Tugas 1

1. Penentuan Posisi Tunggal (Point Positioning) denga GPS pseudorange

Diketahui Persamaan pengamatan GPS untuk masing-masing Atelit ke receiver GPS

c (m) 299792458
∆δ(pendekatan) 0
∆δ -0.000052854
Xi,Yi,Zi SVN Pseudo-range (m) X (m) Y (m) Z (m)
3 22021771.47 -25836700.68 1541786.38 -7250575.62
17 20960742.6 -16288375.05 3103149.8 -20942827.7
21 21676885.2 -11063699.22 23357088.42 -5478870.86
23 20104797.65 -16053285.8 14475956.7 -15173900.75
XR -4131407.978
YR 2897022.052
ZR -3888373.905
R (pendekatan) X (m) Y (m) Z (m)
-4131400 2897020 -3888370

22005934.709 -15836.761
ρ (pendekatan)
20944905.330 -15837.270
L
ρ (pendekatan)
L
21661044.878 -15840.322
20088960.661 -15836.989

A= -0.986 -0.062 -0.153 299792458.000

-0.580 0.010 -0.814 299792458.000
-0.320 0.945 -0.073 299792458.000
-0.593 0.576 -0.562 299792458.000

AT = -0.986 -0.580 -0.320 -0.593

-0.062 0.010 0.945 0.576
-0.153 -0.814 -0.073 -0.562
299792458.000 299792458.000 299792458.000 299792458.000

AT*A = 1.764 -0.589 0.980 -743561668.452

-0.589 1.228 -0.392 440453761.695
0.980 -0.392 1.007 -480340697.111
-743561668.452 440453761.695 -480340697.111 359502071494727000.000

Invers AT*A = 24.738 -13.959 8.412 0.000

-13.959 9.592 -5.670 0.000
8.412 -5.670 6.093 0.000
0.000 0.000 0.000 0.000

(invers AT*A)*(AT*L) ∆X -7.98E+00

AT*L = 39280.772 ∆Y 2.05E+00
-23270.799 Koreksi ∆Z -3.91E+00
25375.161 ∆δ -5.29E-05
-18992254432389.600
X -4131407.978
Y 2897022.052
Koreksi+Nilai awal
Koreksi+Nilai awal
Z -3888373.905
∆δ -0.000052854
 ITERASI 1

1. Penentuan Posisi Tunggal (Point Positioning) denga GPS pseudorange

Diketahui Persamaan pengamatan GPS untuk masing-masing Atelit ke receiver GPS

c (m) 299792458
∆δ(pendekatan) -5.28535650143628E-05
∆δ -0.000158561
Xi,Yi,Zi SVN Pseudo-range (m) X (m) Y (m) Z (m)
3 22021771.47 -25836700.68 1541786.38 -7250575.62
17 20960742.6 -16288375.05 3103149.8 -20942827.7
21 21676885.2 -11063699.22 23357088.42 -5478870.86
23 20104797.65 -16053285.8 14475956.7 -15173900.75
XR -4131407.978
YR 2897022.052
ZR -3888373.905
R (pendekatan) X (m) Y (m) Z (m)
-4131407.97757514 2897022.05221115 -3888373.9054633
 21990081.270 -31690.200
ρ (pendekatan)
20929052.400 -31690.200
L
21645195.000 -31690.200
20073107.450 -31690.200

A= -0.987 -0.062 -0.153 299792458.000

-0.581 0.010 -0.815 299792458.000
-0.320 0.945 -0.073 299792458.000
-0.594 0.577 -0.562 299792458.000

AT = -0.987 -0.581 -0.320 -0.594

-0.062 0.010 0.945 0.577
-0.153 -0.815 -0.073 -0.562
299792458.000 299792458.000 299792458.000 299792458.000

AT*A = 1.767 -0.590 0.982 -744116965.124

-0.590 1.230 -0.392 440786393.014
0.982 -0.392 1.009 -480707528.943
-744116965.124 440786393.014 -480707528.943 359502071494727000.000

Invers AT*A = 24.694 -13.932 8.395 0.000

-13.932 9.574 -5.659 0.000
8.395 -5.659 6.082 0.000
0.000 0.000 0.000 0.000

AT*L = 78658.469
-46594.265
 50814.213
-38001932216295.500

(invers AT*A)*(AT*L) ∆X 2.37E-06 X -4131407.978

∆Y -0.000000583 Y 2897022.052
Koreksi+Nilai awal
Koreksi ∆Z 0.000001078 Z -3888373.905
∆δ -0.000105707 ∆δ -0.000158561

b. receiver clock offset (dalam detik )

