GALILEO Performance

Validation with GIOVE

J. Hahn / S. Binda
Galileo Project Office

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 Risk Mitigation
What does “Risk Mitigation” mean?

1. Validate key assumptions taken during the design phase

using real in-orbit measurements
2. Validate space and ground H/W pre-developments and
feedback manufacturers to take results into account in the
System Preliminary CDR of the IOV phase
3. Take into account lessons learnt in the FOC ITT preparation

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 Risk Mitigation: 1. Design Assumptions

• Galileo Signal In Space design is on track as confirmed by

measurements on the field
• On board clock performance specification appears feasible
and with margin (quiet conditions)
• Sensor station tracking error specification for Galileo Sensor
Stations is confirmed
• Corresponding models extracted from GIOVE data have
been provided to GMS for Raw Data Generator validation
• System Performance Budget File will be updated accordingly

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 System Performance Status
Service Level Status (@ S-PCDR KO)
GSRD Development Status - S-PCDR GMS CDR
SF_E5/6 SF_L1 DF E5a E5b
OS
L1 E5a-L1
SOL
E5b-L1 E6
PRS
L1 E6-L1
results not
Positioning Accuracy yet included
SOL H 24m 15m 4m 30m 29m 16m 4m 4m -- -- --
V 35m 35m 8m 55m 51m 38m 5m 5m -- -- -- (ongoing)
PRS H 24m 15m 6.5m -- -- -- -- -- 29m 16m 4m
V 35m 35m 12m -- -- -- -- -- 42m 36m 6m
Velocity Accuracy
3D 20cm/s 28.7cm/s 13cm/s 13cm/s 23.1cm/s 20.3cm/s GIOVE MRD
Availability of Accuracy
nom 100% 100% 100% 100% 100% 100%
comb WUL 99.5% 99.5% 99.5% 99.5% 99.5% 99.5%
Integrity
SOL HAL -- -- 12m -- -- -- -- 12m -- 12m 40m
VAL -- -- 20m -- -- -- -- 20m -- 20m 20m
PRS HAL -- -- 20m -- -- -- -- -- 20m -- --
VAL -- -- 35m -- -- -- -- -- 35m -- --
Risk -- -- 2e-7 -- -- -- -- 2e-7 2e-7 2e-7 2e-7
SOL TTA -- -- 6s -- -- -- -- 6s -- 6s 6s
PRS TTA -- -- 10s -- -- -- -- -- 10.1s -- --
Continuity
Risk -- -- 8e-6 --
1m--SISA-- -- 8e-6 8e-6 8e-6 8e-6
Availability of Int & Cont GMS CDR
nom 100% -- 99.3% -- 100% 100% --
comb 99.5% at WUL Status
-- 98.3% -- 99.4% 99.7% 99.5%
Coverage
world-wide world-wide w-w world-wide w-w w-w

Compliant Partial-Compliant Non-Compliant

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 Link to Segment Drivers

Equip.
Design
Level

SOC GIOVE:
SOC
45cm**
GSRD Development Status - S-PCDR
OS SOL PRS
SF_E5/6 SF_L1 DF E5a E5b L1 E5a-L1 E5b-L1 E6 L1 E6-L1
Positioning Accuracy
SOL H 24m 15m 4m 30m 29m 16m 4m 4m -- -- --

PRS
V
H
35m
24m
35m
15m
8m
6.5m
55m
--
51m
--
38m
--
5m
--
5m
--
--
29m
--
16m
--
4m
38 cm*
V 35m 35m 12m -- -- -- -- -- 42m 36m 6m
Velocity Accuracy
3D 20cm/s 28.7cm/s 13cm/s 13cm/s 23.1cm/s 20.3cm/s
Availability of Accuracy
nom 100% 100% 100% 100%
Equip.
comb WUL 99.5% 99.5% 99.5% 99.5%
Status
Integrity
SOL HAL
VAL
--
--
--
--
12m
20m
--
--
--
--
--
--
--
--
12m
20m
--
--
100 cm* Level
PRS HAL
VAL
--
--
--
--
20m
35m
--
--
--
--
--
--
--
--
--
--
20m
35m 100 cm*
Risk -- -- 2e-7 -- -- -- -- 2e-7 2e-7
SOL TTA -- -- 6s -- -- -- -- 6s --

