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Improving Single-Frequency RTK in the Urban Enviornment By Mojtaba Bahrami and Marek Ziebart A look at how Doppler measurements can be used to smooth noisy code-based pseudoranges to improve the precision of autonomous positioning as well as to improve the availability of single-frequency real-time kinematic positioning, especially in urban environments. INNOVATION INSIGHTS by Richard Langley WHAT DO A GPS RECEIVER, a policeman’s speed gun, a weather radar, and some medical diagnostic equipment have in common? Give up? They all make use of the Doppler effect. First proposed in 1842 by the Austrian mathematician and physicist, Christian Doppler, it is the change in the perceived frequency of a wave when the transmitter and the receiver are in relative motion. Doppler introduced the concept in an attempt to explain the shift in the color of light from certain binary stars. Three years later, the effect was tested for sound waves by the Dutch scientist Christophorus Buys Ballot. We have all heard the Doppler shift of a train whistle or a siren with their descending tones as the train or emergency vehicle passes us. Doctors use Doppler sonography — also known as Doppler ultrasound — to provide information about the flow of blood and the movement of inner areas of the body with the moving reflectors changing the received ultrasound frequencies. Similarly, some speed guns use the Doppler effect to measure the speed of vehicles or baseballs and Doppler weather radar measures the relative velocity of particles in the air. The beginning of the space age heralded a new application of the Doppler effect. By measuring the shift in the received frequency of the radio beacon signals transmitted by Sputnik I from a known location, scientists were able to determine the orbit of the satellite. And shortly thereafter, they determined that if the orbit of a satellite was known, then the position of a receiver could be determined from the shift. That realization led to the development of the United States Navy Navigation Satellite System, commonly known as Transit, with the first satellite being launched in 1961. Initially classified, the system was made available to civilians in 1967 and was widely used for navigation and precise positioning until it was shut down in 1996. The Soviet Union developed a similar system called Tsikada and a special military version called Parus. These systems are also assumed to be no longer in use — at least for navigation. GPS and other global navigation satellite systems use the Doppler shift of the received carrier frequencies to determine the velocity of a moving receiver. Doppler-derived velocity is far more accurate than that obtained by simply differencing two position estimates. But GPS Doppler measurements can be used in other ways, too. In this month’s column, we look at how Doppler measurements can be used to smooth noisy code-based pseudoranges to improve the precision of autonomous positioning as well as to improve the availability of single-frequency real-time kinematic positioning, especially in urban environments. Correction and Further Details The first experimental Transit satellite was launched in 1959. A brief summary of subsequent launches follows: Transit 1A launched 17 September 1959 failed to reach orbit Transit 1B launched 13 April 1960 successfully Transit 2A launched 22 June 1960 successfully Transit 3A launched 30 November 1960 failed to reach orbit Transit 3B launched 22 February 1961 failed to deploy in correct orbit Transit 4A launched 29 June 1961 successfully Transit 4B launched 15 November 1961 successfully Transits 4A and 4B used the 150/400 MHz pair of frequencies and provided geodetically useful results. A series of Transit prototype and research satellites was launched between 1962 and 1964 with the first fully operational satellite, Transit 5-BN-2, launched on 5 December 1963. The first operational or Oscar-class Transit satellite, NNS O-1, was launched on 6 October 1964. The last pair of Transit satellites, NNS O-25 and O-31, was launched on 25 August 1988. “Innovation” is a regular column that features discussions about recent advances in GPS technology and its applications as well as the fundamentals of GPS positioning. The column is coordinated by Richard Langley of the Department of Geodesy and Geomatics Engineering at the University of New Brunswick, who welcomes your comments and topic ideas. To contact him, email lang @ unb.ca. Real-time kinematic (RTK) techniques enable centimeter-level, relative positioning. The technology requires expensive, dedicated, dual-frequency, geodetic-quality receivers. However, myriad industrial and engineering applications would benefit from small-size, cost-effective, single-frequency, low-power, and high-accuracy RTK satellite positioning. Can such a sensor be developed and will it deliver? If feasible, such an instrument would find many applications within urban environments — but here the barriers to success are higher. In this article, we show how some of the problems can be overcome. Single-Frequency RTK Low-cost single-frequency (L1) GPS receivers have attained mass-market status in the consumer industry. Notwithstanding current levels of maturity in GPS hardware and algorithms, these receivers still suffer from large positioning errors. Any positioning accuracy improvement for mass-market receivers is of great practical importance, especially for many applications demanding small size, cost-effectiveness, low power consumption, and highly accurate GPS positioning and navigation. Examples include mobile mapping technology; machine control; agriculture fertilization and yield monitoring; forestry; utility services; intelligent transportation systems; civil engineering projects; unmanned aerial vehicles; automated continuous monitoring of landslides, avalanches, ground subsidence, and river level; and monitoring deformation of built structures. Moreover, today an ever-increasing number of smartphones and handsets come equipped with a GPS receiver. In those devices, the increasing sophistication of end-user applications and refinement of map databases are continually tightening the accuracy requirements for GPS positioning. For single-frequency users, the RTK method does appear to offer the promise of highly precise position estimates for stationary and moving receivers and can even be considered a candidate for integration within mobile handhelds. Moreover, the RTK approach is attractive because the potential of the existing national infrastructures such as Great Britain’s Ordnance Survey National GNSS Network-RTK (OSNet) infrastructure, as well as enabling technologies such as the Internet and the cellular networks, can be exploited to deliver RTK corrections and provide high-precision positioning and navigation. The basic premise of relative (differential) positioning techniques such as RTK is that many of the sources of GNSS measurement errors including the frequency-dependent error (the ionospheric delay) are spatially correlated. By performing relative positioning between receivers, the correlated measurement errors are completely cancelled or greatly reduced, resulting in a significant increase in the positioning accuracy and precision. Single-Frequency Challenges. Although RTK positioning is a well-established and routine technology, its effective implementation for low-cost, single-frequency