Satellite Navigation
Digital Standards for
R&S®SMBV100A
Operating Manual
(;×>K<)
1173142712
Version 14
Operating Manual
This document describes the software options for satellite navigation: GPS, Assisted GPS, GPS P-Code,
Galileo, Assisted Galileo, GLONASS, Assisted GLONASS, COMPASS/BeiDou, QZSS L1 C/A, SBAS,
Enh. GNSS and GNSS Extensions, incl. Extension to 12 and 24 Satellites, Obscuration Simulation and
Automatic Multipath, Antenna Pattern, Spinning and Attitude Simulation
Described are the following software options:
●
R&S®SMBV-K44/-K65/-K66/-K67/-K91/-K92/-K93/-K94/-K95/-K96/-K101/-K102/-K103/-K105/-K107/K110
1415.8060.xx, 1415.8560.xx, 1415.8683.xx, 1419.2509.xx, 1415.8577.xx, 1415.8583.xx,
1415.8660.xx, 1415.8677.xx, 1419.2521.xx, 1415.8790.xx, 1415.8802.xx, 1415.8819.xx,
1415.8825.xx, 1419.2350.02, 1419.2709.xx, 1419.2273.xx
This manual describes firmware version 4.70.108.xx and later of the R&S®SMBV100A.
© 2020 Rohde & Schwarz GmbH & Co. KG
Mühldorfstr. 15, 81671 München, Germany
Phone: +49 89 41 29 - 0
Fax: +49 89 41 29 12 164
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.
1173.1427.12 | Version 14 | Satellite Navigation
The following abbreviations are used throughout this manual: R&S®SMBV100A is abbreviated as R&S SMBV, R&S®WinIQSIM2TM is
abbreviated as R&S WinIQSIM2
ContentsSatellite Navigation
Contents
1 Preface.................................................................................................. 11
1.1 About This Manual...................................................................................................... 11
1.2 Documentation Overview........................................................................................... 12
1.2.1 Quick Start Guide Manual............................................................................................. 12
1.2.2 Operating Manual and Help.......................................................................................... 12
1.2.3 Service Manual............................................................................................................. 12
1.2.4 Instrument Security Procedures....................................................................................13
1.2.5 Basic Safety Instructions...............................................................................................13
1.2.6 Data Sheets and Brochures.......................................................................................... 13
1.2.7 Release Notes and Open Source Acknowledgment (OSA).......................................... 13
1.2.8 Application Notes, Application Cards, White Papers, etc..............................................13
2 Welcome to the GNSS Satellite Navigation Standards.....................14
2.1 Accessing the GNSS Dialog.......................................................................................15
2.2 Scope........................................................................................................................... 15
3 About the GNSS Options.....................................................................16
3.1 Overview of the Basic Real-Time GNSS Options.....................................................18
3.1.1 Real-time Generation.................................................................................................... 19
3.1.2 Multi-satellite GNSS Signal........................................................................................... 19
3.1.3 GNSS System Configurations.......................................................................................21
3.1.4 Signal Dynamics........................................................................................................... 21
3.1.5 Modulation Control........................................................................................................ 21
3.1.6 Multiple Almanacs......................................................................................................... 21
3.1.7 On-the-fly Configuration of the Satellites Constellation.................................................22
3.1.8 Signal Generation with Projection of the Ephemeris Navigation Data.......................... 22
3.1.9 Dynamic Exchange of Satellites....................................................................................23
3.1.10 Flexible Power Configuration and Automatic Dynamic Power Control......................... 23
3.1.11 Simulation of Uninterrupted Location Fix...................................................................... 24
3.1.12 Real-Time S.P.O.T. Display........................................................................................... 25
3.2 GPS P-Code (R&S SMBV-K93)...................................................................................25
3.3 Enhancements of Assisted GNSS Options GPS, Galileo and GLONASS..............25
3.3.1 Support of RINEX Files................................................................................................. 26
3Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
3.3.2 Predefined Test Scenarios as Basis for A-GNSS Protocol and Conformance Testing
...................................................................................................................................... 26
3.3.3 Custom Build Scenarios................................................................................................26
3.3.4 Generation of Assistance Data..................................................................................... 27
3.4 Extension to 12 / 24 Satellites (R&S SMBV-K91/-K96).............................................27
3.5 Functional Overview of Option GNSS Enhanced (R&S SMBV-K92).......................28
3.5.1 Moving Scenarios..........................................................................................................28
3.5.2 Static Multipath Signal Generation................................................................................29
3.5.3 Configuration of the Atmospheric Parameters.............................................................. 29
3.5.4 Time Conversion Configuration.....................................................................................30
3.5.5 Leap Second Simulation............................................................................................... 30
3.5.6 Internal Waypoint Resampling...................................................................................... 30
3.5.7 Motion Smoothening Using Vehicle Description File.....................................................30
3.5.8 Hardware in the Loop (HIL)...........................................................................................31
3.5.8.1 Tips for Best Results..................................................................................................... 32
3.5.8.2 HIL Commands............................................................................................................. 33
3.5.8.3 Synchronization.............................................................................................................34
3.5.8.4 System Latency.............................................................................................................34
3.5.8.5 Latency Calibration....................................................................................................... 35
3.5.8.6 Adding a Constant Delay to Compensate for Command Jitter..................................... 36
3.5.8.7 Interpolation.................................................................................................................. 37
3.5.8.8 Trajectory Prediction..................................................................................................... 38
3.6 GNSS Extension for Obscuration Simulation and Automatic Multipath
(R&S SMBV-K101)....................................................................................................... 39
3.7 GNSS Extension for Antenna Pattern (R&S SMBV-K102)....................................... 40
3.8 GNSS Extension for Spinning and Attitude Simulation (R&S SMBV-K103).......... 43
3.9 Functional Overview of Option Differential GPS (R&S SMBV-K110)...................... 44
3.9.1 File Conversion Tool......................................................................................................44
3.9.2 SBAS Configuration...................................................................................................... 45
3.9.3 Improving the Simulation Accuracy, Simulation of SV Perturbation and Errors............ 47
4 GNSS Configuration and Settings......................................................50
4.1 GNSS Main Dialog.......................................................................................................50
4.1.1 General Settings for GNSS Simulation......................................................................... 51
4.1.2 User Environment......................................................................................................... 56
4Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
4.1.3 Navigation Data.............................................................................................................58
4.1.4 Advanced Configuration................................................................................................62
4.2 GNSS System Configuration Settings...................................................................... 62
4.3 Localization Data Settings......................................................................................... 65
4.4 Obscuration and Auto Multipath Settings................................................................ 71
4.4.1 Common Settings..........................................................................................................71
4.4.2 Vertical Obstacles Settings........................................................................................... 74
4.4.3 Roadside Planes Settings............................................................................................. 78
4.4.4 Full Obscuration Settings.............................................................................................. 81
4.4.5 Ground/Sea Reflection..................................................................................................82
4.4.6 Land Mobile Multipath................................................................................................... 84
4.5 Antenna Pattern/Body Mask Settings....................................................................... 88
4.6 Time Conversion Configuration Settings................................................................. 91
4.7 GNSS/RNSS Configuration Settings......................................................................... 94
4.8 File Conversion Tool Settings....................................................................................96
4.9 SBAS Configuration Settings.................................................................................... 99
4.9.1 SBAS General Settings...............................................................................................100
4.9.2 Timing Setting............................................................................................................. 102
4.9.3 Almanac Configuration................................................................................................105
4.9.4 RINEX File Configuration............................................................................................ 107
4.9.5 Ionospheric Grid File Configuration.............................................................................108
4.9.6 PRN Mask File Configuration...................................................................................... 110
4.9.7 Fast Correction File Configuration...............................................................................111
4.9.8 Long Term Correction File Configuration.....................................................................113
4.9.9 Fast Correction Degradation Factor Configuration......................................................115
4.9.10 Clock-Ephemeris Covariance Matrix Configuration.....................................................116
4.9.11 Service Configuration.................................................................................................. 117
4.9.12 Degradation Factors Configuration..............................................................................118
4.9.13 Visualizing the Parameters Variation Over Time.........................................................120
4.9.14 EGNOS and WAAS Navigation Data as Raw Files.....................................................122
4.10 Satellite Configuration Settings...............................................................................124
4.10.1 Power Configuration....................................................................................................125
4.10.2 General Satellites Settings..........................................................................................133
5Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
4.10.3 Configuration of the Satellite Constellation................................................................. 137
4.10.4 Individual Satellite Settings......................................................................................... 139
4.10.5 Modulation Control...................................................................................................... 144
4.10.6 Signal Dynamics......................................................................................................... 145
4.10.7 Global Signal Configuration........................................................................................ 148
4.10.8 Satellites Power Tuning...............................................................................................150
4.10.9 Navigation Message Configuration............................................................................. 152
4.10.10 Static Multipath Configuration..................................................................................... 163
4.11 Atmospheric Configuration Settings...................................................................... 165
4.12 Real-Time S.P.O.T. Settings......................................................................................174
4.12.1 Display Type................................................................................................................179
4.12.2 Real-Time Information.................................................................................................179
4.12.3 Reference Location..................................................................................................... 180
4.12.4 Trajectory View Settings..............................................................................................181
4.13 Data Logging Settings.............................................................................................. 182
4.13.1 Data Logging General Settings................................................................................... 184
4.13.2 Configure Logging Settings.........................................................................................188
4.14 Assistance Data Generation Settings..................................................................... 193
4.15 Trigger/Marker/Clock Settings................................................................................. 203
4.15.1 Trigger In.....................................................................................................................204
4.15.2 Marker Settings........................................................................................................... 207
4.15.3 Clock Settings............................................................................................................. 209
4.15.4 Global Settings............................................................................................................210
5 How to Perform Signal Generation Tasks with the GNSS Options
............................................................................................................. 211
5.1 Generating a GNSS Signal for Simple Receiver Tests (Static Mode)................... 213
5.2 Generating a GNSS Signal with Automatic Exchange of the Satellites...............213
5.3 Generating a GNSS Signal with Manual Exchange of the Satellites.................... 214
5.4 Generating a QZSS Test Signal................................................................................215
5.5 Generating A-GPS Custom Build Scenarios.......................................................... 215
5.6 Generating an A-GPS Test Signal............................................................................216
5.7 Generating an A-GNSS Test Signal......................................................................... 217
5.8 Generating a GNSS Assistance Data...................................................................... 217
6Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
5.9 Creating Multipath Scenarios.................................................................................. 218
5.10 Generating a GPS Signal Modulated with P Code................................................. 222
5.11 Configuring the Navigation Parameters................................................................. 223
5.12 Adjusting the Power Settings.................................................................................. 224
5.13 Generating a GNSS Signal for Receiver Sensitivity Tests.................................... 225
5.14 Handling NMEA Files................................................................................................ 227
5.15 Creating GNSS Scenarios in a User Environment................................................. 227
5.16 Visualizing the Effect of an Antenna Pattern..........................................................232
5.17 Creating and Modifying Antenna Patterns and Body Masks................................ 235
5.18 Using the File Conversion Tool................................................................................239
5.19 Using the SBAS Settings..........................................................................................243
5.20 Simulating SV Perturbations and Errors................................................................ 247
5.21 Generating GNSS Signal with Several Instruments...............................................254
6 Remote-Control Commands............................................................. 257
6.1 Programming Examples........................................................................................... 259
6.2 Primary Settings........................................................................................................259
6.3 GNSS System Configuration....................................................................................267
6.4 User Environment, Antenna Pattern and Body Mask............................................ 270
6.5 Localization Data.......................................................................................................274
6.6 Navigation Data......................................................................................................... 280
6.7 Obscuration and Auto Multipath..............................................................................283
6.8 Hardware in the Loop (HIL)...................................................................................... 294
6.9 Almanac / RINEX Configuration...............................................................................302
6.10 Time Conversion Configuration...............................................................................309
6.11 SBAS Configuration..................................................................................................315
6.12 Static Multipath Configuration.................................................................................327
6.13 Satellites Configuration and Satellites Signal Settings.........................................331
6.14 Modulation Control................................................................................................... 342
6.15 Signal Dynamics....................................................................................................... 344
6.16 Global Signal Configuration.....................................................................................348
6.17 Power Tuning and Power Settings.......................................................................... 349
6.18 Navigation Message Configuration......................................................................... 355
6.19 Atmospheric Configuration......................................................................................378
7Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
6.20 Assistance Data Settings......................................................................................... 383
6.21 S.P.O.T Configuration and Real-Time Commands................................................. 399
6.22 Data Logging............................................................................................................. 417
6.23 Trigger Settings.........................................................................................................426
6.24 Marker Settings......................................................................................................... 430
6.25 Clock Settings........................................................................................................... 432
Annex.................................................................................................. 435
A User Environment Files.....................................................................435
A.1 Movement or Motion Files........................................................................................435
A.1.1 Waypoint File Format.................................................................................................. 435
A.1.2 Vector Trajectory File Format......................................................................................436
A.1.3 NMEA Files as Source for Movement Information...................................................... 439
A.1.4 Trajectory Description Files.........................................................................................439
A.1.5 Resampling Principle.................................................................................................. 443
A.1.6 Calculating the Maximum Time Duration of a Movement File.....................................444
A.2 Vehicle Description Files (Used for Smoothening)................................................445
A.3 Antenna Pattern and Body Mask Files....................................................................446
A.4 Land Mobile Multipath (LMM) Files..........................................................................448
B RINEX Files.........................................................................................450
B.1 RINEX Format Description....................................................................................... 450
B.2 Example of a RINEX File...........................................................................................451
C NMEA Scenarios................................................................................ 453
D SBAS Message Files Format.............................................................455
D.1 SBAS Message Files Extracts..................................................................................455
D.2 Interpolation and Correction Data Sampling Principle..........................................459
E Channel Budget..................................................................................461
F QZSS Navigation Message Scheduling........................................... 464
G List of Predefined Test Scenarios.................................................... 465
H List of Predefined Files......................................................................471
8Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
Glossary: List of Publications with Further or Reference Informa-
tion.......................................................................................................478
List of Commands..............................................................................480
Index....................................................................................................501
9Operating Manual 1173.1427.12 ─ 14
ContentsSatellite Navigation
10Operating Manual 1173.1427.12 ─ 14
1 Preface
1.1 About This Manual
This operating manual provides all the information specific to the GNSS options. All
general instrument functions and settings common to all applications and operating
modes are described in the main R&S SMBV operating manual.
The main focus in this manual is on the provided settings and the tasks required to
generate a signal. The following topics are included:
●
Welcome to the GNSS options R&S SMBV-K44/-K66/-K94/-K105/-K107/-K110
Introduction to and getting familiar with the options
●
About the GNSS options
Background information on basic terms and principles in the context of GNSS signal generation
●
GNSS configuration and settings
A concise description of all functions and settings available to configure signal generation with their corresponding remote control command
●
How to perform typical signal generation tasks with the GNSS options
The basic procedure to perform signal generation tasks and step-by-step instructions for more complex tasks or alternative methods
And detailed examples to guide you through typical signal generation scenarios
and allow you to try out the application immediately
●
Remote control commands
Remote commands required to configure and perform signal generation in a
remote environment, sorted by tasks
(Commands required to set up the instrument or to perform common tasks on the
instrument are provided in the main R&S SMBV operating manual)
Programming examples demonstrate the use of many commands and can usually
be executed directly for test purposes
●
Annex
Reference material such as description of file formats, extensive lists, and tables
●
List of remote commands
Alphabetical list of all remote commands described in the manual
●
Index
PrefaceSatellite Navigation
About This Manual
Contents and scope
This description assumes R&S SMBV equipped with all available options. Depending
on your model and the installed options, some of the functions may not be available on
your instrument.
Notes on screenshots
When describing the functions of the product, we use sample screenshots. These
screenshots are meant to illustrate as much as possible of the provided functions and
11Operating Manual 1173.1427.12 ─ 14
possible interdependencies between parameters. The shown values may not represent
realistic usage scenarios.
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.
1.2 Documentation Overview
This section provides an overview of the R&S SMBV user documentation. Unless
specified otherwise, you find the documents on the R&S SMBV product page at:
www.rohde-schwarz.com/manual/smbv100a
1.2.1 Quick Start Guide Manual
Introduces the R&S SMBV 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.
PrefaceSatellite Navigation
Documentation Overview
1.2.2 Operating Manual 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 quick start guide manual.
●
Software option manual
Contains the description of the specific functions of an option. Basic information on
operating the R&S SMBV is not included.
The contents of the user manuals are available as help in the R&S SMBV. 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.
1.2.3 Service Manual
Describes the performance test for checking the rated specifications, module replacement and repair, firmware update, troubleshooting and fault elimination, and contains
mechanical drawings and spare part lists.
12Operating Manual 1173.1427.12 ─ 14
The service manual is available for registered users on the global Rohde & Schwarz
information system (GLORIS, https://gloris.rohde-schwarz.com).
1.2.4 Instrument Security Procedures
Deals with security issues when working with the R&S SMBV in secure areas. It is
available for download on the Internet.
1.2.5 Basic Safety Instructions
Contains safety instructions, operating conditions and further important information.
The printed document is delivered with the instrument.
1.2.6 Data Sheets and Brochures
The data sheet contains the technical specifications of the R&S SMBV. It also lists the
options and their order numbers and optional accessories.
PrefaceSatellite Navigation
Documentation Overview
The brochure provides an overview of the instrument and deals with the specific characteristics.
See www.rohde-schwarz.com/brochure-datasheet/smbv100a
1.2.7 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/smbv100a
1.2.8 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/smbv100a.
13Operating Manual 1173.1427.12 ─ 14
Welcome to the GNSS Satellite Navigation StandardsSatellite Navigation
2 Welcome to the GNSS Satellite Navigation
Standards
The R&S SMBV-K44/-K65/-K66/-K67/-K91/-K92/-K93/-K94/-K95/-K96/-K101/-K102/K103/-K105/-K107/-K110 are firmware applications that add functionality to generate
signals in accordance with GPS, Galileo, GLONASS, QZSS, COMPASS/BeiDou and
SBAS.
The global navigation satellite system (GNSS) solution for the R&S SMBV is suitable
for R&D lab tests or production tests. Supported are all possible scenarios, from simple
setups with individual, static satellites all the way to flexible scenarios generated in real
time. The realtime scenarios can include up to 24 GPS, Glonass, Galileo, QZSS and
BeiDou satellites.
The GNSS key features are:
●
Support of GPS L1/L2 (C/A and P code), Glonass L1/L2, Galileo E1, BeiDou and
QZSS L1, including hybrid constellations
●
Realtime simulation of realistic constellations with up to 24 satellites and unlimited
simulation time
●
Flexible scenario generation including moving scenarios, dynamic power control
and atmospheric modeling
●
Configuration of realistic user environments, including obscuration and multipath,
antenna characteristics and vehicle attitude
●
Static mode for basic receiver testing using signals with zero, constant or varying
Doppler profiles
●
Enabling / disabling particular signal components individually.
●
Support of assisted GNSS (A-GNSS) test scenarios, including generation of assistance data for GPS, Glonass, Galileo and BeiDou
●
Realtime external trajectory feed for hardware in the loop (HIL) applications
●
High signal dynamics1), simulation of spinning vehicles and precision code (P code)
simulations to support aerospace and defense applications
●
Enhanced simulation capabilities for aerospace applications by supporting groundbased augmentation system (GBAS)
See the description "Avionics Standards Digital Standards" for R&S®SMBV operating manual.
1)
Can be subject to export restrictions.
This operating 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 software and
are described in the R&S SMBV operating manual. The latest version is available at:
www.rohde-schwarz.com/manual/SMBV100A
14Operating Manual 1173.1427.12 ─ 14
Welcome to the GNSS Satellite Navigation StandardsSatellite Navigation
2.1 Accessing the GNSS Dialog
To open the dialog with GNSS settings
► In the block diagram of the R&S SMBV, select "Baseband > Satellite Navigation".
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".
2.2 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 storing 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 configuring networks and remote operation
●
Using the common status registers
Scope
For a description of such tasks, see the R&S SMBV operating manual.
15Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
3 About the GNSS Options
Global navigation satellite system (GNSS) employs the radio signals of several navigation standards, like GPS, Galileo, GLONASS, and BeiDou. 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 SMBV enables you to generate the signal of up
to 6, 12 or 24 GNSS satellites, depending on the installed options. Signal generation is
done in real time and thus it is not limited to a certain time period.
