THI!T K!

B" THU M#M

CHO CC H$ TH%NG D&N '()NG
S* D+NG V$ TINH TIN TI!N
T! H"I TNG
B# mn Truy$n thng v M%ng my tnh
Vi&n Cng ngh& thng tin v Truy$n thng
(Software Receiver Design for
Modern Global Navigation Satellite Systems)
N#i dung trnh by
T'ng quan v$ cng ngh& GNSS
Cc h& th(ng GNSS tin ti)n
B# thu m$m GNSS
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc k)t qu, ban -.u trong vi&c pht tri/n
b# thu m$m -a h& th(ng GPS/Galileo
M#t s( g0i + v$ h12ng nghin c3u trong
l4nh v5c GNSS
2
T'ng quan v$ cng ngh& GNSS
3
Where am I? How do I get to my destination? These questions are as old
as the history of mankind.
Th6i -7 - Th6i -8nh v8 theo thin v9n
LORAN
GNSS
Th6i -8nh v8 theo sng radio
T'ng quan v$ cng ngh& GNSS
4
(x,y,z)
S* d:ng v& tinh -/ truy$n sng radio -8nh v8
S( v& tinh t(i thi/u: 3
T'ng quan v$ cng ngh& GNSS
Cch xc -8nh kho,ng cch
5
d = c !"
d: kho,ng cch c: v;n t(c nh sng : tr< truy$n lan !
! = t
A
S
" t
A
u
Truy$n xung A, t%i th6i -i/m t
A
S
X/- th6i -i/m xung A -)n Rx t
A
u
=n s( th3 4 => C.n thm 1
v& tinh
T'ng quan v$ cng ngh& GNSS
Xung -8nh v8
M tr,i ph', gi, ng>u nhin:
Tnh ch?t: Hm t5 t1@ng quan ~ 1, t1@ng quan cho ~ 0
HA m: M-sequence, Gold code, and Kasami code, Memory
code
MBi m -10c gn duy nh?t v2i 1 v& tinh
V du: GPS L1 C/A
Chu kC m: 1 ms; D# di m: 1023 chip; T(c -# truy$n m:
1.023Mcps; D# phn gi,i: ~ 1 s (293m)
Sng mang
Tnh ch?t: t.n s( dao -#ng r?t l2n (L1:1.575 GHz) => -#
phn gi,i nhE (0.6ns hoFc 1.9m)=> -# chnh xc r?t cao
(mm, cm, dm)
Di hEi thu;t ton xc -8nh s( nguyn chu kC ph3c t%p
(integer ambiguity)
6
T'ng quan v$ cng ngh& GNSS
Tnh ton PVT
Gi,i h& ph1@ng trnh phi tuy)n 4 Gn s(
(x,y,z,Ht
u
)
Ph1@ng php gi,i:
Tuy)n tnh ha bIng khai tri/n Taylor
S* d:ng thu;t ton Least Mean Square -/
gi,i ph1@ng trnh tuy)n tnh
7
T'ng quan v$ cng ngh& GNSS
Cc ngu7n gy lBi (1/2)
Geometric Dilution Of Precision (GDOP):
,nh h1Jng bJi y)u t( hnh hAc -)n ch?t
l10ng -8nh v8:
8
T'ng quan v$ cng ngh& GNSS
Cc ngu7n gy lBi (2/2)
9
T'ng quan v$ cng ngh& GNSS
Cc 3ng d:ng cKa GNSS
Thng d:ng:
D>n -16ng cho ph1@ng ti&n giao thng
Gim st hnh trnh
L1u v)t -(i t10ng
D8ch v: h12ng v8 tr (Location Based Services - LBS)
Chuyn su:
TrLc -8a, b,n -7
Gim st mi tr16ng
Nghin c3u v$ t.ng kh quy/n
Ph1@ng ti&n t5 hnh
