thesis_georgia katsigianni

8/7/2019 Thesis_Georgia Katsigianni

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GNSS

: ...

, 2011


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.


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(GNSS: Global Navigation Satellite Systems).

GPS (Global Navigation Satellite System), Galileo EGNOS (European Geostationary Navigation Overlay System), , , . .

. , , (HEPOS: Hellenic Positioning System)., : DOP (Dilution of Precision), NSP (Navigation System Precision) . , Galileo System Simulation Facility (GSSF) (ESA: European SpaceAgency).

GNSS, GPS, Galileo, EGNOS, GIOVE, , GSSF,, DOP, , , NSP, , , HEPOS


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ABSTRACT

The purpose of this thesis is the study and comparison of present and future

Global Navigation Satellite Systems (GNSS). More specifically, the study is focused

on the GPS (Global Navigation Satellite System), Galileo and EGNOS (European

Geostationary Navigation Overlay System) systems which are compared in their

performances in regard to the conditions of satellite visibility, the dilution of precision

(DOP), the level of Navigation System Precision (NSP) and system integrity. For this

purpose mainly mobile tracks were studied, using different means of transportation

over the territory of Greece.

The paper is separated in two parts. The first one (dealing with a thorough

bibliographical research) describes in detail the use of global navigation satellite

systems, augmentation systems and gives a short account of the Hellenic Positioning

System (HEPOS). Useful terms such as Dilution of Precision (DOP), Navigation

System Precision (NSP) are also described extensively. In the second part, various

scenarios and respective simulations are presented with the use of Galileo System

Simulation Facility (GSSF) program which is a product of the European Space

Agency (ESA).

KEY WORDS

GNSS, GPS, Galileo, EGNOS, GIOVE, Constellation, GSSF, Visibility, DOP,

Scenario, Mobile Tracks, NSP, Integrity, GNSS Applications, HEPOS


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... 2010-2011

. .

, . . , , , .

. () . ( ) ,

., . . .

, .


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................................................................................................................... 2

ABSTRACT ................................................................................................................... 3

.............................................................................................................. 4........................................................................................................... 5

.................................................................................................................... 8

....................................................... 8

............................................................................ 8

1 GNSS ............................................................... 10

1.1. ........................................................................................................... 10

1.2. NAVSTAR GPS ............................................................................................... 14

1.2.1. GPS ................................................ 14

1.2.2. GPS ............................................................................... 16

1.3. GALILEO ......................................................................................................... 29

1.3.1. ......................................................................................................... 29

1.3.2. Galileo ........................................................................... 29

1.3.3. ................................................................................ 30

1.3.4. ................................................................................. 311.3.5. .................................................................................................. 35

1.3.6. Galileo .......................................................................................... 41

1.3.7. ................................................................................... 45

1.3.8. Galileo GNSS.......................................... 46

1.4. (COMPASS-GLONASS) .................................................... 47

1.4.1. GLONASS ................................................................................................. 47

1.4.2. COMPASS ................................................................................................. 49

1.5. GNSS Augmentation ........................................................................................ 52

1.5.1. SBAS .............................................. 53

1.5.2. ..................................................................... 54

1.5.3. ABAS .................................... 55

1.6. EGNOS ........................................................................................ 55

1.6.1. ................................................................................ 56

1.6.2. .............................................................................. 56

1.6.3. UTC ..................... 57


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1.6.4. ..................................................................................................... 58

1.6.5. EGNOS .................................................................................... 60

1.6.6. EGNOS ............................................................... 61

1.6.7. EGNOS............................................................................. 62

1.6.8. EGNOS ............................... 63

1.7. HEPOS ......................................................................................... 64

1.7.1. HEPOS ................................................. 64

1.7.2. ...................................................... 66

1.7.3. HEPOS........................................................................... 66

1.7.4. ........................................................................................ 67

1.7.5. HEPOS.............................................................. 67

2 ................................................................................. 69

2.1. GNSS.......................................................... 69

2.1.1. ............................................................................... 70

2.1.2. ...................................................................................... 71

2.1.3. .................................................................... 72

2.2. DOP-RDOP ................................................................................... 74

2.2.1. DOP (Dilution of Precision) ...................................................................... 75

2.2.2. RDOP (Relative Dilution of Precision) ..................................................... 82

2.3. UERE............................................................................................... 86

2.4. NSP .................................................................................................. 89

2.5. ......................................................................... 90

3 - ........................................................................................ 91

3.1. ........................................................................................................... 91

3.2. Galileo ............................................................................................ 92

3.3. ........................................................................................................ 96

3.3.1. ..................................................................................... 96

3.3.2. .................................................................................. 97

3.3.3. .............................................................................. 98

3.3.4. ...................................................................... 99

3.4. ......................................................................................................... 100

3.5. ........................................................................................................... 100

3.6. ............................................................................... 103


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3.6.1. ............................................... 103

3.6.2. GNSS ......................... 105

3.6.3. ..................................................................... 107

3.6.4. ............................................... 109

3.7. GSSF ..................................................................................... 111

3.8. ........................................................................................................... 116

3.8.1. 1 : ................................................................. 116

3.8.2. 2 : ............................................ 125

3.8.3. 3 : .................................. 138

3.8.4. 4 : ................................... 143

3.8.5. 5 : ...................... 151

3.8.6. 6 : ............... 162

3.8.7. 7 : ................................. 171

3.8.8. 8 : ............................................ 177

3.8.9. 9 : .................... 187

3.8.10. 10 : HEPOS ..... 193

4-.............................................. 198

4.1. ....................................................................................... 198

4.2. ................................................................................................... 203

....................................................................................................... 204

.............................................................................................................. 208

.............................................................................................. 212

.............................................................................................. 214

........................................................................................................... 219

..................................................................................................... 221


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80 GPS.

. , 2000. GLONASS (GLObal NAvigation Satellite System) .

Galileo 2014 . , . , Galileo , , .

,

GNSS (Global NavigationSatellite Systems). GPS , Galileo, EGNOS (European Geostationary Navigation Overlay System). HEPOS (HEPOS: HellenicPosition System) .

(.. ,, ..). .

:


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GNSS ( GPS, Galileo, GLONASS COMPASS), ,

., GNSS(GNSSAugmentation), EGNOS. HEPOS, , .

GNSS. ,

. . DOP (Dilution ofPrecision) RDOP (Relative DOP), UERE (User Equivalent RangeError), NSP (Navigation SystemPrecision) (Integrity).

. Galileo ,

, ., GPS GNSS. Galileo GSSF (Galileo System Simulation Facility). GPS, Galileo EGNOS . .

(, , , ) (.. , ) (.. HEPOS), .

, .


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1

GNSS

1.1.

,

. . , . : , , , . '70,

. , .

( )

(GNSS) . GNSS ( , ) .

, .

, NAVSTAR GPS GNSS. GLONASS GNSS ( 21 24 ) GPS. GALILEO GNSS

, 2014. Beidou COMPASS 2010. 1 , , , ....
http://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Latitudehttp://en.wikipedia.org/wiki/Latitudehttp://en.wikipedia.org/wiki/Altitudehttp://en.wikipedia.org/wiki/Metrehttp://en.wikipedia.org/wiki/Metrehttp://en.wikipedia.org/wiki/Metrehttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/European_Unionhttp://en.wikipedia.org/wiki/People%27s_Republic_of_Chinahttp://en.wikipedia.org/wiki/People%27s_Republic_of_Chinahttp://en.wikipedia.org/wiki/Beidou_navigation_systemhttp://en.wikipedia.org/wiki/Beidou_navigation_systemhttp://en.wikipedia.org/wiki/Beidou_navigation_systemhttp://en.wikipedia.org/wiki/Beidou_navigation_systemhttp://en.wikipedia.org/wiki/Compass_navigation_systemhttp://en.wikipedia.org/wiki/Compass_navigation_systemhttp://en.wikipedia.org/wiki/Compass_navigation_systemhttp://en.wikipedia.org/wiki/Beidou_navigation_systemhttp://en.wikipedia.org/wiki/Beidou_navigation_systemhttp://en.wikipedia.org/wiki/People%27s_Republic_of_Chinahttp://en.wikipedia.org/wiki/European_Unionhttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Metrehttp://en.wikipedia.org/wiki/Altitudehttp://en.wikipedia.org/wiki/Latitudehttp://en.wikipedia.org/wiki/Longitude


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,

GPS 20,200km, 12.0h 24

GLONASS 19,100km, 11.3h 24 GALILEO 23,222km, 14.1h 27

COMPASS 21,150km, 12.6h 35 Compass-2

1 : GNSS

(: http://en.wikipedia.org/wiki/GNSS)

GNSS : (

1, 2)

GNSS-1 (GPS GLONASS), (SBAS: Satellite Based AugmentationSystem) (GBAS: Ground BasedAugmentation System). GPS (WAAS: Wide Area Augmentation System), EGNOS (European Geostationary Navigation Overlay Service),

MSAS(Multi-Functional Satellite AugmentationSystem) SNAS (Satellite Navigation AugmentationSystem).

