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@ -24,9 +24,9 @@
All the current GPS Interface Control Documents can be downloaded from <a href="https://www.gps.gov" target="_blank">GPS.gov</a>, the official U.S. Government webpage for GPS.
\li GPS L1 and L2C: Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision K</b></a>. June, 2019.
\li GPS L1C (available with first Block III launch): Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-800F.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision F</b></a>. June, 2019.
\li GPS L5 (first Block IIF satellite launched on May, 2010): Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-705F.pdf" target="_blank"><b>Interface Specification IS-GPS-705 Revision F</b></a>. June, 2019.
\li GPS L1 and L2C: Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-200K.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision K</b></a>. March, 2019.
\li GPS L1C (available with first Block III launch): Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-800F.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision F</b></a>. March, 2019.
\li GPS L5 (first Block IIF satellite launched on May, 2010): Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-705F.pdf" target="_blank"><b>Interface Specification IS-GPS-705 Revision F</b></a>. March, 2019.
@ -34,6 +34,11 @@ All the current GPS Interface Control Documents can be downloaded from <a href="
Official GLONASS webpage: <a href="https://www.glonass-iac.ru/en/" target="_blank"> Information-analytical centre official website</a>.
\li Standard Accuracy (ST) signals at L1 and L2: Russian Institute of Space Device Engineering, Global Navigation Satellite System GLONASS. <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf" target="_blank"><b>Interface Control Document. Navigational radiosignal in bands L1, L2. Edition 5.1</b></a>, Moscow, Russia, 2008
\li <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/IKD-L1-s-kod.-razd.-Red-1.0-2016.pdf" target="_blank"><b>GLONASS Interface Control Document. Open CDMA navigational radio signal in L1 band. Edition 1.0 (in Russian)</b></a>. Russian Space Systems OJSC. 2016.
\li <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/IKD-L2-s-kod.-razd.-Red-1.0-2016.pdf" target="_blank"><b>GLONASS Interface Control Document. Open CDMA navigational radio signal in L2 band. Edition 1.0 (in Russian)</b></a>. Russian Space Systems OJSC. 2016.
\li <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/IKD-L3-s-kod.-razd.-Red-1.0-2016.pdf" target="_blank"><b>GLONASS Interface Control Document. Open CDMA navigational radio signal in L3 band. Edition 1.0 (in Russian)</b></a>. Russian Space Systems OJSC. 2016.
\subsection galileo Galileo
Check the <a href="https://www.gsa.europa.eu/european-gnss/galileo/galileo-european-global-satellite-based-navigation-system" target="_blank">Galileo website of the European Global Navigation Satellite Systems Agency (GSA)</a> and the
@ -50,16 +55,27 @@ to use the future Galileo system and what they can expect in terms of performanc
\subsection beidou BeiDou
Official webpage at <a href="http://en.beidou.gov.cn/" target="_blank">beidou.gov.cn</a>
\li <a href="http://www2.unb.ca/gge/Resources/beidou_icd_english_ver2.0.pdf" target="_blank"><b>BeiDou Navigation Satellite System Signal In Space Interface Control Document</b></a>.
Open Service Signal (Version 2.0). China Satellite Navigation Office, December 2013.
\li <a href="http://en.beidou.gov.cn/SYSTEMS/ICD/201902/P020190227702348791891.pdf" target="_blank"><b>BeiDou Navigation Satellite System Signal In Space Interface Control Document Open Service Signal B1I (Version 3.0)</b></a>.
China Satellite Navigation Office, Feb. 2019.
\li <a href="http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608519640359959.pdf" target="_blank"><b>BeiDou Navigation Satellite System Signal In Space Interface Control Document Open Service Signal B1C (Version 1.0)</b></a>.
China Satellite Navigation Office, Jun. 2018.
\li <a href="http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608516798097666.pdf" target="_blank"><b>BeiDou Navigation Satellite System Signal In Space Interface Control Document Open Service Signal B3I (Version 1.0)</b></a>.
