How GPS Works

NAVSTAR
NAVigation Satellite Timing And Ranging Operated by Air Force Launch Weight 1800 kg (4000 lb) Orbital radius 20,200 km Orbital Period 12 hours Inclination 55 degrees 24 active, 4 spare 4 planes, 6 satellites per plane

Locating Earthquakes

Locating Earthquakes - Depth

GPS and Seismology

GPS is a lot like locating earthquakes
Use Trilateration Locate an unknown point using distances from three known points Unknown point is actually at intersection of three spheres (in earth, sort of)

One important difference

Earthquakes create signals with different speeds so distance is coded in the signal

The Timing Problem

Travel time = Radius to satellite Distance to NAVSTAR: 14,000-20,000 km Travel time =.05-.07 seconds Have to measure travel time to sub-ppm accuracy How do you know radius if you dont know where you are? Synchronized signals in GPS unit and satellite

Signals in GPS

An Early Pseudo-Random Code

1776 (seed) 17762 = 3154176 15412 = 2374681 37462 = 14032516 40322 = 16257024 62572 = 39150049 91502 = 83722500, etc.

The Clock Problem

Atomic clocks costs thousands of dollars
In the overall budget of a satellite program, thats chump change In the cost of a hand-held GPS unit, not so much

GPS units use inexpensive quartz clocks

Not precise enough One microsecond = 300 meters

Have satellites broadcast time signals?

How do we know the travel time?

Unpredictable timing error introduced

Timing Errors
Satellite positions known precisely and ephemeris (or almanacs) updated regularly If distances r1, r2, r3 are known, we can solve for latitude, longitude, and elevation 3 variables, 3 unknowns If we also have to solve for an unknown timing error, three radii are insufficient

Effect of Timing Error

Correcting Clock Errors

We have four unknowns: latitude, longitude, elevation and error Can solve with four satellite fixes Once error is known, can reset GPS unit clock This is why the magic number of four for GPS signals Full x,y,z solution = 3D

What About Less Than Four?

We have four unknowns: latitude, longitude, elevation and error Three satellites arent enough But we have a fourth sphere: the Earth May have to make assumptions about radius due to oblateness of earth and topography Can get latitude and longitude (2D) and accuracy limited