2005年度卒業論文
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- たみえ しげい
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1 005 GPS
2 GPS (Global Positioning System) GPS GPS GPS GPS GPS 1 GPS GPS 3 GPS GPS 1GPS GPS GPS
3 1 1.1 GPS.1.1 GPS.1. GPS ) 17 ) 17 3) GPS GPS
4
5 1
6 GPS (Global Positioning System) 1973 (DODDepartment Of Defense) (SASelective Availability) 100 [1] GPS SAAS(Anti Spoofing) [] GPS GPS GPS [3] GPS GPS GPS ARPA(Automatic Rader Plotting Aid ) GPS
7
8 .1 GPS.1.1 GPS GPS ()() PSK [1][] 0, GPS.1 GPS 10.3Hz 154 L Hz 10 L17.6Hz C/A(Clear and Acquisition.Coarse and Access) P(Y)(Precision.Protect)
9 (PRNPseudo Random Noise) L1 C/A SPS(Standard Positioning Service)P(Y) PPS(Precise Positioning Service) (ephemeris) (almanac) WGS84(World Geodetic System) WGS84 DMA(Defense Mapping Agency) 1984 DMA.1 GPS.1 GPS km 1 ( ) 55 L1C/A code 6WP code 13W LP code 4W L1=1,575.4MHz(10.3MHz 154 L=1,7.6MHz(10.3MHz 10) C/A codel1 P codel1,l L1C/A code>-160dbwp code>-163dbw ( 5 LP code>-166dbw C/ code 100m(drmsSA on) (SPS) 15m(drmsSA off) C/ code 340ns(SA on) (SPS) 0ns (SA off).1. GPS GPS ((modulation)) (carrier) GPS L1 (L1 band) L (L band)4 GPS (spread spectrumss)[]
10 C/A P L1 C/A P L P P ( )(PN (pseudo random noise code). )0 1 () 4 () GPS 003 R-M GPS L (CLCM ) F L5 L5 CM LL5 GPS C/AP (50 bps) (sub frame) ()(telemeter) HOW(hand over word) Z Z ()HOW P P C/A coarse/access()p C/A L Z GPS
11 1 0ms C/A 1s L1 PSK P 90 (P C/A 10 ) P 90 C/A C/A.
12 P TLMHOW () (Z ) #4#5 5 () (sub frame) 5 (main frame)(30 )((ephemeris) ) (master frame)( (almanac)) (health) 8 6 L C/A ().
13 . GPS () L1 1,575.4MHz = MHz C/A P (Y ) L 1,7.6MHz =1010.3MHz P (Y ) GPS C/A 1.03Mbps 1,03=1ms P 10.3Mbps bit=7day Y =300bit=6s 50bps =1500bit=30s 5 =1 5 =1 10.3MHz MHz () GPS 4 () GPS GPS C/A L1. 0π PSK PSK 0π PSK.4 C/A MHz P 0MHz.4 L1 C/A L1 C/A P L PSK
14 17.6MHz 0.46MHz L.046MHz MHz 0.46MHz L1.4 L1 L C/A P GPS. C/A () (replica) (demodulate) C/A (C/A ).5 C/A Delay Lock Loop(DLL) (delay time) C/A P Y 0180 PSK GPS ( 90 5cm) GPS 0MHz L1 C/A P
15 90 C/A PSK P (quadrature) L P #1 GPS # L 4 #1 # #n GPS 3 [4] C/A P
16 ( ) 3 (,,) t 4 4 GPS WGS
17 .1.4 [4] 4 GPS 3 Z X Y ( x0, y0, z0 ) ( x, y, z i i i ) ( x ) ( y ) + ( z z ) = c ( τ + τ i i 0 i 0 i ) (.1) τ i τ () c (.1) r 0i ( x i, yi, zi ) c ( τ i + τ ) 3 (.1) () r i r i ( x x ) + ( y y ) + ( z ) = (.) i 0 i 0 i z0 x y z n n n = x = y = z n 1 n 1 n 1 + x + y + z (.3) (.1) ri ri ri ri = rn, i + x + y + z + s (.4) x y z i i i r x r y r z xyz ()
