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BPSK-like Methods for Hybrid-Search Acquisition

of Galileo Signals
Adina Burian, Elena Simona Lohan, Markku Renfors
Institute of Communications Engineering, Tampere University of Technology
P.O.Box 553, FIN-33101, Finland
adina.burian@tut.fi, elena-simona.lohan@tut.fi, markku.renfors@tut.fi

Abstract— The Binary Offset Carrier (BOC) modulation which is multiplied by a rectangular sub-carrier (e.g., with +1 and -1
has been proposed for future Galileo and GPS M-code signals, values) at sub-carrier frequency. The modulation parameters
provides a higher spectral separation from BPSK-modulated are equal to m = fsc /fref and n = fc /fref where fsc is
signals, such as GPS C/A code. The absolute value of the auto-
correlation function of a BOC signal has a narrower main lobe, the sub-carrier frequency, fc is the code rate and fref =1.023
which may increase the resolution of delay estimates, but also MHz is the reference frequency. Thus, the power spectrum
presents deep fades, which may lead to a higher number of timing is split into two symmetrical components around the carrier
hypotheses to acquire the signal. In order to get rid of these frequency. The common baseline for OS structure (agreed by
ambiguities, several approaches have been proposed in literature, US and European negotiation in June 2004) employs the sine
which provide an unambiguous BPSK-like shape of correlation
function. In this paper we analyze, compare and develop further BOC(1,1) modulation, which uses a 1.023 MHz square-wave
two BPSK-like methods which allow to acquire a BOC-signal sub-carrier modulated by spreading code chips at a chip rate
unambiguously. The focus is on hybrid search, where several fc =1.023 MHz [8]. For PRS services, both sine and cosine
time-frequency bins are searched in parallel. BOC(15,2.5) have been proposed [8]. Other BOC modulations
We introduce here a modified version of a BPSK-like method have also been considered, such as BOC(15,10), BOC(10,5)
which decreases the receiver complexity and is valid for both
odd and even BOC orders. We analyze both single-side band or BOC(10,4) [5], [6].
(SSB) processing (i.e., only one band is used) and dual-side band In order to eliminate the ambiguities of the ACF envelope,
(DSB) processing (i.e., upper and lower bands are combined different methods have been approached in literature [3], [4],
non-coherently). While eliminating the ambiguities in auto- [5], [6], [7]. The main idea behind these ”BPSK-like” methods
correlation function, both SSB and DSB processing present some (generic name proposed in [5]) is that the BOC-modulated
performance degradation, induced by the band selection and
non-coherent processing. The analysis is done in the presence signal can be obtained as the sum of two BPSK-modulated
of multipath fading channels. As a benchmark, we keep also the signals, located at positive and negative sub-carrier frequen-
ambiguous BOC processing. We consider parameters specified in cies. The effect of sub-carrier modulation can be removed by
the proposals for Galileo system Open Service (OS), respectively using a pair of single-sideband correlators. We may have a
Publicly Regulated Service (PRS). single-side band (SSB) receiver, where either the negative or
the positive of the sidebands correlators is used, or a dual-side
I. I NTRODUCTION
band (DSB) receiver, when both bands are combined non-
The BOC modulation has been selected for both Galileo coherently. Due to filtering and correlation losses, the BPSK-
and modernized GPS signals [1]. The main target of BOC like methods bring some degradation in the signal level.
modulation has been to provide a better spectral separation In [3], [5] it is asserted that a SSB BPSK-like method
with existing BPSK-modulated GPS signals, while allowing induces at least 3 dB degradation in SNR. If DSB processing
optimal usage of the available bandwidth for different GNSS is used, this loss can be partially compensated, excepting
signals [1], [2]. Also, BOC signals present a narrower main anyway the squaring losses in non-coherent integration [5].
lobe of the absolute value of their autocorrelation function Compared to coherent processing of both sidebands, non-
(ACF), which enhances the tracking accuracy. On the other coherent processing looses about 0.5 dB of SNR.
hand, the additional fades which appear in ACF within the The ’BPSK-like’ methods proposed so far in the literature
two-chip intervals may induce a missed detection due to a fall in of the following two categories: either the main lobes
zero (or very low) sampling point and may lead to a longer of the signal and of the reference BOC-modulated PRN code
acquisition time. In consequence, the necessary step to search are selected (via filtering) and then correlated [3], [4], [7],
a given time-uncertainty window, ∆tbin , should be small or both the main lobes and secondary lobes between of the
enough in order to find the main lobe of ACF. Therefore, the received signal are kept and the reference code is based on
computational complexity in acquisition process is increased, the BPSK-modulated PRN code [5], [6]. We will refer to
the computational load being inversely proportional to the the former method as Fishman & al. method [3], [4], [7],
square of step time bin ∆tbin , as reported in [3]. and to the later method as the Martin & al. method [5], [6]
A BOC(m, n) signal (m and n are not necessarily integers) (from the authors’ names). The Martin & al. method, if the
is created by a square sub-carrier modulation, where the signal reference code is properly selected, has the advantage of lower

