GPS Triangulation Procedure

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 need accurate data on where satellites are in space.

System will also need to correct for any delays the signal experiences as it travels through atmosphere.

Ground Monitor Stations

Falcon AFB Colorado Springs, CO Master Control Monitor Station

Kwajalein Monitor Station Hawaii Monitor Station Ascension Island Monitor Station Diego Garcia Monitor Station

Basic Functions of Monitor Stations

These stations are the eyes and ears of GPS, monitoring satellites as they pass overhead by measuring distances to them every 1.5 seconds This data is then smoothed using ionospheric and meteorological information and sent to Master Control Station at Colorado Springs. The ionospheric and meteorological data is needed to get more accurate delay measurements, which in turn improve location estimation.

Functions of 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. This information is then returned to three uplink stations (collocated at the Ascension Island, Diego Garcia and Kwajalein monitor stations) which transmit the information to satellites.

Space Segment
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

GPS Satellite Orbits

We can obtain updates of GPS satellites at http://www.ngs.noaa.gov/GPS/GPS.html

GPS Satellite Orbits (Contd)

Orbits of GPS satellites need to be updated every once in a while because orbit does not stay circular without adjustments. Adjustments needed because:
Other objects exert gravitational force on each satellite (e.g. sun, moon) Effect of gravity is non-uniform during orbit. Radiation pressure (due to solar radiation). Atmospheric drag Other effects

Interesting Aside on GPS Orbits

When GPS satellites are decommissioned, they are placed on a disposal orbit (outside the operating GPS orbit). Some studies show that satellites in disposal orbits can eventually, perhaps over 20-40 years, encroach into operating constellation.

Aside (Contd)
This is because disposal orbits, while circular initially, become increasingly elliptical, mostly as result of sun-moon gravitational perturbations. Besides intersecting GPS constellation, these satellites eventually could pose a threat to operational satellites in low Earth and geosynchronous orbits

Aside (Contd)

Aside (Contd)
Similar threats posed by other satellite systems. The Russian Glonass constellation, a navigation system similar to GPS, will also experience orbit eccentricity growth and may pose a collision risk to itself and GPS. Glonass, which has about 100 failed satellites within its constellation, is located about 1,000 kilometers (621 miles) lower than GPS and could pose a collision problem in 40 years, the studies show.

Aside (Contd)
Galileo satellites also may pose a threat to GPS. Galileo is Europes own global navigation satellite system. First experimental satellite will be launched in second half of 2005. Galileo will be under civilian control.

Typical GPS Applications

Location - determining a basic position Navigation - getting from one location to another

Tracking - monitoring the movement of people and things.

Mapping - creating maps of the world Timing - bringing precise timing to the world

Third Component of GPS: User Segment

User segment comprises receivers that have been designed to decode signals transmitted from satellites for purposes of determining position, velocity or time. Receiver must perform the following tasks:
select one or more satellites in view acquire GPS signals measure and track signal recover navigational data

 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.

Components of GPS System

Control Segment: five ground stations located on earth. Space Segment: satellite constellation (24 active satellites in space). User Segment: GPS receiver units that receive satellite signals and determine receiver location from them.

Important Terminology
Satellite transmits Ephemeris and Almanac Data to GPS receivers. Ephemeris data contains important information about status of satellite (healthy or unhealthy), current date and time. This part of signal is essential for determining a position. Almanac data tells GPS receiver where each GPS satellite should be at any time throughout day. Each satellite transmits almanac data showing orbital information for that satellite and for every other satellite in the system.

Measuring Time Of Arrival (TOA) in GPS

TOA Concept
GPS uses concept of time of arrival (TOA) of signals to determine user position. This involves measuring time it takes for a signal transmitted by an emitter (satellite) at a known location to reach a user receiver. Time interval is basically signal propagation time.

TOA Concept (Contd)

Time interval (signal propagation time) is multiplied by speed of signal (speed of light) to obtain satellite to receiver distance. By measuring propagation time of signals broadcast from multiple satellites at known locations, receiver can determine its position.

Assuming we have precise clocks, how do we measure signal travel time?

Measuring Distance using a PRC Signal

At a particular time (let's say midnight), the satellite begins transmitting a long, digital pattern called a pseudo-random code (PRC). The receiver begins running the same digital pattern also exactly at midnight. When the satellite's signal reaches the receiver, its transmission of the pattern will lag a bit behind the receiver's playing of the pattern.

