B thu GPS

B thu GPS
B thu GPS phi pht bn sao m PRN,
ri dch pha ca bn sao m cho ti khi
tng quan vi m PRN ca v tinh;
Nh tnh cht tng quan, my thu tm v
nhn bit nh tng quan;
iu ny c ngha my thu nhn bit v
bm tn hiu v tinh theo pha m;

B thu GPS
B thu GPS cng phi xc nh pha sng
mang bng cch pht bn sao tn s sng
mang c km Doppler (s dng kha pha
sng mang tn hiu v tinh);
Vy nhn bit v bm tn hiu v tinh l
qu trnh pht bn sao tn hiu c hai
thnh phn m v tn s.
S khi tng qut b thu GPS
S khi tng qut b thu GPS
ng-ten: thng s dng ng-ten RHCP,
tng ch tuyn tnh gn cu;
Preamp (LNA): tin khuch i tn hiu RF,
c th c 1 BPF gia ng-ten v LNA
hn ch nhiu RF ngoi bng;
Down-converter: chuyn i tn s xung
trung tn IF, s dng cc b dao ng ni
(LO), mi tng s s dng 1 LO;
ADC: B bin i s tng t, s ha tn
hiu IF;



S khi tng qut b thu GPS



Vi my thu s N knh, mi knh trung tn s
c x l ring m khng cn s dng b gii
iu ch, m ch cn ADC c thm AGC;
Cc b thu s nh vy cn goi l b thu SDR
(Software Defined Radio), thng s dng cc
mch tch hp kh trnh nh ASIC, hoc FPGA
hoc DSP x l tn hiu GPS.
S khi tng qut b thu GPS



Khi Receiver Processing thng l 1 vi x l
tc cao thc hin cc chc nng:
X l bng c s nh b lp tch sng v
lc, gii iu ch s liu, o SRN, ch th kha
pha
Ra quyt nh lin quan n iu khin cc
chc nng x l tn hiu cho mi knh.
Tnh ton v tr, dn ng.
Giao din ngi dng.

S khi 1 knh tn hiu
S khi 1 knh tn hiu
S trn ch th hin chc nng lin quan n
vng lp bm m v pha;
Tn hiu IF s l u vo Khi Digital Receiver
Channel, c trn vi bn sao sng mang
c cc mu s liu I (in-phase) v Q
(quadraphase).
Bn sao sng mang c trn vi tn hiu ca
mi tn hiu v tinh trong tm nhn k c nhiu.
Bn sao sng mang c to ra t NCO v b
gi tr hm SIN v COS ri rc.
S khi 1 knh tn hiu
Vi vic to ra thnh phn I v Q khc pha nhau
90 , bin tn hiu ra c tnh ton t tng
ca 2 vc-t thnh phn I v Q, v pha so vi
trc I c tnh bng arctang ca Q/I.
Trong hot ng ca vng ng, NCO sng
mang c iu khin bi vng bm sng mang
(carrier tracking loop) trong receiver processor.
Trong hot ng ca vng kha pha (PLL
phase lock loop), mc ch ca vng lp bm
sng mang l gi sai pha bng khng gia bn
sao sng mang v sng mang tn hiu n t v
tinh.
S khi 1 knh tn hiu
S khi 1 knh tn hiu
Khi xy ra mt ng pha gia bn sao sng
mang v sng mang tn hiu n t v tinh, pha
vc-t I v bin vc-t Q khc khng, do
bin i v ln v gc c pht hin v sa
bi vng bm sng mang.
Khi PLL trng thi kha pha, tn hiu I t max
(c tn hiu v nhiu) v Q t min (ch c
nhiu).
Tn hiu I v Q sau c cho cho tng
quan vi bn sao m Sm (Early),ng
(Prompt) v Mun (Late).
S khi 1 knh tn hiu
Bn sao m Sm (Early),ng (Prompt) v
Mun (Late) c to ra bi b to m, thanh
ghi dch 2 bit v NCO m.
Trong hot ng vng ng, NCO m c iu
khin bi vng bm m trong receiver
processor.
NCO m to ra nhp ng h gp 2 ln tc
m 2f
co
cung cp cho thanh ghi dch, v nhp
ng h bng tc m f
co
cho b to m.
Nhp ng h ca chnh NCO f
c
th cao hn
nhiu f
co
.
S khi 1 knh tn hiu
S khi 1 knh tn hiu
Bn sao m Sm (Early),ng (Prompt) v Mun
(Late) c to ra vi khc pha 1 chip v tn hiu P
gia.
Bn sao P c coi l ng pha vi tn hiu n t
v tinh to ra gi tr tng quan ti a. Trong trng
hp ny, bn sao E v L s l sm v mun pha so
vi pha m tn hiu n, dn n gi tr tng quan
tng ng s vo khong mt na gi tr tng
quan ti a
Nu xy ra mt ng pha gia bn sao m v tn
hiu n t v tinh th xut hin thay i gi tr u
ra b tng quan (sm v mun), do thay i
pha c pht hin v sa bi vng bm m.


