% !TEX encoding = UTF-8 Unicode
% !TEX TS-program = lualatex
% !BIB TS-program = biber

%%%%%%% The above first line is used to auto-configure those LaTeX
%%%%%%% friendly editors, such as TeXShop, TeXworks, TeXstudio 
%%%%%%% so as to use the UTF-8 encoding for editing the source
%%%%%%% files and to save them.

%%%%%%% For the same editors the second line specifies which 
%%%%%%% typesetting engine is to be used when hitting the editor's
%%%%%%% button that launches the typesetting job.
%%%%%%% You can chose between pdflatex, lualatex or xelatex; in general
%%%%%%% it is better to avoid using xelatex and to prefer lualatex.

%%%%%%% If and only if you want to produce an archivable document
%%%%%%% according to the ISO regulation 19005:2005-1b add the
%%%%%%% following code before the statement \documentclass, and
%%%%%%% adapt its contents to your particular thesis.

\begin{filecontents*}{\jobname.xmpdata}
\Author{Neil Gogoi}
\Title{Robust Low-Cost Navigation Solutions for Service Robotics}
\Subject{Doctoral dissertations in the SCUDO doctoral school}
\Keywords{PDF\sep
          PDF/A\sep
          ISO 19005\sep
          LaTeX\sep
          PhD Thesis\sep
          Engineering\sep
          SCUDO}
\Publisher{Politecnico di Torino}
\end{filecontents*}


\documentclass[%
   12pt,
   twoside,
   tipotesi=scudo,
   numerazioneromana,
   ]{toptesi}
 
%%%% Use the following package if and only if you want to produce
%%%% an archivable document according to standard PDF/A-1b
%%%% No need to load package imakeidx, because it has already been
%%%% loaded by the specific module toptesi-scudo.
\usepackage[a-1b]{pdfx}
%%%%%% Read the English documentation of TOPtesi in order to check
%%%%%% the special attention needed to produce ISO compliant
%%%%%% archivable files

%%%%

\ifPDFTeX
    \usepackage[utf8]{inputenc}% 
    \usepackage[T1]{fontenc}
\fi

\errorcontextlines=9% more information on the console in case of errors

%%%% Specify fonts here; chose one among these fonts by leaving just
%%%% one line without initial comment character.
%%%% With LuaLaTeX or XeLaTeX don't change fonts
\ifPDFTeX % using pdflatex
    \usepackage{lmodern} % Default
    %\usepackage{newtxtext,newtxmath}% Times eXtended for text and math
    %\usepackage{fourier}% Utopia, Helvetica and "monospace = ?"

\else % using lualatex (or xelatex}
    \usepackage{fontspec}
    \defaultfontfeatures{Ligatures=TeX}
    \setmainfont{Libertinus Serif}
    \setsansfont{Libertinus Sans}
    \setmonofont{Libertinus Mono}[Scale=MatchLowercase]
    \usepackage{unicode-math}% add special math stile option here
                             % for example [style=ISO]
% chose one math font by commenting the line of the undesired font
    \setmathfont{XITS Math}
\fi

\makeindex[intoc]% collect material to index

%\usepackage{kantlipsum} % to produce dummy text



\usepackage{xcolor}
\usepackage[acronym]{glossaries}
% abbreviations:
%\newacronym{ny}{NY}{New York}
\usepackage{acronym}
%\usepackage{mathtools,amssymb}
\usepackage{graphicx}
\usepackage{subcaption}
\usepackage{float}
\usepackage{mathtools}
%\usepackage{glossaries}
\usepackage[section]{placeins}
%\usepackage{cite}
\usepackage{amsmath,amsfonts}
\usepackage{algorithmic}
\usepackage{textcomp}
\usepackage{multirow}
\usepackage{booktabs,caption}
\usepackage{ragged2e}
\usepackage{lipsum}
\usepackage{lineno}
\usepackage{xcolor}
\usepackage[normalem]{ulem}
\usepackage{nicefrac}
\usepackage{dblfloatfix}
\usepackage{bm}
\usepackage{upgreek}
\usepackage{textcomp}
\usepackage{booktabs}

