GPS GPS GPS GPS GPS

Size: px

Start display at page:

Download "GPS GPS GPS GPS GPS"

きょういちあきます
5 years ago
Views:

1 22 GPS/QZSS

2 GPS GPS GPS GPS GPS GPS DGPS DGPS QZSS QZSS QZSS L L L1-SAIF LEX QZSS GNSS

3 GPS GPS/QZSS GPS/QZSS DGNSS A

4 1 1.1 GPSGlobal Positioning System GPS GPS 1973 GPS NNSSNavy Navigation Satellite SystemNNSS NNSS GPS PC GPS GPS QZSS QZSSQZSS GPS GPS 1.2 GPS QZSS L1C/A 1.3 GPS Navigation Positioning GPS GPS GPS 1 GPS 1 4

5 1GPS 1GPS GPS DoDDepartment of Defence GPS 100m SASelective Availability SA 1996 PDD Presidential Decision Directive:10 SA SA 100m m m GPS km L MHz 5

6 GPS GLONASSGlobal Navigation Satellite System GALILEO 2 8 QZSS QZSS 2 QZSS 3 2QZSS 2QZSS 1.4 GPS GPS pseudo-random-noise : PRN PRN 3 6

7 S S L1 L2 2P D t x tcos2f c 2P Y 2 L1 D t x tsin2f t L2 L1 t L2 2P Y1 D t x tsin 2f L1 t L P Dt xt cos 2ft sin 2ft GPS 3 3GPS L1 L2 f L MHz MHz f L2 UHFUltra-high frequency FM VHFvery-high frequency FM GPS 3 3 1/10 AM Hz AM MFmedium frequencygps 1/1000 GPS 3 f 2 f L1 7

8 cos 2 f t L1 L1 sin 2 f t L1 L c[ m/ sec] 310 [ m] f [ Hz] f f GPS L1 19[ cm] 24[ L2 cm] BPSKBPSK +1-1 xt 1.5 Baseband signal 8

9 4BPSK C/A 2MHzPY 20MHz 5 9

10 5L1 PRNpseudo-random-noise -1 1 Gold C/A coarse/acquisition code PYprecision encrypted codec/a ms 1.023MHz Mcps 300m P PRN Mcps C/A 10 30m C/A P 1 Y PRN 0 k l C/A x k x l PRN 1022 i0 x k x l i n 0, for all n, k l 1.1 PRN PY PRN PRN C/A 10

11 1022 i0 x k x k i n 0, for all n n PRN PRN 50bps 1 1 1bit 20ms bit

12 1.5 Spread spectrumgps/qzss Direct Sequence Spread Spectrum LAN Direct Sequence Spread Spectrum ;PNGold M Maximal Length Linear Shift Register Sequence ;GPS M XOR Gold 7 M PN m 2 m -1 GPS M M 31 D1Dm 12

13 8 M 5 M 5,2 1,1,1,1,1 31 M M 9M 5 M 1 0 M 10M 13

14 M GPS Gold M Gold m 0Mod4 N 2 m M 1025 GPS Gold 2 2 M N N N N u v 2 N Gold u { u v { v m m { u S k } } N 1 m0 N 1 m0 v} N 1 m0 1.3 S k v v k u S k v { u m v mk } N 1 m0 1.4 N=31 Gold 11 M m N= m N 1 N 31 log m m log m

15 11Gold 15

16 2 GPS 2.1 GPS GPS RF PVT 2.2 GPS GPS 12 GPS 12GPS GPS GPS FEFront End LNALow Noise Amplifire 16

17 ,GPS Mhz IF A/D A/D 2.3 GPS dB down convert frequency down conversion 1 cos xsin x [cos x y cos x y] P C D t x t cos2 f L1 f D t 2P C D t x t cos2 f L1 f IF t IF 2P C D t x t [cos{2 2 f L1 f D f IF t IF } cos{2 2 f IF f D t IF }] 2.2 P t GPS t D C x PRN C/A f D f IF IF GPS f L1 f IF f IF bandpass filter:bpf

18 P D t x t cos2 f f t c IF IF BPF IF D IF 2.3 L1 IF 2.3 S t l l lt P D t S c l x t, l 0,1,2,3... l cos2 f IF f D t l IF 2.4 A/D T s t l f D HD f D Acquisition 18

19 2cos[2 f 2sin[2 f IF IF fˆ fˆ D D t ˆ] t ˆ] 2.5 fˆ D ˆ P D t c l x t l cos[2 f D fˆ D t l ˆ] P D t c l x t l sin[2 f D fˆ D t l ˆ] 2.6 I Q P c L P D c L D L l 1 L l 1 x t l x t l x t l x t l ˆcos[2 f ˆsin[2 f D D fˆ D fˆ D t l t l ˆ] ˆ] 2.7 ˆ T s L D I Q I Q ˆ PC FFT 19

20 20 13 FFT FFT 1 0 L l l t l x t x z 2.8 z k Z * 1 0 / / / k X k X e t x e t x e t x t x k Z L L kt j L l l L kt j l L L kt j L l l l l l l 2.9 * k Z z

