design and develop gps system for applications use in positioning and navigation

4Figure 3.2 System architecture of the GPS error sharing framework usingvehicular blockchain.. unveiled the firstportable GPS receiver in 1989.. CHAPTER 2: SATELLITE SELECTIONSatellite C

ĐẠI HỌC BÁCH KHOA HÀ NỘI

TRƯỜNG ĐIỆN - ĐIỆN TỬ

REPORT

TECHNICAL WRITING AND

PRESENTATION

Topic:

DESIGN AND DEVELOP GPS SYSTEM FOR APPLICATIONS USE IN POSITIONING AND

NAVIGATION

STUDENT: NGUYỄN LÂM OANH

ĐTVT 10 - K65 SUPERVISOR: TS NGUYỄN TIẾN HÒA

Hà Nội, May 29, 2023

TABLE OF CONTENTS

LIST OF SIGNS AND ABBREVIATIONS i LIST OF FIGURES ii

CHAPTER 1: INTRODUCTION 1 CHAPTER 2: SATELLITE SELECTION 2 CHAPTER 3: APPLICATION 3 CHAPTER 4: DEVELOPMENT 4 CHAPTER 5: SYSTEM MODEL 5

1 Positioning Scenarios and System Architecture 5 CHAPTER 6: INVIRONMENT 8 CHAPTER 7: TYPES OF GPS RECEIVERS 9 CHAPTER 8: FUTURE OF GPS 10

LIST OF SIGNS AND ABBREVIATIONS

LIST OF FIGURES

Figure 0.1 fg1 1 Figure 3.1 Maps produced from a GPS receiver 4 Figure 3.2 System architecture of the GPS error sharing framework using vehicular blockchain 5 Figure 3.3 Types of GPS receiver 9 Figure 3.4 QPS future in the US 10

The American military developed GPS The first satellite was launched in Febru-ary 1978 after development began in the 1960s The Magellan Corp unveiled the first portable GPS receiver in 1989 President Ronald Reagan approved the unrestricted civil-ian use of GPS in 1996 (America.gov, 2006) The US Federal Government is dedi-cated to giving GPS technology away for free to benevolent organizations all around the world

CHAPTER 1: INTRODUCTION

The U.S Department of Defense created and maintains the satellite-based radio navigation system known as the Global Positioning System (GPS) Everyone is welcome

to use the GPS satellites for no cost Any number of land, sea, air, and space users who are properly equipped can receive accurate position, velocity, and time (PVT) informa-tion through GPS The way a GPS satellite operates is by sending signals to equipment

on the ground (Fig 1) GPS receivers do not transmit; instead, they passively receive satellite signals Since GPS receivers must have a clear view of the sky to function prop-erly, they are only used outside and may not be as accurate in densely wooded areas or close to towering structures (TomTom, 2015) Atomic clocks in the U.S offer the highly precise time reference needed for GPS functioning Military Observatory There are atomic clocks on board each GPS satellite Using a network of satellites, the Global Po-sitioning System (GPS) enables users of GPS receivers to determine their exact location

in any part of the globe

Figure 0.1 Figure 1

CHAPTER 2: SATELLITE SELECTION

Satellite Choice A typical satellite tracking sequence, according to Navstar (1996), starts with the receiver deciding which satellites are visible for it to monitor The re-ceiver will target a satellite to track and start the acquisition procedure if it can quickly identify satellite visibility.The GPS satellite almanac, the initial receiver estimate of time and position, or user input, are used to determine satellite visibility

The receiver initiates a "search the sky" operation that repeatedly searches the PRN codes until lock is established on one of the satellites in view if the receiver does not al-ready have the almanac and position information recorded.The receiver can demodulate the navigation message data stream and obtain the current almanac as well as the condi-tion of every other satellite in the constellacondi-tion after successfully tracking one satellite

A receiver either chooses the "best" subset of the visible satellites to track, depending

on its architecture, or employs every healthy satellite in view to calculate a "all-in-view" PVT solution Even while an all-in-view system necessitates a more complicated re-ceiver and reception processing, it is typically more accurate than a four satellite ap-proach The all-in-view method is also more reliable because PVT data continues to flow while the receiver tries to reacquire a lost satellite signal (for instance, if there is

a physical blockage close to the receiver) In order to balance complexity, accuracy, and robustness, many receivers track more than four satellites but fewer than all-in-view According to geometry, estimated accuracy, or integrity, receivers that choose a "best" subset do so (Navstar, 1996)

