Introduction to Global

Positioning Systems (GPS)

Er. Nuli Namassivaya
Associate Prof., ECE Dept.,
MVSR Engg. College, Nadergul, Hyd.
Email : nnamassivaya@rediffmail.com
Cell : 98666 92214
1

Navigation
Navigation is a art of directing a vehicle such
as an aircraft or a person from one point to
another point
point.
Radio navigation which makes use of
emwaves in fixing the position of an aircraft
has an accuracy far superior compared to
earlier navition methods
methods.

Earlier Navigation methods

Navigation by pilotage
Celestial navigation
N i ti b
Navigation
by d
dead
d reckoning
k i
Some of the Radio Navigation systes are
VOR, ILS, MLS, LORAN, OMEGA, DECCA

If a person wants to know

hi position
his
iti ..
send a signal
g
to sky
y by
y the terminal.
the two satellites receive the signal.
the two satellites send the accurate time when each
received the signal to the ground station
station.
the ground station calculates the longitude and latitude of
the person.
the ground station gets the altitude from a database for
relief map.
the ground station sends the 3D position to satellite.
the satellite transmits the position to the person's terminal.
the terminal could send and receive short messages with
ground
d station.
t ti
4

Transit
First satellite based navigation system
It has six low orbiting satellites and works on
Doppler principle
principle.
Limitations are :
A fix can only be made in two dimensions
Interval between fixing
gp
positions is very
y long
g
and about 1.5 hours on an average
Discontinued in 1996
5

Global Navigation Satellite

S t
System
(GNSS)
GNSS is the standard generic term for satellite navigation
s stems that provide
systems
pro ide a
autonomous
tonomo s geo
geo-spatial
spatial positioning with
ith
global coverage.
A GNSS allow small electronic receivers to determine their location
((longitude,
g
, latitude,, and altitude)) to within a few metres using
g time
signals transmitted along a line of sight by radio from satellites.
Receivers on the ground with a fixed position can also be used to
calculate the precise time as a reference for scientific experiments.
As
A off 2007,
2007 the
th United
U it d St
States
t NAVSTAR Global
Gl b l P
Positioning
iti i S
System
t
(GPS) is the only fully operational GNSS.
The Russian GLONASS is a GNSS in the process of being restored
to full operation.
The European Union's Galileo positioning system is a next
generation GNSS in the initial deployment phase, scheduled to be
operational in 2010.
China
Chi has
h iindicated
di
d iit may expand
d iits regional
i
l Beidou
B id navigation
i i
system into a global system
6

GNSS Classification
GNSS-1 is the first generation system and is the combination of
existing
i ti satellite
t llit navigation
i ti systems
t
(GPS and
d GLONASS)
GLONASS), with
ith
Satellite Based Augmentation Systems (SBAS) or Ground Based
Augmentation Systems (GBAS). In the United States, the
satellite based component
p
is the Wide Area Augmentation
g
System (WAAS), in Europe it is the European Geostationary
Navigation Overlay Service (EGNOS), and in Japan it is the
Multi-Functional Satellite Augmentation System (MSAS). Ground
based augmentation is provided by systems like the Local Area
Augmentation System (LAAS).
GNSS-2 is the second generation of systems that independently
provides a full civilian satellite navigation
p
g
system,
y
, exemplified
p
by
y
the European Galileo positioning system. These systems will
provide the accuracy and integrity monitoring necessary for civil
navigation. This system consists of L1 and L2 frequencies for
civil use and L5 for system integrity
integrity. Development is also in
progress to provide GPS with civil use L2 and L5 frequencies,
7
making it a GNSS-2 system.

