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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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