CHAPTER 3: APPLICATION

GPS has developed into a widely used and practical instrument for business, sci-ence, tracking, and spying By enabling well-synchronized hand-off switching, it simpli-fies routine tasks like banking, using mobile devices, and even managing power grids This technology can also be used to measure buildings, help resolve land ownership disputes, study the movements and feeding habits of deer, aid marine archaeologists in their research, and in other fields (GPS data showed that Mt Everest is growing taller) (Kaplan, 2011)

CHAPTER 4: DEVELOPMENT

The American military developed GPS The first satellite was launched in Febru-ary 1978 after development began in the 1960s The Magellan Corp unveiled the first portable GPS receiver in 1989 President Ronald Reagan approved the unrestricted civil-ian use of GPS in 1996 (America.gov, 2006) The US Federal Government is dedicated

to giving GPS technology away for free to benevolent organizations all around the world Since its introduction, the United States has made a number of improvements to the GPS service, including adding new signals for civil use and enhancing its accuracy and in-tegrity for all users while still maintaining backward compatibility with earlier GPS devices The U.S Department of Defense has been working on modernizing the satellite system through a number of satellite purchases to satisfy the expanding requirements

of the military, civilian population, and commercial market Although several factors, including receiver quality and atmospheric difficulties, can affect this accuracy, high-quality, FAA grade Standard Positioning Service (SPS) GPS receivers offer horizontal accuracy of greater than 3.5 meters as of early 2015 (GPS Accuracy, 2015) The Amer-ican government owns and manages GPS as a national asset

Figure 3.1 Maps produced from a GPS receiver

CHAPTER 5: SYSTEM MODEL

1 Positioning Scenarios and System Architecture

Generally speaking, there are two types of vehicles,i.e.,common vehicles and sensor-rich vehicles, driving on the road Among them, common vehicles can only obtain po-sition information through GPS In addition to GPS, sensor-rich vehicles can also be assisted by other on-board sensors, such as camera and Lidar Assume that the GPS re-ceivers of the two types of vehicles are the same All vehicles can access the MECNs to request service within the communication range.The MECNs have enough storage space and computing power,which store accurate location information of the infrastructure in the area (e.g.,landmark), as shown in:

Figure 3.2 System architecture of the GPS error sharing framework using vehicular blockchain.

When a sensor-rich vehicle approaches the landmark,the distance and angle between it-self and the landmark can be obtained by on-board sensors And the position of the landmark can be used to calculate the current position of the vehicle For vehicle ,i the GPS position is expressed as Pi=< pe

i, pn

i>endmath , and the vehicle position

Pi ′=< pe

i, pn

i >measured with landmark l can be expressed as:

(

p′e

i = pe

l+ dil∗ cos θil

p′n

i = pn

where Pl=< pe

l, pn

l>is the position of landmark l, diland θilare the distance and angle between vehicle i and landmark l, respectively Currently, on-board sensors have relative

calculated as:

2 GPS Error Analysis

In practice, GPS measurements contain a variety of errors, which can be classified into three categories based on the source of the error: 1) errors associated with GPS satellites; 2) errors associated with signal propagation; 3) and receiver-related errors Many studies and our previous work have shown that according to the nature of the error, these errors can be divided into two types: systematic error and random error[41], [42] The GPS errors E can be decomposed into:

where Esand Erare the systematic errors and random error, respectively Particularly, the systematic error mainly includes satellite orbit error, satellite clock error, ionospheric delay,tropospheric delay,receiver clock error and receiver position error, providing the same error magnitude and direction for each GPS receiver within a certain range, about 50200km.The random error mainly includes multi-path effect error and receiver noise Usually, random error Eris much smaller than the systematic error Es[43], [44] For vehicles i and j that are driving on the same road at similar times, their relative error

||∆Ei j|| is satisfied:

||∆Ei j|| = (P|| i− Pj)|| − || P( ′i)|| <= || P( i− Pj) − (P′ i− P′j|| <= ||Ei− Ej|| (3.4) where Pi, Pj, P′i, P′j, Eiand Ejare the GPS position, accurate position and GPS posi-tioning error of vehicle i and vehicle j, respectively According to (3) and (4), we can get:

||∆Ei j|| <= (E|| si+ Eri) − (Es j+ Er j)|| <= E|| si− Es j|| + E|| ri− Er j|| (3.5) where E Esi, s jand Er jare systematic errors and random error of GPS positioning of vehicle i and vehicle j, respectively For the same type of GPS receiver, the positioning error radius is fixed In addition, at similar moments, the satellite combinations that can

be observed by each vehicle are basically the same Therefore, when using the same satellite combination for positioning, the satellite position deviation caused by satellite

