gps.pdf

Id GPS-X-02007-C

/

11. 2001 Jean-Marie Zogg

A 1. 2006 Jean-Marie Zogg : SBAS (WAAS, EGNOS) GPS GALILEO GPS AGPS DOP UTM- DGPS- GPS

B 27. 2007 TG :

C 26. 2007 TG : GPS () DGPS DGPS GNSS

, . , !

, , www.u-blox.com , , . u-blox , . u-blox , . , , . u-blox , , . u-blox , . u-blox , - . u-blox , . u-blox, u-blox , TIM- GPS , Antaris, SuperSense, "your position is our focus", NavLox, u-center, AssistNow, AlmanacPlus, FixNow EKF u-blox AG. . , u-blox . Copyright 2007, u-blox AG. GPS-X-02007-C

.

u-blox AG

Zuercherstrasse 68

CH-8800 Thalwil

Switzerland

Phone: +41 44 722 74 44

Fax: +41 44 722 74 47

E-mail: [email protected]

www.u-blox.com

North, Central and South America

u-blox America, Inc.

1902 Campus Commons Drive

Suite 310

Reston, VA 20191 USA

Phone: +1 (703) 483 3180

Fax: +1 (703) 483 3179


Regional Office West Coast:

8600 Lemon Ave #1

La Mesa, CA 91941

USA

Phone: +1 (619) 741 3011

Fax: +1 (619) 741 4334


Technical Support:

Phone: +1 (703) 483 3185 E-mail: [email protected]

Europe, Middle East, Africa

u-blox AG

Zuercherstrasse 68

CH-8800 Thalwil

Switzerland

Phone: +41 44 722 74 77

Fax: +41 44 722 74 47


Technical Support:

Phone: +41 44 722 74 74 E-mail: [email protected]

Asia, Australia, Pacific

u-blox Singapore Pte. Ltd.

435 Orchard Road

#19-02, Wisma Atria,

Singapore 238877

Phone: +65 6734 3811

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Support: [email protected]

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Room 716-718

No. 65 Fuxing Road

Beijing, 100036, China

Phone: +86 10 68 133 545

Fax: +86 10 68 217 890



Regional Office Korea:

1258 Ho, Shinhan MetroKhan

#1115, BisanDong

DongAn-Ku

Anyang-si KyungKi-do,

Korea

Phone: +82 31 383 2584

Fax: +82 31 386 2584



Regional Office Taiwan:

Room 305

3F, #181, ZouTze Street

Neihu Dis. Taipei,

Taiwan

Phone: +886 2 2657 1090 Fax: +886 2 2657 1097 E-mail: [email protected]: [email protected]

GPS-X-02007-C

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GPS-X-02007-C

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Jean-Marie Zogg_ October 2001 2006

(*): 1990, 5 10 !

GPS-X-02007-C

.3

.4

...........................................................................................5

6

..10

1 ...............................................................12 1.1 ......................................................................12

1.1.1 ....................................................................13 1.1.2 ............................................................................................15 1.1.3 .....................................................................................................16 1.1.4 ...............................................................17

2 GNSS : GPS ......................................................................18 2.1 .........................................................................................................18 2.2 ..19

2.2.1 ..........................................................................19 2.2.2 GPS .22 2.2.3 ........................................................................................24

2.3 ...27 2.4 ...........................................................................................................27 2.5 GPS ..31

2.5.1 ..31 2.5.2 ..............................................................................31 2.5.3 ..............................................................................................32 2.5.4 TLM HOW.....................................................................................................................32 2.5.5 25 ....................................................................................................32 2.5.6 ......................................................................32

2.6 GPS..34 2.6.1 , BOC....................................................................................34 2.6.2 GPS..36

3 GLONASS GALILEO.......................................................................................37 3.1 .............................................................................................................................37

GPS-X-02007-C

3.2 : GLONASS............................................................................................ 38 3.2.1 GLONASS.......................................................................................................... 38

3.3 GALILEO............................................................................................................................ 39

3.3.1 ...........................................................................................................................39 3.3.2 GALILEO.......................................................................................... 40 3.3.3 ......................................................................................................................42 3.3.4 GALILEO ..................................................................................................... 43 3.3.5 GNSS ................................................................ 47

4 .....................................................................................48 4.1 .......................................................................................................................... 48 4.2 .48

4.2.1 ( )................. 48 4.2.2 .............................................................................................. 50 4.2.3 ...................................................................................................... 52 4.2.4 ............................................................................................................................ 52 4.2.5 DOP....................................................................................................53

5 .................................................................................57 5.1 .......................................................................................................................... 57 5.2 ............................................................................................................................. 57 5.3 ...58

