GPS World magazine interviews at the ESRI show, talking with Dale Lutz of Safe Software – FME.
Blog
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GeoEye at the ESRI International Users Conference
GPS World magazine interviews at the ESRI show, talking with Deke Young, the GIS Sales Manager at GeoEye.
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TomTom at the ESRI International Users Conference
GPS World magazine interviews at the ESRI show, talking with Dan Adams of TomTom.
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Carlson Software at the ESRI International Users Conference
GPS World magazine interviews at the ESRI show, talking with Bruce Carlson of Carlson Software.
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Hemisphere GPS at the ESRI International Users Conference
GPS World magazine interviews at the ESRI International User Conference 2012, talking with Garry Hurkens of Hemisphere GPS.
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Companies Uniting to Expand Indoor Positioning Market…But Where Are Google and Apple?

Headshot: Kevin Dennehy Naysayers still exist when talking about the emerging indoor positioning market. They say that the market is still too nascent — and the technology is sub par and not there yet. However, there are just too many atmospherics, and big companies getting involved in indoor positioning development, to brush it off as another technology fad. The recent announcement that 22 companies are combining to come up with standards is a good example. Mainstream media articles touting the new market also are spearheading development and consumer interest. Still, how can you start an industry group and talk standards and markets without the two largest players?
In a move that indicates that there is a strong market, 22 companies recently partnered to create the In-Location Alliance. The new group, which includes Nokia, Qualcomm, Samsung Electronics and Sony Mobile, aims to improve and expand indoor positioning and related services.
Google, which has been the dominant player in location markets, was noticeably absent. Google has partnered with large retail chains and has mapped many indoor malls, airports and other facilities to help drive the market with its Google Maps for Android 6.0.
Another company apparently not part of the alliance is Apple, which recently ended its location data partnership with Google. Apple is launching its iOS 6 operating system update, called Maps for iOS, which features 100 million business listings and Yelp recommendations.
In a prepared statement, the group said it welcomes the addition of any new member “who is ready to further investigate business opportunities in indoor location-based services and sees value and benefits in industry collaboration.”
The In-Location Alliance says it will go after both the consumer and enterprise location markets, even though both have technical and market limitations for indoor positioning. The group said services it will focus on include real-time navigation inside buildings, directions to personalized products and promotions inside retail stores and malls, asset and employee location, customer identification, and security solutions.
Because the technology is widely available on smartphones, the alliance will focus its products on enhanced Bluetooth 4.0 technology and Wi-Fi to develop mobile services as a starting point.
The allied companies say they will conduct pre-commerical pilot programs and business model verifications later this year in order to launch handset-based applications next year.
Other members of the In-Location Alliance include Broadcom, CSR, Dialog Semiconductor, Eptisa, Geomobile, Genasys, Indra, Insiteo, Nomadic Solutions, Nordic Semiconductor, Nordic Technology Group, NowOn, Primax Electronics, RapidBlue Solutions, Seolane Innovation, TamperSeal, Team Action Zone and Visioglobe.
Nokia also has been developing indoor positioning systems that use 3D models, rather than 2D floor plans. Broadcom released a chip that supports indoor positioning through Wi-Fi, Bluetooth and even NFC.
Mainstream publications such as the Wall Street Journal and USA Today have written articles about indoor positioning as a potential burgeoning market. The articles say such big brands as Target, Walgreens and Home Depot are implementing indoor positioning and marketing strategies. Walgreens is partnering with Aisle411, which offers an application with 9,000 store maps.
Mapping Services Now on New Kindle Fire
The next model of Kindle Fire, Amazon’s tablet, will have mapping services installed as part of a deal with Nokia. What is noticeable is that it does not have location technology from Google, which is strange as it is the Android mobile operating system that powers the Kindle Fire. Published sources say Amazon will announce the agreement this month.
As our sister publication Wireless Pulse reported, Competitor Barnes & Noble recently adopted OpenStreetMap, through Berlin-based Skobbler’s ForeverMap 2 app, to allow developers to create Nook applications with location functionality later this year, according to published sources.
While the Nook line of products are Wi-Fi enabled, they lack pure play GPS capability. Although Nook devices don’t have 3G or 4G access of smartphones, it is a step toward developing location capability.
A basic version is free on the Nook, and a premium version costs $4.99. The Nook units with the location capability include the Nook Color and Nook Tablets.
