2135-3 Second Workshop on Satellite Navigation Science and...

2135-3

Second Workshop on Satellite Navigation Science and Technology for Africa

D. Margaria

6 - 23 April 2010

NAVSAS Group ISMB Torino Italy

Sat-Surf Suite and N-FUELS: Tools for Rapid-Prototyping, Research and Educations in the Field of GNSS

SatSat--Surf Suite & NSurf Suite & N--FUELS:FUELS:Tools for RapidTools for Rapid--Prototyping,Prototyping,Research and EducationsResearch and EducationsResearch and Educations Research and Educations in the Field of GNSSin the Field of GNSS

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SAT-SURF & N-FUELS Presentation

LecturerLecturer

Davide MargariaR h d tResearcher under grantElectronics Department, Politecnico di Torino

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SAT-SURF & N-FUELS Presentation 22

MotivationMotivation

GNSS h l i i l• GNSS technologies are progressivelybecoming a key element in many innovative wireless applications

• Most location-based services and systems are

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in fact employing standalone GPS,GPS EGNOS Assisted GPS and Differential

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GPS as core technologies

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engineers, technicians and students on these

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subjects


MotivationMotivation

• Many educational offers are based on a• Many educational offers are based on a theoretical study of GNSS leaving limited space t l b t i i th j bto labs or training on the job

• There is a huge demand of tools for education,

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R&D and rapid-prototyping in the field of GNSS

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� SATSAT--SURF & SATSURF & SAT--SURFERSURFER

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� NN--FUELSFUELS

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OutlineOutline

22 SATSAT SURF H d Pl tfSURF H d Pl tf

11 –– IntroductionIntroduction

22 –– SATSAT--SURF Hardware PlatformSURF Hardware Platform

33 –– SATSAT--SURFER Software SuiteSURFER Software Suite

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44 –– SATSAT--SURFERSURFER Setup & DemoSetup & Demo

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55 –– NN--FUELS Signal Generator FUELS Signal Generator

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N a 77 –– Questions SessionQuestions Session


MottoMotto

With SATWith SAT SURF & SATSURF & SAT SURFERSURFERWith SATWith SAT--SURF & SATSURF & SAT--SURFERSURFERengineers, technicians and students engineers, technicians and students

learn how to practically surf with learn how to practically surf with GNSS!GNSS!

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What is SATWhat is SAT--SURF/SURFER?SURF/SURFER?

SATSAT SURFSURF & SATSAT SURFERSURFER•• SATSAT--SURFSURF & SATSAT--SURFERSURFER are a complete tool made of hardware/softwarecomplete tool made of hardware/softwarecomponents specifically designed for R&D d d ti l

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�SAT-SURF is the hardware box including

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GPS and COM functionalities;�SAT SURFER is the software suite running

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v S A �SAT-SURFER is the software suite runningon standard PC that gets and process data f SAT SURF

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ApplicationApplication FieldsFieldsppppAdvanced receiver Advanced receiver

t h l it h l iAlgorithms and innovative Algorithms and innovative

architecture againstarchitecture againstDesign of new GNSS Design of new GNSS

signalssignals –– Members of the Members of the technologiestechnologies architecture against architecture against

interference and multipathinterference and multipath GSTFGSTF

Wide Area AugmentationWide Area AugmentationNN--FUELSFUELS

Wide Area Augmentation Wide Area Augmentation SystemsSystems –– EGNOSEGNOS

monitoring station at ISMB monitoring station at ISMB supported by ESAsupported by ESA

GNSS receiver design GNSS receiver design and prototypingand prototyping

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Indoor applicationsIndoor applicationsTechnologies for Technologies for

Emergency managements Emergency managements and SOL applicationsand SOL applications

Global NavigationGlobal NavigationSatellite SystemsSatellite Systems

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Algorithms & Algorithms & implementation of implementation of AssistedAssisted

GNSSGNSS techniquestechniques

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NAV/COMNAV/COM hybrid platformshybrid platformsGNSSGNSS techniquestechniquesSATSAT--SURFSURF

