18 NguyenThiThanhLoan DT1001 PDF

MC LC
M U ....................................................................................................................1
Chng 1 TNG QUAN V H THNG NH V TON CU GPS .............2
1.1.LCH S PHT TRIN .................................................................................2
1.2. CU TRC H THNG GPS......................................................................3
1.2.1.Phn khng gian (space segment)...............................................................4
1.2.2. Phn iu khin (control segment) ............................................................5
1.2.3. Phn ngi s dng (user segment)...........................................................6
1.3.CC TH H V TINH V MNG LI V TINH GPS HIN TI .........6
1.3.1. Cc th h v tinh ......................................................................................6
1.3.2. Mng li v tinh GPS hin ti ..................................................................7
1.4. CU TRC TN HIU GPS .........................................................................8
1.4.1 Tn s c bn ..............................................................................................8
1.4.2. Cc thng tin iu bin ..............................................................................8
1.4.3. Cc loi sng ti ca h thng GPS ...........................................................9
1.4.4. Cc thng bo v tinh. ...............................................................................9
1.4.5. V tinh kho hoc khng kho (Healthy or Unhealthy) ..........................10
1.4.6. V tinh hot ng hoc khng hot ng ................................................10
1.4.7. chnh xc d bo o khong cch (URE) ..........................................10
1.5. CC TR O GPS.......................................................................................11
Chng 2 NGUYN L NH V GPS ...............................................................14
2.1. NH V TUYT I .................................................................................14
2.1.1. Biu thc c bn tnh khong cch .....................................................14
2.1.2. Tnh khong cch .....................................................................................16
2.2. NH V TNG I ................................................................................19
2.2.1.Sai phn bc mt .......................................................................................20
2.2.2. Sai phn bc hai .......................................................................................20
2.2.3. Sai phn bc ba ........................................................................................20
2.3. CC NGUN SAI S TRONG KT QU O GPS ...............................21
2.3.1 Sai s do ng h. .....................................................................................21
2.3.2 Sai s qu o v tinh. ..............................................................................21
2.3.3 nh hng ca tng Ion ...........................................................................22
2.3.4 nh hng ca tng i lu .....................................................................22
2.3.5 Tm nhn v tinh v s trt chu k .........................................................23
2.3.6 Hin tng a tuyn..................................................................................23
2.3.7. S suy gim chnh xc (DOPs) do hnh cc v tinh ......................24
2.3.8 Tm pha ca anten ....................................................................................25
2.4. NGUYN L O GPS NG ...................................................................26
2.4.1 Nguyn l chung v o GPS ng ............................................................26
2.4.2 Gii php k thut trong o GPS ng: ....................................................26
2.4.3 Cc phng php o GPS ng ...............................................................28
2.5. TA V H QUI CHIU ....................................................................30
2.6. XC NH TA MY THU ...............................................................31
2.6.1. Xc nh ta kinh v:...........................................................................31
2.6.2. Hiu ng Doppler ln my thu: ...............................................................32
Chng 3 CNG NGH NH V V GIM ST PHNG TIN GIAO
THNG GPS TRACKING ....................................................................................34
3.1. CC THNH PHN CA H THNG GPS TRACKING ...................34
3.1.1.M hnh ca mt h thng GPS tracking: ................................................34
3.1.2. Cc chc nng chnh: .............................................................................36
3.2. CC PHNG THC HOT NG CA H THNG GPS
TRACKING .........................................................................................................36
3.2.1.Hot ng off-line: ...................................................................................37
3.2.2.Hot ng on-line: ....................................................................................37
3.3. MY THU NH V V TINH GPS .........................................................38
3.3.1.Cu trc v hot ng: ..............................................................................39
3.4. H THNG GPS TRACKING KT HP K THUT TRUYN DN
BNG SNG RADIO VHF/UHF ......................................................................41
3.4.1. M hnh h thng: ....................................................................................41
3.4.2. Cu hnh v hot ng: ............................................................................41
3.4.3. Cc chc nng: ..........................................................................................43
3.5. H THNG GPS TRACKING KT HP THNG TIN DI NG
GSM ......................................................................................................................44
3.5.1. M hnh h thng: ....................................................................................44
3.5.2.Cu hnh v hot ng: .............................................................................44
KT LUN ..............................................................................................................50
TI LIU THAM KHO ..................................................................................... 51
Cng ngh gim st v qun l phng tin giao thng GPS tracking
M U
Trong lch s ngnh vn ti th gii, vic tm ra gii php qun l v

trao i thng tin gia xe, ti x vi trung tm iu hnh cha bao gi l cng
vic d dng. Hin nay nh c s pht trin ca cng ngh thng tin cng vi
nhng bc tin mnh m ca ngnh vin thng gip n gin ha i rt
nhiu nhng kh khn trn thng qua h thng nh v ton cu GPS.
Cng vi thi gian cng ngh GPS ngy cng pht trin hon thin theo
chiu hng chnh xc, hiu qu v thun tin hn.
Vi mc ch nghin cu mt nhnh pht trin mi ca cng ngh GPS
trong lnh vc gim st v qun l phng tin giao thng, ti xut v
c php nghin cu ti Cng ngh gim st v qun l phng tin
giao thng GPS tracking.
Hin nay, h thng ny bt u xut hin ti Vit Nam vi gii php
GPS Tracking. H thng GPS Tracking cho php ngi s dng thng qua
my tnh hoc TD quan st gn nh trc tuyn cc thng s ca i xe
ang di chuyn trn ng nh v tr, vn tc, hng di chuyn, tnh trng
qu tc , nhit , ng nguy him pha trctrn bn s chi tit 64
tnh thnh ngoi ra hnh trnh ca xe cn c lu li m phng li v sau
hoc to lp cc bo co phn tch thng k, phc v cho cng tc gim st v
qun l phng tin giao thng ca cc ch doanh nghip.
Sinh vin: Nguyn Th Thanh Loan Lp T1001 1

Chng 1
TNG QUAN V H THNG NH V TON CU GPS
1.1.LCH S PHT TRIN
H thng nh v ton cu GPS (NAVSTAR GPS - Navigation Satellite

Timing and Ranging Global Poritioning System) l mt h thng cc v tinh
c kh nng xc nh v tr trn ton cu vi chnh xc kh cao c pht
trin bi b quc phng Hoa K trong khong u 1970. u tin, GPS c
xy dng phc v cho cc mc ch qun s, tuy nhin sau ny cho php
s dng c trong lnh vc dn s. Hin nay, h thng ny c truy nhp bi
c hai lnh vc qun s v dn s.
GPS bao gm mt mng li 24 v tinh hot ng. Mng li ny

chnh thc hon thnh vo ngy 8-12-1993. m bo vng ph sng lin
tc trn ton th gii, cc v tinh GPS c sp xp sao cho 4 v tinh s nm
cng nhau trn 1 trong 6 mt phng qu o. Vi cch sp xp ny s c 4
n 10 v tinh c nhn thy ti bt k im no trn tri t vi gc ngng
l 100 nhng thc t ch cn 4 v tinh l c th cung cp y cc thng tin
v v tr.
Cc qu o v tinh GPS l nhng ng vng, c dng elip vi

lch tm cc i l 0.01, nghing khong 550 so vi ng xch o. cao
ca cc v tinh so vi b mt tri t l khong 20.200 km, chu k qu o
cc v tinh GPS khong 12 gi (11 gi 58 pht). H thng GPS c chnh
thc tuyn b c kh nng i vo hot ng vo ngy 17-7-1995 vi vic m
bo c ti thiu 24 v tinh hot ng. Trong thc t, GPS c kh nng hot
ng tt, s lng v tinh trong mng li GPS phi lun lun nhiu hn 24
v tinh.

1.2. CU TRC H THNG GPS
GPS gm 3 phn vng:

- Phn khng gian (space segment)
- Phn iu khin (control segment)
- Phn ngi s dng (user segment)
M hnh ba thnh phn ca GPS nh hnh 1.1
Hnh 1.1. S lin quan gia ba phn ca GNSS (GPS)

1.2.1.Phn khng gian (space segment)
Phn khng gian ca GPS bao gm 24 v tinh nhn to (c gi l

satellite vehicle, tnh n thi im 1995). Qu o chuyn ng ca v tinh
nhn to xung quanh tri t l qu o trn, 24 v tinh nhn to chuyn ng
trong 6 mt phng qu o. Mt phng qu o v tinh GPS nghing so vi
mt phng xch o mt gc 55 .Qu o ca v tinh gn hnh trn ,
cao 20.200 km , chu k 718 pht , thi hn s dng 7,5 nm . Hnh1.2- minh
ha chuyn ng ca v tin xung quanh tri t.
Hnh 1.2. Chuyn ng v tinh nhn to xung quanh tri t
T khi phng v tinh GPS u tin c phng vo nm 1978, n nay

c bn th h v tinh khc nhau. Th h u tin l v tinh Block I, th h
th hai l Block II, th h th ba l Block IIA v th h gn y nht l Block
IIR. Th h cui ca v tinh Block IIR c gi l Block IIR-M. Nhng v
tinh th h sau c trang b thit b hin i hn, c tin cy cao hn, thi
gian hot ng lu hn.

