THIT K B THU MM

CHO CC H THNG DN NG
S DNG V TINH TIN TIN
(Software Receiver Design for
Modern Global Navigation Satellite Systems)

T HI TNG
B mn Truyn thng v Mng my tnh
Vin Cng ngh thng tin v Truyn thng

Ni dung trnh by

Tng quan v cng ngh GNSS

Cc h thng GNSS tin tin
B thu mm GNSS
Cc cng ngh x l tn hiu tin tin
Cc kt qu ban u trong vic pht trin
b thu mm a h thng GPS/Galileo
Mt s gi v hng nghin cu trong
lnh vc GNSS
2

Tng quan v cng ngh GNSS

Where am I? How do I get to my destination? These questions are as old
as the history of mankind.
Thi

Thi nh v theo thin vn

LORAN

GNSS
Thi nh v theo sng radio

Tng quan v cng ngh GNSS

(x,y,z)

S dng v tinh truyn sng radio nh v

S v tinh ti thiu: 3
4

Tng quan v cng ngh GNSS

Cch xc nh khong cch

d = c

d: khong cch c: vn tc nh sng : tr truyn lan

S
Truyn xung A, ti thi im A

=t t
S
A

u
X/ thi im xung A n Rx A

u
A

n s th 4 => Cn thm 1
v tinh

Tng quan v cng ngh GNSS

Xung nh v
M tri ph, gi ngu nhin:
Tnh cht: Hm t tng quan ~ 1, tng quan cho ~ 0
H m: M-sequence, Gold code, and Kasami code, Memory
code
Mi m c gn duy nht vi 1 v tinh
V du: GPS L1 C/A
Chu k m: 1 ms; di m: 1023 chip; Tc truyn m:
1.023Mcps; phn gii: ~ 1 s (293m)

Sng mang
Tnh cht: tn s dao ng rt ln (L1:1.575 GHz) =>
phn gii nh (0.6ns hoc 1.9m)=> chnh xc rt cao
(mm, cm, dm)
i hi thut ton xc nh s nguyn chu k phc tp
(integer ambiguity)
6

Tng quan v cng ngh GNSS

Tnh ton PVT
Gii h phng trnh phi tuyn 4 n s
(x,y,z,tu)

Phng php gii:

Tuyn tnh ha bng khai trin Taylor
S dng thut ton Least Mean Square
gii phng trnh tuyn tnh
7

Tng quan v cng ngh GNSS

Cc ngun gy li (1/2)
Geometric Dilution Of Precision (GDOP):
nh hng bi yu t hnh hc n cht
lng nh v:

Tng quan v cng ngh GNSS

Cc ngun gy li (2/2)

Tng quan v cng ngh GNSS

Cc ng dng ca GNSS
Thng dng:
Dn ng cho phng tin giao thng
Gim st hnh trnh
Lu vt i tng
Dch v hng v tr (Location Based Services - LBS)

Chuyn su:
Trc a, bn
Gim st mi trng
Nghin cu v tng kh quyn
Phng tin t hnh
ng b thi gian trong cc h thng vin thng, giao
dch in t
10

Ni dung trnh by

Tng quan v cng ngh GNSS

Cc h thng GNSS tin tin
B thu mm GNSS
Cc cng ngh x l tn hiu tin tin
Cc kt qu ban u trong vic pht trin
b thu mm a h thng GPS/Galileo
Mt s gi v hng nghin cu trong
lnh vc GNSS
11

Cc h thng GNSS tin tin

Kin trc chung (1/2)
Cc thnh phn:

Chc nng:

12

Cc h thng GNSS tin tin

Kin trc chung (2/2)

13

H thng GPS (1/2)

Mc thi gian:
1978: V tinh u tin c phng ln qu o
1983: H thng phc v dn dng
2000: Nhiu SA b loi b
2000: GPS-III c cng b

Phn khng gian:

