Спутниковые системы навигации. Учебное пособие

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  • . . , . .

    .

    ( )

    -2008

    1

  • : . . , , . ,

    , , . - . , . .

    , -, . . , . .

    . ., . . . :

    -

    MatLab.

    16 , -

    GPS -

    , , GPS,

    , GALILEO, ,

    .

    , ,

    .

    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 . -

    -

    , . -

    , ,

    , , , , -

    , .

    -

    . GPS

    . EGNOS GALILEO,

    . , 2008-2009

    .

    MatLab, -

    . -

    MatLab 4000 ,

    .

    [7, 8].

    -

    , ,

    MatLab. 16, 4

    . ,

    : , ,

    , ,

    ,

    . ,

    . , ,

    , .

    , -

    ,

    . -

    , , .

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

    6

  • 1 GNSS

    1.1

    -

    . , : -

    , (-

    ), -

    -

    [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)- C/A- i- GPS; L1- GPS , L1 c ; - ; Pi,Q-

    i- GPS; Pi(t)- P- i- GPS; L2- - GPS , L2 c ;

    L5- GPS , 5 c - ; Pi- i- ; Di,(t)- i-

    ; C(t)- ; i,L1- i- -

    7

  • , L1 c ; i,L2- - i- , L2 c ;

    Pi,Geo- ; Di,Geo(t)-

    2 , 1. 023 ,

    -

    .

    ; Ci,Geo(t)- .

    (1.1-1. 2) D(t) ( ) -

    ,

    1, 20 50 . Ci(t)

    1, 0.97752 , 1.023 , - 1 . Pi(t)

    1, 0.097752 , 10.23 , 7 . (1. 3, 1. 4)

    D(t) ( ) ,

    1, 20 50 . C(t) -

    1, 1.9569 , 0. 511 , 1 . (1. 5) D(t)

    ( ) , -

    , 1 250 /. C(t) -

    1, 0.9775 1 .

    (1.1-1. 6) - (spread-

    spectrum signal). : ,

    D(t) ; -

    C(t) P(t); -

    .

    .

    , , -

    ,

    , , , -

    .

    8

  • ,

    . -

    :

    1 = iii aa , a (1 .7) , -

    .

    iii aab 1 = , (1. 8) b .

    GPS -

    , -

    .

    -

    .

    [1 -4, 9].

    1.2

    1.2.1 1. 1

    :

    Simulink MatLab.

    .

    1. MatLab Simulink [5, 6].

    2. Simulink 1, 2, 3.

    3. 1. Simulink , . 1.1.

    . g_F (),

    . delay ,

    mo_d 2. Oscillograph ,

    .

    4. 2. g_F, delay, mo_d . 1.2.

    5. 3. Simulink.

    . 1.3.

    9

  • . 1.1.

    - dela; - mod; -

    . 1.2. : - g_F;MatLab.

    10

  • . 1.3. . 1.1

    . 1.3

    2

    , 3 (. 1.1).

    6. (1 .7, 1. 8) MatLab.

    7.

    8. 4. m- .

    b(1) = aout(1);

    for i = 2 : 5

    [11101] .3 -

    , 1 (. 1.1).

    (1 .7) , -

    (. 1.1). (. 1.3) (1. 8)- -

    MatLab 4, 5, 6.

    (1 .7) (1. 8) m- % m -

    % (1 .7) %

    a=[1 1 1 0 1];

    %

    aout(1)=a(1);

    i = 1;

    for i = 2 : 5

    aout(i)=xor(a(i),aout(i-1));

    end

    aout %

    % (1. 8)

    11

  • b(i) = xor(aout(i-1), aout(i));

    end

    b %

    5. m- ,

    , (. 1.2, ).

    9.

    .

    2.

    , 1- 10.

    3. , ,

    . 2. PR2_cod_GPS.m, , -

    .

    5. Pr3_cod_GPS.m, . -

    .

    6. , . -

    . .

    7. . -

    .

    8. PS.m, . -

    . .

    9. 7. Pr7_cod_GPS.m, . -

    . .

    10. . -

    .

    11. cod_GPS.m, . -

    . .

    10. 6. 10 -

    . 1- 4. -

    1.3 GPS

    1.3.1 1. 2 GPS

    -

    GPS.

    1. cod_GPS_My cod_GPS.

    MatLab, cod_GPS,

    1. PR1_cod_GPS.m,

    .

    4

    ,

    3.

    .

    4. Pr4_cod_GPS.m

    5. Pr5_cod_GPS.m,

    .

    6. Pr6_cod_G

    8. Pr8_cod_GPS.m,

    .

    9. Pr09_

    12

  • 12. , .