S khi 1 knh tn hiu
Predetection
integration
S khi 1 knh tn hiu
Predetection l qu trnh x l tn hiu sau khi tn hiu IF
s c h tn xung bng gc bng qu trnh tch
sng mang v m.
B chuyn i s tng t tn hiu IF thng c
phn gii m ha ch t 1 n 3 bit cng to ra s s
hng rt ln khi thc hin php tnh tch ly.
Cc b tng quan phc c s dng to ra cc
thnh phn {I
E
I
P
I
L
}

v {Q
E
Q
P
Q
L
} bng cch tch phn
v h tn cc tn hiu vo I v Q, thc hin tc ly
mu IF => vo khong 50MHz.
Phn cng thc hin qu trnh tch phn v h tn ny
cn xt n xt n thi gian predetection integration di
ngn ty thuc iu kin tn hiu v ng dng.
X l tn hiu bng gc
S khi b x l bng gc cc vng lp m v sng mang
X l tn hiu bng gc
Vi mi knh tn hiu GPS, vng lp bm m v
pha chnh l s kt hp ca cc chc nng x
l tn hiu bng gc, tch m v sng mang tn
hiu s (carrier and code wipeoff) v chc nng
predetection integration.
Thi gian predetection integration l tng thi
gian m b thu v VXL thc hin chc nng tch
phn v h tn. Thng thng, thi gian ny
khng qu 20ms l khong thi gian ca 1 bit
s liu ca bn tin nh v.
X l tn hiu bng gc
V nguyn tc, thi im bt u v kt thc
ca qu trnh tch phn v h tn khng nn
bc qua thi im chuyn bit s liu bi v khi
bit s liu i du dn n lm i du mt phn
s liu I v Q tch phn. iu ny lm cho kt
qu tch phn v h tn b hng.
Trng hp xu nht l nu chuyn bit xy ra
ng gia thi gian predetection integration th
kt qu l tn hiu b trit tiu trong khong thi
gian .
X l tn hiu bng gc
Thng thng, trong khi khi to tm kim tn
hiu m C/A, nhn bit, v ng vng lp, my
thu khng h bit im chuyn bit u. V vy,
trong thi gian ny, phi chp nhn vic thu tn
hiu c th b hng do chuyn bit cho ti khi qu
trnh ng b nh v c thi im chuyn bit.
Trong trng hp ny nn dng thi gian
predetection integration ngn nht c th
trong phn ln s ln thc hin tch phn v h
tn khng cha im chuyn bit.

ng pha ca cc khong thi gian tch phn v h tn vi
im chuyn bit s liu
X l tn hiu bng gc
FTF (Fundamental Time Frame): khung thi gian c s
Thng thng FTF ca my thu khng ng pha vi tn
hiu n t v tinh.
Phn b pha gi l bit sync phase skew. Phn b pha
ny s nhanh chng c xc nh trong qu trnh ng
b bit khi m my thu cha bit v tr ca n v ng b
vi thi gian GPS.
Ni chung, bit sync phase skew l khc nhau vi cc v
tinh mc d s liu c truyn ng pha t cc v tinh.
Mc khc nhau thay i ln ti 20ms tng ng vi
v tinh thng nh u (zenith) ti chn tri (horizon).
Thit k my thu phi tnh n lch pha ny p dng
thi gian predetection integration ti u.
Tng hp tn s s
(Digital Frequency Synthesys)
Cc vng bm sng mang v bm m u dng
NCO pht bn sao m v sng mang chnh
xc. NCO cung cp cc php o c nhiu lng
t nhng khng ng k.
Mi chu k ca bn sao sng mang v m hon
tt khi NCO trn (overflow).
Mi NCO (sng mang v m) u c gn
lch (bias) nht nh. lch ny chnh tn s
NCO v tn s danh nh (bng tc chip ca
m tri ph hay tn s ca IF).
Tng hp tn s s
(Digital Frequency Synthesys)
S khi b tng hp tn s
Tng hp tn s s
(Digital Frequency Synthesys)
V d:
Tn s ra vi lch gn cho m P(Y) c tc
chp 10,23MHz vi gi thit NCO s dng thanh
ghi 32-bit, tn s ng h 200MHz.
lch M = 10,23x2
32
/200 = 2,1969x10
8
Vy vi lch M, tn s ra ca NCO l 10,23MHz
vi phn gii 200x10
6
/2
32
= 0,046566Hz
Vi NCO sng mang, hm nh x chuyn i
bin ca u ra bc thang ca NCO thnh
hm lng gic ph hp.

