12 (1) RTK-GPS S/N A i ia (11) (1) ia = f r ia + d i + A + N ia (11) f r ia GPS A i d i i A A N 12 NovAtel In GPS RT-2 NovAtel RT
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- かねろう おいもり
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1 1 RTK-GPS Prinile and Pratie of RTK-GPS 11 RTK-GPS 11 RTK-GPS RTK-GPS Referene Station, Base Station User Station, Remote Station, Rover Station GPS Carrier Phase 11: RTK-GPS GPS mm Ambiguity 1 RTK-GPS RTK-GPS 1
2 12 (1) RTK-GPS S/N A i ia (11) (1) ia = f r ia + d i + A + N ia (11) f r ia GPS A i d i i A A N 12 NovAtel In GPS RT-2 NovAtel RT : 13 SA 6 m 2 5 SA SA SA SA (2) GPS A 2 i j ia, ja A 2
3 m : D ija D ija = ja ia (12) 2 ia, ja (3) A, B i ia, ib i D iab D iab = ib ia (13) 2 ia, ib GPS (4) i j A,B2 GPS i ia, ib j ja, jb DD ijab (14) (1) DD ijab = ( jb ja ) ( ib ia ) (14) = ( jb ib ) ( ja ia ) GPS SA i, j A DD ijab jb ib B i, j 2 RTK-GPS SA mm 2 3
4 : 8 mm 4 4 = 88 mm : mm NovAtel RT-2 DOP 4 RTK-GPS 3 Cyle sli 4 Dilution of Preision 4
5 13 RTK-GPS - FLOAT RTK-GPS FLOAT GPS WGS-84 World Geodeti System (2), xyz ECEF Earth Centered Earth Fixed z x 2 y (14) t f DD ijab(t) = (r jb (t) r ja (t)) (r ib (t) r ia (t)) + f N ijab(t) = (r jb (t) r ib (t)) (r ja (t) r ia (t)) + f N ijab(t) (15) r GPS GPS (x i (t), y i (t), z i (t)), (x j (t), y j (t), z j (t)) xyz (x B (t), y B (t), z B (t)) (15) 1 (14) (15) 1 5 s 1 t ( 1) (16) 8 f DD 12AB(t)+(r 2A (t) r 1A (t)) = (r 2B (t) r 1B (t)) + f N 12AB(t) f DD 13AB(t)+(r 3A (t) r 1A (t)) = (r 3B (t) r 1B (t)) + f N 13AB(t) >< f DD 14AB(t)+(r 4A (t) r 1A (t)) = (r 4B (t) r 1B (t)) + f N 14AB(t) (16) >: f DD 1sAB(t)+(r sa (t) r 1A (t)) = (r sb (t) r 1B (t)) + f N 1sAB(t) t 5 5
6 (17) 8 f DD 12AB() + (r 2A () r 1A ()) = (r 2B () r 1B ()) + f N 12AB(t) >< >: f DD 13AB() + (r 3A () r 1A ()) = (r 3B () r 1B ()) + f N 13AB(t) f DD 14AB() + (r 4A () r 1A ()) = (r 4B () r 1B ()) + f N 14AB(t) f DD 1sAB() + (r sa () r 1A ()) = (r sb () r 1B ()) + f N 1sAB(t) (17) r GPS GPS A B (x A, y A, z A ), (x B (t), y B (t), z B (t)) i i =1; 2; 3; 111;s (x i (), y i (), z i ()) t (x i (t), y i (t), z i (t)) xyz 8 r ia () = (x A x i ()) 2 +(y A y i ()) 2 +(z A z i ()) 2 >< >: r ib () = (x B (t) x i ()) 2 +(y B (t) y i ()) 2 +(z B (t) z i ()) 2 r ia (t) = (x A x i (t)) 2 +(y A y i (t)) 2 +(z A z i (t)) 2 r ib (t) = (x B (t) x i (t)) 2 +(y B (t) y i (t)) 2 +(z B (t) z i (t)) 2 (18) r 2 t n (x B;n (t), y B;n (t), z B;n (t)) 1 B i B r 1iB;n (t) = r ib;n (t) r 1B;n (t) r 1iB;n (t) q = (x B;n (t) x i (t)) 2 +(y B;n (t) y i (t)) 2 +(z B;n (t) z i (t)) 2 q (x B;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 (19) n = (x B; (t), y B; (t), z B; (t)) r 1iB; (t) 1 i B t 1 B i B r 1iB;n () = r ib;n () r 1B;n () r 1iB;n () q = (x B;n (t) x i ()) 2 +(y B;n (t) y i ()) 2 +(z B;n (t) z i ()) 2 q (x B;n (t) x 1 ()) 2 +(y B;n (t) y (t)) 2 +(z B;n (t) z 1 ()) 2 (11) 6
