Gps PDF

Id
GPS-X-02007-C
11. 2001
Jean-Marie Zogg
1. 2006
Jean-Marie Zogg
/
:
27. 2007
TG
SBAS (WAAS, EGNOS)

GPS
GALILEO
GPS
AGPS DOP
UTM-
DGPS-

GPS
26. 2007
TG

GPS
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DGPS
DGPS

GNSS
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u-blox , . u-blox, u-blox ,
TIM- GPS , Antaris, SuperSense, "your position is our focus", NavLox, u-center, AssistNow, AlmanacPlus, FixNow
EKF u-blox AG.
. , u-blox . Copyright 2007, u-blox AG.

GPS-X-02007-C

u-blox AG
Zuercherstrasse 68
CH-8800 Thalwil
Switzerland
Phone: +41 44 722 74 44
Fax: +41 44 722 74 47
E-mail: info@u-blox.com
www.u-blox.com

North, Central and South America
Europe, Middle East, Africa
Asia, Australia, Pacific
u-blox America, Inc.
u-blox AG
u-blox Singapore Pte. Ltd.
1902 Campus Commons Drive
Zuercherstrasse 68
435 Orchard Road
Suite 310
CH-8800 Thalwil
#19-02, Wisma Atria,
Reston, VA 20191 USA
Switzerland
Singapore 238877
Phone: +1 (703) 483 3180
Phone: +41 44 722 74 77
Phone: +65 6734 3811
Fax: +1 (703) 483 3179
Fax: +41 44 722 74 47
Fax: +65 6736 1533
E-mail: info_us@u-blox.com
E-mail: info@u-blox.com
Regional Office West Coast:
Technical Support:
Regional Office China:
8600 Lemon Ave #1

La Mesa, CA 91941
USA
Phone: +1 (619) 741 3011
Fax: +1 (619) 741 4334
E-mail: info_ap@u-blox.com
Support: support_ap@u-blox.com
Phone: +41 44 722 74 74

E-mail: support@u-blox.com
Room 716-718
No. 65 Fuxing Road
Beijing, 100036, China
E-mail: info_us@u-blox.com
Phone: +86 10 68 133 545
Technical Support:
Fax: +86 10 68 217 890

E-mail: info_cn@u-blox.com
Phone: +1 (703) 483 3185

E-mail: support_us@u-blox.com
Support: support_cn@u-blox.com
Regional Office Korea:
1258 Ho, Shinhan MetroKhan
#1115, BisanDong
DongAn-Ku
Anyang-si KyungKi-do,
Korea
Phone: +82 31 383 2584
Fax: +82 31 386 2584
E-mail: info_kr@u-blox.com
Support: support_kr@u-blox.com
Regional Office Taiwan:
Room 305
3F, #181, ZouTze Street
Neihu Dis. Taipei,
Taiwan
Phone: +886 2 2657 1090
Fax: +886 2 2657 1097
E-mail: info_cn@u-blox.com
Support: support_tw@u-blox.com

GPS-X-02007-C

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GPS-X-02007-C

.3
.4
...........................................................................................5
6
..10
1 ...............................................................12
1.1 ......................................................................12
1.1.1 ....................................................................13
1.1.2 ............................................................................................15
1.1.3 .....................................................................................................16
1.1.4 ...............................................................17
2 GNSS : GPS ......................................................................18

2.1 .........................................................................................................18
2.2 ..19
2.2.1 ..........................................................................19
2.2.2 GPS .22
2.2.3 ........................................................................................24
2.3 ...27
2.4 ...........................................................................................................27
2.5 GPS ..31
2.5.1 ..31
2.5.2 ..............................................................................31
2.5.3 ..............................................................................................32
2.5.4 TLM HOW.....................................................................................................................32
2.5.5 25 ....................................................................................................32
2.5.6 ......................................................................32
2.6 GPS..34
2.6.1 , BOC....................................................................................34
2.6.2 GPS..36
3 GLONASS GALILEO.......................................................................................37
3.1 .............................................................................................................................37

GPS-X-02007-C
3.2 : GLONASS............................................................................................ 38
3.2.1 GLONASS.......................................................................................................... 38
3.3 GALILEO............................................................................................................................ 39
3.3.1 ...........................................................................................................................39
3.3.2 GALILEO.......................................................................................... 40
3.3.3 ......................................................................................................................42
3.3.4 GALILEO ..................................................................................................... 43
3.3.5 GNSS ................................................................ 47
4 .....................................................................................48
4.1 .......................................................................................................................... 48
4.2 .48
4.2.1 ( )................. 48
4.2.2 .............................................................................................. 50
4.2.3 ...................................................................................................... 52
4.2.4 ............................................................................................................................ 52
4.2.5 DOP....................................................................................................53
5 .................................................................................57
5.1 .......................................................................................................................... 57
5.2 ............................................................................................................................. 57
5.3 ...58
5.3.1 ................................................................................................................... 58
5.3.2 .....................................................59
5.3.3 ................................................................................. 60
5.3.4 WGS- 84...........................................................................60
5.3.5 .................................... 61
5.3.6 ......................................................................... 62
5.4 , ..................................................................... 63
5.4.1 Gauss-Krger (Transversal Mercator Projection)................................................. 64
5.4.2 UTM ...64
5.4.3 (Conformal Double Projection).............................................. 66
5.4.4 ................................................................................ 67
6 GPS: DGPS, SBAS, A-GPS HSGPS...............................68

6.1 .......................................................................................................................... 68
6.2 GPS68
6.3 ..............................................................................70
6.3.1 DGPS, ...................... 71
6.3.2 DGPS, ............................................................. 73

GPS-X-02007-C
6.3.3 DGPS - ( )............................ 73

6.3.4 ..........................................................................................74
6.3.5 DGPS .......................................75
6.3.6 ................................................................ 75
6.3.7 ........................................................................... 76
6.4 DGPS ................................................... 77
6.4.1 GBAS ...77
6.4.2 GBAS .......................................................................................... 77
6.5 DGPS (WADGPS)...................................................................................... 78
6.5.1 , SBAS (WAAS, EGNOS)....................................... 78
6.5.2 DGPS RTCM SC- 104...........................................81
6.6 DGPS SBAS...................................................................................82
6.7 -GPS (A- GPS)...........................................................................................82
6.7.1 A- GPS............................................................................................................82
6.7.2 A-GPS (Real-time A- GPS).........................................84
6.7.3 A-GPS ( )................................ 84
6.7.4 ............................................................................................................. 84
6.8 GPS (HSGPS).................................................................................. 85
6.8.1 ........................................................... 85
6.8.2 ...................................................................................................................... 85
6.8.3 ............................................................................................................... 85
6.8.4 ..................................................................................86
6.9 GNSS- ................................................................... 87
6.10 .................................................................. 87
7 ............................................88
7.1 .......................................................................................................................... 88
7.2 .......................................................................................................... 89
7.2.1 NMEA-0183................................................................................................. 89
7.2.2 DGPS (RTCM SC- 104)........................................................................99
7.2.3 .................................................................................... 102
7.3 .105
7.3.1 .................................................................................................................... 105
7.3.2 .................................................................................................. 109
7.3.3 : 1PPS ................................................................ 110
7.3.4 TTL RS- 232........................................................................112
8 GNSS ..........................................................................................115
8.1 GNSS ............................................................................................... 115

GPS-X-02007-C
8.2 GNSS ................................................................................................... 116

8.2.1 GNSS ..................................................................................... 116
8.2.2 : u-blox 5.........................................................................................................117
9 GNSS ........................................................................................119
9.1 ........................................................................................................................ 119
9.2 ..................................................................................... 120
9.2.1 LBS............................................................................................................................120
9.2.2 .......................................................................................... 120
9.2.3 ....................................................................................................... 121
9.2.4 ............................................................................... 122
9.2.5 ................................................................................................ 122
9.2.6 / ...........................................................................................................124
9.2.7 ..................................................................................................... 124
9.2.8 .................................................................................................... 124
.......................................................................125
A.1 .................................................................................................125
A.2 GPS.125
A.3 GPS ................................................................................................................. 125
A.4 GNSS .126
A.5 GNSS GNSS ........................................................................ 126
B .....................................................................................................127
B.1 .............................................................................................................. 127
B.2 ..................................................................................................................129
B.3 ....................................................................................................................... 131

GPS-X-02007-C

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GPS-X-02007-C
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GPS-X-02007-C
GNSS : GPS
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GPS-X-02007-C
GNSS : GPS
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GPS-X-02007-C
GNSS : GPS
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GPS-X-02007-C
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. 32:
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GPS-X-02007-C
GLONASS GALILEO
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GPS-X-02007-C
GLONASS GALILEO
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GPS-X-02007-C
GLONASS GALILEO
.41
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GPS-X-02007-C
GLONASS GALILEO
.42
3.3.4 GALILEO
GALILEO 30 (3
). 23,616 ,
. ( 680 2.7 x 1.2 x 1.1
) , 56 (. 34)
14 5 .
. 34: GALILEO (: ESA-J.Huart)
GALILEO 15 . 1500
.
100 .
. 35: GALILEO (: ESA-J.Huart)
,
.
.
.
GALILEO [xii].