\DeclareMathOperator*{\argmax}{arg\,max}
\DeclareMathOperator*{\argmin}{arg\,min}
\DeclareMathOperator*{\sign}{sign}
\DeclareMathOperator*{\bigO}{O}
\DeclareMathOperator*{\sinc}{sinc}
\DeclareMathOperator*{\marcumq}{Q_{K}}
\DeclareMathOperator*{\sgn}{sgn}
%\usepackage[backend=biber,sorting=none]{biblatex}
%\addbibresource{references.bib}
\DeclareRefcontext{testrc}{sorting=none}


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% This is to be loaded as the end of the preamble if one wants
% to use hyperlinks and/or urs to be typed within the thesis,
% except that after loading hyperref very few commands may be
% issued. One is the \includeonly command with its list of files;
% other packages may be loaded after hyperref, only if their
% documentation says so; some of these packages, but they are
% not the only ones, involve Right to left languages or other
% oriental languages.
%
% Distinguish the hyperref call from the hyperref setup so as
% to avoid option clashes with other packages that may invoke 
% hyperref with different options.

\unless\ifcsname ver@hyperref.sty\endcsname\usepackage{hyperref}\fi
\hypersetup{%
    pdfpagemode={UseOutlines},
    bookmarksopen,
    pdfstartview={FitH},
    colorlinks,
    linkcolor={blue},
    citecolor={blue},
    urlcolor={blue}
  }
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%% The \includeonly argument should preferably written with
%%%% one name per line, so that by commenting or uncommenting
%%%% some lines a selective compilation may be executed.
\includeonly{%
Chapter1/chapter1,%
Chapter2/chapter2,%
Chapter3/chapter3,%
Chapter4/chapter4,%
Chapter5/chapter5,%
Chapter6/chapter6,%
Chapter7/chapter7,%
Chapter8/chapter8,%
Chapter9/chapter9,%
%Appendix1/appendix1,% maybe include the spoofer details?
%Appendix2/appendix2,% 
}


