第五章GPS卫星导航原理Convertor.docVIP

5.1 伪距单点定位原理 5.2 载波相位单点定位原理 5.3 精密单点定位原理 5.1 单点定位 定义 单独利用一台接收机确定待定点在地固坐标系中绝对位置的方法 定位结果 采用广播星历时，为WGS-84下的绝对坐标 采用IGS – International GPS Service精密星历时为ITRF – International Terrestrial Reference Frames下的绝对坐标 特点 优点：单台接收机定位，观测简单，可瞬时定位 缺点：精度主要受系统性偏差的影响，定位精度低 应用领域 低精度导航、资源普查、军事、... 1- Principle of absolute positioning 2- Observation equation 3- Mathematics model (least squares adjustment) 4- Processing steps 5.1 单点定位 steps 1- Principle of absolute positioning (1/4) Only one GPS receiver is used Real time positioning Uses code measurements from GPS signal 1- Principle of absolute positioning (2/4) ?i = measured 1- Principle of absolute positioning (3/4) P (X, Y, Z) Spatial Trilateration Unknowns (parameters): X,Y,Z 1- Principle of absolute positioning (4/4) Why 4 satellites ? 2- Observation equation (1/10) Observation equation of pseudo range p = ρ + c dt - c dT + dion + dtrop + dmtp + εp p : Pseudo range observation (codes P(Y) ou C/A). r : geometric distance between the satellite position at the transmission time and the position of the receiver at the reception time c : speed of light in vacuum. dt : error of the satellite clock. dT : error of the receiver clock. dion : error of the distance due to ionospheric delay (refraction). dtrop : error of the distance due to tropospheric delay (refraction). dmtp : error of distance due to multipaths. ep :no modeled errors 2- Observation equation (2/10) Errors sources 40 km 2- Observation equation (3/10) p = ρ + c dt - c dT + dion + dtrop + dmtp + εp (Xp, Yp, Zp) Xs, Ys, Zs 2- Observation equation (4/10) p = ρ + c dt - c dT + dion + dtrop + dmtp + εp 2- Observation equation (5/10) p = ρ + c dt - c dT + dion + dtrop + dmtp + εp dT is unknown and is the 4th parameter to determine in the processing at every epoch !!! 2- Observation equation (6/10) p = ρ + c dt - c dT + dion + dtrop + dmtp + εp 2- Observation equation (7/10) p = ρ + c dt - c dT + dion + dtrop + dmtp + εp 2- Observation equation (8