GPS-X-02007-C
GLONASS GALILEO
.43
German Aerospace (DLR) Center at Oberpfaffenhofen.

30 20 .
Fucino .
- .
30
European Satellite Control Center (ESA/ESOC) Darmstadt, , French National Space Studies Ce
nter (CNES) Toulouse, . 30 (IMS),
.
IMS
.
Arianne 5, (. 36),
, GALILEO,
(MEO).
. 36: Ariane 5 8 GALILEO (GALILEO-industries.net)
3.3.4.1
,
(.
4
. 37).
BPSK BOC.
E5a E5b,
BOC AltBOC.
()
E5: 1191.795
E6 : 1278.75
L1: 1575.42
E5a
E5b
E6b
E6a
L1B
E2 & E1
()
1176.45
1207.14
1278.75
1268.52 & 1288.98
1574.397 & 1576.443
1560.075 & 1590.765
OS, CS
OS, CS, SoL
CS
PRS
OS, CS, SoL
PRS
AltBOC(15, 10)
AltBOC(15, 10)
BPSK(5)
BOC(10, 5)
BOC(1, 1)
BOC (15, 2.5)
(/)
50
250
1000
100
250
100
4: GALILEO

GPS-X-02007-C
GLONASS GALILEO
.44
. 37: GALILEO
E5a, E5b, E6 L1 .
90 .
.
L1, GALILEO GPS
GPS
3 : C/A-, P(Y)- M-. GALILEO
: L1B- E2/E1 .
. , 2004
.
. 38 L1, ,
( 1 ).
. 38: L1 GALILEO GPS ( - 1

)
3.3.4.2
26 2004 .
GALILEO GPS. ,
, , , .
GALILEO GPS . 10 2004
(
[xiii]).
. GALILEO
2008 . 2012 .
[xiv].

GPS-X-02007-C
GLONASS GALILEO
.45
:
. 2003 .
: 28 2005
GIOVE-A (. 39).
GIOVE - GALILEO In-Orbit Validation Element. 12 2006 GIOVEA .
,
ESA [xv].
2007 . GIOVE-A B EU
GALILEO .
, . GIOVE-A
( 10 ) GIOVE-B
- ( 1 ) .
GIOVE-A GIOVE-B
( 21
2004 ). ,
.
2008 ,
1.1 ($US 1.4 ).
. 39: GIOVE-A 28 2005 ( ESA)
:
. (
) ,
. 2011
2.1 ($US 2.75 ). 1/3

2/3 .
: , .
27 3 . ,
.
220 ($US 288 ),
500 ($US 655 ) .
.

GPS-X-02007-C
GLONASS GALILEO
.46
12 2006 GALILEO.
EU
,
, ,
GALILEO. , , , , ,
.
. [xvi].
3.3.5 GNSS
) GNSS .
GPS
1973
Glonass
1972
GALILEO
2001
22, 1978
12, 1982
28, 2005
10
: 24 / : 32
6
55
20,180
11 58
: 24 + 3

3
64.8
19,100
11 15.8
: 27 + 3
3
56
23,616
14 5

1984 (WGS 84)
GPS-
1990 (PZ-90)
Glonass-
Galileo Terrestrial Reference Fra

me (GTRF)
GST (GALILEO
)
11
12
CDMA
CDMA
FDMA
2 ,
24
2 ,

2 ( + )
/4

2 ( +
)
CS PRS
5
US Department of Defense

Russian Defense Ministry
Civilian Governments of the EU
5: GPS, GLONASS GALILEO
10
11
12
UTC
:
:

GPS-X-02007-C
GLONASS GALILEO
.47
4
. . .
o ,
o ,
o , GPS
o ,
o , GPS
!
4.1
GNSS
, ,
.
, .
4.2
4.2.1 (
)
GPS ,
( 1... 4) t1... t4 (.
20).
.40 4

(. 41).

GPS-X-02007-C

.48
R1, R2, R3 R4
t1, t2, t3 t4 . XSAT, YSAT
ZSAT , .
.41
- ,
.
. , UTC ,
, t0. t0 ,
. t0
R. ,
- - PSR [viii].
R:
C:
t1:
t0:
PSR:

GPS-X-02007-C

.49
R
:
(4) (3)
(t0, XAnw,YAnw,ZAnw),

4 (i= 14)
4.2.2
6a .
,
(. 42).
.42
( x = x-x0)
( 1 )
(6a) x0
x.
GPS , XUser , YUser ZUser
XTotal, YTotal ZTotal (. 43).

GPS-X-02007-C

.50
.43
- x, y z.
4
:
(9) (6) (7) :

GPS-X-02007-C

.51
4.2.3
(11 a) ( i = 1 4) (x, y, z
t0) :
x, y, z XTotal, YTotal
ZTotal (8).
XTotal_New , YTotal_New ZTotal_New (13a),

, , x, y z
(.. 0.1 ). , ,
1 .
4.2.4
( )
,
x, y z.
t0
.

GPS-X-02007-C

.52
4.2.5 DOP
4.2.5.1
. GNSS
:
: , 10
3 .
: 1 5 .
: .
.
: ,
.
: - .
: , ,
.
DOP(. 6).
, 1,
.
(Differential GPS, DGPS),

RMS
RMS ()

DGPS
2.1
2.1
4.0
0.7
1.4
0.5
5.3
5.0
DGPS
0.1
0.1
0.2
0.2
1.4
0.5
1.5
1.3

GPS-X-02007-C

.53
4.2.5.2 :DOP
, GNSS , ,
, - , , ,
. ,
DOP.
DOP :
GDOP: DOP ( 3-D , )

PDOP: DOP ( 3-D )
HDOP: DOP ( )
VDOP: DOP ( )
DOP. ,
DOP , .
.44 PDOP
DOP ,
(.44 . 45).
, , , PDOP.
. 45: DOP
PDOP GDOP 3 (. 46 . 47).

GPS-X-02007-C

.54
. 46: GDOP
DOP
.
DOP (, HDOP) ,
DOP .
DOP. . 47
HDOP, ( HDOP 1.9). . 48
HDOP ( HDOP 20 !).
180 270 270 180 .
.47: HDOP 24 (. 1.9)

GPS-X-02007-C

.55
. 48: HDOP 24 , (. 20 )
I
DOP ( 2). DOP 6 .
4.2.5.3

DOP .
:
DOP.
Error (1) = 1 Total RMS Value DOP Value

Error (2) = 2 Total RMS Value DOP Value
7 1 (1 = 68%) 2 (2 = 95%).
HDOP = 1.3. (,
(Differential GPS, DGPS (. 6)))
( 1... 2 , 1 ).
DGPS
DGPS
5.0m
1.5m
(1 Sigma (68%) HDOP=1.3)
6.5m
2.0m
(2 Sigma (95%) HDOP=1.3)
13.0m
4.0m
RMS
)
(,
7: HDOP = 1.3
, . US-Federal Aviation Administration ,

95% 7.4
9.0 . 24 .
U.S.DoD ,
13 , 22 ~40 . ,
,DGPS, ( )
.

GPS-X-02007-C

.56
5
. . .
o ,
o ,
o , 200
o , WGS-84
o ,
o
o ,
o , WGS-84
!
5.1
GNSS .
, , GNSS,
.
, GNSS, ,
, .
, , 100
10 . ,
.
5.2
, . ?
.
. .
,
"" . ,
(. 27).

. , ,
,
; .
, - ,
.
.
- "Repere Pierre du Niton (RPN, 373.600 ) .
Marseilles (
0.00 ).

GPS-X-02007-C

.57
( )
. 49
5.3
5.3.1
, , .
. .
- , . (. 50).
:
( )
( )
, , (f).
. 50

GPS-X-02007-C

.58
5.3.2
5.3.2.1
, ,
, .
" " (. 52),
, .
,
(. 51). a b ,
.
5.3.2.2 ,
, ,
. , GPS, ,
.
- 120 - CH-1903 , WGS-84 -
, NAD83 .

