MC LC

M U ....................................................................................................................1 Chng 1 TNG QUAN V H THNG NH V TON CU GPS .............2 1.1.LCH S PHT TRIN .................................................................................2 1.2. CU TRC H THNG GPS......................................................................3 1.2.1.Phn khng gian (space segment)...............................................................4 1.2.2. Phn iu khin (control segment) ............................................................5 1.2.3. Phn ngi s dng (user segment)...........................................................6 1.3.CC TH H V TINH V MNG LI V TINH GPS HIN TI .........6 1.3.1. Cc th h v tinh ......................................................................................6 1.3.2. Mng li v tinh GPS hin ti ..................................................................7 1.4. CU TRC TN HIU GPS .........................................................................8 1.4.1 Tn s c bn ..............................................................................................8 1.4.2. Cc thng tin iu bin ..............................................................................8 1.4.3. Cc loi sng ti ca h thng GPS ...........................................................9 1.4.4. Cc thng bo v tinh. ...............................................................................9 1.4.5. V tinh kho hoc khng kho (Healthy or Unhealthy) ..........................10 1.4.6. V tinh hot ng hoc khng hot ng ................................................10 1.4.7. chnh xc d bo o khong cch (URE) ..........................................10 1.5. CC TR O GPS.......................................................................................11 Chng 2 NGUYN L NH V GPS ...............................................................14 2.1. NH V TUYT I .................................................................................14 2.1.1. Biu thc c bn tnh khong cch .....................................................14 2.1.2. Tnh khong cch .....................................................................................16 2.2. NH V TNG I ................................................................................19 2.2.1.Sai phn bc mt .......................................................................................20 2.2.2. Sai phn bc hai .......................................................................................20 2.2.3. Sai phn bc ba ........................................................................................20 2.3. CC NGUN SAI S TRONG KT QU O GPS ...............................21 2.3.1 Sai s do ng h. .....................................................................................21 2.3.2 Sai s qu o v tinh. ..............................................................................21 2.3.3 nh hng ca tng Ion ...........................................................................22 2.3.4 nh hng ca tng i lu .....................................................................22 2.3.5 Tm nhn v tinh v s trt chu k .........................................................23

2.3.6 Hin tng a tuyn..................................................................................23 2.3.7. S suy gim chnh xc (DOPs) do hnh cc v tinh ......................24 2.3.8 Tm pha ca anten ....................................................................................25 2.4. NGUYN L O GPS NG ...................................................................26 2.4.1 Nguyn l chung v o GPS ng ............................................................26 2.4.2 Gii php k thut trong o GPS ng: ....................................................26 2.4.3 Cc phng php o GPS ng ...............................................................28 2.5. TA V H QUI CHIU ....................................................................30 2.6. XC NH TA MY THU ...............................................................31 2.6.1. Xc nh ta kinh v:...........................................................................31 2.6.2. Hiu ng Doppler ln my thu: ...............................................................32 Chng 3 CNG NGH NH V V GIM ST PHNG TIN GIAO THNG GPS TRACKING ....................................................................................34 3.1. CC THNH PHN CA H THNG GPS TRACKING ...................34 3.1.1.M hnh ca mt h thng GPS tracking: ................................................34 3.1.2. Cc chc nng chnh: .............................................................................36 3.2. CC PHNG THC HOT NG CA H THNG GPS TRACKING .........................................................................................................36 3.2.1.Hot ng off-line: ...................................................................................37 3.2.2.Hot ng on-line: ....................................................................................37 3.3. MY THU NH V V TINH GPS .........................................................38 3.3.1.Cu trc v hot ng: ..............................................................................39 3.4. H THNG GPS TRACKING KT HP K THUT TRUYN DN BNG SNG RADIO VHF/UHF ......................................................................41 3.4.1. M hnh h thng: ....................................................................................41 3.4.2. Cu hnh v hot ng: ............................................................................41 3.4.3. Cc chc nng: ..........................................................................................43 3.5. H THNG GPS TRACKING KT HP THNG TIN DI NG GSM ......................................................................................................................44 3.5.1. M hnh h thng: ....................................................................................44 3.5.2.Cu hnh v hot ng: .............................................................................44 KT LUN ..............................................................................................................50 TI LIU THAM KHO ..................................................................................... 51

Cng ngh gim st v qun l phng tin giao thng GPS tracking

M U
Trong lch s ngnh vn ti th gii, vic tm ra gii php qun l v trao i thng tin gia xe, ti x vi trung tm iu hnh cha bao gi l cng vic d dng. Hin nay nh c s pht trin ca cng ngh thng tin cng vi nhng bc tin mnh m ca ngnh vin thng gip n gin ha i rt nhiu nhng kh khn trn thng qua h thng nh v ton cu GPS. Cng vi thi gian cng ngh GPS ngy cng pht trin hon thin theo chiu hng chnh xc, hiu qu v thun tin hn. Vi mc ch nghin cu mt nhnh pht trin mi ca cng ngh GPS trong lnh vc gim st v qun l phng tin giao thng, ti xut v c php nghin cu ti Cng ngh gim st v qun l phng tin giao thng GPS tracking. Hin nay, h thng ny bt u xut hin ti Vit Nam vi gii php GPS Tracking. H thng GPS Tracking cho php ngi s dng thng qua my tnh hoc TD quan st gn nh trc tuyn cc thng s ca i xe ang di chuyn trn ng nh v tr, vn tc, hng di chuyn, tnh trng qu tc , nhit , ng nguy him pha trctrn bn s chi tit 64 tnh thnh ngoi ra hnh trnh ca xe cn c lu li m phng li v sau hoc to lp cc bo co phn tch thng k, phc v cho cng tc gim st v qun l phng tin giao thng ca cc ch doanh nghip.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Chng 1 TNG QUAN V H THNG NH V TON CU GPS

1.1.LCH S PHT TRIN H thng nh v ton cu GPS (NAVSTAR GPS - Navigation Satellite Timing and Ranging Global Poritioning System) l mt h thng cc v tinh c kh nng xc nh v tr trn ton cu vi chnh xc kh cao c pht trin bi b quc phng Hoa K trong khong u 1970. u tin, GPS c xy dng phc v cho cc mc ch qun s, tuy nhin sau ny cho php s dng c trong lnh vc dn s. Hin nay, h thng ny c truy nhp bi c hai lnh vc qun s v dn s. GPS bao gm mt mng li 24 v tinh hot ng. Mng li ny chnh thc hon thnh vo ngy 8-12-1993. m bo vng ph sng lin tc trn ton th gii, cc v tinh GPS c sp xp sao cho 4 v tinh s nm cng nhau trn 1 trong 6 mt phng qu o. Vi cch sp xp ny s c 4 n 10 v tinh c nhn thy ti bt k im no trn tri t vi gc ngng l 100 nhng thc t ch cn 4 v tinh l c th cung cp y cc thng tin v v tr. Cc qu o v tinh GPS l nhng ng vng, c dng elip vi lch tm cc i l 0.01, nghing khong 550 so vi ng xch o. cao ca cc v tinh so vi b mt tri t l khong 20.200 km, chu k qu o cc v tinh GPS khong 12 gi (11 gi 58 pht). H thng GPS c chnh thc tuyn b c kh nng i vo hot ng vo ngy 17 -7-1995 vi vic m bo c ti thiu 24 v tinh hot ng. Trong thc t, GPS c kh nng hot ng tt, s lng v tinh trong mng li GPS phi lun lun nhiu hn 24 v tinh.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

1.2. CU TRC H THNG GPS GPS gm 3 phn vng: - Phn khng gian (space segment) - Phn iu khin (control segment) - Phn ngi s dng (user segment) M hnh ba thnh phn ca GPS nh hnh 1.1

Hnh 1.1. S lin quan gia ba phn ca GNSS (GPS)

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

1.2.1.Phn khng gian (space segment) Phn khng gian ca GPS bao gm 24 v tinh nhn to (c gi l satellite vehicle, tnh n thi im 1995). Qu o chuyn ng ca v tinh nhn to xung quanh tri t l qu o trn, 24 v tinh nhn to chuyn ng trong 6 mt phng qu o. Mt phng qu o v tinh GPS nghing so vi mt phng xch o mt gc 55 .Qu o ca v tinh gn hnh trn , cao 20.200 km , chu k 718 pht , thi hn s dng 7,5 n m . Hnh1.2- minh ha chuyn ng ca v tin xung quanh tri t.

Hnh 1.2. Chuyn ng v tinh nhn to xung quanh tri t T khi phng v tinh GPS u tin c phng vo nm 1978, n nay c bn th h v tinh khc nhau. Th h u tin l v tinh Block I, th h th hai l Block II, th h th ba l Block IIA v th h gn y nht l Block IIR. Th h cui ca v tinh Block IIR c gi l Block IIR-M. Nhng v tinh th h sau c trang b thit b hin i hn, c tin cy cao hn, thi gian hot ng lu hn.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

1.2.2. Phn iu khin (control segment) Phn iu khin l duy tr hot ng ca ton b h thng GPS cng nh hiu chnh tn hiu thng tin ca v tinh h thng GPS. Phn iu khin c 5 trm quan st c nhim v nh sau: Gim st v iu khin h thng v tinh lin tc Quy nh thi gian h thng GPS D on d liu lch thin vn v hot ng ca ng h trn v tinh Cp nht nh k thng tin dn ng cho tng v tinh c th. C mt trm iu khin chnh (Master Control Station) Colorado Springs bang Colarado ca M v 4 trm gim st (monitor stations) v ba trm ng ten mt t dng cung cp d liu cho cc v tinh GPS. Bn trong Hnh 1.3- cho bit v tr cc trm iu khin v gim st h thng GPS. Gn y c thm mt trm ph Cape Caaveral (bang Florida, M) v mt mng qun s ph (NIMA) c s dng nh gi c tnh v d liu thi gian thc.

