AUG:

23
28 30
SEP: 4 6

Identify your group members;

GPS INTRO Submit on a piece of paper

GPS Use Orientation (pls bring 2 AA batteries /grp)
GPS FIELDWORK
GPS LEC

GPS FIELDWORK

11 13

GPS LEC

EXAM #3

18 20

GIS LEC

GIS LEC

25 27

GIS LEC

GIS LEC

The Earth is now surrounded by:

(as of 23 Aug 2012)

38,751 orbiting satellites

(21,988 are inactive)
http://www.celestrak.com/satcat/boxscore.asp

DAILY BOMBARDMENT
OF DATA FROM SPACE
Turn into

OCT:
2
4

GRP WORK UVLE PASSWORD:

EXAM #4
GRP PRESENTATION

GE1gonzalez_(1)2011

BIG RESPONSIBILITY
FOR S&T PROFESSIONALS
USEFUL INFORMATION
To protect the

GLOBAL ENVIRONMENT

For geo-referencing spatial events to map their distribution at any time.

GPS Receivers
The GPS Satellites

What it is

Introduction
to
NAVSTAR GPS

GPS: Global Positioning System is a worldwide

radio-navigation system formed from a
constellation of 24 satellites and their ground
stations.
Uses the principle of
triangulation and timeof-arrival of signals to
determine the location
of a GPS receiver.

GPS FACTS

History of GPS

Feasibility studies began in 1960s.

Pentagon appropriates funding in 1973.
First satellite launched in 1978.
System declared fully operational in April, 1995.
Cost of maintenance = $750M per year (US DoD)
1982 - Russians developed GLONASS (Global'naya Navigatsionnaya
Sputnikovaya Sistema) fully operational in 2010
2005 - Europe developed GALILEO fully operational in 2012
2006 - India is developing IRNSS (Indian Regional Navigation Satellite
System) fully operational in 2013

Name :
NAVSTAR
Altitude:
12,660 miles (~20,250 km)
Weight:
1,900 lbs (in orbit)
Size:
17ft. (with solar panels)
Orbital period: 12 hours

GPS Facts

Four Basic Information from GPS

of 24 Earth-orbiting satellites
Solar cells power each satellite
Antennas transmit timing information
Operated and maintained by U.S.
Department of Defense

Position and coordinates.

The distance and direction between any two

waypoints, or a position and a waypoint.

Travel progress reports.

Accurate time.

Consists

Control Segment

Three Segments of the GPS

Space Segment

US Space Command

Cape Canaveral
Hawaii
Kwajalein Atoll
Diego Garcia
Ascension
Is.

User Segment
Control Segment
Ground
Antennas
Master Station

Monitor Stations

Master Control Station

Monitor Station

Ground Antenna

Basic Functions of Control/Monitor

Segment
These

stations are the eyes and ears of GPS,

monitoring satellites as they pass overhead by
measuring distances to them every 1.5 seconds

Functions of Control/Monitor
Stations (Contd)
Master

control station estimates parameters

describing satellites' orbit and clock
performance. It also assesses health status of the
satellites and determines if any re-positioning
may be required.

corrected

These data are then smoothed using ionospheric

and meteorological information and sent to the
Master Control Station at Colorado Springs, USA.

The

information are then returned to three

uplink stations (collocated at the Ascension
Island, Diego Garcia and Kwajalein monitor
stations) which eventually transmit the
information to the satellites.

The

ionospheric and meteorological data are

needed to get more accurate delay measurements,
which in turn improve location estimation.

Space Segment

Space Segment

A system of
24 satellites

User Segment

Military.
Search and rescue.
Disaster relief.
Surveying.
Marine, aeronautical and terrestrial navigation.
Remote controlled vehicle and robot guidance.
Satellite positioning and tracking.
Shipping.
Geographic Information Systems (GIS).
Recreation.

The space segment is the satellite constellation

24 satellites with a minimum of 21 operating
98% of the time
6 Orbital planes
Circular orbits
20-200 km above the Earth's surface
11 hours 58 minute orbital period
Visible for approximately 5 hours above the
horizon

How the GPS Works

by triangulation

How the GPS Works

How the GPS Works

You ask someone else where you are.
He/she says, You are 7 km from SM-Marikina.
If you combine this information with the QC Hall information, you
have two circles that cross.