China Satellite Navigation Office, Feb. 2018.
\li <a href="http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608518432765621.pdf" target="_blank"><b>BeiDou Navigation Satellite System Signal In Space Interface Control Document Open Service Signal B2a (Version 1.0)</b></a>.
China Satellite Navigation Office, Dec. 2017.
\li <a href="http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608523308843290.pdf" target="_blank"><b>BeiDou Navigation Satellite System Signal In Space Interface Control Document Open Service Signal (Version 2.1)</b></a>.
China Satellite Navigation Office, December 2016.
\li <a href="http://www2.unb.ca/gge/Resources/beidou_open_service_performance_standard_ver1.0.pdf" target="_blank"><b>BeiDou Navigation Satellite System Open Service Performance Standard</b></a>. (Version 1.0). China Satellite Navigation Office, December 2013.
\subsection sbas Satellite Based Augmentation Systems (SBAS)
\li <b>Minimum Operational Performance Standards for Global Positioning System/Wide Area Augmentation System Airborne Equipment, DO-229D</b>, RTCA, Washington, DC, Dec. 13, 2006. The 'RTCA MOPS DO229D - appendix A' is the reference standard for WAAS/EGNOS application development. RTCA is an advisory committee of the US federal government, and issues standards for civil airborne equipment, among other duties. One such standard is MOPS 229D (Minimum Operational Performance Standards for Global Positioning System/Wide Area Augmentation System Airborne Equipment version D), which describes the implementation of satellite-based augmentation services (SBAS) for receivers designed for civil aviation use. An annex to DO229D contains the specifications for the SBAS signal and message. The RTCA provides regular updates to these standards. MOPS 229D is available for a fee from the <a href="http://rtca.org/onlinecart/product.cfm?id=396" target="_blank">RTCA website</a>.
\li <b>Minimum Operational Performance Standards for Global Positioning System/Wide Area Augmentation System Airborne Equipment, DO-229D</b>, RTCA, Washington, DC, Dec. 13, 2006. The 'RTCA MOPS DO229D - appendix A' is the reference standard for WAAS/EGNOS application development. RTCA is an advisory committee of the US federal government, and issues standards for civil airborne equipment, among other duties. One such standard is MOPS 229D (Minimum Operational Performance Standards for Global Positioning System/Wide Area Augmentation System Airborne Equipment version D), which describes the implementation of satellite-based augmentation services (SBAS) for receivers designed for civil aviation use. An annex to DO229D contains the specifications for the SBAS signal and message. The RTCA provides regular updates to these standards. MOPS 229D is available for a fee from the <a href="https://my.rtca.org/nc__store?search=229D" target="_blank">RTCA website</a>.
\li <a href="http://www.gps.gov/technical/ps/2008-WAAS-performance-standard.pdf" target="_blank"><b>Global Positioning System Wide Area Augmentation System (WAAS) Performance Standard, 1st Edition</b></a>, Department of Transportation and Federal Aviation Administration, Oct. 31, 2008. This document defines the levels of performance the U.S. Government makes available to users of the GPS SPS augmented by the Wide Area Augmentation System.
\li <a href="https://www.gps.gov/technical/ps/2008-WAAS-performance-standard.pdf" target="_blank"><b>Global Positioning System Wide Area Augmentation System (WAAS) Performance Standard, 1st Edition</b></a>, Department of Transportation and Federal Aviation Administration, Oct. 31, 2008. This document defines the levels of performance the U.S. Government makes available to users of the GPS SPS augmented by the Wide Area Augmentation System.
\li <a href="https://egnos-user-support.essp-sas.eu/new_egnos_ops/documents/egnos-sdd/egnos-data-access-service-sdd" target="_blank"><b>EGNOS Data Access Service (EDAS) Service Definition Document. Revision 2.2</b></a>, European GNSS Agency (GSA), June, 2019. This is a complementary document to the RTCA DO229D, mentioned above. It describes the scope of services provided by the EGNOS EDAS Service to be used by end-users or Application Specific Service Providers. It details the general conditions relating to the use of the EGNOS service, a technical description of the Signal-in-Space (SIS), the reference receiver, environmental conditions, the service performance achieved and aspects relating to service provision.
