Trng i hc Bch Khoa H Ni

Vin in t Vin thng

K thut nh v
v dn ng in t
Electronics Positioning and
Navigations
Ging vin:
TS. Trng Tun
TS. H Duyn Trung
B mn in t Hng khng V tr
H Ni, 2013

H thng nh v ton cu
GPS
Global Positioning System

 1. Gii thiu chung

Tn y ca h thng:
NAVSTAR GPS
NAVigation Satellite Timing And Ranging
Global Positioning System
H thng nh v ton cu GPS

H thng dn ng v tinh
3

GNSS
GNSS

Global

Navigation

Satellite

Systems

->

satellite

navigation systems that provide autonomous geo-spatial positioning

with global coverage.
- GNSS allows small electronic receivers to determine their location
(longitude, latitude, and altitude). Receivers on the ground with a fixed
position can also be used to calculate the precise time as a reference for
scientific experiments.
- As of 2009, the United States NAVSTAR Global Positioning System
(GPS) is the only fully operational GNSS.
- The Russian GLONASS is a GNSS in the process of being restored to
full operation.
- The European Union's Galileo positioning system is a GNSS in initial
deployment phase, scheduled to be operational in 2015.
- The People's Republic of China : regional Beidou navigation system ->
the global Compass navigation system by 2015.

1. c im ca h thng GPS

1. C chnh xc cao.
2. Ph sng ton cu 24/24.
3. L h thng th ng - passive system.
4. Vn hnh trong mi iu kin thi tit.

2. Cu trc h thng GPS

Gm 24+ v tinh satellites

24 SV

K hiu: V tinh GPS

SV: Space Vehicle

Qu o cao
20 200 km
1 vng quay 12 gi

6 mt phng nghing 55 so Tnh chnh xc: theo

vi mt phng xch o.
Mi mt phng gm 4 SV

phng ng, ngang v thi

gian.

Tnh sn c: ti 1 thi im
thu c tn hiu ca t nht 4
- C cc SV tch cc v d phng.
v tinh
Cc SV lin tc pht qung
bao ph: c th thu c
b thng tin v tr v thi gian tn hiu GPS ti mi v tr trn
tri t.
trn hai tn s L1 v L2.
6

Cu trc h thng
Khu khng gian

Khu ngi dng

Khu iu khin
7

Khu khng gian - h v tinh

Lin tc pht qung b cc bn tin dn ng trn
tn hiu v tinh n my thu GPS (mang thng tin
v tr ca SV v thi im pht bn tin).
Duy tr thi gian tham chiu vi chnh xc cao
( sai s t 10-12 n 10-14 sec).
Nhn v lu tr cc thng tin t trm iu khin
mt t;
Thc hin hiu chnh qu o v tinh v sai s ng
h.
8

Chm v tinh GPS

Chm v tinh GPS

GPS satellites are identied in dierent ways:
- position in the orbital plane [every satellite has a
place (1, 2, 3, ...), inside the six orbits - A, B, C, D,
E or F],
- NASA reference number,
- international identication number,
- PRN code (pseudorandom noise code),
- space vehicle number (SVN)
10

 chnh xc ca ng h

11

Khu iu khin
Theo di v iu khin
Colorado
Springs

Hawaii
Master Control Station

Kwajalein

Ascension
Islands
Diego
Garcia

Monitor Station
Ground Antenna

Control Segment: Monitor and Contro

12

Khu iu khin
Lin tc theo di cc v tinh x l d liu nhn
c nhm tnh ton cc thng s lch v tinh (v tr
v thi gian)
Kim tra trng thi ca ton h thng, cc ng
h ca tng v tinh c th.
Gi thng tin hiu chnh qu o v tinh v sai s
ng h ln cc SV qua cc upload station.
13

Khu iu khin
SV

Theo di
lch v
tinh v
ng h

Hiu chnh qu o
v sai s ng h.
To bn tin dn ng mi.

Trm gi d liu
5 trm theo di Trm iu khin chnh
ln v tinh
Monitor Stations
1 MCS
3 Upload Station
14
Master Control Station ( Ground Antenna)

Khu ngi dng GPS

GPS receiver
- My thu GPS l mt thit b th ng. Ch thc
hin thu tn hiu v tinh m khng pht tn hiu.
- Sai s o c ca my thu GPS ty thuc vo dch
v nh v c s dng (SPS hoc PPS).