Imagine you are somewhere in Quezon City.

You are TOTALLY lost.
You ask someone, Where am I?
He/she says, You are 5 km from the Quezon City Hall.

Now you know that you must be at one of these two points
if you are 5 km from QC Hall and 7 km from SM-Marikina.
It doesnt really help you. You could be anywhere on a
circle 5 km around the Quezon City Hall.

SM-Marikina
Quezon City Hall

Quezon City Hall

7km

5km

How the GPS Works

5km

How the GPS Works

A third person tells you that you are 4 km from Celebrity Sports.
The 3rd circle will only cross the other circles at one point.

by triangulation

Now you know exactly where you are.

The only place all
these circles cross
is at Melchor Hall!
SM-Marikina
Quezon City Hall

7km

Imagine that QC Hall,

SM-Marikina, and
Celebrity Sports are
Satellites that give
clues about their
respective distance from
the GPS receiver you
are carrying.

Melchor Hall

5km

Celebrity Sports
4km

Position is Based on Time

Distance = velocity x time
Speed of light c

Pseudo Random Noise (PRN) Code

(Not really random but is a precise unique code that identifies a particular satellite)

Signal leaves satellite

at time T

Each satellite
generates its own
unique PRN

Time
Difference

Complex sequence
of 1s and 0s pulses

Satellite PRN
(at time T)

T+t

Signal is picked up by the

receiver at time T + t

(at time T)

Receiver PRN

Distance between satellite and

receiver = t x speed of light

Each receiver
has a database of
all Satellites PRN
Signal matching at the same time that PRN is sent (time T from the Almanac)

What Time is It?

Triangulating Correct Position

NEEDS 4 SATELLITES FOR ACCURACY

Universal Coordinated Time (UTC) = official time of the world

(divides the world into 24 time zones of 1 hour each; 0000 is midnight in Greenwich)
Or Zulu time
(military term)

* UTC - Temps Universel Coordonn

Greenwich Mean Time

(the basis of all time)

or

GPS Time = UTC + 13sec*

3

(all GPS use UTC)

Local Time: AM and PM (adjusted for local time zone)

Military Time = UTC

(military time is simply local time on a 24 hour clock)

4th Satellite
for
ACCURACY

e.g., 1800 means 6pm local time wherever applied

but 1800 UTC is 6pm only in Greenwich
* GPS Time is ahead of UTC by approximately 13 seconds

(leap seconds adjustment)

Signal From One Satellite

Signals From Two Satellites

The receiver is
somewhere on
this sphere.

Three Satellites (2D Positioning)

Triangulating Correct Position

Three Dimensional (3D) Positioning

Triangulation Requirements
To

triangulate, a GPS receiver measures distance

using the travel time of radio signals.

To

measure travel time, GPS receiver needs very

accurate timing.

Along

with distance, receiver needs accurate data

on where the satellites are (geometry) in space.

The

system will also need to correct for any delays

the signal experiences as it travels
through the atmosphere.

Selective Availability (S/A)

Sources of GPS Error

The Defense Department dithered the satellite time

message, reducing position accuracy to some GPS users.

S/A was designed to prevent US enemies from using GPS

against US and its allies.

In May 2000 the Pentagon reduced S/A to zero meters

error.

But S/A could be reactivated at any time by the Pentagon.

Sources of Signal Interference

Standard Positioning Service (SPS ): Civilian Users

Source
Amount of Error
Satellite clocks:
1.5 to 3.6 meters
Orbital errors:
< 1 meter (due to gravitational pull)
Ionosphere (upper):
5.0 to 7.0 meters
Troposphere (lower):
0.5 to 0.7 meters
Receiver noise:
0.3 to 1.5 meters
Multipath:
0.6 to 1.2 meters
Selective Availability
(see notes)
User error:
Up to a kilometer or more
Dilution
Errors are cumulative and increased by PDOP. Position
Of Precision

GPS Satellite Geometry

= ERRORS

* GDOP Geometric Dilution of Precision

Satellite geometry can affect the quality of GPS signals and accuracy of
receiver trilateration (triangulation).

