GPS, GAGAN & LBS

M.R.Sivaraman
Retd. Scientist
Space Applications Centre
Ahmedabad
 Introduction
• The major inventions of 20th Century, that has changed our way of life
in 21st Century are

1. Global Positioning System (GPS)

2. Satellite Remote Sensing
3. Internet
4. Cellular Phone
5. Micro Processors
6. VLSI Technology

• They have enabled Hand Held Location Based (LBS) Communication

Terminals, that is as much as a Wrist Watch and a Car or a Scooter, for
our existence in this modern Competitive World.

• My talk today will be basically on “Principle of GPS, GAGAN and LBS”

• GPS and GAGAN are basically Satellite Navigation Systems, which

enable position determination
 What Is Navigation ?

• “Navigation” is the process of Planning, Reading and Controlling the movement of a craft or a
vehicle from one place to another.

• The word “Navigate” is derived from Latin roots “navis” meaning “ship” and “agere” meaning “to
move” or “to direct”.

• All navigational techniques involve locating the navigator’s position compared to known locations or
patterns.

• It deals with the art of directing any vehicle in Land, Sea or Space.

• It is characterized by four main aspects viz.

1. Determination of destination
2. Choice of a suitable route
3. Estimation of Course and Speed
4. Regular or continuous monitoring the progress of the vehicle.
 What does a Satellite Navigation System Provide ?

• It provides

1. Position – Latitude, Longitude and Height

2. Velocity – Velocity North, East and Up

3. Time – in UTC (Universal Time Coordinated)

• To any user Receiver in Land, air or sea

• This is often abbreviated as PVT

 Earth Centered Earth Fixed (ECEF) Coordinate System
WGS-84 Parameters
a = 6378137 m,
1/f = 298.257223563
 Categories of Air Navigation

• There are four categories of Air Navigation :

1. Enroute : Encompasses Point to point Navigation, say city to city.

2. Departure : It is the portion of the flight from take off to enroute phase.
3. Approach/Landing : During this phase, the pilot locates the runway,
aligns itself with the centre of the runway and lands.
4. Terminal : It refers to the phase of transition between the enroute and
the approach.

• The RNP requirements during Approach/Landing Phase are most

stringent.

• The Approach/Landing phase is divided into

1. Precision Approach
2. Non Precision Approach
Standard Airport Landing Pattern
 Different Phases of Flight while landing

• Landing generally involve five phases of flight. They are

1. Arrival : Where the pilot navigates to the Initial Approach

Fix (IAF: a navaid or reporting point), and where holding
can take place.

2. Initial Approach : The phase of flight after the IAF, where

the pilot commences the navigation of the aircraft to the
Final Approach Fix (FAF), a position aligned with the
runway, from where a safe controlled descent back
towards the airport can be initiated.

3. Intermediate Approach : An additional phase in more

complex approaches that may be required to navigate to
the FAF.
 Different Phases of Flight while landing

4. Final Approach : Between 4 and 12 Nautical Miles of

straight flight descending at a set rate (usually an angle of
between 2.5 and 6 degrees).

5. Missed Approach : An optional phase; should the

required visual reference for landing not have been
obtained at the end of the final approach, this allows the
pilot to climb the aircraft to a safe altitude and navigate to
a position to hold for weather improvement or from where
another approach can be commenced.
Different stages of Aircraft Landing
 Precision & Non Precision Approach
• Approaches are classified as either precision or nonprecision, depending
on the accuracy and capabilities of the navigation aids (navaids) used.

• Precision approaches utilize both lateral (localizer) and vertical (glideslope)

information. Nonprecision approaches provide lateral course information
only.

• Some of the airports, where the air traffic is dense (where, one flight lands or
takes off at least once every five minutes), Precision Approach Standards is
important to be implemented.

• On the other hand, at airports where the air traffic is not so dense (may be a
few landings and take offs per day), it is enough to implement Non-Precision
Approach Standards.

• As defined by ICAO (International Civil Aviation Organisation), responsible for

implementing Safe Air Navigation, Precision Landing Systems are separated
into three Categories of Operation, Category I, II and III (Cat I, II & III).

• Cat III operations further classified into three viz. Cat IIIA, IIIB, IIIC.
 Definition of Cat I, Cat II & cat III Landings

• Category I operations have decision heights above 200’ with

visibility greater than 800 m.

• Category II operations have decision heights between 200’ and

100’ and at least 300m of runway visual range.

• Category IIIA operations have decision heights between 100’ and

0’with runway visual range of 200m or more.

• Category IIIB operations have decision heights between 50’ and

0’, and runway visual ranges between 200 and 50 m.