Infrastructure of GNSS
Core Satellite navigation systems, currently GPS, Galileo
and
d GLONASS
GLONASS.
Global Satellite Based Augmnetation Systems (SBAS) such
as Omnistar and Stafire.
Regional SBAS including WAAS(US) , EGNOS (EU), MSAT
(Japan) and GAGAN (India).
Regional Satellite Navigation Systems such a QZSS
(
(Japan),
) IRNSS
SS (India)
(
) and Beidou (China).
(C
)
Continental scale Ground Based Augmentaion Systems
(GBAS) for example the Australian GRAS and the US
D
Department
t
t off Transportation
T
t ti National
N ti
l Differential
Diff
ti l GPS
(DGPS) service.
Regional scale GBAS such as CORS networks.
Local GBAS typified by a single GPS reference station
operating Real Time Kinematic (RTK) corrections.
8

Satellite navigation using a

l t and
laptop
d a GPS receiver
i

Current and proposed

satellite
t llit navigation
i ti systems
t

GPS
GLONASS
Galileo Positioning System
Beidou
DORIS
IRNSS
10

GPS
The United States'
States Global Positioning
System (GPS), which as of 2007 is the only
y functional satellite navigation
g
system
y
fully
and is the most utlized satellite navigation
system.
It consists of up to 32 operational satellites
that orbit in six different planes.
The exact number of satellites varies as
satellites are replenished when older ones
are retired.
ti d
11

NAVSTAR GPS Logo

12

GPS Satellite

13

GPS Satellite

14

GLONASS
The formerlyy Soviet, and now Russian, g
global navigation
g
system is called GLONASS. It was a fully functional
navigation constellation but since the collapse of the Soviet
p and is only
yp
partial
Union has fallen into disrepair
operational. It is expected to become fully operational by
2010 with the help of India, who is participating in the
p j
restoration project.
GLONASS satellites transmit two types of signal: standard
precision (SP) and high precision (HP). The SP signal on
L1 has a frequency division multiple access scheme: L1 =
1602 MHz + 0.5625n MHz, where n is a satellite's
frequency channel number (n=0,1,2...).
15

GLONASS LOGO

16

GLONASS Satellite

17

Galileo positioning system

It is named after the Italian astronomer Galileo
Galilei. The Galileo positioning system is referred
to as "Galileo" instead of as the abbreviation
"GPS" to distinguish
g
it from the existing
g United
States system.
Built by the European Satellite Navigation
Industries for the European Union and European
Space Agency (ESA) as an alternative to the
United States operated Global Positioning System
(GPS) and the Russian GLONASS.
GLONASS
Galileo Operating Company, the concession holder
and p
private consortium running
g Galileo,, will have
its main headquarters in Toulouse, France.
18

Galelio
30 spacecraft
orbital altitude: 23 222 km
planes, 56
56 inclination (9 operational
3 orbital planes
satellites and one active spare per orbital plane)
satellite lifetime: >12
12 years
satellite mass: 675 kg
satellite body dimensions: 2
2.7
7mx1
1.2
2mx1
1.1
1m
span of solar arrays: 18.7 m
power of solar arrays: 1500 W (end of life)
19

Galileo Galilei

20

Galileo Logo

21

Galelio positioning system

22

GIOVE-A
GIOVE
A launch
The European Space Agency and the Galileo Joint
U d t ki successfully
Undertaking
f ll llaunched
h d th
the fifirstt Galileo
G lil IIn-Orbit
O bit
Validation Element test satellite, GIOVE-A, on 28 Dec 2005.
GIOVE-A was built by Surrey Satellite Technology Ltd
(SSTL) rather
th th
than European
E
S t llit N
Satellite
Navigation
i ti
Industries. Operation of GIOVE-A ensured that Galieo mets
the frequency-filing allocation and reservation requirements
for the International Telecommunication Union (ITU),
(ITU) a
process that was required to be complete by June of 2006.
GIOVE-B, built by European Satellite Navigation Industries,
has a slightly more advanced payload than GIOVE-A
GIOVE A, and
after technical problems and launch delays is now targeted
for launch at end of 2007.
GIOVE-A2
A2 satellite, to be built by SSTL, will be ready
The GIOVE
for launch in the second half of 2008, to ensure continuous
23
reservation of Galileo frequency use with the ITU.

