Parameters in Dynamic Sensor Networks: N. Garcia Fernandez and S. Schön, Leibniz Universität Hannover, Germany

2. Range-only Collaborative Localization for Ground Vehicles: Q. Shi, X. Cui, S. Zhao, M. Lu, Tsinghua University, China

3. Integrity Monitoring and Prediction Concept and Prototype for Fully Autonomous Vehicle Resilience and Safety: R. Tiwari and T. Stacey, Nottingham Scientific Ltd., UK; F. Toran, European Space Agency, EGNOS Project Office, France

4. Sliding Mode Control for Vehicular Platoon Based on V2V Communication: H. Li, J. Yin, H. Li, V. Pickert, S. Dlay, Newcastle University, UK; R. Tiwari, Nottingham Scientific Ltd., UK

Blue Text Indicates Student Paper Award Winner

Dr. Steffen Schön Leibniz Universität Hannover

Logan Scott LS Consulting

Dr. Oscar Pozzobon Qascom, Italy

Experts from academia, government and industry will discuss the different security threats to GNSS signal reception including jamming, spoofing and data forgery. Several strategies to toughen GNSS signal reception and improve PNT security will be analyzed along with the different national and international initiatives currently under development for the protection of the GNSS ecosystem. New opportunities opened by technological advancements, such as the availability of raw measurements from smartphones and the possibility of multisensor PNT verification, will be discussed from the GNSS security prospective. Panel Members: 1. An Assessment of the Effect of RFI Threats

on GNSS-based Downstream Applications: Dr. Fabio Dovis, Politecnico di Torino, Italy

2. Roadmap to Delivering U.S. Civil Complementary PNT Capabilities: Ms. Karen Van Dyke, U.S. Department of Transportation

3. European Contributions to Protect GNSS: Dr. Ignacio Fernández-Hernández, European Commission, Belgium

4. Embracing Diversity: How to Achieve Robust and Secure PNT: Dr. Zak Kassas, University of California, Irvine

5. Robustness Through Sensor Fusion: Dr. John Raquet, I4S

6. Insights from two Years of GNSS Interference Observations from Space: Dr. Todd Humphreys, University of Texas at Austin

Dr. Attila Komjathy NASA JPL

Dr. Lucilla Alfonsi INGV, Italy

Room: Orchid8:30 a.m.–12:15 p.m.

Session F1: Atmospheric Science and Space Applications with GNSS

8:35 Quantitative Scintillation Diagnostics Using Total Electron Content from Commercial Off-The-Shelf GNSS Receivers: C.S. Carrano, K.M. Groves, C.L. Rino, P.H. Doherty, Boston College

8:57 Simulating Realistic Ionospheric Scintillation of GPS Signals for Robust PNT Testing: T. Pinto Jayawardena, Spirent Communications and University of Bath, UK; C.N. Mitchell, University of Bath, UK; R. Boyles, Spirent Communications, UK; J. Bruno, K. Bolmgren, A.M. Ali, University of Bath, UK; G. Buesnel, Spirent Communications, UK; B. Forte, R. Watson, University of Bath, UK

9:20 A Two-parameter Multi-frequency GPS Signal Simulator for Strong Equatorial Ionospheric Scintillation: Modeling and Parameter Characterization: D. Xu, Y.J. Morton, C. Rino, University of Colorado Boulder; C. Carrano, Boston College; Y. Jiao, Intel Corporation

9:43 A Night-time Ionospheric Localized Enhancement (NILE) During Extreme Storms: S. Datta-Barua, Illinois Institute of Technology; S. McDonald, Naval Research Laboratory; A. Chartier, Gary S. Bust, Johns Hopkins University APL

10:40 A New Method to Estimate Ionospheric Irregularity Drift Velocity Using ROT Variation and Spaced GNSS Reference Stations: B. Park, C. Lim, Sejong University, South Korea; J. Wang, National Oceanic and Atmospheric Administration; Y.J. Morton, University of Colorado Boulder

11:03 New Space Weather Measurements from MACAWS: Monitors for Alaskan and Canadian Auroral Weather in Space (MACAWS): A.J. Coster, MIT Haystack Observatory; S. Skone, University of Calgary, Canada; D. Hampton, University of Alaska, Fairbanks; E. Donovan, E. Spanswick, University of Calgary, Canada

11:26 Design and Development of an Improved Sensitivity Reconfigurable GNSS Receiver for Space-based Reflectometry: S. Guruprasad, York University, Canada

11:48 Impact of Tropospheric Anomalies on Ground-to-Air Radio Navigation Systems: S. Narayanan, C. Günther, O. Osechas , German Aerospace Center (DLR), Germany

Alternates 1. A Comparative Study of Amplitude Scintillation (S4-Index)

on Different GNSS L-band Frequencies in Association of Sporadic-E over Northern Crest of Magnetic Dip Equator near Arabian Peninsula: M.M. Shaikh, G. Gopakumar, A. Masoud Darya, United Araba Emirates

2. Assimilation Experiments of GNSS-derived ZTD and Sentinel Satellite-derived Products into the WRF Numerical Model to Improve Forecasts of Severe Rain Events: E. Realini, Geomatics Research & Development srl, Italy; M. Lagasio, L. Pulvirenti, A. Parodi, CIMA Research Foundation, Italy; A. Gatti, G. Tagliaferro, Geomatics Research & Development srl, Italy; G. Venuti, S. Barindelli, Politecnico di Milano, Italy; E. Passera, A. Rucci, TRE Altamira srl, Italy; N. Pierdicca, Sapienza University of Rome, Italy; B. Rommen, European Space Agency, ESA-ESTEC, The Netherlands

3. Investigation of Important Aspects of GNSS/InSAR Techniques Integration for Atmospheric Water Vapor Retrieval: E. Shehaj, K. Wilgan, A. Geiger, Institute of Geodesy and Photogrammetry, Switzerland

4. Forecasting Ionospheric Delays using GPS Observations with Deep Neural Networks-A Bi-directional Long Short-Term Memory: D. Venkata Ratnam, I. Srivani, P. Sree Harsha, KLEF Deemed to be University, India

10:05 a.m. - 10:35 a.m. Morning Refreshments in the Exhibit Hall, sponsored by:

14

Room: Brickell1:45 p.m.–5:30 p.m.

Session A2: Navigation in Urban Environments

Room: Jasmine1:45 p.m.–5:30 p.m.

Session B2: PANEL: Status of GPS, GLONASS, Galileo, BDS, QZSS and NavIC

5:30 p.m.–7:30 p.m. , Reception in Exhibit Hall

Wednesday, Septem

ber 18

Wednesday Afternoon, September 18, 1:45 p.m.–5:30 p.m. COMMERCIAL AND POLICY SESSIONS

RESEARCH SESSIONS

1:50 A Precise Vehicle Localization Based on LTE Surface Correlation in Tunnel using Smartphone Only: B. Shin, J. Lee, Korea Institute of Science and Technology, South Korea (KIST); S. Jeon, J. Kim, Kakao Mobobility, South Korea; T. Lee, KIST, South Korea

2:12 Advanced Hybrid GNSS/INS Positioning with a Fish-Eye Camera in Urban Environment: J. Miguez, HE Space, The Netherlands; J.A. Garcia-Molina, J.V. Perello-Gisbert, F. Melman, European Space Agency, The Netherlands

2:35 CoDRIVE – Delivering High Accuracy, Ubiquitous Positioning through Combined Radio Navigation and Inertial Sensing Technologies: S. Roberts, X. Meng, J. Jing, C. Xu, Y. Cui, University of Nottingham, UK; G. Ye, UbiPOS UK Ltd., UK; L. Bonenberg, University of Nottingham, UK

2:58 Predicting Collision Probability for GNSS-based UAV Path Planning Using Stochastic Reachability: A. Shetty, University of Illinois Urbana-Champaign; G.X. Gao, Stanford University

4:00 Localizing in Urban Canyons using Joint Doppler and Ranging and the Law of Cosines Method: W. Jun, Georgia Institute of Technology; K-M. Cheung, Jet Propulsion Laboratory (JPL); E.G. Lightsey, Georgia Institute of Technology; C. Lee, JPL

4:23 Performance of Machine Learning Models in Determining the GNSS Position Usage for a Loosely Coupled GNSS/IMU System: T-Y. Chiou, T-E. Tseng, A-L. Tao, MediaTek Inc., Taiwan

4:46 Resilient Multipath Prediction and Detection Architecture for Low-cost Navigation in Challenging Urban Areas: I. Smolyakov, M. Rezaee, R.B. Langley, University of New Brunswick, Canada

5:08 Traffic Light Control for Emergency Vehicles Using Robust and Continuous Galileo PRS Positioning in Urban Environments: C. Strobel, Fraunhofer IIS, Germany; J. Wendel, A. Waelkens, D. Pfaffelhuber, Airbus, Germany; M. Overbeck, A. Rügamer, W. Felber, Fraunhofer IIS, Germany

Alternates 1. A Real-time Positioning Service Using a Hierarchical

Strategy for Challenging Smartphone and IOT Electronics: J. Critchley-Marrows, M. Fortunato, M. Ivanovici, W. Roberts, NSL, UK

2. Robust Urban Navigation with Trimble RTX Fast™ Aided by Commercial-Grade Inertial Sensors: J. Traugott, L. Goercke, H. Landau, H. Niedermeier, B. Scherzinger, J. Zhou, Trimble Inc., Germany

3. Un-Tethered Positioning and Navigation Solution for IoT Applications and Land Vehicles: Y.B. Sarvrood, M. Sakr, A. Wahdan, W. Abdelfatah, N. El-Sheimy, Profound Positioning Inc., Canada

4. Ambiguity Resolution by Mixture Kalman Filter for High-Precision GNSS: K. Berntorp, A. Weiss, S. Di Cairano, Y. Sato, Mitsubishi Electric Corporation

This session provides an update on the world’s satellite-based navigation system. 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 Members:1. GPS: Col John Claxton, U.S. Air Force Space and

Missile Systems Center2. GLONASS: Dr. Sergey Karutin, Deputy Director

General, Central Research Institute for Machine Building, Russia (Invited)

3. Galileo: Mr. Eric Chatre, European Commission, Belgium; Mr. Francisco Javier Benedicto Ruiz, Galileo Project Manager, European Space Agency, Belgium

4. BeiDou: Updated on Development of the BeiDou Navigation Satellite System (BDS): Dr. Jun Shen, Deputy Director of the International Cooperation Center, China Satellite Navigation Office, China

5. QZSS: Mr. Satoshi Kogure, Executive Director for QZSS Development, National Space Policy Secretariat, Japan

6. NaVIC: Representatives from NavIC (Invited)

Dr. Andrey Soloviev QuNav

Dr. Li-Ta Hsu Hong Kong Polytechnic University, Hong Kong

Dr. Minquan Lu Tsinghua University, China

Dr. John Betz The MITRE Corporation

Dr. Alex Stratton Collins Aerospace

Andreas Lipp EUROCONTROL, France

Room: Orchid1:45 p.m.–5:30 p.m.

Session C2: Aviation and Aeronautics

1:50 Putting “Performance” Into Aircraft Approach Navigation: A. Lipp, EUROCONTROL, France

2:12 Development of Advanced RAIM Minimum Operational Performance Standards: J. Blanch, T. Walter, Stanford University; G. Berz, EUROCONTROL, Belgium; J. Burns, B. Clark, Federal Aviation Administration; M. Joerger, Virginia Tech; M. Mabilleau, European GNSS Agency; I. Martini, European Commission, Belgium; C. Milner, ENAC, France; B. Pervan, Illinois Institute of Technology; Y. Lee, The MITRE Corporation

2:35 Investigation of Spatial and Temporal RFI Events Distribution within the Swiss Airspace: M. Scaramuzza, M. Troller, Skyguide, Switzerland; M. Bertschi, Swiss Air Force, Switzerland; H. Leibundgut, REGA, Switzerland

2:58 Initial Results for Dual Constellation Dual-frequency Multipath Models: M-S. Circiu, M. Felux, S. Caizzone, C. Enneking, F. Fohlmeister, M, Rippl, German Aerospace Center (DLR), Germany; I. Gulie, D. Rueegg, Airbus Defence and Space, Germany; J. Griggs, Collins Aerospace; R. Lazzerini, F. Hagemann, F. Tranchet, Airbus Operation SAS; P. Bouniol, Thales Avionics, France

4:00 GNSS Multipath Error Model for Aircraft Surface Navigation Based on Canonical Scenarios for Class F Airport: C. Amielh, A. Chabory, C. Macabiau, ENAC, France; L. Azoulai, Airbus, France

4:23 Efficient DME/TACAN Blanking Method for GNSS-based Navigation in Civil Aviation: O. Julien, u-blox, Switzerland; P. Verlaine Gakne, A.J. Garcia Pena, C. Macabiau, ENAC, Université de Toulouse, France; M. Mabilleau, P. Durel, GSA, European GNSS Agency, France

4:46 Airborne Antenna and Multipath Error Characterization for DFMC Error Standardization: S. Caizzone, M.-S. Circiu, W. Elmarissi, C. Enneking, A. Winterstein, German Aerospace Center (DLR), Germany

5:08 Optimized Low Level Trajectories for Instrument Flight Rules in Alpine Areas: R. Pott, Institute of Geodesy and Photogrammetry, ETH, Switzerland; S. Guillaume, Institute of Geodesy and Photogrammetry, ETH, and Institut d'ingénierie du territoire, heig-vd, Switzerland; A. Geiger, Institute of Geodesy and Photogrammetry, ETH, Switzerland, H. Wipf, Airnav Consulting, Switzerland

Alternate1. Improvement of Positioning Accuracy with

GNSS using User Range Accuracy and Posterior Variance Model: J. Wang, Q. Li, R. Liu, Civil Aviation University of China, China

3:25 p.m. - 3:55 p.m. - Afternoon Refreshments in the Exhibit Hall, sponsored by:

155:30 p.m.–7:30 p.m. , Reception in Exhibit Hall

Wednesday, Septem

ber 18Wednesday Afternoon, September 18, 1:45 p.m.–5:30 p.m.


