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GPS GLONASS
GPS GLONASS
1.2.3. n 4. 5.
(Assisted
GPS
GPS
2011
2011 AASRC Conference
6 8 2
2.1
n
GPS
GLONASS
GPS GLONASS
GPS
GLONASS
r =
d2 r
dt2
r3
(1)
= G(M + m) GM
G M
m M
m m r
2.2
(
o )
a
m cos m
m (sin ) [C
=( ) P
r
=2 m=0
+ Sm sin m ]
(2)
GMa
r
Pm (Associated
Legendre Polynomials) Cm Sm
(Spherical Harmonic Coefficients)
International Centre for Global Earth
Models(ICGEM) EIGEN-5C
360 n=2m=0 C20
J2
ECEF
ECEF
....
o (r, , )
o
(r, , ) x
x
o
o (r, , )
=
=
y
(r, , ) y
o
o (r, , )
[ z ] [(r, , ) z ]
=*
1 GPS
o
(r, , )
+
((r, , )) (x , y , z )
(3)
(x , y , z ) ECEF
(Cartesian)
2011
2011 AASRC Conference
M r = rm rM
r = x 2 + y 2 + z 2
z
r cos cos
x
= tan1
[y ] = [ r cos sin ]
x 2 + y 2 (4)
r sin
z
y
1
=
tan
[
]
z
r rm(j)
rm(j)
r
r = GM 3 Gm(j) [
]
3+ 3
r
rm(j)
|r r
|
(r, , )
=
(x , y , z )
cos cos
1
sin cos
r
1
sin
[ r cos
cos sin
1
sin sin
r
1
cos
r cos
o
o
=[
((r, , ))
r
sin
1
cos
r
0
2.4
(5)
(6)
S r rsun
2
r solar = Ps Cr rsun
m |r rsun |3
a
m (sin )
= 2 ( + 1) ( ) P
r
r
a
= ( )
r
r
=0
(7)
=1
0 <<1
Ps =
=2 m=0
(15)
=2 m=0
m cos m + Sm sin m ]
[C
(14)
m(j)
solar lu
v lo t o l
(8)
Cr
a
= m( )
Pm (sin )
r
r
o
S(m2) +
l=2 m=0
m sin m + Sm cos m]
[C
(9)
(m2)
m(kg)
2.3
rsun :
(point-
rrsun
masses)M m (10):
rMm
Mr M = GMm 3
rMm
rMm
and mr m = GMm 3
rMm
2.5
(10)
V(tidal potential)
V (Melchior
1978Dow 1988):
m(j)j=1,2,, m(j)
M m :
rMm(j)
r
Mr M = GMm Mm
+ j GMm(j) 3
3
(11)
rmm(j)
rmM
mr m = GMm 3 + Gmm(j) 3
rmM
rmm(j)
(12)
rMm
rMm(j)
V j k n
(11)(12) M m
j=1
+ 2
k=1
rmm(j) rMm(j)
rMm
r m r M = G(M + m) 3 + Gm(j) * 3
3
+ (13)
rMm
rmm(j) rMm(j)
n=2
a2n+1
[P (sin )Pn (sin j )
r n+1 rjn+1 n
(n k)!
P (sin )Pnk (sin j ) cos khj ]
(n + k)! nk
(16)
j (j=1)(j=2)j
2011
2011 AASRC Conference
rj
j hj
k n (Love number)N
2:
hj = Hj
1
P2 (x) = (3x 2 1)
2
P21 (x) = 3 sin(x)(1 sin(x)2 )0.5
(17)
(20)
GPS GLONASS
2 GPS GLONASS
(18)
(19)
ECEF :
V (r, , )
V
(r, , ) x
x
V
V (r, , )
=
=
y
(r, , ) y
V
V (r, , )
[ z ] [(r, , ) z ]
V
(r, , )
(r, , ) (x , y , z )
(21)
(x , y , z ) ECEF
(Cartesian)(4)(5)
v
v
=[
((r, , ))
r
v
]
(22)
j=1
n=2
(n + 1)a2n+1
V
j k n
[Pn (sin )Pn (sin j )
r
r n+1 rjn+1
n
+ 2
k=1
(n k)!
P (sin )Pnk (sin j ) cos khj ]
(n + k)! nk
2
j=1
n=2
k=1
j=1
n=2
[2
k=1
(n k)!
kP (sin )Pnk (sin j ) cos khj ]
(n + k)! nk
3.
4.
1.
2.
3.
X (BIH)
Y X Z
3 WGS-84
(24)
V
a2n+1
= j k n n+1 n+1
r rj
n
4.
(n k)!
sin Pn (sin ))Pn (sin j ) + 2
P
(n + k)! n(k+1)
2.
