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E-raamat: Fundamentals of Global Positioning System Receivers: A Software Approach

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This book presents detailed information on the global positioning system (GPS) coarse/acquisition (C/A) code receiver, with an emphasis on applications. Software programs are provided to help readers understand some of the concepts, and various techniques for performing acquisition and tracking on GPS signals are included. The book is written for engineers and scientists studying operation principles of GPS receivers, and for students at the senior undergraduate and graduate level. This second edition contains new material on the processing of weak signals, using almanac data to simplify signal acquisition, and using GPS signals reflected from the ground as an altimeter. The author is an electronics engineer at the Air Force Research Laboratory. Annotation ©2004 Book News, Inc., Portland, OR (booknews.com)

All the expert guidance you need to understand, build, and operate GPS receivers

The Second Edition of this acclaimed publication enables readers to understand and apply the complex operation principles of global positioning system (GPS) receivers. Although GPS receivers are widely used in everyday life to aid in positioning and navigation, this is the only text that is devoted to complete coverage of their operation principles. The author, one of the foremost authorities in the GPS field, presents the material from a software receiver viewpoint, an approach that helps readers better understand operation and that reflects the forecasted integration of GPS receivers into such everyday devices as cellular telephones. Concentrating on civilian C/A code, the book provides the tools and information needed to understand and exploit all aspects of receiver technology as well as relevant navigation schemes:
* Overview of GPS basics and the constellation of satellites that comprise the GPS system
* Detailed examination of GPS signal structure, acquisition, and tracking
* Step-by-step presentation of the mathematical formulas for calculating a user's position
* Demonstration of the use of computer programs to run key equations
* Instructions for developing hardware to collect digitized data for a software GPS receiver
* Complete chapter demonstrating a GPS receiver following a signal flow to determine a user's position

The Second Edition of this highly acclaimed text has been greatly expanded, including three new chapters:
* Acquisition of weak signals
* Tracking of weak signals
* GPS receiver related subjects

Following the author's expert guidance and easy-to-follow style, engineers and scientists learn all that is needed to understand, build, and operate GPS receivers. The book's logical flow from basic concepts to applications makes it an excellent textbook for upper-level undergraduate and graduate students in electrical engineering, wireless communications, and computer science.

Arvustused

"Recommended for libraries serving graduate engineering programs or specialists." (E-STREAMS, May 2005)