( )
. 51
.
.
H, ,
h geoid ondulation N (. 30)
. 52

GPS-X-02007-C

.59
5.3.3
, ,
, . ,
, ( 8).
.
Rauenberg
Pantheon, Paris
a
()
6377397.155
6378249.145
(1:)
299.1528128
293.465
Monte Mario, Rome
6378388.0
297.0
Amersfoort
Hermannskogel
Old Observatory
Bern
Country
independent
6377397.155
6377397.155
299.1528128
299.1528128
6377397.155
299.1528128
6378388.000
297.000
NTF
SI 1940
RD/NAP
MGI
Bessel 1841
Clarke 1880
Hayford
1928
Bessel 1841
Bessel 1841
CH1903
Bessel 1841
Hayford
Hayford
5.3.4 WGS-84
, GPS, WGS-84 .
WGS-84 .
ECEF. WGS-84 - , ,
(= ) ,
.
X- (. 53) (
, ) ,
Greenwich ( 0 ). Y-
900 X-. Z- X Y
.

GreenWich
.53

GPS-X-02007-C

.60
WGS-84
a () b ()
6,378 ,137.00
6,356,752.31
(1:.)
298,257223563
9 WGS-84
(, , h), , (X, Y, Z),

(. 54). , - h , P .
GreenWich
54.
5.3.5
5.3.5.1
, .
(. CH-1903) (.. WGS-84)
. ,
, ,
datum , X, Y, Z.
x, y, z m (. 55) ,
7 .
.

GPS-X-02007-C

.61
.55
( 10) .
[xviii].
X,
Y,
Z,
x()
x()
x()
Germany
Potsdam
586
87
409
-0.52
-0.15
2.82
France
NTF
-168
-60
320
Italy
SI 1940
-225
-65
--
--
--
Netherlands
RD/NAP
565.04
49.91
465.84
0.4094
-0.3597
1.8685
4.0772
Austria
MGI
-577.326
-577.326
-463.919
5.1366
1.4742
5.2970
-2.4232
Switzerland
CH1903
660.077
13.551
369.344
0.8065
0.5789
0.9542
5.66
10
5.3.5.2
(.
WGS-84) (. CH-1 903) , .
.
[xix]
Internet [xx]. ,
.
5.3.6
5.3.6.1
.
.
. , x, y z . [xxi]

GPS-X-02007-C

.62
5.3.6.2
.
5.4 ,
P
( ), (
).
(. )
,
. X Y. ,
.
.
, , .

GPS-X-02007-C

.63
Mercator, Gauss-Kruger, UTM

Lambert. ,
.
5.4.1
(Transverse Mercator Projection)
Gauss-Kruger , , Mercator
. ,
Greenwich .
, Bessel
30. .
, , 900 (. 56).
3 .
.
(e. g. 6, 9, 12, 15, ....).
GreenWich
GreenWich

( Bessel )
1- :

.54 Gauss-Kruger
/ .
/ +500000
().
.
:
:
N:46.86154 E 9.51280
Gauss-Krger ( : 9): N-S: 5191454 W-E: 3539097

5191454 399097 (9).
5.4.2 UTM
Gauss-Krger UTM (Universal Transversal Mercator)
6020 = 1200 .
Gauss-Krger.
UTM WGS84 .
, .
UTM 6 (. 57). ,
1 60, 180 W 180 E. , , 1
180 W 174 W, 177 W, 2
174 W 168, 2 171 W ...

GPS-X-02007-C

.64
3, 9, 15, 21, 27, 33, 39, 45, 51, 57, 63, 69, 75, 81, 87, 93, 99, 105, 111, 11
7, 123, 129, 135, 141, 147, 153, 159, 165, 171, 177 (E)
(W) () (. 58).
-
(
)
8 C.
80 84 . 80 72
C, 72 64 D
..
X 72
84 . 12 .
. 57: ( )
. 58: , UTM,

GPS-X-02007-C

.65
Gauss-Krger , /
.
10,000,000 .
/ ,
( Gauss-Krger ) 500,000 .
UTM WGS 84:
WGS 84: N 46,86074 E 9,51173
UTM: 32 T
5189816 (N-S) 0539006 (W-E)
5.4.3 ( )
Bessel .
,
, . (.
59). ( )
( : YOst = 600,000 XNord = 200,000 ).
( 1:25000):
(X Y ),

( ),
Bessel

( Bessel)
1- :

2- :

.59
4 .

(. 60).
WGS-84
CH-1903
.60

GPS-X-02007-C

.66
5.4.4

[xii].
5.4.4.1 WGS-84 CH-1903 .
( "Bezugssysteme der Praxis" ( ) Urs Marti Dieter Egger,
).
! 1 !
1.
WGS-84 []
:
1. 46 2 38.87 (WGS-84) 165758.87.
B: B = 165758.87.
2. 8 43 49.79 (WGS-84) 31429.79. L: L
= 31429.79.
2.
3. (WE):y
:
y= 700 000.0
4. (SN):x
:
x= 100 000.0
5. H:
:
, WGS-84= 650.60 H = 600

GPS-X-02007-C

.67
6 GPS: DGPS, SBAS, A-GPS and HSGPS

. . .
, DGPS
, D-
, DGPS
, EGNOS WAAS
, A-GPS
6.1
GNSS GPS. ,
GPS. GPS
, .
GPS, GNSS.
, GPS
, , ,
, , .. GPS
, .
.
, Differential-GPS (D-GPS).
(
), SBAS (Satellite Based Augmentation System)
EGNOS WAAS.
,
Assisted-GPS (A-GPS).
GPS ,
GPS (HSGPS).
6.2 GPS
13 95% ( HDOP
1.3 ) ,
. .
GPS.
11.
.

GPS-X-02007-C
GPS: DGPS, SBAS, A-GPS HSGPS

.68
2.1
2.1
4.0
0.7
1.4
0.5
RMS
5.3
RMS ()
5.0
11:
:
1 ... 5 .
: 4 ,
-13
. 10 10
. 10 3 .
60 1000 .
. (
!). .
, , .
, .
,
. , ,
GPS .
0... 15 .
.
.
.
(P) (T):
H = Height [m]
-3
T = 288.15 K 6.510
[K]
5,256
P = 1013.25 mbar (T/288.15 K)
[mbar]
: GPS , ..,
. - .
( ),
(. 41)).

GPS-X-02007-C

.69
. 61:
: - GPS
. .
, (DOP):
4.2.5.2.
6.3
. .
:
: L1/L2
. GPS L1
,
, ,
.
.
.
.
Differential GPS (DGPS):

.
, (RT).
Real Time (RT DGPS)
. DGPS :

L2.
.
,
RT DGPS, RTCM SC104
DGPS
,

1 )
DGPS ( 1 )
-( ).

(. DOP 4.2.5).

GPS-X-02007-C

.70
6.3.1 DGPS,
, 15 - 20 . ,
1 , .
: GPS (DGPS). DGPS . GPS
. GPS
. ,
. ( )
GPS 200 .
,
GPS (. 62).
.

, ,
GPS.
, .

.
GPS
GPS
. 62 GPS
6.3.1.1
DGPS
. :
1.
2. GPS
3. -,
6.3.1.2
, , L1
GPS (. 63) - (
). ,
( ) GPS

GPS-X-02007-C

.71
-
( ).
GPS GPS
.
GPS
GPS
RF
RF
.63
6.3.1.3

-,
(, , , ..) GPS (. 39).
GPS
GPS
RF
RF
.64
6.3.1.4 -
GPS
, - (. 65).
.
.

GPS-X-02007-C

.72
GPS
GPS
RF
RF
.65 -
6.3.2 DGPS,
- 1
.
. 19 . ,
(. 66).

N
D
.66
, N .

( ),
.
6.3.3 DGPS - ( )
DGPS - ,
, .
. ,
( , ..)
, , .

GPS-X-02007-C

.73
6.3.4
DGPS
. .

, DGPS ( 12).
(LW, MW)
100 - 600
(1000
)
RTCM SC104
283 - 315
(1000
)
RTCM SC104
255 - 415
(1000
)
RTCM SC104
(KW)
3 30
RTCM SC104
VHF UKW
30 - 300
RTCM SC104
/
(GSM, GPRS)
450, 900, 1800
RTCM SC104
GEO
1.2 1.5
RTCM SC104 (for

MSAT, Omnistar, L
andstar, Starfire)
RTCA DO229C ( SBAS

WAAS, EGNOS
, MSAS)
12: ( )
.
.
.

GPS-X-02007-C

.74
6.3.5 DGPS
DGPS
:
DGPS: Local Area Augmentation System (LAAS).

