目前一般民用衛星定位裝置，例如：手機內建GPS定位晶片，其精度皆在公尺以上，此類產品不符測量與監控等應用需求。若需提高精度，就需要使用到GNSS RTK技術。因此，基於妥善率與成本的考量，本研究將聚焦在使用單頻的商用晶片大幅降低成本，同時使用多星系即時動態定位解算程式解決單頻單星系RTK妥善率較差的問題，達到低成本、高精度與高妥善率的GNSS RTK架構。
本研究擬運用兩個能夠接收美國GPS、俄羅斯GLONASS以及中國BDS等衛星資料的全球導航衛星系統（Global Navigation Satellite System，GNSS）接收器。一個搭配串列連網伺服器傳送資料當作參考站，另一個則是自行設計開發之「GNSS高精度即時定位裝置」作為待測站，將兩站的衛星載波相位觀測資料傳回伺服器端經過由國立海洋大學通訊與導航學系開發之「即時動態定位解算程式」運算後，得到待測站的座標，其定位精度可達公分等級。另外可藉由手機APP透過3G/4G網路，即時顯示待測站位置。透過位置資訊的統整進行綜合運用，例如：危險邊坡監控、大樓和橋梁位移監控等。

Currently the ordinary civil satellite positioning device such as mobile built-in GPS positioning clip cannot meet the application requirements such as measurement and monitoring due to its meter-above accuracy. GNSS RTK technology should be applied to improve the accuracy.
Therefore, considering the capability and cost, the study is to focus on the construction of the overall architecture of single frequency and GNSS RTK. Commercial single frequency chip was used to achieve much lower cost. Meanwhile, GNSS real time kinematic positioning solvers were developed to solve the capability problem of single frequency RTK. As a result, the goal of low cost, high accuracy and high capability was achieved.
In this study, two Global Navigation Satellite System (GNSS) receivers which can receive Satellite data from the GPS, GLONASS and Beidou were employed. One served as a reference station with serial network server to Ethernet server for transmitting data, and the other was taken for an rover station with self-designed and developed GNSS high-precision real time kinematic device for GNSS satellite data. Then, the satellite carrier phase observation data were transmitted to the server and the coordinates of observation station were achieved in centimeter-level positioning accuracy by the calculation of　Real　Time Kinematic system, which is developed with National Taiwan Ocean University Department of Communication, Navigation and Control Engineering. In addition, a real-time moving point location can be displayed on the mobile APP with 3G/4G network. Therefore, comprehensive applications can be operated with the help of position information, such as monitoring of dangerous slope, building displacement, bridge displacement and so on.

摘要 i
Abstract ii
目 錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1-1 前言 1
1-2 研究動機 2
1-3 研究目的 3
1-4 研究方法 4
1-5 論文架構 4
第二章 GNSS全球導航衛星系統 5
2-1 GPS美國全球定位系統 6
2-2北斗衛星導航系統 8
2-3 GNSS定位誤差來源 9
2-4 GNSS 即時動態定位技術 11
第三章 全球衛星即時動態定位系統實現 12
3-1 待測站 13
3-1-1 BT-290高精度測量型天線 14
3-1-2 GNSS接收器電路設計 16
3-1-3 通訊模組：MediaTek Linkit One韌體設計 18
3-1-4 行動裝置之APP應用程式設計 20
3-1-5 GNSS高精度即時定位裝置 26
3-2 參考站 29
3-2-1 Advantech-ADAM-4571L連網伺服器 29
3-3 解算伺服器 32
第四章 實驗與結果 38
4-1 固定點重複定位實驗 39
4-1-1 極短基線固定點重複定位測試 43
4-1-2 短基線固定點重複定位測試 45
4-1-3參考站嚴重遮蔽重複定位測試 48
4-2 移動點定位實驗 50
4-2-1 待測站極小幅度來回位移實驗 50
4-2-2 待測站小幅度之固定軌跡測試 51
4-2-3 全球衛星即時動態定位系統與手機內建定位比較圖 53
4-3隔震建築監控實驗 54
第五章 結論 57
5-1 結果與討論 57
5-2 未來展望 58
參考文獻 59

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