Hnh 1.3.V tr cc trm iu khin v gim st h thng GPS

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

1.2.3. Phn ngi s dng (user segment) Phn ngi s dng bao gm cc my thu tn hiu v tinh v phn mm x l tnh ton s liu, my tnh thu tn hiu GPS, c th t c nh trn mt t hay gn trn cc phng tin chuyn ng nh t, my bay, tu bin, tn la. v tinh nhn to... tu theo mc ch ca cc ng dng m cc my thu GPS c thit k cu to khc nhau cng vi phn mm xl v quy trnh thao tc thu thp s liu thc a. 1.3.CC TH H V TINH V MNG LI V TINH GPS HIN TI 1.3.1. Cc th h v tinh Vic hnh thnh mng li v tinh GPS c bt u vi mt lot 11 v tinh gi l Block I. V tinh u tin trong cc v tinh ny (v cng l u tin trong h thng GPS) c phng vo ngy 22-2-1978, v tinh cui cng c phng vo ngy 9-10-1985. V tinh Block I c phng vi mc ch ch yu l th nghim. Gc nghing cc mt phng qu o ca cc v tinh ny so vi ng xch o l 630 (gc nghing ny c thay i trong cc th h v tinh k tip). Mc d thi gian tn ti c thit k ca v tinh Block I l 4,5 nm nhng mt s v tinh tn ti hn 10 nm. V tinh Block I cui cng chm dt hot ng vo ngy 18-11-1995. Th h th hai ca v tinh GPS gi l cc v tinh Block II/IIA. Block IIA l phin bn nng cp ca v tinh Block II vi vic tng cng kh nng lu tr d liu (thng ip dn ng) t 14 ngy Block II ln 180 ngy Block IIA. iu ny c ngha l cc v tinh Block II/IIA c th hot ng lin tc m khng cn s h tr t mt t trong khong thi gian t 14 ngy (Block II) n 180 ngy (Block IIA). C tng cng 28 v tinh Block II/IIA c phng trong khong thi gian t thng 2-1989 n thng 11- 1997. Khng ging nh Block I, mt phng qu o ca Block II/IIA nghing 55 o so vi ng xch o. Thi gian tn ti ca v tinh Block II/IIA theo thit k l 7,5 nm. m bo tnh bo mt, mt s tnh nng bo mt gi l Selective Availability (SA) v antispoofing c thm vo v tinh Block II/IIA.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Mt th h mi ca v tinh GPS gi l Block IIR hin ang c phng. Cc v tinh b sung ny c tnh tng thch ngc vi Block II/IIA, ngha l s thay i ny l hon ton trong sut i vi user. Block IIR gm 21 v tinh vi thi gian tn ti theo thit k l 10 nm. Ngoi t c chnh xc cao hn nh mong i, v tinh Block IIR c kh nng vn hnh t ng ti thiu 180 ngy m khng cn s hiu chnh t mt t v khng lm gim chnh xc. Thm vo , d liu ng h v lch thin vn c d bo trc 210 ngy c upload t phn vng iu khin mt t h tr cho vic vn hnh t ng.

Hnh 1.4. Cc th h v tinh Mt th h ni tip Block IIR gi l Block IIF, bao gm 33 v tinh. Thi gian tn ti ca v tinh ny l 15 nm. V tinh Block IIF c nhiu kh nng mi thng qua chng trnh hin i ha GPS nhm ci thin vt bc chnh xc ca vic nhv GPS t ng. V tinh Block IIF c phng u tin vo nm 2007. 1.3.2. Mng li v tinh GPS hin ti Mng li GPS hin ti (k t thng 7 -2001) bao gm 5 v tinh Block II, 18 v tinh Block IIA v 6 v tinh Block IIR. iu ny lm tng s v tinh trong mng li ln 29, vt qu mng li 24 v tinh theo chun l 5 v tinh. Tt c cc v tinh Block II khng cn hot ng na. Cc v tinh GPS nm trong 6 mt phng qu o, c t tn t A n F. Do hin ti mng li c hn 24 v tinh nn mi mt phng qu o c th cha 4 hoc 5 v tinh. Theo bng 1, tt c cc mt phng qu o u gm 5 v tinh ngoi tr mt phng qu o C gm 4 v tinh.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

1.4. CU TRC TN HIU GPS Mt thnh phn quan trng ca h thng GPS l tn hiu pht t v tinh n cc my thu. Vic pht v thu tn hiu l c s cho vic o c h thng GPS, vy tn hiu GPS c cu trc nh th no? Tn hiu v tinh l song in t. Sng in t c dng cho mc ch o c c nhng thng s c trng, c nghin cu, th nghim m bo cc yu cu nghim ngt v chnh xc, tnh n nh v yu cn k thut khc. V mt vt l, tn hiu v tinh c cc thng s c bn l bc sng, tn s v cc m iu bin trn song ti. Bng 1.1: Cc thnh phn ca tn hiu v tn s tng ng . Thnh phn Tn s chun Sng ti L1 Sng ti L2 P - Code C/A Code W - Code Thng tin o hng f0 154.f0 = 1575,42Mhz (= 19,0cm) 120.f0 = 1227,60Mhz (= 24,4 cm) f0 = 1,023 f0/10 = 1,023 f0/20 = 0,5115 f0/204600 = 50.10-6 Tn s (MHz)

1.4.1 Tn s c bn Tn s c bn ca song truyn tn hiu v tinh ca h thng GPS l fo=10.23 MHz. 1.4.2. Cc thng tin iu bin Vic s dng tn hiu m ha cho php cc v tinh GPS cng hot ng m khng b nhiu, mi v tinh pht i mt m gi ngu nhin ring bit. My thu GPS nhn dng c tn hiu ca tng v tinh trn nn nhiu khng xc nh ca khng gian bao quanh trm , iu cho php tn hiu GPS khng i hi cng sut ln v my thu GPS c th s dng Anten nh hn, kinh t hn. C 3 loi m iu bin trn song ti l : C/A. Code, P.Code v Y.Code. + C/A Code m s b

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

M C/A Code l m gi ngu nhin (PRN) c pht i vi tn s 1.023 MHz (fo/10). M ny l chui ch s 0 v 1 sp xp theo quy lut ta ngu nhin lp li vi tn sut 1/1000 giy. mi v tinh c gn mt m C/A.Code ring bit. M C/A.Code ch iu bin trn sng ti L1. + P.Code m chnh xc P.Code l m gi ngu nhin (PNR) th hai, pht i vi tn s c bn fo = 10.23 MHz. M ny to bi nhiu ch s 0 v 1 sp xp theo quy lut ta ngu nhin. Tn hiu lp li vi tn sut 267 ngy. Chu k 267 ngy chia thnh 38 on 7 ngy, trong 6 on dnh ring cho mc ch vn hnh. Mi mt on 7 ngy cn li c gn m phn bit cho tng v tinh. P.Code cng s dng cho mc ch ng dng o c qun s c chnh xc cao. + Y.Code Y.Code l m bo mt ca P.Code, vic gii m Y.Code ch thuc v ngi c thm quyn , v vy khi kch hot Y.Code th ngi dng s khng c kh nng s dng c P.Code ln Y.code. Vic s dng Y.Code c coi l m bo mt ca ngi ch h thng. 1.4.3. Cc loi sng ti ca h thng GPS Tn hiu phc v cho vic o c bng h thng GPS c iu bin sng ti c di buc sng khc nhau . l cc thng tin v thi gian v v tr ca v tinh. Mi v tinh c m pht trn 2 tn s ti. - Sng ti c bc sng L1 = 19cm vi tn s 54*fo = 1575,42MHz - Sng ti c bc sng L2=24,4cm vi tn s 120*fo = 1227,60MHz M C/A.Code ch iu bin trn sng ti L1 M P.Code iu bin c 2 sng ti L1 v L2. 1.4.4. Cc thng bo v tinh. Thng bo dn ng do v tinh pht i tn s thp 50 Hz, thng bo ny cha d liu v trng thi ca v tinh v v tr ca chng. My thu GPS gii m thng bo c c v tr v trng thi hot ng ca v tinh, s liu gii m ny gi la Ephemeris. Thng bo dn ng iu bin trn c hai tn s sng ti, N chia thnh 5 on : Ephemeris, Almanac, m hnh kh quyn, cc s hiu chnh ng h, thng bo trng thi. Thng bo v tinh c sr dng trong chng