GNSS-2 , GALILEO. . L1 L2 L5 . L2 L5 GPS , .
http://en.wikipedia.org/wiki/Satellite_Based_Augmentation_Systemhttp://en.wikipedia.org/wiki/Satellite_Based_Augmentation_Systemhttp://en.wikipedia.org/wiki/Ground_Based_Augmentation_Systemhttp://en.wikipedia.org/wiki/European_Geostationary_Navigation_Overlay_Servicehttp://en.wikipedia.org/wiki/European_Geostationary_Navigation_Overlay_Servicehttp://en.wikipedia.org/wiki/Multi-Functional_Transport_Satellitehttp://en.wikipedia.org/wiki/Multi-Functional_Transport_Satellitehttp://en.wikipedia.org/wiki/Multi-Functional_Transport_Satellitehttp://en.wikipedia.org/wiki/Multi-Functional_Transport_Satellitehttp://en.wikipedia.org/wiki/Multi-Functional_Transport_Satellitehttp://en.wikipedia.org/wiki/European_Geostationary_Navigation_Overlay_Servicehttp://en.wikipedia.org/wiki/Ground_Based_Augmentation_Systemhttp://en.wikipedia.org/wiki/Satellite_Based_Augmentation_System


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2 : GNSS

(: http://html.rincondelvago.com/amss-applications.html)

1 : GNSS

(: A Beginners Guide to GNSS in Europe, http://www.ifatca.org/docs/gnss.pdf)


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20 30 (MEO: Medium Earth Orbit) . , 50

10-14 ( 20.000 /12.500 ). GNSS

4 GNSS. 4 4 . 4 . (, , , ) GNSS., GNSS ,

( 2). .

2 :

(: http://www.ausairpower.net/TE-GPS-Guided-Weps.html)
http://en.wikipedia.org/wiki/Medium_Earth_Orbithttp://en.wikipedia.org/wiki/Medium_Earth_Orbithttp://en.wikipedia.org/wiki/Orbital_periodhttp://en.wikipedia.org/wiki/Orbital_periodhttp://en.wikipedia.org/wiki/Orbital_periodhttp://en.wikipedia.org/wiki/Medium_Earth_Orbit


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1.2. NAVSTAR GPS

NAVSTAR GPS (NAVigation Satellite Timing And Ranging, GlobalPositioning System) GPS,

, . 1970, 1980 . GPS. .

1.2.1. GPS

GPS ,

(Space Segment), (Control Segment) (User Segment).

28 6 ( 3) . , . ( 2011) 31 GPS. 20200 km . , 10 -12.

3 : GPS

(: http://140.137.13.100/derceng/Application.htm)


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(Monitor Stations), (Upload Ground Antennas) (Master control station MCS) ( 4).

. , . . , 26 . , ,

. .

4 : GPS

(:http://www.kowoma.de/en/gps/control_segment.htm)

(GPS Precise Positioning Service) , (Standard Positioning Service). GPS (antenna) , (receiver-processors) .

: .
http://www.kowoma.de/en/gps/control_segment.htmhttp://www.kowoma.de/en/gps/control_segment.htmhttp://www.kowoma.de/en/gps/control_segment.htm


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, 12 20. ( ) 40-50 GPS, EGNOS GLONASS

136 GNSS.

GPS. DGPS (Differential GPS) / (PC) .

5 GPS Trimble, Garmin Leica ( ). GPS ,, .

5 : GPS

(: http://en.wikipedia.org/wiki/Global_Positioning_System)

1.2.2. GPS

GPS 1995 . , , . 2000 , GPS III (GPS 3 ).

,

,


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GPS ( 6).

6 : GPS III

(: Planned GPS Civil Signals and Their Benefits to the Civil Community, A.

VaDierendonck)

GPS:

IIR-M &

IIF (L2C, L5, ) L1 (L1C)

, GPS Block II Block III 7

2017.


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7 : GPS

(: Planned GPS Civil Signals and Their Benefits to the Civil Community-Dr. A.J. Van Dierendonck-AJ Systems)

GPS ( 8). GPS . L , L1 (1575.42 MHz, 19.05 cm) L2 (1227.60 MHz, 24.45 cm). : L2C, L5 L1C. , L1 C/A C/A L1 (C/A: CoarseAcquisition Code), ,

GPS .

L2 (L2C)

L1 C/A GPS. , L2C L2 (1227.6 MHz). Block IIR-M . L2C .


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L1 C/A , L2C , . -, L2C ,

, . , , . , GPS (SBAS).

:

L2C PRN (Pseudorandom NoiseSequence: ) :

CM (Civilian Moderate length code) 10.230 bits 20 msec.

CL (Civilian Long length code) 767.250 bits 1.5 sec.

511.500 bit/s, 1.023.000 bit/s.

CM 25 bit/s , CL - ( ).

, L2C L2 65% L1.

, GPS (DGPS), L2C . ,

, , ( ) . L2C , . L2C GPS - ,

. ,
http://en.wikipedia.org/wiki/Bit/shttp://en.wikipedia.org/wiki/Bit/shttp://en.wikipedia.org/wiki/Multiplexedhttp://en.wikipedia.org/wiki/Multiplexedhttp://en.wikipedia.org/wiki/Modulatedhttp://en.wikipedia.org/wiki/Modulatedhttp://en.wikipedia.org/wiki/Modulatedhttp://en.wikipedia.org/wiki/Multiplexedhttp://en.wikipedia.org/wiki/Bit/s


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. L2C Quasi-Zenith (QZSS:Quasi Zenith Satellite System) .

GPS IIR-M L2C 2005. GPS L2C.

Safety of Life (L5)

L5 GPS . , , , , L5

.

(SoL: Safety of Life) , L5 (1176.45 MHz) GPS IIF (GPS II Follow on) (2010). Galileo, GLONASS QZSS, .

:

( )

L1 L2C , 10

(10

C/A) ARNS (Aeronautical Radio

Navigation Services band),

L5 L1C/A ( ) , (robustness) . L5 , , , , ,

.
http://en.wikipedia.org/w/index.php?title=Aeronautical_Radionavigation_Services_band&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Aeronautical_Radionavigation_Services_band&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Aeronautical_Radionavigation_Services_band&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Aeronautical_Radionavigation_Services_band&action=edit&redlink=1


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, L5 GPS. L1 C/A L2C, L5

(augmentations).

2009, L5 GPS IIR-20(M). 1176.45 MHz GPS.

L5 GPS, Block IIF.

New Civilian L1 (L1C)

L1C GPS, GPS . L1C GPS Galileo. MBOC (Multiplexed Binary Offset Carrier) (.. , ..) . L1C .

Quasi-Zenith (QZSS), (IRNSS: Indian Regional Navigational SatelliteSystem), Compass , L1C.

L1C -, L1 (1575.42 MHz) C/A GPS. L1C Block III, 2016.

:

C/A (backward compatibility)

1.5 dB C/A

Galileo L1
http://en.wikipedia.org/wiki/Pilot_signalhttp://en.wikipedia.org/wiki/Pilot_signalhttp://en.wikipedia.org/wiki/Pilot_signal


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L1 GPS Galileo.

8 : GPS

(: Planned GPS Civil Signals and Their Benefits to the Civil Community, A.VaDierendonck)

Block III

, GPS , .

GPS : Block I,Block II, Block IIA (Augmentation: ), and Block IIR(Replenishment: ) ( 9, 10). Block I (1 1978). 11 Block I . II 1989, 2005 IIR-M. Block,IIA IIR . Block IIR Block IIA 1997. BlockIIR . Block IIR . Block IIR (L2C)

L2. BlockIIR ( IIR-M) L2C 26 2005.


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12 BlockIIR, , , .

BlockIIF GPS. BlockIIF ( ). : 12 , , (L5). BlockIIF .

, Block IIF, . , : , , SoL . : 2003 2007. 3-5 .

