Geometry Optimization of a GPS-Based Navigation Reference System

摘要

This paper presents the analysis and numerical optimization of he geometry of an inverted pseudolite positioning system. First, the effect of geometry on the system's accuracy is examined. The geometric dilution of precision (GDOP) produced by typical system geometry is considered, and an alternate measure of the geometry effect, the condition number of the "visibility" matrix H, is introduced. Second, the optimization of the system's geometry is presented. The simplified problem of optimizing the geometry with respect to a stationary pseudolite is solved first. Next, a two-step numerical optimization routine is developed to address the geometry optimization problem with respect to a moving pseudolite. The results of the numerical optimization are presented, and both the effectiveness of the optimization routine and the usefulness of the resulting system configurations are discussed Finally, design guidelines for good geometry are presented, and a technique for further improving the system's geometry is proposed.