אלגוריתמי ניווט ושיערוך מיקום הרצאה 3: GNSS מרצים: פרופסור בועז בן משה רועי יוזביץ
History: 4, October, 1957
Triangulation vs Triatulation
“It’s worse than a crime. It’s a mistake” [Joseph Fouche]
TOA
DOP
Sphere Intersection (2 solutions…)
השיטה של בועז
PseudoRange Equations השיטה הנכונה PseudoRange Equations
Taylor Series 65 =? 1685-1731
Selective Availability
In Depth look
C/A Code
FFT Search Space
Multipath Phenomena
Urban Canyons multipath
Map Matching/ Dead Reckoning
The Receiver worked “good”
Cordinate Systems: ECEF Lattitude/Longtitude Universal Transverse Mercator (UTM)
ECEF (WGS-84)
Lat/Lon
Intermezzo 1693-1776
UTM
GNSS Velocity Computation Satellite Doppler Shift:
𝑣 𝑑 = 𝑣 𝑠 ∙𝑠𝑖𝑛𝛽;
GNSS Protocols: NMEA (Textual) Binary (Sirf, Rinex) Propriety NMEA (ST-Micro) Android API (LAT/LON, COG/SOG)
Other Kinds Of GNSS A-GPS (Cellular) D-DGPS Real Time Kinematics (RTK)
D-GPS (what is ppm?) 1 ppm – 1cm of accuracy for every 10km distance from the base-station.