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This full text paper was peer reviewed at the direction of IEEE Communications Society subject matter experts for publication in the IEEE ICC 2006 proceedings.
Received BOC-modulated signal
PSD

f
fcarrier -fsc fcarrier fcarrier +f sc

Right Sideband Processing


RX signal
(at sample Upper Side single
level) Band Filter SB
non-coh
I & D | . |2 statistic
integr. on
Reference on N c ms
BOC- Upper Side Nnc blocks
Band Filter dual SB
modulated
statistic
PRN sequence
+

single
Similar processing as in right sideband,
SB
but uses Lower Side Band Filters
statistic

Fig. 1. Method 1 (Fishman & al.). Selecting the main lobes of the BOC-modulated received signal and reference PRN sequence and correlate them.

complexity, as we will discuss in our paper. On the other as expected, for smaller time steps, the performances of BPSK-
hand, its performance is dependent on the BOC-modulation like methods may be worse than that of the ambiguous BOC
order NBOC (defined here as NBOC = 2fsc /fc ) and may be approach. Therefore, as suggested in [5], [6] the ’BPSK-like’
slightly lower than the performance of Fishman & al. method. methods can be used in initial energy search, while sweeping
The purpose of this paper is to analyze these non-ambiguous the uncertainty time-domain with a higher time step ∆tbin .
BPSK-like approaches, which differ through the manner the Once the energy is found with enough confidence, the receiver
received signal and reference code are selected and processed: may return to the BOC processing and use a finer time step.
the first method is based on Fishman & al. approach, where
II. BPSK- LIKE METHODS
two filters are used and only the upper/lower main lobes are
selected, both for the incoming signal and the reference code. A. Method I (Fishman & al. method)
The second method is a modified version of the Martin & In this method, the receiver selects only the main lobes of
al. method, where only one filter is used, which includes the BOC-modulated received signal and the reference code.
both the main lobes and secondary lobes between them. Our The block diagram of this approach, illustrated in Fig. 1, it
proposed method differs from the Martin & al. method in two has been proposed in [3] and [4], and later analyzed in [7].
aspects: first, the reference sequence here is the pseudorandom The main lobe of one of the sidebands (upper or lower) of
(PRN) code kept at sub-sample level, and not the shifted PRN BOC-modulated received signal is selected (via filtering) and
code; second, our method is valid for both even and odd it is correlated with a filtered PRN BOC-modulated reference
BOC modulation orders, not only for even BOC modulation code, having the tentative delay τ and the tentative Doppler
orders which was the case in Martin & al. method. Our frequency fD . The BOC-modulated reference sequence is
proposed method has the advantage of a lower complexity obtained in a similar manner with the received signal, filtering
implementation than Fishman & al. method, as explained in out the main lobe. Hence, the SSB Fishman & al. approach
[9]. needs three sideband selection filters (one for the real code
In order to evaluate the performance of our method, we and two for the in-phase and quadrature components of the
have selected for comparison the Fishman & al. approach received signal). The Integrate & Dump (I&D) block performs
(and not Martin & al.), because this method is patented and the coherent integration on Nc ms. Further non-coherent
may bring an improvement in results. Also, we have verified integration on Nnc blocks may be employed to reduce the
through simulations that Martin & al. technique provides very noise.
similar performance to our method. We compare both SSB The correlation function between the received signal and
and DSB cases of each method. As a benchmark, we keep reference code, on each sideband, will be unambiguous and
also the ambiguous BOC approach, where all spectrum (of will resemble the ACF of a BPSK-modulated signal. However,
signal and reference code) is used and the reference code is the shape of resulting ACF is not exactly the one of a BPSK-
the BOC-modulated PRN sequence. modulated signal, since there are information losses due to
The performance of the studied methods is tested for a hy- selection of main lobes. This method has rather high complex-
brid search acquisition in multipath-fading channels. We will ity due to the fact that six complex filters are needed for DSB
show that, for a step of the time bin equal to half chip, there processing [4]. A less complex version of this implementation
is always an improvement in performance when DSB method will be to use just one of sidebands (SSB approach), but in
is used, but the SSB processing does not always improve the order to compensate for SNR degradation, a longer dwell time
performance compared to ambiguous-BOC processing. Also, is needed.

