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E-grāmata: GPS, GLONASS, Galileo, and BeiDou for Mobile Devices: From Instant to Precise Positioning

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  • Formāts: EPUB+DRM
  • Izdošanas datums: 15-May-2014
  • Izdevniecība: Cambridge University Press
  • Valoda: eng
  • ISBN-13: 9781139949286
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GPS, GLONASS, Galileo, and BeiDou for Mobile Devices: From Instant to Precise PositioningPalielināt
  • Formāts: EPUB+DRM
  • Izdošanas datums: 15-May-2014
  • Izdevniecība: Cambridge University Press
  • Valoda: eng
  • ISBN-13: 9781139949286
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Get up to speed on all existing GNSS with this practical guide. Covering everything from GPS, GLONASS, Galileo, and BeiDou orbits and signals to multi-GNSS receiver design, AGPS, RTK, and VRS, you will understand the complete global range of mobile positioning systems. Step-by-step algorithms and practical methods provide the tools you need to develop current mobile systems, whilst coverage of cutting edge techniques, such as the instant positioning method, gives you a head-start in unlocking the potential of future mobile positioning. Whether you are an engineer or business manager working in the mobile device industry, a student or researcher, this is your ideal guide to GNSS.

Get up to speed on all types of GNSS for mobile applications. With step-by-step algorithms and practical methods you will understand the capabilities of current systems and be able to apply your new knowledge to unlocking the potential of future mobile positioning.

Papildus informācija

Get up to speed on GNSS for mobile applications with this practical guide, including step-by-step algorithms and key methods for future systems.
Foreword xiii
Glen Gibbons
About this book xix
Acknowledgments xx
List of abbreviations and acronyms xxi
List of definitions xxv
Part I GNSS: orbits, signals, and methods
1 GNSS ground and space segments
3(36)
1.1 Ground segment and coordinate reference frames
3(7)
1.2 Space segment and time references
10(3)
1.2.1 GPS time and calendar time
10(1)
1.2.2 Other GNSS time scales
11(1)
1.2.3 Onboard clock error
11(2)
1.3 Satellite motion description using Keplerian parameters
13(4)
1.4 Algorithm for satellite position calculation using standard Keplerian parameters
17(3)
1.5 Theoretical background for the spherical harmonics of the Earth's geopotential
20(2)
1.6 Algorithm for transformation of GLONASS almanac parameters into standard Keplerian parameters
22(4)
1.7 Medium Earth GNSS orbits
26(3)
1.8 GEO and HEO for SBAS
29(3)
1.8.1 GEO
29(1)
1.8.2 HEO
30(2)
1.9 Algorithm for GPS, Galileo, and BeiDou for satellite position calculation using ephemeris in the form of osculating elements
32(3)
1.10 Algorithm for GLONASS satellite position calculation using ephemerides in the form of Cartesian vectors
35(1)
1.11 Algorithm for GLONASS satellite position calculation accounting for lunar and solar gravitational perturbations
36(1)
References
37(2)
2 GPS, GLONASS, Galileo, and BeiDou signals
39(49)
2.1 GNSS signals
39(19)
2.1.1 GNSS signals in general
39(10)
2.1.1.1 CDMA method
39(3)
2.1.1.2 GNSS signal structure
42(1)
2.1.1.3 GNSS spread codes: past, present, and future
42(1)
2.1.1.3.1 Shift register and memory codes
42(1)
2.1.1.3.2 Strange attractor codes
45(1)
2.1.1.4 BOC modulation
46(1)
2.1.1.5 Data
47(1)
2.1.1.6 Tiered code
48(1)
2.1.1.7 Pilot channel
49(1)
2.1.2 GPS L1 signals
49(4)
2.1.2.1 GPS L1 C/A signal
49(2)
2.1.2.2 GPS L1C signal
51(2)
2.1.3 GLONASS L1 signals
53(3)
2.1.4 Galileo signal
56(1)
2.1.5 BeiDou signal
57(1)
2.2 GNSS signal propagation error models