• Finally Category IIIC has no limitations on either decision height

(0’) or visibility (0 m).
Dimensions of Tunnels for Cat I, II & III Navigation
 NAVIGATION STANDARDS

• Accuracy : Degree of conformance of an aircraft’s measured

position with its true position

• Integrity : Ability to provide timely warning of Navigation Aid

Failure

• Availability: Probability that the system will meet the

Accuracy & Integrity requirements for a specific phase of a
flight

• Continuity: Probability that a service will continue to be

available for a specified period of time
 Required Aircraft Navigation Performance
Typical Time to Alert
Operation Accuracy Integrity Continuity Availability
Scenario
En Route 3.7 km (H) 1-10-7 /hr 5 min 1-10-4 /hr to 0.99 to
1-10-8 /hr 0.99999
Terminal 0.74 km (H) 1-10-7 /hr 15 sec 1-10-4 /hr to 0.999 to
1-10-8 /hr 0.99999
Initial App., 220 m (H) 1-10-7 /hr 10 sec 1-10-4 /hr to 0.99 to
NPA & Dep. 1-10-8 /hr 0.99999

APV-I 220 m (H) 1-2x10-7 per 10 sec 1-8x10-6 /hr 0.99 to

20 m (V) Approach in any 15 0.99999
sec
APV-II 16 m (H) 1-2x10-7 per 6 sec 1-8x10-6 /hr 0.99 to
& 8 m (V) Approach in any 15 0.99999
CAT I sec
 Cat I, II & III Requirements

Requirements Cat I Cat II Cat III

Vertical Position 7.7 to 4.4 m 2.0 m 2.0 m

Accuracy (200’ to 100’) (110’ to 50’) (100 ’ to 0’)

Integrity 1-(2x10-7)/App. 10-9/App. 10-9/App.

Time to Alert 6s 2s 2s

Continuity 1-(8x10-6)/15 s 1-(2x10-6)/15 s 1-(2x10-6)/15 s

 Major Satellite Navigation Systems

• There are three major Satellite Navigation Systems viz.

1. The Global Positioning System (GPS) – US Department Of

Defense –Declared operational in 1995 – Declared by ICAO,
as a possible alternative for civil aviation.

2. The Global Navigation Satellite System (GLONASS) – The

Russian Ministry Of Defense – Not yet operational.

3. GALILEO – European Civil Navigation Satellite System – Still

to be launched
Major Elements of a Satellite Navigation System
 GPS Space Segment

• Consists of 24 satellites in circular orbits

• In 6 orbital planes equispaced 600 a part
• Period of 12 hours siderial time
• Semimajor axis of 26500 kms
• Four satellites in one plane, unevenly placed
• Eccentricity < 0.02
• Inclination 550
• This constellation allows atleast 4 satellites to be
visible to a user on the earth, anywhere anytime
(typically 6-8 satellites are visible at a time).
Orbital Configuration of GPS
Block IIR Satellite
 GPS Satellite Payload

• The satellite carries an Atomic Clock that has a stability of 10-13 and
it provides precise time and a reference frequency to generate all
signals

• It has a CDMA Transmitter at 157.42 MHz and 1227.6 MHz

(Commonly known as L1 and L2)

• It has a PRN (Pseudorandom Noise Generator) Code generator

that generates two codes viz 1.023 MHz C/A Code and 10.23 MHz
P Code

• It contains a Memory, that stores Orbital Parameters (Commonly

called Navigation Data), uploaded from Control Segment
 Space Segment

• The Navigation Data is computed and transmitted to the satellites

from a ground station, which is a part of the Control Segment,
whenever the satellite passes over the ground station.

• This data is stored by the satellite in its memory and the satellite
retransmits the data valid at the time of transmission on two
frequencies, derived from the atomic clock.

• The satellite also transmits accurate time, derived from the

satellite clock.
 GPS SIGNAL STRUCTURE
Details of signal Primary Secondary
Signal Designation L1 L2
Carrier Frequency 1575.42 x 106 1227.60 x 106
(Hz)
PRN Codes P(Y) =10.23 x 106 & P(Y)=10.23 x 106
(Chips/Sec) C/A=1.023 x 106
Navigation message 50 Hz BPSK 50 Hz BPSK
data modulation
Output Transmitter +11.3 dbW & +14.3 +8.1 dbW
Power dbW
Received Power -160.0 & -163.0 dbW -166.0 dbW
 GPS Signal Structure

• GPS transmits at two frequencies viz. 1575.42 & 1227.6 MHz

(Commonly known as L1 & L2)
• They are coherently selected multiples of a 10.23 MHz master clock,
derived from an atomic standard.
• L1 is bi-phase modulated with a 10.23 MHz P code & 1.023 MHz C/A
code.
• L2 is biphase modulated by 10.23 MHz P code only.
• In fact P code & C/A code are modulo 2 added to navigation data, D,
to form P⊕D & C/A⊕D before biphase modulating the carriers.
• At times, P code is converted to a secure antispoof Y code, P(y) code,
before modulo 2 addition with D.
 GPS Signal Structure

C/A Code
• Meant for civil users
• Short code with a period of 210 -1 = 1023 bits or 1 ms duration at a 1.023 MHz chip
rate
• Short code permits rapid acquisition, since there are only 1023 chip time bins to
search
• Taken from a family of codes known as gold codes
• They are formed by the products of two equal period 1023 bits PN codes.
• The product code is also 1023 bit period.
• It provides good multiple access properties.
 GPS Signal Structure

P Code
• Meant for use by DOD authorised users only
• It is a ± 1 pseudorandom sequence with a clock rate of 10.23 MHz.
• It is a product of two PN codes, X1 & X2. X1 has a period of 1.5 sec. or
15345000 chips and X2 has a period of 15345037 chips or 37 chips
longer.
• The P code has a period of slightly more than 38 weeks.
• In GPS, P code is reset every saturday/sunday midnight, so that the
period is one week.
• The P code is difficult to acquire without acquisition aids, because there
are 15345000 code chip time bins to search.
 GPS Signal Structure

• The modulation by C/A & P code are orthogonal to each other.