clock difference, atmospheric delay, etc.,is almost the same Moreover, for two vehicles with similar positions, the difference in position between vehicles is negligible relative

to the distance from the vehicle to the satellite.In this paper, vehicles for cooperative positioning and common vehicles are considered to be on the same road segment, that

is, between two intersections, and generally less than 2 km Therefore, in this case, the systematic error can be considered to be almost the same, that is, Esi≈ Es j Bring it into (5) to get:

||∆Ei j|| <= E|| ri− Er j|| (3.6) Since random errors Erare quite small compared to sys-tematic errorsE Es, iEjcan

be considered in this case

CHAPTER 6: INVIRONMENT

GPS data collection systems complemented with GIS packages provides a means for comprehensive analysis of environmental concerns Environmental patterns and trends can be efficiently recognized with GPS/GIS data collection systems, and thematic maps can be easily created GPS data can be quickly analyzed without the preliminary requirement for field data transcription into a digitized form Accurate tracking of envi-ronmental disasters such as fires and oil spills can be conducted more efficiently Precise positional data from GPS can assist scientists in crustal and seismic monitoring Mon-itoring and preservation of endangered species can be facilitated through GPS tracking and mapping

CHAPTER 7: TYPES OF GPS RECEIVERS

Numerous receivers are produced by various businesses Depending on the soft-ware at their disposal, they carry out various tasks The right softsoft-ware can be purchased

or downloaded from the internet When the proper software is used, a receiver like the one in Figure 2 can scan maps and, if a GPS is connected, it can directly draw trails on the map and send them to the GPS.Photos look exactly where they are taken In another typical example, a receiver can combine CAD, GIS and GPS data over a map Distance, area, location can be measured and calculated

CHAPTER 8: FUTURE OF GPS

The US modernization initiative is ongoing, and significant effort is being made to upgrade the GPS space and control segments with new features in order to increase its performance

Figure 3.4 QPS future in the US

Modern technologies are being introduced to the space and control segments as part of the modernization, which will improve overall performance A network-centric architecture is replacing antiquated computers and communications infrastructure to en-able more frequent and accurate satellite commands that will increase accuracy for all

A succession of subsequent satellite acquisitions, including GPS IIR(M), GPS IIF, and GPS III, are part of the GPS modernisation effort The Next Generation Operational Control System (OCX) and the Architecture Evolution Plan (AEP) are two more GPS control segment enhancements Below is a timeline for the modifications to the control segment and parallel space There are a couple of things that will emerge over the next couple of years All mobile devices will be able to integrate GPS very cost-efficiently Cell phones will be the most important driver of GPS adoption over the next couple of years As the carriers roll out services and provide information based on location there will be a major new segment that is opening up (Rojas, 2015) A GPS device will be used to track lost ones In tax related issues, GPS devices will be used on every car and figure how many miles one traveled and when one get gas they can tax that person

by miles driven In a report by Fiedler (2015), the AllSport GPS route and mapping program allows you to track and map your bike rides, runs and other outdoor activities, including distance travelled, average speed, calories burned, etc When an additional subscription application is used for cellphone, route can be automatically mapped via GPS and uploaded to one the computer Routes once covered or by other person can also

be downloaded on the phone This can be effectively used in determining the days’ run

or ride

I’d want to thank Dr Nguyen Tien Hoa and Ms Bui Van Anh for their assistance with latex and with helping me finish my report on "Technical writing and presentation."

I also want to express my gratitude to the group 3 friends who gave these useful resources

to me I sincerely appreciate it

1 America.gov, (2006) United States Updates Global Positioning System Technol-ogy America.gov February 3, 2006

2 Fiedler D (2015) Review of the AllSport GPS Mapping and Route Planning Tool About sports Retrieved 7th May, 2015

3 GPS.gov (2015) GPS Accuracy GPS.gov Retrieved 4 May 2015

4 Hoffman-Wellenhof, B., H Lichtenegger and J Collins Global positioning system: theory and practice New York, Springer-Verlag, c2001 382 p Kaplan (1996) Understanding GPS: principles and applications Edited by Elliott D

5 Kaplan Boston, Artech House, c1996 554 p Navstar (1996)

6 Navstar GPS user equipment instruction Public release version

7 Rojas Peter (2015) The Engadget Interview: Christian Bubenheim, general man-ager, Magellan Consumer Products Engadget AOL Inc

8 The Library of Congress (2011) What is a GPS? How does it work? Everyday Mysteries

9 TomTom (2015) What is GPS? TomTom International BV