GIOVE-A
GIOVE
A launch

24

Beidou navigation system

Beidou Navigation System is named after the
Chinese constellation Bidu. Bidu, literally
means "Northern Du", is named for its shape.
Du is a type of traditional Chinese container used
for measuring grain volume.
Bidu is equivalent to Big Dipper in other cultures.
Historically, these set of stars had been used in
navigation to locate the North Star Polaris.
Polaris As
such, Beidou also serves as a metaphor for the
purpose of the satellite navigation system
system.
25

History
Beidou 1A was launched on 30 October 2000, Beidou 1B
followed on 20 December 2000, and Beidou 2A was put
into orbit on 24 May 2003. The latest Beidou navigation
satellite was successfullyy launched on 3 Februaryy 2007.
In September 2003, China joined the Galileo positioning
system project. China will invest 230 million (USD296
million GBP160 million) in Galileo over the next few years
million,
years.
Galileo positioning system is currently not yet operational.
On November 2, 2006, China announced that from 2008
Beidou would offer open service with an accuracy of 10
meters. This sent mixed messages to other investors of the
European Galileo project.
26

Current Technology :
B id 1
Beiduo1
Unlike the GPS, GLONASS, and Galileo
systems, which use intermediate circularorbiting
g satellites, Beidou 1 uses satellites in
geostationary orbit.
This means that the system
y
does not require
q
a large constellation of satellites, but it also
limits the coverage to areas on Earth where
th satellites
the
t llit are visible.
i ibl The
Th area th
thatt can
be serviced is from 70E to 140E, and from
5N
5
N to 55N
55 N.
27

Future Plans :
B id
Beidou-2
2 or C
Compass
The new system will be a constellation of 35 satellites, which
i l d 5 geostationary
include
t ti
orbit
bit (GEO) satellites
t llit and
d 30 medium
di
Earth orbit (MEO) satellites, that will offer complete coverage of
the globe.
There will be two levels of service provided; free service for
those in China, and licensed service for the military.
The free service will have a 10 meter location-tracking accuracy,
will synchronize
y
clocks with an accuracyy of 50 ns, and measure
speeds within 0.2 m/s.
The licensed service will be more accurate than the free service,
can be used for communication, and will supply information
about the system status to the users
users.
The satellite 2A is either a backup satellite for Beidou 1, or a
geostationary orbit satellites for Beidou 2.
Two satellites for Beidou 2 will be launched in early 2007
2007. In the
next few years, China plans to continue experimentation and
28
system setup operations.

DORIS
Doppler Orbitography and
Radio-positioning
p
g Integrated
g
by
y
Satellite (DORIS) is a French
precision system
system.

29

IRNSS (Indian Regional

N i ti
Navigational
lS
Satellite
t llit S
System)
t )
Th
The Indian
I di Regional
R i
l Navigational
N i ti
lS
Satellite
t llit System
S t
(IRNSS)
is a proposed autonomous regional satellite navigation system
to be constructed and controlled by the Indian government.
It is intended to provide an absolute position accuracy of better
than 20 meters throughout India and within a region extending
approximately 1,500 to 2,000 km around it.
A goal of complete Indian control has been stated
stated, with the
space segment, ground segment and user receivers all being
built in India.
The g
government approved
pp
the p
project
j
in May
y 2006,, with the
intention it be implemented within six to seven years.
It is unclear if recent dealings with the Russian government to
restore their GLONASS system will supercede the IRNSS
project
j t or feed
f d additional
dditi
l ttechnical
h i l supportt tto enable
bl itits
completion.
30

Technical Details
The p
proposed
p
system
y
would consist of a
constellation of seven satellites and a support
ground segment.
Three of the satellites in the constellation will be
placed in geostationary orbit and the remaining
four in geosynchronous inclined orbit of 29
relative to the equatorial plane
plane.
Such an arrangement would mean all seven
satellites would have continuous radio visibility with
I di controll stations.
Indian
i
The navigation signals themselves would be
transmitted in the S
S-band
band frequency (2-4
(2 4 GHz) and
broadcast through a phased array antenna to
maintain required coverage and signal strength.31

Technical Details ..
The satellites would weigh
g approximately
pp
y 1,330 kg
g
and their solar panels generate 1,400 watts of
energy.
The ground segment of IRNSS constellation would
consist of a Master Control Center (MCC), ground
stations to track and estimate the satellites' orbits
and ensure the integrity of the network (IRIM)
The MCC would estimate and predict the position
of all IRNSS satellites, calculate integrity, makes
necessary ionospheric
i
h i and
d clock
l k corrections
i
and
d
run the navigation software.
In pursuit of a highly independent system
system, an
Indian standard time infrastructure would also be
32
established.

