1 r. Published on 28 January Abstract. will be discussed period Recently frequency jumps

Transcription

1 L R R 6 L L R R 6 R ˆ R - - ˆ 6 ˆ ˆ ˆ q q R R G P S G P S N A 4 N A D P U D C P U C B CO 89 -z 9 B CO 89 z9 U S R A q q q G q P q S U S A N A N N A W W A 8 J A D 8 J P U C P 8 J P 8 J A A B CO 89 z 9 G G P P S S k k U - S A k k q q k N k R R q S q W z q x S OPX POSIDON q z x R q j A OPX 8 J POSIDON R q j j x x P 8 J L L A N C ND G A C L G A P N C S NDG k CC L q k q k R q S q z x OPX POSIDON R q j j x 4 A N C ND G ˆ C C L ˆ

2 I U L R I R q I q q j U U Mx Pk I L R G R P A M - j 4476 P Mx Pk G ISSN 85 I L G R P R A M ü 4476 P G ISSN j 4-85 C C C C A A - N N - C C - ND ND G G L I L G P A M P B B L L R R C C A N C N C N A C R G P S C L R R G L q q k NA O A q k q q k C 4 B L R RGPS q q q LR R 6 [OA q q & N A & R G P S & L R < > R q 6 [ O A [ < > & < > q

3 A R L R A q R A k R F L R k A k k - - F - L k R A - k k A k j I F k k A - k A k j I Mj A j - k j Mj x A j I j F x q I F q q A k j - J 7 - k A G J N 7 S G I ; A x q G Mj N S A q j G q I x q A C - - -k - A A C q k L R k - x I A [ L R P- - - C P- F - - P S C P A P - S F P- x- - P WGS 84 A q 87 F WGS 84 P x WGS WGS P- - J - 7 S P S ; A P- - - S P S G N S G I A k A L q R q P q C P q S P A F P x q WGS WGS P q S P q S

4 C C I I 5 5 R F q R I S F q q 5 S 7 G P S C 7 q G P R S q C A I q 4 F q R A I q z q q C q q 4 q R z q 7 5 C R S 5 q R G P C S q k C 5 6 q O P S X q P C O k S q 5 I D q O N R q q A 4 6 q O P q X x R P q O S I D z O q N 9 R q x q C q 9 q 5 7 q 7 D R Dq 4 q q q S q 8 C O P q C k X R q P q 5 k O q S Rq I D q O N q R q F F q q S S I I O C 6 6 S 7 S D R R 5 5 A 4 A S S 7 7 G N S G 8 8 N C S k 8 R 5 A A C 49 C F 4 4 q R S 4 I R 4 q q S q q R q q q A q q q S q q q 7 q G q q N q q S q q q A 9 4 q C q 4 R q 4

5 R G P S 5 R R G P G S P S 5 5 I G 4 P S q q I S S G P C S S U S S S S 4 q I S C S k U S S S S k 4 x k S k x G P S x x 55 S S C S 55 q q q U S q S S z 4 k q S k k z k q x 55 ˆ z q A z A ; I z q k q - A I q q z A q A U C U S N O UC USNO U ; I C U S N O UC US q A C S - M C S C S U C U S N O UC USNO CO C S z j k x M C S C U S S CO z j C S k x k M C S U S D D C S CO z j U DD S S z k x q k A 5 U S D C D DD z U S q L 54 MHz L k MHz L k MHz C A Aq C A - 5 MHz C U S D P - P- L L q D DD S q C A - L 54 MHz L P P S z P - S P q A 5 S C A- MHz DD L q C A - MHz C Aq ± C A S A MHz q L SA SA P C M MHz L P P x L L q k F A - C k C A τ I MHz L k z PP S z τ A P S P S q C A k DD MHz C A q C A k q Fq q C A P q P L L q x A F A S Qz A SA SA P C M C A q Qz x P P k S F C k C P A S P S C k C A q DD I k I F k z A q q C z k W k k Fq q q z C k A SA SA P C A M F R A Qz Qz C k x A C C I k k - - q I k F z L R R C A z k W q k z C k k q Fq q R A Qz q L R R C C C q I C k F C z k W z C k 5 ˆ 4 4

6 6 N A 6 6 N A N A F A C k q - z 4 F A C k q z τ x A F q q A C k q ˆ k k x A D q k k k q S q - I - D q k q S I x I x A x I A k k x k q D A x x k k q S x q I L z k L q I x z j j k j 4 x j A x j j 4 x S k S x q j j j 4 q L x z k j j j 4 q k j j j H x q k -S H q A A k z - q - k z q q q ˆ j ˆ z z Aj A ˆ j 4 z z q q L R R x ˆ q k q H L R R - - A k z q q z z q 4 L R R

7 R G P S 7 R F S A x x x x ω CF k F WGS - 84 G 87 [ C F A x q I CF G P S I R F I B W M B I P M P I z CF U j q x q q A q CF x z k A k A C F x q q C F A C q I F q z x x J S - I C R F ICRF 5 I CF SI z k U S N O SI - L - Mkk φ z φ z ω φ φ ω z z - k L ω ω φ σ 4

