The GOOSE (GNSS Receiver with open software interface) Software-Defined Receiver has been developed
at the Fraunhofer Institute for Integrated Circuits (IIS) in Nürnberg, Germany. The main motivation for the
development of this platform was to control the receiver at all stages, from digital signal processing to the PVT
domain, and to enable controlled feedback to the hardware. Besides having access to all raw data including
correlation values, the GOOSE receiver also enables for example tight- or ultra-tight integration with an inertial
navigation system or other dead reckoning systems, as these kinds of architectures require access to the
acquisition and tracking loops.
In this paper, the tracking performance of the GOOSE platform was evaluated and compared to a reference
receiver (Septentrio PolaRx5S). Several long data sessions were recorded on a “zero baseline” in which both
receivers used the same precise geodetic antenna that was also developed at Fraunhofer IIS. The measurements
were performed in a harsh environment (obstructions, multipath, possible interferences), as well as on a site
with an unobstructed sky view.
Quality and performance analyses were performed using raw measurements (in the domain of primary observables)
of three civil GPS signals: L1CA, L2CM, and L5. The data were processed using the “zeroEdit” module
of the TUB-NavSolutions academic software for education and research. The quality of the raw observables
and tracking performance were described by the following parameters: number of cycle slips detected, number
of un-correctable cycle slips, number of loss of locks of the signals, number of single epoch data gaps, and the
length of carrier phase arcs. The presentation is illustrated with some numerical examples.