Optimizing the co-design of message structure and channel coding to reduce the TTD for a Galileo 2nd generation signal

Recently, the joint design of the GNSS message structure and the associ­ ated channel-coding scheme have been investigated as a means to reduce the Time-To-First-Fix (TTFF) and particularly the time to retrieve the Clock and Ephemerides Data (CED). In this context, a new method to co-design the nav­ igation message and the channel-coding scheme structure is proposed in this paper. This new co-design enables us to reduce the time to retrieve the CED while enhancing error-correction capabilities under degraded channel conditions. In order to fulfill such requirements, some structured coding schemes are designed, which provide both maximum distance separable (MDS) and full diversity prop­ erties under a non-ergodic channel assumption.


INTRODUCTION
Recently, the interest for reducing the Time-To-First-Fix (TTFF) in GNSS systems bas motivated some research on new channel-coding schemes enabling the decrease of the time to retrieve the Clock and Ephemerides Data (CED), also called Time-To-Data (TTD) (Schotsch, Anghileri, Burger, and Ouedraogo 2017). Such coding schemes exploit both serial concatenation and the Max imum Distance Separable (MDS) property in order to retrieve reliably the information data as fast as possible. From Schotsch et al. (2017) and Ortega Espluga, Poul liat, Boucheret, Aubault, and Al Bitar (2018b ), it bas also been observed that those current channel-coding designs may, however, not perform sufficiently well in terms of error-correction capability, and as a consequence, the resilience of the data can be degraded under harsh environments.
In this paper, we provide a new methodology to design jointly the navigation message structure and the channel coding scheme. The proposed method is able to reduce the TTD and to provide enhanced error-correction capabilities under low Carrier-to-Noise ratio (C/N 0 ) environments. Moreover, concerning the channel-coding part, the pro posed method combines error-correcting techniques with error-detecting techniques in order to ensure the robust ness of the CED, as it bas been already the case in Schotsch et al. (2017)

and Ortega Espluga et al. (2018b).
In order to be able to design some new suitable error correcting schemes, taking into account the message struc ture, we start by modeling the navigation message acqui sition and detection as a specific non-ergodic channel (Biglieri, Proakis, & Shamai, 1998), commonly referred to as a block-fading channel and which can be seen as an extension of the already presented erasure-channel model (Ortega Espluga et al., 2018b). For this channel, the mes sage and the redundant bits from the channel encoder are divided into different encoded information blocks. Each block may experience different channel conditions, result ing in blocks that are each weighted by a different fading coefficient (large-scale variations). In case of a deep fade, the receiver assumes that no data bas been transmitted and an erasure-channel assumption can be done.
In our context, the received signal model can be mod eled as a block-fading channel with block erasures, which means that: • Sorne information blacks are received with errors and different average signal-ta-noise ratios; • Sorne information blacks are missing.
Co-designing the message and channel coding under the black-fading channel with the block-erasure assump tion helps us to describe how the CED can be retrieved in spite of missing data (labelled as erased data) and also to describe the method to reduce the ITD.
Moreover, such a model enables us to provide the requirements to obtain the two desired channel-coding properties, i.e., the MDS and the full diversity properties. The MDS property allows us to retrieve k data units of systematic information from any k error-free data units of information (no matter whether it is systematic or redun dant information). It must be noted that, in this case, the information symbols correspond to the block defined by the message structure design. On the other side, the full diversity property allows us to create an error-correction code structure to attenuate the degradation in rough environments.
In this paper, capitalizing on some of our preliminary proposais (Ortega Espluga, Poulliat, Boucheret, Aubault, & Al Bitar, 2018a), we investigate error-correcting schemes, which seek the desired properties (i.e., MDS and full diver sity). The four different schemes that will be studied are as follows: 1. The first scheme is based on the use of the Low est Density Maximum Distance Separable (LD-MDS) codes (Blaum & Roth, 1999) of coding rate R = 1/2 using a message-passing decoding algorithm based on Belief Propagation (BP) in conjunction with a low-complexity erasure algorithm at the decoding part. 2. The second error-correcting technique proposes to use a sparse MDS code ( also of coding rate R = 1 /2), instead of a LD-MDS code, in order to improve the poor error-correcting performance achieved by the LD-MDS codes, since those channel codes are mainly designed for channels with erasures. 3. The third scheme proposes a new family of structured codes called regular Root-LDPC codes (Boutros, Fàbre gas, Biglieri, & Zémor, 2010) of coding rate R = 1/2. It is shown that such an error-correcting code family can have both the MDS and the full diversity prop erties under the BP decoding algorithm, as long as the CED and redundant data are divided into two information blocks. Thanks to this property, both the error-correction and erasure-correction capabilities are achieved just by running the soft input BP decod ing algorithm. To take into account channel variations smaller than an information block, two independent block interleavers are also used to average the channel over each information block. 4. The last scheme extends the previous scheme to irregu lar Protograph Root-LDPC codes of rate 1/2. This fam ily breaks the regular structure defined in the previous scheme in order to optimize the error-correction capa bilities (i.e., the convergence/demodulation threshold) under the BP decoding algorithm. Designing theses codes is possible thanks to tools such as density evolu tion (Ryan & Lin, 2009) or the Protograph EXIT-Chart Algorithm (Liva & Chiani, 2007). In this paper, the lat ter method has been used in order to design good proto graph codes. As in the preceding case, two independent block interleavers are also added to average the channel over each information block.
The four error-correcting schemes along with a new message structure are simulated and compared to each other. The proposed schemes are also compared to the GPS LlC CED error-correcting scheme (IS-GPS-800, 2018), that will be considered as a benchmark system, the Galileo ElB 1/NAV message (OS SIS ICD, 2016) and the RS2 configu ration of the Galileo ElB I/NAV message (Schotsch et al., 2017), proposed to improve the CED robustness as well as to reduce the TTD. Simulations are performed for the additive white Gaussian noise (AWGN) channel and for an urban scenario modeled through the two-state Prieto model (Prieto-Cerdeira, Perez-Fontan, Burzigotti, Bolea Alamafiac, & Sanchez-Lago, 2010).
The paper is organized as follows. Section 2 presents the requirements for co-designing the message structure and the channel coding to reduce the time to retrieve the CED. In Section 3, an introduction to the block-fading-channel model as well as the desired coding properties in such an environment are provided. Section 4 reviews the cur rent GPS LlC structure since it is considered as the bench mark regarding the time needed to retrieve the CED and the current structure of the Galileo ElB I/NAV message as well as the RS2 configuration. Section 5 presents the error correcting solutions. Their performance are presented and analyzed over the block-fading channel in Section 6. Tuen, we present the performance over standard channels like AWGN or urban channels in Section 7. Conclusions are finally drawn in Section 8.