8 R G P S 7 R x G σ P φ S z q 7 R F- S A 4 x q x L R R x q R q F x q q q S q CF A x k -- -F WGS 84 G 87 q R R F - - A ˆ x - ˆ ˆ - q x ˆ x x ˆ I ˆ CF ˆ G P S 7 ˆ I R - F ˆ B ˆ W M B-I P M P I z CF - U k - - j- - F - q ˆ WGS - -x 84 - G [ q C F q q q q A q A q q x q q CF q q x - z- q -k q A- - q - - q -- I k q q I R q A ˆ C I F B q W - M BI - P q M q P x I - q q z q ˆ q q q q - C- q F A C-q q I - F- q CF q q q q U q q q q q j q z x q q x J S q q I C R F q ICRF 5 x q I CF q SI z k U S N O SI ˆ q L A Mkk q CF q x q z k A z k q z A C q F q L q L z z k L q 4 x x q q q z q ˆ C F q A Cq q I q q q L R R z x J q S C C I C R F ICRF

9 8 N A 8 8 N A N A q q x A ˆ q I x A N q N ˆ - z z ˆ A k z k L z k L q A q N k ω A q z k q z 5 k q ω L φ σ 5 q A q k q ˆ 6 σ ω φ 6 q j A z q ˆ φ j A ˆ z ˆ ˆ x x j j q q ˆ ˆ ˆ 5 q q q 7 A z q k q k ˆ ω σ O x A z [ 7 j z ˆ O x k k ˆ O j ˆ σ -z 6 k k O j - C x z j q q C x F z q q ˆ F ω 67 ˆ j A q ˆ q z π x q L q j L q z 7 4 ω q 8 F A z 74 8 q F ˆ S 4 ˆ q z ˆ ˆ S - A ˆ z q z ˆ [ 7 σ q k z k 7 4 k z k 7 4 q q k z k z k 7 4 k 7 4 I O x k q q I ˆ k k q k k z q k k k x O O k x O k q k F F q - k q k 9 q C q x q q q q F k 67 ˆ ˆ τ [ ω ω φ σ 9 q k q F F k k σ 78 ˆ 4 ˆ k q A k q ω k q q A k ˆ τ q ω φ A ˆ z 7 4 L 8 L L L R R R F - - S z ˆ

10 R G P S 9 R R G P G S P S z q k k q k ω τ - - -P A z [ k P q ˆ k k A ˆ z z ˆ - [ k q - q P -- --q z ˆ q z z- - q q z ˆ k x A z I k ω x A k z I k F z k q q ˆ q q S z q ˆ Lz S q Lz - q I ˆ - ˆ Iz k M k x q k M k x z 98 C x C A D z ˆ S ˆ z I ˆ R I C 98 C C C k D S I R C k C q F z F x- k- z - k - CI k x k q k CI - [ S x k Lz q q- - x k q P I q P k q M k k x k S - S - - G PS - G - PS - z C C D S I k R C C k - I 84 G PS I 4 84 G 6 PS 8 4 q 6 F 8 - z - - S x N - B S B - x- C O S x k P k B N k B - S P B B C O P- k W - G B P B B W q k G A - O q - x A O k q z k q - A q O q A O q z S q q 5 q 5 q q 9 9 P q - k - - q - 5 q q S - q q G q S PS q q S L R R q q q q q q C C q k q q q q q q q q I 84 G PS q q q q L qr R ˆ q S x B S B C O P k B ˆ W G k q A q O ˆ A O 5 q 9 q q q q q 5 q q q q q S

11 N A C AI I z z Sz - W I x A x - x q V V θ θφ θ φ V N x V GM [ J P θ I q GM N J 86 q q θ x ; P L I q q x q V H q O x q CF q q θ θ φ φ ω 4 U [ V ω θ ω θ φ V θ θ φ 5 q x q [ V ω θ Φ 6 Φ I q k

12 N A N WGS84 A G 87 C AI I 4 L z R R z Sz - - q q C q q q AI W I x I q A ˆ q x z z Sz q x q q L L V V W I x q A x V N x q x q V GM k J ˆ V P ˆ ˆ V ˆ ˆ ˆ ˆ ˆ ˆ I- ˆ - - q GM q N J 86 q q 6 N q q R R x x P L q V q x GM [ J q V ˆ ˆ H q- - -O - x q - - I CF q GM q q ˆ 4 ˆ ˆ N q 4 J 86 ˆ U ˆ 6 q L L q k V x ; P q k q x L V q ˆ H ˆ - q q - - q q - - O x x - q CF q 6 q k V q k q C P C ˆ P ˆ ˆ ˆ 4 q --I q U k - WGS 84 G 87 ˆ [ V ˆ ˆ L R ˆ R ˆ ˆ ˆ ˆ ˆ ˆ V ˆ ˆ ˆ ˆ ˆ ˆ ˆ

13 R G P S R R G P G S P S I A AI BIPM 4 k I A I AI BIPM P k q k q I I A CF AI BIPM U k C UC q AI CF I UC UC U C UC k q AI z q AI UC CF F x UC UC U S N O H z C k UCAI UC U USNO C UC F x U S N A O H C k UC UC USNO USNO q U U UC USNO U z UC UC USNO AI USNO UC 4 q 4 q F x j U S N O k H C k j k UC USNO k I k k k I ; UC k USNO U q k I q x q I UC USNO x 4 q q F j k C F F F-- -- qk q C- - F- - -F -I q-k q k I q 7 k q k V V ; ω θ 7 I x V qq V θ - - q-q Φ - q θ F π C P C F F I qk Φ GM GM J ω q C P GM GM J q ˆ V ˆ ˆ 8 ˆ ˆ ˆ ˆ ˆ 7 q q ; q q 5 q ; V 5 q ˆ q q ˆ k - -k q - x ˆ I k I k A P U k x ˆ I I ˆ A U [ q q z z- Φ C P q P - -q- GM - GM ˆ J F- - - F ˆ - - q- ˆ - q k k ˆ ˆ 6 q ˆ ˆ C ˆ ˆ Ck τ Φ 9 k N Ck q C k k q N q L R R - ; C k q C C ; L R R 5 q ˆ q k k x q I