2008: 31 v tinh ti cao 20.200km trn 3 mt phng
qu o
8 v tinh xut hin ng thi ti mi thi im

Phn iu khin:
1 trm iu khin trung tm (+ 1 d phng)
4 trm ng-ten mt t
4 trm gim st
14

H thng GPS (2/2)

Tn hiu:
Tn hiu legacy:
Dn dng: L1 C/A
Quc phng: L2 P(Y)

Tn hiu mi:
Dn dng: L1C, L2C, L5 (Safety of Life)
Quc phng: M code

15

H thng Galileo (1/2)

Mc thi gian:
2003: Chng trnh Galileo c EU thng qua, d
kin h thng hot ng 2010
2004: Kt thc m phn cu trc tn hiu vi M
2004: Phng 2 v tinh th nghim GioveA & B
2009: Quyt nh gim s v tinh t xung 22. Gi
thnh: 22 t EUR so vi d kin 7.7 ban u. H
thng d kin hot ng 2014(???)

c im so snh vi GPS:
Pht thng tin v tin cy
H thng dn dng (???)
16

H thng Galileo (2/2)

Khng gian:
30 v tinh trn 3 mt phng qu o ti cao
23.222 km

Dch v:
Open Service: min ph, chnh xc 1m
Commercial: chnh xc cm
Safety of life: dch v c bo m
Public Regulated Navigation (Encrypted): phc v
cho c quan chnh ph, qun i
Search And Rescue: truyn thng 2 chiu phc v
tm kim, cu h

Tn hiu:
E1, E5(E5a/E5B), E6

17

H thng GLONASS (1/2)

Mc thi gian:
1976: H thng c pht trin
1995: H thng hon thin, nhng khng c
kinh ph duy tr hot ng
2001: Chng trnh khi phc GLONASS bt
u
2007: g b cc rng buc vi ngi s dng
dn dng.
12/2010: ln phng 3 v tinh cui cng tht bi
=> li thi hn hon thnh n 2011
18

H thng GLONASS (2/2)

c im:
24 v tinh trn 3 qu o cao 19,100km
Tn hiu legacy:
S dng cng ngh FDMA
L1: cho dch v dn dng
L2: cho dch v quc phng

Tn hiu mi:
S dng cng ngh CDMA
B sung thm tn hiu dn dng ti cc tn s L1,
L2, L3, L5
19

H thng Beidou (1/2)

Mc thi gian:
2000 - 2003: H thng th nghim vi 3 v tinh
2012: H thng Beidou khu vc bao ph lnh th
Trung Quc
2020: H thng ton cu Beidou i vo s dng

c im:
chnh xc: v tr: 10 m; thi gian: 0.2 ns; v
vn tc: 0.2 meter/second.
H thng hon thin s bao gm 35 v tinh
20

H thng Beidou (2/2)

21

Cc tn hiu GNSS

22

Ni dung trnh by

Tng quan v cng ngh GNSS

Cc h thng GNSS tin tin
B thu mm GNSS
Cc cng ngh x l tn hiu tin tin
Cc kt qu ban u trong vic pht trin
b thu mm a h thng GPS/Galileo
Mt s gi v hng nghin cu trong
lnh vc GNSS
23

B thu mm GNSS
Kin trc b thu
B thu truyn cng ASIC

Analog Hardware

Digital Hardware

Software

B thu mm

Analog Hardware

Software

Software

24

B thu mm GNSS
Phn front-end

25

B thu mm GNSS
Phn x l tn hiu s c thc hin
thng qua cc m-un phn mm trin
khai trn cc vi x l c th lp trnh c:
DSP, FPGA, Embedded System, PC-based

26

V d: b thu phn mm N-Gene

27

Ni dung trnh by

Tng quan v cng ngh GNSS

Cc h thng GNSS tin tin
B thu mm GNSS
Cc cng ngh x l tn hiu tin tin
Cc kt qu ban u trong vic pht trin
b thu mm a h thng GPS/Galileo
Mt s gi v hng nghin cu trong
lnh vc GNSS
28

