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1.INTRODUCTION
1.1) Scope
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2) The public is provide with the option of viewing the current location
of bus through the google map
3) The tracking of the bus is shown using the Google earth.
4) This provides effective scalability.
1. LITRATURE SURVEY
2.1. JAVA
The reason for this is Java expands the universe of objects that can move
freely in the cyberspace. In a network, there are two broad categories of
objects that are transmitted between the server and the personal
computer namely passive information and dynamic, active programs. For
example, when you read your e-mail, you are viewing passive data. Even
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when you download a program, the program's code is still only passive
data until you execute it.
2.1.2 Security
Every time a normal program is downloaded, there is a risk of virus
infection. Prior to Java, users did not download executable programs
frequently and those who did scan them for viruses prior to execution.
Even then, most users were still worried about the possibility of infecting
their systems with virus. In addition to viruses, there is another type of
malicious program that must be guarded against.
This type of program can gather private information such as credit card
numbers, bank account balances, and passwords by searching the
contents of your computer's local file system. Java answers both these
concerns by providing a 'firewall' between a networked application and
your computer. When you use a Java-compatible Web browser, it is
possible to safely download Java applets without fear of viral infection or
malicious intent. Java achieves this by confining a Java program to the
Java execution environment and allowing it access to the other parts of
the computer. The ability to down load applets with confidence that no
harm will be done and no security breached is considered to be the single
most important aspect of Java.
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2.1.3 Java's magic-The byte code
The key that allows Java to solve both the security and portability
problems is that the output of a Java compiler is non-executable. Rather it
is a byte code.
The fact that Java is interpreted also helps make it secure because the
execution of every Java program is under the control of runtime system,
the runtime system can contain the program and prevent it from
generating side effects outside of the system. When a program is
interrupted, it generally runs substantially slower than the same program
would run if compiled to executable code. The use of byte code makes it
possible for the Java runtime system to execute the programs much faster
than one might expect.
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name and is not an acronym; nevertheless, JDBC is often thought of as
"Java Database Connectivity".) It consists of a set of classes and interfaces
written in the Java programming language. JDBC provides a standard API
for tool/database developers and makes it possible to write database
applications using a pure Java API.
A JDBC driver is a middleware layer that translates the JDBC calls to the
vendor specific APIs. The Java Virtual Machine uses the JDBC driver to
translate the generalized JDBC calls into vendor-specific database calls
that the database understands. The JDBC drivers that are available at this
time fit into one of the four categories:
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The first category of JDBC drivers provides a bridge between the JDBC API
and the ODBC API. This bridge translates the standard JDBC calls to
corresponding ODBC calls, and sends them to ODBC data source via ODBC
libraries. The JDBC ODBC Bridge translates all JDBC API calls into
equivalent ODBC calls.
When a database call is made using JDBC, the driver translates the
request into vendor specific API calls. The database will process the
request and send the results back through the API, which will forward
them, back to the JDBC driver. The JDBC driver will format the result to
conform to the JDBC standard and return them to the program.
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This is a pure Java alternative to Type2 drivers. These drivers convert JDBC
calls to direct network calls using vendor-specific networking protocols by
making direct socket connections with the database. This is the most
efficient method of accessing databases, both in performance and
development time. It is also the simplest to deploy since there are no
additional libraries or middleware to install.
Connection Overview
A connection object represents a connection with a database. Connection
session includes the SQL statements that are executed and the results are
returned over that connection. A single application can have one or more
connections with a single database, or it can have connections with many
different databases.
Opening a connection
The standard way to establish a connection with a database is to call the
method Driver Manager.getConnection. This method takes a string
containing a URL. The Driver Manager class, referred to as the JDBC
manager layer, attempts to locate a driver than it connect to the database
represented by that URL. The Driver Manager class maintains a list of
registered Driver classes, and when the method getConnection is called, it
checks with each driver in the list until it finds one that can connect to the
database specified in the URL. The driver method connects uses this URL
to actually establish the connection.
The user can by pass the JDBC management layer and call driver methods
directly. This could be useful in the rare case that two drivers can connect
to a database and the user wants to explicitly select a particular driver.
Normally, however, it is much easier to just let the Driver Manager class
handle opening a connection.
