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1. 0000 0 2 310 This document is provided dy Log i dt id i in dt i PES i ie dt u cri dr xu iei e n emit i I T wi 20 i 1 0 2 2 220 000000002 21060000000000 ui 20L Ciy wiwir D 2 2230 Cilai gi 2 2 23000 00 0000 00002. 0000 0 ME 1 7m E 0 031 m s QE iid de 0 028 UT BR z B 50 mgal 606 Zx4u 0 07 deg h BEAK z ll 0 1 deg h 0000 0 00000000000000000000 0000000000 0 100 50 NURSE ACE I AE E RE KEK HEF 9 a fH z il Zx4u z il K amp X7 y 2 021 Z 00878 52 Mahe BRIT 7 OF 2 2 This document is provided 34 00000000000 13980 0 0000
3. 03000 0000 0000000000000 3 2 120 0 000000000000000 70x10 00000 3000000000000000000000 000 13980 4 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 25 A DUPES X axis CE Y axis F Z axis 10 B 5 5 10 3 0 5 ele Meter ene e peeled wakas qua ee ES S PSA S Wayka o 10 10 10 10 10 107 10 correlation time sec 00000000000000 0000 0 0000 0 00000000000000000 6000000 Zx4ud 2 AT ARIE 0 073 dogn
4. 00 0000000000000 5000 0000000000 NO ED DODD D 00000000000000000000000 31500 00000000000000 0000 T Il mean 0 00 5 std 0 06 m s 95 0 12 m s N vel error m s experimental result 9594 theo 0 2 T U mean 0 00 m s std 0 05 m s 95 0 09 m s E vel error m s
5. 0000 500 00000 500 91 0000 ODGPS NSO 00 00 0000000000000 0 27 m 0 12 m 0 14 m ZAI 0 12 m 0 21 m 0 32 L3 ES 0000 0 0000000000000 000000 km0 00 00000000000 13980 46 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 47 0000 0 F van Graas et al Ohio University FAA Flight Test Demonstration Results of the Local Area Augmentation System LAAS Proceedings of ION GPS 97 pp 1623 1629 T M Corrigan et al GPS Risk Assessment Study Final Report The Johns Hopkins University Applied Physics Laboratory VS 99 007 January 1999 00000 OOOO 330 0
6. 0 M 2 2 1600 0000000000000 0 0 0 0 Ea EE E Oo E15 T3 El L3 r3 L3 r3 ET O L3 0 0 0 0 0 0 o oO oo Ed ale 66 0 2 2170 2 2 180 000 0 10 00000000000 13980 p 2 2 2000 00000 0 2 2 270 000000 w 0000000000000000 w w w 2 2 280 0000 w ae w cos L r E We enr D 2 2 29 000
7. Tj T F4 T3 r dTa 00100 3 3 210 hilXcpsi ms cDtdty 30 00000000000 13980 i 5 li MAMET An D gt L IN MU E 2 E d i Fn h ORCI BE eu B ooa xs di T e 4 14 k CHIESE Pen sui s 2 A in nr F WATA es ea i A Y MERITI RETO 0 AM 3 gt pna ium TTL ur ip A 0000 0 000000000000000
8. DU 00000 10000 421 5 0 This document is provided 32 13980 OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO ugaaguagauaaauddgdgtltl ult 0 027 m sSQO 00 0 00000000000 OOOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOOOO
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10. 00 0000000000000 00000 sag 06 5 00000 OOOOOOOOOOOOOOOOOOO OOOOOOOOOOOOOOSAOOOOO 000 00000000 0000000000000 OOOOOOOOOOOOOOOOOOO GPSOOOO
11. This document is provided 6 2X 105 5 7 X105 2 9X 10 2 AAD n c 5 0000 0 0000 0 0000000000000 Z angular deg s 20 30 10 0 9999 30 E ul E 0 999956 1 1028 95 Z Y angular rate deg s 1 0001 40198 95 A X angular rate deg s 1 0001 10108 95 X 1 0001 0000 000000000 10 30 deg sec 0000
12. 33 INSDD 00000000 06 5 O04 21I00000000000000 100000 00000 1 107 0 1 1050 80000 000000000
13. 000 0000 0 4 4 150 60m 45m 10m b r 0 4 4 14 60m 45 m 10m LONE 257 00000000 37 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 00000000000 13980 on the ground heiht 550 km heiht 2000 km 0 500 1000 1500 2000 2500 3000 3500 4000 Past time sec 0000 0 1 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 Time sec 2000 3000 4000 5000
14. o This document is provided by JAXA 42 43 00 5 GPSU VDR velocity 5 10 dead 000000000000 000000000000000600 1 0 00 OOO000015mG0000000000000000
15. D 00000000000000000000 000000000000000 fi 0D DD 002 2 0 00000000000 2 250 00000 0000 0 0000000000000 0000000000000000600 HEE 3 c RZ SRE dy 90m WOR 1 9 Sagnac WAC L DRE EFM CEB IHR C 2 LORE ono 8m 107 Cus ELAS drop 2m 50025 107 chu SEO BUA 4 3m TNFAA ARR E Rat RSS 90 This document is provided 8 00000000000 13980 n 0000000000000000000000000 0000000000000000000 sA0000 0000000 950 000000000000000 i cce 442 0000000000 4 00 0000 22500 00 esit rj 000000000000000000000 dsa disag drop 2 2 120 000m0000000000000000000m0 amp e dtys Dt 0000006Ps00000000000000000 O000000000000000000000000 000055400000SA00000 04 0 0 GPs 0000000000000 200000000000 00000000000000000000