1.2.2. Phn iu khin (control segment)

Phn iu khin l duy tr hot ng ca ton b h thng GPS cng
nh hiu chnh tn hiu thng tin ca v tinh h thng GPS. Phn iu khin
c 5 trm quan st c nhim v nh sau:
Gim st v iu khin h thng v tinh lin tc
Quy nh thi gian h thng GPS
D on d liu lch thin vn v hot ng ca ng h trn v tinh
Cp nht nh k thng tin dn ng cho tng v tinh c th.
C mt trm iu khin chnh (Master Control Station) Colorado
Springs bang Colarado ca M v 4 trm gim st (monitor stations) v
ba trm ng ten mt t dng cung cp d liu cho cc v tinh GPS. Bn
trong Hnh 1.3- cho bit v tr cc trm iu khin v gim st h thng
GPS. Gn y c thm mt trm ph Cape Caaveral (bang Florida, M) v
mt mng qun s ph (NIMA) c s dng nh gi c tnh v d liu
thi gian thc.
Hnh 1.3.V tr cc trm iu khin v gim st h thng GPS

1.2.3. Phn ngi s dng (user segment)
Phn ngi s dng bao gm cc my thu tn hiu v tinh v phn mm

x l tnh ton s liu, my tnh thu tn hiu GPS, c th t c nh trn mt
t hay gn trn cc phng tin chuyn ng nh t, my bay, tu bin, tn
la. v tinh nhn to... tu theo mc ch ca cc ng dng m cc my thu
GPS c thit k cu to khc nhau cng vi phn mm xl v quy trnh thao
tc thu thp s liu thc a.
1.3.CC TH H V TINH V MNG LI V TINH GPS HIN TI
1.3.1. Cc th h v tinh
Vic hnh thnh mng li v tinh GPS c bt u vi mt lot 11 v
tinh gi l Block I. V tinh u tin trong cc v tinh ny (v cng l u tin
trong h thng GPS) c phng vo ngy 22-2-1978, v tinh cui cng c
phng vo ngy 9-10-1985. V tinh Block I c phng vi mc ch ch
yu l th nghim. Gc nghing cc mt phng qu o ca cc v tinh
ny so vi ng xch o l 630 (gc nghing ny c thay i trong cc
th h v tinh k tip). Mc d thi gian tn ti c thit k ca v tinh
Block I l 4,5 nm nhng mt s v tinh tn ti hn 10 nm. V tinh Block I
cui cng chm dt hot ng vo ngy 18-11-1995.
Th h th hai ca v tinh GPS gi l cc v tinh Block II/IIA. Block
IIA l phin bn nng cp ca v tinh Block II vi vic tng cng kh nng
lu tr d liu (thng ip dn ng) t 14 ngy Block II ln 180 ngy
Block IIA. iu ny c ngha l cc v tinh Block II/IIA c th hot ng lin
tc m khng cn s h tr t mt t trong khong thi gian t 14 ngy
(Block II) n 180 ngy (Block IIA). C tng cng 28 v tinh Block II/IIA
c phng trong khong thi gian t thng 2-1989 n thng 11- 1997.
Khng ging nh Block I, mt phng qu o ca Block II/IIA nghing 55 o
so vi ng xch o. Thi gian tn ti ca v tinh Block II/IIA theo thit k
l 7,5 nm. m bo tnh bo mt, mt s tnh nng bo mt gi l
Selective Availability (SA) v antispoofing c thm vo v tinh Block
II/IIA.

Mt th h mi ca v tinh GPS gi l Block IIR hin ang c

phng. Cc v tinh b sung ny c tnh tng thch ngc vi Block II/IIA,
ngha l s thay i ny l hon ton trong sut i vi user. Block IIR gm
21 v tinh vi thi gian tn ti theo thit k l 10 nm. Ngoi t c
chnh xc cao hn nh mong i, v tinh Block IIR c kh nng vn hnh t
ng ti thiu 180 ngy m khng cn s hiu chnh t mt t v khng lm
gim chnh xc. Thm vo , d liu ng h v lch thin vn c d
bo trc 210 ngy c upload t phn vng iu khin mt t h tr
cho vic vn hnh t ng.
Hnh 1.4. Cc th h v tinh

Mt th h ni tip Block IIR gi l Block IIF, bao gm 33 v tinh.
Thi gian tn ti ca v tinh ny l 15 nm. V tinh Block IIF c nhiu kh
nng mi thng qua chng trnh hin i ha GPS nhm ci thin vt bc
chnh xc ca vic nhv GPS t ng. V tinh Block IIF c phng u
tin vo nm 2007.
1.3.2. Mng li v tinh GPS hin ti
Mng li GPS hin ti (k t thng 7-2001) bao gm 5 v tinh Block
II, 18 v tinh Block IIA v 6 v tinh Block IIR. iu ny lm tng s v tinh
trong mng li ln 29, vt qu mng li 24 v tinh theo chun l 5 v
tinh. Tt c cc v tinh Block II khng cn hot ng na. Cc v tinh GPS
nm trong 6 mt phng qu o, c t tn t A n F. Do hin ti mng
li c hn 24 v tinh nn mi mt phng qu o c th cha 4 hoc 5 v
tinh. Theo bng 1, tt c cc mt phng qu o u gm 5 v tinh ngoi tr
mt phng qu o C gm 4 v tinh.

1.4. CU TRC TN HIU GPS

Mt thnh phn quan trng ca h thng GPS l tn hiu pht t v tinh
n cc my thu. Vic pht v thu tn hiu l c s cho vic o c h thng
GPS, vy tn hiu GPS c cu trc nh th no?
Tn hiu v tinh l song in t. Sng in t c dng cho mc ch
o c c nhng thng s c trng, c nghin cu, th nghim m bo
cc yu cu nghim ngt v chnh xc, tnh n nh v yu cn k thut
khc. V mt vt l, tn hiu v tinh c cc thng s c bn l bc sng,
tn s v cc m iu bin trn song ti.
Bng 1.1: Cc thnh phn ca tn hiu v tn s tng ng .
Thnh phn Tn s (MHz)

Tn s chun f0
Sng ti L1 154.f0 = 1575,42Mhz (= 19,0cm)
Sng ti L2 120.f0 = 1227,60Mhz (= 24,4 cm)
P - Code f0 = 1,023
C/A Code f0/10 = 1,023
W - Code f0/20 = 0,5115
Thng tin o hng f0/204600 = 50.10-6
1.4.1 Tn s c bn
Tn s c bn ca song truyn tn hiu v tinh ca h thng GPS l
fo=10.23 MHz.
1.4.2. Cc thng tin iu bin
Vic s dng tn hiu m ha cho php cc v tinh GPS cng hot ng
m khng b nhiu, mi v tinh pht i mt m gi ngu nhin ring bit. My
thu GPS nhn dng c tn hiu ca tng v tinh trn nn nhiu khng xc
nh ca khng gian bao quanh trm , iu cho php tn hiu GPS khng
i hi cng sut ln v my thu GPS c th s dng Anten nh hn, kinh t
hn. C 3 loi m iu bin trn song ti l : C/A. Code, P.Code v
Y.Code.
+ C/A Code m s b

M C/A Code l m gi ngu nhin (PRN) c pht i vi tn s

1.023 MHz (fo/10). M ny l chui ch s 0 v 1 sp xp theo quy lut ta
ngu nhin lp li vi tn sut 1/1000 giy. mi v tinh c gn mt m
C/A.Code ring bit. M C/A.Code ch iu bin trn sng ti L1.
+ P.Code m chnh xc
P.Code l m gi ngu nhin (PNR) th hai, pht i vi tn s c bn
fo = 10.23 MHz. M ny to bi nhiu ch s 0 v 1 sp xp theo quy lut ta
ngu nhin. Tn hiu lp li vi tn sut 267 ngy. Chu k 267 ngy chia
thnh 38 on 7 ngy, trong 6 on dnh ring cho mc ch vn hnh.
Mi mt on 7 ngy cn li c gn m phn bit cho tng v tinh. P.Code
cng s dng cho mc ch ng dng o c qun s c chnh xc cao.
+ Y.Code
Y.Code l m bo mt ca P.Code, vic gii m Y.Code ch thuc v
ngi c thm quyn , v vy khi kch hot Y.Code th ngi dng s khng
c kh nng s dng c P.Code ln Y.code. Vic s dng Y.Code c coi l
m bo mt ca ngi ch h thng.
1.4.3. Cc loi sng ti ca h thng GPS
Tn hiu phc v cho vic o c bng h thng GPS c iu bin
sng ti c di buc sng khc nhau . l cc thng tin v thi gian v v
tr ca v tinh. Mi v tinh c m pht trn 2 tn s ti.
- Sng ti c bc sng L1 = 19cm vi tn s 54*fo = 1575,42MHz
- Sng ti c bc sng L2=24,4cm vi tn s 120*fo = 1227,60MHz
M C/A.Code ch iu bin trn sng ti L1
M P.Code iu bin c 2 sng ti L1 v L2.
1.4.4. Cc thng bo v tinh.
Thng bo dn ng do v tinh pht i tn s thp 50 Hz, thng bo
ny cha d liu v trng thi ca v tinh v v tr ca chng. My thu GPS
gii m thng bo c c v tr v trng thi hot ng ca v tinh, s liu
gii m ny gi la Ephemeris.
Thng bo dn ng iu bin trn c hai tn s sng ti, N chia
thnh 5 on : Ephemeris, Almanac, m hnh kh quyn, cc s hiu chnh
ng h, thng bo trng thi. Thng bo v tinh c sr dng trong chng

