Satellite Navigation
R&S®SMBVB-K44/-K66/-K94/-K97/-
K98/-K106/-K107/-K108/-K109/K122/-K132/-K133/-K134/-K135/K136/-K137
User Manual
(;Üì32)
1178940302
Version 07
This document describes the following software options:
●
R&S®SMBVB-K44 GPS (1423.7753.xx)
●
R&S®SMBVB-K66 Galileo (1423.7882.xx)
●
R&S®SMBVB-K94 GLONASS (1423.7953.xx)
●
R&S®SMBVB-K97 NavIC (1423.8708.xx)
●
R&S®SMBVB-K98 Modernized GPS (1423.7960.xx)
●
R&S®SMBVB-K106 SBAS/QZSS (1423.7982.xx)
●
R&S®SMBVB-K107 BeiDou (1423.7999.xx)
●
R&S®SMBVB-K108 Real world simulation (1423.8008.xx)
●
R&S®SMBVB-K109 Real-time interfaces (HIL) (1423.8014.xx)
●
R&S®SMBVB-K122 RTK virtual reference station (1423.8914.xx)
●
R&S®SMBVB-K132 Modernized BeiDou (1423.8789.xx)
●
R&S®SMBVB-K133 Single-Satellite GNSS (1423.8743.xx)
●
R&S®SMBVB-K134 Upgrade to Dual-Frequency (1423.8750.xx)
●
R&S®SMBVB-K135 Upgrade to Triple-Frequency (1423.8766.xx)
●
R&S®SMBVB-K136 Add 6 GNSS Channels (1423.8772.xx)
●
R&S®SMBVB-K137 Add 12 GNSS Channels (1423.8795.xx)
This manual describes firmware version FW 5.00.044.xx and later of the R&S®SMBV100B.
© 2021 Rohde & Schwarz GmbH & Co. KG
Mühldorfstr. 15, 81671 München, Germany
Phone: +49 89 41 29 - 0
Email: info@rohde-schwarz.com
Internet: www.rohde-schwarz.com
Subject to change – data without tolerance limits is not binding.
R&S® is a registered trademark of Rohde & Schwarz GmbH & Co. KG.
Trade names are trademarks of the owners.
1178.9403.02 | Version 07 | Satellite Navigation
The following abbreviations are used throughout this manual: R&S®SMBV100B is abbreviated as R&S SMBVB, R&S®WinIQSIM2
is abbreviated as R&S WinIQSIM2; the license types 02/03/07/11/12/13/16 are abbreviated as xx.
TM
ContentsSatellite Navigation
Contents
1 Welcome to the GNSS options............................................................. 9
1.1 Key features...................................................................................................................9
1.2 Accessing the GNSS dialog....................................................................................... 11
1.3 What's new...................................................................................................................11
1.4 Documentation overview............................................................................................11
1.4.1 Getting started manual.................................................................................................. 11
1.4.2 User manuals and help................................................................................................. 12
1.4.3 Service manual............................................................................................................. 12
1.4.4 Instrument security procedures.....................................................................................12
1.4.5 Printed safety instructions............................................................................................. 12
1.4.6 Data sheets and brochures........................................................................................... 12
1.4.7 Release notes and open source acknowledgment (OSA)............................................ 13
1.4.8 Application notes, application cards, white papers, etc.................................................13
1.5 Scope........................................................................................................................... 13
1.6 Notes on screenshots.................................................................................................13
2 About the GNSS options..................................................................... 15
2.1 Required options.........................................................................................................15
2.2 GNSS overview............................................................................................................17
2.3 SBAS overview............................................................................................................21
2.4 GNSS components overview..................................................................................... 21
2.5 How are the GNSS components simulated?............................................................ 23
3 Getting started......................................................................................25
3.1 Trying out the GNSS simulator..................................................................................25
3.2 General settings.......................................................................................................... 30
3.3 Simulation monitor..................................................................................................... 33
4 Simulation time.................................................................................... 42
4.1 Time configuration settings....................................................................................... 42
5 Receiver type and position................................................................. 48
5.1 Receiver type...............................................................................................................48
5.2 Static receiver..............................................................................................................50
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ContentsSatellite Navigation
5.3 Moving receiver...........................................................................................................54
5.3.1 How to define a moving receiver...................................................................................54
5.3.2 Moving receiver settings............................................................................................... 57
6 Satellite constellation.......................................................................... 63
6.1 Systems and signals settings....................................................................................64
6.2 Satellites settings........................................................................................................68
7 Space vehicle configuration............................................................... 75
7.1 Power settings.............................................................................................................76
7.2 Modulation control settings....................................................................................... 81
7.3 Simulated orbit and orbit perturbation settings.......................................................86
7.4 Simulated clock settings............................................................................................ 95
8 Tracking mode......................................................................................98
8.1 Signal dynamics settings........................................................................................... 98
8.2 Related settings........................................................................................................ 102
9 Production tester............................................................................... 104
9.1 Required options.......................................................................................................104
9.2 Related settings........................................................................................................ 105
9.3 Real-time information............................................................................................... 106
10 Real-world environment.................................................................... 108
10.1 Required options.......................................................................................................109
10.2 Spinning and attitude simulation............................................................................ 109
10.3 Antenna pattern and body mask..............................................................................110
10.4 Supported environment models.............................................................................. 112
10.5 Supported multipath models....................................................................................115
10.6 Simulating real-world effects................................................................................... 116
10.6.1 Creating and modifying antenna patterns and body masks........................................ 116
10.6.2 Visualizing the effect of an antenna pattern................................................................ 121
10.6.3 Creating multipath environment scenarios..................................................................124
10.7 Antenna configuration settings............................................................................... 126
10.8 Environment configuration settings....................................................................... 130
10.8.1 Environment model and configuration.........................................................................131
10.8.2 Vertical obstacles........................................................................................................ 131
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ContentsSatellite Navigation
10.8.3 Roadside planes......................................................................................................... 135
10.8.4 Ground/sea reflection..................................................................................................140
10.8.5 Full obscuration...........................................................................................................142
10.8.6 Static multipath............................................................................................................146
11 Real-time kinematics......................................................................... 150
11.1 Required options.......................................................................................................151
11.2 RTK configuration.....................................................................................................152
11.3 RTK protocol configuration......................................................................................153
11.4 RTK position configuration......................................................................................154
11.5 RTK antenna configuration......................................................................................157
12 Perturbations and errors simulation................................................ 162
12.1 About noise and CW interferer................................................................................ 162
12.2 Noise and CW interferer settings............................................................................ 162
12.3 About error sources..................................................................................................167
12.3.1 About the atmospheric effects.....................................................................................168
12.3.2 About orbit and orbit perturbation parameters and errors........................................... 169
12.3.3 About clock and time conversion parameters and errors............................................170
12.3.4 Simulating errors......................................................................................................... 171
12.3.5 Errors compensation................................................................................................... 171
12.4 Atmospheric effects and ionospheric errors settings...........................................172
12.5 Pseudorange errors settings................................................................................... 181