Continuity
PRS TTA -- -- 10s -- -- -- -- -- 10.1s
90 % 10 %
Risk -- -- 8e-6 -- -- -- -- 8e-6 8e-6
Availability of Int & Cont
nom 100% -- 99.3% -- 100%
comb 99.5% at WUL -- 98.3% -- 99.4%
Coverage
world-wide world-wide w-w world-wide

Compliant Partial-Compliant Non-Compliant

*GMS-CDR Development Status
**GIOVE exp. confirmation

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 GIOVE perspective on Galileo performance drivers

Requirement Galileo GIOVE Comment

Ranging Accuracy 1.3 m 0.9 m GIOVE: Orbit and Clock

(95 %) (0.45 m, 1-σ) Prediction (33 cm / 2.0
ns, 1σ)

GSS Code Phase error 0.81-0.21 m 0.83-0.35 PC at elev. > 40deg

GSS Carrier Phase error 10 mm 2 mm

Single Frequency 30% or 20TECU <16TECU

Ionospheric Algorithm

GGTO Offset 5.0 ns (2 sigma) (86400s) 4.5 ns Galileo: TWSTFT

GIOVE: broadcast nav msg

SV Differential Group Delay 0.3ns / 24h 0.4ns / 24h

stability of ranging signals (payload spec only) (overall process
performance)

Note: strict requirement comparison is NOT possible.

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 GIOVE perspective on Galileo performance drivers

Requirement Galileo GIOVE Comment

RAFS freq. drift 1e-12/day 1.8e-12/day GIOVE: worst case - typical value 1e-
12/day

RAFS freq. stab. 1s: 5.1e-12 C if drift removed

10s: 1.64e-12 Frequency trend after switch-on typical
100s: 5.1e-13 300s: 2e-13 of the Rb technology
1000s: 1.64e-13 1000s: 1.5e-13
10000s: 5.1e-14 10000s: 9e-14
PHM freq. drift 8.2e-15/day 1e-14/day Not in Galileo spec but still two order of
magnitude better than RAFS

PHM freq. stab. 1s: 1.1e-12 PC due mostly to measurement system

10s: 3.5e-13 noise
100s: 1.1e-13 300s: 2e-13
1000s: 3.5e-14 1000s: 9e-13
10000s: 1.1e-14 10000s: 3.5e-14
… … … …

Note: strict requirement comparison is NOT possible.

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 Key Driver Traceability
Driver Spec Equipment level Verification Status

Design Status

Microsoft Excel
Worksheet

DOORS

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 Risk Mitigation: 2. Pre-developments H/W

Space H/W Predevelopments:

• More than two years operation in orbit has allowed
full characterisation of the RF chain
• Frequency standards behaviour in orbit
characterised and lesson learnt put in place in IOV
spacecraft
Ground H/W Predevelopments:
• Antenna’s multipath rejection and group delay
variation lesson learnt put in place
• Test User Receivers in-field measurements have
allowed to improve Front End capabilities

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 Experimentation Results and Roadmap
Experimentation Results:
• GIOVE-A from May 2007 to July 2008
• GIOVE-B from P/L switch-on 7
May 2008 to July 2008 GPS to GST
Offset

