Спутниковые системы навигации. Учебное пособие

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  • . . , . .

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    -2008

    1

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    MatLab.

    16 , -

    GPS -

    , , GPS,

    , GALILEO, ,

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    , ,

    .

    2

  • ...........................................................................................................................6

    1 GNSS..............................................................................................7

    1.1 ..........................................................................................7

    1.2 ..........................................................................9

    1.2.1 1. 1 .......................9

    1.3 GPS.......................................................................12

    1.3.1 1. 2 GPS...................................................12

    1.4 cod_GPS.........................................................................13

    1.5 ...........................................................32

    1.5.1 1. 3 .......................................32

    1.6 CodGLONASS...............................................................33

    1.7 ..............................................37

    2 ............................................................................38

    2.1 ........................................................................................38

    2.2 2. 1 .........................................38

    2.3 ...................................................................40

    2.4 ..........................................................................................................41

    2.4.1 COORDINATES .......................................................41

    2.4.2 ECI_ECEF_LLH.......................................................45

    2.4.3 TEST...........................................................................48

    3 ................................................................................................................53

    3.1 ........................................................................................53

    3.2 3. 1

    ............................................................................................................................53

    3.3 ...................................................................55

    3.4 ..........................................................................................................55

    3.4.1 TIME ...........................................................................55

    3.4.2 TIME_S0 ....................................................................60

    4 ....................................70

    4.1 GPS.....................................................................70

    4.1.1 .....................................................................................70

    4.1.2 4. 1 GPS .................70

    4.1.3 .................................................................72

    3

  • 4.1.4 ORBITA_GPSv1 .......................................................72

    4.1.5 m- :Orbita_GPS.m.......................................82

    4.1.6 4. 2 GPS....................................85

    4.1.7 .................................................................85

    4.1.8 ORBITA_GPSv2 .............................................................................86

    4.1.9 Orbita_GPS_1.m..........................................................93

    4.2 (

    )........................................................................................96

    4.2.1 .....................................................................................96

    4.2.2 4. 3 96

    4.2.3 .................................................................97

    4.2.4 RBITA_1.m....................................................................................................98

    4.3 .........................................................99

    4.3.1 .....................................................................................99

    4.3.2 4. 4 ....100

    4.3.3 ...............................................................101

    4.3.4 ORBITA_GL_NAVIOR .........................................101

    4.3.5 ORBITA_GL_NAVIOR..............138

    5 .................................141

    5.1 4701 YUMA.........141

    5.1.1 ...................................................................................141

    5.1.2 5. 1 GPS

    YUMA........................................................................................142

    5.1.3 ..................................................................................142

    5.1.4 ALM_CH4701_V3...................................................142

    5.2 GPS................................................165

    5.2.1 ...................................................................................165

    5.2.2 5. 2

    OEM- 4 .................................................................................165

    5.2.3 ..................................................................................166

    5.2.4 RAW_ALM_PRG ...................................................166

    5.3 GPS .........................173

    5.3.1 ...................................................................................173

    5.3.2 5. 3 GPS

    ....................................................................................................................173

    4

  • 5.3.3 .......................................174

    5.3.4 Vsion_GLONASS_GPS ..........................................174

    5.4 GPS, , GALILEO ...................................185

    5.4.1 ...................................................................................185

    5.4.2 5. 4 GPS,

    , GALILEO ..................................................................................................186

    5.4.3 ..................................................................................186

    5.4.4 Vision_GLONASS_GPS_GALILEO.............................................187

    5.4.5 5. 5 GPS, , GALILEO .195

    5.4.6 ..............................................................196

    5.4.7 ORBITA_GGG.m.........................................................................196

    5.4.8 :ORBITA_GGG.m......................................................202

    5.5 ............................202

    5.5.1 ...................................................................................202

    5.5.2 5. 6

    ............................................................................................203

    5.5.3 ..............................................................209

    5.5.4 :Decod_GL3.m ................................................................................210

    5.5.5 :Decod_GL3.m ...........................................................222

    6 ..................................................................224

    6.1 ......................................................................................224

    6.2 4. 1 ...............................224

    6.3 .................................................................224

    6.4 ...............................................................225

    ................................................................................................................230

    1 ...........................................................230

    2 almanac_yuma_week0371_589824.txt .................................231

    3 002.txt ....................................................................................241

    4 AlmGGG.yum .......................................................................258

    .....................................................................................................286

    5

  • XX- XXI . -

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    . GPS

    . EGNOS GALILEO,

    . , 2008-2009

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    MatLab, -

    . -

    MatLab 4000 ,

    .

    [7, 8].

    -

    , ,

    MatLab. 16, 4

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    : , ,

    , ,

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    . ,

    . , ,

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    , -

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    , , .

    : cnsatm@nau.edu.ua, vkonin@mail.ru.

    6

  • 1 GNSS

    1.1

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    , (-

    ), -

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    [1, 2, 3, 4, 8, 9].

    GPS,

    )sin()()(2)cos()()(2)( 1,1, +++= ttPtDPttCtDPts LiiQiLiiIii ; (1.1)

    )sin()()(2)( 2, += ttPtDPts LiiQii ; (1. 2)

    )sin()(2)cos()()(2( , Pt Iii ) 5,5 +++= ttCPttCtDs LiQiLii ; (1. 3) )cos()()(2)( 1,, iLiiii ttCtDPts += ; (1. 4)

    )cos()()(2)( 2,, iLiiii ttCtDPts += ; (1. 5)

    )cos()()(2)( 1,,, += ttCtDPts LGeoiGeoiGeoii , (1. 6)

    L

    si(t)- i- ; t- ; Pi,I-

    i- GPS; Di(t)- i- GPS;

    Ci(t)-