With the rapid development of satellite technology and the need to satisfy the increasing demand for location-based services, in challenging environments such as indoors, forests, and canyons, there is an urgent need to improve the position accuracy in these environments. However, traditional algorithms obtain the position solution through time redundancy in exchange for spatial redundancy, and they require continuous observations that cannot satisfy the real-time location services. In addition, they must also consider the clock bias between the satellite and receiver. Therefore, in this paper, we provide a single-satellite integrated navigation algorithm based on the elimination of clock bias for broadband low earth orbit (LEO) satellite communication links. First, we derive the principle of LEO satellite communication link clock bias elimination; then, we give the principle and process of the algorithm. Next, we model and analyze the error of the system. Subsequently, based on the unscented Kalman filter (UKF), we model the state vector and observation vector of our algorithm and give the state and observation equations. Finally, for different scenarios, we conduct qualitative and quantitative analysis through simulations, and the results show that, whether in an altimeter scenario or non-altimeter scenario, the performance indicators of our algorithm are significantly better than the inertial navigation system (INS), which can effectively overcome the divergence problem of INS; compared with the medium earth orbit (MEO) constellation, the navigation trajectory under the LEO constellation is closer to the real trajectory of the aircraft; and compared with the traditional algorithm, the accuracy of each item is improved by more than 95%. These results show that our algorithm not only significantly improves the position error, but also effectively suppresses the divergence of INS. The algorithm is more robust and can satisfy the requirements of cm-level real-time location services in challenging environments.

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In challenging environments such as forests, valleys and higher latitude areas, there are usually fewer than four visible satellites. For cases with only two visible satellites, we propose a dual-satellite alternate switching ranging integrated navigation algorithm based on the broadband low earth orbit (LEO) constellation, which integrates communication and navigation (ICN) technology. It is different from the traditional dual-satellite integrated navigation algorithm: the difference is that it can complete precise real-time navigation and positioning without an altimeter and continuous observation. First, we give the principle of our algorithm. Second, with the help of an unscented Kalman filter (UKF), we give the observation equation and state equation of our algorithm, and establish the mathematical model of multipath/non-line of sight (NLOS) and noise interference. Finally, based on the SpaceX constellation, for various scenarios, we analyze the performance of our algorithm through simulation. The results show that: our algorithm can effectively suppress the divergence of the inertial navigation system (INS), in the face of different multipath/NLOS interference and various noise environments it still keeps good robustness, and also has great advantages in various indicators compared with the traditional dual-satellite positioning algorithms and some existing 3-satellite advanced positioning algorithms. These results show that our algorithm can meet the real-time location service requirements in harsh and challenging environments, and provides a new navigation and positioning method when there are only two visible satellites.

Objective The paper aims to present a generalized modulation scheme that can improve the anti-interference performance of global navigation satellite systems (GNSS) and mitigate the ambiguity problem in BOC modulation. Summary background data With the exponential growth of location-based services, there is a need to improve the positioning accuracy and the capability to resist against external interference in challenging environments, such as urban canyons, forested terrains, and indoor areas, in which signal attenuation, interference, and multipath fading can seriously degrade the positioning accuracy of global navigation satellite systems (GNSS) and GNSS-like systems. The binary offset carrier (BOC) modulation has been adopted in GNSSs because of its good spectral isolation from heritage signals, high accuracy, multipath interference resistance, and flexibility in signal implementation compared with BPSK-R modulation. However, for highorder BOC modulation, the main drawback is the ambiguity in tracking due to the multiple side peaks of the autocorrelation function (ACF). The receiver may incorrectly lock onto one of these side peaks, causing intolerable measurement bias, and this undesirable behavior limits the application of this modulation scheme in navigation systems. Methods We present a generalized low-ambiguity anti-interference spread spectrum modulation based on frequency-hopping BOC (FH-BOC). First, we formulate the mathematical model of FH-BOC modulation and derive the analytical expressions for the normalized ACF and PSD, and we analyze the time and frequency properties of several representative FH-BOC signals. Next, we present recommended parameter selections, a generation and detection scheme for FH-BOC modulation. Finally, we analyze the characteristics of the ACF and PSD, the tracking performance, the spectral separation, and the antinarrowband interference and multipath interference performance for several specific BOC and FH-BOC signals. Results The results show that FH-BOC with the largest frequency-hopping band has lower ACF ambiguity, better antiinterception performance, and better anti-intrasystem interference, narrowband interference, and multipath interference performance than BOC modulation with the same main lobe bandwidth (MLB). The tracking and anti-interference performance of FH-BOC is similar to that of BOC modulation with the same ACF main peak width. Conclusions FH-BOC is a generalized type of modulation that includes BOC modulation. The proposed FH-BOC signal improves the anti-interference performance and mitigates the ACF ambiguity problem of BOC modulation. The acquisition time and complexity of the receiving process for the proposed FH-BOC signal are the same for the BOC signal with the same MLB. The new modulation scheme which we proposed can serve as a new paradigm for the next-generation GNSS signal design, especially military signal design. It can also be used in the signal design for GNSS-like systems, such as systems for indoor positioning, GNSS enhancement, and pseudoli...