5.3.1 ................................................................................................................... 58 5.3.2 .....................................................59 5.3.3 ................................................................................. 60 5.3.4 WGS- 84...........................................................................60 5.3.5 .................................... 61 5.3.6 ......................................................................... 62

5.4 , ..................................................................... 63 5.4.1 Gauss-Krger (Transversal Mercator Projection)................................................. 64 5.4.2 UTM ...64 5.4.3 (Conformal Double Projection).............................................. 66 5.4.4 ................................................................................ 67

6 GPS: DGPS, SBAS, A-GPS HSGPS...............................68 6.1 .......................................................................................................................... 68 6.2 GPS68 6.3 ..............................................................................70

6.3.1 DGPS, ...................... 71 6.3.2 DGPS, ............................................................. 73

GPS-X-02007-C

6.3.3 DGPS - ( )............................ 73 6.3.4 ..........................................................................................74 6.3.5 DGPS .......................................75 6.3.6 ................................................................ 75 6.3.7 ........................................................................... 76

6.4 DGPS ................................................... 77 6.4.1 GBAS ...77 6.4.2 GBAS .......................................................................................... 77

6.5 DGPS (WADGPS)...................................................................................... 78 6.5.1 , SBAS (WAAS, EGNOS)....................................... 78 6.5.2 DGPS RTCM SC- 104...........................................81

6.6 DGPS SBAS...................................................................................82 6.7 -GPS (A- GPS)...........................................................................................82

6.7.1 A- GPS............................................................................................................82 6.7.2 A-GPS (Real-time A- GPS).........................................84 6.7.3 A-GPS ( )................................ 84 6.7.4 ............................................................................................................. 84

6.8 GPS (HSGPS).................................................................................. 85 6.8.1 ........................................................... 85 6.8.2 ...................................................................................................................... 85 6.8.3 ............................................................................................................... 85 6.8.4 ..................................................................................86

6.9 GNSS- ................................................................... 87 6.10 .................................................................. 87

7 ............................................88 7.1 .......................................................................................................................... 88 7.2 .......................................................................................................... 89

7.2.1 NMEA-0183................................................................................................. 89 7.2.2 DGPS (RTCM SC- 104)........................................................................99 7.2.3 .................................................................................... 102

7.3 .105 7.3.1 .................................................................................................................... 105 7.3.2 .................................................................................................. 109 7.3.3 : 1PPS ................................................................ 110 7.3.4 TTL RS- 232........................................................................112

8 GNSS ..........................................................................................115 8.1 GNSS ............................................................................................... 115

GPS-X-02007-C

8.2 GNSS ................................................................................................... 116 8.2.1 GNSS ..................................................................................... 116 8.2.2 : u-blox 5.........................................................................................................117

9 GNSS ........................................................................................119 9.1 ........................................................................................................................ 119 9.2 ..................................................................................... 120

9.2.1 LBS............................................................................................................................120

9.2.2 .......................................................................................... 120 9.2.3 ....................................................................................................... 121 9.2.4 ............................................................................... 122 9.2.5 ................................................................................................ 122 9.2.6 / ...........................................................................................................124 9.2.7 ..................................................................................................... 124 9.2.8 .................................................................................................... 124

.......................................................................125 A.1 .................................................................................................125 A.2 GPS.125 A.3 GPS ................................................................................................................. 125 A.4 GNSS .126 A.5 GNSS GNSS ........................................................................ 126

B .....................................................................................................127 B.1 .............................................................................................................. 127 B.2 ..................................................................................................................129 B.3 ....................................................................................................................... 131

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2.1 0.1 2.1 0.1 4.0 0.2 0.7 0.2 1.4 1.4 0.5 0.5 RMS 1.5 5.3 RMS () 1.3 5.0 6

.53

GPS-X-02007-C

4.2.5.2 :DOP

, GNSS , , , - , , , . , DOP.

DOP :

HDOP: DOP ( ) DOP ( )

DOP. ,

D

GDOP: DOP ( 3-D , ) PDOP: DOP ( 3-D ) VDOP:

OP , .

.44 P

DOP

DOP

, 5). PDOP

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. 45: DOP

PDOP GDOP 3 (. 46 . 47).

.54

,

GPS-X-02007-C

. 46: GDOP

DOP .

DOP. . 47 HDOP, ( HDOP 1.9). . 48

, DOP (, HDOP) , DOP .

HDOP ( HDOP 20 !). 180 270 270 180 .

