GPS GPS
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- かずし はしかわ
- 5 years ago
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1 GPS GPS 6 4 3
2 GPS GPS 3 GPS GLONASS Galleo GNSS GNSS A/D GPS IF MATLAB PC 5m 55m GPS
3 Abstact The evaluaton of the GPS sgnal qualt and postonng accuac b usng the softwae GPS pefomance Shuncho Kondo Toko Unvest of Mane scence and technolog The modenaton of the Global postonng sstem (GPS), the evval of Russan GLONASS and the advent of Euopean Galleo sstem wll constuct the net geneaton Global Navgaton Satellte Sstem (GNSS). At same tme Iapan launches a new egonal Space Based Augmentaton Sstem (SBAS) plan, Japanese Quas-Zenth Satellte Sstem (QZSS), a collecton of thee to seven satelltes that wll be boadcast GPS sgnals fom obts optmed fo East Asan hemsphee. Although GNSS and SBAS wll povde uses moe navgaton satellte sgnals, t s a challenge fo uses to develop the net geneaton GNSS eceves. Cuentl GPS eceves have an Applcatons Specfc Integated Ccut (ASIC) fo sgnal pocessng. Howeve desgn fleblt s ve constaned b an ASIC that s hadwed wth pedefned tackng channels, coelato and contol loop chaactestcs. So softwae GNSS eceves s the best soluton fo net geneaton GNSS eceves desgn. Softwae GNSS eceves ae those that mplement sgnal acquston and tackng pocess not n hadwae, but n softwae. Thus the accuac and functon ae contollable accodng to the algothms and paametes. The sgnal qualt and/o multpath effect can be estmated fom the coelaton values of the pogammable code tackng Loop. In ths pape, an algothm was developed to pocess IF sgnal data fom an IF softwae-gps eceve, whch conssts of a RF font-end and an ADC. The RF font-end down-convets the sgnal fom RF to IF, the ADC samples the IF sgnal. All the othe pocessng ncludng sgnal acquston, tackng, data decodng and solvng poston ae all mplemented n softwae usng sgnal pocessng technques. We pefomed tests to evaluate ou algothm and the elatonshp between the postonng accuac and sgnal pocessng. In ou test, IF data wee collected unde small and heav multpath envonments. The hoontal eos unde small multpath envonment ae about 5~m, the eos unde heav multpath ae 5~5m. The pefomance n ou softwae GPS doesn t have as good as conventonal GPS eceves. The one of easons s that ou algothm doesn t fnd the begnnng ponts of the C/A code of weak sgnals accuatel. But t s found that softwae GPS eceve povdes effectvel nfomaton fo the evaluaton of the elatonshp between the postonng accuac and sgnal pocessng.
4 . GPSGlobal Postonng Sstem 97 DODDepatment of Defense NAVSTARNavgaton Sstem wth Tme and Rangng 5 3 JST SASelectve Avalablt GLONASSGlobal Navgaton Satellte Sstem GALILEO
5 GNSS GNSS GPS RF font-end, ASIC CPU ASIC RF AD GPS GPS/GALILEO PC GPS DSPdgtal sgnal pocessng FPGAfeld pogammable gate aa GNSS.3 PC - GPS PC - GPS GPS GPS
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12 t t oe M k t t k t oe -9 M M k nt k E E k k M esn E k k - - E M k k E E M E E E E esn E esn E esn E E E mn E θ φ k k k φ θ ω k C u k k k uk k A k k C ( ) k e cos E C C t φ k k C c uc c C C us s s cos φ sn φk
