Southwest Jiaotong University 卫星定位技术与方法 第一讲 袁林果 Email: lgyuan a163 com 西南交通大学测量工程系 课程概述 ●目标:介绍GPS卫星测量基本原理及其应用 ●PPT课件采用中英文结合方式 ●在学习制定教材的基础上,依据学生的兴趣和个 人能力,学习内容和形式多样 ●重点强调基本原理的理解和掌握 其它要求:网上查阅GPS专业资料的能力;英文 阅读能力;独立完成作业、严禁拷贝 成绩评定:平时成绩30%;期末考试70% 卫星定位技术与方法—袁林果 2005225(2)
1 卫星定位技术与方法 第一讲 袁林果 Email: lgyuan@163.com 西南交通大学测量工程系 卫星定位技术与方法——袁林果 2005-2-25 2 课程概述 z 目标：介绍GPS卫星测量基本原理及其应用 z PPT课件采用中英文结合方式 z 在学习制定教材的基础上，依据学生的兴趣和个 人能力，学习内容和形式多样 z 重点强调基本原理的理解和掌握 z 其它要求：网上查阅GPS专业资料的能力；英文 阅读能力；独立完成作业、严禁拷贝 z 成绩评定：平时成绩 30%；期末考试70%
课程大纲 历史、发展和当前状况 2.坐标系统与时间系统 3.卫星轨道运动及GPS卫星的坐标计算 4.GPS卫星信号与传播 s.GPS观测量、观测方程及误差分析 6绝对(单点)定位原理 7.相对(差分)定位原理 8.GPS测量实施及软件操作(实习) GPS应用 卫星定位技术与方法—袁林果 20052-25(3 References Textbook 忠谟,易杰军,周琪.GPS卫星测量原理与应用(修订本).北京:测绘 出版社,1997 References 刘基余GPS卫星导航定位原理与方法.北京科学出版社,2003 刘大杰全球定位系统(GPS的原理与数据处理.上海同济大学出版社, 1999 B. Hofmann-Wellenhof, H. Lichtenegger, and J. Collins, GPS Theory and Practice, Fifth edition. Springer-Verlag, Wein, New York, 2001 Alfred Leick, GPS Satellite Surveying, 3rd Edition. John Wiley Sons, Inc. Hoboken, New Jersey, 2003 NAVSTAR Global Positioning System Surveying. US Army Corps of Engineers. EM 1110-1-1003 卫星定位技术与方法——袁林果 2005225(4
2 卫星定位技术与方法——袁林果 2005-2-25 3 课程大纲 1. 历史、发展和当前状况 2. 坐标系统与时间系统 3. 卫星轨道运动 及GPS卫星的坐标计算 4. GPS卫星信号与传播 5. GPS观测量、观测方程及误差分析 6. 绝对（单点）定位原理 7. 相对（差分）定位原理 8. GPS测量实施及软件操作（实习） 9. GPS应用 卫星定位技术与方法——袁林果 2005-2-25 4 References ¾ Textbook 周忠谟, 易杰军, 周琪. GPS卫星测量原理与应用（修订本）. 北京: 测绘 出版社, 1997 ¾ References 刘基余. GPS卫星导航定位原理与方法. 北京: 科学出版社, 2003 刘大杰. 全球定位系统(GPS)的原理与数据处理. 上海:同济大学出版社, 1999 B. Hofmann-Wellenhof, H. Lichtenegger, and J. Collins, GPS Theory and Practice, Fifth edition. Springer-Verlag, Wein, New York, 2001. Alfred Leick. GPS Satellite Surveying, 3rd Edition. John Wiley & Sons, Inc., Hoboken, New Jersey, 2003. NAVSTAR Global Positioning System Surveying. US Army Corps of Engineers. EM 1110-1-1003
Web resources Global Positioning System Overview by Peter H. Dana http://www.colorado.edu/geography/gcraft/notes/gps/gpsfht THE INTERAGENCY GPS EXECUTTVE BOARD (IGEB) http://www.igeb.gov/ >GpsApplicationsExchange.http://gpshome.sscnasagov/ .TheInternationalGpsService(igs).http://igscb.iplnasagov/ U.S. Naval Observatory (USNO)GPS Operations http://tycho.usno.navymil/gps.html U.S. Coast Guard Navigation Center LlP.//www.navcen.uscg.govl 電 卫星定位技术与方法—袁林果 2005-2-25 Global Positioning System(GPS) >The NAVsTaR Global Positioning System(GPS)is a satellite-based radio-positioning and time-transfer system, designed, financed, deployed and operated by the US Department of Defense However, the system has currently significantly larger number of civilian users as compared to the military users 卫星定位技术与方法—袁林果 2005225(6
3 卫星定位技术与方法——袁林果 2005-2-25 5 Web Resources ¾ Global Positioning System Overview by Peter H. Dana. http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.ht ml ¾ THE INTERAGENCY GPS EXECUTIVE BOARD (IGEB). http://www.igeb.gov/ ¾ GPS Applications Exchange. http://gpshome.ssc.nasa.gov/ ¾ The International GPS Service (IGS). http://igscb.jpl.nasa.gov/ ¾ U.S. Naval Observatory (USNO) GPS Operations http://tycho.usno.navy.mil/gps.html ¾ U.S. Coast Guard Navigation Center http://www.navcen.uscg.gov/ 卫星定位技术与方法——袁林果 2005-2-25 6 Global Positioning System (GPS) Global Positioning System (GPS) ¾The NAVSTAR Global Positioning System (GPS) is a satellite-based radio-positioning and time-transfer system, designed, financed, deployed and operated by the US Department of Defense. ¾However, the system has currently significantly larger number of civilian users as compared to the military users