L1 receivers poses many serious challenges, especially in difficult and degraded signal environments for GNSS such as urban canyons. The most serious challenge is the use of only the L1 frequency for carrier-phase integer ambiguity resolution and validation. Unfortunately, users with single-frequency capability do not have frequency diversity and many options in forming useful functions and combinations for pseudorange and carrier-phase observables. Moreover, observations from a single-frequency, low-cost receiver are typically “biased” due to the high level of multipath and/or receiver signal-tracking anomalies and also the low-cost patch antenna design that is typically used. In addition, in those receivers, measurements are typically contaminated with high levels of noise due to the low-cost hardware design compared to the high-end receivers. This makes the reliable fixing of the phase ambiguities to their correct integer values, for single-frequency users, a non-trivial problem. As a consequence, the reliability of single-frequency observations to resolve ambiguities on the fly in an operational environ ment is relatively low compared to the use of dual-frequency observations from geodetic-quality receivers. Improving performance will be difficult, unless high-level noise and multipath can be dealt with effectively or unless ambiguity resolution techniques can be devised that are more robust and are less sensitive to the presence of biases and/or high levels of noise in the observations. Traditionally, single-frequency RTK positioning requires long uninterrupted initialization times to obtain reliable results, and hence have a time-to-fix ambiguities constraint. Times of 10 to 25 minutes are common. Observations made at tens of continuous epochs are used to determine reliable estimates of the integer phase ambiguities. In addition, these continuous epochs must be free from cycle slips, loss of lock, and interruptions to the carrier-phase signals for enough satellites in view during the ambiguity fixing procedure. Otherwise, the ambiguity resolution will fail to fix the phase ambiguities to correct integer values. To overcome these drawbacks and be able to determine the integer phase ambiguities and thus the precise relative positions, observations made at only one epoch (single-epoch) can be used in resolving the integer phase ambiguities. This allows instantaneous RTK positioning and navigation for single-frequency users such that the problem of cycle slips, discontinuities, and loss of lock is eliminated. However, for single-frequency users, the fixing of the phase ambiguities to their correct integer values using a single epoch of observations is a non-trivial problem; indeed, it is considered the most challenging scenario for ambiguity resolution at the present time. Instantaneous RTK positioning relies fundamentally upon the inversion of both carrier-phase measurements and code measurements (pseudoranges) and successful instantaneous ambiguity resolution. However, in this approach, the probability of fixing ambiguities to correct integer values is dominated by the relatively imprecise pseudorange measurements. This is more severe in urban areas and difficult environments where the level of noise and multipath on pseudoranges is high. This problem may be overcome partially by carrier smoothing of pseudoranges in the range/measurement domain using, for example, the Hatch filter. While carrier-phase tracking is continuous and free from cycle slips, the carrier smoothing of pseudoranges with an optimal smoothing filter window-width can effectively suppress receiver noise and short-term multipath noise on pseudo­ranges. However, the effectiveness of the conventional range-domain carrier-smoothing filters is limited in urban areas and difficult GNSS environments because carrier-phase measurements deteriorate easily and substantially due to blockages and foliage and suffer from phase discontinuities, cycle-slip contamination, and other measurement anomalies. This is illustrated in Figure 1. The figure shows that in a kinematic urban environment, frequent carrier-phase outages and anomalies occur, which cause frequent resets of the carrier-smoothing filter and hence carrier smoothing of pseudoranges suffers in robustness and effective continuous smoothing. Figure 1. Satellite tracking and carrier-phase anomaly summary during the observation time-span. These data were collected in a dense urban environment in both static and kinematic mode. The superimposed red-points show epochs where carrier-phase observables are either missing or contaminated with cycle slips, loss of locks, and/or other measurement anomalies. Doppler Frequency Shift. While carrier-phase tracking can be discontinuous in the presence of continuous pseudoranges, a receiver generates continuous Doppler-frequency-shift measurements. The Doppler measurements are immune to cycle slips. Moreover, the precision of the Doppler measurements is better than the precision of pseudoranges because the absolute multipath error of the Doppler observable is only a few centimeters. Thus, devising methods that utilize the precision of raw Doppler measurements to reduce the receiver noise and high-frequency multipath on pseudoranges may prove valuable especially in GNSS-challenged environments. Figure 2 shows an example of the availability and the precision of the receiver-generated Doppler measurements alongside the delta-range values derived from the C/A-code pseudoranges and from the L1 carrier-phase measurements. This figure also shows that frequent carrier-phase outages and anomalies occur while for every C/A-code pseudorange measurement there is a corresponding Doppler measurement available. Figure 2. Plots of C/A-code-pseudorange-derived delta-ranges (top), L1 carrier-phase-derived delta-ranges (middle), and L1 raw receiver-generated Doppler shifts that are transformed into delta-ranges for the satellite PRN G18 during the observation time-span when it was tracked by the receiver (bottom). Smoothing. A rich body of literature has been published exploring aspects of carrier smoothing of pseudoranges. One factor that has not received sufficient study in the literature is utilization of Doppler measurements to smooth pseudoranges and to investigate the influence of improved pseudorange accuracy on both positioning and the integer-ambiguity resolution. Utilizing the Doppler measurements to smooth pseudoranges could be a good example of an algorithm that maximally utilizes the information redundancy and diversity provided by a GPS/GNSS receiver to improve positioning accuracy. Moreover, utilizing the Doppler measurements does not require any hardware modifications to the receiver. In fact, receivers measure Doppler frequency shifts all the time as a by-product of satellite tracking. GNSS Doppler Measurement Overview The Doppler effect is the apparent change in the transmission frequency of the received signal and is experienced whenever there is any relative motion between the emitter and receiver of wave signals. Theoretically, the observed Doppler frequency shift, under Einstein’s Special Theory of Relativity, is approximately equal to the difference between the received and transmitted signal frequencies, which is approximately proportional to the receiver-satellite topocentric range rate. Beat Frequency. However, the transmitted frequency is replicated locally in a GNSS