15

Cc dch v GPS
Dn s : Dch v nh v tiu chun SPS
Standard Positioning Service.
m C/A ti tn s L1
Sai s o:

Theo phng ngang 1 100 m

Theo phng ng 2 156 m
Thi gian 3 340 ns
Qun s : Dch v nh v chnh xc PPS
Precise Positioning Service
m P ti tn s L1 hoc L2
Sai s o:

Theo phng ngang 1 22 m

Theo phng ng 2 27,7 m
Thi gian

3 100 ns

16

Major GPS Markets

Satellite
Operations
Power Grid
Interfaces

Personal
Navigation
Trucking &
Shipping

Surveying &
Mapping

Aviation

Recreation

Communications
Network
Synchronization
and Timing

Railroads

O shore
Drilling

Fishing &
Boating

17

BasicPositioning:BeforeMay2000

25-100 m

C/ACodeonL1
SelectiveAvailability

18

BasicPositioning:Today

5-10 m

C/ACodeonL1
NoSelectiveAvailability

19

5mby2015
Multiplesinals,
reducedatmosphericerrors

100mOnesignal,
SAon

10mOnesignal,
SAoff
20

Cc ngun gy sai s nh v v tinh

Sai s
ng h
v tinh

Sai s qu o

Tr tng in ly - Ionosphere
Satellite

2
khc x

Tr tng i lu - Troposphere
Nhiu ti my thu
4
3
Truyn a ng
21

Cc ngun gy sai s nh v v tinh

Do kh quyn
Khc x

tng in ly

Cc ht mang in
Hi nc
Ionosphere
(Charged Particles)
Troposphere

tng i lu
22

Cc ngun gy sai s nh v v tinh

V tr v tinh
ng h v tinh
Cht lng my thu
Sai s truyn a ng

23

Error sources
Errors in GNSS depend on several factors:
Number of satellites that can be seen
from the receiver (and their geometry)
Error in the orbits, ephemerid, clock
etc.
Ionosphere effects
Troposphere effects
Multipaths
Receiver noise
24

Intuitive Concepts of XDOP

25

RNP Required Navigation Performance

Accuracy: chnh xc gia thng s o v thng
s thc.
Integrity: kh nng cnh bo cho ngi dng khi
h thng khng c kh nng dn ng.
Integrity risk: xc sut xy ra sai li (do nguyn
nhn bt k) trong khi vn hnh h thng.
Continuity: Kh nng cung cp dch v lin tc ca
h thng.
Availability: tnh sn c ca h thng v mt cung
cp dch v trong mt vng ph sng xc nh

26

 2. Nguyn tc xc nh v tr
my thu GPS

27

Nguyn l xc nh v tr
1

Cn c ca vic xc nh v
tr chnh xc ca mc tiu
l chnh xc ca thng
s thi gian. Vic xc nh
khong cch vic o
thng s thi gian

Mi v tinh gi v tr
ca mnh v thi
im chnh xc pht
bn tin dn ng..

My thu GPS nhn tn

hiu t v tinh , xc nh
v tr v tinh v thi gian
nhn c bn tin dn
ng ti my thu.

V tr ca my thu trn
h ta a l v thi
gian chnh xc c
tnh ton t 4 v tinh
trong tm quan st.

My thu GPS tnh ton

thi gian truyn tn hiu
da trn s chnh lch
gia thi im pht v thu
tn hiu.

28

Nguyn l xc nh v tr
SV2(x2,y2,z2); t2

SV3(x3,y3,z3); t3

SV4(x4,y4,z4); t4

SV1(x1,y1,z1); t1
Cn ti thiu 4 v tinh
xc nh chnh xc
v tr ca my thu

M (xm,ym,zm); tm
GPS Receiver

i ( xi xm ) 2 ( yi ym ) 2 ( zi zm ) 2 ti b c
Trong :

b: h s hiu chnh sai s khong cch gi

ti t m ti

c 3 108 m / s

29

Nguyn l xc nh v tr
4 phng trnh xc nh 4 n(xm,ym,zm,tm)
Phng php tnh ton:
K thut lp tuyn tnh
K thut lc Kalman
a v dng closed-form

30

Phng php tuyn tnh

31

 3. Tn hiu v tinh GPS

v bn tin dn ng

32

3.1 Tn hiu v tinh GPS

33

GPS Signal in Space

GPS
signals in the frequency domain

34

GPS Signal in Space

Signal structure
Each signal consists of 3 components:
Carrier RF sinusoidal signal with
frequency fL1 and fL2
Ranging code Each satellites transmits 2 codes
Coarse/Acquisition code (C/A)
Precision [encrypted] code (P) [(Y)]
based on the unique PRN code assigned to each
satellite
35