Ground Based Augmentation Systems (GBAS).
DGPS
DGPS (WADGPS) Satellite Based Augmentation Systems (SBAS):

DGPS .
.
6.3.6
DGPS .
GBAS
WADGPS (LandStarDGPS, MSAT, Omnistar Starfire) DGPS

RTCM SC-104. ,
. Augmentation Systems
WAAS, EGNOS MSAS RTCA DO-229. RTCA
GPS, GNSS RTCA
, RTCM (. 67).
13 , DGPS ,
, GNSS.
RTCM SC 104:
RTCA:
GNSS
Radio Technical Comm
ission for Maritime Ser
vices, Special Committ
ee 104
RTCM
Differential Navstar GPS Service, 2.0 2.1
Radio Technical Comm

ission for Aeronautics
DO- 229C, Minimum Operational Performance Standards for

Global
Positioning System/Wide Area Augmentation System Airborne
Equipment.

GNSS Service, 2.2 2.3
13: DGPS

GPS-X-02007-C

.75
GPS
GPS
GPS
GPS
. 67: DGPS RTCM RTCA
6.3.7
-
(+)

(+)
(+)

GPS-X-02007-C

.76
6.4 DGPS

(LW, KW, UKW, , GSM, ,

, ...).
DGPS
.
DGPS .
GBAS. DGPS .
6.4.1 GBAS
DGPS
Ground Based Augmentation Services (GBAS), .

. GBAS ,
.
6.4.2 GBAS
SAPOS: (German Surveying and Mapping Administration Satellite Positioning Service) DGP
S . .
GPS.
, , GSM
(VHF) .
RASANT (Radio Aided Satellite Navigation Technique) .
RTCM 2.0
Radio Data System (RDS)
. SAPOS
:
o
SAPOS EPS:
SAPOS HEPS:
SAPOS GPPS:
SAPOS GHPS:
ALF: (Accurate Positioning by Low Frequency)

50
Mainflingen, (
).
DCF42 (LW, 123.7 ) 600
1000 . (USB) (Bi-Phase-ShiftKeying BPSK).
German Telecom service (DTAG) .
. -
,
, .
AMDS: (Amplitude Modulated Data System)
600 1000 .
Swipos-NAV: (Swiss Positioning Service)
FM-RDS GSM. Radio Data System RDS
(FM, 87-108 ). RDS

. RDS
57 FM . RDS
DGPS.
.
.
: , ,
. DGPS 300
. 100 200
.

GPS-X-02007-C

.77
6.5 DGPS (WADGPS)

6.5.1 Satellite Based Augmentation Systems, SBAS (WAAS, EGNOS)
6.5.1.1
Satellite Based Augmentation Systems (SBAS) GPS, GLONASS
GALILEO (
).
GPS GLONASS GNSS.

6.5.1.2 SBAS
SBAS GPS, . SBAS,
GPS,
.
: SBAS
GNSS.
,
. .

. SBAS
() .
: SBAS GNSS
6 . / ,
.
: SBAS , GNSS,
. GNSS ,
pseudoranging.
6.5.1.3
Satellite Based Augmentation Systems (SBAS)
(, ), , SBAS
.
RTCA DO-229C. SBAS ,
(. 68):
(WAAS,
Wide
Area
Augmentation
System):
US
Federal
Aviation
Administration (FAA) Wide Area Augmentation System (WAAS),
, . WAAS POR AOR-W.
2007/2008 .
, 133W 107W.
CWAAS.
(EGNOS,
European
Geostationary
Overlay
Service):
,
ESA,
EUROCONTROL, EGNOS, European Geostationary Navigation Overlay Service. EGNOS

European Civil Aviation Conference (ECAC). 2006 EGNOS
(, ).
2007/2008 . EGNOS [xxiii].
(MSAS,
Multifunctional
Satellite
Based
Augmentation
System):
Civil Aviation MTSAT Augmentation System (MSAS),
.

GPS-X-02007-C

.78
(GAGAN, GPS and GEO Augmented Navigation): Indian Space Research Organization (ISRO)
, SBAS . 4 GSAT, 2007 . GNSS
Indian Regional Navigational Stellite System (IRNSS).
(Beidou): Beidou (140E, 110.5E and 80E),

,
COMPASS. .
. 68: WAAS, EGNOS, GAGAN MSAS
( 14) 36,000
. Pseudo Random Number (PRN)
. GPS (L1, 1575.42 ).
PRN
WAAS
Inmarsat 3F3 POR ( )
178 E
134
WAAS
Inmarsat 3F4 AOR-W ( )
54 W
122
WAAS
Intelsat Galaxy XV
133 W
135
WAAS
TeleSat Anik F1R
107.3 W
138
EGNOS
Inmarsat 3F2 AOR-E ( )
15.5 W
120
EGNOS
Artemis
21.5 E
124
EGNOS
Inmarsat 3F5 IOR-W ( )
25 E
126
GAGAN
GSAT-4
111.5 E
127
MSAS
MTSAT-1R
140 E
129
MSAS
MTSAT-2
145 E
137
14: , WAAS, EGNOS MSAS

GPS-X-02007-C

.79
6.5.1.4
,
2-3 (. 69).
. 15 .

EGNOS
WAAS
MSAS
RIMS: Reference and Integrity

Monitoring Station
WRS: Wide Area Base
GMS: Ground Monitor
station
Station
MCC: Mission Control Center
WMS: WAAS Master Station
MCS: Master Control Station
NLES: Navigation Land Earth
GES: Ground Earth Station
NES/GES: Navigation Earth

Station/Ground Earth Station
Station
15: SBAS

GPS
SBAS
GEO
GPS
SB AS
,
. 69: l Satellite Based Augmentation Systems SBAS
:
SBAS
,
. GNSS.
.
().
.
:
, GNSS ,
, ,
GNSS.
.

GPS-X-02007-C

.80
GEO : SBAS GEO ()
GNSS.
GNSS , GEO ,
, ,
. (1575.42 ). SBAS
GNSS .
6.5.2 DGPS RTCM SC-104

.
. RTCM SC-104
.
MSAT:
National Research Council
,
Wide DGPS (CDGPS) , .
Canada-
Omnistar (Fugro Group) LandStar-DGPS,

(Thales Company),
6 GEO (. 70).
. Omnistar Landstar
L-band (1-2 )
. .
(10 ... 30).
.
. 70: LandStar-DGPS Omnistar
Starfire Property of NavCom Technology, Inc.,
3 Inmarsat GEO .
/ . Starfire Lband (1-2 ) .
. 76 .

GPS-X-02007-C

.81
6.6 DGPS SBAS

16 DGPS/SBAS.

DGPS/SBAS
DGPS/SBAS
2.1
0.1
2.1
0.1
4.0
0.2
0.7
0.2
1.4
1.4
0.5
0.5
RMS
5.3
1.5
RMS ()
5.0
1.3
(1-Sigma (68%) HDOP=1.3)
6.5
1.7
(2-Sigma (95%) HDOP=1.3)
13.0
3.4
16: DGPS/SBAS
6.7 Assisted-GPS (A-GPS)

6.7.1 A-GPS
, Location Based Services (LBS, . 9.2.1) .
, GNSS,
. GNSS
, ,
. 2
. GNSS 8-36
. ( ,
)
.
GNSS
, . GPS ( ) - . 1 (1 C/A )
--. 50 (
(2 x 6000 / 50 = 240 ),
1023 x 50 = 51,150 , 51 . . 6.8.

GNSS ,
, ,
GSM, GPRS, CDMA UMTS.
Aiding()
Assisted-GPS. Assisted-GPS ( A-GPS) ,
. GNSS
.
:
()
(, )
() GNSS

GPS-X-02007-C

.82
GNSS
.
. GNSS-.
, - ,
. GNSS
.
AGPS GNSS .
, . ,
GNSS (. 71). .
. 71: A-GPS
. ( AssistNow Online by ublox AG)
(
) GNSS .
.
(AssistNow Offline by u-blox AG).
GNSS (GNSS Reference Network),

.
A-GPS (. 72),
GNSS ,
,
A-GPS
(GNSS
). GNSS
.
( )
GNSS .

GPS-X-02007-C

.83
GPS

(GSM,GPRS,UMTS,
CDMA,
(
)

( )
GPS-
A-GPS
. 72: Assisted-GPS
6.7.2 A-GPS (Real-time A-GPS)

.
(GPRS, , 30 )
.
6.7.3 A-GPS (Predicted Orbits)
A-GPS , GNSS
(Predicted Orbits).
, . GNSS
,
. , ,
, . ,
10 ,
.
6.7.4
, A-GPS ,
,
.
.
International GNSS-Service (IGS, International GPSService [xxiv]), (. 73).

