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authorRefik Hadzialic2012-06-28 17:57:10 +0200
committerRefik Hadzialic2012-06-28 17:57:10 +0200
commit14558267799bb552e496a37040ccbd4f00eaa518 (patch)
treec487c10afc0e77065f2467c9471f97636486b345
parentGPS Ranging write (diff)
downloadmalign-14558267799bb552e496a37040ccbd4f00eaa518.tar.gz
malign-14558267799bb552e496a37040ccbd4f00eaa518.tar.xz
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Writing GPS position estimation
-rw-r--r--vorlagen/thesis/maindoc.pdfbin4688247 -> 4722101 bytes
-rw-r--r--vorlagen/thesis/src/bib/literatur.bib10
-rw-r--r--vorlagen/thesis/src/img/Localization.pdfbin0 -> 7190 bytes
-rw-r--r--vorlagen/thesis/src/img/Localization.svg277
-rw-r--r--vorlagen/thesis/src/img/TimingLoc.pdfbin0 -> 9814 bytes
-rw-r--r--vorlagen/thesis/src/img/TimingLoc.svg332
-rw-r--r--vorlagen/thesis/src/img/TimingLoc1.svg333
-rw-r--r--vorlagen/thesis/src/kapitel_x.tex83
8 files changed, 1032 insertions, 3 deletions
diff --git a/vorlagen/thesis/maindoc.pdf b/vorlagen/thesis/maindoc.pdf
index f60c574..8c569bf 100644
--- a/vorlagen/thesis/maindoc.pdf
+++ b/vorlagen/thesis/maindoc.pdf
Binary files differ
diff --git a/vorlagen/thesis/src/bib/literatur.bib b/vorlagen/thesis/src/bib/literatur.bib
index 2488135..1b3004d 100644
--- a/vorlagen/thesis/src/bib/literatur.bib
+++ b/vorlagen/thesis/src/bib/literatur.bib
@@ -301,4 +301,12 @@ number={},
pages={ 77 - 84},
keywords={ GPS positioning recovery; GPS time recovery; LS iterations; SV orbit positions; navigation message decoding; network aided iterated LS method; network aided iterated least squares method; positioning; receiver tracking side measurements; satellite position variable; satellite pseudorange estimates; satellite transmission time estimates; satellite vehicle navigation message; time-of-week information; Global Positioning System; distance measurement; iterative methods; least squares approximations; parameter estimation; radio receivers;},
doi={10.1109/PLANS.2002.998892},
-ISSN={},} \ No newline at end of file
+ISSN={},}
+
+@MISC{earthCoordinates,
+ author = {James R. Clynch},
+ title = {{Earth Coordinates}},
+ howpublished = {\url{http://www.gmat.unsw.edu.au/snap/gps/clynch_pdfs/coorddef.pdf}},
+ year = {2006},
+ note = {[Online; accessed 27-June-2012]}
+} \ No newline at end of file
diff --git a/vorlagen/thesis/src/img/Localization.pdf b/vorlagen/thesis/src/img/Localization.pdf
new file mode 100644
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diff --git a/vorlagen/thesis/src/kapitel_x.tex b/vorlagen/thesis/src/kapitel_x.tex
index 7d5b479..9acca55 100644
--- a/vorlagen/thesis/src/kapitel_x.tex
+++ b/vorlagen/thesis/src/kapitel_x.tex
@@ -50,6 +50,7 @@ S(t) = \sqrt{\frac{P}{2}}d_{C/A}cos(2\pi f_{c}+\varphi_{SV}) + n(t)
\section{GPS signal demodulation}
+\label{sec:SigDemod}
The GPS satellites\footnote{Satellites are named as space vehicles
and the abrevation SV is used in the equation notations
to denote a parameter related to the satellite itself.}
@@ -515,13 +516,89 @@ the search first is known as well \citep[Chapter 3]{diggelen2009a-gps}.
In the same way works the hot start, only the time is precisely
known in accuracy of submilliseconds.
+
\section{Distance and position estimation}
This section will focus on examining the distance and position estimation inside of the GPS system.
GPS system, as mentioned earlier, takes advantage of the time of arrival (TOA) ranging concept
to determine user position. Time is measured how long it takes for a signal to arrive from a
known location. Satellite locations can be estimated using the ephemeris data and the exact time.
-
-
+\begin{figure}[ht!]
+ \centering
+ \includegraphics[scale=0.60]{img/Localization.pdf}
+ \caption[]{}
+\label{img:SatLocalization}
+\end{figure}
+In figure \ref{img:SatLocalization} an example concept can be seen where $\vec{u}=(x_u,y_u,z_u)$ represents the
+GPS user position vector with respect to Earth-Centered, Earth-Fixed\footnote{ECEF is a Cartesian coordinate system
+where the point $(0,0,0)$ is defined as the center of mass of the Earth \citep{earthCoordinates}.}
+(ECEF) coordinate system, $\vec{r}$ is the offset vector from the satellite to the user and $\vec{s}=(x_s,y_s,z_s)$
+represents the GPS satellite position with respect to ECEF. Vector $\vec{s}$ is computed from ephemeris data broadcasted
+by the satellite. Vector $\vec{r}$, satellite to user vector, can be computed using equation \eqref{eq:r} and its magnitude is
+given in equation \eqref{eq:rMag}.