Cc cng ngh x l tn hiu tin tin

Cc phng php phi hp sau b tng
quan
Cc phng php phi hp a knh trn
mt tn s
Cc phng php phi hp a knh trn
nhiu tn s
Hin tng tng quan cho trong b
tng quan s dng b lc i snh
29

Cc cng ngh x l tn hiu tin tin

Cc p2 phi hp sau b tng quan (1/4)
t vn :
x[n] + nW [n]

B tng quan
(Correlator)

s[k] + w[k]

x[n]
N

( x[n] + n

n =(k 1)N

[n])x[n] =

x[n]x[n] +

n =(k 1)N

T/p tn hiu: s[k]

n =(k 1)N

nW [n]x[n]

T/p nhiu: w[k]

Do tnh cht ca
k thut tri ph

x[n] x[n] s[k] = N

x[n] x[n] s[k] 0

w[k]

Gi tr ca N nh hng rt
ln n nhn bit tn hiu
30

Cc cng ngh x l tn hiu tin tin

Cc p2 phi hp sau b tng quan (2/4)
1

Phi hp c kt (coherent)

Hiu qu kt hp ti u
phc tp cao, do tng
phn gii Doppler
B nh hng bi s i
chiu bit

Phi hp khng c kt (non-coherent)

Phi hp vi sai (differential)

Khng b nh hng bi s i
chiu bit
B tn tht do hin tng
Squaring loss
squaring loss
phc tp thp
Gii php trung ha: Hiu qu
kt hp v phc tp
31

Cc cng ngh x l tn hiu tin tin

Cc p2 phi hp sau b tng quan (3/4)
RM

RM-1

RM-2

RM-3

RM-4

R2

R1

Phng php xut: Phi hp vi sai tng

qut (Generalized Differential Integration)

32

Cc cng ngh x l tn hiu tin tin

Cc p2 phi hp sau b tng quan (3/4)
nhy
Phng php xut ci
thin 2-dB

phc tp: MAT

33

Cc p2 phi hp a knh trn mt tn s

t vn
Tn hiu GNSS thng bao gm 2 knh:
Knh c d liu (data) v Knh khng c
d liu (knh nh v -pilot). Vd: tn hiu
Galileo E1 OS
Data channel (B)
Nav. data PRN code

Acquisi'on

Each shares 50% of total

transmi9ed power
Pilot channel (C)
PRN code

Combina'on

Waste of 50 % of
the real capacity

34

Cc p2 phi hp a knh trn mt tn s

3. (B-C) Acquisition Strategy
c

1. Dual Channel (DC) Strategy

5. (B-C) & (B+C) Summed
Combination

3. (BC) Acquisition Strategy

7. (B-C) & (B+C) Maximum
Likelihood Combination

35

Cc p2 phi hp a knh trn mt tn s

Phn tch l thuyt

36

Cc p2 phi hp a knh trn mt tn s

nh gi hiu nng
nh gi v nhy

nh gi v phc tp

2.8 dB

37

 Cc ng gp:
xut cc phng php phi hp a knh
cho tn hiu Galileo E1 OS
Cung cp cc phn tch l thuyt c kim
nghim qua m phng Monte Carlo
nh gi, so snh hiu nng v xut cc
phng php phi hp hiu qu cho cc kch
bn ng dng khc nhau

38

Phi hp a knh trn nhiu tn s

B thu 2 tn hiu GPS L1/L2C

t vn :

GPS th h III cung cp cho ngi s dng mt

tn hiu dn dng mi trn tn s L2 (L2C)
B thu 2 tn s L1/L2C em li chnh xc cao
hn b thu 1 tn s hin ti, do kh nng loi b
li gy ra bi tng in ly (ionospheric error), v
nng cao nhy cho m-un khai ph ca b
thu
Phng php kt hp vi sai c chng minh
nh mt gii php trung ha gia nhy v
phc tp

Gii php kt hp vi sai trong phi hp

a knh GPS L1/L2C

39

Kin trc feed-forward

SMF
Correlator
s

L1 C/A

L1

1 ms

Local code 1st

CA
Incoming
signal

L2

Local code

WL2

Code
Gen.