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

trnh lp lch o v tnh ton x l kt qu o. Cc tham s thng bo trng thi ca v tinh bao gm: 1.4.5. V tinh kho hoc khng kho (Healthy or Unhealthy) Cc v tinh thng pht i thng bo trng thi kho hay khng kho trong tn hiu ca n. My thu GPS s trnh s dng v tinh khng kho. Thng thng cc v tinh b trm theo di coi l khng kho v nhng l do sau: V tinh mi phng ln qu o, lc u cn phi thc hin cc thao tc kim tra qu o v tinh v trng thi ng h. V tinh ang bo tr nh k chuyn ng qu o, bo tr ng h V tinh ang c kim tra chuyn mn, hoc khi v tinh b iu khin hot ng theo cch gy sai s l. Khi v tinh ang c sa cha nhng hot ng trng thi bt thng, hot ng sai chc nng. B quc phng qun i M la ngi cng b mi khi t v tinh vo trng thi khng kho. Thng tin ny c sn qua mt s dch v thng bo in t, nh: Trimble BBS ca hng Trimble. Trng thi kho ca tt c cc v tinh c thng bo trong thng s Almnc do tng v tinh pht i. S liu Alphanac do DoD cp nht hng ngy v c v tinh pht i qung cngf chng 12.5 pht mt ln. 1.4.6. V tinh hot ng hoc khng hot ng Trong my thu GPS tt c cc v tinh u mc nh v hot ng. C ngha l chng u c k n trong mi php tnh (vi iu kin v tinh kho). Mt s my thu cho tu chn khng kch hot v tinh kho khin cho my thu b qua v tinh . Hng Trimble khuyn ngh ngi dng kch hot s dng tt c cc v tinh. 1.4.7. chnh xc d bo o khong cch (URE) Gi tr URE c trong tn hiu v tinh, gi tr ny d bo chnh xc tr o n mt v tinh nht nh. URE ca tng v tinh c th xem trn mn hnh ca my thu. V tr ca tng v tinh c trong thng tin qu o ephemerit. Do v tr ca anten my thu c xc nh khi bit ta cc v tinh v khong cch tng ng n my thu bng cch tnh giao hi nghch khng gian, ta
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Cng ngh gim st v qun l phng tin giao thng GPS tracking

ca im c xc nh, y l im hon ton mi so vi cc nguyn tc o c truyn thng, vn gii ta cng nh chnh xc v ta im o s c cp n trong cc phn c th sau. 1.5. CC TR O GPS Tr o GPS l nhng s liu my thu GPS nhn c t tn hiu ca v tinh truyn ti, mi v tinh GPS pht 4 thng s c bn dng cho vic o c chia thnh 2 nhm bao gm: + Nhm tr o Code - C/A Code - P Code + Nhm tr o pha: - L1 Carrie - L2 Carrie - T hp L1/L2 Cc tr o ny c th s dng ring bit hoc kt hp xc nh khong cch n tng v tinh. M hnh ton hc ca tn hiu GPS: Trn tn s L1 = 1575.42 MHz: Trn tn s L2 = 1227.60 MHz: Trong : d(t) : d liu tn s 50bps c(t) : m C/A tn s 1.023MHz p(t) : m P tn s 10.23 MHz : tn s sng mang

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

M t truyn tn hiu trong min thi gian: (Hnh 1.5)

Hnh 1.5.M t truyn tn hiu

M hnh iu ch tn hiu:(Hnh 1.6)

Hnh 1.6. M hnh iu ch tn hiu

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

M d liu: Tn s 1 bit d liu GPS: 50Hz truyn trong 20ms. 1 word d liu gm 30bits, truyn trong 600 ms. 10 words 1 subframe truyn trong 6 giy. 1 page gm 5 subframes, truyn trong 30 giy. Mt b d liu hon chnh gm 25 pages truyn trong 12.5 pht. Mi subframe bt u bng 2 word: TLM, HOW - TLM word s dng xc nh bt u ca mt subframe. - HOW word s dng tnh tc trong qu trnh xc nh v tr v tinh

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Chng 2 NGUYN L NH V GPS

nh v l vic xc nh v tr im cn o. Tu thuc vo c im c th ca vic xc nh to ngi ta chia thnh 2 loi hnh nh v c bn: nh v tuyt i v nh v tng i. 2.1. NH V TUYT I 2.1.1. Biu thc c bn tnh khong cch Trong GPS, ngi ta xc nh v tr ca i tng bng phng php khong cch TOA. Phng php m t nh sau: Xt trn mt mt trc thi gian xc nh (system time), gi s c ti mt thi im xc nh (Ts), my pht s pht tn hiu i, thi im c my pht nhn bit bng gi tr hin thi ca ng h trn my pht (T t), v mt l tng th Ts = Tt (nh vy c ngha l trn thc t th c ti thi im Tt my pht mi pht tn hiu i). Bn my thu khi thu c tn hiu n s xem thi gian thu c tn hiu l bao nhiu c xc nh nh ng h my thu (Tr), ta gi s ng h my thu ng b vi bn my pht, khi khong cch gia 2 my pht v my thu s c xc nh bng: = v.(Tr Ts) Trong : v : l vn tc truyn tn hiu. : l khong cch gia my pht v my thu. Khi , vic xc nh v tr ca my thu s nh Hnh 2.1: H phng trnh to my thu:

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Hnh 2.1. Xc nh v tr my thu Trong : Xs, Ys, Zs : ta thc ca v tinh ( bit), trong h trc ta Oxyz. (i = 1,2,3,) X, Y, Z : ta thc ca my thu (cha bit), trong h trc ta Oxyz. i : khong cch o c t v tinh n my thu. Oxyz : h ta chun xc nh v tr ca my pht v my thu.Trong GPS th l h ta ECEF. Trn thc t th s tn ti sai s tt gia Ts v Tt; ng h my thu khng ng b vi ng h my pht; Do trn thc t cn thu tn hiu 4 v tinh xc nh to im o trong khng gian 3 chiu. biu thc ton hc ca vic nh v nh sau: i (2.1) Trong : - Xr, Yr, Zr l to khng gian 3 chiu ca v tr Anten my thu =D

Xs Xr

Ys Yr

Zs Zr

c( t

atm

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

- c l tc truyn sng ( tc nh sng) - t l lch tuyt i ng h my thu - T l lch tuyt i ng h v tinh atm

l sai s do kh quyn

l tng hp cc sai s khc Vi 1 v tinh c th thnh lp c mt phng trnh kiu ( 2.1) Vi 3 n s Xr, Yr, Zr l to im cn o v n s th 4 l lch tng i ng h v tinh v ng h my thu th ti mi im cn o cn thu tn hiu t nht 4 v tinh kho th to im o mi xc nh c. Trong thc t th s khng ng b gia my pht v my thu gy ra sai lch ln nht v khng c phng php no hiu chnh, cn sai lch gia tt l nh khng ng k v lun c hiu chnh nh cc trm mt t 2.1.2. Tnh khong cch C 2 cch tnh xc nh khong cch gia v tinh v my thu : da vo m (C/A hoc P) v da vo pha sng mang. 2.1. 2.1. o khong cch theo tn hiu code Trong trng hp ny, my thu nhn m pht i t v tinh, so snh vi tn hiu tng t m my thu to ra nhm xc nh c thi gian tn hiu lan truyn v tinh ti my thu v t khong cch t my thu n cc v tinh c xc nh bng cng thc sau:

c.t

c t

(2.2)

Trong : c l vn tc lan truyn sng = 299792458 m/s t l thi gian truyn tn hiu t l lng hiu chnh do sai s s khng ng b ng h my thu v v tinh l lng hiu chnh do mi trng Vic xc nh theo tr o Code c th din t nh hnh 2.2

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Hnh 2.2.S c ch xc nh thi gian truyn tn hiu GPS Do chnh sch lm gim chnh xc nh v ca chnh ph M b ng s tc ng nhiu SA lm sai lch n cc tn hiu v tinh nn vi cc tr o C/A Code v tr im o c chnh xc v tr im 30m vi tin cy 95%. T ngy 20/5/2000, chnh ph M b tc ng SA n tn hiu v tinh nn chnh xc nh v vi tr o Code c th t ti 30m, vi chnh xc nh v nh trn cc tr o ny s dng nh v trong vic dn n, o c nhng i tng c chnh xc thp. 2.1. 2.2. o khong cch theo pha sng ti Sng ti c pht i t v tinh c chiu di bc sng khng i. nu gi l chiu di bc sng th khong cch gia v tinh v my thu GPS s l:

N.