\ifPDFTeX \usepackage{indentfirst}\fi
\raggedbottom
\begin{document}


% The contents of this ThesisTitlePage environment may be written
% in a configuration file named exactly the same as the thesis main
% file, but with extension .cfg. If similar commands with different
% data are written within this environment, such data prevail on
% those read from the configuration file.
\begin{ThesisTitlePage}
% Use the optional command to set a different School logo
% Its is possible to used this command several times; each time
% a new different  Institution logo  may be added. In general
% just the ScuDo logo is sufficient; for dissertations made in
% cooperation with the University of Turin, its logo may be added
% with a second instance of the \PhGschoolLog statement. With
% dissertations supported by the INRiM, this institution logo may
% be added. Such logos (in PDF format) may be obtained from the
% ScuDo web server.
\PhDschoolLogo{Logo-ScuDo-blu} % just the ScuDo logo
%\PhDschoolLogo{Logo-ScuDo-blu,Logo-INRIM} %for dissertations made in cooperation with INRIM
%\PhDschoolLogo{Logo-ScuDo-blu,Logo-INFN} %for dissertations made in cooperation with INFN
%\PhDschoolLogo{Logo-ScuDo-blu,Logo-UniTo} %for dissertations made in cooperation with the University of Turin
% Doctorate course name; mandatory
\ProgramName{Electrical, Electronics and Communication Engineering}
% Cycle ordinal number; optional.
% You can write 29.th, or 29\ap{th}, or 29\textsuperscript{th}, or ...
\CycleNumber{33.rd}
% PhD candidate name; mandatory
\author{Neil Gogoi}
% Dissertation title; mandatory
\title{Robust Low-Cost Navigation Solutions for Service Robotics}
% Dissertation subtitle: optional.
% It might be useful only if the actual full title is too long.
%%\subtitle{This document is an example of what you can do\\with~the~TOPtesi class}
% The supervisor(s) label; optional; default value "Supervisor:".
% You can change it to plural as in this example, where the colon has
% been eliminated.
%\NSupervisor{Supervisor}{Supervisors}
%
% The SupervisorNumber may contain a value such as 0, 1, or any
% number higher than 1. If 0 is specified, no label is typeset
% over the supervisor(s) list; if 1 is specified then the singular
% form is used: if any value higher than 1 is specified, the plural
% form is used.
\SupervisorNumber{1}
% List of supervisors with academic title, name(s), surname(s),
% and function; mandatory
\SupervisorList{%
    Prof. Fabio Dovis}
% Name of the examining committee: optional. 
% Default value "Doctoral Examination Committee"
%\Nexaminationcommittee{Doctoral examination committee}
% List of the  examining committee members: mandatory if the above label
% is not empty.
\ExaminerList{%
Dr. Marco Pini,\textit{Referee}, LINKS Foundation\\
Dr. Calogero Cristodaro, \textit{Referee}, Thales Alenia Space\\
Prof. Paolo Giaccone, \textit{Committee President}, Politecnico di Torino\\
Prof. Marcello Chiaberge, Politecnico di Torino\\
Prof. Marco Piras, Politecnico di Torino\\
}
%Prof.~E.F., University of \dots\\
%Prof.~G.H., University of \dots\\
%Prof.~I.J., University of \dots}
% Name of the institution where the examination takes place; optional.
% Default value: "Politecnico di Torino"
%\Nlocation{Politecnico di Torino}
% Examination date: mandatory, although the way to write it is free.
\ExaminationDate{2021}
% Disclaimer with signature; optional. Default text as
% in the following lines. 
\Disclaimer{%
\noindent I hereby declare that, the contents and organisation of this dissertation constitute my own original work and does not compromise in any way the rights of third parties, including those relating to the security of personal data.	
}
%\Signature{%
%\begin{flushright}
%\parbox{0.5\textwidth}{\centering
%\dotfill\\
%Mario Rossi\\
%Turin, February 29, 2123
%}
%\end{flushright}}
\end{ThesisTitlePage}
%%%%%%%%%%%%%%%% Everything else necessary in the thesis title
%%%%%%%%%%%%%%%% page and in the copyright page is supplied by
%%%%%%%%%%%%%%%% the default values.
%%%%%%%%%%%%%%%% If you enter an explicit disclaimer, you can
%%%%%%%%%%%%%%%% typeset other material before the disclaimer
%%%%%%%%%%%%%%%% formula; use the necessary spacing on order
%%%%%%%%%%%%%%%% to separate the formula from other text. 
%%%%%%%%%%%%%%%% 
%%%%%%%%%%%%%%%% For example you might want to write the formula
%%%%%%%%%%%%%%%% for a particular licence, provided the licence 
%%%%%%%%%%%%%%%% allows Open access; not necessarily all uses
%%%%%%%%%%%%%%%% of the thesis should be allowed, but the minimum
%%%%%%%%%%%%%%%% is the reading access.

%%%%%%%%%%%%%%%% The next two lines are metadata for a normal PDF file.
%%%%%%%%%%%%%%%% For ISO archivable PDF/A-1b metadata, they must
%%%%%%%%%%%%%%%% be entered only in the form used in the file
%%%%%%%%%%%%%%%% named in the filecontents* environment as shown
%%%%%%%%%%%%%%%% at the beginning of this file.

%\subject{How to typeset a doctoral thesis suitable for defence in almost any country and university.}
%\keywords{{pdfLaTeX} {LuaLaTeX} {XeLaTeX} {PhD doctoral programs} {PhD dissertation} {Politecnico di Torino}} 

%%%%% SUMMARY %%%%%
\summary%\sommario
%\textcolor{red}{This is where you write your abstract \dots\ (Maximum 4000 characters, i.e. maximum two pages in normal sized font, typeset with the thesis layout). 
%The abstract environment is also available, but  \texttt{\string\summary} is preferred because it generates an un-numbered chapter. The abstract environment is more suitable for articles and two column typesetting without a separate title page.}