Both the Kindle and Nook have one common thread — their parent companies opted not to go with Google Maps. Is the location giant taking notice?
20 Years of Covering Location Technology
September 2012 marks my 20th year of writing about the business of location technology. In 1992, the big GPS companies (Trimble, Garmin, Ashtech, Sony, Magellan, Rockwell) were trying to develop consumer applications that were evolving from their military technology developed for the recently concluded Gulf War.
Most of the news back then was in the form of government contracts, and some survey agreements, or evolving policy about GPS. It turns out that the consumer side was being developed not by the GPS industry, but intelligent transportation industry providers through the digital mapping companies Etak (now TomTom) and Navigation Technologies (now Nokia).
While the terms “telematics” and location-based services were not being used in 1992, some companies saw the potential for big dollars incorporating positioning technology into mobile phones. I wrote an article in October 1992 headlined “Rockwell Says GPS in Cellular Phones Means Big Business.” I quoted a few industry consultants at that time who said that they had doubts that it would be a big market because of the cost and size of the GPS chipset, antenna issues, and consumer acceptance. The big deal about putting GPS into cell phones was to meet an FCC enhanced 911 requirement, but that happened a few years later.
Such companies as Motorola brought the name “telematics” to North America and attempted to jump-start the market here. At least one industry executive never liked the word telematics, saying it was a “Stalinist” word.
While companies have come and gone, and the technology has evolved to a point that commoditization is pervasive, the promise of location technology and markets will still be strong. Companies and individuals have made fortunes and lost them in the location industry, but one thing for sure — it has never been boring covering and writing about the business and people.
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Lockheed, Raytheon Complete First Launch Exercise for Next-Gen GPS Satellites
Raytheon Company and Lockheed Martin have successfully completed the first launch readiness exercise for the U.S. Air Force’s next generation GPS III satellites. The exercise is a key milestone demonstrating the team remains on schedule to achieve launch availability in 2014, the companies said.
The Lockheed Martin-built GPS III satellites and the Raytheon-developed next generation GPS operational control system, known as OCX, are critical elements of the U.S. Air Force’s effort to affordably replace aging GPS satellites while improving capability to meet the evolving demands of military, commercial and civilian users worldwide. This is the first space and ground enterprise successfully building the ground control and space vehicles by two independent prime contractors.
The launch readiness exercise, completed over a three day period by mission operations personnel, validated the basic satellite command and control functions, tested the software and hardware interfaces and demonstrated basic on-console procedures required for space vehicle contacts during the launch and early orbit mission. The event sets the stage for the first GPS III satellite’s mission readiness timeline, which includes five short-duration exercises and six, five-day mission rehearsals leading up tolaunch.
“Completion of our first GPS III launch readiness exercise is a major milestone for the entire GPS enterprise and is a solid indictor that our space and ground segments are well synchronized,” said Col Bernie Gruber, the director of the U.S. Air Force’s Global Positioning Systems Directorate.
To achieve first launch availability in the 2014 timeframe, the U.S. Air Force awarded Lockheed Martin and Raytheon contracts in January of this year to provide a Launch and Checkout Capability (LCC) for launch and early on-orbit testing of all GPS III satellites. At the heart of the LCC is Raytheon’s Launch and Checkout System that will provide satellite command and control capability, an integral part of OCX’s support of the first GPS III launch.
“The completion of our first launch readiness exercise is an important milestone for the entire GPS enterprise,” said Keoki Jackson, vice president of Lockheed Martin’s Navigation Systems mission area. “This achievement is a testament to efficient planning and synchronization by the U.S. Air Force and demonstrates that we are on track to deliver critical GPS III capabilities to military, commercial and civilian users worldwide.”
“This milestone represents the hard work and dedication of the entire GPS III and OCX government-industry team,” stated Ray Kolibaba, a vice president of Raytheon’s Intelligence and Information Systems business and GPS OCX program manager. “This is another demonstration of the rapid progress we’re making on OCX development, while maintaining GPS space-ground enterprise alignment. I’m confident that we’ll be prepared to support the first GPS III launch with an efficient, evolvable and secure ground control system built independently.”
The GPS III team is led by the Global Positioning Systems Directorate at the U.S. Air Force Space and Missile Systems Center. Air Force Space Command, based at Schriever Air Force Base, Colo., manages and operates the GPS constellation for both civil and military users.