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The Driver Manager class is the management layer of JDBC, working
between the user and the drivers. It keeps track of the drivers that are
available and handles establishing a connection between a database and
the appropriate driver. In addition, the Driver Manager class attends to
things like driver login time limits and the printing of log and tracing
messages. For simple applications, the only method in this class that
needs to be used directly is Driver Manager.getConnection. As its name
implies, this method establishes a connection to the database. JDBC
allows the user to call the Driver Manager methods:
getDriver
getDrivers
registerDriver
Statement Overview
A statement object is used to send SQL statements to a database. There
are three kinds of statement objects, all of which act as containers for
executing. SQL statements on a given connection: Statement, Prepared
Statement, which inherits from statement, and Callable Statement, which
inherits from prepared statement. They are specialized for sending
particular type of SQL statements. A Statement object is used to execute
a simple SQL statement with no parameters. A Prepared Statement Object
is used to execute a precompiled SQL statement with or without IN
parameter. A Callable statement object is used to execute a call to the
database stored procedure.
The statement interface provides basic methods for executing statements
and retrieving results. The Prepared Statement interface adds methods for
dealing with IN parameters; Callable Statement adds methods for dealing
with OUT parameters.
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Java Server Pages (JSP) technology offers a simple way to create dynamic
web pages that are both platform independent and server independent,
giving you more freedom through Java technology's "Write Once, Run
Anywhere" capability. JSP technology separates content generation from
presentation and takes advantage of reusable tags and objects,
simplifying the maintenance of your web applications. It's your choice --
JSP technology provides the scripting ability you need to create simple
interactive Web pages, or it scales to support complex web sites that are
fully integrated with enterprise class applications. JSP is a technology for
developing web pages that include dynamic content.
Unlike a plain HTML page, which contains static content that always
remain the same, a JSP page can change its content based on any number
of variable items, including the identity of the user, the user's browser
type, information provided by the user and selections made by the user.
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2.3.3 Translation and Compilation
During the translation phase each type of data in a JSP page is treated
differently. Template data is transformed into code that will emit the data
into the stream that returns data to the client. Each time you change a JSP
page, the web container generates a new Java source file and increments
the version number v. Translation and compilation phases can yield errors
that are only observed when the page is requested for the first time.
If an error occurs while the page is being translated (for example, if the
translator encounters a malformed JSP elements), server will return a
ParseException and the servlet class source file will be empty or
incomplete. The last incomplete line will give a pointer to the incorrect JSP
element. If an error occurs while the JSP page is being compiled (for
example, due to a syntax error in a scriptlet), the server will return a
JasperException and a message that include the name of the JSP page's
servlet and the line where the error occurred.
If an instance of the JSP page's servlet does not exist, the container:
Loads the JSP page's servlet class
Instantiates an instance of the servlet class
Initializes the servlet instance by calling the jsplnit method
Invokes the jspService method, passing a request and response object.
If the container needs to remove the JSP page's servlet, it calls the
jspDestroy method.
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from translation.
Scripting elements: These let you insert Java code into the JSP page.
Actions: These are special tags available to affect the runtime behavior of
the JSP.
Directives
There are three main directives that can be used in JSP:
The page directive.
The include directive.
The taglib directive.
General syntax:
<%@ Page [language ="java"] [extends="package. class"]
[import="{package. class/ package. *},"]
[session="true/false"] [buffer="none/8kb/sizekb';]
[autoFlush="true/false"] [isthreadSafe="true/false"]
[info="text"] [errorPage="relative URL"]
[contentType="MIMETYPE [; charset=CHARSET]"]
[isErrorPage=''true/false"] %>
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General syntax:
<% @ include file = "filename" %>
General syntax:
<% @taglib uri= "tagLibraryURI" prefix="tagPrefix" %>
Scripting elements
Declarations
Declarations are initialized when the JSP page is initialized, and have
'class' scope in the generalized servlet.
General syntax:
<%! Java variable and method declaration(s) %>
Scriplets
A scriplet is a block of Java code executed during the request-processing
time.
General syntax:
<% Valid Java code statements %>
Expressions
An expression is a shorthand notation for a scriplet that sends the value of
a Java expression back to the client. The expression is evaluated at HTTP
processing time, and the result is converted to a string and displayed.
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General syntax:
<%= Java expression to be evaluated %>
Actions
Actions are tags that affect the runtime behavior of the JSP and the
response sent back to the client. During compilation into a servlet, the
container comes across this tag and replaces it with Java code that
corresponds to the required predefined task.
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out: It is the object that writes into the client.
config: It is the ServletConfig for this JSP page and has page scope.
page: It is the instance of the page's implementation servlet class that is
processing the current request.
