and Z. Kassas, “Opportunity for accuracy,” GPS World Magazine, vol. 27, no. 3, pp. 22–29, March 2016.9 9 M. Huang and W. Xu, “Enhanced LTE TOA/OTDOA estimation with first arriving path detection,” in Proceedings of IEEE Wireless Communications and Networking Conference, April 2013, pp. 3992–3997.
10 10 J. del Peral‐Rosado, J. Parro‐Jimenez, J. Lopez‐Salcedo, G. Seco‐Granados, P. Crosta, F. Zanier, and M. Crisci, “Comparative results analysis on positioning with real LTE signals and low‐cost hardware platforms,” in Proceedings of Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing, December 2014, pp. 1–8.
11 11 M. Driusso, F. Babich, F. Knutti, M. Sabathy, and C. Marshall, “Estimation and tracking of LTE signals time of arrival in a mobile multipath environment,” in Proceedings of International Symposium on Image and Signal Processing and Analysis, September 2015, pp. 276–281.
12 12 J. Khalife, K. Shamaei, and Z. Kassas, “Navigation with cellular CDMA signals – part I: Signal modeling and software‐defined receiver design,” IEEE Transactions on Signal Processing, vol. 66, no. 8, pp. 2191–2203, April 2018.
13 13 W. Xu, M. Huang, C. Zhu, and A. Dammann, “Maximum likelihood TOA and OTDOA estimation with first arriving path detection for 3GPP LTE system,” Transactions on Emerging Telecommunications Technologies, vol. 27, no. 3, pp. 339–356, 2016.
14 14 P. Muller, J. del Peral‐Rosado, R. Piche, and G. Seco‐Granados, “Statistical trilateration with skew‐t distributed errors in LTE networks,” IEEE Transactions on Wireless Communications, vol. 15, no. 10, pp. 7114–7127, October 2016.
15 15 K. Shamaei and Z. Kassas, “LTE receiver design and multipath analysis for navigation in urban environments,” NAVIGATION, Journal of the Institute of Navigation, vol. 65, no. 4, pp. 655–675, December 2018.
16 16 C. Yang, T. Nguyen, E. Blasch, and D. Qiu, “Assessing terrestrial wireless communications and broadcast signals as signals of opportunity for positioning and navigation,” in Proceedings of ION GNSS Conference, September 2012, pp. 3814–3824.
17 17 J. del Peral‐Rosado, J. Lopez‐Salcedo, G. Seco‐Granados, F. Zanier, P. Crosta, R. Ioannides, and M. Crisci, “Software‐defined radio LTE positioning receiver towards future hybrid localization systems,” in Proceedings of International Communication Satellite Systems Conference, October 2013, pp. 14–17.
18 18 J. Khalife, K. Shamaei, and Z. Kassas, “A software‐defined receiver architecture for cellular CDMA‐based navigation,” in Proceedings of IEEE/ION Position, Location, and Navigation Symposium, April 2016, pp. 816–826.
19 19 K. Shamaei, J. Khalife, S. Bhattacharya, and Z. Kassas, “Computationally efficient receiver design for mitigating multipath for positioning with LTE signals,” in Proceedings of ION GNSS Conference, September 2017, pp. 3751–3760.
20 20 S. Kim, H. Choi, J. Park, and Y. Park, “Timing error suppression scheme for CDMA network based positioning system,” in Proceedings of IEEE/ION Position, Location and Navigation Symposium, May 2008, pp. 364–368.
21 21 J. del Peral‐Rosado, J. Lopez‐Salcedo, G. Seco‐Granados, F. Zanier, and M. Crisci, “Achievable localization accuracy of the positioning reference signal of 3GPP LTE,” in Proceedings of International Conference on Localization and GNSS, June 2012, pp. 1–6.
22 22 J. Khalife and Z. Kassas, “Characterization of sector clock biases in cellular CDMA systems,” in Proceedings of ION GNSS Conference, September 2016, pp. 2281–2285.
23 23 J. Khalife and Z. Kassas, “Modeling and analysis of sector clock bias mismatch for navigation with cellular signals,” in Proceedings of American Control Conference, May 2017, pp. 3573–3578.