@ -76,7 +92,7 @@ are based on a series of measurements from one or more satellite constellations.
interesting to store intermediate measures for later post-processing. RINEX is the standard format that allows the management and disposal of the measures
generated by a receiver, as well as their off-line processing by a multitude of applications.
\li The most common version at present is <a href="https://kb.igs.org/hc/en-us/article_attachments/115007665587/RINEX_211v2.pdf" target="_blank"><b>RINEX: The Receiver Independent Exchange Format Version 2.11</b></a>, which enables storage of measurements from pseudorange, carrier-phase and Doppler systems for GPS or GLONASS,
\li The most common version at present is <a href="http://ftp.aiub.unibe.ch/rinex/rinex212.txt" target="_blank"><b>RINEX: The Receiver Independent Exchange Format Version 2.12</b></a>, which enables storage of measurements from pseudorange, carrier-phase and Doppler systems for GPS, GLONASS, Galileo
along with data from EGNOS and WAAS satellite based augmentation systems (SBAS).
\li The most recent version is <a href="ftp://igs.org/pub/data/format/rinex303.pdf" target="_blank"><b>RINEX: The Receiver Independent Exchange Format Version 3.03</b></a> published in July, 2015.
@ -86,8 +102,9 @@ It includes Galileo and improves the handling of multi-constellation data files.
\subsection nmea NMEA
The <a href="http://www.nmea.org" target="_blank">National Marine Electronics Association </a> released the NMEA 0183 Interface Standard, which defines electrical signal requirements, data transmission protocol and time,
and specific sentence formats for a 4800-baud serial data bus. The standard is <a href="http://www.nmea.org/store/index.asp?show=cprd&cid=8" target="_blank">available for purchase</a>.
The <a href="https://www.nmea.org/" target="_blank">National Marine Electronics Association </a> released the NMEA 0183 Interface Standard, which defines electrical signal requirements, data transmission protocol and time,
and specific sentence formats for a 4800-baud serial data bus. The standard is <a href="https://www.nmea.org/content/STANDARDS/NMEA_0183_Standard" target="_blank">available for purchase</a>.
\subsection kml KML
KML is an XML language focused on geographic visualization, including annotation of maps and images. Geographic visualization includes not only the presentation of graphical data on the globe, but also the control of the user's navigation in the sense of where to go and where to look.
@ -107,16 +124,16 @@ The C++ programming language is standardized by the International Organization f
</ul>
\subsection protocols Positioning protocols in wireless communication networks
Cellular industry location standards first appeared in the late 1990s, with the <a href="http://www.3gpp.org/index.php" target="_blank">3rd generation partnership project (3GPP)</a> radio resource location services protocol (RRLP) technical specification 44.031 positioning protocol for GSM networks.
Cellular industry location standards first appeared in the late 1990s, with the <a href="https://www.3gpp.org/index.php" target="_blank">3rd generation partnership project (3GPP)</a> radio resource location services protocol (RRLP) technical specification 44.031 positioning protocol for GSM networks.
Today, RRLP is the de facto standardized protocol to carry GNSS assistance data to GNSS-enabled mobile devices, and the term "3GPP specification" now covers all GSM (including GPRS and EDGE),
W-CDMA and LTE (including LTE-A) specifications. Precisely, the label "LTE-A" is applied to networks compliant with LTE Release 10 and beyond, which fulfill the requirements issued by
the <a href="http://www.itu.int/en/ITU-R/Pages/default.aspx" target="_blank">International Telecommunication Union Radiocommunication Sector (ITU-R)</a> in the global standard for international mobile telecommunications (IMT Advanced, also referred to as 4G)
the <a href="https://www.itu.int/en/ITU-R/Pages/default.aspx target="_blank">International Telecommunication Union Radiocommunication Sector (ITU-R)</a> in the global standard for international mobile telecommunications (IMT Advanced, also referred to as 4G)
access technologies.