Brief introduction to the global navigation satellite systems (GNSS)
●
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 code for the navigation message which is transmitted at a rate
of 50 bauds.
●
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 30 satellites (27 operational and 3
spares). 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 3-1).
●
GLONASS
Glonass is the Russian global navigation satellite system that uses 24 modernized
Glonass satellites touring the globe. Together with GPS, up to 54 GNSS satellites
are provided, which improves the availability and therefore the navigation performance in high urban areas.
16Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Figure 3-1: GNSS frequency bands
●
COMPASS/BeiDou
The fully deployed BeiDou navigation satellite system (BDS) is a Chinese satellite
navigation system. This navigation system is also referred as BeiDou-2 and is
expected in 2020. The BDS is a global satellite navigation system a constellation of
35 satellites to cover the globe. This constellation includes 5 geostationary orbit
satellites (GEO) and 30 non-geostationary satellites; 27 in medium earth orbit
(MEO) and 3 in inclined geosynchronous orbit (IGSO).
The BDS uses frequency allocated in the E1, E2, E5B, and E6 bands.
●
Quasi-Zenith satellite system (QZSS)
The Quasi-Zenith satellite system is a regional space-based positioning system.
The system is expected to be deployed in 2013 and the satellites would be a visible Japan.
In its final deployment stage, the QZSS uses a total number of three regional not
geostationary and highly inclined satellites. 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.
●
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. This 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
17Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Overview of the Basic Real-Time GNSS Options
data provided by the base station already serves speeding up the acquisition process, the UE only has to track the code and carrier phase.
Brief introduction to the satellite-based augmentation systems (SBAS)
The satellite-based augmentation system uses geostationary satellites (GEO) to broadcast GNSS coarse integrity and wide area correction data (error estimations), as well
as ranging signal to augment the GNSS.
The SBAS broadcasts augmentation data in the GPS frequency band L1 (carrier frequency of 1575.42 MHz), uses the BPSK modulation, and the C/A PRN code of GPS.
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 SMBV:
●
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.
See also Chapter 3.9.2, "SBAS Configuration", on page 45.
3.1 Overview of the Basic Real-Time GNSS Options
This section gives an overview of the options:
●
GPS (R&S SMBV-K44)
●
Galileo (R&S SMBV-K66)
●
GLONASS (R&S SMBV-K94)
●
QZSS (R&S SMBV-K105)
●
BeiDou (R&S SMBV-K107)
Throughout this description, these options are denoted as basic GNSS options.
18Operating Manual 1173.1427.12 ─ 14
3.1.1 Real-time Generation
●
With the option R&S SMBV-K44, up to six GPS satellites transmitting L1 or L2 signals with C/A-code can be simulated.
●
With the option R&S SMBV-K66, up to six Galileo satellites transmitting E1 signal
can be simulated.
●
With the option R&S SMBV-K94, up to six GLONASS satellites transmitting L1 or
L2 signal can be simulated.
●
With the option R&S SMBV-K107, up to six BeiDou satellites transmitting L1 or L2
signal can be simulated.
The simulation of the QZSS satellite requires the option R&S SMBV-K105 additionally
to any of the options listed above.
3.1.2 Multi-satellite GNSS Signal
The instrument calculates a multi-satellite GNSS signal in three different simulation
modes, the static mode, the auto localization mode and the user localization mode.
About the GNSS OptionsSatellite Navigation
Overview of the Basic Real-Time GNSS Options
In "Static mode", static satellites with constant Doppler shifts are provided for simple
receiver test, like receiver sensitivity, acquisition and tracking test, or production tests.
The selection and configuration of any localization data, such as receiver location for
instance are not enabled.
See Chapter 5.1, "Generating a GNSS Signal for Simple Receiver Tests (Static
Mode)", on page 213.
The superposition signal of up to six dynamic satellites at a specific receiver location is
generated in one of the localization modes. The major difference to the static mode
implies the possibility to specify the receiver's location. Although, both the localization
modes are provided for the generation of a realistic GNSS signal, there are some differences between them.
●
"Auto Localization"
This mode is provided for the generation of a GNSS signal with automatic
exchange of satellites. The automatic exchange of satellites improves the position
dilution of precision and ensures satellite visibility at the simulated receiver location.
This mode ensures an optimal satellite constellation, automatic dynamic calculation
of the satellite power at any moment and ephemeris projection from the selected
almanac.
In this simulation mode, the connected GNSS receiver can be forced to obtain a
3D fix at a predefined or user-defined static geographical location. Instrument
equipped with the option GNSS enhanced R&S SMBV-K92 can also simulate moving receivers (see Chapter 3.5.1, "Moving Scenarios", on page 28).
●
"User Localization"
This mode provides flexible configuration of the satellite constellation, the power
settings and the individual satellites parameters. For instruments equipped with
assistance option R&S SMBV-K65, this mode also enables the extraction of the
navigation message from RINEX files. Dynamic exchange of satellites is possible
with activation and deactivation of the individual satellites. The power settings are
19Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Overview of the Basic Real-Time GNSS Options
enabled for configuration but the automatic dynamic calculation function of the
instrument can also be utilized.
This mode is required for the generation of user-defined assisted GPS test scenarios.
The Table 3-1 gives an overview of the supported functionality per simulation mode.
Some functionalities require further options.
Table 3-1: Cross-reference between the simulation mode, supported functionality and the required options
Simulation mode /
Function
Configuration of static receiver location No Yes Yes R&S SMBV-K44/K66/K94/
GNSS system configuration Yes Yes Yes R&S SMBV-K44 and
Almanac/RINEX Almanac Almanac Almanac and
Projection of navigation message No Yes Yes R&S SMBV-K44/K66/K94/
S.P.O.T. display No Yes Yes R&S SMBV-K44/K66/K94/
Assistance GNSS data generation No No Yes R&S SMBV-K44/K66/K94/
Configuration of satellite constellation Yes No Yes R&S SMBV-K44/K66/K94/
Static Auto localization User localization Required options
K105/K107
R&S SMBV-K66 and
R&S SMBV-K94 and
R&S SMBV-K105 and
R&S SMBV-K107
R&S SMBV-K44/K66/K94/
RINEX file supported
K105/K107
R&S SMBV-K65/K67/K95/
K105/K107 for RINEX files
K105/K107
K105/K107
K105/K107 and
R&S SMBV-K65/K67/K95
K105/K107
Power mode User Auto Auto/User R&S SMBV-K44/K66/K94/
K105/K107
Exchange of satellites No Automatic Manual R&S SMBV-K44/K66/K94/
K105/K107
Maximum number of satellites Up to 12/24 Up to 12/24 Up to 12/24 R&S SMBV-K91/-K96
Motion files
Motion smoothening
Extract attitude from motion file
Time conversion configuration Yes No Yes R&S SMBV-K92
Navigation message configuration Configurable Read-only Configurable R&S SMBV-K92
Atmospheric configuration Yes Yes Yes R&S SMBV-K92
Static multipath configuration No No Yes R&S SMBV-K92
Automatic Multipath&Osculation scenarios
No Yes Yes R&S SMBV-K92
No Yes Yes R&S SMBV-K92 and
R&S SMBV-K102
20Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Overview of the Basic Real-Time GNSS Options
Simulation mode /
Function
Antenna Pattern/Body mask No Yes Yes R&S SMBV-K102
Attitude/Body rotation angle files
User-defined vehicle spinning
Hardware in the loop (HIL) No Yes Yes R&S SMBV-K92 (motion
File conversion tool
SBAS configuration
Modulation control
Signal dynamics
Static Auto localization User localization Required options
No Yes Yes R&S SMBV-K92 and
R&S SMBV-K103
only)
R&S SMBV-K103 (motion
and attitude)
No - Yes R&S SMBV-K44 and
R&S SMBV-K110
Yes No No R&S SMBV-K44/K66/K94/
K105/K107
3.1.3 GNSS System Configurations
Instrument equipped with the GNSS basic options GPS, Galileo, GLONASS, BeiDou
and QZSS can generate the signal of hybrid GNSS satellite constellation with radio signals of all navigation standards. Mixed configurations are enabled only in the common
or close-range frequency bands, e.g. L1/E1.
GNSS system configurations can be also used to configure general-purpose global
parameters for the simulation.
3.1.4 Signal Dynamics
For basic receiver testing, the R&S SMBV generates signals with varying Doppler
effects in static mode. Thus you can define Doppler profiles with configurable maximum dynamics (velocity, acceleration and jerk).
3.1.5 Modulation Control
In static mode, the instrument allows you to disable modulation components individually, like data source, spreading code, time sequence, meandering, navigation message.
3.1.6 Multiple Almanacs
The instrument supports the configuration of the almanac files used. One almanac file
per GNSS navigation standard can be selected.
The Galileo and Beidou satellite constellation are not yet fully in orbit. Hence, no almanac files for Galileo and BeiDou are available. In this implementation, predicted Galileo
21Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Overview of the Basic Real-Time GNSS Options
and Beidou almanac files are provided for test purposes. The almanac files for GPS
and Galileo use the same format.
Current GNSS almanac data can be downloaded via the Internet and stored on the
hard disk of the instrument:
●
US Coast Guard Navigation Center GPS Homepage http://www.navcen.uscg.gov/?
pageName=gpsAlmanacs
The almanac files are named xxx.alm (for YUMA files) or xxx.al3 (for SEM
files),
Where xxx denotes the day of a year
●
http://www.celestrak.com/GPS/almanac/
The naming convention of the almanac file is: almanac.sem/
yuma.weekXXXX.YYYYYY.txt,
Where xxxx denotes the GPS week and yyyyyy the time of almanac (TOA)
●
ftp://ftp.glonass-iac.ru/MCC/ALMANAC/
The file extension of the Glonass almanac file is: xxx.agl
●
Japanese Space Agency homepage http://qz-vision.jaxa.jp/USE/en/almanac
Available are QZSS almanacs or QZSS+GPS almanac data files.
The almanac files are named zzyyyyxxx.alm (for YUMA files) or
zzyyyyxxx.alm.xml (for XML files),
Where zz=q for QZSS almanacs and zz=qg for QZSS+GPS almanacs;
yyyy denotes the year and xxx denotes the day of a year.
For detailed information on the content and frame structure of navigation data, refer to
the specifications.
3.1.7 On-the-fly Configuration of the Satellites Constellation
The simulation mode "User Localization" makes the satellite constellation user-definable. The individual satellite parameters and the navigation message parameters are
enabled for configuration. Additionally, active satellites can be turned off or the satellite
constellation can be extended with new satellites at any time and on-the-fly. Changes
in the satellite constellation do not cause an interruption of the currently running signal
calculation. Changes in ephemeris of an active satellite and the power settings are performed without signal calculation restart, too. Hence, satellites ephemeris adjustment
can be performed during the time the satellite is disabled and the updated parameters
are used from the moment this satellite is active again. This functionality can be used
to perform manual exchange of satellite's at user-defined moment of time.
This on-the-fly reconfiguration during signal generation is especially beneficial by time
consuming measurements or test.
3.1.8 Signal Generation with Projection of the Ephemeris Navigation Data
In GPS and GLONASS, there is a requirement regarding the time span between the
simulation time and the reference time of the current satellite ephemeris page. This
22Operating Manual 1173.1427.12 ─ 14
Overview of the Basic Real-Time GNSS Options
time span has to be within the maximum allowed value of two hours (GPS) and of half
an hour (GLONASS).
To overcome this limitation in the simulation time, the instrument applies a special algorithm for projecting the ephemeris navigation data. This projection algorithm updates
the ephemerides and allows the generation of a navigation message without limitation
in the simulation time.
3.1.9 Dynamic Exchange of Satellites
In this implementation, the exchange of satellites can be performed automatically or
manually.
●
To enable the instrument to perform automatic exchange of satellites, select the
"Auto Localization" mode.
In this mode, the instrument constantly monitors and updates the simulated satellite's constellation based on two criteria, the optimal satellite constellation with minimum PDOP and the satellite's visibility respecting the Elev. Mask Angle. The
PDOP is a constellation parameter that is calculated by the instrument and displayed in real time. The satellite's visibility is a satellite parameter which indicates
that the satellite elevation at a specific user location is above a configurable elevation mask.
For the particular satellite's conditions and the number of satellites, the software
calculates and monitors the PDOP and the satellite's visibility values. It selects the
moment of time to change the satellite's constellation. Satellites that do not fulfill
the criteria for minimum PDOP and sufficient visibility are exchanged dynamically
and on-the-fly. Information about the expected time of the next upcoming
exchange is provided by the parameter Next Constellation Change.
See Chapter 5.2, "Generating a GNSS Signal with Automatic Exchange of the Sat-
ellites", on page 213.
●
In "User Localization" mode, the exchange of the satellites is not performed automatically, but the satellite's constellation is fully configurable. Satellites can be
turned off, reconfigured and turned on again, the existing satellite constellation can
be extended with new satellites. Hence, an exchange of the satellites can be configured and performed manually at any moment of time.
See Chapter 5.3, "Generating a GNSS Signal with Manual Exchange of the Satel-
lites", on page 214.
About the GNSS OptionsSatellite Navigation
3.1.10 Flexible Power Configuration and Automatic Dynamic Power Control
The instrument employs a dynamic power control concept. To provide better flexibility,
two power modes are provided, the "Auto" and the "User" power modes.
●
"User" power mode is intended for dynamical configuration of the power of each
satellite separately and manually.
●
"Auto" power mode enables an internal dynamical automatic power control. The
power is calculated automatically based on the satellite-to-receiver distance which
varies with the time.
23Operating Manual 1173.1427.12 ─ 14
Overview of the Basic Real-Time GNSS Options
For examples and information about the power calculation, see:
●
Chapter 4.10.1, "Power Configuration", on page 125
●
Chapter 5.12, "Adjusting the Power Settings", on page 224.
3.1.11 Simulation of Uninterrupted Location Fix
The simulation of uninterrupted location fix requires a GNSS signal that fulfills the following conditions:
●
An optimal satellite's constellation is selected and monitored constantly, i.e. the
exchange of the satellites is performed automatically.
●
The power of the satellites is monitored and updated constantly depending on the
satellite-to-receiver distance and some channel parameters, e.g. atmospheric
effects.
●
The age of the ephemeris (t - toe) is respected.
For example, the simulation time is always within the allowed time span of 2h
around the GPS reference time of the current ephemeris page. For GLONASS, this
time is usually 30 minutes.
About the GNSS OptionsSatellite Navigation
The Table 3-2 gives an overview on how the localization modes fulfill these criteria.
Table 3-2: Criteria for the generation of GNSS signal for simulation of uninterrupted location fix
Criteria
Simulation
Mode
"Auto Localization"
"User Localization"
Optimal Satellite's Constellation
Selected and updated automatically
Automatic dynamic exchange
of the satellites
Initial optimal satellite's constellation
Manual user-defined exchange
of the satellites
Power Monitoring and
Update
Performed automatically Projection of the ephem-
Performed automatically Projection of the ephem-
Age of Ephemeris
eris from the almanac
eris or many ephemeris
pages are made available
Both localization modes provide a realistic signal. The decision which localization
mode is used is a trade-off between the following:
●
The better accuracy of the ephemeris retrieved from a RINEX file or a manual
ephemeris configuration
●
The automatic selection of the optimal satellite's constellation with automatic
exchange of the satellites.
See:
●
Chapter 5.2, "Generating a GNSS Signal with Automatic Exchange of the Satellites", on page 213
●
Chapter 5.3, "Generating a GNSS Signal with Manual Exchange of the Satellites",
on page 214
24Operating Manual 1173.1427.12 ─ 14
Enhancements of Assisted GNSS Options GPS, Galileo and GLONASS
3.1.12 Real-Time S.P.O.T. Display
The real-word situation of disappearance and reappearance of satellites can be
observed in real time in the special "Real-Time S.P.O.T." (Satellites and Position Online
Tracker) display. The "Real-Time S.P.O.T." view is also a dynamic display of several
parameters like HDOP, PDOP, receiver's location, elapsed time and the trajectory of a
moving receiver.
The display is enabled for "Auto Localization" and "User Localization" modes.
3.2 GPS P-Code (R&S SMBV-K93)
The option GPS P-Code (R&S SMBV-K93) is available for instruments equipped with
option GPS (R&S SMBV-K44).
It enhances the option GPS with the following functionality:
●
Generation of a position accuracy (P-Code) signal
●
Configuration of P or C/A+P satellite signals, additionally to the civilian C/A signal.
About the GNSS OptionsSatellite Navigation
About the P-Code
P-Codes are one week long codes with a high chip rate 10.23 MHz. The higher chip
rate significantly increases the performance compared to the civilian C/A codes used
by commercial receivers. P-Code signal provides better carrier to noise sensitivity.
Another difference compared to the C/A signals is that P-Code signals are only sensible to less than 30 m multipath delay whereas C/A signals are sensible to 300 m.
See Chapter 5.10, "Generating a GPS Signal Modulated with P Code", on page 222.
3.3 Enhancements of Assisted GNSS Options GPS, Galileo and GLONASS
This section gives an overview of the Assisted GNSS Options.
Assisted GNSS option Required basic option Enhancement
Assisted GPS
(R&S SMBV-K65)
Assisted Galileo
(R&S SMBV-K67)
GPS
(R&S SMBV-K44)
Galileo
(R&S SMBV-K66)
Functionality for A-GPS/A-GNSS test scenarios for
3GPP FDD, GSM and EUTRA/LTE
Generation of user-defined test scenarios
Assisted GLONASS
(R&S SMBV-K95)
GLONASS
(R&S SMBV-K94)
Functionality for A-GLONASS/A-GNSS test scenarios for 3GPP FDD and EUTRA/LTE
25Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Enhancements of Assisted GNSS Options GPS, Galileo and GLONASS
3.3.1 Support of RINEX Files
Additionally to the almanac files, a Receiver Independent Exchange Format RINEX
files are supported. RINEX files are standard formats generated by Control Stations
(CS) and many commercial receivers. RINEX Navigation Files usually comprise the
ephemeris sets for several satellites with different TOE and TOC. One RINEX File is
enough to describe satellite orbits for a period longer than two hours and sometimes
up to one day.
You can download RINEX files for the Internet and store them on the hard disk of the
instrument, e.g. :
●
http://cddis.gsfc.nasa.gov/gnss_datasum.html#brdc
●
ftp://ftp.glonass-iac.ru/MCC/BRDC
●
http://qz-vision.jaxa.jp/USE/en/ephemeris
3.3.2 Predefined Test Scenarios as Basis for A-GNSS Protocol and Conformance Testing
An instrument equipped with the assisted options supports test scenarios as basis for
A-GPS/A-GLONASS/A-GNSS protocol and conformance test cases. A-BeiDou/A-Galileo test scenarios are included in the corresponding basic options. Some of the test
cases require additional options.
Test scenario vs. test case
An instrument equipped with the required options provides predefined test scenarios,
not the standard conform test cases.
The provided test scenarios are suitable basis for the test cases. However, to perform
a particular test case as specified by the 3GPP test specification, configure the settings
as required. In particular, adjust the receiver location, the simulation time, active satellites in the pre-selected satellite constellation, power setting, etc.
Refer to the corresponding 3GPP test specification for the required values.
See also Chapter 5.7, "Generating an A-GNSS Test Signal", on page 217.
For an overview of the supported test scenarios, see Chapter G, "List of Predefined
Test Scenarios", on page 465.
3.3.3 Custom Build Scenarios
The assisted options (R&S SMBV-K65/-K67/-K95) and are not limited to be used for AGNSS testing exclusively. Despite the predefined scenarios, it is also possible to define
any user-specific test scenario.
For testing of standalone GNSS receivers, the assisted options offer full flexibility on
the simulated satellites including definition of the complete navigation message. The
simulation mode "User Localization" can be used to get an optimal satellite's constellation and to adjust the navigation message to the exact requirements.
26Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Extension to 12 / 24 Satellites (R&S
The basic BeiDou option (R&S SMBV-K107) is sufficient for this kind of tests. Additional assisted option is not required.
See Chapter 5.5, "Generating A-GPS Custom Build Scenarios", on page 215.
3.3.4 Generation of Assistance Data
Besides generating the satellite signals for predefined test scenario, the assisted
options (R&S SMBV-K65/-K67/-K95) also provide assistance data in line with the simulated scenario. Assistance data can be provided to the UE by a protocol tester. Certainly, this also applies to user-defined test scenarios.
