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 1.4.1 GPS 1.4. 3 3.1 4 3. 7 3.3 7 3.4 7 3.5 8 4 4.1 4.1.1 4.1. 4.1.3 9 9 3 37
4. 4..1 4.. 4..3 4.3 4.3.1 4.3. 4.3.3 4.4 4.4.1 4.4. 4.4.3 5 37 37 38 40 40 40 41 4 4 4 45 46 47
1
GPS (Global Positioning System) 1973 (DODDepartment Of Defense) (SASelective Availability) 100 [1] GPS 000 5 SAAS(Anti Spoofing) 100 30 [] GPS GPS GPS [3] GPS GPS GPS ARPA(Automatic Rader Plotting Aid ) GPS
.1 GPS.1.1 GPS GPS ()() PSK [1][] 0,000 55 60 6 4 4 7 11 56 4 1 1 1.5.1 GPS.1 GPS 10.3Hz 154 L11575.4Hz 10 L17.6Hz C/A(Clear and Acquisition.Coarse and Access) P(Y)(Precision.Protect)
(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 6 7.5 6.561km 1 ( 11 58 ) 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)[]
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).3 30 10 (sub frame) ()(telemeter) HOW(hand over word) Z Z ()HOW P P C/A coarse/access()p C/A L Z GPS
1 0ms C/A 1s L1 PSK P 90 (P C/A 10 ) P 90 C/A C/A.
5 1 1.5 1 30 1500 3 P 5 4 5 TLMHOW () (Z ) 1 10 6 1 30.3 #4#5 5 ()1 1.5 300 (sub frame) 5 (main frame)(30 )((ephemeris) )4 5 5 5 (master frame)( (almanac)) (health) 8 6 L C/A ().
. GPS () L1 1,575.4MHz =15410.3MHz C/A P (Y ) L 1,7.6MHz =1010.3MHz P (Y ) GPS C/A 1.03Mbps 1,03=1ms P 10.3Mbps 610 1 bit=7day Y =300bit=6s 50bps =1500bit=30s 5 =1 5 =1 10.3MHz 0.00455MHz () GPS 4 () GPS GPS C/A L1. 0π PSK PSK 0π 0180 0 PSK.4 C/A MHz P 0MHz.4 L1 C/A L1 C/A P L1 0180 PSK
17.6MHz 0.46MHz L.046MHz 1575.4MHz 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) 90 90 GPS 0MHz L1 C/A P
90 C/A PSK P (quadrature) L P #1 GPS # L 4 #1 # #n.5.1.3 GPS 3 [4] C/A P
( ) 3 (,,) t 4 4 GPS WGS-84 3.6
.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 ()
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 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 1 1 1 1 4 4 4 3 3 3 1 1 1 4 3 1 γ β α γ β α γ β α γ β α (.) 4 0 0 0,, 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 0 4 4 (.7) n x y z 0 0 0,, z y x s = 1 1 1 1 3 3 3 1 1 1 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 =
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] UTC000 5 4 SA SA (Selective Availability )L1 C/A 65100 000 5 1 610 () () 5 50 100km 500kmGPS 00m F L L1 L 10
...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
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
(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
..4 [7][8] 4 1 1) 900 (1 15 1 60 15 )(=15/)(=63710 6 cm) 900 9410-10 cos900cos60 () 900cos60450 ) 15.9 4 360 0 cos(15cos/) 1 3 18 6 15 1 9.9
3) 154 360 0 sin(15sin/).10 (red) (red/s) cos sin.11
cos sin A O sin cos.10.11..5 [7][8]
.1 ().13 ().14 Gyro S Case W.1
(1) () (3).13 N.14.3 GPS.3.1 GPS GPS GPS.15 [9]
GPS.15 GPS.3..16 GPS ( ) GPS 3 1 ()GPS 3 3 (roll, pitch, yaw) 1 roll pitch () 50100cm 1 0.5 [10] 3 XYZ 3 3 3 1 1 1 1 1 4 50100cm GPS 1 19cm
GPS 1 GPS Hz GPS () () GPS 100Hz 1 ().16
3
GPS GPS JLT-10T GPS 3.1 3.1 [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)
GPS GPS GPS GPS GPS GPS GPS () 1 3 GPS GPS GPS (NWZ-4551G) GPS
3.1. (1-CH) 1575.4MHz 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 1..7.9 WGS84 46 3 (1) NMEA0183 4800bps1 (HDT,GGA,GLL,RMC,VTG,GSA,GSV,DTM) () NSK NSK=9600bps0ms () (3) NMEA0183 NMEA=4800bps50ms (HDT) GPS 3.