16. This document is provided DGPS NS0 000000000 ft A Tete ri c dts Urs rsl 4 4 4 n df df DOOW4 44000000000000000000 0000000000 Df 2 13 2 0 0 4 4 50 ri r r Cr 0 4 4 60 4 4 30 0 00 4 440 00000000000 Mer iri fit n dt 4 4 70 n n df 4 47000000000000000000 nnugnnggnnggnnd gnncesnn un Or r 00000000000000 00000000 0D000000000000000000000000 0D000000000000000000000000 0D000000000000000000000000 8 0D00000000000000000000000 00 4 340000000 000000000r000 0000000000044400000000000 0D000000000000000000000000 00000000000 r J zt I 4 1 dg T3 du T3 4 r3 3 E di T3 dionolT d T d Ts 3 dty T d d 4 4 8 OO0004 4700004 48000000000000 00000000000 13980 5
17. 13980 6 0000000 00000000000 DGPS INS 0 0000 eshi 20000 000 00000600 00000 c t3 15 dr 0 2 2 19 0 000000000000000 00000000 2 2100 790 000000000000000000000 000000000000 730 5 c T3 12 dtz dt dr 2 2
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20. PL hil a T 11 1 7 41 rua 7 Pa 7 2 1 a 1 0 2 3 10 0000 DGPs NS0 000000000 00000 00000 2 3 100 0000 2 3800 0000 n Jj EE EzT EST SEL ES This document is provided 0000 x F w 000 2 3 1 x t e t toit x t 2 3 20 to AF t to FUE t to 2 3 30 F t to F t to I F t t
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26. ceso 10000000000 85 000 0000000000 1 8 000000000000 wsoooo00000000000 000000 1 0000000000000 4 0000 MNso0o00000000000000000 0D000000000000000000000000 00000000 0500 000000 0 00 000000000000000 0000000000 0000 Nso0o00000000000000000 0D000000000000000000000000 00 1 000000000000000000000 7 BEF 00 0 This document is provided
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28. non coherntlOOOOOOOOOOOOOOOOOOO 00 00 160 narrow correlator m000000 9 00000000 000000PRN0O000000 s000000000 000000000000000 0 0 OO discriminatori 1398 eX Gps WGPS_err 3 2 29 0000 XGps den dsa dsa r dion Trop Wm n O 3 2 260 i di 0 3 2 270 ds Lm dsa 1 v dsa L s dsa 3 2 280 d iono diono i Aine 3 2 290 dr dr y dr 2 dr ne 0 3 2 300 n ny ny ng 3 2 31 DU wa lt 0000 000000000 612 F 0 0 0000 0 0 0000 0 0 0 0 0 0 0000 0 0 0 0000 0 3 2 320 0 0 0 0050 0 0 0 0000 0000 Ol k k p 000 0 clk 00 17 0 3 2 330 00 0 __1 s Tsa s 0 9 Fs s
29. 000000000000000 0 IDGPS INS 0 0 00000 00000 E Ta O Oooo E33 L3 OOO Oooo EE O Oooo 0 0 0 0 0 Em E El EI oo 0 0 0 0 0 0 0 Ooo Oooo E J 1 Ooo oo oo 22 E api E Oooo EEr ES EE SES CE EJ 3 Oooo l Oooo Oooo T E E Oooo Lr EI EST ed py E21 J J Jj Oooo oOo oo E I s EY E EJ LE OOOO OOOO g 48 00000000000 13980 Single Frequency GPS User
30. 02 00000000000000225000000 000000000 GPS 000000000 0000000 000 OO r3 OO r3 0 0 0 0 0 00 0 00 0 E ES This document is provided by JAXA Er Yoo Oooo e2 f 2 f 3 3 15 4ffoo000000000000000 00000 09 50 0 580000000000 0000000000 00 TAFT F Ta cdi h TAPAT r AT We 0 3 3 160 00000 0 qr rT m N h sinLsin N h cosLcos cosLsinl 0 0 sin L N h sin Lcos h cos L sin I bat N 1 2 h 3 3 170 0 0000000 2 1000 2 00000000000 0 Eo E SEM ae Oooo h X T T 3 3 18 4 r T gt mie reir 9 03 3190 100002 0 0 01 0 0 D 3 3 200 gt i 0000000000000 00 0
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33. 45 00000 19800 0 0000000000000000 0 0000000000000 00 000 96 2000000000000000 00400 0000000000 00000 DGPs INS0 0000 200000000000 100 mga 00000000000000000000 000000000 0000000000000000000 20
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36. 00 03 3 20 gyro zt ab ce b 3 3 30 W GPS INS 0 Woe Wr wa 000000000000000 08 T Fes INS Fas 1 0 Fors 0 3 3 4 d dts n 0 3 3 50 Wok 0 w 3 3 6 d Find otk Welk 0 3 3 79 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 29 6 0000 0 508 8 7 ___ BREAN 5 4187 47 4 ZU 2224471 1 x ZU 7 888 1 x 7 7177 47 x 12 ______ gt At He E 1 RE HA ERE 3 8 7 2 DEE 3 e ARTI 3 oe Bo pofo o 12 EH EN DS o i 6 Ed 85 WARAH 2 24702 12 Eas ata i THP T3 F T TWF Ts pr r T2 D1 TAF T3 Dt r T2 Dt h arr gr 0 3 3 220 ptf TAPAT r T ITT TAFT 9 00000 fpr 0 gt
37. 00000 Pt U D W k rk W 0 31 19090 0000000000 000000 00000 am 100 0000 0000000 000000 03 120 0 00000 00 2 3 13 O00000000000000000000000 dug dts Dt 03 210 1 900 003 1 2000000000000000000000 0 3 210000000008 0 00000000000 000000000000000000000000 0000000000000000000000 000000000000 5 000 00 4000 00000000000 00 0000000000000000000000 OOOOU00000 000 00000 ePsooooo o00000000000000000000000 0000 00 0 3 2100000000000 sag o000000000000000000000000 o000000000000000000000000 o00000000000000000000 00 00 00 PRN PRN 50 PRN 60 PRN 200 0 000 o00000000000000000000000 0000000 Ps0 000000036000 00000 0000000000000 0000000000000 sAD 00000 40 204m0 338500000 0