.47: HDOP 24 (. 1.9)

GPS-X-02007-C .55

. 48: HDOP 24 , (. 20 )

.2.5.3

DOP. , : Error (1) = 1 Total RMS Value DOP Value

7 1 (1 = 68%) 2 (2 = 95%). HDOP = 1.3. (, (Differential GPS, DGPS (. 6))) ( 1... 2 , 1 ).

7: HDOP = 1.3

, . US-Federal Aviation Administration , 5% 7.4

.S.DoD , 13 , 22 ~40 . , ,DGPS, ( )

GPS-X-02007-C .56

DGPS DGPS

I DOP ( 2). DOP 6 .

4

DOP .

Error (2) = 2 Total RMS Value DOP Value

RMS (, )

5.0m 1.5m

(1 Sigma (68%) HDOP=1.3) 6.5m 2.0m

(2 Sigma (95%) HDOP=1.3) 13.0m 4.0m

9 9.0 4 . 2 . U

.

5 . . .

o , o ,

0

o ,

5.1 GNSS . , , GNSS, . , GNSS, , , . , , 100 0 . ,

? .

.

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. .

H, , h geoid ondulation N (. 30)

. 52

GPS-X-02007-C .59

5.3.3

,

a ()

(1:)

, , , . , ( 8). .

Bessel 1841 Rauenberg 6377397.155 299.1528128 NTF Clarke 1880 Pantheon, Paris 6378249.145 293.465

SI 1940 Hayford 1928

Monte Mario, Rome 6378388.0 297.0

RD/NAP Bessel 1841 Amersfoort 6377397.155 299.1528128 MGI Bessel 1841 Hermannskogel 6377397.155 299.1528128

CH1903 Bessel 1841 Old Observatory Bern

6377397.155 299.1528128

Hayford Hayford Country independent

6378388.000 297.000

8

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WGS-84 .

.

5 , GPS,

WGS-84 . ECEF. WGS-84 - , , (= ) ,

X- (. 53) ( , ) , Greenwich ( 0 ). Y- 900 X-. Z- X Y .

GreenWich

.53

GPS-X-02007-C .60

WGS-84 a () b ()

(1:.)

6,378 ,137.00 6,356,752.31

298,257223563

9 WGS-84 (, , h), , (X, Y, Z), (. 54). , - h - , P .

GreenWich

54.

. 55) ,

.

S-X-02007-C .61

5.3.5 5.3.5.1 , . (. CH-1903) (.. WGS-84)

. , , , datum , X, Y, Z. x, y, z m ( 7 .

GP

m

.55 ( 10) .

X, Y, Z, x() x() x()

[xviii].

Germany Potsdam 586 87 409 -0.52 -0.15 2.82 9

France TF -168 -60 320 0 0 0 1 N

Italy SI 1940 -225 -65 9 - -- -- --

Netherlands RD/NAP 565.04 49.91 465.84 0.4094 -0.3597 1.8685 4.0772

Austria MGI -577.326 -577.326 -463.919 5.1366 1.4742 5.2970 -2.4232

Switzerland CH1903 660.077 13.551 369.344 0.8065 0.5789 0.9542 5.66

10 5.3.5.2 (.

.

5.3 . .

. . , x, y z . [xxi]

.62

WGS-84) (. CH-1 903) , . [xix] Internet [xx]. , . 5.3 6.

.6 1

GPS-X-02007-C

5.3.6.2 .

5.4 ,

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).

(. )

. X Y. , .

. , , .

.63

,

GPS-X-02007-C

Mercator, Gauss-Kruger, UTM Lambert. , .

se Mercator Projection)

Gauss-Kruger , , Mercator

, Bessel 90 (. 56). .

5.4.1 (Transver

. , Greenwich .

30. . 0 , ,

3 . (e. g. 6, 9, 12, 15, ....).

GreenWich

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:

.54 Gauss-Kruger

/ . /

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+500000 ( 154 E 9.51280 Gau -

399097 (9).

5.4.2 UTM Universal Transversal Mercator)

6020 = 1200 . Gauss-Krger.

S-X-02007-C .64

). . : : N:46.86

ss Krger ( : 9): N-S: 5191454 W-E: 3539097 5191454

Gauss-Krger UTM (

UTM WGS84 . , . UTM 6 (. 57). , 1 60, 180 W 180 E. , , 1 180 W 174 W, 177 W, 2 174 W 168, 2 171 W ...

GP

7, 123, 129, 135, 141, 147, 153, 159, 165, 171, 177 (E) (W) () (. 58). - ( ) , C.

84 80 72 C, 72 64 D

, X 72 . 12 .

3, 9, 15, 21, 27, 33, 39, 45, 51, 57, 63, 69, 75, 81, 87, 93, 99, 105, 111, 11

8 80

.