trnh lp lch o v tnh ton x l kt qu o. Cc tham s thng bo trng

thi ca v tinh bao gm:
1.4.5. V tinh kho hoc khng kho (Healthy or Unhealthy)
Cc v tinh thng pht i thng bo trng thi kho hay khng kho
trong tn hiu ca n. My thu GPS s trnh s dng v tinh khng kho.
Thng thng cc v tinh b trm theo di coi l khng kho v nhng l do
sau:
V tinh mi phng ln qu o, lc u cn phi thc hin cc thao tc
kim tra qu o v tinh v trng thi ng h.
V tinh ang bo tr nh k chuyn ng qu o, bo tr ng h
V tinh ang c kim tra chuyn mn, hoc khi v tinh b iu khin
hot ng theo cch gy sai s l.
Khi v tinh ang c sa cha nhng hot ng trng thi bt thng,
hot ng sai chc nng.
B quc phng qun i M la ngi cng b mi khi t v tinh vo
trng thi khng kho. Thng tin ny c sn qua mt s dch v thng bo
in t, nh: Trimble BBS ca hng Trimble. Trng thi kho ca tt c cc
v tinh c thng bo trong thng s Almnc do tng v tinh pht i. S liu
Alphanac do DoD cp nht hng ngy v c v tinh pht i qung cngf
chng 12.5 pht mt ln.
1.4.6. V tinh hot ng hoc khng hot ng
Trong my thu GPS tt c cc v tinh u mc nh v hot ng. C
ngha l chng u c k n trong mi php tnh (vi iu kin v tinh
kho). Mt s my thu cho tu chn khng kch hot v tinh kho khin cho
my thu b qua v tinh . Hng Trimble khuyn ngh ngi dng kch hot
s dng tt c cc v tinh.
1.4.7. chnh xc d bo o khong cch (URE)
Gi tr URE c trong tn hiu v tinh, gi tr ny d bo chnh xc tr
o n mt v tinh nht nh. URE ca tng v tinh c th xem trn mn hnh
ca my thu.
V tr ca tng v tinh c trong thng tin qu o ephemerit. Do v
tr ca anten my thu c xc nh khi bit ta cc v tinh v khong
cch tng ng n my thu bng cch tnh giao hi nghch khng gian, ta

ca im c xc nh, y l im hon ton mi so vi cc nguyn tc

o c truyn thng, vn gii ta cng nh chnh xc v ta im
o s c cp n trong cc phn c th sau.
1.5. CC TR O GPS
Tr o GPS l nhng s liu my thu GPS nhn c t tn hiu ca v
tinh truyn ti, mi v tinh GPS pht 4 thng s c bn dng cho vic o c
chia thnh 2 nhm bao gm:
+ Nhm tr o Code
- C/A Code
- P Code
+ Nhm tr o pha:
- L1 Carrie
- L2 Carrie
- T hp L1/L2
Cc tr o ny c th s dng ring bit hoc kt hp xc nh
khong cch n tng v tinh.
M hnh ton hc ca tn hiu GPS:

Trn tn s L1 = 1575.42 MHz:
Trn tn s L2 = 1227.60 MHz:
Trong :
d(t) : d liu tn s 50bps
c(t) : m C/A tn s 1.023MHz
p(t) : m P tn s 10.23 MHz
: tn s sng mang

M t truyn tn hiu trong min thi gian: (Hnh 1.5)
Hnh 1.5.M t truyn tn hiu
M hnh iu ch tn hiu:(Hnh 1.6)
Hnh 1.6. M hnh iu ch tn hiu

M d liu:
Tn s 1 bit d liu GPS: 50Hz truyn trong 20ms.
1 word d liu gm 30bits, truyn trong 600 ms.
10 words 1 subframe truyn trong 6 giy.
1 page gm 5 subframes, truyn trong 30 giy.
Mt b d liu hon chnh gm 25 pages truyn trong 12.5 pht.
Mi subframe bt u bng 2 word: TLM, HOW
- TLM word s dng xc nh bt u ca mt subframe.
- HOW word s dng tnh tc trong qu trnh xc nh v tr v tinh

Chng 2
NGUYN L NH V GPS
nh v l vic xc nh v tr im cn o. Tu thuc vo c im c
th ca vic xc nh to ngi ta chia thnh 2 loi hnh nh v c bn:
nh v tuyt i v nh v tng i.
2.1. NH V TUYT I
2.1.1. Biu thc c bn tnh khong cch
Trong GPS, ngi ta xc nh v tr ca i tng bng phng php
khong cch TOA. Phng php m t nh sau:
Xt trn mt mt trc thi gian xc nh (system time), gi s c ti
mt thi im xc nh (Ts), my pht s pht tn hiu i, thi im c
my pht nhn bit bng gi tr hin thi ca ng h trn my pht (T t), v
mt l tng th Ts = Tt (nh vy c ngha l trn thc t th c ti thi im
Tt my pht mi pht tn hiu i).
Bn my thu khi thu c tn hiu n s xem thi gian thu c tn
hiu l bao nhiu c xc nh nh ng h my thu (Tr), ta gi s ng h
my thu ng b vi bn my pht, khi khong cch gia 2 my pht v
my thu s c xc nh bng:
= v.(Tr Ts)
Trong :
v : l vn tc truyn tn hiu.
: l khong cch gia my pht v my thu.
Khi , vic xc nh v tr ca my thu s nh Hnh 2.1:
H phng trnh to my thu:

Hnh 2.1. Xc nh v tr my thu
Trong :
Xs, Ys, Zs : ta thc ca v tinh ( bit), trong h trc ta Oxyz.
(i = 1,2,3,)
X, Y, Z : ta thc ca my thu (cha bit), trong h trc ta
Oxyz.
i : khong cch o c t v tinh n my thu.
Oxyz : h ta chun xc nh v tr ca my pht v my
thu.Trong GPS th l h ta ECEF.
Trn thc t th s tn ti sai s tt gia Ts v Tt; ng h my thu
khng ng b vi ng h my pht;
Do trn thc t cn thu tn hiu 4 v tinh xc nh to im o
trong khng gian 3 chiu. biu thc ton hc ca vic nh v nh sau:
2 2 2
i =D Xs Xr Ys Yr Zs Zr c( t T atm
(2.1)
Trong :
- Xr, Yr, Zr l to khng gian 3 chiu ca v tr Anten my thu

- c l tc truyn sng ( tc nh sng)

- t l lch tuyt i ng h my thu
- T l lch tuyt i ng h v tinh
- atm
l sai s do kh quyn
- l tng hp cc sai s khc
Vi 1 v tinh c th thnh lp c mt phng trnh kiu (2.1) Vi 3
n s Xr, Yr, Zr l to im cn o v n s th 4 l lch tng i ng
h v tinh v ng h my thu th ti mi im cn o cn thu tn hiu t nht
4 v tinh kho th to im o mi xc nh c.
Trong thc t th s khng ng b gia my pht v my thu gy ra
sai lch ln nht v khng c phng php no hiu chnh, cn sai lch
gia tt l nh khng ng k v lun c hiu chnh nh cc trm mt t
2.1.2. Tnh khong cch
C 2 cch tnh xc nh khong cch gia v tinh v my thu : da vo
m (C/A hoc P) v da vo pha sng mang.
2.1. 2.1. o khong cch theo tn hiu code
Trong trng hp ny, my thu nhn m pht i t v tinh, so snh vi

tn hiu tng t m my thu to ra nhm xc nh c thi gian tn hiu lan
truyn v tinh ti my thu v t khong cch t my thu n cc v tinh
c xc nh bng cng thc sau:
D c.t c t (2.2)
Trong :
c l vn tc lan truyn sng = 299792458 m/s
t l thi gian truyn tn hiu
t l lng hiu chnh do sai s s khng ng b ng h my thu v
v tinh
l lng hiu chnh do mi trng
Vic xc nh theo tr o Code c th din t nh hnh 2.2

Hnh 2.2.S c ch xc nh thi gian truyn tn hiu GPS
Do chnh sch lm gim chnh xc nh v ca chnh ph M bng

s tc ng nhiu SA lm sai lch n cc tn hiu v tinh nn vi cc tr o
C/A Code v tr im o c chnh xc v tr im 30m vi tin cy 95%.
T ngy 20/5/2000, chnh ph M b tc ng SA n tn hiu v tinh nn
chnh xc nh v vi tr o Code c th t ti 30m, vi chnh xc nh
v nh trn cc tr o ny s dng nh v trong vic dn n, o c nhng
i tng c chnh xc thp.
2.1. 2.2. o khong cch theo pha sng ti
Sng ti c pht i t v tinh c chiu di bc sng khng i. nu gi
l chiu di bc sng th khong cch gia v tinh v my thu GPS s l:
D N.
Trong : N l s nguyn ln bc sng
l phn l bc sng
Tr o pha chnh l phn l ca bc sng bng cch o di pha gia
sng ti thu c v sng ti do my thu to ra. Phn l ny c th o c
vi chnh xc c khng 1 % vng pha tng ng vi mm ( hnh 2.3)
Biu thc xc nh di pha:
R c( t T) N atm (2.3)
2 2 2
Trong : R Xs Xr Ys Yr Zs Zr
R l khong cch ng t v tinh n my thu
Xs, Ys, Zs l ta khng gian 3 chiu v tr antren my thu

Xr, Yr, Zr l ta khng gian 3 chiu ca v tr anten my thu

c l tc truyn sng
t l lch ng h my thu
T l lch ng h v tinh
l bc sng ca sng ti
N l s nguyn ln bc sng t v tinh n anten my thu
atm
l sai s kh quyn
Gii php ny cho kt qu nh v chnh xc hn gii php ch dng tr
o Code. Kh khn chnh l xc nh s nguyn ln bc sng gia Anten
my thu v v tinh. Mt khi my thu bt c tn hiu ca mt v tinh no
n s m s bc sng tri qua sau thi im , do vy iu cn thit duy
nht l tnh c s a tr nguyn ban u.
Tuy nhin nu vic thu tn hiu v tinh b gin on s c trt chu
k xy ra s nguyn a tr b thay i, cn phi xc nh li
S trt chu k pht sinh do vt cn, do tn hiu yu, anten di ng
nhanh hoc tc ng mnh ca tng ion.
S trt chu k phi c loi tr xc nh s nguyn ln bc sng
tn hiu GPS trong biu thc (2.3)
Hnh 2.3. Tr o pha v s nguyn a tr

xc nh s nguyn ln bc sng c nhiu phng php:

1/ Phng php hnh hc da trn s thay i hnh hc v tinh trong
khi o gii s nguyn ln bc sng ng thi vi ta anten
2/ So snh tr o pha v tr o Code
3/ Tr o di rng cho bc sng 86,2 cm xc nh s nguyn a tr
nhng km chnh xc hn
4/ S dng sai phn bc 3
5/ Phng php hm s ambiguity k thut OTF xc nh nhanh s a
tr trong khi an ten di ng ngay sau khi b mt tn hiu v tinh. Phng php
ny c p dng vi my 2 tn s.
2.2. NH V TNG I
Nh ta bit, do nh hng ca sai s v tr ca cc v tinh trn qu
o, do sai s ng h v cc yu t mi trng truyn song khc dn n
chnh xc nh v im n t t 100m n 30m trong h ta WGS 84.
ngay c khi chnh ph M loi b nhiu SA th vic nh v tuyt i chnh
xc nht cng ch t ti con s vi chc mt. V vy khi i hi tr o c
chnh xc cao cn phi s dng php nh v tng i.
Trong kiu o ny hai Anten cng hai my thu tng ng c t ti
hai u ca cnh cn quan trc v phi lm vic ng thi.(Hnh 2.4) S d c
th t c chnh xc cao trong kiu o ny l v mt s sai s tch ly
trong cc c ly quan trc thng ng nht vi nhau hoc ti thiu cng
tng t nhau ti hai u ca ng y. Cc sai s ny c th c loi tr
hoc t nht cng gim mt cch ng k khi xc nh tr s nh v tng i.
Hnh 2.4. Phng php nh v tng i

Vic nh v tng i s dng tr o pha sng ti, t c

chnh xc cao trong v tr tng i ngi ta to ra sai phn. Nguyn tc ca
vic ny l da trn s ng nh hng ca cc i lng, ngun sai s n
ta ca im cn xc nh trong bi ton nh v tuyt i nh sai s ng
h v tinh my thu, sai s ta v tinh, nh hng ca mi trng,
phng php y l ly tr o trc tip to thnh tr o mi (cc sai
phn) loi tr hoc gim bt cc sai s k trn.
chnh xc tng i t c cm, v ch yu p dng trong trc a.
2.2.1.Sai phn bc mt
K hiu pha sng ti o c t v tinh j ti im thu r vo thi im t i
l j
r
. Khi trn hai trm 1 v 2 thu tn hiu ng thi v tinh j vo thi
im ti th hiu s
j j j
t i 2 t i 1 t i
(2.4)
Gi l sai phn bc mt i vi v tinh j vo thi im ti
Tr o ny loi tr c sai s ng h v tinh bi gi tr ny l nh
nhau. Tr sai phn n c th hiu s tr o ca 1 my thu vi 2 v tinh: tr o
ny loi tr sai s ng h my thu.
2.2.2. Sai phn bc hai
Nu ly hiu s hai sai phn bc mt:
2 j, k k j
t i t i t i
(2.5)
Gi l sai phn bc hai vo thi im t 1. y l tr o chun trong o
GPS tng i, vi tr o ny s v tr v tinh, sai s ng h my thu ng
h v tinh c loi tr.
2.2.3. Sai phn bc ba
Nu xt hai trm tin hnh thu tn hiu v tinh j, k vo thi im t i v
ti+1 th hiu sai phn bc hai:
3 j ,k 2 i ,k 2 j ,k
t i 1 t i
(2.6)
Gi l sai phn bc ba. Tr o ny khng ph thuc vo s nguyn ln
bc sng, do vy c tr o ng dng x l s trt chu k
Vic x l cc tr o sai phn cho php xc nh cc gi tr thnh phn
ca vevto khng gian ni hai im t my thu vi chnh xc cao.

2.3. CC NGUN SAI S TRONG KT QU O GPS

Cng nh bt k mt phng php o c khc, vic nh v bng h
thng GPS chu nh hng ca nhiu yu t khc nhau.
2.3.1 Sai s do ng h.
y l sai s ca ng h trn v tinh, ng h trn my thu v s
khng ng b ca chng.
ng h trn v tinh c trm iu khin trn mt t theo di v do
nu pht hin c sai lch trm ny s pht tn hiu ch th thng bo s ci
chnh cho my thu GPS bit s l. lm gim nh hng ca sai s ng
h ca c v tinh v my thu, ngi ta s dng hiu cc tr o gia cc v tinh
cng nh gia cc trm quan st.
2.3.2 Sai s qu o v tinh.
Ta im o GPS c tnh da vo v tr bit ca v tinh. Ngi
ta s dng phi da vo lch thng bo ta v tinh m theo lch ta v
tinh c th b sai s (Hnh 2.5)
Hnh 2.5. Sai s do qu o v tinh
Do vy nu s dng qu o v tinh chnh xc c th t kt qu nh

v tt hn. C hai phng n nhm hon thin thng tin qu o v tinh:
- S dng nhng trm mt t c v tr chnh xc lm nhng im
chun tinh chnh qu o v tinh dnh cho cng tc o c c bit.

- Thu nhn lch v tinh chnh xc t Dch v a hc GPS Quc t (

The International GPS Service for Geodynamics IGS)
C quan IGS s dng mt mng li gm 70 trm theo di tinh chnh
qu o v tinh. H thng ny cho thng tin qu o u vit hn so vi lch
v tinh thng bo ca h thng GPS ch c 5 trm theo di v tinh.
2.3.3 nh hng ca tng Ion
Tn hiu v tinh trc khi n my thu phi xuyn qua mi trng
khng gian gm cc tng khc nhau. Tng ion l lp cha cc ht tch in
trong bu kh quyn cao t 50 1000 km, tng ion c tnh cht khc x
i vi song in t, chit sut ca tng ion t l vi tn s song in t
truyn qua n. Do vy tr o ca my thu 2 tn s cho php gim nh hng
tn sc ca tng ion.
Hiu chnh nh hng ca tng ion i vi tr o ca my thu tn s L1
phi da vo cc tham s m hnh pht i trong thng bo v tinh, tuy nhin
ch gim c khong 50% nh hng tng ion.
Vi my thu 2 tn s nh hng tng ion, tr o gii tr do vic nh
v c chnh xc cao hn, nht l i vi vic o cnh di.
2.3.4 nh hng ca tng i lu
Hnh 2.6. Sai s do tng i lu v in ly

Tng i lu c cao n 8km so vi mt t l tng lm khc x i

vi tn hiu GPS do chit sut bin i. do vy s ci chnh m hnh kh
quyn phi c p dng i vi tr o ca my mt tn s v c my hai tn
s, chit sut ca tng i lu sinh ra chm pha tn hiu, c chia thnh
hai loi t v kh, nh hng ca chit sut kh c to thnh m hnh loi
tr nhng nh hng ca chit sut t l ngun sai s kh lp mo hnh v
loi b trong tr o GPS.
2.3.5 Tm nhn v tinh v s trt chu k
im quan trng nht khi o GPS l phi thu c tn hiu t nht 4 v
tinh tc l phi c tm nhn thng ti cc v tinh .
Tn hiu GPS l sng cc ngn trong ph in t, n c th xuyn qua
my m, song khng th truyn qua c tn cy hoc cc vt cn che chn.
do vy tm nhn v tinh thng thong c tm quan trng c bit i vi cng
tc o GPS.
Khi s dng tr o pha cn phi m no thu tn hiu v tinh trc tip,
lin tc nhm xc nh s nguyn ln bc sng khi u.tuy nhin c trng
hp ngay c khi v tinh vn nhn thy nhng my thu vn b gin on thu tn
hiu, trng hp c mt s chu k khng xc nh tri qua m my thu
vn khng m c khin cho s nguyn ln bc sng thay i v lm sai
kt qu nh v. do cn phi pht hin v xc nh s trt chu k trong tn
hiu GPS. Mt s my thu c th nhn bit s trt chu k v thm vo s
hiu chnh tng ng khi x l s liu. mt khc khi tnh ton x l s liu
GPS c th dng sai phn bc ba nhn bit v x l trt chu k.
2.3.6 Hin tng a tuyn
Hnh 2.7.Sai s do hin tng a ng truyn

l nhng tn hiu t v tinh khng n thng anten my thu m p

vo b mt phn x no xung quanh ri mi n my thu.nh vy kt qu
o khng ng, trnh hin tng ny anten phi c tm nhn v tinh thng
thong vi gc ngng cao hn 150 . vic chn gc ngng nh th ny nhm
gim nh hng bt li ca chit quang kh quyn v hin tng a tuyn.
Hu ht anten GPS gn bn dng phng, trn che chn tn hiu phn x
t di mt t ln.
2.3.7. S suy gim chnh xc (DOPs) do hnh cc v tinh
Vic nh v GPS l vic gii bi ton giao hi nghch khng gian da

vo im gc l v tinh v cc khong cch tng ng n my thu GPS.
Hnh 2.8. Khong cch t v tinh n my thu GPS
Trng hp ti u khi thu tn hiu v tinh GPS l v tinh cn phi c s

phn b hnh hc cn i trn bu tri xung quanh im o. Ch s m t
hnh v tinh gi l h s phn tn chnh xc - h s DOP (Delution of
Precision). Ch s DOP l s nghch o th tch ca khi t din to thnh
gia cc v tinh v my thu. Ch s ny chia ra thnh cc loi sau:

+ PDOP ch s phn tn chnh xc v v tr (Positional DOP)