∆δ -0.000158561
dalam detik = ∆δ*3600
-0.5708185021 detik

c. PDOP dan GDOP

untuk mencari PDOP dan GDOP menggunakan hasi dari matriks Invers AT*A
Invers AT*A = 24.69353221 -13.9323473515 8.3949636341 7.9419813884085E-08
-13.9323473515 9.5741376801 -5.6586037994 -4.81431971175781E-08
(B) 8.3949636341 -5.6586037994 6.0816932101 3.24465060417807E-08
7.9419813884085E-08 -4.8143197118E-08 3.2446506042E-08 2.6958336129455E-16

PDOP = (B11+B22+B33)^0.5 6.3521148529 TDOP 2.6958336129E-16

GDOP = (PDOP^2 + TDOP^2)^0.5 6.3521148529

d. Jika diketahui koordinat geografis posisi receiver :

derajat menit detik decimal degree
lintang -37 48 14 -37.8038888889
bujur 144 57 40 144.9611111111
 0.5018692501 0.3519205236 0.7901134102
Matriks Rotasi -0.5741322948 -0.8187625468 0
-0.646915268 0.4536296253 -0.6129606832

Koordinat Receiver Koordinat Satelit

X -4131407.978 X (m) Y (m) Z (m)
Y 2897022.052 -25836700.68 1541786.38 -7250575.62
Z -3888373.905 -16288375.05 3103149.8 -20942827.7
-11063699.22 23357088.42 -5478870.86
-16053285.8 14475956.7 -15173900.75

Mencari Azimuth satelit : arctg (Xs-Xr)/(Ys-Yr)

Azimuth Satelit 1 1.508439248

Azimuth Satelit 2 -1.5538424273
Azimuth Satelit 3 -0.3266809065
Azimuth Satelit 4 -0.7999899497
 12156967.07
-206127.7478
17054453.795
L
-15195107.198
26254110.472
-9367244.765
-20184693.778
17372978.752
-19062274.655
2. Perhitungan titik Kontrol Geodesi

parameter : E1, N1, E5, N5, O1, O5, O7 Jarak Pendekatan=

DIKETAHUI : ((X2-X1)^2+(Y2-
Pengukuran Titik Jarak Y1)^2)^0.5
arah derajat menit detik Dec 1-5 552.968 Titik Jarak
1-5 40 47 30 40.7916666667 1-7 1655.179 1-5 552.6753
1-7 187 43 19 187.7219444444 7-5 2139.95 1-7 1656.311
5-7 179 59 52 179.9977777778 7-5 2140.865
5-1 204 57 35 204.9597222222
7-12 139 17 49 139.2969444444 α1-5= 1.070728
7-1 308 28 22 308.4727777778 Azimuth Tiap titik α1-7= 0.493815
7-5 316 34 43 316.5786111111 α7-5= 0.635092

Koodinat Titik Kontrol Koodinat Titik Pendekatan titik orientasi

point E N E N 1 131.4864
7 10064.072 6612.433 1 9279 5154 5 24.9575
12 22099.22 21416.713 5 8794 4889 7 95.87556

Menyusun Matriks A dari penurunan terhadap parameter yang akan dicari

E1 N1 E5 N5 O1 O5 O7
0.8775496026 0.4794858653 -0.8775496026 -0.4794858653 140.786103449 26.7226836672 0
A -0.4739883883 -0.8805310941 0 0 64.9299262286 0 47.34476931
0 0 -0.5932517127 -0.8050170218 0 15.8503127515 60.8898143156

Menyusun matriks L (observasi dari jarak Pendekatan - Jarak pengukuran)

-0.2926884472
L 1.1316172071
0.9152901743
 0.8775496026 -0.4739883883 0
0.4794858653 -0.8805310941 0
-0.8775496026 0 -0.5932517127
AT -0.4794858653 0 -0.8050170218
140.7861034486 64.9299262286 0
26.7226836672 0 15.8503127515
0 47.34476931 60.8898143156

0.9947582972 0.8381341447 -0.770093305 -0.4207726305 92.7707580413 23.4504804316 -22.4408709004

0.8381341447 1.0052417028 -0.4207726305 -0.229906695 10.3321276525 12.8131491018 -41.6885415222
-0.770093305 -0.4207726305 1.1220408996 0.8983503575 -123.54678913 -32.8537056178 -36.1229866272
AT*A -0.4207726305 -0.229906695 0.8983503575 0.8779591004 -67.504946637 -25.5729206678 -49.0173369792
92.7707580413 10.3321276525 -123.5467891278 -67.5049466369 24036.6222443 3762.182507193 3074.09237861
23.4504804316 12.8131491018 -32.8537056178 -25.5729206678 3762.18250719 965.334236698 965.1226002858
-22.4408709004 -41.6885415222 -36.1229866272 -49.0173369792 3074.09237861 965.1226002858 5949.096668411

