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Contents
GPS modernization
Aug-11
Feb-11
Aug-10
Feb-10
Aug-09
Feb-09
Aug-08
30
28
26
24
22
20
18
16
14
12
10
8
6
4
2
0
Feb-08
Aug-07
Feb-07
Aug-06
Feb-06
Aug-05
Feb-05
Aug-04
Feb-04
Aug-03
Feb-03
Number of satellites
Orbits
Frequency bands
Orbital planes
E1
1587-1591 MHz
Satellites/plane
10
E2
1559-1563 MHz
E4
1254-1258 MHz
Inclination
E5
1164-1214 MHz
E6
1260-1300 MHz
56
Satellite constellation
GPS
Galileo
UpperL-band
L-Band
Upper
ARNS
ARNS
RNSS*
E5
:1
16
412
14
M
H
z
RNSS
RNSS
GPS L1
Galileo E1
Glonass
GPS L2 G2
Galileo C1
Galileo E2
Galileo E6
Galileo E4
GPS L5
RNSS*
ARNS
Glonass
G2
E4
:1
25
4E6
: 1 125
8
26
M
0H
13
z
0
E2
0
M
:1
H
55
z
915
E1
63
:1
M
58
H
7z
15
91
C
M
1:
H
z
50
10
-5
03
0
M
H
z
Galileo E3
RNSS
C-band
C-Band
1160
L5 (E5a)
E5b
1176.45
1202.25
1170
1180
1190
1200
1210
1220
L2
E6
1227.60
1210
1220
E2
1230
L1
f [MHz]
1278.75
1240
1250
1260
1270
1280
1290
E1
GPS civil signal
1575.42
1570
1580
1590
f [MHz]
1300
f [MHz]
Galileo schedule
Official go-ahead on 26 March 2002
First experimental satellite in 2004
(Galileo System Test Bed)
First four operational satellites in 2005-2006
Full operational constellation in 2008
23:00:00.0
22:00:00.0
21:00:00.0
20:00:00.0
19:00:00.0
18:00:00.0
17:00:00.0
16:00:00.0
15:00:00.0
14:00:00.0
13:00:00.0
12:00:00.0
11:00:00.0
10:00:00.0
9:00:00.0
8:00:00.0
7:00:00.0
6:00:00.0
5:00:00.0
4:00:00.0
3:00:00.0
2:00:00.0
21
1:00:00.0
0:00:00.0
Number of satellites
Visible satellites
Minimum elevation: 10
24
GPS
Galileo
Total
18
15
12
Unintentional interference
Radio-frequency interference (RFI)
GPS testing
Ionosphere (solar maximum)
Spectrum congestion
Jamming
Characteristics
Simple, 1 watt: 10/85 km (loss/no acquisition)
GPS-like, 1 watt: 1000 km (no acquisition)
Jammers
USA, 1 Watt
Miniature L1 jammer
Sources of interference
Technical enthusiasts
Students or people that cannot withstand the challenge
Criminals
Car or cargo theft, free access to toll-roads
Terrorists
Block airports, rescue and police
Military
Jam potential enemy to deny use of GPS, Galileo and Glonass signals
I n t e g r aGPS
ted
Galileo
GPS/Galileo
LAMBDA method
Estimate
integer
ambiguities
Fixed solution
Estimate
position
(ambiguities
fixed)
Least squares
Success-rate
Ionosphere models
Ionosphere float (long baseline)
New ionosphere parameter for each satellite at each observation
epoch (equivalent to eliminating ionosphere)
GPS
Galileo
L1
1575.420 MHz
L2
1227.600 MHz
E5b
1202.025 MHz
L5
1176.450 MHz
E6
1278.750 MHz
Design parameters
Computation of instantaneous success-rates
(single-epoch ambiguity resolution)
Location:
Date:
11 July 2002
Minimum elevation:
10
0.30
E2-L1-E1
0.15
L2
0.30
E5b
0.10
L5
0.10
E6
0.10
Interpretation of results
Succes-rate
is 57% or
100%
higher in 95% percent of
all cases
100%
100%
80%
57%
60%
44%
40%
20%
3%
0%
0%
Dual-frequency
Long baseline
Triple-frequency
Medium baseline
Short baseline
GPS only
100%
100%
100%
80%
57%
60%
44%
40%
20%
3%
0%
0%
Dual-frequency
Long baseline
Triple-frequency
Medium baseline
Short baseline
100%
100%
92%
87%
80%
60%
45%
40%
20%
3%
0%
Dual-frequency
Long baseline
Triple-frequency
Medium baseline
Short baseline
0.30
E2-L1-E1
0.15
L5
0.10
E5b
0.10
High precision
L1
0.30
E2-L1-E1
0.10
L5
0.05
E5b
0.05
100%
100%
94%
91%
80%
59%
60%
40%
27%
20%
0%
Standard precision
Long baseline
High precision
Medium baseline
Short baseline
High precision
Standard precision
Satellites
23:00:00.0
22:00:00.0
21:00:00.0
20:00:00.0
19:00:00.0
18:00:00.0
17:00:00.0
16:00:00.0
15:00:00.0
14:00:00.0
13:00:00.0
12:00:00.0
11:00:00.0
10:00:00.0
9:00:00.0
8:00:00.0
7:00:00.0
6:00:00.0
5:00:00.0
4:00:00.0
3:00:00.0
2:00:00.0
1:00:00.0
0:00:00.0
Number of epochs
100
80
70
60
15
50
40
10
30
20
5
10
0
0
Number of satellites
90
20
Ionosphere
Multipath
Ionosphere
Sunspots
2001
1989
1977
1965
1953
1941
1929
1917
1905
1893
1881
1869
1857
1845
1833
1821
1809
1797
1785
1773
1761
1749
Sunspot number
250
200
150
100
50
Effects of ionosphere
Measurement set-up
Two permanent GPS receivers, 4 km apart
(short baseline) in The Netherlands (52 N)
Known baseline, continuously monitored
Analysis procedure
Compute daily percentage of height errors
greater than 5 cm for period of two months
Correlate this percentage to daily variations
in Total Electron Content (TEC)
Periodic biases in
Observations
Estimated positions (if same satellites are used)
Biases repeat every 23h56m
Multipath in observations
GPS SV06, L2-code
Height errors
2nd day shifted 4 minutes
Ideal world
Centimeter accuracy in real-time, provided
carrier ambiguities can be resolved to their
correct integer values
Advantages
Higher reliability
Longer baselines
Less reference stations
Fugro Starfix HP
Last 30 minutes
Conclusions
Modernized GPS and future Galileo offer
unprecedented accuracy and availability
Both systems are vulnerable to intentional and
unintentional interference
Error sources (ionosphere, multipath) remain
major concern
Network-based RTK will result in longer baseline
lengths and less reference stations