3. () 10 GPS () 10 GPS () 10 GPS () 10 GPS 3.3 000045090135 180570315 58101 3 3.4 5 5 10 10
10 10 1 10 3.5 1 10 10( 10 ) 10( 10 ) ( 0 ) 1 5 5( 5 ) 5( 5 ) ( 0 ) 5 10 10( 10 ) 10( 10 ) ( 10 ) 5 5 5( 5 ) 5( 5 ) ( 10 )
4
4.1 GPS 4.1.1 4.1 () () [sec] 1 48 136.4 135.4 73 135.6 135.3 3 53 136.9 135.1 4 53 135.7 134.4 5 61 136.7 134.4 6 60 137.3 135.3 7 346 135.5 135.1 8 54 136.4 135.3 9 53 136.1 135.7 10 60 134.5 134. 86 136.11 135.0 137.5 137 136.5 136 135.5 135 134.5 134 0 4 6 8 10 1 4.1 ()
.5 [ ] 1.5 1 0.5 0 0 4 6 8 10 1 4. () 4. () [sec] 1 68 0.5.1 9 6.6 7.8 3 55-35. -37. 4 343-3. -1.8 5 93-35.4-33.6 6 149-15.9-15.4 7 55-1.9-0.6 8 65 44.9 44.8 9 60 46. 46.8 10 57 1.1 0.8 60 40 0 0-0 -40-60 0 4 6 8 10 1 4.3
.5 1.5 1 0.5 0-0.5-1 -1.5-0 4 6 8 10 1 4.4 4.3 () [sec] () 1 71 136. 136. 63 137. 136. 3 57 136.6 136. 4 59 136.5 136.1 5 56 135.6 136.1 6 56 136.4 135.9 [ ] 137.5 137 136.5 136 135.5 0 1 3 4 5 6 7 4.5 ()
0 1 3 4 5 6 7 4.6 () 4.1. 4.4 () () [sec] 54 5.1 53.3 53 46.9 47.7 59 46.1 48. 74-139.6-141.1 94 156.5 155.8 54 6.0 5.8 36 0.8.6 75.3 1.5 63-8.3-7.5 79 1.1 1.7
170 130 90 50 10-30 -70-110 -150 0 4 6 8 10 1 4.7 () 1.5 1 0.5 0-0.5-1 -1.5 - -.5 0 4 6 8 10 1 4.8 ()
4.5 () [sec] 79-138.3-139.5 51-71.1-71.0 51-103.6-10.5 49-70.7-71.9-44.7-43.5 150 59.3 59.8 48 64.8 63.5 5 61.3 60.3 45 59.5 60.1 48 6.9 61.3 70 40 10-0 -50-80 -110-140 0 4 6 8 10 1 4.9 1.5 1 0.5 0-0.5-1 -1.5 0 4 6 8 10 1 4.10
4.6 () [sec] 50-1. -13.0 94 9.4 10.9 53 8.1 7.5 55-0. 0.0 86-3.4-4.4 99 17.5 18.9 77-11.0-1.0 77 7.8 7.0 60-19.0-0.0 61 0.8 0.5 0 10 0-10 -0-30 0 4 6 8 10 1 4.11 1.5 1 0.5 0-0.5-1 -1.5-0 4 6 8 10 1 4.1
4.7 () () [sec] 18-5.8-6.0 73 49.5 50. 304 58.5 57.9 69 5.5 51.5 164 5.4 53.0 103 53.8 5.5 55 5.4 51.5 58 51.4 50.9 53 49.3 50. 54 50.4 50.5 1.5 1 0.5 0-0.5-1 -1.5 60 50 40 30 0 10 0-10 0 4 6 8 10 1 4.13 () 0 4 6 8 10 1 4.14 ()
4.1.3 100 3 3 3 0.5 45 GPS GPS 4. GPS 4..1 9 91 90 89 88 [ ] 87 0.30 0.8 0.6 0.4 0. 0.0 0.18 0 50 100 150 00 [sec] 4.15 5 0 50 100 150 00 [sec] 4.16 5