• C/A code is meant for peaceful civil use & popularly known as
standard positioning service (SPS).

• P code is meant for DoD authorised users only and popularly

known as precise positioning service (PPS).

• The C/A Code & P code epochs & navigation data are perfectly
synchronised.
 Space Segment

• The PRN code is modulo 2 added to a 50 bit Navigation data

(containing the satellite orbital parameters and satellite clock
correction data) and then the carrier is biphase modulated by the
resultant bit stream.

• The carrier, PRN codes and 50 HZ Navigation data are all well
synchronized to the satellite time (1 Pulse Per Second, 1 PPS,
generated by Satellite Clock).

• This signal contains

1. A pure Carrier
2. A PRN Code
3. Navigation Message or Data (Satellite Orbital
Parameters).

• The Carrier, PRN code and data are perfectly synchronized to the
Atomic Clock onboard.
GPS Satellite Signal Generation
 GPS NAVIGATION DATA

SYMBOL DEFINITION
1. M0 MEAN ANOMALY AT REFERENCE TIME
2. ∆n MEAN MOTION DIFFERENCE FROM COMPUTED VALUE
3. e ECCENTRICITY OF THE ORBIT
4. A SQUARE ROOT OF THE SEMIMAJOR AXIS
5. Ω0 LONGITUDE OF ASCENDING NODE OF THE ORBIT
PLANE AT REFERENCE TIME
6. I0 INCLINATION AT REFERENCE TIME
7. ω ARGUMENT OF PERIGEE
8. Ω DOT RATE OF RIGHT ASCENSION
9. IDOT RATE OF INCLINATION
 GPS NAVIGATION DATA

SYMBOL DEFINITION
10. Cuc AMPLITUDE OF THE COSINE HARMONIC CORRECTION TERM TO
THE ARGUMENT OF LATITUDE
11. Cus AMPLITUDE OF THE SINE HARMONIC CORRECTION TERM TO THE
ARGUMENT OF LATITUDE
12. Crc AMPLITUDE OF THE COSINE HARMONIC CORRECTION TERM TO
THE ORBIT RADIUS
13. Crs AMPLITUDE OF THE SINE HARMONIC CORRECTION TERM TO
THE ORBIT RADIUS
14. Cic AMPLITUDE OF THE COSINE HARMONIC CORRECTION TERM TO
THE INCLINATION
15. Cis AMPLITUDE OF THE SINE HARMONIC CORRECTION TERM TO THE
INCLINATION
16. Toe REFERENCE TIME FOR EPHEMERIS
17. IODE ISSUE OF DATA EPHEMERIS
 Control Segment

• The Control Segment consists of

1. A worldwide network of satellite tracking stations,

2. A Master Control Station which receives the satellite tracking data
from the tracking stations in real time,
3. A Computer Centre collocated with the Master Control Station that
computes the future orbital parameters, including their
perturbations for next 12 hours (satellite ephemeris data).

• The Master Station also has a precise atomic clock (maintaining a

Reference Time), which is used to compare the satellite clocks
and determine their offsets and correction parameters.

• This data is stored and transmitted to the respective satellites by

the Control Segment, whenever that satellite passes over.
GPS Control Segment
 User Segment

• The user Receiver generates a replica of the PRN code,

synchronized to its local clock, which is offset with respect to the
satellite Atomic Clock by say, Δtu.

• The User Receiver matches the PRN Codes received from each
satellite (correlates), with its locally generated replica and
measures the shift in time required by shifting the locally
generated replica to match exactly with the received code.

• Assuming that Radio waves travel with velocity of light (which is

not true due to the presence of Ionosphere and Troposphere)
and by multiplication of time delay by the velocity of light, the
range to the satellite can be determined.

• Since 4 satellites transmit different PRN codes, the 4 ranges

can be determined simultaneously by the Receiver (R1’, R2’,
R3’ and R4’).
PRINCIPLE OF GPS
Principle of Pseudorange Measurements
 Principle of GPS

• Since all the four satellite clocks and the Receiver clock are
offset with respect to a Standard Time Reference and there is
also propagation delay of the signal due to Ionosphere and
Troposphere, this range measured is not the true Geometric
range between the satellite and the user.

• It is more than that, due to additional delay of the signal while

passing through Ionosphere and troposphere.

• Hence this is called Pseudorange.

 GPS GPS GPS GPS

C∆ TS1 C∆ TS2 C∆ TS3 C∆ TS4

R2 R3
R1 R4

USER C∆
Tu
C∆ TA4 C∆ TA1
C∆ TA3
C∆ TA2

PRINCIPLE OF GPS
 Principle of GPS
• Pseudorange (Ri’, I = 1,4), can be written as

Ri’ = Ri + C Δtai + C (Δtu – Δtsi ) (2)

Where
Ri’ = Pseudorange measurement to the ith satellite
Ri = Geometric range to the ith satellite
Δtai = Atmospheric propagation delay (Ionospheric and Tropospheric Propagation
delay)
Δtu = Receiver clock offset with respect to a Standard Time Reference
Δtsi = Satellite clock offset with respect to a Standard Time Reference
C = 3 x 108 m/sec