Introduction to GPS
Uncertainities in p
position and time have been
vexing problems for the mankind for centuries.
WHERE AM I, WHERE ARE YOU, HOW DO I GET
q
THERE & HOW LONG WILL IT TAKE these questions
in navigation and synchronization and any mistake in
answering these often have fatal consequences. The
gy,
GLOBAL POSITIONING SYSTEM ((GPS)) technology,
which emerged in the late 1960s in the US and the
former USSR, answer all the aforesaid questions
accurately.
y
The GPS by the US is a satellite-base navigation
system having a network of 24 satellites with four
satellites distributed in each of six orbits,
orbits each satellite
circling the earth once every 24 hours.
33

How GPS works?

GPS operation is based on triangulation of
satellite signals.
g
Basically,
y it implements
p
the
time-difference-of-arrival concept using precise
satellite position and on-board atomic clocks to
generate
t
navigation
i ti
messages that
th t are
continuously broadcast from each of the GPS
satellites These messages can be received
satellites.
and processed by users anywhere in the world
to determine their p
position and time accurately.
y
34

GPS Architecture
The GPS is a universal positioning or navigation
system that provides 3-D positions accurate to within a
few meters, velocity accurate to 0.03 min/s, and time
accurate to within a few nanosec. It performs three
major
j tasks.
t k
1. Acquire signals from the four geometrically
optimum
p
satellites.
2. Process the satellite data, determine the position of
the receiver and transform that information into a
coordinate system (latitude, longitude and altitude) that
is familiar to the operator.
3. Interface to the user and his vehicle by providing a
means to receive signals from other vehicle systems in
both digital and analogue forms.
35

Satellite Segment
NAVSTAR (NAVigation by Satellite Timing
and Ranging)
Use precise clocks
Very high frequency 1200-1500 Mhz
communication
i ti (t
(travels
l 25 cm iin .000000083
000000083
seconds).
Satellites orbit in 6 orbital plates to provide
complete coverage
Satellites orbit at 10,900 miles (2 orbits per36
day)

GPS Constellation

37

GPS Constellation Contd

24+ satellites
6 planes with 55
i li ti
inclination
Each plane has 4-5
satellites
Broadcasting position
and time info on 2
frequencies
Constellation has
spares
38

How GPS Works ?

4
3

To measure travel
time, GPS needs very
accurate clocks.

In addition to knowing the

distance to a satellite, a user
needs to know the satellites
location.

As the GPS signal travels through

the ionosphere and earths atmosphere,
it gets delayed(error sources).

5
2

To triangulate, GPS measures

distance(pseudorange) using
the travel time of a radio signal.

Triangulation from
satellites is the
basis of the system.

X
39

How does it work?

Position of satellites is known
known.
Satellite provides an electronic almanac to the
receiver

The speed of the radio signal from each

satellite is known
Timing allows the calculation of the distance
f
from
each
h satellite.
t llit
Using triangulation, the position of the
receiver is calculated.
40

How measurements are

possible
ibl
Each satellite sends
information on its location and
the time code is sent
sent.
It sends a code that allows the
measurement of the distance
to the satellite.
If ffour satellites
t llit are visible,
i ibl a
single receiver can measure
l
locations
ti
tto within
ithi 100 meters
t
41
95% of the time.

GPS

42

Triangulation

43

Triangulation (Contd)

S1

S2
R2

R1
R3

S3

Satellite Position
(S1, S2, S3)
Real range
(R1, R2, R3)
44

Ground Track

45

GPS Segments
GPS comprises
p
of three segments.
g
1. Space segment : Consisting of satellite themselves,
transmitting time codes & orbital position information
to the users.
users
2. Control segment : along with master control
stations assumes the overall system
y
performance
p
and accuracy.
3. User segment : Consists the actual electronic
circuitry which receives signals from all the four
circuitry,
satellites, compute the time differences and
determines the position. This can be used by any
l
large
number
b off receivers.
i
46

GPS Configuration
Space S
S
Segment-24
t 24 S
Satellites
t llit
Satellites provide navigation
signal and relay orbital and
clock data.
data
Control Segment
Ground control tracks satellites
and measures and uploads
ephemeris and clock data.
User Segment
User tracks satellite signals,
downloads data, and computes
position,
iti velocity,
l it andd time.
ti
47