Trong : N l s nguyn ln bc sng l phn l bc sng Tr o pha chnh l phn l ca bc sng bng cch o di pha gia sng ti thu c v sng ti do my thu to ra. Phn l ny c th o c vi chnh xc c khng 1 % vng pha tng ng vi mm ( hnh 2.3) Biu thc xc nh di pha:

R c( t
Trong : R

T)

N
2

atm

(2.3)
2

Xs Xr

Ys Yr

Zs Zr

R l khong cch ng t v tinh n my thu Xs, Ys, Zs l ta khng gian 3 chiu v tr antren my thu

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Xr, Yr, Zr l ta khng gian 3 chiu ca v tr anten my thu c l tc truyn sng t l lch ng h my thu T l lch ng h v tinh l bc sng ca sng ti N l s nguyn ln bc sng t v tinh n anten my thu
atm

l sai s kh quyn

Gii php ny cho kt qu nh v chnh xc hn gii php ch dng tr o Code. Kh khn chnh l xc nh s nguyn ln bc sng gia Anten my thu v v tinh. Mt khi my thu bt c tn hiu ca mt v tinh no n s m s bc sng tri qua sau thi im , do vy iu cn thit duy nht l tnh c s a tr nguyn ban u. Tuy nhin nu vic thu tn hiu v tinh b gin on s c trt chu k xy ra s nguyn a tr b thay i, cn phi xc nh li S trt chu k pht sinh do vt cn, do tn hiu yu, anten di ng nhanh hoc tc ng mnh ca tng ion. S trt chu k phi c loi tr xc nh s nguyn ln bc sng tn hiu GPS trong biu thc (2.3)

Hnh 2.3. Tr o pha v s nguyn a tr

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

xc nh s nguyn ln bc sng c nhiu phng php: 1/ Phng php hnh hc da trn s thay i hnh hc v tinh trong khi o gii s nguyn ln bc sng ng thi vi ta anten 2/ So snh tr o pha v tr o Code 3/ Tr o di rng cho bc sng 86,2 cm xc nh s nguyn a tr nhng km chnh xc hn 4/ S dng sai phn bc 3 5/ Phng php hm s ambiguity k thut OTF xc nh nhanh s a tr trong khi an ten di ng ngay sau khi b mt tn hiu v tinh. Phng php ny c p dng vi my 2 tn s. 2.2. NH V TNG I Nh ta bit, do nh hng ca sai s v tr ca cc v tinh trn qu o, do sai s ng h v cc yu t mi trng truyn song khc dn n chnh xc nh v im n t t 100m n 30m trong h ta WGS 84. ngay c khi chnh ph M loi b nhiu SA th vic nh v tuyt i chnh xc nht cng ch t ti con s vi chc mt. V vy khi i hi tr o c chnh xc cao cn phi s dng php nh v tng i. Trong kiu o ny hai Anten cng hai my th u tng ng c t ti hai u ca cnh cn quan trc v phi lm vic ng thi.(Hnh 2.4) S d c th t c chnh xc cao trong kiu o ny l v mt s sai s tch ly trong cc c ly quan trc thng ng nht vi nhau hoc ti thiu cng tng t nhau ti hai u ca ng y. Cc sai s ny c th c loi tr hoc t nht cng gim mt cch ng k khi xc nh tr s nh v tng i.

Hnh 2.4. Phng php nh v tng i

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Vic nh v tng i s dng tr o pha sng ti, t c chnh xc cao trong v tr tng i ngi ta to ra sai phn. Nguyn tc ca vic ny l da trn s ng nh hng ca cc i lng, ngun sai s n ta ca im cn xc nh trong bi ton nh v tuyt i nh sai s ng h v tinh my thu, sai s ta v tinh, nh hng ca mi trng, phng php y l ly tr o trc tip to thnh tr o mi (cc sai phn) loi tr hoc gim bt cc sai s k trn. chnh xc tng i t c cm, v ch yu p dng trong trc a. 2.2.1.Sai phn bc mt K hiu pha sng ti o c t v tinh j ti im thu r vo thi im t i l
j r

. Khi trn hai trm 1 v 2 thu tn hiu ng thi v tinh j vo thi

j i 2 j i 1

im ti th hiu s
j

(2.4)

Gi l sai phn bc mt i vi v tinh j vo thi im ti Tr o ny loi tr c sai s ng h v tinh bi gi tr ny l nh nhau. Tr sai phn n c th hiu s tr o ca 1 my thu vi 2 v tinh: tr o ny loi tr sai s ng h my thu. 2.2.2. Sai phn bc hai Nu ly hiu s hai sai phn bc mt:
2 j ,k

k i

j i

(2.5)

Gi l sai phn bc hai vo thi im t 1. y l tr o chun trong o GPS tng i, vi tr o ny s v tr v tinh, sai s ng h my thu ng h v tinh c loi tr. 2.2.3. Sai phn bc ba Nu xt hai trm tin hnh thu tn hiu v tinh j, k vo thi im t i v ti+1 th hiu sai phn bc hai:
3 j ,k 2 i ,k

2 i 1

j ,k

(2.6)

Gi l sai phn bc ba. Tr o ny khng ph thuc vo s nguyn ln bc sng, do vy c tr o ng dng x l s trt chu k Vic x l cc tr o sai phn cho php xc nh cc gi tr thnh phn ca vevto khng gian ni hai im t my thu vi chnh xc cao.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

2.3. CC NGUN SAI S TRONG KT QU O GPS Cng nh bt k mt phng php o c khc, vic nh v bng h thng GPS chu nh hng ca nhiu yu t khc nhau. 2.3.1 Sai s do ng h. y l sai s ca ng h trn v tinh, ng h trn my thu v s khng ng b ca chng. ng h trn v tinh c trm iu khin trn mt t theo di v do nu pht hin c sai lch trm ny s pht tn hiu ch th thng bo s ci chnh cho my thu GPS bit s l. lm gim nh hng ca sai s ng h ca c v tinh v my thu, ngi ta s dng hiu cc tr o gia cc v tinh cng nh gia cc trm quan st. 2.3.2 Sai s qu o v tinh. Ta im o GPS c tnh da vo v tr bit ca v tinh. Ngi ta s dng phi da vo lch thng bo ta v tinh m theo lch ta v tinh c th b sai s (Hnh 2.5)

Hnh 2.5. Sai s do qu o v tinh Do vy nu s dng qu o v tinh chnh xc c th t kt qu nh v tt hn. C hai phng n nhm hon thin thng tin qu o v tinh: - S dng nhng trm mt t c v tr chnh xc lm nhng im chun tinh chnh qu o v tinh dnh cho cng tc o c c bit .

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

- Thu nhn lch v tinh chnh xc t Dch v a hc GPS Quc t ( The International GPS Service for Geodynamics IGS) C quan IGS s dng mt mng li gm 70 trm theo di tinh chnh qu o v tinh. H thng ny cho thng tin qu o u vit hn so vi lch v tinh thng bo ca h thng GPS ch c 5 trm theo di v tinh. 2.3.3 nh hng ca tng Ion Tn hiu v tinh trc khi n my thu phi xuyn qua mi trng khng gian gm cc tng khc nhau. Tng ion l lp cha cc ht tch in trong bu kh quyn cao t 50 1000 km, tng ion c tnh cht khc x i vi song in t, chit sut ca tng ion t l vi tn s song in t truyn qua n. Do vy tr o ca my thu 2 tn s cho php gim nh hng tn sc ca tng ion. Hiu chnh nh hng ca tng ion i vi tr o ca my thu tn s L1 phi da vo cc tham s m hnh pht i trong thng bo v tinh, tuy nhin ch gim c khong 50% nh hng tng ion. Vi my thu 2 tn s nh hng tng ion, tr o gii tr do vic nh v c chnh xc cao hn, nht l i vi vic o cnh di. 2.3.4 nh hng ca tng i lu

Hnh 2.6. Sai s do tng i lu v in ly

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Tng i lu c cao n 8km so vi mt t l tng lm khc x i vi tn hiu GPS do chit sut bin i. do vy s ci chnh m hnh kh quyn phi c p dng i vi tr o ca my mt tn s v c my hai tn s, chit sut ca tng i lu sinh ra chm pha tn hiu, c chia thnh hai loi t v kh, nh hng ca chit sut kh c to thnh m hnh loi tr nhng nh hng ca chit sut t l ngun sai s kh lp mo hnh v loi b trong tr o GPS. 2.3.5 Tm nhn v tinh v s trt chu k im quan trng nht khi o GPS l phi thu c tn hiu t nht 4 v tinh tc l phi c tm nhn thng ti cc v tinh . Tn hiu GPS l sng cc ngn trong ph in t, n c th xuyn qua my m, song khng th truyn qua c tn cy hoc cc vt cn che chn. do vy tm nhn v tinh thng thong c tm quan trng c bit i vi cng tc o GPS. Khi s dng tr o pha cn phi m no thu tn hiu v tinh trc tip, lin tc nhm xc nh s nguyn ln bc sng khi u.tuy nhin c trng hp ngay c khi v tinh vn nhn thy nhng my thu vn b gin on thu tn hiu, trng hp c mt s chu k khng xc nh tri qua m my thu vn khng m c khin cho s nguyn ln bc sng thay i v lm sai kt qu nh v. do cn phi pht hin v xc nh s trt chu k trong tn hiu GPS. Mt s my thu c th nhn bit s trt chu k v thm vo s hiu chnh tng ng khi x l s liu. mt khc khi tnh ton x l s liu GPS c th dng sai phn bc ba nhn bit v x l trt chu k. 2.3.6 Hin tng a tuyn

Hnh 2.7.Sai s do hin tng a ng truyn

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

l nhng tn hiu t v tinh khng n thng anten my thu m p vo b mt phn x no xung quanh ri mi n my thu.nh vy kt qu o khng ng, trnh hin tng ny anten phi c tm nhn v tinh thng thong vi gc ngng cao hn 150 . vic chn gc ngng nh th ny nhm gim nh hng bt li ca chit quang kh quyn v hin tng a tuyn. Hu ht anten GPS gn bn dng phng, trn che chn tn hiu phn x t di mt t ln. 2.3.7. S suy gim chnh xc (DOPs) do hnh cc v tinh Vic nh v GPS l vic gii bi ton giao hi nghch khng gian da vo im gc l v tinh v cc khong cch tng ng n my thu GPS.

