Implementation and Accuracy of Doppler Navigation with LEO Satellites

Article Figures & Data

TABLE 1

GDOP Expected Accuracy

DOP Expected Accuracy
Estimated Precision	Dimensional Precision Metric
r	PDOP × (λσ_Dopp/γ)
δ_R	CBDOP × (λσ_Dopp/η)
v	VDOP × (λσ_Dopp)
	CBRDOP × (λσ_Dopp/c)

TABLE 2

DOP Simulation Results

DOP Simulation with RREDS 1-σ Noise: 0.1 mps
Constellation Name	Mean HDOP	Predicted RMS Horizontal Error (meters)
GPS	22.63	11792.06
All GNSS	0.81	607
STARLINK	1.93	13.97
OneWeb	6.07	101.06
GlobalStar	16.1	395.645
SatNogs	1.148	160.27

TABLE 4

Results of Jacobian Comparison

Jacobian Type	Jacobian Comparison				Median Iteration Number	Unconverged Trial #
Jacobian Type	Median \|\|r_opt – r_truth\|\| (m)	Median \|\|δ_Ropt – δ_Rtruth\|\| (s)	Median \|\|v_opt – v_truth\|\| (m/s)	Median (s/s)	Median Iteration Number	Unconverged Trial #
Numerical	14.1110	0.0014	0.1020	8.2426e-11	8	6
Analytical	13.6165	0.0013	0.1015	7.0575e-11	14	6
Simplified	14.0418	0.0013	0.1046	7.8802e-11	14	6