1 CO-DESIGN OF MESSAGE OF STRUCTURE AND CHANNEL CO DING
One of the most challenging issues to provide the low est TTFF is to design fast acquisition GNSS signais. TTFF is defined as the time needed by the receiver to calcu late the first position fix and can be considered as a x. X1 ·--· ... 2 -· -Xsoo ... ... ·---... ·-... X1ooe x,  contribution of different times, including the time to retrieve the CED data, denoted TID, and which repre sents the major contribution of the TTFF (Schotsch et al., 2017). In this paper, we provide a new data-navigation message acquisition model, which allows us to design suit able error-correcting schemes to reduce the TID. Thanks to this new model, we aim to manage a reduction of the time to retrieve the CED under high C/N 0 environments without degrading the performance under low C / N 0 chan nel conditions. Assuming a GNSS receiver under a cold start scenario (no data is stored in the receiver), the GNSS receiver can start to acquire the information data in any symbol period of the navigation message. If that symbol corre sponds to the first information bit of the CED, the opti mal TID is obtained, otherwise all the navigation mes sages must be received in order to decode the CED (which implies the highest TID). This situation is illustrated in Figure 1, where the first acquired symbol is marked with the red arrow resulting in the fact that the complete nav igation message must be received in order to decode the CED.
Considering the preceding idea, we propose in this arti cle a new data-navigation acquisition model, which pro poses to describe the navigation message as a block-fading channel with erasure block. Thanks to this assumption, we can model: • The missing navigation data (not yet received) as an erased block. • The received navigation data as recovered information with different average signal-to-noise ratios.
The idea to model the data navigation acquisition as a block-fading channel with block erasures is to find naviga tion message structures for which the CED can be decoded even if some part of the message has not been received yet. In that case, the TID can be reduced since the receiver does not need to receive all the navigation data to decode the CED.
Considering the data-navigation acquisition model, and in order to reduce TID, we propose in this paper a method to design jointly the message structure and the chan nel coding. This co-design fulfills the following require ments: 1. CED and redundant data (from the channel coding) are divided in several blocks. At the receiver, if any block has not been received, the decoder must consider that block as an erased block. 2. A Cyclic redundancy check (CRC) code is used to append error-detection data that must be included within the CED. This CRC code is used to check the integrity of the CED. 3. The co-design must provide the capability to decode the CED even if some information blocks are missing/ erased. However, we have to emphasize the fact that missing information blocks limit the error-correcting capabilities. Therefore, if the CRC detects an error, the receiver can still wait for missing erased blocks in order to enhance the error-correcting capabilities. This is cru cial in order to be able to retrieve the CED under harsh environments. 4. If we assume that the CED and redundant data are part of a codeword, a co-design scheme does not allow the use of entire codeword interleavers (as it is done in classical systems). Indeed, this structure enforces us to receive the entire codeword to decode the CED. Consequently, considering a co-design scheme with an interleaver spanning the entire codeword can not help to reduce the TID compared to existing systems. 1 x, 1 ··· 1 · ·· 1 ·· · 1 · -1 ··· 1 ··· l xN,tn, 1 ··· 1 · ·· 1 -· 1 · ·· 1 · ·· 1 ·· · 1 -· 1 XzN,tn, 1 -· 1 · ·· 1 -· 1 ··· 1 · -1 ··· 1 ··· 1 ··· 1 -· 1 ··· 1 ·-1 · -1 ··· 1 · -1 ··· 1 xN, 1 Fading 1

FI G U RE 2 Message structure
Fading 2 3 1 BLOCK-FADING CHANNEL AND DESIRED CODING PROPERTIES

1 Block-fading-channel model
The non-ergodic black-fading channel (Boutros et al., 2010) is a simplified channel model that characterizes slowly varying fading channels. It can be viewed as an extension of the well-known block-erasure channel, which considers that some parts of the message are completely erased due to a deep fade of the channel or because of the lack of received data. Indeed, the block-erasure chan nel corresponds to the specific case of the largest signal-to noise ratio case of the black-fading channel, where some parts of the codewords are received with a high signal-to noise ratio (SNR) and the other parts are received with a lower SNR. Under this context of a non-ergodic channel, a transmitted codeword can be viewed as a finite number n e of independent channel realizations. We consider a block-fading channel with n e fading blocks, whose discrete-time channel output at time i is given by: where Nt denotes the frame length, x i E {-1, +1} is the ith binary phase shift keying (BPSK) modulated symbol, z i ~ .Jv(O,a 2 ) are the centered i.i.d. Gaussian noise sam ples with variance a 2 = N 0 /2, and h i is a real fading coef ficient that belongs to the set 11\\l = {a 1 , a 2 , ... , ane}. Figure 2 illustrates a codeword under the block-fading-channel scenario.
Similarly to any other non-ergodic channel, the block fading channel bas zero capacity in the strict Shannon sense. To assess performance under this scenario, the infor mation outage probability, which is an implicit function of the average SNR y, is usually defined as follows: (2) where IN denotes the instantaneous mutual information between the BPSK constrained input and the noisy obser vation at the output of the channel for a particular chan nel realization 11\\l, and R is the transmission rate in bits per where I A wGN(s) is the input-output mutual information for a binary input AWGN channel with a SNR equal to s ( I AWGN ( s) is also referred to as the constrained input AWGN capacity for BPSK inputs) and a i , i E (1, ... n e ), are the instantaneous fading gains for each block i. These fad ing gains follow a normalized Rayleigh distribution in the case of the block Rayleigh fading channel. In such a non ergodic channel, Pout gives a lower bound on the codeword error probability. In Figure 3, Pout is illustrated for a BPSK input with R = 1/2, which represents the ideal behavior of a code for a block-fading channel with n e = 2.