RESEARCH SESSIONS

Laura Norman NovAtel, Inc., Canada

Dr. David Bevly Auburn University

Dr. Martti Kirkko-Jaakkola Finnish Geospatial Research Institute, Finland

Dr. Ciro Gioia European Commission, JRC, Italy

Dr. Pau Closas Northeastern University

Dr. Emanuela Falletti Instituto Superiore Mario Boella, Italy

Room: Tuttle1:45 p.m.–5:30 p.m.

Session D2: Innovations for Robotic Vehicle Applications

1:50 Orbit Modeling for Simultaneous Tracking and Navigation using LEO Satellite Signals: J.J. Morales, J. Khalife, U. Santa Cruz, Z.M. Kassas, University of California, Irvine

2:12 Distributed Nonlinear Model Predictive Control for Connected Vehicles Trajectory Tracking and Collision Avoidance with Ellipse Geometry: M. Abdelaal and Steffen Schön, Leibniz Universität Hannover, Germany

2:35 Field–Testing of a UAV–UGV Team for GNSS-Denied Navigation in Subterranean Environments: J. Gross, M. De Petrillo , H. Nichols, R. Watson, C. Kilic, J. Beard, T. Swiger, C. Kirk, J. Hikes, E. Upton, and Y. Gu, West Virginia University

2:58 Precise Vehicle Localization Based on Graph Optimization with Time-Relative RTK-GNSS: T. Suzuki, Chiba Institute of Technology, Japan

4:00 Standalone and RTK GNSS on 30,000 km of North American Highways: T.G.R. Reid, N. Pervez, Ford Motor Company; U. Ibrahim, S.E. Houts, Ford Autonomous Vehicles, LLC; G. Pandey, N.K.R. Alla, A. Hsia, Ford Motor Company

4:23 Single Antenna Heading Estimation: F. Rothmaier, S. Lo, J.D. Powell, Stanford University

4:46 Hybridization of GNSS and On-Board Sensors for Validating the Aurora Ecosystem: M. Kirkko-Jaakkola, S. Marila, S. Thombre, S. Honkala, H. Koivula, S. Söderholm, H. Kuusniemi; Finnish Geospatial Research Institute, National Land Survey of Finland

5:08 High Accuracy Navigation Filter with Dual Antenna enabling Double-Differencing with Dual-Constellation: J-J. Gehrt, M. Nitsch, D. Abel, R. Zweigel, RWTH Aachen University, Germany

Alternates 1. Calibration-free Visual-Inertial Fusion

with Deep Convolutional Recurrent Neural Networks: S. Sheikhpour, M. Atia, Carleton University, Canada

2. Low-Cost GNSS Aiding by Visual Odometry, Radar and 3D Maps: R. Lesjak, A. R. Koller, M. Klopschitz, U. Kleb, G. Djuras, R. Ladstädter, S. Ladstätter, M. Rüther, Joanneum Research, Austria

Room: Flagler1:45 p.m.–5:30 p.m.

Session E2: GNSS Augmentation Systems and Integrity 2

1:50 Carrier Phase Error Characterization under Scintillation for Future Aviation Standards using PPP Corrections: M. Sgammini, European Commission, Joint Research Centre, Italy; I. Martini, European Commission, Belgium

2:12 End-to-End Online ARAIM Real Time Experimentation and Demonstration with magicARAIM Suite: G. Fernández, J.G. Pericacho, M.A. Fernández, A. Martínez, K. Wojciech, J. Barrios, GMV, Spain

2:35 Galileo Characterization as Input to ARAIM and SBAS: P. Brieden, ADS, Germany; S. Wallner, ESA-GPO, The Netherlands; I. Martini, European Commission, Belgium; C. López de Echazarreta, ESA-EPO, France; N. Castrillo Merlan, GSA, Spain; O. Baur, A. Nuckelt, ADS, Germany; J. Sanz, UPC, Spain; V. Lieb, M. Odriozola, ADS, Germany; E. Spinelli, ESA-GPO, The Netherlands; I. Lapin, ESA-EPO, France; M.T. Alonso, A. Rovira-Garcia, UPC, Spain; E. Canestri, TAS-I, Italy; D. Joly, TAS-F, France; F. Luongo, TAS-I, Italy; F. Cosson, ESA-GPO, The Netherlands; I. Alcantarilla, EC, Belgium; M. Kirchner, ADS, Germany

2:58 Second Generation SBAS – Performance Analysis and Bridging Positioning and Integrity Monitoring During SBAS Outages in the Urban Environment: A. El-Mowafy, K. Wang, Curtin University, Australia

4:00 A Consolidated GNSS Multipath Analysis Considering Modern GNSS Signals, Antenna, Installation, and Boundary Conditions: A. Appleget and C. Bartone, Ohio University

4:23 Toward Single-epoch 10-centimeter Precise Point Positioning using Galileo E1/E5a and E6 Signals: J. Guo and S. Xin, Wuhan University, China

4:46 Network-Based Ionospheric Gradient Monitoring to Support GBAS: M. Caamano, M. Felux, D. Gerbeth, German Aerospace Center (DLR), Germany; J.M. Juan, G. Gonzalez-Casado, J. Sanz, Polythecnic University of Catalonia, UPC, Spain

5:08 Vertical Protection Level Estimation for Direct Positioning Using a Bayesian Approach: S.V. Singh Chauhan, University of Illinois at Urbana Champaign; G.X. Gao, Stanford University

Alternates 1. MAASTv2: An Enhanced Open Source SBAS

Availability Simulation Tool: A. Neish, A. Perkins, J. Blanch, T. Walter, J.D. Powell, Stanford University

2. Enhancement of Noises of GAST-D Integrity Monitors by Ionospheric Scintillation: S. Saito, and T. Yoshihara, National Institute of Maritime, Port, and Aviation Technology, Japan

3. How WAAS Monitors Ionospheric Storms–A Historical Perspective: L. Sparks, Jet Propulsion Laboratory, California Institute of Technology; E. Aaltshuler, Sequoia Research Corporation; N. Pandya, Raytheon; J. Blanch, T. Walter, Stanford University


Room: Monroe1:45 p.m.–5:30 p.m.

Session F2: GNSS Signal Processing in Degraded Environments 1

1:50 Enhancing GNSS Mobile Positioning in Urban Environments through Utilization of Multipath Prediction and Consistency Analysis: N.I. Ziedan, Zagazig University, Egypt

2:12 Extended Short Multipath Insensitive Code Loop: X. Weng, Beihang University and Keysight Technologies (China) Co., Ltd., China; Y. Kou, Beihang University, China

2:35 An Offset Correlator Based Multipath Mitigation Method for Dual BPSK Tracking Technique of Wideband BOC-Family Signal: C. Wang, X. Cui, J. Zhang, Tsinghua University, China; M. Lu, Tsinghua University, and Beijing National Research Center for Information Science and Technology, China

2:58 A Novel Interference Detection Based on Wigner-Hough Transform for GNSS Receivers: K. Sun, Hefei University of Technology, China

4:00 Characterizing the Carrier Phase Distortions for Different Interference Mitigation Approaches using an Uncalibrated Antenna Array: T. Bamberg, M. Meurer, German Aerospace Center (DLR), RWTH Aachen University, Germany

4:23 Galileo E6-B Tracking with Non-coherent Integration and Kalman Filtering: M. Susi and D. Borio, European Commission, Joint Research Centre, Directorate for Space, Security and Migration, Italy

4:46 Bayesian Direct Position Estimation in a Real-Time GNSS Software Receiver: J. Dampf, Graz University of Technology, Austria; T. Pany, Universität der Bundeswehr München, Germany

5:08 Mitigating the Near-Far Interference Problem in the GNSS Space Applications: A. Zin, A. Piccolo, A. Emmanuele, L. Siniscalco, F. Paggi, Thales Alenia Space Italia S.p.A., Italy; C. O’Driscoll, Independent Consultant, Ireland; M. Paonni, M. Sgammini, European Commission, Joint Research Centre, Italy

Alternates1. GNSS Multipath Detection by Using Multiple

Signal Quality Monitoring (SQM) Metrics Jointly: C. Sun, Beihang University, China; J.W. Cheong, A.G. Dempster, University of New South Wales, Australia; H. Zhao, C. Zhuang, Beihang University, China

2. Interference and Spoofer Resilient Attitude Estimation Using Observations from Distributed Linear Subarrays Separated by Long Baselines: M. Brachvogel, M. Niestroj, S. Zorn, RWTH Aachen University, Germany; M. Meurer, RWTH Aachen University, and German Aerospace Center (DLR), Germany; S.N. Hasnain, R. Stephan, M.A. Hein, Technische Universitaet Ilmenau, Germany

3. GNSS Multipath Detection and Mitigation Using Multi-Frequency Signals: S. Zhang, S. Lo, Y-H. Chen, J.D. Powell, Stanford University

3:25 p.m. - 3:55 p.m. - Afternoon Refreshments in the Exhibit Hall, sponsored by:

16


Session A3: PANEL: The Spectrum of Autonomy in Navigation


Session B3: GNSS Augmentation Systems and Integrity 3


Session C3: Marine Applications and Search and Rescue

Thursday, September 19

Thursday Morning, September 19, 8:30 a.m.–12:15 p.m.



RESEARCH SESSIONS

Within today’s transportation systems, there exists a wide spectrum of automation as it applies to navigation; from systems involving no aspects of automation to those that are fully automated, even autonomous. There is a clear trend widening the scope of automation that is enabled by robust navigation. Cars, ships, trains, and aircraft are all poised to integrate these functions in an effort to improve transportation safety, capacity, and efficiency. In the case of today’s aircraft, which still assume the on-board presence of a trained pilot to serve as the ultimate mitigation against risk and unforeseen contingency events, this increase in automation will necessarily change the role of the pilot, as well as the automation. Considerations must be made to determine the appropriate level of automation for an application and how to balance that with human and other system interaction. Representatives from academia, government, and industry will discuss their thoughts on the spectrum of automation and the challenges associated with integrating automation into commercial and mass market applications.Panel Members:1. Nunzio Gambale, CEO, Locata Corp., Australia2. Jim Barrett, Manager, Technology Services, BNSF

Railway Co3. Doug Harrington, Dep. Director, DOT/MARAD 4. Jonathan Koopmann, Chief, Technology,

Innovation, & Policy Division, Volpe Center

8:35 Horizontal Advanced RAIM (H-ARAIM) Performance Sensitivity to the Deviation of Integrity Support Message (ISM) Parameters: Y. Lee, B. Bian, A. Odeh, The MITRE Corporation

8:57 Multi Gaussian Distribution for ARAIM SISRE Overbound: S. Perea, Airbus Defence and Space GmbH, and RWTH Aachen University, Germany; M. Meurer, German Aerospace Center (DLR) and RWTH Aachen University, Germany; B. Pervan, Illinois Institute of Technology

9:20 Particle RAIM for Integrity Monitoring: S. Gupta and G.X. Gao, Stanford University

9:43 Definition of a European GNSS Timing Service: R. Piriz, J. Fidalgo, A. Cezón, A. Fernández, GMV, Spain; M. Bolchi, VVA; A. Bauch, PTB; P. Defraigne, ORB, Belgium; A. Danesi, M. Jeannot, J.P. Boyero, European Commission, Belgium

10:40 A Kinematic Campaign to Evaluate EGNOS 1046 Maritime Service: D. Ibáñez Segura, A. Rovira Garcia, J. Sanz, J.M. Juan, G. González Casado, M.T. Alonso, Universitat Politècnica de Catalunya, Spain; J.A. López Salcedo, Universitat Autònoma de Barcelona, Spain; H. Jia, Cranfield University, UK; F.J. Pancorbo Garcia, C. Garcia Daroca, I. Martin Calle, S.R. Abadía Heredia, EVERIS, Spain; M. López Martínez, European GNSS Agency, Czech Republic

11:03 An Evaluation of WAAS 2020+ to Meet Maritime Navigation Requirements in Canadian Waters: G. Johnson, Alion Science and Technology; J. Delisle, Valcom Consulting Group

11:26 Australia and New Zealand DFMC SBAS and PPP System on Track: J. Barrios, G. Fernández, J.G. Pericacho, V.M. Esteban, M.A Fernández, Fernando Bravo, J.D. Calle, E. Carbonell, B. Torres Minaya, C. Moriana Varo, M.M. Romay, J. Caro, I. Rodríguez, M.D. Laínez, GMV, Spain; R. Jackson, Lockheed Martin; P.E. Reddan, D. Bunce, Zeta Associates; C. Soddu, Inmarsat

11:48 A New EGNOS V2 Release with Enhanced System Performances: F. Bauer, G. Greze, F. Haddad, A. Tourtier, Thales Alenia Space, France; K. Urbanska, R. Rols, European Space Agency, France

