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2011/9/9
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Trng i hc Bch Khoa H Ni
Khoa in t Vin thng
K thut nh v
v dn ng in tElectronics Positioning and Navigations
TS. Trng TunB mn K thut thng tin
H Ni, 8-2010
Ni dung
Khi qut chung v nh v v dn ng in t
Mt s khi nim
H trc ta tng i, trc ta tuyt i
Cc tham s xc nh v tr.
H thng Radar : Radio Detection and Ranging
Khi nim, phn loi, phng trnh Radar, din tch phn x hiu
dng RCS, cu trc h thng, nguyn tc lm vic ...
H thng GNSS: Global Navigation Satellite Systems
Cu trc h thng
Nguyn tc nh v v tinh.
Tn hiu v tinh v bn tin dn ng
...
Ti liu tham kho
Phm Vn Tun , Gio trnh C s k thut nh v v dn ng
in t, 1997
Simon Kingslay & Shaun Quegan , Understanding Radar Systems,
2003
Mahafza Bassem, Radar Systems Analysis and Design Using
MatLab
Ramjee Prasad, Marina Ruggieri, Applied Satellite Navigation Using
GPS, GALILEO, and Augmentation Systems, 2005
Chng 1: Khi qut chung v nh v
v dn ng in t
1. Khi nim v ng dng
Khi nim nh v - Positioning:
xc nh v tr hay ta ca mt i tng (object) hay
mc tiu (target) gn vi mt h ta xc nh.
- Mt phng: mt t, mt bin
2 chiu ( 2 D - 2 Dimension)
- Khng gian 3 chiu ( 3 D - 3 Dimension)
Dn ng - Navigation:
hng dn, iu khin cc i tng (phng tin)
chuyn ng theo mt qu o xc nh.
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Khi nim nh v v dn ng in t
l h thng nh v v dn ng s dng thit b in t.
nh v v dn ng v tuyn - Radio Positioning and Navigation
sng in t
H thng mt t:
Cc thit b c b tr trn mt t: H thng Radar
H thng v tinh:
Cc thit b c b tr trong khng gian: H thng GPS
Mi quan h
o lng(M)
nh v(P)
Gim st(S)
Dn ng(N)
M: Measurement P: Positioning
S: Surveillance N: Navigation
ng dng Giao thng:
Hng hi (mt bin), ng b, ng st 2 D
Hng khng 3 D
bn , a thm.
Kh tng thy vn.
Y hc (siu m - nh v)
Vin thng.
Qun s.
in t hng khng
ATM: Air Traffic Management
CNS:
Communication
Navigation
Surveillance
Ti nguyn khng gian Khng phn = (din tch lnh th + din tch lnh hi) x 30km
approach
airport A airport B
Ct cnhH cnh
Qun l khng lu - ATMQun l khng lu - ATM
Hng tuyn(ng di)
tip cntip cnticng
en route
Air Traffic ManagementAir Traffic Management
ticng
take off landing
i pht mc
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M hnh mt ng bay
Vng BVng B
Cng BCng A
Vng khng gian ti cng
Vng khng gian tip cn ct
cnh
Vng khng gian ng di (hng tuyn)
Vng khng gian ti cng
Vng khng gian tip cn h
cnh
Vng A Vng AVng C
Hng khng
35 km
300 m
Mc bay
9000 12000
mt
Hnh lang bay
Air Traffic Management
- 02 Flight Information Regions : Hanoi Fir and Ho chi minh Fir.
- 22 domestic airport and 60 flight routes (20 domestic and 40 international)
Air Traffic Management
Air Traffic Management Air Traffic Management
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Development Trends Development Trends
2. H trc ta
v tham s xc nh v tr
H trc ta
Coordinate System
H trc ta tng i.
H thng nh v v dn ng mt t
H trc ta tuyt i.
H thng nh v v dn ng v tinh.