Tng hp tn s s
(Digital Frequency Synthesys)
Dng sng b tng hp tn s
Trng thi pha NCO
u ra COS map
u ra SIN map
Tng hp tn s s
(Digital Frequency Synthesys)
Thit k b tng hp tn s
Sng mang tr gip vng m
(Carrier aiding of code loop)
u ra b lc vng sng mang nhn vi h s t
l ri cng vi u ra b lc vng m gi l tr
gip vng m => carrier-aided code loop.
Phi s dng H s t l bi Doppler nh
hng t l nghch vi bc sng tn hiu,
ngha l Doppler trn tc chip ca m tri
ph nh hn nhiu so vi trn bng L.
Cho d sng mang c h tng xung IF v
lch NCO sng mang t tng ng vi IF
th nh hng Doppler vn l Bng L.
S khi b x l bng gc cc vng lp m v sng mang
Sng mang tr gip vng m
(Carrier aiding of code loop)
Sng mang tr gip vng m
(Carrier aiding of code loop)
Sng mang tr gip vng m
(Carrier aiding of code loop)
Sng mang tr gip vng m
(Carrier aiding of code loop)
S tr gip ca vng sng mang i vi vng
m l cn thit bi lch vng sng mang gy t
nhiu hn vng m do vy chnh xc hn.
S tr gip vng sng mang loi b hu ht di
ng LOS t vng m, lm gim bc ca b lc
vng m, gim tc cp nht v lm hp bng
thng hn so vi khng c tr gip do vy lm
gim nhiu trong cc php o vng m.
Vng bm sng mang
(Carrier tracking loop)
S khi vng bm sng mang
Vng bm sng mang
(Carrier tracking loop)
Vng bm sng mang trong b thu c trng
bi 3 thnh phn:
Predetection integrators
B tch sng vng sng mang (carrier loop
discriminator)
B lc vng sng mang (carrier loop filter)
Cc thnh phn ny quyt nh 2 c tnh cht
lng c bn:
Li vng sng mang do nhiu nhit
Mc ngng ti a di ng LOS
Mc ngng ny ca vng lp c trng cho
hiu nng ca b thu khng c tr gip
Vng bm sng mang
(Carrier tracking loop)
B tch sng vng sng mang nh ngha kiu
vng bm l PLL, Costas PLL hay FLL.
PLL v Costas PLL l chnh xc nht nhng li
nhy cm vi di ng LOS hn FLL.
u ra ca PLL v Costas PLL l li pha c
lng so vi ca FLL l li tn s, bi vy dn
n cu trc khc nhau ca b lc vng sng
mang.

Vng bm m (Code tracking loop)
S khi vng bm m
Vng bm m (Code tracking loop)
Tng t nh vng bm sng mang, vng bm
m cng c trng bi 3 thnh phn:
Predetection integrators
B tch sng vng m (code loop discriminator)
B lc vng m (code loop filter)
Hai c tnh cht lng:
Li vng m do nhiu nhit
Mc ngng ti a di ng LOS
C 4 kiu b tch sng DLL(Delay Lock Loop)
trong b thu GPS


Vng bm m (Code tracking loop)
Vng bm m (Code tracking loop)
Thut ton:


Tnh cht:
Tch sng Noncoherent, ng bao mu sm tr mu
mun, chun ha bi E+L loi b tnh nhy cm vi
bin ;
Tnh ton nhiu;
Vi rng tng quan 1-chip E-L, li bm thc s trong
khong 0,5 chip ca li u vo (khng nhiu);
Vi 1,5 chip ca li u vo, DLL tr nn thiu n nh
nhng vn trong ngng bm d c nhiu.

Vng bm m (Code tracking loop)
Thut ton:


Tnh cht:
Tch sng Noncoherent, cng sut mu sm tr mu
mun;
Tnh ton va phi;
Vi rng tng quan 1-chip E-L, kt qu tng t
ng bao 0,5(E L) trong khong 0,5 chip ca li u
vo (khng nhiu);
Vi 1,5 chip ca li u vo, DLL tr nn thiu n nh
nhng vn trong ngng bm d c nhiu.
C th c chun ha vi E
2
+ L
2
;

Vng bm m (Code tracking loop)
Thut ton:




Tnh cht:
Tch sng Quasi-coherent, nhn cng sut, s dng c 3
b tng quan;
Tnh ton t;
Vi rng tng quan 1-chip E-L, kt qu gn nh l li
thc u ra trong khong 0,5 chip ca li u vo
(khng nhiu);
Vng bm m (Code tracking loop)
Thut ton:



Tnh cht:
Tch sng coherent nhn;
Ch dng khi vng sng mang trng thi kha;
Tnh ton t;
o m chnh xc nht;
C th chun ha
Vng bm m (Code tracking loop)
Nhn xt:
Ch c b tch sng DLL th 4 l coherent dot product v
tt hn cc b khc;
B tch sng DLL coherent cho kt qu rt tt nu vng
sng mang trang thi kha;
Tuy nhin, mode DLL chnh xc cao s hng nu cycle
slip xy ra lin tc hoc mt kha pha do b quay pha, lm
cho cng sut tn hiu b chia s gia 2 thnh phn I v
Q, gy ra mt cng sut trong coherent DLL.
Vi quasi-coherent DLL c th hot ng vi b pht hin
kha pha nhy cm v chuyn trng thi nhanh.
Chun ha nhm loi b thnh phn bin nhy cm,
tng hiu nng trong iu kin SNR bin i nhanh.
Vng bm m (Code tracking loop)
Qu trnh tng quan m cho 3 bn sao m pha khc nhau
Vng bm m (Code tracking loop)
tng quan m vi pha khc nhau
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Thc t l b thu GPS khng trc tip o gi khong
cch hay delta gi khong cch.
Gi tr o trc tip l pha ca bn sao m v pha ca
bn sao sng mang (nu b thu trng thi kha pha
vi tn hiu sng mang t v tinh) hay bn sao ca tn
s Doppler (nu b thu trng thi kha tn s vi tn
hiu sng mang t v tinh).
Pha m ca bn sao c th c bin i thnh thi
gian truyn tn hiu v tnh ton gi khong cch.
Pha Doppler hay tn s ca bn sao c th bin i
thnh delta gi khong cch.