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This full text paper was peer reviewed at the direction of IEEE Communications Society subject matter experts for publication in the IEEE ICC 2006 proceedings.
Filtered BOC-modulated signal (i.e. BOC(10,5))
PSD
Interference from GPS C/A

f
fcarrier -fsc f carrier fcarrier +f sc

RX signal exp(-j .2. pi. fSC . a. t) single


(at sample SB
I & D non-coh statistic
level) | . |2
on Nc ms integr. on
Nnc blocks
BPSK Reference dual SB
PRN sequence hold statistic
(at chip level) NBOC NS Right Sideband Processing +

single
Similar processing as in right sideband, but shifted at SB
the center frequency of band with exp(+j . 2. pi. fSC . a. t) statistic

Fig. 2. Method 2 (proposed; modified Martin & al.). Select the main lobes of received signal and the secondary lobes between them, shift them close to
the carrier frequency and correlate with a BPSK PRN reference code.

B. Method II (proposed method) Data


symbols
A less complex implementation method is shown in Fig. 2. bn BOC
Doppler
Spreading Ns Channel Code
This method is a modified approach of Martin & al. technique modulation
Acquisition
presented in [5], [6]. Instead of using two filters (one for every PRN
main lobe), only one filter is used, centered at middle of carrier sequence Despreading, data
frequency band fcarrier . This filter has a bandwidth which recovery and position
estimation blocks
includes the two main lobes and the secondary lobes between
them. After the band selection, the main lobes of received
signal (situated at fcarrier -fsc , respectively at fcarrier +fsc ) Fig. 3. Main operations performed at transmitter and receiver
are shifted towards the middle of frequency band (the shifting
factor, afsc , will be discussed later) and correlated with the
BPSK reference signal, held at sub-sample level (in Fig. 2 1/(Ns NBOC ) when no further interpolation is employed).
Ns is the oversampling factor or the number of sub-samples Thus, one chip will consists of NBOC Ns sub-samples. For
per BOC sample). The method originally proposed in [5] example, BOC(1,1) signal has an even modulation order
and [6] was shifting the reference code to fcarrier -fsc and NBOC =2, while BOC(15,10) signal has an odd modulation
fcarrier +fsc , respectively, thus changing the code sequence order NBOC =3.
from a sequence of +1s and −1s to a complex signal. Also, The baseband model of received signal r(t) via an L-path
shifting the signal (or the reference code) with ±fsc is not fading channel can be written as (eq. 1):
working properly for all modulation orders, as it was observed  
n=+∞ 
L
from simulations and as it will be explained in detail in the r(t) = Eb e+j2πfD t bn αn,l (t)sn (t − τl )
next section. n=−∞ l=1
We note that the proposed method is less complex than the +η(t) (1)
previous one, first due to the fact that only one filter is used,
and second, because the reference code is a sequence of +1s Above, sn (t) is the PRN code sequence corresponding to
and −1s, and thus, the complex multiplication between the n-th code bit, Eb the bit energy of signal, bn is the data
received signal and the reference code can be done via simple bit corresponding to the n-th code epoch (the same data bit
additions and sign inversions, as explained in [10]. is usually kept for 20 ms [8]), αn,l (t) is the time-varying
complex fading coefficient of the l-th path during the n-th code
III. T HE SIGNAL MODEL IN THE PRESENCE OF BOC epoch, τl is the corresponding path delay (rounded to integer
MODULATION AND OVERSAMPLING multiples of the sampling interval Ts ), fD is the Doppler shift,
The simplified baseband block diagram of the transmitter and η(·) is the additive white noise added by the channel.
and receiver for a BOC-modulated PRN signal is shown in Fig. The BOC-modulated and spread code sequence, correspond-
3. After spreading and BOC modulation, the data sequence ing to n-th code bit is:
is oversampled with an oversampling factor Ns , representing 
SF −1
NBOC
the number of sub-samples per BOC sub-chip interval. This sn (t) = ck,n (−1)m p(t − nSF NBOC Ns Ts
oversampling determines the desired delay accuracy in the k=1 m=0
delay estimation process (e.g., minimum ∆tbin is equal to − kNBOC Ns Ts − mNs Ts ) (2)