Global Positioning System (GPS) The NAVSTAR Global Positioning System(GPS) program was initiated in 1973 through the combined efforts of the US Army, the US Navy and the us air Force The new system, designed as an all-weather, continuous global radio-navigation system was developed to replace the old satellite navigation system, TRANSIT, which was not capable of providing continuous navigation data in real time on a global basis 卫星定位技术与方法——袁林果 2005-2-25 TRANSIT System Researchers at Johns Hopkins observed Sputnik in 1957. Noted that the Doppler shift provided closest approach Developed a satellite system that achieved accurate positionin Called TRANSIT and provided basic ideas behind GPS 卫星定位技术与方法—袁林果 2005225(8
4 卫星定位技术与方法——袁林果 2005-2-25 7 Global Positioning System (GPS) Global Positioning System (GPS) • The NAVSTAR Global Positioning System (GPS) program was initiated in 1973 through the combined efforts of the US Army, the US Navy, and the US Air Force. • The new system, designed as an all-weather, continuous, global radio-navigation system was developed to replace the old satellite navigation system, TRANSIT, which was not capable of providing continuous navigation data in real time on a global basis. 卫星定位技术与方法——袁林果 2005-2-25 8 TRANSIT System z Researchers at Johns Hopkins observed Sputnik in 1957. z Noted that the Doppler shift provided closest approach to earth. z Developed a satellite system that achieved accurate positioning z Called TRANSIT and provided basic ideas behind GPS
GPS-Objectives 1/2 Suitable for all classes of platform: aircraft, ship, land-based nd space(missiles and satellites) Able to handle a wide variety of dynamics Real-time positioning, velocity and time determination capability i The positioning results were to be available on a single global i Highest accuracy to be restricted to a certain class of user, i Resistant to jamming(intentional and unintentional) Redundancy provisions to ensure the survivability of the system 卫星定位技术与方法—袁林果 2005-2-25 GPS-Objectives 2/2 i Passive positioning system that does not require the transmission of signals from the user to the satellite(s) i able to provide the service to an unlimited number of users, World-wide coverage Low cost, low power, therefore as much complexity as possible should be built into the satellite segment, and Total replacement of the Transit 1 satellite and other terrestrial navaid systems 卫星定位技术与方法——袁林果 2005225(10 5
5 卫星定位技术与方法——袁林果 2005-2-25 9 ¾ Suitable for all classes of platform: aircraft, ship, land-based and space (missiles and satellites), ¾ Able to handle a wide variety of dynamics, ¾ Real-time positioning, velocity and time determination capability to an appropriate accuracy, ¾ The positioning results were to be available on a single global geodetic datum, ¾ Highest accuracy to be restricted to a certain class of user, ¾ Resistant to jamming (intentional and unintentional), ¾ Redundancy provisions