D-BAUG - Departement Bau, Umwelt und Geomatik - ETH Zürich

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High-Tech Measuring Systems ▪ Highlights Fig. 1: Part of the new compute cluster, based on Intel new Nehalem architecture. The inset shows one blade (IBM HS22) in detail, with passive heat sinks. Fig. 2: (a) GPS test network on the Dirru rockglacier, with three permanent GPS stations. The yellow dashed line delimits the rockglacier area. (b) GPS station installed on the rockglacier, including (from right to left) GPS antenna, solar panel and instrument box containing GPS receiver and battery. (c) Time series of horizontal displacements of GPS stations DIR2 (green) and DIR3 (blue), from June 12th to October 14th 2009 (4 months). D-<strong>BAUG</strong> Annual Report 2009 ▪ 73
Highlights ▪ High-Tech Measuring Systems GPS as Rotational Sensor Can GPS be used to estimate the orientation and rotational velocity of the antenna? by S. Häberling, A. Geiger / IGP To this day, the satellite-based navigation systems such as the Global Postioning System (GPS) are mainly used for positioning applications. An additional method to retrieve 3D rotation anglesfrommeasurementswithasingleGPSantennainreal-time was demonstrated by a master thesis.This information about the angular velocities and the full 3D rotation in addition to the position would enlarge the applicability of GPS in machine control and air navigation. The method is using the properties of the circularly polarized electromagnetic waves that are transmitted by the GPS satellites. The rotation of the receiver antenna relative to the satellite antenna generates a phase shift called “phase wind-up” (Fig.1).Depending on the type of rotation and on the elevation angleof theincomingsignal thisphaseshift,measuredfromdifferentsatellites,allows thedescriptionof thefull3Dantennarotation. For the detection of small phase shifts in GPS raw data it is necessary to build a linear combination between signals with different frequencies to eliminate error sources. After a statistical signal processing with appropriate filtering the results indicate that minimalrotationalvelocitiesof3–3.5°/saresignificantlydetected depending on time of day (e.g.ionosphere) and satellite constellation.Thealgorithmdevelopedfor thedeterminationof the full 3D rotation generates stable solutions.This was verified by simulations and real measurements (Fig.2). 74 ▪ D-<strong>BAUG</strong> Annual Report 2009 Fig. 1: A simplified schematic illustration of an incoming circularly polarized electromagnetic wave. Due to the rotation of the GPS antenna (blue to red) an angle (phase shift Δφ) occurs between the two dipole vectors (dashed). They can be described as a projection from the polarization plane (grey) onto the antenna plane. Fig. 2: Measurement setup with the rotation simulator and the mounted GPS antenna.
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Preface In the middle of difficulty
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D-BAUG - Departement Bau, Umwelt und Geomatik - ETH Zürich

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