GPS-X-02007-C

.84
Figure 73: IGS reference stations (as of October 2006) with approx. 340 active stations
6.8 GPS (HSGPS)

Location Based Services,
, GNSS-
. :

( , TTFF)
(
)
.
, :
6.8.1

, , ,
.
(TCXO).
, ,
-9
10 .
. - , FrequencyCode-Level .
.
6.8.2
GNSS .
6.8.3
(NF) , , /
.

GPS-X-02007-C

.85
(LNA)
.
. ,
(. 74) LNA (SS):
NF: ()
G:

GPS -
. 74:
20 1.6
, developments [xxvi].
.
6.8.4
GNSS 16
(. . 16). GNSS
GG 43 (. . 24).
)
GNSS .
, GNSS .
k GR :
GR = log10 (k)
3 .
20 .
. ,
1 , , ,
.
.
GNSS
160 . GPS (US Department of Defense)

130 , GNSS , , 30 .

GPS-X-02007-C

.86
6.9 GNSS-
GNSS- ( ) GNSS
, (,
). GNSS .
. GNSS- (. 75):
( )
( )

. 75: GNSS ( , ,
)
6.10
GNSS . .
,
.

GPS-X-02007-C

.87
7
. . .
o , NMEA RTCM
o ,
o , GNSS
o ,
o , GNSS
!
7.1
GNSS (. 76).
, .

(NMEA RTCM), .
(NMEA )
DGPS
(RTCM SC -104)
GNSS
( )

(1PPS)
.76 GNSS

GPS-X-02007-C

.88
7.2
7.2.1 NMEA-0183
GNSS, , , ..
(. , , ), GPS
( TTL RS-232).
.
(NMEA), .
NMEA-0183. NMEA
. GNSS ( ), GPS,
Loran, Omega, Transit .
GNSS GNSS[XXVII]:
1.
2.
3.
4.
5.
6.
7.
GGA(GPS Fix , GPS )

GLL( /)
GSA
GSV
RMC( GNSS )
VTG( , )
ZDA( )

GPS-X-02007-C

.89
7.2.1.1 NMEA
NMEA 4800 8- ASCII.
( ),
( ). .
.77 NMEA( TTL RS-232)
,
GNSS - TTL RS-232 (. 77):
TTL, 0
(+3.3... +5)
RS-232 ,
(+3... +1 5) - (-3... -1 5).
GPS TTL RS-232,

(. 7.3.4).
GPS 38400 .
GPS :
$GPDTS,inf_1 ,inf_2, inf_3,inf_4,inf_5,inf_6,inf_n*CS<CR><LF>
17.

GPS-X-02007-C

.90

$
GP
DTS
lnf_1 bis lnf_n
,
*
CS
<CR><LF>

GPS
(.. RMC)
1 n (.. 175.4 )

( )
: (<CR>) , (<[F>)
17. NMEA DATA SET
79.
$ <CR><[F> .
NMEA , GNSS ( 18):
$GPRMC,1 30303.0,A,471 7.1 1 5,N,00833.91 2,E,000.03,043.4,200601 ,01 .3,W*7D<CR><LF>
$GPZDA,1 30304.2,20,06,2001 *56<CR><LF>
$GPGGA,1 30304.0,471 7.11 5,N,00833.91 2,E,1 ,08,0.94,00499,M,047,M,,*59<CR><LF>
$GPG[[,471 7.11 5,N,00833.91 2,E,1 30304.0,A*33<CR><LF>
$G PVTG,205.5,T,206.8,M,000.04,N,000.08,K*4C<C R><LF>
$GPGSA,A,3,1 3,20,1 1,29,01 ,25,07,04,,,,, 1 .63,0.94,1 .33*04<CR><LF>
$GPGSV,2,1 ,8,1 3,1 5,208,36,20,80,358,39,11 ,52,1 39,43,29,1 3,044,36*42<CR><LF>
$GPGSV,2,2,8,01 ,52,1 87,43,25,25,074,39,07,37,286,40,04,09,306,33*44<CR><LF>
$GPRMC,1 30304.0,A,471 7.1 1 5,N,00833.91 2,E,000.04,205.5,200601 ,01 .3,W*7C<CR><LF>
$GPZDA,1 30305.2,20,06,2001 *57<CR><LF>
$GPGGA,1 30305.0,471 7.11 5,N,00833.91 2,E,1 ,08,0.94,00499,M,047,M,,*58<CR><LF>
$GPG[[,471 7.11 5,N,00833.91 2,E,1 30305.0,A*32<CR><LF>
$GPVTG,01 4.2,1,01 5.4,M,000.03,N,000.05,K*4F<CR><LF>
$GPGSA,A,3,1 3,20,1 1,29,01 ,25,07,04,,,,, 1 .63,0.94,1 .33*04<CR><LF>
$GPGSV,2,1 ,8,1 3,1 5,208,36,20,80,358,39,11 ,52,1 39,43,29,1 3,044,36*42<CR><LF>
$GPGSV,2,2,8,01 ,52,1 87,43,25,25,074,39,07,37,286,40,04,09,306,33*44<CR><LF>
18 NMEA

GPS-X-02007-C

.91
7.2.1.2 GGA
GGA , , ,
.
GGA :
$GPGGA,1 30305.0,4717.11 5,N,00833.91 2,E,1 ,08,0.94,00499,M,047,M,,*58<CR><LF>
19.
$
GP
GGA
130305.0
4717.115
N
00833.912
E
1
08
0.94
00499
M
047
M
0000
*
58
<CR><LF>

GNSS

UTC : 13 03 05.O .
: 470 17.115 .
(N=, S= )
Latitude: 8 33.91 2 .
(E= , W=)
GPS (0= GPS, 1 = GPS, 2=DGPS)
,
(HDOP)
( )
(M= )

(M= )
DGPS ( DGPS )
DGPS

19. GGA

GPS-X-02007-C

.92
7.2.1.3 GLL
GLL ( - /) ,
.
GLL:
$GPGLL,471 7.11 5,N,00833.91 2,E,1 30305.0,A*32<CR><LF>
20.
$
GP
GLL
4717.115
N
00833.912
E
130305.0
A
*
32
<CR><LF>

GNSS

: 4700 17.115
(N=, S= )
: 8 33.91 2
(E=, W=)
UTC : 13 03 05.0 c
: A (V= )

20 GLL

GPS-X-02007-C

.93
7.2.1.4 GSA
GSA (GNSS DOP ) (2D
3D), ,
(DOP).
GSA :
$GPGSA,A,3,1 3,20,11,29,01,25,07,04,,,,, 1.63,0.94,1 .33*04<CR><LF>
21.
$
GP
GSA
A
3
13
20
11
29
01
25
07
04
,,,,,
1 .63
0.94
1 .33
*
04
<CR><L
F>

GNSS

(A= 2D/3D , M=
2D/3D )
(1= , 2=2D, 3=3D)
ID ,
ID ,
ID ,
ID ,
ID ,
ID ,
ID ,
ID ,
ID ( )
PDOP
HDOP
VDOP

21 GSA

GPS-X-02007-C

.94
7.2.1.5 GSV
GSV , ,
-.
GSA :
$GPGSV,2,2,8,01 ,52, 1 87,43,25,25,074,39,07,37,286,40,04,09,306,33*44<CR><LF>
22.
$
GP
GSV
2
2
09
01
52
187
43
25
25
074
39
07
37
286
40
04
09
306
33
*
44
<CR><LF>

GNSS

GVS ( 1 . 9)
GVS ( 1 . 9)

(0 90)
(0 360)
- - (1 99, 0, )

(0. 90)
(0 360)
- - (1 99, 0, )

(0. 90)
(0. 360)
- - (1. 99, 0, )

(0. 90)
(0.. 360)
- - (1. 99, 0, )

22 GSV

GPS-X-02007-C

.95
7.2.1.6 RMC
RMC ( GNSS) , , ,
, , . GPS.
RMC:
$GPRMC,1 30304.0,A,471 7.11 5,N,00833.91 2,E,000.04,205.5,200601 ,01 .3,W*7C<CR><LF>
23.
$
GP
RMC
130304.0
A
4717.115
N
00833.912
E
000.04
205.5
200601
01.3
W
*
7C
<CR><LF>

GNSS

( UTC): 13 03 04.0
: A (V= )
: 4700 17.115
(N=, S= )
: 8 33.912
(E=, W=)
: 0.04
: 205.5
: 20 2001
: 1.3
(E =)

23 RMC

GPS-X-02007-C

.96
7.2.1.7 VTG
VTG
VTG :
$GPVTG,01 4.2,T,01 5.4,M,000.03,N,000.05,K*4F<CR><LF>
24.
$
GP
VTG
014.2
T
015.4
M
000.03
N
000.05
K
*
4F
<CR><LF>

