全球定位系统（GPS）软件接收机教程

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"GPS软件接收机教程" 全球定位系统（GPS）接收机是获取和解析GPS卫星信号以确定地理位置的关键设备。软件接收机是其中的一种类型，它利用计算机软件来处理通常由硬件完成的信号处理任务。《全球定位系统接收机基础：软件方法》第二版，由James Bao-Yen Tsui撰写，是一本深入探讨这一主题的专业教程。本书旨在提供GPS软件接收机的基础知识，适合那些对GPS技术感兴趣的初学者和专业人士。作者详细阐述了GPS接收机的工作原理，包括信号的捕获、跟踪和解码，以及如何通过软件实现这些功能。读者将了解GPS信号的结构，如C/A码和P码，以及如何利用这些码进行定位计算。内容涵盖了GPS信号的传输、多路径效应、电离层延迟和对流层延迟的校正等关键概念。此外，书中还讨论了软件接收机的优势，例如灵活性、可扩展性和成本效益，以及在实时定位、精密农业、地球科学、导航和测绘等领域的应用。书中可能包含以下章节：GPS系统介绍、信号生成与传播、软件接收机架构、数据处理算法、误差源分析、动态环境下的GPS接收、伪距测量与载波相位测量、多径效应处理、差分GPS(DGPS)技术、以及现代增强系统如WAAS和EGNOS等。为了帮助读者理解并实践所学，书中可能还包含了实例分析、编程示例和实验指导，以便读者能够动手构建自己的软件接收机。此外，可能还涉及了现代软件定义无线电（SDR）技术，这是当前软件接收机发展的重要趋势。请注意，尽管作者和出版商已尽力确保书中的信息准确无误，但他们并不对使用此书内容可能导致的任何损失或损害承担责任。在实际操作中，读者需要根据具体法规和许可协议来复制、存储或传播书中的信息，同时应遵循版权法律，尊重知识产权。这本教程是学习GPS软件接收机技术的理想起点，它将带领读者深入了解这个复杂而重要的领域，为进一步研究和开发打下坚实基础。无论是对于学术研究还是工程实践，这本书都将提供宝贵的资源和指导。

Preface to the First Edition

The purpose of this book is to present detailed fundamental information on a

global positioning system (GPS) receiver. Although GPS receivers are popularly

used in every-day life, their operation principles cannot be easily found in one

book. Most other types of receivers process the input signals to obtain the nec-

essary information easily, such as in amplitude modulation (AM) and frequency

modulation (FM) radios. In a GPS receiver the signal is processed to obtain the

required information, which in turn is used to calculate the user position. There-

fore, at least two areas of discipline, receiver technology and navigation scheme,

are employed in a GPS receiver. This book covers both areas.

In the case of GPS signals, there are two sets of information: the civilian code,

referred to as the coarse/acquisition (C/A) code, and the classiﬁed military code,

referred to as the P(Y) code. This book concentrates only on the civilian C/A

code. This is the information used by commercial GPS receivers to obtain the

user position.

The material in this book is presented from the software receiver viewpoint

for two reasons. First, it is likely that narrow band receivers, such as the GPS

receiver, will be implemented in software in the future. Second, a software

receiver approach may explain the operation better. A few key computer pro-

grams can be used to further illustrate some points.

This book is written for engineers and scientists who intend to study and

understand the detailed operation principles of GPS receivers. The book is at the

senior or graduate school level. A few computer programs written in Matlab are

listed at the end of several chapters to help the reader understand some of the

ideas presented.

I would like to acknowledge the following persons. My sincere appreciation

to three engineers: Dr. D. M. Akos from Stanford University, M. Stockmaster

from Rockwell Collins, and J. Schamus from Veridian. They worked with me

at the Air Force Research Laboratory, Wright Patterson Air Force Base on the

1.5 SOFTWARE APPROACH 3

performed by hardware. From the navigation data phase transition the subframes

and navigation data can be obtained. Ephemeris data and pseudoranges can be

obtained from the navigation data. The ephemeris data are used to obtain the

satellite positions. Finally, the user position can be calculated for the satellite

positions and the pseudoranges. Both the hardware used to collect digitized data

and the software used to ﬁnd the user position will be discussed in this book.

1.4 APPROACHES OF PRESENTATION

There are two possible approaches to writing this book. One is a straightforward

way to follow the signal ﬂow shown in Figure 1.1. In this approach the book

would start with the signal structure of the GPS system and the methods to process

the signal to obtain the necessary the information. This information would be

used to calculate the positions of the satellites and the pseudoranges. By using

the positions of the satellites and the pseudoranges the user position can be found.

In this approach, the ﬂow of discussion would be smooth, from one subject to

another. However, the disadvantage of this approach is that readers might not

have a clear idea why these steps are needed. They could understand the concept

of the GPS operation only after reading the entire book.

The other approach is to start with the basic concept of the GPS from a

system designers’ point of view. This approach would start with the basic concept

of ﬁnding the user position from the satellite positions. The description of the

satellite constellation would be presented. The detailed information of the satellite

orbit is contained in the GPS data. In order to obtain these data, the GPS signal

must be tracked. The C/A code of the GPS signals would then be presented.

Each satellite has an unique C/A code. A receiver can perform acquisition on the

C/A code to ﬁnd the signal. Once the C/A code of a certain satellite is found,

the signal can be tracked. The tracking program can produce the navigation

data. From these data, the position of the satellite can be found. The relative

pseudorange can be obtained by comparing the time a certain data point arrived

at the receiver. The user position can be calculated from the satellite positions

and pseudoranges of several satellites.

This book takes this second approach to present the material because it should

give a clearer idea of the GPS function from the very beginning. The ﬁnal chapter

describes the overall functions of the GPS receiver and can be considered as

taking the ﬁrst approach for digitizing the signal, performing acquisition and

tracking, extracting the navigation data, and calculating the user position.

1.5 SOFTWARE APPROACH

This book uses the concept of software radio to present the subject. The software

radio idea is to use an analog-to-digital converter (ADC) to change the input sig-

nal into digital data at the earliest possible stage in the receiver. In other words,

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