12.6 Orbit and orbit perturbation errors settings...........................................................184
12.7 Clock errors settings................................................................................................ 193
12.8 Time conversion errors settings..............................................................................197
12.9 System errors settings............................................................................................. 201
13 SBAS corrections...............................................................................208
13.1 About SBAS...............................................................................................................208
13.2 About errors correction............................................................................................209
13.3 How to generate SBAS corrections.........................................................................211
13.4 SBAS settings........................................................................................................... 213
13.4.1 Error correction mode................................................................................................. 213
13.4.2 GEO ranging information............................................................................................ 215
5User Manual 1178.9403.02 ─ 07
ContentsSatellite Navigation
13.4.3 Differential corrections.................................................................................................220
13.4.4 Additional SBAS system parameters.......................................................................... 231
14 Data logging....................................................................................... 237
14.1 Data logging general settings..................................................................................239
14.2 Configure logging settings...................................................................................... 242
15 Assistance data generation.............................................................. 246
16 Loading historical data......................................................................253
16.1 Import GNSS constellation and navigation message data settings.....................255
16.2 Import SBAS constellation and correction data settings......................................257
17 Hardware in the loop (HIL)................................................................ 259
17.1 Tips for best results..................................................................................................260
17.1.1 Synchronization...........................................................................................................260
17.1.2 System latency............................................................................................................261
17.1.3 Latency calibration...................................................................................................... 261
17.1.4 Adding a constant delay to compensate for command jitter....................................... 263
17.1.5 Interpolation................................................................................................................ 265
17.1.6 Trajectory prediction....................................................................................................265
17.2 HIL settings................................................................................................................266
17.3 UDP position data..................................................................................................... 270
17.4 SCPI position data.................................................................................................... 271
17.5 Remote-control commands......................................................................................271
18 Signal generation control..................................................................280
18.1 Trigger settings......................................................................................................... 280
18.2 Marker settings..........................................................................................................284
18.3 Clock settings............................................................................................................288
18.4 Global connectors settings......................................................................................288
19 How to perform signal generation tasks with the GNSS options..290
19.1 General workflow for signal generation tasks....................................................... 290
19.2 How to generate GNSS signals for simple receiver tests..................................... 292
19.3 How to simulate real-world effects..........................................................................292
19.4 How to add noise or CW interferer.......................................................................... 292
6User Manual 1178.9403.02 ─ 07
ContentsSatellite Navigation
19.5 How to load historical data...................................................................................... 292
20 Remote-control commands...............................................................293
20.1 General commands...................................................................................................296
20.2 System and signal commands.................................................................................300
20.3 Time conversion configuration................................................................................305
20.4 Receiver positioning configuration commands.....................................................319
20.5 Antenna pattern and body mask............................................................................. 327
20.6 Real-time kinematics (RTK) commands..................................................................330
20.7 Environment configuration commands.................................................................. 334
20.8 Static multipath configuration................................................................................. 346
20.9 Atmospheric configuration commands.................................................................. 359
20.10 AWGN configuration.................................................................................................365
20.11 Satellites constellation............................................................................................. 369
20.12 Signals and power configuration per satellite....................................................... 378
20.13 SBAS corrections......................................................................................................401
20.14 Navigation message commands............................................................................. 412
20.14.1 Simulated orbit, orbit perturbation and clock commands............................................ 414
20.14.2 Pseudorange commands............................................................................................ 425
20.14.3 Orbit, clock, system, time conversion and ionospheric errors.....................................434
20.15 Signal dynamics........................................................................................................502
20.16 Assistance data settings.......................................................................................... 512
20.17 Monitoring and real-time commands...................................................................... 523
20.17.1 Monitoring commands.................................................................................................526
20.17.2 Real-time commands.................................................................................................. 531
20.18 Data logging.............................................................................................................. 541
20.19 Trigger commands....................................................................................................548
20.20 Marker commands.................................................................................................... 552
20.21 Clock commands...................................................................................................... 555
Annex.................................................................................................. 556
A User environment files...................................................................... 556
A.1 Movement or motion files.........................................................................................556
A.1.1 Waypoint file format.....................................................................................................556
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ContentsSatellite Navigation
A.1.2 Vector trajectory file format......................................................................................... 559
A.1.3 NMEA files as source for movement information........................................................ 562
A.1.4 Trajectory description files...........................................................................................562
A.1.5 Resampling principle...................................................................................................566
A.1.6 Calculating the maximum time duration of a movement file........................................567
A.2 Vehicle description files (used for smoothening)..................................................568
A.3 Antenna pattern and body mask files..................................................................... 569
B RINEX files..........................................................................................572
B.1 RINEX format description.........................................................................................572
B.2 Example of a RINEX file............................................................................................573
C NMEA scenarios.................................................................................575
D QZSS navigation message scheduling............................................577
E List of predefined test scenarios......................................................578
F Ionospheric grid file format...............................................................584
G Channel budget..................................................................................585
G.1 Hardware resources..................................................................................................585
G.2 Instrument setups..................................................................................................... 587
H List of predefined files.......................................................................590
Glossary: List of publications with further or reference information
............................................................................................................. 592
List of commands.............................................................................. 594
Index....................................................................................................638
8User Manual 1178.9403.02 ─ 07
Welcome to the GNSS optionsSatellite Navigation
Key features
1 Welcome to the GNSS options
The R&S SMBV100B-K44/-K66/-K94/-K97/-K98/-K106/-K107/-K108/-K109/-K122/K132/-K133/-K134/-K135/-K136/-K137 are firmware applications that add functionality
to generate signals in accordance with GPS, Galileo, GLONASS, NavIC, QZSS and
COMPASS/BeiDou navigation systems and SBAS augmentation systems.