D7ng b# th6i gian trong cc h& th(ng vi<n thng, giao
d8ch -i&n t*
10
N#i dung trnh by
T'ng quan v$ cng ngh& GNSS
Cc h, th-ng GNSS tin ti.n
B# thu m$m GNSS
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc k)t qu, ban -.u trong vi&c pht tri/n
b# thu m$m -a h& th(ng GPS/Galileo
M#t s( g0i + v$ h12ng nghin c3u trong
l4nh v5c GNSS
11
Cc h& th(ng GNSS tin ti)n
Ki)n trc chung (1/2)
Cc thnh ph/n: Ch0c n1ng:
12
Cc h& th(ng GNSS tin ti)n
Ki)n trc chung (2/2)
13
H& th(ng GPS (1/2)
M(c th6i gian:
1978: V& tinh -.u tin -10c phng ln quM -%o
1983: H& th(ng ph:c v: dn d:ng
2000: Nhi<u SA b8 lo%i bE
2000: GPS-III -10c cng b(
Ph.n khng gian:
2008: 31 v& tinh t%i -# cao 20.200km trn 3 mFt phNng
quM -%o
8 v& tinh xu?t hi&n -7ng th6i t%i mAi th6i -i/m
Ph.n -i$u khi/n:
1 tr%m -i$u khi/n trung tm (+ 1 d5 phng)
4 tr%m 9ng-ten mFt -?t
4 tr%m gim st
14
H& th(ng GPS (2/2)
Tn hi&u:
Tn hi&u legacy:
Dn d:ng: L1 C/A
Qu(c phng: L2 P(Y)
Tn hi&u m2i:
Dn d:ng: L1C, L2C, L5 (Safety of Life)
Qu(c phng: M code
15
H& th(ng Galileo (1/2)
M(c th6i gian:
2003: Ch1@ng trnh Galileo -10c EU thng qua, d5
ki)n h& th(ng ho%t -#ng 2010
2004: K)t thc -m phn c?u trc tn hi&u v2i MM
2004: Phng 2 v& tinh th* nghi&m GioveA & B
2009: Quy)t -8nh gi,m s( v& tinh tO xu(ng 22. Gi
thnh: 22 tP EUR so v2i d5 ki)n 7.7 ban -.u. H&
th(ng d5 ki)n ho%t -#ng 2014(???)
DFc -i/m so snh v2i GPS:
Pht thng tin v$ -# tin c;y
H& th(ng dn d:ng (???)
16
H& th(ng Galileo (2/2)
Khng gian:
30 v& tinh trn 3 mFt phNng quM -%o t%i -# cao
23.222 km
D8ch v::
Open Service: mi<n ph, -# chnh xc 1m
Commercial: -# chnh xc cm
Safety of life: d8ch v: -10c b,o -,m
Public Regulated Navigation (Encrypted): ph:c v:
cho c@ quan chnh phK, qun -#i
Search And Rescue: truy$n thng 2 chi$u ph:c v:
tm ki)m, c3u h#
Tn hi&u:
E1, E5(E5a/E5B), E6 17
H& th(ng GLONASS (1/2)
M(c th6i gian:
1976: H& th(ng -10c pht tri/n
1995: H& th(ng hon thi&n, nh1ng khng c -K
kinh ph duy tr ho%t -#ng
2001: Ch1@ng trnh khi ph:c GLONASS bLt
-.u
2007: gQ bE cc rng bu#c v2i ng16i s* d:ng
dn d:ng.
12/2010: l.n phng 3 v& tinh cu(i cng th?t b%i
=> li th6i h%n hon thnh -)n 2011
18
H& th(ng GLONASS (2/2)
DFc -i/m:
24 v& tinh trn 3 quM -%o J -# cao 19,100km
Tn hi&u legacy:
S* d:ng cng ngh& FDMA
L1: cho d8ch v: dn d:ng
L2: cho d8ch v: qu(c phng