Hnh 2.8. Khong cch t v tinh n my thu GPS Trng hp ti u khi thu tn hiu v tinh GPS l v tinh cn phi c s phn b hnh hc cn i trn bu tri xung quanh im o. Ch s m t hnh v tinh gi l h s phn tn chnh xc - h s DOP (Delution of Precision). Ch s DOP l s nghch o th tch ca khi t din to thnh gia cc v tinh v my thu. Ch s ny chia ra thnh cc loi sau:

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

+ PDOP ch s phn tn chnh xc v v tr (Positional DOP) + TDOP l ch s phn tn chnh xc v thi gian (Teme DOP) + HDOP l ch s phn tn chnh xc v mt phng (Horizontal DOP) + V DOP l ch s phn tn chnh xc v cao (Vertical DOP) + G DOP l ch s phn tn chnh xc v hnh hc (Geometric DOP) hnh phn b v tinh c thit k sao cho ch s PDOP t xp x 2,5 vi xc xut 90% thi gian. hnh v tinh t yu cu vi ch s P DOP < 6. 2.3.8 Tm pha ca anten Tm pha l mt im nm bn trong anten, l ni tn hiu GPS bin i thnh tn hiu trong mch in t. cc tr o khong cch c tnh vo im ny. iu ny c ngha quan trng, nh my ch to anten c kim nh sao cho tm pha trng vi tm hnh hc ca n, tuy nhin tm pha thay i v tr ph thuc vo hnh v tinh, nh hng ny c th kim nh trc khi o hoc s dng m hnh tm pha giai on tnh x l. Quy nh cn phi tun theo l khi t anten cn dng theo cng mt hng v tt nht l s dng cng mt loi anten cho cng mt ca o. Cc ngun li v bin php khc phc c tng hp trong bng (2.1). Bng 2.1: Bng thng k ngun li khi o GPS v bin php khc phc NGUN LI 1. Ph thuc v tinh - Ephemerit - ng h v tinh - hnh v tinh 2. Ph thuc ng tn hiu - Tng ion - Tng i lu - S a tr nguyn - Trt chu k - a tuyn 3. Ph thuc my thu - Chiu cao Anten - Cu hnh my thu - Tm pha Anten - Nhiu in t - Ta quy chiu - Chiu di cnh BIN PHP X L Ephemerits chnh xc Sai phn bc mt Chn thi gian o c PDOP<6 Dng my hai tn s Lp m hnh Xc inh n tr, sai phn bc ba Trnh vt cn, sai phn bc ba Trnh phn x, ngng gc cao Do 2 ln khi o cao Anten Ch khi lp t Anten chun t quay v mt hng Trnh bc x in t Khng ch chnh xc, tin cy B tr cnh ngn

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

2.4. NGUYN L O GPS NG 2.4.1 Nguyn l chung v o GPS ng o GPS ng l mt dng ca phng php o tng i. Ta ca im cn o ch c xc nh trong phng sau khi x l s liu o thc a sau khi x l trn phn mm ca my tnh. Vi kiu o nh trn gi l phng php o tng i, dng o tnh. Ta im cn o t c chnh xc cao 5mm + 1ppm. Tuy t c chnh xc cao, song thi gian o cn nhiu (ti thiu l 1 gi = 240 tr o). Mt gii php khc phc l o GPS ng, vi thi gian o ngn (1 -2 tri o), chnh xc vn t 1cm+1ppm (Hnh 2.9)

Hnh 2.9. nh v ng tng i 2.4.2 Gii php k thut trong o GPS ng: gim c thi gian o m vn m bo chnh xc cn thit cc nh thit k a gii php k thut c bit, l th tc khi o v th tc quy chun h ta .

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

2.4.2.1 Th tc khi o L vic xc nh nhanh s nguyn ln bc sng t v tinh n Anten my thu da vo vic thu tn hiu v tinh ( tr o C/A.Code v tr o Phase) ti hai my ( Trm tnh v trm ng) ng thi trn mt ng y. Khi c c s nguyn a tr th vic gii ta cc im o tip theo ch cn vi s lng t tr o ( 1-2 tr o). ng y bit y c th chn l 2 im bit ta , c th l mt on thng c di xc nh c nh hng theo hng Bc hoc cng c th l mt on thng c o theo phng php tnh. Sau khi gii c s nguyn a tr qua php khi o, vic o c cc im khc c tin hnh ch cn thi gian o ngn ( ch cn thu 1 -2 tr o) nu c trm c nh (Base) v trm ng (Rover) u duy tr c vic thu lin tc tn hiu ca t nht 4 v tinh. Ta ca cc im o c tnh vi s liu o t do vy s liu o c kim tra ti thc a, nu s liu thu c trong iu kin khng m bo chnh xc (PDOP ln), thit b o s khng cho php o. Khi mt tn hiu thu v tinh hoc s lng v tinh t hn 4 th thng tin v s nguyn a tr b mt. vic khi o phi c tin hnh li. Trong gia nhng nm 80 v u nhng nm 90, cht lng thit b thu v tinh cn thp nn s nguyn a tr c xc nh phi da trn tp hp s liu o ln tc l khi hnh cc v tinh ang thu tn hiu thay i mc cn thit nn khng th gii nhanh s nguyn a tr ngay ti thc a phc v cho GPS ng. gn y khi thit b thu, phn mm x l s liu ngy cng hon thin vic gii s nguyn a tr rt nhanh, ch cn da trn s thay i nh ca hnh v tinh. 2.4.2.2 Th tc quy chun h ta (Site Calibration) o GPS ng l mt dng o GPS tng i tc l ch xc nh c s gia ta trong h WGS84 ca im trm ng so vi trm tnh. s dng c kt qu ny v h ta a phng cn phi c thng s chuyn i. Vic chuyn i gi l th tc quy chun h ta . Vic quy chun h ta c th s dng mt trong cc cch sau: + S dng 7 tham s tnh chuyn chuyn i t h ta GPS (WGS84) v h ta a phng cn c tham s tnh chuyn chnh xc gia hai h thng ta . Cc tham s l:
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Cng ngh gim st v qun l phng tin giao thng GPS tracking

- 3 gi tr v lch gc ta X, Y, Z. - 3 tham s v gc xoay ca 3 trc ta . - 1 tham s l h s t l. + S dng tp hp im trng Chn t nht 3 im trong khu o c ta trong h ta a phng o trong h ta GPS. Trn c s hai ta trong 2 h thng ca cc im trng s tnh c cc thng s quan h cc b gia hai h thng ti khu v t ta cc im o khc s tnh c theo cc thng s ny. 2.4.3 Cc phng php o GPS ng Ty thuc vo thi im x l s liu, phng php o GPS ng chia lm phng php o: 2.4.3.1.o GPS ng thi gian thc ( RTK-Real-Time Kinematic GPS) Phng php o ny cho php gii c ta im t my trm ng ngay ti thc a nh vic x l tc thi s liu thu v tinh ti trm c nh v trm di ng trn b x l s liu chuyn dng i km vi trm ng ti thc a nhng ch cn thu tn hiu v tinh thi gian ngn t nht 1 tr o. Nu khu o cc im o c ta trong h ta a phng bt k c th thc hin vic o c trong h ta a phng thng qua vic o qiu chuyn h thng ta . Phng php ny cn phi c h thng truyn s liu (Radio Link) truyn lin tc s liu thu c ti trm tnh n thit b x l s liu ti trm ng. 2.4.3.2.Phng php o GPS ng x l sau (PPK Postprocessing Kinematic GPS) Phng php ny cho php thu nhn ta im o c chnh xc c cm trn c s x l s liu thu v tinh ti trm c nh v trm di ng trn phn mm x l s liu chuyn dng sau khi o thc a. Thi gian thu tn hiu v tinh ngn ( ti thiu 2 tr o). Phng php ny khng cn n h thng Radio Link truyn s liu. Nh vy vic o GPS theo gii php k thut o ng s p ng hiu qu hn nhiu cc dng cng tc o c c s lng im cn o ln. Hng Trimble thit k mt s thit b gn, nh ph hp thc hin cc phng php o GPS ng.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Bng 2.2: Tng hp v cc phng php o GPS

S V TINH TI THIU THI GIAN O TI THIU

CHNH XC T C

CC DC TRNG KHC

o tnh (Static)

1 gi

o tnh 4 nhanh(Fast Static) o ng x l 4 sau (GPS-PPK)

- 1 tn s: 5mm+1ppm -2 tn s: 5mm+0.5ppm 8 30 5- 10 mm+1ppm ph thuc thi gian o 2 tr o 1 cm + 1ppm