.. 84

. 57:

( )

. 8

S-X-02007-C .65

5 : , UTM,

GP

Gauss-Krger , / .

/ , ( Gauss-Krger ) 500,000 . UTM WGS 84: WGS 84: N 46,86074 E 9,51173

UTM: 32 T 5189816 (N-S) 0539006 (W-E) 5.4.3 ( ) Bessel . ,

, . (. ). ( )

( : YOst = 600,000 XNord = 200,000 ).

( 1:25000): (X Y ),

10,000,000 .

59

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1- :

2- :

:

(

.59

4 . (. 60).

4

.60

PS-X-02007-C .66

-84

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CH-1903

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.

8 43 49.79 (WGS-84) 31429.79. L: L .79.

2.

5.4.4 [xii]. 5.4.4.1 WGS-84 CH-1903 ( "Bezugssysteme der Praxis" ( ) Urs Marti Dieter Egger, ). ! 1 !

. 1 WGS-84 [] :

1. 46 2 38.87 (WGS-84) 165758.87. B: B = 165758.87.

2. = 31429

:

3. (WE):y

: y= 700 000.0 4. (SN):x

: x= 100 000.0 5. H:

S-X-02007-C .67

: , WGS-84= 650.60 H = 600

GP

6 GPS: DGPS, SBAS, A-GPS and HSGPS . . .

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Assisted-GPS

6

13 95% ( HDOP 1.3 ) ,

GPS: DGPS, SBAS, A-GPS HSGGPS-X-02007-C .68

:

60 1000 . . ( !). . , , .

. , , GPS .

,

(P) (T):

T = 28 6.510-3 h [K] = 1013.2 88.15 K)

5,256

: GPS , .., . - .

( ), (

GPS: DGPS, SBAS, A-GPS HSGPS GPS-X-02007-C .69

2.1

2.1

4.0

0.7

1.4

11:

0.5

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:

1 ... 5 . : 4 ,

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: ,

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H = Height [m] 8.15 K

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5 mbar (T/2 [mbar]

. 41)).

. 61:

: - PS . .

, (DOP): 4.2.5.2.

. :

: L1/L2 . GPS L1 L2. , .

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RF

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AGPS-X-0200

4 -

GPS , - (. 65). . .

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6.3.4

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D , DGPS ( 12).

RTCM SC104 100 - 600 (LW, MW)

(1000 )

283 - 315 (1000 )

RTCM SC104

255 - 415

(1000 )

RTCM SC104

3 30 , RTCM SC104 (KW)

VHF UKW 30 - 300

,

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/

,

800

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450, 900, 1

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1.2 1.5 AT, O

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RTCA D -229C SBA

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12: ( )

.

. .


6.3.5

S Sy

Ground Based Augmentation Systems (GBAS). DGPS DGPS (WADGPS) Satellite Based Augmentation Systems (SBAS):

. .

6.3.6 DGPS . DGPS, WA RTCA DO-229. RTCA

GNSS

DGPS

DGPS :

DGP

: Local Area Augmentation stem (LAAS).

DGPS

GBAS WADGPS (LandStar-MSAT, Omnistar Starfire) DGPS RTCM SC-104. , . Augmentation Systems AS, EGNOS MSAS

GPS, GNSS RTCA , RTCM (. 67).

13 , DGPS , , GNSS.

RTCM SC 104: Radio Technical Commission for Maritime Services, Special Committ

RTCM Differential Navstar GPS Service, 2.0 2.1

ee 104 GNSS Service, 2.2 2.3

RTCA: Radio Technical Comm DO- 229C, Minimum Operational Performance Standards for

rission for Aeronautics Global

Positioning System/Wide Area Augmentation System Ai borne Equipment.

GPS: DGPS, SBAS, A-GPS HSGPS GPS- .75

13: DGPS

X-02007-C

GPS GPS

GPS GPS

. 67: DGPS RTCM RTCA

6.3.7

(+)

(+)

-(+)


6.4 DGPS (LW, KW, U , GSM , , ...). DGPS . DGPS . GBAS. DGP

KW, ,

S .

6.4.1 GBAS DGPS r ervices (GBAS), . GBAS , .

6.4.2 GBAS SAPOS: (German Surveying and Mapping Administration Satellite Positioning Service) DGP

a

o SAPOS GHPS: ALF: (Accurate Positioning by Low Frequency)

50 Mainflingen, ( ). DCF42 (LW, 123.7 ) 6001000 . (USB) (Bi-Phase-Shift-Keying BPSK). German Telecom service (DTAG) . . - , , .

AMDS: (Amplitude Modulated Data System) , . 600 1000 .