Tn hi&u m2i:
S* d:ng cng ngh& CDMA
B' sung thm tn hi&u dn d:ng t%i cc t.n s( L1,
L2, L3, L5
19
H& th(ng Beidou (1/2)
M(c th6i gian:
2000 - 2003: H& th(ng th* nghi&m v2i 3 v& tinh
2012: H& th(ng Beidou khu v5c bao phK lnh th'
Trung Qu(c
2020: H& th(ng ton c.u Beidou -i vo s* d:ng
DFc -i/m:
D# chnh xc: v8 tr: 10 m; th6i gian: 0.2 ns; v
v;n t(c: 0.2 meter/second.
H& th(ng hon thi&n sR bao g7m 35 v& tinh
20
H& th(ng Beidou (2/2)
21
Cc tn hi&u GNSS
22
N#i dung trnh by
T'ng quan v$ cng ngh& GNSS
Cc h& th(ng GNSS tin ti)n
B2 thu m3m GNSS
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc k)t qu, ban -.u trong vi&c pht tri/n
b# thu m$m -a h& th(ng GPS/Galileo
M#t s( g0i + v$ h12ng nghin c3u trong
l4nh v5c GNSS
23
B# thu m$m GNSS
Ki)n trc b# thu
24
Analog Hardware
Digital Hardware Software
B# thu truy$n c3ng ASIC
Analog Hardware
Software Software
B# thu m$m
B# thu m$m GNSS
Ph.n front-end
25
B# thu m$m GNSS
Ph.n x* l+ tn hi&u s( -10c th5c hi&n
thng qua cc m--un ph.n m$m tri/n
khai trn cc vi x* l+ c th/ l;p trnh -10c:
DSP, FPGA, Embedded System, PC-based
26
V d:: b# thu ph.n m$m N-Gene
27
N#i dung trnh by
T'ng quan v$ cng ngh& GNSS
Cc h& th(ng GNSS tin ti)n
B# thu m$m GNSS
Cc cng ngh, x4 l5 tn hi,u tin ti.n
Cc k)t qu, ban -.u trong vi&c pht tri/n
b# thu m$m -a h& th(ng GPS/Galileo
M#t s( g0i + v$ h12ng nghin c3u trong
l4nh v5c GNSS
28
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc ph1@ng php ph(i h0p sau b# t1@ng
quan
Cc ph1@ng php ph(i h0p -a knh trn
m#t t.n s(
Cc ph1@ng php ph(i h0p -a knh trn
nhi$u t.n s(
Hi&n t10ng t1@ng quan cho trong b#
t1@ng quan s* d:ng b# lAc -(i snh
29
DFt v?n -$:
30
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc p
2
ph(i h0p sau b# t1@ng quan (1/4)
x[n] + n
W
[n]
x[n]
s[k] + w[k]
x[n] + n
W
[n]
( )
n=(k !1)N
N
"
x[n] = x[n]
n=(k !1)N
N
"
x[n] + n
W
[n]
n=(k !1)N
N
"
x[n]
s[k] T/p tn hi&u:
w[k] T/p nhi<u:
x[n] ! x[n] " s[k] = N
x[n] # x[n] " s[k] $ 0
Do tnh ch?t cKa
kM thu;t tr,i ph'
w[k]
Gi tr8 cKa N ,nh h1Jng r?t
l2n -)n nh;n bi)t tn hi&u
B# t1@ng quan
(Correlator)
31
1 2 3
1 2 3
+ +
1 2 3
+ +
1 2 3
x +
2
x
Hi&u qu, k)t h0p t(i 1u
D# ph3c t%p cao, do t9ng
-# phn gi,i Doppler
B8 ,nh h1Jng bJi s5 -'i
chi$u bit
Khng b8 ,nh h1Jng bJi s5 -'i
chi$u bit