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such as INS & DGPSsuch as INS & DGPS

Higher Education Higher Education ––Master on Navigation and Master on Navigation and

Related applicationsRelated applications


SATSAT--SURF Hardware PlatformSURF Hardware Platform

• SAT SURF is an HW box integrating GPS and• SAT-SURF is an HW box integrating GPS and GSM/GPRS capabilities. It includes:� Different possible GPS receiver modules p� 1 GSM/GPRS module� 1 standard GSM antenna

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� 1 USB I/O port

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• SAT-SURF needs external DC power supply

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v S A � Voltage between 9 and 30 V (12 V typical)9 and 30 V (12 V typical)

� Optional automotive connector for kinematics data logTh USB t b t d t t d d PC

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N a • The USB port can be connected to a standard PC

• GSM module is used to implement A-GPS services (OMA-SUPL compliant) or to get DGPS corrections


(OMA SUPL compliant) or to get DGPS corrections

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SATSAT--SURF Hardware ArchitectureSURF Hardware Architecturer o

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(COM ModemUSB

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& COM GPS)

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Note: uBlox and SiRF (and the related receiver models) are two possible options under user request.


SATSAT--SURF Hardware PlatformSURF Hardware Platform

GPS/Galileo receivers available in SAT-SURF:•• uBlox 5 uBlox 5 GPS module, OMAGPS module, OMA--SUPL compliant;SUPL compliant;

Bl 4Bl 4 GPS d l DGPS li tGPS d l DGPS li t

GPS/Galileo receivers available in SAT-SURF:

•• uBlox 4 uBlox 4 GPS module, DGPS compliant;GPS module, DGPS compliant;•• JP13JP13--LPLP GPS module based on SiRF Star III GPS module based on SiRF Star III

with low power consumption;with low power consumption;

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•• JP15JP15 High Sensitivity GPS module based on High Sensitivity GPS module based on SiRF Star IIx, DGPS compliant;SiRF Star IIx, DGPS compliant;

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•• SkyTraq Venus 6SkyTraq Venus 6 module. It reaches datamodule. It reaches data--output rate of 20 Hz.output rate of 20 Hz.

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GSM Module:

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�� Multiple GPRS connection with CMUXMultiple GPRS connection with CMUX


SATSAT--SURFER Software SuiteSURFER Software Suite

• SAT-SURFER is the softwarerunning on a standard PC thatrunning on a standard PC thatgets and process data from SAT SURF

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SATSAT--SURFER Software SuiteSURFER Software Suite

• SAT-SURFER is able to “talk” with different GNSSSAT-SURFER is able to talk with different GNSSreceivers using their binary (proprietary) protocols

• Current version of SAT-SURFER can get data from five receiver families:

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• SiRF

Bl

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• Magellan

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Details on SATDetails on SAT--SURFERSURFER

• SAT SURFER together with SAT SURF is an Enhanced• SAT-SURFER together with SAT-SURF is an EnhancedEvaluation Kit managing different kind of GPS receiversIt is also able to provide a Communications (COM)• It is also able to provide a Communications (COM)interface through the GSM quad-band modem

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SATSAT--SURFER Software ArchitectureSURFER Software Architecture

Graphical User Graphical User InterfaceInterface

File LogsFile Logs

SettingsSettings Data Logger MatlabData Logger Matlab

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Text, Rinex, KMLText, Rinex, KML

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uBloxuBloxDriverDriver

GSM ModemGSM ModemDriverDriverSiRFSiRF

DriverDriverNTrip DGPSNTrip DGPS

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SATSAT--SURF HARDWARESURF HARDWARE


SAT-SURFER Software Functionalities

Displa of the most important ra data and• Display of the most important raw data and positioning information in real-time;

• Log and export automatically any raw data for post-processing (e.g. using MATLAB®);

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compare their performance in different scenarios;

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• Network dispatcher functionality forgetting/broadcasting data;

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• Allow test of Assisted-GPS (A-GPS)functionalities and performances;

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• Allow test of Differential GPS (DGPS).