\par Service robotics is becoming a reality in many aspects of daily life due to the successful merger of several enabling technologies from the fields of Information and Communication Technologies. The growing availability of mass market products is also driving innovation towards automation in several civil and scientific areas. The faster growth of the professional service robotics market the past half decade over industrial robotics is testament to the tremendous potential and impact envisioned of it in the upcoming years. To support such a new generation of service robots and vehicles, navigation capabilities play a fundamental role, whether be it in mission planning or on-field activities. Global Navigation Satellite Systems (GNSS)  forms the navigational core in most outdoor applications and advancement in GNSS receivers in terms of complexity, processing capacity and cost adds to the capabilities of service robotics. However, development of GNSS algorithms in the context of Service Robotics specifically has been lacking, often solving problems through other sensors and technologies. GNSS positioning in harsh environments remain a challenge and the threat of RF GNSS interference has not been addressed in this field.
\par In this context, this thesis aims to maximise the input of GNSS technology in Service Robotics, developing robust and low cost GNSS receiver based solutions through available technological paradigms. Recent developments of ultra-low cost embedded GNSS smartphones provides this impetus to research into low cost navigation solutions. Modern smartphones also come with an advantage of having an ubiquitous network infrastructure with ease of developing interconnected applications and integrated proprioceptive and exteroceptive sensors, making it simpler to replicate automated unmanned ground vehicle and/or unmanned aerial vehicular networks of service robotics. Further, with the release of GNSS raw measurements in Android smartphones since Android 7, the opportunity of implementing collaborative solutions based on raw pseudorange processing for positioning and navigation is attractive in ready-to-network devices like smart-phones also considering the computational power of the current hardware setups.
\par The availability of GNSS raw measurements in Android smartphones allows in principle to improve the quality of GNSS-based positioning, by applying customized and advanced positioning algorithms. However, the quality of such measurements is poor, mainly because of the low quality of smartphones hardware components and the non-ideal environment in which phones are typically used. To overcome this problem and to separate the contribution of the hardware components and signals quality, dedicated test campaigns were carried out in a real environment and in a controlled environment anechoic chamber using different Android models. In addition, signal processing techniques aimed at increasing accuracy and precision of the solution were employed.
\par Cooperation between GNSS receivers is first explored through relative positioning via an iterative Least Squares approach, in order to detect fast changes in position and velocity of a GNSS receiver. Displacements and deformation phenomena are analyzed considering a single difference approach also differenced in time. Exchange of raw GNSS measurements are also applied on Android smartphones to retrieve the relative range between two such phones based on a collaborative technique. Additionally, a framework for the exchange of data between smartphones is provided, allowing the application of such a computationally-efficient ranging methodology in a network of low cost GNSS mobile devices. This work is further extended into a low-cost navigation strategy for a UGV-UAV paradigm by including the relative range in position computation.
\par Any interference threat to a GNSS receiver could have cascading effects at application levels and for interconnected systems. As a vulnerability assessment, experimental interference tests are performed on the navigational units of commercial UAVs and Android smartphones. Comparisons are seen between the two different GNSS receiver grade based units and possible metrics are identified to build a defense to such interferences. Finally, the potential aid to such a defense through Cooperative Positioning (CP) techniques in connected GNSS receiver networks is discussed.

\emptypage %  it works even without the classica option
%%%%% ACKNOWLEDGEMENTS %%%%%
\acknowledgements% or \ringraziamenti
%\textcolor{red}{And I would like to acknowledge \dots}
%\textcolor{red}{Acknowledgements are mandatory when people outside the academic institution supported the development of the research that was performed in order to reach the conclusion of the doctorate program.}