For the generation of A-QZSS and A-BeiDou user-defined test signals, the basic
QZSS/BeiDou option (R&S SMBV-K105/-K107) is sufficient. Additional assisted option
is not required.
See:
●
Figure 5-2
●
Chapter 5.8, "Generating a GNSS Assistance Data", on page 217
SMBV-K91/-K96)
3.4 Extension to 12 / 24 Satellites (R&S SMBV-K91/-K96)
These options extend the maximum number of simulated satellites.
●
Instrument equipped with the option R&S SMBV-K91 is enabled to generate the
signal of up to 12 configurable satellites.
Any hybrid 12-satellite configuration is possible, for example a combination like 10
C/A GPS + 1 Galileo E1 + 1 GLONASS R-C/A. The available satellites depend on
the availability of the basic options, on the enabled standards in the "GNSS System
Configurations", and the selected "RF Band"
●
The R&S SMBV-K96 requires the option R&S SMBV-K91 and further extends the
maximum number of simulated satellites.
Instruments equipped with this combination can generate the signal of up to 24
GPS C/A, Galileo E1, Glonass R-C/A and BeiDou B1-C/A satellites.
The option R&S SMBV-K96 does not enhance the number of P-code satellites/
taps.
See Chapter 5.21, "Generating GNSS Signal with Several Instruments", on page 254.
There is a limitation of the maximum number of simulated satellites, depending on
whether P code signal and BeiDou satellites are enabled in the GNSS system configuration or not. For details, see Chapter E, "Channel Budget", on page 461.
27Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Functional Overview of Option GNSS Enhanced (R&S
SMBV-K92)
3.5 Functional Overview of Option GNSS Enhanced
(R&S SMBV-K92)
This option enhances the basic options R&S SMBV-K44/-K66/-K94/-K105/-K107 with
the following functionality:
●
Support of motion files
●
Smoothening of the used defined trajectories
●
Real-time motion vectors or hardware in the loop (HIL)
●
Modeling static multipath profiles
●
Configuration of atmospheric effects
●
System time conversion
●
Leap second simulation parameters.
For detailed description, see:
● Moving Scenarios....................................................................................................28
● Static Multipath Signal Generation..........................................................................29
● Configuration of the Atmospheric Parameters........................................................ 29
● Time Conversion Configuration...............................................................................30
● Leap Second Simulation......................................................................................... 30
● Internal Waypoint Resampling................................................................................ 30
● Motion Smoothening Using Vehicle Description File...............................................30
● Hardware in the Loop (HIL).....................................................................................31
3.5.1 Moving Scenarios
The option GNSS enhanced (R&S SMBV-K92) enhances the basic GNSS options by
user-definable moving scenarios.
The following test scenarios require moving scenario:
●
A-GPS test scenarios for 3GPP FDD and GSM (Performance Test Scenario#3)
●
CDMA test case "3GPP2 Moving Test Scenario"
●
A-GNSS Scenario 5 for EUTRA/LTE
Another application field of the moving scenarios is the testing of standalone GNSS
receivers.
In the R&S SMBV, a movement, i.e. a moving receiver is defined in one of the following
ways:
●
By a waypoint file that simulates a "moving" of the connected GNSS receiver
A waypoint can be defined with:
– The WGS 84 geodetic coordinates, see Chapter A.1.1, "Waypoint File Format",
on page 435
– The East-North-Upper (ENU) 2D vector trajectory parameters (line, arc), see
Chapter A.1.2, "Vector Trajectory File Format", on page 436
●
By extracting of the location data from the NMEA files, see Chapter C, "NMEA Sce-
narios", on page 453
28Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Functional Overview of Option GNSS Enhanced (R&S
●
By configurable locations in Cartesian or geodetic coordinates with potentially
defined velocity vector or velocity magnitude parameters in the *.xtd file, see
Chapter A.1.4, "Trajectory Description Files", on page 439
●
By the provided predefined waypoint files for the land, ship, aircraft and spacecraft
vehicles
●
By the KML file format of third-party software, like the Google Earth or Google
Maps. For description of the file format, refer to the Google Earth documentation.
Moving vs. motion
All these file formats describe a moving receiver and are suitable for the simulation of a
movement from one waypoint to the next.
However, only the more extensive file format *.xtd is suitable to describe a motion
including high dynamics e.g. velocity and attitude. In instruments equipped with the
R&S SMBV-K103 option, this file format simulates additionally a body rotation and attitude profile of the receiver’s vehicle.
See also Chapter 3.8, "GNSS Extension for Spinning and Attitude Simulation
(R&S SMBV-K103)", on page 43.
SMBV-K92)
For further information, see Application Note 1GP86 "GPS, Glonass, Galileo, BeiDou
Receiver Testing Using a GNSS Signal Simulator".
3.5.2 Static Multipath Signal Generation
The instrument provides the possibility to simulate the GNSS signal of one or more satellites that undergoes static multipath propagation effects. The static multipath propagation is implemented as a tapped delay model.
See:
●
Chapter 5.9, "Creating Multipath Scenarios", on page 218
●
Chapter 4.4.6, "Land Mobile Multipath", on page 84.
3.5.3 Configuration of the Atmospheric Parameters
In instruments equipped with the option GNSS enhanced (R&S SMBV-K92), the ionospheric navigation parameters and both ionospheric and tropospheric models of the
installed GNSS standards are enabled for configuration.
A possible application of the activation and deactivation of the ionospheric and tropospheric models is to simulate the variation in the pseudorange of the corresponding
GNSS satellites. The ionospheric navigation parameters define what the satellites are
transmitting as ionospheric correction parameters. The models configuration describes
the actual ionospheric and tropospheric models used in the satellite-receiver channel
simulation.
29Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Functional Overview of Option GNSS Enhanced (R&S
3.5.4 Time Conversion Configuration
The instrument supports an advanced function for transformation of the GNSS time to
the universal time coordinate basis (UTC) and vice versa. The provided GNSS system
time conversion parameters are zero-order and first order system clock drift parameters in addition to the current leap second (see Chapter 3.5.5, "Leap Second Simula-
tion", on page 30). The leap second describes the difference between the GPS, Gali-
leo, GLONASS or BeiDou system time and UTC system time. It is for example possible
to simulate a system time drift between GPS and Galileo by configuring different time
conversion sets for both UTC-GPS and UTC-Galileo conversion parameters.
The time conversion parameters can be either manually configured or fetched from the
RINEX header. It is recommenced to use the default configurations without system
time offset and/or drift.
3.5.5 Leap Second Simulation
The instrument enables the simulation of leap second in a straightforward way. The
simulation requires only the date and sign of the next leap second, further calculations
are performed automatically.
SMBV-K92)
3.5.6 Internal Waypoint Resampling
For the simulation of motion and body rotation, the R&S SMBV uses a 100 Hz internal
clock. The motion files you load into the instrument can contain waypoints or a combination of waypoints and attitude coordinates with a varying resolution or resolution different than the internally used. The R&S SMBV interpolates (resamples) the motion
files and transforms the used resolution to the internal resolution of 10 ms.
The internal resampling algorithm is based on the great circle approximation. The
instrument resamples the vehicle attitude (yaw/heading, pitch/elevation, roll/bank)
parameters linearly in a common reference basis. Depending on the content of the
motion file, in particular on the way the velocity is defined, the resampling is performed
accordingly.
For more information, see:
●
Chapter A.1.5, "Resampling Principle", on page 443
●
Chapter A.1.6, "Calculating the Maximum Time Duration of a Movement File",
on page 444.
3.5.7 Motion Smoothening Using Vehicle Description File
The selected motion file (for example the waypoint file) contains a set of random waypoints, often without knowledge about the realistic dynamic. Smoothening is a function
that regenerates the motion file based on user-defined maximum dynamics (speed,
acceleration and jerk), sampling rate and proximity (deviation error). The maximum
dynamics and the proximity are retrieved form the vehicle description file *.xvd.
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About the GNSS OptionsSatellite Navigation
Functional Overview of Option GNSS Enhanced (R&S SMBV-K92)
This approach ensures smoothening of the abrupt changes in the direction or in the
velocity of a moving object.
Main characteristics of the smoothening algorithm:
●
Modified version of linear segment parabolic blend algorithm (LSPB)
●
Guaranteed continuity in acceleration (limited jerk) between the waypoints
The smoothening algorithm uses a user-defined <proximity> parameter to determine:
●
The maximum deviation from the input (original) waypoints
●
The number of inserted waypoints along the great circle.
This approach avoids earth surface penetration, if the input waypoints are far away
from each other
If the selected <proximity> is different than zero, the motion is formed of arcs and
straight segments. With a <proximity> = 0, the motion is formed entirely of straight
segments. At any of the specified waypoints, each direction change causes a motion
stop.
For description of the file formats, see:
●
Chapter A.1, "Movement or Motion Files", on page 435
●
Chapter A.2, "Vehicle Description Files (Used for Smoothening)", on page 445.
3.5.8 Hardware in the Loop (HIL)
The term hardware in the loop (HIL) describes the mode in which the R&S SMBV acts
as a slave and is remotely controlled by master application software (see Figure 3-2).
The application software sends SCPI commands in real time, possibly from a motion
simulator. The R&S SMBV processes the received position, motion and attitude information and generates the required signal.
The output GNSS signal is sent to system under test, that typically includes a GNSS
receiver forwarding the calculated position to the application software. The application
software can use the retrieved position for display purposes (such as infotainment platform in a vehicle) or to control the actual position of the vehicle (e.g. auto-pilot).
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Functional Overview of Option GNSS Enhanced (R&S
SMBV-K92)
Figure 3-2: Example of HIL test setup
For more information, see application note 1GP102 "Hardware in the Loop (HIL) Testing with a GNSS Simulator".
Refer to the following sections, for definition of the terms used in the context of HIL
testing. The description also gives recommendations on working with the R&S SMBV
in HIL setups.
● Tips for Best Results...............................................................................................32
● HIL Commands....................................................................................................... 33
● Synchronization.......................................................................................................34
● System Latency.......................................................................................................34
● Latency Calibration................................................................................................. 35
● Adding a Constant Delay to Compensate for Command Jitter............................... 36
● Interpolation............................................................................................................ 37
● Trajectory Prediction............................................................................................... 38
3.5.8.1 Tips for Best Results
We recommend that you consider the following measures.
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Functional Overview of Option GNSS Enhanced (R&S
Measures for proper operation
1. Synchronize the R&S SMBV and the motion simulator
(see Chapter 3.5.8.3, "Synchronization", on page 34)
2. Take measures for latency calibration
(see Chapter 3.5.8.5, "Latency Calibration", on page 35)
3. Add additional buffer time
Chapter 3.5.8.6, "Adding a Constant Delay to Compensate for Command Jitter",
on page 36
4. If the first position fix and the latency calibration are successful but during the
motion simulation the receiver loses its position fix, try out the following:
a) Use the data logging feature of the R&S SMBV or your proprietary solution to
collect logged data.
See Chapter 4.13, "Data Logging Settings", on page 182.
b) Analyze the logged HIL data.
● Evaluate the trajectory smoothness and search in particular for unwanted
abrupt positions changes ("jumps").
● Send HIL commands with lower update rate, for example each 100 ms.
Reducing the update rate leads to interpolation and thus spreads the
severity of the "jumps" over several 10 ms update intervals.
See Chapter 3.5.8.7, "Interpolation", on page 37
c) Avoid abrupt positions changes.
The motion simulator itself can cause position changes. Consult the specification of the used receiver for information on the high-order dynamic stress it is
able to handle.
SMBV-K92)
3.5.8.2 HIL Commands
The term HIL command describes the real-time SCPI commands that the master application program sends to the R&S SMBV. HIL commands are sent with low and varying
time resolution. This time resolution is also referred as a HIL update rate. It is typically
a value from 10 Hz to 100 Hz (or 10 ms and 100 ms) and depends on the motion simulator, in particular on its real-time capabilities.
Two HIL commands are supported:
●
<subsystem>:RT:HILPosition:MODE:A on page 296
●
<subsystem>:RT:HILPosition:MODE:B on page 297
Both HIL commands define the HIL position, motion (velocity, acceleration, jerk) and
attitude at a specific moment of time. The positions are described in earth fixed earth
centered (ECEF) or in north east down (NED) coordinates. The moment of time is
given as a time offset (<ElapsedTime>) from the simulation time start.
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3.5.8.3 Synchronization
To process the HIL commands, the R&S SMBV uses its internal 100 Hz clock signal,
that corresponds to a time resolution of 10 ms.
The motion simulator uses its own clock. Depending on the capabilities of the processor (general purpose or real time) that the motion simulator uses, the processing
time and the accuracy of the clock can vary. The R&S SMBV internal clock signal is
precise and stable. This clock is not only used to generate the GNSS signals but is
also the time reference for the whole HIL setup.
We recommend that you synchronize the motion simulator to the R&S SMBV. Consider
the following:
●
Follow the rules described in "Measures for proper operation" on page 33
●
Always take the measures for latency calibration as described in Chapter 3.5.8.5,
"Latency Calibration", on page 35.
●
If your motion simulator can receive and process the marker signal of the
R&S SMBV, generate a 1PPS (one pulse per second) or 10PPS (10 pulses per
second) marker signal. Feed the marker signal to the motion simulator.
If synchronized, the motion simulator sends the HIL commands right after each
1PPS marker signal.
Related settings:
– "Marker Mode" on page 207
Functional Overview of Option GNSS Enhanced (R&S
SMBV-K92)
3.5.8.4 System Latency
System latency is a term that describes the time it takes the R&S SMBV to receive and
process an incoming HIL command, calculate, output and transmit the signal to the
GNSS receiver. The minimum system latency is 20 ms; this value corresponds to
the R&S SMBV hardware processing time.
In the context of this description, the term latency (t
latency (i.e. delay) caused for example by the transmission and processing time of the
HIL commands. If the system latency value is a constant parameter that cannot be
reduced, the additional latency t
compensated. This description focuses on the measures to measure and compensate
for additional latency.
You can query the additional latency value as described in Chapter 3.5.8.5, "Latency
Calibration", on page 35. The system latency and the latency are related as follows:
System Latency = t
The minimum system latency of the HIL setup is 20 ms and is achieved if the
t
cal.latency
= 0 ms. The situation when t
tion; it is also the best case scenario.
cal.latency
+ 0.02
cal.latency
cal.latency
cal.latency
) describes the additional
is a variable value, that can be partly or fully
= 0 ms is referred as a zero latency situa-
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3.5.8.5 Latency Calibration
Latency calibration is the process of compensating the latency time. Calibrate the
latency at the beginning of the simulation and repeat the process periodically, every 5
or 10 seconds.
Initial latency calibration process
1. Synchronize the R&S SMBV and the motion simulator
(see Chapter 3.5.8.3, "Synchronization", on page 34)
2. Set the same initial position (P0) in both the motion simulator and the R&S SMBV.
The initial position is the position in the moment t0.
In R&S SMBV, set the receiver position with the parameters "Localization Data >
Location Coordinates".
Tip: We recommend that you use the position you are going to use as the first simulation position in the motion simulation.
3. Wait until the GNSS receiver performs its first position fix.
4. Retrieve an initial time reference information form the R&S SMBV.
Send the command <subsystem>:RT:HWTime? to query the elapsed time form
the simulation begin (Δ
Functional Overview of Option GNSS Enhanced (R&S
).
HW,0
SMBV-K92)
The response is a value that reflects the difference between the current time in the
R&S SMBV (t
Δ
≈ t
HW,0
MS,0
- t
) and the motion simulator (t
GNSS,0
GNSS,0
) at the moment t0:
MS,0
Note: The retrieved value is a rough estimation. It does not consider the round-trip
time of the HIL commands.
Although not exact, the response of the command is suitable for the initial time
alignment (first approximation).
The precise calibration is performed with the next steps.
5. Send the first HIL command as a function of the moment t
HIL commands define position Pi at a given moment of time t
MS,1
ElapsedTime,i
.
To compensate for the time difference between the R&S SMBV and the motion
simulator, correct the t
ElapsedTime,i
a) Calculate the first elapsed time t
t
ElapsedTime,1
= t
MS,1
- Δ
HW,0
b) Use the coordinates of the initial position P
value:
ElapsedTime,1
0
c) Send the command <subsystem>:RT:HILPosition:MODE:A as function of
t
ElapsedTime,1
6. Query the time difference (t
R&S SMBV (t
and P
0.
cal.latency,i
) and the elapsed time in the last HIL command (t
HW,j
) between the elapsed time in the
ElapsedTime,i
Send the command <subsystem>:RT:HILPosition:LATency:STATistics?.
The query returns several parameters and statistical information. For more information, see the description of the remote command.
).
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SMBV-K92)
Observe the value t
7. If t
cal.latency,i
a) Calculate the Δ
Functional Overview of Option GNSS Enhanced (R&S
cal.latency,1
≤ -10 ms or t
= Δ
HW,j
= t
cal.latency,i
HW,j-1
HW,0
- t
ElapsedTime,1
.
≥ 10 ms, perform the following:
+ t
cal.latency,i
Where:
● i reflects the HIL update rate
● j is the latency calibration iteration number
b) Calculate the elapsed time t
ElapsedTime,i+1
c) Send the subsequent HIL command as a function of t
= t
MS,i+1
- Δ
HW,j
MS,i+1
and P
i
The latency is successfully calibrated if one of the following is true:
● -10 ms < <MinLatency> < <MaxLatency> < 10 ms
● <CmdReceived> = <CmdSync> + <CmdInterp>
● <MinUsed>
min
≥ 1
Where <MaxLatency>, <MinLatency>, <MinUsed>, <CmdReceived>,
<CmdSync> and <CmdInterp> are the value returned by the query
<subsystem>:RT:HILPosition:LATency:STATistics?.
A latency of 0 ms corresponds to a system latency of 20 ms.
If the latency calibration is unsuccessful:
● Add a buffer time, see Chapter 3.5.8.6, "Adding a Constant Delay to Compen-
sate for Command Jitter", on page 36.
● Query HIL statistical information and analyze the values of the parameters
<CmdExtrap> and <CmdPredict>.
They indicate the number of times the prediction algorithm has been applied,
see Chapter 3.5.8.8, "Trajectory Prediction", on page 38.
3.5.8.6 Adding a Constant Delay to Compensate for Command Jitter
If the motion simulator is not equipped with a real-time processor, it can happen that it
sends the HIL commands with varying update rate. This effect is often referred as a
command jitter.
The R&S SMBV can compensate command jitter in the range of 1 ms to 30 ms. The
mechanism is to add a buffer time t
so that the R&S SMBV has enough time to
Buffer
process and realign the HIL commands. The drawback of this mechanism is the adding
of an extra constant delay to the system.
Adding buffer time (t
Buffer
)
To compensate for the command jitter:
► Send the command <subsystem>:LOCation:DELay.
The command sets the delay t
. The additional buffer time t
Delay
follows:
t
= t
Buffer
Where t
- 0.02.
Delay
is the additional time available for processing.
Buffer
is calculated as
Buffer
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Functional Overview of Option GNSS Enhanced (R&S
SMBV-K92)
The value 0.02 s is the hardware processing time of the R&S SMBV
If the value t
System Latency = t
Finding out the best t
1. Select the initial t
> 0 ms, the system latency equation changes as follows:
Buffer
cal.latency
Delay
Delay
+ t
value
value depending on whether the motion simulator is equip-
Delay
= t
cal.latency
+ t
Buffer
+ 0.02
ped with real-time processor or not:
● With real-time processor: <Delay> = 0.02 s
● Without real-time processor: <Delay> = 0.15 s.
2. Collect statistical information with the query <subsystem>:RT:HILPosition:
LATency:STATistics? for at least 30 min.
3. Evaluate the absolute minimum value returned for the parameter <MinUsed>.
4. Reduce the t
Repeat this step until <MinUsed>
value. Evaluate the statistics again.
Delay
≥ 1
min
Example:
If the R&S SMBV and the motion simulator are connected in a HIL setup and:
●
HIL update rate = 0.1 s
●
t
= 0.05 s
Delay
●
t
= 0.03 s.
Buffer
●
In a non-synchronized setup with for example t
cal.latency
= 0.04 s, the current system
latency is:
System Latency = 0.04 + 0.05 = 0.09 s
●
After the R&S SMBV and the motion simulator are synchronized (t
cal.latency
= 0 s),
the system latency becomes:
System Latency = 0 + 0.05 = 0.05 s
With the buffer time of 0.03 s, R&S SMBV tolerates command jitter of up to 0.03 s.