Alternates 1. Entering the LEO Navigation Augmentation

era- the Development and Progress of Luojia-1A Satellite in Wuhan University: L. Wang, R. Chen, Wuhan University, China; B. Yu, C. Wu, State Key Laboratory of Satellite Navigation System and Equipment Technology, China

2. A Global Navigation Augmentation System Based on LEO Communication Constellation: Y. Meng, L. Bian, L. Han, W. Lei, T. Yan, CAST Xi'an, China

3. LEO-based Navigation Augmentation TechnologyTest: R. Luo, Y. Xu, H. Yuan, Y. Tang, Chinese Academy of Science, China

Dr. Andrew Hansen US Department of Transportation

Dr. Fabrice Kunzi General Atomics ASI

Mitch Narins Strategic Synergies, LLC

Dr. Jiwon Seo Yonsei University, South Korea

8:35 Considering SBAS and Marine Radiobeacon Corrections to Support Safe Maritime Operations: A. Grant and G. Shaw, The General Lighthouse Authorities of the UK and Ireland

8:57 A Measurement Based Accuracy Prediction of Terrestrial Radio Navigation System for Maritime Backup in South Korea: Y. Han, P-W. Son, S. Lee, S.G. Park, T.H. Fang, S. Park, Korea Research Institute of Ships and Ocean Engineering (KRISO), South Korea

9:20 Bridging Maritime GNSS Jamming Attacks by GNSS-IMU-DVL Multi-Sensor-Fusion: R. Ziebold, German Aerospace Center (DLR), Germany; M. Romanovas, BASELABS GmbH, Germany; D. Arias Medina, Ch. Lass, S. Gewies, DLR, Germany

9:43 The Implementation of an Autonomous Surface Vessel Prototype: X. Tang, Southeast University, China; C. Li, S. Yin, Shanghai Aerospace Control Technology Institute, China; Y. Wang, Z. Wu, Nanjing University of Science and Technology, China; Q. Meng, Hong Kong Polytechnic University; T. Zhang, Southeast University, China;

10:40 GNSS-based Search and Rescue Support to Human Spaceflight: L. Mazzuca, J.J. Miller, A. Foster, NASA; A.J. Oria, Overlook Systems Technologies, Inc.

11:03 The SAR Galileo Return Link Service Operational Concept: S. Delattre, C. Scaleggi, M. Fontanier, French Space Agency CNES, France; J. Benoist, P. Novell, European GNSS Agency GSA, France

11:26 SAR Galileo Return Link Entry in Service: C. Scaleggi, E. Bronner, S. Delattre, CNES, France; I. Stojovic, S.A.J. Perez-Bartolome, A. Rolla, European Commission

11:48 Sharing Ships’ Weather Data via AIS: B. Tetreault, USACE; G.W. Johnson, Alion Science and Technology

Alternates1. Unscented Kalman Filter Based Carrier

Tracking to Mitigate Ionospheric Scintillation Threat in High-latitude for Maritime PNT: R. Tiwari and J. Yin, Nottingham Scientific Ltd., UK; S.E. Christiansen, Kongsberg Seatex AS, Norway

2. EGNOS Performance Navigation on Board of Oceanographic Hespérides Vessel: E. Lacarra, R. González, T. Seoane, ESSP, Spain; Manuel López, GSA

3. Transmission of EGNOS Corrections via IALA Beacons and AIS/VDES Stations: M. López, GSA; M. Cano, R. Martínez, ALG; C. Álvarez, L. Tavira, Indra, Spain; J. Morán, V. Antón, J. Vázquez, ESSP SAS, Spain

Fiammetta Diani European GNSS Agency, Czech Republicy

Dr. Lisa Mazzuca NASA Search and Rescue


17


Session D3: Navigation Using Environmental Features


Session E3: Aided GNSS and Sensor Fusion in Challenging Environments 1


Session F3: Low-Cost High Precision GNSS Positioning


Thursday Morning, September 19, 8:30 a.m.–12:15 p.m.



RESEARCH SESSIONS

8:35 LiDAR SLAM Utilizing Normal Distribution Transform and Measurement Consensus: A.V. Kanhere and G.X. Gao, Stanford University

8:57 Performance Comparison of Time-of-arrival Estimation Techniques for LTE Signals in Realistic Multipath Propagation Channels: P. Wang and Y.T. Morton, University of Colorado Boulder

9:20 Feature Error Model for Integrity of Pattern-based Visual Positioning: C. Zhu, C. Steinmetz, B. Belabbas, and M. Meurer, German Aerospace Center (DLR), Germany

9:43 3D Mapping Aided GNSS-Based Cooperative Positioning Using Factor Graph Optimization: G. Zhang, The Hong Kong Polytechnic University, China

10:40 5G-Microwave Tracking Performance Characterization: A. Pink Soderini, P. Thevenon, C. Macabiau, ENAC, France; L. Borgagni, Orolia/Spectracom, France; J. Fischer, Orolia/Spectracom, USA

11:03 Image Aided Point-wise Autonomous Annotation for LiDAR Data: Y. Li, L. Pei, D. Zou, Y. Zhu, T. Li, X. Liang, Shanghai Jiao Tong University, China

11:26 WiFi Fingerprinting and Tracking Using Neural Networks: P. Wu, Tales Imbiriba, G. LaMountain, Northeastern University, USA; J. Vilà-Valls, University of Toulouse, France; P. Closas, Northeastern University

11:48 Tracking of Digital FM OFDM Signals for the Determination of Navigation Observables: M.L. Psiaki and B.D. Slosman, Virginia Tech

Alternates1. Time Delay Estimation Based on Multi-

band Multi-carrier Signal in Multipath Environments: H. Dun, C.C.J.M. Tiberius, G.J.M. Janssen, C. Diouf, Delft University of Technology, The Netherlands

2. New Passive Acoustic Monitoring System for Automotive Parking Guidance: K. Zheng, Y. Jiang, Dalian Maritime University, China


Kimia Shamaei University of California, Irvine

Dr. Zhen Zhu East Carolina University

8:35 DGNSS/Vision Integration for Robust and Accurate Spacecraft Navigation: V. Capuano, A. Harvard, S-J. Chung, Aerospace Robotics and Control Laboratory, California Institute of Technology

8:57 Combining Inertially-aided Extended Coherent Integration (Supercorrelation) with 3D-Mapping-Aided GNSS: P.D. Groves, M. Adjrad, University College London, UK; R. Faragher, M. Powe, P. Esteves, Focal Point Positioning, UK

9:20 Evaluation of a Tight GNSS/INS Integration Based on Robust Estimators in Automotive Scenarios: O. Garcia Crespillo, German Aerospace Center (DLR), Germany; J. Skaloud, EPFL, Switzerland; M. Meurer, DLR, Germany

9:43 Integrated Attitude Determination via GNSS Carrier Phase and Inertial Aiding: D. Medina, German Aerospace Center (DLR), Germany & Universidad Carlos III de Madrid, Spain; G. Giorgi, DLR, Germany; V. Centrone, DLR, Germany & Politecnico di Torino, Italy; R. Ziebold, DLR, Germany; J. García, Universidad Carlos III de Madrid, Spain

10:40 An Ambiguity-free Smoothing Algorithm for Multipath Mitigation in INS/RTK Tightly-Coupled Integration: W. Li, X. Cui, M. Lu, Tsinghua University, China

11:03 On the use of an Ultra-tight Integration for Robust Navigation in Jammed Scenarios: C. Cristodaro, Politecnico di Torino, Italy; G. Falco, LINKS Foundation, Italy; L. Ruotsalainen, University of Helsinki and Finnish Geospatial Research Institute, Finland; F. Dovis, Politecnico di Torino, Italy

11:26 Low-cost, Dual-frequency PPP GNSS and MEMS-IMU Integration Performance in Obstructed Environments: S. Vana and S. Bisnath, York University, Canada

11:48 Performance Comparison of GNSS/INS Integrations Based on EKF and Factor Graph Optimization: W. Wen, Y.C. Kan, L-T. Hsu, The Hong Kong Polytechnic University, Hong Kong

Alternates 1. Open Source Software-defined-receiver Using

Assisted GNSS Technique: B. Wang, University of Colorado Boulder, & Huazhong University of Science and Technology, China; L. Ruane, R. Blay, D.M. Akos, University of Colorado Boulder

2. The Performance Analysis of an Adaptive INS/GNSS Tightly-coupled Integration System Aided by Odometer and Barometer: Y-C. Tien, Y-L. Chen, K-W. Chiang, National Cheng Kung University, Taiwan

3. Simplified GNSS Fusion-based Train Positioning System and its Diagnosis: H. No, J. Vezinet, C. Milner, ENAC, Université de Toulouse, France

4. Encoder/INS/GNSS Integrated Navigation for Autonomous Land Vehicles with Mecanum Wheels: H. Zhou, Z. Yao, M. Lu, Tsinghua University & Beijing National Research Center for Information Science and Technology, China

Dr. Melania Susi European Commission, JRC, Italy

Dr. Juan Blanch Stanford University

8:35 Galileo E5b Rover Receiving E5a Corrections? No Problem!: J-M. Sleewaegen, W. De Wilde, Septentrio, Belgium

8:57 Evaluation of Improvements to the Location Corrections Through Differential Networks (LOCD-IN) System: R. Gilabert, E. Dill and S. Young, NASA Langley Research Center; M. Uijt de Haag, Ohio University

9:20 Performance Analysis of an Improved GPS LNAV to Support the Development of Low-cost Real-time PPP Systems with High Scalability and Availability: P. Zhou, Z. Lyu, Y. Gao, Y. Xiang, University of Calgary, Canada

9:43 Accuracy Trend Analysis of Low-cost GNSS Chips: The Case of Multi-constellation GNSS PPP: J. Aggrey, S. Bisnath, N. Naciri, G. Shinghal and S. Yang, York University, Canada

10:40 Automated PPP Processing of Low-Cost GNSS Receiver Data: S. Banville, Canadian Geodetic Survey (CGS), NRCan, Canada; G. Lachapelle, University of Calgary, Canada; R. Ghoddousi-Fard, CGS, NRCan, Canada

11:03 Low-cost Vehicle GNSS Positioning Algorithm Using SSR2OSR Method: D. Wang, S. Feng, H. Cui, Qianxun Spatial Intelligence Inc., China

11:26 Kinematic PPP Errors Associated with Ionospheric Plasma Irregularities during the 2015 St. Patrick’s Day Storm: Z. Yang and Y.J. Morton, University of Colorado Boulder

11:48 Inter-Receiver GNSS Pseudorange Biases and Their Effect on Clock and DCB Estimation: A. Hauschild, P. Steigenberger, and O. Montenbruck, German Aerospace Center (DLR), & Space Operations Center (GSOC), Germany

Alternates1. A Robust Approach to Mitigate Colored Noise

for Low-cost High-precision Positioning: Y. Gao, Y. Gao, University of Calgary, Canada; B. Liu, University of Calgary, Canada & Jiao Tong University, China; Y. Du, J. Wang, University of Calgary, Canada & Chang’an University, China

2. CLASLIB: An Open-source Toolkit for Low Cost High-precision PPP-RTK Positioning: N. Motooka, R. Hirokawa, K. Nakakuki, S. Fujita, M. Miya, Y. Sato, Mitsubishi Electric Corporation, Japan

3. Preliminary Test for Compact Wide-Area RTK: A New Centimeter-Level High-Precision Navigation System for Wide-Area Service: D. Kim, C. Kee, Seoul National University, South Korea

4. Service Strategy on GNSS Precise Positioning for 5G Applications Using Standardized Assistance: K. Asari, M. Saito, and I. Mikami, Satellite Positioning Research and Application Center (SPAC), Japan

Dr. Yang Gao University of Calgary, Canada

Dr. Junesol Song ENAC, France .


18


Session A4a: GNSS Chipset Manufacturer Showcase


Session B4: Spectrum: Protection and Optimization


Session C4: Autonomous Applications


Thursday Afternoon, September 19, 1:45 p.m. –5:30 p.m.

