Trng i hc Bch Khoa H Ni Khoa in t Vin thng

K thut nh v v dn ng in t
Electronics Positioning and Navigations
TS. Trng Tun B mn K thut thng tin
H Ni, 8-2010

Ni dung
Khi qut chung v nh v v dn ng in t
Mt s khi nim H trc ta tng i, trc ta tuyt i Cc tham s xc nh v tr.

H thng Radar : Radio Detection and Ranging

Khi nim, phn loi, phng trnh Radar, din tch phn x hiu dng RCS, cu trc h thng, nguyn tc lm vic ...

H thng GNSS: Global Navigation Satellite Systems

Cu trc h thng Nguyn tc nh v v tinh. Tn hiu v tinh v bn tin dn ng ...

Ti liu tham kho

Phm Vn Tun , Gio trnh C s k thut nh v v dn ng in t, 1997 Simon Kingslay & Shaun Quegan , Understanding Radar Systems, 2003 Prog. AKSen v Dr. A.B.Bhattcharya, Radar system and Radio Aids to Navigation H.Urkowitz , Modern Radar Ramjee Prasad, Marina Ruggieri, Applied Satellite Navigation Using GPS, GALILEO, and Augmentation Systems, 2005

Chng 1: Khi qut chung v nh v v dn ng in t

 1. Khi nim v ng dng

Khi nim
nh v - Positioning:
xc nh v tr hay ta ca mt i tng (object) hay mc tiu (target) gn vi mt h ta xc nh. - Mt phng: mt t, mt bin 2 chiu ( 2 D - 2 Dimension) - Khng gian 3 chiu ( 3 D - 3 Dimension)

Dn ng - Navigation: hng dn, iu khin cc i tng (phng tin) chuyn ng theo mt qu o xc nh.

Khi nim
nh v v dn ng in t l h thng nh v v dn ng s dng thit b in t.
nh v v dn ng v tuyn - Radio Positioning and Navigation sng in t

H thng mt t: Cc thit b c b tr trn mt t: H thng Radar H thng v tinh: Cc thit b c b tr trong khng gian: H thng GPS

Mi quan h
o lng (M) nh v (P) Gim st (S)

Dn ng (N)

M: Measurement S: Surveillance

P: Positioning N: Navigation

ng dng
Giao thng:
Hng hi (mt bin), ng b, ng st 2 D Hng khng 3 D

bn , a thm. Kh tng thy vn. Y hc (siu m - nh v) Vin thng. Qun s.

in t hng khng
ATM: Air Traffic Management CNS:
Communication Navigation Surveillance

Ti nguyn khng gian

Khng phn = (din tch lnh th + din tch lnh hi) x 30km

Qun l khng lu - ATM

ti cng
tip cn

Hng tuyn (ng di)

tip cn

ti cng

en route

take off Ct cnh

approach landing H cnh

i pht mc

airport A

airport B

Air Traffic Management

M hnh mt ng bay

Cng A Vng A Vng B Vng C Vng B

Cng B Vng A

Vng khng gian Vng Vng khng gian ng di (hng Vng Vng khng gian khng gian khng gian ti cng tuyn) ti cng tip cn ct tip cn h cnh cnh

Hng khng
Hnh lang bay

300 m

Mc bay 9000 12000 mt 35 km

Air Traffic Management

- 02 Flight Information Regions : Hanoi Fir and Ho chi minh Fir. - 22 domestic airport and 60 flight routes (20 domestic and 40 international)

Air Traffic Management

Air Traffic Management

Air Traffic Management

Development Trends

Development Trends

 2. H trc ta v tham s xc nh v tr

H trc ta Coordinate System

H trc ta tng i. H thng nh v v dn ng mt t H trc ta tuyt i. H thng nh v v dn ng v tinh.