Cu trc tn hiu v tinh GPS

154 f0
B to dao
ng chun
f0 = 10,23
MHz

Tn hiu L1p
23,8 dB

Tn s L1
= 1575,42 MHz
Tc chip = 1,023 Mcps

M C/A
cng
modulo 2
~ tri ph

Tc bn tin = 50 bps

Bn tin dn
ng
Tc chip = 10,23 Mcps

iu ch
theo kiu
BPSK

PPS

Pt =20,8 dB

Tn
hiu
L1C/A

dch v
SPS

M P
120 f0
Tn s L2
= 1227,6 MHz

Tn hiu L2p
19,1 dB
36

GPS signal structure

37

Cu trc tn hiu v tinh GPS

L1P
900

L1C/A

L2P

L1=154 fo=1575.42 MHz

L2=120fo =1227.60 MHz 38

Cu trc tn hiu v tinh GPS

Sng mang L1
Tn s: 1575,42 MHz ~ bc sng 19 cm
c iu ch bi c m C/A v m P(Y).
M P(Y) lch pha 90 so vi m C/A.
Sng mang L2
Tn s 1227,60 MHz ~ bc sng 24 cm
Ch c iu ch bi m P(Y).
Tnh hiu v tinh c mang trn hai sng mang
vi rng bng tn l 20.46 MHz.

39

M C/A
B tom C/A gm 2 thanh ghi dch 10-bits.
Mt t m gm 1023 bits.
Thi on mt t m = 1 ms.
Tc xung nhp = 1.023MHz.
Dng cho dch v SPS - dn s.

M P
B to m P c nhiu ch vi s lng thanh ghi
dch khc nhau.
Mt t m gm 15 345 037 bits
Chu k lp 7 days.
Tc ng h = 10.23MHz
Dng cho dch v PPS qun s

40

Cu trc tn hiu v tinh GPS

Hai sng mang ti bng L:

M C/A dch v SPS ( dn

s)
L1=154 fo=1575.42 MHz
M P dch v PPS (qun s)

L2=120 fo=1227.60 MHz Bn tin dn ng c mang

trong : fo=10.23 MHz

trong tn hiu L1 v L2

C/A
P(Y)

P(Y)

1227.6 MHz

1575.42 MHz

L2

L1
41

Phng thc iu ch tn hiu GPS

GPS s dng phng thc BPSK iu ch cc
m trn sng mang L1 v L2.
BPSK: Chuyn mc tn hiu 0 1 hoc 0 1 s gy
nn dch pha 1800 ca tn hiu sng mang.

42

Nguyn l to m C/A

43

GPS Signal in Space (SIS)

Signal structure
Ranging code

C/A code

The corresponding polynomials are

G1 :1 x 3 x 10
G 2 :1 x 2 x 3 x 6 x 8 x 9 x10
G1: the last bit of the shift register is the output of the
sequence
G2: the output is created using two bits (different for
each satellite Gold or spreading code)
44

45

L5 Characteristics
L5 = 1176.45 MHz
1176.45 MHz

Bandwidth = 24 MHz (20 MHz null-to-null)

Minimum Received Power = -154 dBW
PN Code Chipping Rate = 10.23 MHz
QPSK Signal
In-Phase (I) = Data Channel
Quadraphase (Q) = Data-Free Channel

Equal Power in I and Q (-157 dBW each)

50 bps data (rate 1/2 FEC encoded)
46

GPS receiver measurements

Code phase measurements
Received satellite signal

c t
Locally generated signal

Carrier Phase
measurements
N
N = integer part

( N

= fractional part
47

3.2 Bn tin dn ng GPS

48

Tnh ton v tr my thu

SV2(x2,y2,z2); t2

SV3(x3,y3,z3); t3

SV4(x4,y4,z4); t4

SV1(x1,y1,z1); t1
Cn ti thiu 4 v tinh
xc nh chnh xc
v tr ca my thu

M (xm,ym,zm); tm
GPS Receiver

i ( xi xm ) 2 ( yi ym ) 2 ( zi zm ) 2 ti b c
Trong :

b: h s hiu chnh sai s khong cch gi

ti t m ti

c 3 108 m / s

49

Tnh ton v tr my thu

i ( xi xm ) 2 ( yi ym ) 2 ( zi zm ) 2 tm ti b c
b: H s hiu chnh khong cch gi
ti: Thi gian truyn chnh xc t ng h nguyn
t trn SVs
tm : Thi gian nhn tn hiu ti my thu, ch bit
chnh xc nu my thu c ng h nguyn t !!!
Gii php: s dng ng h thch anh (gi r) ti
my thu kt hp vi 4 v tinh sa sai khong
cch.

