gps positioning
TRANSCRIPT
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1
GPS
GPS (Global Positioning System)
(Space Geodesy) GPS
(local)(regional)
(global)GPS
GPS
GPS
GPS
[1996] GPS
GPS
GPS
GPS105 617
[,1997]
()
GPS
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2
Wells et al(1986), Seeber
(1993) ,Leick(1995) Hofmann-Wellenhof et al(1997)
1
GPS NAVSTAR GPS (NAVigation Satellite with Time and Ranging Global
Positioning System)
GPS
1973
(range) GPS (signal)
(resection method)
(clock) GPS
GPS
GPS
(space segment)(control segment)(user segment)
GPS 2420,200
55 1995
4 27GPS
15
GPS L( L1 L2) 10.23 MHz L154 120
L1 L2 (L)()
L1= 1575.42 MHz = 19 cm
L2= 1227.60 MHz = 24 cm
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PRN (pseudo random noise code)
C/A (coarse acquisition)300 m
L11.023 MHzC/A(unencrypted)
P (precise)
30 m10.23 MHz,
L1 L2 P
(encrypted) Y
GPS 1
10.23 MHz
L11575.42 MHz
L2
1227.60 MHz
C/A 1.023 MHz
P 10.23 MHz
P
10.23 MHz
x1x0.1
x154
x120
50 BPS
1 GPS
GPS Colorado Springs Falcon
Colorado Springs, Hawaii, AscensionIsland, Diego Garcia Kwajalein
GPS
GPS
3
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4
[Shank et al, 1994] L
Kalman
(satellite-state estimates)
S
(broadcast ephemeris)
GPS GPS
()
GPS GPS
2 GPS
GPS
(pseudo-range)
(carrier phase)
(bias)
1% 0.1 ms P
30 cm 10 P C/A
3 m [Wells et al, 1986]
GPS
C/AP
19 cm L1
2 mm
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3
Doppler
s(t) s tr() r
rs()
5
rs s
rt( ) ( ) ( )= (1)
GPS
N(integer ambiguity)
(loss of lock)
[CCC1]: Page: 8
3-1[CCC2]: Page: 8
(cycle slip)
GPS
GPSGPS
(PR) t
(c),
PR c t r
s
r
s= ( ) (2)
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GPS T dt
d
6
r rs s
r
s
r
s
r
s
r
s
c d t dt
c t c d dt
= + += +
[( ) ( )]
( ) ( )
c T T= ( )
PR T c d dt t
(3)
(2)(3)
r
s
r
s
r
s( ) ( ) ( ( ) ( )) = (4)
()(N)
rs
r
s
r
s
r
f s
cT f d dt t N ( ) ( ) ( ( ) ( ))= + (5)
(datm)
rs
r
s
r
s
r
s
atm
f
cT f d dt t N d ( ) ( ) ( ( ) ( ))= + + (6)
(differential)
4
GPS
()
GPS
GPS
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4.1
GPS
GPS
GPS
(single point positioning)
(relative positioning)
(baseline)[Wells et al, 1986]
7
dr dbB
(7)
dr
db dr
B
(7)
GPS
(broadcast ephemeris)(precise ephemeris)
2-3 m GPS
GPS
GPS
GPS19921-2m 199410-20cm[Beutler
et al, 1994]19975-10cm[Neilan et al, 1997]
GPS (orbit improvement)[
, 1996]
4.2
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GPS
GPS
GPS GPS
(N)
8
N n= ( )1 610 (8)
n
( S)
S=10 (9)
6Nds
s
GPS
(Ionosphere)(Troposphere)
100 1000
50
(1)
GPS
(TECtotal electron content)
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0.51017 electrons/m25.01017 electrons/m2
(10)tcf
TEC=40 3
2
.
cft(group delay)
P
10 ns (nano seconds)
100 ns
(magnetic storms) 11
[Dixon,1991].