9 : Block

(:http://en.wikipedia.org/wiki/Global_Positioning_System)
http://en.wikipedia.org/wiki/Global_Positioning_Systemhttp://en.wikipedia.org/wiki/Global_Positioning_Systemhttp://en.wikipedia.org/wiki/Global_Positioning_System


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GPS , , , ,, .

,GPS , 2030. , GPS , .

10: GPS

(: GPS Status and Modernization, Harold Martin)

L1 L2 P (Precision), C/A D (Data code). GPS ( ) . C/A 1 msec. C/A . D ( ) . , , , , .

Military (M-code)

,

- (M-code)


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GPS. M-code L1 L2 , P(Y). ( P(Y)

C/A). P(Y), -

, M-code. P(Y) C/A P(Y) .

- Block IIR-M, Block III, 2013.

- :

: .

24 MHz MNAV :

. .

GPS

GPS . Block IIR IIR-M, . 2005, . Block III .

SA

GPS 2000, o (SA: Selective Availability). SA GPS GPS. ,

100 156 . ,
http://en.wikipedia.org/wiki/MHzhttp://en.wikipedia.org/wiki/MHzhttp://en.wikipedia.org/wiki/MHz


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GPS .

2007, GPS (GPSIII)

. 2000 .

GPS . ( 2000-2001), 5-10 . SA ( ) GPS 1-3 ( 95%). SA DGPS (Differential GPS) SA.

GPS . , , (

) 11 .

. , GPS. , (L2) (L5, ARNS 1176.45 MHz)

Block IIF. GPS 1-3 , .

, Block IIF ( 18 ) L5 ,

.


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L5 2015, IIA, IIR IIF.

GPS .

. , .

3 : GPS

(: Shaw, GNSS 2000)

GPS 24 . ,

SoL., , ""(urban canyons) GPS , . , . , GPS, 6 12 , 30 36 .


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1.3. GALILEO

Galileo GNSS .

(ESA) GPS GLONASS. , - GPS, GLONASS , . Galileo ,

. 17 Galileo Galilei (1564-1642) .

1.3.1.

Galileo :

GPS.

, .

, , .

. (GPS Glonass).

1.3.2. Galileo

Galileo ( 11):

1) (Definition Phase:1999 2005) , ,

, .


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2) (In-Orbit Validation: 2005 2010)

( ,

) .

Galileo, o GIOVE-A GIOVE-B (Galileo In-Orbit Validation Element ).

3) (Deployment Phase: 2009 2013):

26

4) (Exploitation Phase: 2013): .

11 : Galileo

(: http://www.oosa.unvienna.org/pdf/icg/2008/expert/2-2.pdf)

1.3.3.

Galileo GTRF (Galileo Terrestrial Reference Frame) ITRS (International Terrestrial Reference System) IERS (International Earth Rotation Service). WGS84 (WorldGeodetic System) ITRF (International Terrestrial Reference

Frame) ,


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. 23222 km 10, 17.

2 , . 3 1 , 1 3 . Galileo 12 , 1500 W.

13 : Galileo

( : http://www.raes.org.uk/cmspage.asp?cmsitemid=SG_Space_HotTopics)

ESA Galileo . , , . 30 , ( 90%)


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.

, , .

.

, , up-link ( 14).

Galileo . , (GSSs Galileo SensorStations) (GCCs Galileo Control Centers), . , 2008. (German Space Operations Centre, GSOS), 40 . GCC Fucino , 130. . , ,

. 2 / , , . , Galileo. ,, , . ,

.. , 6 10 .

up-link (ULS:Up-Link Stations). 15 , 5 S , 10 C, . , , , , .,


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. ,

. OS , E2-L1-E1 E5a-E5b. 4m 8m . 15m 35m , GPS .

GPS . , .

4 5 , .

4 : OS(: ec.europa.eu/dgs/energy_transport/galileo/doc/galileo_hld_v3_23_09_02.pdf)

5 : OS(: ec.europa.eu/dgs/energy_transport/galileo/doc/galileo_hld_v3_23_09_02.pdf)


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(Commercial Services-CS):

( OS, E6)

. . . .

, Galileo , .

, , , . 1m 10cm.

(Safety of Life Service-SoL):

(SoL: Safety of Life)

, , , . . SoL . , , . (.. ) .

E5a E5b , E2-L1-E1 . ,

, , 4m 8m.


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, , , 220 m ( 6).

6 : SoL

(: ec.europa.eu/dgs/energy_transport/galileo/doc/galileo_hld_v3_23_09_02.pdf)

(Public Regulated Service-PRS):

, . PRS (E6-PRS E2-L1-E1-PRS). PRS :

(,, , ), , , . PRS . PRS , .

PRS . , (jamming) , - (AS-Anti-Spoofing).

.


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, .

, , , , , . 6,5 m 12m( 7).

7 : PRS

(: ec.europa.eu/dgs/energy_transport/galileo/doc/galileo_hld_v3_23_09_02.pdf)

(Search and Rescue Service-SAR):

Galileo COSPAS-SARSAT . Galileo MEOSAR (Medium Earth Orbit Search and Rescuesystem). Galileo , . , . Galileo . , , Galileo.


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1.3.6. Galileo

Galileo GPS, ,

Galileo .

Galileo :

(composite signal or transmittedsignal) . 3 Galileo: E5, E6 L1.

(signal channel or component) . ( ) (spreading code). 10 Galileo : 4 E5, 3 E6 3 L1. (data channel) (pilot channel) , . (navigation signal) . , . 6 Galileo: L1F, L1P, E6C, E6P, E5a E5b.

, 1.1 1.6 GHz( L). E5a, E5b, E6 E2-L1-E1.

(Radio Navigation Satellite Services RNSS) , , E5a, E5b L1 (Aeronautical RadioNavigation Services ARNS), , .


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4. E6P: , 6. . E6P G/Nav (Governmental Access Navigation)

.5. E5a: , E5

( 5a-I E5a-Q ). , . E5a F/Nav(Freely Accessible Navigation) .

6. E5b: , 5

(5b-I E5b-Q ). , . E5b I/Nav (Integrity Navigation) .

9 10 Galileo :

RF

L1F L1-B

L1-C

I/Nav

L1P L1-A G/Nav E6C E6-B

E6-C

C/Nav

E6P E6-A G/Nav E5a E5a-IE5a-Q

F/Nav

E5b E5b-I

E5b-Q

I/Nav

5 5a E5b

9 :

(: Galileo,.

)


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E5a/L5 1176,450 MHz

E5b 1207,140 MHz

E5 (E5a+E5b) 1191,795 MHz 90 1,023 MHzE6 1278,75 MHz 40 1,023 MHz

E2-L1-E1 1575,42 MHz 40 1,023 MHzL1() 1575,42 MHz 32 1,023 MHz

10 :

(: Galileo, .)

SAR, Galileo 406-406.1MHz 1544-1545MHz, L6 ( 2 ). SAR, SAR OS E2-L1-E1. E5a E5b 5. E5,

.

Galileo , . . Galileo. . ()

. , . , . , ., , . , . Galileo .


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Galileo, . (L1, E5a, E5b E5a E5b AltBOC) 15m 35m

, 50cm/s, 100 ns. , (L1 E5a L1 E5b), 7 m, 15 m, 20 cm/s, 100 ns. , ( cm), (L1, E5a E5b)

, (OS) (SoL), (CS) (PRS)( 11).

OS SoL CS PRS

L1F x (*) x (*) x (*)

L1P x

E6C x

E6P x

E5a x x x

E5b x (*) x (*) x

(*):

11 :

(: Galileo, .)

1.3.7.

GPS, Galileo GLONASS .

, GNSS . , Galileo GNSS .

GNSS, . ,


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, .

, Galileo GPS . Galileo E5A L1 . , 60 .

Galileo GPS . Galileo GPS Galileo .

1.3.8. Galileo GNSS

GNSS. :

Galileo . . GPS GLONASS ,Galileo , .

Galileo .

Galileo , , .

(99% ) . GPS.


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1m 10 m GPS. Galileo 10 GPS.

Galileo , GPS , .

1.4. (COMPASS-GLONASS)

1.4.1. GLONASS

GLONASS (GLObal NAvigation Satellite System) , .

GLONASS 1976, 1991, 12 1982 ( ), 1995.