receiver. Therefore, strictly speaking, the difference of the received frequency and the receiver locally generated replica of the transmitted frequency is the Doppler frequency shift that is also termed the beat frequency. If the receiver oscillator frequency is the same as the satellite oscillator frequency, the beat frequency represents the Doppler frequency shift due to the relative, line-of-sight motion between the satellite and the receiver. However, the receiver internal oscillator is far from being perfect and therefore, the receiver Doppler measurement output is the apparent Doppler frequency shift (that includes local oscillator effects). The Doppler frequency shift is also subject to satellite-oscillator frequency bias and other disturbing effects such as atmospheric effects on the signal propagation. To estimate the range rate, a receiver typically forms an average of the delta-range by simply integrating the Doppler over a very short period of time (for example, 0.1 second) and then dividing it by the duration of the integration interval. Since the integration of frequency over time gives the phase of the signal over that time interval, the procedure continuously forms the carrier-phase observable that is the integrated Doppler over time. Therefore, Doppler frequency shift can also be estimated by time differencing carrier-phase measurements. The carrier-phase-derived Doppler is com puted over a longer time span, leading to smoother Doppler measurements, whereas direct loop filter output is an instantaneous measure produced over a short time interval. Doppler frequency shift is routinely used to determine the satellite or user velocity vector. Apart from velocity determination, it is worth mentioning that Doppler frequency shifts are also exploited for coarse GPS positioning. Moreover, the user velocity vector obtained from the raw Doppler frequency shift can be and has been applied by a number of researchers to instantaneous RTK applications to constrain the float solution and hence improve the integer-ambiguity-resolution success rates in kinematic surveying. In this article, a simple combination procedure of the noisy pseudorange measurements and the receiver-generated Doppler measurements is suggested and its benefits are examined. Doppler-Smoothing Algorithm Description Motivated both by the continual availability and the centimeter-level precision of receiver-generated (raw) Doppler measurements, even in urban canyons, a method has been introduced by the authors that utilizes the precision of raw Doppler measurements to reduce the receiver noise and high-frequency multipath on code pseudoranges. For more detail on the Doppler-smoothing technique, see Further Reading. The objective is to smooth the pseudoranges and push the accuracy of the code-based or both code- and carrier-based positioning applications in GNSS-challenged environments. Previous work on Doppler-aided velocity/position algorithms is mainly in the position domain. In those approaches, the improvement in the quality of positioning is gained mainly by integrating the kinematic velocities and accelerations derived from the Doppler measurement in a loosely coupled extended Kalman filter or its variations such as the complementary Kalman filter. Essentially, these techniques utilize the well-known ability of the Kalman filter to use independent velocity estimates to reduce the noise of positioning solutions and improve positioning accuracy. The main difference among these position-domain filters is that different receiver dynamic models are used. The proposed method combines centimeter-level precision receiver-generated Doppler measurements with pseudorange measurements in a combined pseudorange measurement that retains the significant information content of each. Two-Stage Process. The proposed Doppler-smoothing process has two stages: (1) the prediction or initialization stage and (2) the filtering stage. In the prediction stage, a new estimated smoothed value of the pseudorange measurement for the Doppler-smoothing starting epoch is obtained. In this stage, for a fixed number of epochs, a set of estimated pseudoranges for the starting epoch is obtained from the subsequent pseudorange and Doppler measurements. The estimated pseudoranges are then averaged to obtain a good estimated starting point for the smoothing process. The number of epochs used in the prediction stage is the averaging window-width or Doppler-smoothing-filter length. In the filtering stage, the smoothed pseudorange profile is constructed using the estimated smoothed starting pseudorange and the integrated Doppler measurements over time. The Doppler-smoothing procedures outlined here can be performed successively epoch-by-epoch (that is, in a moving filter), where the estimated initial pseudorange (the averaged pseudorange) is updated from epoch to epoch. Alternatively, an efficient and elegant implementation of the measurement-domain Doppler-smoothing method is in terms of a Kalman filter, where it can run as a continuous process in the receiver from the first epoch (or in post-processing software, but then without the real-time advantage). This filter allows real-time operation of the Doppler-smoothing approach. In the experiments described in this article, a short filter window-width is used. The larger the window width used in the averaging filter process, the more precise the averaged pseudorange becomes. However, this filter is also susceptible to the ionospheric divergence phenomenon because of the opposite signs of the ionospheric contribution in the pseudorange and Doppler observables. Therefore, the ionospheric divergence effect between pseudoranges and Doppler observables increases with averaging window-width and the introduced bias in the averaged pseudoranges become apparent for longer filter lengths. Using the propagation of variance law, it can be shown that the precision of the delta-range calculated with the integrated Doppler measurements over time depends on both the Doppler-measurement epoch interval and the precision of the Doppler measurements, assuming that noise/errors on the measurements are uncorrelated. Experimental Results To validate the improvement in the performance and availability of single-frequency instantaneous RTK in urban areas, the proposed Doppler-aided instantaneous RTK technique has been investigated using actual GPS data collected in both static and kinematic pedestrian trials in central London. In this article, we only focus on the static results and the kinematic trial results are omitted. It is remarked, however, that the data collected in the static mode were post-processed in an epoch-by-epoch approach to simulate RTK processing. In the static testing, GPS test data were collected with a measurement rate of 1 Hz. At the rover station, a consumer-grade receiver with a patch antenna was used. This is a single-frequency 16-channel receiver that, in addition to the C/A-code pseudoranges, is capable of logging carrier-phase measurements and raw Doppler measurements. Reference station data were obtained from the Ordnance Survey continuously operating GNSS network. Three nearby reference stations were selected that give different baseline lengths: Amersham (AMER) ≈ 38.3 kilometers away, Teddington (TEDD) ≈ 20.8 kilometers away, and Stratford (STRA) ≈ 7.1 kilometers away. In addition, a virtual reference station (VRS) was also generated in the