50

Phn h khng gian: Payload

Atomic
Clocks
Processor
and Storage

Signal
Generator

Telemetry
RF Amp

Control
Segment

Space segment
and
navigation user
interface
User
Segment
51

ICD
ICD: Interface Control Document
Available at: http://www.gps.gov/technical/icwg/
Interface Specification IS-GPS-200 defines the
requirements related to the interface between the
space segment of the Global Positioning System
and the navigation user segment of the GPS for
radio frequency link 1 (L1) and link 2 (L2).
IS-GPS-200G defines the space segment and
navigation user interface.
Revision G of the document, dated September 5,
2012, and signed January 31, 2013, replaces all
prior versions for new design.
52

Bn tin dn ng m C/A

c nh ngha trong IS-GPS-200x

Cu trc bn tin
Cc t m HOW (Handover Words)
Thi gian (time)
Lch thin vn (Ephemeris)
Nin lch (Almanac)

53

Bn tin dn ng GPS
Navigation Message

54

Bn tin dn ng GPS
Navigation Message

55

Bn tin dn ng GPS
Navigation Message

56

Bn tin dn ng GPS

57

Bn tin dn ng GPS
Telemetry (TLM) v Handover (HOW) Words

58

ng b Subframe
1.
2.
3.
4.

Tm
Tm
Tm
Tm

kim
kim
kim
kim

phn mo u (Preamble)
tnh chn l (Parity) trong t TLM
tnh chn l (Parity) trong t HOW
00 cui t HOW

59

Yu cu i vi bn tin dn ng GPS

V tr chnh xc ca v tinh
T m chuyn giao (HOW)
Almanacs
Ephemeris
M hnh sa li tng in ly bng L1
Cht lng tn hiu bn tin
Thi gian sng v tinh
GPS time.

60

Yu cu i vi bn tin dn ng GPS
Ephemeris:
The fraction 1/31,556,925.9747 of
tropical year for 1900 Jan. 0 at 12 hours
ephemeris time
GPS time: UTC + 16 seconds (1/7/2012)
due to Earth orbit slowing UTC has
leap-seconds
1820: ngy tnh theo h mt tri (solar
day) l 86400 secs, by gi l 86400.002
secs. UT1 (Non-uniform) l ngy tnh theo
vng quay tri t.
61

UTC (SI)

A leap second is a one-second adjustment that is occasionally

applied to Coordinated Universal Time (UTC) in order to keep its
time of day close to the mean solar time. Without such a correction,
time reckoned by Earth rotation drifts away from atomic time
62
because of irregularities in the Earth's rate of rotation.

Leap Second UT1 & UTC

http://en.wikipedia.org/wiki/Leap_second

63

Subframe 1
Word 3:

10 MSBs weak number

Bits 11,12: L1 indicator (C/A or P)
Bits 13-16: URA indicator
Bits 17-22: health, MSB 0=all nav data OK
Bits 23,24: MSBs of IODC (1-8 in SF1, w8)

User Range Accuracy (URA), Error (URE)

Issue of Data, Ephemeris (IODE), Clock
(IODSC)
64

Subframe 1
User Range Accuracy (URA), Error (URE):
The accuracy in meter (m) expected from the
satellite
Usually 32m with SA on
About 5m with SA off
Values transmitted from URA word N

N<6, URA=21+N/2
5<N<15, URA=2N-2
N=15, no accuracy

65

Subframe 1
L2 P code data on/off (bit 1, W4)
Reserved (bits 2-24, W4; 1-24 W5,6; 116, W7)
Group delay term (bits 17-24, W7)
Clock correction:
toc (bits 6-24, W8)
af2 (bits 1-8, W9)
af1 (bits 9-24, W9)
af0 (bits 1-22, W10)

66

Time correction
GPS time: t=tsv-tsv
tsv=code time at transmission,
tsv=SV PRN code phase offset (bias,
driff, ground delay)

