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... 29 3.1.2... 29 3.1.3... 30 3.1.4... 30 3.1.5... 30 3.1.6... 30 3.2... 30 3.3... 32 3.4 DGPS... 34 3.5... 35 4 QZSS... 36 4.1 QZSS... 37 4.2 QZSS... 38 4.2.1 L1... 39 4.2.3 L5... 40 4.2.4 L1-SAIF... 40 4.2.5 LEX... 40 4.2.6... 41 3.2.7... 41 5 QZSS GNSS... 42 2
5.1... 42 5.2... 46 5.3... 49 5.4... 49 5.5 GPS GPS/QZSS... 50 5.6 GPS/QZSS... 51 5.6.1... 51 5.6.2 DGNSS... 52 5.6.3... 53... 55... 55... 55 A... 56 3
1 1.1 GPSGlobal Positioning System GPS GPS 1973 GPS NNSSNavy Navigation Satellite SystemNNSS 1964 20 NNSS GPS PC GPS GPS 2010 9 11 QZSS QZSSQZSS GPS GPS 1.2 GPS 2010 9 QZSS L1C/A 1.3 GPS Navigation Positioning GPS GPS GPS 1 GPS 1 4
1GPS 1GPS GPS DoDDepartment of Defence GPS 100m SASelective Availability SA 1996 PDD Presidential Decision Directive:10 SA 2000 5 2 SA 100m m m GPS 2430 2 km L1 1575.42MHz 5
GPS GLONASSGlobal Navigation Satellite System GALILEO 2 8 QZSS 2010 9 11 QZSS 2 QZSS 3 2QZSS 2QZSS 1.4 GPS GPS pseudo-random-noise : PRN PRN 3 6
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 L1 1.1 2P Dt xt cos 2ft sin 2ft GPS 3 3GPS L1 L2 f L1 1575.42MHz 1227.60MHz f L2 UHFUltra-high frequency FM VHFvery-high frequency FM GPS 3 3 1/10 AM 68010 126010 Hz AM MFmedium frequencygps 1/1000 GPS 3 f 2 f L1 7
cos 2 f t L1 L1 sin 2 f t L1 L1 90 2 c[ m/ sec] 310 [ m] f [ Hz] f 8 1.1 f GPS L1 19[ cm] 24[ L2 cm] BPSKBPSK +1-1 xt 1.5 Baseband signal 8
4BPSK C/A 2MHzPY 20MHz 5 9
5L1 PRNpseudo-random-noise -1 1 Gold C/A coarse/acquisition code PYprecision encrypted codec/a 1023 1ms 1.023MHz Mcps 300m P PRN 10 4 10.23Mcps 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
1022 i0 x k x k i n 0, for all n 1 1.2 1.2 n PRN PRN 50bps 1 1 1bit 20ms 1 1500bit 1 30 5 13 45 1 25 25 12 30 6 6 11
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 1023 8 M M 31 D1Dm 12
8 M 5 M 5,2 1,1,1,1,1 31 M 11111001101001000010101110110001111100110100100001010111011000 M 9M 5 M 1 0 M 10M 13
M GPS Gold 1023 2 M Gold m 0Mod4 N 2 m 1 1023 2 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=31 5 2 m N 1 N 31 log m 2 2 5 m log 2 2 2 5 m 32 1.5 14
11Gold 15
2 GPS 2.1 GPS GPS RF PVT 2.2 GPS GPS 12 GPS 12GPS GPS GPS FEFront End LNALow Noise Amplifire 16
,GPS 1575.42Mhz IF A/D A/D 2.3 GPS 10 10 100dB down convert frequency down conversion 1 cos xsin x [cos x y cos x y] 2 2.1 2P 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 2 2.2 2 17 f IF bandpass filter:bpf
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
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 1 1 2 2 I Q I Q ˆ PC FFT 19
20 13 FFT FFT 1 0 L l l t l x t x z 2.8 z k Z * 1 0 / 2 1 0 / 2 1 0 / 2 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
14FFT 2.4 GPS 2 DLLPLL DLL C/A PLL PLL PC LPF NCO 15 k d H s k o 21
22 1 0 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
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 2 / 2 / ˆ 1 2 / 2 / ˆ 1 0 0 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 2.13 2.5 Prompt Ip 1 TLMTelemetry Word 1 HOWHand Over Word 1 TLM 8bit 10001011HOW 17bit TOWtime of week2022bit ID TLM HOW 18TML HOW 30bit1 6bit 23
123 n 2 n 3 1 4 2 5 3 25
1 23 ephemerisbroadcast ephemeris 6 2.6 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 2 2.15 r i 26
r i 2 2 x x y y z z i i i 2 c 2.16 4 x, y, z, 4 4 27
3 GPS 2010 5 29 GPS DGPS GPS 19 GPS GPSFE ublox OEMV2 Reference OEM4 19 3.1 DGPS GPS DGPS GPS 2 DGPS 1 DGPS 20 28
20DGPS 6 3.1.1 GPS 10 8 3m 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 3.2 3.1.2 GPS GPS 12m 29
3.1.3 100km GPS 3.1.4 2.5m 3.1.5 GPS 3.1.6 3.2 2 A B 2 30