Preface xiii
Preface to the First Edition xv
Introduction
1(6)
Introduction
1(1)
History of GPS Development
1(1)
A Basic GPS Receiver
2(1)
Approaches of Presentation
3(1)
Software Approach
3(1)
Potential Advantages of the Software Approach
4(1)
Organization of the Book
5(2)
References
5(2)
Basic GPS Concept
7(23)
Introduction
7(1)
GPS Performance Requirements
7(1)
Basic GPS Concept
8(2)
Basic Equations for Finding User Position
10(1)
Measurement of Pseudorange
11(1)
Solution of User Position from Pseudoranges
12(1)
Position Solution with more than Four Satellites
13(2)
User Position in Spherical Coordinate System
15(1)
Earth Geometry
16(1)
Basic Relationships in an Ellipse
17(2)
Calculation of Altitude
19(1)
Calculation of Geodetic Latitude
20(2)
Calculation of a Point on the Surface of the Earth
22(1)
Satellite Selection
23(1)
Dilution of Precision
24(3)
Summary
27(3)
References
27(3)
Satellite Constellation
30(21)
Introduction
30(1)
Control Segment of the GPS System
31(1)
Satellite Constellation
31(2)
Maximum Differential Power Level from Different Satellites
33(1)
Sidereal Day
33(1)
Doppler Frequency Shift
34(4)
Average Rate of Change of the Doppler Frequency
38(1)
Maximum Rate of Change of the Doppler Frequency
39(1)
Rate of Change of the Doppler Frequency Due to User Acceleration
40(1)
Kepler's Laws
40(2)
Kepler's Equation
42(2)
True and Mean Anomaly
44(2)
Signal Strength at User Location
46(2)
Summary
48(3)
References
49(2)
Earth-Centered, Earth-Fixed Coordinate System
51(17)
Introduction
51(1)
Direction Cosine Matrix
52(2)
Satellite Orbit Frame to Equator Frame Transform
54(2)
Vernal Equinox
56(2)
Earth Rotation
58(1)
Overall Transform from Orbit Frame to Earth-Centered, Earth-Fixed Frame
59(1)
Perturbations
60(2)
Correction of GPS System Time at Time of Transmission
62(1)
Calculation of Satellite Position
63(2)
Coordinate Adjustment for Satellites
65(1)
Ephemeris Data
66(1)
Summary
67(1)
References
67(1)
GPS C/A Code Signal Structure
68(37)
Introduction
68(1)
Transmitting Frequency
69(2)
Code Division-Multiple Access (CDMA) Signals
71(1)
P Code
71(1)
C/A Code and Data Format
72(1)
Generation of C/A Code
73(5)
Correlation Properties of C/A Code
78(1)
Navigation Data Bits
79(1)
Telemetry (TLM) and Hand Over Word (HOW)
80(1)
GPS Time and the Satellite Z Count
81(1)
Parity Check Algorithm
82(6)
Navigation Data from Subframe 1
88(2)
Navigation Data from Subframes 2 and 3
90(2)
Navigation Data from Subframes 4 and 5--Support Data
92(5)
Ionospheric Model
97(2)
Tropospheric Model
99(1)
Selectivity Availability (SA) and Typical Position Errors
100(1)
Summary
100(5)
References
101(4)
Receiver Hardware Considerations
105(24)
Introduction
105(1)
Antenna
106(1)
Amplification Consideration
107(3)
Two Possible Arrangements of Digitization by Frequency Plans
110(1)
First Component After the Antenna
111(1)
Selecting Sampling Frequency as a Function of the C/A Code Chip Rate
111(2)
Sampling Frequency and Band Aliasing for Real Data Collection
113(2)
Down-Converted RF Front End for Real Data Collection
115(1)
Direct Digitization for Real Data Collection
116(2)
In-Phase (I) and Quadrant-Phase (Q) Down Conversion
118(2)
Aliasing Two or More Input Bands into a Baseband
120(2)
Quantization Levels
122(1)
Hilbert Transform
122(2)
Change from Complex to Real Data
124(1)
Effect of Sampling Frequency Accuracy
125(1)
Summary
126(3)
References
127(2)
Acquisition of GPS C/A Code Signals
129(31)
Introduction
129(1)
Acquisition Methodology
130(1)
Maximum Data Length for Acquisition
131(1)
Frequency Steps in Acquisition
132(1)
C/A Code Multiplication and Fast Fourier Transform (FFT)
133(1)
Time Domain Correlation
134(2)
Circular Convolution and Circular Correlation
136(2)
Acquisition by Circular Correlation
138(2)
Modified Acquisition by Circular Correlation
140(1)
Delay and Multiply Approach
141(3)
Noncoherent Integration
144(1)
Coherent Processing of a Long Record of Data
144(2)
Basic Concept of Fine Frequency Estimation
146(1)
Resolving Ambiguity in Fine Frequency Measurements
147(4)
An Example of Acquisition
151(4)
Summary
155(5)
References
155(5)
Tracking GPS Signals
160(26)
Introduction
160(1)
Basic Phase-Locked Loops
161(2)