to ensure the survivability of the system, GPS – Objectives 1/2 Objectives 1/2 卫星定位技术与方法——袁林果 2005-2-25 10 ¾ Passive positioning system that does not require the transmission of signals from the user to the satellite(s), ¾ Able to provide the service to an unlimited number of users, ¾ World-wide coverage ¾ Low cost, low power, therefore as much complexity as possible should be built into the satellite segment, and ¾ Total replacement of the Transit 1 satellite and other terrestrial navaid systems. GPS – Objectives 2/2 Objectives 2/2
Southwest Jiaotong University Development of Basic Navigation Satellite Concept 1964-1967 SYSTEMATIC STUDY OF EVERY WILD IDEA IMAGINABLE CONVERGED ON“ PSEUDORANGING”IN1967 MAJOR STUDY CONTRACTS LET IN 1968TO TUNE THE CONCEPT Motto Adopted by the Joint Program Office on GPS Program The mission of this program is to 1. Drop 5 bombs in the same hole, and 2. Build a cheap set that navigates(<$10,000), and dont you forget it! 卫星定位技术与方法—一袁林果 2005-2-25
6 Development of Basic Navigation Satellite Concept 1964-1967 • SYSTEMATIC STUDY OF EVERY WILD IDEA IMAGINABLE • CONVERGED ON “PSEUDORANGING” IN 1967 • MAJOR STUDY CONTRACTS LET IN 1968 TO TUNE THE CONCEPT 卫星定位技术与方法——袁林果 2005-2-25 12 The mission of this Program is to: 1. Drop 5 bombs in the same hole, and 2. Build a cheap set that navigates (<$10,000), and don’t you forget it! Motto Adopted by the Joint Program Motto Adopted by the Joint Program Office on GPS Program
Major Issues Identified in 1968 Studies CHOICE OF CARRIER FREQUENCY ·L-Band C-Band should be studied DESIGN OF SIGNAL STRUCTURE Military and civilian use included ORBIT/CONSTELLATION SELECTION 卫星定位技术与方法—袁林果 20052-25(1 Managed Concept Debates 1969-1972 EXPANDED TRANSIT Insisted on worldwide overage 153 satellites in 400 mile polar orbits Transit carrier frequency XPANDED TIMATION Initially only a Time Transfer System Insisted on worldwide coverage Expanded concept to intermediate altitude circular orbit constellation of 30 to 40 satellites 卫星定位技术与方法—一袁林果 20052-25(14
7 卫星定位技术与方法——袁林果 2005-2-25 13 Major Issues Identified in 1968 Studies • CHOICE OF CARRIER FREQUENCY • L-Band • C-Band should be studied • DESIGN OF SIGNAL STRUCTURE • Military and civilian use included • ORBIT/CONSTELLATION SELECTION 卫星定位技术与方法——袁林果 2005-2-25 14 • EXPANDED TRANSIT • Insisted on worldwide overage • 153 satellites in 400 mile polar orbits • Transit carrier frequency • EXPANDED TIMATION • Initially only a Time Transfer System • Insisted on worldwide coverage • Expanded concept to intermediate altitude circular orbit constellation of 30 to 40 satellites Managed Concept Debates 1969-1972
Convergence on Final System 1973-1974 SWITCHED CONCEPT TO 12-HOUR CIRCULAR ORBITS RETAINED DIRECT-SHIFT KEYED SPREAD SPECTRUM PN SEQUENCE DUAL FREQUENCY SIGNAL ON L-BAND · PICKED INITIAL DEPLOYMENT OF4+2· BLOCK I” SATELLITES 卫星定位技术与方法—袁林果 20052-25(15 HASE I DESIGN 1974-1980 BLOCK I SATELLITE CONTRACTS WITH ROCKWELL INTERNATIONAL lowed by 6 more All satellite performance projections achieved. 3dB more transmitted power then required Exceptional(Ix 10on-orbit Rubidium clock performance achieved DETAILS OF SIGNAL STRUCTURE NAV MESSAGE DEFINED C/A code designed with civil sector in mind Navigation message identical on both signa 電卫星定位技术与方法一袁林果 2005225(16
