Lecture-2

5.2 Observation Equation

Pseudo range observation equation for receiver r and satellite s is as:

Rrs   rs  c s  c r  trop  ion   multi   rel  

Its geometric range is as:

 rs  (X s  X r ) 2  (Y s  Yr ) 2  (Z s  Z r ) 2
http://www. boulder.nist.gov

Where for satellite:

  s clock signal propagation delay

  rel relativity signal propagation delay
http://www.colorado.edu/ASEN/asen6090/relativity.html
 Xs,Ys,Zs coordinates signal propagation delay

  io n
ionospheric refraction http://www.colorado.edu/ASEN/asen6090/ionosphere.html
  t r o p tropospheric refraction http://www.colorado.edu/ASEN/asen6090/troposphere.html

Receiver noises are as:

 r Clock noise, Xr, Yr, Zr coordinates noise at receiver,  m u lti multipath receiver noise.

Pseudo ranges observation equation: (Wu, 2008)

RL1  rs  c s  cr  trop  ion

L1
 multi
L1
 rel   RL1
RL2  rs  c s  c r  trop  ion
L2
 multi
L2
 rel   RL2

Carrier phases observation equation for L1 and L 2 is as:

L1
L11  rs  c s  c r     L1  multi  rel  N11  
L1

trop ion

L 2
L 22  rs  c s  cr    ion
L2
 multi
trop
 rel  N22   L2
Where N1 and N2 are carrier phase ambiguities and 1 , 2 , are L1/L2 wavelengths.

Comparison of carrier-phase based L1 frequency and pseudo range observables are as:

RL1  rs  c s  cr  trop  ion

L1
 multi
L1
 rel   RL1

L1
L11  rs  c s  c r     L1  multi  rel  N11  
L1

trop ion

5.3 Navigation solution

Navigation solution depends on the accuracy of the measured GPS ranging signals but the GPS signals
are degraded due to factors related to multipath, atmospheric refraction, receiver clock bias and satellite to
receiver position geometry.

Comparison:

 In pseudo range bias term N1 doesn’t appear.

 Ionospheric delay is of equal magnitude but is of opposite sign.
 There is different Multipath errors.

Comparison of carrier-phase based L2 frequency and pseudo range observables are:

RL2  rs  c s  c r  trop  ion

L2
 multi
L2
 rel   RL2
L 2
L 22  rs  c s  cr    ion
L2
 multi
trop
 rel  N22   L2
Comparison:

 In pseudo range bias term N2 doesn’t appear.

 There is different multipath error.

 There are different noise terms.

 There is ionospheric delay which is equal in magnitude but it is of opposite sign.