Swipos-NAV: (Swiss Positioning Service) FM-RDS GSM. Radio Data System RDS (FM, 87-108 ). RDS . RDS 57 FM . RDS

.

, 00

100 200

S GPS-X-0200

G ound Based Augmentation S .

S . . GPS. , , GSM (VHF) . RASANT (Radio Aided Satellite Navigation Technique) . RTCM 2.0 Radio Dat System (RDS) . SAPOS : o SAPOS EPS: o SAPOS HEPS: o SAPOS GPPS:

DGPS.

. : ,

. DGPS 3. . GPS: DGPS, SBAS, A-GPS HSGP7-C .77

6.5 DGPS (WADGPS)

entation Systems, SBAS (WAAS, EGNOS)

SBAS GPS, . SBAS, GPS,

.

: SBAS , GNSS. , - , . . . SBAS () .

: SBAS GNSS 6 . / , .

: SBAS , GNSS, . GNSS , pseudoranging.

6.5.1.3 Satellite Based Augmentation Systems (SBAS)

), , SBAS .

,

(. 68):

, 133W 107W. CWAAS.

, ESA, EUROCONTROL, EGNOS, European Geostationary Navigation Overlay Service. EGNOS


6.5.1 Satellite Based Augm

6.5.1.1 Satellite Based Augmentation Systems (SBAS) GPS, GLONASS GALILEO ( ). GPS GLONASS GNSS.

6.5.1.2 SBAS

(, RTCA DO-229C. SBAS , (WAAS, Wide Area Augmentation System): US Federal Aviation

Administration (FAA) Wide Area Augmentation System (WAAS), , . WAAS POR AOR-W. 2007/2008 .

(EGNOS, European Geostationary Overlay Service):

European Civil Aviation Conference (ECAC). 2006 EGNOS (, ). 2007/2008 . EGNOS [xxiii].

(MSAS, Multifunctional Satellite Based Augmentation System): Civil Aviation MTSAT Augmentation System (MSAS), .

(GAGAN, GPS and GEO Augmented Navigation): Indian Space Research Organization (ISRO)

, SBAS . 4 GSAT-, 2007 . GNSS Indian Regional Navigational Stellite System (IRNSS).

(Beidou): Beidou (140E, 110.5E and 80E), , COMPASS. .

. 68: WAAS, EGNOS, GAGAN MS S

( 14) 36,000 ber (PRN)

. GPS (L1, 1575.42 ).

A

. Pseudo Random Num

PRN

WAAS Inmarsat 3F3 POR ( ) 178 E 134

WA S ) 54 W 122 A Inmarsat 3F4 AOR-W (

WA SA Intelsat Galaxy XV 133 W 135

WAAS 107.3 W 138 TeleSat Anik F1R

EGNOS Inmarsat 3F2 AOR-E ( ) 15.5 W 120

EG S 21.5 E 124 NO Artemis

EG 5 IOR-W ( ) 25 E 126 NOS Inmarsat 3F

GA 111.5 E 127 GAN GSAT-4

MSAS MTSAT-1R 140 E 129

MSAS MTSAT-2 145 E 137

14: , WAAS, EGNOS MSAS


6.5.1.4

,

S WAAS MSAS

2-3 ( . 69). . 15 . EGNO

RIMS: Reference and Inte rity Monitoring Station

WRS: Wide Area Base

station

GMS: Ground Monitor g

Station

MCC: Mission Control Center WMS: WAAS Master Station MCS: Master Control Station

NLES: Navigation Land Earth GES: Ground Earth Station NES/GES: Navigation Earth Station Station/Ground Earth Station

15: SBAS

GPS SBASGEO

GPS

AS

.


SB ,

. 69: l Satellite Based Augmentation Systems SBAS

: SBAS , . GNSS. . ().

: , GNSS , , , GNSS. .

: .

GEO : SBAS GEO ()

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6.5.2 DGPS RTCM SC-104 . . RTCM SC-104 .

Canada-

) . (10 ... 30).

.

GNSS .

MSAT: National Research Council , Wide DGPS (CDGPS) , .

Omnistar (Fugro Group) LandStar-DGPS, (Thales Company), 6 GEO (. 70). /

L-band (1-2 . Omnistar Landstar .

. 70: LandStar-DGPS Omnistar

Starfire Property of NavCom Technology, Inc., 3 Inmarsat GEO . / . Starfire L-band (1-2 ) . . 76 .