Geometric Dilution of Precision (GDOP) reflects each satellites position

relative to the other satellites being accessed by a receiver; therefore errors.

There are five distinct kinds of DOP : Horizontal-HDOP, Vertical-VDOP,

Position-PDOP, Time-TDOP, General-GDOP.

Position Dilution of Precision (PDOP) is the DOP value most commonly

used in GPS to determine the quality of a receivers position.

It is usually up to the GPS receiver to pick satellites which provide the best
position triangulation.

Some GPS receivers allow DOP to be manipulated by the user.

Earths Atmosphere

Mountains
Forest
Solid Structures

Metal
Electro-magnetic Fields

Ideal Satellite Geometry

N

Good Satellite Geometry

FAR APART FOR BETTER GEOMETRY

Poor Satellite Geometry

Good Satellite Geometry

TOO CLOSE TOGETHER

FAR APART FOR BETTER GEOMETRY

Poor Satellite Geometry

Poor Satellite Geometry

TOO CLOSE TOGETHER

Receiver Errors are Cumulative!

Using GPS Receivers for

Positioning and Navigation

System and other flaws = < 9 meters

User error = +- 1 km

Planning a Navigation Route

How A Receiver Sees Your Route

- satellite

= Waypoint

Start

GPS Navigation Terminologies

- waypoint

GPS Navigation: On the Ground

(constantly being computed & averaged)

Active GOTO
Waypoint

Active GOTO
Waypoint

N (0000)

Desired Track
(DTK) (x)
(CMG) (x)

Bearing = 650
COG = 50
XTE = 1 km

(00)

Bearing = 780
COG = 3500
XTE = .75 km

Bearing = 400
COG = 1040
XTE = .5 km
Tracking (TRK) (x)

Course Made on Ground (CMG)

Active
From
Waypoint

Present
Location
Cross Track Error (XTE)

Location Where GOTO

Was Executed

Course Over Ground (COG) =

Bearing =
Cross Track Error (XTE) =

About Waypoints

On Position Fix

A position is based on real-time satellite tracking.

It is defined by a set of coordinates.
It has no name.
A position represents only an approximation of
the receivers true location.
A position is not static. It changes constantly as
the GPS receiver moves (or due to random errors).
A receiver must be in 2D or 3D mode (at least 3 or
4 satellites acquired) to provide a position fix.
A 3D mode dramatically improves position
accuracy.

A waypoint is defined by coordinates entered into

a GPS receivers memory.
It can be either a saved position fix, or user
entered coordinates.
It can be created for any remote point on earth.

It must have a receiver designated code or

number, or a user supplied name.

Once entered and saved, a waypoint remains

unchanged in the receivers memory until edited
or deleted.

About GPS Clocks

Atomic clocks cost ~ $50,000 - $100,000 very expensive for
everyday consumer use.

How the GPS Works

A third person tells you that you are 4 km from Celebrity Sports.
The 3rd circle will only cross the other circles at one point.
Now you know exactly where you are.

The GPS solution to this problem:

Every satellite contains an expensive atomic clock, but the
receiver itself uses an ordinary quartz clock, which it
constantly resets.
So, the receiver looks at incoming signals from four or more
satellites and gauges its own inaccuracy.
The receiver calculates the necessary adjustment that will
cause the four spheres to intersect at one point
(proportionally incorrect).

Differential GPS

The only place all

these circles cross
is at Melchor Hall!
SM-Marikina
Quezon City Hall

7km

Imagine that QC Hall,

SM-Marikina, and
Celebrity Sports are
Satellites that give
clues about their
respective distance from
the GPS receiver you
are carrying.

Melchor Hall

5km

Celebrity Sports
4km

Real Time Kinematic (RTK) GPS

5units more than the true coordinates

3units less than the

true coordinates

Real-time kinematic Differential GPS (applying

correction during field measurements)
Static Differential GPS - Post-processing (applying
correction after field measurements)

29, 35

54, 98
current reading

Roaming
Receiver

-5, +3
DGPS Receiver

DGPS correction = 54-5 and

98+3

DGPS Base Stn.