• Management of a GSM module• Management of a GSM moduleand logged parameters:� Cell type

BTS

� Cell type� Base Station Identification Code (BSIC)� Quality of Reception (RxQual)

BTS

BTS

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� Localization Area Code (LAC)� Power (dBm)

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� C2 reselection parameter� Ti Ad (TA)

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� Assigned Radio Frequency Channel (ARFCN)

Please refer to the User Manual for the complete list

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Manual for the complete listof logged parameters



• Log of several GPS/GSM raw parameters using theLog of several GPS/GSM raw parameters using the following file formats:

�ASCII t t ( t t) fil�ASCII text (.txt) file;

�MATLAB® (.mat) file;

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�MS Office Excel® (.xls) file;

�bi ( bi ) fil

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�RINEX 2 log;

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�RINEX 3 log;

� ( ) f

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Functionalities: Display Raw Datap yr o

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Functionalities: Configurationg• This menu allows settingThis menu allows settingall the parameters for the access to the external GPS receiver and/or GSM modem (i.e. SAT-SURF).

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Functionalities: Configuration

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• Advanced settings can be configured• MATLAB® (.mat) file logging can be enabled

It i ibl t lit th l fil i d t hi• It is possible to split the log files in order to achieve a better management during the post-processing

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Functionalities: Toolbar• The “Connect” and “Disconnect” buttons allow to start and stop SAT-SURF on the basis of the configuration parameters specified by the user in the “Configuration” menu.

RESTART it allo s testing ho the recei er reacts hen it

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is forced to start in a specific condition. The conditions are:� “FACTORY”, as it was set up by the

f t ( “COLD”)

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� “COLD”, all the parameters in the receiver memory are cleared;

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available.


Functionalities: Info Boxes• Double clicking on the list in the messages window it is g gpossible to see all the logged parameters• For example, “Clock Parameters”p ,

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DEMO & ExamplesDEMO & Examplespp

30330

0

15

Sky Plot for Multiple In View Satellites

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Dilution Of Precision (DOP) Values

PDOPVDOP30

60300

330 1530

45

60

75

17

28

4

2

29

16

23

10

1

1.5

2

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alue

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VDOPHDOP

240

90270

120

90

5 12

18

22 30

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24

0

0.5

1

DO

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210 150

180

9

14

15 26 21

3.76 3.78 3.8 3.82 3.84 3.86 3.88 3.9 3.92

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GPS Time Of Week [s]

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90Satellite Elevation vs. GPS Time for Multiple In View Satellites

PRN 24PRN 29PRN 30 -10

0GSM BTS Power

SN1

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PRN 30PRN 31

-50

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10

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[dB

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2.95 3 3.05 3.1

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-100

-90

-80

-70

-60Pow


x 10GPS Time Of Week [s] 100

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Getting StartedGetting StartedGetting StartedGetting Started�� SetSet--upup thethe SATSAT--SURFSURF hardwarehardwareSetSet upup thethe SATSAT SURFSURF hardwarehardware

(antenna,(antenna, cablecable connections,connections, powerpowersupplysupply……)).. PleasePlease referrefer toto thethe “Getting“Gettingsupplysupply……)).. PleasePlease referrefer toto thethe GettingGettingStarted”Started” SectionSection ofof thethe SATSAT--SURFSURF &&SATSAT--SURFERSURFER UserUser ManualsManuals..

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�� PlacePlace thethe patchpatch antennaantenna ofof SATSAT--SURFSURF inin outdooroutdoor (open(open sky)sky) stationarystationary

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positionposition..

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v S A �� InstallInstall onon youryour PCPC thethe SATSAT--SURFERSURFER

softwaresoftware tooltool.. PerformPerform thethe registrationregistration

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ExamplesExamplespp

Th SAT SURF HW ll t bt i f• The SAT-SURF HW allows users to obtain fromthe GPS receiver the available rawmeasurements (depending on the receiver capabilities), and not only the simple NMEA

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output.