D N mt phng ng

LOS Range: c ly theo tm nhn thng Line of Sight

Hng - Direction
NNW NW: Ty Bc WNW W WWSW SWSW WSW N NNE NE: ng Bc NENE ENE EENE E ESE SE: ng Nam SSW S SSE

SW : Ty Nam

H ta A L

Bng cch kt hp gi tr v (latitude) v kinh (longitude)

V
V Bc N Kinh Ty W

Kinh
Kinh ng E

V Nam S

V : 0 900 N,S -900 900

Kinh : 0 1800 E,W -1800 1800

Ta c th xc nh mt v tr bt k trn tri t

Latitude and Longitude

ng v song song 900 v Bc Kinh tuyn gc ( 00) i qua Greenwich London, Anh ng kinh tuyn

ng xch o (00)

ng v song song Latitude parallels

90 N 80 N 60 N 40 N 20 N 0 20 S 40 S 60 S 80 S 90 S Equator

ng kinh song song

Longitudinal Parallels Longitude: 0-180 West
Prime Meridian (Greenwich England) 0 Longitude

Longitude: 0-180 East

Mt s cch vit tham s v tr theo v v kinh

40:26:46N,79:56:55W 40:26:46.302N 79:56:55.903W 4026'21"N 7958'36"W 40d 26' 21" N 79d 58' 36" W 40.446195N 79.948862W 40.446195, -79.948862 40 26.7717, -79 56.93172 Cch vit chun, thng dng: M (402621N, 795836W) DMS: Degree Minute Second DD : Decimal Degree

Latitude and Longitude

F(19050 S, 43050 W)

1905000 S: 19 degrees 50 minutes Latitude South -> 19 50 pht v Nam 4305000 W: 43 degrees 50 minutes Longitude West -> 43 50 pht kinh Ty

Cc bc

Latitude

Longitude
v ca M

O Tm tri t

Mt phng xch o

Mt phng kinh tuyn gc kinh ca M

Chuyn i ta a l dng DMS sang dng DD

Dng DMS : W8743'41" ? DD Tng s giy 43'41" = (43*60 + 41) = 2621 seconds. Ly phn d sau khi chia cho 3600: 2621 / 3600 0.728056 Kt qu : 87 + 0.728056 = 87.728056 Do l kinh ty nn c gi tr m: Kt qu l: - 87.728056.

Chuyn i ta a l dng DMS sang dng DD

Dng DMS : M (402621N, 795836W) ? DD

DMS: Degree Minute Second DD : Decimal Degree

V : 2621" = (26*60 + 21) = 1581 seconds. Ly phn d sau khi chia cho 3600: 1581 / 3600 0.4391 Kinh : 5836" = (58*60 + 36) = 3516 seconds.
Ly phn d sau khi chia cho 3600: 3516 / 3600 0,9766

Kt qu : M ( 40,4391, -79,9766 )

Chuyn i ta a l dng DD sang dng DMS

Dng DD: -87.728055 ? DMS Du m Kinh Ty
Phn : ly phn nguyn 87.728055

= 87 degrees.

Phn pht: nhn phn d vi 60

0.728055 x 60 = 43.6833 = 43 minutes. x 60 = 40.998 = 41 seconds (lm trn ln).

Phn giy: nhn phn d vi 60:

0.6833

C th lm trn xung 40 seconds, hoc nguyn phn thp phn Kt qu nhn c dng DMS l: W 8704341

Mt s n v
nm (nmi, Nm) : nautical mile dm 1 nm = 6080 ft (feet) 1 nm = 1852 m 1 m = 3,28 ft ; 1 ft = 0,304878 m 100 km = 54 nm V d - 322 km = ? (nm) - 1794 m = ? (ft) Vn tc : knot k hiu l kt; 1 knot = 1 nm/hour 110 knots ? km/h 210 km/h ? knots

Mt s n v
cao: Height: cao so vi mt t a.g.l ( above ground level) Altitude: cao so vi mt nc bin m.s.l ( mean sea level)

T l hin th bn RF
Large scale: 1:50,000

Small scale: 1:250,000

Mt s n v
T l hin th bn RF - Representative Fractions

V d: RF l 1: 650 000 , 7cm trn bn s ng vi bao nhiu km ?

Khong cch thc [km]= khong cch trn bn [cm] * RF / 100 000 Khong cch thc = 7 * 650 000 / 100 000 = 45,5 (km)

Mt s n v
T l hin th bn RF - Representative Fractions

V d: Nu 1,6 cm trn bn ng vi 5,2 km trn thc a. Khi , t l hin bn RF l bao nhiu ?