14 N A N A N A C P C P - x q 4 Φ x Φ x q x θ q x P θ x x 9 8 x P x x 6 q 8 ˆ ˆ q x 564x ˆ 98x 4 798x 6 x 8 ˆ x A I q q -B ˆ --- A --- I k x ˆ - -x - - x ˆ 4 q 798 k x ˆ 6 x ˆ 8 B k x q - x - -J - [ z- - x q J z q I z q A I I C P z x O Φ x O k -P I q k P - I q -- O B q O q τ k k x k x q k k q q q q q q q q I J I I z C k I q q q C k H x q q I z - D H P q x O x x D q S k q k P x q I q x q O q S I q k k k I x - - k q I - - k q I q k q I I I C k k I Φ Φ q H q x C D P q C P q q W x x q q S W-- - k x x q Φ Φ q I ω θ φ q C P C P k V I k θ θ φ q I q W I V S k S - CI q W I ˆ S P ˆ ˆ ˆ k S V Φ V -- θ θφ CI q q q q C P k ˆ Φ Φ q V x k k W -- --q-- x q - ˆ k q L R R C P C P - - x k k ˆ P P ˆ L R ˆ R ˆ ˆ ˆ ˆ V ˆ ˆ ˆ ˆ ˆ ˆ

15 R G P S R R G P G S P S 4 Rz C W 4 k z I 4 Rz I C j W UC k z USNO I q I q - R z z j q C q - q UC USNO W z k z q q 4 I ˆ j C P V UC USNO V Φ ˆ V C V P - θ θφ 4 z V Φ q x - -x CI CI q q k - ˆ k V P ˆ V ˆ ˆ ˆ ˆ -I q k -- q- - - ˆ k - k -q ˆ D k q k D k k P - k V P O P ˆ G R q q O G R q x q x - I CI - -q- - I k q x- - q - q - I q I q q q k q - - k I q k q F q k - q q q D q -- k - - k [ V Φ k V θ θφ k 5 q P I CI q 5 k C O P G R V q θ θφ k 6 q q x I O k CI q k q 6 I k x ˆ q I q O k τ [ V Φ k q 7 k x q ˆ q F 7 q q k k V C k F k τ[ V Φ k 8 q 8 F k V C P q k S ˆ q - I - k - k q S ˆ [ V P ˆ V ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ I ˆ L R 5 R k L R R I CI C C ˆ ˆ ˆ ˆ ˆ ˆ

16 4 N A 4 4 N A N A z z 4 z k Nx z z k z O k k - z - Nx - k k k q z O k q Nx q k q k x k q O q k - x k k k k k - k k q k q x q q k k - k k k- k - [ q k W k W q x - k x k q [ L R R W q q q q L R R q x q q ˆ - - q q q 4 L R R

17 R G P S 5 5 R S Ck F k CI S S - G q - D k I I x q Φ q k q Φ GM J q 76 A V F q SV k q ; I q SV k 4 I S L K x q q q V GM x k N D j x k q [ CI 9 q q GM I N U q K GM GM

18 R G P S 5 I R IG P q S 5 q 5 IR S x Ck k F 4 k CI τ[ GM S S Φ GM 4 G q 5 q D R q k q q S I q I Ck x F k L R R q CI q S C P - - -q q k q G q q D k q C I P I GM - -q- P q q q - q 76 q q P GM J A V q q F q q q SV q k q q q I q q q 76 SV q k 4 I S L A V K x - F q q q - SV - q k q ; I R q R V GM x SV k k N ˆ 4 I D q j x - - -k S - - q - - L q K q CI x q ˆ 9 q - q q ˆ V GM q x - k - - N q D - -- j x q q - GM k q ˆ - [ q q I CI N q R R - - U q K q ˆ GM 9 I- - -I - - q q - I x - q q q k q q q L C D k GM GM q k 4 L L R R C C ˆ q q q q q q

19 6 N A 6 6 N A N A q 4 q 5 GM C P q k q q GM I k Φ q MHz k j GM ˆ P ˆ 546 ˆ q 6 q 969 k ˆ k ˆ q I k MHz 4 MHz q 6 MHz k j q j q k F N q - [ k MHz k MHz 6 F- - j q q k - q I - k k F - -N q q - k MHz F j - q q q k F z F q - [ F ˆ MHz z F MHz q S S 6 F F S S k j kx k 9545 k k G N S S GALILO 9545 k G N S S A S F GALILO q N x q k k S A x q k A NS F J 977 ˆ q A C q k NS - q q z q J 977 k q k C k z k q I - x-k- I A q z x - - k A - - q q k q z q - k ˆ - [ k F k - k - z - z A - z C k - A -k- C F k ˆ k - F k S S z q q 45 z kx 954 L R S R S GALILO S A x k L R R - q - q A J 977 C k z k q q I x k A q z [ k q q q q q z q q q A C k k q 5 ˆ z 4 L q R R

20 R G P S 7 R R G P G S P S k D 4465 q k 4 A q k k % ˆ D q k 4 A j x q k k q k % k q q j U x S N D q k 4 O q k q B k q k q q U S N O A W q k k B q k - q q j q x q k q W q k q q A 98 q N O k B - k q k- - -A A q - 98 G P S W q - k A - [ G- P S R k q j I k q R k q q j q A I - k q q x - k A x q x L [ - - x - - q q L - q G P S 7 A q q q q q q q k GM q R k q GM q q j q GM 7 q GM q I q A q k GM q q q q 8 q q q GM q q q [ GM q- - q GM - q - - k K GM k k q 9 C GM D q x ˆ q F GM x z q 8 q GM ˆ k q q D - -q- - k -x L C A D K k 4 k q L R R C C [ GM 4448 ˆ 9 q GM ˆ GM ˆ ; q GM F ˆ x z ˆ k8 q - D q x ˆ q q q 4 ˆ k K L R k R q k D ˆ q 9