Control plane protocols:
\li Radio Resource LCS Protocol (RRLP): <a href="http://www.3gpp.org/ftp/Specs/html-info/44031.htm" target="_blank"><b>3GPP Technical Specification 44.031</b></a>.
\li LTE Positioning Protocol (LPP): <a href="http://www.3gpp.org/ftp/Specs/html-info/36355.htm" target="_blank"><b>3GPP Technical Specification 36.355</b></a>.
\li Radio Resource LCS Protocol (RRLP): <a href="https://www.3gpp.org/ftp/Specs/html-info/44031.htm" target="_blank"><b>3GPP Technical Specification 44.031</b></a>.
\li LTE Positioning Protocol (LPP): <a href="https://www.3gpp.org/ftp/Specs/html-info/36355.htm" target="_blank"><b>3GPP Technical Specification 36.355</b></a>.
User plane protocols:
@ -124,9 +141,9 @@ User plane protocols:
\li Open Mobile Alliance (OMA), <a href="http://member.openmobilealliance.org/ftp/Public_documents/LOC/Permanent_documents/OMA-AD-SUPL-V2_0-20120417-A.zip" target="_blank"><b>Secure User Plane Location Architecture Version 2 (SUPL 2.0)</b></a>, April 2012.
LTE Release 9 introduced extension hooks in LPP messages, so that the bodies external to 3GPP could extend the LPP feature set. OMA LPP extensions (LPPe), supported in SUPL 3.0, build on top of the 3GPP LPP reusing its procedures and data types.
Check the <a href="http://technical.openmobilealliance.org/Technical/LOC.aspx" target="_blank">OMA Location Working Group (WG) webpage</a> for updated information about LPP Extensions (LPPe) Specification.
Check the <a href="http://openmobilealliance.org/wp/index.html" target="_blank">OMA Specifications webpage</a> for updated information about LPP Extensions (LPPe) Specification.
\li The <a href="http://www.openmobilealliance.org/release/MLS/V1_2-20091001-C/OMA-TS-MLP-V3_3-20091001-C.pdf" target="_blank"><b>OMA Mobile Location Protocol (MLP) V3.3</b></a> is an application-level protocol for getting the position of mobile stations (mobile phones, wireless personal digital assistants, etc.) independent
\li The <a href="http://member.openmobilealliance.org/ftp/Public_documents/loc/Permanent_documents/OMA-TS-MLP-V3_5-20181119-D.zip" target="_blank"><b>OMA Mobile Location Protocol (MLP) V3.5</b></a> is an application-level protocol for getting the position of mobile stations (mobile phones, wireless personal digital assistants, etc.) independent
of underlying network technology. The MLP serves as the interface between a Location Server and a Location Services (LCS) Client.
This specification defines the core set of operations that a Location Server should be able to perform.

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@ -34,7 +34,7 @@ we can compute our location, just as mariners do when they see a couple of light
and \f$\sigma_e\f$ gathers other sources of error. Since the receiver needs to estimate its own 3D position (three spatial unknowns) and its clock deviation with respect to
the satellites' time basis, at least \f$3+N_s\f$ satellites must be seen by the receiver at the same time, where \f$N_s\f$ is the number of different navigation systems available
(in-view) at a given time. Each received satellite signal, once synchronized and demodulated at the receiver, defines one equation such as the one defined above,
forming a set of nonlinear equations that can be solved algebraically by means of the <a href="http://navipedia.org/index.php/Bancroft_Method" target="_blank">Bancroft algorithm</a> or
forming a set of nonlinear equations that can be solved algebraically by means of the <a href="https://gssc.esa.int/navipedia/index.php/Bancroft_Method" target="_blank">Bancroft algorithm</a> or
numerically, resorting to multidimensional Newton-Raphson and weighted least square methods. When <i>a priori</i> information is added we resort to Bayesian estimation, a problem
that can be solved recursively by a Kalman filter or any of its variants. The problem can be further expanded by adding other unknowns (for instance, parameters of ionospheric and
tropospheric models), sources of information from other systems, mapping information, and even motion models of the receiver. In the design of multi-constellation GNSS receivers,
@ -57,7 +57,7 @@ in the time frame of the receiver) and the time of transmission (expressed in th
<i>ii)</i> the carrier-phase measurement, actually being a measurement on the beat frequency between the received carrier of the satellite signal and a receiver-generated reference frequency.