Because of the buffer time, prediction is not applied.
Adding of buffering time does not substitute the latency calibration. It is an add-on to it.
Always calibrate the latency as described in Chapter 3.5.8.5, "Latency Calibration",
on page 35.
Related settings:
●
"System Latency" on page 70
3.5.8.7 Interpolation
If the update rate of the HIL commands is less than 100 Hz, the instrument interpolates
the two last received commands to achieve the required update rate. Interpolation can
be applied if the system latency is higher than the update rate and if at least one HIL
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Functional Overview of Option GNSS Enhanced (R&S
command was received and buffered. The former situation is present, if the query
<subsystem>:RT:HILPosition:LATency:STATistics? returns
<MinUsed> = 1.
The interpolation mechanism can achieve a continuous signal and hence results in better result than the extrapolation and the prediction methods (see Chapter 3.5.8.8, "Tra-
jectory Prediction", on page 38).
3.5.8.8 Trajectory Prediction
The R&S SMBV tries to compensate for the latency (t
algorithm. If the R&S SMBV and the motion simulator are synchronized and the latency
is less than 10 ms, prediction is not applied. If the latency exceeds 10 ms, prediction is
applied. The R&S SMBV uses the last received high-order dynamics (speed, acceleration and jerk) and predicts or extrapolates the position of the motion simulator at the
subsequent update time.
Where:
●
Extrapolation describes the process, where the position is calculated from a
received command with an old timestamp and is based on the received speed,
acceleration and jerk
●
Prediction is applied if no command was received, for example if the update period
is larger than 10 ms. When predicted, subsequent positions are calculated based
on the last known speed, acceleration and jerk
cal.latency
SMBV-K92)
) by applying a prediction
Retrieving the number of automatically performed extrapolations and predictions
You can query statistical information on the number of times the R&S SMBV applied
predictions or extrapolation with the command <subsystem>:RT:HILPosition:
LATency:STATistics?.
Observe the values of the parameters <CmdExterp> and <CmdPredict>.
Example: How extrapolation can impair the results
= 1
Imagine that at the moment t0 a vehicle is moving with a velocity v
(v = 0 m/s) after 0.1 s (t
=
t
+
0
0.1 s).
1
m/s and it stops
If the latency exceeds 10 ms, then the R&S SMBV projects the movement assuming
that the vehicle keeps its velocity v = 1 m/s. This result of position offset of 0.01 m.
At the next update period, for example 100 ms later, the R&S SMBV receives the sub-
= 0
sequent command and the correct velocity v
m/s. The instrument corrects the posi-
tion and removes the 0.01 m position offset.
This causes an abrupt change (a "jump") between the two consecutive positions.
As illustrated in the example, the prediction algorithm alone cannot assure that the trajectory is continuous. Without further measures, the predicted positions can cause
abrupt changes between consecutive positions or lead to tracking loss of the GNSS
signal. The severity of these abrupt changes depends on both the latency value and
the current dynamics and therefore are tolerated or not by the GNSS receiver.
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GNSS Extension for Obscuration Simulation and Automatic Multipath (R&S SMBV-K101)
Prediction for instance is useful, if the application requires low latency and tolerates
"jumps". Otherwise, we recommend that you use real-time PC with synchronized
marker or add buffer to increase the system latency.
See Chapter 3.5.8.1, "Tips for Best Results", on page 32.
3.6 GNSS Extension for Obscuration Simulation and
Automatic Multipath (R&S SMBV-K101)
This option requires one of the basic real-time GNSS options R&S SMBV-K44,
R&S SMBV-K66, R&S SMBV-K94 or R&S SMBV-K107. The automatic multipath functionality additionally requires the option R&S SMBV-K92.
In a real-word scenario, a static or a moving receiver does not always receive the signal of all theoretically visible satellites for its current position. In rural or suburban
areas, in tunnels or in car parking places, some or more satellites are partly or completely obscured by a wall or other vertical plane. Receivers experience additionally
effects of signal reflection caused by a water surfaces (e.g. the sea) or the ground.
This option enhances the basic GNSS options to automatically simulate different
obscuration and multipath effects caused for example from surrounding buildings in
static or moving scenarios, e.g. urban canyon.
The Figure 3-3 is an example of a receiver placed in a car driving on a street. The
combination option R&S SMBV-K101/-K92, allows you to define any test scenario,
including the particular moving behavior and surrounding buildings. Buildings are
defined with their height and the distance to the receiver, as well as the material they
are built from.
Figure 3-3: Example: Vertical obstacles for simulation of obscuration and multipath from surround-
ing buildings
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GNSS Extension for Antenna Pattern (R&S
Approaches in the different simulation modes
In "User Localization" mode, the simulated conditions and effects are applied on the
user-defined subset of satellites.
In "Auto Localization" mode, the optimal satellites constellation is selected based on
the enabled "Maximum Number of Satellites" and configured "Evaluation Mask". A lineof-sight propagation (LOS view) is assumed in the first stage and the satellites constellation is selected to minimize the HDOP/PDOP. Only now, the selected constellation is
filtered by simulating the “user environment” model’s obscuration and multipath effects
on the satellite constellation. The satellite constellation is constantly proved and a satellite handover is performed automatically. Handover is performed whenever a new
satellite appears or because of the receiver's movement profile, a satellite is not any
more obscured.
To simulate a real-life scenario, it is recommended that you enable a hybrid GNSS simulation with 24 satellites. Refer to the corresponding description for an overview of all
required options.
See Chapter 5.15, "Creating GNSS Scenarios in a User Environment", on page 227.
SMBV-K102)
Internal sampling rate
The R&S SMBV samples the user's environment different, depending whether only
obscuration or the combination of obscuration and automatic multipath is simulated.
For example, the sampling rate of the model "Urban canyon" is 10 Hz if only obscuration is enabled and 5 Hz in the other case.
Error message: Cut in the scenario dynamics
If a multipath scenario requires more than the maximum available channel budget, the
instrument cuts the scenario dynamics.
See also Chapter E, "Channel Budget", on page 461.
For more information, see Application Note 1GP101 "Simulating Automatic Obscuration and Multipath for Realistic GNSS Receiver Testing".
3.7 GNSS Extension for Antenna Pattern (R&S SMBV-
K102)
This option requires one of the basic real-time GNSS options R&S SMBV-K44,
R&S SMBV-K66, R&S SMBV-K94 or R&S SMBV-K107.
This option enhances the basic options with the definition of different antenna patterns,
body masks and the simulation of real-life scenarios, like a GNSS antenna placed in a
car (see Table 3-3). The instrument provides an interface for loading and creating user-
defined antenna patterns. The antenna patterns are files with predefined file format
40Operating Manual 1173.1427.12 ─ 14
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GNSS Extension for Antenna Pattern (R&S SMBV-K102)
and file extension *.ant_pat (see Chapter A.3, "Antenna Pattern and Body Mask
Files", on page 446).
Antenna pattern and body mask model
When the required options are installed, you find a subset of predefined antenna pattern files of some generic vehicular models. The body mask models are simplified general model based on the following assumptions:
●
All surfaces of the vehicle body are considered as planes
●
Ground reflection is not considered for land vehicles; described is only the top body
of a car, the part from the window to the roof
●
The receiver is placed at the central vertical plane.
A body mask is basically a table with rows of elevation angles in the range +90° to -90°
and columns of azimuth from -180° to +180°. Each table element gives the signal
power attenuation in dB of the incident signal. The predefined body masks have up to
three regions: pass, attenuated pass and non-pass (see Figure 3-4).
Figure 3-4: Antenna mask for medium-sized car with roof-top (Azimuth -180° to +180°)
1 = Roof
2 = Roof window
3 = Back window
4 = Seat
5 = Side window
6 = Front window
7 = Pass region (dark blue color): the incident signal is not attenuated and the table elements are set to 0 dB
8 = Attenuated pass region (light blue color): the incident signal is attenuated but not fully blocked; the table
elements are set to 15 dB.
9 = Non-pass region (red color): the incident signal is heavily blocked and the table elements are set to 40
dB
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GNSS Extension for Antenna Pattern (R&S
SMBV-K102)
The predefined body masks can be changed later, see:
●
Chapter 5.17, "Creating and Modifying Antenna Patterns and Body Masks",
on page 235
●
Chapter 4.5, "Antenna Pattern/Body Mask Settings", on page 88
Table 3-3: Example: Power response matrix due to a car body mask (antenna mask for medium-sized car with roof-top)
Power and phase
profile of an
antenna
Car body mask Power response matrix of the antenna
(*.ant_pat file)
See Figure 3-4
Possible application fields
This option enables you to automatically simulate satellite power and carrier phase
depending on the antenna pattern and the attitude parameters.
●
Automotive applications
The provided attitude parameters are automatically extracted from the user-defined
motion vector.
●
Body mask applications
Two files describe an antenna, the antenna pattern *.ant_pat file and the phase
response *.phase file.
Both files must have the same filename and must be stored in the same directory.
The *.ant_pat file describes the power response matrix of each antenna. The
instrument retrieves the phase response matrix from the *.phase file.
If the required *.phase file does not exist, the instrument sets the carrier phase
matrix to zero.
●
Outdoor scenarios
If the instrument is equipped with both options R&S SMBV-K101/-K102, the
antenna pattern is applied on reflections from the defined user environment, e.g
roadside plane.
●
Indoor absorption scenarios
The provided antenna pattern can be used to simulate the signal absorption and
the carrier phase bias from every angle around a GNSS receiver.
You can define up to four antennas per vehicle and to switch between them in real time
(see <subsystem>:APATtern:ANTenna:ID).
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GNSS Extension for Spinning and Attitude Simulation (R&S
The resolution of the antenna pattern power response and carrier phase offsets is up
to 1° for both, the elevation and azimuth.
You can also load antenna patterns measured by some over-the-air (OTA) measurements, e.g the R&S®DST200 RF Diagnostic Chamber.
See also:
●
Chapter 5.16, "Visualizing the Effect of an Antenna Pattern", on page 232
SMBV-K103)
3.8 GNSS Extension for Spinning and Attitude Simulation
(R&S SMBV-K103)
This option requires the GNSS option R&S SMBV-K102.
This option allows you to configure a vehicle attitude or the body rotation parameters
yaw, pitch, and roll. The R&S SMBV calculates the power and the carrier phase
response of a specific satellite or a multipath reflection at a specific angle of arrival
(AoA). The calculation is based on the defined attitude profile and the selected antenna
pattern. The firmware updates the powers and carrier phase offsets of all satellite signals in real time and with an update rate of 800 Hz.
In a real-word scenario, a receiver placed in an airplane does not always receive the
signal of all theoretically visible satellites at its current position. Depending on the orientation of the vehicle, several satellites can be partly or completely obscured. The orientation of the vehicle is described with the three flight dynamics parameters, the yaw
(heading), pitch (elevation) and roll (bank), see Figure 3-5. With enabled spinning, the
instrument additionally simulates a constant rate of change of the roll.
Figure 3-5: Flight dynamics parameters: yaw (heading), pitch (elevation) and roll (bank)
See:
●
Chapter 5.16, "Visualizing the Effect of an Antenna Pattern", on page 232
●
Chapter 4.3, "Localization Data Settings", on page 65
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Functional Overview of Option Differential GPS (R&S
SMBV-K110)
3.9 Functional Overview of Option Differential GPS
(R&S SMBV-K110)
This option enhances the basic options R&S SMBV-K44 with the following functionality:
●
File conversion tool to:
– Load and convert *.ems or *.nstb files and extract SBAS message files
– Extract GPS almanac and RINEX file out of them
– Merge RINEX and ionospheric files
See:
– Chapter 3.9.1, "File Conversion Tool", on page 44
– Chapter 4.8, "File Conversion Tool Settings", on page 96
●
Configuration and generation of SBAS message files, as specified in RTCA MOPS
DO-229.
See:
– Chapter 3.9.2, "SBAS Configuration", on page 45
– Chapter 4.9, "SBAS Configuration Settings", on page 99
●
Functions for simulation accuracy improvement and SV perturbations and errors
simulation
See:
– Chapter 3.9.3, "Improving the Simulation Accuracy, Simulation of SV Perturba-
tion and Errors", on page 47
– "Simulation Accuracy" on page 64
– Chapter 5.20, "Simulating SV Perturbations and Errors", on page 247
3.9.1 File Conversion Tool
The file conversion tool is an interface, that helps you convert *.nstb or *.ems files
into SBAS message files in the Rohde & Schwarz proprietary XML format. SBAS message files created in this way can be then loaded and used in the "SBAS Configuration" dialog, see "SBAS message files" on page 46.
You can also load the downloaded *.nstb or *.ems files raw format, i.e. without having converted them, in the R&S SMBV. See Chapter 4.9.14, "EGNOS and WAAS Navi-
gation Data as Raw Files", on page 122.
EMS files
The *.ems files are files with augmentation messages broadcast by EGNOS.
You can find files in this format at the EGNOS message server (EMS):
http://www.egnos-pro.esa.int/ems/index.html.
The provided files are hierarchy grouped per PRN (PRN#), per year (y#), per day (d#)
and per hour (h#). Each EMS file contains information on one PRN for the time span of
one hour.
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Functional Overview of Option Differential GPS (R&S
Correction data is extracted form one of the loaded files; the exact PRN is configurable.
NSTB files
The *.nstb files are files with augmentation messages broadcast by WAAS.
You can find files in this format at the Federal Aviation Administration page:
http://www.nstb.tc.faa.gov/DisplayNSTBDataDownload.htm.
Provided are files form different control stations. The files are grouped per day, where
each file contains information on several PRNs for the time span of 24 hours.
The downloaded files do not have an extension. Add the extension *.nstb manually.
See:
●
Chapter 4.8, "File Conversion Tool Settings", on page 96
●
Chapter 5.18, "Using the File Conversion Tool", on page 239
3.9.2 SBAS Configuration
SMBV-K110)
A short introduction to the satellite-based augmentation system (SBAS) is provided in
"Brief introduction to the global navigation satellite systems (GNSS)" on page 16. This
section gives an overview of the provided features.
The SBAS uses three types of services to improve augmentation:
●
Transmission of ranging information for improved visibility
●
Broadcast of correction data (error estimations) for improved accuracy
●
Broadcast of coarse integrity information for improved reliability
The SBAS specification RTCA MOPS DO-229 defines different message types, that
carry these coarse integrities or both integrity and wide area correction data information. The correction data itself can be fast, long-term and ionospheric, where:
●
The fast corrections eliminate pseudorange errors
●
The long-term corrections overcome errors in the satellites position or slow changing clock and ephemeris errors
●
The ionospheric corrections are based on the user location
In this implementation, there are two ways to define the content of the generated SBAS
signal:
●
By defining the content of the SBAS message files
See "SBAS message files" on page 46
●
By loading of raw *.nstb or *.ems files
See
– Chapter 4.9.14, "EGNOS and WAAS Navigation Data as Raw Files",
on page 122
– Chapter 3.9.1, "File Conversion Tool", on page 44
45Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Functional Overview of Option Differential GPS (R&S SMBV-K110)
SBAS message files
In this implementation, there are eight SBAS message files, an Almanac and a RINEX
file per SBAS regional system.
A subset of predefined SBAS message files is delivered with the firmware. You can
create suitable SBAS files in one of the following ways:
●
Manually, by editing the XML files in any text editor
●
By loading *.nstb or *.ems files and converting them into the required SBAS
message file format.
See:
●
Chapter D, "SBAS Message Files Format", on page 455
●
Chapter 3.9.1, "File Conversion Tool", on page 44
When using the SBAS message files mode, the SBAS information is not defined on a
message by message basis but grouped according to the SBAS service and correction
data type. The Table 3-4 list the SBAS message type with brief information on their
content and information on the section, describing the related settings.
Table 3-4: SBAS message types (MT)
MT Content Related settings
1 PRN masks assailments Chapter 4.9.7, "Fast Correction File Configuration",
on page 111
Chapter 4.9.8, "Long Term Correction File Configuration", on page 113
Chapter 4.9.6, "PRN Mask File Configuration",
on page 110
2 to 5 Fast corrections Chapter 4.9.7, "Fast Correction File Configuration",
on page 111
6 Integrity information Not supported
7 Fast correction degradation factor Chapter 4.9.9, "Fast Correction Degradation Factor
Configuration", on page 115
9 GEO navigation message Chapter 4.9.4, "RINEX File Configuration",
on page 107
10 Degradation parameters Chapter 4.9.12, "Degradation Factors Configuration",
on page 118
12 SBAS network time, UTC offset
parameters
Chapter 4.9.4, "RINEX File Configuration",
on page 107
Chapter 4.6, "Time Conversion Configuration Settings", on page 91
17 GEO satellites almanacs Chapter 4.9.4, "RINEX File Configuration",
on page 107
18 Ionospheric grid point mask Chapter 4.9.5, "Ionospheric Grid File Configuration",
on page 108
24 Mixed fast and log-term correction
data
Not supported
46Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Functional Overview of Option Differential GPS (R&S
MT Content Related settings
25 Long-term satellite error correction
data
26 Ionospheric delay corrections Chapter 4.9.5, "Ionospheric Grid File Configuration",
27 SBAS service message Chapter 4.9.11, "Service Configuration", on page 117
28 Clock-Ephemeris covariance matrix
message
8
11
13 to 16
19 to 23
29 to 61
0
62
63
Reserved -
For SBAS testing only
Initial test message
Null message
Chapter 4.9.8, "Long Term Correction File Configuration", on page 113
on page 108
Chapter 4.9.10, "Clock-Ephemeris Covariance Matrix
Configuration", on page 116
(not simulated)
(In this simulation, this message is filled in with empty
timeslots depending on the transmit period values
selected for the other message types)
SMBV-K110)
The SBAS messages are scheduled according to a user-defined period (see "SBAS
message files table" on page 100). The default values reflect the timeouts specified in
the specification RTCA MOPS DO-229.
See:
●
Chapter 4.9, "SBAS Configuration Settings", on page 99
●
Chapter 5.19, "Using the SBAS Settings", on page 243
3.9.3 Improving the Simulation Accuracy, Simulation of SV Perturbation and Errors
In this implementation, you can use the following functions to improve the simulation
accuracy:
●
Synchronizes the IODE and URA parameters of the navigation message to the values retrieved form the SBAS fast and long-term correction files
●
Synchronizes the atmospheric delays to the values retrieved form the SBAS ionospheric correction data
●
Synchronizes the satellite biases (pseudorange biases, clock biases and satellite
position errors) of each PRN to the values retrieved form the SBAS fast correction
data.
Biases and corrections
If the functions for improved accuracy are used, the following corrections are applied
automatically:
●
ΔIono
SV
Vertical delay values, depending on the used "Ionospheric Model" (e.g. none, Klobuchar, NeQuick, MOPS-DO-229D)
47Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
SMBV-K110)
●
ΔTropo
Functional Overview of Option Differential GPS (R&S
SV
Corrections, depending on the used "Tropospheric Model" (e.g. none, STANAG,
MOPS-DO-229D)
●
ΔρSV = Δρ
Fast_corrections
Pseudorange bias corrections are the pseudorange corrections retrieved from the
SBAS fast correction data ("PRC")
●
ΔtSV = Δt
clk
+ Δt
LT_corrections
Clock corrections calculated as the sum of:
– The clock bias broadcasted by the SV itself (Δt
– The corrections Δt
LT_corrections
retrieved from the SBAS long-term correction data
clk
)
("δaf0", "δaf1")
●
Δx
LT_corrections
, Δy
LT_corrections
, Δz
LT_corrections
Correction information on the GEO satellite location retrieved from the SBAS longterm correction data ("δx/δy/δz")
These corrections are used for the pseudorange and range calculations.
Pseudorange calculation
The pseudorange τSV is a function of the range ρSV and the corrections:
τSV = ρSV + ΔρSV + ΔIonoSV + ΔTropoSV - ΔtSV.
