GPS navigation solution

　　Global Positioning System (GPS) is the abbreviation of Global Positioning System. Its meaning is to use navigation satellites to measure time and distance to form a global positioning system. It is a new generation of satellite navigation and positioning system with the capability of real-time three-dimensional navigation and positioning at sea, land and air. The core of the GPS user part is the GPS receiver. It is mainly composed of baseband signal processing and navigation solution. The baseband signal processing part mainly includes two-dimensional search, acquisition, tracking, pseudo range calculation, navigation data decoding, etc. of GPS satellite signals. The navigation solution part mainly includes the real-time calculation of the position of each visual satellite according to the ephemeris parameters in the navigation data; According to the error parameters in the navigation data, various real-time errors, such as star clock error, relativistic effect error, earth rotation effect, signal transmission error (mainly including ionospheric real-time transmission error and tropospheric real-time transmission error), are calculated and eliminated from the pseudo range; Calculate the receiver PVT (position, speed, time) according to the above results; Real time calculation and monitoring of each accuracy factor (DOP) are carried out to determine the accuracy of the positioning solution. This paper focuses on the navigation solution part of the GPS receiver, and the baseband signal processing part can refer to the relevant data. The assumption discussed in this paper is that the GPS receiver has effectively captured and tracked the GPS satellite signal, calculated the pseudo range, and decoded the navigation data

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