Negotovosti GPS Lociranja
-
Upload
zigasajovic -
Category
Documents
-
view
40 -
download
6
description
Transcript of Negotovosti GPS Lociranja
![Page 1: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/1.jpg)
Negotovosti GPS lociranja
![Page 2: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/2.jpg)
โข ๐ โฅ 4 enaฤb
โข ๐พ๐=(๐๐ ,๐๐ , ๐๐)๐
โข pozicijski vektor k-tega satelita
โข ๐๐ก = ๐ ๐๐ก๐ โ ๐๐กโข popravek meritevโข c โ hitrost svetlobeโข ๐๐ก๐- offset ure satelitaโข dt โ offset ure sprejemnika
โข ฮด๐ โ pseudo-razdaljaโข poraฤunana iz trajanja potovanja signala
(๐๐ โ ๐)2+(๐๐ โ ๐)2+(๐๐ โ ๐)2 + ct = ฮด๐
Satelit v orbiti nad Zemljo
![Page 3: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/3.jpg)
Definirajmo:
โข ๐ = (๐, ๐, ๐)๐
โข pozicijski vektor sprejemnika
โข ๐(๐ )= (๐๐ โ ๐)2+(๐๐ โ ๐)2+(๐๐ โ ๐)2
โข e=ctโข olajลกamo se pretvorb
โข e vraฤa v enakih enotah kot ๐(๐ )
โข ฮด๐= ๐(๐ ) + e
(๐๐ โ ๐)2+(๐๐ โ ๐)2+(๐๐ โ ๐)2 + ct = ฮด๐
5 krogel brez skupnega sekaliลกฤain Zemlja v modri
![Page 4: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/4.jpg)
Analogno Newtnovi metodi iskanja niฤel
โข ๐(๐ ) lineariziramo po Taylorju
โข z MNK* minimiziramo vektor napake
โข Zaฤetno oceno iterativno izboljลกujemoโข Navadno ni razpoloลพljivih podatkov za ocenitev
โข Kot izhodiลกฤe izberemo Zemljino srediลกฤe (0,0,0)๐
(๐๐ โ ๐)2+(๐๐ โ ๐)2+(๐๐ โ ๐)2 + ct = ฮด๐
*Metoda najmanjลกih kvadratov
5 krogel brez skupnega sekaliลกฤain Zemlja v modri
![Page 5: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/5.jpg)
Definirajmo:
โข ๐ ๐๐ก๐+1 = ๐ ๐๐ก๐ + ฮ๐
โข ๐(๐ ๐๐ก๐+1)= ๐ ๐ ๐๐ก๐ + โ ๐(๐ ๐๐ก๐) * ฮ๐
โข๐ฟ๐ ๐ ๐๐ก๐
๐ฟ๐ฅ=โ๐๐โ๐๐๐ก๐
S๐๐ก๐๐ ๐ ๐๐ก๐
โข k oznacuje enacbo k-tega satelita
โข S๐๐ก๐๐ (๐ ๐๐ก๐)= (๐
๐ โ ๐๐๐ก๐)2+(๐๐ โ ๐๐๐ก๐)
2+(๐๐ โ ๐๐๐ก๐)2
(๐๐ โ ๐)2+(๐๐ โ ๐)2+(๐๐ โ ๐)2 + ct = ฮด๐
Newtnova metoda iskanja niฤel๐๐๐ก๐๐ + โ ๐(๐ ๐๐ก๐) * ฮ๐ + e = ฮด๐๐ก๐
๐
![Page 6: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/6.jpg)
Konstruiramo matriko:
๐๐๐ก๐ =โ ๐1 (๐ ๐๐ก๐) 1
โ ๐2 (๐ ๐๐ก๐) 1โฆ โฆ
; b = ฮด1
ฮด2
โ ๐๐ (๐ ๐๐ก๐) 1โฆฮด๐
Newtnova metoda iskanja niฤel
๐๐๐ก๐๐ + โ ๐(๐ ๐๐ก๐) * ฮ๐ + e =ฮด๐
๐๐๐ก๐ฮ๐ โฒ = b
![Page 7: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/7.jpg)
โข b !e C(M)โข Iลกฤemo ๐๐๐๐๐ถ(๐) ๐
โข ๐๐๐ก๐๐ (๐๐๐ก๐ฮ๐ โฒ- b)=0โข (๐๐๐ก๐ฮ๐ - b) ortogonalen C(M)
โข ฮ๐ โฒ=(๐๐๐ก๐๐ ๐๐๐ก๐)
โ1๐๐๐ก๐๐ b
Projekcija vektorja na podprostor
๐๐๐ก๐๐ + โ ๐(๐ ๐๐ก๐) * ฮ๐ โฒ + e =ฮด๐
๐๐๐ก๐ฮ๐ โฒ = b
![Page 8: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/8.jpg)
๐ = (4343409.085333, โ124936.356557, 4653478.556897 )๐