38. 2 This document is provided 26 00000000000 13980 X axis x Y axis Z axis short term stability of acc m s s 10 10 10 10 10 10 correlation sec 0000 0 00000000000000 0000 0 0000000000000000 60000000 0000 Sacc Saw Say el D 3 2 560 x a cy yros Sacer M 3 2 500 INS gy gry gryo S yro Sex se D 3 2 570 Oe m Maxo Mayo Mayo Mazo 3 2 580 aL 3 2 510 ma Mexzs M pyy M gyz M ozy m 3 2 590 dvy 0 3 2 520 000000000000000 0 c d dy 3 2 539 F F 0 0 000 0 0 E Fy 0 F 0 Is 0 EFE 0 F 0 T 0 Is 4 0 0 05 0 0 0 0 0 5s5000000000000000000000000 Fnser 0 0 0 0 0 0 0 0 260 000000000 000000000 000000000 b uu Dav Days ba 3 2 54 A 3 2 550 This document is provided by JAXA 27 0 3 2 720 3 2 730 0 3 2 74 3 2 75 3 2 76 3 2 770 3 2 78 3 2 79 3 2 80 3 2 81 0000 0000 0000 0000 0000 Oooo oO oO
39. 0000000000000 7 90000 ITRF90 International Earth Rotation Service IERS Ter restrial Reference Frame 199000 00 000000000 0000000000 wess40 19900 0 ITRFU U HU RCS Runway Coordinate This document is provided pcPs NsQOOOOOOOOOOOOOOOOOOOOO 41 4kmO 0000 DOP 00000 Dilution Of Precision value U B 00000000000 0 HDOB Horizontal VDOP Vertical DOP 00 000 00000000000
40. This document is provided pcPs NsSQOOOOOOOOOOOOOOO x k h Dh ds 5 dsa L Tsa s Tsa L WsA 5 WsAL a iono_i gt trop z a trop i dr s Q gt 5 clk_short 5 XGPS_err WGps_err F GPS_err iono Asolar M iono_dgps Tory d gps 000000 000000000000000 000000000 0 0 0 0 0 Er rt m C 0 0 0 0 Foon gt 00000 000000 o 0 000 0 00000 O49 1000000000 O49 1000000000 Ez ests EST ey 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 E I ET EET ES ES 0 EST Ez EE FF Ep
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45. 0 00000000004 0000 00 00 000 00 0 OO00000000 drol o00000000000000000000 000000000 0 4 00000000000000 0 0 0 006 000 00000000 0 000000005H000000000000000 o00m000m 2 250 00000000000 o000000000000000000000000 000000016700 670 000000000000 o00000000000000000 000000000000000 000000000000000 00000000 2 21000000000000 o0000000000000sA0000000000 o000000000000000000 9 sAag000000000 9 0 0000000000 D 3 2 20 This document is provided pcPs NsQOOOOOOOOOOOOOOOOOOOOO 15 100 std 32 2 m O ay tad app an PRS NU UNES n 0 1000 1500 2000 2500 3000 3500 100 T T T T 5 std 204m 0 nA A x aaa 56 Oe ER alo PE RE ih EN 9 ARE D n lt o 1000 1500 2000 2500 3000 3500 std 34 8 m SA PRN6 m e 100 1000 1500 2000 2500 3000 3500 100 I T T T std 24 6 m c 5 100 1000 1500 2000 2500 3000 3500 GPS time in hour sec 0000 0 0000000000 SA 40 T T T CRURA Fla 35 30n 7 PRN 5 25 PRN 6 20 1
46. GPs OOOOOOOOOOOOOOOOOOO 0 000 00000 000 OOOOOOOOOOOOOOOOOOOO pGesQOOO cesOOOOOOOOOOOOOOOO 0 lt 10 0000 OOOOOOOOOOOOOOOOOOOO 0000 12000000000000 OOOOOOOOOOOOOOOOOOO D G P S ii PRAT 1 4 BEEN lt lt k O single difference 7 7 CX ax SA 6l1X lt 105A2 11X1054 RTCM SC 104 2 JE KlobucharM 88 12 k 5 RE DELT 10 SB a E Pr HEC Gillet 2 ay BELT ZORB TEHTA WE iA DG P 5 6 005 d 1 SH EJ Ec 3 E ORE km This document is provided by JAXA
47. pp 11 20 0 19959 000000000 L Vallot A Snyder B Schipper N Parker C Spitzer Design and Flight Test of Differential GPS Inertial Navgation System for Approach Landign Guidance NAVIGATION Vol 38 No 2 Summer 1991 pp 103 122 M E Cannon Airborne GPS INS with an Apprication to Aerotriangulation Ph D Thesis April 1991 Univer sity of Calgary M Harigae et al Flight Evaluation of the DGPS INS Hybrid Navigation System for Category III Automatic Landing Advances in Astronautical Siences Vol 91 AAS 95 622 1995 pp 771 785 0000 0000000000 NAVIGATIONU 1500 1995 0 pp 39 48 0000 OOOO D BU qma 120 0000000000 019950 9 24 0000 00000000000 Deps insg 000000 400000000000 1996 00000 NAL TR 11050 1991 00000 0 200000000 0000000 33 5 1994 406 414 2000 vol 27 7 1988 pp 47 52 130 B W Remondi Global Positioning System Carrier E E t Phase Description and Use Bulletin Geodesique 59 pp 361 377 14000 OOOO NAL TR 12800 19950 150
48. i000 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 17 0000000000 T n 1 07762 373 10 10 nag OPO 0 m 3 2 800 00000 50000 4 000 OSaastamoineng 000000000000 0000000000 800 3 2 00 60 EI T Ban E EM EJ 3 0 0 0 0 0 0 0 0 0 0 0 0 OOo noo ES SP EI J 22 0 0 3 2 90 trop z 4 te 3 2 100 dos At 4 Ati 3 2 110 0000 0000000000004 00004 000 CES EI c3 mz c3 oO E
