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ELEC 4600 Assignment 4 Solutions

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25 views

ELEC 4600 Assignment 4 Solutions

Uploaded by

Deb Biswas
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ELEC 4600 Assignment 4 Solution

Professor Feuerherm
1a) For a GPS satellite to complete one orbit, it takes a half sidereal day. This corresponds to 11
hours, 58 minutes, and 2 seconds.
1b) Sketch of orbit around Earth with identifying perigee, true anomaly, and eccentric anomaly.

1c) If the altitude is known accurately, then only 3 GPS satellites are required to obtain a position
fix as 𝑧𝑛 (altitude) in the equation below is known:

𝑅𝑖 = √(𝑥𝑛 − 𝑥𝑖 )2 + (𝑦𝑛 − 𝑦𝑖 )2 + (𝑧𝑛 − 𝑧𝑖 )2 + 𝑐 𝑡𝑛

1d) The ionosphere affects GPS signals by incorporating a time delay inversely proportional to
frequency squared. There is a time delay because the GPS signals pass from space (vacuum) into
Earths atmosphere which contains charged particles.
1e) The mean anomaly of an orbit is found through the following scenario. The time is measured
for which a satellite in an elliptical orbit travels from the ascending node a position. Then, this
time is travelled on a satellite in a circular orbit to a position. This position forms an angle with
the centre of the orbit called the mean anomaly.

1f) Sketch of orbit around Earth with identifying inclination angle.


1g) Sketch of orbit around Earth with identifying argument of perigee.

2a) The unit vectors to the three GPS satellites are:

𝑟1 = 0.866 𝑖 + 0.5 𝑗 + 0.0 𝑘


𝑟2 = 0.866 𝑖 − 0.5 𝑗 + 0.0 𝑘
𝑟3 = 0.866 𝑖 + 0.0 𝑗 + 0.5 𝑘

The direction cosines of the lines joining the user to the three satellites is therefore:

0.866 0.5 0
𝐴 = [0.866 −0.5 0 ]
0.866 0 0.5

2b) The matrix expression to determine the corrections to the nominal values is:
0.866 0.5 0 Δ𝑥 100
[0.866 −0.5 0 ] [Δ𝑦] = [ 10 ]
0.866 0 0.5 Δ𝑧 0

2c) Solving for the nominal values:


Add the first row with the second row to find Δ𝑥:
2(0.866)Δ𝑥 = 110 Δ𝑥 = 63.5 𝑚
Substitute Δ𝑥 into second and third row to solve for Δ𝑦 and Δ𝑧
0.866(63.5) − 0.5(Δ𝑦) = 10 Δ𝑦 = 90 𝑚
0.866(63.5) + 0.5(Δ𝑧) = 0 Δ𝑧 = −110 𝑚

2d) GDOP = √𝑇𝑅𝐴𝐶𝐸(𝐴𝑇 𝐴)−1


0.866 0.866 0.866
𝑇
𝐴 = [ 0.5 −0.5 0 ]
0 0 0.5
0.866 0.5 0
𝐴 = [0.866 −0.5 0 ]
0.866 0 0.5
0.866 0.866 0.866 0.866 0.5 0 2.25 0 0.433
𝐴𝑇 𝐴 = [ 0.5 −0.5 0 ] [ 0.866 −0.5 0 ] = [ 0 0.5 0 ]
0 0 0.5 0.866 0 0.5 0.433 0 0.25
0.6667 0 −1.1547
(𝐴𝑇 𝐴)−1 = [ 0 2 0 ]
−1.1547 0 6
𝑇𝑅𝐴𝐶𝐸(𝐴𝑇 𝐴)−1 = 0.6667 + 2 + 6 = 8.6667

GDOP = √𝑇𝑅𝐴𝐶𝐸(𝐴𝑇 𝐴)−1 = 2.944

3a) The nominal pseudorange to the four satellites are found by substituting the given
information in the following equation.

𝑅𝑖 = √(𝑥𝑛 − 𝑥𝑖 )2 + (𝑦𝑛 − 𝑦𝑖 )2 + (𝑧𝑛 − 𝑧𝑖 )2 + 𝑐 𝑡𝑛


Where 𝑥𝑛 = 6160.9 𝑘𝑚, 𝑦𝑛 = 1650.8 𝑘𝑚, 𝑧𝑛 = 0 𝑘𝑚, 𝑡𝑛 = 1𝜇𝑠, 𝑥𝑖 , 𝑦𝑖 , 𝑧𝑖 𝑎𝑟𝑒 𝑎𝑙𝑙 𝑖𝑛 𝑡ℎ𝑒 𝑡𝑎𝑏𝑙𝑒.
3 ∗ 108 (1 ∗ 10−6 )
𝑅1 = √(6160.9 − 23032)2 + (1650.8 − 13325)2 + 0 + = 20516.66 𝑘𝑚
1000𝑚/𝑘𝑚
3 ∗ 108 (1 ∗ 10−6 )
𝑅2 = √(6160.9 − 23032)2 + (1650.8 + 13298)2 + 0 + = 22541.388 𝑘𝑚
1000𝑚/𝑘𝑚
3 ∗ 108 (1 ∗ 10−6 )
𝑅3 = √(6160.9 − 23032)2 + (1650.8)2 + (−13298)2 + = 21545.51 𝑘𝑚
1000𝑚/𝑘𝑚
3 ∗ 108 (1 ∗ 10−6 )
𝑅4 = √(6160.9 − 23032)2 + (1650.8)2 + (13298)2 + = 21545.51 𝑘𝑚
1000𝑚/𝑘𝑚

3b) The direction cosine matrix is:


𝛼11 𝛼12 𝛼13 𝑐
𝛼21 𝛼22 𝛼23 𝑐
𝐴 = [𝛼 𝛼32 𝛼33 𝑐]
31
𝛼41 𝛼42 𝛼43 𝑐
𝑥𝑛 − 𝑥𝑖
𝛼𝑖𝑗 =
𝑅𝑖 − 𝑐 𝑡𝑛

Sample Calculation:
𝑥𝑛 − 𝑥1 6160.9 − 23032
𝛼11 = = = −0.823
𝑅1 − 𝑐 𝑡𝑛 20816.26 − 3 ∗ 108 (1 ∗ 10−6 )
−0.823 −0.560 0 𝑐
−0.748 0.663 0 𝑐
𝐴=[ ]
−0.783 0.77 −0.617 𝑐
−0.783 0.77 0.617 𝑐

3c) The matrix equation for the corrections to the nominal values is:
−0.823 −0.560 0 𝑐 Δ𝑥 100
−0.748 0.663 0 𝑐 Δ𝑦 10
[ ][ ] = [
−0.783 0.77 −0.617 𝑐 Δ𝑧 1 ]
−0.783 0.77 0.617 𝑐 Δ𝑡 1 𝜇𝑠

3d) The equation for GDOP in terms of the direction cosine matrix A is:

GDOP = √𝑇𝑅𝐴𝐶𝐸(𝐴𝑇 𝐴)−1

3e) Given the (𝐴𝑇 𝐴)−1 below, the GDOP can be determined:
0.0079 0.1003 0.0000 0.3071
[𝐴𝑇 𝐴]−1 0.1003 1.2692 0.0000 0.1464
=[ ]
0.0000 0.0000 1.3141 0.0000
−0.3173 0.0189 0.0000 −0.2481
GDOP = √𝑇𝑅𝐴𝐶𝐸(𝐴𝑇 𝐴)−1

𝐺𝐷𝑂𝑃 = √0.0079 + 1.2691 + 1.3141 − 0.2481 = 1.5307

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