Where the range ρSV is:
ρSV = √[(xRX - xSV)2 + (yRX - ySV)2 + (zRX - zSV)2]
The SV position (xSV, ySV, zSV) is the sum of the ephemeris position (x
the long-term corrections (Δx
xSV = x
eph
+ Δx
LT_corrections
LT_corrections
, Δy
LT_corrections
, Δz
LT_corrections
, y
eph
, z
eph
), for example
eph
) and
Impact of enabled simulation accuracy features on the logged data
With enabled Simulation Accuracy functions, the pseudorange, satellites and receiver
position values are automatically corrected.
If data logging is used, the logged values include the corrections. The logged data can
deviate from the expected not corrected parameters.
Related settings:
●
"Simulation Accuracy" on page 64
●
Chapter 4.9.7, "Fast Correction File Configuration", on page 111
●
Chapter 4.9.8, "Long Term Correction File Configuration", on page 113
●
Chapter 4.11, "Atmospheric Configuration Settings", on page 165
●
Chapter 4.13, "Data Logging Settings", on page 182
48Operating Manual 1173.1427.12 ─ 14
About the GNSS OptionsSatellite Navigation
Functional Overview of Option Differential GPS (R&S SMBV-K110)
Perturbations and errors simulation
The simulation accuracy functions, together with some additional settings, can also be
used to simulate perturbation and errors in the channel between the GNSS receiver
and the satellite.
For more information, see Chapter 5.20, "Simulating SV Perturbations and Errors",
on page 247.
49Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
4 GNSS Configuration and Settings
●
The instrument can be equipped with different satellite navigation options. To
access the available satellite standards, select "Baseband block > Satellite Navigation" and select the satellite standard, e.g. GPS.
To simplify the description, the selected satellite standard is referred as an "entry
standard".
●
Most of the parameters are similar and do not depend on the entry standard.
This description uses the following options as a reference:
– GPS/A-GPS (R&S SMBV-K44/-K65)
– GNSS global options Extension to 12 and 24 Satellites/GNSS Enhancements
(R&S SMBV-K91/-K92/-K96)
Satellite standard dependent settings are described separately or the differences
are explicitly stated.
GNSS Main Dialog
4.1 GNSS Main Dialog
To access the available satellite standards:
1. Select "Baseband > Satellite Navigation".
2. Select a satellite standard, e.g. "GPS".
The dialog is split into several sections.
●
The upper section of the dialog is where you enable the GNSS digital standard, call
the default settings and select the simulation mode.
●
In the real-time solution, the "User Environment" section comprises the settings of
the satellite signals, the vehicle type and the obscuration and enabled antenna.
50Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
●
The "Navigation Data" section comprises the navigation data source settings, the
settings for configuring the satellite signals and the atmospheric configuration settings.
●
Additionally, you can access the settings for generating assistance data and displaying the "Real-Time S.P.O.T." and configuring the "Data Logging".
The remote commands required to define these settings are described in Chapter 6,
"Remote-Control Commands", on page 257.
● General Settings for GNSS Simulation................................................................... 51
● User Environment................................................................................................... 56
● Navigation Data.......................................................................................................58
● Advanced Configuration..........................................................................................62
4.1.1 General Settings for GNSS Simulation
To access these settings:
► Select "Baseband > Satellite Navigation > GPS".
The provided settings enable you to perform general configurations, like to set the
default settings or access further dialogs.
State
Activates the standard and deactivates all the other digital standards and digital modulation modes in the same path.
A continuous GNSS signal is generated for up to 24 satellites in real time mode. The
maximum number is determined by the parameter Maximum Number of Satellites and
the maximum value depends on the installed SW options.
51Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
Note: Enabling the standard sets the "Frequency" and "Level" values in the status bar
of the instrument according to the selected "RF Band" and "Total Power" at the simulation start time.
Remote command:
<subsystem>:STATe on page 261
Set to default
Calls the default settings. The values of the main parameters are listed in the following
table.
Note: Use Update RF Frequency function to preset the RF Frequency and level.
Parameter Value
State Not affected by "Set to default"
RF Band L1/E1
Simulation Mode Static
Almanac GPS_SEM678.txt/GAL_Yuma678.txt/GLO_678.agl/
Beidou_Yuma678.txt
Data Source PRBS9
System Time Timebase of the entry standard
GNSS System Configuration GPS only, Galileo only, GLONASS only or BeiDou
only (depending on the entry standard)
Satellite configuration
Maximum Number of Satellites 1
State satellite 1 On
Standard GPS, Galileo, GLONASS or BeiDou (depending on
Signal C/A, E1-DEF, R-C/A or B1-C/A (depending on the
the entry standard)
entry standard)
Remote command:
<subsystem>:PRESet on page 260
Save/Recall
Accesses the "Save/Recall" dialog, that is the standard instrument function for saving
and recalling the complete dialog-related settings in a file. The provided navigation
possibilities in the dialog are self-explanatory.
The filename and the directory, in that the settings are stored, are user-definable; the
file extension is however predefined.
The following file extensions are used: *.gps, *.galileo, *.glonass respectively.
Determines whether the instrument performs an absolute or a differential storing of the
settings.
Enable this function to accelerate the saving process by saving only the settings with
values different to the default ones.
52Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
Note: This function is not affected by the "Preset" function.
Remote command:
<subsystem>:SETTing:CATalog on page 266
<subsystem>:SETTing:DELete on page 267
<subsystem>:SETTing:STORe on page 266
<subsystem>:SETTing:STORe:FAST on page 266
<subsystem>:SETTing:LOAD on page 267
Data List Management
Accesses the "Data List Management" dialog used to create and edit data lists.
All data lists are stored as files with the predefined file extension *.dm_iqd. The file-
name and the directory they are stored in are user-definable.
Note: All data lists are generated and edited by means of the SOURce:BB:DM subsys-
tem commands. Files containing data lists usually end with *.dm_iqd. The data lists
are selected as a data source for a specific function in the individual subsystems of the
digital standard.
Update RF Frequency
Sets the "Status Bar > Frequency" display to the resulting frequency. The RF Frequency is calculated automatically depending on the selected RF Band, on the entry
standard and on the enabled navigation standards.
Note: RF Frequency vs RF Band.
●
For navigation standards with overlapping carrier frequencies, e.g. GPS and Galileo in the L1/E1 upper RNSS band, the RF frequency is the carrier frequency L1 =
E1 = 1.57542 GHz.
See also Figure 3-1
●
If different RF frequencies are used, e.g. GPS and GLONASS in the L1/E1 upper
RNSS band, the resulting RF frequency is located between the GPS L1 and the
GLONASS L1 frequency.
Remote command:
<subsystem>:PRFFrequency on page 261
RF Band
Determines the RF band, i.e. the upper or lower RNSS band.
The different satellites are modulated on their corresponding standard carrier frequen-
cies.
See Table 4-1).
Table 4-1: Carrier frequencies
Navigation Standard "RF Band" Carrier Frequency, GHz Required SW Option
GPS L1
L2
GALILEO E1 1.57542 R&S SMBV-K66
1.57542
1.2276
R&S SMBV-K44
53Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
Navigation Standard "RF Band" Carrier Frequency, GHz Required SW Option
GLONASS L1
L2
BeiDou L1 1.561098 R&S SMBV-K107
1.602
1.246
R&S SMBV-K94
Remote command:
<subsystem>:RFBand on page 261
Test Scenario
Selects a predefined A-GPS/A-GLONASS/A-GNSS test scenario (see Chapter 3.3.2,
"Predefined Test Scenarios as Basis for A-GNSS Protocol and Conformance Testing ",
on page 26 for an overview).
The available test scenarios depend on the installed SW options. The A-GNSS test
cases require hybrid GNSS configuration (see "Activate Systems" on page 63).
All parameters (simulated position, satellite configuration, Almanac, navigation data,
etc.) are set according to the selected test scenario.
The selection "User Defined" enables the configuration of all parameters.
Remote command:
[:SOURce<hw>]:BB:GPS:ATSCenario on page 262
[:SOURce<hw>]:BB:GLONass:ATSCenario on page 263
Simulation Mode
Sets the simulation mode.
Note: Refer to Table 3-1 for an overview of the supported functionality per simulation
mode. Some functionalities require additional options.
"Static"
The satellite signals are user-definable.
See also Chapter 5.1, "Generating a GNSS Signal for Simple
Receiver Tests (Static Mode)", on page 213
54Operating Manual 1173.1427.12 ─ 14
"Auto Localization"
The satellite signals are configured corresponding to a 'real' user
defined location.
Four satellites are selected depending on the selected almanac. For
instruments equipped with option R&S SMBV-K91/-K96, the number
of configurable satellites is extended to 12 resp. 24. The number of
configurable satellites is adjusted with the parameter Maximum Num-
ber of Satellites.
In this localization mode, a new satellite is exchanged in real time if
the following applies:
●
As soon as the elevation of the latter is less than the selected
Elev. Mask Angle
●
A new satellite constellation with better PDOP is found.
The ephemerides are extracted from the almanac and displayed in
the Navigation Message Configuration dialog. The ephemeris data of
all satellites are updated automatically and projected automatically to
ensure that the age of the ephemeris is within the allowed time span.
Whenever a new almanac is selected, the start time of the simulation
is set to the almanac's TOA (Time of Application).
See also Chapter 5.2, "Generating a GNSS Signal with Automatic
Exchange of the Satellites", on page 213.
"User Localization"
This mode enables you to configure the satellites constellation at the
beginning of the simulation and edit it in real-time. You can enable or
disable satellites in real time and without interruption of the signal
generation.
For instruments equipped with assistance option (e.g. R&S SMBVK65/-K95/-K67), this mode additionally enables the configuration of
all parameter of the Navigation Message, the generation of assistance data and the loading of RINEX files.
This mode is useful for the generation of A-GNSS test signals different than the standardized ones.
See also Chapter 5.5, "Generating A-GPS Custom Build Scenarios",
on page 215.
Remote command:
<subsystem>:SMODe on page 262
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
GNSS System Configuration
Opens the GNSS System Configuration Settings dialog for defining the GNSS system
configuration and selecting the almanac/RINEX files per navigation standards. If a
hybrid GNSS configuration is enabled, the name of the selected GNSS navigation
standard is displayed next to the button.
Trigger/Marker, Marker
Accesses the dialog for selecting the trigger source, for setting the time delay of an
external trigger signal and for configuring the marker signals (see Chapter 4.15, "Trig-
ger/Marker/Clock Settings", on page 203).
The currently selected trigger source is displayed to the right of the button.
55Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
Remote command:
n.a.
Arm
Stops the signal generation until subsequent trigger event occurs.
Remote command:
<subsystem>:TRIGger:ARM:EXECute on page 427
Execute Trigger
For internal trigger source, executes trigger manually.
Remote command:
<subsystem>:TRIGger:EXECute on page 428
Clock
Accesses the dialog for selecting the clock source and for setting a delay (see Chap-
ter 4.15, "Trigger/Marker/Clock Settings", on page 203).
Remote command:
n.a.
4.1.2 User Environment
The propagation channel between a GNSS satellite and a user is split into three environment characteristics:
●
Satellite Configuration (orbit and satellite clock errors)
●
Atmospheric Configuration (Ionosphere, troposphere)
●
User Environment or near user environment (Environment model, for example
urban canyon, vehicle type, vehicle’s aerodynamics, vehicle’s motion and attitude
and antenna pattern)
With the "User Environment" parameters, you can configure the near field parameters.
Access:
1. Select "Baseband > Satellite Navigation > GPS".
2. Select "Simulation Mode > Auto Localization/User Localization".
3. Navigate to "User Environment".
56Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
Vehicle Type
Sets the vehicle type, e.g "Pedestrian", "Land Vehicle", "Ship", "Aircraft", "Spacecraft",
"HIL (Hardware in the Loop)".
The selected vehicle type determines:
●
The GNSS application, for example automotive with "Pedestrian" and "Land Vehicle"
●
The main elements of the vehicle as vehicle description file, localization data,
Obscuration and Multipath models and antenna pattern/body mask.
An internal mechanism ensures that the selected vehicle type, the vehicle description
files and the movement described in the motion file fit to each other. Whenever you
change the vehicle type, the vehicle description file and the motion file are updated
automatically to fit to the particular application.
"Aircraft/Spacecraft"
A vehicle motion profile is pre-selected. Simulation with a static location simulation is not possible.
"HIL (Hardware in the Loop)"
A vehicle motion profile is pre-selected.
The instrument expects the vehicle’s motion and attitude coordinates
in real time from for example an external application software.
For details, see Chapter 3.5.8, "Hardware in the Loop (HIL)",
on page 31.
Remote command:
<subsystem>:VEHicle:TYPE on page 271
Vehicle Description File
Access to the standard "File Select" dialog to select a user defined vehicle description
file. If a file is selected, its name is displayed.
The vehicle description files are files with extension *.xvd and predefined file format.
The *.xvd files include the limits on the vehicle's dynamics.
You find a subset of predefined files in the system directory of the instrument.
See also:
●
Chapter A.2, "Vehicle Description Files (Used for Smoothening)", on page 445
●
Chapter H, "List of Predefined Files", on page 471
Remote command:
<subsystem>:VEHicle:CATalog:USER? on page 271
<subsystem>:VEHicle:CATalog:PREDefined? on page 271
<subsystem>:VEHicle:FILE on page 271
Localization Data
Access to the dialog with setting to configure a "real" static or moving geographic location, see Chapter 4.3, "Localization Data Settings", on page 65.
A summary information on the selected location is displayed.
(Start) Geographic Location
Displays the coordinates of the static geographic location or the coordinates of the start
geographic location as defined in the selected waypoint/attitude file.
57Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
See also:
●
"Location Coordinates" on page 69
●
"Waypoint/Attitude File …" on page 67
Obscuration and Auto Multipath
(available with option R&S SMBV-K101 and enabled "Auto Localization" or "User
Localization" mode)
Accesses the dialog to define the near environmental model, see Chapter 4.4, "Obscu-
ration and Auto Multipath Settings", on page 71.
A summary information on the enabled settings is displayed.
Antenna Pattern/Body Mask
(available with option R&S SMBV-K102)
Accesses the "Antenna Pattern/Body Mask" dialog, see Chapter 4.5, "Antenna Pattern/
Body Mask Settings", on page 88.
The name of the current antenna pattern file is displayed.
4.1.3 Navigation Data
Access:
► Select "GNSS Main Dialog > Navigation Data"
With the provided settings, you can define the data source for navigation information.
Data Source.................................................................................................................. 58
Time Projection of Navigation Data...............................................................................60
Time Conversion Configuration.....................................................................................60
Simulation Start Time....................................................................................................60
GNSS/RNSS Configuration...........................................................................................61
SBAS Configuration...................................................................................................... 61
Satellite Configuration...................................................................................................62
Atmospheric Configuration............................................................................................62
Data Source
Selects data source for the navigation information.
Navigation data is essential for calculating the positions of the satellites. It also con-
tains the information about the currently valid space vehicle IDs.
58Operating Manual 1173.1427.12 ─ 14
"Real Navigation Data"
This value is pre-selected in localization mode; other data source is
not available.
You can download Almanac files ("Real Navigation Data") from the
Internet and store them on the hard disk of your instrument. If necessary, reconfigure manually these downloaded files.
If you work in "User Localization" mode, you can also use RINEX
files.
Almanac files for Galileo and BeiDou are not available for download.
To simulate the movement of Galileo and BeiDou satellites on their
designed orbits, you find predicted almanacs provided with this software.
Use the Almanac Configuration parameter to select the almanac file
per navigation standard.
"PRBSxx/Data List/Pattern"
Arbitrary data is available in "Static" mode.
A GNSS receiver recognizes signals generated in this way. There is
no real navigation data modulated with the GNSS spreading code but
the signal is sufficient for simple functional tests and sensitivity tests.
The receiver measures and displays the carrier to noise ratio of the
signal.
The following standard data sources are available:
●
"All 0, All 1"
An internally generated sequence containing 0 data or 1 data.
●
"PNxx"
An internally generated pseudo-random noise sequence.
●
"Pattern"
An internally generated sequence according to a bit pattern.
Use the "Pattern" box to define the bit pattern.
●
"Data List/Select DList"
A binary data from a data list, internally or externally generated.
Select "Select DList" to access the standard "Select List" dialog.
– Select the "Select Data List > navigate to the list file *.dm_iqd
> Select" to select an existing data list.
– Use the "New" and "Edit" functions to create internally new
data list or to edit an existing one.
– Use the standard "File Manager" function to transfer external
data lists to the instrument.
See also "Main Dialog > Data List Management".
"Zero Navigation Data"
Navigation data with the ephemeris, almanac and satellite clock correction parameters set to zero.
Synchronization, timing and structure (e.g. channel coding) of the
message are the same as for "Real Navigation Data".
In this mode, you can select from the full set of SV-IDs for all GNSS.
In the "Real Navigation Data" mode, available are only the almanac
records that are existing in the almanac file and the healthy satellites.
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
59Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS Main Dialog
Remote command:
<subsystem>:NAVigation:DATA on page 280
<subsystem>:NAVigation:DATA:DSELect on page 281
<subsystem>:NAVigation:DATA:PATTern on page 281
Time Projection of Navigation Data
Forces ephemeris and almanac projection for all satellites.
Enable this parameter to simulate any past or future simulation dates with the same
almanac file. That is, if the simulation date and time are outside the time span of the
selected almanac file, the almanac data is projected.
If this parameter is enabled:
●
The parameter "Sat# > Navigation Message Configuration > Real-Time Projection"
is enabled automatically for all satellites;
●
The software ignores the date entry in the SBAS files and repeats the SBAS data
daily. It uses the same SV and ionospheric corrections for each simulated day.
You recognize that this mode is activated if there is no date indication in the SBAS
message dialogs.
It is recommended that the used files contain a time span of 24 hours.
See also:
– Chapter 4.9.2, "Timing Setting", on page 102
– "To load and convert EMS files" on page 239
Note: If assistance data is generated, select "Time Projection of Navigation Data >
Off".
Remote command:
<subsystem>:SATellite:GRTProjection on page 335
Time Conversion Configuration
Opens the Time Conversion Configuration Settings dialog.
Simulation Start Time
Sets the simulation start time in the format of the selected "Time Basis".
"Time Basis"
Remote command:
<subsystem>:NAVigation:SIMulation:TBASis on page 281
Per default, the timebase of the entry standard is used. If different
timebase is selected, the time is automatically recalculated and displayed in the selected time format.
Note: Use the Time Conversion Configuration Settings dialog to con-
figure the parameters, necessary for time conversion between the
proprietary time of the navigation standard and the UTC.
60Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
"Date [dd.mm.yyyy], Time [hh:mm:ss:xxx]"
(enabled for "Data Source > Real Navigation Data" and "Time Basis >
UTC/GLO")
Enters the date for the simulation in DD.MM.YYYY format of the Gregorian calendar and the exact simulation start time in UTC time format. The simulation time is not limited to the almanac week.
In "Auto Localization" mode, these parameters are retrieved form the
selected almanac file; they correspond to the TOA of the entry standard.
Remote command:
<subsystem>:NAVigation:SIMulation:DATE on page 281
<subsystem>:NAVigation:SIMulation:TIME on page 282
"Week Number, Time of Week (TOW)"
(enabled for "Time Basis > GPS/GST/BDT/QZSST" and "Data Source
> Real Navigation Data")
The satellite clocks in the GPS and Galileo navigation systems are
not synchronized to the UTC. They use a proprietary time, the GPS
and the Galileo system time. The format used for these systems is
week number (WN) and Time of Week (TOW), that is the simulation
start time within this week.
The Time of Week (TOW) is expressed in number of seconds and
covers an entire week. The value is reset to zero at the end of each
week.
The weeks are numbered starting from a reference time point
(WN_REF=0), that depends on the navigation standard:
●
GPS reference point: January 6, 1980 (00:00:00 UTC)
●
GALILEO reference point: August 22, 1999
●
BeiDou reference point: January 01, 2006
The default value of this parameter is equal to the Week of the almanac that corresponds to the navigation standard used as an entry
standard.
Remote command:
<subsystem>:NAVigation:SIMulation:WNUMber on page 282
<subsystem>:NAVigation:SIMulation:TOWeek on page 282
GNSS Main Dialog
GNSS/RNSS Configuration
Accesses the Almanac Configuration dialog.
You can select one almanac file and one RINEX file per navigation standard, where the
available navigation standards depend on the installed options.
Using RINEX files is enabled for "User Localization" mode and requires installed assis-
tance option of the navigation standard used as an entry standard. For description of
the RINEX file format, see Chapter B, "RINEX Files", on page 450.
