Direct GPS Positioning (DP) is a robust method that estimates the GPS navigation solution directly from the received GPS signal. Our novel DP receiver architecture initializes the navigation solution guesses as two groups: guesses varying in position and clock bias, guesses varying in velocity and clock drift. We then perform vectorized calculations to get the expected delay and doppler between the receiver and each satellite in view. Following that, we perform batch calculations to obtain the vector correlation and vector spectrum. The navigation solution residual derived from the vector correlation and vector spectrum is then used as input into the navigation filter. We implemented our receiver architecture using our research platform, PyGNSS. We subjected it to simulated jamming and meaconing attacks. We demonstrate through our experiments the robustness of our DP receiver architecture.
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