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2.4.2 Block of HTML
Program Description
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contains the title of the document and other parameters the browser may
use when displaying the document Body section enclosed between
<BODY> and </BODY> is where the actual contents of the document are
placed. This includes the text for display.
Each HTML document is small, so it can be transferred over the net and
displayed as fast as possible.
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If your computer is connected to a network, you can use Microsoft Access
to view and edit data that others are using at the same time. You can
share data in a multi-user environment by placing a database on a
network file server and opening the database for shared access.
Microsoft Access facilitates new features and enhancements that help you
work with your database. A few of these new features are summarized
below.
ToolTips
Move the pointer on to the face of any toolbar button, including those in
the toolbox or palette, to display the name of the button or option.
Shortcut Menus
Press the right mouse button when you are defining a control, setting a
property, or performing most any task in Microsoft Access to display a
shortcut menu. Commands appropriate to the current task appear on the
menu.
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Quick Sorting
In table and form Datasheets and in forms, you can click the sort
Ascending or sort Descending buttons on the tool bar to quickly sort the
current records based on the selected column.
Input Mask
You can make data entry quicker and more accurate by adding input
masks to fields that requires the data to be entered in the same way
every time. In a phone number field; for example, you could add an input
mask that automatically adds the necessary parenthesis, hyphens and
spaces.
2.6. AJAX
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AJAX stands for Asynchronous JavaScript And XML AJAX is not a new
programming language, but a new way to use existing standards.With
AJAX you can create better, faster, and more user-friendly web
applications.AJAX is based on JavaScript and HTTP requests.
• JavaScript
• XML
• HTML
• CSS
The web standards used in AJAX are well defined, and supported by all
major browsers. AJAX applications are browser and platform independent.
More important than where the code for these applications runs, though,
is how the applications behave and how you interact with them. Desktop
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applications are usually pretty fast (they're running on your computer;
you're not waiting on an Internet connection), have great user interfaces
(usually interacting with your operating system), and are incredibly
dynamic. You can click, point, type, pull up menus and sub-menus, and
cruise around, with almost no waiting around.
Obviously this is a bit of an oversimplification, but you get the basic idea.
As you might already be suspecting, Ajax attempts to bridge the gap
between the functionality and interactivity of a desktop application and
the always-updated Web application. You can use dynamic user interfaces
and fancier controls like you'd find on a desktop application, but it's
available to you on a Web application.
• HTML is used to build Web forms and identify fields for use in the
rest of your application.
• JavaScript code is the core code running Ajax applications and it
helps facilitate communication with server applications.
• DHTML, or Dynamic HTML, helps you update your forms
dynamically. You'll use div, span, and other dynamic HTML elements
to mark up your HTML.
• DOM, the Document Object Model, will be used (through JavaScript
code) to work with both the structure of your HTML and (in some
cases) XML returned from the server.
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AJAX Uses HTTP Requests
Because the server returns a new page each time the user submits input,
traditional web applications can run slowly and tend to be less user-
friendly.
With AJAX, your JavaScript communicates directly with the server, through
the JavaScript XMLHttpRequest object
With an HTTP request, a web page can make a request to, and get a
response from a web server - without reloading the page. The user will
stay on the same page, and he or she will not notice that scripts request
pages, or send data to a server in the background.
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AJAX - More About the XMLHttpRequest Object
After a request to the server, we need a function that can receive the data
that is returned by the server.
The onreadystatechange property stores the function that will process the
response from a server.
The readyState property holds the status of the server's response. Each
time the readyState changes, the onreadystatechange function will be
executed.
State Description
0 The request is not initialized
1 The request has been set up
2 The request has been sent
3 The request is in process
4 The request is complete
To send off a request to the server, we use the open() method and the
send() method.
The open() method takes three arguments. The first argument defines
which method to use when sending the request (GET or POST). The
second argument specifies the URL of the server-side script. The third
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argument specifies that the request should be handled asynchronously.
The send() method sends the request off to the server.
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SYSTEM ALALYSIS
3. SYSTEM ANALYSIS
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3.1 PRESENT DAY SCENARIO
The present bus system is not reliable as the there is no proper way to get
the information regarding the arrival of the busses ,thus the common
public has to wait a long time and therefore the public waiting time is
increased. The busses do not follow the regular timings which lead in
wastage of valuable time of the public.
In the current scenario the there is no way to track the bus or else know
the current position of the bus which in turn would provide us with the
correct time of arrival. Even the bus registration system is not automated
therefore the bus management central authority requires to do a lot of
paper work and enter the bus details manually in the spread sheets.