7 N (16) (17) - B n (t) f DD 12AB() + r 12A () f DD 13AB() + r 13A () f DD 14AB() + r 14A () f B DD 1sAB() + r 1sA () n (t) = f DD 12AB(t)+r 12A (t) f DD 13AB(t)+r 13A (t) f DD 14AB(t)+r 14A (t) f DD 1sAB(t)+r 1sA (t) r 12B;n () + 1 f N 12AB;n(t) r 13B;n () + f N 13AB;n(t) r 14B;n () + f N 14AB;n(t) r 1sB;n () + f N 1sAB;n(t) r 12B;n (t)+ (111) f N 12AB;n(t) r 13B;n (t)+ f N 13AB;n(t) r 14B;n (t)+ f N 14AB;n(t) r 1sB;n (t)+ C A f N 1sAB;n(t) (x B;n (t), y B;n (t), z B;n (t)) 1x B;n (t), 1y B;n (t), 1z B;n (t) (112) 8 x B;n+1 (t) = x B;n (t)+1x B;n (t) >< y B;n+1 (t) = y B;n (t)+1y B;n (t) (112) >: z B;n+1 (t) = z B;n (t)+1z B;n (t) N 1iAB;n (t) 1N 1iAB;n (t) (113) 8 N 12AB;n+1 (t) = N 12AB;n (t)+1n 12AB;n (t) >< >: N 13AB;n+1 (t) = N 13AB;n (t)+1n 13AB;n (t) N 14AB;n+1 (t) = N 14AB;n (t)+1n 14AB;n (t) N 1sAB;n+1 (t) = N 1sAB;n (t)+1n 1sAB;n (t) (113) N 1iAB; (t) (19), (11) B;n B;n B;n B;n B;n B;n (t) 7
8 8 i;n () B;n () = x B;n (t) x 1 () (xb;n (t) x 1 ()) 2 +(y B;n (t) y 1 ()) 2 +(z B;n (t) z 1 ()) 2 x B;n (t) x i () (xb;n (t) x i ()) 2 +(y B;n (t) y i ()) 2 +(z B;n (t) z i ()) 2 i;n () B;n () = y B;n (t) y 1 () (xb;n (t) x 1 ()) 2 +(y B;n (t) y 1 ()) 2 +(z B;n (t) z 1 ()) 2 y B;n (t) y i () (xb;n (t) x i ()) 2 +(y B;n (t) y i ()) 2 +(z B;n (t) z i ()) 2 >< >: i;n () B;n () = z B;n (t) z 1 () (xb;n (t) x 1 ()) 2 +(y B;n (t) y 1 ()) 2 +(z B;n (t) z 1 ()) 2 z B;n (t) z i () (xb;n (t) x i ()) 2 +(y B;n (t) y i ()) 2 +(z B;n (t) z i ()) 2 i;n (t) B;n (t) = x B;n (t) x 1 (t) (xb;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 x B;n (t) x i (t) (xb;n (t) x i (t)) 2 +(y B;n (t) y i (t)) 2 +(z B;n (t) z i (t)) 2 i;n (t) B;n (t) = y B;n (t) y 1 (t) (xb;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 y B;n (t) y i (t) (xb;n (t) x i (t)) 2 +(y B;n (t) y i (t)) 2 +(z B;n (t) z i (t)) 2 i;n (t) B;n (t) = z B;n (t) z 1 (t) (xb;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 z B;n (t) z i (t) (xb;n (t) x i (t)) 2 +(y B;n (t) y i (t)) 2 +(z B;n (t) z i (t)) 2 (114) x, y, z 8
9 A n (t) 2;n () 2;n () 2;n () 111 f 3;n () 3;n () 3;n () f 4;n () 4;n () 4;n () f s;n () s;n () s;n () f A n (t) = 2;n (t) 2;n (t) 2;n (t) 111 f 3;n (t) 3;n (t) 3;n (t) f 4;n (t) 4;n (t) 4;n (t) f s;n (t) s;n (t) s;n (t) f 1 C A (115) 1 1x B;n (t) 1y B;n (t) 1z B;n (t) A n (t) T A n (t) 1 1 1N 12AB;n (t) A n (t) T B n (t) = 1N 13AB;n (t) (116) 1N 14AB;n (t) C A 1N 1sAB;n (t) (16) (116) 1x B;n :1 m, 1y B;n :1 m, 1z B;n :1 m 1 xyz (x B, y B, z B ), 14 FLOAT FLOAT 16 (a) (b) 9