1 Desired code properties
In order to design codes suited for the non-ergodic chan nels, two main properties are required: Let us consider a channel-coding scheme, which pro vides codewords divided in n blocks of equal sizes. We further assume that the systematic information is embed ded into k blocks with k < n of the same size. The MDS property allows us to retrieve k data blocks of system atic information from any k error-free received blocks. In other words, thanks to this property we can reduce the time to retrieve CED under high C /No environ ments, since with only k error-free data blocks, the CED can be retrieved. On the other hand, several references (Boutros et al., 2010;Fabregas & Caire, 2006;Knopp & Humblet, 2000) exhibit the poor error-correction perfor mance over non-ergodic channels, which are not able to achieve a good coding gain. In order to achieve better error correction capabilities, the full diversity property is further required.
Definition 1. An error-correcting code is C said to have full diversity over the block-fading channel if the diversity order is equal to the number of fading blocks ne. The diver sity order determines the slope of the error-rate curve as a function of the SNR on a log-log scale for Rayleigh fading distribution: where P ew is the codeword error probability at the decoder output and y is the average SNR. Then, the Pew of a code with full diversity ne decreases as 1/y n c at high SNR. Since the error probability of any coding/decoding scheme is lower-bounded by the outage probability Pout, the diver sity order is upper-bounded by the intrinsic diversity of the channel, which reflects the slope of the outage limit. In other words, when the coding/decoding scheme has the same slope as for the outage probability curve, then the coding scheme is referred to as full diversity for the afore mentioned block-fading channel. Given a codeword x E C from the error-correcting code, we define the blockwise Hamming weight (w 1 (x), w 2 (x), ... , W nc (x)), where w j (x) is the Hamming weight of coded bits affected by fading h j-Then, under the maximum likelihood of decoding, the diversity order can also be determined by Fabregas and Caire (2006) d = min l{w 1 -(x)-:/= O}I.
In other words, d is the minimum number of blocks that have nonzero Hamming weight. We refer to it as the block wise minimum Hamming distance.
When maximum diversity is achieved by a code, the cod ing gain yields a measure of "SNR proximity" to the outage limit. This optimal design yields the optimal code, which is given by the Singleton bound: Note that d is referred to as the code block diversity and is given by the minimum number of blocks on which any two distinct codewords differ (i.e., the block-wise Ham ming distance).
Codes achieving the Singleton bound are termed MDS. MDS codes are outage-achieving over the (noiseless) block-erasure channel, but may not achieve the outage probability limit on noisy block-fading channels and, as a consequence, a good coding gain. As a matter of fact, MDS codes are necessary, but not sufficient to approach the out age probability of the channel. Thus, for noisy channels, we aim to design error-correcting schemes that ensure the full diversity property (P cm is asymptotically parallel to the outage bound) and to try to operate as close as possible to the outage bound (good coding gain). Notice from Equa tion (6) that, in order to find a full diversity code (d = n e ), the maximum achievable rate is R = 1/n c .

GPS LlC channel-coding scheme and message structure
In this section, we briefly review how the CED information is encoded for GPS LlC (Roudier, 2015).
The message modulated onto the GPS LlC signal con sists of a set of consecutive frames, where the complete data message set is broadcasted to users. A frame is divided into three subframes of various lengths. The first subframe consists of 9 bits of Time of Interval (TOI) data. The sub frame 2 is composed of 600 bits of non-variable clock and ephemeris data with Cyclic Redundancy Check (CRC). The content of subframe 3 nominally varies from one frame to the next and is identified by a page number; the size of the block is 250 bits. Each of the subframes is encoded as follows: 1. The 9-bit TOI data of subframe 1 are encoded with a BCH code; 2. Subframe 2 data are encoded using a 24-bit CRC code and an irregular Low-Density Parity-Check (LDPC) Forward Error-Correction (FEC) code using a parity check matrix of size 600 x 1200; 3. Subframe 3 data are encoded using a 24-bit CRC code and an irregular Low Density Parity Check (LDPC) Forward Error-Correction (FEC) code with a parity check matrix of size 274 x 548; 4. Encoded data from subframe 2 and 3 are then inter leaved. The resulting 1,800 symbols represent one mes sage frame, which are then broadcast at a rate of 100 symbols per second. Figure 4 gives the structure of the described GPS LlC message.
Nowadays, the GPS LlC navigation message provides a structure which allows us to decode the CED in the short est time when compared with other navigation message structures. For example, the worst-case TTD is of the order of 18s, which bas to be compared to the 32s of Galileo ElB 1/NAV. The GPS LlC standard also uses state of the art error-correcting codes, such as the irregular LDPC code of rate 1/2 used to protect the GPS LlC structure subframe 2 (where the CED is located), which provides low demodu lation threshold and outstanding error-correction capabili ties. Additionally, the GPS LlC structure uses a block inter leaver, which is used for the symbols allocated within the subframe 2 and subframe 3 in order to improve the perfor mance over block-fading channels. For all these reasons, GPS LlC can be considered as a natural choice for bench marking when we aim to design a navigation message that enables us to improve the time to retrieve the CED. It is also a practical lower bound for existing systems. The idea of our proposa! is to try to keep best features among exist ing ( and still efficient) structures while enabling modifica tions that can help to improve the decoding delay. This is mainly the reason why we are aiming to capitalize on the naturally efficient structure of the GPS LlC.

1 Review of Galileo 1/NAV message (baseline and new configurations)
Of course, there are other navigation message structures embedding error-correcting schemes in order to improve 5f)arse 5f)arse 15 5f)OfSe 5f)OfSe  Figure S. Within the subframe structure, pages 1, 2, 11, and 12 are used to store the four CED information words. Therefore, every 30 seconds, four CED information words are provided by the 1/NAV message. Each nominal page is subdivided into two subpages. Each subpage bas 120 bits, and it is encoded by a rate of one-half convolutional code with polynomial generators in octal representation given by (171, 133) 8 (OS SIS ICD, 2016). At the output of the convolutional encoder, 240 data symbols are interleaved by a 30 x 8 block interleaver. Finally, 10 synchronization bits are added at the beginning of the data frame to achieve synchronization to the page boundary. At the receiver, each page is decoded independently. First, the synchronization pattern allows the receiver to achieve syn chronization to the page boundary. Each page is then de interleaved by a 8 x 30 block interleaver and decoded using the Viterbi algorithm (Viterbi, 1967) to perform maximum likelihood detection. Finally, the CRC is checked. In order to retrieve the CED, pages 1, 2, 11, and 12 must be validated using the CRC. Using this structure, it can be shown that in some cases the CED cannot be retrieved before 32 sec onds. In order to overcome this drawback, some proposa! (Ortega Espluga etal., 2018b; Schotsch et al., 2017) bas been proposed to improve the I/NAV message. Those proposals take advantage of the possibility to use unassigned pages within the Galileo I/NAV message. This design of the new signal seeks to reduce the TTD and to improve the CED robustness while ensuring the backward compatibility with the current 1/NAV message structure. As an example, we decide to implement the RS2 configuration (Schotsch et al., 2017), where pages 6 and 7 were selected to store the redundant data generated by a Reed Salomon (RS) outer channel code. With this setting in mind, a general outer channel-coding (n, k) = ( 6, 4) structure can be defined in order to generate those extra redundant bits, where n is equivalent to the total number of available bits (redundant + information bits) and k is the number of information bits. In order to keep backward compatibility, systematic information bits are stored in pages 1, 2, 11, and 12 while redundant bits are stored in pages 6 and 7. Remark that the RS codes are MDS codes, then CED can be decoded when a number of at least k = 4 pages are retrieved, which ensures a faster recovery than for the baseline 1/NAV mes sage. In Figure 5, the 1/NAV SEl-OSdata nominal subframe layout (Baseline and RS2 examples) is illustrated.