67

Time correction

68

Subframe 2 and 3
5 special parity bits at end SF2
The rest is ephemeris data for transmitting
SV
Allows calculation of satellite position in
ECEF (Earth Centered, Earth Fixed)
The coordinate system used in World
Geodetic System 1984 (WGS-84)

69

Coordinate Systems
Earth Centered Inertial (ECI)
X-Y plane is equatorial
+Z axis normal to X-Y Plane towards N pole
- Can be non-inertial due to irregular earth
motion

70

Coordinate Systems
Earth Centered, Earth Fixed (ECEF)
X-axis is 00 longitude
Y-axis is 900 longitude
- Immune to earth motion since axes move with
the earth

71

Coordinate Systems
WGS-84
ECEF model of the earth:
Gravitational irregularities (geoid)
Ellipsoidal model of shape (ellipsoid)
Definition of an original and orientation of axes

72

Navigation File: Satellite Orbit

Define
Define
Define
Define

satellite position in the satellite orbit - v

size and shape of the satellite orbit - a, e
the orientation of the satellite orbit -
the orbital plane in the equatorial system - , I
v

True Anomaly

Semi-major axis of ellipse

Eccentricity

Inclination of the orbit

Right ascension of the ascending node

Argument of perigee
73

Navigation File: Satellite Orbit

Satellit
e
earth

Apogee

position vector, r
true anomaly,

Satellite Position

r
a

Perigee

foc
us

semi-major axis, a : Size of Orbit

eccentricity, e : Shape of Orbit

74

Navigation File: Satellite Position

Z

argument of perigee, :
orientation of orbit
right ascension of the
ascending node,
inclination, i

orbital plane
in equatorial
system

Satellit
e

Perigee

Equatorial
plane

i
Ascending
node

75

DEFINITION OF A YUMA ALMANAC

76

Sample Yuma almanac for GPS satellites

77

Chun bn tin NMEA

NMEA cung cp d liu cho vic giao tip gia my
thu GPS do National Marine Electronics Association
nh ngha.
c im:
S dng m ASCII n gin.
Phng thc truyn tun t.
Ti mt thi im, d liu s c truyn i trong
mt "cu (bn tin) theo mt chiu duy nht t b
thu GPS qua cng giao tip.
78

Chun bn tin NMEA

79

$GPZDA UTC Date / Time and Local Time Zone Offset

Ngy gi v lch mi gi

$GPZDA,hhmmss.ss,xx,xx,xxxx,xx,xx
$GPZDA,024611.08,25,03,2002,00,00*6A

Gi UTC:
02:46:11.08

checksum
Ngy

Nm

Lch mi gi hh:mm
Thng

80

$GPGGA Global Positioning System Fix Data

$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M,,,,000*18

Gi UTC:
16 : 12 : 29
chnh xc 0.478s

Loi
cu

V Bc

Kinh Ty

chnh
xc theo
phng ngang

S v tinh bm
370 23.2475

121o 58.4316

cao 9m so vi mc
nc bin

K t bt u
81 18
Checksum

$GPRMC Recommended minimum specific GPS/TRANSIT data

D liu
ti thiu ca bn tin GPS
$GPRMC,040302.663,
A,3939.7,N,10506.6,W,0.27,358.86,200804,,*1A

Gi UTC
Tc dch chuyn hin ti
ca i tng trn mt t.
n v: knots
Satellite Fix Status
A=>active

Ngy UTC
20/08/04

Gc bm:0 - 360
0 => Bc, 90 => ng,
180 => Nam, 270 => Ty
y l 358.86

82

GPS Toolkit - GPSTk

The GPSTk is:
A library to write GNSS software
Includes example applications.
The GPSTk is Free Software (LGPL):
Both non-commercial and
commercial applications.
Website: http://www.gpstk.org

83

GNSS Data Structures

GNSS Data Structures (GDS) were
designed to help in GNSS data processing.