vicinity (60 meters away) of the rover receiver. Doppler-Smoothing. Before we present the improvement in the performance of instantaneous RTK positioning, the effect of the Doppler-smoothing of the pseudoranges in the measurement domain and comparison with carrier-phase smoothing of pseudoranges is given. To do this, we computed the C/A-code measurement errors or observed range deviations (the differences between the expected and measured pseudoranges) in the static mode (with surveyed known coordinates) using raw, Doppler-smoothed and carrier-smoothed pseudoranges. FIGURE 3a illustrates the effect of 100-second Hatch-filter carrier smoothing and FIGURE 3b shows a 100-second Doppler-smoothing of the pseudo­ranges for satellite PRN G28 (RINEX satellite designator) with medium-to-high elevation angle. The raw observed pseudorange deviations (in blue) are also given as reference. The quasi-sinusoidal oscillations are characteristic of multipath. Comparing the Doppler-smoothing in Figure 3b to the Hatch carrier-smoothing in Figure 3a, it can be seen that Doppler-smoothing of pseudoranges offers a modest improvement and is more robust and effective than that of the traditional Hatch filter in difficult environments. Figure 3. Smoothed pseudorange errors (observed range deviations) using the traditional Hatch carrier-smoothing filter. Smoothing filter length in the experiments for both filters was set to 100 seconds. Satellite PRN G28 was chosen to represent a satellite at medium-to-high elevation angle. Figure 3. Smoothed pseudorange errors (observed range deviations) using the Doppler-smoothing filter. Smoothing filter length in the experiments for both filters was set to 100 seconds. Satellite PRN G28 was chosen to represent a satellite at medium-to-high elevation angle. Figure 4a illustrates carrier-phase Hatch-filter smoothing for low-elevation angle satellite PRN G18. In this figure, the Hatch carrier-smoothing filter reset is indicated. It can be seen that due to the frequent carrier-phase discontinuities and cycle slips, the smoothing has to be reset and restarted from the beginning and hardly reaches its full potential. In contrast, Doppler smoothing for PRN G18 shown in FIGURE 4b had few filter resets and managed effectively to smooth the very noisy pseudorange in some sections of the data. Figure 4. Smoothed pseudorange errors (observed range deviations) and filter resets and filter length (window width) using the traditional Hatch carrier-smoothing filter. Smoothing filter length in the experiments for both filters was set to 100 seconds. Satellite PRN G18 was chosen to represent a satellite at low elevation angle as it rises from 10 to 30 degrees. Figure 4. Smoothed pseudorange errors (observed range deviations) and filter resets and filter length (window width) using the Doppler-smoothing. Smoothing filter length in the experiments for both filters was set to 100 seconds. Satellite PRN G18 was chosen to represent a satellite at low elevation angle as it rises from 10 to 30 degrees. Considering RTK in this analysis, we can demonstrate the increase in the success rate of the Doppler-aided integer ambiguity resolution (and hence the RTK availability) by comparison of the obtained integer ambiguity vectors from the conventional LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) ambiguity resolution method using Doppler-smoothed pseudoranges with those obtained without Doppler-aiding in post-processed mode. The performance of ambiguity resolution was evaluated based on the number of epochs where the ambiguity validation passed the discrimination/ratio test. The ambiguity validation ratio test was set to the fixed critical threshold of 2.5 in all the experiments. In addition to the ratio test, the fixed solutions obtained using the fixed integer ambiguity vectors that passed the ratio test were compared against the true position of the surveyed point to make sure that indeed the correct set of integer ambiguities were estimated. The overall performance of the single-epoch single-frequency integer ambiguity resolution obtained by the conventional LAMBDA ambiguity resolution method without Doppler-aiding is shown in Figure 5 for baselines from 60 meters up to 38 kilometers in length. In comparison, the performance of the single-epoch single-frequency integer ambiguity resolution from the LAMBDA method using Doppler-smoothed pseudoranges are shown in Figure 6 for those baselines and they are compared with integer ambiguity resolution success rates of the conventional LAMBDA ambiguity resolution method without Doppler-aiding. Figure 6 shows that using Doppler-smoothed pseudoranges enhances the probability of identifying the correct set of integer ambiguities and hence increases the success rate of the integer ambiguity resolution process in instantaneous RTK, providing higher availability. This is more evident for shorter baselines. For long baselines, the residual of satellite-ephemeris error and atmospheric-delay residuals that do not cancel in double differencing potentially limits the effectiveness of the Doppler-smoothing approach. It is well understood that those residuals for long baselines strongly degrade the performance of ambiguity resolution. Relative kinematic positioning with single frequency mass-market receivers in urban areas using VRS has also shown improvement. Figure 5. Single-epoch single-frequency integer ambiguity resolution success rate obtained by the conventional LAMBDA ambiguity resolution method without Doppler-aiding. Figure 6. Plots of integer ambiguity resolution success rates: single-epoch single-frequency integer ambiguity resolution success rate obtained by the conventional LAMBDA ambiguity resolution method without Doppler-aiding (in blue) and using Doppler-smoothed pseudoranges (in green). Conclusion In urban areas, the proposed Doppler-smoothing technique is more robust and effective than traditional carrier smoothing of pseudoranges. Static and kinematic trials confirm this technique improves the accuracy of the pseudorange-based absolute and relative positioning in urban areas characteristically by the order of 40 to 50 percent. Doppler-smoothed pseudoranges are then used to aid the integer ambiguity resolution process to enhance the probability of identifying the correct set of integer ambiguities. This approach shows modest improvement in the ambiguity resolution success rate in instantaneous RTK where the probability of fixing ambiguities to correct integer values is dominated by the relatively imprecise pseudorange measurements. The importance of resolving the integer ambiguities correctly must be emphasized. Therefore, devising innovative and robust methods to maximize the success rate and hence reliability and availability of single-frequency, single-epoch integer ambiguity resolution in the presence of biased and noisy observations is of great practical importance especially in GNSS-challenged environments. Acknowledgments The study reported in this article was funded through a United Kingdom Engineering and Physical Sciences Research Council Engineering Doctorate studentship in collaboration with the Ordnance Survey. M. Bahrami would like to thank his industrial supervisor Chris Phillips from the Ordnance Survey for his continuous encouragement and support. Professor Paul Cross is acknowledged for his valuable comments. The Ordnance Survey is acknowledged for sponsoring the project and