1 ERROR-CORRECTING SCHEMES
In this section, we present four proposed error-correcting schemes, which aim to capitalize on the MDS and full diversity properties previously described in Section 3. Those channel error-correcting schemes follow the param eters of the GPS LlC CED channel-coding scheme, with coding rate R = 1/2 and code structure C(u, m) with u = 600 and m = 1200.

1 Lowest density maximum distance separable (LD-MDS) codes
LD-MDS (Blaum & Roth, 1999) codes were already pro posed in Ortega Espluga et al. (2018b) as a possible solu tion for the new Galileo 1/NAV navigation coding scheme. Those codes combine two main properties. The first prop erty is the Maximum Distance Separable (MDS) property (Blaum & Roth, 1999), which allows us to retrieve k data symbols of information from any k error-free symbols (no matter systematic or redundant information). The second property is the sparsity of the parity-check matrix. This enables the use of efficient low-complexity decoding algo rithms (Blaum & Roth, 1999). It must be noted that the lowest sparsity property does not provide codes that can operate close to the outage probability region (due to the fact that they do not exhibit the full diversity property), and as a consequence, the LD-MDS are not considered as good codes under the message-passing algorithm over noisy channels, such as Relief-Propagation (BP). More-over, since the LD-MDS codes under the BP decoding algo rithm do not exhibit the MDS property, a tailored erasure correcting algorithm must be developed in order to exploit their MDS property. For more details about LD-MDS codes, please refer to Blaum and Roth (1999).
In order to design a LD-MDS code of rate 1/2, Blaum and Roth (1999) presents the construction of a linear [ k + 2, k] MDS code over GF(q b ) whose systematic parity check and generator matrices are defined as follows: and I is the identity matrix. In order to build a MDS code, the collection {3 must follow the following properties: • (Pl) Each matrix in the set is nonsingular. • (P2) Every two distinct matrices in the set have a differ ence that is also nonsingular.
Moreover, the fewer l's in the parity check matrix, the lower complexity in the coding and decoding algorithms. As a consequence, we have the following property: • (P3) Each matrix contains at most b + 1 nonzero ele ments.
When considering the restriction of those codes to the binary field ( q = 2), and in order to construct a set of matri ces {3 satisfying (Pl}-(P3) (Blaum & Roth, 1999), we defined the set of matrices as Q� = {v 1 m}, where v 1 mare defined as ' ' follows: Definition 2. Let p as an odd prime and a as an element of GF(q) -{O}. In our case as q = 2, a = 1. For O:::: Considering the parameters q = 2 and a = 1, the set of matrices Q� = {v1 m} over GF(2) are defined by: O otherwise (9) The operator (.) denotes the mod p operation, and (a/2) denotes the integer between 0 ::; a ::; p, such that a = ba(mod p). In order to design binary MDS codes, the fol lowi � g theorem provides sufficient conditions on p and a so Q� satisfy (P2).
Theorem 1 (Blaum & Roth, 1999). Let p be a prime such that p -1 is divisible by 2(q -1), and let a be an element in GF(q) -{0} such that the polynomial x 2 + ax + 1 is irre ducible over GF(q). Then, the dijference of any two distinct matrices in the set { v 1 ,m} is nonsingular.
From definition 2 and setting parameters q = 2 and a = 1 (which fulfill Theorem 1), the set of matrices f3 can be any subset of k matrices in Q�.
Considering a LD-MDS code C(600, 1200) with k = 2 and n = k + 2 = 4, the parity check matrix for this code can be shown to be as follows: where /3 = {/3 1 , /3 2 } is a set of b x b matrices and b = 300.
In order to fulfill (P2), we have b = (p -1) where p is a prime number. As p = 301 is not a prime number, we set p = 151 leading to b = 150 to design a base matrix that is then expanded to the targeted size using a lifting expansion of order 2 (Ryan & Lin, 2009). For the last step, it consists of replacing the 'l' elements of the designed parity check base matrix by a permutation matrix of size 2 x 2, following the classical lifting expansion of protograph based codes. This allows us to achieve a subset of For this scheme, the CED and CED redundancy data of Figure 1 have to be divided into 4 blacks (as pictured in figure 4). The division into four blacks is required in order to fully benefit from the MDS capability when applying the erasure-decoding algorithm presented in Appendix A in Section A and that is used within the general decoding procedure as given in Figure 6. Indeed, one of the most important advantages of having a sparse parity check matrix by design for the LD-MDS codes is that low-complexity erasure-decoding algorithms are enabled in order to decode the systematic information.
The algorithm implemented for this scheme is presented in Appendix A in Section A. ,----,..,----,..,----,..,----,.. In order to compare the new code with the struc ture of the GPS LlC or the 1/NAV message, we pro pose to use the structure of GPS LlC. Using this con figuration, the CED, which is stored in the subframe 2 is encoded by the proposed LD-MDS code. Moreove;, we avoid the use of the interleaver spanning the entire codeword, since it is the main cause of an almost con stant TTD in the GPS LlC structure. We now describe the general decoding step, once k = 2 blocks of informa tion are received, the erasure algorithm is used to decode the systematic information. In order to check the relia bility of the systematic data, a CRC based detection is applied. In case of error, the BP algorithm is performed on the corresponding Tanner graph when more than k = 2 information blocks are received. The complete descrip tion of the proposed decoding scheme is described in Figure 6.

Sparse MDS block codes
Lowest-Density MDS codes provide a solution for which the complexity of the decoding algorithm is the lowest possible. However, such codes are not close to the outage boundary under the BP decoding algorithm. The next fam ily of codes aims to enhance the error-correcting capabil ities (with respect to the LD-MDS codes) by reducing the sparsity of the parity check matrix.
In order to design a channel-coding scheme that can fulfill the MDS property with some sparsity constraints having coding rate R = 1/2 and code structure C(u, m) with u = 600 and m = 1200, we define the following block matrix: where H 1 ,i,H 1 , 2 ,H 2 , 1 and H 2 , 2 are matrices of size b x b with b = 300. As in the case of the LD-MDS codes struc ture, the CED and the redundant data are divided into four blocks.
Since MDS property allows us to retrieve k data sym bols of information from any k error-free symbols, given the matrix structure in Equation (11), we analyze an erasure-block-decoding algorithm that highlights require ments for H 1 , 1 ,H 1 , 2 ,H 2 , 1 and H 2 , 2 for Hp being a sparse MDS code. Note that this algorithm is different from the low-complexity erasure-decoding algorithms tailored for the LD-MDS codes leading to different structures for the codes.