6.6 DGPS SBAS 16 DGPS/SBAS.

DGPS/SBAS DGPS/SBAS

0.1 2.1

2.1 0.1

4.0 0.2

0.7 0.2

1.4 1.4

0.5 0.5

RMS 5.3 1.5

RMS () 5.0 1.3

(1-Sigma (68%) HDOP=1.3) 6.5 1.7

(2-Sigma (95%) HDOP=1.3) 13.0 3.4

16: DGPS/SBAS

.7 Assisted-GPS (A-GPS)

.7.1 A-GPS , Location Based Services (LBS, . 9.2.1) . , GNSS, . GNSS , , . 2 . GNSS 8-36 . ( , ) . GNSS , . GPS ( ) -- . 1 (1 C/A ) --. 50 ( (2 x 6000 / 50 = 240 ), 023 x 50 = 51,150 , 51 . . 6.8. GNSS , , ,

A UMTS.

. GNSS .

: ()

)

6

61

GSM, GPRS, CDM Aiding() Assisted-GPS. Assisted-GPS ( A-GPS) ,

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GNSS GNSS-. , - , . GNSS . A-GPS

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GNSS .

. 71: A-GPS

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Online by u-blox AG)

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Offline by u-blox AG).

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A-GPS (. 72), , ,

A-GPS (GNSS ). GNSS

) .


.

GNSS . ( GNSS

GPS

( )

( )

GPS A-GPS

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, GNSS (Predicted Orbits).

GNSS

,

10 , .

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, A-GPS , , . . International GNSS-Service (IGS, International GPS-ervice [xxiv]), (. 73).

GPS: DGPS, SBAS, A-GPS HSGPS X-02007-C .84

. 72: Assisted-GPS

6.7.2 A-GPS (Real-time A-GPS)

.

(GPRS, , 30 ) .

6.7.3 A-GPS (Predicted Orbits)

A-GPS , . , . , , , .

6

S

GPS-

Figure 73: IGS reference stations (as of October 2006) with approx. 340 active stations

6.8 GPS (HSGPS) Location Based Services,

GNSS-

)

. , :

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-9 .

. - , Frequency-ode-Level . .

GNSS . . .

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)

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20 1.6 , developments [xxvi].

GNSS 16 (. . 16). GNSS GG 43 (. . 24).

( ) GNSS . , GNSS . k GR :

R = log10 (k)

3 . 20 . . , 1 , , , . . GNSS 60 . GPS (US Department of Defense) 30 , GNSS , , 30 .

GPS: DGPS, SBAS, A-GPS HSGPS S-X-02007-C .86

.

6.8.4

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11

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32).

TTL RS-2

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. GNSS (Lora a, Transit GNSS

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TTL, 0 (+3.3... +5)

RS-232 , (+3... +1 5) - (-3... -1 5).

GPS TTL RS-232, (. 7.3.4). GPS 38400 .

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GPDTS,inf_1 ,inf_2, inf_3,inf_4,inf_5,inf_6,inf_n*CS

17.

7-C .90

G $

GPS-X-0200

$ GP GPS DTS (.. RMC) lnf_1 bis lnf_n 1 n (.. 175.4 ) , * CS ( ) : () , () 17. NMEA DATA SET

79. .

NMEA , GNSS ( 18):

GPRMC,1 30303.0,A,471 7.1 1 5,N,00833.91 2,E,000.03,043.4,200601 ,01 .3,W*7D

$ $$GPZDA,1 30304.2,20,06,2001 *56 $GPGGA,1 30304.0,471 7.11 5,N,00833.91 2,E,1 ,08,0.94,00499,M,047,M,,*59 $GPG[[,471 7.11 5,N,00833.91 2,E,1 30304.0,A*33 $G PVTG,205.5,T,206.8,M,000.04,N,000.08,K*4C $GPGSA,A,3,1 3,20,1 1,29,01 ,25,07,04,,,,, 1 .63,0.94,1 .33*04 $GPGSV,2,1 ,8,1 3,1 5,208,36,20,80,358,39,11 ,52,1 39,43,29,1 3,044,36*42 $GPGSV,2,2,8,01 ,52,1 87,43,25,25,074,39,07,37,286,40,04,09,306,33*44 $GPRMC,1 30304.0,A,471 7.1 1 5,N,00833.91 2,E,000.04,205.5,200601 ,01 .3,W*7C $GPZDA,1 30305.2,20,06,2001 *57 $GPGGA,1 30305.0,471 7.11 5,N,00833.91 2,E,1 ,08,0.94,00499,M,047,M,,*58 $GPG[[,471 7.11 5,N,00833.91 2,E,1 30305.0,A*32 $GPVTG,01 4.2,1,01 5.4,M,000.03,N,000.05,K*4F $GPGSA,A,3,1 3,20,1 1,29,01 ,25,07,04,,,,, 1 .63,0.94,1 .33*04 $GPGSV,2,1 ,8,1 3,1 5,208,36,20,80,358,39,11 ,52,1 39,43,29,1 3,044,36*42 $GPGSV,2,2,8,01 ,52,1 87,43,25,25,074,39,07,37,286,40,04,09,306,33*44 18 NMEA

X-02007-C .91

GPS-

7.2.1.2

GGA , , ,

GGA GA,1 3030

19.