S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Gi khong cch (pseudorange)
Gi khong cch ti SVi (v tinh i)


trong
c: vn tc nh sng = 299.792.458 (m/s)
T
R
(n): thi gian thu tn hiu, thi im n theo ng h
my thu
T
Ti
(n): thi gian truyn tn hiu tnh theo ng h v tinh

S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
V tinh GPS SV
i
bt u truyn PRN
i
vo thi im cui
ca tun GPS. Mi chip ca PRN
i
c truyn quan h
tuyn tnh vi thi gian ng h v tinh SV
i
.
Khi tn hiu ti b thu GPS, vi thi gian truyn l T
Ti
(n),
v tinh SV
i
vi m PRN tng ng, bn sao m c
lp li thi im n my thu.
Gi khong cch c xc nh nh php o ny nhng
thi gian thu li l thi im n trong my thu.
Mi thi im ca m PRN c truyn u ng b vi
thi gian tun GPS.
Khi m PRN ti pha thu, vic thc hin tng quan
thnh cng th b pha ca bn sao m ti u tun GPS
c coi l thi gian truyn ca SV
i
.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Ti sao khi o trong my thu khng gi thi gian truyn
ti khi nh v tnh v tr m li gi gi khong cch?
Bi v thi gian truyn b mt sau qu trnh tnh ton.
iu ny khin cho khi nh v mt nhiu thi gian tnh
ton li thi gian truyn.
Cc my thu hin i c th dng cch thc bm vector
(vector tracking) thay cho bm v hng (scalar tracking),
ngha l u ra b tch sng (o th thnh phn I v Q)
c gi ti khi nh v v y s dng lc Kalman
x l. Bng cch ny s ti u ha x l nhiu bng ca
cc vng lp bm.
B thu GPS x l ng thi mt s php o v ng h thu
th c lch vi thi gian GPS. Lch thi gian c xc nh
khi gii phng trnh nh v.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
o gi khong cch