3:25 p.m. - 3:55 p.m. - Afternoon Refreshments in the Exhibit Hall


RESEARCH SESSIONS

1:50 A NAVIC Enabled Multi-band Hardware Receiver: D. Di Grazia, STMicroelectronics, Italy; D. Cardineau, STMicroelectronics France; F. Pisoni, STMicroelectronics, Italy

2:12 Multi-Band Multi-GNSS SoC for Mass Market Applications: S. Xian Yang, X. Sun, K. Chan, G. Hau, R.K.Y. Yang, C.W. Sung, H. Yu, Allystar Technology Co. Ltd., Hong Kong

2:35 Deep Integration of GNSS Receiver Functions Into High Volume Platforms: G. Lennen, S. Raman, B. Nallapureddy, K. Li, A.J. Jahromi, R. Etkin, Samsung Electronics

2:58 Positioning Performance Evaluation of Automotive-grade Chipsets in Combination with Trimble’s Next Generation Positioning Engine and Trimble’s CenterPoint® RTX: N. Mishukova, S. Junker, C. Stöber, R. El Khayat, Trimble Terrasat GmbH, Germany

Alternates1. A Highly Integrated Dual-channel Configurable GNSS

Receiver Front-end for Wideband Reception: S. Urquijo, A. Rügamer, H. Milosiu, W. Felber, Fraunhofer IIS, Germany

2. CORDIC-FFT Architecture Implementation for Hardware Accelerator in SoC Low Cost SDR Hardware: C.C Mishra, C.S. Kumar, Indian Institute of Technology, India

Wei Cao John Deere

Dr. Ali Broumandan NovAtel Inc., Canada

1:50 Spoofing Detection in GNSS Receivers Through Complex Ambiguity Function Monitoring: C.J. Hegarty, The MITRE Corporation

2:12 Researches on the Responses of GNSS Tracking Loop to Intermediate Spoofing: C. Peng, H. Li, M. Lu, Tsinghua University, China

2:35 Development of Array Receivers with Anti-Jamming and Anti-Spoofing Capabilities with Help of Multi-Antenna GNSS Signal Simulators: A. Konovaltsev, German Aerospace Center (DLR), Germany; E. Pérez Marcos, M. Meurer DLR & RWTH Aachen University, Germany; R. Wong, G. Buesnel, Spirent Communications, UK; W. Lange, Lange-Electronic GmbH, Germany

2:58 Experimental Results of an LMS-based GPS Interference Mitigation Method for a Single-element Dual-polarized Antenna: K. Park, J. Seo, Yonsei University, South Korea

4:00 Per-satellite Confidence Estimation for Direction of Arrival Based Spoof Detection: F. Rothmaier, Y-H. Chen, S. Lo, Stanford University

4:23 Interference Detection and Robust Mitigation Method Based on Tensor Decomposition: L. Liu, L. Wang, Y. Wang, X. Jian, Northwestern Polytechnical University, China

4:46 Dual-Domain Robust GNSS Interference Mitigation: H. Li, Northeastern University; D. Borio, European Commission, Joint Research Centre, Italy; P. Closas, Northeastern University

5:08 Real-Time UAS Based Interference Localization in a GNSS Denied Environment: A. Perkins, S. Lo, D. Powell, Stanford University

James Miller NASA

Dr. Sai Kalyanaraman Collins Aerospace

1:50 Centimeter-Accurate GNSS Corrections and Integrity Information via ISO 26262 Certified Modules for Autonomous Driving Applications: M. Brandl, Adrian Kipka, P. Kreikenbohm, H. Landau, F. Pastor, C. Rodriguez-Solano, U. Weinbach, Trimble Inc., Germany

2:12 An Efficient Tuning Framework for Kalman Filter Parameter Optimization using Design of Experiments and Genetic Algorithms: A. Zhang and M.M. Atia, Carleton University, Canada

2:35 Integrity Performance for Precise Position in Automotive: L. Norman, B. Culling, L. de Groot, Hexagon Positioning Intelligence, Canada

2:58 Integrity of an RTK-INS Positioning System Using RTCM-SSR Corrections for Safety-Critical Automotive Applications: M. Volckaert, D. Schellekens, K. Smolders, A. Simsky, B. Bougard, Septentrio N.V., Belgium

4:00 The Post-broadcast Integrity System of Qianxun for SSR Service: Q. Zhao, H. Guo, S. Jing, J. Wu, P. Xin, W. Mei, J. Wang, Y. Feng, X. Hou, Y. Jiang, J. Chen, S. Li, S. Feng, Qianxun Spatial Intelligence Inc., China

4:23 A Low-cost Interferometric Fiber Optic Gyro for Autonomous Driving: T, Imamura, T, Matsui, Motion Control Lab., Tamagawa Seiki Co., Ltd., Japan; M. Yachi, Tamagawa Mobile Equipment Co., Ltd., Japan; H. Kumagai, Tamagawa Seiki Co., Ltd., Japan

4:46 GNSS Functional Safety for the Autonomous Vehicle: F. Pisoni, G. Avellone, D. Di Grazia, STMicroelectronics, Italy; J. Durand, STMicroelectronics, France; A. Silverio, STMicroelectronics, Italy; J. Garcia, FICOSA, Spain; E. Domínguez Tijero, GMV, Spain; E. Falletti, LINKS Foundation, Italy

5:08 Cutting-edge Technical Solutions for the Next Generation of Autonomous Vehicles: D. Calle, E. Carbonell, A. Chamorro, J. Durán, P. Navarro, I. Rodríguez, GMV, Spain

Alternates1. End-to-End Functional Safety Concept Design

of GNSS-based Precise Positioning for Highly Automated Driving (HAD): S. Jing, S. Feng, Q. Zhao, J. Wu, Qianxun Spatial Intelligence Inc., China

2. Robust and Resilient PNT in Autonomous Systems – the Need for the Development and Testing of Both Offensive and Defensive Technology: R. Zbikowski, G. Buesnel, R. Verdeguer Moreno, Spirent Communications PLC, UK

3. A Machine Learning Approach to GNSS Functional Safety: G. Gogliettino, M. Renna, D. Di Grazia, F. Pisoni, STMicroelectronics, Italy

4. Autonomous Mission Planning for Swarms Using Random Finite Sets: J.D. Larson, University of Alabama; B. Doerr, University of Minnesota; R. Linares, Massachusetts Institute of Technology

Dr. Rod Bryant u-blox AG, Australia

Mark Holbrow Spirent Communications, UK


Session A4b: Interference Detection and Mitigation using Raw Measurements from Smartphones

4:00 Launching the Supercorrelation Library for ARM-based GNSS chipsets: The Software Upgrade to Supercharge your GNSS Receiver is Here: R. Faragher, M. Powe, P. Esteves, N. Couronneau, M. Crockett, H. Martin, E. Ziglioli, C. Higgins, Focal Point Positioning Ltd., UK

4:23 Experimental Evaluation of TEXBAT Spoofing Scenarios on Commercial Receivers and a Software-defined Receiver for Time Attack Estimation and Mitigation: E. Schmidt, J. Lee, N. Gatsis, D. Akopian, The University of Texas at San Antonio

4:46 GNSS Threat Monitoring and Reporting with the Android Raw GNSS Measurements and STRIKE3: D. Miralles, M. Moghadam, D.M. Akos, University of Colorado Boulder

5:08 Multi-GNSS Anti-Spoofing in Mobile Phones Using Wi-Fi Measurements: S. Kuismanen, S. Söderholm, J. Syrjärinne, HERE Technologies, Finland

Alternates1. Authentication of GNSS Orbital and Clock Parameters

at Android Application Layer: P. Crosta, T. Watterton, G. Galluzzo, R. Lucas, European Space Agency, Netherlands

2. Crowd Sourced GNSS Signal Interference Detection using Smartphone Devices: M. Siutkowska, E. Benedetti, W. Roberts, NSL, UK

Dr. Mohammed Khider Google

Dr. Wouter Pelgrum NextNav

Women in PNT: Roundtable Discussion GroupsInformal discussions on issues important to women at work in PNT 5:30 p.m.–7:00 p.m., Hibiscus Room

For more information, see page 26.

WOMEN IN PNT

19


Session D4a: PANEL: Navigating Smart and Connected Cities


Session E4: Advanced Integrity Algorithms for Multisensor

Navigation


Session F4: Next Generation RF, Antenna Techniques, and Receiver

Processing


Thursday Afternoon, September 19, 1:45 p.m.–5:30 p.m.

3:25 p.m. - 3:55 p.m. - Afternoon Refreshments in the Exhibit Hall


RESEARCH SESSIONS

What is the future of navigation in smart and connected cities? What is the path towards overcoming the challenges of autonomous mass-transportation? Considering: Big Data, Networking, Human-Robot Interactions, Signals of Opportunity, Security and Privacy. Panel Members: 1. Importance of the Safety Band for Connected

and Automated Vehicles: Mrs. Karen Van Dyke, U.S. Department of Transportation

2. Mr. Brett Roubinek, Transportation Research Center Inc

3. Robust Positioning for Autonomous Systems in Cities: Dr. Ramsey Faragher, Focal Point Positioning

4. Global Augmented Reality Localization for Smartphones: Mr. Jeremy Pack, Google

5. Belt-and-suspenders PNT for Self-driving Cars and Air Taxis: Dr. Todd Humphreys, University of Texas at Austin

Dr. Dorota Grejner-Brzezinska The Ohio State University

Dr. Zak Kassas University of California, Irvine

1:50 UAV Integrity Monitoring Measure Improvement Using Terrestrial Signals of Opportunity: M. Maaref and Z.M. Kassas, University of California, Irvine

2:12 Examining the Benefits of LiDAR Odometry Integrated with GNSS and INS in Urban Areas: A. Aboutaleb, H. Ragab, Queen's University, Canada; A. Noureldin, Royal Military College, Canada

2:35 Tightly Coupled PPP and IMU with Solution Separation: K. Gunning, J. Blanch, T. Walter, J.D. Powell, Stanford University; L. de Groot, L. Norman, Hexagon Positioning Intelligence, Canada

2:58 Bounding Sequential Estimation Errors Due to Gauss-Markov Noise with Uncertain Time Constants: S. Langel, The MITRE Corporation; O. García Crespillo, German Aerospace Center (DLR), Germany; M. Joerger, Virginia Tech

4:00 Design of Decentralized Filter to Satisfy Per-Defined Integrity and Continuity Requirements: I. Lakshminarayan, D. Gebre-Egziabher, University of Minnesota, Twin Cities

4:23 Integrity Analysis and Comparison of GNSS/INS Integrated Navigation System with/without NHC under GNSS Spoofing Attacks: Y. Wei and H. Li, Tsinghua University, China

4:46 Optimal INS/GNSS Coupling for Autonomous Car Positioning Integrity: C. Tanil, Amazon Prime Air; S. Khanafseh, Illinois Institute of Technology; M. Joerger, Virginia Tech; B. Kujur, Illinois Institute of Technology; B. Kruger, L. de Groot, Hexagon Positioning Intelligence, Canada; B. Pervan, Illinois Institute of Technology

5:08 Simulation of Test Scenarios for Multi-sensor Mobile Mapping Systems: R. Borchert, B. Gundlich, Bochum University of Applied Sciences, Germany; H. Kuhlmann, Bonn University, Germany

Alternates 1. Improving GNSS Availability for High Integrity

Systems using Gaussian-Pareto Overbounding: J.D. Larson, University of Alabama; D. Gebre-Egziabher, University of Minnesota–Twin Cities; J.H. Rife, Tufts University

2. Error Model Development for ARAIM Exploiting Satellite Motion: E. Gallon, IIT, M. Joerger, VT, B. Pervan, IIT

3. Six Degrees-of-freedom Dilution of Precision for Integrity of Camera-based Localization: C. Zhu, C. Steinmetz, B. Belabbas, M. Meurer, German Aerospace Center (DLR), Germany

Juan Pablo Boyero DG GROW, European Commission, Belgium

Dr. Todd Walter Stanford University

1:50 Robust Kalman Filter for RTK Positioning Under Signal-Degraded Scenarios: H. Li, Northeastern University; D. Medina, German Aerospace Center (DLR), Germany; J. Vilà-Valls, ISAE-SUPAERO, University of Toulouse, France; P. Closas, Northeastern University

2:12 A Multiband Miniaturized Antenna Array for Robust Navigation in Airborne Applications: S. Caizzone, G. Buchner, M. Cuntz, W. Elmarissi, E. Pérez Marcos, German Aerospace Center (DLR), Germany

2:35 Transfer Function Compensation of Ionospheric Refractive Effects for Wideband GNSS Signals: W. Krier and J. Morton, University of Colorado Boulder

2:58 Array Processing and Unambiguous Positioning of Signals with Multi-Peak Correlations: J.A. Garcia-Molina, European Space Agency (ESA/ESTEC), The Netherlands; J.A. Fernández-Rubio, Universitat Politecnica de Catalunya (UPC), Spain

4:00 Results of a Real Time Implementation of Vector Delay Lock Loop in a Dynamic Field Test: K. Dietmayer, C. Strobel, F. Kunzi, M. Saad, F. Garzia, M. Overbeck, W. Felber, Fraunhofer IIS, Germany

4:23 Interference Mitigation Performance Limitations Induced by Analogue Frontend Imperfections in Multi-Antenna GNSS Receivers: M. Cuntz, E. Pérez Marcos, M. Meurer, German Aerospace Center (DLR), & RWTH Aachen University, Germany

4:46 Estimation of Antenna Transfer Functions Based on GNSS Observations: M. Niestroj, M. Brachvogel, S. Zorn, RWTH Aachen University, Germany; M. Meurer, RWTH Aachen University, & German Aerospace Center (DLR), Germany

5:08 ION Software-Defined Radio Metadata Standard Final Report: S. Gunawardena, Air Force Institute of Technology; Thomas Pany, Universität der Bundeswehr München, Germany; A. Rügamer, Fraunhofer Institute for Integrated Circuits IIS, Germany; M. Arizabaleta, Universität der Bundeswehr München, Germany

5:30 Public Meeting of the ION Software-Defined Radio Metadata Standard Report Working Group: Sanjeev Gunawardena, Air Force Institute of Technology; Thomas Pany, Universität der Bundeswehr München, Germany; Alexander Rügamer, Fraunhofer Institute for Integrated Circuits IIS, Germany; Markel Arizabaleta, Universität der Bundeswehr München, Germany

Alternates1. Impact of Receiver Front-End Characteristics

on High Order BOC Tracking: J. Wendel, Airbus DS GmbH, Germany; A. Rügamer, J. Rossouw van der Merwe, S. Urquijo, Fraunhofer IIS, Germany; D. Pfaffelhuber, A. Waelkens, D. Ruegg, Airbus DS GmbH, Germany

2. Multipath Detection Based on K-means Clustering: C. Savas and F. Dovis, Politecnico di Torino, Italy

Dr. Dennis Akos University of Colorado Boulder

Dr. Kuangmin Li Samsung Semiconductor Inc.