This user manual contains a description of the functionality that the application provides, including remote control operation.
All functions not discussed in this manual are the same as in the base unit and are
described in the R&S SMBV100B user manual. The latest version is available at:
www.rohde-schwarz.com/manual/SMBV100B
Installation
You can find detailed installation instructions in the delivery of the option or in the
R&S SMBV100B service manual.
● Key features..............................................................................................................9
● Accessing the GNSS dialog.................................................................................... 11
● What's new..............................................................................................................11
● Documentation overview.........................................................................................11
● Scope......................................................................................................................13
● Notes on screenshots............................................................................................. 13
1.1 Key features
The global navigation satellite system (GNSS) solution for the R&S SMBV100B is suitable for R&D lab tests or production tests. Supported are all possible scenarios, from
simple setups with individual satellites all the way to flexible scenarios generated in
real time.
Real-time scenarios offer simulation of up to several hundred satellites for navigation
systems GPS, Galileo, GLONASS, BeiDou, NavIC and QZSS depending on the installed options.
Key features
The GNSS options key features are:
●
Support of multiple GNSS and regional navigation satellite systems (RNSS) and
signals including mixed constellations (Table 1-1)
●
Support of satellite-based augmentation systems (SBAS) and signals including
mixed constellations (Table 1-2)
●
Configuring the state of a particular signal component individually
●
Real-time simulation of realistic mixed constellations and unlimited simulation time
●
Flexible scenario generation including moving scenarios, dynamic power control
and atmospheric modeling
9User Manual 1178.9403.02 ─ 07
Welcome to the GNSS optionsSatellite Navigation
Key features
●
Configuration of realistic user environments, including obscuration and multipath,
antenna characteristics and vehicle attitude
●
Navigation test mode for satellite constellation simulation, position fixing and time
to first fix (TTFF) testing
●
Tracking test mode for signal acquisition and tracking tests
●
Single satellite per system test mode for production tests
●
Simulation of orbit perturbations and pseudorange errors
●
Support of ranging, correction and integrity services for SBAS
●
Configuration suitable for basic receiver testing using signals with zero, constant or
varying Doppler profiles
●
Common configuration of multi-frequency GNSS scenarios
●
Support of assisted GNSS test scenarios, including generation of assistance data
for GPS, Galileo, GLONASS and BeiDou
●
Logging of user motion and satellite-related parameters
●
Real-time external trajectory feed for hardware in the loop (HIL) applications
●
High signal dynamics, simulation of spinning vehicles to support aerospace and
defense applications
Table 1-1: Supported GNSS/RNSS, frequency bands and signals
GNSS/RNSS L1 band L2 band L5 band
GPS C/A, P C/A, P, L2C L5
Galileo E1 E6 E5a, E5b
GLONASS C/A C/A -
BeiDou B1I, B1C B3I B2I, B2a
QZSS C/A L2C L5
NavIC - - SPS
Table 1-2: Supported SBAS, frequency bands and signals
SBAS L1 band L2 band L5 band
EGNOS C/A -
WAAS C/A -
MSAS C/A - -
GAGAN C/A - -
1)
SBAS "Exp L5" signals are for experimental use only and do not comply with SBAS
Exp L5
Exp L5
1)
1)
interface control document (ICD) specifications, see also Table 2-10.
10User Manual 1178.9403.02 ─ 07
1.2 Accessing the GNSS dialog
To open the dialog with GNSS settings
► In the block diagram of the R&S SMBV100B, select "Baseband > GNSS".
A dialog box opens that displays the provided general settings.
The signal generation is not started immediately. To start signal generation with the
default settings, select "State > On".
1.3 What's new
This manual describes firmware version FW 5.00.044.xx and later of the
R&S®SMBV100B.
Compared to the previous version, it provides the new features listed below:
●
Real-time kinematics (RTK) simulation of one GNSS receiver and up to two RTK
reference stations, see Chapter 11, "Real-time kinematics", on page 150.
●
GPS L1C signal generation, see "Signals" on page 66.
●
Additional file extensions added for RINEX 3.x navigation file format, see
Table 15-2.
●
Additional file extensions for satellites constellation files, see Table 20-1.