\par I would like to express my heartfelt gratitude to my supervisor and advisor, Prof. Fabio Dovis for his endless support during my PhD tenure. His passion towards scientific knowledge and research is truly inspiring, but his kindness and understanding are what pushed me through to finish this thesis. Thank you for believing in me, giving me the opportunities to succeed both professionally and personally. I thank PIC4SeR for giving me the opportunity to do this PhD and supporting my work throughout. Prof. Marcello Chiaberge has been always the guiding presence at all my activities at PIC4SeR and Gianluca Dara has been available for help any time I needed support. I would like to thank Caner and Wenjian for being the best possible peers I could hope for and we have shared many struggles and achievements together. Thank you Caner for also being one of the kindest person I have ever known. I would like to thank Alex Minetto for his utmost passion and dedication, not only in research but also in helping the people around him. I have gained massively through his guidance and advice. Nicola Linty was an inspiration to work with during my early years and seeing his endless knowledge and passion helped shaped my journey forward. I would also like the thank all the people at LINKS foundation for their knowledge and support any time I needed it during my PhD. I would like to thank my father, Pabitra for being an inspiration throughout my life and being the best father a son could hope for. I can never live up to your achievements as a person but I will try my best and I hope this work makes you proud. I thank my mother, Runumi for being the guiding hand throughout my life and making me laugh even through tough times. I thank my sister, Sukanya for being a wonderful human being. You’ve been my sparring partner in my life, helping me grow and always supported me no matter what. I thank my cousin, Shiladitya for being the big brother to me through my life. Last but not the least, I thank my friends for being the absolute positioning system in my life. Shaalivahan, Hiren, Shashwat and Ankit, you have helped me at a time where I thought I was beyond help.




%\begin{dedication}
%\textit{I would like to dedicate this thesis to my loving parents} 
%{\normalsize 
%The dedication very seldom is a proper thing to do; in some countries it is very common, while in other countries it is done for imitation of other people habits. 
%The sentence used above clearly is an example of something very common, but it is  useless. Of course we all love our beloved parents, but it is not necessary to ``engrave it in stone''.
%\par}
%\end{dedication}
%\end{dedica}

%%%%%%%%% Unless you want these two lists, comment the following line
\tablespagetrue\figurespagetrue % 

%%%%%%%%% Table of contents and optionally the tables and figures lists
\allcontents