1 ms
2nd
CA

WL1

Freq.
Estimation

SMF
Correlator
s

L2C (CM)

Incoming
signal

MGDC

H1
V

>
<

H0

MGDC
20 CA codes
1 ms

3rd
CA

1 ms

1 ms

1 ms

1st part
of CM

2nd part
of CM

3rd part
of CM

4 CA 5

..
CA
..
1 ms 1 ms

..
A full CM code = 20

ms
1 ms
th

4th part
of CM

1 ms
th

5th part
of CM

1 ms
20thC
A
1 ms
20th part
of CM

40

Kin trc Feedback

SMF
Correlator
s

L1 C/A

Code
Gen.

~
L2C (CM)

SMF
Correlator
s

MGDC

WL1

+
Freq.
Estimation

WL2

H1
V

>
<

H0

MGDC

c im:
-Tn dng cc thnh phn sn
c ca x l tn hiu vi sai
- Phi hp thng tin t 2 knh
nng cao chnh xc c
lng
41

Phi hp a knh trn nhiu tn s

Phn tch hiu nng b thu (1/3)
So snh nhy vi cc kin
trc trong b thu hin ti

So snh nhy vi cc
kin trc phi hp c

42

Phi hp a knh trn nhiu tn s

Phn tch hiu nng b thu (2/3)
ng b bit d liu

chnh xc c lng tn
s d

43

Phi hp a knh trn nhiu tn s

Phn tch hiu nng b thu (3/3)
Bm tn hiu L1

Bm tn hiu L2

44

Ni dung trnh by

Tng quan v cng ngh GNSS

Cc h thng GNSS tin tin
B thu mm GNSS
Cc cng ngh x l tn hiu tin tin
Cc kt qu ban u trong vic pht trin
b thu mm a h thng GPS/Galileo
Mt s gi v hng nghin cu trong lnh
vc GNSS
45

B thu mm a h thng GPS/Galileo

t vn :
Nhu cu xy dng b thu mm GPS/Galileo
hon chnh :
Kim nghim cc k thut x l tn hiu pht
trin
n u h thng Galileo (d kin 2015)
Pht trin gii php nh v phi hp a h thng
Lm ch cng ngh ch to b thu GNSS

Nn tng pht trin b thu: PC h nhng,

DSP, FPGA
46

B thu mm a h thng GPS/Galileo

Tn hiu s dng:
Tn hiu min ph, cng tn s:
GPS: L1 C/A
Galileo: E1 Open Service (OS)

Tn hiu thc Galileo pht t H thng GATE (GALILEO Test and Development
Environment) t ti Munich, c:
8 gi v tinh t trong khu vc 65 km2
Pht cc tn hiu Galileo E1, E5, E6
C kh nng m phng knh truyn tng t nh t v tinh

47

B thu mm a h thng GPS/Galileo

Kin trc b thu:
Cc m-un pht trin:
Prototype cho b front-end
Phn x l tn hiu chy trn my PC

48

B thu mm a h thng GPS/Galileo

Kt qu GPS (1/2):

8 v tinh GPS c pht hin:

SVN [9,15,12,17,22,27,25,30]

49

B thu mm a h thng GPS/Galileo

Kt qu GPS (2/2):

Kt qu t b
thu mm

Kt qu t b
thu thng mi

50

B thu mm a h thng GPS/Galileo

Kt qu Galileo (2/2):
Main & side peaks

6 v tinh Galileo c pht hin:

SVN [1,2,11,21,22,23]