• The atmospheric Correction Δtai can be applied using Models (as explained
later).
• The Satellite Clock Correction Δtsi can be applied using the Navigation data
received.
• The user clock offset Δtu, is an unknown and thus there are four unknowns viz.
Xu, Yu, Zu and Δtu.
• So range measurements to four satellites are required to solve for four
unknowns.
 Principle of GPS
• If Xsi , Ysi & Zsi are the ith satellite coordinates (i=1,4) & Xu, Yu, Zu are the
user position, then we can write the four observation equations for four
satellites at any time t, as recorded by Receiver Clock as (the satellite
coordinates should be calculated at corrected receiver clock time t,
corrected for signal transit time delay, estimated using the most recent
satellite and receiver coordinates known).
_____________________
• R1’ = √ (Xs1 -Xu)2+(Ys1 -Yu)2+(Zs1 -Zu)2+CΔtu
______________________
• R2’ = √ (Xs2 -Xu)2+(Ys2 -Yu)2+(Zs2 -Zu)2+CΔtu
______________________ (3)
• R3’ = √ (Xs3 -Xu)2+(Ys3 -Yu)2+(Zs3 -Zu)2+CΔtu
______________________
• R4’ = √ (Xs4 -Xu)2+(Ys4 -Yu)2+(Zs4 -Zu)2+CΔtu

• Each one of the four equations above is an equation for a Sphere, with
radius equal to the Pseudorange measurements.

• The four spheres intersect at user location as shown.

Navigation Solution
 Principle of Carrier Phase Measurements
• The ranging accuracy achieved using code correlation is limited.

• Typically the accuracy achieved using C/A code is about 30 m and with
P code is about 3 m.

• The ranging accuracy can be improved to better than 0.5 m, using

Carrier Phase measurements.

• The receiver also has a Phase lock loop, where a locally generated
carrier is locked to the received carrier.

• As soon as the satellite acquisition is done, (the received carrier is

locked to the locally generated carrier), the instantaneous phase (Φ0) is
measured.

• Subsequently, the accumulated carrier (the number of full additional

cycles + fraction of the cycle), N1 and Φ1, N2 and Φ2, etc are measured.
Principle of Carrier Phase measurements
 Principle of Carrier Phase Measurements

GPS

N3+ø3

N2+ø2 Receiver
x
Measures
x phase of
N1+ø1 Range (L) = received
x
(N2+ø2/2π)λ + No signal
ø0 No – Initial Ambiguity Receiver
x
ah Pr ei rr a C

to t1 t2 t3 t4

Time
 Principle of Carrier Phase Measurements

• At the first instant of measurement, the number of full cycles between the satellite
and receiver, N0 cannot be measured and it is known as Integer Ambiguity.

• Then at each subsequent time of measurements, the satellite ranges are given by
(N0+(Φ0/2π))λ, (N1+(Φ1/2π))λ + N0λ, (N2+(Φ2/2π))λ + N0λ, etc, where λ is the
wavelength of the received satellite signal.

• Since the phase measurements can be done to a fraction of a wavelength of the

received satellite signal (the wavelength at 1575.42 MHz is about 19 cm), cm level
accuracy in ranging can be achieved using Carrier Phase measurements, if Integer
Ambiguity can be solved.

• The Integer Ambiguity N0, can be determined using different techniques.

• The Navigation equations using Carrier Phase measurements can be written as

L(Φ) = (N +(Φ/2π))λ + N0 λ = Ri + C Δtai + C (Δtu – Δtsi )

• where N and Φ are the number of full cycles and fraction of the cycle respectively
at any time.
 Principle of P Code Receiver
• In a P code Receiver, a Dual frequency measurement of Pseudorange
measurement can be made.

• The dual frequency measurements (in a P Code Dual Frequency

Receiver), can be used to remove Ionospheric effects.

• Pseudorange measurements at L1 and L2 are given below.

Pi1 = Ri1 + C(dtu –dtis)+dtiiono,1 + dtitropo + dqi1 + dqr,1 (1)
• Where,
• Pi1 – Pseudorange measurement at L1(1575.42 MHz) from ith
satellite
• Ri1 – Geometric distance between ith satellite and Receiver
• C – Velocity of light
• dtis – Clock offset of ith satellite, from GPS Standard Time
• dtu – Receiver clock offset, from GPS reference time
• dtiiono,1 – Ionospheric delay at frequency L1
• dtitropo – Tropospheric delay
• dqi1 – ith satellite transmitter delay at L1
• dqr,1 – Receiver delay at L1
 Principle of P Code Receiver

• Similarly for L2 (1227.6 MHz),

Pi2 = Ri2 + C(dtu –dtis)+dtiiono,2 + dtitropo + dqi2 + dqr,2 (2)

• Where
• Pi2 – Pseudorange measurement at L1(1575.42 MHz) from Ith satellite
• Ri2 – Geometric distance between ith satellite and Receiver
• C – Velocity of light
• dtis – Clock offset of ith satellite, from GPS Standard Time
• dtu – Receiver clock offset, from GPS reference time
• dtiiono,1 – Ionospheric delay at frequency L2
• dtitropo – Tropospheric delay
• dqi1 – ith satellite transmitter delay at L2
 Principle of P Code Receiver

• It can be shown using Appleton-Hartree Equation for Refractive

Index that at GPS Frequencies,

The Ionospheric delay at L1 = dtiiono,1 = 40.3 TEC / L12 and

The Ionospheric delay at L2 = dtiiono,2 = 40.3 TEC / L22

• where TEC is the Total Electron Content in a column of one Sq.

m. along the satellite direction from the Receiver. L1 and L2 are
the transmitter frequencies, 1575.42 and 1227.6 MHz.

