Detection of scintillations in signals of global navigation satellite systems caused by ionospheric irregularities

1. A method for processing global navigation satellite system (GNSS) measurements, the method comprising the steps of:

receiving a first input GNSS measurement corresponding to a navigation satellite and corresponding to a first carrier frequency and a second GNSS measurement corresponding to the navigation satellite and corresponding to a second carrier frequency, wherein the second carrier frequency is different from the first carrier frequency;

calculating a geometry-free combination parameter based at least in part on the first input GNSS measurement, the second input GNSS measurement, the first carrier frequency, and the second carrier frequency; and

determining, based at least in part on the geometry-free combination parameter, whether a scintillation caused by an ionospheric irregularity has occurred.

2. The method of claim 1 , wherein the step of determining, based at least in part on the geometry-free combination parameter, whether a scintillation caused by an ionospheric irregularity has occurred comprises the steps of:

calculating an estimate of a dispersion of the geometry-free combination parameter over a specified time interval;

comparing the estimate of the dispersion of the geometry-free combination parameter to a specified threshold value;

upon determining that the estimate of the dispersion of the geometry-free combination parameter is greater than the specified threshold value:

determining that a scintillation caused by an ionospheric irregularity has occurred; and

upon determining that the estimate of the dispersion of the geometry-free combination parameter is not greater than the specified threshold value:

determining that a scintillation caused by an ionospheric irregularity has not occurred.

3. The method of claim 1 , wherein the navigation satellite has an elevation angle greater than a specified threshold value.

4. The method of claim 1 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first code phase pseudo-range based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a navigation receiver;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second code phase pseudo-range based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the navigation receiver; and

the geometry-free combination parameter is calculated from the equation

GFC=( D 1 −D 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

D 1 represents the first code phase pseudo-range;

D 2 represents the second code phase pseudo-range;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

5. The method of claim 1 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first code phase pseudo-range difference based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a first navigation receiver in a rover and received by a second navigation receiver in a base station;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second code phase pseudo-range difference based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the first navigation receiver in the rover and received by the second navigation receiver in the base station; and

the geometry-free combination parameter is calculated from the equation

GFC=(Δ D 1 −ΔD 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

ΔD 1 represents the first code phase pseudo-range difference;

ΔD 2 represents the second code phase pseudo-range difference;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

6. The method of claim 1 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first carrier phase pseudo-range based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a navigation receiver;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second carrier phase pseudo-range based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the navigation receiver; and

the geometry-free combination parameter is calculated from the equation

GFC=(φ 1 −φ 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

φ 1 represents the first carrier phase pseudo-range;

φ 2 represents the second carrier phase pseudo-range;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

7. The method of claim 6 , further comprising the steps of:

determining whether a cycle slip has occurred; and

upon determining that a cycle slip has occurred:

isolating the first input GNSS measurement and the second input GNSS measurement.

8. The method of claim 1 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first carrier phase pseudo-range difference based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a first navigation receiver in a rover and received by a second navigation receiver in a base station;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second carrier phase pseudo-range difference based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the first navigation receiver in the rover and received by the second navigation receiver in the base station; and

the geometry-free combination parameter is calculated from the equation

GFC=(Δφ 1 −Δφ 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

Δφ 1 represents the first carrier phase pseudo-range difference;

Δφ 2 represents the second carrier phase pseudo-range difference;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

9. The method of claim 8 , further comprising the steps of:

determining whether a cycle slip has occurred; and

upon determining that a cycle slip has occurred:

isolating the first input GNSS measurement and the second input GNSS measurement.

10. An apparatus for processing global navigation satellite system (GNSS) measurements, the apparatus comprising:

means for receiving a first input GNSS measurement corresponding to a navigation satellite and corresponding to a first carrier frequency and a second GNSS measurement corresponding to the navigation satellite and corresponding to a second carrier frequency, wherein the second carrier frequency is different from the first carrier frequency;

means for calculating a geometry-free combination parameter based at least in part on the first input GNSS measurement, the second input GNSS measurement, the first carrier frequency, and the second carrier frequency; and

means for determining, based at least in part on the geometry-free combination parameter, whether a scintillation caused by an ionospheric irregularity has occurred.

11. The apparatus of claim 10 , wherein the means for determining, based at least in part on the geometry-free combination parameter, whether a scintillation caused by an ionospheric irregularity has occurred comprises:

means for calculating an estimate of a dispersion of the geometry-free combination parameter over a specified time interval;

means for comparing the estimate of the dispersion of the geometry-free combination parameter to a specified threshold value;

means for, upon determining that the estimate of the dispersion of the geometry-free combination parameter is greater than the specified threshold value:

determining that a scintillation caused by an ionospheric irregularity has occurred; and

means for, upon determining that the estimate of the dispersion of the geometry-free combination parameter is not greater than the specified threshold value:

determining that a scintillation caused by an ionospheric irregularity has not occurred.

12. The apparatus of claim 10 , wherein the navigation satellite has an elevation angle greater than a specified threshold value.

13. The apparatus of claim 10 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first code phase pseudo-range based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a navigation receiver;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second code phase pseudo-range based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the navigation receiver; and

the geometry-free combination parameter is calculated from the equation

GFC=( D 1 −D 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

D 1 represents the first code phase pseudo-range;

D 2 represents the second code phase pseudo-range;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

14. The apparatus of claim 10 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first code phase pseudo-range difference based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a first navigation receiver in a rover and received by a second navigation receiver in a base station;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second code phase pseudo-range difference based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the first navigation receiver in the rover and received by the second navigation receiver in the base station; and

the geometry-free combination parameter is calculated from the equation

GFC=(Δ D 1 −ΔD 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

ΔD 1 represents the first code phase pseudo-range difference;

ΔD 2 represents the second code phase pseudo-range difference;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

15. The apparatus of claim 10 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first carrier phase pseudo-range based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a navigation receiver;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second carrier phase pseudo-range based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the navigation receiver; and

the geometry-free combination parameter is calculated from the equation

GFC=(φ 1 −φ 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

φ 1 represents the first carrier phase pseudo-range;

φ 2 represents the second carrier phase pseudo-range;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

16. The apparatus of claim 15 , further comprising:

means for determining whether a cycle slip has occurred; and

means for, upon determining that a cycle slip has occurred:

isolating the first input GNSS measurement and the second input GNSS measurement.