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SinBOC(1,1), DSB
where ck,n is the k-th chip value corresponding to the n-th 1
data symbol, SF is the spreading factor or the code epoch
length (e.g., for GPS C/A signal, SF = 1023), p(·) is a train 0.8
of rectangular pulses, and Ts is the sampling interval (Ts =
1/(Ns fc )). 0.6

ACF
Depending on the method, at the receiver part either only
0.4
the main lobes of the incoming BOC signal are filtered (using
two complex filters per each band, upper or lower) or the 0.2
whole bandwidth of signal containing the main lobes and the
secondary lobes between them is selected (by using only one 0
−1.5 −1 −0.5 0 0.5 1 1.5
filter per band, since the reference signal remains unfiltered). Delay error [chips]
For the second method, after filtering, the signal is shifted SinBOC(10,4), SSB
1
down or up around the center frequency by multiplication
with exp(−j2πfsc at) and exp(+j2πfsc at), for upper and 0.8
the lower side-bands, respectively. The shifting parameter a
depends on the order of BOC modulation used and has been 0.6

ACF
found to be equal to:
 0.4
 1 if NBOC even, Sin- and CosBOC
NBOC −1
a= if NBOC odd, SinBOC (3)
 NN BOC
BOC +1
0.2

NBOC if N BOC odd, CosBOC


0
We have remarked that, if we use a = 1 for odd BOC −1.5 −1 −0.5 0 0.5 1 1.5
Delay error [chips]
modulation orders, we loose the peak after the correlation, and
therefore, the ’BPSK-like’ method becomes invalid. In [5] and
Fig. 4. Shapes of ACF envelopes for even modulation order (Upper
[6] no discussion about the impact of odd BOC modulation plot: NBOC = 2, e.g.BOC(1,1)) and odd modulation order (Lower plot:
orders on the algorithm performance was done. NBOC = 5, SinBOC(10,4)); continuous black: ambiguous BOC, dashed
The signal is then correlated with a reference signal .red: Fishman & al. method, dash-point blue: proposed method
sref (t, τ, fD , n1 ), which can include either the PRN code
and BOC modulation or only the PRN code. For example,
in the ambiguous BOC case, the reference signal is the BOC- are grouped together in order to form a decision window. The
modulated PRN code: decision variable is further compared to a variable threshold
γ, which is set such that we have a sufficiently small false
−1 alarm probability Pf a . If the decision variable is greater than

S F N 
BOC
−j2π fD t
sref,ambig. BOC (t, τ, f D , n1 ) = e ck,n1
the threshold, the acquisition is declared, otherwise the search
k=1 m=0 process is continued.
(−1)m × p(t − n1 SF NBOC Ns Ts − kNBOC Ns Ts The normalized ACF envelopes after single and dual side-
band processing, together with the ambiguous-BOC waveform
−mNs Ts − τ) (4)
are presented in Fig. 4, for SinBOC(1,1) (NBOC = 2) and Sin-
For Method I, the reference code is the filtered BOC- BOC(10,4) (NBOC = 5) respectively, in the absence of noise.
modulated PRN code, as shown in Fig. 1. For Method II, the The signal before sideband processing was assumed to have
reference code is the PRN BPSK sequence, held at sub-sample infinite bandwidth, hence the sharp peaks in the ambiguous-
level: BOC waveform. We remark that the proposed BPSK-like
−1 method does not eliminate completely the ambiguities of the