10 92 : 12,233 km : 42,435 km (a) (b) 16: 17 2 σ km 17: FLOAT 1
11 (16) 3 xyz DOP RTK-GPS FIX 15 RTK-GPS - FIX RTK-GPS FIX (14) t (117) f DD ijab(t) = (r jb (t) r ja (t)) (r ib (t) r ia (t)) + f N ijab (117) = (r jb (t) r ib (t)) (r ja (t) r ia (t)) + f N ijab FLOAT FLOAT (x i (t), y i (t), z i (t)), (x j (t), y j (t), z j (t)) xyz (x B (t), y B (t), z B (t)) (15) (14) (15) 1 s 1 t(1) (118) 8 f (DD 12AB(t) N 12AB )+(r 2A (t) r 1A (t)) = r 2B (t) r 1B (t) f >< (DD 13AB(t) N 13AB )+(r 3A (t) r 1A (t)) = r 3B (t) r 1B (t) f (DD 14AB(t) N 14AB )+(r 4A (t) r 1A (t)) = r 4B (t) r 1B (t) (118) >: f (DD 1sAB(t) N 1sAB )+(r sa (t) r 1A (t)) = r sb (t) r 1B (t) FLOAT t n (x B;n (t), y B;n (t), z B;n (t)) 1 B s B r 1sB;n (t) =r sb;n (t) r 1B;n (t) (19) (16) (118) - 11
12 B n (t) B n (t) = f (DD 12AB(t) N 12AB;n )+r 12A (t) f (DD 13AB(t) N 13AB;n )+r 13A (t) f (DD 14AB(t) N 14AB;n )+r 14A (t) f (DD 1sAB(t) N 1sAB;n )+r 1sA (t) r 12B;n (t) r 13B;n (t) r 14B;n (t) r 1sB;n (t) 1 C A (119) (x B;n (t), y B;n (t), z B;n (t)) 1x B;n (t), 1y B;n (t), 1z B;n (t) (112) (19) B;n B;n B;n (t) 8 s;n (t) B;n (t) = x B;n (t) x 1 (t) (xb;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 x B;n (t) x s (t) (xb;n (t) x s (t)) 2 +(y B;n (t) y s (t)) 2 +(z B;n (t) z s (t)) 2 >< >: s;n (t) B;n (t) = y B;n (t) y 1 (t) (xb;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 y B;n (t) y s (t) (xb;n (t) x s (t)) 2 +(y B;n (t) y s (t)) 2 +(z B;n (t) z s (t)) 2 s;n (t) B;n (t) = z B;n (t) z 1 (t) (xb;n (t) x 1 (t)) 2 +(y B;n (t) y 1 (t)) 2 +(z B;n (t) z 1 (t)) 2 z B;n (t) z s (t) (xb;n (t) x s (t)) 2 +(y B;n (t) y s (t)) 2 +(z B;n (t) z s (t)) 2 (12) A n (t) 2;n (t) 2;n (t) 2;n (t) 1: 3;n (t) 3;n (t) 3;n (t) 1: A n (t) = 4;n (t) 4;n (t) 4;n (t) 1: s;n (t) s;n (t) s;n (t) 1: 1 C A (121) 12
13 An (t) T A n (t) 1 1 A n (t) T B n (t) = 1x B;n (t) 1y B;n (t) 1z B;n (t) 1T ime B;n (t) 1 C A (122) (122) FLOAT 1x B;n :1 m, 1y B;n :1 m, 1z B;n :1 m 1 16 KGPS/RTK-GPS drms = 27 m (m) 1 1 (m) (m) (a-1) (m) (b-1) σ = 169 m (m) (m) (a-2) (b-2) (a) FLOAT (b) FIX 18: KGPS FLOAT FIX 18 (a), (b) FLOAT FIX 13
14 FLOAT FIX FLOAT RTK-GPS 6 ZBL 2 m 19(a), (b) GPS Trimble Navigation 4SSi Trimble 4SSi ZBL 2 m ZBL + (m) : 85 FIX : 1 2drms = 116 m 3 : 2 m : 77 4 FIX : 998 2drms = 88 m (m) (m) 5928 : σ = 84 m m: σ = 614 m ( ) (a) (b) 19: RTK-GPS ZBL 2 m 11 FIX 3,6 / FIX 2drms mm Trimble 4SSi 11: RTK-GPS ZBL FIX 2drms ZBL m 84 m 2 m m 614 m 6 Zero base line ZBL 14
15 17 RTK-GPS RTK-GPS 11 RTK-GPS 2 1(x 1, y 1, z 1 ), 2(x 2, y 2, z 2 ) 2 (x, y, z) r F (x; y; z) = (x x 1 ) 2 +(y y 1 ) 2 +(z z 1 ) 2 (x x2 ) 2 +(y y 2 ) 2 +(z z 2 ) 2 r = (123) 2 2 Hyerboloid (3) 11: 18 RTK-GPS RTK-GPS MCA Multi-hannel Aess 15