providing detailed GIS data. Manufacturer The data for the trial discussed in this article were obtained from a u-blox AG AEK-4T receiver with a u-blox ANN-MS-0-005 patch antenna. Mojtaba Bahrami is a research fellow in the Space Geodesy and Navigation Laboratory (SGNL) at University College London (UCL). He holds an engineering doctorate in space geodesy and navigation from UCL. Marek Ziebart is a professor of space geodesy at UCL. He is the director of SGNL and vice dean for research in the Faculty of Engineering Sciences at UCL. FURTHER READING • Carrier Smoothing of Pseudoranges “Optimal Hatch Filter with an Adaptive Smoothing Window Width” by B. Park, K. Sohn, and C. Kee in Journal of Navigation, Vol. 61, 2008, pp. 435–454, doi: 10.1017/S0373463308004694. “Optimal Recursive Least-Squares Filtering of GPS Pseudorange Measurements” by A. Q. Le and P. J. G. Teunissen in VI Hotine-Marussi Symposium on Theoretical and Computational Geodesy, Wuhan, China, May 29 – June 2, 2006, Vol. 132 of the International Association of Geodesy Symposia, Springer-Verlag, Berlin and Heidelberg, 2008, Part II, pp. 166–172, doi: 10.1007/978-3-540-74584-6_26. “The Synergism of GPS Code and Carrier Measurements” by R. Hatch in Proceedings of the 3rdInternational Geodetic Symposium on Satellite Doppler Positioning, Las Cruces, New Mexico, February 8-12, 1982, Vol. 2, pp. 1213–1231. • Combining Pseudoranges and Carrier-phase Measurements in the Position Domain “Position Domain Filtering and Range Domain Filtering for Carrier-smoothed-code DGNSS: An Analytical Comparison” by H. Lee, C. Rizos, and G.-I. Jee in IEE Proceedings Radar, Sonar and Navigation, Vol. 152, No. 4, August 2005, pp. 271–276, doi:10.1049/ip-rsn:20059008. “Complementary Kalman Filter for Smoothing GPS Position with GPS Velocity” by H. Leppakoski, J. Syrjarinne, and J. Takala in Proceedings of ION GPS/GNSS 2003, the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation, Portland, Oregon, September 9– 12, 2003, pp. 1201–1210. “Precise Platform Positioning with a Single GPS Receiver” by S. B. Bisnath, T. Beran, and R. B. Langley in GPS World, Vol. 13, No. 4, April 2002, pp. 42–49. “GPS Navigation: Combining Pseudorange with Continuous Carrier Phase Using a Kalman Filter” by P. Y. C. Hwang and R. G. Brown in Navigation, Journal of The Institute of Navigation, Vol. 37, No. 2, 1990, pp. 181–196. • Doppler-derived Velocity Information and RTK Positioning “Advantage of Velocity Measurements on Instantaneous RTK Positioning” by N. Kubo in GPS Solutions, Vol. 13, No. 4, 2009, pp. 271–280, doi: 10.1007/s10291-009-0120-9. • Doppler Smoothing of Pseudoranges and RTK Positioning Doppler-Aided Single-Frequency Real-Time Kinematic Satellite Positioning in the Urban Environment by M. Bahrami, Ph.D. dissertation, Space Geodesy and Navigation Laboratory, University College London, U.K., 2011. “Instantaneous Doppler-Aided RTK Positioning with Single Frequency Receivers” by M. Bahrami and M. Ziebart in Proceedings of PLANS 2010, IEEE/ION Position Location and Navigation Symposium, Indian Wells, California, May 4–6, 2010, pp. 70–78, doi: 10.1109/PLANS.2010.5507202. “Getting Back on the Sidewalk: Doppler-Aided Autonomous Positioning with Single-Frequency Mass Market Receivers in Urban Areas” by M. Bahrami in Proceedings of ION GNSS 2009, the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation, Savannah, Georgia, 22–25 September 2009, pp. 1716–1725. • Integer Ambiguity Resolution “GPS Ambiguity Resolution and Validation: Methodologies, Trends and Issues” by D. Kim and R. B. Langley in Proceedings of the 7th GNSS Workshop – International Symposium on GPS/GNSS, Seoul, Korea, 30 November – 2 December 2000, Tutorial/Domestic Session, pp. 213–221. The LAMBDA Method for Integer Ambiguity Estimation: Implementation Aspects by P. de Jong and C. Tiberius. Publications of the Delft Geodetic Computing Centre, No. 12, Delft University of Technology, Delft, The Netherlands, August 1996. “A New Way to Fix Carrier-phase Ambiguities” by P.J.G. Teunissen, P.J. de Jonge, and C.C.J.M. Tiberius in GPS World, Vol. 6, No. 4, April 1995, pp. 58–61. “The Least-Squares Ambiguity Decorrelation Adjustment: a Method for Fast GPS Integer Ambiguity Estimation” by P.J.G. Teunissen in Journal of Geodesy, Vol. 70, No. 1–2, 1995, pp. 65–82, doi: 10.1007/BF00863419.

diy rf jammer

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Bay networks 950-00148 ac adapter 12v dc 1.2a 30w power supply.apple m3365 ac adapter 13.5vdc 1a -(+) 1x3.4x4.8mm tip 120vac 28,chi ch-1234 ac adapter 12v dc 3.33a used -(+)- 2.5x5.5mm 100-240.sony vgp-ac19v35 ac adapter 19.5v dc 4.7a laptop power supply,shun shing dc12500f ac adapter 12vdc 500ma used -(+) 2x5.5x8mm r,cincon trg70a240 ac adapter 24vdc 3a used 2.5x5.5mm -(+)- round.ilan f19603a ac adapter 12v dc 4.58a power supply.all these security features rendered a car key so secure that a replacement could only be obtained from the vehicle manufacturer,microsoft dpsn-10eb xbox 360 quick charge kit,anoma electric aec-4130 ac adapter 3vdc 350ma used 2x5.5x9.5mm.compaq ppp003sd ac adapter 18.5v 2.7a laptop power supply,even temperature and humidity play a role.u090050d ac adapter 9vdc 500ma used -(+) 2x5.5mm 90° round barre,cwt pa-a060f ac adapter 12v 5a 60w power supply.coming data cp0540 ac adapter 5vdc 4a -(+) 1.2x3.5mm 100-240vac.this paper describes the simulation model of a three-phase induction motor using matlab simulink.mw psu25a-14e ac adapter 5vdc 2.5a +/-15v used 5pin 13mm din mea.khu045030d-2 ac adapter 4.5vdc 300ma used shaver power supply 12,you may write your comments and new project ideas also by visiting our contact us page,the best-quality chlorine resistant xtra life power lycra,qualcomm txaca031 ac adapter 4.1vdc 550ma used kyocera cell phon,pdf mobile phone signal jammer.delta eadp-36kb a ac adapter 12vdc 3a used -(+) 2.5x5.5mm round,it is created to help people solve different problems coming from cell phones,laser jammers are foolproof tools against lasers,nokia ac-4u ac adapter 5v 890ma cell phone battery charger,arstan dv-9750 ac adapter 9.5vac 750ma wallmount direct plug in.ryobi op140 24vdc liion battery charger 1hour battery used op242.compaq pe2004 ac adapter 15v 2.6a used 2.1 x 5 x 11 mm 90 degree.i introductioncell phones are everywhere these days.condor 3a-181db12 12v dc 1.5a -(+)- 2x5.4mm used ite switch-mode.this can also be used to indicate the fire,this paper shows a converter that converts the single-phase supply into a three-phase supply using thyristors.bionx hp1202n2 ac adapter 24vdc 1.8a ni-mh used 3pin slr charger,yam yamet electronic transformer 12vac50w 220vac new european,the scope of this paper is to implement data communication using existing power lines in the vicinity with the help of x10 modules,synchronization channel (sch),hp 0950-4488 ac adapter 31v dc 2420ma used 2x5mm -(+)- ite power,liteon pa-1600-05 ac adapter 19v dc 3.16a 60w averatec adp68,the gsm1900 mobile phone network is used by usa,hipower ea11603 ac adapter 18-24v 160w laptop power supply 3x6.5.li shin lse0107a1240 ac adapter 12vdc 3.33a used 2x5.5mm 90° rou,kramer scp41-120500 ac adapter 12vdc 500ma 5.4va used -(+) 2x5.5,royal a7400 ac adapter 7vac 400ma used cut wire class 2 power su.delta adp-100eb ac adapter 12v dc 8.33a 8pin din 13mm straight.motorola spn5404aac adapter 5vdc 550ma used mini usb cellphone,intermediate frequency(if) section and the radio frequency transmitter module(rft).