(3-10) L1 L2 GPS dt
GPS
dt t t L L= 1 2 (11)
(40.3TEC/c) A
A dt f fL L= ( )1
2
2
2
2 2
f fL L2 1 (12)
GPS
GPS
GPS
L1/L2
(ionospherically free observable)
0.5 ppm [Dodson et al, 1993]
(2)
9
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11
SA (Selective Availability) A-S
(Anti-Spoofing)
(1) SA (Selective Availability)
SA (-process)
(dithering)(-process) [Georgiadou and Doucet, 1990]
SA C/A
20 m 100 m 30 m
156 m
SA
GPS
(2) A-S (Anti-Spoofing)
A-S GPS L1 L2 P
PW Y
Y
A-SGPS P L2 GPS
A-S L2
(squaring)(cross-correlation)
(code-correlation squaring) P-W (P-W code tracking)
[Ashtech Inc, 1992].
4.4
GPS
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(mean offset)(variation)GPS
()
(pattern)
8 mm [Braun et al, 1994]
2 10 cm [Larson, 1994]
GPS ()
GPS
GPS GPS
[Schupler and Clark, 1991] GPS
( Trimble, Rogue Ashtech )
5 GPS
GPS
5.1 GPS
GPS (code
correlation technique) L1
C/A
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L1
L1 C/A
L1
P P
L1 L2
A-S L2
P L2 A-S
L2 L2
L2 L2
Magnavox Company
Y P P
L2 L2
Allen Osborne Associates Inc
WP L1 L2
L1 L2 L1
Y L2 (Y2-Y1) C/A C/A + (Y2-Y1) L2
Y1 Y2L2
Ashtech Inc P-W
P W L1 L2 W
PW
W PGPS
L1 C/A Y1 L2 Y2
L2
5.2
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GPS
a, b i(6)a
i b i
14
ai
a
i
a
i
a
i
atm
f
cT f d dt t N d ( ) ( ) ( ( ) ( ))= + + (14)
bi
b
i
b
i
b
i
atm
f
cT f d dt t N d ( ) ( ) ( ( ) ( ))= + + (15)
ab b a( ) ( ) ( )= i i i (16)
(14)(15)(16)
abi
ab ab ab
i
atm
if
cT f d N d ( ) ( ) ( )= + + (17)
(17)(14)
dt
a, b i, j
abij
ab
ij
ab
ij
atm
f
cT N d( ) ( )= + + (18)
d(1 2)
ijabij
ab atm
f
cT d( ) ( )12 12= + (19)
(19)
10 km
L1
10 km L1/L2
L1 L2
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a Y a Z a
b Y
ij
b Z
ij
b N
ij
ab
ij
ab
ij
ab
ij
t
a a a
b b b ab
ab
ij
t X t Y t Z
t X t Y t Z t N
t t V
( ) ( ) ( )
( ) ( ) ( ) ( )
[ ( ) ( ) ]( )
Xij ij ij
X
ij
+ + +
+ + +
= +0 (24a)
()
X
ij ab
ij j
a
i
a
Y
ij
Z
ij
a
a
t t f X t X X t X
( )( )
[( ( ) ) ( ( ) )
]= =
+ 0 0
a a
j
a
i
ab
ij
a
j
a
a
j
i
a
a
i
ab
ij
a
j
a
a
j
i
a
a
i
a X c t t
t t
Y
f
c
Y t Y
t
Y t Y
t
t t
Z
f
c
Z t Z
t
Z t Z
t
( ) ( )
( )( )
[( ( ) )
( )
( ( ) )
( )]
( )( )
[( ( ) )
( )
( ( ) )
( )]
= =
+
= =
+
0 0
0
0
0
0
0
0
0
0
(24b)
X
ij abij
b
jb
b
j
ib
b
i
Y
ij
Z
ij
b
b
b
t t
X
f
c
X t X
t
X t X
t( )
( )[
( ( ) )
( )
( ( ) )
( )]= = +
0
0
0
0
ab
ij
b
j
b
b
j
i
b
b
i
ab
ij
b
j
b
b
j
i
b
b
i
t t
Y
f
c
Y t Y
t
Y t Y
t
t t
Z
f