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Galileo Satellite Navigation Agency Moved to Prague

Credits: Astrium/Raoul Kieffer On September 6, the European GNSS Agency (GSA) inaugurated its new premises in Prague, Czech Republic, in the presence of Commission Vice-President Antonio Tajani, in charge of Industry and Enterprise, and Minister of Transport Pavel Dobeš. Previously headquartered provisionally in Brussels, the headquarters of the Galileo program moved its seat to Prague over this summer, as had been agreed by the EU heads of state and government on December 10, 2010.
Galileo is expected to be partly operational by the end of 2014.
Tajani said two satellites will be launched in October, and beginning in 2013 four more Galileo satellites will be launched every six months until the network of 30 is completed in 2020.

Galileo In-Orbit Validation satellites Flight Model 3 and 4 being worked on at the Guiana Space Centre on 27 August 2012. Multi-layer insulation is being applied to FM3. (Credits: Astrium/Raoul Kieffer) GSA ensures security of satellites and prepares ground for new GNSS products. The agency is responsible for a number of implementation tasks for the European Satellite Navigation programmes Galileo and EGNOS (European Geostationary Navigation Overlay Service), which are managed by the European Commission. Its two main tasks are:
- Security (security accreditation of satellites, launchers, and sites, and the operation of the Galileo Security Monitoring Centre), and
- Market Development for the European satellite navigation systems (for example, see MEMO/12/601, New products and services possible using Internet access to satellite navigation data).
Additionally, the GSA has been assigned other tasks by the commission by delegation, for instance promoting GNSS applications and services, supporting the development of a Public Regulated Service (PRS) and preparing the exploitation of the GNSS systems.
Security of Galileo Programme. The GSA’s security accreditation activities are of key importance for the satellite launches. After a successful first launch of two satellites on October 21, 2011, the “In-Orbit Validation” phase will be accomplished with a second launch of two satellites on October 10, 2012. From 2013 on, the deployment of the satellite infrastructure will continue faster, with several launches per year until the full constellation of 30 satellites (which includes six in-orbit spares) is reached before the end of the decade.
Future role of the GSA. A commission proposal for revising the GNSS Regulation, which is now before Parliament and Council, foresees that operational responsibility for the GNSS Programmes will be gradually transferred from the European Commission to the GSA over the next multi-annual financial framework (2014-2020). This process will start with EGNOS in 2014, and already a number of preparatory tasks have been allocated to the GSA, including the procurement for the future operations of EGNOS.
To carry out these new functions, the GSA’s staff is expected to increase over the coming years from about 60 today to more than 180 by the end of next financial framework in 2020.
The Budget. The GSA has an annual budget of about €12,750 million (2012). In addition, it manages the budget for activities that are entrusted to it under delegation from the European Commission. These amount to €34.4 million for exploitation activities.
According to the commission’s calculations, a total budget of € 7000 million is necessary to complete the deployment phase of the Galileo programmes and finance the exploitation phase of the GNSS programmes over the 2014-2020 period. The commission’s proposal for a new GNSS Regulation foresees that the GSA will manage the budget necessary to operate EGNOS and Galileo and ensure service provision. This budget will be assigned under a delegation agreement signed with the commission, a mechanism foreseen under the European Union’s Financial Regulation. Under this arrangement, the commission would remain responsible for the overall political supervision of the GNSS Programmes. However, the GSA would ensure the exploitation of the GNSS systems with the appropriate level of autonomy and authority.
The Structure of the GSA. The GSA today is composed of a security department, a market development department, and an organizational entity charged with preparing the GSA’s future responsibilities in the management of the GNSS Programmes. In addition to a number of horizontal departments that ensure the agency’s functioning, the Galileo Security Monitoring Centre is an organizational component of the GSA.
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Upcoming Navigation Satellite Launches Scheduled
News courtesy of CANSPACE listserv.
Launch dates this fall for GNSS satellites are as follows, according to various sources:
Compass M2 and M5: September 18, 18:12 UTC (speculative); Compass G6: No earlier than October 1.
GSAT-10 (includes a GAGAN SBAS transponder): September 21.
GPS IIF-3: October 4, 2012. Launch window: 12:10-12:29 UTC.
Galileo IOV FM3 and FM4: October 10, 18:31 UTC.