, . . 1991 1995 24 8. 2001, 2010 (21 24

). 18

2008 24 (21 3 ) 2009 GPS 2011. GLONASS 2008, GLONASS-K 2009.
http://en.wikipedia.org/wiki/Satellite_navigation_systemhttp://en.wikipedia.org/wiki/Soviet_Unionhttp://en.wikipedia.org/wiki/Soviet_Unionhttp://en.wikipedia.org/wiki/Soviet_Unionhttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Russian_Space_Forceshttp://en.wikipedia.org/wiki/Russian_Space_Forceshttp://en.wikipedia.org/wiki/Russian_Space_Forceshttp://en.wikipedia.org/wiki/Russiahttp://en.wikipedia.org/wiki/Soviet_Unionhttp://en.wikipedia.org/wiki/Satellite_navigation_system


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GLONASS 24 , 21 , .

120 . , 64.8, 19.100 , 11 15 . 15(argument of latitude), , . , 5 . . ,

1-8 , 9-16 , 17-24 ( 16).

16 : GLONASS

(: elektro-wind.pl)

GLONASS . , , . , GPS

. GPS GLONASS .


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O GLONASS . 15. 11:15 ""

. .

GLONASS

GLONASS . , .

GLONASS-M .

GLONASS-K . GLONASS-M .

, GIS/mapping. , . ,

GLONASS.

1.4.2. COMPASS

COMPASS ( Beidou-2) . Beidou-1 ( 4 )

. Beidou-1, GNSS GPS Galileo. , COMPASS, 35.

35 , 5 (GEO) 30 (MEO), . GNSS COMPASS :

( ). COMPASS 10 . - ,


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. .

10 , 50 nsec, 0,2 m/s. .

( ) , , .

COMPASS 2007. , . 2010 10

COMPASS.

COMPASS

Galileo GPS. COMPASS :E1, E2, E5B, E6 Galileo ( 17). , , E1 E2, Galileo .

17 : GPS, Galileo & COMPASS

(:http://www.positim.com/gnss_signals.html)
http://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Galileo_positioning_systemhttp://en.wikipedia.org/wiki/Galileo_positioning_systemhttp://www.positim.com/gnss_signals.htmlhttp://www.positim.com/gnss_signals.htmlhttp://www.positim.com/gnss_signals.htmlhttp://en.wikipedia.org/wiki/Galileo_positioning_systemhttp://en.wikipedia.org/wiki/Frequency


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Galileo (GIOVE-A GIOVE-B), COMPASS-M1. 14 , 2007. GIOVE,

. COMPASS-M1 21150km

55,5.

12 GNSS.

12 : GPS, GLONASS, Galileo & COMPASS

(: http://www.positim.com/navsys_overview.html)


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1.5. GNSS Augmentation

GNSS (Augmentation) , , , ,

. GNSS . ( ,, ), , .

18 : GNSS

(: http://www.answers.com/topic/gnss-augmentation)
http://en.wikipedia.org/wiki/Clock_drifthttp://en.wikipedia.org/wiki/Clock_drifthttp://en.wikipedia.org/w/index.php?title=Ionospheric_delay&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Ionospheric_delay&action=edit&redlink=1http://en.wikipedia.org/w/index.php?title=Ionospheric_delay&action=edit&redlink=1http://en.wikipedia.org/wiki/Clock_drift


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1.5.1. SBAS

(SBAS:Satellite Based Augmentation System)

( 18). , ( ) . GNSS, . , .

SBAS:

WAAS (Wide Area Augmentation System), (FAA-Federal Aviation Administration).

EGNOS, (ESA).

MSAS (Multi-functional SatelliteAugmentation System), , (JCAB: Japanese Civil AviationBureau).

Quasi-Zenith (QZSS-Quasi-Zenith SatelliteSystem), .

GAGAN (GPS Aided Geo Augmented Navigation), . ,

SBAS: CWAS (Wide-Area Augmentation System) SNAS (Satellite Navigation AugmentationSystem).

19 SBAS

.
http://en.wikipedia.org/wiki/Wide_Area_Augmentation_Systemhttp://en.wikipedia.org/wiki/United_Stateshttp://en.wikipedia.org/wiki/Federal_Aviation_Administrationhttp://en.wikipedia.org/wiki/Federal_Aviation_Administrationhttp://en.wikipedia.org/wiki/Federal_Aviation_Administrationhttp://en.wikipedia.org/wiki/European_Space_Agencyhttp://en.wikipedia.org/wiki/European_Space_Agencyhttp://en.wikipedia.org/wiki/European_Space_Agencyhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Japanhttp://en.wikipedia.org/wiki/Ministry_of_Land,_Infrastructure_and_Transporthttp://en.wikipedia.org/wiki/Ministry_of_Land,_Infrastructure_and_Transporthttp://en.wikipedia.org/wiki/Ministry_of_Land,_Infrastructure_and_Transporthttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/GPS_Aided_Geo_Augmented_Navigationhttp://en.wikipedia.org/wiki/GPS_Aided_Geo_Augmented_Navigationhttp://en.wikipedia.org/wiki/Indiahttp://en.wikipedia.org/wiki/Indiahttp://en.wikipedia.org/wiki/GPS_Aided_Geo_Augmented_Navigationhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Quasi-Zenith_Satellite_Systemhttp://en.wikipedia.org/wiki/Ministry_of_Land,_Infrastructure_and_Transporthttp://en.wikipedia.org/wiki/Ministry_of_Land,_Infrastructure_and_Transporthttp://en.wikipedia.org/wiki/Japanhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/Multi-functional_Satellite_Augmentation_Systemhttp://en.wikipedia.org/wiki/European_Space_Agencyhttp://en.wikipedia.org/wiki/European_Space_Agencyhttp://en.wikipedia.org/wiki/Federal_Aviation_Administrationhttp://en.wikipedia.org/wiki/Federal_Aviation_Administrationhttp://en.wikipedia.org/wiki/United_Stateshttp://en.wikipedia.org/wiki/Wide_Area_Augmentation_System


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19 : SBAS

(: http://html.rincondelvago.com/amss-applications.html)

1.5.2.

(GBAS: Ground BasedAugmentation Systems) (GRAS:Ground Based Regional Augmentation System) . , GBAS , GNSS, , .

, GBAS , 20km, (VHF: Very HighFrequency) (UHF: Ultra High Frequency). GRAS , , VHF. GRAS SBAS GBAS GNSS. SBAS, GPS ( )

. , GRAS
http://en.wikipedia.org/wiki/Very_high_frequencyhttp://en.wikipedia.org/wiki/VHFhttp://en.wikipedia.org/wiki/Ultra_high_frequencyhttp://en.wikipedia.org/wiki/UHFhttp://en.wikipedia.org/wiki/VHFhttp://en.wikipedia.org/wiki/VHFhttp://en.wikipedia.org/wiki/UHFhttp://en.wikipedia.org/wiki/Ultra_high_frequencyhttp://en.wikipedia.org/wiki/VHFhttp://en.wikipedia.org/wiki/Very_high_frequency


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SBAS . VHF .

GPS (Local Area AugmentationSystems, LAAS) WAAS, , . GBAS LAAS .

1.5.3. ABAS

ABAS (Aircraft-basedaugmentation system) / GNSS .

GPS ,, . ABAS , . RAIM (Receiver AutonomousIntegrity Monitoring) AAIM (Aircraft Autonomous IntegrityMonitor).

1.6. EGNOS

EGNOS (European Geostationary Navigation OverlayService) , SBAS ( WAAS MSAS). 21. (European SpaceAgency, ESA), (European Commission: EC) Eurocontrol,

(GNSS-1). GNSS GALILEO.

EGNOS , GPS o GLONASS, .


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20 : EGNOS

(: http://en.wikipedia.org/wiki/File:Egnoslogo.jpg)

1.6.1.

, EGNOS

GPS . , GPS ( EGNOS) 17.

1.6.2.

EGNOS , . , . , .

, ,

GPS GLONASS, . EGNOS, , GPS GLONASS , .


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21 : EGNOS

(: http://egnos-portal.gsa.europa.eu/discover-egnos/about-egnos/benefits)

1.6.3. UTC

EGNOS EGNOS (EGNOS Network Time: ENT), UTC (Universal Time Coordinated). EGNOS ENT.

, EGNOS ENT, GPS. , EGNOS UTC. , UTC. EGNOS UTC 50.

UTC . (UT: Universal Time), (TAI: International Atomic Time) .


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1.6.4.

, EGNOS

GPS. GPS, EGNOS . , GPS EGNOS.