58(14)
2.2.1 Effects of signal propagation through the atmosphere on GNSS
58(2)
2.2.2 Algorithms for tropospheric delay calculation
60(2)
2.2.2.1 Black and Eisner model
60(1)
2.2.2.2 Saastamoinen tropospheric delay model
61(1)
2.2.2.3 Niell mapping function
61(1)
2.2.3 Algorithms for ionospheric delay calculation
62(7)
2.2.3.1 Single-layer ionosphere model
63(2)
2.2.3.2 Ionospheric error compensation in GPS and BeiDou receivers
65(2)
2.2.3.3 Ionospheric error compensation in GLONASS receivers
67(1)
2.2.3.4 Ionospheric error compensation in Galileo receivers
67(1)
2.2.3.5 ionospheric error corrections from GEO/HEO satellites
68(1)
2.2.4 Ionospheric error compensation in multi-frequency GNSS receivers
69(3)
2.3 GNSS data
72(10)
2.3.1 GPS and BeiDou navigation messages
72(1)
2.3.2 Galileo navigation message
73(2)
2.3.3 Algorithm for constructing GPS/BeiDou/Galileo pseudorange measurements
75(2)
2.3.3.1 GPS time mark
75(1)
2.3.3.2 BeiDou time mark
75(1)
2.3.3.3 Galileo time mark
76(1)
2.3.3.4 Pseudorange construction algorithm
76(1)
2.3.4 GLONASS navigation message contents and structure
77(3)
2.3.5 Subframe of a GLONASS navigation message
80(2)
2.3.5.1 Algorithm for reading GLONASS subframe
80(1)
2.3.5.2 Subframes containing immediate information
81(1)
2.3.5.2.1 Subframe 1
81(1)
2.3.5.2.2 Subframe 2
81(1)
2.3.5.2.3 Subframe 3
81(1)
2.3.5.2.4 Subframe 4
82(1)
2.3.5.2.5 Subframe 5
82(1)
2.4 What's in a sat's name?
82(4)
2.4.1 Models
84(1)
2.4.2 Signals
84(1)
2.4.3 Geometry
84(1)
2.4.4 Clock
85(1)
References
86(2)
3 Standalone positioning with GNSS
88(22)
3.1 Application of pseudorange observables
88(10)
3.1.1 Code phase measurements
88(2)
3.1.2 Carrier phase measurements
90(1)
3.1.3 Pseudorange equations
91(2)
3.1.4 Satellite coordinates
93(2)
3.1.5 Minimum number of satellites for positioning
95(3)
3.2 Navigation solution algorithms
98(6)
3.2.1 Least-squares estimation (LSE) solution
98(3)
3.2.2 Analytical solution
101(1)
3.2.3 Kalman-filter solution
102(2)
3.2.4 Brute-force solution
104(1)
3.3 Multi-system positioning
104(1)
3.3.1 Generalized equations
104(1)
3.3.2 Time-shift calculation using navigation message data
105(1)
3.4 Error budget for GNSS observables
105(4)
3.4.1 Error budget contents
105(1)
3.4.2 Geometrical factors
106(2)
3.4.3 Multipath
108(1)
References
109(1)
4 Referenced positioning with GNSS
110(21)
4.1 Requirements for code and carrier differential positioning
110(2)
4.2 Spatial correlations in error budget
112(1)
4.2.1 Decorrelation of satellite orbital errors
112(1)
4.2.2 Decorrelation of tropospheric errors
113(1)
4.2.3 Decorrelation of ionospheric errors
113(1)
4.3 Observables
113(5)
4.3.1 Single-difference observables
113(1)
4.3.2 Double-difference observables
114(2)
4.3.3 GLONASS inter-frequency bias
116(1)
4.3.4 Triple-difference observables
116(1)
4.3.5 Double-difference equations for multi-systems
117(1)
4.4 Real-time kinematic method
118(8)
4.4.1 Code and carrier phase difference equations
118(2)
4.4.2 RTK positioning algorithm
120(3)
4.4.2.1 Float solution
121(1)
4.4.2.2 Integer solution
122(1)
4.4.2.3 Validation
123(1)
4.4.3 Network RTK method
123(8)
4.4.3.1 Network of reference stations
123(1)
4.4.3.2 Control center
124(2)
References
126(5)
Part II From conventional to software GNSS receivers and back
5 Generic GNSS receivers
131(38)
5.1 GNSS receiver overview
131(13)
5.1.1 Digest of GNSS receiver operation
131(4)
5.1.2 Receiver specification
135(7)
5.1.2.1 Specification parameters
135(1)
5.1.2.1.1 Accuracy
135(1)
5.1.2.1.2 Sensitivity
137(1)
5.1.2.1.3 Systems and frequencies
138(1)
5.1.2.1.4 Time to first fix
138(1)
5.1.2.1.5 Interface
139(1)
5.1.2.2 Spec specifics for main application fields
140(1)