18 ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) i i i i i i i i i i i i z z y y x x z z z r z z y y x x y y y r z z y y x x x x x r + + = + + = + + = (.5) x = r α y = r β z = r γ 1 = n r n r r r s z y x r i = γ β α (.6) 4 4 (.7) = s z y x r r r r γ β α γ β α γ β α γ β α (.) ,, z y x i r r i (.7) x y z (.) s 0 0 0,, z y x 0 0 0,, z y x i r r i x y z s (.7) n x y z 0 0 0,, z y x s = n n n A γ β α γ β α γ β α γ β α r n r r r R 3 δ s z y x δ X A R δ δ =
19 A T T A δr = AAδX (.8) A A T ( AA) 1 A R δx = δ (.9) x y z s.1.5 C/A [3] UTC SA SA (Selective Availability )L1 C/A () () km 500kmGPS 00m F L L1 L 10
20 ...1 [5][6].. Gyro Torque( ) Gyro axis (Gyroscopicinertia) [7] () Newton 1 Gyro axis Gyro axis Gyro axis 1 ( ) H H = Iω (.10) I Gyro Momentω Moment I
21 I = mr (.11) m r I mr M Gyro I = Mk k M k 1..3 Gyro Torque ( )Gyro axis Torque Vector Gyro Vector Precession()[7] Precession Gyro.7 Gyro XX YY Gyro O R A Y F X O B X D C Y.7 Precession Gyro 4 ABC D.7 F XX A C BD
22 (BD AC )F AC Newton 1 A A A C Gyro O YY X X Precession Precession Vector.8 Gyro Gyro Vector OG Torque T Gyro axis Torque Vector OT Precession OG OT Vector OP Gyro axis Precession (P) Torque(T)Gyro (H) ( Iω ) T ( Mk ω) P = T H = T = (.1) H P = T (.13) Torque Precession Torque Precession Torque Precession G O P T.8 Vector
23 ..4 [7][8] 4 1 1) 900 ( )(=15/)(= cm) cos900cos60 () 900cos60450 ) cos(15cos/)
24 3) sin(15sin/).10 (red) (red/s) cos sin.11
25 cos sin A O sin cos [7][8]
26 .1 ().13 ().14 Gyro S Case W.1
27 (1) () (3).13 N.14.3 GPS.3.1 GPS GPS GPS.15 [9]
28 GPS.15 GPS GPS ( ) GPS 3 1 ()GPS 3 3 (roll, pitch, yaw) 1 roll pitch () 50100cm [10] 3 XYZ cm GPS 1 19cm
29 GPS 1 GPS Hz GPS () () GPS 100Hz 1 ().16
30 3
31 GPS GPS JLT-10T GPS [9] GPS JLR-10T 3.1 GPS 3. GPS GPS PC GPS GPS JLR-10T 3.1 (NAY-1000) 50cm GPS (NNN-10T) GPS (CPU)
32 GPS GPS GPS GPS GPS GPS GPS () 1 3 GPS GPS GPS (NWZ-4551G) GPS
33 3.1. (1-CH) MHz 1MHz(C/A code) 0.5 RMS(C/A code, HDOP<4) 5 1G / 30 GPS 15m(dRMS) DGPS4m(dRMS) RTCM SC-104 ver.0 type WGS (1) NMEA bps1 (HDT,GGA,GLL,RMC,VTG,GSA,GSV,DTM) () NSK NSK=9600bps0ms () (3) NMEA0183 NMEA=4800bps50ms (HDT) GPS 3.
34 3. () 10 GPS () 10 GPS () 10 GPS () 10 GPS
35 ( 10 ) 10( 10 ) ( 0 ) 1 5 5( 5 ) 5( 5 ) ( 0 ) ( 10 ) 10( 10 ) ( 10 ) 5 5 5( 5 ) 5( 5 ) ( 10 )
36 4
37 4.1 GPS () () [sec] ()
38 .5 [ ] () 4. () [sec]
39 () [sec] () [ ] ()
40 () () () [sec]
41 () ()
42 4.5 () [sec]
43 4.6 () [sec]
44 4.7 () () [sec] () ()
45 GPS GPS 4. GPS [ ] [sec] [sec]
46 [sec] [sec] [sec]
47 [ ] [sec] [sec] [sec] 4. 10
48 4..3 GPS GPS 4.3 GPS [sec] [ ] [sec]
49 [sec] [ ] [sec] [sec]
50 [ ] [sec] GPS GPS 4.4 GPS [sec]
51 [sec]
52 [sec] [sec]
53 [sec]