Roadmap: 2 OSPF 3
Satellite Clock Sensor Station
• GIOVE-A
Characterization 1 Characterization
(March 2009)
RAFS/PHM, Navigation Algo’s
• GIOVE-B CMCU, OSPF Assessment GSS and GRC
(July 2010) OSPF
5 4
Iono + BGD Orbit Models
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Calibration
OSPF OSPF
+ Validation
GSS,
OSPF, GGSP
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 ODTS & IONO Experimentation
Orbit Determination & Time Synchronisation experimentation:
• Detailed ODTS pre-processing robustness analysis (cycle slips, code
smoothing)
• ODTS performance vs observable combination (L1C-E5b and L1C-E6C
has been used)
• IONO: evaluation of NeQuick model v1, Single Frequency Iono algo,
disturbance flags, and extension of inter-frequency bias analysis to other
code combinations (L1C-E5b and L1C-E6C analysed)
• Comparison of L-band-only with SLR-only orbit for calibration purposes (a
dense SLR campaign is needed)
Roadmap
• ODTS: preprocessing of existing Antenna effects (elevation dependant GD
and phase centre variations), SV manoeuvres handling
• Orbit models: alternative solar radiation parameters models, performance
over eclipses
• IONO: evaluation of NeQuick v2 model, disturbance flag refinement, and
consolidation of inter-frequency and inter-system bias analysis
• Comparison of L-band-only with SLR-only orbit for calibration purposes
(e.g. better determination of SV/GESS IFB)

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 On-Board Clock Experimentation
On Board Clock Characterization experimentation:
• Definition and testing of an operational clock initialization procedure,
involving GSCs, both for GIOVE-A and -B
• Accurate evaluation of stability (short, medium, long term) based on a
long period of observation done for GIOVE-A
• Stability and suitability of the H maser ground reference clock as external
time reference to a GESS (GIEN and GUSN master clocks)
• Effects of Radiation on clocks investigated
Roadmap
• Accurate evaluation of stability (short, medium, long term) based on a
long period of observation of the PHM
• Stability and suitability of the H maser ground reference clock as external
time reference to ESTEC GESS
• Deliver Time Deviation estimates
• Confirm using experimental data the impact of
relativistic effects
• Use onboard RAFS-PHM phase to
routinely steer the RAFS
• Confirm Radiation effects on
GIOVE-B using SREM
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 Sensor Stations Characterisation
Sensor Station Characterization experimentation:
• Assessment of PRS (L1A and E6A) partially done
• Exploit diversity of sensor stations sites, building correlation between :
9 Site environment as assessed in the site survey reports
9 Station output data quality performances
• Synthesis activities, including in particular :
9 Building Galileo Sensor Station models
9 Full consolidated comparison between GPS and GALILEO
9 Final extrapolation to Galileo
Roadmap
• GIOVE-A vs GIOVE-B sensor station error budget
• Consolidation of Sensor Station Error Budget including new receivers
(OS/CS and SoL GSS like)
• Consolidation of comparison between BOC/CBOC/TMBOC
• Characterisation pulse blanking effectiveness
• Specific analysis on the impact of the ionospheric scintillation on the
receiver performance
• Consolidate the impact of GMS preprocessing on tracking performance
• Complete assessment of PRS (L1A and E6A)
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 Navigation Msg Broadcast
Navigation Message generation and
Broadcast:
• Routine ODTS execution for navigation
message uplink implemented, evaluation of
robustness and operational aspects partially
done
• GIOVE-A EGGTO from the GPS/Galileo Navigation
message + Orbit Determination & Time
Synchronisation (using GPS/GALILEO receivers only) is the
baseline

Roadmap
• Consolidate navigation message uplink for GIOVE-B
(including “real time” clock and orbit assessment),
and evaluation of robustness and
operational aspects (data latency, execution time)
through the Key Performance Indicators
• Inclusion of GGTO in GIOVE-B
• Experimental GST - UTC prediction in navigation message
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 Bi-lateral Cooperations

Areas of cooperation with external entities/institutes:

• Diversify Galileo Experimental
Sensor Stations
(improved version including
upgraded computer NovAtel RX
and TAS-I RX based on IOV GSS)
• User base increased to around
60 people from industrial/academic
organisation
• Application from Portugal, Canada,
Poland for the attachment of GESS
received

Roadmap
• Increase the number of GESS stations
• Increase the number of data user
• Share GESS data and cross-validate experimental
Core Products
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 Validation is an incremental process

2003 2005 2010 2010-2013

GPS Giove Galileo In Orbit Galileo Full

Constellation Satellites Validation Operation Const.

GSTB GSTB IOV FOC

V1 V2 Phase Phase

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