RF= 1 : (khong cch thc [km] * 100000 / khong cch trn bn [cm]) RF = 1: 5,2 * 100 000 / 1,6 = 1: 325 000

Mt s n v
T l hin th bn RF - Representative Fractions

V d: Nu RF 1: 750 000 th khong cch trn bn l bao nhiu s ng vi 27,7 km trn thc a ?
khong cch trn bn (cm) = khong cch thc [km] * 100 000 /RF khong cch trn bn = 27,7 [km] * 100 000 / 750 000 3,7 (cm)

ng trn ln - Great Circle

Khi nim : ng trn ln l giao ca b mt tri t v mt mt phng i qua tm tri t. Tnh cht: Khong cch ngn nht gia hai im bt k trn b mt tri t l khong cch gia hai im theo ng trn ln i qua hai im . ng xch o v cc ng kinh tuyn l cc ng trn ln

ng trn ln
Great Circle

Khong cch gia F v T trn ng trn ln

D: Khong cch theo ng trn ln cos(D) = sin(latF)sin(latT) + cos(latF)cos(latT)cos(dlong)
Lu : LatF, LatT, LongF,LongT tnh theo radians Chuyn i kinh , v t dng DMS -> radians (Sign (Deg + (Min + Sec / 60) / 60)) * ( pi / 180)

Cch xc nh dlong
Hai im F v T cng thuc bn cu phi (kinh ng E) hoc bn cu tri (kinh Ty W) dlong = abs (longF - LongT) (longF LongT) - Nu T nm bn phi so vi F -> E - Nu T nm bn tri so vi F -> W im F thuc bn cu phi (kinh ng E) v im T thuc bn cu tri (kinh Ty W) hoc ngc li dlong = longF + LongT - Nu T nm bn phi so vi F -> E - Nu T nm bn tri so vi F -> W * Nu dlong > 1800 -> dlong = 360 dlong v hng ca dlong s chuyn t E->W hoc W ->E

V d
Xc nh lch kinh gia F v T trong cc trng hp sau: a. LongF = 130 00 W , LongT = 150 00 E b. LongF = 140 W , LongT = 130 W c. LongF = 140 W , LongT = 150 E

Khong cch gia F v T trn ng trn ln

ng trn ln

F(450 N, 1400 E)
F(450 N, 1400 E) T(650 N, 1100 W) F

T(650 N, 1100 W)

V d
Xc nh khong cch gia hai sn bay
1. Nashville International Airport (BNA) in Nashville, TN, USA: N 367.2', W 8640.2' 2. Los Angeles International Airport (LAX) in Los Angeles, CA, USA: N 3356.4', W 11824.0'

Chuyn i kinh , v t dng DMS -> radians (Sign (Deg + (Min + Sec / 60) / 60)) * ( pi / 180)

Xc nh khong cch trn ng trn ln gia New York v Moscow

Moscow 5545N 3736E New York 4045N 7359W

D=?

Xc nh khong cch trn ng trn ln gia Tokyo v Alanta

D=?

Atlanta (32 53' 49" N ; 97 02' 17" W) Tokyo (35 45' 53" N ; 140 23' 11" E)

V d
Gi s mt cn bo , c tm bo xut hin ti v tr F(110N, 1120E). Hy xc nh thi gian tm bo di chuyn n v tr T(10030 N, 1100E) bit rng vn tc di chuyn ca tm bo 15 km/h.

120 N F 100 N

1100 E

1120 E

cos(D) = sin(latF)sin(latT) + cos(latF)cos(latT)cos(dlong)

Cos(FT) = sin(10,50*pi/180)sin(10,50*pi/180) + cos(110*pi/180)cos(10,50*pi/180)cos(20*pi/180)=
Cos(FT) = 0,99937

FT = arccos(0,99937)*180/pi 2,0330 2,0275 * 60 121,65 121,65 * 1,852 225,2958 km 1 = 1 nm (nautical mile) ; 1 nm = 1 852 m Thi gian dch chuyn tm bo t F n T l: 234,5 km / 15 (km/h) 15,02 (gi)

Chun s liu ta a l WGSWGS-84

Z a O b Y WGS84 ellipsoid

X
bn trc chnh a = 6378137,0 m bn trc ph b = 6356752,3142 m
H s dt f :

f=

a-b a

= 1/298.257223563

Cc bc

Bn trc ph b = 6 356 752,3142 m Bn trc chnh a xch o = 6 378 137,0 m H s dt f= (a-b)/a = 1/298,257223563

H ta o c theo chun s liu WGS84

H ta ECEF
Z

ECEF: Earth Center Earth Fix

M (xm, ym,zm)

Tm tri t
X

Chuyn i h ta a l sang h ta ECEF

Chuyn i h ta ECEF sang h ta a l