S F N 
BOC
 −j2π fD t ACF for odd BOC modulation orders. We also remark that
sref,proposed (t, τ, fD , n1 ) = e ck,n1
k=1 m=0 the ACF after DSB processing with Fishman & al. method
p(t − n1 SF NBOC Ns Ts − kNBOC Ns Ts has a wider main lobe than the DSB processing of proposed
method, which helps the acquisition process.
−mNs Ts − τ) (5)
The correlation output is coherently averaged over N ms IV. S IMULATIONS RESULTS
c
(as seen in Figs. 1 and 2) and, next, it is non-coherently av- For the simulations from this paper we have selected
eraged over Nnc blocks. The maximum coherence integration different modulation types which have been proposed in
length Nc is dictated by the coherence time of the channel and various papers as candidates for Galileo signals [1], [8] (i.e.
by the stability of the oscillator clock. The decision statistic SinBOC(1,1), SinBOC(10,5), SinBOC(15,2.5) for even orders
is formed in a hybrid manner, by splitting the code-Doppler and SinBOC(15,10) for odd NBOC orders). As performance
search space into several code-Doppler windows. Each correla- measures we have used the root mean square error (RMSE)
tor output corresponds to a time-frequency bin and several bins and the detection probability Pd . The RMSE in chips was

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computed as: test statistic was built over time-frequency windows of size 12
 chips × 1 kHz (i.e. hybrid search [11]). The maximum fre-
RM SE[chips] = E(|τ − τ|) (6)
quency incertitude range in the searching space is considered
where E(·) is the expectation operator, τ is the true first 9 kHz.
path delay, τ is the estimated delay of the first path, in
Rayleigh fading channel, 2 paths, SinBOC(15,10), Nc=10, Nnc=4
case of acquisition. The RMSE in meters was computed as 300
RM SE[m] =RM SE[chips] ∗ c, where c is the speed of light. ambigous BOC
Fishman met. SSB
250 Fishman met. DSB
Nakagami fading channel, 2 paths, SinBOC(1,1), Nc=30, Nnc=3 Proposed met. SSB
Proposed met. DSB
500 200

RMSE [meters]
ambigous BOC
450 Fishman met. SSB
Fishman met. DSB 150
400
Proposed met. SSB
350 Proposed met. DSB
100
RMSE [meters]

300

250 50
200

150 0
30 31 32 33 34 35 36 37 38
CNR [dBHz]
100

50

0 Fig. 7. RM SE vs CN R for a Rayleigh fading channel, SinBOC(15,10)


30 31 32 33 34 35 36 37 38
CNR [dBHz] (odd BOC order), ∆tbin =0.5 chips.

In Figs. 5 and 6 we present the obtained results in terms


Fig. 5. RM SE vs CN R for a Nagakami fading channel, SinBOC(1,1)
(even BOC order), ∆tbin =0.5 chips of RM SE for an even BOC modulation orders (NBOC =2,
.
SinBOC(1,1), respectively NBOC =4, SinBOC(10,5)). In Fig. 5
the channel is Nagakami-m distributed with 2-paths decaying
Rayleigh fading channel, 2 paths, SinBOC(10,5), Nc=20, Nnc=2 power delay profile, with the maximum separation between
200
ambigous BOC successive paths xmax set to 1 chip. The mobile speed is
180 Fishman met. SSB 65 km/h, the coherent integration Nc was done over 30 ms
Fishman met. DSB
160
Proposed met. SSB and non-coherent integration over Nnc =3 blocks. In Fig. 6 the
Proposed met. DSB
140 channel is a 2-paths Rayleigh distributed fading channel with
RMSE [meters]