• Substituting in equations 1 and 2, we get

Pi1 = Ri1 + C(dtu –dtis) + 40.3 TEC/L12 + dtitropo + dqi1 + dqr,1 (3)
Pi2 = Ri2 + C(dtu –dtis) + 40.3 TEC/L22 + dtitropo + dqi2 + dqr,2 (4)
 Principle of P Code Receiver

• Substracting one equation from the other, we get

Pi1 - Pi2 = 40.3 TEC ((1/L12) – (1/L22)) + (dqi1 + dqr,1 - dqi2 - dqr,2) (5)

• The equation (6) above can be used to determine TEC, Total

Electron Content in a column of one Sq. m. along the satellite
direction from the Receiver, If dual frequency Pseudorange
measurements can be made and the satellite transmitter and
Receiver delays at L1 and L2 are known.

• A Kalman Filter can be used to determine TEC and the Receiver

and Transmitter delays and TEC can be determined to an accuracy
to about 3 TECU (One TECU (TEC Unit) is equal to 1016 Electrons /
m2).

• 1 TECU causes about 0.163 m of delay at L1.

 Principle of P Code Receiver

• Once TEC is determined, using the relation

dtiiono,1 = 40.3 TEC / L12

• the Ionospheric correction at L1 can be applied.

• A similar set of two equations for L1 and L2 can be written for Carrier
Phase measurements and used for improved Ionospheric correction. Thus
dual frequency measurements can be used to correct Ionospheric delay to
an accuracy of about 0.5 m.

• But in practice, a Kalman Filter cannot be implemented in Dual frequency

receivers, to apply Ionospheric delay correction in real time and typical
accuracies, achieved without a Kalman Filter are only about 2m.
 Error in GPS Solution

(Error in GPS Solution) = (Geometry Factor) x

(Pseudorange error Factor) = GDOP X σUERE
 GPS Error Sources
1. Selective Availability :

• The signals transmitted by the GPS satellites can be

degraded to limit the accuracy of the system to 100-300 m, to
the Civilian users (C/A Code Receivers).
• This mode of degraded operation of GPS is called the
Selective Availability (SA).
• The accuracy degradation is accomplished through
manipulation of the Broadcast Ephemeris data (Orbital error
Component) and through dithering of the Satellite Clock
(clock error component).
• The combined magnitude of the two errors is of the order of
30 m (1σ) random.
• This Selective Availability operation of GPS has been
withdrawn now and no more exist in GPS.
 GPS Error Sources

2. Satellite Broadcast Ephemeris Error :

• Satellite Ephemeris errors are differences between the actual

satellite location and the location provided by the Satellite
Broadcast Ephemeris data (Transmitted Navigation Data),
transmitted by the satellite.
• Normally these errors are about 30-50 m and contribute about
3- 4.5 m, as bias error in UERE.

3. Satellite Clock Errors :

• Satellite Clock errors are differences between the actual

satellite clock time and that predicted by the satellite data.
• The magnitude of this error is of the order of 3 m and is
usually a bias error in UERE
 GPS Error Sources

4. Ionospheric Propagation Delay :

• These are the signal propagation delays caused by electrons present

in the region 80 to 1000 kms above earth’s surface known a
Ionosphere.
• The Ionosphere can delay the satellite signals by as much as 30 - 50
m, under the following worst case conditions : during Solar Maximum
Period and Magnetic Storms, at low elevation angles and in the
afternoon.
• An algorithm has been suggested by Klobuchar and the values of the
coefficients used in the algorithms are transmitted by GPS as part of
the Navigation data.
• Single Frequency C/A code GPS receiver correct for Ionospheric
delay using these coefficients and the algorithm suggested by
Klobuchar.
• But this algorithm can cause residual errors in correction of the order
of 50 % and so even after this, Ionospheric error of the order of 25 m
maximum can still remain as bias errors in UERE (User Equivalent
Range Error).
• Dual Frequency transmission can be used to reduce these errors to
less than 2 m
 GPS Error Sources

5. Tropospheric Propagation Delay :

• These are the signal propagation delays caused by the

Neutral atmosphere in the height region 0 to 8 kms above
earth, known as Troposphere.

• While these delays are sometimes as much as 10-15 m, at

low elevation angles, they are quite consistent and
modellable.

• Various models to correct these errors exist but at about 50

elevation angles, the unmodelled actual error will be around
2-3 m as bias error in UERE.
 GPS Error Sources

6. Multipath Propagation Delay :

• Multipath errors are introduced at the Receiver from reflected

GPS signals received by the antenna.

• These vary depending on the types of reflective surfaces

around the Receiver (for example water, Concrete Buildings
etc) and the type of antennas used.

• Typically a C/A code Receiver will experience a Multipath

error of the order of 3 m and this error is usually Random.

• The effect of Multipath can be reduced significantly through

the use of an antenna that will reject reflected signals from
directions below the horizon.
 GPS Error Sources

7. Receiver Noise :

• Modern GPS Receivers are capable of both Pseudorange

and carrier Phase measurements.

