ENGO465: Satellite Positioning Yang Gao

Single Point Positioning (SPP) with Pseudorange Measurements

1) Pseudorange observation equation:

𝐩𝒊 = 𝛒𝒊 − 𝐜𝐝𝐓𝒖 + 𝐧𝒊 (1)

or 𝐩𝒊 + 𝐯𝒊 = 𝛒𝒊 − 𝐜𝐝𝐓𝒖 (2)

where

 𝛒𝒊 = √(𝐗𝒊 − 𝐔𝒙 )𝟐 + (𝐘𝒊 − 𝐔𝒚 )𝟐 + (𝐙𝒊 − 𝐔𝒛 )𝟐 is the true (error-free)

geometric distance between satellite i and the receiver;
 𝐗 𝒊 , 𝐘𝒊 , 𝐙𝒊 are the known coordinates of the i-th satellite;
 𝐜𝐝𝐓𝒖 is the receiver clock offset which is huge due to less quality receiver clock and must
be estimated in order to obtain useful position solutions.
 𝐧𝒊 𝐢𝐬 𝐧𝐨𝐢𝐬𝐞
 𝐯𝒊 𝐢𝐬 𝐫𝐞𝐬𝐢𝐝𝐮𝐚𝐥

2) Linearized form of the pseudorange observation equation (general expression)

𝛛𝐩𝒊 𝛛𝐩 𝛛𝐩
𝐩𝒊 + 𝐯𝒊 =
𝛛𝐔𝒙
𝛅𝐔𝒙 + 𝛛𝐔𝒊 𝛅𝐔𝒚 + 𝛛𝐔𝒊 𝛅𝐔𝒛 + 𝛒𝟎𝒊 − 𝐜𝐝𝐓𝒖
𝒚 𝒛

where

𝛒𝟎𝒊 = √(𝐗𝒊 − 𝐔𝟎𝒙 )𝟐 + (𝐘𝒊 − 𝐔𝟎𝒚 )𝟐 + (𝐙𝒊 − 𝐔𝟎𝒛 )𝟐

𝛛𝐩𝒊 𝐗𝒊 −𝐔𝟎𝒙 𝛛𝐩𝒊 𝐘𝒊 −𝐔𝟎𝒚 𝛛𝐩𝒊 𝐙𝒊 −𝐔𝟎𝒛

= = =
𝛛𝐔𝒙 𝛒𝟎𝒊 𝛛𝐔𝒚 𝛒𝟎𝒊 𝛛𝐔𝒛 𝛒𝟎𝒊

δ𝐔𝐱 , δU𝐲 and δU𝐳 are corrections to the approximate coordinates 𝐔𝐱 , U𝐲 and U𝐳

then we have

𝛛𝐩𝒊 𝛛𝐩 𝛛𝐩
𝐯𝒊 =
𝛛𝐔𝒙
𝛅𝐔𝒙 + 𝛛𝐔𝒊 𝛅𝐔𝒚 + 𝛛𝐔𝒊 𝛅𝐔𝒛 − 𝐜𝐝𝐓𝒖 + 𝛒𝟎𝒊 − 𝐩𝒊
𝒚 𝒛

𝛛𝐩𝒊 𝛛𝐩𝒊 𝛛𝐩𝒊

= 𝛅𝐔𝒙 + 𝛅𝐔𝒚 + 𝛅𝐔𝒛 − 𝐜𝐝𝐓𝒖 + 𝐰𝒊
𝛛𝐔𝒙 𝛛 𝐔𝒚 𝛛𝐔𝒛

where 𝐰𝒊 = 𝛒𝟎𝒊 − 𝐩𝒊

1
ENGO465: Satellite Positioning Yang Gao

3) Linearized form of the pseudorange observation equations to m satellites

𝛛𝐩𝟏 𝛛𝐩𝟏 𝛛𝐩𝟏
𝐯𝟏 = 𝛅𝐔𝒙 + 𝛅𝐔𝒚 + 𝛅𝐔𝒛 − 𝐜𝐝𝐓𝒖 + 𝐰𝟏 (to first satellite)
𝛛𝐔𝒙 𝛛𝐔𝒚 𝛛𝐔𝒛

𝛛𝐩𝟐 𝛛𝐩𝟐 𝛛𝐩𝟐

𝐯𝟐 = 𝛅𝐔𝒙 + 𝛅𝐔𝒚 + 𝛅𝐔𝒛 − 𝐜𝐝𝐓𝒖 + 𝐰𝟐 (to the second satellite)
𝛛𝐔𝒙 𝛛𝐔𝒚 𝛛𝐔𝒛
…. …. ….. ….. …..
𝛛𝐩𝒎 𝛛𝐩𝒎 𝛛𝐩𝒎
𝐯𝒎 = 𝛅𝐔𝒙 + 𝛅𝐔𝒚 + 𝛅𝐔𝒛 − 𝐜𝐝𝐓𝒖 + 𝐰𝒎 (to the mth satellite)
𝛛𝐔𝒙 𝛛𝐔𝒚 𝛛𝐔𝒛

In matrix form:

𝐗𝟏 − 𝐔𝟎𝒙 𝐘𝟏 − 𝐔𝟎𝒚 𝐙𝟏 − 𝐔𝟎𝒛

−𝟏
𝛒𝟎𝟏 𝛒𝟎𝟏 𝛒𝟎𝟏 𝛅𝐔𝒙
𝐯𝟏 𝐰𝟏
𝐯𝟐 𝐗𝟐 − 𝐔𝟎𝒙 𝐘𝟐 − 𝐔𝟎𝒚 𝐙𝟐 − 𝐔𝟎𝒛
[ : ]= −𝟏 𝛅𝐔𝒚 + [ 𝐰𝟐 ]
𝛒𝟎𝟐 𝛒𝟎𝟐 𝛒𝟎𝟐 𝛅𝐔𝒛 :
𝐯𝐦 : : : : 𝐰𝐦
𝐗𝒎 − 𝐔𝟎𝒙 𝐘𝒎 − 𝐔𝟎𝒚 𝐙𝒎 − 𝐔𝟎𝒛
[𝐜𝐝𝐓𝒖 ]
−𝟏
[ 𝛒𝟎𝒎 𝛒𝟎𝒎 𝛒𝟎𝒎 ]

where δ𝐔𝐱 , δU𝐲 and δU𝐳 and 𝐜𝐝𝐓𝒖 are unknowns for this linear system.

Finally we have:

𝐯 = 𝐀𝛅 + 𝐰

𝐯 = −(𝐀𝑻 𝐀)−𝟏 𝐀𝑻 𝐰

where
𝛒𝟎𝟏 − 𝐩𝟏
𝟎
𝐰 = 𝛒𝟎 − 𝐩 = 𝛒𝟐 − 𝐩 𝟐
:
𝟎
[𝛒 𝐦 − 𝐩 𝐦 ]