49. ood 0000000 beps Insooog 0D0000000000000000000000 00000000 crso00000000000000 00000000000 4 4100 0000000000 00000 9 0 00 000000000000000 3 25300 0000 000 0000 00000 00 0000000000000000 0 0000 4 4 20 000000 0 00 lever am effe 00000000 4 42 000441000000000 0D000000000000000000000000 0000ms0o000000000 80000 000 r T an y r 0 4 4 30 D00000000000000000000000 0D0000000000000000000000 0000000000000000 000000000 0D00000000000000000000000 0D000000000000000000000000 0000000000 0000000000000 0000000000000000 000000000 000000 0000000000000000 r0 000000000000000 cPsoo0 00000000000000000000 0000000 pcrs nsoo0o00000000 00000 00000000000000000000000 000000000 9 0 0000000000000 This document is provided 35 5 44700
50. cPs NSDO00000000000 D0000000000000 0000000000 cPs Nso 0000000000000000 D000000000000000000000000 cPs NSO 000000000000000 availabilityQO O0 000000000000000 cPs NSDO000000000 0000000000000 cPs NSDO0000000000000 00000000000000 00 0 00 continityg 0 0D0000000000000000000 D000000000000000000000000 000000000 0D000000000000000000000000 cPs NSDO0000000000000 0000000000000 000 5 iD000000000000000000 000000 INS Inertial Navigation System 1 D D D 000000000000000 D000000000000000000000000 00000000 00 0 00000000 Continuity Loss of Nav 1x10 hr ______ grit w of MI 12 4 nmi 107 hr 99999 Operation Accuracy 95 Aid Oceanic En route amp 12 4 nmi Remote 107 hr 0 999 99999 99999 1 10 En route 299999 99999 ERN 3 nmi Eas Bs 40 m 2x107 Fea V 10 approach 99999 99999 approach 15 Cat II 6 9 2sec 17 3 m 2 10 99999 99999 4 10 Precision 2 0 5 3 m approach 15 sec 2x10 last 15 sec 1x107 last This document is provided by JAXA 15 sec vertical
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52. 023 40 0000 02 32000000000 0 000000600 0D00000000000000P0000000000 P t to F t to P to E t tg Q t to 2 3 50 20000000000000 Qr rj E Satan de D 2 3 60 0 400 00 0 00000 000000 000 2 3600 F q eae 0 2 370 0000 12 1398 DD pers NSHUDDHBBDBDDDHUD 00000000 d 0D000000000000000000000000 OOO 0000000000000000000 0D000000000000000000000000 DGPS INSOD 0 000000000 9 0 00000 0D000000000000000000000000 000000000000000 wsoooooodd 000000 0D000000000000000000000000 000000000000000 0000 1900000 0D000000000000000000000000 0000000000000 190000000000 000000000000 0D000000000000000000000000 D000000000000000000000000 Flt X 1 Xlr 0 3 110 0D000000000000000000000000 0D000000000000000000000000 00004000 EAD 00000000000000 Rin 0 3 1 20 0000000000000 ms000000000 0D000000000000000000000000 0D000000000000000000000000 X t xy dtd 03 139 0D000000000000000000000000 0D000000000000000000000000 00000000 000000000 0D000000
53. gt 6 00 3 80 0416 lt 0416 00137 _ Ree 5 Y 1 00022 semi circles 3 90 0 0 0 0000000000 020000000000 semi circlesQ 0 0000 000000 t 432 1051 GPS time sec 00 3 100 0000000 0 000 20 E K Simith Jr S Weintraub L3 E Oooo O EI 5 7767 373 10 72 10 00 aam ell mean npa nn 1 Saastamoinen 19730 0000000000000000 90 0000000 000 02277 1 00026 21 0002 dary d 022774 005 1225 T M 1 00026008 2L 0000287 00 s 1 dim sin el a tan el b sin el c OO 3 14 00000000000 13980 L
54. 00 cPso0 0000000000000000 5000 000000000000000 00000 00 9 0 0 0D000000000000000000000000 0D000000000000000000000000 0000000000000000 000000000 0000000000000000000000000 0D000000000000000000000000 0D000000000000000000000000 000000000000000000 0000000000000000000000000 D0000000000000000000000 000 000000000000000000000000 s oooooooooooooon 0D000000000000000000000000 0D000000000000000000000000 0D000000000000000000000000 0000000000000000000000000 000000000 0D000000000000000000000000 0D00000000000000000000000 000 000000000000000000000 0D000 00000000000000000000 0000 00000 0000000 0000000000000000 0D000000000000000000000000 4 410 oooooooooooooon oooooooooooooon 0000 4400000007 0000000000 0D000000000000000000000000 0000000070 0cPrso00000000000 0D000000000000000000000000 0D000000000000000000000000 0000000000000000 0 00000000000 44100000000000 0D000000000000000000000000 p 8 0 00000000000000000 00000000 c
55. PFY qt AVI CE 00 1 10 gt OOOO0000z000000000000000000 40000 OO4 000000 M000000000 _a b a 00 1 20 lt This document is provided 16 A Gelb Applied Optimal Estimation The M I T Press 1974 170 B W Parkinson and J J Spilker Jr Global Positioning System Theory and Applications Progress in Astronau tics and Aeronautics vol 164 1996 18 J A Klobuchar Ionospheric Time Delay Algorithm for Single Frequency GPS Users transactions on AES Vol 23 No 3 May 1987 pp 325 331 19 W A Feess and S G Stephens Evaluation of GPS Ionospheric Time Delay Model IEEE transactions on AES Vol 23 No 3 May 1987 pp 332 338 2000 0000000 0 9 5 00000000000 0000 000000 19890 0 210 Department of Earth Atmoshperic and Planetary Sciences MIT Documentation for the GAMIT GPS Analysis Soft ware Release 9 40 November 1995 22000 OREXOO OOOO NAL TR 12800 19950 0 230 B Townsend and P Fenton A Practical Approach to the Reduction of Pseudorange Multipath Errors in a L1 GPS Receiver Proceedings of ION GPS