B8 t'n th?t do hi&n t10ng
squaring loss
D# ph3c t%p th?p
Gi,i php trung ha: Hi&u qu,
k)t h0p v -# ph3c t%p
Ph-i h6p c- k.t (coherent)
Squaring loss
Ph-i h6p khng c- k.t (non-coherent)
Ph-i h6p vi sai (differential)
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc p
2
ph(i h0p sau b# t1@ng quan (2/4)
Ph1@ng php -$ xu?t: Ph(i h0p vi sai t'ng
qut (Generalized Differential Integration)
32
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc p
2
ph(i h0p sau b# t1@ng quan (3/4)
R
M
R
M-1
R
M-2 R
M-3
R
M-4
R
2
R
1
'2 nh7y
Ph1@ng php -$ xu?t c,i
thi&n 2-dB
'2 ph0c t7p: MAT
33
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc p
2
ph(i h0p sau b# t1@ng quan (3/4)
Cc p
2
ph(i h0p -a knh trn m#t t.n s(
DFt v?n -$
34
!"#" %&"''() *+,
-.)/# %&"''() *0,
1"%& 2&"3(2 456 /7 #/#")
#3"'28.9(: ;/<(3
!"#$%&%'()
="2#( /7 45 6 /7
#&( 3(") %";"%.#>
+(,-%).'()
/.01 2.3. 45/ "(26
45/ "(26
Tn hi&u GNSS th16ng bao g7m 2 knh:
Knh c dS li&u (data) v Knh khng c
dS li&u (knh -8nh v8 -pilot). Vd: tn hi&u
Galileo E1 OS
c
35
1. Dual Channel (DC) Strategy
3. (B8C) Acquisition Strategy
3. (B-C) Acquisition Strategy
5. (B-C) & (B+C) Summed
Combination
7. (B-C) & (B+C) Maximum
Likelihood Combination
Cc p
2
ph(i h0p -a knh trn m#t t.n s(
36
Cc p
2
ph(i h0p -a knh trn m#t t.n s(
Phn tch l+ thuy)t
'nh gi v3 92 nh7y 'nh gi v3 92 ph0c t7p
37
2.8 dB
Cc p
2
ph(i h0p -a knh trn m#t t.n s(
Dnh gi hi&u n9ng
Cc -ng gp:
D$ xu?t cc ph1@ng php ph(i h0p -a knh
cho tn hi&u Galileo E1 OS
Cung c?p cc phn tch l+ thuy)t -10c ki/m
nghi&m qua m phEng Monte Carlo
Dnh gi, so snh hi&u n9ng v -$ xu?t cc
ph1@ng php ph(i h0p hi&u qu, cho cc k8ch
b,n 3ng d:ng khc nhau
38
Ph(i h0p -a knh trn nhi$u t.n s(
B# thu 2 tn hi&u GPS L1/L2C
DFt v?n -$:
GPS th) h& III cung c?p cho ng16i s* d:ng m#t
tn hi&u dn d:ng m2i trn t.n s( L2 (L2C)
B# thu 2 t.n s( L1/L2C -em l%i -# chnh xc cao
h@n b# thu 1 t.n s( hi&n t%i, do kh, n9ng lo%i bE
lBi gy ra bJi t.ng -i&n ly (ionospheric error), v
nng cao -# nh%y cho m--un khai ph cKa b#
thu
Ph1@ng php k)t h0p vi sai - -10c ch3ng minh
nh1 m#t gi,i php trung ha giSa -# nh%y v -#
ph3c t%p
39
Gi:i php k.t h6p vi sai trong ph-i h6p
9a knh GPS L1/L2C
40
Ki)n trc feed-forward
MGDC
Freq.
Estimation
Code
Gen.
~
MGDC
L1 C/A
L2C (CM)
>
<
H
1

