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ositioning System
1.0
lntroduction
1.1
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Why GPS?
Trying to figure out where you are and where you're going is probably one of man's
oldest pastimes.
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1.2
Navigation and positioning are crucial to so many activities and yet the process has
always been quite cumbersome,
Over the years all kinds of technologies have tried to simplify the task but every one
has had some disadvantage.
Finally, the U.S. Department of Defense decided that they have a super precise form
of worldwide positioning.
The result is the Global Positioning System, a system that's changed navigation
forever.
What is GPS?
The NAVSTAR (Alavigational Satellite 7'iming And Ranging) Global Positioning System
(GPS) is a satellite-based radio positioning and time-transfer system designed, financed,
deployed, and operated by the U.S. Department of Defense. GPS has also demonstrated a
significant benefit to the civilian community who are applying GPS to a rapidly expanding
number of applications.
Global
ositioning System
Figure
1.22
A constellation of 24 satellites
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The relatively high positioning accuracies, from tens of meters down to the millimeter
level.
The number of civilian users is already significantly greater than that of the military users.
However, for the time being the U.S. military still operates several "levers" with which they
control the performance of GPS. Nevertheless, despite the handicap of GPS being a military
system there continues to be tremendous product innovation within the clvilian sector, and it
is ironic that this innovative drive is partly directed to developing technology and procedures
to overcome some of the constraints to GPS performance which have been applied by the
system's military operators.
{.3
GPS is a space based radio positioning system that provides 24 hour three dimensional
position, velocity and time information to suitably equipped users anywhere on the surface of
the earth. GPS involve three major components, the satellites, the ground based control of
the satellites and the user. These are often referred to as the Space, Control and User
Segment.
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NAVSTAR
Global
ositioning System
1.3.2 ControlSegment
The Control Segment consists of a system of tracking stations located around the world.
These ground facilities carrying out the task of satellite tracking, orbit computations,
telemetry and supervision necessary for the daily control of the space segment.
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used for navigation, positioning, time dissemination, and other research. Navigation in three
dimensions is the primary function of GPS. Navigation receivers are made for aircraft, ships,
ground vehicles, and for hand carrying by individuals.
1.4
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Global
ositioning System
1.5
GPS Applications
GPS technology has matured into a resource that goes far beyond its original design goals.
These days scientists, sportsmen, farmers, soldiers, pilots, surveyors, hikers, delivery
drivers, sailors, dispatchers, lumberjacks, fire-fighters, and people from many other walks of
life are using GPS in ways that make their work more productive, safer, and sometimes even
easier.
These applications fall into five broad categories.
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Location
Navigation
Tracking
Mapping
Timing
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Global
P os
itioning System
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applications in agriculture, mass transit, urban delivery, public safety, and vessel and vehicle
tracking. So it's no surprise that police, ambulance, and fire departments are adopting
systems like GPS-based AVL (Automatic Vehicle Location). Manage to pinpoint both the
location of the emergency and the location of the nearest response vehicle on a computer
map. With this kind of clear visual picture of the situation, dispatchers can react immediately
and confidently.
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Global
ositioning System
such as: mountains, rivers, forests, landforms, roads, routes, city streets, endangered
animals, precious minerals, disasters, trash, archeological treasures and all sorts of
resources. GPS is mapping the world.
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1.6
Methods of observations
The ditferent methods of observations with GPS include absolute positioning, relative
positioning in translocation mode, relative positioning using differential GPS technique, and
kinematic GPS surveying technique.
CGT, SUG, FSPU,UiTM Shah Alam
Global
ositioning System
1. Absolute Positioning:
The pseudo ranges (the satellite antenna range, contaminated by the receiver block
bias) from minimum four satellites are observed at the given epoch, from which the
four unknown parameters - the 3D position of the antenna (X, Y, Z) and the receiver
clock error can be determined. The accuracy of the position obtained from this
method depends upon the accuracy of the time and position messages received from
the satellites. With the selective availability operational, the absolute positioning in
realtime is limited to about 100 meters, which can be improved to a few2 meters
level by using post-processed satellite orbit information in the post-processing mode.
The accuracy of absolute positioning with GPS is limited mainly due to the high orbit
of the satellite.
2.
Relative Positioning:
ln the translocation mode with tow or more GPS receivers observing the same
satellites simultaneously many common errors, including the major effect of SA
(selective availability) get cancelled out, yielding the relative positions of the two or
more stations with a very high accuracy. The length of the base line between two
stations, and also the absolute position of one of the stations, if accurate position of
the other station is known, can be obtained to cm-level accuracy, using carrier phase
observations. ln differencing mode of observation, using single difference (difference
of carrier phase observations from two receivers to the same satellite), double
difference (between observations from two receivers to two satellites) and triple
difference (difference of double differences over two time epochs), effect of many
errors such as receiver and satellite clock errors etc., can be minimized.
