Standart konumlama yapan GNSS al\u0131c\u0131lar\u0131, mesafeyi genellikle GNSS sinyal ta\u015f\u0131y\u0131c\u0131lar\u0131 \u00fczerine mod\u00fcle edilmi\u015f koddan belirler. Bu y\u00f6ntemde kullan\u0131c\u0131 do\u011frulu\u011fu genellikle metre seviyesindedir. Do\u011fruluk; uydu geometrisine, atmosferik ko\u015fullara, \u00e7oklu yol etkisine, desteklenen bant ve tak\u0131my\u0131ld\u0131zlara ve al\u0131c\u0131 uygulamas\u0131na ba\u011fl\u0131d\u0131r.<\/p>\n\n\n\n
Ger\u00e7ek Zamanl\u0131 Kinematik (RTK) konumlama, \u00e7ok daha k\u0131sa olan ta\u015f\u0131y\u0131c\u0131 dalga boyundan yararlan\u0131r. Bunu, uydu saat hatalar\u0131, efemeris hatalar\u0131 ve atmosferik gecikme de\u011fi\u015fimleri gibi ortak hata terimlerini ger\u00e7ek zamanl\u0131 olarak elimine ederek yapar. Bu ortak hata terimlerinin giderilmesi, ta\u015f\u0131y\u0131c\u0131 faz belirsizli\u011finin, yani uydu ile al\u0131c\u0131 aras\u0131ndaki toplam ta\u015f\u0131y\u0131c\u0131 \u00e7evrim say\u0131s\u0131n\u0131n \u00e7\u00f6z\u00fclmesini m\u00fcmk\u00fcn k\u0131lar. Ta\u015f\u0131y\u0131c\u0131 dalga boyuna dayal\u0131 mesafe hesaplamas\u0131 ile santimetre seviyesinde konum do\u011frulu\u011fu elde edilebilir.<\/p>\n\n\n\n
Geleneksel bir GNSS CRPA, anten elemanlar\u0131 \u00fczerindeki karma\u015f\u0131k a\u011f\u0131rl\u0131klar\u0131 s\u00fcrekli olarak de\u011fi\u015ftirerek giri\u015fimi bast\u0131r\u0131r. Hesaplanan her a\u011f\u0131rl\u0131k seti, RF \u00e7\u0131k\u0131\u015f\u0131nda sunulan bile\u015fik faz yan\u0131t\u0131n\u0131 de\u011fi\u015ftirir. Ta\u015f\u0131y\u0131c\u0131 faz belirsizli\u011fi \u00e7\u00f6z\u00fcmleri boyunca olu\u015fan tutars\u0131z faz de\u011fi\u015fimleri, CRPA giri\u015fim kaynaklar\u0131n\u0131 ba\u015far\u0131yla bast\u0131r\u0131yor olsa bile RTK fix kayb\u0131na yol a\u00e7ar.<\/p>\n\n\n\n
HEDGE CRPA serisi, uyarlanabilir uzamsal bast\u0131rmay\u0131 \u00f6zg\u00fcn faz stabilizasyon algoritmalar\u0131yla birle\u015ftirir. Null olu\u015fturan a\u011f\u0131rl\u0131klar null’lar\u0131 serbest\u00e7e olu\u015fturmaya ve uyarlamaya devam ederken, faz stabilizasyon a\u011f\u0131 dizi i\u015flemenin neden oldu\u011fu ta\u015f\u0131y\u0131c\u0131 faz bozulmas\u0131n\u0131 telafi eder. RF \u00e7\u0131k\u0131\u015f\u0131nda elde edilen kararl\u0131 faz, RTK GNSS al\u0131c\u0131s\u0131n\u0131n \u015fiddetli giri\u015fim alt\u0131ndaki \u00e7eki\u015fmeli ortamlarda bile santimetre seviyesinde do\u011frulu\u011fu korumas\u0131n\u0131 sa\u011flar.<\/strong><\/p>\n\n\n\n \u00d6nerilen \u00e7ok bantl\u0131, RTK destekli GNSS CRPA<\/strong> mimarisi, harici \u00e7ok bantl\u0131 RTK GNSS al\u0131c\u0131lar\u0131yla uyumlulu\u011fu korurken L1, L2 ve L5<\/strong> GNSS frekans bantlar\u0131nda ba\u011f\u0131ms\u0131z uzamsal giri\u015fim bast\u0131rma sa\u011flar. Al\u0131nan sinyallere banda \u00f6zg\u00fc ba\u011f\u0131ms\u0131z CRPA i\u015fleme uygulan\u0131r ve giri\u015fimden ar\u0131nd\u0131r\u0131lm\u0131\u015f RF \u00e7\u0131k\u0131\u015flar\u0131, GNSS konumlama i\u00e7in tek bir \u00e7ok bantl\u0131 sinyalde birle\u015ftirilir.