186 184 18 180 178 0.169 0.168 0.167 0.166 0.165 0.164 0.163 0.16 0.161 0 50 100 150 00 [sec] 4.17 7 0 50 100 150 00 4.. 6.5 6 5.5 5 4.5 4 3.5 [sec] 4.18 7 0 50 100 150 00 50 300 350 400 [sec] 4.19 1
[ ] 0.0575 0.0574 0.0573 0.057 0.0571 0.0570 0.0569 0.0568 0.0567 0 50 100 150 00 50 300 350 400 [sec] 4.0 1 138 137 136 135 134 133 13 0 50 100 150 00 50 300 [sec] 4.1 10 0.70 0.700 0.680 0.660 0.640 0.60 0 50 100 150 00 50 300 [sec] 4. 10
4..3 GPS GPS 4.3 GPS 4.3.1 360 30 80 40 00 160 10 80 40 0 0 00 400 600 800 1000 100 1400 [sec] 4.3 10 5 [ ] 1 10 8 6 4 0 0 00 400 600 800 1000 100 1400 [sec] 4.4 10 5
360 30 80 40 00 160 10 80 40 0 0 00 400 600 800 [sec] [ ] 4.5 1 10 1 10 8 6 4 0 0 00 400 600 800 1000 [sec] 4.6 1 10 4.3. 360 30 80 40 00 160 10 80 40 0 0 100 00 300 400 500 600 700 [sec] 4.7 1 10
[ ] 16 14 1 10 8 6 4 0 0 100 00 300 400 500 600 700 800 [sec] 4.8 1 10 4.3.3 GPS GPS 4.4 GPS 4.4.1 180 160 140 10 0 50 100 150 00 50 [sec] 4.9 1 10
3 1 0-1 - -3-4 0 0 40 60 80 100 10 140 160 180 00 0 4.30 1 10 180 160 140 10 0 50 100 150 00 50 300 350 [sec] 4.31 1 5 1.5 1 0.5 0-0.5-1 -1.5-0 50 100 150 00 50 300 350 4.3 1 5
165 160 155 150 145 140 135 0 50 100 150 00 50 [sec] 4.33 5 10.5 1.5 0.5-0.5-1.5 -.5 0 0 40 60 80 100 10 140 160 180 00 0 4.34 5 10 165 160 155 150 145 140 135 0 50 100 150 00 50 300 350 400 [sec] 4.35 5 5
1.5 1 0.5 0-0.5-1 -1.5-0 50 100 150 00 50 300 350 4.36 5 5 4.4. 300 80 60 40 0 0 100 00 300 400 500 600 700 [sec] 4.37 5 5 14 1 10 8 6 4 0 - -4-6 0 50 100 150 00 50 300 350 400 450 500 550 600 650 700 750 4.38 5 5
4.4.3 GPS GPS GPS
5
86 117 3 GPS 1.1-0.6-1.5-53 GPS
JRC GPS JTR- 10T.
[1] GPS pp.5-44 004 1 [] GPS pp.11-pp.35-39pp.75-96 00 10 [3] GPS pp.307-366003 [4] GPS 000GPS pp.187-190 000 11 [5] pp.7-4 1993 8 [6] pp.1-30 1980 6 [7] pp.73-77pp.84-89 1971 10 [8] () pp.150-15500 1 [9] GPS pp.40-43005 3 [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