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The users of Public Utility Transport System are
• Public: The public can obtain the current location of the bus from the
display provided at each bus stop.
• The PUT’s manager: The manger enters all the details regarding the
registration of bus and updation the bus.
The manager knowledge is assumed to be average and therefore the
interface, which is in the form of a website, is designed not only to be
consistent to gather all details, but also self-explanatory throughout the
process with appropriate help messages, thus, reducing the ambiguity in
the options provided.
• There should be a GPs kit installed on each of the busses in the city.
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3.5.2 TECHNICAL FEASIBILITY
Technical Feasibility centers on the existing manual system and to what
extent it can support the proposed system. According to the feasibility
analysis procedure, the technical feasibility of the proposed system is
analyzed and the technical requirements such as software facilities,
hardware facilities, procedures, inputs and outputs are identified. It is one
of the important phases of the system development.
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SYSTEM
SPECIFICATION
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4 SYSTEM SPECIFICATION
GPS Receiver
Microcontroller:PIC microcontroller
AJAX
Java 2 SDK.
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Browser: Internet Explorer, Mozilla Firefox, Netscape Navigator,
Opera.
ECLLIPSE(IDE)
Embedded C
SYSTEM DESIGN
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5. SYSTEM DESIGN
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SATALLITE
BUS
GPS
RECEIVER
MICROCONTROLER
COMMUNICATION IS THROUGH
CONTROLLER
MOBILE CENTER
CELL
NETWORK
CELL
MOBILE NETWORK
Figure 1
The four major parts involved in the architecture are:
1. The satellite
2. The bus unit
3. The Controller center unit
4. The individual bus stops
1) The Satellite
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to provide the positioning, or location, information.GPS consists of three
segments: the space segment, the control segment, and the user
segment. Each GPS satellite transmits a signal, which has a number of
components such as the longitude, latitude, velocity acceleration and
various parameters.
3) Microcontroller
Microcontroller has a three parts a flash memory unit where the code is
written, RAM where the temporary variables are stored and ROM where
the constant variable are stored.
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Issuing AT Commands
Getting Started with the Terminal Mode
With your modem installed, your computer powered ON, and your
computer's communications software loaded in its terminal mode, you can
enter commands to the modem.If available in your communication's
software, select the "terminal mode" (sometimes referred to as, "terminal
emulation mode", "dumb terminal mode", "local mode", or "direct connect
mode"). This mode allows you to send commands directly to the modem..
Using AT Commands
When issued to the fax modem, AT commands direct the fax modem to
dial, answer, hang up, and to perform many other communication tasks.
Some of the most commonly used commands are:
AT (Attention). This is the command line prefix. (All the commands listed ,
except A/ and +++, must be preceded by the command AT). A Answer an
incoming call D Dial the following phone number E Turn echo OFF H Hang
up O Return to on-line state Z Reset the modem to the values stored in
the N.V. Ram +++ Return to the Command State A/ Repeat last command
(Do not precede this command with AT or follow it with <Enter>)
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A Command line allows you to issue a number of commands at one time
rather than issuing and waiting for the modem to react to each command
separately. Here are a few rules you must follow when issuing a command
line to the modem.
•1. Every command line must begin with the letters AT, (except the
commands A/ and +++)
•2. You can group several commands on one line as long as the total
line does not exceed 40 characters. Remember that "DT" and <Enter>
each count as one character, (do not count spaces and the AT).
•3. Because all spaces are ignored in the command line, you may leave
spaces between each command, and between each character of every
command. You can also include punctuation's in telephone numbers,
and type commands in either UPPER- or lowercase. For example, the
following commands are identical:
•5. If you make an error, backspace to erase it, and retype the
characters correctly.
•6. To execute the command line, press the <Enter> or <Return> key
on your keyboard.
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>enter the message
Ctlr+Z
Each bus stop is aided with a computer or a display board where the
information processed from the controller center is transferred to all the
bus stops through the ftp, modem or internet. The public can access the
computer or display board installed and can obtain the details of the bus
and its current location.
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5.2) Use case diagrams with use case specifications
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after entering the
details of bus,halt
LOGIN s are added
PUTS Personnel
Change pwd
Logout
PUTS Login
Use Case ID: UCI-1
Use Case login
Name:
Actors: PUTS Personnel
Description: The personnel enters into PUT’S homepage
Trigger: This event occurs when the personnel clicks next
page button in the home page.
