Aerospace and Electronic Systems - May 2019 - 84

Navigation Systems Panel Report Navigation Systems for Autonomous and Semi-Autonomous Vehicles: Current Trends . . .
than GNSS; (3) they are diverse in frequency and direction:
signals are transmitted at different frequencies and high
bandwidth, and their transmitting antennas are geographically distributed; and (4) they are free to use: no deployment
cost or operating expenses are incurred to use them, since
their infrastructure already exists and they are already being
transmitted for other purposes. These attributes (1) make
SOPs usable in environments where GNSS signals are not
usable or reliable (e.g., indoors and deep urban canyons), (2)
yield a more accurate navigation solution, and (3) improve
redundancy, bringing navigation system robustness to malicious attacks (e.g., jamming and spoofing).
However, because SOPs are not intended for navigation, one must address a number of challenges before they
can be exploited as reliable and accurate navigation sources. These challenges include (1) the transmitters' locations are generally unknown, (2) their timing may not be
known and is not necessarily synchronized, (3) in contrast
to GNSS, their reference oscillator stability is generally
not of atomic standard, and (4) receivers capable of producing a navigation solution with these signals are not
prevalent- they are proprietary and in specialized research
laboratories. These challenges have been the subject of
extensive research recently [10]-[16].

[4] D. Dardari, P. Closas, and P. Djuric, "Indoor tracking:
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and automated vehicles," in Proc. IEEE/ION Position,
Location Navig. Conf., 2018, pp. 1081-1087.
[6] R. Ioannides, T. Pany, and G. Gibbons, "Known vulnerabilities of global navigation satellite systems, status, and
potential mitigation techniques," Proc. IEEE, vol. 104,
no. 6, pp. 1174-1194, Jun. 2016.
[7] M. Psiaki, and T. Humphreys, "GNSS spoofing and
detection," Proc. IEEE, vol. 104, no. 6, pp. 1258-1270,
Jun. 2016
[8] K. Wesson, J. Gross, T. Humphreys, and B. Evans,
"GNSS signal authentication via power and distortion
monitoring," IEEE Trans. Aerosp. Electron. Syst., vol. 54,
no. 8, pp. 739-754, Apr. 2018.
[9] Z. Kassas, "Collaborative opportunistic navigation," IEEE
Aerosp. Electron. Syst. Mag., vol. 28, no. 6, pp. 38-41,
Jun. 2013.
[10] C. Yang, T. Nguyen, and E. Blasch, "Mobile positioning
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Electron. Syst. Mag., vol. 29, no. 4, pp. 34-46, Apr. 2014.
[11] Z. Kassas, J. Khalife, K. Shamaei, and J. Morales, "I hear,

ACKNOWLEDGMENT

therefore I know where I am: Compensating for GNSS

The authors are members of the Aerospace and Electronic
Systems Navigation Systems Panel. This work was supported in part by the Office of Naval Research under Grant
N00014-16-1-2305 and in part by the National Science
Foundation under Grant 1751205 and Grant 1815349.

limitations with cellular signals," IEEE Signal Process.
Mag., vol. 34, no. 5, pp. 111-124, Sep. 2017.
[12] Z. Kassas, J. Morales, K. Shamaei, and J. Khalife, "LTE
steers UAV," GPS World Mag., vol. 28, no. 4, pp. 18-25,
2017.
[13] J. Khalife and Z. Kassas, "Precise UAV navigation with
cellular carrier phase measurements," in Proc. IEEE/ION
Position, Location Navig. Conf., 2018, pp. 978-989.

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