Luch-5B: Originally scheduled for October 15, launch has slipped to no earlier than November 1 due to an issue with the “Briz-M” upper stage, which caused the loss of the Telkom-3 and Ekspress-MD2 communication satellites during their launch on August 6.
GLONASS-K1 (block K2s): November 14.
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The System: Next GPS IIF in October
Next GPS IIF in October
The next GPS satellite, Block IIF-3 (SVN65), scheduled to be launched on October 4, will be positioned in orbital slot 1, which is in plane A. This slot is currently occupied by a Block IIA satellite, SVN39, operating as PRN09. SVN39 is one of the oldest operating satellites in the GPS fleet, dating from June 1993. SVN65 will the the third of a projected 12 IIF satellites to attain orbit.
Galileo IOV Tandem in October, Too
The previously announced September 28 launch date for the second set of Galileo IOV satellites has reportedly been pushed back to October 10.
Meanwhile, after more than four years of service as a Galileo testbed satellite, GIOVE-B was retired on July 23. Its navigation transmitters were switched off, according to an announcement from the European Space Agency, and the satellite’s height was raised in a series of steps to a graveyard orbit where there will be no danger of it interfering with the operational Galileo satellites or other spacecraft.
The SES-5 geostationary communications satellite (also known as Sirius 5 and Astra 4B), launched in July, arrived at its orbital slot of 5 degrees east longitude late that month. The current position is actually about 5.2 degrees. The satellite carries L1 and L5 transponders for the European Geostationary Navigation Overlay Service (EGNOS) satellite-based augmentation system. The GPS Directorate has assigned C/A PRN code 136 and L5 PRN code 136 for use by the satellite.
GAGAN in September
India’s GSAT-10 telecommunications satellite — one of two passengers for Arianespace’s upcoming Ariane 5 mission on September 21 — has completed pre-flight preparations at the Spaceport in French Guiana. Aboard GSAT-10 is the GAGAN (GPS and GEO augmented navigation) payload, which will support the Indian government’s implementation of a satellite-based regional capability to assist aircraft navigation over Indian airspace and in adjoining areas. GSAT-10 is expected to be positioned at 83 degrees east longitude and use PRN code 128. It will join the first GAGAN-equipped satellite, GSAT-8, launched in May 2011, and now at 55 degrees east longitude and transmitting test signals on the L1 frequency using C/A PRN code 127. Although GSAT-8 reportedly carries a dual-frequency transponder, no L5 signals from this satellite have yet been detected by International GNSS Service tracking stations.
GLONASS SBAS in September as Well
Luch-5B, the second of three geostationary satellites to reactivate Roscosmos’s Luch Multifunctional Space Relay System, is scheduled for launch no earlier than November 1, 2012, to be positioned at 16 degrees west longitude. The system’s multi-functional satellites carry transponders for the System for Differential Correction and Monitoring (SDCM), Russia’s satellite-based augmentation system. The transponders will broadcast GNSS corrections on the standard GPS L1 frequency using C/A PRN codes assigned by DoD’s GPS Directorate.
Luch-5A, launched in December 2011, has been placed in an orbital slot at 95 degrees east longitude. It began transmitting corrections on July 12, using PRN code 140.
SVN49 Back on the Air, Unhealthy
The GPS Block IIR-M satellite, SVN49, briefly resumed transmissions as PRN24 on August 9. The signals were marked unhealthy and the satellite was not included in broadcast almanacs. SVN49 was launched in March 2009, but remains out of service until an L1/L2 satellite multipath issue is resolved. Although not in the almanacs, a number of stations of the International GNSS Service tracked SVN49. See http://gge.unb.ca/test/IGS_stns_tracking_G24_223.pdf. SVN49 stopped transmitting signals as PRN24 on August 22. SVN49 previously operated between March 28, 2009, and May 6, 2011, as PRN01, and between February 2 and March 14, 2012, as PRN24.
Beidou Begins Testing Network
China will build a Beidou testing and certification network over the next three years to sharpen the system’s global competitiveness, according to a statement from China’s Certification and Accreditation Administration. By 2015, a national testing center will be set up in Beijing, while seven local sub-centers will be established across the nation, it said. The centers will test the safety and accuracy of products designed for use with Beidou and qualify them for civilian use. China plans to launch 30 satellites to complete the system by 2020.