+ TDOP l ch s phn tn chnh xc v thi gian (Teme DOP)
+ HDOP l ch s phn tn chnh xc v mt phng (Horizontal DOP)
+ V DOP l ch s phn tn chnh xc v cao (Vertical DOP)
+ G DOP l ch s phn tn chnh xc v hnh hc (Geometric DOP)
hnh phn b v tinh c thit k sao cho ch s PDOP t xp x 2,5
vi xc xut 90% thi gian. hnh v tinh t yu cu vi ch s P DOP < 6.
2.3.8 Tm pha ca anten
Tm pha l mt im nm bn trong anten, l ni tn hiu GPS bin i
thnh tn hiu trong mch in t. cc tr o khong cch c tnh vo im
ny. iu ny c ngha quan trng, nh my ch to anten c kim
nh sao cho tm pha trng vi tm hnh hc ca n, tuy nhin tm pha thay
i v tr ph thuc vo hnh v tinh, nh hng ny c th kim nh
trc khi o hoc s dng m hnh tm pha giai on tnh x l. Quy nh
cn phi tun theo l khi t anten cn dng theo cng mt hng v tt nht
l s dng cng mt loi anten cho cng mt ca o. Cc ngun li v bin
php khc phc c tng hp trong bng (2.1).
Bng 2.1: Bng thng k ngun li khi o GPS v bin php khc phc
NGUN LI BIN PHP X L
1. Ph thuc v tinh
- Ephemerit Ephemerits chnh xc
- ng h v tinh Sai phn bc mt
- hnh v tinh Chn thi gian o c PDOP<6
2. Ph thuc ng tn hiu
- Tng ion Dng my hai tn s
- Tng i lu Lp m hnh
- S a tr nguyn Xc inh n tr, sai phn bc ba
- Trt chu k Trnh vt cn, sai phn bc ba
- a tuyn Trnh phn x, ngng gc cao
3. Ph thuc my thu
- Chiu cao Anten Do 2 ln khi o cao Anten
- Cu hnh my thu Ch khi lp t
- Tm pha Anten Anten chun t quay v mt hng
- Nhiu in t Trnh bc x in t
- Ta quy chiu Khng ch chnh xc, tin cy
- Chiu di cnh B tr cnh ngn

2.4. NGUYN L O GPS NG

2.4.1 Nguyn l chung v o GPS ng
o GPS ng l mt dng ca phng php o tng i. Ta ca
im cn o ch c xc nh trong phng sau khi x l s liu o thc a
sau khi x l trn phn mm ca my tnh.
Vi kiu o nh trn gi l phng php o tng i, dng o tnh.
Ta im cn o t c chnh xc cao 5mm + 1ppm. Tuy t c
chnh xc cao, song thi gian o cn nhiu (ti thiu l 1 gi = 240 tr o).
Mt gii php khc phc l o GPS ng, vi thi gian o ngn (1-2 tri o),
chnh xc vn t 1cm+1ppm (Hnh 2.9)
Hnh 2.9. nh v ng tng i
2.4.2 Gii php k thut trong o GPS ng:

gim c thi gian o m vn m bo chnh xc cn thit cc
nh thit k a gii php k thut c bit, l th tc khi o v th
tc quy chun h ta .

2.4.2.1 Th tc khi o
L vic xc nh nhanh s nguyn ln bc sng t v tinh n Anten
my thu da vo vic thu tn hiu v tinh ( tr o C/A.Code v tr o Phase)
ti hai my ( Trm tnh v trm ng) ng thi trn mt ng y. Khi
c c s nguyn a tr th vic gii ta cc im o tip theo ch cn vi
s lng t tr o ( 1-2 tr o).
ng y bit y c th chn l 2 im bit ta , c th l
mt on thng c di xc nh c nh hng theo hng Bc hoc
cng c th l mt on thng c o theo phng php tnh. Sau khi gii
c s nguyn a tr qua php khi o, vic o c cc im khc c tin
hnh ch cn thi gian o ngn ( ch cn thu 1-2 tr o) nu c trm c nh
(Base) v trm ng (Rover) u duy tr c vic thu lin tc tn hiu ca t
nht 4 v tinh. Ta ca cc im o c tnh vi s liu o t do vy s
liu o c kim tra ti thc a, nu s liu thu c trong iu kin khng
m bo chnh xc (PDOP ln), thit b o s khng cho php o. Khi mt
tn hiu thu v tinh hoc s lng v tinh t hn 4 th thng tin v s nguyn
a tr b mt. vic khi o phi c tin hnh li.
Trong gia nhng nm 80 v u nhng nm 90, cht lng thit b thu
v tinh cn thp nn s nguyn a tr c xc nh phi da trn tp hp s
liu o ln tc l khi hnh cc v tinh ang thu tn hiu thay i
mc cn thit nn khng th gii nhanh s nguyn a tr ngay ti thc a
phc v cho GPS ng. gn y khi thit b thu, phn mm x l s liu ngy
cng hon thin vic gii s nguyn a tr rt nhanh, ch cn da trn s thay
i nh ca hnh v tinh.
2.4.2.2 Th tc quy chun h ta (Site Calibration)
o GPS ng l mt dng o GPS tng i tc l ch xc nh c
s gia ta trong h WGS84 ca im trm ng so vi trm tnh. s
dng c kt qu ny v h ta a phng cn phi c thng s chuyn
i. Vic chuyn i gi l th tc quy chun h ta .
Vic quy chun h ta c th s dng mt trong cc cch sau:
+ S dng 7 tham s tnh chuyn
chuyn i t h ta GPS (WGS84) v h ta a phng cn
c tham s tnh chuyn chnh xc gia hai h thng ta . Cc tham s l:

- 3 gi tr v lch gc ta X, Y, Z.
- 3 tham s v gc xoay ca 3 trc ta .
- 1 tham s l h s t l.
+ S dng tp hp im trng
Chn t nht 3 im trong khu o c ta trong h ta a phng
o trong h ta GPS. Trn c s hai ta trong 2 h thng ca cc
im trng s tnh c cc thng s quan h cc b gia hai h thng ti khu
v t ta cc im o khc s tnh c theo cc thng s ny.
2.4.3 Cc phng php o GPS ng
Ty thuc vo thi im x l s liu, phng php o GPS ng chia
lm phng php o:
2.4.3.1.o GPS ng thi gian thc ( RTK-Real-Time Kinematic GPS)
Phng php o ny cho php gii c ta im t my trm
ng ngay ti thc a nh vic x l tc thi s liu thu v tinh ti trm c
nh v trm di ng trn b x l s liu chuyn dng i km vi trm ng
ti thc a nhng ch cn thu tn hiu v tinh thi gian ngn t nht 1 tr o.
Nu khu o cc im o c ta trong h ta a phng bt k c th
thc hin vic o c trong h ta a phng thng qua vic o qiu
chuyn h thng ta . Phng php ny cn phi c h thng truyn s liu
(Radio Link) truyn lin tc s liu thu c ti trm tnh n thit b x l
s liu ti trm ng.
2.4.3.2.Phng php o GPS ng x l sau (PPK Postprocessing
Kinematic GPS)
Phng php ny cho php thu nhn ta im o c chnh xc c
cm trn c s x l s liu thu v tinh ti trm c nh v trm di ng trn
phn mm x l s liu chuyn dng sau khi o thc a. Thi gian thu tn
hiu v tinh ngn ( ti thiu 2 tr o). Phng php ny khng cn n h
thng Radio Link truyn s liu.
Nh vy vic o GPS theo gii php k thut o ng s p ng hiu
qu hn nhiu cc dng cng tc o c c s lng im cn o ln. Hng
Trimble thit k mt s thit b gn, nh ph hp thc hin cc phng
php o GPS ng.

Bng 2.2: Tng hp v cc phng php o GPS
S V THI
TINH GIAN
TI O TI CHNH XC CC DC TRNG
THIU THIU T C KHC
o tnh (Static) 4 1 gi - 1 tn s: - khng hn ch
5mm+1ppm khong cch vi
-2 tn s: my 2 tn s
5mm+0.5ppm
o tnh 4 8 30 5- 10 mm+1ppm Cc th tc o
nhanh(Fast ph thuc thi nh vi o tnh
Static) gian o
o ng x l 4 2 tr o 1 cm + 1ppm -Khong cch ti
sau a 50km
(GPS-PPK) -Cn khi o
bng o tnh
nhanh trn cnh
khi o
o ng thi 4 1 tr o 1cm+1ppm -Khong cch o
gian thc (GPS- ph thuc vo
RTK) Radio Link <
10km
-Cn khi o trn
im bit ta
hoc o tnh
nhanh
o DGPS x l 4 2 tr o - 0.5m vi my Cn Radio truyn
sau (PPK thu Everest, sng, khng cn
DGPS) Maxwel. Vi thu v tinh lin
5VT, PDOP<4 tc
- 1-3m vi my
thu khc cng K
o DGPS thi 4 1 tr o -0.2m vi my thu Cn Radio truyn
gian thc (RTK Everest, Maxwel. sng, khng cn
DGPS) Vi 5VT, thu v tinh lin
PDOP<4 tc
- 1-3m vi my
thu khc cung K

2.5. TA V H QUI CHIU

T nm 1980 B quc phng M a ra tng xy dng mt h
quy chiu quc t thng nht cho ton tri t.n nm 1984 h quy chiu
quc t kh hon thin WGS-84 c tha nhn trn c s cc nghin cu
tng hp s liu ton cu do lin on quc t Trc a quc t xut, Gs.
Ts Moritz ch tr, y l h quy chiu cho tri t kiu truyn thng bao gm
ellpoid quy chiu, ta quy chiu, cc hng s ca tri t, v m hnh
trng trng lc tri t.
Hnh 2.10. Xc nh h qui chiu WGS- 84
Ellpoid c chn lm h to nh v ton cu l GRS-80 (Geodetic

Reference System 1980), mt quy chiu ny c h nh v GPS s dng gi
l H Trc a Gii 1984 (WGS - 84). H to ny dng ellipsoid a tm
xc nh bi bn trc ln a = 6378137.0 m v nghch o dt 1/f =
298.257223563.
H quy chiu WGS-84 cn xc nh m hnh cao Geoid. M hnh
cao Geoid EGM-96 c thit lp trn c s m hnh trng trng lc trai
t, cc im cn tinh c ni suy theo cc gi tr ti nt li theo phng
php collccation c chnh xc t 1m n 2m.