Space Segment
24+ satellites

6 planes with 55 inclination

Each plane has 4-5 satellites
Broadcasting position and time info on 2 frequencies
Constellation has spares

Very high orbit

20,200 km
1 revolution in approximately 12 hrs
Travel approx. 7,000mph

Considerations
Accuracy
Survivability
S i bilit
Coverage

48

Control Segment

Run by the US Military

Ground based
U d tto ttrack
Used
k and
d adjust
dj t satellites
t llit
Computes exact orbits (for location)

49

Control Segment
g
Contd.
Monitor and Control
Colorado
Springs

Hawaii

Kwajalein

Ascension
Islands
Diego
Garcia

Master Control Station

Monitor Station
Ground Antenna

50

Control Segment :
M i t i i the
Maintaining
th System
S t

Correct Orbit

Observe

ephemeris
and clock

(5) Monitor Stations

and clock
errors
Create new
navigation message

Falcon AFB

Upload Station
51

User Segment

Units receive transmission from Satellites

Cost between $150 and $15000 (depends on accuracy)
Must be line of sight with satellites
O
Over
$19 Billion
Billi iinvested
t db
by D
DoD
D
Dual Use System Since 1985
(civil & military)
Civilian community was quick to take advantage of the
system
Hundreds of receivers on the market
3 billion in sales, double in 2 years
95% of current users

DoD/DoT
D D/D T Executive
E
ti Board
B d sets
t GPS policy
li
52

GPS Signals

53

Dilution of Precision
Dilution of Precision (DOP) is a measure of the strength of
satellite
t llit geometry
t and
d iis related
l t d tto th
the spacing
i and
d position
iti
of the satellites in the sky.
The final positional accuracy of a point is directly related to
th geometric
the
t i strength
t
th off the
th configuration
fi
ti off satellites
t llit
observed during the survey session.
GPS errors resulting from satellite-constellation geometry
can be expressed in terms of DOP
DOP.
In mathematical terms, DOP is the ratio of the standard
deviation of one coordinate to the measurement accuracy
and is a scalar quantity
quantity.
A low DOP factor is considered good while a high DOP
factor is considered bad.
Different
Diff
t ttypes off dilution
dil ti off precision
i i or DOP can b
be
calculated depending on the dimension.
54

Geometric Dilution of
P
Precision
i i (GDOP)
The main form of DOP used in absolute GPS
positioning is the geometric DOP (GDOP), which is
a measure of accuracy in a three-dimensional
position and time.
p
The relationship between final positional accuracy
in a three-dimensional position and time. The
relationship between final positional accuracy
accuracy,
actual range error, and GDOP can be expressed
as follows.

a = R x GDOP
where a = final positional accuracy and
R = actual range error (UERE)
55

Other DOPs
Positional Dilution of Precision (PDOP) : Positional
Dil i off Precision
Dilution
P i i (PDOP) iis a measure off the
h
accuracy in three-dimensional position. This gives
accuracy degradation in the three-dimensional position.
Mathematically it is defined as

PDOP = [E2 + N2 + U2 ] 1/2 / R

Horizontal Dilution of Precision (HDOP) : This is a
measure of the accuracy in two
two-dimensional
dimensional horizontal
position. Mathematically this can be defined as

HDOP = [E2 + N2 ] 1/2 / R

Vertical Dilution of Precision (VDOP) : VDOP is a
measurement of the accuracy in standard deviation in
vertical height. Mathematically VDOP is defined as

VDOP = u / R
56

Geometric Dilution of
P
Precision
i i
(GDOP)

57

Accuracy

GPS with Selective Availability on: 50 m

GPS with SA off: 25 m
DGPS 1-3
1 3 m tto 1-2
1 2 cm
Better accuracy is achieved by sampling
more points (statistical)

58

Improving Accuracy C
Corrections
ti
Two receivers required - error about the
same at each
Put a receiver over a known location
The difference between know location and
measured
d llocation
ti iis th
the error
Apply this error correction to the moving
receiver to improve accuracy
59