5.1.2.2.1 Geodetic applications
140(1)
5.1.2.2.2 Geophysical applications
140(1)
5.1.2.2.3 Aviation applications
141(1)
5.1.2.2.4 Mobile applications
141(1)
5.1.2.3 Evaluation of parameters
142(1)
5.1.3 GNSS receiver design
142(2)
5.1.3.1 Hardware and generic receivers
142(1)
5.1.3.1.1 Receiver functional model
142(1)
5.1.3.1.2 Receiver structural model
143(1)
5.2 Receiver components
144(21)
5.2.1 Correlators
144(7)
5.2.1.1 Signal acquisition
144(4)
5.2.1.2 Massive parallel correlation
148(1)
5.2.1.3 Coherent signal integration
149(1)
5.2.1.4 Frequency resolution
150(1)
5.2.2 Receiver channel functions
151(20)
5.2.2.1 Tracking loop theory
151(6)
5.2.2.2 Tracking loop implementation
157(1)
5.2.2.2.1 PLL-aided DLL
157(1)
5.2.2.2.2 Coherent tracking with 20 ms coherency interval
159(1)
5.2.2.2.3 Coherent tracking with 1 s coherency interval
161(1)
5.2.2.3 Lock detectors
162(1)
5.2.2.4 Bit synchronization
163(1)
5.2.2.5 Measurements
164(1)
5.3 GPS/GLONASS receiver
165(2)
References
167(2)
6 Receiver implementation on a general processor
169(21)
6.1 Development of the "software approach"
169(2)
6.2 Software receiver design
171(3)
6.2.1 Baseband processor implementation
171(2)
6.2.2 Acquisition implementation
173(1)
6.3 Advantages of software receivers
174(4)
6.3.1 Software receiver advantages for mobile applications
174(3)
6.3.1.1 Potential reduction of required hardware
174(1)
6.3.1.2 Upgradeability
175(1)
6.3.1.3 Bug fixing
175(1)
6.3.1.4 Reduction of new product development cycle
175(1)
6.3.1.5 Adaptability to new signals
175(2)
6.3.1.6 Change of receiver type
177(1)
6.3.1.7 Third-party product involvement
177(1)
6.3.2 Software receiver advantages for high-end applications
177(1)
6.3.2.1 Flexibility
177(1)
6.3.2.2 Access to baseband processor
177(1)
6.3.2.3 RF signal post-processing
178(1)
6.4 Real-time implementation
178(7)
6.4.1 Concurrency
178(2)
6.4.2 Bottlenecks in GNSS signal processing
180(1)
6.4.3 Algorithmic methods used to speed up processing
181(1)
6.4.3.1 Early-minus-late discriminator
181(1)
6.4.3.2 Signal decimation
182(1)
6.4.4 Hardware-dependent methods
182(2)
6.4.5 Software methods
184(1)
6.4.5.1 "Bitwise processing — a paradigm for deriving parallel algorithms"
184(1)
6.4.5.2 Pre-calculation of replicas
185(1)
6.5 Applications of high-end real-time software receivers
185(2)
6.5.1 Instant positioning
186(1)
6.5.2 Ionosphere monitoring
186(1)
6.5.3 Ultra-tightly coupled integration with INS
187(1)
6.5.4 Application in education
187(1)
References
187(3)
7 Common approach and common components
190(17)
7.1 Common approach for receiver design
190(2)
7.2 Mobile antennas
192(3)
7.3 TCXO and bandwidth
195(4)
7.4 Front end
199(4)
7.4.1 Down-converter
199(2)
7.4.2 Analog-to-digital converter
201(2)
7.5 Navigation processor
203(1)
References
204(3)
Part III Mobile positioning at present and in the future
8 Positioning with data link: from AGPS to RTK
207(31)
8.1 Merging mobile and geodetic technologies
207(2)
8.2 Application of external information in the baseband processor
209(8)
8.2.1 Doppler assistance in acquisition
210(4)
8.2.2 Code phase assistance in acquisition
214(1)
8.2.3 Doppler assistance in tracking
214(2)
8.2.4 Navigation data assistance
216(1)
8.3 Application of external information in the navigation processor
217(8)
8.3.1 TTFF improvement: snapshot positioning
217(3)
8.3.2 Accuracy improvement: RTK positioning
220(5)
8.3.2.1 The catch: antennas
220(1)
8.3.2.2 Network RTK implementation: virtual reference station RTK system
221(4)
8.4 External information content
225(2)
8.4.1 Group 1: assistance data
225(1)
8.4.2 Group 2: additional parameters
226(1)
8.4.3 Group 3: differential corrections
227(1)
8.5 Pseudolites