56. 0 0 0 0 0 0 0 00000000000000 D M 4U cfa 2 2000000000000 20000 00000000 E Pp EIE E E 2 moo goo 0000 400 Ooo Ooo Ooo Oooo This document is provided 17 TCXO Temperature Controlled Crystal 0 L3 L3 20 Oooo pcPs NsQOOOOOOOOOOOOOOOOOOOOO KTNA EEA 4 Id Z kz GFE BRE 0000 00 0 00000 DU 000 0 000 0 0 0 0 0000 0000 S ak shor 0 3 2 1 00000
57. 10 7292115 147 7292115 1467 EJEM GM m s 3986008 X 10 3986005 X 108 HEE c m s 299792458 299792458 000 0 Ref Frame NAD83 WGS84 WGS84 GPS WGS84 G730 ITRF93 This document is provided by JAXA 50 00000000000 13980 0000000000000 precise ephemeris 0 0 0000000000000000000000000 0000 IGS International GPS Service O00000000000000000000000 for Geodynamics OO OO OOO 1650 0 19920 0 D D O000000000000000000000000 0000000000199 0000000000000 000000 ephemeriso 00000000000000 O000000000000000000000000 O000000000000000000000000 O000000000000000000000000 00000000cPrso00000000000000 00000000 O000000000000000000000000 0000000000000000000000000 690 0 0110 120 00000 00000 00000 160 00000 05 50 00 00 1100000 O000000000000000000000000 O000000000000000000000000 0 broadcast ephemeris 0 0 0 D 0 9 0 0000
58. H 15 5 m 2 10 5 3 m approach 99999 99999 RTCA DO 245 DeCleene Non 220 m el sec precision H 16m Precision 7 7 6sec Cat III Precision FA A E 2892C draft RTCA DO 208 fra gps dw nm w Xin S err WINS err F INS err oy ce x GPS INS V GPS INS F GPS INS 0 T 0 paes INsQOOOOOOOOOOOOOOOOOOOOO 5 ngpgpuggpnaggganmugggngpugr sun 0D000000000000000000000000 0D000000000000000000000000 00000000000 ms900000000000 0D000000000000000000000000 000000crso0000000000000000 0D000000000000000000000000 0D00000000000000000000000 0000Dpcrs nsgoo0000000000000 DGPSO INSOO00000000000000000 D000000000000000000000000 000000 19870 0000000000000000 000000000000000 1 0000 0D000000000000000000000000 D000000000000000000000000 00000000000 000000000000 000 0 0 019900 0 Saa sS SEC EE E SUE MEE 00000 1200 0000000000 57 70000 96 25 11991
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61. J 22 U 000 000 000 0 D 3 2 99 trop z di Ate 3 2 100 do t doy Aty 3 2 110 0000 0000000000004 0 000 cPrso00000000000 D EE 129 L3 L3 r3 0000 000000 0000000 cfa 22000000000000 0000000 21 oo O 8 OOOO OOOO p OOOO OOOO g CES EST El 000000 trop C CJ 2 xz a sa qh a o 0 PSOOOOOOOOOOO su joss ats Ooo Er ET oO EI EJ EF 0000 8 00000000000 13980 10 7 gt 10 8 5 OREX SK EBA TCXO uU 10 9 ic t 10 10 i eee 5 gt occ ARRATI yA RAMS CU O 10 11 2 BERS LILLY Z BRAT FZ Z 10 12 10
62. NAL 8 ISSN 0389 4010 UDC 527 62 527 8 629 783 629 7 05 oD Bl TECHNICAL REPORT OF NATIONAL AEROSPACE LABORATORY TR 1398 DGPS INS 00000000 2000 1 03 B di NATIONAL This document is provided NAL TR 1398 eee 1 9 077 NU EE 4 5 Aa Dees 5 6 6 GBGPST ee saa ahipa a 8 skua kuy cn ott sob El 9 10 Z a anna LE ENT Wel REED BV ET oa 12 UU EL dnte ete audes dade et ene 12 14 am HHB SHES ly UI HANI ly Spires NERO 14 re ee 21 ER NRW 22 en leh saws eene ate bete aa et tandi tte 27 RAW EL A ae Te TETSU
63. Oooo Ooo ooo 2 E pE3 p EH Oooo g 0 0 0 0 0 3 24400 0000000 gt LJ L3 000 0 0 0 0 0 0 000 0 0 0 TT l dm _ dt 6 ds _ _ 0005 M rol E i U 3 2 41 trop_dgps 0000 000000000000 2 50 00002 2 140 2 0 0 EI Fey Oooo Oooo oO
64. RAN WAYNA D vel error m s 0 2 349300 350300 351300 352300 353300 354300 355300 356300 GPS time sec 0000 0050 This document is provided 00000000000 13980 _ 0 004 2 0 002 MAU N Sak Ms AN V TVA 8 20 002 i ers ei eh te d ded rads gt experimental result 95 theory bias 5 5 bias 5 5 0 0 0 002 Z acc 0 004 349300 350300 351300 352300 353300 354300 355300 356300 GPS time sec DGPS INS bias deg h X bias deg h Z gyro bias deg h 0 4 349300 0 351300 352300 353300 354300 355300 356300 GPS time sec DGPS INS This document is provided by JAXA 44