: 40 EGNOS ( 22) :

34 RIMS (Ranging and IntegrityMonitoring Stations) GPS. RIMS EGNOS GPS . RIMS , .

4 MCC (Mission Control Centers) . GPS GLONASS .

NLES. EGNOS, GPS EGNOS .

6 NLES (Navigation Land Earth Stations) .

EGNOS . , , . up-linkNLES. EGNOS, . .


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22 : EGNOS

(: http://en.wikipedia.org/wiki/File:EGNOS_map.svg)

: ( -GEO) . , , . 0 , GEO ( 13). EGNOS : Inmarsat-3 , , , ESAArtemis ( 23). EGNOS , , 30

.

NMEA/PRN

Atlantic Ocean Region-East

NMEA #33 / PRN

#120 15.5W

ARTEMIS

NMEA #37 / PRN

#124 21.5E

Europe Middle East Africa

NMEA #39 / PRN

#126 25E

Indian Ocean

NMEA #44 / PRN

#131 64.5ESirius 5 ( 2011) 5.0E
http://en.wikipedia.org/wiki/Geosynchronous_orbithttp://en.wikipedia.org/wiki/Geosynchronous_orbithttp://en.wikipedia.org/wiki/Orbital_eccentricityhttp://en.wikipedia.org/wiki/Orbital_eccentricityhttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Horizonhttp://en.wikipedia.org/wiki/Horizonhttp://en.wikipedia.org/wiki/Europehttp://nssdc.gsfc.nasa.gov/nmc/spacecraftDisplay.do?id=2005-044Ahttp://nssdc.gsfc.nasa.gov/nmc/spacecraftDisplay.do?id=2005-044Ahttp://nssdc.gsfc.nasa.gov/nmc/spacecraftDisplay.do?id=2005-044Ahttp://nssdc.gsfc.nasa.gov/nmc/spacecraftDisplay.do?id=2005-044Ahttp://nssdc.gsfc.nasa.gov/nmc/spacecraftDisplay.do?id=2005-044Ahttp://en.wikipedia.org/wiki/Europehttp://en.wikipedia.org/wiki/Horizonhttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Longitudehttp://en.wikipedia.org/wiki/Orbital_eccentricityhttp://en.wikipedia.org/wiki/Geosynchronous_orbit


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13 : EGNOS

(: http://en.wikipedia.org/wiki/EGNOS)

EGNOS , , , , .

23 : EGNOS

(:www.fig.net/pub/monthly_articles/february_2007/february_2007_venturatraveset_etal.htm )

1.6.5. EGNOS

EGNOS ( 24). :

Open Service- : . EGNOS. SBAS. 1 2009.

Safety-of-life Service- : EGNOS GPS .


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.

Commercial Service- : EGNOS EGNOS Data AccessService (EDAS), EGNOS EGNOS.

24 : EGNOS

(: http://www2.technion.ac.il/~liaison/open-calls/galileo_aplications_0209.ppt)

1.6.6. EGNOS

EGNOS GNSS. GPS, (integrity). , EGNOS GPS ( ) ( , ).

EGNOS, Galileo .
http://www.egnos-portal.eu/index.cfm?objectid=B73432D5-AC0C-11DE-AAA50013D3D65949http://www.egnos-portal.eu/index.cfm?objectid=B73432D5-AC0C-11DE-AAA50013D3D65949http://www.egnos-portal.eu/index.cfm?objectid=B73432D5-AC0C-11DE-AAA50013D3D65949http://www.egnos-portal.eu/index.cfm?objectid=B73432D5-AC0C-11DE-AAA50013D3D65949http://www.egnos-portal.eu/index.cfm?objectid=B73432D5-AC0C-11DE-AAA50013D3D65949


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1.6.7. EGNOS

EGNOS GPS/GNSS

:

GNSS ( )

GPS/GNSS ,

UTC (Universal Time Coordinated)

EGNOS Galileo . , EGNOS Galileo . , Galileo :

EGNOS 2004

EGNOS 2004. 2005( 25),

( 2) ( 99%) 2008.

25 : EGNOS

(:http://www.oosa.unvienna.org/pdf/icg/2008/expert/2-2.pdf)
http://www.oosa.unvienna.org/pdf/icg/2008/expert/2-2.pdfhttp://www.oosa.unvienna.org/pdf/icg/2008/expert/2-2.pdfhttp://www.oosa.unvienna.org/pdf/icg/2008/expert/2-2.pdf


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28 2005, , (European Satellite Services Provider), EGNOS.

2005 EGNOS , (Tour de France).

1.6.8. EGNOS

SBAS EGNOS

GPS WGS84. , EGNOS, EGNOS Network Time (ENT) EGNOS (ETRF). , EGNOS GPS , .
http://en.wikipedia.org/wiki/European_Satellite_Services_Providerhttp://en.wikipedia.org/wiki/European_Satellite_Services_Providerhttp://en.wikipedia.org/wiki/European_Satellite_Services_Providerhttp://en.wikipedia.org/wiki/Tour_de_Francehttp://en.wikipedia.org/wiki/Tour_de_Francehttp://en.wikipedia.org/wiki/Tour_de_Francehttp://en.wikipedia.org/wiki/European_Satellite_Services_Provider


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1.7. HEPOS

(HEPOS: HEllenic POsitioning System) GPS

. HEPOS . .

1.7.1. HEPOS

HEPOS 98 ()GPS, ()

. , 27 ( , , ( 26)). GPS , .. .

26 : HEPOS

(: http://www.hepos.gr)


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, . ,

. .

27 : HEPOS

(: http://www.psdatm.gr/psdatm/docs/magazine/ETHNIKO_KTHMATOLOGIO_191.pdf)


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1.7.2.

HEPOS :

(real-time) HEPOS . GPS . , . DGPS ( 0.5m), RTK ( cm).

(post-processing) HEPOS

. GPS HEPOS . . GPS ( (static), (rapid-static), (post-processed kinematic)).

HEPOS VRS,FKP MAC. , .

1.7.3. HEPOS

HEPOS .. . , . HEPOS :

..

HEPOS

, ,,, .


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, HEPOS , .

1.7.4.

HEPOS , :

,

.

1.7.5. HEPOS

. GPS . , . HEPOS.

;

GPS ( GNSS: GlobalNavigation Satellite Systems) ( ) (SB: Single -Base) .

:

RTK


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, VRS (post-processing)

. . .

HEPOS . VRS, FKP MAC. .

VRS

VRS (Virtual Reference Station ) () . VRS, . VRS, , .. , , ! , .

FKP

FKP (Flachen Korrekturparameter AreaCorrection Parameters) . .

MAC

MAC (Master Auxiliary Concept) (Corrections) (Master station) (Correction differences) (Auxiliary stations). MAC, . .


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2

GNSS. o ,

DOP, RDOP (Relative DOP), NSP UERE (User Equivalent Range Error) .

2.1. GNSS

GNSS ( 28):

( Accuracy ) (Availability ) (Integrity ) - (Continuity )

GNSS. (Hynek Mocek, 2008):

: , .

, 95% .

: GNSS .

: .

: .

28 : GNSS

(: Galileo as an instrument of unification of the European railway transport,Hynek Mocek, 2008)


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, : (DOP) UERE (User Equivalent Range Error) ( ).

. .

GNSS , (systematicerrors, biases) ( )

GNSS. (random errors), , (noise, white noise). GNSS :

2.1.1.

1. , GNSS, .

, GNSS .

2. , ( ) , ( 29). ,

. . , 2m. . . , ( ).

,


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. (Master ControlStations).

29 :

(: www.developerfusion.com/article/4652/writing-your-own-gps-applications-part-2/2/)

3. , , ,

. .

2.1.2.

1. , GNSS . , .

.

2. , . .

C/A , , 10-20

cm. 10 cm 1m ,


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GPS , 0.5-2 mm .

3. . (

) ( ) . . , 10 cm , .

4. . (,,).

30 :

(: http://www.malfreemaps.com/viewtopic.php?p=18796)

2.1.3.

1. , (


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L2. , .

2. , , 50 1000 km , . , . . , 1 m 100m

. .

3. (multipath), , , .. , .. ( 31). , , GNSS.

. . . ( ).

, ,

.

- , ., . GPS . ,

GPS,


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. , ( ) , .

31 :

4. , , , . , , . (derived observables) / .

2.2. DOP-RDOP

DOP . DOP , . RDOP (Relative DOP relative Dilution of Precision) (

).


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2.2.1. DOP (Dilution of Precision)

" ". , .

GPS " ", . GPS, GPS. , , , , , .