• Hence typical errors in Pseudorange measurements are of

the order of 0.5 m.
 GPS ERROR BUDGET
Sr. No.Error Source C/A code (1 σ Error in m) P code

1 Space Satellite Clock 3.0 3.0

stability
Selective Availability 0.0 0.0

Others 1.0 1.0

2 Control Ephemeris Error 4.5 4.5
Others 1.0 1.0
3 User Ionospheric Delay 25.0 2.0
Tropospheric Delay 3.0 3.0

Multipath 3.0 3.0

Receiver Noise 0.5 0.5
UERE 26.0 7.5
Horizontal Accuracy (95%) 80 22.5
Vertical Accuracy (95%) 105 30.0
Types of Receiver and Techniques

• Single Frequency SPS Navigation Rx

• Dual Frequency PPS Rx
• DGPS Rx
• WAAS Rx
• Land Survey Rx
• Timing Rx
• Ionospheric Rx
• Occultation Rx
Land Survey Receiver
 Upper left: a sunken concrete monument (not visible on
photo); Upper right: a reused triangulation pillar; lower
left: survey rivet installed near manhole; lower right: reused
fundamental benchmark

• Benchmarks
GPS Surveying Receivers
GPS Surveying – Relative Positioning
 GPS Land Survey Techniques

1. Rapid Static GPS Surveying :

• Static positioning with short observation times of 5-20 minutes

(vs 1-2 hours) ... giving centimetre accuracies!
• Such a technique is well suited for short range applications such as
control densification and engineering surveys, or any job where
many points need to be surveyed (see Figure below). Unlike the
"kinematic" and "stop & go" techniques there is no need to maintain
lock on the satellites when moving from one station setup to another
 GPS Land Survey Techniques

2. REOCCUPATION GPS SURVEYING TECHNIQUES :

• Centimetre positioning accuracy with two occupations per

site, each for a short static observation period (few minutes) ...

• Also known variously as pseudo-kinematic and pseudo-static

• The field procedure is otherwise similar to the "rapid static" or

conventional static techniques.

• One receiver is located at a known point (the "reference" receiver)

while the second "roving" receiver moves from point to point.

• For example, the roving receiver stops at a site, where it is static

for a short period, and then moves on to the next point.
 GPS Land Survey Techniques

• The roving receiver must revisit the same point one or more hours
later (see Figure below).

• The second occupation is the same as the first: the receiver stops on
the point, is static for 10 or so minutes, and then is off again. (To
increase redundancy, the points may be revisited more than twice.)

• The receiver need not be tracking satellites between the sessions (it
can in fact be switched off), however continuous tracking (no cycle
slips) should be maintained during the on-site observation period.
Field procedure for the "reoccupation" surveying
technique.
 GPS Land Survey Techniques

3. Stop & Go GPS Surveying Techniques :

• This is a true kinematic technique because the receiver
continues to track satellites while it is in motion.
• It is known as the "stop & go" (or semi-kinematic) technique
because the coordinates of the receiver are only of interest
when it is stationary (the "stop" part), but the receiver
continues to function while it is being moved (the "go" part)
from one stationary setup to the next
• The technique is well suited when many points close together
have to be surveyed, and the terrain poses no significant
problems in terms of signal disruption
Stop & Go Technique
 GPS Land Survey Techniques

4. KINEMATIC GPS SURVEYING TECHNIQUES :

• Determine the antenna position while in motion. Very
similar to Stop & Go Technique
 Handheld GPS Receivers

• Several companies now offer small handheld GPS receivers

built with a small number of integrated circuits.

• Some of these ICs are generic ones used in different kinds of

electronic devices, but some of them have been specially
developed for GPS use.

• These application-specific integrated circuits (ASICs) have

significantly reduced the number of components needed to build
GPS receivers and hence their size and power consumption.

• In fact, the chip manufacturers offer the ASICs to other

manufacturers for building standalone GPS receivers or for
embedding a receiver into another product.
Handheld GPS Receivers
GPS/GIS Data Collectors
Hand held GPS Receivers from Trimble, Garmin and Leica
Garmin Forerunner GPS Receiver
Phones with GPS
A Typtcal OEM GPS Receiver Module,
measuring 15X17 mm
 Applications of GNSS in INDIA

1. Remote Sensing

• Establishment of Ground Control Points for

Satellite imagery and aerial photography
corrections

• Preparation of Digital Terrain Maps from

Satellite Based data (Cartography)
 Applications of GNSS in INDIA

2. Satellite Tracking LEO (like IRS) & GEO satellites

• Precise satellite tracking of LEO satellites

used in Remote Sensing

• Satellite Altimetry

• GPS Occultation Studies etc

• Tracking Geo Satellites: NASA’s navigator

 Applications of GNSS in INDIA

3. Time Synchronization for Telecommunication

Network

• Precise Time transmission by atomic clocks

can be used for wireless telecommunication
networks for network management, time
tagging and for synchronization of the many
frequency references
• Maintenance and development of
International time standards
• Time and Frequency calibration of Atomic
clocks
• Electronic Banking, Traffic Light control etc
 Applications of GNSS in INDIA

4. Aerial and Land Survey, Natural Resources Survey

• Real Time Kinematics (RTK) Techniques

• Establishment of Geodetic Control Points
• Navigation for aerial photography
• Survey for Construction of Dams, Bridges,
Roads, Rails.
• Geographic Information System (GIS)
 Applications of GNSS in INDIA

5. Space Research - TEC, Scintillation, Meteorology

• Monitoring Ionospheric behavior (Total

Electron Content and Ionospheric
Scintillation)

• Meteorology (determination of vertical

structure of temperature and water
vapor distribution up to 45-50 kms)