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• Each GPS parameter is logged with a related

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be aligned to the evolution of all the others.

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Parameters Logged by SATParameters Logged by SAT--SURFERSURFERgg ygg y

NameName DescriptionDescriptionPositionPosition DataData �� Position (m), the three componentsPosition (m), the three components

�� Velocity, (m/s), the three componentsVelocity, (m/s), the three components�� Latitude, Longitude, AltitudeLatitude, Longitude, Altitude�� Error 3D w.r.t. a reference positionError 3D w.r.t. a reference position�� Position Type, so how the RX computes the position. It can be: Position Type, so how the RX computes the position. It can be:

STANDALONE, SBAS, DGPS, RTK FIX, or RTK FLOATSTANDALONE, SBAS, DGPS, RTK FIX, or RTK FLOAT�� Speed, the amplitude of the velocity vectorSpeed, the amplitude of the velocity vector

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SatellitesSatellites DataData �� Number of satellites in viewNumber of satellites in view�� Number of satellites in fix, meaning satellites used for the computation of the Number of satellites in fix, meaning satellites used for the computation of the

position, velocity, and time (PVT)position, velocity, and time (PVT)

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GNSSGNSS TimeTime DataData �� Week Number (WN)Week Number (WN)

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�� GPS TimeGPS Time�� Leap SecondsLeap Seconds�� Time to First FixTime to First Fix

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DilutionDilution OfOfPrecisionPrecision DataData

�� GDOP, PDOP, HDOP, VDOPGDOP, PDOP, HDOP, VDOP



NameName DescriptionDescriptionNameName DescriptionDescriptionRaw GNSS Raw GNSS Observables Observables (per each satellite(per each satellite

�� Satellite Identifier (PRN)Satellite Identifier (PRN)�� Pseudorange measurements (m)Pseudorange measurements (m)�� Doppler frequency shiftDoppler frequency shift(per each satellite (per each satellite

in view)in view)Doppler frequency shiftDoppler frequency shift

�� Carrier to noise density ratio (C/No)Carrier to noise density ratio (C/No)�� Carrier phaseCarrier phase�� Ephemeris parametersEphemeris parameters�� Cl k tCl k t

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�� Satellite positions (Azimuth, Elevation, Xs, Ys, Zs)Satellite positions (Azimuth, Elevation, Xs, Ys, Zs)�� Ionospheric parametersIonospheric parameters

Note: All the raw GNSS measurements are saved for all the frequencies Note: All the raw GNSS measurements are saved for all the frequencies

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supported by the GNSS receiver.supported by the GNSS receiver.

EGNOS Raw EGNOS Raw Corrections Corrections

�� Fast CorrectionsFast Corrections�� LongLong--Term CorrectionsTerm Corrections

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�� Covariance MatrixCovariance Matrix�� Fast Corrections Degradation FactorFast Corrections Degradation Factor�� Wide Area Ionospheric CorrectionsWide Area Ionospheric Corrections

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�� Wide Area Degradation FactorWide Area Degradation Factor�� Wide Area Service and Network TimeWide Area Service and Network Time�� GeoGeo--AlmanacAlmanac



NameName DescriptionDescriptionNameName DescriptionDescriptionDGPS/RTK Raw DGPS/RTK Raw Corrections Corrections MessagesMessages

�� All the messages coming from the NTRIP networkAll the messages coming from the NTRIP network

MessagesMessages

AA--GPSGPS �� Session Data: TTFF, Time for raw measure, number of raw measure Session Data: TTFF, Time for raw measure, number of raw measure acquired;acquired;

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Almanac, UTC model, Ephemeris and Doppler shift)Almanac, UTC model, Ephemeris and Doppler shift)

Applied Applied �� Applied Pseudorange Correction (PRC)Applied Pseudorange Correction (PRC)

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CorrectionsCorrections�� Applied Range Rate Correction (RRC)Applied Range Rate Correction (RRC)�� Applied Iono CorrectionApplied Iono Correction�� Age of Applied CorrectionsAge of Applied Corrections

Note: These parameters are the corrections applied by the receiver forNote: These parameters are the corrections applied by the receiver for

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Note: These parameters are the corrections applied by the receiver for Note: These parameters are the corrections applied by the receiver for EGNOS or DGPS.EGNOS or DGPS.

