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Cover
7 Acquisition of GPS C/ACode Signals
7.1 INTRODUCTION
7.2 ACQUISITION METHODOLOGY
7.3 MAXIMUM DATA LENGTH FOR ACQUISITION
7.4 FREQUENCY STEPS IN ACQUISITION
7.5 C/A CODE MULTIPLICATION AND FAST FOURIERTRANSFORM (FFT)
7.6 TIME DOMAIN CORRELATION
7.7 CIRCULAR CONVOLUTION AND CIRCULAR CORRELATION
7.8 ACQUISITION BY CIRCULAR CORRELATION
7.9 MODIFIED ACQUISITION BY CIRCULAR CORRELATION
7.10 DELAY AND MULTIPLY APPROACH(
7.11 NONCOHERENT INTEGRATION
7.12 COHERENT PROCESSING OF A LONG RECORD OF DATA
7.13 BASIC CONCEPT OF FINE FREQUENCY ESTIMATION
7.14 RESOLVING AMBIGUITY IN FINE FREQUENCY MEASUREMENTS
7.15 AN EXAMPLE OF ACQUISITION
7.16 SUMMARY
Fundamentals of Global Positioning System Receivers
Fundamentals of Global Positioning System Receivers A Software Approach SECOND EDITION JAMES BAO-YEN TSUI A JOHN WILEY & SONS, INC., PUBLICATION
Copyright  2005 by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved. Published simultaneously in Canada. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400, fax 978-750-4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008, e-mail: permreq@wiley.com. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services please contact our Customer Care Department within the U.S. at 877-762-2974, outside the U.S. at 317-572-3993 or fax 317-572-4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print, however, may not be available in electronic format. Library of Congress Cataloging-in-Publication Data Tsui, James Bao-yen. Fundamentals of global positioning system receivers : a software approach / James Bao-yen Tsui. – 2nd ed. p. cm. Includes bibliographical references (p. ). ISBN 0-471-70647-7 (cloth) 1. Global Positioning System. I. Title. G109.5.T85 2005 .285 – dc22 910 Printed in the United States of America. 10 9 8 7 6 5 4 3 2 1 2004053458
Contents Preface Preface to the First Edition Chapter 1 Introduction 1.1 1.2 1.3 1.4 1.5 1.6 1.7 Introduction History of GPS Development A Basic GPS Receiver Approaches of Presentation Software Approach Potential Advantages of the Software Approach Organization of the Book References Chapter 2 Basic GPS Concept 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 2.11 Introduction GPS Performance Requirements Basic GPS Concept Basic Equations for Finding User Position Measurement of Pseudorange Solution of User Position from Pseudoranges Position Solution with more than Four Satellites User Position in Spherical Coordinate System Earth Geometry Basic Relationships in an Ellipse Calculation of Altitude xiii xv 1 1 1 2 3 3 4 5 5 7 7 7 8 10 11 12 13 15 16 17 19 v
vi CONTENTS 2.12 2.13 2.14 2.15 2.16 Calculation of Geodetic Latitude Calculation of a Point on the Surface of the Earth Satellite Selection Dilution of Precision Summary References Chapter 3 Satellite Constellation 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13 3.14 Introduction Control Segment of the GPS System Satellite Constellation Maximum Differential Power Level from Different Satellites Sidereal Day Doppler Frequency Shift Average Rate of Change of the Doppler Frequency Maximum Rate of Change of the Doppler Frequency Rate of Change of the Doppler Frequency Due to User Acceleration Kepler’s Laws Kepler’s Equation True and Mean Anomaly Signal Strength at User Location Summary References Chapter 4 Earth-Centered, Earth-Fixed Coordinate System 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 Introduction Direction Cosine Matrix Satellite Orbit Frame to Equator Frame Transform Vernal Equinox Earth Rotation Overall Transform from Orbit Frame to Earth-Centered, Earth-Fixed Frame Perturbations Correction of GPS System Time at Time of Transmission Calculation of Satellite Position Coordinate Adjustment for Satellites 20 22 23 24 27 27 30 30 31 31 33 33 34 38 39 40 40 42 44 46 48 49 51 51 52 54 56 58 59 60 62 63 65
CONTENTS 4.11 4.12 Ephemeris Data Summary References Chapter 5 GPS C/A Code Signal Structure 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11 5.12 5.13 5.14 5.15 5.16 5.17 5.18 Introduction Transmitting Frequency Code Division-Multiple Access (CDMA) Signals P Code C/A Code and Data Format Generation of C/A Code Correlation Properties of C/A Code Navigation Data Bits Telemetry (TLM) and Hand Over Word (HOW) GPS Time and the Satellite Z Count Parity Check Algorithm Navigation Data from Subframe 1 Navigation Data from Subframes 2 and 3 Navigation Data from Subframes 4 and 5–Support Data Ionospheric Model Tropospheric Model Selectivity Availability (SA) and Typical Position Errors Summary References Chapter 6 Receiver Hardware Considerations 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 Introduction Antenna Amplification Consideration Two Possible Arrangements of Digitization by Frequency Plans First Component After the Antenna Selecting Sampling Frequency as a Function of the C/A Code Chip Rate Sampling Frequency and Band Aliasing for Real Data Collection Down-Converted RF Front End for Real Data Collection Direct Digitization for Real Data Collection In-Phase (I) and Quadrant-Phase (Q) Down Conversion vii 66 67 67 68 68 69 71 71 72 73 78 79 80 81 82 88 90 92 97 99 100 100 101 105 105 106 107 110 111 111 113 115 116 118
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