• Monitoring large scale Tectonic

movements for studies in Geodynamics,
glaciology.
 Applications of GNSS in INDIA

6. Disaster Management

• Detection of Natural Disaster like

Land Slides, storms, forest fires etc
and Issue Warning
 Applications of GNSS in INDIA

7. Defense

• Guidance and Control of Cruise

Missiles
• Position location service for Soldiers,
armored vehicles
• Tracking enemy bases and camp
movements
• Nuclear Detonation Detection
• Aircraft and Ship Navigation
 Applications of GNSS in INDIA

8. Civil Aviation

•Cat I, II and III Precision Landing

•Enroute Navigation
•Air Traffic Control
•Safety Improvement
•Distress Alert
 Applications of GNSS in INDIA

9. Maritime Navigation

•Automatic Identification System (AIS)

•Deep Sea Navigation
•Harbor Navigation
•Inland Waterway Navigation
•Safety Improvement
•Distress Alert
 Applications of GNSS in INDIA

10. Road Transport

•Route Guidance
• Automatic Transmission of
Location
• Fleet Management
• ATM: Automatic Traffic
Management
• Safety Improvement
•Breakdown Assistance
 Applications of GNSS in INDIA

11. Rail Transport

• Rail Traffic management

• Wagon and Cargo Control
• Passenger Information Service
• Rail Track Survey
• Safety Enhancement
• Collision Avoidance
• Maintenance of Rail Networks
 Applications of GNSS in INDIA

12. Search & Rescue

•Rescue of People in Distress like Accidents

•Coordinating Emergency Services
 Applications of GNSS in INDIA

13. Location Based Services

•Position Navigation Timing (PNT) enabled

Mobile Telephones
•Distress Alert
•Using mobile phones to find nearest hospitals,
restaurants, petrol stations, parking lot and
other points of interest
 Applications of GNSS in INDIA

14. Marine Exploration

•Marine Survey & Engineering

•Marine Seismic Exploration
 Applications of GNSS in INDIA

15. Time Synchronization for Electricity, Oil and

Gas Distribution System

•Design Construction and Operation requires

Accurate Positioning system.
•Integration of Energy Distribution Networks
require Time Synchronization
•During power outage or failures, precise
information of infra structure required can be
easily located.
•Oil & Natural Gas Supply - Identification of
location for Rigs, water, waste water and gas
distribution facilities
 Principle of Differential GPS (DGPS)
• It Can be observed from the Table above that, GPS by itself
cannot provide Cat I Precision Service.
• An alternative is a Technique called Differential GPS (DGPS).
• In DGPS, a Reference GPS Receiver is kept at well surveyed
point, within about 50 kms of the user who may be in Land, Sea
or Air.
• The Reference Receiver Coordinates are determined to an
accuracy better than 1m, in WGS-84 Spheroid.
• The Reference receiver calculates the difference between the
measured Pseudoranges, for all visible GPS satellites and
calculated Pseudorange from the known coordinates and
Navigation Data.
• This difference is the error in Pseudorange measurements, ΔR
which includes all the errors like Ephemeris, clock, Ionopshere
and Troposphere lumped together.
Principle of Differential GPS (DGPS)
 Principle of Differential GPS (DGPS)

• This correction, ΔR for all the visible satellites are transmitted

via VHF Link to the user.
• The user carries out Pseudorange measurements to all the
visible GPS satellites.
• It applies correction, ΔR to the pseudorange observations and
then computes its position.
• Since the Reference station and the user are in the
neighbourhood, the pseudorange errors are same for both
receivers
• Thus User Pseudorange observations are free from errors and
the position computed will be more accurate
Principle of Differential GPS Used IN Land Survey
DGPS for Land Survey
Hand Held Differential GPS Receiver
 DGPS ERROR BUDGET
Sr. No. Error Source C/A code (1 σ Error in m)
GPS 40 KM 100 Km 500 Km

1 Space Satellite Clock stability 3.0 0.0 0.0 1.5

Selective Availability 0.0 0.0 0.0 0.0

Others 1.0 0.0 0.0 1.0
2 Control Ephemeris Error 4.5 0.0 1.0 2.0
Others 1.0 0.0 0.0 1.0
3 User Ionospheric Delay 25.0 0.0 5.0 20.0
Tropospheric Delay 3.0 0.0 0.0 2.0
Multipath 0.5 0.5 0.5 0.5
Receiver Noise 0.5 0.5 0.5 0.5
UERE 26.0 1.2 5.2 20.0
Horizontal Accuracy (95%) 80 3.6 15 60
Vertical Accuracy (95%) 105 4.8 20 80
 Planned Modernization of GPS Signals

Current frequency Plan Planned Frequency Capabilities

(additional)
------------------------------------------------------------------------------------------------------------------
Carrier frequencies Additional civilian frequency 6 dB higher power
relative to L1

L1 : 1575.42 MHz L5 : 1176.45 MHz 20 MHz broadcast

bandwidth
L2 : 1227.60 MHz (safety-of-life service frequency Improved signal cross
protection (ARNS-band)) correlation