---
Therefore, the parity check matrix in Equation (11)  In order to compare the sparse MDS coding scheme with the structure of the GPS LlC or the 1/NAV message, it is proposed to use the structure of GPS LlC. Then, the CED which is stored in the subframe 2 is encoded by the pro posed sparse MDS code. Moreover, we avoid the use of the interleaver.
As it was already described for the LD-MDS codes, once k = 2 blocks of information are received, the erasure algo rithm is used to decode the systematic information (CED). In order to check the reliability of the systematic data, CRC based detection is used. In case of an erroneous solution, the BP decoding is applied when more than k = 2 informa tion blocks are received. The decoding scheme is described in Figure 6.

1 Regular root-LDPC codes
We now investigate on the proposed scheme based on reg ular Root-LDPC codes. These codes belong to a family of codes having both MDS and full diversity properties under the iterative BP decoding algorithm, and they have been initially introduced for the block-fading channel. The design of the Root-LDPC codes bas roots in the lim iting case where the fading coefficient can belong to � E {O, 1}, which corresponds to the well-known block-erasure channel. Indeed, it can be shown that usual single parity check nodes involved in LDPC codes do not meet suffi cient conditions to tolerate more than one erasure bit as it is shown in Boutros et al. (2010). As a consequence, a new check node structure, referred to as rootcheck node, bas been introduced enabling us to tolerate more than one erasure bit under the BP decoding algorithm. In this context, the construction of a regular (3, 6) rootcheck LDPC bas been introduced for the case of a block-f n e = 2.
Using Definition 3, the design of a length-N rate-1/2 systematic regular LDPC code that bas to operate on a two-blocks fading channel can be summarized as follows. Two classes of bits are first defined, i.e., systematic infor mation bits and redundant parity bits. The N /2 system atic information bits are split into two classes: N / 4 bits (denoted ii), which are transmitted on the block with fad ing a 1 and N /4 bits (denoted i 2 ), which are transmitted on the block with fading a 2 . Parity bits are also partitioned into two sets (denoted p 1 and p 2 , respectively) and sent to the channel following the same assumptions as for the information bits. This mapping of the information and redundant/parity bits is represented in Figure 7 using the bipartite Tanner protograph representation that also shows how the different information and parity bits are con nected to rootchecks.
The corresponding block structure of the associated par ity check matrix H is directly derived from its Tanner pro tograph and is given in Equation (14) by (14) where I and O are N / 4 x N / 4 identity and all-zero matri ces, respectively. Hik and H P k, k E (1, 2), are sparse reg ular matrices of Hamming weight 2 and 3 per row and per column, respectively. Examining Equation (14), under the block-erasure channel scenario, we observe that the only outage event occurs when a 1 = a 2 = 0 (both blocks erased). Indeed, when a 1 = 0 and a 2 = 1, it is straightfor ward to see that information bits i 1 are determined using rootchecks c 1 . Sirnilarly, when a 1 = 1 and a 2 = 0, informa tion bits i 2 are determined using rootchecks c 2 .
Finally, two methods to generate the parity matrices have been used: • The first method is based on the design of parity check matrices using a modified Progressive Edge Growth (PEG) algorithm that enables us to take into account local constraints following (Uchôa, Healy, Lamare, & Souza, 2011). • The second method considers the design of Quasi-Cyclic (QC) matrices following, for example, Li and Salehi (2010).
From Definition 3, it is trivial that the data structure of a regular Root LDPC (3,6) code must be divided into two different blocks, each one corresponding to a 1 or a 2 . Once one of the blocks is received, the decoding process starts by executing the BP algorithm. In case of decoding a cor rect CRC, the CED is retrieved, otherwise another block must be received. The decoding scheme is described in Figure 8.

Irregular protograph root-LDPC codes scheme
In this section, we investigate on the design of irregular Root LDPC codes based on protographs (Thorpe, 2003). A protograph is a Tanner graph G for which parallel edges are permitted. In order to generate a LDPC code from a pro tograph, a copy and permute operation also called lifting is used to interleave multiple copys of the original protograph (Thorpe, 2003). LDPC codes generated from protographs can enhance the error-correcting performance compared to Regular LDPC codes, since good irregular LDPC codes can be designed. Let us now introduce the so-called base matrix Ha associated with the protograph of the regular Root LDPC code given by Equation (14). The base matrix Ha is given by In this representation, the coefficient Ha(), i) represents the number of connections/edges between the i-th column and the j-th row of the base matrix. Each column i is asso ciated to a group of variable nodes while each row j is associated to a group of check nodes in the final parity check matrix. All nodes belonging to the same group, also referred to as class or type, share the same local connec tion properties. Based on the type of local connections you can have (represented by the coefficients Ha(), i)), variable nodes (respectively check nodes) can be divided into different classes/types. For the regular Root LDPC code, all variable nodes are of degree 3 (they are all con nected to exactly 3 check nodes), while check nodes are all of degree 6 (they are all connected to exactly 6 vari able nodes). But, when considering the detailed connec tions between possible groups of variable nodes and check nodes, we can define 4 different types/classes of variable nodes denoted (i i , Pi , i 2 , p 2 ) and two types/classes of check nodes denoted (c 1 ,c 2 ). For example, using this protograph representation, variable nodes of type i 1 are exactly con nected to one check node of type/class c 1 and two of class c 2 . Variable nodes of type Pi are only connected to three check nodes of type/class c 2 . This is a classical representa-tion for protograph-based codes. Analyzing the threshold of the regular Root-LDPC code using the Protograph EXIT (PEXlT) Chart algorithm (Liva & Chiani, 2007), a demodu lation threshold loss of 0. 4 dB with respect to the GPS LlC demodulation threshold is obtained. In order to enhance the demodulation threshold, we now present the design of irregular Root-LDPC codes to protect the CED of the navi gation message.
To do so, we adopt the following general protograph rep resentation for a Root-LDPC code of rate R = 1/2: where * represents connection weights E � to be optimized. In order to enhance the error-correction performance of the regular Root-LDPC code, we can use the Protograph EXlT (PEXIT) Chart algorithm (Liva & Chiani, 2007) to search for coefficients * in Equation (16), which reduce the demodulation threshold. We can also note that in order to limit the search space, only matrix weights in the subset E (0, 1, 2, 3) are considered as done, for example, in Fang, Bi, and Guan (2014). In Fang et al. (2014), some optimized protograph structures have been presented; however, small gains in the demodu lation threshold with respect to the regular Root-LDPC codes have been observed. To enhance the demodulation threshold gains, Fang et al. (2014) rather considered the following lifted protograph representation: 0 0 0 ** ** * ] 1 0 0 ** * ***1 000 ' ** * 0 1 0 0 (17) where * represents coefficient weights E (0, 1, 2, 3) to be optimized.
The optimized protograph structure in Fang et al. (2014) bas been designed to have good error-correcting capabili ties in the block-fading channel. However, this protograph structure does not provide the minimum demodulation threshold in the ergodic channel. Since a low demodula tion threshold is crucial for the retrieval of the CED, in Equation (18), we rather search for a protograph structure which minimizes the demodulation threshold given the required Root protograph structure given in Equation (17). The obtained base matrix is as follows: We can note that the proposed protograph structures in Fang et al. (2014) and in Equation (18) are both asymmetric. Therefore, the error-correcting capabilities lead to unequal block recovery for the different variable node types. Since an unequal recovery may affect directly the TTD perfor mance, especially in a good channel environment, we have optimized the protograph enforcing a symmetric structure, which minimizes the demodulation threshold given the required Root protograph structure given in Equation (17). The resulting base matrix is given by Finally, LDPC codes matrices expanded from the proposed root-protograph codes are obtained using classical lifting based expansion methods (Ryan & Lin, 2009).