SBAS Configuration
In instruments equipped with option R&S SMBV-K110, accesses the SBAS Configura-
tion Settings dialog.
61Operating Manual 1173.1427.12 ─ 14
Satellite Configuration...
Accesses the dialog for configuring the satellite data (see Chapter 4.10, "Satellite Con-
figuration Settings", on page 124).
Atmospheric Configuration
Access the Atmospheric Configuration Settings dialog for configuring:
●
The ionospheric tropospheric models used for the satellite channel simulation
●
The atmospheric parameters as transmitted in the corresponding GNSS navigation
message.
4.1.4 Advanced Configuration
Real-Time S.P.O.T.
(enabled for "Auto/User Localization" mode)
Accesses the dialog for real-time display of the current PDOP and HDOP values, dis-
play of the satellites states and position, display of the receiver position and display of
the received satellite power.
See Chapter 4.12, "Real-Time S.P.O.T. Settings", on page 174.
GNSS Configuration and SettingsSatellite Navigation
GNSS System Configuration Settings
Data Logging
Access the dialog for configuring the data logging, see Chapter 4.13, "Data Logging
Settings", on page 182.
Assistance Data Generation
(enabled for "User Localization" mode; requires the basic BeiDou option R&S SMBVK107 or installed assisted option, e.g. Assisted GPS R&S SMBV-K65.
Access the dialog Assistance Data Generation Settings for generation of assistance
data corresponding to the selected "Assistance Mode".
4.2 GNSS System Configuration Settings
To access this dialog:
1. Select "GNSS > General > Simulation Mode > User Localization"
62Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS System Configuration Settings
2. Select "GNSS System Configuration"
In this dialog, you select which global, regional and augmentation GNSS systems
are simulated and enable settings for improved simulation accuracy.
Activate Systems...........................................................................................................63
Use Common RF Frequency........................................................................................ 63
Use Position Accuracy (P-Code) GPS..........................................................................64
GPS Anti-Spoofing........................................................................................................64
Simulation Accuracy......................................................................................................64
└ Sync IOD/URA from SBAS Data.....................................................................64
└ Sync Ionospheric Delay form SBAS Data.......................................................65
└ Sync SV Biases from SBAS Data...................................................................65
Activate Systems
Defines the navigation standards that are part of the GNSS system configuration.
Enable the GNSS systems has to be enabled in order that its satellites are configura-
ble in the Satellite Configuration Settings dialog and in the SBAS Configuration Set-
tings dialog.
The navigation standard of the entry point is always enabled. The further available
global, regional and augmentation GNSS systems depend on the installed options.
Note: Throughout this description, the term hybrid configuration denotes a GNSS system configuration comprising the satellites of two or more navigation standards.
Remote command:
<subsystem>:HYBRid:<GNSS>[:STATe] on page 268
<subsystem>:NAVigation:SBAS:<RegSystem>[:STATe] on page 321
Use Common RF Frequency
Enable this parameter if several R&S SMBV instruments are connected to generate
GNSS signal in the same GNSS band (see Figure 3-1) and phase coherent signal is
required. For example, if the test setup includes two instruments generating respectively up to 24 GPS, 24 GLONASS and 24 BeiDou satellites in the L1/E1 RF band.
63Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS System Configuration Settings
This feature triggers the instruments to shift the baseband signal in the frequency
domain so that both instruments can use the same RF frequency. The effect is comparable with enabled hybrid GNSS configuration. With correct configured settings, instruments equipped with hardware option R&S SMBV-B90 generate phase coherent RF
signals.
For more information on the required options, connection and configuration steps, refer
to Chapter 5.21, "Generating GNSS Signal with Several Instruments", on page 254.
Remote command:
<subsystem>:UCRF on page 268
Use Position Accuracy (P-Code) GPS
The generation of GPS signal modulated by P-code requires the additional software
option R&S SMBV-K93.
This parameter is enabled only if GPS standard is activated in the GNSS system configuration. Activate "Use Position Accuracy" to enable the selection of P and C/A+P
signals in the Satellite Configuration Settings dialog.
Remote command:
<subsystem>:UMGPs on page 268
GPS Anti-Spoofing
Enables Anti-Spoofing flag in the GPS navigation message.
Remote command:
<subsystem>:SATellite:ASPoofing on page 269
Simulation Accuracy
Combines functions that improve the simulation accuracy, see Chapter 3.9.3, "Improv-
ing the Simulation Accuracy, Simulation of SV Perturbation and Errors", on page 47.
The settings are active, if at least one SBAS augmentation system is enabled.
If more than one SBAS augmentation systems are enabled, the following applies:
●
Used are the correction files of the SBAS augmentation system, by that the SV is
monitored.
●
If more than one SBAS augmentation systems monitor the same SV, the SBAS
systems are evaluated in the order EGNOS, WAAS, MSAS.
●
Ionospheric information is mixed, an ionospheric file is created and loaded automatically, and the ionospheric model is set to "MOPS-DO-229D".
(see "MOPS-DO-229D Parameters" on page 168).
See also Chapter 5.20, "Simulating SV Perturbations and Errors", on page 247.
Sync IOD/URA from SBAS Data ← Simulation Accuracy
Synchronizes the IODE and URA parameters of the navigation message to the values
retrieved form the SBAS fast and long term correction files.
See:
●
Table 4-7
●
"Long Term Correction Data Parameters" on page 114
The IOD/URA values are updated in real time, the displayed values are however not
updated.
64Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Localization Data Settings
Remote command:
<subsystem>:SIOD on page 269
Sync Ionospheric Delay form SBAS Data ← Simulation Accuracy
Sets the Ionospheric Model to "MOPS-DO-229D" and retrieves the atmospheric delays
form the SBAS ionospheric correction data. These values are considered in the calculation of the ionospheric navigation parameters.
Remote command:
<subsystem>:SIDelay on page 269
Sync SV Biases from SBAS Data ← Simulation Accuracy
If enabled, the satellite biases (pseudorange corrections PRC, clock biases and satellite position errors) of the PRN are retrieved form the SBAS fast correction data. The
PRCs are used to estimate the pseudorange bias corrections. Evaluated are all PRNs
(active and inactive) that are available in the PRN mask file.
These corrections are added to the Pseudorange of the satellites with the same PRN.
Remote command:
<subsystem>:SSVBias on page 269
4.3 Localization Data Settings
Access:
1. Select "Baseband > Satellite Navigation > GPS".
2. Select "Simulation Mode > Auto Localization/User Localization".
65Operating Manual 1173.1427.12 ─ 14
3. Select "User Environment > Localization Data".
GNSS Configuration and SettingsSatellite Navigation
Localization Data Settings
In the "Localization Data" dialog, you can configure the satellites signal corresponding to a 'real' static or moving geographic location.
Geographic Location/Attitude........................................................................................66
Waypoint/Attitude File …...............................................................................................67
Smooth Movement........................................................................................................68
Read Out Mode.............................................................................................................68
Reference Frame.......................................................................................................... 68
Location Coordinates.................................................................................................... 69
Yaw/Heading, Pitch/Elevation, Roll/Bank......................................................................69
From Motion/From Spinning..........................................................................................70
Spinning Rate................................................................................................................70
Vehicle Body Start Roll..................................................................................................70
System Latency.............................................................................................................70
Geographic Location/Attitude
Selects the geographic location of the GNSS receiver.
"User Defined"
This mode enables the definition of the vehicle’s body rotation parameters of the GNSS receiver when a static location in the WGS84 coordinate system is defined:
●
"Latitude", "Longitude" and "Altitude"
●
In instrument equipped with R&S SMBV-K103, also the attitude
(yaw, pitch and roll)
The simulated altitude is the height above the ellipsoid (HAE) altitude.
66Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Localization Data Settings
"Waypoints"
"City"
(requires option GNSS Enhancements R&S SMBV-K92)
Enables you to select and load a predefined or user waypoint files to
simulate a moving scenario, i.e. to simulate a moving receiver. The
parameters "Latitude", "Longitude" and "Altitude" are set according to
the first simulated position defined in the file describing the movement, i.e. the raw waypoint, NMEA, KML, *.xtd or trajectory
description file.
For information about the current position of the receiver, open the
Real-Time S.P.O.T. Settings display and check the parameter
"Receiver Location" or the displayed receiver trajectory ("Map View").
The movement files are file with human readable syntax, from which
you can retrieve further information, like the speed of the moving
receiver (see Chapter A, "User Environment Files", on page 435).
See also Chapter 3.5.1, "Moving Scenarios", on page 28.
Option R&S SMBV-K103 is required to simulate the attitude information retrieved from the waypoint/attitude file.
Selects one of the predefined fixed geographic locations (see
Table 4-2).
The parameters "Latitude", "Longitude" and "Altitude" are set according to the selected position.
Table 4-2: Coordinates of the Simulated Predefined Positions
Continent City Latitude Longitude Altitude [m]
America New York 40.7142 -74.0064 1
Asia Beijing 39.905555555555 116.391388888888 60
Australia Sydney -33.8833 151.2167 3
Europe London 51.500625 -0.1246222 22
San Francisco
New Delhi 28.6138889 77.2088889 216
Seoul 37.5515 126.987794444444 265
Singapore 1.3113111111111 103.826852777777 110
Taipei 25.022344444444 121.514758333333 10
Tokyo 35.683861111111 139.745058333333 45
Moscow 55.752222 37.615556 200
Munich 48,150 11,5833 508
Paris 48.8584 2.29462777777777 66
37.8194388888 -122.4784944 35
Remote command:
<subsystem>:LOCation:CATalog? on page 275
<subsystem>:LOCation[:SELect] on page 275
Waypoint/Attitude File …
For selected "Geographic Location > Waypoints", access to the "Select Waypoint/Attitude File" dialog to select predefined waypoint files.
67Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Localization Data Settings
A waypoint file is description of a moving scenario with possibly attitude coordinates
that can have different forms, like for example a sequence of positions or vector arc
movement. A waypoint file must have the extension *.txt, *.nmea, *.kml or *.xtd.
See also Chapter A.1, "Movement or Motion Files", on page 435 for detailed description of the file formats.
Remote command:
<subsystem>:LOCation:WAYPoints:FILE on page 275
Smooth Movement
The location of the waypoints defined in the waypoints file may cause abrupt changes
in the movement direction.
In instruments equipped with R&S SMBV-K92, with this parameter you can start an
internal interpolating algorithm. The algorithm evaluates the *.xvd file, retrieves the
velocity vector and the <proximity> value, and inserts waypoints to smooth the trajectory. The resulting movement is more realistic.
See also:
●
Chapter 3.5.7, "Motion Smoothening Using Vehicle Description File", on page 30
●
Chapter A.2, "Vehicle Description Files (Used for Smoothening)", on page 445
Remote command:
<subsystem>:LOCation:SMOVement on page 279
Read Out Mode
For selected "Geographic Location > Waypoints", defines the way the waypoint/attitude
file is to be read.
The receiver trajectory can be observed in the "Map View" on the Real-Time S.P.O.T.
Settings display.
"Cyclic"
The waypoint file is read out cyclic.
Using this read out mode is only recommended for waypoint files that
describe a circle moving scenario or moving scenario in which the
start and the end point are close to each other.
"One Way"
The file is read out only once.
By reaching the end of the file, the last described position is assumed
to be a static one.
"Round Trip"
By reaching the end of the file, the file is read out backwards.
Remote command:
<subsystem>:LOCation:WAYPoints:ROMode on page 276
Reference Frame
Select the reference frame used to define the receiver coordinates.
The transformation between the reference frames is performed automatically.
The following applies:
●
X
= (1 - 0.008*10-6)*X
WGS84
●
Y
= (1 - 0.008*10-6)*Y
WGS84
●
Z
= (1 - 0.008*10-6)*Z
WGS84
- 0.2041*10-7*Y
PZ 90
- 0.2041*10-7*X
PZ 90
- 0.1716*10-7*X
PZ 90
+ 0.1716*10-7*Z
PZ 90
+ 0.1115*10-7*Z
PZ 90
- 0.1115*10-7*Y
PZ 90
PZ 90
PZ 90
PZ 90
- 0.013
+ 0.106
+ 0.022
Both reference frames are ECEF frames with a set of associated parameters.
68Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Localization Data Settings
"WGS-84"
The World Geodetic System WGS-84 is the reference frame used by
GPS.
"PZ 90.11 (GLONASS)"
Parametry Zemli PZ (Parameters of the Earth) is the reference frame
used by GLONASS.
Remote command:
<subsystem>:LOCation:COORdinates:RFRame on page 276
Location Coordinates
In the ECEF coordinate system, a geographic location is identified by three coordinates, the altitude, latitude and longitude. The last two can be displayed in decimal or
DMS format. The display format is determined by the parameter "Position Format".
Parameter Description
"Position Format" Sets the format in which the Latitude and Longitude are displayed.
"Altitude" Sets the geographic altitude of the reference location in meters above sea
●
"DEG:MIN:SEC"
The display format is Degree:Minute:Second and Direction, i.e.
XX°XX'XX.XX" Direction, where direction can be North/South and
East/West.
●
"Decimal Degree"
The display format is decimal degree, i.e. +/-XX.XXXXX°, where "+"
indicates North and East and "-" indicates South and West.
level.
The simulated altitude is the height above the ellipsoid (HAE) altitude.
"Latitude" Sets the latitude of the reference location.
"Longitude" Sets the longitude of the reference location.
The altitude, latitude and longitude are only configurable for user defined geographic
locations. If a value other than "User Defined" is selected in the "Geographic Location"
field, these fields are read only.
Remote command:
To enter the coordinates in Degree:Minute:Second format
<subsystem>:LOCation:COORdinates:DMS:WGS|PZ on page 277
To enter the coordinates in decimal degree format
<subsystem>:LOCation:COORdinates:DECimal:WGS|PZ on page 276
Yaw/Heading, Pitch/Elevation, Roll/Bank
For instruments equipped with R&S SMBV-K103, sets the angles of rotation in the corresponding direction, i.e. the rotation around the respective yaw, pitch and roll axes.
"Yaw/Heading, Pitch/Elevation, Roll/Bank" are defined relative to the local horizon.
See also Figure 3-5.
Remote command:
<subsystem>:LOCation:YAW on page 278
<subsystem>:LOCation:PITCh on page 278
<subsystem>:LOCation:ROLL on page 278
See also <subsystem>:RT:RATTitude? on page 415
69Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Localization Data Settings
From Motion/From Spinning
Enable "From Motion/From Spinning" to extract the attitude parameters from the waypoint file. For scenarios with defined waypoints/attitude file this forces the attitude
parameters to motion direction even if the Waypoint / Attitude has attitude information,
like for example in a *.xtd file with <property
waypointformat="position_attitude">.
For specific applications like automotive, it is realistic to set the yaw and pitch to vehicle’s motion direction, because the usual body axes angles of a car are in the direction
of the velocity vector. For other applications, however, like for example aeronautics
with a landing plane, this parameter is not useful (the nose of the plane is in an upward
direction at the time when the plane is moving downwards).
Tip:
●
Enable the parameter "From Motion" if you simulate an automotive scenario with
instrument without the option R&S SMBV-K103.
●
Open the Real-Time S.P.O.T. Settings view and select "Display Type > Attitude
View" to visualize the effect.
See also Chapter 5.16, "Visualizing the Effect of an Antenna Pattern",
on page 232.
Remote command:
<subsystem>:LOCation:YAW:FMOTion on page 278
<subsystem>:LOCation:PITCh:FMOTion on page 278
<subsystem>:LOCation:ROLL:FSPinning on page 278
Spinning Rate
For instruments equipped with R&S SMBV-K103, simulates a constant rate of change
of the roll, defined with Vehicle Body Start Roll.
Remote command:
<subsystem>:LOCation:SPIN:RATE on page 279
Vehicle Body Start Roll
For instruments equipped with R&S SMBV-K103, defines the start angles of rotation of
the vehicle.
Remote command:
<subsystem>:LOCation:SPIN:SRoll on page 279
System Latency
For instruments equipped with R&S SMBV-K92, adds an artificial delay (i.e. buffer
time) to increase the latency of the R&S SMBV response to the selected value.
The minimum value of 20 ms corresponds to the hardware processing time of the
R&S SMBV.
For more information, see Chapter 3.5.8.6, "Adding a Constant Delay to Compensate
for Command Jitter", on page 36.
Remote command:
<subsystem>:LOCation:DELay on page 301
70Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
4.4 Obscuration and Auto Multipath Settings
The "Obscuration and Auto Multipath" dialog is available for instrument equipped with
the additional option R&S SMBV-K101.
Access:
1. Select "Baseband > Satellite Navigation > GPS".
2. Select "Simulation Mode > Auto Localization/User Localization".
3. Select "User Environment > Obscuration and Auto Multipath".
The provided settings enable you to select a predefined near environmental model
or to customize the model as required. Most oft the user defined models are created in table form, where each row corresponds to an object that causes obscuration, reflection of the signal and/or multipath effects. The configured objects are displayed on a graphical view with selectable orientation. Each object is identified on
the graphical view with its row index.
To simplify and accelerate the configuration, the instrument provides:
●
A subset of predefined but customizable user environment models, like suburban
area, urban canyon, tunnel, bridge, highway that can be used directly or as basis
for further configurations.
●
An interface for loading of generated files or storing current configurations into files
(see "Obstacles File" on page 76 or "Planes File" on page 79).
●
As well as setting for joint obstacle's configuration, like defining of a subset of
obstacles and automatically repeating the configured subset (see "Repetition Win-
dow" on page 79).
Visualizing the obscured satellites
The defined user environment model is applied on the current satellite's constellation.
For the current receiver's location, some satellites are not simulated, others are simulated but are obscured or not, have echoes or with attenuated power due to antenna pattern response. To visualize the satellite's constellation state currently used by the
receiver, use the "Sky View" in the Real-Time S.P.O.T. Settings display.
4.4.1 Common Settings
This section describes the parameters that are common for all near environmental
models.
71Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Type.............................................................................................................................. 72
Near Environment......................................................................................................... 72
Physical Model..............................................................................................................73
Viewport from/to, Zoom Out..........................................................................................74
Type
Selects a predefined obscuration&auto multipath model or enables the configuration of
the near environment and physical model.
●
Customizable Type
– User Defined: the parameters "Near Environment" and "Physical Model" are
configurable
●
Predefined Types
– City Block
The model assumes: average building height 20m
– Urban Canyon
Correspond to an urban canyon in commercial city places.
The model assumes: street width 30m, average building height 30m, gap
between the buildings along a street 10m, street length 1200m
– Suburban Area
The model assumes: relatively high distance between the GNSS receiver and
the main reflecting obstacles
– Cutting
The model assumes: obscuration effects from side barriers on the left and right
of a vehicle moving on a highway
– Highway
The model assumes: effects of the barriers as well as cars moving in the opposite lines and subsequently interrupting the GNSS signal for a short time in a
periodic way
– Bridge
– Parking
The model assumes: a full signal obscuration in a parking for 1 min, 10 min or
one hour.
This model is useful by measuring the time a GNSS receiver needs to reac-
quire the GNSS satellites after leaving the obscured area.
– Tunnel
To store a user-defined configuration, use the "Save As" function. User defined obscurations can be loaded at a latter time to repeat test with the same user environment.
Remote command:
<subsystem>:OBSCuration:TYPE on page 285
Near Environment
Determines the kind and nature of the obstacles.
72Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Table 4-3: Available customizable near environment models in depending on the vehicle type and the geographic location
Near Environment Vehicle Type Mov-
ing
location
Vertical Obstacles Pedestrian
Land Vehicle
Roadside Planes Pedestrian
Land Vehicle
Full Obscuration Pedestrian
Land Vehicle
Ship
x x The model simulates the whole fix geometry of many objects (loca-
x
x
Static
location
Short Description
tions) to the left, right, front and back of the user's static location and is
suitable for city block simulation
The objects are defined relative to the map orientation, i.e to the street
orientation. The map is built on the OX and OY axes and any point on
the map can be defined as a reference point. Each object is defined
with its length and its distance to this reference point.
The receiver's position is configurable and defined as an offset to the
reference point.
See Chapter 4.4.2, "Vertical Obstacles Settings", on page 74.
This model describes an environment where the user defined obstacles are located to the left and/or to the right side of the receiver/vehicle.
The obstacles represent roadside planes or surfaces and are built
from different materials. The roadside planes are assumed parallel to
the motion of the vehicle
The model is enabled in instrument equipped with option R&S SMBVK92.