16 RTK-GPS RTCM SC (4) RTCM RTK-GPS RTK-GPS ION GPS-96 CMR 8 (5) RTK-GPS (1) RTCM SC-14 Ver21 DGPS SC-14 Ver21 RTK-GPS Tye18 21 GPS RTK-GPS RTCM RTK-GPS RTCM RTK-GPS Tye18, 19 RTK-GPS DGPS Tye1 Tye3 RTCM RTK-GPS DGPS 12 Tye18 Tye Ver 3 12: RTCM Tye18 (words) (bits) = = = = = = = = = = 1, = = 1, = = 1, = = 1, = = 1,53 (2) Trimble Navigation CMR RTCM RTK-GPS Tye ,6 bs RTK-GPS ION GPS-96 Trimble Navigation Co,Ltd RTK-GPS CMR 7 Radio Tehnial Commission for Maritime Servies Seial Committee No Comat measurement reord 16
17 RTCM RTK-GPS 2,4 bs RTK-GPS CMR Tye1 ECEF Kinemati RTK-GPS GPS RTK-GPS (5) 4SSi 3 25 RTCM RTK-GPS Tye3, 18, 19, kbit/ 1 CMR 1/4 1 kbit/ 1 CMR RTCM RTK-GPS 17
18 (1) - -,, (2) GPS, (3),, (4) Radio Tehnial Commission for Maritime Servies Seial Committee No14, ' RTCM Reommended Standards for Dierential Navstar GPS Servie Version 21 ', RTCM Paer194-93/SC14- STD, Washington,DC, JANUARY 3 (1994) (5) DrNiholas, CTalbot, 'Comat Data Transmission Standard for High-Preision GPS', PRO- CEEDING OF THE 9TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION ION GPS-96 PART 1 OF 2,
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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
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
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)
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B's Recorderマニュアル_B's Recorderマニュアル
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B's Recorderマニュアル
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株式会社ウェッズ
39th 1 2 39th 25,000 500 300 20,000 15,000 400 300 200 10,000 5,000 200 100 100 0 0 0 16,000 50 5 12,000 8,000 4,000 40 30 20 10 4 3 2 1 0 0 0 3 4 39th 5 6 39th 7 N E W P R O D U C T S 8 39th 9 10 CO.,LTD.
A.2 DGPS MSAS A.2.1 GPS GPS GPS GPS diãerentialgps;dgps GPS GPS DGPS local-area diãerential GPS: LADGPS 100 km DGPS DGPS wide-area di
A2 DGPS MSAS sakai@enrigojp A21 GPS GPS GPS GPS diãerentialgps;dgps GPS GPS DGPS local-area diãerential GPS: LADGPS 1 km DGPS DGPS wide-area diãerential GPS: WADGPS DGPS DGPS DGPS DGPS MSAS MTSAT satellite-based
ネットワーク型RTK-GPS測量
RTK-GPS 18 3 ...3....3....3. RTK-GPS...5....5....6....6...6...6...7...8 RTK-GPS...13...13 RTK-GPS...14...14...14...15...16...22...22...24...24-1 RTK-GPS...24-2...25...26. RTK-GPS...26....28 . CALS/EC RTK-GPS
CIM 28 CIM 28 8 CIM CIM CIM
CIM 1 30 3 CIM CIM 28 CIM 28 8 CIM CIM 1 29 3 29 3 CIM 1 30 3 30 3 1... 1 1... 4 1.1 CIM... 4 1.1.1 CIM... 4 1.2... 8 1.3 CIM... 9 1.3.1 CIM... 9 1.3.2 CIM... 10 1.4 CIM... 18 1.4.1 CIM... 18 1.4.2 CIM...