13 k ( Ω Ω e ) tk Ω etoe Ω Ω -5 k k k cos Ω sn Ω k k sn Ωk cosk k cosuk cos Ωk cosk k sn uk sn k -6 5 Ω e ad / s π..5 t oa
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21 ε GΧ ε R ε ε ε M ε N ε ε R GΧ -4 ε f f T ε ε ( ε ) T ( R GΧ) ( R GΧ) R N T R R T GΧ Χ ( G T T G) Χ T f Χ f T R G Χ Χ T T T Χ ( G G) R G T T ( ) T T ( G G) T AB B A ( G G) T T T ( G G) Χ G R Χ
22 Χ T T ( G G) G R -45 Χ.. Χ Χ Χ T,, ( ) ΧΧ T T T T ( G G) G RΧ T T ( G G) RR T RR σ T RR σ ( G T G) H ( G T G) σ σ σ σ s σ σ σ σ s σ σ σ σ s σ s σ s σ s σ ss H (,, s), ( H H H ) RMS poston eo σ
23 ..3 σ PDOP σ σ σ TDOP σ ss σ σ H H GDOP σ σ σ σ σ ss H H H 33 H 44 H H 44-5 RMS RMS RMS ( 3D poston estmaton eo) σ PDOP ( Clock bas estmaton eo) σ TDOP ( 3D poston and clock bas estmaton eo) σ GDOP c Χ Χ (,, ) Χ (,, ) (,, ) Χ L(,, ) ( E, N, u ) ΧL (,, ) RL X (,, ) ~ Χ(,, ) RL s s s -55
24 R Χ (,,, s) L H ~ EDOP ~ H NDOP VDOP L TDOP ~ ~ HDOP H H E N U VDOP ~ H33-58 RMS hoontal eo σ HDOP RMS vetcal eo σ VDOP RMS 3D eo σ EE σ NN σ UU σ σ σ σ PDOP ( j k) jk ρ σ σ ( j k) jk kj ρ jk σ σ jj jk σ kk -6 ( ) σ, σ,, ρ σ ρ ( ρ )C σ σ σ -63
25 C, P C ( ) C P ep -64 ρ ρ cov σ σ (, ) -65 C 6 P 95.% σ σ σ ρ Cσ P. 5 C (.774).774σ dms, -66 dms σ σ σ -67 CEP.774σ. 833dms Cσ ( C / ) dms C 6.73dms Cσ ( dms) C 8 C P 98.6% dms dms σ σ dms dms σ σ σ σ σ σ -68
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29 3 GPS 3. GPS GPS RF FontEnd PC RF FontEnd Accod Softwae and Sstem Pvate Compan GPS Sgnal Tap MATLAB GPS GPS RF FontEnd 3. GPS GPS GPS RF FontEnd RF IF - GPS 3.3 RF FontEnd GPS Sgnal Tap L RF FontEnd 3- GPS Sgnal Tap RF - IF PC 6
30 GPS Sgnal Tap RF - GPS Sgnal Tap RF GPS Sgnal Tap 3- GPS Sgnal Tap 8 MH IF - GPS Sgnal Tap - GPS Sgnal Tap 7
31 - GPS Sgnal Tap GPS tackng C/A FFT 3.3. FFT FFT 8
32 3-5 Ccula coelaton FFT kh FFT Ccula coelaton Ccula coelaton 3-5 L n R[ m] [ n] CA[( n m) ] 3- L CA[nm] C/A X[n] L FFT Ccula coelaton R[ m] F ( F ( [ n]) F ( CA[ n]) * ) 3- F F FFT IFFT 3-6 FFT (n) ep( jπf t) FFT X ( f ) X ( f ) C/A IFFT MH MH ms ms,,,.9,999 H kh,,3. 4,58-, 4,58-9, 4,58kH,
![3-8 C/A C/A 3-9 [n]](/docs-images/97/131945993/images/33-0.jpg "FFT X ( f ) R(n) IFFT")
33 3-8 C/A C/A 3-9 [n] FFT X ( f ) R(n) IFFT ep( jπf t) FFT C / A[ n] 3-6 FFT
34 3.3.3 ms FFT kh ms ms ms kh ms 5H ms msc/a H 3.3. FFT 3-3- ms 5bps ms 3- ms C/A ms 3
35 3- ms ms ms ms ms FFT ()
36 GPS C/A 3-3 eal late C/A C/A pompt pompt C/A PLL DLL DLL Ie I P Il Qe Qp Ql DLL DLL MH 5ns 5m GPS C/A DLL 33
37 DLL DLL C/A pompt eal late MHeal late.chp C/A ms, chp 977.5ns/.3MH pompt.chp eal late pompt,.9,999,,eal,,,.,9999late,.,, pompt eal late 3-4 p l e d d 3-5 C/A 3-5 C/A pompt eal elate l eal, late pompt d.5chp(5/977.5ns)chp e l e 34
38 l p e 3( ) 3( d) 3( d) 3-3 (e/l) e l d d ( )( d) ns5ns pompt 5ns 5ns ms ms e l ms eallate chp.chp Naow Coelato DLL DLL / ms C/A ms 3-6 C/A ms ms 35
39 3-6 chp ns kh 3 f f d L f L L f d C/A.65chp.65ns ms ns 5ns PLL PLL 3-3 I Q I I I Q Q I 36
40 θ actan( Q / I) 3-7 d θd I Q I 3-7 I 8 I I