●
Antenna position top view and side view added, see "To add an antenna and dis-
play the antenna pattern on a 3D view" on page 117.
Welcome to the GNSS optionsSatellite Navigation
Documentation overview
1.4 Documentation overview
This section provides an overview of the R&S SMBV100B user documentation. Unless
specified otherwise, you find the documents on the R&S SMBV100B product page at:
www.rohde-schwarz.com/manual/smbv100b
1.4.1 Getting started manual
Introduces the R&S SMBV100B and describes how to set up and start working with the
product. Includes basic operations, typical measurement examples, and general information, e.g. safety instructions, etc. A printed version is delivered with the instrument.
11User Manual 1178.9403.02 ─ 07
1.4.2 User manuals and help
Separate manuals for the base unit and the software options are provided for download:
●
Base unit manual
Contains the description of all instrument modes and functions. It also provides an
introduction to remote control, a complete description of the remote control commands with programming examples, and information on maintenance, instrument
interfaces and error messages. Includes the contents of the getting started manual.
●
Software option manual
Contains the description of the specific functions of an option. Basic information on
operating the R&S SMBV100B is not included.
The contents of the user manuals are available as help in the R&S SMBV100B. The
help offers quick, context-sensitive access to the complete information for the base unit
and the software options.
All user manuals are also available for download or for immediate display on the Internet.
Welcome to the GNSS optionsSatellite Navigation
Documentation overview
1.4.3 Service manual
Describes the performance test for checking compliance with rated specifications, firmware update, troubleshooting, adjustments, installing options and maintenance.
The service manual is available for registered users on the global Rohde & Schwarz
information system (GLORIS):
https://gloris.rohde-schwarz.com
1.4.4 Instrument security procedures
Deals with security issues when working with the R&S SMBV100B in secure areas. It
is available for download on the Internet.
1.4.5 Printed safety instructions
Provides safety information in many languages. The printed document is delivered with
the product.
1.4.6 Data sheets and brochures
The data sheet contains the technical specifications of the R&S SMBV100B. It also
lists the options and their order numbers and optional accessories.
The brochure provides an overview of the instrument and deals with the specific characteristics.
12User Manual 1178.9403.02 ─ 07
Welcome to the GNSS optionsSatellite Navigation
Notes on screenshots
See www.rohde-schwarz.com/brochure-datasheet/smbv100b
1.4.7 Release notes and open source acknowledgment (OSA)
The release notes list new features, improvements and known issues of the current
firmware version, and describe the firmware installation.
The open-source acknowledgment document provides verbatim license texts of the
used open source software.
See www.rohde-schwarz.com/firmware/smbv100b
1.4.8 Application notes, application cards, white papers, etc.
These documents deal with special applications or background information on particular topics.
See www.rohde-schwarz.com/application/smbv100b
1.5 Scope
Tasks (in manual or remote operation) that are also performed in the base unit in the
same way are not described here.
In particular, it includes:
●
Managing settings and data lists, like saving and loading settings, creating and
accessing data lists, or accessing files in a particular directory.
●
Information on regular trigger, marker and clock signals and filter settings, if appropriate.
●
General instrument configuration, such as checking the system configuration, configuring networks and remote operation
●
Using the common status registers
For a description of such tasks, see the R&S SMBV100B user manual.
1.6 Notes on screenshots
When describing the functions of the product, we use sample screenshots. These
screenshots are meant to illustrate as many as possible of the provided functions and
possible interdependencies between parameters. The shown values may not represent
realistic usage scenarios.
13User Manual 1178.9403.02 ─ 07
Welcome to the GNSS optionsSatellite Navigation
Notes on screenshots
The screenshots usually show a fully equipped product, that is: with all options installed. Thus, some functions shown in the screenshots may not be available in your particular product configuration.
14User Manual 1178.9403.02 ─ 07
About the GNSS optionsSatellite Navigation
Required options
2 About the GNSS options
Global navigation satellite system (GNSS) employs the radio signals of several navigation standards, like GPS, Galileo, GLONASS and BeiDou and NavIC. For several
years, GPS used to be the only standard available for civilian navigation through its
C/A civilian code.
Nowadays, the GNSS signals and systems are undergoing fast development, some
systems are getting modernized and some are new. In the foreseeable future, several
more GNSS satellites utilizing more signals and new frequencies are available.
The GNSS implementation in the R&S SMBV100B enables you to generate composite
signals of GNSS satellites, depending on the installed options. Signal generation is
performed in real time and thus not limited to a certain time period.
The following chapters provide background information on required options, basic
terms and principles in the context of GNSS signal generation. For detailed information
on the GNSS standards, see the corresponding specifications.
2.1 Required options
The basic equipment layout for generating GNSS signals includes:
●
Base unit
●
Baseband real-time extension (R&S SMBVB-K520)
●
At least one basic or modernized GNSS option, see Table 2-1. The modernized
GNSS options do not require a basic GNSS option.
For production testing, use the option Single-Satellite GNSS instead of a GNSS
option, see Table 2-3.
●
Optional enhanced simulation capability options, see Table 2-2.
●
Optional enhanced simulation capacity options, see Table 2-3.