21 14FFT 2.4 GPS 2 DLLPLL DLL C/A PLL PLL PC LPF NCO 15 k d H s k o 21

22 s F k k s F k k s s s H d o d o i 2.10 s j 1 0 j F k k j F k k j j j H d o d o i 2.11 DLL earlylate 1 d=1 d=0.5 d dt c 16 earlylate 2 C/A C/A prompt NCO

23 2 prompt C/A 17 early late Z Z E L S S E L N N E L 2.12 S E N E S L N L xt PRN P c nt P c x t n t baseband early late 23

24 24 2 / 2 / ˆ 1 2 / 2 / ˆ c k c c k T k c L c k c c k T k c E dt R P dt dt t x t x P T S dt R P dt dt t x t x P T S 2.13 ˆ Prompt Ip 1 TLMTelemetry Word 1 HOWHand Over Word 1 TLM 8bit HOW 17bit TOWtime of week2022bit ID TLM HOW 18TML HOW 30bit1 6bit 23

25 123 n 2 n

26 1 23 ephemerisbroadcast ephemeris GPS GPS GPS GPS i r i [m] i [m] [s]c [m/s] r i c i 2.14 x, y, z i x, y, z i i i i i 2 2 xi x yi y zi z r i 26

27 r i 2 2 x x y y z z i i i 2 c x, y, z,

28 3 GPS GPS DGPS GPS 19 GPS GPSFE ublox OEMV2 Reference OEM DGPS GPS DGPS GPS 2 DGPS 1 DGPS 20 28

29 20DGPS GPS m a f 0 ~ a f 2 t T b GPS t t t t t b a T b t t 2 f 0 a f 1 t toc a f 2 t toc T DG 3.1 GPS 3km/s 10 8 A E t r 2.3 k t t t b a T f 0 b a f 1 t t t oc a f 2 t t t oc 2 t r T DG t r 2 e 2 C e A sin E k GPS GPS 12m 29

30 km GPS m GPS A B 2 30

31 21 22 c 31

32 dt sv1 1 dt ref P P c dt dt ion tropo mp noise sv1 ref 3.3 ion tropo mp noise sv2 sv2 P P SV1 P P sv1 sv1 ref rov ref rov SV2 P sv1 ref sv1 ref sv1 rov sv2 ref P sv2 rov noise sv1 rov c dt c dt c dt c dt sv1 ref P sv1 sv1 sv2 sv2 noise sv2 ref dt sv1 rov ref dt dt rov ref dt P sv2 rov ion rov ion ion sv1 ref ion noise sv1 rov sv2 ref sv2 ref sv2 rov tropo tropo noise sv1 ref tropo sv1 rov tropo sv 2 ref sv2 rov mp sv2 rov mp sv1 ref mp sv1 rov mp sv2 ref noise sv2 rov noise sv1 ref sv1 rov noise noise sv2 ref sv 2 rov OEMV2 OEM4 OEMV2 ublox OEMV2 DLL 0.01Hz OEMV2 OEM4 OEMV2 ublox OEMV2 0.12m 0.30m 1.72m 32

33 23OEMV2 OEM4 24OEMV2 25OEMV2 ublox 25 OEMV2 ublox GPS OEMV2 GPS GPS 70ms 150ms 33

34 26OEMV2 3.4 DGPS DGPS GPS DGPS DGPS 0.12m0.35m1.86m 0.22m/s0.81m/s0.35m/s

35 earlypromptlate MHz m c[ m / sec] 310 [ m] f [ Hz] f 6 f

36 4 QZSS QZSS GPS QZSS 1.4GPS QZSS QZSS QZS MS Monitor StationMCS Master Control StationTMS Time Management Station QZSS QZS MS MCS MS QZS MCS QZS QZS MCS 1 QZS 30QZSS 36

37 QZSS 6 QZS QZSS QZSS QZSS PRN PRN GPS Gold PRN QZSS PRN 183 PRN QZSS PRN 6QZSS 7QZSS PRN 37

38 4.2 QZSS QZSS QZS L1-C/A L1-SAIF L2C L5 LEX 6 L1-C/A L1C L2C L5 4 GNSS L1-SAIF LEX GNSS 8QZSS 38

39 4.2.1 L1 L1 L1-C/A L1C L1-SAIF L1-C/A L1C L1 L1C 2 I L1-C/A L1CD Q L1CP L1-C/AL1CDL1CP L1-C/A L1C L1C C L1-C/A C L1CD C L1CP BPSK QZSS 39

40 L1CD 0 L1CD 0 L1CD L1CD 180 L1CP 1 L1CP 90 L1CP 0 L1CP 90 QZSS L1CD L1CP L1CD L1-C/A 31QZSS L2C L2C C L2C BPSK 2 2 C L2CM C L2CL L5 L C L5I5 C L5Q5 BPSK L5 I 0 L5 I 0 L5 I 1 L5 I 180 L5 Q 1 L5 Q 90 L5 Q 0 L5 Q L1-SAIF L1-SAIF C L1-SAIF BPSK LEX LEX C LEX BPSK C LEX 2 2 C LEXS C LEXL 40