21 8 N A 8 8 N A N A ----z K x z K I x I k GLONASS z I I K x I k GLONASS I k q I ˆ I k I ; z I IH q I k GLONASS z H q I S ; x q I S x k L R R ; q I z L R R H ; - - S x 4 L R R

22 R G P S 9 R R G P G S P S OPX POSIDON R x A- k A OPX C POSIDON x- - - R x - q k -- A k -- 6 q OPX --q POSIDON q - - R R R q x -- A - - [ - A k q ˆ A ˆ C x q ˆ z [ Bk IIF q z Bk IIR q ˆ Bk IIF q q q Bk IIR q 8 - ˆ 8 ˆ q I q q x z I Bk IIF x Bk IIR A q W F A C A q W 8 F q A C OPX OPX x OPX OPX W x x - I W x OPX x OPX x x x SV k H I x SV k H I k x k x q A q q W F A q C A A OPX OPX x x x OPX OPX M M q k W k x k OPX k D - x D x SV k I k x W k W k q k k j C D A j B x OPX q M j k j B qq q Lj L j j j A SA k D j k j j j j j N k - j j C D j j N k L q W R j k R R R x L k R k R R R k x ˆ D q j B ˆ k q [ q L j ˆ j ˆ A SA ˆ q k k q k ρ j R j [ R R j j j 4 q 4 j R O q k R R j j C D j j q k O ˆ j D - j j q 4 R R j j R R j R 4 j N j k R j j C-- C L q - q - ˆ - q x q - x - L R R j j j R j R R j j ρ j C R R D j ˆ j 4 R j R L L R R k L R R C C [

23 N A N A N A OPX x 4 qz A OPX x - x qz OPX 7A 7 4 k OPX q qz A x OPX k 6745 x 666 x q q q x OPX k q 57 OPX 57 OPX 6745 q 66 6 ˆ j OPX j OPX x q q k - D k k kx D k J P 57 q OPX L J JPL j OPX P L q JPL C A P k D k kx q C A - P - q - q C JPL P L JPL W F Cq JPL W F - q SA q C A P SA x x q q YzB Yz B - S JPL O q C JPL CI W F q CI J C J C SA UC UC D D 5 5; q q z z x CI OPX D UC CI ; q OPX z D Yz B S JPL O UC k q 5 z D k ; 5 5 D 5 OPX q 5 5 CI 5 x OPX xq 5 UC D 5 ; q D x 995 x UC z UC UC q D UC CI OPX q D k UC W UC W F UC ; q z q L L k W q W F k 5 SA - 5 ; 5 k W F B SA k L L C q OPX q SA SV SV x k x W F q B SA OPX k q k C SV SV D 995 UC q R R j j ρ j j R OPX UC k UC q q G q 44 x R R x - j j j j C D k R J W L G W F q x D k x - -- OPX J -L q L L D k OPX SA L L R R R R k W F B SA k - - C SV SV OPX k R R j j j D R 44 G x J L ˆ D k OPX

24 R G P S R R G P G S P S k 4 k j B k x k j OPX k k B x k - F- k j - OPX k F OPX k 57 k F - q B x OPX k F OPX k F OPX 9k 57 M q k F OPX k - F q q- F- M - - F q OPX k 57 F q q -- j - F OPX q k F OPX k L 9 - -q- L R R j j j j R C D 45 q S k F ˆ q q R R j j ρ q j j R q 45 k O j ˆ - S k F ˆ k O F ˆ q - 6 OPX 5 5 k OPX F k SV q k -z -- F -- - W--x F OPX - k - -- F q - SV q R k R z j j W x j R F D q 45 x F x x S k x F S x 5 % k x x k O R S 5 k x R ˆ L R R F C C OPX k F L R R SV z W x F q q q x q F x % x S 5 k x R 4 L R R q &

25 N A N A N A F 4 R - OPX k F 5 4 C SV F 4 R OPX k F 5 L R R C SV F 4 q R OPX k F 5 q C SV L R R L R R

26 R G P S R R G P G S P S F 6 G 4 F 6 G W -x I F - - F 6 q G - W x -x I F SV q 7 6 x I F q W SV 7 6 I x F x x q q A I ; x F 5 ˆ q A x 5% L R x R ˆ ˆ x C C q L R R q A x 5 % 4 L R R q &

27 4 N A 4 4 N A N A 7 D S 4 k j 7 D S k k x j D 7 q D q D x k x D D S k j - D - x - A D k q k x D A k Iq k D q q I k q D x D x C D j L A k q C - j V j L q V j j I k L V q j V j j L q q j MHz A MHz A x D k k j j C R R V j R V CI R CI q L q V j q q j 46 L R k V R R C P q R GM [ V R R Φ V GM j V j k R N R N j j 46 N j N MHz F A x k N q j F x q 47 R k GM k R N R V R q N j q k R [ GM D j N R 47 N j 5 R [ V R ˆ R P q k D GM V j ˆ N R j ; L R N R j 5 46 N x L R R - - R [ GM ˆ N R N j 47 q k j ; ˆ 5 ˆ 4 L R R