True coordinates = 24, 38
Correction = -5, +3

True coordinates of Roaming = 49, 101

NDGPS Ground Stations

Static (Post-processing) Differential GPS

National Differential Global Positioning System

x+5, y-3
x+30, y+60

Roaming
Receiver

Corrections are
applied after fieldwork

DGPS correction = x+(30-5) and

y+(60+3)

DGPS Base Stn

True coordinates =
x+0, y+0
Correction = x-5, y+3

True coordinates = x+25, y+63

Yellow areas show overlap between NDGPS stations. Green areas are little to no coverage.
Topography may also limit some areas of coverage depicted here.

NDGPS Ground Stations

Using GPS Data

National Differential Global Positioning System

A GPS receiver essentially determines the receiver's

position on the Earth.
Once the receiver makes this calculation, it can tell
you the latitude, longitude and altitude of its current
position.

Yellow areas show overlap between NDGPS stations. Green areas are little to no coverage.
Topography may also limit some areas of coverage shown here.

To make the navigation more

user-friendly, most receivers
plug this raw data into map
files stored in memory.

Using GPS Data (Contd)

You can:

use maps stored in the receiver's memory,

connect the receiver to a computer that can hold
more detailed maps in its memory, or
simply buy a detailed map of your area and find your
way using the receiver's latitude and longitude
readouts.
Some receivers let you download detailed maps into memory or
supply detailed maps with plug-in map cartridges.

Using GPS Data (Contd)

A standard

GPS receiver will not only place you

on a map at any particular location, but will also
trace your path across a map as you move.

If

you leave your receiver ON, it can stay in

constant communication with GPS satellites to see
how your location is changing.

This

is what happens if car is

equipped with a GPS.

Satellites

Using GPS Data

With this information and its built-in clock, the receiver
can give you several pieces of valuable information:

How far you've traveled (odometer)

How long you've been traveling (timer)
Your current speed (speedometer)
Your average speed
A "bread crumb" trail showing you exactly
where you have traveled on the map
The estimated time of arrival at your
destination if you maintain your current speed

Wide Area Augmentation System

Geostationary
WAAS satellites

Geostationary directly above equator,

orbits at the same
speed as the earth
- communication satellites (Comsat)
Sun Synchronous passes over a point
on the earth at the same
local solar time
- earth observation satellites (EOS)

How good is WAAS?

GPS Constellation
With Selective Availability
set to zero, and under ideal
conditions, a GPS receiver
without WAAS can achieve
15 meter accuracy most of
the time.*

+-15 meters

+3 meters

Under ideal conditions a

WAAS equipped GPS
receiver can achieve
3 meter accuracy 95% of
the time.*

WAAS Control
Station (West Coast)

WAAS Control
Station (East
Coast)

Local Area System (LAAS)

GPS POSITIONING
Each satellite
continuously transmits
orbital data for the entire
constellation in addition
to timing data and other
information.

* For airplanes, precision depends on good satellite geometry, open sky view, and
no user induced errors.

Position Error
The position reported by the receiver is not absolute and contains
some amount of uncertainty or error.

A GPS receiver's job is to

locate four or more of
these satellites, figure
out the distance to each,
and use this information
to deduce its own
location.

Troposphere

Sources of Signal Errors

Ionosphere and troposphere
delays -

Sources of Signal Errors

Receiver clock errors

Orbital (ephemeris) errors.

Multipath

Sources of Signal Errors

Measure of Accuracy
Dilution of precision (DOP) (low is good)

Number of satellites visible.

Position DOP (PDOP) is commonly used and a value of 6

or less is generally acceptable

Satellite geometry/shading

Error Correction
Averaging multiple GPS fixes
Differential correction or differential GPS (DGPS)

BASE Stn

Configuring a GPS receiver

Configuring a GPS receiver

Coordinate system
Datum
Protocol
Units of measure
Elevation Mask
2D or 3D Mode

Using GPS in the field

The following are some general tips while out in the fields
collecting data:
1. Perform mission planning and testing
2. Get good satellite fix
3. Batteries are fully charge and bring a spare
4. Keep antenna pointed skyward
5. Use position offset technique
6. Capture GPS fixes in 3D mode with PDOP of 6 or less,
7. Always verify your receiver is receiving enough signals,
8. Do not rely solely on GPS!
Bring along a paper map of the area & a compass.