See Chapter 4.4.3, "Roadside Planes Settings", on page 78.
This model defines areas with configurable size in that the satellite signals are completely obscured.
The model is enabled in instrument equipped with option R&S SMBVK92.
See Chapter 4.4.4, "Full Obscuration Settings", on page 81
Ground/Sea Reflection
Land Mobile Multipath All x x This model describes the channel conditions observed by a GNSS
Line of Sight (LOS) All x x No near field environment is defined
Ship
Aircraft
Spacecraft
x x (Ship
only)
Simulated is ground/sea reflection as well as obscuration of satellites
due to modeled canyon obstacles (left and right) with configurable distance to vehicle, height and surface type with different properties.
Use this model to simulate flights over sea/lakes with surrounding canyon or for ships crossing sea straits.
See Chapter 4.4.5, "Ground/Sea Reflection", on page 82
receiver in a given environment.
See Chapter 4.4.6, "Land Mobile Multipath", on page 84
The environment view displays the currently configured model.
Remote command:
<subsystem>:OBSCuration:ENVironment on page 286
Physical Model
For "Near Environment" different than "LOS", the physical model determines whether
the satellite signals are obscured and/or multipath echoes are simulated.
The simulation of multipath effects in "Physical Model > Obscuration&Multipath"
requires additionally the option R&S SMBV-K92.
73Operating Manual 1173.1427.12 ─ 14
Remote command:
<subsystem>:OBSCuration:PMODel on page 286
Viewport from/to, Zoom Out
Zooms in the displayed model to the selected range. To display the full model again,
use the"Zoom Out" function.
4.4.2 Vertical Obstacles Settings
This section comprises the parameters, necessary to configure a "near environmental"
model for simulation of obscurations and multipath effects expected in a city environment. The vertical obstacles are defined in a static (OX, OY) coordinate system and
are either parallel to OX or OY axis following axis direction.
Examples of predefined environment based on the vertical obstacles are "City Block"
and "Urban Canyon".
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Figure 4-1: Vertical obstacles settings on the basis of a predefined city block
74Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Figure 4-2: Vertical obstacles settings on the basis of a predefined urban canyon
Receiver Offset..............................................................................................................75
Map Orientation.............................................................................................................76
Obstacles File............................................................................................................... 76
View Type......................................................................................................................76
Obstacles Configuration Table...................................................................................... 77
└ Direction axis.................................................................................................. 77
└ First Edge X/Y Coordinates, m....................................................................... 77
└ Length/Height..................................................................................................77
└ Material........................................................................................................... 77
└ Permittivity/Power Loss...................................................................................77
└ Dir. Filter..........................................................................................................77
└ Material Property.............................................................................................78
└ Insert Left/Right, Delete, Undo All, Save........................................................ 78
Receiver Offset
Determines the start position of a receiver/vehicle in terms of height and left/front offset
relative to the reference point (i.e. the (0, 0, 0) coordinate). The reference point is the
reference for the definition of the vertical obstacles.
Tip: Use this parameter to redefine the receiver's start location relative to the configured obstacles geometry without changing the obstacles definition in the table (Obsta-
cles Configuration Table).
75Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Note: Simulation of vehicle. If a vehicle is simulated, the position describes a vehicle
geometric reference. The offset between antenna and the vehicle’s reference is described in the antenna pattern (*.ant_pat). The simulated GNSS signal refers to the
antenna and not the vehicle geometric reference.
"Start Receiver X Offset"
X offset of the first simulated receiver location in the (OX, OY) coordinate system
"Start Receiver Y Offset"
Y offset of the first simulated receiver location in the (OX, OY) coordinate system
"Start Receiver Height Offset"
Height offset
Remote command:
<subsystem>:OBSCuration:VOBS:ROFFset:X on page 286
<subsystem>:OBSCuration:VOBS:ROFFset:Y on page 286
<subsystem>:OBSCuration:VOBS:ROFFset:HEIGht on page 286
Map Orientation
The map is aligned to the points of the compass. The value represents the angle
between East direction and 0X axis. A value of 0° means that OX axis is to the east
and OY to North. A value of 90° corresponds to OX orientation to the north and OY to
West.
A compass sign shows the current direction to the north.
Remote command:
<subsystem>:OBSCuration:VOBS:ROFFset:MORientation on page 287
Obstacles File
Accesses the standard "File Select" dialog to select a user defined obstacles description file (*.rs_obst).
Remote command:
<subsystem>:OBSCuration:VOBS:CATalog:PREDefined? on page 287
<subsystem>:OBSCuration:VOBS:CATalog:USER? on page 287
<subsystem>:OBSCuration:VOBS:FILE on page 288
View Type
Change the display orientation of the model. The available view types depend on the
current near environmental model.
76Operating Manual 1173.1427.12 ─ 14
Obscuration and Auto Multipath Settings
Table 4-4: Graphical representation of the urban canyon
"Side View (OX)" "Side View (OY)"
Obstacles Configuration Table
Each vertical obstacle is defined in one table row. The row index indicates the obstacle
on the display view.
GNSS Configuration and SettingsSatellite Navigation
Direction axis ← Obstacles Configuration Table
Determines the alignment of the vertical obstacle, parallel to OX or to the OY axis.
First Edge X/Y Coordinates, m ← Obstacles Configuration Table
For vertical obstacles, sets the coordinate of the start point (first edge) of the obstacle
in meters. First edge has the lowest coordinate value on its direction axis. The coordinate is interpreted on the OX or OY axis.
Length/Height ← Obstacles Configuration Table
Defines the obstacles' length and height in meters. The obstacle is parallel to the
Direction axis
Material ← Obstacles Configuration Table
Defines the material the obstacle is built from. Available are "Glass", "Concrete",
"Wood", "Gypsum", "Formica", "Marble", "Dry Wall", "Brick".
Permittivity/Power Loss ← Obstacles Configuration Table
Displays/defines the material property, permittivity or power loss, for the selected material. This value is a measure for the reflection caused by the obstacle.
Dir. Filter ← Obstacles Configuration Table
Filters the display of all obstacles for that the selected criteria is fulfilled.
77Operating Manual 1173.1427.12 ─ 14
Material Property ← Obstacles Configuration Table
Define whether the material is defined by its permittivity/conductivity or power loss
characteristic.
Insert Left/Right, Delete, Undo All, Save ← Obstacles Configuration Table
Standard functions for adding/appending and removing table rows, undo and save
changes.
4.4.3 Roadside Planes Settings
This model is enabled in instrument equipped with option R&S SMBV-K92.
This section comprises the parameters, necessary to configure an environmental
model for simulation of effects that a moving receiver experiences while moving on a
road surrounded e.g. by buildings.
The vertical roadside planes are defined alongside the road and parallel to the motion
direction of the moving receiver. A maximum of two vertical planes at max (left and
right) are considered based on current user mileage. Examples of predefined environment based on roadside planes are "Suburban Area", "Highway" and "Cutting".
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Figure 4-3: Roadside planes settings on the basis of a predefined suburban area
Receiver Height Offset..................................................................................................79
Repetition Window........................................................................................................ 79
Set Length to Infinite..................................................................................................... 79
Planes File.................................................................................................................... 79
View Type......................................................................................................................79
Obstacles Configuration Table...................................................................................... 80
└ Alignment........................................................................................................80
78Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
└ Reference Receiver Position.......................................................................... 80
└ Distance..........................................................................................................80
└ Height..............................................................................................................80
└ Material........................................................................................................... 80
└ Permittivity/Power Loss...................................................................................81
└ Material Property.............................................................................................81
└ Dir. Filter..........................................................................................................81
└ Insert Left/Right, Delete, Undo All, Save........................................................ 81
Receiver Height Offset
Determines the start position of a receiver in terms of height offset relative to the reference point used to define the roadside planes.
Tip: Use this parameter to redefine the vehicle's height relative to the configured
obstacles geometry without changing the obstacles definition in the table (Obstacles
Configuration Table).
Remote command:
<subsystem>:OBSCuration:RPL:ROFFset:HEIGht on page 288
Repetition Window
Enables the repetition of the defined objects and determines the repeating period (in
km).
Remote command:
<subsystem>:OBSCuration:RPL:RWINdow:STATe on page 289
<subsystem>:OBSCuration:RPL:RWINdow on page 289
Set Length to Infinite
If enabled, assumes planes with infinite width. Enable this parameter if a cutting scenario is simulated.
Remote command:
<subsystem>:OBSCuration:RPL:ILENgth on page 289
Planes File
Accesses the standard "File Select" dialog to select a user defined description file
(*.rs_buil).
Remote command:
<subsystem>:OBSCuration:RPL:CATalog:PREDefined? on page 287
<subsystem>:OBSCuration:RPL:CATalog:USER? on page 287
<subsystem>:OBSCuration:RPL:FILE on page 288
View Type
Change the display orientation of the model. The available view types depend on the
current near environmental model.
79Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Table 4-5: Graphical representation of a highway model
"View Type = Distance vs. Position" "View Type = Height vs. Position"
Obstacles Configuration Table
Each roadside plane is defined in one table row. The row index indicates the obstacle
on the display view. The left and right planes are color-coded.
Alignment ← Obstacles Configuration Table
For roadsides planes, determines according to which axis (left or right) the location is
aligned. The available values depend on the selected Dir. Filter.
Reference Receiver Position ← Obstacles Configuration Table
Distance (mileage) starting from which the corresponding roadside plane is considered
for user obscuration and multipath simulation.
Distance ← Obstacles Configuration Table
Defines the distance of the vertical obstacle to the OX or OY axis. The distance is
expressed in meters.
Height ← Obstacles Configuration Table
Defines the obstacles' height in meters.
Material ← Obstacles Configuration Table
Defines the material the obstacle is built from. Available are "Glass", "Concrete",
"Wood", "Gypsum", "Formica", "Marble", "Dry Wall", "Brick".
80Operating Manual 1173.1427.12 ─ 14
Permittivity/Power Loss ← Obstacles Configuration Table
Displays/defines the material property, permittivity or power loss, for the selected material. This value is a measure for the reflection caused by the obstacle.
Material Property ← Obstacles Configuration Table
Define whether the material is defined by its permittivity/conductivity or power loss
characteristic.
Dir. Filter ← Obstacles Configuration Table
Filters the display of all obstacles for that the selected criteria is fulfilled.
Insert Left/Right, Delete, Undo All, Save ← Obstacles Configuration Table
Standard functions for adding/appending and removing table rows, undo and save
changes.
4.4.4 Full Obscuration Settings
This model is enabled in instrument equipped with option R&S SMBV-K92.
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
This section comprises the parameters, necessary to configure areas in that the satellite signal is fully obscured, like in tunnels. Examples of predefined environments
based on full obscuration are "Bridge", "Parking" and "Tunnel".
Reference Scale............................................................................................................82
Repetition Window........................................................................................................ 82
Full Obscuration Configuration Table............................................................................ 82
81Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Reference Scale
Defines whether the obstacles' positions are defined as distance (in km) or as time (in
s).
Note: Changing between the two scales without saving the configuration leads to data
loss.
Remote command:
<subsystem>:OBSCuration:FULL:SCALe on page 289
Repetition Window
Enables the repetition of the defined objects and determines the repetition period (in
km).
Remote command:
<subsystem>:OBSCuration:FULL:RWINdow:STATe on page 290
<subsystem>:OBSCuration:FULL:RWINdow on page 290
Full Obscuration Configuration Table
Defines the full obscured areas as a sequence of zones at defined position and with
defined "Width". Each zone is defined in one table row.
Tip: To enable an area pattern, define the subset of areas and enable a "Repetition
Window" with suitable repetition period. Adjust the displayed window size (Viewport
from/to, Zoom Out), to visualize all configured full obscuration areas.
"Reference"
Remote command:
<subsystem>:OBSCuration:FULL:AREA<ch>:REFerence on page 291
Defines the reference starting position or timestamp at which a specific obscured zone is applied.
"Length"
Remote command:
<subsystem>:OBSCuration:FULL:AREA<ch>:LENGth on page 291
Remote command:
<subsystem>:OBSCuration:FULL:AREA:COUNt? on page 290
<subsystem>:OBSCuration:FULL:AREA:APPend on page 291
<subsystem>:OBSCuration:FULL:AREA<ch>:INSert on page 291
<subsystem>:OBSCuration:FULL:AREA<ch>:DELete on page 291
Length of the obscured zone, defined in km or sec.
4.4.5 Ground/Sea Reflection
This section comprises the parameters, necessary to configure a near environmental
model for simulation of obscurations and multipath effects caused by ground and sea
reflections.
The ground/sea reflections model is available for ship, aircraft and spacecraft vehicles
and describes canyon vertical obstacles parallel to the motion direction of the user
(direction axis).
82Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Material Property...........................................................................................................83
Surface Type.................................................................................................................83
Ground Permittivity/Conductivity, Power Loss...............................................................83
h1/h2, d1/d2.................................................................................................................. 84
Ground Altitude............................................................................................................. 84
Obstacle Orientation..................................................................................................... 84
Material Property
Define whether the material is defined by its permittivity/conductivity or power loss
characteristic.
The material properties depend on the selected surface type.
Remote command:
<subsystem>:OBSCuration:GSR:MPRoperty on page 291
Surface Type
Describes the surface. Available are "Dry Ground", "Medium Dry Ground", "Wet
Ground", "Fresh Water" and "Sea Water". The different surfaces feature different
reflection characteristics.
Remote command:
<subsystem>:OBSCuration:GSR:STYPe on page 292
Ground Permittivity/Conductivity, Power Loss
Displays/defines the surface property, permittivity, conductivity or power loss, for the
selected surface type. This value is a measure for the reflection caused by the surface.
Remote command:
<subsystem>:OBSCuration:GSR:PERMittivity on page 292
<subsystem>:OBSCuration:GSR:CONDuctivity on page 292
<subsystem>:OBSCuration:GSR:PLOSs on page 293
83Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
h1/h2, d1/d2
Determines the height of the right/left obstacle and the distance between the receiver
and the obstacles.
Remote command:
<subsystem>:OBSCuration:GSR:O1Distance on page 293
<subsystem>:OBSCuration:GSR:O2Distance on page 293
<subsystem>:OBSCuration:GSR:O1Height on page 293
<subsystem>:OBSCuration:GSR:O2Height on page 293
Ground Altitude
Sets the altitude of the ground level relative to the WGS84 ellipsoid, i.e. the terrain
ground level is set relative to WGS84 zero level or sea level.
Remote command:
<subsystem>:OBSCuration:GSR:GALTitude on page 294
Obstacle Orientation
For "Geographic Location/Attitude" different than waypoint and "Vehicle Type = Aircraft/
Ship/Spacecraft", defines the direction of the obstacles. If the vehicle is moving, the
obstacles are assumed to be parallel to the motion.
The value zero means that the obstacles are parallel to the east direction.
Remote command:
<subsystem>:OBSCuration:GSR:OORientation on page 294
4.4.6 Land Mobile Multipath
Land Mobile Multipath (LMM) model
The Land Mobile Multipath (LMM) model can be used to simulate different receiver
environments. This model assumes that the channel state of a satellite-to-receiver link
only depends on the azimuth and elevation angles of the corresponding satellite. In this
implementation, the sky (i.e. the possible satellite positions) is divided into segments,
specified with their azimuth and elevation angles. The 3D dome-like sky shape is unfolded and displayed on a 2D plane.
See Figure 4-4.
Each segment is then assigned one of the possible channel states:
●
Line of Sight (LOS) Only: the received signal is a Line of Sight (LOS) signal
●
LOS + Echo: the received signal consists of a LOS signal and a maximum of four
echo signals
●
Echoes Only: the received signal consists only of a maximum of four echo signals
●
Obscuration: the signal is obscured, i.e. no signal is available
84Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
LMM files
The R&S SMBV provides an interface for loading and creating user-defined LMM file.
The LMM patterns are defined in files with predefined file format and file extension
*.lmm.
An LMM file is a list of six tables:
●
A category table, that defines the channel states
●
A number of echoes taps table
●
Four taps tables, which define the echoes in terms of "Range Offset", "Power",
"Doppler Shift" and "Carrier Phase"
All tables have rows of elevation angles from 0 to +90° and columns of azimuth from
-180° to +180°.
See Chapter A.4, "Land Mobile Multipath (LMM) Files", on page 448
Difference between the static multipath tapped delay model and the LMM model
In R&S SMBV you can define static multipath effects per satellite, see Chapter 4.10.10,
"Static Multipath Configuration", on page 163. The multipath model describing the
static multipath propagation is implemented as a tapped delay model. The multipath
parameters in the LMM model are however not satellite-specific. The number of taps
and the taps parameters are function of the azimuth and elevation angles of the simulated satellite.
Land Mobile Multipath settings
To access these settings:
1. Select "Baseband > Satellite Navigation > GPS".
2. Select "Simulation Mode > Auto Localization/User Localization".
3. Select "User Environment > Obscuration and Auto Multipath".
4. Select "Near Environment > Land Mobile Multipath".
5. Select a file describing the land mobile multipath. For example, select "Land Mobile
Multipath File > Select Predefined LMM > Offenburg_Suburban".
6. The dialog shows the LMM model as a grid of segments, each described with its
azimuth and elevation angle, number of multipath taps and its channel state.
85Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
Figure 4-4: Land Mobile Model (Example)
The display is color coded, where the different channel states are indicated with different colors.
7. Enable "3D View > On"
The 3D view is interactive.
Tip:
To turn the display on the y axis:
● Use a connected mouse or
Change the parameter "View Angle".
86Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Obscuration and Auto Multipath Settings
For more information, see:
●
"To simulate a multipath based on the LMM (Land Mobile Multipath) model"
on page 219
Land Mobile Multipath File............................................................................................ 87
Resolution..................................................................................................................... 87
3D View.........................................................................................................................87
LMM Graph................................................................................................................... 87
Land Mobile Multipath...................................................................................................87
Azimuth, Elevation........................................................................................................ 88
View Angle.................................................................................................................... 88
Save..............................................................................................................................88
Land Mobile Multipath File
Accesses the standard "File Select" dialog to select a user defined or a predefined
LMM file (*.lmm) or to create a new one.
If a file is selected, the filename is displayed.
See also:
●
"LMM files" on page 85
●
Chapter A.4, "Land Mobile Multipath (LMM) Files", on page 448
Remote command:
<subsystem>:OBSCuration:LMM:FILE on page 288
<subsystem>:OBSCuration:LMM:CATalog:PREDefined? on page 287
<subsystem>:OBSCuration:LMM:CATalog:USER? on page 287
Resolution
Sets the used resolution.
Using a rough resolution is useful to adjust values with larger steps width or larger
value changes, whereas a high resolution is suitable for fine adjustment. Each time you
change the resolution, define whether it is only the scale that changes or the values
are also to be interpolated. The latter can lead to data lost.
3D View
Displays an interactive 3D representation of the LMM model.
LMM Graph
Displays the channel states and number of multipath taps distribution per sky segment.
The graph is interactive; you can select an area and change the channel state, number
of multipath taps, zoom in, etc.
See "To simulate a multipath based on the LMM (Land Mobile Multipath) model"
on page 219 for example on how to work with the provided settings.
Land Mobile Multipath
In the "Land Mobile Multipath" dialog, you configure the multipath tap parameters.
To access the dialog:
●
On the LMM graph, select a segment with channel state "LOS + Echo" or "Echoes
Only"
●
Left mouse click to open the context menu and select "Multipath"
87Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Antenna Pattern/Body Mask Settings
The following parameters can be configured for each multipath tap to simulate multipath conditions:
"Number of Taps"
Number of multipath taps, i.e. number of rows available for configura-
tion.
"Range Offset"
"Power"
"Doppler Shift"
"Carrier Phase"
"Accept"
Additional delay of the segment in meters
Additional power of the segment in dB.
Additional Doppler shift of the simulated signal of the segment in Hz
Additional carrier phase in radians
Confirms the configuration and applies the settings.
Azimuth, Elevation
Displays the corresponding values of the selected sky segment on the LMM graph.
View Angle
Changes the view angle of the 3D View.
Save
Accesses the standard "File Select" dialog to store the channel states as a file. The
predefined files cannot be overwritten. If a predefined file has been changed, it has to
be stored under new filename.