21 22 c 31
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 3.4 3.3 OEMV2 OEM4 OEMV2 ublox OEMV2 DLL 0.01Hz OEMV2 OEM4 OEMV2 ublox OEMV2 0.12m 0.30m 1.72m 32
23OEMV2 OEM4 24OEMV2 25OEMV2 ublox 25 OEMV2 ublox GPS OEMV2 GPS GPS 70ms 150ms 33
26OEMV2 3.4 DGPS DGPS GPS DGPS DGPS 0.12m0.35m1.86m 0.22m/s0.81m/s0.35m/s 27 28 27 34
28 3.5 2011 5 29 16 earlypromptlate 16.367MHz 1.1 18m c[ m / sec] 310 [ m] f [ Hz] f 6 f 16.36710 8 310 16.36710 6 18 8 3.5 4000 3000 2000 1000 0-300 -200-100 0 100 200 300 2916 35
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
QZSS 6 QZS QZSS 6 4.1 QZSS QZSS PRN PRN GPS Gold PRN 193 197 QZSS 193 194 198 202 2010 11 PRN 183 PRN QZSS PRN 6QZSS 7QZSS PRN 37
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
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
L1CD 0 L1CD 0 L1CD L1CD 180 L1CP 1 L1CP 90 L1CP 0 L1CP 90 QZSS L1CD L1CP L1CD L1-C/A 31QZSS 4.2.2 L2C L2C C L2C BPSK 2 2 C L2CM C L2CL 4.2.3 L5 L5 2 2 2 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 90 4.2.4 L1-SAIF L1-SAIF C L1-SAIF BPSK 4.2.5 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 5.39910 10 10230000Hz 10229999.994476823Hz 4.1 6 32 IS-QZSS 3.1.32 3.2.7 L1-C/A GPS 1 30 10 1 5 1.4 GPS 41
5 QZSS GNSS QZSS QZSS Spirent 2011 1 1 8QZSS QZSS L1-C/A GPS 5.2 GPS GPSQZSS 2010 12 2 3 1ms 5.1 QZSS 2.4 FFT PRN Gold M G2 PRN 193197 193197 3337 A GPS7 PRN No.:4 8 16 19 20 21 22QZSS3 PRN No.:193 194 195 9 GPS PRN422 3346 QZSS PRN193195 47 52 53 9 42
33PRN4 34PRN4 Ip,Ie,Il 358 368 Ip,Ie,Il 3500 3000 2500 2000 1500 1000 500 0-300 -200-100 0 100 200 300 [m] 3716 3816 Ip,Ie,Il 43
3000 2500 2000 1500 1000 500 0-300 -200-100 0 100 200 300 [m] 3919 4019 Ip,Ie,Il 3000 2500 2000 1500 1000 500 0-300 -200-100 0 100 200 300 [m] 4120 4220 Ip,Ie,Il 3000 2500 2000 1500 1000 500 0-300 -200-100 0 100 200 300 [m] 4321 44PRN21 Ip,Ie,Il 44
4522 4622 Ip,Ie,Il 47PRN193 48PRN193 Ip,Ie,Il 49PRN194 50PRN194 Ip,Ie,Il 45
51PRN195 52PRN195 Ip,Ie,Il 53GUI 5.2 2.4 DLLPLL 1ms 10ms 1 30 40 40 10ms PLL DLL 46
10ms 5410ms 1ms 10ms 2010 5 31 PRN16 Ip PLL 15Hz Ip Ip 551ms Ip 5610ms Ip 571ms Ip 5810ms Ip 47
10 1ms 10ms 59 60 102010 5 31 PRN16 591ms 6010ms 48
10ms 5.3 1 Ip 1 5.4 GPS/QZSS 2011 1 1 61 62 0 100[m] GPS ECEF X Y 90 Z Y[m] 10 8 6 4 2 0-10 -8-6 -4-2 -2 0 2 4 6 8 10-4 -6-8 -10 X[m] 61 120 100 80 Z[m] 60 40 20 0 518490 518500 518510 518520 518530 518540 518550 518560 518570 GPSTime[msec] 49
62 5.5 GPS GPS/QZSS GPS GPS/QZSS GPS GPSQZSS 100[m] 6364 2010 12 2 12 20 12 3 10 35 3 2Hz GPS Y[m] 10 8 6 4 2 0-10 -8-6 -4-2 0 2 4 6 8 10-2 -4-6 GPS -8 GPS+QZS -10 X[m] Z[m] 100 90 GPS 80 GPS+QZS 70 60 50 40 30 20 10 0 357550 357600 357650 357700 357750 357800 GPSTime[msec] 632010 12 2 12 20 Y[m] 10 GPS+QZS 8 GPS 6 4 2 0-10 -8-6 -4-2 -2 0 2 4 6 8 10-4 -6-8 -10 X[m] Z[m] 80 GPS+QZSS 70 GPS 60 50 40 30 20 10 0 476800 476850 476900 476950 477000 477050 GPSTime[msec] 642010 12 3 10 35 GPSQZSS GPS 12 3 50
5.6 GPS/QZSS GPS+QZSS 3 5 29 GPS 2010 12 12 12 54 13 4 10 2 11 33 QZSS PRN 193 11 5.6.1 65 66 12 13 65 FE 121 51
66ROVER FE 131 5.6.2 DGNSS QZSS 67 14 67DGNSS 141 52
5.6.3 3.1 3.4 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 ] 5.1 5.1 ru r u ru r u 5.2 10 DGNSS 53
68 10 DGNSS 151 50 SGNSS 69 10 DGNSS 161 54
QZSS DGNSS DGNSS GPSQZSS DGPSGNSS GPS+QZSS JAXA [1] GPS 2007.12 55
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 = 299792458.0;//speed of light = 3.1415926535898;//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
} 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 G2 ----------------- forj=1;j<=1023;j++ CAcode[j-1] = -1.0*g1[j-1]*g2[j-1]; 57