GNSS

14.2 (T)

15.40 (M)

(N)

(/)
/

24 VTG

GPS-X-02007-C

.97
7.2.1.8 ZDA
ZDA ( ) UTC , .
ZDA :
$GPZDA,1 30305.2,20,06,2001 *57<CR><LF>
25.
$
GP
ZDA
130305.2
20
06
2001
*
57
<CR><LF>

GPS

UTC : 13 03 05.2
(00...31)
(1 ... 12)
(),
(),

25 ZDA
7.2.1.9
-, 8 (
) , .
- ( $)
(: *).
8- 2 4 (),
(0... 9, A... F).
, ASCII.
:
NMEA (CS) .
$GPRTE,1 ,1 ,c,*07
(07 - )
:
1. $ * : GPRTE,1,1,,0
2. 13 ASKII 8 (. 26)
3. 13 ASCII - (
: , -
)
4.
5.
6. ASKII ,

GPS-X-02007-C

.98

G
P
R
T
E
,
1
,
1
,
C
,
0
-

ASCII CS (!)
ASCII
0 1
0 1
0 1
0 1
0 1
0 0
0 0
0 0
0 0
0 0
0 1
0 0
0 0
0 0
0000
0
0
(8 )
0 0 0 1 1 1
0 1 0 0 0 0
0 1 0 0 1 0
0 1 0 1 0 0
0 0 0 1 0 1
1 0 1 1 0 0
1 1 0 0 0 1
1 0 1 1 0 0
1 1 0 0 0 1
1 0 1 1 0 0
1 0 0 0 1 1
1 0 1 1 0 0
1 1 0 0 0 0
0 0 0 1 1 1
0111
7
7
26 NMEA
7.2.2 DGPS ( RTCM SC-104)

RTCM SC-104 . RTCM SC-104
"Radio Technical Commission for Maritime Services Special Committee 104"
[xvi]. RTCM,
Differential NAVSTAR GPS .
2.0 ( 1990)
2.1 ( 1994)
2.1 - 2.0 , ,
(Real Time Kinematic, RTK).
63 , 1, 2, 3 9
.

GPS-X-02007-C

.99
7.2.2.1 RTCM
30 ,
, ( 1 2).
, [xi], ,
(. 78 [x].
ID
10
Z
13
.78 RTCM

ID

ID

Z

Z-, .

27 RTCM
( 3... n) .

GPS-X-02007-C

.100
7.2.2.2 1 RTCM
1 - ( PSR,
) GNSS, ,
. 1 (. 79
[xxi], 3.. 6).
UDRE
ID
16
UDRE
ID
16
UDRE

ID ( )
.79 RTCM 1

GPS-X-02007-C

.101
UDRE
ID

ID

PSR

28 RTCM 1
7.2.2.3 RTCM 29
2..9 :
2 PSR ,
. GPS,
. 2
.
3 .
9 , 1,
(. 3). ,
.
DGPS
1060 ( , . [xxxii]).
.
LW Mainflingen, , ( 1 .3)
0.5 - 1.5 250 1 - 3 600 [xxxiii].
7.2.3
GNSS . NMEA
:
; ,
NMEA.
:
, .
, , .
.
GNSS .
GNSS .
-.

GPS-X-02007-C

.102
GNSS
, .
, .
.
ASCII .
, :
NMEA :
NMEA ( , ..). ,
(
)
. GNSS
. NMEA , ,
-
.
(, u-blox UBX).
7.2.3.1 : UBX u-blox 5 GNSS
NMEA RTCM, ANTARIS u-blox 5 GNSS

UBX. NMEA, :
SYNC CHAR 1,
2
CLASS
ID
LENGTH
PAYLOAD
()
LENGTH

. 80: UBX
(
: B5, 62).
. , CLASS ID,
.
.
,
, NAV.
,
POSLLH (CLASS 01, ID 02), .
. u-blox .
.
.

GPS-X-02007-C

.103
NAV (01)
RXM (02)
:
GNSS
, , , DGPS SBAS
GNSS , ..
, , ,
CFG (06)
(
)
,
,
,
ACK (05)
MON (0A)
GNSS
CPU,
,
,
AID (0B)
, ,
, , ,
INF (04)
TIM (0D)
UPD (09)
USR (4*)
29: ( )
. , ANTARIS u-blox-5
, , NMEA UBX
.

GPS-X-02007-C

.104
7.3
7.3.1
GNSS (RHCP).

. GNSS .
LNA () . GNSS
RF.

(, GSM/FM GNSS).
, , ,
. .
/.
.
, GNSS.
7.3.1.1
GNSS .
.
.
,
, , .
, ,
(70 x 70 ). -
.
. 81:

GPS-X-02007-C

.105
7.3.1.2
, GNSS .
, .
.
,
. , (60 45
).
. 18 10 .
, .
. 82:
7.3.1.3 -
.
(11.0 x 1.6 x 1.6 ). ,
.
.
.
. 83:

GPS-X-02007-C

.106
7.3.1.4 - Fractal Element Antennas (FEA)
,
( ),
.
. 3 -
. .
. 84: :
7.3.1.5
,
. .
.
, .
3 GPS,
, .
.85:

GPS-X-02007-C

.107
7.3.1.6
, , ,
. ,
. ,
.
. 86: , 775
7.3.1.7 - Inverted F Antenna (PIFA)
PIFA a 'F', ,
,'tail' () . PIFAs
, ,
. . PIFA
(E-911),
.
. 87: - inverted-f-antenna (PIFA)
. 88: inverted-f-antenna (PIFA) PIFA

GPS-X-02007-C

.108
7.3.1.8 GNSS
, ,
. ,
GNSS .
( , MLA).
. GNSS ,
.
.
7.3.1.8.1 Choke Ring Pinwheel
TM
(Novatel)
GPS .
, .
Pinwheel
.
TM
. 89: Leica Choke AT504 Pinwheel
(Novatel)
7.3.2
GNSS 3.3
6 . .

GPS-X-02007-C

.109
7.3.3 : 1 PPS
GNSS - 1 PPS (1
), UTC. TTL (. 90).
.90 1PPS
(
).
GNSS ,
GNSS:
7.3.3.1 (TAI)

,
GNSS. 1967
, Cs .
9 192 631 770 .
, , . 01
.01.1958 00.00 .
7.3.3.2 (UTC)
UTC , ,
, , .
TAI, , UTC = TAI - n, n = 1
1 .
7.3.3.3 GPS
GNSS .
- , 6- 1980 0.00 (UTC). GNSS
,
. , GNSS UTC
.
7.3.3.4
- GNSS,
GNSS.
, .
GNSS.

GPS-X-02007-C

.110
7.3.3.5
.
UTC .
( 30) 21 2001 ()

UTC
GPS
TAI
(::)
08:31:26
06:31:26
06:31:39
06:31:58
n UTC ()
7200 (=2 )
0
+13
+32
30
( 2006):
TAI UTC = +33 .
GPS UTC = +l3 .
TAI GPS = +l9 .

GPS-X-02007-C

.111
7.3.4 TTL RS-232

7.3.4.1
RS-232 :
( , )

PC , . GSM , GNSS ..
PC . ,
,
.
. .
- 110, 150, 300, 600, 1200, 2400, 4800, 9600, 19200 38400 ,
. . ,
-.
7 8
ASCII. .
, 1 2
.
, . , ,
( ). ,
. , ,
.
7.3.4.2
TxD RxD. T , R
.
, :
0 = , : +5 +15 ,
:+3+15
1 = , : -5.-15 , : -3 15
,
, 2 .
TTL (UART) RS-232
(. MAX3221 ). (. 91)
TTL RS-232 . .

GPS-X-02007-C

.112
TTL
RS-232
.91 TTL RS-232
7.3.4.3 TTL RS-232

GPS NMEA
TTL (0 Vcc = +3.3 +5 ).
PC, RS 232.
,
,
( ).
, "Maxim MAX3221" [xxxiv]
(. 92). 3 ... 5
(ESD) 15 . C1...C4
.
.92 MAX3221

GPS-X-02007-C

.113
(. 93) .
, TTL (0 ... 3.3 ) T_IN.
5 T_OUT R_IN RS-232.
.93 MAX3221

GPS-X-02007-C

.114
8 GNSS
. . .
o , GNSS
o , GPS
o , HF
o ,
o ,
o , GNSS
!
8.1 GNSS
GNSS (. 61):
1575.42
.94 GNSS

GPS-X-02007-C
GNSS
.115
: 1572.42 .
163 dBW. () 3 .
LNA 1: (LNA) 15 ... 20 .
RF : GNSS 2 . HF .
HF GNSS
.
RF : GNSS . IF
(AGC)
IF : , 2 . ,
, .
: 16
. C/A.
HF .
(RTC).
( )
.
.
: , , , ..
.
( , , ..), R.
ROM.
: ,
(. ) .
: (, ) .
7- .
, .
:
8.2 GNSS
8.2.1 GNSS
GNSS , ,
.
, . UTC.
, ,
. GNSS , ,
..
. 95 GNSS .
(1 575.42 )
.
.
2- ADC.
GNSS
PRN. PRN
. ,
PRN.
[xxxv]. 16 .
PRN .