51

B thu mm a h thng GPS/Galileo

Kt qu Galileo (2/2):
Kt qu t b thu mm
tn hiu Galileo
Kt qu t b thu
mm tn hiu GPS

Kt qu t b
thu thng mi

52

B thu mm a h thng GPS/Galileo

nh v phi hp 2 h thng (1/2):
Hin tng urban
canyon v hiu ha
GPS
Kt hp chm v tinh
GPS + Galileo gip
php nh v
Cn ti thiu 5 v tinh cho
5 n s (x,y,x; sai s ng
h my thu v h thng
GPS; sai s gia ng h
ca 2 h thng GPS,
Galileo)

53

B thu mm a h thng GPS/Galileo

nh v phi hp 2 h thng (1/2):
Kt qu t b thu mm
tn hiu Galileo
Kt qu t b thu
mm tn hiu GPS

Kt qu t b
thu thng mi

Kt qu t b thu mm
tn hiu Galileo

Sai s ln do s
khc nhau gia
Hai h ta GPS
v Galileo
54

Book Chapter:

[1] T. H. Ta, F. Dovis, Chapter: High Sensitivity Acquisition Techniques for GNSS signals, Global
Navigation Satellite System, InTech Publisher, 10, 2011.
Journals
[2] T. H. Ta, M. Pini, L. L. Presti, Combined Acquisition Architectures for GPS Dual-Frequency L1C/A-L2C
Receivers, IEEE Transactions on Aerospace and Electronic Systems (under review)
[3] T. H. Ta, F. Dovis, D. Margaria, and L. L. Presti, Comparative Study on Joint Data/Pilot Strategies for
High Sensitivity Galileo E1 Open Service Signal Acquisition, IET (previously IEE) Radar, Sonar and
Navigation, vol. 4, Issue 6, pp. 764779, December 2010.
[4] T. H. Ta, N. Shivaramaiah, A. Dempster, L. L. Presti, Significance of Cell Correlations in GNSS Matched Filter
Acquisition Engines, IEEE Transactions on Aerospace and Electronic Systems (accepted 2010).
[5] T. H. Ta, S. Qaisar, A. Dempster, F. Dovis, Partial Differential Post Correlation Processing for GPS L2C Signal
Acquisition, IEEE Transactions on Aerospace and Electronic Systems (accepted 2010).
In conference proceedings:
[6] T. H. Ta, S. H. Ngo: A Novel Signal Acquisition Method for GPS Dual-Frequency L1 C/A and L2C

Receivers. IEEE ATC 2011, Danang, Vietnam, August 2011 (under review).
[7] T. H. Ta, F. Dovis, R. Lesca, D. Margaria, Comparison of Joint Data/Pilot High-Sensitivity Acquisition Strategies
for Indoor Galileo E1 Signal, European Navigation Conference ENC-GNSS 08, Toulouse, France, 23-25 April,
2008.
[8] T. H. Ta, L. Lo Presti, F. Dovis, D. Margaria, R. Lesca, Differential Data/Pilot Joint Acquisition Strategies for
Indoor Galileo E1 Signal, ION GNSS 2008, Savannah, Georgia, USA, 16-19 September, 2008.
[9] T. H. Ta, F. Dovis, L. L. Presti, A Differential Joint Data/Pilot Strategy for High Sensitivity Galileo E1 Signal
Acquisition, in 2008 International Conference on Advanced Technologies for Communications, Hanoi,
Vietnam, 6-9 October, 2008.
[10] T. H. Ta, N. Shivaramaiah, A. Dempster, Significance of Cell Correlations in Matched Filter GPS Acquisition
Engines, IGNSS Symposium, Surfer Paradise, Gold Coast, Queensland, Australia, 1-3 December, 2009.
[11] S. Qaisar, T. H. Ta, A. Dempster, F. Dovis, Post Detection Integration Strategies for GPS L2C Signal
Acquisition, IGNSS Symposium, Surfer Paradise, Gold Coast, Queensland, Australia, 1-3 December, 2009.

55