Custom PVT Custom PVT ParametersParameters

�� Computed positions and velocityComputed positions and velocity�� Satellites usedSatellites used

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NameName DescriptionDescriptionNameName DescriptionDescriptionGSMGSM NetworkNetworkParametersParameters

�� Base Station Identification Code (BSIC)Base Station Identification Code (BSIC)�� Quality of Reception (RxQual)Quality of Reception (RxQual)�� Localization Area Code (LAC)Localization Area Code (LAC)Localization Area Code (LAC)Localization Area Code (LAC)�� Power (dBm)Power (dBm)�� C1 reselection parameterC1 reselection parameter�� C2 reselection parameterC2 reselection parameter�� Ti Ad (TA)Ti Ad (TA)

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�� Assigned Radio Frequency ChaNnel (ARFCN)Assigned Radio Frequency ChaNnel (ARFCN)�� Cell Identification (CellId)Cell Identification (CellId)�� Public Land Mobile Network (PLMN)Public Land Mobile Network (PLMN)

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IMUIMU datadata logginglogging �� All available Inertial Measurements Unit (IMU) outputsAll available Inertial Measurements Unit (IMU) outputs

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Example: Satellite Sky PlotExample: Satellite Sky Plot

0Sky Plot for Multiple In View Satellites

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4 hours data30330

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1530

17 4

2

23

• 4 hours data collection

• Position evolution60300

45

60 28

2

16

Position evolution (Sky Plot) of multiple GPS

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90270

75

90

29

31

10 satellites in view

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12

22 30

31

24

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240 120

5 12

18

N a

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210 150 9

14

15 26 21


180

3131

Example: Doppler Frequency Shift Example: Doppler Frequency Shift 0

Sky Plot for the PRN 5

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4000Doppler Frequency Evolution vs. GPS Time for the PRN 5

30

60300

330 1530

45

60 3000

4000

• Doppler frequency evolution of one

9070

75

90 2000

ift [H

z]

satellite (PRN 5) vs. GPS time

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210

240 120

150

5

1000qu

ency

Shi

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180

-1000

0

oppl

er F

req

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-2000

1000Do

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3.74 3.76 3.78 3.8 3.82 3.84 3.86 3.88 3.9 3.92 3.945

-3000



x 105GPS Time Of Week [s]

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Example: Outdoor vs. Indoor SignalsExample: Outdoor vs. Indoor Signalsp gp g

55C/N0 time evolution for the PRN 6

50

55OutdoorLight IndoorDeep Indoor

45

• Comparison of Carrier to

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[dB

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Comparison of Carrier to Noise Density ratio (C/N0)measurements for one GPS satellite in different

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30C/N

0 GPS satellite in different outdoor/indoor scenarios

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25

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0 50 100 150 20015


Measurement Epoch [s]

Example: Outdoor vs. Indoor PositioningExample: Outdoor vs. Indoor Positioningp gp g

• Comparison of 3D 3D Positioning Errorppositioning errors w.r.t. mean position (ECEF coordinates) 300

Deep IndoorLight IndoorOutdoor(ECEF coordinates)

in three scenarios• Standard deviation of 200

300 Outdoor

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positions w.r.t. the mean position

100

Z er

ror [

m]

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Scenario Outdoor Light I d

Deep I d 100

0

Z

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�X 0.54 m 24.90 m 34.27 m50

10050

100-100

N a

N a �Y 1.31 m 24.19 m 30.60 m

�Z 1.17 m 39.87 m 90.13 m -50

0

50

-50

0

X error [m]Y error [m]


Example: Ionospheric DelaysExample: Ionospheric Delays

4x 10-8 Ionospheric Delays vs. Satellite Elevation for Multiple In View Satellites