c
Z t Z
t
Z t Z
t
( )( )
[( ( ) )
( )
( ( ) )
( )]
( )( )
[( ( ) )
( )
( ( ) )
( )]
= =
+
= =
+
0
0
0
0
0
0
0
0
(24c)
N
ij ab
ij
ab
ijabt
t
N( )
( )= = 1
A
t t t
t t t
t t t
t t t
t t t
t t
X
ij
Y
ij
Z
ij
X
ik
Y
ik
Z
ik
Xil Yil Zil
X
ij
Y
ij
Z
ij
X
ik
Y
ik
Z
ik
X
il
Y
il
Z
il
b b b
b b b
b b b
b b b
b b b
b b b
=
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )( ) ( ) ( )
( ) ( ) ( )
( ) ( )
1 1 1
1 1 1
1 1 1
2 2 2
2 2 2
2 2
1 0 0
0 1 0
0 0 1
( )t2
1 0 0
0 1 0
0 0 1
(24d)
( a)
(24a)
(i, j, k, l)(t1, t2)
(25a)
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X
L
t tabij
ab
ij
=
( ) ( )1 10
(25b)
X
Y
Z
N
N
N
b
b
b
ab
ij
ab
ik
ab
il
=
(25c)
t t
t t
t t
t t
t t
ab
ik
ab
ik
ab
il
ab
il
ab
ij
ab
ij
ab
ik
ab
ik
ab
il
ab
il
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
1 1
0
1 1
0
2 2
0
2 2
0
2 2
0
GPS
6
(topography)(geoid)
(ellipsoid)
6.1 GPS WGS84
GPS
WGS84World Geodetic System, 1984WGS84
Z BIHBureau International de lHeureConventional Terrestrial Pole, CTPXBIH
CTPY
X [Defense Mapping
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ITRF
ITRF ITRF94 ABC
1993.00 ITRF94
VLBISLRDORIS GPS ITRF94
[Boucher et al, 1996]
SLR GPS
VLBISLR GPS
ITRF92 1988.0
NNR-NUVEL1A
ITRF GPS 1992 IGS(International GPS Service for
Geodynamics)ITRF IGS
GPS IGS ITRF
GPS[Boucher and Altamimi, 1996]GPS
GPS
ITRF
6.3 GPS
(orthometric height)
(mean sea level,MSL)
(geopotential number)
[Heiskanen and Moritz, 1984]
19
W gdH H
= = 0 0 C W (26)
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heighting)GPS
GPSGPS
GPS
[Zilkoski et al,
1992]
GPS GPS
21
H h N= (29)
H H h h N N2 1 2 1 2 1( ) = ( ) (30) h GPSN
N
H[Rapp and
Balasubramania, 1992]
GPS
GPS
GPS
7 GPS IGS
GPS
GPS
Epoch'92 IGS (International GPS
Service for Geodynamics) 1992GPS
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[Beutler,
1993] IAG (International Association of Geodesy)
IGS 1994 1 1GPS
IGS
()(
)(
) (
)[Mueller, 1991]
IGS 150 GPS
IGS GPS (
)IGS GPS
IGS1-2 m
5-10 cm IGS
ITRF ITRF IERS GPS
ITRF
8
1967 (Geodetic Reference System 1967GRS67)
,
GPS
GPS
WGS84
GPS
GPS
IERS
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ITRF
[IERS, 1996]
GRS80
GPS ITRF
GPS
GPS105 617
[,1997]
GPS
GPS
GPS
1.
GPS
2. GPS
3.
4.
GPS
5.
6. GPS
7. GPS
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GPS
1. 8 GPS 105 617
2. GPS
3. ITRF94 (1994)
1997TWD97 (Taiwan Datum
1997)
4. GRS80 (1980
)
5. 2 121E
119E
2TMNE