Table 2-1: GNSS system options
Option Designation Remark
R&S SMBVB-K44 GPS C/A and P signals in L1 and L2 bands
R&S SMBVB-K66 Galileo E1 OS, E6, E5a and E5b signals in L1, L2 and L5 bands
R&S SMBVB-K94 GLONASS C/A signal in L1 and L2 bands
R&S SMBVB-K97 NavIC/IRNSS SPS signal in L5 band
R&S SMBVB-K98 Modernized GPS L1C, L2C and L5 signals in L1, L2 and L5 bands
R&S SMBVB-K107 BeiDou/COMPASS B1I signal in L5 band
R&S SMBVB-K132 Modernized BeiDou B1C, B3I and B2a signals in L1, L2 and L5 bands
15User Manual 1178.9403.02 ─ 07
About the GNSS optionsSatellite Navigation
Required options
Table 2-2: GNSS simulation capability options
Option Designation Remark
R&S SMBVB-K106 SBAS/QZSS Requires R&S SMBVB-K44.
Augmentation system option using satellite-based and
regional navigation signals.
R&S SMBVB-K108 Real world simulation Simulates real-world environments: Signal obscurations,
echoed and multipath effects, receiver antenna patterns
and body masks.
R&S SMBVB-K109 Real-time interfaces Emulates a realistic environment of the DUT in real time
via the Hardware in the Loop test mode.
R&S SMBVB-K122 Real-time kinematics
(RTK)
Table 2-3: GNSS simulation capacity options
Option Designation Remark
R&S SMBVB-K133 Single-Satellite GNSS Requires no GNSS system option.
R&S SMBVB-K134 Dual-frequency GNSS Simulation of 2 RF band signals
R&S SMBVB-K135 Triple-frequency GNSS Requires R&S SMBVB-K134.
R&S SMBVB-K136 Add 6 GNSS channels Installable up to 8 times
R&S SMBVB-K137 Add 12 GNSS chan-
nels
Requires R&S SMBVB-K520.
Simulates RTK kinematics for up to two RTK reference
stations and one GNSS receiver.
Single satellite signal of a GNSS system suitable for production testing.
Simulation of 3 RF band signals
Installable up to 8 times
There is a limitation on the maximum number of satellite signals that can be simulated
simultaneously. For more information, see Chapter G, "Channel budget", on page 585.
To find out installed GNSS options
► Select "System Config > Setup > Instrument Assembly > Versions / Options > Soft-
ware Options".
The column "Licenses" lists the number of installed options.
To play back GNSS waveforms
You can generate signals via play-back of waveform files at the signal generator. To
create the waveform file using R&S WinIQSIM2, you do not need a specific option.
To play back the waveform file at the signal generator, you have two options:
●
Install the R&S WinIQSIM2 option of the digital standard, e.g. R&S SMBVB-K255
for playing LTE waveforms
●
If supported, install the real-time option of the digital standard, e.g. R&S SMBVBK55 for playing LTE waveforms
16User Manual 1178.9403.02 ─ 07
For more information, see data sheet.
2.2 GNSS overview
This section provides an overiew on the GNSS including the following:
●
Power spectral density and center frequencies
●
Characteristics of the satellite constellation
●
Signal plan for each GNSS
The number of deployed satellites increases constantly. For the current deployment
status, see the official information of the GNSS providers.
The GNSS simulation capacity depends on installed options and the visibility state of
the individual satellite. For the number of satellites that can be present in the satellite
constellation, see Table 6-1.
About the GNSS optionsSatellite Navigation
GNSS overview
Figure 2-1: Power spectral density and center frequencies of most important GNSS signals
Red = GPS L1, L2 and L5 signals, details in GPS signal plan
Blue = Galileo E1, E5 and E6 signals, details in Galileo signal plan
Green = GLONASS G1, G2 and G3 signals, details in GLONASS signal plan
Yellow = BeiDou B1, B2 and B3 signals, details in BeiDou signal plan
GPS
The Global Positioning System (GPS) consists of several satellites circling the earth in
low orbits. The satellites transmit permanently information that can be used by the
receivers to calculate their current position (ephemeris) and about the orbits of all satellites (almanac). The 3D position of a receiver on the earth can be determined by carrying out delay measurements of at least four signals emitted by different satellites.
Being transmitted on a single carrier frequency, the signals of the individual satellites
can be distinguished by correlation (gold) codes. These ranging codes are used as
spreading codes for the navigation message which is transmitted at a rate of 50 bauds.
The C/A codes are used to provide standard positioning service (SPS), the P(Y) codes
to provide precise positioning service (PPS).
17User Manual 1178.9403.02 ─ 07
Table 2-4: GPS signal plan
Service name C/A P(Y) L1C L2C
About the GNSS optionsSatellite Navigation
GNSS overview
1)
MCode
L5I, L5Q
Frequency band L1 L1
L2
Center frequency,
MHz
Modulation BPSK(1) BPSK(10) TMBOC
1)
M code signals are not supported with the GNSS firmware.
1575.42 1575.42
1227.6
L1 L2 L1
L2
1575.42 1227.6 1575.42
1227.6
BPSK(1) BOC(10,5) QPSK(10)
(6,1,1/11)
L5
1176.45
Galileo
Galileo is the European global navigation satellite system that provides global positioning service under civilian control. It is planed to be inter-operable with GPS and GLONASS and other global satellite navigation systems.
The fully deployed Galileo system consists of operational and spare satellites. Three
independent CDMA signals, named E5, E6 and E1, are permanently transmitted by all
Galileo satellites. The E5 signal is further subdivided into two signals denoted E5a and
E5b (see Figure 2-1). The Galileo system provides open service (OS), public regulated
service (PRS) to authorized, commercial service (CS) and search and rescue (SAR)
service.
Table 2-5: Galileo signal plan
Service name E1 OS
PRS
1)
E5a OS E5b OS E6 CS
Frequency band E1 E1 E6 E5
Center frequency,
MHz
Modulation CBOC
1)
Galileo E1 PRS signal is not supported with the GNSS firmware.