1 EVALUATION FOR THE BLOCK RAYLEIGH FADING CHANNEL
In this section, in order to illustrate the notion of diver sity, we present the performance of the proposed channel coding schemes over the block Rayleigh fading channel, i.e., the independent fading channel coefficients follow a normalized Rayleigh fading distribution.
In Figure 9, we have illustrated the CED error rate (CEDER) for the irregular LDPC code of GPS LlC sub frame 2 (red/solid line), the LD-MDS code with R = 1/2, the sparse MDS code with R = 1/2 (yellow/dash-circle line), the sparse MDS codes with rateR = 1/2 (cyan/dash pentagon line); the Irregular LDPC code of GPS LlC sub frame 2 with the GPS LlC block interleaver (orange/dash point-cross line); the regular (3,6) Root code with rate R = 1/2 (green/dash-plus line); the irregular Protograph Root code with rateR = 1/2(blue/dash-cross line), and the irregular symmetrical Protograph Root code with rate R = 1/2 (magenta/dash-diamond line). For this simulation, we are considering a block-fading channel with ne = 2, for which each block-fading coefficient follows a normalized Rayleigh distribution. Then, the Outage Probability Pout for a BPSK input with R = 1/2 and block-fading channel ne = 2 (black/solid line) is also illustrated.
On the one band, we notice that all the coding schemes with Root structure provide the same slope as the outage probability curve (achieving full diversity), and the dis tance from the outage bound characterizes the strength of the different schemes. It also underlines that they do not achieve the optimal coding gain. On the other band, the error probability curves corresponding to the LD-MDS and sparse MDS cases show that those coding schemes do not achieve full diversity over the block Rayleigh fading channel (lower slope than the outage probability curve).
We also see an improvement of the error-correcting per formance provided by the sparse MDS code structure with respect to the LD-MDS structure. Furthermore, the curves from the irregular LDPC code of GPS LlC subframe 2 and the irregular LDPC code of GPS LlC subframe 2 with the block interleaver of GPS LlC provide a lower slope than the Root structures since no full diversity is achieved. Note that the block interleaver generates a channel aver age effect, enhancing the diversity of the channel-coding scheme. In any case, the block interleaver does not provide full diversity, when a block-fading channel with ne = 2 is considered. Moreover, it must be pointed out that the block interleaver enforces the reception of the entire codeword in order to decode the CED, delaying the CED decoding and consequently increasing the TTD. On the contrary, the Root code structure (see Figure 8) needs only one block to decode the CED, minimizing the TTD. Since the block interleaver enforces a structure not able to reduce the TTD, we now study the GPS LlC subframe 2 without interleaver (considering only the irregular LDPC code). In this context, we compare the error-correcting per formance between the irregular LDPC code of GPS Ll sub frame 2 (CED allocated in the first block and the redundant data allocated in the second block) and the Root code struc tures (half of the CED and the redundant data are allocated in the first block and the other half of the CED and the /�ulorlDPC Gl'SLlCSUbfromel: ---Notohod,recelved --Alreod>/ re«lvod redundant data are allocated in the second block) consid ering the reception models as described in Figure 10. Those models consider an AWGN channel where a percentage of the codeword is not yet received (Iabelled as erasured). Then, in Figure 11 and Figure 12, the CEDER is illustrated as a function of the received percentage (%) of the code word over an AWGN channel with a C/N 0 = 25 dBHz ( Figure 11) and a C /N 0 = 30 dBHz (Figure 12), consider ing that the first or the second block bas already been received. We can notice that the Root code schemes pro vide a lower demodulation threshold with a smaller per centage of the received codeword than the irregular LDPC code of GPS LlC subframe 2. As a remarkable example ( Figure 12, C /No = 30 dBHz), the irregular LDPC code of GPS L1 subframe 2 needs more than 90% of the codeword to converge to the CEDER of 10-2 . On the other band, the regular Root code structure converges to a CEDER of 10-2 with only 81 % of the codeword. This percentage decreases to 76% of the codeword when irregular Root structures are used. These experiments show how the Root structure enables us to improve the TTD.

Effect of the interleaver
Considering the irregular LDPC code of GPS LlC subframe 2 with the block-interleaver structure of GPS LlC over the block-fading channel with n e = 2, the block interleaver does not provide full diversity. However, the block inter leaver helps to average the channel, increasing the diver sity compared to the case where no interleaving is con sidered at ail. Concerning the proposed Root structure, full diversity is only achieved when the number of fading blocks is equal to n e = 2. Otherwise, considering a block fading channel with n e > 2, the proposed Root structure does not provide full diversity with the BP algorithm. In Figures 13 and 14, CED error rates are illustrated for dif ferent code families (the irregular GPS LlC subframe 2 LDPC code, the irregular GPS LlC subframe 2 LDPC with Block Fading Channel/ R:1/2 / n c =4 100��--�--�--�--�--�-� the GPS LlC block interleaver, the regular (3,6) Root code with R = 1/2, the irregular Protograph Root code with R = 1/2, and the irregular symmetrical Protograph Root code with R = 1/2) considering ne = 4 and ne = 8. Each of the fading gains follows a normalized Rayleigh distri bution. From these Figures, we see that the block inter leaver enhances the diversity ( due to the fact that the block interleaver enables us to average the information over the fading blocks) and, consequently, the error-correction  Figures 13 and 14). However, we can do better for the root structure in the case where ne > 2 by considering, as for the GPS LlC, a strategy of a structured channel interleaving to overcome the loss of full diversity. Having a block interleaver along the entire codeword will result in roughly the same results as those for for GPS LlC. But it will also enforce us to receive the entire codeword to decode the CED, and we will lose the benefit from the Root structure for fast recovering.