- khng hn ch khong cch vi my 2 tn s Cc th tc o nh vi o tnh

o ng thi 4 gian thc (GPSRTK)

1 tr o

o DGPS x l 4 sau (PPK DGPS)

2 tr o

o DGPS thi 4 gian thc (RTK DGPS)

1 tr o

-Khong cch ti a 50km -Cn khi o bng o tnh nhanh trn cnh khi o 1cm+1ppm -Khong cch o ph thuc vo Radio Link < 10km -Cn khi o trn im bit ta hoc o tnh nhanh - 0.5m vi my Cn Radio truyn thu Everest, sng, khng cn Maxwel. Vi thu v tinh lin 5VT, PDOP<4 tc - 1-3m vi my thu khc cng K -0.2m vi my thu Cn Radio truyn Everest, Maxwel. sng, khng cn Vi 5VT, thu v tinh lin PDOP<4 tc - 1-3m vi my thu khc cung K

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

2.5. TA V H QUI CHIU T nm 1980 B quc phng M a ra tng xy dng mt h quy chiu quc t thng nht cho ton tri t .n nm 1984 h quy chiu quc t kh hon thin WGS-84 c tha nhn trn c s cc nghin cu tng hp s liu ton cu do lin on quc t Trc a quc t xut, Gs. Ts Moritz ch tr, y l h quy chiu cho tri t kiu truyn thng bao gm ellpoid quy chiu, ta quy chiu, cc hng s ca tri t, v m hnh trng trng lc tri t.

Hnh 2.10. Xc nh h qui chiu WGS- 84 Ellpoid c chn lm h to nh v ton cu l GRS-80 (Geodetic Reference System 1980), mt quy chiu ny c h nh v GPS s dng gi l H Trc a Gii 1984 (WGS - 84). H to ny dng ellipsoid a tm xc nh bi bn trc ln a = 6378137.0 m v nghch o dt 1/f = 298.257223563. H quy chiu WGS-84 cn xc nh m hnh cao Geoid. M hnh cao Geoid EGM-96 c thit lp trn c s m hnh trng trng lc trai t, cc im cn tinh c ni suy theo cc gi tr ti nt li theo phng php collccation c chnh xc t 1m n 2m.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

H thng WGS-84 c cc tham s sau: - Kch thc Ellipsoid quy chiu a=6378137m; WGS-84: =1/298,257223563 - Tc quay tri t: =7292115, 8553 X 10-11 rad/s - Hng s trng lc tri t: GM = 3986004,418 X 108 m3/s2 - Cc im to quy chiu: 12 im Air-Force v NIMA Tracking Station - M hnh trng trng lc tri t: Chui iu ho cu ti bc: - EGM-96: - M hnh Geoid EGM-96: n=m=360 vi 130.676 h s M hnh vi li 15 X 15 Chnh xc cao Geoid ti nut li l 0,5m n 1,0m ng thc sau l biu thc bin i n gin cao t h ta ellipsoid WGS84 v cao h ta a phng bng cng thm chnh Geoid - Ellipsoid ti im : H=h+N Trong : + H l cao tnh n mt elipsoid - l cao c th o chnh xc c chnh xc bng cng ngh GPS + h l cao thu chun, c s dng thc t + N l chnh lch 2 b mt Geoid v ellipsoid ti im . 2.6. XC NH TA MY THU 2.6.1. Xc nh ta kinh v: Sau bc 1: ta thu c cc ta xu, yu, zu trong khng gian ca h ta ECEF. By gi ta i xc nh ta kinh , v v khong cch ti mt t ca my thu [longtitude l kinh , (attitude h, latitude L) v ]. Khong cch t my thu ti tm tri t: (2.7)

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

2.6.1.1. Xc nh kinh l:

2.6.1.2. Xc nh v L: Phng trnh tnh L : gii phng trnh trn bng phng php quy:

vi i = 0, 1, 2,. L0 = Lc. iu kin dng: < threshold

2.6.1.3. Xc nh cao h:

2.6.2. Hiu ng Doppler ln my thu: 2.6.2.1. Tn s Doppler: Do s di chuyn ca v tinh m chng ta cn quan tm ti nh hng ca tn s dch Doppler ln my thu cho qu trnh lc d liu v thit k ngten thu. a/ Tn s dch Doppler ln nht ln my thu i vi sng mang L1 l:

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

i vi cc thit b chuyn ng trn mt t, ta c th coi tn s dch ln nht ln my thu nm trong khong 5KHz. Cn i vi cc thit b bay vi vn tc ln, tn s dch c th ln ti 10KHz. b/ Tn s dch Doppler ln nht ln my thu i vi m C/A l:

i vi cc thit b chuyn ng trn mt t, ta c th coi tn s dch ln nht ln my thu nm trong khong 3.2Hz. Cn i vi cc thit b bay vi vn tc ln, tn s dch c th ln ti 6.4Hz. Trn my thu, nu trch mu vi tn s 5 MHz, time), khi trong qu trnh tracking cn hiu chnh xung mu (locally generated signal) vi tn hiu thu mt khong xp x 100 ns. Vi tn s m C/A, cn xp x 16 ms (100156.3/977.5) d liu b dch i 100 ns. 2.6.2.2. Tn s Doppler thay i trung bnh:

2.6.2.3. Tn s Doppler thay i ln nht:

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Chng 3 CNG NGH NH V V GIM ST PHNG TIN GIAO THNG GPS TRACKING Cng ngh nh v bng sng GPS khi kt hp vi h tng ca h thng vin thng hin i s to ra mt h thng gim st v qun l cc phng tin giao thng vn ti (on-line) mt cch l tng. Ty theo yu cu hot ng ca h thng gim st m cn cng ngh vin thng no, hoc cng c th ch cn n thun thit b GPS nh v (off-line). 3.1. CC THNH PHN CA H THNG GPS TRACKING 3.1.1.M hnh ca mt h thng GPS tracking: Gm cc thnh phn nh Hnh 3.1 Gii thch: 1) H thng v tinh GPS (t 24 -32 v tinh) ph sng GPS. 2) Xe c gn thit b Tracking GPS Unit (hp en hoc thit b u cui) ca VietMap. Hp en c 2 thnh phn chnh: GPS v GSM module hoc G.Link Radio. a) GPS module trong hp en nhn tn hiu GPS pht ra t cc v tinh v tnh ton cc tham s lin quan n v tr, tc , hng di chuyn. b) Hoc GSM module (C gn SIM in thoi) chuyn ti cc thng s ca xe v cc thng s to v h thng servers thng qua h tng vin thng: GPRS, SMS. c) Hoc sng v tuyn VHF/UHF thng qua mng d liu v tuyn dng ring ca h thng giao thng (G.Link Radio) 3) Nh cung cp dch v vin thng (Viettel, Mobifone, Vinaphone.) 4) H thng server c ci t h thng phn mm GPS Tracking Service dng cp nht, x l v lu tr d liu lin quan n cc thng s ca xe v cc thng s ta , cung cp cc dch v cho ngi dng. 5) My tnh vn phng hay nh c ci t phn mm GPS Tracking (Phn mm c tch hp vi bn chi tit dng vect y 64

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

tnh thnh Vit Nam) kt ni ti h thng server thng qua internet, ngi qun l c th theo di v gim st l trnh ca xe.

Hnh 3.1. Cc thnh phn ca h thng GPS Tracking 6) Bn s chi tit ca h thng d liu GIS hoc bn s Google Map cung cp cho h thng server hoc my tnh vn phng v ngi s dng. 7) Ngi dng c th dng in thoi di ng c kt ni GPRS hoc kt ni qua G.Link Radio xem thng tin, v tr ca xe ng thi c th ra lnh iu khin thit b bng SMS.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

3.1.2. Cc chc nng chnh: - Theo di v gim st t xa l trnh ca xe theo thi gian thc vi cc thng s v tr xe chnh xc n tng con ng, vn tc, hng di chuyn, trng thi tt/m my xe, trng thi sng GPRS, trng thi GPS, qu tc , . . - Gim st tt c cc xe trn mt mn hnh bn ln vi bn in t chi tit ca tt c 64 tnh/thnh Vit Nam. - T ng cnh bo v trung tm khi: thit b ct dy ngun in, li xe vt qu tc cho php, vt ra khi vng gii hn, bo ng tnh trng khn cp khi gp s c - Lu gi l trnh tng xe trong thi gian 40 ngy gn nht. Tm kim v m phng li l trnh i ca tng xe. - Cho php iu khin t xa bng SMS: cm khng cho khi ng my t xa. - Nhn tin SMS hay nhy my bit v tr t - H tr xem trn in thoi di ng. - Thng k v lp bo co: qung ng i, c tnh nhin liu tiu hao, thi gian dng xe khng tt my, s ln vt qu tc cho php, s ln qua trm thu ph, bng chi tit l trnh (tn ng, qun/ huyn, tnh/ thnh), thi gian xe ra vo trm - Ngoi ra, c th kt hp vi cc cm bin khc theo di v lng xng, nhit , trng lng 3.2. CC PHNG THC HOT NG CA H THNG GPS TRACKING Thit b nh v GPS c th gim st s hot ng ca phng tin giao thng ch on-line hoc off-line ty theo c s kt hp vi h thng vin thng hay khng (Hnh 3.2)