Predvidena lokacija sprejemnika
![Page 9: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/9.jpg)
๐ = (4343409.085333, โ124936.356557, 4653478.556897 )๐
Predvidena lokacija sprejemnika
![Page 10: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/10.jpg)
Definirajmo:
โข ๐ = ๐2 + ๐2 + ๐2
โข n= (๐, ๐, ๐)๐
โข ๐พโฒ๐=๐พ๐ + ๐
โข ฮดโฒ๐=ฮด๐ + ๐
โข ๐๐๐ ; ๐ฃ๐๐๐๐ก๐๐๐ ๐ก ๐๐๐๐๐๐ ๐, i-te enaฤbe
โข ๐๐๐; ๐ฃ๐๐๐๐ก๐๐๐ ๐ก ๐๐๐๐๐๐ ๐, iโte enaฤbe
โข ๐๐=๐๐๐ *๐๐๐; ๐ฃ๐๐๐๐ก๐๐๐ ๐ก i-te enaฤbe
O ๐๐๐๐๐๐๐๐โ ๐ ๐๐ก๐๐๐๐ก๐๐ฃ
Primerjava dejanskih in podanih podatkov
![Page 11: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/11.jpg)
โข Negotovost pseudo-razdalj je omejena z
โข ฮดโฒ๐ = {n = ฮด๐ โ ฮดโฒ๐โค 10}
โข Negotovost lokacije je omejena zโข ๐พโฒ๐={d=|๐พ๐ โ ๐พโฒ๐| โค 2};
โข Obe mnoลพici imata pripadajoฤi P.D.*
โข Vpeljemo pojem teลพeโข Vrjetnost sluลพi kot gostota
O ๐๐๐๐๐๐๐๐โ ๐ ๐๐ก๐๐๐๐ก๐๐ฃ
Primerjava dejanskih in podanih podatkov
*Probability distribution
![Page 12: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/12.jpg)
Konstruiramo matriko teลพe
โข ๐ =๐1 0 00 ๐2 00 0 ๐3
โฆโฆโฆ
โฆ โฆ โฆ โฆ
โข ๐๐๐ก๐๐ = ๐๐๐๐ก๐ ; l โ index samplanja
โข ๐๐= ๐๐ ๐๐๐ก๐๐ ๐
O ๐๐๐๐๐๐๐๐โ ๐ ๐๐ก๐๐๐๐ก๐๐ฃ
Probability distribution
ฮ๐ โฒ=(๐๐๐ก๐๐ ๐๐๐๐ก๐
๐ ) โ1๐๐๐ก๐๐ ๐b
![Page 13: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/13.jpg)
X Y Z
4343416.04 -124942.801582 4653487.04
4343410.62 -124937.204251 4653471.130752
4343411.62 -124935.538150 4653485.582995
4343406.08 -124926.964588 4653469.087675
๐๐๐ก ๐๐ลก๐๐ก๐๐ฃ
Probability distribution
ฮ๐ โฒ=(๐๐๐ก๐๐ ๐๐๐๐ก๐
๐ ) โ1๐๐๐ก๐๐ ๐b
Subset reลกitev
![Page 14: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/14.jpg)
๐๐๐ก ๐๐ลก๐๐ก๐๐ฃ
Subset reลกitev
![Page 15: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/15.jpg)
๐๐๐ก ๐๐ลก๐๐ก๐๐ฃ
Subset reลกitev
![Page 16: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/16.jpg)
๐ด๐๐๐๐๐ง๐ ๐ ๐๐ก๐
Zaฤnemo s podmnoลพico, ki jo postopoma dopolnimo do polnosti doseลพeni v neskonฤnosti
Definirajmo:
โข ๐(๐ฅ); funckija zaporednih razlik
โข ๐; ๐ง๐ฤ๐๐ก๐๐ ๐ก๐ฤ๐๐
Zaporedne razlike povpreฤja
๐ฟ = ๐ + lim๐โโ
๐=0
๐
๐(๐ฅ)
![Page 17: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/17.jpg)
๐ด๐๐๐๐๐ง๐ ๐ ๐๐ก๐
Zaporedne razlike povpreฤja
๐ฟโ๐ + lim๐โโ ๐
๐
๐(๐ฅ) ๐๐ฅ
๐ฟ = ๐ + lim๐โโ ๐โ1๐๐ ๐ฅ ๐๐ฅ + ๐=1
๐ (๐ต ๐
๐!
๐๐๐โ1
๐๐ฅ๐โ1)๐
๐
๐พ๐๐๐ฃ๐๐๐๐๐๐๐ ๐ ๐ฅ ๐๐
๐=๐
๐
๐ ๐ฅ โ ๐ ๐ก๐๐๐๐๐๐๐ ๐ก
๐ฟ = ๐ + lim๐โโ
๐=0
๐
๐(๐ฅ)
![Page 18: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/18.jpg)
๐ด๐๐๐๐๐ง๐ ๐ ๐๐ก๐
lim๐โโ
๐=๐
๐1
๐ฅ๐=
1
(๐ โ 1)(๐ โ 1)+ lim๐โโ(๐ฅ๐
2+๐๐ฅ๐โ1
12+๐(๐ โ 1)๐ฅ๐โ2
720+ โฆ.)