84

RINEX
Receiver Independent Exchange Format
Consists of 3 ASCII file types available to be
downloaded from SatRef System
File Type

Containing Information

Observation Data File

GPS Measurements

GPS Navigation
Message File

Ephemeris
(Orbit information)

Meteorological Data File

Pressure, Temperature,
Relative Humidity, etc
85

Observation File

Header
Section

Data
Section

86

Observation File: Header Section

C1
L1
P2
L2

: Pseudorange using C/A code on L1

: Phase measurements on L1
: Pseudorange using P-Code on L2
: Phase measurements on L2

PGM/ RUN BY / DATE

REC # / TYPE / VERS
ANT # / TYPE
APPROX POSITION XYZ
ANTENNA: DELTA H/E/N
WAVELENGTH FACT L1/2
# / TYPES OF OBSERV
TIME OF FIRST OBS

Program, Agency, date of creating the file

Receiver Number, type, version
Antenna Number, TYPE
Approximation marker position (in WGS84)
Antenna height, Eccentricities of antenna centre
relative to marker in east and north (in metres)
Wavelength factors for L1 and L2
Number of observation types, observation types
Time of first observation record

87

Observation File: Data Section

88

Observation File: Data Section

Number of Satellites
Event Flag
Epoch

Satellite Number

89

Observation File: Data Section

Observation data
for each Satellite

90

Observation File of HKSC on 5 June 2006 from UTC Time 3:00 to 4:00

Observation File: Data Section

Observation data
for each Satellite

91

Observation File of HKSC on 5 June 2006 from UTC Time 3:00 to 4:00

Observation File: Data Section

Extracted observation data for GPS Satellite No. 2 at 3:00 on 5 June 2006:
C1

L1

P2

23288740.069

122383102.613 7

23288741.198

LLI

LLI (Loss of Lock Indicator)

0: OK
1: Cycle Slip
4: Antispoofing
Blank: not known

Signal
Strength

L2

95363442.36846
LLI
Signal
Strength

Signal Strength
-Interval 1-9
1: minimum possible signal strength
9: maximum possible signal strength
0 or blank: not known
92

Cu trc
h thng DGPS

V tinh GPS

Trung tm
iu khin

Trm
tham
chiu

Qung b thng tin tham chiu

hiu chnh sai s

Truyn s liu

Trm
theo di

93
My thu DGPS

DGPS
DGPS = Differential GPS
- L k thut s dng trm thu GPS tham chiu cung cp thng tin
hiu chnh sai s cho cc my thu GPS mt vng cc b xc nh.
- Cc my thu DGPS s c chnh xc tng v cao hn my thu GPS
thng thng.
- H thng c phc tp tng ln v cn c h thng truyn s liu
gia trm tham chiu v my thu DGPS.
- C hai ch hiu chnh s dng trong h thng DGPS:
- Hiu chnh theo thi gian thc ( real-time )
- Hiu chnh khng theo thi gian thc ( post processing )
94

Local Area Differential GPS (DGPS) Concept

95

Wide Area Augmentation System (WAAS) Concept

96

Real-Time DGPS

x+5, y-3
x+30, y+60
x-5, y+3

Receiver

NDGPS Receiver

NDGPS Site

DGPS correction = x+(30-5) and y+(60+3)

True coordinates = x+0, y+0

True coordinates = x+25, y+63

Correction = x-5, y+3

97

Post-processed DGPS

x+5, y-3
x+30, y+60
x-5, y+3

Receiver

DGPS Site

DGPS correction = x+(30-5) and y+(60+3)

True coordinates = x+0, y+0

True coordinates = x+25, y+63

Correction = x-5, y+3

98

Non-Differential GPS
(Autonomous or Stand-alone)

X23
y23
z23

d23

x14
y14
z14

x19
y19
z19

d19

x21
y21
z21

d14
d21

Measured: x y z

99

Post Processing Differential GPS

X23
y23
z23

x19
y19
z19

Measured: x y z

Delta: x y z
_________
True: x y z

Corrections applied
after survey

x14
y14
z14
x21
y21
z21

True: x y z
Measured: x y z
______________
Delta: x y z
KNOWN POSITION

100

Real-Time Kinematic (RTK) GPS

SURVEY GRADE - L1, L2 CODE & CARRIER SOLUTION
X23
y23
z23

x14
y14
z14

x19
y19
z19

x21
y21
z21

Measured: x y z

Delta: x y z
_________
True: x y z

Corrections applied
during the survey

RADIO/
CELL SITE

KNOWN
POSITION

ONE ADVANTAGE OF RTK GPS OR DGPS IS THAT THE QUALITY OF DATA

CAN BE VERIFIED IN THE FIELD WITH GOOD PROCEDURES BEFORE
LEAVING THE SITE
ALSO POST PROCESSING IS ELIMINATED

True: x y z
Measured: x y z
______________
Delta: x y z
101

102