Session D4b: PANEL: GNSS Challenges and Unsolved Problems

As we enter an exciting phase with four operational GNSS systems (plus many regional and augmentation systems), satellite navigation is becoming an increasingly critical global capability. This panel will be looking at some of the large challenges that remain to be solved as we move into the future. Topics to be covered include tighter requirements on accuracy, integrity for autonomous vehicles, and protection against increasingly capable cyberattacks. We will also look at some bigger picture systems-level questions such as what the UK plans are for satellite navigation post-Brexit, and a look into the long-term future of satellite navigation post GPS III.Panel Members:1. Antispoofing as a Critical Challenge for Critical

Applications: Mr. Logan Scott, LS Consulting 2. Integrity for Autonomous Systems: Dr. Mathieu

Joerger, Virginia Tech 3. Canadian Geodetic Survey, Canada–The

Availability of Accuracy: Dr. Simon Banville, NRCan, Canada

4. Satellite Navigation in the UK Post-Brexit: Dr. Terry Moore, University of Nottingham, UK

5. Back for the Future: Satellite Navigation with LEOs: Dr. Sherman Lo, Stanford University

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

Dr. John Raquet IS4S

Women in PNT: Roundtable Discussion GroupsInformal discussions on issues important to women at work in PNT 5:30 p.m.–7:00 p.m., Hibiscus RoomFor more information, see page 26.

WOMEN IN PNT

20


Session A5: Development of Indoor Positioning


Session B5: Trends in Future Satellite Navigation Technology, System Design and Development


Session C5: PANEL: Integrity and Cybersecurity: The Next Challenges

for Safety Applications

Friday, September 20

Friday Morning, September 20, 8:30 a.m.–12:15 p.m.

12:15 p.m.–1:30 p.m. , Awards Luncheon (Lunch served until 12:30 p.m.; late arrivals will not be served), Riverfront Hall, South


RESEARCH SESSIONS

8:35 Crowd Sourced Pedestrian Dead Reckoning and Mapping of Indoor Environments using Smartphones: C. Gentner, M. Schmidhammer, German Aerospace Center (DLR), Germany

8:57 A Novel CSI-Based Ranging Model for Indoor Localization Using Kalman Filter: J.J. Wang, J.G. Hwang, J.G. Park, Kyungpook National University, South Korea

9:20 Indoor Positioning via WLAN Channel State Information and Machine Learning Classification Approaches: E. Schmidt, Y. Huang, D. Akopian, The University of Texas at San Antonio

9:43 Fusion of Attitude and Statistical Walking Direction Estimations with Time-Difference Carrier Phase Velocity Update for Pedestrian Dead Reckoning Method: J. Perul, V. Renaudin, Geoloc Laboratory, IFSTTAR, France

10:40 LTE Signal Based Vehicle Localization in Indoor Parking Lot Using Mobile Phone: B. Shin, J.H. Lee, Korea Institute of Science and Technology (KIST), South Korea; C. Kee, Seoul National University, South Korea; T. Lee, KIST, South Korea

11:03 A Multi-source Fusion Scheme for Real Time Indoor Positioning Based on Smartphone: Z. Zhang, J. Liu, F. Yang, S. Yang, X. Gong, Z. Li, P. Tong, X. Lei, Wuhan University, China

11:26 Visual Structure From Motion for UAV Indoor Localization: X. Xu, Harbin Engineering University, China; M. Yasser, H. Ragab, Queen’s University, Canada; Y. Gao, Harbin Engineering University, China; A. Noureldin, Royal Military College of Canada; K. He, Harbin Engineering University, China

11:48 The Simplified Localization Method of Near-field Interference Source Based on the Cyclostationarity: M. Kuang, L. Wang, J. Xie, Y. Wang, Northwestern Polytechnical University, China

Alternates 1. Surface Correlation Based Indoor Precise

Localization System in Vulnerable Environment with Very Few RF Transmitters: J.H. Lee, B. Shin, Korea Institute of Science and Technology (KIST), South Korea; J. Park, Korea University, South Korea; T. Lee, KIST, South Korea

2. A Multi-sensor Fusion Indoor Autonomous Navigation Technology Based on Compressive Sensing: S. Jin, H. Yao, K. Jia, Y. Huang, Y. Xu, W. Liang, Beijing Institute of Metrology, National Metrology Center for Industry of GNSS, China

3. A Hybrid Indoor Localization Method Based on Smartphone: S. Yang, J. Liu, F. Yang, Z. Zhang, X. Gong, Z. Li, P. Tong, X. Lei, Wuhan University, China

Steve Malkos Google

Dr. Ramsey Faragher Focal Point Positioning, UK

8:35 Binary Root Protograph LDPC Codes for CSK Modulation to Increase the Data Rate and Reduce the TTD: L. Ortega Espluga, C. Poulliat, M.L. Boucheret, M. Aubault-Roudier, H. AlBitar, TéSa, France

8:57 Validation of New Galileo Authentication and High Accuracy Services with the TGVF: T. Lewandowski, R. Jurado, F. J. Sobrero, GMV, Spain; R. Swinden, S. Binda, ESA, The Netherlands

9:20 A Feasibility Study and Risk Assessment of Security Code Estimation and Replay (SCER) Attacks: M. Arizabaleta, E. Gkougkas, T. Pany, Universität der Bundeswehr München, Germany

9:43 Laboratory Characterization of Optical Inter-satellite Links for Future GNSS: J. Surof, J. Poliak, R. Mata Calvo, M. Richerzhagen, R. Wolf, T.D. Schmidt, German Aerospace Center (DLR), Germany

10:40 GPS III Arrived – An Initial Analysis of Signal Payload and Achieved User Performance: S. Thoelert, P. Steigenberger, O. Montenbruck, M. Meurer, German Aerospace Center (DLR), Germany

11:03 Devising High-Performing GPS Pseudo-Random Noise Codes using Evolutionary Learning Algorithms: T.Y. Mina and G.X. Gao, Stanford University

11:26 Data Decoding Analysis of Next Generation GNSS Signals: L. Ortega Espluga, P. Closas, C. Poulliat, M.L. Boucheret, M. Aubault-Roudier, H. AlBitar, TéSa, France

11:48 Feasibility Analysis of Different Airborne Architectures for DFMC GNSS: A. Lipp, EUROCONTROL, France

Alternates1. Status and Development of GNSS Satellite-ground

Coordinated Operation: D. Wang, X. Chen, Beijing Satellite Navigation Center, China

2. Technology of BDS Real-time Precise Orbit Determination Enhanced by LEOs: L. Wang, Q. Zhang, G. Huang, Chang’an University, China

3. Galileo/GPS Performance Comparison Since Galileo Initial Services Declaration in December 2016: C. Rouch, A. Ramos, B. Bonhoure, N. Suard, D. Laurichesse, CNES, French Space Agency, France

4. Improving the Performance of Galileo E1-OS by Optimizing the I/NAV Navigation Message: M. Paonni, European Commission, Joint Research Centre (JRC), Italy; M. Anghileri, Airbus Defence and Space GmbH, Germany; T. Burger, L. Ries, European Space Agency, The Netherlands; S. Schlötzer, B. Schotsch, M. Ouedraogo, Airbus Defence and Space GmbH, Germany; S. Damy, European Commission, JRC, Italy; E. Chatre, M. Jeannot, J. Godet, D. Hayes, European Commission, Belgium

Boubeker Belabbas German Aerospace Center (DLR), Germany

Dr. Takeyasu Sakai Electronic Navigation Research Institute, Japan

Safety requirements and cybersecurity requirements to date are still considered separately. The panel discussion will focus on updates, practical scenarios and cases of integrity failures as well as spoofing, jamming and cyberattacks, impact that security requirements can have on safety and vice versa. Practical cases of non-intentional jamming and spoofing to safety critical applications, and considered results and mitigations. Impact of proposed GPS, Galileo and EGNOS authentication services to safety.Panel Members: 1. Dr. Todd Walter, Stanford University2. Mr. Jim Barrett, BSNF Railway3. Mr. Michael Vanguardia, Boeing4. Mr. Andreas Lipp, Eurocontrol, France

Dr. Chris Wullems Independent Consultant, Australia

Matt Harris Boeing

10:05 a.m. - 10:35 a.m. - Morning Refreshments in the Lower Level Lobby

21


Session D5: UAV Navigation Technology and Algorithms


Session E5: Interference Detection and Alternative PNT


Session F5: Scientific Uses of Raw GNSS Measurements from

Smartphones


Friday Morning, September 20, 8:30 a.m.–12:15 p.m.

12:15 p.m.–1:30 p.m. , Awards Luncheon (Lunch served until 12:30 p.m.; late arrivals will not be served), Riverfront Hall, South


RESEARCH SESSIONS

8:35 Sub-Meter Accurate UAV Navigation and Cycle Slip Detection with LTE Carrier Phase Measurements: K. Shamaei and Z.M. Kassas, University of California, Irvine

8:57 Comparison of Uncertainty Suppression Methods for Sparsely Sampled Fields: S. Yonan, R. Curry, and G.H. Elkaim, UC Santa Cruz

9:20 Robust Scene-Matching Algorithm Based on Relative Velocity Model for Aerial Images: S.H. Choi, Seoul National University, South Korea; C.G. Park, Seoul National University/Automation and Systems Research Institute, South Korea

9:43 Sensitivity Analysis of RADAR Altimeter-aided GPS for UAS Precision Approach: A. Videmsek, Ohio University; M. Uijt de Haag, TU Berlin, Germany and Ohio University; T. Bleakley, General Atomics Aeronautical Systems Inc.

10:40 Development and Testing of a Real-time Low-cost PPP and MEMS INS Loosely Coupled Georeferencing System for Small UAVs Under Challenging Environments: Z. Lyu, P. Zhou, Y. Jiang, Y. Gao, The University of Calgary, Canada

11:03 Enhanced Fixed Wing UAV Navigation in Extended GNSS Outages Using a Vehicle Dynamics Model and Raw GNSS Observables: H.A Mwenegoha, T. Moore, J. Pinchin, University of Nottingham, UK; M. Jabbal, University of Nottingham–Fluids and Thermal Engineering, UK

11:26 Optimal Stochastic Sensor Error Modeling Based on Actual Impact on Quality of GNSS-INS Integrated Navigation: M. Khaghani, S. Guerrier, University of Geneva (UNIGE), Switzerland; J. Skaloud, Swiss Federal Institute of Technology in Lausanne (EPFL), Switzerland; Y. Zhang, UNIGE, Switzerland

11:48 STAP Performance and Antenna Miniaturization in Multi-Antenna GNSS Receivers: E. Pérez Marcos, German Aerospace Center (DLR), RWTH Aachen University, Germany; S. Caizzone, DLR, Germany; M. Cuntz, DRL & RWTH Aachen University, Germany; A. Konovaltsev, DLR, Germany; M. Meurer, DLR, RWTH Aachen University, Germany

Alternates1. Antenna Baseline Impact on Attitude and

Geolocation Error: P. Carter, Auburn University; J. Starling, Integrated Solutions for Systems (IS4S); S. Martin, D. Bevly, Auburn University

2. UWB-Based Indoor Navigation with Uncertain Anchor Nodes Positioning: G. Pagès and Jordi Vilà-Valls, ISAE-Supaéro, University of Toulouse, France

3. Precise and Extremely Fast Method of Ambiguity Resolution for a Single Epoch of GNSS Data: M. Bakula, University of Warmia and Mazury, Poland

Inchara Lakshminarayan University of Minnesota

Dr. Cagatay Tanil Amazon Prime Air

8:35 An Algorithm for Finding the Direction of Arrival of Counterfeit GNSS Signals on a Civil Aircraft: G. Falco, M. Nicola, E. Falletti, M. Pini, LINKS Foundation, Italy

8:57 Direction-of-Arrival-Based Classification of Authentic and Spoofed GNSS Signals: M.C. Esswein and M.L. Psiaki, Virginia Tech

9:20 GNSS Spoofing Detection and Mitigation Technique based on the Cyclic MUSIC Algorithm: J.Zhang, X.Cui, M.Lu, Tsinghua University, China

9:43 Joint Tracking of Multifrequency Signals Using a Beamforming Technique: S. Zorn, M. Niestroj, M. Brachvogel, RWTH Aachen University, Germany; M. Meurer, RWTH Aachen University & German Aerospace Center (DLR), Germany

10:40 Characterizing Terrestrial GNSS Interference from Low Earth Orbit: M.J. Murrian, L. Narula, and T.E. Humphreys, University of Texas at Austin

11:03 Feasibility Demonstration of RNP with Terrestrial Ranging: O. Osechas, G. Battista, R. Kumar, S. Narayanan, O. García Crespillo, N. Schneckenburger, B. Belabbas, M. Meurer, German Aerospace Center (DLR), Germany

11:26 Sensitivity of Innovation Monitors to Uncertainty in Error Modeling: B. Kujur, C. Tanil, S. Khanafseh, B. Pervan, Illinois Institute of Technology

11:48 Effects of Optimized Mitigation Techniques for Swept-frequency Jammers on Tracking Loops: W. Qin, Politecnico di Torino, Italy; M. Troglia Gamba, E. Falletti, LINKS Foundation, Italy; F. Dovis, Politecnico di Torino, Italy

Alternates1. Wavelet Based Adaptive Notch Filtering to

Mitigate COTS PPDs: J. Rossouw van der Merwe, A. Rügamer, F. Garzia, W. Felber, Fraunhofer IIS, Germany