<\/p>\n\n\n\n RF ve dijital al\u0131m zincirleri, d\u00fc\u015f\u00fck grup gecikmesi de\u011fi\u015fimi ve y\u00fcksek do\u011frusall\u0131k sa\u011flayacak \u015fekilde tasarlanm\u0131\u015ft\u0131r. B\u00f6ylece al\u0131m ve uzamsal filtreleme s\u0131ras\u0131nda al\u0131nan dalga bi\u00e7imindeki bozulma en aza indirilir.<\/p>\n\n\n\n Giri\u015fim alt\u0131nda anten faz yan\u0131t\u0131n\u0131n kararl\u0131 tutulmas\u0131; hassas kod ve ta\u015f\u0131y\u0131c\u0131 faz takibi, uzun koherent entegrasyon ve \u00e7ift frekansl\u0131 iyonosferik d\u00fczeltme gibi geli\u015fmi\u015f GNSS i\u015fleme tekniklerinden yararlanan al\u0131c\u0131lar i\u00e7in \u00f6zellikle \u00f6nemlidir. \u00c7oklu tak\u0131my\u0131ld\u0131z al\u0131m\u0131, uzamsal giri\u015fim bast\u0131rma ve ta\u015f\u0131y\u0131c\u0131 faz korumas\u0131n\u0131n<\/strong> bu birle\u015fimi, CRPA mimarisinin modern, santimetre seviyesinde y\u00fcksek do\u011fruluklu RTK konumlamay\u0131 desteklemesini sa\u011flar.<\/p>\n\n\n\n Mimari iki farkl\u0131 \u00e7ok bantl\u0131 konfig\u00fcrasyonda sunulmaktad\u0131r:<\/p>\n\n\n\n HEDGE-8016-C200: 8+8 \u00c7ok Bantl\u0131 CRPA<\/strong> Y\u00fcksek dereceli uzamsal null olu\u015fturma ve yo\u011fun giri\u015fim ortamlar\u0131 i\u00e7in optimize edilmi\u015ftir.<\/p>\n\n\n\n HEDGE-8016-S130: 8+4+4 \u00c7ok Bantl\u0131 CRPA<\/strong> Her iki geni\u015f bantl\u0131 GNSS band\u0131 (L2 ve L5) dahil olmak \u00fczere \u00fc\u00e7 bantta da ba\u011f\u0131ms\u0131z uyarlanabilir uzamsal i\u015fleme.<\/p>\n\n\n\n RTK, santimetre seviyesinde konum do\u011frulu\u011fu<\/strong> elde etmek i\u00e7in bir referans istasyonundan ve bir gezici al\u0131c\u0131dan (rover) al\u0131nan e\u015f zamanl\u0131 GNSS g\u00f6zlemlerini kullanan, ta\u015f\u0131y\u0131c\u0131 faza dayal\u0131 bir g\u00f6reli konumlama tekni\u011fidir<\/strong>.<\/p>\n\n\n\n RTK’n\u0131n temel avantaj\u0131, GNSS ta\u015f\u0131y\u0131c\u0131 faz g\u00f6zleminin<\/strong> y\u00fcksek hassasiyetinden gelir. GNSS al\u0131c\u0131s\u0131 i\u00e7inde gelen uydu ta\u015f\u0131y\u0131c\u0131s\u0131, genellikle Costas d\u00f6ng\u00fcl\u00fc PLL olarak uygulanan bir ta\u015f\u0131y\u0131c\u0131 takip d\u00f6ng\u00fcs\u00fc ile izlenir. Takip d\u00f6ng\u00fcs\u00fc, al\u0131nan ta\u015f\u0131y\u0131c\u0131n\u0131n faz\u0131n\u0131 al\u0131c\u0131n\u0131n yerel osilat\u00f6r\u00fcne g\u00f6re s\u00fcrekli olarak kestirir ve hassas bir ta\u015f\u0131y\u0131c\u0131 faz \u00f6l\u00e7\u00fcm\u00fc \u00fcretir.