17. The apparatus of claim 10 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first carrier phase pseudo-range difference based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a first navigation receiver in a rover and received by a second navigation receiver in a base station;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second carrier phase pseudo-range difference based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the first navigation receiver in the rover and received by the second navigation receiver in the base station; and

the geometry-free combination parameter is calculated from the equation

GFC=(Δφ 1 −Δφ 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

Δφ 1 represents the first carrier phase pseudo-range difference;

Δφ 2 represents the second carrier phase pseudo-range difference;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

18. The apparatus of claim 17 , further comprising:

means for determining whether a cycle slip has occurred; and

means for, upon determining that a cycle slip has occurred:

isolating the first input GNSS measurement and the second input GNSS measurement.

19. A non-transitory computer readable medium storing computer program instructions, which, when executed by a processor, cause the processor to perform a method for processing global navigation satellite system (GNSS) measurements, the method comprising the steps of:

receiving a first input GNSS measurement corresponding to a navigation satellite and corresponding to a first carrier frequency and a second GNSS measurement corresponding to the navigation satellite and corresponding to a second carrier frequency, wherein the second carrier frequency is different from the first carrier frequency;

calculating a geometry-free combination parameter based at least in part on the first input GNSS measurement, the second input GNSS measurement, the first carrier frequency, and the second carrier frequency; and

determining, based at least in part on the geometry-free combination parameter, whether a scintillation caused by an ionospheric irregularity has occurred.

20. The non-transitory computer readable medium of claim 19 , wherein the step of determining, based at least in part on the geometry-free combination parameter, whether a scintillation caused by an ionospheric irregularity has occurred comprises the steps of:

calculating an estimate of a dispersion of the geometry-free combination parameter over a specified time interval;

comparing the estimate of the dispersion of the geometry-free combination parameter to a specified threshold value;

upon determining that the estimate of the dispersion of the geometry-free combination parameter is greater than the specified threshold value:

determining that a scintillation caused by an ionospheric irregularity has occurred; and

upon determining that the estimate of the dispersion of the geometry-free combination parameter is not greater than the specified threshold value:

determining that a scintillation caused by an ionospheric irregularity has not occurred.

21. The non-transitory computer readable medium of claim 19 , wherein the navigation satellite has an elevation angle greater than a specified threshold value.

22. The non-transitory computer readable medium of claim 19 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first code phase pseudo-range based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a navigation receiver;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second code phase pseudo-range based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the navigation receiver; and

the geometry-free combination parameter is calculated from the equation

GFC=( D 1 −D 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

D 1 represents the first code phase pseudo-range;

D 2 represents the second code phase pseudo-range;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

23. The non-transitory computer readable medium of claim 19 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first code phase pseudo-range difference based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a first navigation receiver in a rover and received by a second navigation receiver in a base station;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second code phase pseudo-range difference based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the first navigation receiver in the rover and received by the second navigation receiver in the base station; and

the geometry-free combination parameter is calculated from the equation

GFC=(Δ D 1 −ΔD 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

ΔD 1 represents the first code phase pseudo-range difference;

ΔD 2 represents the second code phase pseudo-range difference;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

24. The non-transitory computer readable medium of claim 19 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first carrier phase pseudo-range based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a navigation receiver;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second carrier phase pseudo-range based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the navigation receiver; and

the geometry-free combination parameter is calculated from the equation

GFC=(φ 1 −φ 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

φ 1 represents the first carrier phase pseudo-range;

φ 1 represents the second carrier phase pseudo-range;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

25. The non-transitory computer readable medium of claim 24 , wherein the method further comprises the steps of:

determining whether a cycle slip has occurred; and

upon determining that a cycle slip has occurred:

isolating the first input GNSS measurement and the second input GNSS measurement.

26. The non-transitory computer readable medium of claim 19 , wherein:

the first input GNSS measurement corresponding to the first carrier frequency comprises a first carrier phase pseudo-range difference based at least in part on a first navigation signal having the first carrier frequency, wherein the first navigation signal is transmitted from the navigation satellite and received by a first navigation receiver in a rover and received by a second navigation receiver in a base station;

the second input GNSS measurement corresponding to the second carrier frequency comprises a second carrier phase pseudo-range difference based at least in part on a second navigation signal having the second carrier frequency, wherein the second navigation signal is transmitted from the navigation satellite and received by the first navigation receiver in the rover and received by the second navigation receiver in the base station; and

the geometry-free combination parameter is calculated from the equation

GFC=(Δφ 1 −Δφ 2 )/(1−μ),

wherein:

GFC represents the geometry-free combination parameter;

Δφ 1 represents the first carrier phase pseudo-range difference;

Δφ 2 represents the second carrier phase pseudo-range difference;

μ=f 1 2 /f 2 2 ;

f 1 represents the first carrier frequency; and

f 2 represents the second carrier frequency.

27. The non-transitory computer readable medium of claim 26 , wherein the method further comprises the steps of:

determining whether a cycle slip has occurred; and

upon determining that a cycle slip has occurred:

isolating the first input GNSS measurement and the second input GNSS measurement.