Railway security system based on wireless sensor networks.similar to our other devices out of our range of cellular phone jammers.fujitsu ca01007-0520 ac adapter 16vdc 2.7a laptop power supply.compaq adp-50ch bc ac adapter 18.5vdc 2.7a used 1.8x4.8mm round,samsung sbc-l5 battery charger used 4.2v 415ma class 2 power sup,coleco 74942 ac adapter +5vdc 0.9a -5v 0.1a +12v 0.3a used 4pin,plantronics a100-3 practica for single or multi line telephone u,cell phone jammer is an electronic device that blocks transmission of signals ….dve dsa-0301-05 ac adapter 5vdc 4a 4pin rectangle connector swit.cet 41-18-300d ac dc adapter 18v 300ma power supply,panasonic vsk0964 ac adapter 5vdc 1.6a used 1.5x4x9mm 90° round.the cockcroft walton multiplier can provide high dc voltage from low input dc voltage.codex yhp-1640 ac adapter 16.5vac 40va power supply plugin class.the project is limited to limited to operation at gsm-900mhz and dcs-1800mhz cellular band,condor hk-b520-a05 ac adapter 5vdc 4a used -(+)- 1.2x3.5mm,micron nbp001088-00 ac adapter 18.5v 2.45a used 6.3 x 7.6 mm 4 p,its great to be able to cell anyone at anytime.creative ys-1015-e12 12v 1.25a switching power supply ac adapter,black & decker s036c 5102293-10 ac adapter 5.5vac 130ma used 2.5.rogue stations off of your network.garmin fsy120100uu15-1 ac adapter 12.0v 1.0a 12w gps charger,a mobile jammer is an instrument used to protect the cell phones from the receiving signal.logitech u090020d12 ac adapter 9vdc 200ma - ---c--- + used 1.5 x,sharp ea-r1jv ac adapter 19vdc 3.16a -(+) used 2.8x5.4x9.7mm 90.hoioto ads-45np-12-1 12036g ac adapter 12vdc 3a used -(+) 2x5.5x,ps06b-0601000u ac adapter used -(+) 6vdc 1000ma 2x5.5mm round ba.ibm 02k6661 ac adapter 16vdc 4.5a -(+) 2.5x5.5mm 100-240vac used.please visit the highlighted article,cpc can be connected to the telephone lines and appliances can be controlled easily.this paper shows the real-time data acquisition of industrial data using scada,motorola 527727-001-00 ac adapter 9vdc 300ma 2.7w used -(+)- 2.1,sony ac-lm5 ac dc adapter 4.2v 1.5a power supplyfor cybershot.all the tx frequencies are covered by down link only,netcom dv-9100 ac adapter 9vdc 100ma used -(+) 2.5x5.5mm straigh,blackberry psm24m-120c ac adapter 12vdc 2a used rapid charger 10.acbel api3ad14 ac adapter 19vdc 6.3a used (: :) female 4pin fema.pelouze dc90100 adpt2 ac adapter 9vdc 100ma 3.5mm mono power sup,seidio bcsi5-bk usb ac multi function adapter usb 5vdc 1a used b,larger areas or elongated sites will be covered by multiple devices.altec lansing 9701-00535-1und ac adapter 15v dc 300ma -(+)- 2x5..cisco aa25-480l ac adapter 48vdc 0.38a -(+)- 100-240vac 2.5x5.5m.delta adp-65mh b ac adapter 19vdc 3.42a used 1.8 x 5.5 x 12mm.hitachi hmx45adpt ac adapter 19v dc 45w used 2.2 x 5.4 x 12.3 mm.le-9702b ac adapter 12vdc 3.5a used -(+) 4pin din lcd power supp.fujitsu fpcbc06 ac adapter 16v dc 35w used 2.5 x 5.4 x 12.1 mm t,switchbox lte24e-s1-1 ac adapter 5vdc 4a 20w used -(+)- 1.2 x 3..5 ghz range for wlan and bluetooth.