+\begin{equation}
+\label{eq:r}
+\vec{r}=\vec{s}-\vec{u}
+\end{equation}
+\begin{equation}
+\label{eq:rMag}
+r=\Vert s-u\Vert
+\end{equation}
+Geometric distance $r$ is computed by measuring the signal propagation time, this is illustrated in figure \ref{img:TimingLoc}
+and explained in section \ref{sec:CAdemod}. The PRN code generated on the GPS satellite
+at time $t_1$ arrives at the time $t_2$, the difference between these two time stamps, $\Delta t$, represents the
+propagation time. By multiplying the propagation time, $\Delta t$, with the speed of light, $c$, the
+geometric distance $r$ is computed, as given in equation \eqref{eq:rDist}.
+\begin{figure}[ht!]
+ \centering
+ \includegraphics[scale=0.80]{img/TimingLoc.pdf}
+ \caption[]{Estimating the distance by phase shift $\Delta t =t_2 - t_1 =\tau$}
+\label{img:TimingLoc}
+\end{figure}
+\begin{equation}
+\label{eq:rDist}
+r=c\Delta t
+\end{equation}
+Since the clocks are not synchronized,
+as described in sections \ref{sec:SigDemod} and \ref{sec:2dSearch},
+clock error offsets have to be added to
+the geometric distance $r$. This new distance is called pseudorange, $\rho$, because the range is
+determined using the difference of two nonsynchronized clocks (one on the GPS satellite and
+the other one on the receiver). Pseudorange is calculated as given in equation \eqref{eq:rho}, where
+$t_{u}$ is the advance of the receiver clock with respect to the system time and $\delta t$ is the offset of the
+satellite clock from the system time \citep{understandGPS}.
+\begin{equation}
+\label{eq:rho}
+\rho=r + c(t_{u}-\delta t)
+\end{equation}
+Therefore equation \eqref{eq:rMag} can be rewritten as \eqref{eq:rhoR} with respect to equation \eqref{eq:rho}.
+\begin{equation}
+\label{eq:rhoR}
+\rho - c(t_{u}-\delta t) = \Vert s-u\Vert
+\end{equation}
+Offset of the satellite clock from the system time, $\delta t$, is updated from Earth, as mentioned in \ref{sec:SigDemod}
+and for that reason it can be removed (i.e. it is not an unknown term anymore),
+the eqaution \eqref{eq:rhoR} can be rewritten as \eqref{eq:rhoNew}.
+\begin{equation}
+\label{eq:rhoNew}
+\rho - ct_{u} = \Vert s-u\Vert
+\end{equation}
+In order to estimate the user (GPS receiver) position,
+advance of the receiver clock with respect to the system time , $t_u$, has to be found, i.e. equation \eqref{eq:rhoSats}
+has to be solved, where $i$ is the index of visible satellites at the moment of signal reception \citep{understandGPS}.
+\begin{equation}
+\label{eq:rhoSats}
+\rho_i= \Vert s_i-u\Vert + ct_u
+\end{equation}
+The estimated position of the user, $\vec{u}=(x_u,y_u,z_u)$, is a three dimensional vector and as mentioned
+earlier the offset, $t_u$ is also an unknown term, then it is required to have at least four equations \eqref{eq:rhoSats}
+to find all the four unknown terms. As a result of this fact, at least four satellites have to be visible at
+the same time to estimate the position of the target user. Equation given in \eqref{eq:rhoSats} takes the form given in
+\eqref{eq:rhoSatsNew} because the coordinate system is Cartesian and $\rho_i$ is nothing else but Euclidean distance
+where $i=1,2,...,n$ such that $n\geq4$ and $\vec{s_i}=(x_i,y_i,z_i)$ is the satellite position estimated from the ephemeris data.
+\begin{equation}
+\label{eq:rhoSatsNew}
+\rho_i= \sqrt{(x_i-x_u)^2+(y_i-y_u)^2+(z_i-z_u)^2} + ct_u
+\end{equation}
\section{Assisted GPS in Wireless networks}
\label{sec:agps}
In the following paragraphs Assisted GPS (A-GPS) will be presented and how it works.
@@ -764,6 +841,8 @@ than 100 m \citep{installnanoBTS}.
\label{img:connectionDiagram}
\end{figure}
+\chapter{Testing}
+Test if it can be tricked out by the software Dennis mentioned (protect my privacy)!
\chapter{Implementation}
\chapter{Future work}