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72. ET L3 oO TERT SESS EE D pcPs NsQOOOOOOOOOOOOOOOOOOOOO F wp 0 wy Wy 0 0 7 FF W p W p x n C w 0 0 F Cj 0 w 0 0 Ow bo T Wi Wie Wy We wyw 0 000 F C 0 Ow w 0 0 000 0 aw 1 a 6 o F 0 0 0 0 4 ba 1 4 0 F 0 TE 0 1 0 o r 0000000 WINS err 0 0 0 Wow Woe 0 0 0 0 0000 000000000000 000 DGPS INSD D 000000000 This document is provided 0 3 2 61 3 2 62 vgan L sin 21 2 _ Vyvgtan L y 2 m _w eos 25 r r 3 2 63 Vy F 21 cos L 0 0 3 2 64 3 2 65 3 2 66 3 2 67 3 2 69 3 2 690 2 70 03 2 71 VN 0 0 2 F vginL rcos L r cos L 0 0 0 1 0 0 F 1 0 rcos L 0 1 ud 2 os L ne 2L 0 r cos L vy 2ucosL 2pw sinL 0 viet sin L rw Asin 2L 0 tan L m ave w sin LJ L tan L FE YE 2w sin L 228 E w cos L 0 ap F
73. T 3 EE E OOOOOOOOOOOOOOOOA 00000 GPSHOOU0000000 11 1575 42 MHz L2 1227 6 GPSOOOOOO000000 OO000 0 C A Clear Acquisition B P D D 000000000000 DU PRNO E Pseudo Random Noise code HO Hl UD 1023 GPS SPS Standard Positioning Servic DOHOOOOOOO0O00000P0000 C A OOOO OOM3000000000000000000 0 Precise Positioning Service 00 00000000000000 15 25m 0 00 200 30nj 95r 00 B 000 0000 5 sA D Selective Availability 0000 0000 00000 100 150m0 950 5
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75. system in the aerospace field and then conduct flight tests to evaluate the results of error analysis using this method The proposed method is characterized by the application of the latest technical expertise to error models of GPS and INS sensors This feature makes the method far more reliable than conventional methods The method is also characterized by its capability to predict navigation performance of even the most advanced navigation algorithms such as the DGPS navigation algorithm and the OTF ambiguity resolution algorithm The error analysis using the proposed method makes it possible not only to predict navigation performance attainable by the DGPS INS hybrid navigation system but also to identify the error sources that affect performance Once those error sources are identified we can propose and evaluate a new algorithm to prevent them from affecting navigation performance All these steps contribute to the creatia of a more sophisticated DGPS INS hybrid navigation system More specificly we applied the method to predicting the performance and characteris tics of the DGPS INS hybrid navigation system the multi antenna DGPS INS hybrid navigation system and the rendezvous and docking DGPS navigation system Of these the error analysis of the DGPS INS hybrid navigation system was evaluated by flight tests The flight test data demonstrated that the proposed method was highly accurate confirm ing its reliability The parameter values u
76. 0 Oooo 00000 0 TEC D 0000M 0000000000000000 0000000 3 250000 00000 0000 0000000 6 80 000 dino0 000000 000 000000000000 000000000000000 o 000 0000 00000 0000000000 000 OOO Er ESTE Bas OOO 00000000 500 4000 00000 0000000000000 30 0 0 200 000000000 a gl A ET 2 Hz L3 L3 This document is provided o OO00 600000 Klobuchar 0 3 2 6 di ltr Sion Ei 3 2 70 0000000 04 0 0 00
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78. 00000 000M 2 2500002 21200000000000 000000000000 000000000000000000 000000000000000000000000 000000000 sano 0 0 000 00000 nnnanannannanannnnnunann dc T E oooonnooooooooooonn lucu ce ces OOOOOOOOOOOOOOOOOOOD 00000 0 2 2 139 m 0 0 0 0O02 26000000000000 0000m 22300000000000000000 02209 DOOUUDOOOOOOOD Ddw AWD 61 6 Di 00000 drp 400000000 dr 45000 00000000000000000000 000000 0000000000000000000000000 0000000p 460 00000 SPSs0000000 00000000000000 M 2230000000 O0000000pcPs0o00000000000000 0000000000000000000000000 22 sga000000000000000000 004500 s000000000000000000 0000000000000000000000000 Pee A eer ere te uS 00000000 jet gt naqa dz doy r t3 c dts 41 3 drips 00000 008000 695 00000 0 02 244 0000000000000000000000000 0 9 6 O000000000sa00000000000000 0000000000000000000000002 O0000000000000000000000000 2500000 08 4080000000000000000 000000000000006Ps000000000 000000000000000 2 2 40
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80. 000000 00000000 base station OOOO GPSO0000 8 This document is provided 9 02 21700002 218100000000000000 North East Down 000000000000000 0000 a x 2 2 19 gnugugngaggg