1575.42 1575.42 1278.75 1176.45 1207.14 1278.75
(6,1,1/11)
BOC
(15,2.5)
BOC(10,5) AltBOC
(15,10)
E6
BPSK(5)
GLONASS
GLONASS is the Russian global navigation satellite system that uses 24 modernized
GLONASS satellites touring the globe.
Together with GPS, more GNSS satellites are provided, which improves the availability
and therefore the navigation performance in high urban areas.
Table 2-6: GLONASS signal plan
Service name C/A
Frequency band G1 G2 G1 G2 G3
1)
P
G3I , G3Q
1)
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GNSS overview
Center frequency,
MHz
Modulation BPSK(0.5)
1)
G1 and G2 P code signals and G3I/Q signals are not supported in the GNSS firm-
1602 ±
k*0.5625
1246 ±
2)
k*0.5625
1602 ±
2)
k*0.5625
BPSK(5)
1246 ±
2)
k*0.5625
1202.025
2)
QPSK(10)
ware.
2)
k is the frequency number (FDMA) with -7 ≤ k ≤ 13.
BeiDou
The fully deployed BeiDou navigation satellite system (BDS) is a Chinese satellite navigation system. This navigation system is also referred as BeiDou-2.
The BDS is a global satellite navigation system with a constellation of satellites (COMPASS satellites) to cover the globe. The constellation includes geostationary orbit satellites (GEO) and non-geostationary satellites. The non-geostationary satllites comprise medium earth orbit satellites (MEO) and inclined geosynchronous orbit (IGSO).
The BDS uses frequency allocated in the B1, B2 and B3 bands providing open service
(OS) and authorized service (AS).
Table 2-7: BeiDou signal plan
Signal B1C B1I B2a B2I B3I
Frequency
band
Center frequency, MHz
Modulation BOC(1,1)
B1 B1 B2 B2 B3
1575.42 1561.098 1176.45 1207.14 1268.52
QMBOC(6, 1, 4/33)
BPSK(2) BPSK(10)
BPSK(10)
BPSK(2) BPSK(10)
BeiDou B1Q, B2Q and B3Q AS signals are not supported in the GNSS firmware.
QZSS
The Quasi-Zenith satellite system (QZSS) is a regional space-based positioning system deployed in 2013.
In its final deployment stage, the QZSS uses a total number of three regional non-geostationary and highly inclined satellites and one geostationary orbit (GEO) satellite. The
QZSS does not aim to cover the globe but to increase the availability of GPS in Japan,
especially in the larger towns.
The QZSS uses signals that are similar to the GPS public signals.
Table 2-8: QZSS signal plan
Service name C/A
L1C
1)
SAIF
1)
L2CM,
L2CL
L5I, L5Q
LEX
1)
Frequency band L1 L1 L1 L2 L5 E6
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GNSS overview
Center frequency,
MHz
Modulation BPSK(1) BOC(1,1) BPSK(1) BPSK(1) BPSK(10) BPSK(5)
1575.42 1575.42 1575.42 1227.6 1176.45 1278.75
QZSS L1C, SAIF and E6 LEX signals are not supported in the GNSS firmware.
NavIC
NavIC (Navigation Indian Constellation) is the indian navigation satellite system, formerly denoted IRNSS (Indian Regional Navigational Satellite System).
NavIC is a regional satellite navigation system with a constellation of satellites to cover
an area of 1500 km surrounding India (2016). The constellation includes geostationary
orbit (GEO) satellites and inclined geosynchronous orbit (IGSO) satellites.
The NavIC system uses frequencies allocated in the L5 and S bands providing special
positioning service (SPS) and precision service (PS).
Table 2-9: NavIC signal plan
Signal SPS
Frequency band L5 S
Center frequency, MHz 1176.45 2491.75
Modulation BPSK(1) N/A
PS
1)
1)
NavIC PS signal is not supported in the GNSS firmware.
Assisted GNSS (A-GNSS)
Assisted GNSS (A-GNSS) was introduced to different mobile communication standards to reduce the time to first fix (TTFF) of a user equipment (UE) containing a GNSS
receiver. The reduction is achieved by transmitting information (assistance data) mainly
about the satellites directly from a base station to the UE.
For example, a standalone GPS receiver needs about 30 to 60 seconds for a first fix
and up to 12.5 minutes to get all information (almanac).
In A-GNSS "UE-based mode", the base station assists the UE by providing the complete navigation message along with a list of visible satellites and ephemeris data. In
addition to this information, the UE gets the location and the current time at the base
station. That speeds up both acquisition and navigation processes of the GPS receiver
and reduces TTFF to a few seconds.
In A-GNSS "UE assisted mode", the base station is even responsible for the calculation of the UE's exact location. The base station takes over the navigation based on the
raw measurements provided by the UE. Since the acquisition assistance data provided
by the base station already serves speeding up the acquisition process, the UE only
has to track the code and carrier phase.
20User Manual 1178.9403.02 ─ 07
2.3 SBAS overview
Satellite-based augmentation systems (SBAS) use geostationary satellites (GEO) to
broadcast GNSS coarse integrity and wide area correction data (error estimations),
and ranging signal to augment the GNSS.
SBAS broadcast augmentation data in the GPS frequency band L1 using the C/A code
of GPS. For experimental use, the R&S SMBV100B provides modulation of SBAS L1
navigation message data in the GPS L5 band for SBAS systems EGNOS and WAAS.
Thus, the signal "Exp L5" is a pure copy of L1 data and does not comply with SBAS
interface control document (ICD) specifications.