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3.5

PRN 24PRN 29PRN 30

3

s [s

]

PRN 31PRN 5

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eric

Del

ays

• Ionospheric delays evolution for 5 satellites versus

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1.5

2

Iono

sphe satellites versus

elevation

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1

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0 10 20 30 40 50 60 70 80 900.5

Satellite Elevation [deg]


Satellite Elevation [deg]

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SATSAT--SURF & SURFER SURF & SURFER SummarySummaryyy

All l ll h GPS d GSM1�– Allows�to�log�all�the�raw�GPS�and�GSM��data�(both�binary�and�NMEA�Protocols)

2�– Embeds�different�GPS�modules�depending�on�the�user�needs:

• uBlox Modules

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• SiRF�Modules

3 – Equipped with a quad�band

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GSM/GPRS�modem�(worldwide�coverage)��for�NAV/COM�integration

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4�– Raw�data�storage�in�the�various�file�f t f t i

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N a formats�for�an�easy�post�processing:

• ASCII,��Excel®�&�MATLAB®�files• RINEX�2/3�Log


SATSAT--SURF & SURFER SummarySURF & SURFER Summary

SAT�SURF is made of components of the shelf The HW

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NAV/COM�Integration�Capabilities

SAT�SURF is made of components of the shelf. The HW+ SW tool is an innovative and complete GPS+GSMevaluation kit. It can be effectively used to test all therecei er feat res Assisted GPS strategies (OMA SULPCapabilities receiver features, Assisted�GPS strategies (OMA�SULPcompliant) and/or Differential GPS techniques.

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Specific�Educational�Tool

SAT�SURF & SAT�SURFER is a complete educationaltool. It includes several exercises with solutions forstudents. This is then a perfect tool for a lab dedicated

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to ICT technologies.

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A Ready to Use Tool

SAT�SURF & SAT�SURFER is a ready�to�use tool. Thetool has already been delivered to many educationinstitutions such as Hanoi University of Technology

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N a A�Ready�to�Use�Tool institutions such as Hanoi University of Technology

(Vietnam), Asia Institute of Technology (Thailand) andPolitecnico di Torino (Italy).


SATSAT--SURF & SURFER PartnershipSURF & SURFER Partnershippp

• SAT-SURF and SAT-SURFER have been designed and• SAT-SURF and SAT-SURFER have been designed and developed by the NavSAS Group;

• SAT-SURF is manufactured and distributed by SAET s.r.l., a high-tech Italian SME;

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• SAT-SURFER has been developed by the NavSAS Group.

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www.saetsrl.comwww.navsas.eu


OutlineOutline

22 SATSAT SURF H d Pl tfSURF H d Pl tf

11 –– IntroductionIntroduction

22 –– SATSAT--SURF Hardware PlatformSURF Hardware Platform

33 –– SATSAT--SURFER Software SuiteSURFER Software Suite

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44 –– SATSAT--SURFERSURFER Setup & DemoSetup & Demo

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55 –– NN--FUELS Signal Generator FUELS Signal Generator

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v S A 66 –– NN--FUELS DemoFUELS Demo

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N a 77 –– Questions SessionQuestions Session


NN--FUELS IntroductionFUELS Introduction

NN FUELSFUELSNN--FUELSFUELSFUFUllll EEducationalducational LLibraryibrary

• It is a MATLAB®-based

ofof SSignals for ignals for NNavigationavigation

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• It is able to simulate the physical layer signal structure

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for GPS, Galileo and EGNOS systems in all the current and future bands, as seen by a GNSS receiver after A/D conversion

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• First of all, the study of signals and systems innovation generates the need of manipulating all the different GNSS signals

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N a need of manipulating all the different GNSS signals• This helps in comparatively analyzing signals performance and

testing novel processing algorithms


FULL VERSION

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InterferenceInterference SettingsSettings Only available in FULL i

ggFULL version

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Output ExamplesOutput Examplesp pp p

Signal samples Doppler profileSignal samples Doppler profile

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ExampleExample –– Signal AcquisitionSignal Acquisitionpp g qg q