28 R G P S 5 R R G P G S P S Ck R C 4 x k 8 x Ck R q A q C kx j k x 8 q C k q R A q k j C x k q q q x A q k S j k j I j k S q j S q q I j j k q S - j k CI q k S k q S j CI I j k S j j j - -- j j j k q q q 48 S q GM j S x GM 48 CI C D k S ˆ j j j j S x x F j ˆ j S q j k q x F q j k q q 49 S j j - GM j j j C ˆ S ˆ q GM ˆ q 5 48 S j j S GM j j j j 49 S - GM j j q C GM -I -z -q CI j I x x C D j S j S GM j j j GM 5 D ˆ j q I z q 5 S C D CI C D j x I x x F j L - -z q L S j S C D q GM j j q GM S ˆ j C D ˆ j j j q GM j 5 ˆ 5 j 49 x - - -q- - - z- - q C z q S j L R R S GM j j GM j 5 S ˆ j S ˆ C C q GM j - j q GM ˆ 5 q z q I z q q ˆ x D j L R R D D j x z q

29 6 N A 6 6 N A N A 9 F- q S I O C I 4 9 F q x S I F SV k O C q I j q F x J 5 O 9 F q q S q I q q O q C x SV F4 SV k q j 5 F I F x q J 5 O SV 4 I j x 5 F I x q F SV k q q I SV 4 j q F x J - j x O SV 4 8 I q SV 4 SV 4 k J k 77 F I - -A 5q - - z- SV-z 4 z- k q J k A5 z q k zz O j j x q [ O- q 8 I SV 4 5 AA q 6 6 -x x ˆ 4 q 4 q S V k q q S V k q x x - q J k A 5 z q - k q - q x x q z k j q -q L q [ L - q R R q S -- S S -S O - q q 5 k -S - - R R S ˆ D ICD - - [ - k q D- q q - A ICD k q q - k q k q q k q6 q q x x ˆ q - - x q q q q S -V Dk q D k k q x x q q q q q q k GP S q -k - GP S q q - D q D q - q k k - GP GP q S S - - q k q C q I q C I q F q - -- q - C q I C I F D - - k q L ˆ - D x q k x q k k x q q q F 5 k C D k x GM C P S CI S GM N G q M GM Φ 5 C P q C P q k CI q GM N D G ICD x M [ WGS Φ q Φ q C P q -q - q - q- q - - x k q WGS - 84 q 87 - q Φ J q q I q q x K q q j q x J ω k q - x - I q - - x x K q - j q x L C D k GM C P GM x D k q k q x k 54 L L R R q q k GM Φ GM [ 54 q D q q q GP S q q q q L R R C q I C I - F - q D q q k ˆ x k k x D ˆ ˆ GM P ˆ 5

30 R G P S 7 R R G P G S P S q- - - k q k -q - - -x GM GM q q q q x - -- q-- q q-- GM -- q q q GM q-- -q q q q q k k k q - - k - - q k q k q q ; q q x - q q ˆ q q GM R q R I ˆ q q -C - q C - q q q q- j x δ k j k k x- j q k x q q 55 k GM ; δ x GM δ D 55 q I j x q x - D I q I - j x z D - k q z - D A C k k j q k q A j q k x j q k q q O J 5 j SV 4 j O J 5 F 5 j F k A x SV x 4 J 5 q F 5 O F A x J 5 A O q q k q A - q - k k-q - - j kq j M F S M q k J F GM S [ I q ˆ Sˆ 55 I V 4 q - S V 4 J - 5 q J 5 R k SV 4 q k SV 4 q 56 δ x 85 q q 85 I j x q56 k- k q k - q q q z - - N - I M k N A I M q A q q - D - D- D q D - q A NIM A k NIM x A j W GS x 84 W GS k q - x q I x I q O J N 5 M N M A A j - SV F 5 F q - A x J 5 - j j x x q A q k k k x x R R k q S ˆ - S j K - K - I q S V - 4 j -x q j x L 7 q q 55 7 q J q q q ˆ q 7 L R ; k 8759 q q SV 4 q ; 8759 S - j x q S - - j - x - - q - q q 85 q ˆ 56 L q δ L R R q k q C C q q q q q L q R N R I q q q q D q q q D q q q q q q NIM A x W q GS 84

31 8 N A 8 8 N A N A - --x q q x L P q q q q x j x ˆ L P q q K q - j x j x q K I q q K q - j x q K L q P q I P q SV k j x H q P k q q SV k H K j x q k x - - K I q k- q -K x k x q - K - q k P SV x k F j [ F j H k J- kx J 658 W GS W GS q ; ω x ; k - q SV - j 6 x K ω x x q q - [ x j x F q j x - q q - x q J ˆ ˆ ˆ j x- kx x W x - - GS x ˆ k q C C q J R R - j x x x q k q q 7 ˆ 6 J ; z ˆ 5 ˆ I ; x q q O z I q ˆ 7 C q j x x z q O CI C x z q CI q q x q q V x z GM J 58 V [ z x 58 z GM x J k z ˆ x S k - S k q q q L ε & & k L j x q 59 ε V x z k V q GM V x z 59 z q J GM V q x V x z z x q q I V k x x k [ z L q q I z - - k- - x- - q -- I k- - q k q L O - ε GM V x z 6 q 6 GM V x C z q - j x I x z j x I q CI L GM GM L GM GM 6 V L x R R z GM J [ z ˆ ˆ 58 L R R - - S k q L