54 4.4.3 GPS GPS GPS
55 5
56 GPS GPS
57
58 JRC GPS JTR- 10T.
59
60 [1] GPS pp [] GPS pp.11-pp.35-39pp [3] GPS pp [4] GPS 000GPS pp [5] pp [6] pp [7] pp.73-77pp [8] () pp [9] GPS pp [10] Y.KouraH.SuzukiK.OgawaY.Kamei and M.nakamuraGPS COMPASSA Low Cost GPS Direction Sensor of Two Antenna TypeION GPS 001 Session F5 Multi-Sensor Integrated Navigation System 1
GPS GPS(Global Positioning System) GPS GPS 1 GPS GPS GPS I II 1994 ( 1991 ) 1
GPS 21 6 10 GPS(Global Positioning System) GPS GPS 1 GPS 24 28 GPS GPS 4 1970 I 1978 1985 10 1989 II 1994 ( 1991 ) 1 1: GPS 1.1 GPS GPS c = 2.99792458 10 8 m/sec (1) ( ) GPS 1.1.1 GPS GPS t t [sec] t r
GPS GPS GPS GPS GPS
22 GPS/QZSS 0723053 1... 4 1.1... 4 1.2... 4 1.3 GPS... 4 1.4 GPS... 6 1.5... 12 2 GPS... 16 2.1 GPS... 16 2.2 GPS... 16 2.3... 17 2.3... 18 2.4... 21 2.5... 24 2.6... 26 3 GPS... 28 3.1 DGPS... 28 3.1.1...
Tokyo University of Marine Science and Technology Laboratory of Satellite Navigation Engineering Tokyo University of Marine Science and Technology GNS
GNSS DGPSSBAS MSAS SBAS/MSAS MSAS LEX GPS 4 7.5 26,561km 121158 2 55 L1=1,575.42MHz (10.23MHz154) L2=1,227.6MHz (10.23MHz120) C/A Code (1.023MHz : 1023 chips)l1 P(Y) codel1l2 3 GPS P(Y) P(Y) C/A M P(Y)
B. 41 II: 2 ;; 4 B [ ] S 1 S 2 S 1 S O S 1 S P 2 3 P P : 2.13:
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B. 41 II: ;; 4 B [] S 1 S S 1 S.1 O S 1 S 1.13 P 3 P 5 7 P.1:.13: 4 4.14 C d A B x l l d C B 1 l.14: AB A 1 B 0 AB 0 O OP = x P l AP BP AB AP BP 1 (.4)(.5) x l x sin = p l + x x l (.4)(.5) m d A x P O
64 3 g=9.85 m/s 2 g=9.791 m/s 2 36, km ( ) 1 () 2 () m/s : : a) b) kg/m kg/m k
63 3 Section 3.1 g 3.1 3.1: : 64 3 g=9.85 m/s 2 g=9.791 m/s 2 36, km ( ) 1 () 2 () 3 9.8 m/s 2 3.2 3.2: : a) b) 5 15 4 1 1. 1 3 14. 1 3 kg/m 3 2 3.3 1 3 5.8 1 3 kg/m 3 3 2.65 1 3 kg/m 3 4 6 m 3.1. 65 5
1 3 1.1.......................... 3 1............................... 3 1.3....................... 5 1.4.......................... 6 1.5........................ 7 8.1......................... 8..............................
1990 IMO 1990/1/15 1:00-4:00 1 N N N 1, N 1 N 2, N 2 N 3 N 3 2 x x + 52 = 3 x x , A, B, C 3,, A B, C 2,,,, 7, A, B, C
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70 : 0 : A B (0 ) (30 ) 50 1 1 4 1.1................................................ 5 1. A............................................... 6 1.3 B............................................... 7 8.1 A...............................................
2.2 h h l L h L = l cot h (1) (1) L l L l l = L tan h (2) (2) L l 2 l 3 h 2.3 a h a h (a, h)
1 16 10 5 1 2 2.1 a a a 1 1 1 2.2 h h l L h L = l cot h (1) (1) L l L l l = L tan h (2) (2) L l 2 l 3 h 2.3 a h a h (a, h) 4 2 3 4 2 5 2.4 x y (x,y) l a x = l cot h cos a, (3) y = l cot h sin a (4) h a
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1 SS 2 2 (DS) 3 2.1 DS................................ 3 2.2 DS................................ 4 2.3.................................. 4 2.4 (channel papacity)............................ 6 2.5........................................