8 卫星定位技术与方法——袁林果 2005-2-25 15 Convergence on Final System 1973-1974 • SWITCHED CONCEPT TO 12-HOUR CIRCULAR ORBITS • 3 planes, 8 satellites each • i = 63° • RETAINED DIRECT-SHIFT KEYED SPREAD SPECTRUM PN SEQUENCE • DUAL FREQUENCY SIGNAL ON L-BAND • PICKED INITIAL DEPLOYMENT OF 4+2 ‘BLOCK I” SATELLITES 卫星定位技术与方法——袁林果 2005-2-25 16 • BLOCK I SATELLITE CONTRACTS WITH ROCKWELL INTERNATIONAL • 6 satellites followed by 6 more • All satellite performance projections achieved. 3dB more transmitted power then required • Exceptional (1x ) on-orbit Rubidium clock performance achieved. PHASE I DESIGN 1974-1980 10-13 • DETAILS OF SIGNAL STRUCTURE & NAV MESSAGE DEFINED • C/A code designed with civil sector in mind • “P-Code” designed by Magnavox • Navigation message identical on both signals
PHASE II DESIGN 1981-1989 · BLOCK II SATELLITES Rockwell International Selective Availability and Anti-Spoof (Y-Code) Implemented Constellation downsized to 21 satellites(6 planes) av message slightly modified OPERATIONAL CONTROL SEGMENT Monitors at Ascension, Diego Garcia, Guam, Hawaii, and 24-satellite ephemeris(orbit)determination PHASE II/PHASE III USER EQUIPMENT Rockwell Collins, Magnavox and Teledyne Systems Rockwell Collins and Magnavox · Rockwell collins 卫星定位技术与方法—袁林果 2005225(17 GPS Segments Space segment position constants Monitor User segment Control segment 卫星定位技术与方法—袁林果 20052-25(18
9 卫星定位技术与方法——袁林果 2005-2-25 17 • BLOCK II SATELLITES • Rockwell International • Selective Availability and Anti-Spoof (Y-Code) Implemented • Constellation downsized to 21 satellites (6 planes) • Nav message slightly modified • OPERATIONAL CONTROL SEGMENT • Monitors at Ascension, Diego Garcia, Guam, Hawaii, and Colorado Springs • 24-satellite ephemeris (orbit) determination PHASE II DESIGN 1981-1989 • PHASE II/PHASE III USER EQUIPMENT • Rockwell Collins, Magnavox and Teledyne Systems • Rockwell Collins and Magnavox • Rockwell Collins 卫星定位技术与方法——袁林果 2005-2-25 18 GPS Segments
Constellation The complete gPs system consists of 24 operational satellites and provides 24-hour, all-weather navigation and surveying capability worldwide milestone in the development of GPs was on 8 December 1993 Initial Operational Capability (OC), 24 satellites(Blocks I IL, IIA) were successfully operating Full Operational Capability (FOC), 24 satellites of the Block II and IIa types become GPS Nominal Constellation in 6 OriRI Planes operational 211.2(MI k Altitudes, ss Degree Inclination 電 卫星定位技术与方法—袁林果 2005-2-25 GPS Nominal orbit planes Orbit Planes of Latitude B3s a=Active Position Right Ascension of the Ascending Node Simplified Representation of Nominal GPS Constellation 電卫星定位技术与方法—哀林果 20052-25 10
10 卫星定位技术与方法——袁林果 2005-2-25 19 Constellation The complete GPS system consists of 24 operational satellites and provides 24-hour, all-weather navigation and surveying capability worldwide. A major milestone in the development of GPS was on 8 December 1993. • Initial Operational Capability (IOC), 24 satellites (Blocks I, II, IIA) were successfully operating. • Full Operational Capability (FOC) , 24 satellites of the Block II and IIA types become operational. 卫星定位技术与方法——袁林果 2005-2-25 20 GPS Nominal Orbit Planes