Qu trnh x l bng gc s ly ra thi gian v tinh
truyn t vng bm m, chnh l o c gi khong
cch.
o chnh xc thi gian truyn ca SV
i
tng ng vi
xc nh b pha m so vi bt u ca tun GPS. Gia
pha m ca bn sao m v thi gian GPS lun c mi
quan h 1-1, ngha l pha m ca m PRN vt trc
bt u ca tun bao nhiu (tnh theo phn l v phn
nguyn ca chip) th vt trc thi gian GPS by
nhiu.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Phn vt trc tnh theo phn l v phn
nguyn ca chip nh vy c gi l trng thi
m (code state).
ng h trong my thu duy tr thi gian, lu thi
gian GPS tng ng vi trng thi m nh trn
gi l b tch ly m (code accumulator).
Bn sao trng thi m tng ng vi c lng
chun nht ca thi gian SV truyn. Qu trnh
x l bng gc bit trng thi m bi n c
t l trng thi khi to ca qu trnh tm kim
v duy tr bm trng thi m.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Qu trnh ca vng bm m duy tr bm thi
gian truyn tng ng vi trng thi pha ca
NCO m v trng thi b to bn sao m sau
mi ln cp nht NCO.
K t ln cp nht cui cng ca NCO, s tng
ca pha m c xc nh bng tch phn ri
rc trong tng khong thi gian v b tch ly
cng gi tr ny mi ln cp nht.
Trng thi m ca bn sao m l kt hp trng
thi m ca b to m (phn nguyn) v trng
thi ca NCO (phn l)..
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Trng thi pha m ca b to m PRN l gi ngu
nhin, s l khng thc t c trng thi pha m
ca b to PRN ri chuyn i trng thi m khng
tuyn tnh v trng thi tuyn tnh ca thi gian
GPS s dng bng gi tr (lookup table)
C qu nhiu trng thi m, c bit l i vi m
P.
Gii quyt vn ny trn thc t: nhm duy tr thi
gian GPS trong b thu GPS, s dng mt b tch
ly m ring ti khi x l bng gc v ng b b
tch ly ny vi trng thi pha ca b to bn sao
PRN.
Quan h gia b to m PRN v b tch ly m
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
B thu GPS thng thng c tc cp nht v tr
l 1 giy. Khung thi gian c s FTF cho cc php
o l 20ms tng ng vi tc s liu 50bps.
Khi x l bng gc cp nht NCO m v NCO
sng mang sau mt s phn nguyn ln FTF
thng l 20, 10, 5, 2 hay 1ms.
Gi thit, FTF = 20ms, b dao ng chun trong b
thu cung cp nhp m tng 1 chiu cho b m
FTF. B m FTF c t = 0 khi b thu GPS
c bt in, v m tng mi nhp, n khi t
gi tr ti a th li tr v 0 ca chu k tip theo.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Gi thit tc ca b thu GPS l 1 v tr/giy, cc
kt qu o ly ra t cc vng bm m v sng
mang c sau 50 FTF. Khi khi x l bng gc ly
kt qu o t vng bm m v sng mang, n gn
th thi gian vi b m FTF.
Khi x l nh v gn v duy tr thi gian GPS theo
b m FTF.
Thi gian nhn khi to c th l thi gian truyn
ca v tinh u tin cng vi khong thi gian lan
truyn danh nh khong 76ms nu khi nh v
khng bit chnh xc thi gian GPS. Vy thi gian
khi to c thit lp vi chnh xc 20ms.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Khi php o gi khong cch c thc hin vo
thi gian FTF(n), vng bm m bng gc ca b thu
ly thi gian truyn SV
i
t b tch ly m v a
thi gian ny ti FTF(n). Nu N l s bit ca b
cng NCO m th thi gian truyn c o vi
phn gii l 2
-N
ca chip m.
V d: thanh ghi b cng NCO m l N = 32bit,
phn gii ca php o nh hn nanochip, nh vy
c th loi tr nhiu lng t ca php o m.
Khi x l bng gc c th tnh ton php o gi
khong cch t thi gian truyn SV
i
v th thi gian
FTF(n) trc khi truyn kt qu ti khi nh v.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Tuy nhin, khi x l nh v cn thi gian chnh xc
m SV
i
truyn tn hiu tnh ton v tr v tinh. Do
vy, php o tt nht cn a sang khi x l nh
v l thi gian truyn ca v tinh cng vi th thi
gian TFT.
Khi x l nh v p dng hiu chnh ng h, s
dng thi gian truyn hiu chnh tnh v tr v
tinh, sau tnh gi khong cch v cc hiu chnh
khc trc khi tnh ton v tr.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
o lch thi gian (time skew) - Ts: l lch thi gian
gia thi im chuyn bit ca s liu v tinh v FTF
ca my thu (20ms).
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Phn h iu khin m bo Ts < 1ms GPS gia
cc v tinh => tt c cc thi im chuyn bit ca s
liu v tinh u gn nh ng pha vi thi gian
GPS ti thi gian truyn.
Tuy nhin, b thu cc thi im chuyn bit ca s
liu v tinh lch so vi FTF ca b thu, Ts khc
nhau gia cc v tinh do khong cch gia tm pha
ca ng-ten my thu v cc v tinh l khc nhau.
Ts cng thay i theo thi gian vi tng v tinh
trong tm nhn do v tinh di chuyn.
Do vy, c lch thi gian gia cc b to bn sao
m vi nhau, cng nh lch vi FTF.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Kt qu l, thi gian tch phn v cp nht i vi
cc NCO m v sng mang c thc hin bi thay
i lch pha thi gian so vi pha thi gian ca FTF,
nhng khi x l bng gc b thu bit v iu khin
lch thi gian bng tng dn pha mt cch ri rc.
B tch ly m thng cp nht Ts theo lch cp
nht ca NCO m.
B thu GPS thng thu a knh, nu cc php o
dng chung FTF, ni dung b tch ly m, khi trch
xut o c, c chuyn ti bc tnh ton tip
theo cn phi tnh n lch thi gian gia cc ln
cp nht NCO m v FTF.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Duy tr b tch ly m: cch thc thit lp khi to b
to m v trng thi NCO.
Ba b m c s dng l Z, X1 v P.
B m Z: 19-bit, tch ly thi gian GPS, bc tng
1,5 giy, reset khi t gi tr max sau 1 tun GPS =
403.200, gi tr max ca b m Z l 403.199.
B m X1: 24-bit, tch ly thi gian GPS, tng s
nguyn ln P chip, reset khi t gi tr max sau 1,5s
= 15.345.000, gi tr max l 15.349.999.
B m P: tch ly thi gian GPS, tng theo phn l
ca mt chip P, thng cng di vi b cng
NCO 32-bit.

S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Tc ng h tng hp bi NCO m
thng gp 2/D (D=1) ln tc b to m
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Tc ng h tng hp bi NCO m thng gp
2/D (D=1) ln tc b to m. iu ny l bt
buc i vi b pht bn sao m vi dch pha no
nu mun xc nh li trong tch sng m.
B m P bm phn l ca trng thi pha m chnh
l trng thi NCO m.
Gi thit rng NCO m v b tch ly m c cp
nht c sau T giy, thut ton duy tr b tch ly m
nh sau (du = ngha l thay th bng) :


S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)

CO
c 2 thnh phn:
Lch NCO m: l s tng pha sau mi nhp ng
h tnh c tri thi gian ca b to bn sao m P.
Tc b lc vng m: l tng hp ca tr gip
sng mang v u ra b lc vng m. S kt
hp ny nhm hiu chnh Doppler ca b to
bn sao m P so vi tc chip ca m P.
Tc m P gp 10 ln m C/A nn, b chia 10
c s dng b to m. tnh ton cc thnh
phn nh tc chip, Doppler m hay tr tng in
ly cn h s thch hp.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Kt qu o t b tch ly m: gi tr P
i
(n), X1
i
(n) v
Z
i
(n) i vi SV
i
chnh l cc php o ti FTF(n). Khi
chuyn cc gi tr ny thnh n v giy th thu
c thi gian truyn T
Ti
(n) ca v tinh SV
i
ti thi
im n.
Tnh ton ging nh trc ch thay T bng lch thi
gianT
s,
v khng cp nht b tch ly m.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)