H
0
V
+
SMF
Correlator
s
SMF
Correlator
s
W
L1

W
L2

..

..

..

1
st

CA
2
nd

CA
3
rd

CA
4
th
CA 5
th

CA
20
th
C
A
1st part
of CM
2
nd
part
of CM
3
rd
part
of CM
4
th
part
of CM
5
th
part
of CM
20
th
part
of CM
A full CM code = 20
ms
20 CA codes
L1
L2
1 ms 1 ms 1 ms 1 ms 1 ms 1 ms
1 ms 1 ms 1 ms 1 ms 1 ms 1 ms
Incoming
signal
Local code
Incoming
signal
Local code
41
Ki)n trc Feedback
SMF
Correlator
s
MGDC
Freq.
Estimation
Code
Gen.
~
MGDC
L2C (CM)
>
<
H
1

H
0
V
+
SMF
Correlator
s
L1 C/A
W
L1

W
L2

DFc -i/m:
- T;n d:ng cc thnh ph.n sTn
c cKa x* l+ tn hi&u vi sai
- Ph(i h0p thng tin tO 2 knh
-/ nng cao -# chnh xc 12c
l10ng
So snh 92 nh7y v;i cc ki.n
trc trong b2 thu hi,n t7i
So snh 92 nh7y v;i cc
ki.n trc ph-i h6p 9 c
42
Ph(i h0p -a knh trn nhi$u t.n s(
Phn tch hi&u n9ng b# thu (1/3)
'<ng b2 bit d= li,u
'2 chnh xc >;c l>6ng t/n
s- d>
43
Ph(i h0p -a knh trn nhi$u t.n s(
Phn tch hi&u n9ng b# thu (2/3)
Bm tn hi,u L1 Bm tn hi,u L2
44
Ph(i h0p -a knh trn nhi$u t.n s(
Phn tch hi&u n9ng b# thu (3/3)
N#i dung trnh by
T'ng quan v$ cng ngh& GNSS
Cc h& th(ng GNSS tin ti)n
B# thu m$m GNSS
Cc cng ngh& x* l+ tn hi&u tin ti)n
Cc k.t qu: ban 9/u trong vi,c pht tri?n
b2 thu m3m 9a h, th-ng GPS/Galileo
M#t s( g0i + v$ h12ng nghin c3u trong l4nh
v5c GNSS
45
B# thu m$m -a h& th(ng GPS/Galileo
DFt v?n -$:
Nhu c.u xy d5ng b# thu m$m GPS/Galileo
hon chUnh -/:
Ki/m nghi&m cc kM thu;t x* l+ tn hi&u - pht
tri/n
Dn -.u h& th(ng Galileo (d5 ki)n 2015)
Pht tri/n gi,i php -8nh v8 ph(i h0p -a h& th(ng
Lm chK cng ngh& ch) t%o b# thu GNSS
N$n t,ng pht tri/n b# thu: PC ! h& nhng,
DSP, FPGA
46
Tn hi&u mi<n ph, cng t.n s(:
GPS: L1 C/A
Galileo: E1 Open Service (OS)
Tn hi&u th5c Galileo pht tO H& th(ng GATE (GALILEO Test and Development
Environment) -Ft t%i Munich, D3c:
8 gi, v& tinh -Ft trong khu v5c 65 km
2