<\/p>\n\n\n\n Burada \u00f6nemli bir ayr\u0131m vard\u0131r: PLL, tam say\u0131 belirsizli\u011fini<\/strong> do\u011frudan belirlemez. Ta\u015f\u0131y\u0131c\u0131 takip d\u00f6ng\u00fcs\u00fc, kesirli faz bile\u015feni de dahil olmak \u00fczere al\u0131nan ta\u015f\u0131y\u0131c\u0131 faz\u0131n son derece hassas bir kestirimini sa\u011flar. Ancak uydu ile al\u0131c\u0131 aras\u0131ndaki tam ta\u015f\u0131y\u0131c\u0131 \u00e7evrimlerinin mutlak say\u0131s\u0131 bilinmez.<\/p>\n\n\n\n RTK bu belirsizli\u011fi, hem gezici al\u0131c\u0131dan hem de referans istasyonundan al\u0131nan e\u015f zamanl\u0131 ta\u015f\u0131y\u0131c\u0131 faz g\u00f6zlemlerini kullanarak \u00e7\u00f6zer. G\u00f6zlemlerin gezici ve referans al\u0131c\u0131lar aras\u0131nda fark\u0131 al\u0131narak ortak hata kaynaklar\u0131 elimine edilir veya \u00f6nemli \u00f6l\u00e7\u00fcde azalt\u0131l\u0131r.<\/p>\n\n\n\n Ard\u0131ndan bir tam say\u0131 belirsizli\u011fi \u00e7\u00f6z\u00fcm algoritmas\u0131<\/strong>, en olas\u0131 tam say\u0131 belirsizlik setini kestirir ve do\u011frular. Belirsizlikler ba\u015far\u0131yla \u00e7\u00f6z\u00fcld\u00fc\u011f\u00fcnde navigasyon \u00e7\u00f6z\u00fcm\u00fc RTK-FIXED durumuna<\/strong> ge\u00e7er ve santimetre seviyesinde g\u00f6reli konumlama m\u00fcmk\u00fcn hale gelir.<\/p>\n\n\n\n RTK \u00e7\u00f6z\u00fcm\u00fcn\u00fcn s\u00fcrd\u00fcr\u00fclmesi, belirsizlik \u00e7\u00f6z\u00fcm\u00fcnde kullan\u0131lan ta\u015f\u0131y\u0131c\u0131 faz \u00f6l\u00e7\u00fcmlerinin s\u00fcreklili\u011fine ve tutarl\u0131l\u0131\u011f\u0131na<\/strong> ba\u011fl\u0131d\u0131r. Bu gereksinim, sinyal GNSS al\u0131c\u0131s\u0131na ula\u015fmadan \u00f6nce birden fazla anten ve RF kanal\u0131n\u0131n koherent olarak birle\u015ftirildi\u011fi CRPA tabanl\u0131 GNSS sistemlerinde \u00f6zellikle \u00f6nemlidir.<\/p>\n\n\n\n CRPA tabanl\u0131 giri\u015fim bast\u0131rma, RTK konumlama ile birlikte kullan\u0131ld\u0131\u011f\u0131nda ta\u015f\u0131y\u0131c\u0131 faz b\u00fct\u00fcnl\u00fc\u011f\u00fc kritik bir husustur.<\/p>\n\n\n\n Geleneksel bir CRPA mimarisi, al\u0131nan sinyalleri GNSS al\u0131c\u0131s\u0131na birle\u015fik bir sinyal olarak sunmadan \u00f6nce birden fazla anten eleman\u0131, ba\u011f\u0131ms\u0131z RF kanallar\u0131 ve uyarlanabilir uzamsal i\u015fleme a\u015famalar\u0131ndan ge\u00e7irir.<\/p>\n\n\n\n Geleneksel CRPA uygulamalar\u0131nda, uyarlanabilir h\u00fczme \u015fekillendirmenin yol a\u00e7t\u0131\u011f\u0131 telafi edilmemi\u015f kanallar aras\u0131 faz kaymalar\u0131<\/strong> ve zamanla de\u011fi\u015fen faz yan\u0131tlar\u0131<\/strong>, birle\u015fik GNSS sinyalinin efektif ta\u015f\u0131y\u0131c\u0131 faz\u0131n\u0131 de\u011fi\u015ftirir. Bu de\u011fi\u015fimlerin geleneksel kod tabanl\u0131 konumlama \u00fczerindeki etkisi s\u0131n\u0131rl\u0131 olsa da santimetre seviyesindeki konumlaman\u0131n do\u011frudan kararl\u0131 ta\u015f\u0131y\u0131c\u0131 faz g\u00f6zlemlerine ve g\u00fcvenilir tam say\u0131 belirsizli\u011fi \u00e7\u00f6z\u00fcm\u00fcne<\/strong> dayand\u0131\u011f\u0131 RTK i\u00e7in bunlar\u0131n kontrol alt\u0131nda tutulmas\u0131 kritik \u00f6nem ta\u015f\u0131r.