Tnh ton thi gian truyn T
Ti
(n) ca v tinh Sv
i
nh
sau:
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Xc nh thi gian truyn t m C/A
Quan h nh thi GPS cho php b thu m C/A xc
nh ng thi gian truyn.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Mi khung con ca s liu bn tin nh v c t m HOW
(Handover word).
HOW cha Z-count ca chuyn bit s liu u tin ca
u khung tip theo. y l bit s liu u tin ca TLM
lun ng trc HOW.
Bt u ca mi bit s liu 20ms ng b vi im u 1
trong nhng m C/A di 1ms ca cc v tinh, nhng li
c 20 m C/A trong mi chu k bit s liu.
Trong mi khung con ny, thanh ghi X1 to ra nh cho
Z-count, X1-count bng 0.
X l gi tr mp m ca m C/A bng cch t Z-count
bng gi tr ca HOW v t gi tr X1 bng 0 khi bt
u khung con tip theo.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Thc t, ga tr thc ca Z-count v X1-count c tnh
ngay trong thi gian vi chu k m C/A m khng ch
n khung con k tip.
Z-count v X1-count c s c sa ng nu b thu
GPS t c ng b bit ngay trong 1ms hay sm
hn. iu ny ch t c khi 1ms m C/A ng b
hon ho vi im chuyn bit s liu 20ms ca bit u
tin ca TLM khung con tip theo.
Nu qu trnh ng b b li trong vic lm ng pha
gia bn sao m C/A v im chuyn bit s liu, khi
X1-count s tt trong vi chu k 1 ms.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Nu b thu c gng thc hin chuyn giao cho m P
nhng khng thnh cng, th cch lm thng thng l
th chuyn giao li vi thay i 1ms cho gi tr trong X1,
tip tc tng ln 2ms, v c th, cho n khi t c
ng b bit. Nh vy, c th mt n 6 pht hay lu hn
b thu GPS c c php o y .
Trng hp chuyn giao thnh cng sang m P th c
ngha l t c ng b bit.
Tuy nhin, nu b thu GPS ch thu m C/A, vic t
c ng b bit kh khn hn v c th ch thnh cng
khi c s tham gia ca khi nh v.
Vi li thi gian GPS ln n 1ms tng ng vi
li gi khong cch ~300km, sai s xc nh v tr s
rt ln.
Nu mi knh tn hiu u c li ng b bit th li v
tr rt ln s y bi ton nh v khng th gii
c vi lch thi gian GPS ln n 1ms, sai s ln
c th c pht hin khi bi ton vi phm cc iu
kin b.
ng b bit l qu trnh thng k ph thuc vo t
s C/N
o
, t s C/N
o
thp di mc ngng ng b
bit c th gy li, lc ny tn hiu khng tt
cho php tnh ton v tr.

S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Delta gi khong cch c nh ngha nh sau:


trong
:gi khong cch ti thi im J FTF sau FTF(n)
:gi khong cch ti thi im J FTF trc FTF(n)
J = 0 hay K ph thuc vo thit k b thu
Delta gi khong cch c th c xc nh t vng
bm m nhng kt qu o b nhiu nhiu. Nu kt qu
o c xc nh t vng bm sng mang th s gim
c nhiu.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Cc php o pha Doppler sng mang c khi x l
bng gc trch xut t vng bm sng mang, s dng
b tch ly sng mang. Vic ny tng t nh s dng
b tch ly m trch xut thi gian truyn nhng n
gin hn.
B tch ly m bao gm s m phn nguyn s chu
k, N
CA
, v s m phn l chu k,
CA
, ca php o
pha Doppler sng mang.
B tch ly sng mang c cp nht sau mi vng
lp theo thut ton sau:
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Phn l ca b tch ly sng mang,
CA
, c khi to
t trng thi NCO m u qu trnh tm kim,
thng = 0.
Phn nguyn ca s chu k sng mang vi pha
Doppler, N
CA
, l khng r rng (ambiguous). V ch c
cc php o vi sai c thc hin thanh ghi ny nn
gi tr mp m (khng r rng) ny khng nh hng.
B tch ly sng mang (phn nguyn) thng c
t l 0 khi vng sng mang ng hay l vic tm kim
thnh cng. Li lin quan n lch NCO sng mang do
tri thi gian khng xut hin do y l cc php o vi
sai, kt qu o ly t b tch ly sng mang.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
ly c kt qu o pha Doppler sng mang,
N
CAi
(n)

v
CAi
(n)

,ca v tinh SV
i
, cn phi a gi tr
ti FTF(n) vi lch thi gian T
s

K thut ny tng t nh vng bm m:






S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Delta gi khong cch ch n gin l s thay i pha
trong b tch ly sng mang trong mt khong thi
gian no .


S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Doppler Tch hp: o c Doppler tch hp i vi SVi
ti FTF(n) c th c i sang n v met nh sau:


Kt qu php o ny t c t PLL, s dng cho
cc ng dng GPS chnh xc cao.
Vi cc tn hiu GPS tt, php o Doppler tch hp t
nhiu hn nhiu so vi o m, nu tn hiu tt c th
t c li c mm.
S hnh thnh gi khong cch
(pseudorange, delta pseudorange and integrated Doppler)
Trong b thu GPS, qu trnh nhn bit tn hiu c th
thc hin min thi gian (thng thng) hay min
tn s (nhn bit nhanh rapid acquisition).
Nhn bit tn hiu GPS l qu trnh tm kim.
Ging nh bm tn hiu, qu trnh nhn bit cng cn
bn sao ca c m v sng mang, ngha l cn c s
ph hp theo 2 chiu.
Chiu khong cch: gn vi bn sao m
Chiu Doppler: gn vi bn sao sng mang
Qu trnh tm kim lun bt u vi m C/A cho d l
b thu C/A hay b thu P(Y).