Use of dual frequency observations (both L1 and L2 frequencies) eliminates the
major part of ionosphere effect on the signal, thus improving the accuracy of
positioning. With accurate satellite orbit and use of such refined procedures cm-level
accuracy is possible even in regional and global scale surveys.
3.
Differential GPS:
A modification of the relative positioning method is the differential GPS technique,
where one of the two receivers can receive the messages given by this transmitter.
The transmitting receiver is kept fixed on a point whose location is known to high
degree of accuracy. Based upon this position. The receiver computes observations to
the range/phase observations from GPS observations. Such as system is suited for
applications such as vehicle guidance system, location-fishing boats close to the
seashore, etc. The limited range of the transmitter restricts the use of such system to
few km.
4.
Kinematic GPS:
ln the kinematic GPS technique, one of the receivers is in relative motion with
respect to the other receiver having been mounted either on a vehicle or ship or
aircraft. This technique has a number of important applications, including ship and
aircraft navigation, photogrammetric survey control etc.
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Global
ositioning System
Normally, regional surveys are conducted with respect to a local datum. In Malaysia, the
Modified Everest Ellipsoid is in used and the satellite positioning system provides ground
coordinates of any point in an earth-centered coordinate system. As for NAVSTAR GPS, the
worldwide datum of WGS 84 is being used.
ln order to relate the coordinates determined by GPS to the local geodetic datum, the
coordinate transformations need to be done. The transformations which are often to be
performed in geodetic computations are:
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The most commonly used coordinate system today is the latitude, longitude, and height
system. The Prime Meridian and the Equator are the reference planes used to define latitude
and longitude.
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Global
ositioning System
Ge*detic Height,rf
Point P
Ellipsoid
Surface
?oint P
Geodetic
Longitnde af
Point P
The geodetic height (h) at a point is the distance from the reference ellipsoid to the
point in a direction normal to the ellipsoid.
1.7.3
ECEF
X,Y,Z
Earth Centered, Earth Fixed Cartesian coordinates are also used to define threedimensional positions. Earth centered, earth-fixed, X, Y, and Z, Cartesian coordinates (XYZ)
define three-dimensional positions with respect to the center of mass of the reference
ellipsoid.
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Selection of the right GPS receiver for a particular project is critical to its success.
1.8.2 Receiverapplications
Land applications include surveying, geodesy, resource
mapping,
navigation, survey
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1.8.4
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Power requirements.
1.8.5 Cost.
Cost is a major factor in determining the type of receiver the user can purchase. Receiver
hardware and software costs arc a function of development costs, High end receivers are
upwards of RM 60,000 down to a low end receiver of RM 1,500.
1.9
1.9.2
Fast Static.
Minimum # of Sv's: 4
Min.Observation Time:2 - 20 minutes
Precision: 1 cm +/- 1 ppm
1.9.3 Kinematic.
Minimum # of Sv's: 4
Min.Observation Time: 2 epochs or 2 minute recommended
Precision: 2 cm +l- 2 ppm
Other Characteristics: Baseline limits about 15 km.
Rover must be initialized if it loses satellite at
any time..
1.9.4
RTK.
Sv's
Minimum # of
:4
Min.Observation Time: 2 epoch or 2 minute recommended
Precision: 2 cm +l- 2 ppm
Other Characteristics: Baseline limits about 10 km.
Requires a radio link. Rover must be initialized if
it loses satellite lock at any time.
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CGT, SUG, FSPU,UiTM Shah Alam
Global
P os
1.9.5
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DGPS.
Minimum # of Sv's : 2D fix:3, 3D fix. 4
Min.Observation Time: 2 fixes/sec
Precision: 1m-3mRMS
Other Characteristics: Requires a radio link.
Extended navigation features requires the
Navigational software.
1.9.6 Pointpositioning.
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1.10 References
\-
Sistem
Penentududukan Sejagat (GPS) Bagi Ukuran Kawalan Dan Ukuran Kadaster.
Pekeliling Ketua Pengarah Ukur Dan Pemetaan, Bil. 6/1999. Kuala Lumpur.
Leick, A. 1995. GPS Safe//de Surueying,2nd edition, John Wiley & Sons, lnc., New
York. 560 pages.
Surveying,
Monograph
Wales,
17,
Australia.
Sickfe, J.V. 2001. GPS for Land Surveyors, 2nd Edition, Taylor & Francis, New
York.284 pages.
U.S. Army. 1998. Using Differential GPS Positioning For Elevation Determination,
Engin.eering Manual, U. S. Army Corps of Engineers, Washington, D.C 20314-
Wells, D.E., Beck, N., Delikaraoglou, D., Kleusberg, A., Krakiwsky, E. J.,
Lachapelle, G., Langley, R. B., Nakiboglu, M., Schwarz, K. P., Tranquilla, J. M.
and Vanicek, P. 1987. Guide fo GPS Positioning. Fredericton, New Brunswick :
Canadian GPS Associates.
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