IEEE - Aerospace and Electronic Systems - July 2022 - 14

I Am Not Afraid of the GPS Jammer: Resilient Navigation Via Signals of Opportunity in GPS-Denied Environments
Figure 11.
C=N0 to the LTE SOP as measured by the ground vehicle. The
experiment consists of three time segments: (A) GPS signals
available, (B) GPS signals intermittent, and (C) GPS signals were
unavailable.
jamming. The experimental setup and results are discussed
as follows.
SETUP
Figure 10.
Screenshots from Google Maps on an iPhone 8 during Experiment
2. The uncertainty grew to a radius over 6 km.
stability between the SOP biases, the difference of the
biases (without subtracting their initial values) is plotted in
Figure 9(b), which shows a stable difference hovering
around 1835 m. Figure 9 does not show significant correlation
between the stability of the clock biases and the jamming
window, leading to the conclusion that the LTE
SOPs' relative stability is maintained for a period of over
95 min during GPS jamming. This could be attributed to
either: i) the oscillators equipped on the eNodeBs are disciplined
by other GNSS constellations or ii) the free-running
oscillators remained stable during thejamming period.
EXPERIMENT 2: MOBILE RECEIVER
Another experiment was conducted to demonstrate the
radio SLAM framework with LTE SOPs under real GPS
Table 4.
Experiment 2 Results
Framework
Scenario 1: Radio SLAM with known SOP
position
Secnario 2: Radio SLAM with unknown SOP
position
GPS-IMU
Position RMSE (m) Final error (m) SOP final error (m)
69.4
29.4
32.2
237.9
84.5
766.0
-
5.5
-
In this experiment, a ground vehicle was driven in the east
direction along the 58 Highway, as shown in Figure 3.
Over the course of the experiment, only one LTE eNodeB
(SOP 1) was hearable at 751 MHz. LTE samples were collected
at 10 Msps for 8 min. The vehicle started west of
the jamming area. The experiment was composed of the
following three segments:
1) GPS signals were available (0-40 s);
2) GPS signals were intermittent (40-50 s);
3) GPS signals were not available (50-180 s).
During this experiment, the jammers were operating
continuously. The SOP pseudorange measurements were
fed to the tightly coupled radio SLAM framework depicted
in Figure 1 to estimate the states for two scenarios:
Scenario 1: SOP position was assumed to be fully
known (from the prior mapping campaign). Here, the
estimated state vector in the EKF was xr ,
rT
r ; _rT
r ;cðxT
clk;r xT
clk;sÞ
.
Scenario 2: SOP position was assumed to be
unknown, (a prior with a large uncertainty was used).
Here, the estimated state vector in the EKF was
xr , rT
hiT
r ; r_T
r ;rrT
s ;cðxT
clk;r xT
clk;sÞ
.
hiT
14
IEEE A&E SYSTEMS MAGAZINE
JULY 2022

IEEE - Aerospace and Electronic Systems - July 2022

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