Preconditions: If the personnel enters user name and its
corresponding password correctly then he enters
into the PUTS home page.
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Post Success end condition: when the dealer successfully
conditions: logins into the PUTS home page.
Failure end condition: A Login page is displayed if
user enters wrong username or password.
Flow of The user enters the (uname, pswd) the system
conditions: checks for the validity and displays the dealer’s
home page.
Issue The user name must be in for mat of ‘user@domain
‘ and the password must be at least 6 characters in
length
Flow of The personnel fill all the related data and later on
conditions: fills the halts which comes in the route of the
particular bus.
Issue All fields are mandatory
Change Password
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to his user name.
Trigger: This event occurs when the user clicks ‘Change
Password’ button
in the PUTS’s home page
Preconditions: The data base should be proper with all the entries
Post Success end condition: when the database is
conditions: updated with the changed new password.
Flow of The PUTS personnel can use the change password
conditions: from now on.
Issue
Logout
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Map Based View
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5.3) Application design
Login Sequence
: Govt Employee
Display Message
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Bus Registration
: Govt Employee
fill the form
Click on Submit
Display Message
Update
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Update Form Update DataBase
: Govt Employee
Updated Successfully
Logout
Logout
: Govt Employee
Click on Logout
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Bus Equipment Control Center Display
Table View:
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Bus Equipment Control Center Display
: User
Contains logic
Login Collaboration
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1: Enter username and pwd
Form
: Govt Employee
5: Display Message
4:
2: Click on submit
Submit
Bus Registration
4: Display Message
2: Click on Submit
Update
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Update
Form
1: Fill the update form
: Govt Employee
2: Click update
4: Updated Successfully
Google Map
Display
: User
Tabular Form
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Bus
Equipment 1: Sends all required Data
Control
Center
Display
2: Contains logic
: User
LOCATION TABLE:
GNO BUSNO
LOCATION TABLE
PLACE
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EMPLOYEE LOGIN TABLE
USERNAME PASSWD
LOGIN TABLE
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5.5) User interface design
5.5.1) Screen flow charts
Flow charts of few screens
HOME
Sitemap
Contact us
Next Page
Forgot
Login password
PUT’s
home page
Add Halts
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5.5.2) Screen shots
Home Page
About Us
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FAQ
Site Map
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Contact Us
Login
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Change Password
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Bus Registration Form
Change Password
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Add Halts
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SAMPLE OUTPUTS
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6. SAMPLE OUTPUTS
The public has three options of viewing the current location of the bus.
Firstly, he can look at the current position of the bus using the google
earth application wherein the public can get a visual of the map and the
current location of the bus marked. Secondly, he can obtain the current
location using the google map. Thirdly, he can view the details of the
buses such as the bus number, source, destination and current location
using the chart based view.
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Google Map Based Output
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TESTING
7. TESTING
Testing is a process of executing the program with the intent of finding an
errors, bugs and defects. Test cases are designed to uncover different
classes of errors with a minimum amount of time and effort. Testing
cannot show the absence of defects, it can only show that software
defects are present.
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guide, important control parts are tested to uncover errors within the
boundary of the module. The module interface is tested to ensure that
information properly flows into and out of the program unit under test.
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corrected and a final series of software tests -validation test begins.
Validation succeeds when the software functions in a manner that can be
reasonably expected by the customer. When customer software is built for
one customer, a series of acceptance tests are conducted to enable the
customer to validate all requirements.
Most software product builders use a process called alpha and beta
testing to uncover errors that only the end user seems able to find. A
customer in a controlled environment conducts the alpha test at the
developer's site. The beta test is conducted at one or more customer sites
by the end user. The customer records all the problems that are
encountered during beta testing and reports these to the developer at
regular intervals. As a result of problems reported, the developer makes
modifications.
Recovery Testing
Security Testing
Performance Testing
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Performance testing is designed to test the run time performance of
software within the context of an integrated system. Performance testing
occurs through out all steps in the testing process.
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CASE STUDY
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8. CASESTUDY
Introduction
The Global Positioning System GPS is the only fully functional Global
Navigation Satellite System(GNNS).utilizing a constellation of at least 24
medium earth orbit satellites that transmits microwave signals ,the
system enables a GPS receiver to determine its location,speed,direction
and time. Global Navigation Satellite System (GNSS) is the standard
generic term for satellite navigation systems that provide autonomous
geo-spatial positioning with global coverage.
