Bernhard Hofnlann-Wellenhof Herbert Lichtenegger Elmar Wasle. GNSS - Global Navigation Satellite Systenls. GPS, GLONASS, Galileo, and nl0re
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1 Bernhard Hofnlann-Wellenhof Herbert Lichtenegger Elmar Wasle GNSS - Global Navigation Satellite Systenls GPS, GLONASS, Galileo, and nl0re SpringerWienNewYork
2 Contents Abbreviations xxi 1 Introduction The origins of surveying Development of global surveying techniques Optical global triangulation Electromagnetic global trilateration Satellite-based positioning Positioning and navigating with satellites Position determination Velocity determination Attitude determination Terminology Reference systems Introduction Coordinate systems Definitions Transformation between celestial and terrestrial frames Transformation between terrestrial frames Time systems Definitions Conversions Calendar Satellite orbits Introduction Orbit description Keplerian motion Perturbed motion Disturbing accelerations Orbit determination Keplerian orbit Perturbed orbit Orbit dissemination Tracking networks 47
3 xiv Contents Ephemerides 4 Satellite signals 4.1 Introduction Physical fundamentals Propagation effects Frequency standards. 4.2 Generic signal structure Signal design parameter Carrier frequency Ranging code layer Data-link layer Satellite multiplexing. 4.3 Generic signal processing Receiver design Radio frequency front-end Digital signal processor Navigation processor 5 Observables 5.1 Data acquisition Code pseudoranges Phase pseudoranges Doppler data Biases and noise Data combinations Linear phase pseudorange combinations Code pseudorange smoothing 5.3 Atmospheric effects Phase and group velocity Ionospheric refraction Tropospheric refraction Atmospheric monitoring 5.4 Relativistic effects Special relativity General relativity Relevant relativistic effects for GNSS 5.5 Antenna phase center offset and variation General remarks Relative antenna calibration Absolute antenna calibration I 1J J
4 Contents xv Numerical investigation Muitipath General remarks Mathematical model Multipath reduction Mathematical models for positioning Point positioning Point positioning with code ranges Point positioning with carrier phases Point positioning with Doppler data Precise point positioning Differential positioning Basic concept DGNSS with code ranges DGNSS wi th phase ranges Local-area DGNSS Relative positioning Basic concept Phase differences Corre1ations of the phase combinations Static relative positioning Kinematic relative positioning Pseudokinematic relative positioning Virtual reference stations Data processing Data preprocessing Data handling CycJe slip detection and repair Ambiguity resolution General aspects Basic approaches Search techniques Ambiguity validation Adjustment, filtering, and quality measures Theoretical considerations Linearization of mathematicaj models Network adjustment Dilution of precision Quality parameters. 266
5 XVI Contents Accuracy measures Data transformation l Introduction Coordinate transformations Cartesian coordinates and eljipsoidal coordinates Global coordinates and local-ievel coordinates Ellipsoidal coordinates and plane coordinates Height transformation Datum transformations Three-dimensional transformation Two-dimensional transformation One-dimensional transformation Combining GNSS and terrestrial data Common coordinate system Representation of measurement quantities GPS Introduction Historical review Project phases Management and operation Reference systems Coordinate system Time system GPS services Standard positioning service Precise positioning service Denial of accuracy and access GPS segments I Space segment Control segment Signal structure I Carrier frequencies PRN codes and modulation Navigation messages Outlook Modemization GPS III 340
6 Contents xvii 10 GLONASS Introduction Historical review Project phases Management and operation Reference systems Coordinate system Time system GLONASS services Standard positioning service Precise positioning service GLONASS segments Space segment Control segment Signal structure Carrier frequencies PRN codes and modulation Navigation messages Outlook Galileo Introduction Historical review Project phases Management and operation Reference systems Coordinate system Time system Galileo services Open service Commercial service Safety-of-life service Public regulated service Search and rescue service Galileo segments Space segment Ground segment Signal structure Carrier frequencies PRN codes and modulation Navigation messages
7 XVllJ Contents 11.6 Outlook More on GNSS Global systems Comparison of GPS, GLONASS, and Galileo Beidou-2jCompass Other global systems Regional systems Beidou QZSS Other regional systems Differential systems Principles. 4] Differential correction domains Examples of differential systems Augmentation systems Space-based augmentation systems Ground-based augmentation systems Assistance systems Outlook Applications Products of GNSS measurements Satellitecoordinates Position determination Velocity determination Attitude determination 44] Time transfer Other products Data transfer and formats RTCM format RINEX format NMEA format System integration GNSS and inertial navigation systems Radionavigation plans User segment Receiver features Control networks Information services Selected applications
8 Contents XIX J Navigation Surveying and mapping Scientific applications Conclusion and outlook 467 References Subject index
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