Remote command:
See "Land Mobile Multipath File" on page 87
4.5 Antenna Pattern/Body Mask Settings
Access:
1. Select "GNSS Main Dialog > Simulation Mode > Auto Localization/User Localiza-
tion".
2. Select "User Environment > Antenna Pattern/Body Mask".
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GNSS Configuration and SettingsSatellite Navigation
Antenna Pattern/Body Mask Settings
3. Select "File > Select Predefined Antenna Pattern" and select one of the provided
files.
Per default the "View Type > Power" is used and the dialog displays the power
response of the antenna for the current body mask.
The display is color coded, where the different power levels are indicated with different colors (see "Legend").
See also Figure 3-4.
Two files describe an antenna, the antenna pattern *.ant_pat file and the phase
response *.phase file. Both files must have the same file name and must be
stored in the same directory. The *.ant_pat file describes the power response
matrix of each antenna.
With a selected antenna pattern, the instrument simulates the satellite power and
carrier phase depending on the antenna pattern and attitude parameters.
For automotive applications, set "GNSS Main Dialog > User Environment > Localization Data > From Motion" to extract the attitude parameters from the waypoint
file.
Try out also the following:
● Enable "3D View > On"
● Select "View Type > Phase" to visualize the phase response
● Select "View Type > Position" to visualize the antenna's orientation and location compared to the center of body mass.
For more information, see:
●
Chapter 3.7, "GNSS Extension for Antenna Pattern (R&S SMBV-K102)",
on page 40
●
Chapter A.3, "Antenna Pattern and Body Mask Files", on page 446
89Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Antenna Pattern/Body Mask Settings
●
Chapter 5.17, "Creating and Modifying Antenna Patterns and Body Masks",
on page 235
●
Chapter 5.16, "Visualizing the Effect of an Antenna Pattern", on page 232
File................................................................................................................................ 90
Antenna ID, Active Antenna..........................................................................................90
Antennas.......................................................................................................................90
Antenna Pattern Graph................................................................................................. 90
View Type......................................................................................................................91
3D View.........................................................................................................................91
Azimuth, Elevation, Power Loss, Phase Response...................................................... 91
ΔHeading, ΔElevation, ΔBank.......................................................................................91
ΔX, ΔY, ΔZ....................................................................................................................91
Resolution..................................................................................................................... 91
Save..............................................................................................................................91
File
Accesses the standard "File Select" dialog to select a file, describing the antenna pattern or the body mask. Several predefined antenna patterns are provided.
If a file is selected, the file name is displayed.
Remote command:
<subsystem>:APATtern:CATalog:PREDefined? on page 272
<subsystem>:APATtern:CATalog:USER? on page 272
<subsystem>:APATtern:FILE on page 272
See also:
<subsystem>:RT:UPDate:ANTenna on page 273
Antenna ID, Active Antenna
Selects the ID of the antenna that is currently edited.
To activate an antenna, set its parameter "Active > On". Only one antenna can be acti-
vated at the same time.
Remote command:
<subsystem>:APATtern:ANTenna:LIST? on page 272
<subsystem>:APATtern:ANTenna:ID on page 273
Antennas
Accesses a context menu with standard handling functions.
To add an antenna, select "Add Antenna" and enter the "ID of Antenna to Add".
To delete an antenna, select "Delete Antenna X".
Antenna Pattern Graph
Depending on the selected View Type, displays the power/phase distribution or the
position of the current antenna.
The graph is interactive; you can select an area and change the power loss value,
zoom in, etc.
See Chapter 5.17, "Creating and Modifying Antenna Patterns and Body Masks",
on page 235 for example on how to work with the provided settings.
90Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Time Conversion Configuration Settings
View Type
Sets whether the graph displays the power/phase distribution of the antenna or the
antenna position relative to the center of body mass.
3D View
Displays an interactive 3D representation of the power/phase distribution of the
antenna.
Azimuth, Elevation, Power Loss, Phase Response
Displays the corresponding values of the selected point on the power/phase graph.
To edit the value, select an area on the graph, see Chapter 5.17, "Creating and Modify-
ing Antenna Patterns and Body Masks", on page 235.
ΔHeading, ΔElevation, ΔBank
Displays the information on the antenna orientation and tilt.
ΔX, ΔY, ΔZ
Sets an offset relative to the center of body mass to place the antenna.
Resolution
Sets the used resolution.
Using a rough resolution may be useful to adjust values with larger steps width or
larger value changes, whereas a high resolution is suitable for fine adjustment. Each
time you change the resolution, you have to define whether it is only the scale that
changes or the values should be interpolated. The latter may lead to data lost.
Save
Accesses the standard "File Select" dialog to store the antenna pattern as a file. The
predefined files cannot be overwritten. If a predefined file has been changed, it has to
be stored under new file name.
4.6 Time Conversion Configuration Settings
Access:
1. Select "Baseband > Satellite Navigation".
Select the satellite standard, for example "GPS".
2. Select "Navigation Data > Data Source > Real Navigation Data".
3. Select "Navigation Data > Time Conversion Config...".
This dialog contains the settings required to configure the time conversion from a
navigation standard, for example GPS to UTC. The conversion settings are necessary for switching from one time basis to another.
91Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
Time Conversion Configuration Settings
The time conversion is performed according to the following formula:
t
= (tE - delta_t
UTC
delta_t
UTC
tE = t
GPS
= delta_tLS+A0+A1 (tE-Tot+604800(WN-WNot)) and
or t
Galileo
) modulo 86400, where delta_t
UTC
and tE are as follows:
UTC
Time Conversion Parameters........................................................................................92
Leap Second Configuration...........................................................................................93
UTC-UTC(SU)...............................................................................................................93
Time Conversion Parameters
Configuration of the time conversion parameters requires software option R&S SMBVK92. The time conversion parameters are enabled only in "User Localization" and
"Static" modes.
The basis for the time conversion is the UTC. The parameters of each of the navigation
standards are set as an offset to the UTC.
To retrieve the time configuration parameters from an imported RINEX file, enable the
parameter Update UTC and Atmospheric Parameters.
For better readability, the values of the time correction parameters are input as integer
in the same way as they are included in the satellite's navigation message. The corresponding "Scale Factor" and the "Scaled Value" are also displayed.
92Operating Manual 1173.1427.12 ─ 14
Time Conversion Configuration Settings
Parameter Description SCPI Command
GNSS Configuration and SettingsSatellite Navigation
"A_0" Constant term of polynomial, A
"A_1"
"t_ot" UTC data reference Time of Week, t
"WN_t" UTC data reference Week Number, WN
1st order term of polynomial, A
0
1
ot
<subsystem>:NAVigation:TCONversion:GPS:AZERo
on page 311
<subsystem>:NAVigation:TCONversion:GPS:AONE
on page 311
<subsystem>:NAVigation:TCONversion:GPS:TOT
on page 312
<subsystem>:NAVigation:TCONversion:GPS:WNOT
t
on page 312
Leap Second Configuration
The GPS time does not consider time corrections that are typical for the UTC, such as
the leap second for instance.
The date of the next expected correction is determined by the parameter "Next Leap
Second Date".
As of June 30, 2012, the value of the "Current Leap Second", is 16 seconds.
Parameter Description SCPI Command
"Synchronize" Synchronizes the leap second
according to the simulation time.
"Current Leap Seconds (Ref.
1980)"
Displays the currently used leap
second.
<subsystem>:NAVigation:TCONversion:LEAP:SYNC
on page 314
<subsystem>:NAVigation:TCONversion:LEAP:
SEConds on page 314
"Simulate Leap Second Transition"
"Next Leap Second Date" Determines the date of the next
"Leap Sign" The time correction is performed in
Enables/disables the simulation of
the leap second transition.
UTC time correction.
steps of one second.
One second can be added to or
subtracted from the current leap
second value.
UTC-UTC(SU)
(for GLONASS satellites)
The Universal Time Coordinate (UTC) as used for GPS and Galileo can have a phase
shift and a frequency drift compared to the Russian UTC basis (UTC(SU)). These settings are provided for configuration of the UTC differences UTC - UTC(SU) as transmitted by GLONASS satellites.
<subsystem>:NAVigation:TCONversion:LEAP:
SLSTransition[:STATe] on page 313
<subsystem>:NAVigation:TCONversion:LEAP:DATE
on page 313
<subsystem>:NAVigation:TCONversion:LEAP:SIGN
on page 314
93Operating Manual 1173.1427.12 ─ 14
Parameter Description SCPI Command
GNSS Configuration and SettingsSatellite Navigation
GNSS/RNSS Configuration Settings
"UTC(SU) Reference Date"
"A_0" Constant term of polynomial A0 (virtual) <subsystem>:NAVigation:TCONversion:UTCSu:
"A_1"
Indicates the UTC-UTC (SU) time conversion
reference date.
1st order term of polynomial, A1 (virtual)
<subsystem>:NAVigation:TCONversion:UTCSu:
DATE? on page 313
AZERo on page 313
<subsystem>:NAVigation:TCONversion:UTCSu:AONE
on page 312
The Glonass satellites transmit the offset between GPS and GLONASS system time as
part of their navigation message. They assume only a delay and no frequency drift.
The time offset is calculated as following:
GPS – GLONASS = "GPS – UTC" + "UTC – UTC(SU)" – "GLONASS (UTC(SU) + 3h)" – 3h
For hybrid GNSS configuration with activated GLONASS satellites, this GPS – GLONASS time offset is maintained constant. This is done by automatically adjusting the
"GPS-UTC" drift parameters ("A_1","T_ot" and "WN_ot") while changing the "UTC –
UTC(SU)" parameters.
4.7 GNSS/RNSS Configuration Settings
To access this dialog:
1. Select "GNSS > Simulation Mode > User Localization"
2. Select "GNSS > Navigation Data"
3. Select "Navigation Data > Data Source > Real Navigation Data"
4. Select "Navigation Data > GNSS/RNSS Configuration"
94Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
GNSS/RNSS Configuration Settings
In this dialog, you select the almanac data and RINEX files.
File Conversion Tool
In instruments equipped with option R&S SMBV-K110, accesses the File Conversion
Tool Settings dialog.
Almanac Configuration
Displays the settings of the selected almanac files per navigation standard.
One almanac file can be selected per navigation standard. Predefined or user-defined
almanac files can be loaded.
When an almanac file is selected, the time information of the file (Week, SEM and
TOA) is indicated in the table. The SEM and TOA are indicated in Greenwich Mean
Time.
Tip: Adjust the week number in the almanac file, if it is not the absolute week number
corresponding to reference point of the GNSS. Otherwise the simulation time is false,
see also Example "GPS almanac week numbers" on page 95.
Example: GPS almanac week numbers
For week number 3 of the year 2019, set the week number to 2051 instead, which corresponds to 2051 weeks since the reference point for GPS (6 Jan 1980). Simulation
times before 1999 cannot be simulated, since the R&S SMBV automatically projects
time to the second rollover period.
Table 4-6: GPS almanac file week number and R&S
SMBV week number
Week number in almanac file Week number in "Simulation Start Time"
0 to 1024 1025 to 2048
> 1024 As in almanac file
If RINEX file is not enabled, the satellite-specific information (ephemeris) is also
retrieved from the almanac.
The software compares the data span of the selected almanac file and the current simulation time (see Simulation Start Time):
●
If Time Projection of Navigation Data > On, the "Data Span" is automatically updated, based on the current simulation time.
●
If Time Projection of Navigation Data > Off and the selected simulation date is outside the data span of the selected almanac file, a conflict ("!!!") is indicated.
Parameter SCPI command
"Almanac File" <subsystem>:NAVigation:ALManac:<GNSS>:FILE on page 304
<subsystem>:SVID:<GNSS>:LIST on page 309
"Time of Applicability
1)
(TOA)"
<subsystem>:NAVigation:ALManac:<GNSS>:TOAPplicability:
TOWeek on page 306
<subsystem>:NAVigation:ALManac:<GNSS>:TOAPplicability:
WNUMber on page 307
95Operating Manual 1173.1427.12 ─ 14
Parameter SCPI command
GNSS Configuration and SettingsSatellite Navigation
File Conversion Tool Settings
"Data Span" <subsystem>:NAVigation:ALManac:<GNSS>:SPAN? on page 304
"Week Number"
"Week Span"
1)
●
TOA format for GPS: (WN, TOW) WN_REF (6 Jan 1980 00:00:00 UTC)
2)
2)
<subsystem>:NAVigation:ALManac:GLONass:TOAPplicability:
DATE? on page 305
<subsystem>:NAVigation:ALManac:GLONass:TOAPplicability:
TIME? on page 306
<subsystem>:NAVigation:ALManac:<GNSS>:WNUMber on page 307
<subsystem>:NAVigation:ALManac:<GNSS>:DATE:BEGIn on page 304
<subsystem>:NAVigation:ALManac:<GNSS>:DATE:END on page 305
TOA format for Galileo: (WN, TOW) WN_REF (22 August 1999 00:00:00 UTC)
2)
●
"Week Number" and "Week Span": no SCPI command for Glonass
For an overview of the supported almanac files, see Chapter 3.1.6, "Multiple Alma-
nacs", on page 21.
RINEX Configuration
Selects and activates one "RINEX File" per navigation standard. Predefined or user
RINEX files can be loaded.
●
Perform "Import RINEX Files" to upload the selected file. The ephemeris and satellite clock parameters of the SV IDs included in the selected RINEX file are retrieved
from this file. However, the parameters of SV IDs that are not included in the
RINEX file are retrieved from the almanac of the corresponding GNSS.
●
Enable the "Update UTC and Atmospheric Parameters" to synchronize the time
conversion parameters and the atmospheric parameters to the corresponding val-
ues retrieved from the RINEX file.
●
Enable the "Update Frequency Number (GLONASS)" to extract the frequency
number allocations from the RINEX file.
See also:
●
Chapter B, "RINEX Files", on page 450 for description of the RINEX file format
●
Chapter 5.11, "Configuring the Navigation Parameters", on page 223
Remote command:
<subsystem>:NAVigation:RINex:GPS:FILE on page 307
<subsystem>:NAVigation:RINex:GPS:STATe on page 308
<subsystem>:NAVigation:RINex:IMPort on page 308
<subsystem>:NAVigation:RINex:UUAState on page 308
<subsystem>:NAVigation:RINex:UFNState on page 308
4.8 File Conversion Tool Settings
This dialog is enabled in instruments equipped with option Differential GPS
(R&S SMBV-K110).
96Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
File Conversion Tool Settings
To access this dialog, perform one of the following:
1. Select "GNSS > Navigation Data > GNSS/RNSS Configuration > File Convertion
Tool".
2. Select "GNSS > Navigation Data > SBAS Configuration > File Convertion Tool".
For an overview information on the provided features, refer to Chapter 3.9.1, "File
Conversion Tool", on page 44.
See also:
● "To load and convert EMS files" on page 239
● "To load and convert NSTB files" on page 241
● "To load, convert and use the NSTB files to generate GPS almanac and RINEX
files" on page 242
● "To merge multiple ionospheric grid files" on page 242
Conversion Mode..........................................................................................................97
Input Files......................................................................................................................98
Output Files...................................................................................................................98
Conversion Mode
Defines the output format of the converted files.
Available are:
●
"EMS to SBAS Files (EGNOS)"
See "To load and convert EMS files" on page 239
●
"NSTB to SBAS Files (WAAS)"
See "To load and convert NSTB files" on page 241
●
"NSTB to GPS Almanac and RINEX"
See "To load, convert and use the NSTB files to generate GPS almanac and
RINEX files" on page 242
97Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
File Conversion Tool Settings
●
"Merge multiple RINEX files"
●
"Merge multiple Ionospheric Grid files"
See "To merge multiple ionospheric grid files" on page 242
Input Files
Standard file handling functions.
●
Use the "Add File" function to select and load a predefined or user-specific file of
file type as defined with the parameter Conversion Mode.
●
Use the "Add Directory" function to load a set of file in one step.
●
When a file is loaded, its "File Name" and "Start/End Date and Time" are retrieved
and displayed.
●
To remove a file or all files, select it and select "Remove" or "Remove All".
See also "To load and convert EMS files" on page 239.
Output Files
Provides settings of the converted file.
"Base Filename"
Add a file prefix in the filename of the converted files.
"Directory"
"Source PRN"
"Iono Grid Sampling Period, s"
"Convert Files"
"Set EGNOS/WAAS Configuration"
"Set GPS/RINEX Configuration"
"Set Atmospheric Configuration"
Sets the directory the converted files are stored in.
For *.ems and *.nstb files, sets the PRN, i.e. the file, form that the
correction data is extracted.
See also "To load and convert EMS files" on page 239.
For *.ems and *.nstb files, sets the resolution of the generated
ionospheric grid file.
The "Iono Grid Sampling Period = 1 s" corresponds to the real world
data, but the generated *.ion_grid file is big in size.
The default value is a resolution, that is sufficient for test purposes,
maintains the size of the output file and is a multiple of the default
"Period", see "SBAS message files table" on page 100.
Triggers the instrument to convert the input files.
A list of the generated files confirms that the operation is completed.
Applies automatically the output files as SBAS messages files in the
SBAS Configuration Settings dialog.
See also "To load and convert EMS files" on page 239.
Applies automatically the generated RINEX files in the "Almanac/
RINEX" dialog.
See also "To load and convert NSTB files" on page 241.
Applies automatically the generated Ionospheric files in the Atmos-
pheric Configuration Settings dialog.
See also "To merge multiple ionospheric grid files" on page 242.
98Operating Manual 1173.1427.12 ─ 14
4.9 SBAS Configuration Settings
This dialog is enabled in instruments equipped with option Differential GPS
(R&S SMBV-K110).
For an overview information on the provided features, refer to Chapter 3.9.2, "SBAS
Configuration", on page 45.
To access the "SBAS Configuration" dialog
1. Select "GNSS > General > GNSS/RNSS Configuration".
2. Enable at least one "Augmentation System".
3. Select "GNSS > General > SBAS Configuration".
4. Select "Navigation Data Mode > Configurable Message"
For description on the provided settings when using the raw SBAS files, see Chap-
ter 4.9.14, "EGNOS and WAAS Navigation Data as Raw Files", on page 122.
5. To enable the type of correction data to be generated, enable it, e.g. "Ionospheric
Correction > State > On".
GNSS Configuration and SettingsSatellite Navigation
SBAS Configuration Settings
In this dialog, you select which SBAS messages (see Table 3-4) are generated and
define the content of the messages.
99Operating Manual 1173.1427.12 ─ 14
GNSS Configuration and SettingsSatellite Navigation
SBAS Configuration Settings
The dialog displays the augmentation systems that are enabled in the GNSS Sys-
tem Configuration dialog. The subset of SBAS message files belonging to one aug-
mentation system are displayed with the same color in the SBAS message files
table.
● SBAS General Settings.........................................................................................100
● Timing Setting....................................................................................................... 102
● Almanac Configuration..........................................................................................105
● RINEX File Configuration......................................................................................107
● Ionospheric Grid File Configuration.......................................................................108
● PRN Mask File Configuration................................................................................110
● Fast Correction File Configuration.........................................................................111
● Long Term Correction File Configuration...............................................................113
● Fast Correction Degradation Factor Configuration................................................115
● Clock-Ephemeris Covariance Matrix Configuration...............................................116
● Service Configuration............................................................................................117
● Degradation Factors Configuration....................................................................... 118
● Visualizing the Parameters Variation Over Time...................................................120
● EGNOS and WAAS Navigation Data as Raw Files.............................................. 122
4.9.1 SBAS General Settings
Navigation Data Mode.................................................................................................100
File Conversion Tool....................................................................................................100
SBAS message files table...........................................................................................100
Navigation Data Mode
Defines whether the navigation data is defined as SBAS message files or retrieved
from the loaded raw files.
See Chapter 4.9.14, "EGNOS and WAAS Navigation Data as Raw Files",
on page 122.
Remote command:
<subsystem>:NAVigation:SBAS:NDMode on page 321
File Conversion Tool
In instruments equipped with option R&S SMBV-K110, accesses the File Conversion
Tool Settings dialog.
SBAS message files table
Lists the SBAS message files that are generated. Different colors indicate the subset of
message files belonging to the same augmentation system.
Note:
If the SBAS message files table is empty, enable at least one SBAS augmentation system.
For example, set "GNSS System Configuration > EGNOS > on" (see Activate Sys-
tems).
Each SBAS message file is defined with:
100Operating Manual 1173.1427.12 ─ 14
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