Precise GPS-based position, velocity and acceleration determination

218 Pages·2010·3.47 MB·English

Ph.D. Thesis
Doctoral Program in Aerospace Science & Technology
Precise GPS-based position, velocity
and acceleration determination:
Algorithms and tools
Dagoberto Jos´e Salazar Hern´andez
Advisor:
Dr. Jaume Sanz Subirana
Research group of Astronomy and Geomatics (gAGE)
Depts. of Applied Mathematics IV and Applied Physics
Universitat Polit`ecnica de Catalunya (UPC), Spain
April 21, 2010
Precise GPS-based position, velocity and acceleration determination:
Algorithms and tools
Dagoberto Salazar, 2010.
Doctoral Program in Aerospace Science & Technology
Technical University of Catalonia
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PhD. Thesis made with the support of:
Research group of Astronomy and Geomatics (gAGE/UPC)
Polytechnic School of Castelldefels (EPSC/UPC)
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iii
Dedicated to the memory of my father: A man who was patient enough to
teach his 4-year-old son the difference between voltage and current...
...I believe I finally got it, Dad.
iv
Acknowledgements
I want to start thanking my wife, Roc´ıo. I’ve received from her much more
support, comprehension and love than any husband deserves.
I also thank my children, Vanessa and Ricardo. They have enriched my life in
so many ways.
My“compadre”Ignasideservesaspecialmentionhere: Hehasbeena“guardian
angel” for us, and this thesis could well not have existed without his initial
support. The same can be said from Jordi, whom I resort everytime I have a
big problem, or when I just want to have a good laugh.
Mam´a, Dangel, Darvin, Lorena, E´rika, Daniela, Oscar... thank you very much
for always been there.
I owe a huge debt to my mentors, gAGE senior researchers Jaume, Miguel and
Manuel. I’vebeensoluckyofbeenabletodrinkfromtheirdeepwellsofwisdom
and knowledge everyday during all these years.
Thanks to Angela, Alberto, Pere, Rau´l, Pedro and Adri´a, my gAGE comrades.
You’ve made the hard work lighter, and you’ve been there to help me with my
doubts and ideas. Pere and Rau´l: I owe you a big one.
I also want to thank the GPSTk team: You’ve done a terrific job that I’ve taken
advantage of. Special thanks go to Ben, who has been so supportive from the
very beginning.
The EPSC school has provided a great support during these years. Thanks to
Directors Miguel Valero and Jordi Berenguer for being so flexible. Also a big
thank goes to the “Aeronautic bunch”: Adeline, Jorge, Xavi, Luis, Pep, Santi
and Consol, it is so fun to work with you guys.
My friends Jos´e, Oscar and Pinar: Thanks because although you are far away,
you are also here with me.
I want to close this section thanking the GPSTk users: Everytime I receive your
vi Acknowledgements
support requests, I have to learn new things and think in new ways about what
I’m doing, making me feel that what I’m doing is worthwhile.
Contents
Acknowledgements v
List of Figures xiii
List of Tables xv
Acronyms list xvii
Abstract 1
Resumen 3
Introduction 11
1 The GPS Toolkit 17
1.1 GPSTk general description . . . . . . . . . . . . . . . . . . . . 17
1.2 GPSTk development philosophy . . . . . . . . . . . . . . . . . 18
1.3 GPSTk structure. . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 GPSTk documentation . . . . . . . . . . . . . . . . . . . . . . 19
1.5 GPSTk portability . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.6 Initial GPSTk functionality . . . . . . . . . . . . . . . . . . . . 21
1.7 Validation of the GPSTk with BRUS . . . . . . . . . . . . . . . 21
viii CONTENTS
1.7.1 Validation at range domain . . . . . . . . . . . . . . . . 24
1.7.2 Validation at position domain . . . . . . . . . . . . . . . 25
1.8 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2 GNSS Data Structures 29
2.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2 Explaining GNSS Data Structures . . . . . . . . . . . . . . . . 31
2.2.1 GDS examples . . . . . . . . . . . . . . . . . . . . . . . 31
2.2.1.1 RINEX files . . . . . . . . . . . . . . . . . . . 32
2.2.1.2 Signal model . . . . . . . . . . . . . . . . . . 34
2.2.1.3 Equation systems . . . . . . . . . . . . . . . . 35
2.2.1.4 Other data sources . . . . . . . . . . . . . . . 36
2.3 GDS implementation . . . . . . . . . . . . . . . . . . . . . . . 37
2.4 GDS Processing Paradigm. . . . . . . . . . . . . . . . . . . . . 37
2.5 Examples of code-based data processing . . . . . . . . . . . . . 39
2.5.1 GPS Standard Positioning Service (SPS) . . . . . . . . . 39
2.5.2 C1 smoothed pseudorange with WMS . . . . . . . . . . 43
2.5.3 Ionosphere-free smoothed pseudorange (PC) with WMS 44
2.5.4 PC and WMS with additional information . . . . . . . . 46
2.5.5 Differential GPS (DGPS) with WMS . . . . . . . . . . . 47
2.5.6 Differential GPS (DGPS) with Kalman Filter . . . . . . 50
2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3 Phase-based positioning 53
3.1 Precise Point Positioning (PPP) . . . . . . . . . . . . . . . . . 53
3.1.1 Handling configuration files . . . . . . . . . . . . . . . . 54
3.1.2 Handling Antenna Exchange Format (ANTEX) files . . . 55