H thng WGS-84 c cc tham s sau:

- Kch thc Ellipsoid quy chiu a=6378137m;
WGS-84: =1/298,257223563
- Tc quay tri t: =7292115, 8553 X 10-11 rad/s
- Hng s trng lc tri t: GM = 3986004,418 X 108 m3/s2
- Cc im to quy chiu: 12 im Air-Force v NIMA
Tracking Station
- M hnh trng trng lc tri t: Chui iu ho cu ti bc:
- EGM-96: n=m=360 vi 130.676 h s
- M hnh Geoid EGM-96: M hnh vi li 15 X 15
Chnh xc cao Geoid ti nut
li l 0,5m n 1,0m
ng thc sau l biu thc bin i n gin cao t h ta
ellipsoid WGS84 v cao h ta a phng bng cng thm chnh
Geoid - Ellipsoid ti im :
H=h+N (2.7)
Trong :
+ H l cao tnh n mt elipsoid - l cao c th o chnh xc
c chnh xc bng cng ngh GPS
+ h l cao thu chun, c s dng thc t
+ N l chnh lch 2 b mt Geoid v ellipsoid ti im .
2.6. XC NH TA MY THU
2.6.1. Xc nh ta kinh v:
Sau bc 1: ta thu c cc ta xu, yu, zu trong khng gian ca h
ta ECEF.
By gi ta i xc nh ta kinh , v v khong cch ti mt t
ca my thu [longtitude l kinh , (attitude h, latitude L) v ].
Khong cch t my thu ti tm tri t:

2.6.1.1. Xc nh kinh l:
2.6.1.2. Xc nh v L:
Phng trnh tnh L :
gii phng trnh trn bng phng php quy:
vi i = 0, 1, 2,.
L0 = Lc.
iu kin dng:
< threshold
2.6.1.3. Xc nh cao h:
2.6.2. Hiu ng Doppler ln my thu:

2.6.2.1. Tn s Doppler:
Do s di chuyn ca v tinh m chng ta cn quan tm ti nh hng
ca tn s dch Doppler ln my thu cho qu trnh lc d liu v thit k
ngten thu.
a/ Tn s dch Doppler ln nht ln my thu i vi sng mang L1 l:

i vi cc thit b chuyn ng trn mt t, ta c th coi tn s dch

ln nht ln my thu nm trong khong 5KHz. Cn i vi cc thit b bay
vi vn tc ln, tn s dch c th ln ti 10KHz.
b/ Tn s dch Doppler ln nht ln my thu i vi m C/A l:
i vi cc thit b chuyn ng trn mt t, ta c th coi tn s dch

ln nht ln my thu nm trong khong 3.2Hz. Cn i vi cc thit b bay
vi vn tc ln, tn s dch c th ln ti 6.4Hz.
Trn my thu, nu trch mu vi tn s 5 MHz, time), khi trong qu
trnh tracking cn hiu chnh xung mu (locally generated signal) vi tn hiu
thu mt khong xp x 100 ns. Vi tn s m C/A, cn xp x 16 ms
(100156.3/977.5) d liu b dch i 100 ns.
2.6.2.2. Tn s Doppler thay i trung bnh:
2.6.2.3. Tn s Doppler thay i ln nht:

Chng 3
CNG NGH NH V V GIM ST PHNG TIN
GIAO THNG GPS TRACKING
Cng ngh nh v bng sng GPS khi kt hp vi h tng ca h thng vin

thng hin i s to ra mt h thng gim st v qun l cc phng tin
giao thng vn ti (on-line) mt cch l tng. Ty theo yu cu hot ng
ca h thng gim st m cn cng ngh vin thng no, hoc cng c th ch
cn n thun thit b GPS nh v (off-line).
3.1. CC THNH PHN CA H THNG GPS TRACKING
3.1.1.M hnh ca mt h thng GPS tracking:
Gm cc thnh phn nh Hnh 3.1
Gii thch:
1) H thng v tinh GPS (t 24 -32 v tinh) ph sng GPS.
2) Xe c gn thit b Tracking GPS Unit (hp en hoc thit b u
cui) ca VietMap. Hp en c 2 thnh phn chnh: GPS v GSM module
hoc G.Link Radio.
a) GPS module trong hp en nhn tn hiu GPS pht ra t cc v
tinh v tnh ton cc tham s lin quan n v tr, tc , hng di chuyn.
b) Hoc GSM module (C gn SIM in thoi) chuyn ti cc thng
s ca xe v cc thng s to v h thng servers thng qua h tng vin
thng: GPRS, SMS.
c) Hoc sng v tuyn VHF/UHF thng qua mng d liu v tuyn
dng ring ca h thng giao thng (G.Link Radio)
3) Nh cung cp dch v vin thng (Viettel, Mobifone,
Vinaphone.)
4) H thng server c ci t h thng phn mm GPS Tracking
Service dng cp nht, x l v lu tr d liu lin quan n cc thng s
ca xe v cc thng s ta , cung cp cc dch v cho ngi dng.
5) My tnh vn phng hay nh c ci t phn mm GPS
Tracking (Phn mm c tch hp vi bn chi tit dng vect y 64

tnh thnh Vit Nam) kt ni ti h thng server thng qua internet, ngi
qun l c th theo di v gim st l trnh ca xe.
Hnh 3.1. Cc thnh phn ca h thng GPS Tracking
6) Bn s chi tit ca h thng d liu GIS hoc bn s Google

Map cung cp cho h thng server hoc my tnh vn phng v ngi s
dng.
7) Ngi dng c th dng in thoi di ng c kt ni GPRS hoc
kt ni qua G.Link Radio xem thng tin, v tr ca xe ng thi c th ra
lnh iu khin thit b bng SMS.

3.1.2. Cc chc nng chnh:

- Theo di v gim st t xa l trnh ca xe theo thi gian thc vi cc
thng s v tr xe chnh xc n tng con ng, vn tc, hng di chuyn,
trng thi tt/m my xe, trng thi sng GPRS, trng thi GPS, qu tc , . .
- Gim st tt c cc xe trn mt mn hnh bn ln vi bn in
t chi tit ca tt c 64 tnh/thnh Vit Nam.
- T ng cnh bo v trung tm khi: thit b ct dy ngun in, li
xe vt qu tc cho php, vt ra khi vng gii hn, bo ng tnh trng
khn cp khi gp s c
- Lu gi l trnh tng xe trong thi gian 40 ngy gn nht. Tm kim
v m phng li l trnh i ca tng xe.
- Cho php iu khin t xa bng SMS: cm khng cho khi ng
my t xa.
- Nhn tin SMS hay nhy my bit v tr t
- H tr xem trn in thoi di ng.
- Thng k v lp bo co: qung ng i, c tnh nhin liu tiu
hao, thi gian dng xe khng tt my, s ln vt qu tc cho php, s ln
qua trm thu ph, bng chi tit l trnh (tn ng, qun/ huyn, tnh/ thnh),
thi gian xe ra vo trm
- Ngoi ra, c th kt hp vi cc cm bin khc theo di v lng
xng, nhit , trng lng
3.2. CC PHNG THC HOT NG CA H THNG GPS
TRACKING
Thit b nh v GPS c th gim st s hot ng ca phng tin giao
thng ch on-line hoc off-line ty theo c s kt hp vi h thng vin
thng hay khng (Hnh 3.2)

GPS Tracking
Hot ng off-line Hot ng on-line
GPS GPS GPS v GPS

v v sng radio v sng
TBGhi V tinh VHF/UHF GSM
Hnh 3.2. Cc phng thc hot ng ca h thng GPS tracking

3.2.1.Hot ng off-line:
H thng ch gm my thu GPS v thit b ghi c chc nng nh mt
hp en, t ng thu thp cc thng tin v v tr, tc phng tin giao
thng trong sut hnh trnh. Sau khi kt thc hnh trnh, ngi qun l c th
ly s liu ra qun l v kim tra xem xe c chy, ng hnh trnh vi
tc quy nh hay khng.
3.2.2.Hot ng on-line:
C nhiu phng n khc nhau, ty theo kt hp vi h thng vin
thng no
3.2.2.1. My thu GPS v v tinh:
thut truyn dn s liu qua v tinh phng tin giao

thng , gip cho vic nh v v gim st
chuyn ng ca phng tin giao thng .
Do h thng i hi phi c v tinh truyn dn d liu kt hp vi
i iu khin mt t nn hin ti ch thch hp cho nh v v gim st trong
h thng giao thng hng hi.
3.2.2.2. My thu GPS v sng radio VHF/UHF:
H thng kt hp gia cng ngh nh v v tinh GPS vi k thut
truyn dn s liu V tuyn a truy nhp Bng hp bng tn VHF hoc UHF.
Trung tm iu hnh c trang b mt thit b gii m, vi s h tr ca bn
s GIS hoc Google Map s gip cho vic nh v v gim st cc phng tin
giao thng mt cch lin tc trong thi gian thc.

Do s dng c s vin thng l mng v tuyn b m nn h thng thch

hp cho s gim st v iu hnh cc phng tin giao thng cng cng nh xe
taxi hoc xe but.
3.2.2.3. My thu GPS v sng di ng GSM:
y l mt gii php mi trn th gii (ch c thc hin trong vng
1, 2 nm tr li y), cho php tn dng h tng mng vin thng sn c m
khng phi xy dng h thng thng tin ring c chi ph rt cao.
Hot ng ca h thng l s kt hp gia cng ngh nh v v tinh
GPS vi thng tin di ng GSM qua c ch SMS hoc GPRS.
3.3. MY THU NH V V TINH GPS
Cc my thu GPS c th chia lm 2 loi: My thu 1 tn s v my thu 2
tn s. My thu 1 tn s ch nhn c cc m pht i vi sng mang L1. Cc
my thu 2 tn s nhn c c hai loi song mang L1 v L2.
Phn loi theo chc nng s dng gm:
Dng cho nh v, dn ng ( chnh xc thp):
- n knh, m C/A, chnh xc <100m
Dng cho v bn , dn ng chnh xc cao:
- n tn, a knh (t 4-12 knh), m C/A, chnh xc l <100m
(khng c h tr) hoc 3-5m (DGPS)
- n tn, a knh (4-12 knh), m C/A, chnh xc <100m (khng
c h tr) hoc <1m (DGPS)
Dng cho cng tc cu h, lp bn vi chnh xc cao:
- n tn, a knh (6-12 knh), kiu pha sng mang, chnh xc
<30cm (DGPS)
- 2 tn s, a knh (8-12 knh), sng mang L1/L2, chnh xc ti c
milimet (DGPS).

