TUGAS 5
Oleh :
Anindya Indah Prathita
15113061
Soal
Tuliskan persamaan pengamatan untuk kasus-kasus berikut (kesalahan orbit, ionosfir, troposfir, dan
multipath diasumsikan telah direduksi dengan mekanisme lainnya atau diabaikan) :
1. Absolute positioning : 4 satelit, 1 epok, pseudorange
2. Absolute positioning : 3 satelit, 2 epok, pseudorange
3. Absolute positioning : 2 satelit, 3 epok, pseudorange
4. Absolute positioning : 1 satelit, 6 epok, pseudorange
Untuk kasus 1, 2, dan 3 : kesalahan jam receiver dianggap berbeda untuk setiap epoknya, dan untuk
kasus 4 : kesalahan jam receiver dimodelkan dengan polinomial berderajat 2. Tuliskan persamaan
pengamatan akhir dalam bentuk matriks!
Jawab
1. 4 satelit, 1 epok, pseudorange
Parameter yang dicari : Xp , Yp, Zp, dT
Persamaan pengamatan:
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 +
2 = ( 2 )2 + ( 2 )2 + ( 2 )2 +
3 = ( 3 )2 + ( 3 )2 + ( 3 )2 +
4 = ( 4 )2 + ( 4 )2 + ( 4 )2 +
Persamaan normal:
1 1 =
1 1 =
2 2 =
2 2 =
3 3 =
1
1
1
+
+
+
1
1
1
1
1
1
2
2
2
+
+
+
2
2
2
2
2
2
3
3
3
+
+
+
3 3 =
4 4 =
4 4 =
3
3
3
3
3
3
4
4
4
+
+
+
4
4
4
4
1
1
2
2
3
3
4
4
1
1
2
2
3
3
4
4
[ ]=
1
1
1
+
+
+ 1
1 1
2 2
3 3
[4 4 ]
1 1 =
2 2 =
2 2 =
3 3 =
3 3 =
1 1 =
1 1 =
2 2 =
2 2 =
3 3 =
3 3 =
1
1
1
1
+ 1
2
2
2
+
+
+ 1
2
2
2
2
2
2
+ 1
3
3
3
+
+
+ 1
3
3
3
3
3
3
+ 1
1
1
1
+
+
+ 2
1
1
1
1
1
1
+ 2
2
2
2
+
+
+ 2
2
2
2
2
2
2
+ 2
3
3
3
+
+
+ 2
3
3
3
3
3
3
+ 2
1
1
2
2
3
3
1
1
2
2
3
3
1
1
2
2
3
3
1
1
2
2
3
3
1 1
2 2
0
3 3
=
1 1
1
2 2
[2 ]
[3 3 ]
1 = ( 1 ) + ( 1 ) + ( 1 ) + 3
2 = ( 2 )2 + ( 2 )2 + ( 2 )2 + 2
Persamaan normal:
1 1 =
1 1 =
2 2 =
2 2 =
1 1 =
1 1 =
2 2 =
2 2 =
1 1 =
1
1
1
+
+
+ 1
1
1
1
1
+ 1
2
2
2
+
+
+ 1
2
2
2
2
2
2
+ 1
1
3
3
+
+
+ 2
1
1
1
1
1
1
+ 2
2
2
2
+
+
+ 2
2
2
2
2
2
2
1
1
1
+
+
+ 3
+ 2
1 1 =
2 2 =
2 2 =
1
1
1
1
1
1
+ 3
2
2
2
+
+
+ 3
2
2
2
2
2
2
+ 3
1
1
2
2
1
1
2
2
1
1
2
2
1
1
2
2
1
1
2
2
1
1
2
2
0 0
=
1
0
2
[3 ]
0 0
1 1
2 2
1 1
2 2
1 1
[ 2 2 ]
Persamaan parameter:
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + 1
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + ( + 1 + 1 2 )
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + 2
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + ( + 2 + 2 2 )
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + 3
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + ( + 3 + 3 2 )
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + 4
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + ( + 4 + 4 2 )
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + 5
1 = ( 1 )2 + ( )2 + ( 1 )2 + ( + 5 + 5 2 )
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + 6
1 = ( 1 )2 + ( 1 )2 + ( 1 )2 + ( + 6 + 6 2 )
Persamaan normal:
1 1 =
1 1 =
1 1 =
1 1 =
1 1 =
1
1
1
1 1 1
+
+
+
+
+
1
1
1
1
1
1
+ + 1 + 1 2
1
1
1
1 1 1
+
+
+
+
+
1
1
1
1
1
1
+ + 2 + 2 2
1
1
1
1 1 1
+
+
+
+
+
1 1 =
1 1 =
1 1 =
1 1 =
1 1 =
1 1 =
1 1 =
1
1
1
1
1
1
+ + 3 + 3 2
1
1
1
1 1 1
+
+
+
+
+
1
1
1
1
1
1
+ + 4 + 4 2
1
1
1
1 1 1
+
+
+
+
+
1
1
1
1
+ + 5 + 5 2
1
1
1
1 1 1
+
+
+
+
+
1
1
1
1
1
1
+ + 6 + 6 2
[ 1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1 2
2 2
3 2
4 2
5 2
6 2
[]
1 1
1 1
1 1
1 1
1 1
[ 1 1 ]
Setelah diketahui nilai k0, l0 , m0 , maka nilai kesalahan jam receiver setiap epok (dT1, dT2, dT3,