Measuring Distance
The length of the delay is equal to the signal's travel time. The receiver multiplies this time by the speed of light to determine how far the signal traveled.

Assuming the signal traveled in a straight line, this is the distance from receiver to satellite.

Synchronizing Clocks
In order to make this measurement, the receiver and satellite both need clocks that can be synchronized down to the nanosecond. Accurate time measurements are required. If we are off by a thousandth of a second, at the speed of light, that translates into almost 200 miles of error.

Synchronizing Clocks (Contd)

To make a satellite positioning system using only synchronized clocks, you would need to have atomic clocks not only on all the satellites, but also in the receiver itself. But atomic clocks cost somewhere between $50,000 and $100,000, which makes them a just a bit too expensive for everyday consumer use. The Global Positioning System has a clever, solution to this problem. Every satellite contains an expensive atomic clock, but the receiver itself uses an ordinary quartz clock, which it constantly resets.

Synchronizing Clocks (Contd)

The Global Positioning System has a clever, effective solution to this problem. Every satellite contains an expensive atomic clock, but the receiver itself uses an ordinary quartz clock, which it constantly resets. In a nutshell, the receiver looks at incoming signals from four or more satellites and gauges its own inaccuracy.

Synchronizing Clocks (Contd)

When you measure the distance to four located satellites, you can draw four spheres that all intersect at one point. Three spheres will intersect even if your numbers are way off, but four spheres will not intersect at one point if you've measured incorrectly. Since the receiver makes all its distance measurements using its own built-in clock, the distances will all be proportionally incorrect.

Synchronizing Clocks (Contd)

The receiver can easily calculate the necessary adjustment that will cause the four spheres to intersect at one point. Based on this, it resets its clock to be in sync with the satellite's atomic clock. The receiver does this constantly whenever it's on, which means it is nearly as accurate as the expensive atomic clocks in the satellites.

Synchronizing Clocks (Contd)

The receiver can easily calculate the necessary adjustment that will cause the four spheres to intersect at one point. Based on this, it resets its clock to be in sync with the satellite's atomic clock. The receiver does this constantly whenever it's on, which means it is nearly as accurate as the expensive atomic clocks in the satellites.

Knowing Satellite Locations

In order to properly synchronize clocks and figure out which PRC signal to listen to, the receiver has to know where the satellites actually are. This isn't particularly difficult because the satellites travel in very high and predictable orbits.

Using Almanac Information

The GPS receiver simply stores an almanac that tells it where every satellite should be at any given time.

Things like the pull of the moon and the sun do change the satellites' orbits very slightly. However, the Department of Defense constantly monitors their exact positions and transmits any adjustments to all GPS receivers as part of the satellites' signals.

2 Types of Errors
Errors can be categorized as intentional and unintentional. Intentional errors: government can and does degrade accuracy of GPS measurements. This is done to prevent hostile forces from using GPS to full accuracy. Policy of inserting inaccuracies in GPS signals is called Selective Ability (SA). SA was single biggest source of inaccuracy in GPS. SA was deactivated in 2000.

Sources of Unintentional Timing Errors

Typical Errors
Source of Error Typical Error in Meters (per satellite) Satellite Clocks Orbit Errors Ionosphere Troposphere Receiver Noise Multipath SA 1.5 2.5 5.0 0.5 0.3 0.6 30

Differential GPS
Technique called differential correction can yield accuracies within 1-5 meters, or even better, with advanced equipment. Differential correction requires a second GPS receiver, a base station, collecting data at a stationary position on a precisely known point. Because physical location of base station is known, a correction factor can be computed by comparing known location with GPS location determined by using satellites.

Improved Offered by Differential GPS

Source Uncorrected With Differential Mostly Removed All Removed All Removed All Removed All Removed Not Removed Not Removed All Removed

Ionosphere 0-30 meters Troposphere 0-30 meters Signal Noise 0-10 meters Orbit Data 1-5 meters Clock Drift 0-1.5 meters Multipath 0-1 meters Receiver Noise ~1 meter SA 0-70 meters

Using GPS Data

A GPS receiver essentially determines the receiver's position on Earth. Once the receiver makes this calculation, it can tell you the latitude, longitude and altitude of its current position. To make the navigation more userfriendly, 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 plugin 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 in cars equipped with GPS.

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 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

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 plugin 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 in cars equipped with GPS.

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 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