32 R G P S 9 R R G P G S P S 9 9 O q k 4 D O q k - q D q O q q k q 6 C D V D x z q x D S q k GM V x z 6 k D ˆ GM V ˆ x z k 6 q x - D q S q x q k k W k - - -k - - x q x - -W D S - - x k- q - q x k W - R k R - -J - - k k x k W - - P q q F- k q x k K x q - W J W S - k x ˆ P q q F W K q 6 M k q q S q M q q x q q k 64 - GM q q q M J W 6 q q 65 q q 66M - P q q q F q q q x z q GM 64 x C O C O 67 S C O C O q 68 q 69 z 65 C O M 6 66 B q x zx q q x q Ω ω M 7 Ω ω 67 GM Ω ω Ω ω 68 I x q q GM ˆ 64 z x ω x 69 Ω x ω B q K q x q 65 q ˆ L R R 66 GM 7 C C I x q x x z x x x O - K q 67 O O 68 L R R z 69 O

33 N A N A N A P q k P x J P [ x k 4 q 7 7 [ k J [ q - x 4 ω P q q 7 M ω 7 M- J x [ x ˆ 4 ˆ P 7 ˆ q M M 7-7 M M M kx M 74 7 W - - x - --M M x x q 75 M M C D M P q q q M x M 7 z- q -M M M M 74 W - M C D M x M - 7 -M - k x - - C D M J k M 4 x q M 76M x M 7 75 k - x z ; q M M C M D M M 77 M k M x M J 5 J M J [ 4 M ˆ M M 74 4 ω W ω 76 P - j x -F M - j x - M q q 79 M M 77 J M M J D M 5J 4 ω L R R P j x x F z ˆ M - j x q D M q q M k q x q J ω q q q 79 q 65 8 D M J [ ˆ 4 L R R 7 ˆ q M D M M

34 R G P S R R G P G S P S P W F 4 x P W C D C F D x J P q W q 8 F J x 4 76 J D D P q - --z - J J ˆ ω J 8 ˆ 4 x 8 GM 76 GM P J q z 8 q x GM J 76 P GM x P q z GM x GM GM J GM GM J GM J q 8 GM J ω 8 ˆ GM P GM GM J S x J GM J z V ˆ z 8 x q 8 GM GM V GM J P GM x z q x GM J GM J GM J 4 ω 8 4 C I k A k GM GM S J q GM J z V 84 x z GM ˆ x GM GM GM J J ˆ 8 x q V Jx z GM J GM J ω 8 q S 4 z C J I k A k V ˆ x z q x 55R R 55 q ε V ˆ x GM V z GM GM J GM 84 J L R R ˆ GM J ˆ 4 x C C q J z q C q I 55 H k A k q ˆ GM V ˆ GM J L R R ˆ 84 q x q J q ˆ q 55 H

35 N A N A N A C q q 4 x D C q q C D x - D GM C V q q q GM x 7 GM J D q 85 GM J GM V D ˆ ˆ q GM ˆ V ˆ ˆ GM q q R GM ˆ GM ˆ GM q R 7GM J 7 GM J ˆ ˆ GM J ˆ GM J ˆ q 86 GM J ω 85 ˆ q q q j x q q A S GM J j x GM q O GM J ˆ ˆ 95 ˆ 5 q 86 GM - j x CI q q q A S q 87 C D j x -j x q - GM - q O - ε GM q CI C A ε; q k q q 88 S J k j x GM k GM ˆ q ε 87 x q - GM x GM I q ; C k SV k q q q D 89 J ˆ B- GM 87 δ J J [ GM J ω 88 x q x L GM ; J x q I B- GM q q 9 ˆ L SV k q C L q R R k J GM J δ [ GM J J ˆ ω 89 x x GM J q δ J ω 9 q GM ; x G L R R - - SV k q

36 R G P S R R G P G S P S z q q 4 I SV k k z x J q 4 - I x - SV - k - - x- k k z q S x - k q δ J k 4 I SV k x q q x G- M- A k - x J q G M ; 4 N N P P - S V 4 S V 4 x j j x A J J P L L - x J CI C S k [ x J ε CI C q q q q ˆ q q G M L 7 q 7 ; q ± 69 q 7 x 69 L ± 88 x 88 L x 95 L N 4 q q 7 P q ± 95 q 7 x 58 S q j 6566 ˆ 7 ± 58 J 5 x J CI C q J 5 q q 9 C D k k q % ˆ k 88 A k q - S 4 O - - q ˆ 7 95 q A 9 C q D S 4 O ˆ 7 5 N O M 9 S V 5 4 q- k U I 75 q 9 q J 5 N x 4 O M 9 S V 54q x k 8 U U- - - I qq q - S V D ˆ 9 M 9 q C D 7 ± 4 4 x % q k 7 ± 8 U q k q q S V 54 q q M 9 S W j x -k k A q q q q q q S 4 q O q 4 ± q 9 z- - q q I q- q - K - D - A ˆ - q 9 S W - j x k z L R R N q I q q C C K O M q I 9 q S V 5 4 q q I A q ˆ q q q q q L R R ˆ

37 4 N A 4 4 N A N A x 4 x k x k x q k q - x k q x A q x k q q q k x q q q C q C L x q A GM q L L x R R q q A δ q x q GM δ 94 & & L R R 94 GM - - ˆ 4 L R R

38 R G P S 5 R R G P G S P S 5 5 S R 4 S R M q S q R q M S S q M S -- -q S - - x C P S x Φ S q S - S σ θ θφ q 95 k V C P k q q V [ C P Φ σ 95 x I P ˆ ˆ q Φ I q 96 C D C P GM k q ˆ ˆ k ˆ ˆ ˆ ˆ q x S Φ [ GM I [ 96 C P V ˆ P ˆ 95 x S k I Φ O k k q q O P k A q qi F A -q - F x x q q 97 x k D k P ˆ GM GM [ [ GM GM q 97 x x x x q x q S I P P z P q - F x k z k q O F k x L k q L q q q ω C O q Ω q A q C O I q ω Ω I q q z-- - F -k-- x k q - - k- zk k k 8 I - - x 8 I - - L ˆ R R ˆ [ GM ˆ GM ˆ C C L R R x k x q