Pht cc tn hi&u Galileo E1, E5, E6
C kh, n9ng m phEng knh truy$n t1@ng t5 nh1 tO v& tinh
47
B# thu m$m -a h& th(ng GPS/Galileo
Tn hi&u s* d:ng:
48
Cc m--un pht tri/n:
Prototype cho b# front-end
Ph.n x* l+ tn hi&u ch%y trn my PC
B# thu m$m -a h& th(ng GPS/Galileo
Ki)n trc b# thu:
8 v& tinh GPS -10c pht hi&n:
SVN [9,15,12,17,22,27,25,30]
49
B# thu m$m -a h& th(ng GPS/Galileo
K)t qu, GPS (1/2):
50
B# thu m$m -a h& th(ng GPS/Galileo
K)t qu, GPS (2/2):
K.t qu: t@ b2
thu th>Ang m7i
K.t qu: t@ b2
thu m3m
51
6 v& tinh Galileo -10c pht hi&n:
SVN [1,2,11,21,22,23]
B# thu m$m -a h& th(ng GPS/Galileo
K)t qu, Galileo (2/2):
Main & side peaks
52
K.t qu: t@ b2
thu th>Ang m7i
K.t qu: t@ b2 thu
m3m tn hi,u GPS
K.t qu: t@ b2 thu m3m
tn hi,u Galileo
B# thu m$m -a h& th(ng GPS/Galileo
K)t qu, Galileo (2/2):
B# thu m$m -a h& th(ng GPS/Galileo
D8nh v8 ph(i h0p 2 h& th(ng (1/2):
Hi&n t10ng urban
canyon ! v hi&u ha
GPS
K)t h0p chm v& tinh
GPS + Galileo ! gip
php -8nh v8
C.n t(i thi/u 5 v& tinh cho
5 Gn s( (x,y,x; sai s( -7ng
h7 my thu v h& th(ng
GPS; sai s( giSa -7ng h7
cKa 2 h& th(ng GPS,
Galileo)
53
B# thu m$m -a h& th(ng GPS/Galileo
D8nh v8 ph(i h0p 2 h& th(ng (1/2):
54
K.t qu: t@ b2
thu th>Ang m7i
K.t qu: t@ b2 thu
m3m tn hi,u GPS
K.t qu: t@ b2 thu m3m
tn hi,u Galileo
K.t qu: t@ b2 thu m3m
tn hi,u Galileo
Sai s( l2n do s5
khc nhau giSa
Hai h& tAa -# GPS
v Galileo
55
Book Chapter:
[1] T. H. Ta, F. Dovis, Chapter: High Sensitivity Acquisition Techniques for GNSS signals, Global
Navigation Satellite System, InTech Publisher, 10, 2011.
Journals
[2] T. H. Ta, M. Pini, L. L. Presti, Combined Acquisition Architectures for GPS Dual-Frequency L1C/A-L2C
Receivers, IEEE Transactions on Aerospace and Electronic Systems (under review)
[3] T. H. Ta, F. Dovis, D. Margaria, and L. L. Presti, Comparative Study on Joint Data/Pilot Strategies for
High Sensitivity Galileo E1 Open Service Signal Acquisition, IET (previously IEE) Radar, Sonar and
Navigation, vol. 4, Issue 6, pp. 764779, December 2010.
[4] T. H. Ta, N. Shivaramaiah, A. Dempster, L. L. Presti, Significance of Cell Correlations in GNSS Matched Filter
Acquisition Engines, IEEE Transactions on Aerospace and Electronic Systems (accepted 2010).
[5] T. H. Ta, S. Qaisar, A. Dempster, F. Dovis, Partial Differential Post Correlation Processing for GPS L2C Signal
Acquisition, IEEE Transactions on Aerospace and Electronic Systems (accepted 2010).
In conference proceedings:
[6] T. H. Ta, S. H. Ngo: A Novel Signal Acquisition Method for GPS Dual-Frequency L1 C/A and L2C
Receivers. IEEE ATC 2011, Danang, Vietnam, August 2011 (under review).
[7] T. H. Ta, F. Dovis, R. Lesca, D. Margaria, Comparison of Joint Data/Pilot High-Sensitivity Acquisition Strategies
for Indoor Galileo E1 Signal, European Navigation Conference ENC-GNSS 08, Toulouse, France, 23-25 April,
2008.
[8] T. H. Ta, L. Lo Presti, F. Dovis, D. Margaria, R. Lesca, Differential Data/Pilot Joint Acquisition Strategies for
Indoor Galileo E1 Signal, ION GNSS 2008, Savannah, Georgia, USA, 16-19 September, 2008.
[9] T. H. Ta, F. Dovis, L. L. Presti, A Differential Joint Data/Pilot Strategy for High Sensitivity Galileo E1 Signal
Acquisition, in 2008 International Conference on Advanced Technologies for Communications, Hanoi,
Vietnam, 6-9 October, 2008.
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