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Positiioning Methods
Point
P position
ning
Relative
R posittioning
Code pha
ase or Pseudo
o range meassurements (R
Ranging with
h PRN codes))
It is defined
d as a measure
m of len
ngth of path between
b satelllite and receiiver antenna. Since this disstance
can’t be measured d using physiccal methods, it is done wiith the help oof epoch (tim me) of transm mission
and reception of codes.
c Each GPS
G satellitee generates a specific PRN N (pseudo raandom noise)) code
transmmitted along with
w its signall. The same PRNP code (forr each satellitte) is generateed internally bby the
receivver. The transmission travvel time is measured
m by ccorrelating thhe identical P PRN codes. F Figure
2.12 shows
s one-waay ranging using the PRN codes.
Various
V errorrs (multipathh, satellite an
nd receiver clock offsett etc.) corruppt the true range
measurements
m s and it is callled pseudo range.
r Differeence betweenn the clock offfset of sendeer and
receiver
r is T, the distance D can be com mputed by thee help of: D = c*T, where c is the veloccity of
light/EMR (3x108 m/sec). Since the co oordinates off the satellitees are knownn at any poinnt, the
coordinates
c off the receiver antenna can be
b computed..
Figure
F 2.13: Reecovery of rannging code.
In codde based positioning, 4 un nknowns are identified (thhree position coordinates and receiver clock
uations are needed for 4 unnknowns, thuss least squaree solution is carried
error dT). To solvee these, 4 equ
out ass:
Rn X n X 2 Yn Y 2 Z n Z 2 c.dT
Where,
W
Rn is measured d range
Xn, Yn, Zn is sattellite position
n coordinatess (n varies froom 1 to 4)
X,
X Y, Z is GPS receiver coorrdinates
c is the velocitty of EMR
Phase
Carrier-P
It is based
b on the principle
p of EDM
E (electronnic distance m
measurement)) where the pphase measureement
is donne. In GPS, the
t measured quantity is the t differencee between thee phase of thhe internal recceiver
oscillaator and thee received saatellite carrieer phase (ass sensed by the receiverr antenna). Phase
measu urement has high
h accuracyy of upto 3 - 10 mm.
Receiver
R is cap
pable to meassure only a frraction of cyccle of phase aat an initial innstant t0 of thee GPS
siignal i.e. onee cycle indiccates one wavelength. T The Integer aambiguity N((t0) i.e. remaaining
coounting of cyycles may nott be computed d directly. N((t0) remains cconstant evenn if there is no loss
off lock. Thus the
t measured phase at an epoch
e (ti) can be written as:
Ambiguity:
A Determination
D of initial ambbiguity is impportant for caarrier phase bbased measureement
annd it is calleed Ambiguity y Resolution. Ambiguity remains fixeed after initiaal lock. But if the
reeceiver loses phase
p lock, itt is called ‘cyccle slip’ and m
must be identtified and repaired before ttaking
fu
urther observations. The effect
e of resolving the am mbiguity can bbe seen in thhe figure 2.155, and
onnce the ambig guity is resolvved, the accurracy of the meeasurement ddoesn’t improvve with time.
Figure 2.15: Effects of
o ambiguity reesolution on accuracy of diffeerent surveyingg method (www
w.gpsworld.com)
Pointt Positioning
Known : X,Y
Y,Z (satellitess)
: R1, R2, R3, R4
: X,Y
Y,Z (base)
Unknown : X,Y
Y,Z (rover or remote locatiion)
Figuree 2.17: Princip
ple of GPS relat
ative positioninng
Minim mum two GPS receivers receive signalls at the samee time from ssame set of satellites. Onee GPS
unit, known
k as the reference or base station, is always po sitioned on a known pointt. The observaations
are prrocessed withh respect to the base stationn to obtain thee position of oother station kknown as the rover
stationn. Figure 2.17 shows a ty ypical arrangeement for diffferential posiitioning. Acccuracy achievved by
this method
m is mucch higher thann that in pointt positioning bbecause errorrs common too both receiveers get
canceelled. The DG GPS method iss classified ass :
Static Positioning: All recceivers remaiin stationary and collect carrier phasee over a periiod of
timme. Most acccurate positioning technique defines Static Positiooning due too some changges in
saatellite geometry. The esttimated accu uracy is in rooot means sqquare i.e. 5 m mm + 1ppm from
geeodetic receiv
ver depends ono baseline
Fast
F (rapid) static:-
s It is somewhat sim milar to stati c Positioningg. The differeence is that iin this
caase only base receiver keptt stationary fo
or whole obseervation.
Kinematic
K Positioning: Reeference receiiver remains ffixed while roovers vary froom point to pooint.
Stop-and-go GPSG surveying:- It is simmilar to other Kinematic G GPs surveyingg. It is used w where
laarge number of unknown point is to bee compute w within 10- 15 km of know wn point. Posiitional
acccuracy is hig
gher in compaarison to Kineematic surveyying.