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

GPS Tracking

Hot ng off-line
GPS v TBGhi GPS v V tinh

Hot ng on-line
GPS v sng radio VHF/UHF GPS v sng GSM

Hnh 3.2. Cc phng thc hot ng ca h thng GPS tracking 3.2.1.Hot ng off-line: H thng ch gm my thu GPS v thit b ghi c chc nng nh mt hp en, t ng thu thp cc thng tin v v tr, tc phng tin giao thng trong sut hnh trnh. Sau khi kt thc hnh trnh, ngi qun l c th ly s liu ra qun l v kim tra xem xe c chy, ng hnh trnh vi tc quy nh hay khng. 3.2.2.Hot ng on-line: C nhiu phng n khc nhau, ty theo kt hp vi h thng vin thng no 3.2.2.1. My thu GPS v v tinh: thut truyn dn s liu qua v tinh phng tin giao thng , gip cho vic nh v v gim st chuyn ng ca phng tin giao thng . Do h thng i hi phi c v tinh truyn dn d liu kt hp vi i iu khin mt t nn hin ti ch thch hp cho nh v v gim st trong h thng giao thng hng hi. 3.2.2.2. My thu GPS v sng radio VHF/UHF: H thng kt hp gia cng ngh nh v v tinh GPS vi k thut truyn dn s liu V tuyn a truy nhp Bng hp bng tn VHF hoc UHF. Trung tm iu hnh c trang b mt thit b gii m, vi s h tr ca bn s GIS hoc Google Map s gip cho vic nh v v gim st cc phng tin giao thng mt cch lin tc trong thi gian thc.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Do s dng c s vin thng l mng v tuyn b m nn h thng thch hp cho s gim st v iu hnh cc phng tin giao thng cng cng nh xe taxi hoc xe but. 3.2.2.3. My thu GPS v sng di ng GSM: y l mt gii php mi trn th gii (ch c thc hin trong vng 1, 2 nm tr li y), cho php tn dng h tng mng vin thng sn c m khng phi xy dng h thng thng tin ring c chi ph rt cao. Hot ng ca h thng l s kt hp gia cng ngh nh v v tinh GPS vi thng tin di ng GSM qua c ch SMS hoc GPRS. 3.3. MY THU NH V V TINH GPS Cc my thu GPS c th chia lm 2 loi: My thu 1 tn s v my thu 2 tn s. My thu 1 tn s ch nhn c cc m pht i vi sng mang L1. Cc my thu 2 tn s nhn c c hai loi song mang L1 v L2. Phn loi theo chc nng s dng gm: Dng cho nh v, dn ng ( chnh xc thp): - n knh, m C/A, chnh xc <100m Dng cho v bn , dn ng chnh xc cao: - n tn, a knh (t 4-12 knh), m C/A, chnh xc l <100m (khng c h tr) hoc 3-5m (DGPS) - n tn, a knh (4-12 knh), m C/A, chnh xc <100m (khng c h tr) hoc <1m (DGPS) Dng cho cng tc cu h, lp bn vi chnh xc cao: - n tn, a knh (6-12 knh), kiu pha sng mang, chnh xc <30cm (DGPS) - 2 tn s, a knh (8-12 knh), sng mang L1/L2, chnh xc ti c milimet (DGPS).

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

3.3.1.Cu trc v hot ng: Hnh 3.3 minh ha mt my thu GPS tng qut. Cc chc nng ca tng phn nh sau:

Hnh 3.3. Cu trc my thu GPS Antenna v b tin khuch i: Anten dng cho my thu GPS c c tnh tia v vy khng phi hng v pha ngun tn hiu nh anten parabol thu TV v tinh. Anten gn nh v c nhiu loi thit k khc nhau. C khuynh hng tch hp anten vi cc c cu in t ca my thu. B tn s v tuyn v b vi x l: B tn s v tuyn gm cc c cu in t x l tn hiu. Cc loi my thu khc nhau v k thut x l tn hiu. C mt b x l mnh khng nhng thc hin vic tnh ton nh gii m m C/A hoc c 2 m C/A v P; xc nh cao / phng v ca v tinh v.v... m trong mt s trng hp thc hin x l tn hiu s. Hnh 3.4 ch cho bit nhim v ca b tn s v tuyn v b vi x l.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Hnh 3.4. Nhim v ca b tn s v tuyn v vi x l Gm cc khi: + Data bit demodulation and Code control - Gii iu ch bit d liu v m iu khin + C/A code Generator- B to dao ng m C/A + Navigation Messaage - Cc thng tin o hng + C/A Code Measurement - i lng o m C/A + Time Measurement - Thng tin thi gian + Data Bit Alignment - Hiu chnh bit d liu + Data Parity D liu chn l + Data Decoding Gii m d liu + Satellite Positions Corrections - Ci chnh ta v tinh + Pseudo-Ranges - Gi nh v + Receiver Position,Velocky, and Time Comoutations: B phn nh v + Preamplifier and Down Converter: Tin khuch i v i tn Giao din iu khin: B iu khin cho php ngi vn hnh giao tip vi b vi x l. Kch thc v kiu loi khc nhau gia cc my thu khc nhau.Thng c mn hnh LCD hin th cc chc nng s dng. B nh d liu: Trng hp my thu GPS dng cho mc ch chuyn mn nh o c d liu, th d liu o c phi c lu vo b nh theo

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

cch no x l d liu sau. Trong trng hp ng dng nh v v dn ng th ch cn ghi li ta v vn tc o c t GPS. B cp ngun: Ngy nay cc my thu GPS di ng cn ngun in p thp. Xu hng p dng s dng l s dng pin Lithium gn trong, hoc c quy bn ngoi nh c quy xe t hoc ngun in li. 3.4. H THNG GPS TRACKING KT HP K THUT TRUYN DN BNG SNG RADIO VHF/UHF 3.4.1. M hnh h thng: Hnh 3.5, m t cc thnh phn ca h thng GPS tracking kt hp vi k thut truyn dn bng sng radio VHF/UHF dng ring (G.LinkRadio) hoc mng v tuyn b m (Radio Trunking)

Hnh 3.5. M hnh h thng 3.4.2. Cu hnh v hot ng: Hnh 3.6, ch ra c ch hot ng v cc thit b trong h thng - Trn mi xe t - Taxi, s c trang b mt my B m thng dng (bng sng nghip v Lu ng - C nh VHF/UHF) v Mt b thit b X l s liu c tn l RPLink c tch hp vi mt Board mch My thu GPS.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Hnh 3.6. C ch hot ng - Theo s iu khin ca Trung tm, Thit b RPLink s lun phin gi cc thng tin sau v Trung tm iu hnh: V tr, Hng di chuyn, vn tc v cc trng thi ca Phng tin lu thng nh: Xe ang c khch, Xe gp tnh hung khn cp . - Cc thng s ni trn c truyn v trung tm iu hnh qua Mng s liu V tuyn (G.LinkRadio/ Radio Trunking). - Trung tm iu hnh c trang b mt thit b gii m RPLink-Master, vi s h tr ca Phn mm hin th bn s G.MAP s dng d liu GIS ca cc hng phn mm chuyn nghnh v Phn mm qun l Mng G.CONTROL. Cc modul gn trn phng tin giao thng gm: (Hnh 3.7) - B thu pht v tuyn: trao i d liu, m thanh vi trung tm. S dng mng v tuyn (G.LinkRadio/ Radio Trunking), hot ng tn s UHF hoc VHF. - Thit b thu GPS: thng l cc chip GPS receiver, c chc nng x l tn hiu v tinh thu c qua anten, tnh ton ta nh v ca my thu. u ra ca chip GPS c tch hp vo datalogger kt ni vi thit b u cui v tuyn v c truyn v trung tm iu hnh.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

3.4.3. Cc chc nng: H thng c th m nhn cc chc nng sau: - nh v v gim st hot ng ca phng tin. - Kim sot Vn tc ca phng tin; - Thng k Cc trng thi ca Phng tin nh: Xe c khch, Xe khng ch khch, Tnh hung khn - Tm kim, xem li Hnh trnh ca Phng tin trong qu kh... - Thi gian cp nht c th iu chnh theo yu cu.

Hnh 3.7. Modul gn trn xe - Do h thng c xy dng trn nn tn thit b B m V tuyn nn rt thch hp cho cc h thng xe taxi hoc xe but ( vn duy tr phng thc lin lc thoi nh trc y), nn ngi s dng hon ton c th ch ng trong vic xy dng trm ph sng nhm mc ch tng phm vi Gim st cc phng tin giao thng mt cch d dng. H thng ny cn c th p dng cho ngnh ng St iu tit Tu ha v kim sot vn tc tu trn cc cung ng.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

3.5. H THNG GPS TRACKING KT HP THNG TIN DI NG GSM liu qua mng i .

. 3.5.1. M hnh h thng: Hnh 3.8, l ton b m hnh ca h thng theo phng n ny

Hnh 3.8. M hnh ca h thng 3.5.2.Cu hnh v hot ng: Vi phng n ny cc thnh phn ca h thng v cch thc hot ng ph thuc vo phng thc qun l: Qun l trc tuyn (online) v qun l khng trc tuyn (offline).