.

GPS-X-02007-C
GNSS
.116
RF
A/D
PRN
. 95 GNSS
8.2.2 : u-blox 5
u-blox 5 ,
,
,
. ,
50 . ,
. u-blox 5 . 1

. 1
160 .
.
GNSS 16 .
(PMU)
DC/DC .
/ LDOs (Low-Drop-Out).
GALILEO-L1, u-blox 5
GALILEO ,
. ,
, GNSS.
u-blox 5
,
'SiP' System in Package.
RF-IC baseband-IC. RF-IC 0.18 RF-CMOS ,

baseband-IC 0.13 CMOS. ,
.
. - . 96.

GPS-X-02007-C
GNSS
.117
. 96: - u-blox 5

GPS-X-02007-C
GNSS
.118
9 GNSS
. . .
o , , GNSS
o , GNSS
o ,
!
9.1
GNSS :
( , ) 20 1
( , UTC) 60 1 .
,
:

GNSS , . ,

. ,
. ,
(AVL) . GNSS
. , GNSS
. 2001 (FCC)
911
125 . , E-911, ,
.
GNSS .
, , - GNSS
.
, GNSS , .

GPS-X-02007-C
GNSS
.119
9.2
GPS ,
, , , . (D)GPS
, .
.
9.2.1 (LBS)
LBS , (,
). (
) , /
.
(E-911 E-112).
LBS .
.
(
) (, 500
).
,
push services pull services. (push service)
(, ).
(pull service) (, E-911 E112).
. ,
, 60%
( 2% .
80 , 50% -
.

.
.
. ,
.
:
(Cell-ID).
Cell of Origin (COO) Cell Global Identity (CGI).
GSM- TA (Timing Advance). TA

GSM, .
: , GNSS
9.2.2
, GNSS. ,
60 2005, 21.6 10.6
[xxxvi]. ,
.
. ,
, .
.
, CD-ROM, GNSS,
, GNSS
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GPS-X-02007-C
GNSS
.121
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GPS-X-02007-C
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GPS-X-02007-C
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.124
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!
A.1
Global Positioning System Overview by Peter H. Dana, University of Colorado
http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html
U
Global Positioning System (GPS) Resources by Sam Wormley,

http://www.edu-observatory.org/gps/gps.html
U
NMEA-0183 and GPS Information by Peter Bennett,

http://vancouver-webpages.com/peter/
U
Joe Mehaffey, Yeazel and Dale DePriests GPS Information

http://gpsinformation.net
U
The Global Positioning Systems (GPS) Resource Library

http://www.gpsy.com/gpsinfo/
U
GPS SPS Signal Specification, 2nd Edition (June 2, 1995), USCG Navigation Center
http://www.navcen.uscg.gov/pubs/gps/sigspec/default.htm
U
A.2 GPS
Differential GPS (DGPS) by Sam Wormley,
http://www.edu-observatory.org/gps/dgps.html
U
DGPS corrections over the Internet

http://www.wsrcc.com/wolfgang/gps/dgps-ip.html
U
EGNOS Operations Manager

http://www.essp.be/
U
Wide Area Differential GPS (WADGPS), Stanford University

http://waas.stanford.edu/
U
A.3 GPS
Institute for applied Geodesy: GPS information and observing system
http://gibs.leipzig.ifag.de/cgi-bin/Info_hom.cgi?de
U

GPS-X-02007-C
GNSS
.125
GPS PRIMER :Aerospace Corporation

http://www.aero.org/publications/GPSPRIMER/index.html
U
U.S. Coast Guard (USCG) Navigation Center

http://www.navcen.uscg.gov/
U
U.S. Naval Observatory

http://tycho.usno.navy.mil/gps.html
U
Royal Institute of Navigation, London

http://www.rin.org.uk/
U
The Institute of Navigation

http://www.ion.org/
U
University NAVSTAR Consortium (UNAVCO)

http://www.unavco.org
U
A.4 GNSS
REEL Reinheimer Electronic Ltd.
http://www.reinheimer-elektronik.de/
U
WISI, WILHELM SIHN JR. KG

http://www.wisi.de/
U
Matsushita Electric Works (Europe) AG

http://www.mew-europe.com/gps/en/news.html
U
Kyocera Industrial Ceramic Corporation

http://www.kyocera.com/kicc/industrial/products/dielectric.htm
U
M/A-COM
http://www.macom.com/
U
EMTAC Technology Corp.

http://www.emtac.com.tw/
U
Allis Communications Company, Ltd.

http://www.alliscom.com.tw/
U
A.5 GNSS GNSS

Newsgroup: sci.geo.satellite-nav
http://groups.google.com/groups?oi=djq&as_ugroup=sci.geo.satellite-nav
U
Technical journal : GPS World (appears monthly)

http://www.gpsworld.com
U

GPS-X-02007-C
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.126
B.1
. 1: ................................................................................................................10
. 2: GPS ..............................................................................................................................................11
. 3: ............................................................................................................12
. 4: .........................................13
. 5: .....................................14
. 6: , , .....................................................14
. 7: .............................................................................................................15
. 8: ..........................................................................................................16
. 9: ...........................................................................................16
. 10: 3-D ..............................................................17
. 11: GNSS.................................................................................................................19
. 12: GPS 6 ......................................................................................20
. 13: 24 GPS .........................................................................20
. 14: GPS 12:00 UTC 14 l 2001......................................................................................21
. 15: GPS ..........................................................................................................................................................22
. 16: ...........................................................23
. 17: ...........................................................................................................................................24
. 18: ...............................................................................................................25
. 19: GPS ...25
. 20: GPS .26
. 21: .27
. 22: 30 .........................................................................................28
. 23: ..........................................................................29
. 24: ...................................29
. 25: ........................................................................................................31
. 26: ...............................................................................................................................................33
. 27: BPSK .............................................................................34
. 28: : BOC(10,5).............................................................................................................................35
. 29: BPSK(1) BOC(1,1) ( 1 ).........................35
. 30: GPS .............................................................................................36
. 31: GLONASS-M ( ESA).......................................................................................................................38
. 33: SARSAT-COSPAS, GALILEO's .........................................41
. 34: GALILEO (: ESA-J.Huart).......................................................................................43
. 35: GALILEO (: ESA-J.Huart)................................................................................................................43
. 36: Ariane 5 Rocket 8 GALILEO (GALILEO-industries.net).....................................................44
. 37: GALILEO........................................................................................................................................45
. 38: L1 GALILEO GPS ( 1 )...........45
. 39: GIOVE-A 28 2005 ( ESA)......................................................................................46

GPS-X-02007-C
.127
. 40: ........................................................................................48
. 41: .....................................................................................................................49
. 42: ...................................................................................................50
. 43: ...................................................................................................................................51
. 44: PDOP....................................................................................................................................54
. 45: DOP..............................................................................................54
. 46: GDOP ...........................................................55
. 47: HDOP 24 , (. 1.9)...................................................................55
. 48: HDOP 24 (. 20)..................................................56
. 49: .................................................................................................58
. 50: ........................................................................................................................58
. 51: ................................................................................................................................59
. 52: ..................................................................................................................59
. 53: ..............................................................................................................60
. 54: .....................................................................................................61
. 55: .......................................................................................................................................62
. 56: Gauss-Krger ..................................................................................................................................64
. 57: ( ).65
. 58: , UTM, .......65
. 59: ....................................................................................................................66
. 60: ...............................................66
. 61: ..........................................70
. 62: DGPS GPS .........................................................71
. 63: .............................................................72
. 64: .........................................................72
. 65: ............................................................73
. 66: ..................................................................................73
. 67: DGPS RTCM RTCA ...................................................................76
. 68: WAAS, EGNOS, GAGAN MSAS............................................................................79
. 69: SBAS.....................................................................................80
. 70: LandStar-DGPS Omnistar ................................81
. 71: A-GPS ........................................83
. 72: Assisted-GPS ..................................................................................................................................84
. 73: IGS ( 2006) 340 ............................................85
. 74: ......................................................................86
. 75: GNSS ( , , ).....87
. 76: GNSS ...................................................................................88
. 77: NMEA (TTL RS-232 )................................................................................................................90
. 78: RTCM ......................................................................................................100
. 79: RTCM 1.............................................................................................................101
. 80: UBX .......................................................................................................103
. 81: ........................................................................................................................................105
. 82: .....................................................................................................................................106