\chapter*{List of Acronyms}
\addcontentsline{}{chapter}{List of Acronyms}
\begin{acronym}[GLONASS]
\acro{ADC}{Analog-to-Digital Converter}
\acro{ADR}{Accumulated Delta Range} 
\acro{AGC}{Automatic Gain Control}
\acro{AI}{Artificial Intelligence}
\acro{AltBOC}{Alternative Binary Offset Carrier}
\acro{AWGN}{Additive White Gaussian Noise}
\acro{BOC}{Binary Offset Carrier}
\acro{BPSK}{Binary Phase Shift Keying}
\acro{C/A}{Coarse/Acquisition}
\acro{CAF}{Cross Ambiguity Function}
\acro{CAPS-Loc}{Cooperative Android Positioning System for Localisation}
\acro{CBOC}{Composite Binary Offset Carrier}
\acro{CDF}{Cumulative Density Function}
\acro{CDMA}{Code Division Multiple Access}
\acro{COTS}{Commercial off-the-shelf}
\acro{CP}{Cooperative Positioning}
\acro{$C/N_0$}{Signal Carrier-to-Noise Density Power Ratio}
\acro{DCM}{Direction Cosine Matrix}
\acro{DGNSS}{Differential GNSS}
\acro{EC}{European Commission}
\acro{ECEF}{Earth Centered Earth Fixed}
\acro{EKF}{Extended Kalman Filter}
\acro{ELE}{Early-minus-Late Envelope}
\acro{ELP}{Early-minus-Late Power}
\acro{ENU}{East-North-Up}
\acro{ESA}{European Space Agency}
\acro{FDMA}{Frequency Division Multiple Access}
\acro{FLL}{Frequency Lock Loop}
\acro{GEO}{Geostationary Earth Orbit}
\acro{GISM}{Global Ionospheric Scintillation Model}
\acro{GLONASS}{GLObal NAvigation Satellite System}
\acro{GNSS}{Global Navigation Satellite System}
\acro{GPP}{General Purpose Processor}
\acro{GPS}{Global Positioning System}
\acro{GSA}{European GNSS Agency}
\acro{H-WLS}{Hybrid Weighted Least Square}
\acro{HPF}{High Pass Filter}
\acro{ICD}{Interface Control Document}
\acro{IF}{Intermediate Frequency}
\acro{IGSO}{Inclined Geo-Synchronous Orbits}
\acro{IMU}{Inertial Measurement Unit}
\acro{IRI}{International Reference Ionosphere}
\acro{KF}{Kalman Filter}
\acro{LBS}{Location Based Services}
\acro{LLA}{Latitude, Longitude, Altitude}
\acro{LOS}{Line-Of-Sight}
\acro{LNA}{Low Noise Amplifier}
\acro{LO}{Local Oscillator}
\acro{LSSVM}{Least Squares Support Vector Machines}
\acro{MEO}{Medium Earth Orbits}
\acro{MLE}{Maximum Likelihood Estimation}
\acro{MMT}{Multipath Mitigation Technology}
\acro{MPS}{Multiple Phase Screen}
\acro{NCO}{Numerically Controlled Oscillator}
\acro{NED}{North-East-Down}
\acro{NIC}{Network Interface Card}
\acro{NLOS}{Non-Line-Of-Sight} 
\acro{OS}{Open Service}
\acro{PCA}{Principal Component Analysis}
\acro{PDF}{Probability Density Function}
\acro{PE}{Parabolic Equation}
\acro{PLL}{Phase Lock Loop}
\acro{PoC}{Proof Of Concept}
\acro{PPP}{Precise Point Positioning}
\acro{PRN}{Pseudo-Random Noise}
\acro{PSD}{Power Spectral Density}
\acro{PSK}{Phase Shift Keying}
\acro{PVT}{Position, Velocity and Time}
\acro{QMBOC}{Quadrature Multiplexed Binary Offset Carrier}
\acro{QPSK}{Quadrature Phase Shift Keying}
\acro{RAIM}{Receiver Autonomous Integrity Monitoring}
\acro{RF}{Radio Frequency}
\acro{RFE}{Radio Front-End}
\acro{RFI}{Radio-Frequency Interference}
\acro{RMS}{Root Mean Square}
\acro{ROC}{Receiver Operating Characteristics}
\acro{RSS}{Root Sum Squared}
\acro{RTK}{Real Time Kinematic}
\acro{SBAS}{Space Based Augmentation System}
\acro{SDR}{Software Defined Radio}
\acro{SNR}{Signal-to-Noise Ratio}
\acro{SV}{Satellite Vehicle}
\acro{ToA}{Time of Arrival}
\acro{TOW}{Time of Week}
\acro{TTF}{Time-to-First-Fix}
\acro{UAV}{Unmanned Aerial Vehicle}
\acro{UGV}{Unmanned Ground Vehicle}
\acro{UERE}{User Equivalent Range Error}
\acro{USRP}{Universal Software Radio Peripheral}
\acro{UHF}{Ultra High Frequency}
\acro{UTC}{Universal Time Coordinated}
\acro{UTM}{Universal Transverse Mercator}
\acro{VHF}{Very High Frequency}
\acro{WLS}{Weighted Least Squares}
\end{acronym}

\mainmatter %all the above is front matter; here begins the main matter

\include{Chapter1/chapter1}
\include{Chapter2/chapter2}
\include{Chapter3/chapter3}
\include{Chapter4/chapter4}
\include{Chapter5/chapter5}
\include{Chapter6/chapter6}
\include{Chapter7/chapter7}
\include{Chapter8/chapter8}
\include{Chapter9/chapter9}
% Numbered appendices remain in the main matter...
%\appendix
%\include{Appendix1/appendix1}
%\include{Appendix2/appendix2}
\backmatter% here begins the back matter
% ... otherwise a single appendix may stay here
% \include{Appendix0/appendix0}

% Do not use this command if you did not prepare a nomenclature
% database by means od the suitable \nomenclature command and its
% arguments, as we did in chapter 2 of this example thesis.
\printnomencl

% In this example we use \nocite{*} in order to typeset the whole
% contents of the bibliographic database. Normally this is not
% necessary and it's better to let biber extract from the database
% only the cited works
\nocite{*}
\newrefcontext{testrc}
\printbibliography[heading=bibintoc]


% Do not use this command if you did not set the \makeindex switch
% in the preamble.

\printindex

\end{document}

