Antti Lehtinen Doppler Positioning with GPS - Matematiikan laitos

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Preface This Master of Science thesis is the result of my research on Doppler positioningwith the GPS. The thesis has been written at the Tampere University of Technology between the autumn of 2001 and February of 2002. I began my work on the GPS field at the Institute of Mathematics in November 2000. My very first task was to do a literature survey and find out if Doppler measurements can be used to positioningwith the GPS. It turned out that the field was unexplored, which gave me a possibility to develop new algorithms and theory. I would like to thank professor Keijo Ruohonen for his mathematical assistance and other help he has given throughout the work. In addition, I express my gratitude to Paula Syrjärinne, who has provided me with GPS related advice, measurement data and excellent remarks on the contents of the thesis. Nokia Mobile Phones deserves my thanks for fundingthe project. Moreover, many Nokia employees have given me valuable feedback at the workshops. I would also like to thank the personnel of the Institute of Mathematics, especially Niilo Sirola, who has helped me a lot by proofreadingthe thesis, givingme new ideas and sharinghis Matlab functions. Furthermore, I am indebted to all the people who have given me the joy of living that helped me to complete the thesis. Especially Marjo Matikainen deserves thanks for her support duringthe work. Tampere, 26th February 2002 Antti Lehtinen Iidesranta 3 A 4 33100 Tampere Tel. 040-7291388 i
Contents Abstract v Tiivistelmä vi Abbreviations and Acronyms viii Symbols ix 1 Introduction 1 2 The Doppler Effect 3 2.1 PhysicalBackgroundandApplications ............... 3 2.2 HistoryofDopplerNavigation.................... 5 3 The Global Positioning System 7 3.1 History................................. 7 3.2 TheBasicConcepts.......................... 8 3.2.1 ReferenceCoordinateSystems................ 8 3.2.2 RangePositioning ....................... 8 3.2.3 GPSSignalStructure..................... 9 3.2.4 Pseudorang e and Delta Rang e . . . . . . . . . . . . . . . . 10 3.3 PseudorangePositioning ....................... 11 3.3.1 ProblemFormulation..................... 11 3.3.2 SolutionProcedure ...................... 12 ii
Page 1: TAMPERE UNIVERSITY OF TECHNOLOGY De
Page 5 and 6: 5.2.3 Applications of the Doppler D
Page 7 and 8: Tiivistelmä TAMPEREEN TEKNILLINEN
Page 9 and 10: Abbreviations and Acronyms C/A coar
Page 11 and 12: σ2 variance, covariance a vector i
Page 13 and 14: Chapter 1 Introduction Satellite po
Page 15 and 16: Chapter 2 The Doppler Effect In thi
Page 17 and 18: in Figure 2.2. The shape of the so
Page 19 and 20: Chapter 3 The Global Positioning Sy
Page 21 and 22: sufficiently many satellites, the r
Page 23 and 24: The satellite signal is very accura
Page 25 and 26: The estimated position and time vec
Page 27 and 28: in weak signal conditions. The key
Page 29 and 30: navigation message. Here, however,
Page 31 and 32: where wi is the satellite velocity,
Page 33 and 34: the receiver clock is runningfast a
Page 35 and 36: Let us now turn into our main goal,
Page 37 and 38: Definition 3. Delta range residuals
Page 39 and 40: method [Fletcher, p. 110], [Kaleva1
Page 41 and 42: product formula a × (b × c) =(a
Page 43 and 44: Chapter 5 Positioning Performance I
Page 45 and 46: eplaced by vi −△wu. Let us rewr
Page 47 and 48: Thus, the time bias effect to the p
Page 49 and 50: Let us first calculate the expected
Page 51 and 52: • Doppler drift dilution of preci
Page 53 and 54:
Let us now make the even stronger a
Page 55 and 56:
Chapter 6 Numerical Results In Chap
Page 57 and 58:
6.2.2 Numerical Testing of Normalit
Page 59 and 60:
6.2.4 Magnitude of Errors The actua
Page 61 and 62:
Histogram of positioning errors wit
Page 63 and 64:
used for testinghow the algorithm b
Page 65 and 66:
Chapter 7 Conclusions This thesis d
Page 67 and 68:
The positioningalgorithm was develo
Page 69 and 70:
[Hill] Hill, Jonathan. The Principl
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Antti Lehtinen Doppler Positioning with GPS - Matematiikan laitos

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