Nhn bit tn hiu
(signal acquisition)
Khi u ca tm kim m C/A lun lin quan n
1023 trng thi m ca bn sao m trong chiu
khong cch.
Tnh khng chc chn ca gi tr khi to (pha m v
Doppler) lm cho khng gian tm kim tng v lm
tng thi gian tm kim. => cn phi c tiu ch xc
nh im dng qu trnh tm kim i vi 1 v tinh
no chuyn sang tm kim vi 1 v tinh khc.
Mu tm kim m C/A gm 2 chiu gi l code bin (pha
m) v Doppler bin (Doppler)
Nhn bit tn hiu
(signal acquisition)
Mu tm kim m C/A 2 chiu
V d: Qu trnh tm kim m C/A c thc hin vi
ton b 1023 pha m.
Cell l kt hp ca 1 code bin v 1 Doppler bin.
Pha m c tm kim s tng vi code bin l chip;
Mi Doppler bin c khong 2/(3T) Hz, vi T l thi gian tch
phn tn hiu (dwell time) trong mi cell. T c th thay i
trong khong thi gian 1ms (Doppler bin ~667Hz) vi tn hiu
khe, ti 10ms (Doppler bin ~67Hz) vi tn hiu yu.
Tn hiu kho hay yu biu hin bng t s C/N
0
, m t s
C/N
0
ch o c sau khi tn hiu c nhn bit.
Gi tr khi to ca Doppler thng l 0 do khng th c
lng trc gi tr Doppler t thng tin v v tr ca my thu
hay qu o v tinh.

Nhn bit tn hiu
(signal acquisition)
Thi gian tch phn T s cng tng khi t s C/N
0
thp.
Trong thi gian tch phn T (dwell time), cc tn hiu I
v Q c tch phn v h tn, ng bao tn hiu =
sqrt(I
2
+ Q
2
) c tnh ton v c lng, ri so snh
vi mc ngng xc nh tn hiu n t v tinh
no.
Xc nh tn hiu l qu trnh thng k bi v mi cell
cha nhiu m khng c tn hiu hay c nhiu v c
c tn hiu. Mi trng hp nh vy u c hm mt
xc sut ring.

Nhn bit tn hiu
(signal acquisition)
Cc hm pdf dng cho quyt nh nh phn, V
t
l mc ngng
ng bao cell bng hay ln hn mc ngng th coi nh c
tn hiu trong nhiu.
Hai loi thng k c quan tm nht l xc sut pht
hin P
d
(probability of detection) v xc sut pht hin
nhm P
fa
(probability of false alarm).
Nhn bit tn hiu
(signal acquisition)
Tnh ton cc hm phn b xc xut vi gi thit I v
Q c phn b Gausian, ng bao sqrt(I
2
+ Q
2
), nh
vy p
s
(z) c phn b Ricean.
Nhn bit tn hiu
(signal acquisition)
Vi z 0, ng bao c th biu din di dng
predetection SNR, k hiu C/N:
Nhn bit tn hiu
(signal acquisition)
Trng hp khng c tn hiu, A = 0, p
n
(z) c phn b
Rayleigh v c nh ngha nh sau:



Thc hin tch phn thu c:
Nhn bit tn hiu
(signal acquisition)
Vy mc ngng tnh theo xc sut pht hin nhm
P
fa
(probability of false alarm) v 1-sigma cng sut
nhiu o c l:

V d:
Nu mun c Pfa = 16% th
Vy xc sut pht hin Pd c tnh theo t s C/N0, thi
gian tch phn T v cng sut nhiu chun ha
n
= 1
Nhn bit tn hiu
(signal acquisition)
Vy xc sut pht hin Pd c tnh theo t s C/N0, thi
gian tch phn T v cng sut nhiu chun ha
n
= 1, kt
qu bng di y:
Nhn bit tn hiu
(signal acquisition)
Thut ton tm kim: tm kim tun t thi gian tch phn
thay i (Tong search detector)
Cc thut ton tm kim c thc hin bi khi x l
bng gc.
c im ca Tong detector:
Kh n gin, thc hin bng b tng quan v phn cng
tin x l vi cc tham s c lp trnh bi khi x l bng
gc.
Tnh ton khng qu phc tp, pht hin tn hiu tt vi
C/N
0
= 25dB-Hz tr ln
Kh ti u so vi cc thut ton tm kim khc nh
maximum-likehood.
Nhn bit tn hiu
(signal acquisition)
Thut ton tm kim m tun t TONG
Nhn bit tn hiu
(signal acquisition)
Trnh t khi to hot ng ca b thu ph thuc vo thit
k b thu.
Thng thng, hot ng u tin ca b thu l chn cc
v tinh v bt u qu trnh tm kim vi cc v tinh
chn; Vn l lm sao nhanh chng nhn bit c
v tinh chn.
3 yu t chn v tinh ph hp trong tm nhn l:
Almanac mi nht;
c lng th v v tr v vn tc ca b thu;
c lng thi gian GPS b thu;
Nu khng bit mt trong 3 yu t trn th b thu phi thc
hin sky search;
Trnh t hot ng khi to b thu
Nu bit c 3 yu t th c th tnh ngay v tr v tinh v
LOS Doppler;
Trong s cc v tinh trong tm nhn c th chn cc v
tinh c yu t hnh hc tt t c chnh xc tt
hn;
Vi cc v tinh c chn, bt u qu trnh tm kim;
T vn tc b thu v LOS Doppler v tinh cho php tnh
LOS Doppler tng;
Nu bit thi gian v v tr xp x, c thng tin emphemeris
ca hot ng ngay trc th thi gian c kt qu
u tin (time to first fix) l khong 30s i vi my thu a
knh, tn hiu khng bi che chn. => thi gian 30s l
c s liu ephemeris ca v tinh sau khi nhn bit.