WGS-84 :
(23)
V
a2n+1
n
= j k n n+1 n+1 [
(P (sin )
cos n1
r rj
1.
(25)
2011
2011 AASRC Conference
GLONASS
PZ-90(Parametry
t : GPS
Zemli 1990)
t sv :
(3):
( t sv )
4 PZ-90
a 0 a 1 a 2 :
GLONASS
GLONASS
GLONASSGLONASS
10
UTC (SU) 3
tG
ON
= t
T (
+ 03 hours 00 minutes
(30)
PZ-90 :
1.
UTC (SU)
2.
X(BIH)
t :
t T :
3.
YXZ
4.
= tT +
n (t
n t
n (t
) (t t )
(31)
UTC
Z 1.9*10-6 rad
1 sec
UTC (USNO)
t = t sv ( t sv )
( t sv )
= a 0 + a 1(t t o ) + a 2 (t t o )2 + t r
t r = e(
=
(26)
21
C2
1
)2
2
sin
= 4.442807633 1010 (
1)
m2
(27)
(precession)(nutation)
(28)
(29)
XE
EF
(32)
P N
XE
2011
2011 AASRC Conference
20113113132011
5 SV05 GPS
427429GPSSP320114
274 29 2011 4 30 52
GLONASSBroadcast Ephemeris
303
SP3Broadcast Ephemeris
ECEF
(33)ECI
x 10
SVID6 (2011.4/27~04/29)
x
y
z
(m)
RKF4(5)
0
-1
-2
1
= |(S N )|
P
-3
(33)
-4
=1
-5
P (30 )
S N
50
100
( 30 )
150
2 SV06 GPS ()
6 SV06 GPS
6-stage
Runge-Kutta-Fehlberg method
(time-step)
120
GPS GLONASS
1 ~ 4 5 ~ 8
x 10
SVID21 (2011.04/27~04/29)
x
y
z
x 10
(m)
1
SVID 5 (2011.03/11~03/13)
x
y
z
0.5
-1
-2
(m)
0
-3
0
-0.5
50
100
( 30 )
150
3 SV21 GLONASS ()
-1
-1.5
7 SV21 GLONASS
50
100
( 30 )
150
1 SV05 GPS ()
2011
2011 AASRC Conference
9 SV05 GPS
4
x 10
SVID10 (2011.04/30~05/02)
x
y
z
(m)
0
SVID6 + + + + (2011.4/27~04/29)
400
-2
x
y
z
300
-4
200
-6
50
100
( 30 )
(m)
-8
100
150
0
-100
4 SV10 GLONASS ()
-200
8 SV10 GLONASS
-300
-400
50
100
( 30 )
150
4.2
SVID21 + + + + (2011.04/27~04/29)
800
400
5 ~ 8 9 ~ 12
200
(m)
-200
-600
x
y
z
-800
-1000
40
(m)
-400
SVID 5 + + + + (2011.03/11~03/13)
80
60
x
y
z
600
50
100
( 30 )
150
20
7 SV21 GLONASS (+
+++)
-20
11 SV21 GLONASS
-40
-60
50
100
( 30 )
150
2011
2011 AASRC Conference
[3]
SVID10 + + + + (2011.04/30~05/02)
500
x
y
z
400
[4]
300
(m)
200
100
[5]
0
-100
-200
[6]
-300
-400
50
100
( 30 )
[7]
150
8 SV10 GLONASS (+
[8]
+++)
12 SV10 GLONASS
[9]
[10]
[11]
[12]
GPS
[13]
GLONASS
[14]
[15]
:Galileo
[16]
:(Ocean Tide)
(Thrust)(Relative Effect)
[1] GPS
2009
[2]
2010
8
GPS/GLONASS
2000
GPS
2009
GPS
2010
2001
Oliver Montenbruck Eberhard Gill, Satellite
Orbits, Models, Methods, and Application,
Springer-Verlag, pp 61-79, May 2000.
Guochang Xu, GPS Theory, Algorithms and
Application, Second ,pp217-277, March 2003.
Drazen
Svehla , Precise Orbit determination For
FORMOSAT-3/COSMIC And Gravity Applica
-tion,Dec 2006.
E-Navigation
2001
David A .Vallado with technical contributions
by Wayne D. McClain, FUNDAMENTALS of
ASTRODYNAMICS and APPLICATIONS, The
McGraw-Hill Companies, Inc, pp 33-282 ,
1997.
IGS , http://igscb.jpl.nasa.gov/
Global Satellite Navigation System; Interface
Control Document (ICD), Coordination Scientific Information Center, Russia, Moscow,
1998.
Victor R.Bond, Mark C.Allman, Modern
Astrodynamics, FUNDAMENTALS AND PERTURBATION METHODS, Princeton University Press, 1996.