A GPS receiver calculates its position using the signals from four or
more GPS satellites. Four are needed as the process needs very accurate
local time. Each GPS has an atomic clock and continually transmits
messages, each contain current time at start of message, parameters to
calculate the location of satellite, general system health. The signals
travel at the speed of light, the receiver uses the arrival time to compute
distance to each satellite from which it determines the position using
geometry. The space vehicles (SV) transmit two MW carrier signals i.e. the
L1 frequency (1575.42 MHz) carries the navigation message and the SPS
code signals and the L2 frequency (1227.60 MHz) is used to measure the
ionosphere delay by PPS equipped receivers
The Global Positioning System (GPS) is the only fully functional
Global Navigation Satellite System (GNSS). Utilizing a constellationn of at
least 24 Medium Earth Orbit satellites that transmit precise microwave
signals, the system enables a GPS receiver to determine its location,
speed, direction, and time.
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A typical GPS receiver calculates its position using the signals from
four or more GPS satellites. Four satellites are needed since the process
needs a very accurate local time, more accurate than any normal clock
can provide, so the receiver internally solves for time as well as position.
In other words, the receiver uses four measurements to solve for 4
variables - x, y, z, and t. These values are then turned into more user-
friendly forms, such as latitude/longitude or location on a map, then
displayed to the user.
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as much as $100 million. To date, the complete system has cost
approximately $10 billion. Each satellite weighs approximately 900
kilograms and is about five meters wide with the solar panels fully
extended. There were 11 Block I prototype satellites launched (10
successfully), followed by 24 Block II production units. Currently, only one
of the Blocks I satellites is still operational, while four Block II backups
remain in ground storage. The base size of the constellation includes 21
operational satellites with three orbiting backups, for a total of 24. They
are located in six orbits at approximately 20,200 kilometers altitude. Each
of the six orbits are inclined 55 degrees up from the equator, and are
spaced 60 degrees apart, with four satellites located in each orbit (see
diagram on next page). The orbital period is 12 hours, meaning that each
satellite completes two full orbits each 24-hour day.
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signal (ranging) data from each. This information is then passed on to the
Master Control Station at Colorado Springs via the secure DSCS (Defense
Satellite Communication System) where the satellite position
(“ephemeris”) and clock-timing data (more about these later) are
estimated and predicted. The Master Control Station then periodically
sends the corrected position and clock-timing data to the appropriate
ground antennas which then upload those data to each of the satellites.
Finally, the satellites use that corrected information in their data
transmissions down to the end user. This sequence of events occurs every
few hours for each of the satellites to help insure that any possibility of
error creeping into the satellite positions or their clocks is minimized.
User segment
The user's GPS receiver is the user segment (US) of the GPS. In general,
GPS receivers are composed of an antenna, tuned to the frequencies
transmitted by the satellites, receiver-processors, and a highly-stable
clock .They may also include a display for providing location and speed
information to the user. A receiver is often described by its number of
channels: this signifies how many satellites it can monitor simultaneously.
Originally limited to four or five, this has progressively increased
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Navigation solution
Output:
Gps receiever’s position.
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(x1,y1,z1)
(x2,y2,z2)
(x3,y3,z3)
(Xc,yc,zc)
Processing
(Xe,ye,ze) GPS
receiver’s
position
Procedure:
The step wise procedure to calculate the GPS receiver’s position is as
follows:
• Assume correct position of the receiver as some Xcrct, Ycrct, and
Zcrct.
• Calculate pseudo ranges for each satellite. And name them as R1,
R2, R3
• Now consider assumed exception position as Xasu, Yasu, Zasu.
• Form a 4*1 matrix represented as R
R= [R1
R2
R3]
Where R1, R2, R3 are calculated before
• Form another matrix G as 3*3 matrixes
G= [G00 G01 G02
G10 G11 G12
G20 G21 G22]
Where
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G00= - (Xasu-Xsat1)/R1
G01= - (Yasu-Ysat1)/R1
G02= - (Zasu-Zsat1)/R1
G10= - (Xasu-Xsat2)/R2
G11= - (Yasu-Ysat2)/R2
G12= - (Zasu-Zsat2)/R2
G20= - (Xasu-Xsat3)/R3
G21= - (Yasu-Ysat3)/R3
G22= - (Zasu-Zsat3)/R3
R=G-1[R]
• as a result we get Dx, Dy, Dz values
• Now for second iteration take Xasu as Dx+Xasu
Yasu = Dy + Yasu
Zasu = Dz + Zasu
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CONCLUTION
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9. CONCLUSION
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REFRENCES
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REFRENCES
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