41 PLL FLL PLL FLL PLL PLL PLL () Pompt C/A I Q () atan(q/i) (3) (4) I Q PLL GPS PLL ( C C ) C F( ) 3-7 C 8ςϖ nts K [4 4ςϖ t ( ςϖ t n s n s ) ] C 4( ςϖ nts ) K [4 4ςϖ t ( ςϖ t n s n s ) ] K 4ζ :.77ϖ n 9Ht s ms CW 5bps,5bt 3 3bt TLMTelemet Wod HOWHand Ove WodTLM 8bt HOW 7bt TOWtme of weekbt ID 3- TML HOW 38
42 TML HOW HOW bt () bt 8 3bt 39
43 36bt 3bt 6bt HOW 9,3bt ID 3.5. GPS UTC GPS ms 4
44 3- GPS 6786ms 75ms 4
45 DLL DLL DLL DLL GPS GPS Sgnal Tap MH GPS Sgnal Tap MH 4 Novatel GPS MH MH Novatel GPS7 Novatel GPS7 4-4
46 4-4-3 FFT ms ms DLL DLL 4 5H 4- FFT ms DLL DLL.chp ms PLL 4..3,3,3,5,6,9,,3,5 4- DLL DLL 4-3 dms DLL DLL dms DLL 43
47 4-3 dms DLL DLL dms DLL DLL DLLDLL m7.8m DLL DLL 4-5 8,9,,7,,8,9 DLL DLL 4-4 dms 4-5 DLL DLL DLL dms 44
48 4-5 dms DLL DLL dms DLL DLL DLLDLL m5.m DLL 4-6 DLL DLL DLL DLL DLL DLL dms67m 45
49 dms DLL MH MH Novatel GPS7 Novatel GPS
50 m ,6,8,9,,7,,6,9 4,7,,6, C/A ms
51 dms Novatel oem4 3 dms HDOP dms (m).75 (m).3 (m) -3.4 (m) -.3 dms(m) 7.9 HDOP dms (m) 3.3 (m) 3. (m) -.6 (m) dms(m) HDOP dmshdop 48
52 49
53 5 5. dms67 DLL DLL DLL DLL DLL DLL DLL GPS RF font-end, MH 4 PC DLL DLL C 5
54
第１章
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![1. 4cm 16 cm 4cm 20cm 18 cm L λ(x)=ax [kg/m] A x 4cm A 4cm 12 cm h h Y 0 a G 0.38h a b x r(x) x y = 1 h 0.38h G b h X x r(x) 1 S(x) = πr(x) 2 a,b, h,π](/thumbs/101/149329485.jpg "1. 4cm 16 cm 4cm 20cm 18 cm L λ(x)=ax [kg/m] A x 4cm A 4cm 12 cm h h Y 0 a G 0.38h a b x r(x) x y = 1 h 0.38h G b h X x r(x) 1 S(x) = πr(x) 2 a,b, h,π")
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微分積分 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. このサンプルページの内容は, 初版 1 刷発行時のものです.
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Tokyo University of Marine Science and Technology Laboratory of Satellite Navigation Engineering Tokyo University of Marine Science and Technology GNS
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128 3 II S 1, S 2 Φ 1, Φ 2 Φ 1 = { B( r) n( r)}ds S 1 Φ 2 = { B( r) n( r)}ds (3.3) S 2 S S 1 +S 2 { B( r) n( r)}ds = 0 (3.4) S 1, S 2 { B( r) n( r)}ds
127 3 II 3.1 3.1.1 Φ(t) ϕ em = dφ dt (3.1) B( r) Φ = { B( r) n( r)}ds (3.2) S S n( r) Φ 128 3 II S 1, S 2 Φ 1, Φ 2 Φ 1 = { B( r) n( r)}ds S 1 Φ 2 = { B( r) n( r)}ds (3.3) S 2 S S 1 +S 2 { B( r) n( r)}ds
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7 π L int = gψ(x)ψ(x)φ(x) + (7.4) [ ] p ψ N = n (7.5) π (π +,π 0,π ) ψ (σ, σ, σ )ψ ( A) σ τ ( L int = gψψφ g N τ ) N π * ) (7.6) π π = (π, π, π ) π ±
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The Physics of Liquid Crystals P. G. de Gennes and J. Prost (Oxford University Press, 1993) Liquid crystals are beautiful and mysterious; I am fond of them for both reasons. My hope is that some readers
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18 1 12 2016 キトラ古墳天文図の観測年代と観測地の推定 2015 5 15 2015 10 7 Estimating the Year and Place of Observations for the Celestial Map in the Kitora Tumulus Mitsuru SÔMA Abstract Kitora Tumulus, located in Asuka, Nara
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