GGA . : $GPG 5.0,4717.11 5,N,00833.91 2,E,1 ,08,0.94,00499,M,047,M,,*58

$ GP GNSS GGA 130305.0 UTC : 13 03 05.O . 4717.115 : 470 17.115 . N (N=, S= ) 00833.912 Latitude: 8 33.91 2 . E (E= , W=) 1 GPS (0= GPS, 1 = GPS, 2=DGPS) 08 , 0.94 (HDOP) 00499 ( ) M (M= ) 047 M (M= ) DGPS ( DGPS ) 0000 DGPS * 58

-X-02007-C .92

19. GGA

GPS

7.2.1.3 GLL

GLL ( - /) , . GLL: $GPGLL,471 7.11 5,N,00833.91 2,E,1 30305.0,A*32 20. $ GP GNSS GLL 4717.115 : 4700 17.115 N (N=, S= ) 00833.912 : 8 33.91 2 E (E=, W=) 130305.0 UTC : 13 03 05.0 c A : A (V= ) * 32 20 GLL

.93

GPS-X-02007-C

7.2.1.4 GSA

GPGSA,A,3,1 3,20,11,29,01,25,07,04,,,,, 1.63,0.94,1 .33*04

21.

GSA (GNSS DOP ) (2D 3D), ,

OP). (D GSA :

$ $ GP GNSS GSA

A (A= 2D/3D , M= 2D/3D )

3 (1= , 2=2D, 3=3D) 13 ID , 20 ID , 11 ID , 29 ID , 01 ID , 25 ID , 07 ID , 04 ID , ,,,,, ID ( ) 1 .63 PDOP 0.94 HDOP 1 .33 VDOP * 04

21 GSA

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GPS-X-02007-C

7.2.1.5 GSV GSV , , -.

$GPGS

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22.

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07-C .95

7.2 .6 RMC ( GNSS) , , ,

, , . GPS.

,01 .3,W*7C

.1 RMC

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GPS-X-02007-C .96

7.2.1.7 VTG

VTG

1 4 000.05,K*4F

VTG

:

$GPVTG,0 .2,T,01 5.4,M,000.03,N,

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GPS-X-02007-C .97

7.2.1.8 ZDA

, .

ZDA :

25.

ZDA ( ) UTC

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25 ZDA

7.2.1.9

-, 8 ( ) , .

- ( $) (: *). - 2 4 (), (0... 9, A... F). , ASCII.

: NMEA (CS) .

:

1. $ * : GPRTE,1,1,,0 8 (. 26)

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: , - )

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P 0 1 0 1 0 0 0 0 R 0 1 0 1 0 0 1 0 T 0 1 0 1 0 1 0 0 E 0 1 0 0 0 1 0 1 , 0 0 1 0 1 1 0 0 1 0 0 1 1 0 0 0 1 , 0 0 1 0 1 1 0 0 1 0 0 1 1 0 0 0 1 , 0 0 1 0 1 1 0 0 C 0 1 1 0 0 0 1 1 , 0 0 1 0 1 1 0 0 0 0 0 1 1 0 0 0 0 - 0 0 0 0 0 1 1 1 0000 0111 0 7 ASCII CS (!) 0 7 26 NMEA

7.2.2 DGPS ( RTCM SC-104)

RTCM SC-104 . RTCM SC-104 Radio Technical Commission for Maritime Services Special Committee 104" [xvi]. RTCM, Differential NAVSTAR GPS .

2.0 ( 1990) 2.1 ( 1994)

2.1 - 2.0 , ,

63 , 1, 2, 3 9 .

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ID

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()

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(

,

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,

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7.3

.3.1

NSS (RHCP). . GNSS .

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7.3.1.1

GNSS . . . , , , . , , (70 x 70 ). - .

7

G N ) . GNSS L A (

. 81:

GPS-X-02007-C .105

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7

. 83:

.106

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, ( ), . . 3 - . .

7.3.1.

. 3

. 84: :

5

, .

. , . GPS,

, .

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GPS-X-02007-C .107

7.3.1.6

, , , . , . , .

. 86: , 775

7.3.1.7 - Inverted F Antenna (PIFA)

PIFA a 'F', , ,'tail' () . PIFAs , , . . PIFA (E-911), .