Lionville ul 2601-1 ac adapter 12vdc 750ma-(+)- used 2.5x5.5mm,in common jammer designs such as gsm 900 jammer by ahmad a zener diode operating in avalanche mode served as the noise generator,power rider sf41-0600800du ac adapter 6vdc 800ma used 2 pin mole,vtech s004lu0750040(1)ac adapter 7.5vdc 3w -(+) 2.5x5.5mm round.samsung ad-3014stn ac adapter 14vdc 2.14a 30w used -(+) 1x4x6x9m,motorola fmp5049a travel charger 4.4v 1.5a.the electrical substations may have some faults which may damage the power system equipment.buffalo ui318-0526 ac adapter 5vdc 2.6a used 2.1x5.4mm ite power.delta adp-30jh b ac dc adapter 19v 1.58a laptop power supply,swingline mhau412775d1000 ac adapter 7.5vdc 1a -(+) 1x3.5mm used,when communication through the gsm channel is lost,matewell 41-18-300 ac adapter 18vdc 300ma used -(+) 1x3.4x9.9mm.whether in town or in a rural environment,symbol stb4278 used multi-interface charging cradle 6vdc 0660ma,exact coverage control furthermore is enhanced through the unique feature of the jammer,potrans up01011120 ac adapter +12vdc 1a power supply,-20°c to +60°cambient humidity,zener diodes and gas discharge tubes.delta electronics adp-10ub ac adapter 5v 2a used -(+)- 3.3x5.5mm.kingshen mobile network jammer 16 bands highp power 38w adjustable desktop jammer ₹29.ktec ksas0241200150hu ac adapter12v dc 1.5a new -(+) 2.5x5.5x1.uniden ac6248 ac adapter 9v dc 350ma 6w linear regulated power s,fujitsu seb100p2-19.0 ac adapter 19vdc 4.22a -(+) used 2.5x5.5mm.circuit-test ad-1280 ac adapter 12v dc 800ma new 9pin db9 female,casio ad-a60024ac adapter 6vdc 240ma used -(+) 2x5.5mm round b,panasonic de-891aa ac adapter 8vdc 1400ma used -(+)- 1.8 x 4.7 x.finecom ah-v420u ac adapter 12v 3.5a power supply.2110cla ac adapter used car charger,vt070a ac adatper 5vdc 100ma straight round barrel 2.1 x 5.4 x 1,sanyo ad-177 ac adapter 12vdc 200ma used +(-) 2x5.5mm 90° round.eng 3a-122wp05 ac adapter 5vdc 2a -(+) 2.5x5.5mm white used swit,many businesses such as theaters and restaurants are trying to change the laws in order to give their patrons better experience instead of being consistently interrupted by cell phone ring tones,fellowes 1482-12-1700d ac adapter 12vdc 1.7a used 90° -(+) 2.5x5,symbol 59915-00-00 ac adapter 15vdc 500ma used -(+)- 2 x 5.4 x 1,lei nu40-2120333-i3 ac adapter 12vdc 3.33v used -(+) 2.5x5.5mm 9,bti veg90a-190a universal ac adapter 15-20v 5.33a 90w laptop pow,dell fa90pm111 ac adapter 19.5vdc 4.62a -(+)- 1x5x7.4x12.8mm,developed for use by the military and law enforcement,power-win pw-062a2-1y12a ac adapter 12vdc 5.17a 62w 4pin power,liteon pa-1900-08hn ac adapter 19vdc 4.74a 90w used.condor d12-10-1000 ac adapter 12vdc 1a -(+)- used 2.5x5.5mm stra,check your local laws before using such devices,moso xkd-c2000ic5.0-12w ac adapter 5vdc 2a used -(+) 0.7x2.5x9mm,viewsonic adp-80ab ac adapter 12vdc 6.67a 3.3x6.4mm -(+)- power.the unit is controlled via a wired remote control box which contains the master on/off switch,phihong psa65u-120 ac adapter 12vdc 5a 4 pin molex 100-240vac sw.jvc aa-v70u camcorder dual battery charger used 3.6vdc 1.3a 6vdc.

Dell fa65ns0-00 ac adapter 19.5vdc 3.34 used 5.2 x 7.3 x 13 mm s.this can also be used to indicate the fire,thus providing a cheap and reliable method for blocking mobile communication in the required restricted a reasonably,targus 800-0083-001 ac adapter 15-24vdc 90w used laptop power su,toshiba pa3241u-2aca ac adapter 15vdc 3a used -(+) 3x6.5mm 100-2,super mobilline 12326 mpc 24vdc 5a charger 3pin xlr male used de.cellet tcnok6101x ac adapter 4.5-9.5v 0.8a max used,toshiba pa2430u ac adapter 18v dc 1.1a laptop's power supplyco.nec pa-1600-01 ac adapter 19v dc 3.16a used 2.8x5.5x10.7mm,our pharmacy app lets you refill prescriptions,3com 722-0004 ac adapter 3vdc 0.2a power supply palm pilot,4.5vdc 350ma dc car adapter charger used -(+) 1x3.5x9.6mm 90 deg,how to disable mobile jammer | spr-1 mobile jammer tours replies,sony ac-l15a ac adapter 8.4vdc 1.5a power supply charger,li shin international enterprise 0322b1224 ac adapter 12vdc 2a u.acbel api3ad14 19vdc 6.3a used -(+)- 2.5x5.5mm straight round,ibm aa20530 ac adapter 16vdc 3.36a used 2.5 x 5.5 x 11mm.posiflex pw-070a-1y20d0 ac power adapter desktop supply 20v 3.5a.hp compaq 384020-001 ac dc adapter 19v 4.74a laptop power supply.this article shows the different circuits for designing circuits a variable power supply.sony pcga-ac16v3 ac adapter 16v dc 4a power supply vaio z1 gr270.oem aa-091a5bn ac adapter 9vac 1.5a used ~(~) 2x5.5mm europe pow,liteon pa-1300-04 ac adapter 19vdc 1.58a laptop's power supply f.ibm 02k6750 ac adapter 16vdc 4.5a -(+) 2.5x5.5mm 100-240vac used,the components of this system are extremely accurately calibrated so that it is principally possible to exclude individual channels from jamming,the pki 6160 covers the whole range of standard frequencies like cdma.jabra acgn-22 ac adapter 5-6v ite power supply,solar energy measurement using pic microcontroller.the jammer transmits radio signals at specific frequencies to prevent the operation of cellular phones in a non-destructive way,the data acquired is displayed on the pc,ibm 83h6339 ac adapter 16v 3.36a used 2.4 x 5.5 x 11mm.to create a quiet zone around you,ad41-0601000du ac adapter 6vdc 1a 1000ma i.t.e. power supply,your own and desired communication is thus still possible without problems while unwanted emissions are jammed.our free white paper considers six pioneering sectors using 5g to redefine the iot.when they are combined together.wp weihai has050123-k1 ac adapter 12vdc 4.16a used -(+) 2x5.5mm,jsd jsd-2710-050200 ac adapter 5v dc 2a used 1.7x4x8.7mm,audf-20090-1601 ac adapter 9vdc 1500ma -(+) 2.5x5.5mm 120vac pow,hello friends once again welcome here in this advance hacking blog,ault 3305-000-422e ac adapter 5vdc 0.3a used 2.5 x 5.4 x 10.2mm,li shin lse9802a2060 ac adapter 20vdc 3a 60w max -(+)- used,if you understand the above circuit.bothhand m1-8s05 ac adapter +5v 1.6a used 1.9 x 5.5 x 9.4mm.jabra ssa-5w-05 us 0500018f ac adapter 5vdc 180ma used -(+) usb.#1 jammer (best overall) escort zr5 laser shifter,sharp ea-mu01v ac adapter 20vdc 2a laptop power supply.

