GPS – the works!

Contents

Introduction
Basic principle: triangulation?
Sources of errors
Improvements
Performance
Thomas Hellström Combinations with INS
Department of Computing Science
Umeå universitet
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Various sizes Areas of usage

• Lokalisation
Delivers position for a Where am I?
moving receiver:
Latitude, Longitude, Altitude • Navigation
How do I move from one place to
Speed and direction of another ?
movement can be estimated
• Tracking
Ho do things and people move?

• Maps
Draw maps

• Time measurements
A very accurate clock

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Thomas Hellström © 2004 Thomas Hellström © 2004

Satellite navigation GPS: Global Positioning System

Developed and owned by the US defense

GPS: dominating 24+ satellites and 5
19 billion USD monitoring stations
GLONASS: Russian Approx. 20 200 km over
Galileo: European, ground
civilian, 12 hours orbital time
26 billion SEK Error (95% confidence interval):
15 meters (3000 SEK) down to 20 mm
(200 KSEK)
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Thomas Hellström © 2004 Thomas Hellström © 2004

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 ”Triangulation” (trilateration) 1: time-of-flight ∆t

Radio signals are transmitted from The satellite transmits ”Pseudo Random Codes” PRC ∆t
Unique for each satellite
the satellites to a receiver on Hard to disturb
ground Time-
Time-of-
of-flight ù67ms (from the surface of the earth)
The time-
time-of-
of-flight The receiver generates the same PRC at the same time
The clocks are assumed to be synchronized
from satellite to the (for the time being)
GPS receiver is Move sideways until the PRC matches in all positions:
measured ?
Receiver PRC generated at
Trilateration gives ∆t time T
us position
Generated PRC generated
T at time T
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Thomas Hellström © 2004 Thomas Hellström © 2004

2: Distance s to satellite 3: ”Triangulation”

Compute the distance to
the satellites using the
time-of-flight : s=v ∆t
Constant speed of light v is
assumed
Thomas Hellström © 2004
s1= s2=
s1 =20100: We are 20100
somewhere on a sphere 20200
s2 =20200: We are
somewhere on a circle
s3 =20200: We are at one of two
? possible points. One of these are
often impossible
At least three satellites are s3=
needed! 20100
Of the launched 24 , at least 5
are always visible at any place on
earth. You have to know exact
position for all satellites!
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Thomas Hellström © 2004

Sources of error Differential GPS (DGPS)

The receiver is not synchronized with the
atomic clock in the satellite
The estimate of the position of the satellite
Speed of light is only constant in vacuum
”Multi path errors” : Ghost signals from
reflected radio waves
”Selective availability (SA)” :Added noise
from department of defense (DoD(DoD))
Not free sight to many enough satellites
Noise in the receiver
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Thomas Hellström © 2004
Eliminates or reduces clock errors,
path errors (ephemeris errors) and
ionospheric effects
Idea: The errors are almost the same
for two receivers close to each other
Place a fixed receiver on a well defined
location.
Compute the error in the position
estimate from the satellites
Calculate backwards to find the time
error
Broadcast it by radio to other receiver
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Thomas Hellström © 2004

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 Differential-
Differential-GPS (DGPS) Differential GPS (DGPS)
Different kinds:
Time errors (and the time National services with reference
derivatives) are computed for stations
ALL satellites: Local with two GPS receivers and
Satellite 1 delay 4.6ns a radio link. Distance <50km.
Satellite 4 delay 3.5ns
…. The error increases by approx.
The table with error corrections is sent 30cm/100km
Radio link
by radio to all DGPS receivers Internet?

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Thomas Hellström © 2004 Thomas Hellström © 2004

INS (Inertial
(Inertial Navigation Systems) INS (Inertial
(Inertial Navigation Systems)

A kind of dead reckoning

Has been used in sub marines, airplanes and missiles
since the 50´s
F is measured by 3 accelerometers Fy
1. F=ma Fx
2. Compute movement by integrating a twice m

y z Fz
Gimbaled system Strapdown INS

x
3. Compute rotation by integrating gyro rotations
Illustration: Greg Welsh University of North Carolina at Chapel Hill, Eric Foxlin InterSense

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Thomas Hellström © 2004 Thomas Hellström © 2004

GPS/INS DGPS/INS (50K$)

INS: Positions from the INS

• Works without contact with the world (”proprioceptive”) The INS is corrected by a DGPS when enough satellites
2 cm real time kinematic (RTK) accuracy
• The systematic error increases over time (”drift”)
L1, L2 Carrier Phase och Code Phase
GPS:
• Works well when it works
Radio link
• Doesn't work at all if the satellites are occluded, and poorly when
”Multi path errors” occurs
• Low systematic error (”bias”)
Sensor fusion with GPS/INS gives security and accuracy!

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Thomas Hellström © 2004 Thomas Hellström © 2004