This paper summarizes recent developments carried out to improve the Multi-Sensor Navigation Analysis Tool (MuSNAT) developed at the Universität der Bundeswehr München. A stand-alone Universal Software Radio Peripheral (USRP) from National Instruments with an embedded PC has been adapted to run MuSNAT in real-time and is characterized with the typical GNSS receiver parameters (front-end, no. of channels, power consumption). The extension to LTE (and 5G) processing as well as developments related to I/Q to intermediate frequency (IF) conversion are illustrated with the example of an multipath estimating discriminator. A C++ to MATLAB interface is introduced to allow rapid prototyping of sophisticated receiver algorithms. The interface is used for PPP processing (Galileo High Accuracy Service), LiDAR odometry, and deep GNSS/INS coupling. The performance of MuSNAT in post-processing on the most powerful desktop CPUs (AMD Threadripper) is characterized.    «

This paper summarizes recent developments carried out to improve the Multi-Sensor Navigation Analysis Tool (MuSNAT) developed at the Universität der Bundeswehr München. A stand-alone Universal Software Radio Peripheral (USRP) from National Instruments with an embedded PC has been adapted to run MuSNAT in real-time and is characterized with the typical GNSS receiver parameters (front-end, no. of channels, power consumption). The extension to LTE (and 5G) processing as well as developments related...    »