Table 2-10: SBAS signal plan
Signal C/A Exp L5
Frequency band L1 L5
Center frequency, MHz 1575.42 1176.45
Modulation BPSK(1) N/A
About the GNSS optionsSatellite Navigation
GNSS components overview
The SBAS provides data for a maximum of 51 satellites. In the SBAS, the term pseudo
random number (PRN) is used instead of the term space vehicle (SV). There are 90
PRN numbers reserved for SBAS, where the numbering starts at 120.
Several SBAS systems are still in their development phase, like, for example, the
SDCM in Russia Federation, and GAGAN in India.
SBAS systems that are currently in operation argument the US GPS satellite navigation system, so that they are suitable, for example, for civil aviation navigation safety
needs. The following SBAS systems are supported by R&S SMBV100B:
●
EGNOS
EGNOS (European geostationary navigation overlay service) EGNOS is the European SBAS system
●
WAAS
WAAS (wide area augmentation system) is the SBAS system in United States
●
MSAS
MSAS (multi-functional satellite augmentation system ) is the SBAS system working in Japan. It uses the multi-functional transport satellites (MTSAT) and supports
differential GPS.
●
GAGAN
GAGAN (GPS aided geo augmented navigation system) is the SBAS implementation by the Indian government.
2.4 GNSS components overview
The GNSS system comprises of three main components: the space segment, the
ground segment and the user segment.
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GNSS components overview
Figure 2-2: GNSS system components (simplified)
1 = Space segment or satellites
2 = Ground segment or ground stations
3 = User segment or receivers
4 = Ephemeris (broadcasted satellites orbit and clock)
5 = Broadcasted navigation message
Space segment
The space segment consists of the satellites that orbit the earth on their individual
orbits. Satellites broadcast signals at specific frequency in the L band and spread by
predefined codes. For the GPS satellites using L1 frequency band, for instance, the
predefined codes are the coarse/acquisition (C/A) or the precision (P) codes.
The transmitted signal carries the navigation message, on which each satellite broadcasts its major characteristics, its clock offsets and precise orbit description, where the
latter is called ephemeris. The navigation message contains also satellites status
information, ionospheric and time-related parameters, UTC information and orbit data
with reduced accuracy for all other satellites, commonly referred as almanac.
Ground segment
The ground segment is a network of ground stations whose primary goal is to measure constantly the satellites’ location, altitude and velocity, and the satellites signals.
The ground stations also estimate the influence of the ionosphere. They calculate the
precise orbit (and orbit perturbation) parameters and clock drifts parameters of
each satellite. This corrected highly accurate information is regularly broadcasted back
to the satellites so that their navigation messages can be updated.
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About the GNSS optionsSatellite Navigation
How are the GNSS components simulated?
User segment
Finally, the receiver decodes the navigation message (ephemeris and almanac)
broadcasted by the GNSS satellites, obtains information regarding the satellites orbit,
clock, health etc. and calculates the satellites coordinates. The receiver also measures
the signal propagation time (i.e. the pseudorange) of at least four satellites and estimates its own position.
2.5 How are the GNSS components simulated?
In real life, the true satellite orbit can differ from the orbit information that the satellite
broadcasts.
In this implementation, the simulated orbit is the true orbit. Thus, the satellites motion
along their orbits, the clock they use and the current distance to each of them are referred to as simulated orbit, clock and pseudorange. They are set as retrieved from
the constellation data source and can be configured on a per satellite basis.
The navigation message of each of the satellites is per default identical to the simulated one. It is referred to as broadcasted navigation message, since it represents the
broadcasted satellite’s signal, see Figure 2-2. Per default, the broadcasted and the
simulated orbit and clock parameters match. Obviously, if the parameters in any of
those two groups are changed, a deviation between the sets is simulated.
The receiver is the device under test (DUT). In the simulation, the receiver is represented by its position, antenna configuration, environment, etc. The receiver is tested with
the GNSS it would receive in a real-world situation if placed in the specified conditions.
Simulation date, time and location
The R&S SMBV100B generates the signal for any simulation date and time, in the past
or in the future. The generated signal represents any location, on the earth or in the
space, for a static or moving receiver.
You have full control over the satellites’ constellation, the satellites signals and the navigation message of each satellite. Repeat measurement scenarios with same preconditions and vary the complexity or replay simulation events from the past.
For details, see:
●
Chapter 4, "Simulation time", on page 42
●
Chapter 5, "Receiver type and position", on page 48
●
Chapter 6, "Satellite constellation", on page 63
●
Chapter 7, "Space vehicle configuration", on page 75
Real-world scenarios through environmental effects
You can also simulate various different environmental conditions, like the effect of the
receiver’s antenna characteristic, vehicle movement, vehicle body mask, multipath
propagation, obstacles or the atmosphere.
For details, see Chapter 10, "Real-world environment", on page 108.
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About the GNSS optionsSatellite Navigation
How are the GNSS components simulated?
Ionospheric effects
You can also simulate the effect of the atmospheric (ionospheric and tropospheric)
errors on the positioning accuracy.
For details, see "Tropospheric and ionospheric models" on page 168.
GNSS errors sources
Additional to the real-world and the ionosphere effects, you can simulate signal errors
by manipulating the navigation messages of the satellites. Signal errors have a direct
impact on the receiver’s positioning accuracy.
You can observe the effect of the following common error sources:
●
Orbit and orbit perturbation errors (ephemeris errors)
●
Satellite clock and time conversion errors
●
Pseudorange errors
For details, see Chapter 12, "Perturbations and errors simulation", on page 162.
Historical constellations and navigation data
You can also replay historical satellite constellations, by loading constellation files and
navigation data files for all GNSS systems supported in the GNSS firmware.