227(8)
8.5.1 Pseudolite applications
227(5)
8.5.2 Indoor positioning with carrier phase
232(1)
8.5.3 Repeaters
233(2)
References
235(3)
9 Positioning without data link: from BGPS to PPP
238(36)
9.1 Advantages of positioning without a data link
238(3)
9.2 BGPS: instant positioning without network
241(17)
9.2.1 Advantages of BGPS
241(1)
9.2.1.1 Instant positioning
241(1)
9.2.1.2 Power savings
241(1)
9.2.1.3 Less interruption during cellular operation
242(1)
9.2.1.4 High sensitivity
242(1)
9.2.2 History of the approach
242(1)
9.2.3 BGPS in a nutshell
243(2)
9.2.4 Formalization
245(5)
9.2.5 Algorithm criteria
250(2)
9.2.6 Required a-priori information
252(1)
9.2.7 Time resolution in real time
253(1)
9.2.7.1 Task example
253(1)
9.2.7.2 Heuristic approach to search strategy
254(1)
9.2.8 Preliminary position estimation methods
254(1)
9.2.9 Instant positioning implementation in a device
255(3)
9.3 Precise positioning without reference station
258(9)
9.3.1 From a network to the global network
258(5)
9.3.1.1 Global correction information for mobile devices
258(1)
9.3.1.2 Free global corrections
259(1)
9.3.1.3 Orbit prediction
259(4)
9.3.2 Embedded algorithms
263(4)
9.3.2.1 Satellite ephemeris interpolation procedure inside mobile device
263(1)
9.3.2.2 Precise error models
264(1)
9.3.2.3 Filtering
265(1)
9.3.2.4 The catch
266(1)
9.4 Applications
267(5)
9.4.1 Fleet management
268(1)
9.4.2 Bird tracking
269(1)
9.4.3 Positioning with pilot signals
270(2)
References
272(2)
10 Trends, opportunities, and prospects
274(19)
10.1 From Cold War competition to a business model
274(1)
10.2 Would you go for a "multi-mighty" receiver?
275(3)
10.3 From SDR to SDR we go
278(3)
10.4 SA off, AGPS on, mass market open
281(2)
10.5 Convergence of mobile and geodetic applications
283(1)
10.6 Synergy of the Internet and GNSS
284(2)
10.6.1 Integration of a mobile device into the Internet
284(1)
10.6.2 The Internet as correction provider
285(1)
10.6.3 The Internet as data link
285(1)
10.6.4 Improvement in GLONASS accuracy
285(1)
10.7 Towards a new GNSS paradigm
286(3)
10.7.1 Online updates and upgrades
287(1)
10.7.2 Programmable personality change
287(1)
10.7.3 Full set of online corrections
287(1)
10.7.4 Application of cloud computing technology
288(1)
10.7.5 Third-party tools and services
288(1)
10.7.6 One for all and all for one
288(1)
10.7.7 Offline operation
289(4)
10.7.7.1 Network position calculation
289(1)
10.7.7.2 AGPS
289(1)
10.7.7.3 BGPS
289(1)
References
289(4)
Part IV Testing mobile devices
11 Testing equipment and procedures
293(18)
11.1 Testing equipment
293(4)
11.1.1 Multi-channel simulator
293(2)
11.1.2 RPS: record and playback systems
295(2)
11.2 Device life cycle
297(4)
11.2.1 Research and development
298(1)
11.2.2 Design
298(1)
11.2.3 Certification
299(1)
11.2.4 Production
299(1)
11.2.5 Consumer testing
300(1)
11.3 Test examples
301(4)
11.3.1 General tests
301(1)
11.3.2 AGPS tests
302(2)
11.3.3 Multi-GNSS test specifics
304(1)
11.4 Case study: new paradigm SDR simulator
305(5)
References
310(1)
Index 311
Ivan G. Petrovski leads the development of GNSS applications at iP-Solutions, Japan. He has over 25 years' worth of research and development experience in the GNSS field and has previously led GNSS-related R&D for DX Antenna, GNSS Technologies Inc., and the Institute of Advanced Satellite Positioning at TUMSAT. He has academic experience working as an associate professor with MAI and a guest professor with TUMSAT. As an engineer he has developed RTK software, pseudolite systems, instant positioning methods and algorithms, a real-time GNSS software receiver, GNSS signal recorder and RF signal simulator.
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