3.3.1.Cu trc v hot ng:

Hnh 3.3 minh ha mt my thu GPS tng qut. Cc chc nng ca
tng phn nh sau:
Hnh 3.3. Cu trc my thu GPS
Antenna v b tin khuch i: Anten dng cho my thu GPS c c

tnh tia v vy khng phi hng v pha ngun tn hiu nh anten parabol thu
TV v tinh. Anten gn nh v c nhiu loi thit k khc nhau. C khuynh
hng tch hp anten vi cc c cu in t ca my thu.
B tn s v tuyn v b vi x l: B tn s v tuyn gm cc c cu
in t x l tn hiu. Cc loi my thu khc nhau v k thut x l tn hiu.
C mt b x l mnh khng nhng thc hin vic tnh ton nh gii m m
C/A hoc c 2 m C/A v P; xc nh cao / phng v ca v tinh v.v... m
trong mt s trng hp thc hin x l tn hiu s. Hnh 3.4 ch cho bit
nhim v ca b tn s v tuyn v b vi x l.

Hnh 3.4. Nhim v ca b tn s v tuyn v vi x l
Gm cc khi:
+ Data bit demodulation and Code control - Gii iu ch bit d liu v
m iu khin
+ C/A code Generator- B to dao ng m C/A
+ Navigation Messaage - Cc thng tin o hng
+ C/A Code Measurement - i lng o m C/A
+ Time Measurement - Thng tin thi gian
+ Data Bit Alignment - Hiu chnh bit d liu
+ Data Parity D liu chn l
+ Data Decoding Gii m d liu
+ Satellite Positions Corrections - Ci chnh ta v tinh
+ Pseudo-Ranges - Gi nh v
+ Receiver Position,Velocky, and Time Comoutations: B phn nh v
+ Preamplifier and Down Converter: Tin khuch i v i tn
Giao din iu khin: B iu khin cho php ngi vn hnh giao
tip vi b vi x l. Kch thc v kiu loi khc nhau gia cc my thu khc
nhau.Thng c mn hnh LCD hin th cc chc nng s dng.
B nh d liu: Trng hp my thu GPS dng cho mc ch chuyn
mn nh o c d liu, th d liu o c phi c lu vo b nh theo

cch no x l d liu sau. Trong trng hp ng dng nh v v

dn ng th ch cn ghi li ta v vn tc o c t GPS.
B cp ngun: Ngy nay cc my thu GPS di ng cn ngun in p
thp. Xu hng p dng s dng l s dng pin Lithium gn trong, hoc c
quy bn ngoi nh c quy xe t hoc ngun in li.
3.4. H THNG GPS TRACKING KT HP K THUT TRUYN
DN BNG SNG RADIO VHF/UHF
3.4.1. M hnh h thng:
Hnh 3.5, m t cc thnh phn ca h thng GPS tracking kt hp vi k
thut truyn dn bng sng radio VHF/UHF dng ring (G.LinkRadio) hoc
mng v tuyn b m (Radio Trunking)
Hnh 3.5. M hnh h thng

3.4.2. Cu hnh v hot ng:
Hnh 3.6, ch ra c ch hot ng v cc thit b trong h thng
- Trn mi xe t - Taxi, s c trang b mt my B m thng dng (bng
sng nghip v Lu ng - C nh VHF/UHF) v Mt b thit b X l s liu
c tn l RPLink c tch hp vi mt Board mch My thu GPS.

Hnh 3.6. C ch hot ng
- Theo s iu khin ca Trung tm, Thit b RPLink s lun phin gi

cc thng tin sau v Trung tm iu hnh: V tr, Hng di chuyn, vn tc v
cc trng thi ca Phng tin lu thng nh: Xe ang c khch, Xe gp tnh
hung khn cp .
- Cc thng s ni trn c truyn v trung tm iu hnh qua Mng s
liu V tuyn (G.LinkRadio/ Radio Trunking).
- Trung tm iu hnh c trang b mt thit b gii m RPLink-Master,
vi s h tr ca Phn mm hin th bn s G.MAP s dng d liu GIS
ca cc hng phn mm chuyn nghnh v Phn mm qun l Mng
G.CONTROL.
Cc modul gn trn phng tin giao thng gm: (Hnh 3.7)

- B thu pht v tuyn: trao i d liu, m thanh vi trung tm. S
dng mng v tuyn (G.LinkRadio/ Radio Trunking), hot ng tn s UHF
hoc VHF.
- Thit b thu GPS: thng l cc chip GPS receiver, c chc nng
x l tn hiu v tinh thu c qua anten, tnh ton ta nh v ca my
thu. u ra ca chip GPS c tch hp vo datalogger kt ni vi thit b
u cui v tuyn v c truyn v trung tm iu hnh.

3.4.3. Cc chc nng:

H thng c th m nhn cc chc nng sau:
- nh v v gim st hot ng ca phng tin.
- Kim sot Vn tc ca phng tin;
- Thng k Cc trng thi ca Phng tin nh: Xe c khch, Xe khng ch
khch, Tnh hung khn
- Tm kim, xem li Hnh trnh ca Phng tin trong qu kh...
- Thi gian cp nht c th iu chnh theo yu cu.
Hnh 3.7. Modul gn trn xe
- Do h thng c xy dng trn nn tn thit b B m V tuyn nn

rt thch hp cho cc h thng xe taxi hoc xe but ( vn duy tr phng thc lin
lc thoi nh trc y), nn ngi s dng hon ton c th ch ng trong vic
xy dng trm ph sng nhm mc ch tng phm vi Gim st cc phng tin
giao thng mt cch d dng. H thng ny cn c th p dng cho ngnh ng
St iu tit Tu ha v kim sot vn tc tu trn cc cung ng.

3.5. H THNG GPS TRACKING KT HP THNG TIN DI NG

GSM
liu qua mng i
.
3.5.1. M hnh h thng:
Hnh 3.8, l ton b m hnh ca h thng theo phng n ny
Hnh 3.8. M hnh ca h thng
3.5.2.Cu hnh v hot ng:

Vi phng n ny cc thnh phn ca h thng v cch thc hot ng ph
thuc vo phng thc qun l: Qun l trc tuyn (online) v qun l khng
trc tuyn (offline).

3.5.2.1.Qun l theo phng thc trc tuyn:

Qun l theo phng thc trc tuyn ngha l gia trung tm iu hnh
v phng tin giao thng lin lc trc tuyn, trao i d liu vi nhau.
qun l xe theo phng thc trc tuyn chng ta cn phi c cc phng tin
v h thng nh sau:
a/ Ti trung tm iu khin:
- Mn hnh hin th bn s tng khu vc a l ( bn GIS hoc
Google Map)
- My ch v cc my trm ty theo nhu cu qun l vi h thng
thng tin qun l GIS (Geographic Information System) bng phn mm
chuyn dng.
b/ Ti phng tin giao thng:
- Modul GPS
- Thit b thu thp v truyn d liu GPS thng qua phng thc SMS
nh Modem GSM/GPRS
Cc phng thc truyn dn y thng qua mng di ng GSM, cc ID
ca tng phng tin giao thng c th hin qua cc ID ca SMS nhn v.
c/ Nguyn tc hot ng h thng:
Knh lin lc gia phng tin giao thng v trung tm iu khin c
th hot ng mt trong s cc ch sau:
- Duy tr kt ni lin tc: kt ni lun sn sng phc v vic truyn d
liu v v tr v thi gian.
- Thit lp kt ni t ng: knh lin lc c t ng thit lp khi
mt trong 2 bn c d liu cn truyn.
- Thit lp kt ni bng tay: ngi iu hnh hoc li xe t thc hin
cc thao tc khi to lin kt mi khi cn gi i mt thng ip.
3.5.2.2.Qun l theo phng thc khng trc tuyn:
Qun l khng trc tuyn (off-line) c ngha l sau 1 ca lm vic trung
tm s cp nht cc d liu v hnh trnh ca phng tin giao thng trong ca
lm vic lu li v x l t ng phc v cho cng tc qun l. V mt
thit b, qun l theo phng thc khng trc tuyn khc vi phng thc
qun l trc tuyn l thit b trn xe s khng c modem GSM/GPRS, mch
vi x l s thu thp v lu li d liu v v tr ca xe v tr d liu v trung
tm khi ht ca lm vic. Ti trung tm cng s phi c h thng thng tin

x l cc d liu ny phc v cho mc ch qun l. Phng thc khng trc

tuyn tuy c r tin v khng cn n modem GSM/GPRS v khng mt cc
cc ph lin lc SMS nhng c hn ch l khng qun l trc tuyn n tng
xe trong khi ang vn chuyn.
3.5.2.3. Cc thit b chnh:
a/ Modul GPS:
S dng modul GPS c nhim v nhn cc tn hiu t v tinh, x l tn hiu a ra
kt qu bao gm cc thng tin sau:
- Ta kinh tuyn, v tuyn ca xe v chiu cao so mt nc bin.
- Thi gian hin ti theo gi GMT.
- Tc v hng chuyn ng ca xe.
- S v tinh nhn c tn hiu.
Cc thng s trn c th hin di dng cc bn tin c nh dng
bng chun
NMEA -183 trn ton th gii vi cc khung bn tin theo vi x l chun.
Modul GPS s tr v bn tin nh sau:
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,12059
8,,*10
Sau y l din gii ca bn tin
Tn V d n v M t
Message ID $GPRMC Giao thc header RMC
(RMC protocol header)
Thi gian (UTC Time) 161229.487 Gi pht giy (% giy)
hhmmss.sss
Tnh trng A A: d liu hp l; V: d
liu khng hp l.
V (Latitude) 3723.2475 ddmm.mmmm
Ch dn Nam Bc N N = Bc hoc S=Nam
(N/S Indicator) N=north or S=south
Kinh (Longitude) 12158.3416 dddmm.mmmm
Ch dn ng Ty W E=ng hoc W=Ty
(E/W Indicator) E=east or W=west
Tc trn mt t 0.13 Knots
Hng bm trn mt t 309.62 ng (True)
Ngy thng 120598 ddmmyy
Kim tra (Checksum) *10 Kim tra m truyn tin
<CR><LF> Kt thc bn tin

b/Mch vi x l thu thp d liu GPS:

Mch vi x l s c thit k x l cc d liu thu thp t modul
GPS v lu tr cc d liu theo mc ch s dng. Trn mch vi x l s c
modul truyn d liu thng qua cng COM, mch vi x l ny s dng ngun
12V trn phng tin giao thng
Hnh 3.8. S khi ca mch vi x l trn xe
y s s dng h vi iu khin c kh nng lp trnh c PSoC

(Programable Systems on Chip) thc hin vic lu tr v truyn d liu v
thi gian v to thu nhn c t modul GPS, cc bn tin ny c
PSoC gia cng v truyn v trung tm theo phng thc truyn SMS thng
qua modem GSM/GPRS.
Hon ton cc d liu t trn phng tin giao thng c th hin th
ngay trn xe cho ngi li xe bit v l trnh, thi gian v c th nhn mt
s lnh trc tuyn t trung tm iu khin cng nh bit v cc xe trong i
xe ca mnh.
Hnh 3.9. Thit b t trn xe

c/H thng qun l ti trung tm iu khin:

H thng qun l ti trung tm iu khin c chc nng cp nht cc d
liu nhn c t thit b thu thp GPS t trn xe, tch hp vi bn s
lm nhim v:
- Cp nht, hin th trc tuyn cc xe cn gim st trn mn hnh ch huy.
- Thng bo v tnh trng l trnh cc xe
- a ra cc thng bo v nhin liu, thi gian vn hnh ca tng xe,...
- Gim st c cc s c ca cc xe.
Hnh 3.10. Xc nh ta ca xe qua tin nhn SMS
Hnh 3.11. Gim st hnh trnh ca xe

Hnh3.10. Chng trnh qun l d liu xe
Vi cc thit b v h thng thng tin qun l trn, quy trnh qun l

phng tin giao thng s c th hin nh sau.
Qun l theo phng thc trc tuyn
1. Cc xe khi bt u hot ng, s kch hot thit b thu thp GPS hot
ng.
2. Trong sut qu trnh vn chuyn cc d liu GPS trn xe c gi
lin tc v trung tm theo phng thc nhn tin SMS vi tn sut gi tin do
chng ta quy nh.
3. Trung tm nhn d liu v hin th trn mn hnh ch huy bng h
thng thng tin qun l GIS. Khi cn trung tm c th yu cu 1 s thng tin
t xe.
4. Cp nht cc d liu gi v lu thnh cc file qun l ti trung tm.
Qun l theo phng thc khng trc tuyn
1. Cc xe khi bt u hot ng, s kch hot thit b thu thp GPS hot
ng.
2. Trong sut qu trnh vn chuyn cc d liu GPS trn xe c lu
li b nh trong mch vi x l trn xe.
3. Khi ht ca lm vic, xe tr v gara, ti gara s c thit b thu thp d
liu truyn v trung tm ch huy, trung tm nhn d liu v hin th trn mn
hnh gim st bng h thng thng tin qun l GIS.
4. Cp nht cc d liu gi v lu thnh cc file qun l ti trung tm.

KT LUN
Vi tnh nng u vit ca h thng nh v ton cu, vi s pht

trin ca cng ngh thng tin v vin thng hin th vic a cng ngh GPS
vo ng dng trong giao thng th l vic lm mang li nhiu li ch li
cho chng ta hin nay, ngoi nhng ch li v kinh t chng ta cn khng nh
c s pht trin, mt ch ng vng vng ca Vin thng Vit Nam trn
trng quc t.
Vit nam bt u ng dng cng ngh thng tin (sng in thoi di
ng GSM, GPRS, 3G, Internet) iu hnh.
Xt trn hiu qu u t gii php ny r hn v hiu qu hn, n
nay trong nc ta c nhiu doanh nghip kinh doanh vn ti dng b x l
thng qua tn hiu t v tinh v bng sng GPRS kim sot i xe vn ti
hng ha ca mnh.
Qua nhng g ti c nghin cu trong ti ti c mt s kin
ngh sau:
Vi tnh hnh giao thng th phc tp nh nc ta hin nay th
vic cn thit l chng ta khng ngng pht trin v hon thin c s h tng.
Cn ph bin cng ngh GPS rng ri trn ton khu vc.
Th trng GPS Vit Nam hin nay vn cha th vi cc nc m
GPS pht trin nh (Nht, Hn, Bc M, Chu u) bi th chng ta vn
cha c nhiu n v trong v ngoi nc mun tham gia. V th chng ta cn
phi pht trin mnh hn h thng dn ng cho nhu cu v hot ng giao
thng ngy mt a dng.
Hy vng trong thi gian ti cng ngh gim st v qun l phng
tin giao thng GPS Trackinh s c ch ng xng ng hn trong quy trnh
qun l phng tin giao thng ti Vit Nam.

TI LIU THAM KHO
1. ng dng cng ngh nh v ton cu GPS trong o c bn . Trn

Bch Giang, Phan Ngc Minh
2. GPS Theory, Algorithms and Applications. Gou Chang Xu.
3. GPS the global positiong system.
4. http://gpsvn.wordpress.com/

18 NguyenThiThanhLoan DT1001 PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

18 NguyenThiThanhLoan DT1001 PDF

Uploaded by

Copyright:

Available Formats

MC LC

Trong lch s ngnh vn ti th gii, vic tm ra gii php qun l v

Sinh vin: Nguyn Th Thanh Loan Lp T1001 1

1.1.LCH S PHT TRIN

H thng nh v ton cu GPS (NAVSTAR GPS - Navigation Satellite

GPS bao gm mt mng li 24 v tinh hot ng. Mng li ny

Cc qu o v tinh GPS l nhng ng vng, c dng elip vi

Sinh vin: Nguyn Th Thanh Loan Lp T1001 2

1.2. CU TRC H THNG GPS

GPS gm 3 phn vng:

M hnh ba thnh phn ca GPS nh hnh 1.1

Hnh 1.1. S lin quan gia ba phn ca GNSS (GPS)

Sinh vin: Nguyn Th Thanh Loan Lp T1001 3

1.2.1.Phn khng gian (space segment)

Phn khng gian ca GPS bao gm 24 v tinh nhn to (c gi l

Hnh 1.2. Chuyn ng v tinh nhn to xung quanh tri t

T khi phng v tinh GPS u tin c phng vo nm 1978, n nay

Sinh vin: Nguyn Th Thanh Loan Lp T1001 4

1.2.2. Phn iu khin (control segment)

Hnh 1.3.V tr cc trm iu khin v gim st h thng GPS

Sinh vin: Nguyn Th Thanh Loan Lp T1001 5

1.2.3. Phn ngi s dng (user segment)

Phn ngi s dng bao gm cc my thu tn hiu v tinh v phn mm

1.3.CC TH H V TINH V MNG LI V TINH GPS HIN TI

Sinh vin: Nguyn Th Thanh Loan Lp T1001 6

Mt th h mi ca v tinh GPS gi l Block IIR hin ang c

Hnh 1.4. Cc th h v tinh

Sinh vin: Nguyn Th Thanh Loan Lp T1001 7

1.4. CU TRC TN HIU GPS

Bng 1.1: Cc thnh phn ca tn hiu v tn s tng ng .

Thnh phn Tn s (MHz)

Sinh vin: Nguyn Th Thanh Loan Lp T1001 8

M C/A Code l m gi ngu nhin (PRN) c pht i vi tn s

Sinh vin: Nguyn Th Thanh Loan Lp T1001 9

trnh lp lch o v tnh ton x l kt qu o. Cc tham s thng bo trng

Sinh vin: Nguyn Th Thanh Loan Lp T1001 10

ca im c xc nh, y l im hon ton mi so vi cc nguyn tc

M hnh ton hc ca tn hiu GPS:

Trn tn s L2 = 1227.60 MHz:

Sinh vin: Nguyn Th Thanh Loan Lp T1001 11

M t truyn tn hiu trong min thi gian: (Hnh 1.5)

Hnh 1.5.M t truyn tn hiu

M hnh iu ch tn hiu:(Hnh 1.6)

Hnh 1.6. M hnh iu ch tn hiu

Sinh vin: Nguyn Th Thanh Loan Lp T1001 12

Sinh vin: Nguyn Th Thanh Loan Lp T1001 13

Sinh vin: Nguyn Th Thanh Loan Lp T1001 14

Hnh 2.1. Xc nh v tr my thu

Sinh vin: Nguyn Th Thanh Loan Lp T1001 15

- c l tc truyn sng ( tc nh sng)

2.1. 2.1. o khong cch theo tn hiu code

Trong trng hp ny, my thu nhn m pht i t v tinh, so snh vi

Sinh vin: Nguyn Th Thanh Loan Lp T1001 16

Hnh 2.2.S c ch xc nh thi gian truyn tn hiu GPS

Do chnh sch lm gim chnh xc nh v ca chnh ph M bng

Sinh vin: Nguyn Th Thanh Loan Lp T1001 17

Xr, Yr, Zr l ta khng gian 3 chiu ca v tr anten my thu

Hnh 2.3. Tr o pha v s nguyn a tr

Sinh vin: Nguyn Th Thanh Loan Lp T1001 18

xc nh s nguyn ln bc sng c nhiu phng php:

Hnh 2.4. Phng php nh v tng i

Sinh vin: Nguyn Th Thanh Loan Lp T1001 19

Vic nh v tng i s dng tr o pha sng ti, t c