2. A GNSS Spoofing Generator Using Vector-Based Receiver: Q. Meng and L-T. Hsu, The Hong Kong Polytechnic University, China

Alexander Rügamer Fraunhofer IIS, Germany

Dr. Sherman Lo Stanford University

8:35 Analysis of Raw GNSS Measurements Derived Navigation Solutions from Mobile Devices with Inertial Sensors: M. Petit, École Nationale de l'Aviation Civile, France; D-K. Lee, D. Miralles, University of Colorado Boulder; S. Lo, Stanford University; D. Akos, University of Colorado Boulder & Stanford University

8:57 GNSS-based Cooperative Positioning: Approaches and Demonstration: C. Gioia and D. Borio, Joint Research Centre of the European Commission, Italy

9:20 Statistical Investigation of Android GNSS Data: Case Study Using Xiaomi Mi 8 Dual-Frequency Raw Measurements: L. Massarweh, Deimos Engenharia S.A., Instituto Superior Tecnico, Portugal; F. Darugna, Geo++ GmbH, Leibniz University of Hannover, Germany; D. Psychas, Fugro Innovation & Technology B.V., .Delft University of Technology, Netherlands; J. Bruno, University of Bath, UK

9:43 Use of PPP Processing for Next-generation Smartphone GNSS Chips: Key Benefits and Challenges: J. Aggrey, S. Bisnath, N. Naciri, G. Shinghal, S. Yang, York University, Canada

10:40 Assessment of GNSS Zenith Total Delay Estimation Using Smart Devices: G. Tagliaferro, Geomatics Research Development s.r.l & Politecnico di Milano, Italy; A. Gatti, E. Realini, Geomatics Research Development s.r.l, Italy

11:03 Investigation of Smartphone Dual-Frequency GNSS for Sensing Ionospheric Phenomena: S. Skone, S. Mushini, University of Calgary, Canada; A. Coster, MIT Haystack Observatory

11:26 Spoofing Discrimination Using Multiple Independent Receivers Based on Pseudorange Measurements: J. Wen, H. Li, Z. Wang, M. Lu, Tsinghua University, China

11:48 GNSS Spoofing Detection Techniques by Cellular Network Cross-check in Smartphones: F. Formaggio, S. Ceccato, F. Basana, N. Laurenti, S. Tomasin. University of Padova, Italy

Alternates1. Towards Sub-meter Positioning Using Android

Raw GNSS Measurements: D. Psychas, Delft University of Technology, The Netherlands; J. Bruno, University of Bath, UK; L. Massarweh, Deimos Engenharia S.A., Instituto Superior Técnico, Portugal; F. Darugna, Geo++ GmbH, Leibniz University of Hannover, Germany

2. RTK and PPP-RTK Using Smartphones: From Short-baseline to Long-baseline Applications: F. Darugna, Geo++ GmbH, Leibniz University of Hannover, Germany; J. Wübbena, A. Ito, T. Wübbena, G. Wübbena, M. Schmitz, Geo++ GmbH, Germany

3. Estimation of Positional Accuracy of the Dual Frequency GNSS Sensor Available in the Xiaomi Mi8 Smartphone Under Different Scenarios and Positioning Methods: A. Gomes, C. Pereira Krueger, Federal University of Paraná, UFPR, Brazil

Dr. Pai Wang University of Colorado Boulder

Dr. Fabio Dovis Politecnico di Torino, Italy

10:05 a.m. - 10:35 a.m. - Morning Refreshments in the Lower Level Lobby

22


Session B6: GNSS Applications in Space


Session C6: Authentication and Augmentation Services


Session D6: Technologies for GNSS-Denied Environments


Friday Afternoon September 20, 1:45 p.m. – 4:50 p.m. COMMERCIAL AND POLICY SESSIONS

RESEARCH SESSIONS

1:50 A GNSS Payload with Low-cost Commercial-of-the-shelf Receivers: M Meindl, M Rothacher, K Chen, ETH Zurich, Institute of Geodesy and Photogrammetry, Switzerland; F. Kreiliger, E. Styger, Lucerne University of Applied Sciences and Arts, Switzerland; S. De Florio, L. López Gilabert, Astrocast, Switzerland

2:12 The Joint ESA/NASA Galileo/GPS Receiver On-board the ISS-GARISS Project: W. Enderle, E. Schoenemann, F. Gini, ESA/ESOC, Germany; J.J. Miller, NASA Headquarter, USA: O.S. Sands, D. Chelmins, NASA Glenn Research Center, USA; O. Pozzobon, S. Fantinato, A. Dalla Chiara, F. Bernardi, Qascom, Italy

2:35 Dove GPS: An Unconventional Approach to CubeSat Orbit Determination: R.W. Kingsbury, M. Cullen Self, C. Foster, Planet Labs, Inc.

2:58 A Novel Centimeter-Level Real-Time Orbit Determination Method Using Space-Borne GPS/Beidou Measurements from FY-3C: W. Jun, Beijing UniStrong Science & Technology Co., Ltd., China; G. Lei, W. Fuhong, Wuhan University, China; W Lin, T Lizheng, Beijing UniStrong Science & Technology Co., Ltd., China

3:20 GPS-Based Attitude Determination of a Rotating Spacecraft Using Single Antenna Subject to Phase Wind-up: B. Weaver, Tufts University; T. Bogner, J. Arnold Soltz, Draper; J. Rife, Tufts University

3:42 Space GNSS Receiver Performance Results with Precise Real-Time On-board Orbit Determination (P2OD) in LEO Missions: J.M. Palomo, P. D'angelo, P.F. Silva, A.J. Fernández, DEIMOS Space, Spain; P. Giordano, P. Zoccarato, ESA-ESTEC; J. Tegedor, O. Oerpen, Fugro Norway AS, Norway; L.B. Hansen, GomSpace A/S; C. Hill, T. Moore, The University of Nottingham, UK

4:04 Proba-3 Precise Orbit Determination Based on GNSS Observations: W. Enderle, F. Gini, E. Schoenemann, V. Mayer, ESA/ESOC, Germany

4:26 Moon Navigation Satellite System (MNSS) Using the Deep Space Gateway (DSG) as a Reference Station: A. Delépaut, M. Schönfeldt, P. Giordano, R. Sarnadas, L. Ries, G. Boscagli, J. Ventura-Traveset, European Space Agency, Netherlands

Alternate1. Improved GNSS-based Orbital Filter for Earth

to Moon Navigation: P. Zhang, K. Yang, CAST-Xi’an Institute of Space Radio Technology, China; E. Shehaj, P. Blunt, V. Capuano, C. Botteron, P-A. Farine, École Polytechnique Fédérale de Lausanne (ESPLAB), Switzerland

Dr. Werner Enderle European Space Agency, Germany

David Chelmins NASA

1:50 A Message Authentication Proposal for Satellite Based Nation-wide PPP-RTK Correction Service: R. Hirokawa, S. Fujita, Mitsubishi Electric Corporation, Japan

2:12 Authentication Architectures for the WAAS L5 Signal: A. Neish, T. Walter, J.D. Powell, Stanford University

2:35 Field Testing of GNSS Users Protection Techniques: S. Cancela, J. Navarro, D. Calle, GMV, Spain; T. Reithmaier, Ifen, Germany; A. Dalla Chiara, Qascom, Italy; I. Fernández-Hernández, European Commission, Belgium; G. Seco-Granados, Universidad Autónoma de Barcelona, Spain; J. Simón, European GNSS Agency, The Netherlands

2:58 Testing of PPP Solution Aided with Enhanced Algorithms of Integer Ambiguity Resolution: L. de la Cruz, C. Mezzera, P. Navarro, P. Roldán, G. Tobías, GMV, Spain

3:20 Performance Analysis of Precise Point Positioning (PPP) with Rx Networks High Accuracy Assistance Service: V. Bellad, T. Marathe, B. Aminian, N. Valentine, S. Sarvasiddhi, Z. Baji, M. Petryshen, V. Chen, Rx Networks Inc. Canada

3:42 Investigation of PPP Convergence for Automotive Applications using Ionospheric Model Derived from Space-borne LEO and Ground CORS GNSS Networks: Y. Yi, M. Horton, Y. Li, X. Wang, D. Wang Aceinna Inc.

4:04 Benefits of Introducing Server-supported GNSS Receiver: T. Yamamoto, S. Miyamoto, M. Toda, M. Mogamiya, K. Terao, CORE Corporation, Japan

4:26 TerraStar X: Precise Point Positioning with Fast Convergence and Integrity: P. Alves, C. Ellum, A. Jokinen, Z. Lukes, S. Masterson, L. Mervart, K. Sheridan, P. Toor, Hexagon Positioning Intelligence, Canada; F. Takac, R. Martin, Leica Geosystems, Switzerland

Alternate 1. gmvBRAVE as SBAS Engineering Platform:

Application to the Australia and New Zealand Testbed: C. Cuesta-Martínez, J. Arenas, M. Belmonte, E. Arnal, Begoña Ochoa, GMV, Spain

2. Rapid Real-time PPP Integer Ambiguity Resolution Assisted with NRTK Technology: J. Xu, Z. Jiang, S. Feng, QianXun Spatial Intelligence Inc., China

Dr. Ignacio Fernández Hernández European Commission, Belgium

Dr. Gustavo López Risueño European Space agency, The Netherlands

1:50 Analysis and Calibration of the VLP-16 LiDAR for Automotive Applications: D.E. Sánchez, T. Pany, Universität der Bundeswehr München, Germany

2:12 Object Detection and Potential Field-based Trajectory Planning on LiDAR 3D-Point Clouds for Autonomous Vehicles in Uncertain Environments: R. Pugliese, T. Konrad, R. Zweigel, D. Abel, RWTH Aachen University, Germany

2:35 Experimental Integrity Evaluation of Tightly-Integrated LiDAR/INS: A. Hassani, Virginia Tech; N. Morris, University of Alabama Huntsville; M. Spenko, Illinois Institute of Technology; M. Joerger, Virginia Tech

2:58 Leveraging FMCW-Radar for Autonomous Positioning Systems: Methodology and Application in Downtown Toronto: M.A. Rashed, Queen's University, Canada; A. Abosekeen, Military Technical College (MTC), Egypt; H. Ragab, Queen's University, Canada; A. Noureldin, Royal Military College (RMC), Canada; M.J. Korenberg, Queen's University, Canada

3:20 Indoor Localization Based on LTE Carrier Phase Measurements and Synthetic Linear Antenna Array: A.A. Abdallah, K. Shamaei, Z.M. Kassas, University of California, Irvine

3:42 Low-Cost Hybrid GNSS/UWB/INS Integration for Seamless Indoor/Outdoor UAV Navigation: A. Bellés, C. Martin, A. Cebrian, A. Salas, J. Fernández, J. Arribas, CTTC, Spain; J. Vilà-Valls, University of Toulouse/ISAE-SUPAERO, France; M. Navarro, CTTC, Spain

4:04 Combining Visual, Pedestrian and Collaborative Navigation Techniques for Team-based Infrastructure-free Indoor Navigation: A. Morrison, SINTEF, Norway; L. Ruotsalainen, M. Makela, J. Rantanen, Finnish Geospatial Research Institute, Finland; N. Sokolova, SINTEF, Norway

4:26 Navigation Algorithm Design and Evaluation for an Autonomous Pollination Robot: C. Yang, R.M. Watson, J.N. Gross, Y. Gu, West Virginia University

Alternate1. Design of a Low-Cost Software-Defined

MEMS Gyroscope and Prototype Testing for Navigation Applications: K. Tong and Y. Gao, The University of Calgary, Canada

Dr. Allison Kealy RMIT University, Australia

Omar Garcia Crespillo German Aerospace Center, (DLR), German

23


Session E6: Remote Sensing, Timing and Clock Technology


Session F6: GNSS Signal Processing in Degraded Environments 2


Friday Afternoon, September 20, 1:45 p.m. – 4:50 p.m.COMMERCIAL AND POLICY SESSIONS

RESEARCH SESSIONS

1:50 Ocean Vector Wind Retrieval from Delay-Doppler Maps Using Ambiguous Stare Processing: I. Collett, Y.J. Morton, University of Colorado Boulder

2:12 Coherent Components of GNSS-R Signal Observed from CYGNSS Raw IF Data: Y. Wang, Y.J. Morton, University of Colorado Boulder

2:35 Ground Testing of the GNOS II Engineering Model on FengYun-3E Satellite: F. Li, Beijing Key Laboratory of Space Environment Exploration, National Space Science Center (NSSC), Chinese Academy of Sciences (CAS), China; Y. Sun, NSSC/CAS, University of Chinese Academy of Sciences (UCAS), China; X. Wang, Q. Du, NSSC/CAS, China; D. Wang, Y Cai, NSSC/CAS, China; C. Wu, NSSC/CAS, UCAS, China; Y. Tian, UCAS, China; C. Liu, X. Meng, J. Xia, W. Bai, C. Liu, NSSC/CAS, China; W. Li, NSSC/CAS, UCAS, China; D. Zhao, H. Qiao, NSSC/CAS, China

2:58 Innovative Toolbox for Reference Station Multipath and Interference Site Surveying: A. Emmanuele, M. Puccitelli, N. Pastori, A. Ferrario, L. Marradi, Thales Alenia Space Italia, Italy; A. Khanal, Politecnico di Torino, Italy; P. Crosta, R. Sarnadas, T. Thúróczy, European Space Agency – ESTEC, The Netherlands; R. Guidi, Ingegneria dei Sistemi S.p.A., Italy

