IEEE - Aerospace and Electronic Systems - July 2022 - 15

Kassas et al.
Figure 12.
Experiment 2 results for both scenarios. Map data: Google Earth.
Due to a hardware storage malfunction, the raw IMU
data were not properly saved. As such, the radio SLAM
with the white noise acceleration dynamical model discussed
in the section " Dynamics Model Formulation " was
used. The process noise spectral densities were set as ~qx ¼
q~y ¼ 0:01 m2/s3, and ~qz ¼ 0:001 m2/s3 and the receiver's
and SOP's oscillators were set to be high quality
OCXOs with parameters h0 ¼ 2:6 1022 and h2 ¼
4:0 1026. The results are presented as follows.
RESULTS
Results from a smartphone navigation application are
provided first to showcase the impact of real GPS jamming
on a GPS receiver. Figure 10 shows screenshots
from Google Maps running on an iPhone 8 during the
ground vehicle's trajectory. Essentially, the navigation
solution stopped updating, would sporadically jump
around by hundreds of meters, and the blue " halo " representing
the estimated position uncertainty grew to a
radius over 6 km. Note the time progression shown in
the screenshots as the vehicle was driving along the 58
Highway in one direction; nevertheless, the estimated
position reported by the iPhone kept jumping around.
JULY 2022
In both scenarios, the receiver had access to GPS
signals for the first 50 s only. The receiver's last produced
GPS navigation solution before GPS signals were
Figure 13.
Experiment 2 EKF results: receiver position error and associated
3s bounds for Scenario 1: assuming fully known SOP position.
(A) GPS signals available, (B) GPS signals intermittent, and (C)
GPS signals unavailable.
IEEE A&E SYSTEMS MAGAZINE
15

IEEE - Aerospace and Electronic Systems - July 2022

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