Global Positioning System

Transcription

1 B. Hofmann-Wellenhof, H. Lichtenegger, and J. Collins Global Positioning System Theory and Practice Third, revised edition Springer-Verlag Wien New York

2 Contents Abbreviations Numerical constants xix xxiii 1 Introduction The origins of surveying Development of global surveying techniques Optical global triangulation Electromagnetic global trilateration History of the Global Positioning System Navigating with GPS Surveying with GPS 6 2 Overview of GPS Basic concept Space segment Constellation Satellites Operational capabilities Denial of accuracy and access Control segment Master control station Monitor stations Ground control stations User segment User categories Receiver types Information services 26 3 Reference systems Introduction Coordinate systems Definitions Transformations Time systems Definitions Conversions Calendar 41

3 xiv Contents 4 Satellite orbits Introduction Orbit description Keplerian motion Perturbed motion Disturbing accelerations Orbit determination Keplerian orbit Perturbed orbit Orbit dissemination Tracking networks Ephemerides 70 5 Satellite signal Signal structure Physical fundamentals Components of the signal Signal processing Receiver design Processing techniques 84 6 Observables Data acquisition Code pseudoranges Phase pseudoranges Doppler data Biases and noise Data combinations Linear phase combinations Phase and code pseudorange combinations Atmospheric effects Phase and group velocity Ionospheric refraction Tropospheric refraction Relativistic effects Special relativity General relativity Relevant relativistic effects for GPS Antenna phase center offset and variation Multipath 124

4 Contents xv 7 Surveying with GPS Introduction Terminology definitions Observation technique Impact of SA on positioning Field equipment Planning a GPS survey General remarks Presurvey planning Field reconnaissance Monumentation Organizational design Surveying procedure Preobservation Observation Postobservation Ties to control monuments In situ data processing Data transfer Data processing Trouble shooting and quality control Datum transformations Computation of plane coordinates Survey report Mathematical models for positioning Point positioning Point positioning with code ranges Point positioning with carrier phases Point positioning with Doppler data Relative positioning Phase differences Correlations of the phase combinations Static relative positioning Kinematic relative positioning Mixed-mode relative positioning Data processing Data preprocessing Data handling Cycle slip detection and repair Ambiguity resolution 212

5 xvi Contents 9.2 Adjustment, filtering, and smoothing Least squares adjustment Kalman filtering Smoothing Adjustment of mathematical GPS models Linearization Linear model for point positioning with code ranges Linear model for point positioning with carrier phases Linear model for relative positioning Network adjustment Single baseline solution Multipoint solution Single baseline versus multipoint solution Dilution of Precision Transformation of GPS results Introduction Coordinate transformations Cartesian coordinates and ellipsoidal coordinates Ellipsoidal coordinates and plane coordinates Height transformation Datum transformations Three-dimensional transformation Two-dimensional transformation One-dimensional transformation Combining GPS and terrestrial data Fiducial point concept Software modules Introduction Planning Data transfer Data processing Quality control Network computations Data base management Utilities Flexibility Applications of GPS General uses of GPS 289

6 Contents xvii Global uses Regional uses Local uses Attitude determination Airborne GPS for photo-control Interoperability of GPS GPS and Inertial Navigation Systems GPS and GLONASS GPS and other sensors GPS and the Federal Radionavigation Plan Installation of control networks Passive control networks Active control networks Future of GPS New application aspects Improved constellation Next generation GPS satellites GLONASS satellites INMARSAT satellites Econosats Hardware improvements Receiver cost Receiver capability Software improvements Conclusion 314 References 317 Subject index 343