8.584134641E+15 -2.1651826E+16 -2.66680987E+16 -6.45635733E+15 -7.362247E+13 -4.9712634E+14 -2.1577935E+14

-1.73550334E+14 6.92226534E+15 1.572222718E+16 1.251808794E+15 2.4306964E+13 292199198081987 93669474531370
8.48930817E+15 -2.1378332E+16 -1.92280219E+16 -1.22559379E+16 -5.74462E+13 -4.43879302E+14 -2.3382679E+14
INV AT*A 1.1754031483 5.02886792E+15 7.146285994E+15 2.64677259E+15 1.4172148E+13 117271074952099 74092198000171
0.0052187378 17235610755613 51706832266840 0.0052187378 64997249541.3 1046315902196.8 231413622637.7
-0.0299292468 -1.157963E+14 -1.81965616E+14 -1.65423287E+14 6933156048.89 -6902577088285 -2163119902508
82711643447154 -1.1166072E+14 -45491403895935 -41355821723577 -374136931384 -977485962949.4 -735534111775

-0.7932220467
-1.1367641109
-0.286148833
AT*L
 AT*L -0.5964841968
32.269355773
6.6862147335
109.3080043747

Beikut merupakan hasil perhitungan

Koreksi : nilai akhir : koreksi + koordinat awal
Parameter
∆E1 -20 E1 9267.5
∆N1 10 N1 5157
∆E5 -4 E5 8789.5
∆E5 -1 N5 4890
∆O1 -0.00390625 O1 131.4815060764
∆O5 0.09375 O5 24.947734375
∆O7 0.015625 O7 95.9068055556
DIKETAHUI :
Pengukuran Titik
arah Dec 1-5
1-5 40 47 30 40.791666667 1-7
1-7 187 43 19 187.72194444 7-5
5-7 179 59 52 179.99777778
5-1 204 57 35 204.95972222
7-12 139 17 49 139.29694444
7-1 308 28 22 308.47277778
7-5 316 34 43 316.57861111

Koodinat Titik Kontrol Koodinat Titik Pendekatan

point E N E N
7 10064.072 6612.433 1 9267.5 5157
12 22099.22 21416.713 5 8789.5 4890

Menyusun Matriks A
E1 N1 E5 N5 O1 O5
0.873034969 0.4876576082 -0.873034969 -0.487657608 139.55337074 26.4793165842
A -0.480105573 -0.877210715 0 0 65.8426589422 0
0 0 -0.594834435 -0.803848241 0 15.8931953677

-5.45270341 Cl= 552.9680000 0 0

L 3.981079279 0 1655.1790000 0
2.7840531837 0 0 2139.9500000

P 1.808423E-06 0 0
0 6.0416426E-07 0
0 0 4.67300638E-07

0.873034969 -0.480105573 0 1.57881644E-06

0.4876576082 -0.877210715 0 8.81891191E-07
-0.873034969 0 -0.594834435 -1.5788164E-06
AT -0.487657608 0 -0.803848241 -8.8189119E-07
139.55337074 65.842658942 0 0.0002523715
26.479316584 0 15.893195368 4.78858028E-05
0 48.027736196 61.098357666 0

1.517623E-06 1.024368E-06 -1.378362E-06 -7.699218E-07 0.0002012307 0.000041806

1.024368E-06 0.000000895 -7.699218E-07 -4.300609E-07 8.8175638E-05 2.3351876E-05
-1.378362E-06 -7.699218E-07 1.543706E-06 9.933647E-07 -0.0002203292 -4.6223756E-05
AT*A
 AT*A -7.699218E-07 -4.300609E-07 9.933647E-07 0.000000732 -0.0001230709 -0.000029322
0.0002012307 8.817564E-05 -0.000220329 -0.000123071 0.0378385019 0.0066826252
0.000041806 2.335188E-05 -4.622376E-05 -0.000029322 0.0066826252 0.0013860205
-1.393105E-05 -2.545371E-05 -1.69833E-05 -2.295091E-05 0.0019105329 0.0004537714

Err:502 Err:502 Err:502 Err:502 Err:502 Err:502

Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
INV AT*A Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502