3:20 Detection and Identification of Faults in Clock Ensembles: C. Trainotti, G. Giorgi, J. Furthner, German Aerospace Center (DLR), Germany

3:42 Safety Analysis for a New GNSS Timing Service via EGNOS and Galileo: R. Píriz, F. Buendía, J.R. Martín, GMV, Spain; P. Defraigne, Royal Observatory of Belgium; A. Danesi, M. Jeannot, J.P. Boyero, European Commission, Belgium

4:04 Fast and Improved Ionospheric Correction for Galileo Mass Market Receivers: M.M. Hoque, N. Jakowski, O. Osechas, J. Berdermann, German Aerospace Center (DLR), Germany

4:26 Automatic Detection and Characterization of Ionospheric Scintillation-Like GNSS Satellite and Receiver Oscillator Anomaly: Y. Liu, Y.J. Morton, University of Colorado Boulder

Alternates1. A Method for Realizing High-precision

Monitoring of Satellite Clock Based on BeiDou’s Co-satellite RDSS and RNSS Signals: W. Liu, Academy of Opto-Electronics, Chinese Academy of Sciences (CAS), University of Chinese Academy of Sciences, China; H. Yuan, Academy of Opto-Electronics, CAS, China

2. Improving the Quality of Tomographic Image by Reducing the Voxel’s Size Partly: J. Yu, W. Wang, China University of Mining and Technology, China

Dr. Pascale Defraigne Royal Observatory of Belgium, Belgium

Dr. Jihye Park Oregon State University

1:50 Multipath Mitigation Based on Stationary Wavelet Transform: P. Michel, TéSA lab, France; M. Francois-Xavier, R. Thierry, CNES, France; A. Elie, B. Margaux, M3 Systems, France; M. Corinne, TéSA lab, France

2:12 Modified Open/Closed Loop Tracking Through VDFLL for LEO Satellites: S. Hrbek, D. Miralles, D. Akos, University of Colorado Boulder

2:35 Smart Exploitation of Pseudorange and Pseudorange Rate Errors Characterization to Improve the PVT Solution: E.R. Matera, A. Garcia-Pena, C. Milner, B. Ekambi, ENAC & ABBIA GNSS Technologies, France

2:58 Particle Filter Estimation of GNSS Signal Phase Transitions: B. Breitsch and J. Morton, University of Colorado, Boulder

3:20 FFT-Based Acquisition of GPS Pseudo M-Code on a DSP: B.K. McLemore and M.L. Psiaki, Virginia Tech

3:42 Standalone Direct Acquisition of Weak Multi-Band Split-Spectrum Signals: C. Yang, A. Soloviev, QuNav; J.C. Ha, AFRL/RYWN

4:04 Cooperative Spoofing Attack Detection Using Multiple Antennas and Snapshot Receivers: J. Rossouw van der Merwe, A. Rügamer, A. Popugaev, X. Zubizarreta, W. Felber, Fraunhofer IIS, Germany

4:26 Optimal Channel Coding Structures for Fast Acquisition Signals in Harsh Environment Conditions: L. Ortega Espluga, C. Poulliat, M.L. Boucheret, M. Aubault-Roudier, H. AlBitar, TéSa, France

Alternates1. STFT-based Method Applied to GNSS Spoofing

Estimation, Mitigation and Discrimination from Multipath: H. Jiang, C. Sun, H. Zhao, W. Feng, Beihang University, China

2. The Utilization of High-resolution Spectral Analysis for GNSS Interference Mitigation in Challenging Environment: H.Y. Elghamrawy, M.J. Korenberg, M. Karaim, H. Ragab, A. Noureldin, Queen's University, Canada

3. Safeguarding NMA Enhanced Galieo OS Signals from Distance-Decreasing Attacks: K. Zhang, P. Papadimitratos, KTH Royal Institute of Technology, Sweden

Dr. Pau Closas Northeastern University

Dr. Emanuela Falletti Instituto Superiore Mario Boella, Italy

Dr. Michael Veth Veth Research Associates

Dr. Jason Gross West Virginia University.


Session G6: Aided GNSS and Sensor Fusion in Challenging Environments 2

1:50 Assessment of Differential Carrier Phase Measurements from Broadband LEO Satellite Signals for Opportunistic Navigation: J. Khalife and Z.M. Kassas; University of California, Irvine

2:12 NLOS and Multipath Detection Using Doppler Shift Measurements: L. Xu and J. Rife, Tufts University

2:35 The In-depth Theoretical Analysis of Feedback Delay Impact in INS-aided PLL: X. Tang, Southeast University, China; P. Wang, Shanghai Aerospace Control Technology Institute, China; Q. Meng, Hong Kong Polytechnic University, Hong Kong; X. Chen, Shanghai Jiao Tong University, China; T. Zhang, Southeast University, China

2:58 Integrated RTK/INS Navigation for Precision Agriculture: H. Lan, M. Elsheikh, W. Abdelfatah, A. Wahdan, N. El-Sheimy, Profound Positioning Inc., Canada.

3:20 Performance Analysis of LQG based Ultra-Tightly Coupled Algorithm According to Coherent Integration Time: M.Park, C. Kee, Seoul National University, South Korea; S. Jeon, Kakao Mobility, South Korea

3:42 The Multi-Sensor Navigation Analysis Tool (MuSNAT) as an Enhanced GNSS Software Radio to Face Current Navigation Challenges: T, Pany, A, Schütz, D, Maier, H, Sharma, M, Arizabaleta, D, Dötterböck, H, Gomez, Universität der Bundeswehr München, Germany; P, Klima, D, Ebert, Axtesys GmbH, Austria

4:04 Convolutional Neural Network Architecture Comparison for Aerial Visual Localization: J.M. Berhold, R. Leishman, AFIT; D. Venable, Veth Research Associates

4:26 SLAM-based Integrity Monitoring Using GPS and Fisheye Camera: S. Bhamidipati, University of Illinois at Urbana-Champaign; G.X. Gao, Stanford University

ION GNSS+ 2019 • September 16-20, 2019 • Miami, Florida24

ION GNSS+ Exhibit Hall Map and Information

EXHIBIT HALL FLOOR PLAN

ACEINNA, INC* Booth: 515One Tech Drive, Suite 325Andover, MA 1810Sales Contact: John NewtonEmail: [email protected]: 978-965-3200Web: www.aceinna.com

CAST Navigation, LLCBooth: 5011 Highwood Drive, Suite 100Tewksbury, MA 1876Sales Contact: Lou PelosiEmail: [email protected]: 978-858-0130Web: www.castnav.com

Collins Aerospace*Booth: 316400 Collins Road NECedar Rapids, IA 52498Sales Contact: Mike ShepherdEmail: [email protected]: 303-482-1942Web: www.collinsaerospace.com

Coordinates*Booth: 218A002, Mansara ApttC-9 Vasundhara EnclaDELHI, 110096IndiaSales Contact: Sam MalaviyaEmail: [email protected]: +91 9810233422Web: www.mycoordinates.org

DEIMOS SpaceBooth 614Ronda de Poniente 19Tres Cantos, Madrid 28760SpainSales Contact: Antonio FernándezEmail: [email protected]: +34918063450Web: www.deimos-space.com

Fraunhofer IISBooth: 603Nordostpark 84Nürnberg, 90411GermanySales Contact: Moritz ProtznerEmail: [email protected]: +49 911 58061 6423Web: www.iis.fraunhofer.de

Geo++ GmbHBooth: 602Steinriede 8 30827 GarbsenGermanySales Contact: Andreas BaggeEmail: [email protected]: +49 513746890Web: www.geopp.de

German Aerospace Center (DLR) Booth: BMünchener Strasse 2082234 WesslingGermanySales Contact: Renate SimonEmail: [email protected]: +49 8153 28 2813Web: www.dlr.de/kn

GMV Aerospace and Defence S.A.U. Booth: 215Isaac Newton 11 P.T.M.Tres Cantos, 28760 MadridSpain Sales Contact: Juan Ramon Martin PiedeloboEmail: [email protected]: +34 91 807 2100Web: www.gmv.com

GPS World *Booth: 511 1360 E 9th St. 10th Floor Cleveland, OH 44114 Sales Contact: Marty WhitfordEmail: [email protected] Phone: 216-706-3766 Web: www.gpsworld.com

Hemisphere GNSSBooth: 4118515 E Anderson DriveScottsdale, AZ 85255Sales Contact: Mark SpragueEmail: [email protected]: 480-348-6380 Web: www.hgnss.com

The Institute of NavigationBooth: 3178551 Rixlew Ln. STE 360Manassas, VA 20109Sales Contact: Ken EsthusEmail: [email protected]: 703-366-2723Web: www.ion.org

Ideal Aerosmith, Inc. Booth: 3183001 S Washington St.Grand Forks, ND 58201Sales Contact: Jason EderEmail: [email protected]: 701-757-3400Web: www.idealaero.com

IFEN GmbHBooth: 514Alte Gruber Str. 6Poing 85586GermanySales Contact: Mark WilsonEmail: [email protected]: 951-739-7331Web: www.ifen.com

Inside GNSS*Booth: 412157 Broad Street, #318Red Bank, NJ 7701Sales Contact: Richard FischerEmail: [email protected]: 609-240-1590Web: www.insidegnss.com

IZT/HV Technologies, Inc.Booth: 2168526 Virginia Meadows DriveManassas, VA 20109Sales Contact: Tom ReveszEmail: [email protected]: 703-365-2330Web: [email protected]

ION GNSS+ 2019 Exhibitors Denotes ION Corporate Member * Denotes ION GNSS+ Event Partner

EXHIBIT HALL HOURS

Wednesday: 10:00 a.m. – 5:30 p.m. Hall Open 5:30 p.m. – 7:30 p.m. Reception

Thursday: 9:00 a.m. – 4:00 p.m. Hall Open

203 201

ION GNSS+ 2019 • September 16-20, 2019 • Miami, Florida 25

ION GNSS+ Exhibitor List

L3Harris Technologies*Booth: 2091025 W. NASA BoulevardMelbourne, FL 32919Sales Contact: Vince D’AlessandroEmail: [email protected] Phone: 321-727-9100Web: L3Harris.com

Labsat By RacelogicBooth: A27260 Haggerty Road, Suite A2Farmington Hills, MI 48331Sales Contact: Mark SampsonEmail: [email protected]: +44 (0)1280 825 988Web: www.LabSat.co.uk

Lear CorporationBooth: 60021557 Telegraph RoadSouthfield, MI 48033Sales Contact: Isaac ZafaraniEmail: [email protected]: 347-419-3194Web: www.lear.com

Lockheed Martin Space Systems Co.* Booth: D12257 S. Wadsworth Blvd,Littleton, CO 80127Sales/Media Contact: Chip EschenfelderEmail: [email protected]: www.lockheedmartin.com

Microchip Technology Inc. Booth: 612 2355 W Chandler Blvd. Chandler, AZ 85224 Sales Contact: Sammy Delacruz Email: [email protected] Phone: 949-300-5208Web: www.microchip.com

Munich Satellite Navigation Summit*Booth: 314Werner-Heisenberg-Weg No. 39Neubiberg, 85577GermanySales Contact: Antje TucciEmail: [email protected]: +49 17662150570Web: www.munich-satellite-navigation-summit.org

NovAtel, Inc. Booth: 50010921 14th Street NECalgary, AB T3K 2L5Canada Sales Contact: Sean Walsh Email: [email protected] Phone: 713-893-6694 Web: www.novatel.com

Orolia/SkydelBooth: 3111565 Jefferson RoadSuite 460Rochester, NY 14623Sales Contact: Lisa PerdueEmail: [email protected]: 585-321-5822Web: www.orolia.com

Qascom S.r.l.Booth: 212Via Orazio Marinali, 87Bassano del Grappa VI 36061ItalySales Contact: Oscar PozzobonEmail: [email protected]: +39 0424 525473Web: www.qascom.com

QuNavBooth: 3152 Park Circle, Unit BFort Walton Beach, FL 32548Sales Contact: Andrey SolovievEmail: [email protected]: 740-541-1529Web: www.qunav.com

Regulus CyberBooth: 611Nahum Het 5 StreetHaifa 3508504IsraelSales Contact: Jana WagnerEmail: [email protected]: 972542469925Web: www.regulus.com

Rohde & Schwarz USA, Inc. Booth: 2056821 Benjamin Franklin DriveColumbia, MD 21046Sales Contact: Darren McCarthyEmail: [email protected]: 888-837-8772Web: www.rohde-schwarz.com

Royal Institute of NavigationBooth: 5161 Kensington GoreLondon SW7 2ATUnited KingdomSales Contact: Louisa ChanterEmail: [email protected]: +44 (0)20 7591 3134Web: www.rin.org.uk

Rx Networks, Inc.* Booth: 3121201 West Pender St. Suite 800Vancouver, BC V6E 2V2CanadaSales Contact: John CarleyEmail: [email protected]: 604-685-8988 ext 244Web: www.rxnetworks.com

Sensonor ASBooth: 214Knudsrødveien 7P.O.Box 1004Horten, 3194NorwaySales Contact: Shaun McGuiganEmail: [email protected]: 408-707-0694Web: www.sensonor.com

SeptentrioBooth: 60423848 Hawthorne Blvd., Suite 200Torrance, CA 90505Sales contact: Eric AlbrechtEmail: [email protected]: +1 310 541 8139Web: www.septentrio.com

Silicon Sensing SystemsBooth 213Clittaford Road SouthwayPL6 6DE, Plymouth DevonUnited KingdomSales Contact: Darioosh Naderi Email: [email protected]: +44 (0) 1752 723124Mobile: +44 (0) 7793 425423 Web: www.siliconsensing.com

Spirent Communication*Booth: EAspen WayPaignton, TQ4 7QRUnited KingdomSales Contact: Jan HeatherEmail: [email protected]: +44 1803 546325Web: www.spirent.com/pnt

Spirent Federal*Booth: E1420 West State RoadPleasant Grove, UT 84062Sales Contact: Jeff MartinEmail: [email protected]: 801-785-1448Web: www.spirentfederal.com

Syntony SASBooth: 606535 Mission Street, 14th floorSan Francisco, CA 94105Sales Contact : François GOUDENOVEE-mail address : [email protected] : +1 646 799 0101Web : www.syntony-gnss.com

Systron Donner Inertial, An EMCORE Company *Booth: 5122700 Systron Dr.Concord, CA 94518Sales Contact: David HoyhEmail: [email protected]: 925-979-4500Web: www.systron.com

Tamagawa Seiki / AdvanTech InternationalBooth: 5181600 Cottontail Lane Suite 3Somerset, NJ 8873Sales Contact: Jim KlitschEmail: [email protected] Phone: 732-805-1900Web: www.advantechinternational.com

Trimble, Inc.* Booth: 51710368 Westmoor DriveWestminster, CO 80021Sales Contact: Marcus McCarthyEmail: [email protected]: positioningservices.trimble.com

WORK MicrowaveBooth: 414Rudolf-Diesel-Ring 2Holzkirchen, 83607GermanySales Contact: Lisa HayesEmail: [email protected]: + 49 8024 6408 0Web: www.work-microwave.com

26

ION GNSS+ Special Events

ION GNSS+ 2019 • September 16-20, 2019 • Miami, Florida

Wednesday, September 18Attendee Luncheon 12:15 p.m.–1:15 p.m., Exhibit Hall

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.