N
M
D
O
LOS Range: c ly theo tm nhn thng
Line of Sight
mt phng ng
Hng - Direction
N
EW
S
SE: ng NamSW : Ty Nam
NW: Ty Bc NE: ng Bc
NNE
ENE
ESE
SSESSW
WSW
NNW
WNW
WWSW
SWSW
EENE
NENE
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H ta A L
Ta c th xc nh mt v tr bt k trn tri t
V
V BcN
V NamS
Kinh ngE
Kinh TyW
Kinh
V : 0 900 N,S-900 900
Kinh : 0 1800 E,W
-1800 1800
Bng cch kt hp gi tr v (latitude) v kinh (longitude)
Latitude and Longitude
ng kinh tuyn
900 v Bcng v song song
ng xch o (00)
Kinh tuyn gc ( 00)i qua GreenwichLondon, Anh
ng v song song
Latitude parallels
0 0
20 20
NN
40 40
NN
60 60
NN
90 90
NN80 80
NN
20 20
SS
60 60
SS90 90
SS
40 40
SS
Equator
80 80
SS
ng kinh song songLongitudinal Parallels
Prime Meridian(Greenwich England)
0 Longitude
Longitude:0-180 East
Longitude:0-180 West
40:26:46N,79:56:55W
40:26:46.302N 79:56:55.903W
4026'21"N 7958'36"W
40d 26' 21" N 79d 58' 36" W
40.446195N 79.948862W
40.446195, -79.948862
40 26.7717, -79 56.93172
Cch vit chun, thng dng:
M (402621N, 795836W)
DMS: Degree Minute Second
DD : Decimal Degree
Mt s cch vit tham s v tr theo v v kinh
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Latitude and Longitude
1905000 S: 19 degrees 50 minutes Latitude South-> 19 50 pht v Nam
4305000 W: 43 degrees 50 minutes Longitude West-> 43 50 pht kinh Ty
F(19050 S, 43050 W)
LatitudeLatitude LongitudeLongitudeLongitudeLongitude
M
Mt phng xch o
Mt phng kinh tuyn
gc
v ca M
kinh ca M
OTm tri t
Cc bc
Chuyn i ta a l dng DMS sang dng DD
Dng DMS : W8743'41" ? DD
Tng s giy 43'41" = (43*60 + 41) = 2621 seconds.
Ly phn d sau khi chia cho 3600:
2621 / 3600 0.728056
Kt qu : 87 + 0.728056 = 87.728056
Do l kinh ty nn c gi tr m:
Kt qu l: - 87.728056.
Chuyn i ta a l dng DMS sang dng DD
? DD
V : 2621" = (26*60 + 21) = 1581 seconds.
Ly phn d sau khi chia cho 3600:
1581 / 3600 0.4391
Kinh : 5836" = (58*60 + 36) = 3516 seconds.Ly phn d sau khi chia cho 3600:
3516 / 3600 0,9766
Kt qu : M ( 40,4391, -79,9766 )
Dng DMS :
M (402621N, 795836W)
DMS: Degree Minute Second
DD : Decimal Degree
Dng DD: -87.728055 ? DMS
Du m Kinh Ty
Phn : ly phn nguyn 87.728055 = 87 degrees.
Phn pht: nhn phn d vi 60
0.728055 x 60 = 43.6833 = 43 minutes.
Phn giy: nhn phn d vi 60:
0.6833 x 60 = 40.998 = 41 seconds (lm trn ln).
C th lm trn xung 40 seconds,
hoc nguyn phn thp phn
Kt qu nhn c dng DMS l: W 8704341
Chuyn i ta a l dng DD sang dng DMS Mt s n v
nm (nmi, Nm) : nautical mile dm
1 nm = 6080 ft (feet)
1 nm = 1852 m1 m = 3,28 ft ; 1 ft = 0,304878 m
100 km = 54 nm
V d
- 322 km = ? (nm)
- 1794 m = ? (ft)
Vn tc : knot k hiu l kt; 1 knot = 1 nm/hour
110 knots ? km/h
210 km/h ? knots
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Mt s n v cao:
Height: cao so vi mt t a.g.l
( above ground level)
Altitude: cao so vi mt nc bin m.s.l
( mean sea level)
T l hin th bn RF
Small scale: 1:250,000
Large scale: 1:50,000
Mt s n v T l hin th bn RF - Representative Fractions
V d: RF l 1: 650 000 , 7cm trn bn s ng
vi bao nhiu km ?
Khong cch thc [km]= khong cch trn bn
[cm] * RF / 100 000
Khong cch thc = 7 * 650 000 / 100 000
= 45,5 (km)
Mt s n v T l hin th bn RF - Representative Fractions
V d: Nu 1,6 cm trn bn ng vi 5,2 kmtrn thc a. Khi , t l hin bn RF l baonhiu ?
RF= 1 : (khong cch thc [km] * 100000 / khong
cch trn bn [cm])
RF = 1: 5,2 * 100 000 / 1,6
= 1: 325 000
Mt s n v T l hin th bn RF - Representative Fractions
V d: Nu RF 1: 750 000 th khong cch trnbn l bao nhiu s ng vi 27,7 km trn thca ?
khong cch trn bn (cm) =
khong cch thc [km] * 100 000 /RF
khong cch trn bn = 27,7 [km] *
100 000 / 750 000 3,7 (cm)
ng trn ln - Great Circle
Khi nim : ng trn ln l giao ca b mt tri t
v mt mt phng i qua tm tri t.