    . .

    cod_GPS

    GPS)

    37 /

    , g2

    / (,

    =513)

    ICD-GPS-200C 37

    4;509;512;513;514;515;516;859;...

    1

    _reg=-ones(1,10);

    ) 2 10

    (10);

    1:9

    modulo2

    10. PrCodGPS.m

    1.4

    cod_GPS (

    function [cod, cod_bin,column_7,n]=cod_GPS(Sv_id,n);

    %{

    : cod_GPS

    GPS

    Sv_id -

    cod - ,

    g2s -

    Sv_id=25 -

    n-

    %}

    %

    g2s=[5;6;7;8;17;18;139;140;141;251;252;254;255;256;257;258;...

    469;470;471;472;473;47

    860;861;862;863;950;947;948;950];

    g2shift=g2s(Sv_id);

    %{

    G

    n = 20;

    %}

    %

    shift

    for i=1:n

    g1(i)=shift_reg(10); % G1

    % (

    %

    modulo2=shift_reg(3)*shift_reg

    %

    shift_reg(2:10)=shift_reg(1:9);

    %

    shift_reg(1)=modulo2;

    end

    g1;

    13

  • % G2

    %

    hift_reg=-ones(1,10);

    G2

    ) 2 ,3,6,8,9,10

    _reg(3)*shift_reg(6)*shift_reg(8)...

    _reg(1:9);

    2;

    1_G2] = [g1; g2]';

    % G2

    g2tmp(1:g2shift)=g2(n-g2shift+1:n);

    g2tmp(g2shift+1:n)=g2(1:n-g2shift);

    %

    g2=g2tmp;

    % / G1 G2

    cod=g1.*g2;

    % GPS

    cod_bin=-(cod-1)/2;

    % ICD-GPS-200C

    str=sprintf('%d',cod_bin(1:10));

    column_7=dec2base(bin2dec(str),8,4);

    cod_GPS.

    PR1_cod_GPS.m % PR1_cod_GPS.m

    od_bin,column_7,n]=cod_GPS(Sv_id,n);

    cod_bin(1:11) % 11 (0 1)

    10 2

    s

    for i=1:n

    g2(i)=shift_reg(10); %

    % (

    %

    modulo2=shift_reg(2)*shift

    *shift_reg(9)*shift_reg(10);

    % 1:9

    shift_reg(2:10)=shift

    % modulo2

    shift_reg(1)=modulo2;

    end

    g

    [G

    %

    Sv_id=2;%

    n=1023;%

    [cod, c

    %

    cod= cod(1:11) % 11

    cod_bin=

    column_7%

    14

  • . 1.4. m- PR1_cod_GPS.m

    PR2_cod_GPS.m clear

    % PR2_cod_GPS.m

    %

    n=1023;

    d=1:37

    1 -1 1 -1 1 1 -1 1 1 -1 1 1 1 -1 -1 -1 -1 1 1 1 -1 1 -1 1 -1 1 1 1 -1 1 1 -1 -1 -1 1 1 1 1 -1 -1 1 -1

    1 -1 1 1 1 1 -1 -1 1 -1 1 -1 1 1 1 -1 -1 -1 1 1 1 1 -1 -1 1 -1 1 -1 -1 -1 1 1 1 -1 1 1 -1 1 1 1 1

    for Sv_i

    [cod(Sv_id,:),cod_bin(Sv_id,:),col_7(Sv_id,:),n]=cod_GPS(Sv_id,n);

    end

    cod1=cod(1:23,10:30) % 23 +1 -1

    cod2=cod_bin(1:23,10:30)' % 23 1 0

    col_7(1:5,:) % 1...5

    %{

    ,

    cod1 =

    1 -1 -1 -1 1 1 -1 1 -1 1 1 -1 1 1 -1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 1 1 1 1 -1 -1 -1 -1 -1 1 -1 1 1 -1 -1 1 1 -1 -1 -1 1 1 1 -1 1 1 1 1 -1 1 -1 1 1 -1 1 1 -1 1 -1 -1 -1 1 1 1 -1 -1 1 -1 -1 1 1 1 -1 -1 -1 -1 -1 1 -1 1 1 1 -1 1 1 1 -1 -1 1 -1 -1 1 1 1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 -1 1 -1 -1 1 1 1 -1 1 1 1 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 -1 1 1 -1 1 1 -1 -1 1 -1 1 1 1 -1 -1 1 -1 -1 1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 -1 -1 1 -

    15

  • 1 -1 1 -1 1 1 -1 -1 -1 -1 1 -1 1 -1 -1 1 -1 1 1 -1 1 -1 -1 1 1 1 1 1 -1 -1 1 -...

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