Beruflich Dokumente
Kultur Dokumente
Part I: Introduction
–Terrestrial Navigation
–Important Mathematical Concepts
–Coordinate Systems and Time Systems
Terrestrial Navigation
– Phased-out systems
• Omega – hyperbolic navigation system based on phase
difference techniques
• Decca – British version used mainly for coastal navigation
Terrestrial Radio Navigation
• AREA-BASED SYSTEMS (continued …)
– Loran-C (Long-range navigation)
• Hyperbolic navigation system based on time difference measurements
and phase difference measurements
• LF 90-110 kHz band, carrier of 100 kHz, λ=3 km
• Synchronized master and secondary stations broadcasts pulses
• Measures the time-difference between the time-of-arrival of a signal
from a master station and a secondary station
• Each time-difference yields a hyperbolic line-of-position
• Observation math model: TOA1 = tT1 + ρ1/c + δclock + ASF1
• Wave propagation delay
– Some delays can be predicted accurately
» Delays due to atmospheric refractivity, ground conductivity, and
water specific delays
– Others cannot be predicted accurately
» ASF- Additional secondary phase factors
• Overall accuracy is typically 18-90 m
– Differential Loran-C (similiar differential GPS)
• A reference station at a known position is established
• Broadcasts correction data to reduce ASF effects
Terrestrial Radio Navigation
• AREA-BASED SYSTEMS (continued…)
– Datatrak
• Local navigation for land applications, development started in the 1980’s
• Includes navigation and communication infrastructure
• Position determination based on pseudorange or hyperbolic positioning
and requires simultaneous reception of the signals of at least three
transmitters.
• Broadcasts on 4 frequencies in the LF 130-170 kHz band (see below)
• Phase differences provide super-coarse, normal-coarse, fine position
determination
– f1+ -f 1- = 80 Hz , λ = 3750 km
– f2 - f1 =13 kHz, λ = 23 km
– f1 approx. 150 kHz, λ = 2 km
• Overall position accuracy is 50 m.
80 Hz 80 Hz
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North-East-Down (NED)
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Local Vertical/Local Horizontal
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Time Systems
• Sidereal Time
– Derived from the Earth’s rotation wrt the stars
– Not a uniform time scale (we is not a constant)
UTC
UT1 TAI
19 s
Time
GPS Time
TDB