Tnh cht:
Khong cch ngn nht gia hai im bt k trn b mt
tri t l khong cch gia hai im theo ng trn
ln i qua hai im .
ng xch o v cc ng kinh tuyn l cc ng
trn ln
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ng trn ln
Great Circle
Khong cch gia F v T
trn ng trn ln
cos(D) = sin(latF)sin(latT) +
cos(latF)cos(latT)cos(dlong)
D: Khong cch theo ng trn ln
Lu : LatF, LatT, LongF,LongT tnh theo radiansLu : LatF, LatT, LongF,LongT tnh theo radians
(Sign (Deg + (Min + Sec / 60) / 60)) * ( pi / 180)
Chuyn i kinh , v t dng DMS -> radians
Cch xc nh dlong Hai im F v T cng thuc bn cu phi (kinh ng Hai im F v T cng thuc bn cu phi (kinh ng
E) hoc bn cu tri (kinh Ty E) hoc bn cu tri (kinh Ty W) W)
dlong = abs (longF dlong = abs (longF -- LongT)LongT)
-- Nu T nm bn phi so vi F Nu T nm bn phi so vi F --> E> E
-- Nu T nm bn tri so vi F Nu T nm bn tri so vi F --> W> W im F thuc bn cu phi (kinh ng im F thuc bn cu phi (kinh ng E) v im T E) v im T
thuc bn cu tri (kinh Ty thuc bn cu tri (kinh Ty W) hoc ngc liW) hoc ngc lidlong = longF + LongTdlong = longF + LongT
-- Nu T nm bn phi so vi F Nu T nm bn phi so vi F --> E> E
-- Nu T nm bn tri so vi F Nu T nm bn tri so vi F --> W> W* Nu dlong > 180* Nu dlong > 18000 --> dlong = 360 > dlong = 360 dlong v hng ca dlong v hng ca
dlong s chuyn t Edlong s chuyn t E-->W hoc W>W hoc W-->E>E
V d
Xc nh lch kinh gia F v T trong Xc nh lch kinh gia F v T trong
cc trng hp sau:cc trng hp sau:
a. LongF = 130 00 W , LongT = 150 00 Ea. LongF = 130 00 W , LongT = 150 00 E
b. LongF = 140 W , LongT = 130 Wb. LongF = 140 W , LongT = 130 W
c. LongF = 140 W , LongT = 150 Ec. LongF = 140 W , LongT = 150 E
F(450 N, 1400 E)
T(650 N, 1100 W)
T(650 N, 1100 W)
F(450 N, 1400 E)
ng trn ln
F
T
Khong cch gia F v TKhong cch gia F v Ttrn ng trn lntrn ng trn ln
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V d
1. Nashville International Airport (BNA) in Nashville, TN, USA:
N 367.2', W 8640.2'
2. Los Angeles International Airport (LAX) in Los Angeles, CA, USA: N
3356.4', W 11824.0'
(Sign (Deg + (Min + Sec / 60) / 60)) * ( pi / 180)
Chuyn i kinh , v t dng DMS -> radians
Xc nh khong cch gia hai sn bay
Xc nh khong cch trn ng trn ln gia New York v Moscow
New York
Moscow
4045N 7359W
5545N 3736E
D = ?
Atlanta (32 53' 49" N ; 97 02' 17" W)
Tokyo (35 45' 53" N ; 140 23' 11" E)
D = ?
Xc nh khong cch trn ng trn ln gia Tokyo v Alanta
Gi s mt cn bo , c tm bo xut hin ti v tr F(110N, 1120E).
Hy xc nh thi gian tm bo di chuyn n v tr T(10030 N,
1100E) bit rng vn tc di chuyn ca tm bo 15 km/h.
V d
100 N
120 N
1100 E 1120 E
F
T
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Cos(FT) = sin(10,50*pi/180)sin(10,50*pi/180) +
cos(110*pi/180)cos(10,50*pi/180)cos(20*pi/180)=
Cos(FT) = 0,99937
FT = arccos(0,99937)*180/pi 2,0330
2,0275 * 60 121,65 121,65 * 1,852 225,2958 km
1 = 1 nm (nautical mile) ; 1 nm = 1 852 m
Thi gian dch chuyn tm bo t F n T l:
234,5 km / 15 (km/h) 15,02 (gi)
cos(D) = sin(latF)sin(latT) +
cos(latF)cos(latT)cos(dlong)
Chun s liu ta a lChun s liu ta a lWGSWGS--8484
Z
X
YO WGS84ellipsoid
a
b
a - baf = = 1/298.257223563
bn trc chnh a = 6378137,0 m
bn trc ph b = 6356752,3142 m
H s dt f :H ta o c theo chun s liu
WGS84
Cc bc
xch o
Bn trc ph b
= 6 356 752,3142 m
Bn trc chnh a
= 6 378 137,0 m
H s dt f= (a-b)/a= 1/298,257223563
H ta ECEF
O
Z
X
Y
ECEF: Earth Center ECEF: Earth Center Earth FixEarth Fix
Tm tri tTm tri tM (xM (xmm, y, ymm,z,zmm))
Chuyn i h ta a l sang h ta ECEFChuyn i h ta a l sang h ta ECEF
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Chuyn i h ta ECEF sang h ta a lChuyn i h ta ECEF sang h ta a l
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