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

3.5.2.1.Qun l theo phng thc trc tuyn: Qun l theo phng thc trc tuyn ngha l gia trung tm iu hnh v phng tin giao thng lin lc trc tuyn, trao i d liu vi nhau. qun l xe theo phng thc trc tuyn chng ta cn phi c cc phng tin v h thng nh sau: a/ Ti trung tm iu khin: - Mn hnh hin th bn s tng khu vc a l ( bn GIS hoc Google Map) - My ch v cc my trm ty theo nhu cu qun l vi h thng thng tin qun l GIS (Geographic Information System) bng phn mm chuyn dng. b/ Ti phng tin giao thng: - Modul GPS - Thit b thu thp v truyn d liu GPS thng qua phng thc SMS nh Modem GSM/GPRS Cc phng thc truyn dn y thng qua mng di ng GSM, cc ID ca tng phng tin giao thng c th hin qua cc ID ca SMS nhn v. c/ Nguyn tc hot ng h thng: Knh lin lc gia phng tin giao thng v trung tm iu khin c th hot ng mt trong s cc ch sau: - Duy tr kt ni lin tc: kt ni lun sn sng phc v vic truyn d liu v v tr v thi gian. - Thit lp kt ni t ng: knh lin lc c t ng thit lp khi mt trong 2 bn c d liu cn truyn. - Thit lp kt ni bng tay: ngi iu hnh hoc li xe t thc hin cc thao tc khi to lin kt mi khi cn gi i mt thng ip. 3.5.2.2.Qun l theo phng thc khng trc tuyn: Qun l khng trc tuyn (off-line) c ngha l sau 1 ca lm vic trung tm s cp nht cc d liu v hnh trnh ca phng tin giao thng trong ca lm vic lu li v x l t ng phc v cho cng tc qun l. V mt thit b, qun l theo phng thc khng trc tuyn khc vi phng thc qun l trc tuyn l thit b trn xe s khng c modem GSM/GPRS, mch vi x l s thu thp v lu li d liu v v tr ca xe v tr d liu v trung tm khi ht ca lm vic. Ti trung tm cng s phi c h thng thng tin

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

x l cc d liu ny phc v cho mc ch qun l. Phng thc khng trc tuyn tuy c r tin v khng cn n modem GSM/GPRS v khng mt cc cc ph lin lc SMS nhng c hn ch l khng qun l trc tuyn n tng xe trong khi ang vn chuyn. 3.5.2.3. Cc thit b chnh: a/ Modul GPS:
S dng modul GPS c nhim v nhn cc tn hiu t v tinh, x l tn hiu a ra kt qu bao gm cc thng tin sau: Ta kinh tuyn, v tuyn ca xe v chiu cao so mt nc bin.

Thi gian hin ti theo gi GMT. Tc v hng chuyn ng ca xe. S v tinh nhn c tn hiu. Cc thng s trn c th hin di dng cc bn tin c nh dng bng chun NMEA -183 trn ton th gii vi cc khung bn tin theo vi x l chun. Modul GPS s tr v bn tin nh sau: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,12059 8,,*10 Sau y l din gii ca bn tin Tn V d n v M t Message ID $GPRMC Giao thc header RMC (RMC protocol header) Thi gian (UTC Time) 161229.487 Gi pht giy (% giy) hhmmss.sss Tnh trng A A: d liu hp l; V: d liu khng hp l. V (Latitude) 3723.2475 ddmm.mmmm Ch dn Nam Bc N N = Bc hoc S=Nam (N/S Indicator) N=north or S=south Kinh (Longitude) 12158.3416 dddmm.mmmm Ch dn ng Ty W E=ng hoc W=Ty (E/W Indicator) E=east or W=west Tc trn mt t 0.13 Knots Hng bm trn mt t 309.62 ng (True) Ngy thng 120598 ddmmyy Kim tra (Checksum) *10 Kim tra m truyn tin <CR><LF> Kt thc bn tin

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

b/Mch vi x l thu thp d liu GPS: Mch vi x l s c thit k x l cc d liu thu thp t modul GPS v lu tr cc d liu theo mc ch s dng. Trn mch vi x l s c modul truyn d liu thng qua cng COM, mch vi x l ny s dng ngun 12V trn phng tin giao thng

Hnh 3.8. S khi ca mch vi x l trn xe y s s dng h vi iu khin c kh nng lp trnh c PSoC (Programable Systems on Chip) thc hin vic lu tr v truyn d liu v thi gian v to thu nhn c t modul GPS, cc bn tin ny c PSoC gia cng v truyn v trung tm theo phng thc truyn SMS thng qua modem GSM/GPRS. Hon ton cc d liu t trn phng tin giao thng c th hin th ngay trn xe cho ngi li xe bit v l trnh, thi gian v c th nhn mt s lnh trc tuyn t trung tm iu khin cng nh bit v cc xe trong i xe ca mnh.

Hnh 3.9. Thit b t trn xe

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

c/H thng qun l ti trung tm iu khin: H thng qun l ti trung tm iu khin c chc nng cp nht cc d liu nhn c t thit b thu thp GPS t trn xe, tch hp vi bn s lm nhim v: - Cp nht, hin th trc tuyn cc xe cn gim st trn mn hnh ch huy. - Thng bo v tnh trng l trnh cc xe - a ra cc thng bo v nhin liu, thi gian vn hnh ca tng xe,... - Gim st c cc s c ca cc xe.

Hnh 3.10. Xc nh ta ca xe qua tin nhn SMS

Hnh 3.11. Gim st hnh trnh ca xe

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

Hnh3.10. Chng trnh qun l d liu xe Vi cc thit b v h thng thng tin qun l trn, quy trnh qun l phng tin giao thng s c th hin nh sau. Qun l theo phng thc trc tuyn 1. Cc xe khi bt u hot ng, s kch hot thit b thu thp GPS hot ng. 2. Trong sut qu trnh vn chuyn cc d liu GPS trn xe c gi lin tc v trung tm theo phng thc nhn tin SMS vi tn sut gi tin do chng ta quy nh. 3. Trung tm nhn d liu v hin th trn mn hnh ch huy bng h thng thng tin qun l GIS. Khi cn trung tm c th yu cu 1 s thng tin t xe. 4. Cp nht cc d liu gi v lu thnh cc file qun l ti trung tm. Qun l theo phng thc khng trc tuyn 1. Cc xe khi bt u hot ng, s kch hot thit b thu thp GPS hot ng. 2. Trong sut qu trnh vn chuyn cc d liu GPS trn xe c lu li b nh trong mch vi x l trn xe. 3. Khi ht ca lm vic, xe tr v gara, ti gara s c thit b thu thp d liu truyn v trung tm ch huy, trung tm nhn d liu v hin th trn mn hnh gim st bng h thng thng tin qun l GIS. 4. Cp nht cc d liu gi v lu thnh cc file qun l ti trung tm.

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

KT LUN
Vi tnh nng u vit ca h thng nh v ton cu, vi s pht trin ca cng ngh thng tin v vin thng hin th vic a cng ngh GPS vo ng dng trong giao thng th l vic lm mang li nhiu li ch li cho chng ta hin nay, ngoi nhng ch li v kinh t chng ta cn khng nh c s pht trin, mt ch ng vng vng ca Vin thng Vit Nam trn trng quc t. Vit nam bt u ng dng cng ngh thng tin (sng in thoi di ng GSM, GPRS, 3G, Internet) iu hnh. Xt trn hiu qu u t gii php ny r hn v hiu qu hn, n nay trong nc ta c nhiu doanh nghip kinh doanh vn ti dng b x l thng qua tn hiu t v tinh v bng sng GPRS kim sot i xe vn ti hng ha ca mnh. Qua nhng g ti c nghin cu trong ti ti c mt s kin ngh sau: Vi tnh hnh giao thng th phc tp nh nc ta hin nay th vic cn thit l chng ta khng ngng pht trin v hon thin c s h tng. Cn ph bin cng ngh GPS rng ri trn ton khu vc. Th trng GPS Vit Nam hin nay vn cha th vi cc nc m GPS pht trin nh (Nht, Hn, Bc M, Chu u) bi th chng ta vn cha c nhiu n v trong v ngoi nc mun tham gia. V th chng ta cn phi pht trin mnh hn h thng dn ng cho nhu cu v hot ng giao thng ngy mt a dng. Hy vng trong thi gian ti cng ngh gim st v qun l phng tin giao thng GPS Trackinh s c ch ng xng ng hn trong quy trnh qun l phng tin giao thng ti Vit Nam.

Sinh vin: Nguyn Th Thanh Loan Lp T1001

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Cng ngh gim st v qun l phng tin giao thng GPS tracking

TI LIU THAM KHO

1. ng dng cng ngh nh v ton cu GPS trong o c bn . Trn Bch Giang, Phan Ngc Minh 2. GPS Theory, Algorithms and Applications. Gou Chang Xu. 3. GPS the global positiong system. 4. http://gpsvn.wordpress.com/

Sinh vin: Nguyn Th Thanh Loan Lp T1001

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