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HOLUX GR-213 GPS 受信機ユーザーガイド へミスフィア 211-0015 神奈川県川崎市中原区北谷町 16-3 ソニア北谷町ビル 2 階 Tel. 044-223-7071 Fax. 044-223-7072 GR-213 1... 3 1.1... 3 1.2... 3 1.3... 4 1.3.1... 4 1.3.2... 4 1.3.3... 4 1.3.4... 4 1.3.5
熊本県数学問題正解
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#A A A. F, F d F P + F P = d P F, F P F F A. α, 0, α, 0 α > 0, + α +, α + d + α + + α + = d d F, F 0 < α < d + α + = d α + + α + = d d α + + α + d α + = d 4 4d α + = d 4 8d + 6 http://mth.cs.kitmi-it.c.jp/
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1. (8) (1) (x + y) + (x + y) = 0 () (x + y ) 5xy = 0 (3) (x y + 3y 3 ) (x 3 + xy ) = 0 (4) x tan y x y + x = 0 (5) x = y + x + y (6) = x + y 1 x y 3 (
1 1.1 (1) (1 + x) + (1 + y) = 0 () x + y = 0 (3) xy = x (4) x(y + 3) + y(y + 3) = 0 (5) (a + y ) = x ax a (6) x y 1 + y x 1 = 0 (7) cos x + sin x cos y = 0 (8) = tan y tan x (9) = (y 1) tan x (10) (1 +
001-007 扉・口絵・目次
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慣性運動計測機器 クロ ス ボ ー株 式 会 社 Crossbow Japan Ltd. MEMS 3 1 X Y Z 3 RS-232 Windows Gyro-View Nav-View GPS NAV420 3 AHRS400 VG400 6 IMU400 (AHRS) TEL: 06-6489-5922 FAX: 06-6489-5910 E-MAIL: sales@xbow.jp WEB:
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18 10 01 ( ) 1 2018 4 1.1 2018............................... 4 1.2 2018......................... 5 2 2017 7 2.1 2017............................... 7 2.2 2017......................... 8 3 2016 9 3.1 2016...............................
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学習内容と日常生活との関連性の研究－第２部－第６章
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B 15 0150023 16 3 1 1 1 6 2 7 2.1.......................... 7 2.1.1................. 7 2.1.2..................... 7 2.2........................ 8 2.2.1...................... 8 2.2.2 INS................................
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B YES NO 5 7 6 1 4 3 2 BB BB BB AA AA BB 510J B B A 510J B A A A A A A 510J B A 510J B A A A A A 510J M = σ Z Z = M σ AAA π T T = a ZP ZP = a AAA π B M + M 2 +T 2 M T Me = = 1 + 1 + 2 2 M σ Te = M 2 +T
II Karel Švadlenka * [1] 1.1* 5 23 m d2 x dt 2 = cdx kx + mg dt. c, g, k, m 1.2* u = au + bv v = cu + dv v u a, b, c, d R
![II Karel Švadlenka * [1] 1.1* 5 23 m d2 x dt 2 = cdx kx + mg dt. c, g, k, m 1.2* u = au + bv v = cu + dv v u a, b, c, d R](/thumbs/95/125540821.jpg "II Karel Švadlenka * [1] 1.1* 5 23 m d2 x dt 2 = cdx kx + mg dt. c, g, k, m 1.2* u = au + bv v = cu + dv v u a, b, c, d R")
II Karel Švadlenka 2018 5 26 * [1] 1.1* 5 23 m d2 x dt 2 = cdx kx + mg dt. c, g, k, m 1.2* 5 23 1 u = au + bv v = cu + dv v u a, b, c, d R 1.3 14 14 60% 1.4 5 23 a, b R a 2 4b < 0 λ 2 + aλ + b = 0 λ =
2000年度『数学展望 I』講義録
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1 1 3 ABCD ABD AC BD E E BD 1 : 2 (1) AB = AD =, AB AD = (2) AE = AB + (3) A F AD AE 2 = AF = AB + AD AF AE = t AC = t AE AC FC = t = (4) ABD ABCD 1 1
ABCD ABD AC BD E E BD : () AB = AD =, AB AD = () AE = AB + () A F AD AE = AF = AB + AD AF AE = t AC = t AE AC FC = t = (4) ABD ABCD AB + AD AB + 7 9 AD AB + AD AB + 9 7 4 9 AD () AB sin π = AB = ABD AD
UWB a) Accuracy of Relative Distance Measurement with Ultra Wideband System Yuichiro SHIMIZU a) and Yukitoshi SANADA (Ultra Wideband; UWB) UWB GHz DLL
UWB a) Accuracy of Relative Distance Measurement with Ultra Wideband System Yuichiro SHIMIZU a) and Yukitoshi SANADA (Ultra Wideband; UWB) UWB GHz DLL UWB (DLL) UWB DLL 1. UWB FCC (Federal Communications
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最 新 測 量 学 ( 第 3 版 ) サンプルページ この 本 の 定 価 判 型 などは, 以 下 の URL からご 覧 いただけます. http://www.morikita.co.jp/books/mid/047143 このサンプルページの 内 容 は, 第 3 版 1 刷 発 行 時 のものです. 3 10 GIS 3 1 2 GPS GPS GNSS GNSS 23 3 3 2015