The launch of next two Beidou-2/Compass medium-Earth-orbit satellites, M2 and M5, did not occur in August as was previously speculated. A knowledgable source states: “All three active Chinese tracking ships have retreated to their home base Jiangyin, north of Shanghai. (Two ships are required for tracking down-range for a typical Chinese beyond-low-Earth-orbit launch.) The launch was put off for the remaining part of August and at least the first couple of weeks in September. The most recently speculated launch date is September 18.”
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First Results: Precise Positioning with Galileo Prototype Satellites
By Richard B. Langley, Simon Banville, and Peter Steigenberger.
For a brief period, and for a few hours on certain days, signals from the first four orbiting Galileo satellites could be received by state-of-the-art multi-frequency, multi-constellation GNSS receivers. Although not intended for actual positioning tests, the satellites did provide a first opportunity to assess the prototype Galileo signals in the positioning domain. The results obtained bode well for the future operational Galileo constellation.
The launch and successful operation of the two Galileo In-Orbit Validation Element (GIOVE) satellites — GIOVE-A and GIOVE-B — followed by the two Galileo In-Orbit Validation (IOV) satellites — ProtoFlight Model (PFM) and Flight Model 2 (FM2) — were important steps in the development of Europe’s Galileo satellite navigation system.
The GIOVE test-bed satellites were orbited to secure the use of the frequencies allocated by the International Telecommunication Union for the Galileo system; to verify the most critical technologies of the operational Galileo system, such as the on-board atomic clocks and the navigation signal generator; to characterize the novel features of the Galileo signal design, including the verification of user receivers and their resistance to interference and multipath; and to characterize the radiation environment of the medium Earth orbits planned for the operational Galileo constellation. The IOV satellites, of which there will be four with two more to be launched this fall, are prototype operational satellites designed to validate the Galileo concept in both space and on Earth. Once all four IOV satellites are in orbit, it should be feasible to carry out positioning exercises using just Galileo satellite signals. It was not intended for the GIOVE plus two initial IOV satellites to be used for positioning demonstrations. However, it turns out that (before GIOVE-A and GIOVE-B were recently decommissioned) for a few hours on certain days, signals from all four satellites could be received simultaneously by state-of-the-art multi-frequency, multi-constellation GNSS receivers.
Dual-frequency measurements from the GIOVE satellites and triple-frequency measurements from the IOV satellites have been archived by a number of continuously operating receivers including those in the COoperative Network for GIOVE Observation (CONGO) and those contributing to the International GNSS Service’s Multi-GNSS Experiment (M-GEX) observing campaign. Before joining the M-GEX campaign as the receiver at station UNB3 at the University of New Brunswick (UNB) in Fredericton, Canada, a Trimble Navigation NetR9 receiver fed by a Zephyr Geodetic II antenna was continuously tested at UNB for a couple of months and its 30-second-interval measurements were locally archived. These measurements included (in the terminology used by the Receiver Independent Exchange (RINEX) version 3 format): C1X, L1X, and S1X (pseudorange, carrier-phase, and carrier-to-noise-density-ratio measurements for combined data-plus-pilot tracking of the Open Service signal on the E1/L1 carrier frequency (1575.42 MHz)); C5X, L5X, and S5X (the corresponding in-phase and quadrature (I+Q) measurements on the E5a carrier frequency (1176.45 MHz)); C7X, L7X, and S7X (the corresponding I+Q measurements on the E5b carrier frequency (1207.140 MHz)); and C8X, L8X, and S8X (the corresponding I+Q measurements on the effective E5a+E5b carrier frequency (1191.795MHz)).

The first two of four Galileo IOV satellites were launched on October 21, 2011. Credit: ESA. Although the IOV satellites are in synchronized orbits in the same plane with mean orbital periods of 1.70475 orbits per day, those orbits are not coordinated with those of the GIOVE-A and GIOVE-B satellites, which had mean orbital periods of 1.69434 and 1.70960 orbits per day, respectively. (The orbit of GIOVE-B was recently raised, following decommissioning.) This means that all four satellites will not generally be in view at a ground station at the same time. However, at a given location on certain days, four-satellite visibility did occur for periods up to a few hours. We identified several such days but were hampered in our efforts to obtain positioning solutions due to the testing programs of the satellites.
