Abstract: This disclosure is directed to sub-meter level navigation accuracy for Unmanned Aerial Vehicles (UAVs) using broadband communication signals, such as cellular long-term evolution (LTE) signals. A framework and methods are provided using a receiver and controller to produce at least one of carrier phase, code phase, and Doppler frequency measurements from received LTE signals. Single difference measurements may be used to remove clock bias. LTE ENodeB clock biases are initialized using the known initial position of the UAV. The measurements are fused via an extended Kalman filter (EKF) to estimate the UAV position and integer ambiguities of the carrier phase single difference measurements. LTE signals can have different carrier frequencies and conventional algorithms do not estimate the integer ambiguities. Processes are described to detect cycle slip, where the carrier phase measurements from the LTE eNodeB multiple antenna ports are used to detect cycle slip.

Abstract: A software-defined receiver (SDR) using real long term evolution (LTE) signals may be used for navigation. The LTE SDR leverages the structure of the downlink LTE signal, and provides signal acquisition, navigation-relevant high-level system information extraction, and signal tracking. The LTE SDR also provides the ability to obtain a time-of-arrival (TOA) estimate from received LTE signals, which provides a navigation solution comparable to a GPS-only navigation solution.

Abstract: Processes and device configurations, including a receiver structure, are provided to jointly estimate the time-of-arrival (TOA) and azimuth and elevation angles of direction-of-arrival (DOA) from signals of opportunity, such as received cellular long-term evolution (LTE) signals. In one embodiment, a matrix pencil (MP) algorithm is used to obtain a coarse estimate of the TOA and DOA. Tracking loop configurations are provided to refine the estimates and jointly track the TOA and DOA changes. One or more solutions are provided for acquisition and tracking in the presence of noise and multipath signals. Processes and devices configurations are provided to use refined estimates to determine position and for use in navigation of a device.

Abstract: Processes and device configurations are provided for extracting observables from communications signals. Methods include performing a frequency extraction on received communication signals to determine a carrier frequency, acquiring an estimation of channel frequency response and a frame start time. Signal tracking is performed to update frame start time of a signal physical broadcast channel block structure (SS/PBCH) in the communication signal, and at least one observable is extracted from the communications signal based on the updated estimate of frame start time. Characteristics of communications signal, such as frame structure including a synchronization signal physical broadcast channel block structure (SS/PBCH) may be used to opportunistically extract time of arrival (TOA) from communications signals. Symbols and subcarriers of new radio signals may be used to extract reference signals, and to determine one or more navigation observables based on communication signal.

Abstract: A software-defined receiver (SDR) using real long term evolution (LTE) signals may be used for navigation. The LTE SDR leverages the structure of the downlink LTE signal, and provides signal acquisition, navigation-relevant high-level system information extraction, and signal tracking. The LTE SDR also provides the ability to obtain a time-of-arrival (TOA) estimate from received LTE signals, which provides a navigation solution comparable to a GPS-only navigation solution.

Abstract: Systems, device configurations and methods are provided for indoor localization for a navigator receiver based on broadband communication signals such as LTE. In one embodiment, an LTE-IMU framework determines receiver position indoors. Two different designs of LTE receivers are provided based on code phase and carrier phase determinations of the received signal. A base/navigator framework is presented to correct unknown clock biases of the LTE eNodeBs. In this framework, the base receiver is placed outdoors, has knowledge of its own position, and makes pseudorange measurements to eNodeBs in the environment whose positions are known. The base transmits these pseudoranges to the indoor navigating receiver, which is also making pseudorange measurements to the same eNodeBs. The navigating receiver differences the base and navigator pseudoranges.

Abstract: This disclosure is directed to sub-meter level navigation accuracy for Unmanned Aerial Vehicles (UAVs) using broadband communication signals, such as cellular long-term evolution (LTE) signals. A framework and methods are provided using a receiver and controller to produce at least one of carrier phase, code phase, and Doppler frequency measurements from received LTE signals. Single difference measurements may be used to remove clock bias. LTE ENodeB clock biases are initialized using the known initial position of the UAV. The measurements are fused via an extended Kalman filter (EKF) to estimate the UAV position and integer ambiguities of the carrier phase single difference measurements. LTE signals can have different carrier frequencies and conventional algorithms do not estimate the integer ambiguities. Processes are described to detect cycle slip, where the carrier phase measurements from the LTE eNodeB multiple antenna ports are used to detect cycle slip.

Abstract: A software-defined receiver (SDR) using real long term evolution (LTE) signals may be used for navigation. The LTE SDR leverages the structure of the downlink LTE signal, and provides signal acquisition, navigation-relevant high-level system information extraction, and signal tracking. The LTE SDR also provides the ability to obtain a time-of-arrival (TOA) estimate from received LTE signals, which provides a navigation solution comparable to a GPS-only navigation solution.

Abstract: Processes and device configurations, including a receiver structure, are provided to jointly estimate the time-of-arrival (TOA) and azimuth and elevation angles of direction-of-arrival (DOA) from signals of opportunity, such as received cellular long-term evolution (LTE) signals. In one embodiment, a matrix pencil (MP) algorithm is used to obtain a coarse estimate of the TOA and DOA. Tracking loop configurations are provided to refine the estimates and jointly track the TOA and DOA changes. One or more solutions are provided for acquisition and tracking in the presence of noise and multipath signals. Processes and devices configurations are provided to use refined estimates to determine position and for use in navigation of a device.

Abstract: A GNSS augmented using signals of opportunity (SOPs) provides various technical solutions to technical problems facing GNSS implementations. SOPs may enhance or enable otherwise unavailable navigation, such as whenever GNSS signals become inaccessible or untrustworthy, Terrestrial SOPs are abundant and are available at varying geometric configurations, and may be used to improve GNSS by reducing VDOP, VDOP may be reduced by exploiting existing terrestrial SOPs, particularly cellular code division multiple access (CDMA) signals, which have inherently low elevation angles and are free to use.

Abstract: Systems, device configurations and methods are provided for indoor localization for a navigator receiver based on broadband communication signals such as LTE. In one embodiment, an LTE-IMU framework determines receiver position indoors. Two different designs of LTE receivers are provided based on code phase and carrier phase determinations of the received signal. A base/navigator framework is presented to correct unknown clock biases of the LTE eNodeBs. In this framework, the base receiver is placed outdoors, has knowledge of its own position, and makes pseudorange measurements to eNodeBs in the environment whose positions are known. The base transmits these pseudoranges to the indoor navigating receiver, which is also making pseudorange measurements to the same eNodeBs. The navigating receiver differences the base and navigator pseudoranges.

Abstract: A software-defined receiver (SDR) using real long term evolution (LTE) signals may be used for navigation. The LTE SDR leverages the structure of the downlink LTE signal, and provides signal acquisition, navigation-relevant high-level system information extraction, and signal tracking. The LTE SDR also provides the ability to obtain a time-of-arrival (TOA) estimate from received LTE signals, which provides a navigation solution comparable to a GPS-only navigation solution.