Previous Kepler Award Winners at ION GNSS+ 2018 (left to right): Dr. Gary McGraw, Prof. Terry Moore, Dr. Dorota Grejner-Brzezinska, Dr. Todd Walter, Dr. Oliver Montenbruck, Dr. Frank van Diggelen, Dr. Penina Axelrad, Dr. Richard Langley, and Mr. Karl Kovach.

Exhibitor Hosted Reception 5:30 p.m.– 7:30 p.m., Exhibit Hall

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. Spouses and traveling companions 21 and older are welcome.

Thursday, September 19Attendee Luncheon 12:15 p.m.–1:15 p.m., Exhibit HallThis event is included with all full conference, student, exhibit only and Thursday registrations. See registration desk to purchase guest tickets.

Women in PNT: Roundtable Discussion GroupsInformal discussions on issues important to women at work in PNT 5:30 p.m.–7:00 p.m., Hibiscus Room

Join us for an informal evening of roundtable discussions moderated by leaders in the field and formatted to promote intimate thought-provoking discussions on a variety of topics important to women in PNT. These roundtable discussions will provide a relaxing space to examine important issues and collectively share information with the goal of helping you effectively manage your professional career.

The ION's Women in Positioning, Navigation and Timing (PNT) is a voluntary networking initiative designed to support and engage women who are in the early stages of their careers in and across all areas of PNT. The initiative provides a forum for PNT professionals to meet and discuss issues vital to women on topics including, but not limited to, professionalism, career development, leadership, networking and work-life balance issues.Event Supported By:

Discussion Topics May Include:

Juggling Professional and Personal Priorities• Time management skills• Cultivating pleasures outside of work• Using technology to organize• Survival skills when facing challenges

Advancing Yourself Professionally• Obtaining leadership roles• Networking effectively• Transitioning between professional sectors/markets• Identifying a professional mentor and asking for help

These roundtable discussions are designed to promote fresh and innovating thinking while providing an opportunity for everyone to contribute.

Schedule of Events

5:30 p.m. Attendees arrive and are seated5:45–6:10 p.m. Roundtable Session 16:15–6:40p.m. Roundtable Session 26:45–7:00p.m. Wrap up and Networking

WOMEN IN PNT

Friday, September 20Johannes Kepler and Bradford W. Parkinson Awards Luncheon, Riverfront Hall South 12:15 p.m.–1:30 p.m.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. See ion.org/awards for requirements.

This event is included with a full, student, 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.

Mark Your Calendars!With these Upcoming ION Events

®


For m

ore

info

rmat

ion,

ple

ase

visi

t ion

.org

ITMOne Registration Fee, Two Technical Events and a Commercial Exhibit

www.ion.org

®


PTTIINTERNATIONAL

TECHNICAL MEETING

PRECISE TIME AND TIME INTERVAL

SYSTEMS AND APPLICATIONS

MEETING

January 21–24, 2020Hyatt Regency Mission Bay

San Diego, CA

MARK YOUR CALENDAR!

2020

April 20–23, 2020Hilton Portland Downtown

Portland, Oregon

IEEE/ION Position

Location and Navigation

Symposium (PLANS)

®


PORTLAND

The 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation

September 21-25, 2020Exhibit Hall: September 23 and 24St. Louis Union Station HotelSt. Louis, Missouri

www.ion.org

®

2020

ion.org/jnc

Military Navigation Technology– The Foundation for Military Ops

June 1–4, 2020Northern Kentucky Convention CenterCincinnati, OHClassified Session hosted at Air Force Institute of Technology

2020JOINT NAVIGATION CONFERENCE

27

28

SCHEDULE OF EVENTS Blue Titles = Commercial and Policy Sessions Green Titles = Research Sessions

MONDAY, SEPTEMBER 16 • SHORT COURSES (included in paid registration)CGSIC Subcommittee Meetings 9:00 a.m.–5:30 p.m. (Brickell/Orchid)

1:30 p.m.–3:00 p.m.GNSS 101: An Introduction (P. Misra)

Room: Tuttle

1:30 p.m.–3:00 p.m.Introduction to Space Weather (P. Doherty)

Room: Flagler

1:30 p.m.–3:00 p.m.Sensor Integration for Personal Navigation (D. Grejner-Brzezinska)


GNSS 102: Measurements from Phones,L1, L5 and Carrier Phase (F. van Diggelen)

Room: Tuttle

3:30 p.m.–5:00 p.m.Approaches for Resilient and Robust Positioning, Navigation and Timing

(L. Scott) Room: Flagler

3:30 p.m.–5:00 p.m.Using a Sextant: Celestial Navigation (R. Hartnett)

Room: Monroe

TUESDAY, SEPTEMBER 17 • PRE-CONFERENCE TUTORIALS (additional registration required)CGSIC General Session 9:00 a.m.–5:30 p.m. (Room: Jasmine)

9:00 a.m.–12:30 p.m.Multi-constellation GNSS Signals and Systems (C. Bartone)

Room: Monroe

9:00 a.m.–12:30 p.m.Fundamentals of Inertial Navigation Systems and Aiding (M. Braasch)

Room: Tuttle

9:00 a.m.–12:30 p.m.Kalman Filter Applications to Integrated Navigation 1 (J. Farrell/F. van Graas)

Room: Flagler

Lunch on Your Own • 12:30 p.m.–1:30 p.m.1:30 p.m.–5:00 p.m.

Introduction to Multiband and Multi-constellation SatNav Receivers using Python (S. Gunawardena)

Room: Monroe

1:30 p.m.–5:00 p.m.Autonomous System Navigation and Machine Learning

(M. Veth /D. Venable) Room: Tuttle

1:30 p.m.–5:00 p.m.Kalman Filter Applications to Integrated Navigation 2

(J. Farrell /F. van Graas) Room: Flagler

ION GNSS+ PLENARY SESSION • 6:30 p.m. – 8:30 p.m. • Jasmine Room

WEDNESDAY, SEPTEMBER 18TRACK A: SMEARCHECK

Mass Market and Commercial Applications

TRACK B: QIU Current Status and Future

Trends in GNSS

TRACK C: POZZOBON High Performance and

Safety Critical Applications

TRACK D: JOERGER Autonomous

System Technology

TRACK E: BORIO Robust Multisensor

Navigation

TRACK F: UGAZIO Advanced GNSS

8:30 a.m.–12:15 p.m.A1: Applications of Raw

GNSS Measurements from SmartphonesRoom: Brickell

8:30 a.m.–12:15 p.m.B1: GNSS Augmentation Systems and Integrity 1

Room: Flagler

8:30 a.m.–12:15 p.m.C1: Land-Based Applications

Room: Monroe

8:30 a.m.–12:15 p.m.D1: Connected and Collaborative

Autonomy Room: Tuttle

8:30 a.m.–12:15 p.m.E1: PANEL: PNT Security and

Robustness Room: Jasmine

8:30 a.m.–12:15 p.m.F1: Atmospheric Science and Space

Applications with GNSS Room: Orchid

12:15 p.m.–1:15 p.m., Buffet Lunch in Exhibit Hall • 1:15 p.m.–1:45 p.m., Free Time in Exhibit Hall1:45 p.m.–5:30 p.m.

A2: Navigation in Urban EnvironmentsRoom: Brickell

1:45 p.m.–5:30 p.m.B2: PANEL: Status of GPS,

GLONASS, Galileo, BDS, QZSS and NavIC

Room: Jasmine

1:45 p.m.–5:30 p.m.C2: Aviation and Aeronautics

Room: Orchid

1:45 p.m.–5:30 p.m.D2: Innovations for Robotic

Vehicle Applications Room: Tuttle

1:45 p.m.–5:30 p.m.E2: GNSS Augmentation Systems and Integrity 2

Room: Flagler

1:45 p.m.–5:30 p.m.F2: GNSS Signal Processing in

Degraded Environments 1 Room: Monroe

Reception in Exhibit Hall • 5:30 p.m.–7:30 p.m.

THURSDAY, SEPTEMBER 198:30 a.m.–12:15 p.m.

A3: PANEL: The Spectrum of Autonomy in Navigation

Room: Jasmine

8:30 a.m.–12:15 p.m.B3: GNSS Augmentation Systems and Integrity 3

Room: Flagler

8:30 a.m.–12:15 p.m.C3: Marine Applications and

Search and Rescue Room: Orchid

8:30 a.m.–12:15 p.m.D3: Navigation Using

Environmental Features Room: Monroe

8:30 a.m.–12:15 p.m.E3: Aided GNSS and Sensor

Fusion in Challenging Environments 1 Room: Brickell

8:30 a.m.–12:15 p.m.F3: Low-Cost High Precision GNSS

Positioning Room: Tuttle

12:15 p.m.–1:15 p.m., Buffet Lunch in Exhibit Hall • 1:15 p.m.–1:45 p.m., Free Time in Exhibit Hall1:45 p.m.–3:25 p.m.

A4a: GNSS Chipset Manufacturer Showcase

Room: Brickell

1:45 p.m.–5:30 p.m.B4: Spectrum: Protection

and Optimization Room: Flagler

1:45 p.m.–5:30 p.m.C4: Autonomous Applications

Room: Tuttle

1:45 p.m.–3:25 p.m.D4a: PANEL: Navigating Smart

and Connected Cities Room: Jasmine

1:45 p.m.–5:30 p.m.E4: Advanced Integrity

Algorithms for Multisensor Navigation

Room: Monroe

1:45 p.m.–5:45 p.m.F4: Next Generation RF, Antenna

Techniques, and Receiver Processing Room: Orchid

3:55 p.m.–5:30 p.m.A4b: Interference Detec-tion and Mitigation using Raw Measurements from

Smartphones Room: Brickell

3:55 p.m.–5:30 p.m.D4b: PANEL: GNSS Challenges and

Unsolved Problems Room: Jasmine

FRIDAY, SEPTEMBER 208:30 a.m.–12:15 p.m.

A5: Development of Indoor Positioning

Room: Brickell

8:30 a.m.–12:15 p.m.B5: Trends in Future Satellite

Navigation Technology, System Design and Development

Room: Flagler

8:30 a.m.–12:15 p.m.C5: PANEL: Integrity and Cybersecurity: The Next

Challenges for Safety Applications

Room: Jasmine

8:30 a.m.–12:15 p.m.D5: UAV Navigation Technology

and Algorithms Room: Tuttle

8:30 a.m.–12:15 p.m.E5: Interference Detection and

Alternative PNT Room: Monroe

8:30 a.m.–12:15 p.m.F5: Scientific Uses of Raw GNSS

Measurements from Smartphones Room: Orchid

Awards Luncheon • 12:15 p.m.–1:30 p.m. (Lunch served until 12:45 p.m.; late arrivals will not be served)1:45 p.m.–4:50 p.m.

B6: GNSS Applications in Space Room: Flagler

1:45 p.m.–4:50 p.m.C6: Authentication and Augmentation Services

Room: Tuttle

1:45 p.m.–4:50 p.m.D6: Technologies for GNSS-

Denied Environments Room: Jasmine

1:45 p.m.–4:50 p.m.E6: Remote Sensing, Timing

and Clock Technology Room: Orchid

1:45–4:50 p.m.F6: GNSS Signal

Processing in Degraded

Environments 2 Room: Monroe

1:45–4:50 p.m.G6: Aided GNSS

and Sensor Fusion in Challenging

Environments 2 Room: Brickell

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INSTITUTE OF NAVIGATION1 September 16–20, 2019 Exhibit Hall: September 18 and 19 Hyatt Regency...

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