. . . DOP (Dilution of Precision) .

( 32) . ,

( DOP ).

32 :



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. , ,

. 1.5m ( GPS) . GDOP (Geometric Dilution of Precision) , .

. , 90 . 33. , () . , .

33 : (),()

(: http://www.kowoma.de/en/gps/errors.htm )


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,

(. 35).

, . , DOP, . :

dTcZZYYXX

dddddTdtc

rs

rs

rs

tropionosr

sr

222)()()(

)(Pr

s , r , c ,dt d , diono dtrop , d

, d , (s, s, s), (r, r, r) . dt . diono , d trop (, , )

. (c x d) - () - :

sr =2 2 2

( ) ( ) ( )s s s

r r rX X Y Y Z Z


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, ( ,, dt).

:

Prs s

r r

s

r r

X X

X

,

Prs s

r r

s

r r

Y Y

Y

,

Prs s

r r

s

r r

Z Z

ZY

Prs

r

r

cdt

:

DOP - , :

C = (A)-1

( (a) (b)):

.

CX DOP

( 14):


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14 : DOP

DOP

1

.

2-3 ,

4-6

. .

7-8

9-20 .

21-50 ,

15 : PDOP



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15 DOP . 2 8.

GDOP (Geometric Dilution of Precision). .

( 34) . , () GDOP. GDOP.

34 : () ,()


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35 : &

(: Dilution of Precision, Richard Langley, www.gpsworld.com)

, . ( 35). PDOP

V .

: PDOP=1/V

. , . , . ,

.

GPS , . , . .


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2.2.2. RDOP (Relative Dilution of Precision)

RDOP (Relative Dilution of Precision), DOP - C

.

. 36 1 1, B2 2 .

36 : GPS

(: C. Erikson, 1992)


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GPS. , ,

. , (< 10 km), , 36, .

:

212121

222222

212121

222222

)()()(

)()()(

)()()(

)()()(

rs

rs

rs

rs

rs

rs

rs

rs

rs

rs

rs

rs

ZZYYXX

ZZYYXX

ZZYYXX

ZZYYXX

s1 s2 1 2, rA rB , (s1, s1, s1), (s2, s2, s2), (r, r, r), (r, r, r) .

, ( (r, r, r) ).

:

1

1

2

2)()(

s

rB

rs

s

rB

rs

rA

XXXX

1

1

2

2)()(

srB

rs

srB

rs

rA

1

1

2

2)()(

srB

rs

srB

rs

rA


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DD( DD ) :

.. ... ... .

222

111

rArArA

rArArA

DDZY

ZY

A

- : C =(ADD

DD)-1

- DOP . ( fixedambiguities) RGDOP , RDOP. , ( ), -

. CX DOP :


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16 : DOP

(: C. Erikson, 1992)

( C. Park, I. Kim, 2000) , PDOP RPDOP

: . ,

244.1 , , (.. < 10 km).

, DOP - . , RDOP .

DOP RDOP

-. , GPS.


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2.3. UERE

, - ,

UERE (User Equivalent Range Error Budget).

UERE , ( , ), ( , ) (, ). , UERE.

UERE :

, [cm]

i , , , [cm].

17, UERE Galileo. Open Service E5a GSSF.

: , , , , ,

, . UERE . . 90 .


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17 : UERE

(: www.gssf.info/Documents/GSSFP2.OM.002 - Algorithms and Models)

37 1 , . 2 , .

37 :


( 38) GPS Galileo, UERE L1.


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38: UERE GPS Galileo

(: www.gssf.info/Documents/GSSFP2.OM.002 - Algorithms and Models)

, Galileo (L1) UERE GPS . . 1 m ( 50). UERE 4 m 8,5 m . , .. 90 .

GNSS (.. GPS Galileo) :

DOP UERE .(: Combining Galileo PRS andGPS M-Code, G. Hein, J. Rodriguez )


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2.4. NSP

(NSP: Navigation SystemPrecision) , , .

NSP . NSP UERE (T. Jordan, 2004).

NSP = UERE PDOP ( GDOP)

NSP , , , NSP (grid) . NSP ONSP (Overall NSP), TNSP (Time NSP), HNSP (Horizontal NSP)VNSP (Vertical NSP) , .

NSP, - C:

DOP.

W :

, PNSP (Position NSP), HNSP (Horizontal NSP), VNSP(Vertical NSP) TNSP (Time NSP) :


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, . W :

UERE ( 17).

2.5.

(Integrity) .

:

(Threshold value or alert limit): .

(Time-to-alarm): .

PHMI (Propability of HazardousMisleading Information) HAL (Horizontal Alert Limits) VAL(Vertical Alert Limits).

HAL ( ) , .

(default value) 12 m. .


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3-

3.1.

, GNSS. GNSS . , , , ,, , .

,

, .

, GSSF (Galileo System Simulation Facility) ESA, . Galileo .

GNSS, . Galileo GPS EGNOS,

. (, , ...)

.

.


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3.2. Galileo

. ,

25% . GPS, EGNOS, GALILEO , GNSS, GNSS (secondary GNSS applications), 2008 124 .

2020 3 , GNSS. , ., GNSS , , .. , (Pietka Urrutia, 2010).

Galileo , , , , . , . 50% , , GNSS

(location-based services). 2020 GNSS, .

, . 50 2020, , , GNSS, , (carjacking) .


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(Commission of the European Union, 2006) Galileo .

, Galileo , GNSS, : , , , , , , , , , , , ,

, , ..

, Galileo, , , :

: Galileo , ,

. ( .. , ..), .

: ,

(intelligent transportationsystems), , , .

: ,

. ERTMS/ETCS [


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(ERTMS, European RailTraffic Management System) (ETCS, European Train Control System)]. ,

GNSS . Galileo .

, , : , GNSS. Galileo , . .

, 2004/44/ , , , , (.. ).

: , . 2025. Galileo EGNOS Galileo , . (open sky policy).

, : ,, , . . , , .


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: Galileo. ,

.

: , . , . (E) 1/2005, , GNSS ,

(RFID, Radio Frequency Identification) , , .

, , :, 11 110 .

. . , GNSS , .

, : GNSS .

Galileo. .

: , .


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.

:, , , : GNSS . : , , , , , , , , , , , , .

(: (2006) -

)

, Galileo , , . Galileo , , ,

.

, Galileo .

3.3.

, , , , GNSS.

3.3.1.

. .

, GNSS , . ,

, ( 39).


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39 :

(: http://www.xblog.gr/ipad-gps-navigator/)

3.3.2.

. .

Galileo , , , . , Galileo .

40, . ( ), ( , ), .


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40 :

(:User Guide For EGNOS Application Developers, http://www.essp-sas.eu/docs/printed_documents/guide_egnos_2009_va_hd_bat3.pdf)

3.3.3.

Galileo .

. GPS

. , . .( 41)

41 :

(: ??????)


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, , .( 42)

42 :

(: ??????)

3.3.4.

GPS Galileo. ,

. .


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3.4.

, , . GNSS

. GPS ( 43).

43 : GPS

(: Next generation satellite navigation systems, Paul Kemppi )

, , GNSS , . , GNSS .

3.5.

GNSS : (, , , , -, ...) , , . (Morgan & Ess, 2003).


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, - , , . GNSS

, . , .

GPS . Galileo . GNSS ,

( 44).

44 : GNSS

(: Precision Agriculture: Methods and Applications, W. Lee)

AutoLevel GPS ( scraper), . 20 ,

( 45).


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45 : AutoLevel

(: AutoLevel, GPS Land Leveling System, The #1 Choice in Ag Leveling,AUTOFARM, 2004)

AutoLevel GPS RTK, AutoSteer AutoSpray, . 2,5 cm AutoLevel 10 km

. , . , , (46).

46 : -

(: J. Inman, The Latest in Land Leveling ,INTO GEAR, 2002)


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3.6.

, GNSS

. .

3.6.1.

GNSS.

. . , , 10 .

47 : GNSS

(: http://hawaiianatolls.org/research/June2006/painting_seafloor.php)


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. GNSS

( 47).

, , . . , ( )

. (Buoy GPS). (Marine Kongsberg Seapath).

, .

48 :


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105 229

49 . . 50 .

GPS (Buoy GPS).

49 :

(: Limpach, P., A. Geiger H.-G. Kahle (2006))

3.6.2. GNSS

GPS , ( 51). GPS . , .

. GNSS, GPS. ( cm) , , , .