๐
๐
lim๐โโ
๐=1
๐
๐๐โ๐๐sin(๐ก๐) =๐๐ก
๐2 + ๐ก2+ lim๐โโ
๐=1
๐
(๐ต ๐
๐!๐ผ๐((๐ก๐ โ ๐)๐)
1
๐
lim๐โโ
๐=๐
๐
๐๐โ๐๐ =๐๐
๐๐ โ 1
๐๐๐๐๐๐๐๐๐๐๐๐๐ ๐๐๐๐๐ ๐๐๐๐๐ ๐ก๐ ๐๐๐๐๐ฃ๐๐๐๐ฃ๐โ ๐ฃ๐๐ ๐ก
![Page 19: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/19.jpg)
๐ท๐๐๐๐๐๐๐๐๐ ๐ ๐๐ก๐ 90% ๐ฃ๐๐๐๐ก๐๐๐ ๐ก๐
Za prvi pribliลพek poiลกฤemo najmanjลกo kroglo s srediลกฤem v stabilni toฤki, ki vsebuje 90% reลกitev
Zaporedne razlike polmera krogle
X Y Z
4343408.94 -124936.91 4653478.50
Stabilna toฤka seta
K={R;|Rโst| โค 18 }
![Page 20: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/20.jpg)
๐ท๐๐๐๐๐๐๐ ๐ ๐๐ก๐
Definirajmo:
โข V={v=st-R};
โข P={{๐ฃ๐1, ๐ฃ๐2, ๐ฃ๐3};PโV&๐ฃ๐1 | โ๐ฃ๐2 | โ๐ฃ๐3};
โข Poiลกฤemo tiste 3 smeri, ki so najgosteje naseljene โข dopustimo napako <ฮต
โข *pseudo-ortogonalnost
โข B(i)={๐ฃ๐1, ๐ฃ๐2, ๐ฃ๐3}; โข baza pri moฤi i
โข napenja elipsoid Zaporedne razlike polmera krogle
![Page 21: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/21.jpg)
๐ท๐๐๐๐๐๐๐ ๐ ๐๐ก๐
v x y z |v|
v1 16.75 10.08 -14.44 24.30
v2 -10.99 -0.73 8.93 22.04
v3 -3.16 39.44 -0.73 14.69
v x Y z |v|
v1 -18.85 -18.81 -14.07 23.75
v2 -5.14 -5.10 5.47 22.81
v3 -13.22 -13.27 -5.12 15.19
v x y z |v|
v1 -12.19 -12.21 -19.76 24.03
v2 -5.17 -5.13 5.11 24.09
v3 16.83 16.87 -5.18 15.27
Definirajmo:
โข D={24,22,15}โข P; {B(i),B(j),D} โ {{๐ฃ๐๐, ๐ฃ๐๐,D(๐๐)},โฆ; ๐๐ก! = ๐๐}
โข |๐ฃ๐๐|=|๐ฃ๐๐| = ๐ท(๐๐); <ฮต
Preslikava P je injektivnaโ za opis seta skozi polnjenje potrebna le ena baza+ funkcija spremembe
Konstruiramo:โข Bโ ๐ = {๐ฃ๐๐, ๐ฃ๐๐; ๐! = ๐}โข โ Bโ ๐
![Page 22: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/22.jpg)
๐พ๐๐ฤ๐๐ ๐๐๐๐๐๐ก๐๐๐๐๐ ๐ ๐๐ก๐
X komponenta โ Bโ ๐
๐ธโฒ โ B ๐ + lim๐โโ
๐=๐
๐
โ Bโ ๐ โ ฮ๐
Y komponenta โ Bโ ๐ Z komponenta โ Bโ ๐
![Page 23: Negotovosti GPS Lociranja](https://reader034.fdocument.pub/reader034/viewer/2022042615/563db8d8550346aa9a9778fc/html5/thumbnails/23.jpg)
๐๐ก๐๐ลพ๐๐ ๐๐๐๐๐๐๐๐๐๐ ๐ ๐๐ก๐ 90% ๐ฃ๐๐๐๐ก๐๐๐ ๐ก๐
Definiramo:
โข E=๐ธ๐๐๐๐ ๐ ๐๐๐๐๐ก๐ ๐๐ ๐๐๐ง๐ ๐ธโฒ
K={R;|Rโst| โค 18 }
๐ธโฒ โ B ๐ + lim๐โโ
๐=๐
๐
โ Bโ ๐ โ ฮ๐
S={๐ธโฉK}
Set S