CED1 CEDZ
To overcome this issue, we propose to add two indepen dent block interleavers to each of the output blocks pro vided by the Root code structure (the scheme is illustrated in Figure 15). Adding those sub-block interleavers helps to enhance the average diversity at the receiver on each part of the Root codeword, improving the error-correcting per formance and closing the gap with the performance of GPS LlC. Moreover, since each interleaver is applied indepen dently to each of the output blocks (half part of the Root codewords), the decoding scheme presented in Figure 8 can be integrated at the receiver, allowing a decoder struc ture that can reduce the ITD. To illustrate this point, Fig  ures 16 and 17 give the CEDER for the irregular GPS LlC subframe 2 LDPC code, the irregular GPS LlC subframe 2 LDPC with the GPS LlC block interleaver, the regu lar (3,6) Root code with R = 1/2 and with two indepen dent block interleavers, the irregular Protograph Root code with R = 1/2 and with two independent block interleavers and the irregular symmetrical Protograph Root code with R = 1/2 and with two independent block interleavers, considering n e = 4, and n e = 8. Each of the fading gains follows a normalized Rayleigh distribution. From these figures, we can notice an enhancement of the decoder diversity thanks to the structured block interleaver, pro viding almost the same error-correcting performance than the irregular GPS LIC subframe 2 LDPC with the GPS LIC block interleaver. The irregular GPS LIC subframe 2 LDPC with the GPS LIC block interleaver provides slightly better performance due to: (a) its block interleaver aver ages the block channel over the entire codeword, and (b) the irregularity of the underlying LDPC code gives bet ter thresholds due to a higher maximum variable node degree. By considering higher variable node degrees for the design, performance of our irregular schemes could be improved. As expected, the regular Root structure pro vides worse error-correcting performance than the irreg ular structures due to its higher demodulation threshold. Finally, we can remark that even if the proposed Root structures provide slightly worse error-correcting perfor mance over the block-fading channel with n e > 2, thanks to this structure, the decoder is able to reduce the ITD, which is the final objective of this work.

1 EVALUATION FOR STANDARD SCENARIOS
In order to compare the performance of the error correcting solutions proposed in Section 5, CEDER and the ITD are evaluated over the AWGN channel and the urban channel.

Retrieved CED error rate
We first consider an AWGN channel. This model does not include fading or interferences coming from other sources. At the receiver, after sampling, the received baseband sig nal can be written as: where Yk is the received signal, xk is the transmitted signal, and nk is the centered AWGN noise with noise variance a 2 , i.e., nk ~ .Jv(0, a 2 ).
For our performance evaluation, we assume that the entire codeword has been received. Figure 18 illustrates the CEDER in terms of C/N 0 for GPS LIC, the Galileo EIB l/NAV message, the proposed RS2 configuration of the l/NAV message, the LD-MDS codes, the sparse MDS codes, the regular Root-LDPC QC code structure, the regu lar Root-LDPC PEG code structure, the irregular Root Pro tograph code structure, and the irregular Root Protograph code with a symmetric structure.
Simulation results show that regular Root-LDPC codes obtain the best demodulation threshold compared to the Galileo EIB l/NAV message, the RS2 configuration of Galileo EIB l/NAV message, the LD-MDS codes, and sparse MDS codes with a demodulation threshold gain of 2.5 dBHz, 0.4 dBHz, 6 dBHz, and 0.9 dBHz, respec tively, for a targeted error probability of 10-2 . Moreover, an irregular Protograph Root-LDPC code and an irregular Protograph Root-LDPC code with a symmetric structure, designed using the PEXIT charts (Liva & Chiani, 2007;Ryan & Lin, 2009), are simulated. Such irregular codes reduce the demodulation threshold compared to the regu lar Root LD PC by 0.4 dBHz and achieve the same decoding performance as GPS LlC. It must be noted that thanks to the Root LDPC structure (regular or irregular), a reduction of the TTD without degrading the demodulation threshold can be achieved ( or with a negligible degradation in the case of regular Root LDPC). Note that simulation results in Figure 18 are presented without block-interleaver struc tures since no gain is achieved over the AWGN channel. Secondly, we present CEDER considering an urban envi ronment modeled using the two-state Prieto model (Prieto Cerdeira et al., 2010) for a vehicle speed of 40 km/h and an elevation angle of 40 degrees. In Figure 19, CED error rate is reported for the LMS channel as a function of the C / N 0 considering the following schemes: the lrregular LDPC code of GPS LlC subframe 2 with and without the GPS LlC block interleaver, the sparse MDS codes, the irregu lar symmetrical Protograph Root code, and the irregular symmetrical Protograph Root code with two independent block interleavers (please refer to the structure presented in Figure 15). We can see that the irregular LDPC code of GPS LlC subframe 2 using the GPS LlC block interleaver, the Irregular Root Protograph code, and the lrregular Sym metrical Root Protograph code has similar performance. Moreover, the sparse MDS code presents a gap of 1 dB with respect to the irregular LDPC code of GPS LlC subframe 2 with the GPS LlC block interleaver. From Figure 19, it can be seen that the block interleaver in the GPS LlC structure and the two block interleavers in the irregular symmetrical Protograph Root structure only provide a slight enhance ment of the error-correcting performance (0.05 dBHz and 0.2 dBHz, respectively). It shows that due to the fact that the LMS channel is a very "volatile" channel, an interleaver seerns to have a negligible effect on the decoding perfor mance.