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106 229

, , , ,

, , GNSS . GNSS , , , / , . ,

, , . , , ..

50 :

(: , A. (2010) Polyline ..(2010), http://www.polyline.gr)


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3.6.3.

GNSS (Mobile Mapping SystemsMMS). - (, , ,). . GNSS GPS. , ( )

, GIS , .

51 : 8 360

(: - , . , . , 2010)

8 , GPS ( 51). . Galileo, ,


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, (strapdowninertial systems) .

52 ( ) .

52 :

(: - , . , . , 2010)

. .

8 . 20 ( 10cm). , ( , ..) .(. , . , 2010)


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109 229

3.6.4.

(MotorizedLeveling), (Total Stations)

. 1980, , , , .

, : total station, , /, 4

. 3 ( ).

53 : ...

(: geod.nrcan.gc.ca)

...,

12 km ( 2km/h) 6 . , , 5min 150 200m. 1km .


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110 229

54 : ...

(: http://www.photolib.noaa.gov/htmls/geod1147.htm)

, , , mm/km, total stations . , (. , ., 2004).

, GPS/GNSS 2-5cm (Hartzheim Darin, 2003).

55 : ... (four-wheeled chariots)

Wisconsin, (: P. Hartzheim, Darin, Leveling with Four-Wheeled Chariots, 2003)


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3.7. GSSF

Galileo ESA

(availability), (continuity) (integrity). Galileo , 30 . Galileo GNSS . : 1) Galileo Mission Analysis Simulator (GMAS), , 2) Galileo Service Volume Simulator (GSVS),

, 3) Galileo Signal Validation Facility (GSVF), , , , 4) Galileo System Simulation Facility (GSSF), . ESA . GSSF.

Galileo System Simulation Facility (GSSF) ESA

Galileo. Galileo. ESA http://www.gssf.eu/default.htm.

56 : Galileo Simulation Facility, GSSF

(: http://www.gssf.info)
http://www.gssf.eu/default.htmhttp://www.gssf.eu/default.htmhttp://www.gssf.eu/default.htm


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GSSF Galileo GNSS, , ,

. Galileo (GPS EGNOS) , , :

(Space Segment): .

(User Segment):

, GSSF , . (.. ) .

(Ground Segment): .

(Environment): , (multipath) .

, , .


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57 :

(:http://www.gssf.info/GSSF%20subpage%20GSSF%20models.htm)

, . . , , .. .

, . GSSF, ( , 2008), .(GSSFP3.OM.003, GSSFP3.OM.002)

( ).

, ,, . .

, ,

., ,
http://www.gssf.info/GSSF%20subpage%20GSSF%20models.htmhttp://www.gssf.info/GSSF%20subpage%20GSSF%20models.htmhttp://www.gssf.info/GSSF%20subpage%20GSSF%20models.htm


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, . , / GNSS

(.. GPS EGNOS , GPS 3

, Galileo , ).

. , . . .

58 : GSSF

(: http://www.gssf.info/GSSF%20subpage%20GSSF%20models.htm)

:

(Visibility Analysis): . , .

(Extended Visibility Analysis):

. .


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(Depth of Coverage Analysis): . (Depth of Coverage (DOC) map).

(Inverse Coverage Analysis): . .

(Geometry Analysis): ( , , ) , , .

(Dilution of Precision Analysis):

(DOP) . , DOP . DOP: Time DOP (TDOP), PositionalDOP (PDOP), Geometric DOP (GDOP), Horizontal DOP (HDOP), Vertical DOP(VDOP).

(Navigation System PrecisionAnalysis): NSP, , . , NSP . NSP:Overall NSP (ONSP), Time NSP (TNSP), Horizontal NSP (HNSP), and Vertical NSP

(VNSP).

(Signal-In-Space MonitoringAccuracy Analysis): (accuracy of the integrity monitoring system), SISMA, .

SISMA.

(Integrity Analysis): , , , . . Propability ofHazardous Misleading Information (PHMI) Integrity Risk, SBAS (Space-Based Augmentation Systems),

Galileo. , .


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, GSSF :

.

3.8.

Galileo. GPS, Galileo EGNOS. .

(, .). .

3.8.1. 1

:

DOP GPS, Galileo, EGNOS , .

.

( ) (default) . (user definedconstellation) ( ). 27 Galileo, 3EGNOS 31 GPS (2011).


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. (User Grid), , .

18: 1

, 28/04/10 29/04/10 300 . (visibility) DOP (GDOP, PDOP, TDOP, HDOP, VDOP) ( , ). .

( 59-61) Galileo, GPS GPS, Galileo EGNOS. Galileo GPS. . GPS , , , Galileo 30 45 .


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59: Galileo

60: GPS


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61: GPS ,Galileo EGNOS

61 GPS, Galileo EGNOS EGNOS . 19. 21.

PDOP ( 62-65) HDOP ( 66, 67) . PDOP

GPS & Galileo GPS & Galileo & EGNOS 1,28 1,21 . HDOP 1,059 1,077 GPS 1,059 1,093 Galileo.


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62: PDOP GPS ,Galileo EGNOS

63: PDOP Galileo


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64 : PDOP Galileo,EGNOS

65 : PDOP GPS, Galileo


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66 : HDOP Galileo

67 : HDOP GPS


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. (

) ( ).

Visibility

GPS 8.9 (6-12) 8.6 (6-12) 8.6 (6-12)

GPS + EGNOS 11.9 (9-15) 11.6 (9-15) 11.6 (9-15)

GPS + GIOVE 9.6 (6-13) 9.3 (6-13) 9.4 (6-13)

GPS + EGNOS + GIOVE 12.6 (9,10-16) 12.3 (9-15) 12.4 (9-16)

GPS + GALILEO 17.4 (13-22) 16.4 (13-20) 16.4 (13-20)GALILEO 8.4 (6-11) 7.8(6-11) 7.8(6-11)

GALILEO + EGNOS 11.0 (9-13) 10.9 (9-14) 10.8(9-14)

GPS + GALILEO + EGNOS 19.8 (16-24) 19.5(16-23) 19.5(16-23)

GDOP

GPS 2.2 (1.4-5.8) 2.3 (1.5-4) 2.3 (1.5-4.5)

GPS + EGNOS 1.9 (1.3-2.8) 2.0 (1.4-3.4) 2.0 (1.4-3.4)

GPS + GIOVE 2.0 (1.4-3.9) 2.1 (1.4-4.0) 2.1 (1.4-4.5)

GPS + EGNOS + GIOVE 1.7 (1.3-2.9) 1.9 (1.3-3.0) 1.9 (1.4-3.2)

GPS + GALILEO 1.4 (1.0-2.1) 1.4 (1.1-2.2) 1.5 (1.1-2.0)

GALILEO 2.1 (1.6-3.4) 2.3 (1.6-3.5) 2.3 (1.6-3.5)

GALILEO + EGNOS 1.8 (1.4-3.0) 2.0 (1.5-3.1) 2.0 (1.5-3.1)

GPS + GALILEO + EGNOS 1.3 (1.0-1.7) 1.4 (1.1-1.9) 1.4 (1.2-1.9)

19 : 1

, ( 68, 69) . . DOP. GDOP ( 0,1 0,2) . . , ( 20

GDOP 1,4).


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68 : ,

69 : GDOP ,


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3.8.2. 2

:

. .

28/04/10 . UERE L1( ).

20 : 2o

21 , :

- 5hr 45min 10 sec 10 sec

/- 15hr 15min 45sec 15sec

- 8hr 33min 15sec

- 9hr 20 min 30 sec 15sec

/- 5hr 4min 30sec 15sec

21 :

, GSSF ( ):


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126 229

70 : /- Galileo

71 : /- Galileo


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127 229

72 : DOP - GPS

73 : GDOP - GPS


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74 : NSP - GPS EGNOS

75 : NSP - GPS EGNOS


131/231


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130 229

78 : NSP /- Galileo EGNOS

79 : HNSP /- Galileo EGNOS


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.