. 87: - inverted-f-antenna (PIFA)

. 88: inverted-f-antenna (PIFA) PIFA

GPS-X-02007-C .108

7.3.1.8 GNSS

, , . , . GNSS .

, MLA).

. .

7.3.1.8.1 Choke Ring PinwheelTM

(Novatel)

GPS . , .

Pinwheel , .

( . GNSS ,

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.3.2

NSS 3.3 6 . .

S-X-02007-C .109

7

G GP

7.3.3 : 1 PPS

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TAI)

,

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7.3 .2 (UTC) UTC , , , , . , UTC = TAI - n, n = 1 1 .

, . GNSS.

PS-X-02007-C .110

GNSS G

7.3.3.1 ( GNSS. 1967

, Cs .

.01.1958 00.00 .

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TAI,

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7.3.3.5

. UTC .

(::)

( 30) 21 2001 ()

n UTC () 08:31:26 7200 (=2 ) UTC 06:31:26 0 GPS 06:31:39 +13 TAI 06:31:58 +32 30 ( 2006): TAI UTC = +33 . GPS UTC = +l3 . TAI GPS = +l9 .

.111

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7.3.4 TTL RS-232 7.3.4.1

RS-232 : ( , )

. .

.

,

TxD RxD. T , R

: +5 +15 ,

, : -5.-15 , : -3 -

, , 2 . (UART) RS-232

. MAX3221 ). (. 91) TTL RS-232 . .

PS-X-02007-C .112

PC , . GSM , GNSS ..

PC . , , . - 110, 150, 300, 600, 1200, 2400, 4800, 9600, 19200 38400 , . . , -. 7 8 SCII. A

, 1 2 . , . , ( - ). , . , , . 7.3.4.2

. , : 0 = ,

:+3+15 1 =

15

TTL (

G

TTL

7.3 . NMEA +5 ). RS 232. ,

(ESD) 15 . C1...C4

RS-232

.91 TTL RS-232

.4 3 TTL RS-232

GPS TTL (0 Vcc = +3.3 PC,

, ( ).

, "Maxim MAX3221" [xxxiv] (. 92). 3 ... 5

.

.

S- .113

92 MAX3221

X-02007-C GP

(. 93) . , TTL (0 ... 3.3 )

T_IN.

5 T_OUT R_IN RS-232.

.93 MAX3221

PS-X-02007-C .114

G

8 GNSS . . .

o , GNSS GPS HF

,

, GNSS

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: 1572.42 .

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(RTC). )

.

: , , , .. . ..), R.

ROM. .

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LNA 1: (LNA) 15 ... 20 . RF : GNSS 2 . HF .

IF :

. HF ( .

( , ,

: , (. )

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:

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GNSS

, . GNSS

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v]. 16 PRN

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PRN

. 95 GNSS

x 5 -blox 5 ,

, 50 . , . u-blox 5 . 1 1 1 . 16 . DC/DC . / LDOs (Low-Drop-Out). GALILEO-L1, u-blox 5 . , , , GNSS. -blox 5 , , 'SiP' System in Package.

0.18 RF-CMOS , ,

. - . 96.

GNSS G .117

RF

A/D

8.2.2 : u-blou . , . ,

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GALILEO .

u RF-IC baseband-IC. RF-IC baseband-IC 0.13 CMOS. .

PS-X-02007-C

. 96: - u-blox 5

GNSS

PS-X-02007-C .118 G

GNSS PS-X-02007-C .119

9 GNSS . . .

oo , GNSS

, , GNSS

o , !

9.1 GNSS :

( , ) 20 1 ( , UTC) 60 1 .

, :

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9.2

). , push services pull services. (push service)

(, ). pull service) (, E-911 E-12).

. , CD-ROM, GNSS, , GNSS ( ). NSS, . .

GPS , , , , . (D)GPS , . . 9.2.1 (LBS) LBS , (, ). ( ) , / . (E-911 E-112). LBS . . ( ) (, 500

(1

. , , 60% ( 2% . 80 , 50% - . . . . , . :

(Cell-ID). Cell of Origin (COO) Cell Global Identity (CGI).

GSM- TA (Timing Advance). TA GSM, .

: , GNSS 9.2.2 , GNSS. , 60 2005, 21.6 10.6 [xxxvi]. , . . , , . G GNSS GPS-X-02007-C .120

GNSS , . , GNSS, . . GNSS (. ).

, GNSS . . GNSS , . , .

, , , . . , , . , , . . . , .

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. NSS (NTP), REC 1305.

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GPS-X-02007-C .121

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GNSS , S 3D

.

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GNSS GPS-X-02007-C .122

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GNSS

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