9 9K10 2005.02.24 2
9 9K10 2005.02.24 1 9 9K10 2005.02.24 2 9 9K10 2005.02.24 3 9K20 2005.02.24 1 9K20 2005.02.24 2 9K20 2005.02.24 3 1 9 9S1A 2005.03.10 1 2 9 9S1A 2005.03.10 2 9 9S1B 2005.03.10 1 9 9S1B 2005.03.10 2 9 9S1C
7/30 40 8/4 7/30 18:00 19:00 7/31 10:00 15:00 7/31 10:00 15:00 8/20 12:30 15:00 8/21 13:00 15:00 ( 49ha) JA () TEL 079-421-9026
( ) ( ) 7/30 40 8/4 7/30 18:00 19:00 7/31 10:00 15:00 7/31 10:00 15:00 8/20 12:30 15:00 8/21 13:00 15:00 ( 49ha) JA () TEL 079-421-9026 H144 H2358 H148 H2319 H1563 H23221 H1587 H23122 H1549 5,800 H22265
Keysight Technologies GPSレシーバ・テスト
Keysight Technologies GPS Application Note 25 37500 12.5 2 300 1 6 3 4 5 1500 30 (TLM) 30 0.6 8 16 6 16 7 (HOW) 30 0.6 TOW (Time of week) ID 6 ...3...3 GPS...4 GPS A-GPS...4 GPS...4 GPS...4 GPS...5 GPS...5
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2004.3.31 10 11 12-1- BIT -2- -3-256 258 932 524 585 -4- -5- A B A B AB A B A B C AB A B AB AB AB AB -6- -7- A B -8- -9- -10- mm -11- fax -12- -13- -14- -15- s58.10.1 1255 4.2 30.10-16- -17- -18- -19-6.12.10
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67.5km 299.4km 2 2 2 16km 1/6 47km 2 1 1 (m) (km 2 ) 2,700 7.6 9,927 47.1 8,100 13.4 8,120 4.8 52 0.4 1,100 6.0 2,200 3.8 6,982 45.3 4,473 14.4 5,000 9.5 2 (km 2 ) (km) 1 299.4 67.5 2 284.5 38.8 3 267.0
... 1... 2... 2... 3... 4... 16... 18... 19... 23... 26... 29... 31... 35... 36... 38... 40... 40... 41... 41... 41... 42... 42... 44... 44... 44 1 2 3 1707 10 28 (4104) 1854 12 24 ([ 1 ]11 5 ) 8.6 33.2
平成27年度三菱重工グループ保険 フルガードくん（シニア）
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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
『こみの株式会社』の実践
2003 . JA JA A JA 811 2005/8/11 1003 452 10 960 28 2005/8/11 1003 452 6 120 29 2005/8/11 2003 151 10 420 33 2005/8/11 2003 211 3 180 31 2005/8/11 2003 211 3 150 32 827 400 5 80 221 2005/6/25 900 3 300
15 7 26 1,276 3,800 1 16 15 1 2 3 4 2
1 15 7 26 1,276 3,800 1 16 15 1 2 3 4 2 JA 3 4 2 1 3 2001 1981 6 10% 10 30% 1 2 JA JA 2 4 JA 2 1 2 1 2 1 2 1 2 1 2 7 5 1 1 1 3 1 6 1 1 2 2 1 7 2 3 3 53 1 2000 30 8 250 53 435 20 35 3 1 8 2 4 3 2 2 232
EX-word_Library_JA
JA 2 3 4 5 14 7 1 2 6 3 1 2 7 3 8 27 1 2 3 1 2 3 9 1 2 3 1 2 3 10 12 13 14 11 1 12 1 2 13 1 2 3 25 14 1 2 3 25 15 1 2 3 25 16 1 2 3 25 17 1 2 3 25 18 1 2 3 4 25 19 1 2 3 4 25 20 1 2 21 3 4 25 22 1 2 3
324.pdf
50 50 10 30 11 26 12 27 14 16 27 18 20 21 22 22 22 22 23 24 24 1 No.324 JA 2 85 69 20 12 81 18 12 22 93 10 31 3 50 50 30 30 50 22 27 27 10 16 14 52 10 62 15 64 25 24 50 4 25 23 27 5 10 11 25 6 11 49 10
EPSON エプソンプリンタ共通 取扱説明書 ネットワーク編
K L N K N N N N N N N N N N N N L A B C N N N A AB B C L D N N N N N L N N N A L B N N A B C N L N N N N L N A B C D N N A L N A L B C D N L N A L N B C N N D E F N K G H N A B C A L N N N N D D
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EPSON エプソンプリンタ共通 取扱説明書 ネットワーク編
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