Trnh t hot ng khi to b thu
Nu khng c sn s liu emphemeris cho kt qu o u
tin th s liu almanac c th c s dng cho ti khi
c s liu chnh xc hn. c s liu almanac sau khi
nhn bit mt thi gian ln ti 12,5 pht.
S liu almanac dung cho v tinh chn c th dng
c trong vi ngy trong khi s liu emphemeris s b
sai lch sau kong 3 gi.
c c chnh xc nh v cao th s liu
emphemeris cn c cp nht tc thi khi c s liu mi
t v tinh.

Trnh t hot ng khi to b thu
Sky search: l mode hot ng khi ng ca b thu GPS
khi thiu mt hay nhiu yu t nh almanac, v tr / vn
tc, v thi gian.
Sky search l im tt ca b thu c c t thit k m
C/A ca GPS cho php b thu vo ch nh v m
khng cn bit bt k thng tin no trc hay tr gip
no t bn ngoi.
Ch sky search yu cu may thu tm kim bu tri cho
mi PRN c th v mi Doppler bin c th, tt c 1023
trng thi m cho ti thiu 4 v tinh. Ch cool-start ny
yu cu vi pht b thu tm c v tinh trong tm
nhn.

Trnh t hot ng khi to b thu
M hinh gii iu ch c bn
Digital IF
LNA
Down
converter
ADC
To digital signal processing
- Acquisition
- Tracking
Hardware Software
Nhn bit tn hiu (Acquisition)
Mc ch ca qu trnh nhn bit tn hiu l
xc nh tt c cc v tinh ang nm trong tm
nhn ca my thu.
Nu my thu nhn thy v tinh no, qu trnh
nhn bit tn hiu s phi xc nh 2 thng s
ca tn hiu v tinh l:
Tn s: tn s ca tn hiu nhn c t mt v tinh
c th no s khc vi gi tr danh nh ca n (do
Doppler).
Pha m: pha ca m c nh ngha l im trong
khi d liu m ti m C/A bt u.
Nhn bit tn hiu (Acquisition)
Tn hiu nhn c s l s tng hp ca tt c cc tn
hiu ca n v tinh trong tm nhn:
s(t) = s
1
(t) + s
2
(t) + ..+ s
n
(t)
Khi d tm tn hiu ca v tinh th k, tn hiu n s s
c nhn vi tn hiu C/A c to ra my thu (m
C/A ni b) tng ng vi v tinh k.
Da vo tnh tng quan cho gia cc m C/A th cc
tn hiu t cc v tinh khc s b loi b khi thc hin
php nhn ny.
trnh trng hp loi b nhm thnh phn tn hiu
mong mun, tn hiu m C/A ni b phi hon ton ph
hp v ng b vi tn hiu thu c.

Qu trnh nhn bit (Acquisition) tn hiu ch a ra
c cc gi tr c lng th v tn s v pha ca tn
hiu.
Mc ch chnh ca qu trnh bm (Tracking) nhm tinh
chnh cc gi tr , theo di bm st v gii iu ch d
liu dn ng t mt v tinh c th no (tnh ton
gi tr gi khong cch).

Bm tn hiu (Tracking)
Bm tn hiu (Tracking)

chnh xc ca kt qu cui cng v
pha m s quyt nh ti chnh xc ca
gi tr gi khong cch o c sau .
Qu trnh bm tn hiu gm hai thnh
phn l :
bm m (code tracking)
bm pha hay bm tn s (carrier frequency/
phase tracking):

Bm pha va bm m
(Carrier and code tracking)
Bm m: vic bm m hu ht c thc hin bng mt
vng kha tr (Delay Lock Loop DLL). Ti s c 3
m ni b (local codes) hay l bn sao s c to ra
v xt tnh tng quan vi tn hiu ti. Ba m bn sao
ny c tn gi l bn sao ng, sm v mun (prompt,
early, late replica). C ba m ny c tch bit bng 1
na chiu di chip
Bm pha: Mt cng vic khc ca bm l vic bm
pha. Vic ny c th thc hin bng mt trong hai cch
l bm theo pha hoc bm theo tn s (s dng vng
kha pha (PLL) hoc vng kha tn s (FLL)).