24 24 J. Khalife and Z. Kassas, “Evaluation of relative clock stability in cellular networks,” in Proceedings of ION GNSS Conference, September 2017, pp. 2554–2559.
25 25 J. Khalife and Z. Kassas, “Navigation with cellular CDMA signals – part II: Performance analysis and experimental results,” IEEE Transactions on Signal Processing, vol. 66, no. 8, pp. 2204–2218, April 2018.
26 26 L. Merry, R. Faragher, and S. Schedin, “Comparison of opportunistic signals for localisation,” in Proceedings of IFAC Symposium on Intelligent Autonomous Vehicles, September 2010, pp. 109–114.
27 27 Z. Kassas and T. Humphreys, “Observability analysis of collaborative opportunistic navigation with pseudorange measurements,” IEEE Transactions on Intelligent Transportation Systems, vol. 15, no. 1, pp. 260–273, February 2014.
28 28 C. Yang and A. Soloviev, “Simultaneous localization and mapping of emitting radio sources‐SLAMERS,” in Proceedings of ION GNSS Conference, September 2015, pp. 2343–2354.
29 29 J. Morales and Z. Kassas, “Information fusion strategies for collaborative radio SLAM,” in Proceedings of IEEE/ION Position Location and Navigation Symposium, April 2018, pp. 1445–1454.
30 30 F. Boccardi, R. Heath, A. Lozano, T. Marzetta, and P. Popovski, “Five disruptive technology directions for 5G,” IEEE Communications Magazine, vol. 52, no. 2, pp. 74–80, February 2014.
31 31 M. Agiwal, A. Roy, and N. Saxena, “Next generation 5G wireless networks: A comprehensive survey,” IEEE Communications Surveys Tutorials, vol. 18, no. 3, pp. 1617–1655, February 2016.
32 32 J. Barnes, A. Chi, R. Andrew, L. Cutler, D. Healey, D. Leeson, T. McGunigal, J. Mullen, W. Smith, R. Sydnor, R. Vessot, and G. Winkler, “Characterization of frequency stability,” IEEE Transactions on Instrumentation and Measurement, vol. 20, no. 2, pp. 105–120, May 1971.
33 33 A. Thompson, J. Moran, and G. Swenson, Interferometry and Synthesis in Radio Astronomy, 2nd Ed., John Wiley & Sons, 2001.
34 34 Y. Bar‐Shalom, X. Li, and T. Kirubarajan, Estimation with Applications to Tracking and Navigation, New York: John Wiley & Sons, 2002.
35 35 R. Brown and P. Hwang, Introduction to Random Signals and Applied Kalman Filtering, 3rd Ed., John Wiley & Sons, 2002.
36 36 J. Curran, G. Lachapelle, and C. Murphy, “Digital GNSS PLL design conditioned on thermal and oscillator phase noise,” IEEE Transactions on Aerospace and Electronic Systems, vol. 48, no. 1, pp. 180–196, January 2012.
37 37 Z. Kassas, V. Ghadiok, and T. Humphreys, “Adaptive estimation of signals of opportunity,” in Proceedings of ION GNSS Conference, September 2014, pp. 1679–1689.
38 38 J. Morales and Z. Kassas, “Optimal receiver placement for collaborative mapping of signals of opportunity,” in Proceedings of ION GNSS Conference, September 2015, pp. 2362–2368.
39 39 J. Morales and Z. Kassas, “Optimal collaborative mapping of terrestrial transmitters: receiver placement and performance characterization,” IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 2, pp. 992–1007, April 2018.
40 40 Z. Kassas and T. Humphreys, “Observability and estimability of collaborative opportunistic navigation with pseudorange measurements,” in Proceedings of ION GNSS Conference, September 2012, pp. 621–630.
41 41 Z. Kassas and T. Humphreys, “Receding horizon trajectory optimization in opportunistic navigation environments,” IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no. 2, pp. 866–877, April 2015.
42 42 J. Morales and Z. Kassas,