-9.76358E-06
-6.918581E-06
7.834944E-06
AT*P*L 3.762893E-06
-0.001217741
-0.00024043
0.0001950059

Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
 Jarak Pendekatan=
((X2-X1)^2+(Y2-
Jarak Y1)^2)^0.5
552.968 Titik Jarak
1655.179 1-5 547.5153
2139.95 1-7 1659.16
7-5 2142.734

α1-5= 1.061392
α1-7= 0.500775
α7-5= 0.63706

titik orientasi
1 131.4815
5 24.94773
7 95.90681

O7
0
48.0277361955
61.0983576655

0.001808 0 0
inv Cl 0 0.000604 0
0 0 0.000467

-2.9006263E-07 0
-0.00000053 0
0 -0.000000278
0 -3.756388E-07
3.9779781E-05 0
0 7.4269003E-06
2.9016642E-05 2.8551302E-05

-1.3931051E-05
-2.5453709E-05
-1.6983297E-05
-2.2950914E-05
0.0019105329
0.0004537714
0.0031380413

Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
DIKETAHUI :
Pengukuran Titik
arah Dec 1-5
1-5 40 47 30 40.791666667 1-7
1-7 187 43 19 187.72194444 7-5
5-7 179 59 52 179.99777778
5-1 204 57 35 204.95972222
7-12 139 17 49 139.29694444
7-1 308 28 22 308.47277778
7-5 316 34 43 316.57861111

Koodinat Titik Kontrol Koodinat Titik Pendekatan

point E N E N
7 10064.072 6612.433 1 9267.5 5157
12 22099.22 21416.713 5 8789.5 4890

Menyusun Matriks A
E1 N1 E5 N5 O1 O5
0.873034969 0.4876576082 -0.873034969 -0.487657608 139.55337074 26.4793165842
A -0.480105573 -0.877210715 0 0 65.8426589422 0
0 0 -0.594834435 -0.803848241 0 15.8931953677

-5.45270341 Cl= 552.9680000 0 0

L 3.981079279 0 1655.1790000 0
2.7840531837 0 0 2139.9500000

P 1.808423E-06 0 0
0 6.0416426E-07 0
0 0 4.67300638E-07

0.873034969 -0.480105573 0 1.57881644E-06

0.4876576082 -0.877210715 0 8.81891191E-07
-0.873034969 0 -0.594834435 -1.5788164E-06
AT -0.487657608 0 -0.803848241 -8.8189119E-07
139.55337074 65.842658942 0 0.0002523715
26.479316584 0 15.893195368 4.78858028E-05
0 48.027736196 61.098357666 0

1.517623E-06 1.024368E-06 -1.378362E-06 -7.699218E-07 0.0002012307 0.000041806

1.024368E-06 0.000000895 -7.699218E-07 -4.300609E-07 8.8175638E-05 2.3351876E-05
-1.378362E-06 -7.699218E-07 1.543706E-06 9.933647E-07 -0.0002203292 -4.6223756E-05
AT*A
 AT*A -7.699218E-07 -4.300609E-07 9.933647E-07 0.000000732 -0.0001230709 -0.000029322
0.0002012307 8.817564E-05 -0.000220329 -0.000123071 0.0378385019 0.0066826252
0.000041806 2.335188E-05 -4.622376E-05 -0.000029322 0.0066826252 0.0013860205
-1.393105E-05 -2.545371E-05 -1.69833E-05 -2.295091E-05 0.0019105329 0.0004537714

Err:502 Err:502 Err:502 Err:502 Err:502 Err:502

Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
INV AT*A Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502
Err:502 Err:502 Err:502 Err:502 Err:502 Err:502

-9.76358E-06
-6.918581E-06
7.834944E-06
AT*P*L 3.762893E-06
-0.001217741
-0.00024043
0.0001950059

Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
 Jarak Pendekatan=
((X2-X1)^2+(Y2-
Jarak Y1)^2)^0.5
552.968 Titik Jarak
1655.179 1-5 547.5153
2139.95 1-7 1659.16
7-5 2142.734

α1-5= 1.061392
α1-7= 0.500775
α7-5= 0.63706

titik orientasi
1 131.4815
5 24.94773
7 95.90681

O7
0
48.0277361955
61.0983576655

0.001808 0 0
inv Cl 0 0.000604 0
0 0 0.000467

-2.9006263E-07 0
-0.00000053 0
0 -0.000000278
0 -3.756388E-07
3.9779781E-05 0
0 7.4269003E-06
2.9016642E-05 2.8551302E-05

-1.3931051E-05
-2.5453709E-05
-1.6983297E-05
-2.2950914E-05
0.0019105329
0.0004537714
0.0031380413

Err:502
Err:502
Err:502
Err:502
Err:502
Err:502
Err:502