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2011

2011 AASRC Conference

Taichung, November 5, 2011

1 2

GPS GLONASS

GPS GLONASS

(Two-body motion)(Non-uniform spherical Earth)n (n-body)(Solar


Radiation Pressure)(Earth Tide) GPS GLONASS

1.2.3. n 4. 5.

Satellite Orbit Perturbation Problem Analysis and Long-Term Ephemeris


Application
He-Sheng Wang 1Kang-Tai Liu 2
1
Department of Communications, Navigation and Control Engineering
National Taiwan Ocean University
Abstract
First, we will use the satellite orbital mechanics and movement theory to create the equation of two-body
motion to predict the GPS and GLONASS position of satellite since forces acting on the satellite in space do
not only contain the Earths gravitational force. Uses identical model study GPS and the GLONASS satellite
orbit perturbation, the improvement satellite position error and long-term ephemeris prediction, the forces
include the Non-uniform spherical Earth effect, n-body effect, Solar radiation pressure, and Earth tide to
correct the disturbance of the satellite which caused by external force in this thesis.
Keywords1. Two-body motion2. Non-uniform spherical Earth3. n-body4. Solar Radiation

Pressure5. Earth Tide


(Assisted

GPS

Global Positioning System , AGPS)

GPS

2011
2011 AASRC Conference

Taichung, November 5, 2011

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

Taichung, November 5, 2011

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

rmm(j) = (rm rM ) m(13)

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

(m+1) (sin ) m tan P


m (sin ))
(P
lm cos m + Slm sin m]
[C

(15)

=2 m=0

m cos m + Sm sin m ]
[C

(14)

m(j)

solar lu
v lo t o l

(8)

= 4.5605 106 Newtonmeter

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

Taichung, November 5, 2011

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)

P22 (x) = 3(1 sin(x))2

(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 )

3.1 GPS GLONASS


WGS-84 (World Geodetic System 1984)

(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

(sin )k tan Pnk (sin ) Pnk (sin j ) cos khj ]

1.

(25)

2011
2011 AASRC Conference

GLONASS

Taichung, November 5, 2011

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)

GLONASS UTC (SU)

PZ-90 :
1.

UTC (SU)

2.

X(BIH)

t :

t T :

3.

YXZ

4.

= tT +

n (t

n t

n (t

) (t t )

(31)

GPS Time GLONASS Time

UTC(Universal Coordiated Time)

GPS WGS-84 GLONASS PZ-90


Y 2.5 m

UTC

Z 1.9*10-6 rad

1 sec

3.2 GPS GLONASS


GPS

3.3 ECI ECEF

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)

(earth rotation)(polar motion)


:

(29)

XE

EF

(32)

P N

XE

2011
2011 AASRC Conference

Taichung, November 5, 2011


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

Taichung, November 5, 2011

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

6 SV06 GPS (++


++)
10 SV06 GPS

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

5 SV05 GPS (++


++)
7

2011
2011 AASRC Conference

Taichung, November 5, 2011

[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

David A. Vallado , Fundamentals of Astrodynnamics and Applications Third Edition.


GPS Matlab
2006

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.

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