. 80 83:

80 : - GPS GIOVE

81 : DOP - GPS GIOVE


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132 229

82 : NSP - GPS GIOVE

83 : - GPS GIOVE


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, ( 22-24) :

Visibility

/- -

GPS 9.7 (7-12) 8.9(7-11)

GPS + EGNOS 12.7(10-15) 11.9(10-14)GPS + GIOVE 10.5(8-13) 9.6(7-12)

GPS + EGNOS + GIOVE 13.5(11-16) 12.6(10-15)

GPS + GALILEO 16.9(15-20) 16.7(13-20)

GALILEO 7.2(6-10) 7.8(6-10)

GALILEO + EGNOS 10.2(9-13) 10.8(9-13)

GPS + GALILEO + EGNOS 19.9(18-23) 19.7(16-23)

GDOP

/- -

GPS 2.07(1.45-4.0) 2.26(1.46-3.68)

GPS + EGNOS 1.86(1.38-3.14) 2.04(1.4-3.11)

GPS + GIOVE 1.95(1.4-3.8) 2.09(1.46-2.98)

GPS + EGNOS + GIOVE 1.77(1.33-2.57) 1.92(1.4-2.55)

GPS + GALILEO 1.44(1.1-1.89) 1.49(1.13-2.06)

GALILEO 2.43(1.62-3.49) 2.34(1.72-3.47)

GALILEO + EGNOS 2.13(1.53-3.13) 2.12(1.6-3.2)

GPS + GALILEO + EGNOS 1.38(1.07-1.79) 1.42(1.1-1.89)

ONSP

[m]

/- -

GPS 28.34(22.2-47.7) 30.83(22.11-45.13)

GPS + EGNOS 6.33(5.42-8.89) 6.87(5.38-8.91)

GPS + GIOVE 25.1(20.12-41.85) 26.77(20.93-37.08)

GPS + EGNOS + GIOVE 7.26(6.19-8.92) 7.81(6.46-10.06)

GPS + GALILEO 18.92(16.09-22.85) 19.57(16.46-24.08)

GALILEO 28.59(22.80-35.08) 28.52(24.32-35.08)

GALILEO + EGNOS 7.13(6.01-8.75) 7.24(6.46-8.67)


Integrity

/- -

GPS 0.059(0.0052-0.31) 0.062(0.0063-0.19)

GPS + EGNOS 2E-17(7E-41-3E-16) 1E-17(2E-38 - 1E-15)

GPS + GIOVE 0.026(0.0022-0.2) 0.027(0.0033-0.14)GPS + EGNOS + GIOVE 6E-14(1E-34-1E-12) 1E-14(5E-32 - 5E-13)

GPS + GALILEO 0.00064(4E-5-0.0023) 0.00042(0.00004-0.0026)

GALILEO 0.024(0.0059-0.065) 0.017(0.0051-0.051)

GALILEO + EGNOS 6E-17(6E-32 - 7E-15) 4E-17(6E-35 - 5E-15)

GPS + GALILEO + EGNOS 6E-28(5E-44 - 4E-26) 1E-27(2E-44 - 1E-25)

22 : -,


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Visibility

- -

GPS 9.4(7-11) 8.8(7-11)

GPS + EGNOS 12.4(10-14) 11.8(10-14)

GPS + GIOVE 10.1(8-12) 9.5(7-12)

GPS + EGNOS + GIOVE 13.1(11-15) 12.5(10-15)

GPS + GALILEO 16.8(15-20) 16.5(13-20)

GALILEO 7.4(6-10) 7.7(6-10)

GALILEO + EGNOS 10.4(9-13) 10.7(9-13)


GDOP

- -

GPS 2.17(1.46-3.68) 2.26(1.46-3.68)

GPS + EGNOS 1.98(1.41-3.12) 2.04(1.41-3.11)

GPS + GIOVE 2.02(1.46-2.97) 2.11(1.46-2.98)GPS + EGNOS + GIOVE 1.85(1.41-2.56) 1.92(1.41-2.56)

GPS + GALILEO 1.47(1.17-1.93) 1.49(1.19-2.06)

GALILEO 2.4(1.67-3.47) 2.38(1.73-3.47)

GALILEO + EGNOS 2.14(1.57-3.19) 2.15(1.64-3.19)


ONSP[m]

- -

GPS 29.48(22.11-43.41) 30.82(22.11-45.28)

GPS + EGNOS 6.63(5.38-8.85) 6.85(5.38-8.91)

GPS + GIOVE 25.68(20.93-32.66) 26.92(20.93-37.22)

GPS + EGNOS + GIOVE 7.49(6.46-8.93) 7.82(6.46-10.06)GPS + GALILEO 19.22(16.72-23.11) 19.65(16.72-24.07)

GALILEO 28.6(23.29-34.73) 28.79(24.5-35.1)

GALILEO + EGNOS 7.19(6.12-8.69) 7.29(6.5-8.8)


Integrity

- -

GPS 0.054(0.0073-0.12) 0.065(0.0073-0.195)

GPS + EGNOS 5E-18(1E-38 - 2E-15) 2E-17(1E-38 - 1E-15)

GPS + GIOVE 0.022(0.084-0.0036) 0.03(0.0035-0.14)

GPS + EGNOS + GIOVE 1E-15(8E-31 - 2E-14) 1E-14(2E-31 - 5E-13)

GPS + GALILEO 0.00041(0.00005-0.0025) 0.00049(3E-5-0.0027)

GALILEO 0.02(0.0047-0.051) 0.018(0.0042-0.05)

GALILEO + EGNOS 3E-17(6E-34 - 2E-15) 2E-17(3E-35 - 2E-15)

GPS + GALILEO + EGNOS 7E-30(3E-41 - 5E-28) 2E-27(7E-43 - 1E-25)

23 : -, -


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135 229

Visibility

/-

GPS 8.4(6-11)

GPS + EGNOS 11.4(9-14)

GPS + GIOVE 9.1(6-12)

GPS + EGNOS + GIOVE 12.1(9-15)

GPS + GALILEO 16.2(13-20)

GALILEO 7.8(6-10)

GALILEO + EGNOS 10.8(9-13)

GPS + GALILEO + EGNOS 19.2(16-23)

GDOP

/-

GPS 2.35(1.46-4.65)

GPS + EGNOS 2.07(1.4-3.12)

GPS + GIOVE 2.18(1.46-4.65)GPS + EGNOS + GIOVE 1.94(1.4-3.11)

GPS + GALILEO 1.49(1.1-2.05)

GALILEO 2.35(1.61-3.49)

GALILEO + EGNOS 2.09(1.52-3.17)

GPS + GALILEO + EGNOS 1.42(1.07-1.89)

ONSP[m]

/-

GPS 31.87(22.16-54.67)

GPS + EGNOS 7.02(5.41-9.41)

GPS + GIOVE 27.81(21.02-49.77)

GPS + EGNOS + GIOVE 7.98(6.42-11.3)GPS + GALILEO 19.64(16.01-23.97)

GALILEO 28.34(22.67-35.2)

GALILEO + EGNOS 7.11(5.98-8.8)

GPS + GALILEO + EGNOS 5.97(4.99-7.09)

Integrity

/-

GPS 0.075(0.005-0.25)

GPS + EGNOS 3E-15(1E-13 - 6E-37)

GPS + GIOVE 0.037(0.002-0.18)

GPS + EGNOS + GIOVE 1.5E-13(6E-31 - 3E-11)

GPS + GALILEO 0.00065(5E-5 - 0.0028)

GALILEO 0.019(0.0054-0.063)

GALILEO + EGNOS 2E-17(9E-34 - 4E-15)

GPS + GALILEO + EGNOS 1E-27(1E-42 - 1E-25)

24 : -


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, ( 84-87):

84 :

85 : GDOP


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86 : ONSP

87 :

GPS Galileo 6-11 1,4-3,4 ( ) 22-40 m 6% GPS 2% Galileo. ONSP EGNOS ( 8m ) . 16-23

, 1,4, 6m .


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3.8.3. 3

:

. . 28/04/10, UERE

L1. .

25 : 3

26

:

20hr 1min 30sec 15sec

- 18hr 45min 900sec

26 :

88 89 ONSP Galileo :


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88 : ONSP Galileo

89 : ONSP - Galileo


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( 27) ( 90-93):

Visibility

-

GPS 8.5(6-11) 8.4(6-11)GPS + EGNOS 11.5(9-14) 11.4(9-14)

GPS + GIOVE 9.2(6-12) 9.1(6-12)

GPS + EGNOS + GIOVE 12.2(9-15) 12.1(9-15)

GPS + GALILEO 16.2(13-19) 16.1(13-18)

GALILEO 7.7(6-11) 7.7(6-10)

GALILEO + EGNOS 10.7(9-14) 10.7(9-13)


GDOP

-

GPS 2.33(1.45-4.66) 2.36(1.55-4.55)

GPS + EGNOS 2.04(1.4-3.76) 2.08(1.47-3.56)

GP