GPS-X-02007-C
.128
. 83: ........................................................................................................................................................106
. 84: : ........................................................................................107
. 85: .................................................................................................107
. 86: , 775...................................................................................................108
. 87: inverted-f- (PIFA)......................................................................................................................108
. 88: inverted-f- (PIFA) PIFA .....................................................108
. 89: Leica Choke AT504 PinwheelTM (Novatel)...........................................................................109
. 90: 1PPS ....................................................................................................................................................110
. 91: TTL RS-232.................................................................................................113
. 92: MAX32121 ..................................................................................113
. 93: MAX3221 ................................................................................................114
. 94: GNSS ..............................................................................115
. 95: GNSS ................................................................................................117
. 96: u-blox 5 chipset.......................................................................................................................118
B.2
1: L1, C/A..........................................................................................22
2: ................................................................................................33
3: GALILEO.......................................................................................42
4: GALILEO ..........................................................................................................44
5: GPS, GLONASS GALILEO............................................................47
6: ( ).........................................................................................53
7: HDOP = 1.3...56
8: ............................................................60
9: WGS-84 ...............................................................................................................................61
10: .....................................62
11: ..........................................69
12: ( )......................................................74
13: DGPS .............................................75
14: GEO , WAAS, EGNOS MSAS......................................................................................79
15: SBAS ........................................................................................................................80
16: DGPS/SBAS..82
17: NMEA DATA SET ......................91
18: NMEA ..........................................................................................................................91
19: GGA ...............................................................................92
20: GGL .................93
21: GSA .......................................................94
22: GSV .............................................................................95
23: RMC ................................................................96
24: VTG ............................................................97
25: ZDA .........................................................................98
26: NMEA ....................................................99

GPS-X-02007-C
.129
27: RTCM .................................................................................................100

28: RTCM 1................................................................................................................102
29: ( )................................................................104
30: ................................................................................................................................111

GPS-X-02007-C
.130
B.3
[i] Global Positioning System, Standard Positioning System Service, Signal Specification, 2
n.uscg.gov/pubs/gps/sigspec/gpssps1.pdf
nd
P
P
Edition, 1995, page 18, http://www.navce

U
[ii] NAVCEN: GPS SPS Signal Specifications, 2
nd
P
P
Edition, 1995, http://www.navcen.uscg.gov/pubs/gps/sigspec/gpssps1.pdf

U
[iii] Lemme H.: Schnelles Spread-Spectrum-Modem auf einem Chip, Elektronik 1996, H. 15 p. 38 to p. 45
[iv] http://www.maxim-ic.com/appnotes.cfm/appnote_number/1890
U
[v] Parkinson B., Spilker J.: Global Positioning System, Volume 1, AIAA-Inc.
[vi] GPS Standard Positioning Service Signal Specification, 2nd Edition, June 2, 1995
[vii] Journal of the Institute of Navigation, 2002, Vol.48, No. 4, pp 227-246, Author: John W. Betz
[viii] http://www.glonass-center.ru/nagu.txt
[ix] http://www.dlr.de/dlr/News/pi_191004.htm
[x] http://www.cospas-sarsat.org/Status/spaceSegmentStatus.htm
[xi] http://europa.eu.int/comm/dgs/energy_transport/galileo/documents/brochure_en.htm
[xii] http://www.esa.int/esaCP/SEMT498A9HE_Austria_0.html
[xiii] http://europa.eu.int/scadplus/leg/de/lvb/l24004.htm
[xiv] http://www.spiegel.de/wissenschaft/weltraum/0,1518,392467,00.html
[xv] http://www.esa.int/esaCP/SEMQ36MZCIE_Improving_0.html
[xvi] http://www.esa.int/esaCP/SEM0198A9HE_Germany_0.html
[xvii] Manfred Bauer: Vermessung und Ortung mit Satelliten, Wichman-Verlag, Heidelberg, 1997, ISBN 3-87907-309-0
[xviii] http://www.geocities.com/mapref/mapref.html
U
[xix] B. Hofmann-Wellenhof: GPS in der Praxis, Springer-Verlag, Wien 1994, ISBN 3-211-82609-2
[xx] Bundesamt fr Landestopographie: http://www.swisstopo.ch
U
[xxi] Elliott D. Kaplan: Understanding GPS, Artech House, Boston 1996, ISBN 0-89006-793-7
[xxii] http://www.tandt.be/wis
U
[xxiii] http://www.egnos-pro.esa.int/IMAGEtech/imagetech_realtime.html
U
[xxiv] http://igscb.jpl.nasa.gov/
[xxv] GPS-World, November 2003: Vittorini und Robinson: Optimizing Indoor GPS Performance, page 40
[xxvi] www.maxim-ic.com/quick_view2.cfm Datenblatt MAX2640, MAX2641
U

GPS-X-02007-C
.131
[xxvii] NMEA 0183, Standard For Interfacing Marine Electronics Devices, Version 2.30
[xxviii] http://www.navcen.uscg.gov/pubs/dgps/rctm104/Default.htm
U
[xxix] Global Positioning System: Theory and Applications, Volume II, Bradford W. Parkinson, page 31
[xxx] User Manual: Sony GXB1000 16-channel GPS receiver module
[xxxi] User Manual: Sony GXB1000 16-channel GPS receiver module
[xxxii] swipos, Positionierungsdienste auf der Basis von DGPS, page 6, Bundesamt fr Landestopographie
[xxxiii] http://www.potsdam.ifag.de/potsdam/dgps/dgps_2.html
U
[xxxiv] http://www.maxim-ic.com
U
[xxxv] Satellitenortung und Navigation, Werner Mansfield, page 157, Vieweg Verlag
[xxxvi] http://www.alliedworld.com
U

GPS-X-02007-C
.132

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Id

SBAS (WAAS, EGNOS)

Europe, Middle East, Africa

Asia, Australia, Pacific

u-blox America, Inc.

u-blox Singapore Pte. Ltd.

1902 Campus Commons Drive

435 Orchard Road

#19-02, Wisma Atria,

Reston, VA 20191 USA

Phone: +1 (703) 483 3180

Phone: +41 44 722 74 77

Phone: +65 6734 3811

Fax: +1 (703) 483 3179

Fax: +41 44 722 74 47

Fax: +65 6736 1533

Regional Office West Coast:

Regional Office China:

8600 Lemon Ave #1

Phone: +41 44 722 74 74

Phone: +86 10 68 133 545

Fax: +86 10 68 217 890

Phone: +1 (703) 483 3185

2 GNSS : GPS ......................................................................18

6 GPS: DGPS, SBAS, A-GPS HSGPS...............................68

6.3.3 DGPS - ( )............................ 73

8.2 GNSS ................................................................................................... 116

174 / ( 290 K). ,

DSSS (Direct Sequence Spread Spectrum) [iii]. ,

, Hedy Lamarr George Anthell [iv].

2.5.4 TLM HOW

. 29: BPSK(1) BOC(1,1) ( 1 W )

IIRM ( 2, Replenishment and Military) . 16 2005

. 31: GLONASS-M ( ESA)

European Space Agency (ESA) . EU ESA

European Geostationary Navigation Overlay Service

LEO (Low Earth Orbit)

. 33: SARSAT-COSPAS, GALILEO's SAR

. 34: GALILEO (: ESA-J.Huart)

. 35: GALILEO (: ESA-J.Huart)

German Aerospace (DLR) Center at Oberpfaffenhofen.

. 36: Ariane 5 8 GALILEO (GALILEO-industries.net)

L1, GALILEO GPS

. 38: L1 GALILEO GPS ( - 1

. 39: GIOVE-A 28 2005 ( ESA)

2.1 ($US 2.75 ). 1/3

Galileo Terrestrial Reference Fra

Russian Defense Ministry

Civilian Governments of the EU

5: GPS, GLONASS GALILEO

(9) (6) (7) :

XTotal_New , YTotal_New ZTotal_New (13a),

(Differential GPS, DGPS),

GDOP: DOP ( 3-D , )

PDOP GDOP 3 (. 46 . 47).

.47: HDOP 24 (. 1.9)

Error (1) = 1 Total RMS Value DOP Value

(1 Sigma (68%) HDOP=1.3)

(2 Sigma (95%) HDOP=1.3)

, . US-Federal Aviation Administration ,

Monte Mario, Rome

(, , h), , (X, Y, Z),

Mercator, Gauss-Kruger, UTM