An ellipsoid is well suited for describing the positional coordinates of a point in degrees of longitude and latitude Ellipisodal Height = Undulation N + Geoid Height
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An ellipsoid is well suited for describing the positional coordinates of a point in degrees of longitude and latitude Ellipisodal Height = Undulation N + Geoid Height
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Basics of GNSS
Tokyo University of Marine Science and Technology
Nobuaki Kubo
1Contents
Coordinates System
Satellite Position
Measurements Errors
Calculating Position and DOP
Improved Position
Basics of GNSS receiver
Future GNSS
1stperiod
2ndperiod
3rdperiod
2Lecture
Any comments and questions are welcome.
Simple problem (15min.) is assigned for each
period.After summer school, please submit it to the staff by the end of this school.My lecture is mainly for smooth transition to
SDR and RTKLIB in the following lectures.
GPSis mainly used in this lecture.
3References
Compendium of GPS
http://www.u-blox.com/Global Positioning System: Signals,
Measurements, and Performance
Second Edition (2006)
By PratapMisraand Per Enge
http://www.gpstextbook.com/ 4Contents
Coordinates System
Satellite Position
Measurements Errors
Calculating Position and DOP
Improved Position
Basics of GNSS receiver
Future GNSS
1stperiod
2ndperiod
3rdperiod
5Coordinate systems
A significant problem to overcome when using a
GNSS system is the fact that there are a great
number of different coordinate systems worldwide.As a result, the position measured and calculated
does not always correspond with one's supposed position.In order to understand how GNSS systems
function, it is necessary to examine some of the basics of geodesy. 6What is Geoid ?
The Geoid represents the true shape of the earth;
defined as the surface, wherethe mean sea level is zero. However, a Geoid is a difficult shape to manipulate when conducting calculations. 7World Geoid
Color Scale, Upper (Red) : 85.4 meters and higher; Color Scale, Lower (Magenta) :-107.0 meters and lower 8GeoidHeight in Japan
TUMSAT
36.41 m
Narita
35.24 m
Mt. Fuji
42.50 m
Osaka37.45 m
9What is Ellipsoid ?
A simpler, more definable shape is needed when
carrying out daily surveying operations. Such a substitute surface is known as an ellipsoid. A spheroid is obtained like the above figure. long axis and short axis 10Datum, map reference system
Each country has developed its own
customized non-geocentric ellipsoid as a reference surface for carrying out surveying operations.An ellipsoid is well suited for describing
the positional coordinates of a point in degrees of longitude and latitude. Ellipisodal Height = Undulation N + Geoid Height11Worldwide reference ellipsoid WGS-84
(World Geodetic System 1984)The WGS-84 coordinate
system is geocentrically positioned with respect to the center of the Earth. Such a system is called ECEF (Earth Centered, EarthFixed)
The WGS-84 is a three-
dimensional, right-handed,Cartesian coordinate system
with its original coordinate point at the center of mass of an ellipsoid. 12Ellipsoidal Coordinates
Ellipsoidal coordinates (Ɍ, ʄ, h), rather than Cartesian coordinates (X, Y, Z) are generally used for further processing.Ɍcorresponds to latitude, ʄ corresponds to longitudeand h to the Ellipsoidal height. 13Ellipsoidal Height (GPS)
= GeoidHeight + OrthometricHeightGeoid= 36m (MSL)
GPS Height = 60m
WGS84 Ellipsoid
24m36m
14