Carrier phase measurements are ambiguous, in the sense that the integer number of carrier wavelengths between satellite and the receiver's antenna is unknown.
Techniques such as <a href="http://www.citg.tudelft.nl/en/about-faculty/departments/geoscience-and-remote-sensing/research-themes/gps/lambda-method/" target="_blank">Least-square AMBiguity Decorrelation Approach (LAMBDA)</a> or
Techniques such as <a href="https://www.tudelft.nl/en/ceg/about-faculty/departments/geoscience-remote-sensing/research/lambda/lambda/" target="_blank">Least-square AMBiguity Decorrelation Approach (LAMBDA)</a> or
Multi Carrier Ambiguity Resolution (MCAR) can be applied to resolve such ambiguity and provide an accurate estimation of the distance between the satellite and the receiver.
Then, depending on the required accuracy, the navigation solution can range from pseudorange-only, computationally low demanding, and limited accuracy least squares methods to sophisticated combinations of code and
@ -88,7 +88,7 @@ s^{\text{(GPS L1)}}_{T}(t)=e_{L1I}(t) + j e_{L1Q}(t)~,
\f$L_{\text{P(Y)}}=6.1871 \cdot 10^{12}\f$, and \f$p(t)\f$ is a rectangular pulse of a chip-period duration centered at \f$t=0\f$ and filtered at the transmitter.
According to the chip rate, the binary phase-shift keying modulations in the equations above are denoted as BPSK(10) and BPSK(1), respectively. The precision P codes (named Y codes whenever
the anti-spoofing mode is activated, encrypting the code and thus denying non-U.S. military users) are sequences of \f$7\f$ days in length. Regarding the modernization plans for GPS, it
is worthwhile to mention that there is a new civilian-use signal planned, called L1C and defined at <a href="http://www.gps.gov/technical/icwg/IS-GPS-800B.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision B</b></a>,
is worthwhile to mention that there is a new civilian-use signal planned, called L1C and defined at <a href="https://www.gps.gov/technical/icwg/IS-GPS-800F.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision F</b></a>,
to be broadcast on the same L1 frequency that currently contains the C/A signal. The L1C will be available with first Block III launch, currently scheduled for 2013. The implementation will
provide C/A code to ensure backward compatibility.
@ -129,7 +129,7 @@ Eight satellites are equally spaced in each plane with \f$45^o\f$ argument of la
the orbital planes have an argument of latitude displacement of \f$15^o\f$ relative to each other.
GLONASS civil signal-in-space is defined at <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank"><b>Interface Control Document. Navigational radiosignal in bands L1, L2. Edition 5.1</b></a>.
GLONASS civil signal-in-space is defined at <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf" target="_blank"><b>Interface Control Document. Navigational radiosignal in bands L1, L2. Edition 5.1</b></a>.
This system makes use of a frequency-division multiple access (FDMA) signal structure, transmitting in two bands: \f$f^{(k)}_{GLO L1}=1602+k \cdot 0.5625\f$ MHz and \f$f^{(k)}_{GLO L2}=1246+k \cdot 0.4375\f$ MHz,
where \f$k\in \left\{ -7,-6,\cdots,5,6\right\}\f$ is the channel number. Satellites in opposite points of an orbit plane transmit signals on equal frequencies, as these satellites will never be
in view simultaneously by a ground-based user.