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84. 00000000000000000000000 D000000000000000000000000 0D00000000000000000000000 NNSS D000000000000000000000000 0000000000000000000000 D Navy Navigation Satellite System 0 0 0 0 0 00000 0000000000000000 wess40 00000 D000000000000000000000000 0D00000000000000000000000 D000000000000000000000000 940 0 0000000000000000000 wosa4 000 0D0000000000000000000000000 000000000 000000000000000000000000 D000000000000000000000000 00000000000000000000000 000 D000000000000000000000000 D000000000000xy 0000000000 20 000 0 000 000000000000 000 6584 00 0000000000000 tO 000000000000 WGS 00000000 00 00 0 00000 wssa4 e WGS84 GPs 0 GPS 00000 WGS84 y N h cos 1 sin do ra e WGS84 07300 1650 0 0 IERS standards GM VO N 1 e h sin 00000000000 wosa4n OM OO NUveL 10000000 0000 000000 0 10 0 0 O00 consistent 00000000 ed mcm oo 140 Hod 00000000000000 0 0 International Terrestrial Renfence frame 920 000000000000 e 2f f 00 150 0D0000000000000000000 0000 0000000000000000000000 0 0000000000 LS 000 0000000 1 se Dna GPSo 000000000 SRP xal 0D000000000000000000000000 000 0 00000000 492 9 WGS84 a m 6377397 155 6378135 6378137 f 1 299 152812 1 298 26 1 298 257223563 PH
85. 2 240 23400 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 21 OOO00 00000000000 00000000000 0000000 000000 00 00 00000000 0000000000 RTCM Radio Technical Commis sion for Maritime Services 1040000000000 ooo ESE Ee Ms 61 10 11 10 br 3 2 390 Klobucha M iono A solar 000114 3 2 400 000 040 00000 00 0 0000000 000000000000 000000000000 00000 0000 000
86. 5 10 SA normalized power spectral density dB Hz uz yg ds 0 0 002 0 004 0 006 0 008 0 0 012 0 014 0 016 0 018 2 frequency Hz 0000 0 i 0D000000000000000000 650000 dsa s Ti fst WsA s 03 230 0000000000 00000000000 00000 ds LT SAL 0 3 2 40 This document is provided 16 00000000000 13980 10 6 28 3 my 90 sec 200 sec 2E d sO Ts s 2Elds Fi E m MW 07 4 OPS a 0000 0000 0 00000000 Klebuchar OOOO 0000 0 2223 5 DHL Elds 0 TURBO Eld ER Tus RER Tua Ps ws 5 FoR AXORNEE Pwa D 0 0 0 0 0 TEC Total Elec 0 0 0 0 0 0 0 E EE Oooo p 0 Content p TT ER tro B R diono a Ndr 3 2 5
87. 6000 7000 8000 9000 10000 Time sec 0 1000 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 0 Time sec 0000 0 000000000 TT 0000000009 0000 x 2wy F im OOOOOOOO Im EAR 00000000000000 T OOOOOOOO This document is provided X pos error cm m GPS e e Z error e e e SJ oO O Oooo oO Cy LIES ESI EL 38 pcPs NsQOOOOOOOOOOOOOOOOOOOOO 39 shee accuracy estimate filter covariance X pos error cm 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 Time sec Y pos error cm N 1 0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 Time sec 71010 eee Rae D 3s mu SETER
88. 94 1994 pp 143 148 241 J J Spilker Digital Communications by Satellite Prentice Hall 1977 250 J A Klobuchar et al Potential Ionoshperic Limitations to GPS Wide Area Augmentation System WAAS NAVIGATION Vol 42 No 2 Summer 1995 pp 353 370 260 Harigae et al Flight Experiment Results for Aircraft Position with Carrier Phases Proceedings of ION GPS 94 pp 1519 1526 27 C E Cohen et al Flight Tests of Attitude Determina tion Using GPS Compared Against an Inertial Navigation Unit NAVIGATION vol 41 No 1 Spring 1994 pp 83 97 28 M Murata et al A GPS Sureveying Method Applid to Terminal Area Navigation Flight Experiments NAL TR 1994T March 1993 290 S Malys and J Slater Maintenance and Enhancement of the World Geodetic System 1984 Proceedings of ION GPS 94 1994 pp 17 24 300 J Kouba and J Popelar Modern geodetic reference frames for precise satellite positioning and navigation International Symposium on Kinematic Systems in Geod esy Geomatics and Navigation KIS94 1994 pp 79 86 310 J A Klobuchar Ionospheric Time Delay Algorithm for 49 0000z 000000000000000000000 00000000000000000000000000 0000000000000000000x000000 0D0
89. EE ED ED TED E 30 a eate A rer 30 D coget iP Tr dd bt 30 HU RETE EMSRS Tr nada 32 000 34 GPS 000000000000000000000 000 na ak alana awaqa ana haatun E 39 8 39 000 RA tid 4 IED H E ed ta 46 Jasa 46 a a 47 47 ERR 47 HL Ne kipa a EO dod 48 50 iod IE he ain S BL BD EE h SP PD E e Ri nn Sta 50 A EJ R 8 51 This document is provided by JAXA 00000000 U 0 0 ara 0 Ae H L B B BH EEG HO Daun Error Analysis of the DGPS INS Hybrid Navigation System and its Flight Evaluation Masatoshi Haricae Toshiaki Tsun Masaaki MURATA Takatsugu Ono Toshiharu INAGakr and Hiroshi ToMITA 2 ABSTRACT In this paper we propose a method for navigation error analysis which is indispensable for the practical application of the DGPS INS hybrid navigation
90. K R Britting Inertial Navigation Systems Analysis John Eiley amp Sons Inc 1971 This document is provided by JAXA 00000 crs E E O00 DGPS INS O pe Ee a Oo oO O 3 E E E Dd 0 t E EJ EJ 90089 oe aS Ei E E a a Ed C3 p3 EJ E ET Bae EE ES EISE Ed El EE EE EE Es CEST SES EXE E 2 2 EE EL Ez RE Ed O