Our first constraint concerned GIOVE-A. The European Space Agency carried out tests with this satellite for more than six years and decided to decommission the satellite for its purposes on June 30, 2012, and switched off the navigation signals. This narrowed our window of possible four-satellite-visibility days. Secondly, the clocks on the IOV satellites were allowed to drift so that their offsets with respect to GPS System Time could be very large with offset values of tens to hundreds of milliseconds. Some GNSS receivers cannot make usable measurements when presented with such large clock offsets. This behavior further limited our windows of opportunity for four-satellite Galileo positioning. Nevertheless, we found that on May 17, 2012, the receiver at UNB successfully tracked the four satellites with a period of common visibility of two and a half hours. See Figure 1 for the time series of the occurrences of actual measurements made by the receiver. Common visibility extended from 03:04:30 to 05:34:30 GPS Time with the receiver tracking the satellites without any elevation-angle cutoff imposed.
In the remainder of this article, we describe the procedures used to obtain precise positions from the measurements, including the technique used to determine precise orbit and clock data for the Galileo satellites, and the results we obtained.

Figure 1. Visibility of Galileo satellites from UNB on May 17, 2012. Generating the Orbits and Clocks
GIOVE and IOV satellite orbit and clock parameters are determined at Technische Universität München with a modified version of the Bernese GPS Software in a two-step procedure based on GPS and Galileo observations of 23 CONGO stations. After a common preprocessing step (detection of outliers and cycle slips), GPS and Galileo observations are treated separately. Station coordinates, tropospheric delay parameters and receiver clocks are obtained from GPS observations only. GPS satellite orbits and clocks as well as Earth rotation parameters from the Center for Orbit Determination in Europe (CODE) are kept fixed in this step. In the second step, the ionosphere-free linear combination of E1 and E5a observations is used to estimate the Galileo-related parameters, namely the satellite orbits and clocks. The station coordinates and the troposphere and receiver clock parameters are fixed to the GPS-derived results of the first step. To account for systematic differences between the GPS and Galileo code signals as well as biases between the different receivers, differential code biases (DCBs) are estimated for all stations but one. Separate biases are set up for the GIOVE and IOV satellites. To strengthen the stability of the orbital arc, five daily solutions are combined into a multi-day solution and consistent Galileo clock parameters are recomputed. Only the middle day of the5-day solution is used for the positioning discussed in this article. Based on internal consistency tests and satellite laser ranging residuals, the accuracy of these orbits is assumed to be on the one-to-two-decimeter level.
The Positioning Technique
A preliminary assessment of the quality of Galileo-only positioning could be achieved using the four satellites simultaneously in view at UNB. The second author’s GNSS positioning software was used to process the UNB data. Applying a 7.5-degree elevation cutoff angle to remove low-elevation-angle measurements resulted in an observation session of 1 hour and 48 minutes. The east or longitude dilution of precision (DOP) component starts out at 0.829 at the beginning of this session, gradually dropping to 0.688, and then rising to 1.285 at the end of the session; while the north or latitude DOP component starts out at 2.683 at the beginning of the session, rising to 4.233 at the end (see Figure 2).

Figure 2. North (N), east (E), vertical (V), and geometrical (G) dilution of precision (DOP) values. Even though the receiver was tracking signals on E1, E5a, E5b, and E5a+b, carrier-phase and code observations on E1 and E5a were selected to match the satellite-clock datum. Ionosphere-free combinations were formed to eliminate first-order ionospheric effects, while the tropospheric delay was modeled using local measurements of temperature, pressure, and relative humidity provided by UNB’s meteorological station. No residual delay was estimated. Phase center offsets (PCO) and variations (PCV) for the Trimble Zephyr Geodetic II antenna were obtained through anechoic chamber calibrations (see Further Reading). The same satellite PCO as the ones used in the generation of the satellite orbits and clocks were applied, and no satellite PCV were considered. Other error sources required for precise positioning were also modeled such as solid Earth tides, ocean tide loading, and phase wind-up.
Since separate biases were set up in the estimation of the GIOVE and IOV satellite clock estimation, the same approach should be used on the user side. Unfortunately, solving for this additional parameter in the navigation filter is not possible when tracking only four satellites. To overcome this limitation, a GIOVE/IOV offset was estimated using 24 hours of combined GPS-plus-Galileo observations in static mode (one position solution for the whole observation period), and was introduced as an additional correction in the Galileo-only solution. The estimated coordinates from this combined solution were also used as a reference in computing the errors in latitude, longitude, and height presented next.