@ -146,7 +146,7 @@ s^{\text{(GLO L1)}}_{T}(t)=e_{L1I}(t) + j e_{L1Q}(t)~,
\f}
where \f$T_{c,\text{HP}}=\frac{1}{5.11}\f$ \f$\mu\f$s, \f$T_{c,\text{SP}}=\frac{1}{0.511}\f$ \f$\mu\f$s, and \f$L_{\text{HP}}=3.3554\cdot 10^7\f$. The navigation
message \f$D_{\text{GNAV}}\f$ is transmitted at \f$50\f$ bps. Details of its content and structure, as well as the generation of the \f$C_{\text{SP}}\f$ code, can be found at
the <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank">ICD</a>. The usage of the HP signal should be agreed with the Russian Federation Defense
the <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf" target="_blank">ICD</a>. The usage of the HP signal should be agreed with the Russian Federation Defense
Ministry, and no more details have been disclosed.
@ -193,7 +193,7 @@ In case of channel \f$C\f$, it is a pilot (dataless) channel with a secondary co
\nonumber e_{E1C}(t)&= \sum_{m=-\infty}^{+\infty}C_{E1Cs}\Big[|m|_{25}\Big] \oplus \sum_{l=1}^{4092}C_{E1Cp}\Big[ l \Big] \cdot \\ {}& \; \; \cdot p(t-mT_{c,E1Cs}-lT_{c,E1Cp})~,\label{eq:E1C}
\f}
with \f$T_{c,E1B}=T_{c,E1Cp}=\frac{1}{1.023}\f$ \f$\mu\f$s and \f$T_{c,E1Cs}=4\f$ ms. The \f$C_{E1B}\f$ and \f$C_{E1Cp}\f$ primary codes are pseudorandom memory code sequences defined at
Annex C.7 and C.8 of <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank">OS SIS ICD</a>. The binary
Annex C.7 and C.8 of <a href="https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo-OS-SIS-ICD.pdf" target="_blank">OS SIS ICD</a>. The binary
sequence of the secondary code \f$C_{E1Cs}\f$ is 0011100000001010110110010. This band also contains another component, Galileo E1A, intended for the Public Regulated Service (PRS).
It uses a BOC(15,2.5) modulation with cosine-shaped subcarrier \f$f_{s,E1A}=15.345\f$ MHz and \f$T_{c, E1A}=\frac{1}{2.5575}\f$ \f$\mu\f$s.
The PRS spreading codes and the structure of the navigation message have not been made public.
@ -209,7 +209,7 @@ s_{T}^{\text{(Gal E6)}}(t) = \frac{1}{\sqrt{2}}\left(e_{E6B}(t)-e_{E6C}(t)\right
\f}
where \f$D_{\text{C/NAV}}\f$ is the C/NAV navigation data stream, which is modulated with the encrypted ranging code \f$C_{E6B}\f$ with chip period \f$T_{c,E6}=\frac{1}{5.115}\f$ \f$\mu\f$s, thus
being a BPSK(5) modulation. Codes \f$C_{E6B}\f$ and primary codes \f$C_{E6Cs}\f$ and their respective lengths, \f$L_{E6B}\f$ and \f$L_{E6C}\f$, have not been published. The secondary codes
for the pilot component, \f$C_{E6Cs}\f$, are available at the <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank">OS SIS ICD</a>.
for the pilot component, \f$C_{E6Cs}\f$, are available at the <a href="https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo-OS-SIS-ICD.pdf" target="_blank">OS SIS ICD</a>.
The receiver reference bandwidth for this signal is \f$40.920\f$ MHz. This band also contains another component, Galileo E6A, intended for PRS.
\li <b>Galileo E5</b>. Centered at \f$f_{\text{Gal E5}}=1191.795\f$ MHz and with a total bandwidth of \f$51.150\f$ MHz, its signal structure deserves some analysis. The AltBOC modulation can be generically expressed as