39 6 N A 6 6 N A N A - -q q q q O q q q q O P q q q P q q O x x P q S GM R S GM R R - R q k q G P - k q [ q G P S k x - 6 z- - G 6 z G L R R S GM ˆ R ˆ L R R R - - [ q q q G P q S q k q ˆ 6 q q q G 4 L q R R

40 R G P S 7 R R G P G S P S 7 7 A S N 4 j A S Ck N q A q S j A U S Ck S q A q N q U S k S j q Ck - I G S N -S k W I A U S G S N S x WAAS S W W A A S k q x U S A 4 k q I WAAS W - A A S U S A 4 WAAS k N S N S W x k GNOS WAAS - N G N O; S WAAS q W A A S q k MSA J GNOS G U S A 4 k N J QZSS O S Q Z S S MSA J WAAS q N JQZSS Q - Z S S 4-64 k kx ; k 4 64 k k 8 q q GNOS q G N O S A k 8 A MSA J J J F k F k q q J QZSS Q Z S S A F A-F G PS G PS j x - j x q A q 9 A - - kx - - q k k k q J k q L R R 5 9 ˆ C L R C R ˆ q q q j x q q 9 q A q k 4 L R R q &

41 8 N A 8 8 N A N A G N S F 4 G A N S F W q G q N q S A q GNSS q G N S S H W F GNSS G N S S H GLONASS q A R - W GLONASS R q q k 7 A 6 4 GNSS q G N S S F q k z A 4 z GALILO j S A GLONASS R GALILO k j I S A GALILO - - k k- I I GALILO 6 GALILO j k q k A 4 k I 6 z GALILO j [ GNS S - G P S GA LILO - GNS S - GAL IL O G P S S GA LILO q GALILO j S A q q - k GAL -IL O GALI L O S - k q I GALIL k GALI L O k k AI q AI q k I BIDOU - -P q C BIDOU I - - P C - I - - GNS S q - G q P LILO - - W - - q q GAL IL O q q W q q q k q - k k q q - q - AI q k q q k S k S - - BIDOU S BIDOU - GALIL O V - BIDOU q GALIL O V q P C q I q q L R q R q L R R ˆ q q - - q q q q W q q ˆ q q q q q k q q S q ˆ S q q BIDOU q q q q ˆ q GALIL O V ˆ q q q 4 L q R R

42 R G P S 9 R R G P G S P S 9 9 A 4 I k j A A z I k VLBI j q A A z k VLBI q I k k j q A C k x SA z VLBI M C k -- --x -k x -NSA - - M - z k J x k N q q k z k J G P GS P S q C k x U C U C US N US O N O N IS N IS M G PS - ; SA SA - x k N P P z - - k J k k - P P - GP S GP S z- z z q q q q z - - U C q q US N O N IS - M q q q k M- k ; - - k k - SA q q q q - - GP q D - q GP S ˆ P ˆ q ; S - k S - q - R q P q R - - q GP q S q - - z - - q z q q q - k - W k q q q k W k k q q q k - - x - G PS q q ˆ x G PS M GP S q M GP S - k q - - x q x - M k - q k q x q - M k q - ˆ G - q q j - q D GP q S q x ; G j L R R q q q C q C ; q q q q q L S R R q q q q q q R q q q q q q q k W q q k q q k q q q q q q x q G PS q q GP S q q q q q q q q q q x q q G j q q 4 L q R R q

43 4 N A 4 4 N A N A 4 C 4 k 4 C x I k x A 4 q C GLONASS x GALILO I BIDOU x k z k A GLONASS GALILO BIDOU x q I k z P x k 5 4 q A GLONASS GALILO BIDOU P 6 - I k S S 5 k z 4 τ - 6 I k S S k L R R P k L ˆ R 4 R q - - ˆ 6 I S S k 4 L R R