First-Order Phase-Locked Loop
163(1)
Second-Order Phase-Locked Loop
164(1)
Transform from Continuous to Discrete Systems
165(2)
Carrier and Code Tracking
167(2)
Using the Phase-Locked Loop to Track GPS Signals
169(1)
Carrier Frequency Update for the Block Adjustment of Synchronizing Signal (BASS) Approach
170(1)
Discontinuity in Kernel Function
171(3)
Accuracy of the Beginning of C/A Code Measurement
174(2)
Fine Time Resolution Through Ideal Correlation Outputs
176(3)
Fine Time Resolution Through Curve Fitting
179(2)
Outputs from the Bass Tracking Program
181(1)
Combining RF and C/A Code
182(1)
Tracking of Longer Data and First Phase Transition
183(1)
Summary
183(3)
Appendix
184(1)
References
185(1)
GPS Software Receivers
186(38)
Introduction
186(1)
Information Obtained from Tracking Results
187(2)
Converting Tracking Outputs to Navigation Data
189(2)
Subframe Matching and Parity Check
191(1)
Obtaining Ephemeris Data from Subframe 1
192(1)
Obtaining Ephemeris Data from Subframe 2
193(1)
Obtaining Ephemeris Data from Subframe 3
194(1)
Typical Values of Ephemeris Data
195(1)
Finding Pseudorange
195(7)
GPS System Time at Time of Transmission Corrected by Transit Time (tc)
202(1)
Calculation of Satellite Position
202(3)
Calculation of User Position in Cartesian Coordinate System
205(1)
Adjustment of Coordinate System of Satellites
205(1)
Changing User Position to Coordinate System of the Earth
206(1)
Transition from Acquisition to Tracking Program
207(2)
Summary
209(15)
Acquisition of Weak Signals
224(47)
Introduction
224(1)
Signal-to-Noise Ratio (S/N)
225(1)
Limitation of Receiver Sensitivity
226(3)
Probability of Detection and False Alarm Rate
229(1)
Coherent Integration Gain
230(1)
Noncoherent Integration
231(1)
Noncoherent Integration Loss and Gain
232(3)
Acquisition Considerations of Weak Signals
235(2)
Output Sampling Rate
237(1)
Coherent Integration for Periodic Signal
237(2)
Recover Loss on in-between Frequencies
239(5)
Time Frequency Adjustment in Noncoherent Integration
244(3)
Threshold Determination for Gaussian Noise
247(9)
Probability of Detection of Simulated Signals
256(2)
Threshold Determination from Real Data
258(5)
Fine Frequency Calculation
263(3)
First Navigation Phase Transition Determination
266(5)
References
270(1)
Tracking Weak Signals
271(35)
Introduction
271(1)
Frequency of Regenerating of Local C/A Code
272(1)
Carrier Frequency Measurement Requirement
273(1)
One Millisecond Data Processing and Input Data Selection
273(3)
Generation of C/A Code
276(3)
Generation of Local Code and Correlating on 1 ms Input Signal
279(2)
Obtaining Navigation Data and Finding Carrier Frequency
281(2)
Calculating Signal-to-Noise Ratio (S/N)
283(1)
Basic Idea of Finding the Pseudorange
284(2)
Obtaining the Summed Early and Late Peak Correlation Outputs (Yes and Yls)
286(3)
Actual Time Shifting in Tracking
289(2)
Tracking Program with Regeneration of C/A Code Every Second
291(2)
Tracking of Signals with Non-Integer Sampling Frequency
293(4)
Cases Where an Initial C/A Code Point Matches the 1 ms Selected Data
297(4)
Experimental Results of the Weak Signal Tracking
301(5)
References
301(5)
GPS Receiver-Related Subjects
306(43)
Introduction
306(1)
Information from Almanac Data
306(4)
Acquisition with Accurate Carrier Frequency Information
310(1)
Circular Correlation by Partition
311(5)
Sampling Frequency Correction through Wide Area Augmentation System (WAAS) Signal
316(8)
Strong and Weak Signal Conditions
324(5)
Simulation of GPS Signals
329(1)
Acquisition Impact of Filter Bandwidth in Front of ADC
330(4)
Number of ADC Bits Required Under Jamming
334(3)
Real Time Operation of a Software Receiver
337(1)
Passive Altimeter
337(4)
Satellite Positions and Doppler Frequencies from Almanac Data
341(4)
Emergency Geolocation with Cell Phone Operations
345(4)
References
346(3)
Index 349


JAMES BAO-YEN TSUI, PhD, is an electronics engineer at the Air Force Research Laboratory, Wright-Patterson Air Force Base, Ohio. He has extensive experience in GPS receiver design for both civilian and military applications and is the author of Microwave Receivers with Electronic Warfare Applications.
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