120 xmax =2 chips, Nc =20 ms, Nnc =2 blocks and mobile speed 45
100 km/h. Similar curves (both RM SE and P d) were obtained
80 for other channel profiles and other BOC modulation orders
60 as well, but are not reproduced here due to lack of space.
40 From both figures it can be observed that the best results are
20 provided by the Dual Side Band processing, with an improve-
0 ment of about 2 dB when comparing with SSB processing.
30 31 32 33 34 35 36 37 38
CNR [dBHz] Also, it can be observed that for DSB processing, our method
approximates the performance of Fishman & al. method and
there is a small degradation in the SSB case, for the proposed
Fig. 6. RM SE vs CN R for a Rayleigh fading channel, SinBOC(10,5)
(even BOC order), ∆tbin =0.5 chips. method. This degradation can be compensated by employing
a longer integration time and it may be worthy considering
The detection probability Pd is the probability to have the the lower computational complexity of proposed method. We
decision variable higher than a decision threshold γ, provided also note that the ambiguous BOC may be outperformed by
that we are in correct bin. The false alarm probability Pf a is SSB processing.
the probability that decision variable is higher than γ, if we are Comparing with even BOC orders, for odd orders (i.e.
in an incorrect bin. In order to have a fair comparison between SinBOC(15,10)) the performance of proposed method is de-
different decision variables, the false alarm probability Pf a teriorating, as can be observed from Fig. 7. This degradation
was set from beginning to a fixed value (here, Pf a = 10−2 ) is expected, observing the small fades from ACF envelope for
and the corresponding threshold γ was computed in order to an odd BOC modulation order (Fig. 4, the lower plot). The
meet this fixed Pf a . The Pd was computed based on estimated channel is 2-paths Rayleigh distributed, with xmax =1 chip,
threshold γ. Nc =10 ms, Nnc =4 blocks and the mobile speed 25 km/h.
The studied methods were tested for different fading channel Fig. 8 presents the simulation results for a higher BOC
profiles with multipath propagation. The oversampling factor modulation order, namely SinBOC(15,2.5), proposed for PRS
was set to Ns =4 and the step time bin ∆tbin =0.5 chips. The Galileo signals. We expect to get similar performance curves

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This full text paper was peer reviewed at the direction of IEEE Communications Society subject matter experts for publication in the IEEE ICC 2006 proceedings.
Fading Rician channel, 2 paths, SinBOC(15,2.5), Nc=20, Nnc=4
1 ∆tbin =0.5 chips, in order to speed the acquisition process and
0.9 ambigous BOC to reduce the implementation complexity.
Fishman met. SSB
0.8 Fishman met. DSB V. C ONCLUSIONS
Proposed met. SSB
0.7
Detection probability

Proposed met. DSB In this paper we have proposed a modified low complexity
0.6
’BPSK-like’ method in the context of BOC-modulated signals
0.5
for hybrid search acquisition and we have compared it with
0.4
traditional sideband processing method of Fishman & al. Our
0.3
method has the advantage of a lower computational complexity
0.2 at the cost of a very small CNR degradation, comparing to
0.1 Fishman & al. BPSK-like method, due to the fact that the
0
30 31 32 33 34 35 36 37 38
number of filters is reduced and the reference code sequence
CNR [dBHz] is kept as a sequence of ±1s, which allows an efficient
correlation implementation, as reported in [10].
Fig. 8. Simulation results for a Rician fading channel, SinBOC(15,2.5), Compared to ambiguous BOC processing, there is a sig-
∆tbin =0.5 chips: Pd vs CN R nificant gain if dual sideband processing is used in order to
remove the ambiguities of correlation function, since higher
Rayleigh fading channel, 3 paths, SinBOC(1,1), Nc=20, Nnc=4 steps in searching the timing hypotheses can be used. Also,
1
we have showed that single sideband processing does not
0.9 ambigous BOC
Fishman met. SSB always outperform the ambiguous-BOC approach due to the
0.8 Fishman met. DSB correlation losses. The results were checked via simulations
0.7 Proposed met. SSB
Detection probability

Proposed met. DSB in case of multipath fading channels for BOC-modulated


0.6
and oversampled signals modeled according to the Galileo
0.5 proposals.
0.4

0.3
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0.2
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channel and SinBOC(1,1) modulation. Here the oversampling 1st ESA Workshop on Satellite Navigation User Equipment
Technologies (NAVITEC), Dec 2004.
factor Ns =4, xmax =2 chips, Nc =20 ms, Nnc =4 blocks. As [11] E.S. Lohan, A. Lakhzouri, and M. Renfors, ”Selection of
it can be observed, for a smaller step time bin ∆tbin =0.125 multiple-dwell hybrid-search strategy for acquisition of Galileo
chips, the ambiguous BOC method provides superior per- signals in fading channels”, Proc. of PIMRC 2004, vol. 4,
pp.2352-2356, Barcelona, Spain, Sep. 2004.
formance, compared with both DSB and SSB processing.
Also, the SSB processing of Fishman & al. method gives an
improvement of about 0.3 dB compared with the SSB of pro-
posed method. Therefore, the non-ambiguous BOC processing
makes sense to be used only with high enough steps, namely

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This full text paper was peer reviewed at the direction of IEEE Communications Society subject matter experts for publication in the IEEE ICC 2006 proceedings.

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