29 Linear Combinations of GPS Observables 26 References 27 3 GPS Satellite Orbit 29 31 Motion of Space Objects 29 32 Types of Orbits 32 33
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Contents
Prefacexiii
Acknowledgmentsxiv
1 Introduction to GPS 1
1.1 Overview of GPS 2
1.2 GPS Segments 3
1.3 GPS Satellite Generations 4
1.4 Current GPS Satellite Constellation 6
1.5 Control Sites 7
1.6 GPS: The Basic Idea 8
1.7 GPS Levels of Service 10
1.8 Why Use GPS? 11
References 11
2 GPS Details 13
2.1 GPS Signal Structure 13
2.2 GPS Modernization 16
vii
2.3 GPS Receiver Types 18
2.4 Time Systems 20
2.5 Pseudorange Measurements 21
2.6 Carrier Phase Measurements 22
2.7 Doppler Measurements 24
2.8 Cycle Slips 25
2.9 Linear Combinations of GPS Observables 26
References 27
3 GPS Satellite Orbit 29
3.1 Motion of Space Objects 29
3.2 Types of Orbits 32
3.3 Ideal (Keplerian) Satellite Orbit 33
3.4 Perturbed Satellite Orbit 35
3.5 GPS Broadcast Orbit 36
3.6 GPS Almanac 39
3.7 Satellite Visibility 40
References 42
4 GPS Errors and Biases 43
4.1 GPS Ephemeris Errors 44
4.2 Selective Availability 45
4.3 Satellite and Receiver Clock Errors 47
4.4 Multipath Error 48
4.5 Antenna Phase Center Variation 49
4.6 Receiver Measurement Noise 50
4.7 Ionospheric Delay 51
4.8 Tropospheric Delay 55
viiiIntroduction to GPS: The Global Positioning System
4.9 Other Errors and Biases 56
4.10 Satellite Geometry Measures 57
4.11 User Equivalent Range Error 60
References 61
5 GPS Positioning Modes 65
5.1 GPS Point Positioning: The Classical Approach 66
5.2 GPS PPP 68
5.3 GPS Relative Positioning 70
5.4 Static GPS Surveying 71
5.5 Fast (Rapid) Static 73
5.6 Stop-and-Go GPS Surveying 74
5.7 RTK GPS 76
5.8 Real-Time Differential GPS 77
5.9 Real Time Versus Postprocessing 79
5.10 Communication (Radio) Link 80
References 82
6 Ambiguity Resolution Techniques 83
6.1 Antenna Swap Method 85
6.2 OTF Ambiguity Resolution 86
References 88
7 GPS Data, Products, and Correction Services 89
7.1 GPS Data and Product Services 91
7.2 Maritime DGPS Service 93
7.3 WADGPS Systems 95
7.4 Multisite RTK System 98
References 99
Contentsix
8 GPS Standard Formats 103
8.1 RINEX Format 104
8.2 SP3 Format 109
8.3 RTCM SC-104 Standards for DGPS Services 112
8.4 NMEA 0183 Format 118
References 121
9 GPS Integration 123
9.1 GPS/Loran-C Integration 123
9.2 GPS/LRF Integration 127
9.3 GPS/Dead Reckoning Integration 128
9.4 GPS/INS Integration 130
9.5 GPS/Pseudolite Integration 132
9.6 GPS/Cellular Integration 134
References 136
10 GPS Applications 139
10.1 GPS for the Utility Industry 139
10.2 GPS for Forestry and Natural Resource 141
10.3 GPS for Precision Farming 142
10.4 GPS for Civil Engineering Applications 144
10.5 GPS for Monitoring Structural Deformations 145
10.6 GPS for Open-Pit Mining 146
10.7 GPS for Land Seismic Surveying 148
10.8 GPS for Marine Seismic Surveying 149
10.9 GPS for Airborne Mapping 151
10.10 GPS for Seafloor Mapping 152
10.11 GPS for Vehicle Navigation 154
xIntroduction to GPS: The Global Positioning System
10.12 GPS for Transit Systems 156
10.13 GPS for the Retail Industry 157
10.14 GPS for Cadastral Surveying 159
10.15 Waypoint Navigation (GPS Stakeout) 160
References 161
11 Other Satellite Navigation Systems 163
11.1 The GLONASS System 163
11.2 Galileo - The European Global Satellite Navigation
System 167
11.3 Chinese Regional Satellite Navigation System
(Beidou System) 170
11.4 The Japanese QZSS Satellite Navigation System 172
References 173
Appendix A:
Geodetic Principles - Datums, Coordinate Systems,
and Map Projections 175
A.1 What Is a Datum? 175
A.2 Geodetic Coordinate System 177
A.2.1 Conventional Terrestrial Reference System 179
A.2.2 The WGS 84 and NAD 83 Systems 180
A.3 What Coordinates Are Obtained with GPS? 181
A.4 Datum Transformations 182
A.5 Map Projections 183
A.5.1 Transverse Mercator Projection 184
A.5.2 Universal Transverse Mercator 185
A.5.3 Modified Transverse Mercator 187
A.5.4 Lambert Conical Projection 188
A.5.5 Stereographic Double Projection 189
A.6 Local Arbitrary Mapping Systems 190
Contentsxi
A.7 Height Systems 191
References 193
Appendix B:
GPS Accuracy and Precision Measures 195
Reference 196
Appendix C:
Useful Web Sites 197
C.1 GPS/Glonass/Galileo Information and Data 197
C.2 Some GPS Manufacturers 199
About the Author 201
Index 203
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