4.2.6 QZS f s QZSS f 10. 23MHz 0 f s f 1 f0 f 0 1 5.

41 4.2.6 QZS f s QZSS f MHz 0 f s f 1 f0 f Hz Hz IS-QZSS L1-C/A GPS GPS 41

42 5 QZSS GNSS QZSS QZSS Spirent QZSS QZSS L1-C/A GPS 5.2 GPS GPSQZSS ms 5.1 QZSS 2.4 FFT PRN Gold M G2 PRN A GPS7 PRN No.: QZSS3 PRN No.: GPS PRN QZSS PRN

43 33PRN4 34PRN4 Ip,Ie,Il Ip,Ie,Il [m] Ip,Ie,Il 43

44 [m] Ip,Ie,Il [m] Ip,Ie,Il [m] PRN21 Ip,Ie,Il 44

45 Ip,Ie,Il 47PRN193 48PRN193 Ip,Ie,Il 49PRN194 50PRN194 Ip,Ie,Il 45

46 51PRN195 52PRN195 Ip,Ie,Il 53GUI DLLPLL 1ms 10ms ms PLL DLL 46

47 10ms 5410ms 1ms 10ms PRN16 Ip PLL 15Hz Ip Ip 551ms Ip 5610ms Ip 571ms Ip 5810ms Ip 47

48 10 1ms 10ms PRN16 591ms 6010ms 48

49 10ms Ip GPS/QZSS [m] GPS ECEF X Y 90 Z Y[m] X[m] Z[m] GPSTime[msec] 49

50 GPS GPS/QZSS GPS GPS/QZSS GPS GPSQZSS 100[m] Hz GPS Y[m] GPS -8 GPS+QZS -10 X[m] Z[m] GPS 80 GPS+QZS GPSTime[msec] Y[m] 10 GPS+QZS 8 GPS X[m] Z[m] 80 GPS+QZSS 70 GPS GPSTime[msec] GPSQZSS GPS

51 5.6 GPS/QZSS GPS+QZSS GPS QZSS PRN FE

52 66ROVER FE DGNSS QZSS DGNSS

53 ru 1 ru ti ru ti M t t ru 1 ru 1 M 1 [ ru t M i1 t t ru i ru i1 ] ru r u ru r u DGNSS 53

54 68 10 DGNSS SGNSS DGNSS

55 QZSS DGNSS DGNSS GPSQZSS DGPSGNSS GPS+QZSS JAXA [1] GPS

56 A 1.1 GPS QZSS C/A generatecacode.cpp #include <stdio.h> #include <stdlib.h> #include <iostream> #include "global_extern.h" using namespace std; const double cs const double pi = ;//speed of light = ;//circular constant void generatecacodeint prn { int j,k; int g2shift,savebit; int g1[1024]={0},g2[1024]={0},g2original[1024]={0}; int reg[10]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}; //--- Make the code shift array. The shift depends on the PRN number // The g2s vector holds the appropriate shift of the g2 code to generate // the C/A code ex. for SV#19 - use a G2 shift of g2s19 = 471 int g2s[37] = { 5, 6, 7, 8, 17, 18, 139, 140, 141, 251, 252, 254, 255, 256, 257, 258, 469, 470, 471, 472, 473, 474, 509, 512, 513, 514, 515, 516, 859, 860, 861, 862, 339 /*339*/, 208, 711, 189, 263}; //PRN188 -> 291 PRN193 -> 339 //--- Pick right shift for the given PRN number g2shift = g2s[prn-1]; //--- Generate all G1 signal chips based on the G1 feedback polynomial forj=1;j<=1023;j++{ g1[j-1] = reg[9]; savebit = reg[2]*reg[9]; fork=9;k>=1;k-- reg[k] = reg[k-1]; 56

57 } reg[0] = savebit; forj=0;j<=9;j++ reg[j] = -1; //--- Generate all G2 signal chips based on the G2 feedback polynomial forj=1;j<=1023;j++{ g2[j-1] = reg[9]; g2original[j-1] = reg[9]; savebit = reg[1]*reg[2]*reg[5]*reg[7]*reg[8]*reg[9]; fork=9;k>=1;k-- reg[k] = reg[k-1]; reg[0] = savebit; } //--- Shift G2 code //The idea: g2 = concatenate[ g2_right_part, g2_left_part ]; forj=1023-g2shift+1;j<=1023;j++ g2[j-1023-g2shift-1] = g2original[j-1]; forj=1;j<=1023-g2shift;j++ g2[g2shift+j-1] = g2original[j-1]; } //--- Form single sample C/A code by multiplying G1 and G forj=1;j<=1023;j++ CAcode[j-1] = -1.0*g1[j-1]*g2[j-1]; 57

2005年度卒業論文

2005年度卒業論文 005 GPS 107 000 GPS (Global Positioning System) GPS GPS GPS GPS GPS 1 GPS GPS 3 GPS GPS 1GPS GPS GPS 1 1.1 GPS.1.1 GPS.1. GPS 3.1.3 9.1.4 11.1.5 13. 14..1 14.. 14..3 15..4 17 1) 17 ) 17 3) 18..5 19.4 GPS