91. ap 0 ay ay 0 dy ag Ap a 00 F 0 0 0 Oa a 0000 0 0 a a 0 0 0 0 0 0 a a v w sin L 0 2 P 0 0 Vet vtanL vgtan L t w cos L 0 y 13980 Fa 91 0 3 3 8 0 3 3 9 3 3 10 00000000000 00 00000 0000 0 T EST ER oO oO GO ESSE OOO OOOO a Se ae c3 CJ g LJ 0 0 0 0 0 0 z hi Rcpsims h Vi 0 3 3 10 OOOO 36 GPS INSOOOOOOOOD uude Ea Oooo 0 0 0 H UDUGPS INSD D 02 2 90000
92. ggggguggugug mnt mnc 0 2 2190000000 dCi _ Cow i 0 2 2 200 gt 000 000000000000022190 dr nyg d yi C w Wu 2 2 210 00000000000000000 2 2210 0000 This document is provided pcPs NsQOOOOOOOOOOOOOOOOOOOOO 0000 000000000000 413 ipu dE ee dosag rls dt 3 n nj df df r t3 c dt3 dt 3 nagps 2 2 15 0 0 0000000000600 00 00000 T5 E U INSOOOO 2 au 0 0 0 0 F aitgi 2 2 160 000000000600 2 16080 2 00 000000 0000000 0 0 540 00000000000000000
93. i T m 3 2 17 Ps wp i 252 T 0 0 000000000000 03m0 60m0 0000000 000000000 03 1 0 0 00000000000000 0 0 0 0 Sooo E Ez3 E 3 ES ET 5000000000 asl 5 CES S zd 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Oooo Oooo Jm Gat Et Ee ESUG ES Oooo oO EIE EET GE 3 EE iE Oooo oO Jm Gels el Oooo 0 0 0 0 0 0 EZ 1 EXE ESI Ooo o oO 0 0 0 0 0 0 0 0 0 0 0 0 0 0 O oo dy ESI SET ES O 00000000 ast
94. is document is provided by JAXA pcPs NsQOOOOOOOOOOOOOOOOOOOOO 13 DF 0 3 1 12 F ty F t tea 00 51 3 1 13 000000000000 2 3 100 000000 2 3 100 X t X t X t X t W X t 7 2 W x r Wk v Wk Dh X t Wk v 3 1 140 k 00000000000000 D0000000000000000000 0000 Ox 00000000000000 0r 0 A0000 0000000 bh Wh h 0 3 1 150 im Wik hg W X t ty E X t d u W k hy W X t 3 146 X t Oo000m3 18000000000000 P t I W P t I Wk WY 1 Wk h W V t ph k Ww ph V t 1 70 3 1 170 Wk W V t V t U Wik hy Ww U t Dh k W 3 1 18 This document is provided 0 3 1 5 E X t WE t t 3WE t 1 DF f f 3 w t 1 s t t WX DF wtt E g 3 1 60 DE tp fj 4 WF 7 03 1 7H V t E X t X t U
95. p E EX EET EX EJ eq Bee d n d EX cp EU EE Ed 9 EE FA ES Ep I ey p LEX EIE Ez E E3 E 000 EX E RCS Y 0 10 0000 0 agpupnpn ugBapnpnadbou This document is provided by JAXA o N SER 400055 0 0 0 0 00000000000 13980 I 349300 350300 351300 352300 353300 354300 355300 356300 GPS time sec 5 5 asas T mean 0 26 m std 0 41 m 95 1 09 m N pos error m E pos error m D pos error m E i i 349300 350300 351300 352300 353300 354300 355300 356300 GPS sec DGPS INS
96. s transactions on AES Vol 23 No 3 May 1987 pp 325 331 69 0000 GPS 5 GPS 8 0000000 0 0 WGS84 World Geodetic System 1984 Oooo O MCS Master Control Station GPs 000000000000 TCOOOOOU0000 019800 00 0000 UTC OOO GPS Week O0 0 0 0 00000000 00000000600 5 190 CO 100 ns O00 Oooo oO E gt Ey I 0 0 0 0 0 0 0 0 0 L3
97. s provided 12 13 T dt dts R TA 3 5 5 5 5 5 5 0000 00 E 3 J iE ESI E Dy Eh ap EED LE FE E El Q gt ao L3 pu LH oo E c oo L3 LJ EJ C3 C3 C3 CJ OOO Ed EJ Ed cd o 00000000000 pGPS D d 5 000000000000 000000000 00000 000000000000
98. sed in the error models also matched the data acquired at ground test facilities such as a 3 axis motion table As result this study successfully establishes a unique and highly reliable method for navigation error analysis of the DGPS INS navigation system thus contributing to progress in the practical application of the system Key words DGPS INS hybrid navigation error analysis Kalman filter flight evaluation received 9 July 19990 00000 0000 Flight Division 000 0 O TOSHIBA Corporation Komukai Works This document is provided by JAXA 13980 000000000000000 35 0D00000000000000000000000000000000000 GPSD 0D000000000000000000000002crs00000000000000 0D000000000000000000000000000000000000 0D0000000000000000000 00 0crs Nsg00000000000 0D0000000000000000000000000000000000000000 0D000000000000000000000000000000000000000 0D000000000000000000 00 0000 0000000 00000000 00000000 00000000000 pces issn 0000 0000000000000 Pcrso000000000000000000000000 0000000000000000 000 02crs Nsg0o00
99. t E 5 3 1 80 000003 1 6000 00000 0 00000 P t WTr ty t WP t t t _ W WF _ DE tet DF tk V t t DF tk U t DE ty tea Q t 0 3 1 90 F te t Ww F fy t 3 U t IDF te fj 1 Oty tol 3 1 10 U ty F ty 00 VE o tea D 3 1 11D 00000 M3 1 40000000000000000000 OOOOOO000 FO ml 00000000 SF EST Oooo 14 13980 000 cPrso0000000000 000000 o00000000000000000000000 oo000000000000000000000000 0000000000000 1000 0000000 o000000000000000000000000 o000000000000000000000000 000000000 9 0 0000000000000 0 0000000 000000000 000000 000000000 Dh 03 1199
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