For details, see:
●
"Constellation data and navigation message file formats" on page 253
●
Chapter 16.1, "Import GNSS constellation and navigation message data settings",
on page 255
Correction data
You can also correct navigation data by loading SBAS corrections.
For details, see:
●
Chapter 13, "SBAS corrections", on page 208
●
Chapter 16.2, "Import SBAS constellation and correction data settings",
on page 257
24User Manual 1178.9403.02 ─ 07
Getting startedSatellite Navigation
Trying out the GNSS simulator
3 Getting started
In its default configuration, the software generates GNSS signal that is sufficient for a
receiver to get a position fix. The simulated GNSS depends on the installed options.
For example, if R&S SMBV100B-K44 is installed, it is GPS C/A signal in the L1 band.
For all GNSS, the simulation starts on 19.02.2014 at 6 am UTC time and the satellite
constellation corresponds to a constellation, that is visible for a static receiver located
in Munich.
To simulate a defined configuration, you can load predefined assistance GNSS scenarios or load a user-defined scenario. The software applies the configuration automatically, you can change related settings afterwards. For example, try out the receiver
templates and configure a receiver, moving in a circle in New York.
● Trying out the GNSS simulator............................................................................... 25
● General settings......................................................................................................30
● Simulation monitor.................................................................................................. 33
3.1 Trying out the GNSS simulator
The following simple examples can help you get familiar with the basic functions of the
software:
●
"To generate a GNSS signal for simple receiver tests (default configuration)"
on page 25
●
"To use predefined scenarios" on page 26
●
"To generate a multi-constellation GNSS signal" on page 28
To generate a GNSS signal for simple receiver tests (default configuration)
1. Select "Baseband > Satellite Navigation > GNSS".
2. Select "General > State > On".
The summary information confirms that a single GNSS system signal is generated.
The used frequency band is indicated, too.
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Getting startedSatellite Navigation
Trying out the GNSS simulator
3. To observe current satellite constellation, select "GNSS > Simulation Monitor".
4. In the block diagram, select "RF > On".
The signal generation starts.
The frequency and level of the generated RF signal are configured automatically.
Further settings are not required.
For description of the related settings, see:
● Chapter 3.2, "General settings", on page 30
● Chapter 3.3, "Simulation monitor", on page 33
To use predefined scenarios
1. Select "Baseband > Satellite Navigation > GNSS".
2. Select, e.g., "General > Predefined Scenarios > Assisted GNSS > 3GPP2 >
3GPP2C.S0036 2.1.2 Moving".
See also Chapter E, "List of predefined test scenarios", on page 578.
3. Select "General > State > On".
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Getting startedSatellite Navigation
Trying out the GNSS simulator
The summary information confirms the used scenario. Configured is a single GPS
system signal in the L1 frequency band.
4. To observe current satellite constellation and the trajectory of the moving receiver,
select "Simulation Monitor > Display > Receiver > Map View".
The "Simulation Monitor" shows the trajectory of the moving receiver.
5. To observe the preconfigured receiver settings, select "Simulation Monitor > Config".
6. In the "Simulation Configuration > Receiver" dialog, select "Position Configuration".
Observe the configuration.
27User Manual 1178.9403.02 ─ 07
7. In the block diagram, select "RF > On".
Getting startedSatellite Navigation
Trying out the GNSS simulator
The signal generation starts.
The frequency and level of the generated RF signal are configured automatically.
Further settings are not required.
For description of the related settings, see:
● Chapter 3.2, "General settings", on page 30
● Chapter 3.3, "Simulation monitor", on page 33
● Chapter 5, "Receiver type and position", on page 48
To generate a multi-constellation GNSS signal
1. Select "Baseband > Satellite Navigation > GNSS".
2. Select "Simulation Configuration > Systems&Signals"
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Getting startedSatellite Navigation
Trying out the GNSS simulator
3. Select the frequency band, e.g. set "L1 > On".
4. Enable the global, regional and augmentation GNSS systems to be simulated, e.g.
"GPS > On", "Galileo > On", "GLONASS > On".
5. Define the signals per GNSS system, e.g. "GPS > C/A > On", "GPS > P > Off".
6. To observe current satellite constellation, select "GNSS > Simulation Monitor".
7. To reconfigure the satellites constellation, select "Simulation Monitor > Config".
8. In the block diagram, select "RF > On".
The signal generation starts.
The frequency and level of the generated RF signal are configured automatically.
Further settings are not required.
For description of the related settings, see:
● Chapter 3.2, "General settings", on page 30
● Chapter 3.3, "Simulation monitor", on page 33
● Chapter 6, "Satellite constellation", on page 63
29User Manual 1178.9403.02 ─ 07
3.2 General settings
Access:
► Select "Baseband > Satellite Navigation > GNSS".
Getting startedSatellite Navigation
General settings
This dialog provides standard general settings.
The remote commands required to define these settings are described in Chap-
ter 20.1, "General commands", on page 296.
Settings:
State..............................................................................................................................30
Set to Default................................................................................................................ 30
Save/Recall Scenario....................................................................................................31
Predefined Scenario......................................................................................................31
Scenario........................................................................................................................31
Test Mode......................................................................................................................32
GNSS Configuration......................................................................................................32
Simulation Monitor/Monitor........................................................................................... 33
Data Generation............................................................................................................33
RTK Configuration.........................................................................................................33
State
Activates the standard and deactivates all the other digital standards and digital modulation modes in the same path.
Remote command:
[:SOURce<hw>]:BB:GNSS:STATe on page 297
Set to Default
Calls the default settings. The values of the main parameters are listed in the following
table.
30User Manual 1178.9403.02 ─ 07
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