FFT parallel acquisition scheme in time domain • Simple set of exercisesFFT parallel acquisition scheme in time domain pusing N-FUELS outputs

• Analysis of acquisitionparameters (coherent andFFTdf IFFT

(.)*

|.|2� �nyIF

90°

FFTdf IFFT

(.)*

|.|2� �nyIF

90°

parameters (coherent andnon-coherent integrations, search space bins…)

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( )

FFT� �nc

j( )

FFT� �nc

p )• Cold start vs. Warm start

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ExampleExample –– New GNSS ModulationsNew GNSS Modulationspp

Available GNSS signals • A wide set of civil/not-restricted Available GNSS signalsmodulations of the current and future GPS, Galileo and EGNOS signals can be simulated using N FUELS

System Signal

simulated using N-FUELS• Example: analysis of Galileo E5

AltBOC(15,10) modulation in ideal and GPS

GPS_L1GPS_L1CGPS L2C

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1Received signal scatter plot (signal constellation) x 10-6 Received signal scatter plot (signal constellation)

( , )realistic conditions

GPS_L2CGPS_L5

GAL E1b BOC

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1

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ent

GAL_E1b_BOCGAL_E1c_BOCGAL E1bc BOC

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-0.2

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GalileoGAL_E1bc_BOCGAL_E1bc_CBOC

GAL E5

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-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1-1

-0.8

-0.6

In-Phase component -1.5 -1 -0.5 0 0.5 1 1.5

-1.5

-1

GAL_E5GAL_E6bc

EGNOS EGNOS


px 10-6In-Phase component

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How to get NHow to get N--FUELSFUELSHow to get NHow to get N FUELSFUELS

Go to http://www navsas euGo to http://www.navsas.euand click here

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NN--FUELSFUELS –– Student VersionStudent Versionr o

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Click N-FUELS link and

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NN--FUELSFUELS –– Student VersionStudent Version

Th f ld t i b th th ft d th• The folder contains both the software and theuser’s manual

• All the instructions to get starting are included in the user’s manual

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• In order to run the generator, MATLAB® has to b i ll d ( l h MATLAB

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Component Runtime library)

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v S A • The Student (Demo) Version has been intentionally limited in its features with respect

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to the FULL version of the generator


Contact InformationContact Information

SATSAT SURF SATSURF SAT SURFER & NSURFER & N FUELSFUELSSATSAT--SURF, SATSURF, SAT--SURFER & NSURFER & N--FUELSFUELShave been designed and developed by thehave been designed and developed by the

NavSASNavSAS groupgroup, a joint team of researchers from , a joint team of researchers from PolitecnicoPolitecnico didi Torino Torino andand IstitutoIstituto SuperioreSuperiore

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u p ppMario Boella Mario Boella (Italy).(Italy).

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Our web site: Our web site: http://www.navsas.euhttp://www.navsas.eu

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http://www.navsas.euhttp://www.navsas.eu

Contact us:Contact us:

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[email protected]@ismb.it


Questions SessionQuestions Sessionr o

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www.navsas.euwww.navsas.euSAT-SURF & N-FUELS Presentation 5050www.galileoblog.euwww.galileoblog.eu

CopyrightCopyrightpy gpy gNavSAS Group © all rights reserved 2010NavSAS Group ©, all rights reserved, 2010.

Personal use of this material is permitted HoweverPersonal use of this material is permitted. However,permission to reprint/republish this material foradvertising or promotional purposes or for creating new

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collective works for resale or redistribution to servers orlists, or to reuse any copyrighted component of thiswork in other works must be obtained from the

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copyright holders. Copyright and all rights therein areretained by authors or by other copyright holders. All

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y y py gpersons copying this information are expected toadhere to the terms and constraints invoked by eachauthor's copyright This work can not be reposted

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N a author s copyright. This work can not be repostedwithout the explicit permission of the copyright holders.


2135-3 Second Workshop on Satellite Navigation Science and...

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