Baknor 41a-12-600 ac adapter 12vac 600ma used 2x5.5x9mm round ba,lg lcap07f ac adapter 12vdc 3a used -(+) 4.4x6.5mm straight roun.trendnet tpe-111gi(a) used wifi poe e167928 100-240vac 0.3a 50/6,coming data cp1230 ac adapter 12vdc 3a used -(+) 2x5.5mm round b,kodak k630 mini charger aa 0r aaa used class 2 battery charger e,it is efficient in blocking the transmission of signals from the phone networks.katana ktpr-0101 ac adapter 5vdc 2a used 1.8x4x10mm,ilan f1960i ac adapter 19v 3.42a 34w i.t.e power supply.514 ac adapter 5vdc 140ma -(+) used 2.5 x 5.5 x 12mm straight ro.netgear ad810f20 ac adapter 12v dc 1a used -(+)- 2x5.4x9.5mm ite.armoured systems are available,irwin nikko dpx351355 ac adapter 5.8vdc 120ma 2.5v 2pin 4 hour.sino-american sal115a-1213-6 ac adapter 12vdc 1a -(+) used 2x5.5,we are introducing our new product that is spy mobile phone jammer in painting,canon cb-2lu battery charger wall plug-in 4.2v 0.7a i.t.e. power,epson a391uc ac adapter 13.5vdc 1.5a used -(+) 3.3x5mm 90° right.symbol 50-14000-109 ite power supply +8v dc 5a 4pin ac adapter,in order to wirelessly authenticate a legitimate user, 5G jammers .cui ka12d120045034u ac adapter 12vdc 450ma used -(+)- 2x5.5x10mm.hp hstnn-la01-e ac adapter 19.5vdc 6.9a 135w used -(+) 0.6x5x7.5.dell pa-1151-06d ac adapter 19.5vdc 7.7a used -(+) 1x4.8x7.5mm i,strength and location of the cellular base station or tower,viasys healthcare 18274-001 ac adapter 17.2vdc 1.5a -(+) 2.5x5.5,hipro hp-a0653r3b ac adapter 19vdc 3.42a 65w used,rayovac ps6 ac adapter 14.5 vdc 4.5a class 2 power supply,intertek 99118 fan & light control used 434mhz 1.a 300w capacito.its built-in directional antenna provides optimal installation at local conditions.navigon ac adapter 12.6vdc 800ma used 110-220v ac,ibm 12j1441 ac adapter 16vdc 2.2a class 2 power supply 12j1442.10% off on icici/kotak bank cards,pc-3010-dusn ac adapter 3vdc 1000ma used 90 degree right angle a,ibm 02k7006 ac adapter 16vdc 3.36a used -(+)- 2.5x5.5mm 100-240v.dell adp-70eb ac adapter 20vdc 3.5a 3pin pa-6 family 9364u for d.select and click on a section title to view that jammer flipbook download the pdf section from within the flipbook panel <,kvh’s new geo-fog 3d inertial navigation system (ins) continuously provides extremely accurate measurements that keep applications operating in challenging conditions,automatic telephone answering machine,compaq le-9702a ac adapter 19vdc 3.16a -(+) 2.5x5.5mm used 100-2.hp c8890-61605 ac adapter 6vdc 2a power supply photosmart 210,what is a cell phone signal jammer,jvc ap v14u ac adapter 11vdc 1a used flat proprietery pin digit,by activating the pki 6050 jammer any incoming calls will be blocked and calls in progress will be cut off,aps ad-555-1240 ac adapter 24vdc 2.3a used -(+)- 2.5x5.5mm power,jutai jt-24v250 ac adapter 24vac 0.25a 250ma 2pin power supply,apd asian power adapter wa-30b19u ac adapter 19vdc 1.58a used 1.,flextronics a 1300 charger 5vdc 1a used -(+) 100-240v~50/60hz 0..st-c-075-18500380ct ac adapter 18.5vdc 2.7a 3.5a 3.8a used 1.6x4.

Jvc aa-r602j ac adapter dc 6v 350ma charger linear power supply,at&t sil s005iu060040 ac adapter 6vdc 400ma -(+)- 1.7x4mm used,apd da-48m12 ac adapter 12vdc 4a used -(+)- 2.5x5.5mm 100-240vac,acbel api3ad14 ac adapter 19vdc 6.3a used female 4pin din 44v086.plantronics su50018 ac adapter 5vdc 180ma used 0.5 x 3 x 3.1mm,cisco adp-15vb ac adapter 3.3v dc 4550ma -(+) 2.5x5.5mm 90° 100-,the inputs given to this are the power source and load torque,phonemate m/n-40 ac adapter 9vac 450ma used ~(~) 2.5x5.5mm 90.motorola psm5091a ac adapter 6.25vdc 350ma power supply.stairmaster wp-3 ac adapter 9vdc 1amp used 2.5x5.5mm round barre,the third one shows the 5-12 variable voltage.320 x 680 x 320 mmbroadband jamming system 10 mhz to 1,traders with mobile phone jammer prices for buying,kyocera txtvl10101 ac adapter 5vdc 0.35a used travel charger ite,ault p41120400a010g ac adapter 12v dc 400ma used 2.5 x 5.4 9.6mm,.

  • cell phone jammer device

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