Tiine to data (TTD)
The TTD gives an indication of the time required by the receiver to correctly retrieve the CED from the navigation message, starting from the first epoch at which the first data symbol is extracted from the receiver. The following analysis considers the following assumptions: • TOW is assumed to be known.
• The results are expressed in terrns of the TTD values.
In order to obtain the TTD values, we need to define the Probability Density Function (PDF) f (t) of the TTD. The TTD can then be obtained from the Cumulative Distribu tion Function (CDF) defined as follows: where x describes the percentage of confidence needed in order to represent the time needed by the receiver to retrieve CED. For simulations, we first evaluate 100.000 times the duration needed by one receiver to obtain the error-free CED for each of the proposed error-correcting solutions considering an AWGN channel with C/N 0 = 25 dBHz, C/N 0 = 30 dBHz, and C/N 0 = 45 dBHz. As expected, the first epoch (first synchronized bit) can arrive Simulation results in Figure 20 show that the Galileo ElB 1/NAV and the RS2 configuration of Galileo ElB 1/NAV have higher TTDs than the GPS LlC message structure. Moreover, it is shown as a reduction of more than 30% of for at least 66% of the time compared to the current GPS LlC signal and a reduction of 50% ofTTD for at least 30% of the time in case of Root-LDPC scheme (under high C/N 0 = 45 dBHz channel conditions). Those results are even bet ter in the case of LD-MDS and sparse MDS schemes, where simulations show a reduction of 50% of TTD for at least 50% of the time compared to the current GPS LlC signal. The main reason for the improvement of the TTD perfor mance is due to the MDS property. Thanks to this prop erty, under good channel conditions, the proposed error correcting schemes are able to reduce the time to retrieve the CED since not ail the data (redundant or systematic) need to be recovered to decode. Moreover, the sparse MDS and LD-MDS schemes provide better results in terms of TTD compared to the Root codes as the MDS property works for any of the four blocks of the message structure.
Since the message structure of the Root codes requires a separation of the redundant and systematic information in a maximum of two blocks in the considered cases, there is not as many degrees of freedom as for the sparse MDS or LD-MDS codes. In Table 1, we illustrate the TTD rele vant parameters for a better comparison between proposed message structures. Since the Galileo ElB I/NAV and the RS2 configura tion of Galileo ElB I/NAV have higher TTDs than the GPS LlC message structure, in the following, we compare the proposed scheme only with respect to the GPS LlC mes sage structure. In Figure 21, it is shown that the CDF of the different proposed schemes for a C /No = 30 dBHz. A decrease of the TID for at least 60% of the time compared to the current GPS LlC signal is shown for the case ofRoot codes and a decrease of TID for at least 90% of the time in the case of the LD-MDS scheme. Under this channel condition, it is shown that the sparse MDS candidate pro vides a better solution in all cases. It must also be noted that the LD-MDS solution performs worse than the sparse MDS one as the error-correcting capabilities of the sparse MDS code are higher than the error-correcting capabilities of the LD-MDS. Note also that the Protograph Root LDPC code with a symmetric structure (regular or irregular) out performs the Protograph Root code with an asymmetric structure since those codes provide unequal protection for each data block. Therefore, those codes increase the aver age TID when the Jess protected block is first received. In Table 1, we illustra te the TTD relevant parameters for a bet ter comparison between proposed message structures. In Figure 22, it is shown that the CDF of the error correcting candidate for a C /No = 25 dBHz, which can be considered as low AWGN carrier-to-noise ratio conditions. A small reduction of the TID, for almost 20% of the cases, is shown for Root codes, compared to the current GPS LlC signal. Otherwise, the same performance as the GPS LlC channel-coding scheme is reached. The reason for which the Root codes are capable of reaching the same perfor mance as the GPS LlC channel-coding scheme is due to the full diversity property, which provides to the Root codes notable error-correcting capabilities under low carrier-to noise ratio conditions. It should be noticed that irregu lar Root-LDPC protograph codes achieve the best perfor mance in terms ofTID compared to the other Root-LDPC codes, since the threshold and the error-correcting capa bilities of the codes are better. For the sparse MDS code scheme, a reduction of the TID is reached, for at least 60% of the cases, thanks to the MDS property. However, since under BP algorithm the sparse MDS code scheme does not have the full diversity property, a reduction in the error-correcting capabilities are observed and a higher TID is shown in the remaining cases. It should be noticed that the LD-MDS solution is not presented in Figure 22; this is because the LD-MDS codes do not converge for low AWGN carrier-to-noise ratio conditions due to poor error correcting capabilities. In Table 1, we illustrate the TID relevant parameters for a better comparison between pro posed message structures. In a second experiment, we evaluate 100.000 times the duration needed by one receiver to obtain the error-free CED for each of the proposed error-correcting solutions considering an urban scenario modeled through the two state Prieto model for a vehicle speed of 40 km/h and an elevation angle of 40 degrees with C/N 0 = 40 dBHz and C/N 0 = 37 dBHz. As expected, the first epoch (first syn chronized bit) can arrive at any time. Then, as it was pro posed for the AWGN channel, we initialize the first epoch value considering that the start symbol is sampled uni formly in the interval defined by the first and the last sym bol of the nominal subframe structures.
In Figure 23, we have studied the TID for an urban environment modeled through the two-state Prieto model (Prieto-Cerdeira et al., 2010) for a vehicle speed of 40 km/h and an elevation angle of 40 degrees with a C /No = 37 dBHz. We remark that the Root codes structures reduce the TID with respect to the GPS LlC subframe 2. Sparse MDS codes provide better results than other code struc tures until the 75% of the case. Then, they are performing worse than others. In Table 2, we have illustrated the TID relevant parameters for a better comparison between pro posed message structures.
Finally, in Figure 24, we give the TTD over an urban environment modeled through the two-state Prieto model (Prieto-Cerdeira et al., 2010) for a vehicle speed of 40 km/h and an elevation angle of 40 degrees with a C/N 0 = 40 dBHz. We remark that the Root code structures reduce the TID with respect to the GPS LlC subframe 2. Sparse MDS codes provide better results than other code struc tures until the 94% of the case. Then, they are performing worse than others. In Table 2, we have illustrated the TID

CONCLUSION
In this paper, four different error-correcting schemes have been proposed that enable us to jointly benefit from the navigation message structure and some advanced channel coding properties. This design approach, referred to as co-design, enables us to reduce the TID and to provide enhanced error-correction capabilities under low C/N 0 environments. In order to design such schemes, MDS and full diversity properties are required under the non-ergodic (erasure) channel assumption. Simulation results show that co-designing the message structure with LD-MDS and sparse MDS codes provides an efficient solution in order to reduce the TTD under good channel conditions thanks to the MDS property and the erasure-decoding algorithm, but Moreover, in order to improve the demodulation threshold of regular Root-LDPC codes, irregular Root-LDPC codes have been investigated and designed. In order to provide a robust structure over a more general block-fading chan nel ne > 2, it has been proposed to add two independent block interleavers to each of the output blocks provided by the Root code structure. That helps to enhance the decoder diversity and consequently the error-correction performance over the block-fading channel. Finally, we provide results over standard scenarios such as AWGN