<\/p>\n\n\n\n CRPA’n\u0131n efektif faz yan\u0131t\u0131 zamanla de\u011fi\u015firse, ortaya \u00e7\u0131kan faz de\u011fi\u015fimleri GNSS al\u0131c\u0131s\u0131n\u0131n g\u00f6zlemledi\u011fi ta\u015f\u0131y\u0131c\u0131 faz \u00f6l\u00e7\u00fcmlerinde ek sapmalar<\/strong> olarak g\u00f6r\u00fclebilir. Bu durum, \u00f6zellikle giri\u015fim ortam\u0131 CRPA a\u011f\u0131rl\u0131klar\u0131n\u0131n s\u0131k s\u0131k yeniden uyarlanmas\u0131na neden oldu\u011funda, ta\u015f\u0131y\u0131c\u0131 faz art\u0131klar\u0131n\u0131 art\u0131rabilir, belirsizlik kestirimini bozabilir ve RTK \u00e7\u00f6z\u00fcm\u00fcn\u00fcn s\u00fcreklili\u011fini veya dayan\u0131kl\u0131l\u0131\u011f\u0131n\u0131 azaltabilir.<\/p>\n\n\n\n HEDGE mimarisi bu k\u0131s\u0131t\u0131, null olu\u015fturma i\u015fleme \u00e7ekirde\u011fi i\u00e7inde uygulanan \u00f6zg\u00fcn bir faz stabilizasyon algoritmas\u0131<\/strong> ile giderir. Mimari, bir yandan kar\u0131\u015ft\u0131rmaya kar\u015f\u0131 koruma sa\u011flarken di\u011fer yandan sonraki RTK i\u015flemenin gerektirdi\u011fi ta\u015f\u0131y\u0131c\u0131 faz b\u00fct\u00fcnl\u00fc\u011f\u00fcn\u00fc koruyarak<\/strong>, GNSS al\u0131c\u0131s\u0131n\u0131n ta\u015f\u0131y\u0131c\u0131 faz takibini s\u00fcrd\u00fcrmesini sa\u011flar ve giri\u015fim ortamlar\u0131nda santimetre seviyesinde RTK konumlamay\u0131 destekler.<\/p>\n\n\n\n Test d\u00fczene\u011fi, al\u0131c\u0131 ve CRPA konfig\u00fcrasyonu sabit tutularak HEDGE-8016’n\u0131n \u00e7ok y\u00f6nl\u00fc, uzamsal olarak da\u011f\u0131t\u0131lm\u0131\u015f giri\u015fim ko\u015fullar\u0131 alt\u0131ndaki konumlama performans\u0131n\u0131<\/strong> de\u011ferlendirmek \u00fczere tasarlanm\u0131\u015ft\u0131r. Sim\u00fcle edilen giri\u015fim ortam\u0131nda yedi verici anten, HEDGE-8016’n\u0131n \u00e7evresine yakla\u015f\u0131k 51\u00b0 a\u00e7\u0131sal aral\u0131klarla ve yakla\u015f\u0131k 3 m mesafede yerle\u015ftirilmi\u015ftir.<\/p>\n\n\n\n Deneyler boyunca Test Edilen Cihaz (DUT)<\/strong> \u00fczerindeki ortalama al\u0131nan giri\u015fim g\u00fcc\u00fc yakla\u015f\u0131k \u221232 ile \u221258 dBm<\/strong> aras\u0131nda tutulmu\u015f ve b\u00f6ylece \u00f6nemli bir giri\u015fim ko\u015fullar\u0131 aral\u0131\u011f\u0131 kapsanm\u0131\u015ft\u0131r. Tablo 1’de g\u00f6sterildi\u011fi gibi, bu aral\u0131ktaki giri\u015fim seviyeleri, kar\u0131\u015ft\u0131r\u0131c\u0131 mesafesine ve yay\u0131lan g\u00fcce ba\u011fl\u0131 olarak DUT’ta olu\u015fabilecek seviyeleri temsil etmektedir.<\/p>\n\n\n\n
\n\n\n\n1. Sisteme Genel Bak\u0131\u015f<\/h2>\n\n\n\n
L1 + L5 veya L1 + L2<\/p>\n\n\n\n\n
L1 + L2 + L5<\/p>\n\n\n\n\n
\n\n\n\n2. RTK Konumlama Prensipleri<\/h2>\n\n\n\n
\n\n\n\n3. GNSS CRPA Sistemlerinde Ta\u015f\u0131y\u0131c\u0131 Faz B\u00fct\u00fcnl\u00fc\u011f\u00fc<\/h2>\n\n\n\n
\n\n\n\n4. Giri\u015fim Test D\u00fczene\u011fi ve Ko\u015fullar\u0131<\/h2>\n\n\n\n