44 R G P S 4 R R G P G S P S 4 4 R q 4 k q k q IAU R 4 G A M R A q j [ IAUL R q O 4 P G L B A N M M - A j S - - R L O P L B N M é - S è R é é BNM - SYR BNM URL SYR D [ q IAU R 4 G A M A D IAU L O P L R - UA I B N M S [ NAVSAR S S N IAU U I I C R D UA I R ICD q - k - C ARINC q R k C NAVSAR F S V S CA 99 N RU I I D BNM SYR URL D J 7 ICD C ARINC R C F V 95 CA IAU R [ D R D W G S 984 I D R L G S NIMA J 7R R 85 N I M [ q NAVSAR S S N U I I C D A B MD 4 R J ICD q k C ARINC q R k C D D F W V G CA S R I D R J 7 7 L G S NIMA R R 85 N I A - B q MD GG 4 q 85 q 85 R [ 4 A J D W W M A N A - - W R S [ 7 q D D q W G S 984 I D R L x G S NIMA R R 85 GG N I 85 M S [ D OI q 5 k A A 4C B q Pk x q A MD 4 D W q W k M R A N q A M P S W M R O S Q C O q x C S 7 G 8 M 69 7 P NAO 985 A S I Q q k D OI ko x G R A 98 B W G NAO S qs k B 5 94 q k 6 47 A P P C N Yk q 98 P x [ 6 k A N A -B C Ck Nk GG NBS N 659 ; S D 85 C q M P S M O Q # C O U x S D C U S G P O W G DC [ 4 M q A D W P W M NAO A A S N I A Q x O x G & R 75 A 98 B W & G- [ 7 A N NAO A S D S W B P I 94 R 6 G C 47 P N Yk S 98 R S [ D O I 4 q [ 8 k SA 6 N 8 q B 69 k B 7 A R 985 N [ D OI L I A F B P C R D Ck N NBS 4 N 659 S D C [ 5 q C 46 A 659 C q 46 P 58 U 986 S x [ DD OI C U S G O [ 9 W A N Sk q DC J J M J I P q R S q G M P O q G - S 75 Pk M B W Sk P J J J G NAO P A S S I Q q A k O 7 V x q P k G A A R N A q A A 6 q 8 D 6 98 W 697 q B P G A I R I NAO G A S C S A B W 94 DC P P [ S A q N W R M S G P 4S R R NIS 979 Nq k [ 6 N D q 85 O-I A N q I N k A S 4 B C B Ck CO Nk 999 NBS [ q B k 8J A q k R L A MCk N B I B R NAVSAR B q NS L - I F # q C P U R S D D C 4 U S G P 46 S 58 R L J A P q k I D OI PI q k A q k 9P q M k 75 P A N Sk NASAJG JS F J I C N R9 D G 977 P 77 I S q [ 7 A q Pk A S N D B G A W S D F W C q Sk G J P MD J 978 I J G P S 5 [ A SM V S R S F P J 4 A O R A 979 Fq [ S D I OI O C Bk L A A P I [ 8 q -A- A N I B A B A R W L D 996 q 46 k 58 q 986 k [ A D OI q N L W R M R G S R R NIS [ 9 N- q A N N 85 S k J J N J q I I S R B S 999 Pk B W S k J J J q G P A q k q q V k P B A J A A R 6 L q MCk ˆ A B q I I A R NAVSAR A NS W DC S q R L J 9 A P I [ PI A N W M G P S R A P M P NASA G S F C N N 9 N D 85 N 977 I S 77 I A [ S D B J G A S F C R L G MCk MD B 978 I

45 4 N A 4 4 N A N A PI S A M P L B C N U S N O W DC PI S A R M P L B C 7 9 N U S N J O 7 W DC R PI S A M P L B J 7 x - - C 7 9 N U S N O W DC - x J 7 [ q Fzk k P q P k C Fzk M P A P P N Yk C M - 97 A P N Yk x q k 4 q k 9 F H F D R O A [ 4 [ C F q H R F F z AR D k P 97 R S P 89 R C M A A O C P N A Yk S C 97 R AR A C C-x S A C 996 x A [ q 5 k G 5 G D q k G S G G D P P q N S Yk P P N Yk 965 [ q 6 H k R 6 A q k J H H D R A A J J H q 95 D [ L 5 4 Lq 5 975D F k q OI q H F k q A D S A q D J q 95 R S A L 5 [ 7 C K L 5 J D R A AR Mz G - H D-k NA Yk OI 988 C q k S D S C [ 8 x q Lk A k 996 K G G S D 8 Ox q S k 7 P q k C K P Ox J ; N D Yk 988 A - M-z [ G 9 [ M 5 H q S G N S Yk G J D 988 q M S W G G P S q P k 984 N 8 P Yk q 965 k 7 I Lk K M S G D G S D I N ION 8-94 S Ox 994 S P C C S - S Lk [ C P 6 U q H 7 4 R I A C N P Fx J VA H Ox 994 D N Yk 988 L 5 [ L M 5 B N 975 A D O k P q R OI A k q 99 k [ D OI 9 q k M S S J M [ [ M 7 q B K O W J G C D S A I S R ˆ Mz P G H 984 L q A D P k OI 7 I M S D [ I [ Pk 8 N q B W Lk Sk K J ION J J G O 94 G O D S S D Pk S S P B C W Sk J P J J G C P P S Ox ; NA Yk 988 V C- P S A Lk C A U A I I N Fx A x[ VA 9 q A 994 M W q S DC q 996 S q J q M 984 [ q k P J H B q P k 7 I M R G B R M M P q 66 7S N 7 D O I 9 q 994 [ D N OI P ION R 94 A S S P C C [ 4 k 99 A K S M Lk F C q U k P D OI 7 R 4 q I k I N F q S k P q k 9 M I B M q S O D C I R I [ N q q M ION B - 96 P q S N K C A O L 99 C A [ D OI C 98 q K 9 C M I N Fx D-k OI k q [ k q M q k B V Pk z q A 996 O B C W I Sk S J J R L q A 98 O 9 O D q 995 D Pk k q OI q [ 5 G O S S I S I C D SIS ICD S B A W G J Uk Sk J B J6 JR 6 N G - P S A [ q V Pk B W S k J J J O O B W P S k A J J J A q G 6 P S q P A I A A 6 q 9 56 A A-x A x A A W W DC DC q k q k J H q B P G q [ q R M J H P q B 66 P 7 R 7 9 G [ D OI q L R R q k D OI q k - - q [ k 4 q 4 k q k A K k M A F K q M F P q S P R P I 9 I M S D S I q N P ION 9 I 96 S M 7 S 996 K D I N ION 96 S K C C C K C M I C C K C M N V za Fx 996 V- z-a 996 q k 5 q k G O S S I S I C D ICD [ 5 q G O S S S I S I C D SIS ICD A A G G J J Uk Uk B B 6 6 R R 6 N 6 N 9 9