Results and Discussion
Three solutions were computed to demonstrate the quality of Galileo-only navigation. In the first scenario (see Figure 3), ionosphere-free code observations solely contributed to the epoch-by-epoch estimation of receiver position and clock offset. The estimated coordinates are largely contaminated by code noise, which is amplified by a factor of approximately three when forming the ionosphere-free combination. In the absence of redundancy, any errors in the observations (such as noise) propagate directly into the estimated quantities and, in this case, affected particularly the latitude component. An analysis of the noise and multipath characteristics of each signal revealed the presence of time-varying effects in the C5X observations. Further investigations are required to properly identify the cause of those effects. As a result, the root-mean-square (RMS) error of the latitude, longitude and height components were 3.084, 0.658 and 1.617 meters, respectively (see Table 1).

Figure 3. Code-based solution. Differences in latitude, longitude, and height with respect to reference coordinates. 
Table 1. Summary of the RMS errors for the three solutions computed. As a second step, both code and carrier-phase observations were combined into a single adjustment (see Figure 4), yielding what is often referred to as precise point positioning (PPP). To accommodate the initial carrier-phase ambiguities, additional parameters were estimated in the filter. While adding carrier phases clearly reduces the noise in the solution, the estimated coordinates do not converge to cm-level accuracies, as typically expected in PPP. Despite weak geometry and range errors, the main reason for poor convergence is again the presence of biases in code observations. Without redundancy, carrier-phase observations only act as a filter for code observations, without reducing the contribution of biases. The RMS errors are 0.422 meters in latitude, 0.150 meters in longitude, and 0.389 meters in height.

Figure 4. Combined code and carrier-phase solution. Differences in latitude, longitude, and height with respect to reference coordinates. To get an independent assessment of carrier-phase observations, a phase-only solution was computed (see Figure 5). For this test, a different methodology was adopted in which we simulated starting the positioning at a known precise location. At the first epoch, the receiver coordinates were constrained to the estimated values from the 24-hour GPS-plus-Galileo positioning solution, and the receiver clock offset was fixed to an arbitrary value (in this case zero). This initial epoch thus allowed estimation of the carrier-phase ambiguities, which remained constant for the rest of the session. For subsequent epochs, the receiver position and clock offset were estimated on an epoch-by-epoch basis. Even though the errors in the initial ambiguity estimates propagated into the following epochs, the estimated coordinates remained at the centimeter level throughout the nearly two-hour common observing period.

Figure 5. Phase-only solution, starting at a known location. Differences in latitude, longitude, and height with respect to reference coordinates. Conclusion
We have obtained what we believe to be the first positioning results using observations from the four Galileo satellites launched to date. The results are very respectable given that the observing geometry was far from ideal and there was no redundancy for epoch-by-epoch solutions. Furthermore, the satellites were not operating at a performance level to be expected for the fully operational future constellation. Both GIOVE satellites have been retired and we must now wait for the second set of IOV satellites to be orbited before we can continue our investigations in Galileo-only positioning with live signals.
Acknowledgments
We thank the operators and station managers of the CONGO network for supplying the data used to model the orbits and clocks of the Galileo satellites.
Richard B. Langley is a professor in the Department of Geodesy and Geomatics Engineering at the University of New Brunswick (UNB) in Fredericton, Canada.
Simon Banville is a Ph.D. candidate in the Department of Geodesy and Geomatics Engineering at UNB. He is also working for Natural Resources Canada on real-time precise point positioning.
Peter Steigenberger is a staff member in the Institut für Astronomische und Physikalische Geodäsie of the Technische Universität München in Munich, Germany.
FURTHER READING
“Anechoic Chamber Calibrations of Phase Center Variations for New and Existing GNSS Signals and Potential Impacts in IGS Processing” by M. Becker, P. Zeimetz, and E. Schönemann, presented at the IGS Workshop, Newcastle upon Tyne, England, June 28–July 2, 2010. Available online: http://www.igs.org/event/newcastle2010/ (scroll to “0205” and click on “PDF.”)
“A Guide to Using International GNSS Service (IGS) Products” by J. Kouba, an IGS resource.
“Precise Orbit Determination of GIOVE-B Based on the CONGO Network” by P. Steigenberger, U. Hugentobler, O. Montenbruck, and A. Hauschild in Journal of Geodesy, Vol. 85, No. 6, 2011, pp. 357–365, doi: 10.1007/s00190-011-0443-5.