Code frequencies ME code (L1/L2) M-code designed to

(pseudorandom) enhance system security

P-code: 10.23 MHZ (on L1/L2) to improve anti-jamming

Code frequencies (gold code) Dual freq. ionosphere

C/A-code:1.023MHz(onL1) C/A code on L2(1127.60MHz) correction (improved)
UERE and better
accuracy)
Navigation message
Ephemeris, SV clock parameters On L1, L2 and L5
ionospheric parameters, SV health
On L1 and L2
 Basic Details on GPS, Glonass, Galileo
Constellation GPS GLONASS GALILEO
Total Satellites 24+3 24 (4 Opr) 27+3
Orbital Period 12 hrs 11hrs 15min 14Hrs 22min
Orbital planes 6 3 3
Orbital height (km) 20200 19100 23616
Sat. In each plane 4 8 10
Inclination 55 deg 64.8 deg 56 deg
Plane Separation 60 deg 120 deg 120 deg
Frequency 1575.42MHz 1246 - 1257 MHz 1164 - 1300 MHz
1227.6MHz 1602 - 1616 MHz 1559 - 1591 MHz
Modulation CDMA FDMA CDMA
 Beidou ( Chinese Satellite Navigation System)

• Beidou system consists of two geo-synchronous satellites in space and a third

used as back up, a control centre located at Beijing and number of monitoring
and calibration stations on ground distributed through out China and the Beidou
positioning receivers.

• Beidou system is fully operational in early 2004.

• Similar to that of the Geostar regional navigation system. - Radio determination

satellite service (RDSS)

• Besides positioning, the system can perform two way data communication.

• Users can determine their position and also transmit messages to each other.

• Accuracy (H – about 100 meters, T accuracy < 100 ns)

Principle of Beidou
 COMPASS (Future Chinese Satellite Navigation
System)

• Compass is the Chinese own Satellite Navigation System planned

• 5 GEO + 30 MEO satellites

• Aims to provide two navigation services viz.

1. Open service with 10 m position, 0.2 m/sec velocity and 50 ns timing accuracies

2. Authorised service, which will offer safer better position, velocity and timing accuracy
to authorised users only.

• Already four test satellites in Geo orbits called Beidou launched

 Principle of IRNSS

GEOs at
32,83,134

GSOs at GSOs at
55 111

IRNSS User
IRNSS Ranging &
Monitoring Station
IRNSS Ranging &
Monitoring Station

IRNSS MCC
IRNSS Telemetry &
Command stattion
IRNSS Satellite Constellation
 IRNSS Error Budget

SYSTEM IRNSS(D)
Error (1 sigma)
EPH 5.0
Clock 2.0
Ionosphere 2.2
Troposphere 0.2
Rx. Noise 0.6
Multipath 1.5
UERE(m) 6.1
HDOP 3.0
VDOP 3.0
Pos. Accu.-H(m) ~18.3

Pos. Accu.-V(m) ~18.3

“GAGAN” – FUTURE
AIRCRAFT
NAVIGATION IN
INDIA
 GPS & WAAS ERROR BUDGET FOR C/A
CODE RECEIVERS
Error Source GPS WAAS LAAS EGNOS GAGAN

1 σ Error in m
Total SIS URE (Space 3.0 0.5 0.20 0.65 0.65
& Control segment
Errors
Ionospheric Delay 25 0.2 0.02 0.50 0.50

Tropospheric Delay 3.0 0.2 0.02 0.20 0.20

Receiver Noise + 0.5 0.5 0.50 0.50 0.50

Multipath
UERE 26 0.7 0.50 1.00 1.00

Horizontal Accuracy 80 2.1 1.50 3.00 3.00

(95%)
PRINCIPLE OF WAAS
 Present STATUS OF US WAAS
• INMARSAT has launched four INMARSAT III satellites with CXL and CXC
payload for WAAS implementation

• INMARSAT has launched advanced INMARSAT IV satellites, carrying

CxL1 and CxL5 payloads

• US has tested WAAS over US airspace using 2 INMARSAT III satellites

over AOR-E & AOR-W

• The performance meets Cat I Accuracy, Integrity, Availability and

Continuity requirements under magnetically quiet Ionospheric conditions

• It is not yet Operational over US.

• It is used by Civilians for other applications

 Present Status of WADGPS in other countries

• Canada is planning to implement CWAAS, on lines similar to US

WAAS, over Canadian Airspace

• In Europe, the European Tripartite Group (ETG), Consisting of

European Space Agency (ESA), Commission of European
Union (CEU) & Eurocontrol is testing WADPGS, known as
EGNOS, over European airspace, using INMARSAT III
satellites AOR-E & IOR.

• It is not yet Operational over Europe

• Japan is testing MTSAT Satellite based Augmentation System

(MSAS), with two GSOs over Japan.
 What is GAGAN ?

• GAGAN stands for GPS Aided Geostationary satellite Augmented

Navigation

• It is a Joint program between ISRO and AAI (Airport Authority of India) to

implement WADGPS over Indian Airspace.

• It has two Phases viz.

1. Technology Demonstration System (GAGAN TDS)

2. Final Operational System (GAGAN FOP)

 GEO
GEO GEO Ranging
GPS +Integrity message
+WAD correction GPS

L1
C2
C1
L2 L1
L1/L2 L1/C2
L1
(GPS) (GEO) L2
L1 (GEO)

INRES

L
GEO
C1 GEO
C2

INLUS 1
INLUS 2
INMCC
Elements of GAGAN
PRESENT SERVICE COVERAGE FOR WAAS,
EGNOS & PROPOSED MSAS
 Present Service Coverage for WAAS, EGNOS,
MSAS
And Proposed INSAT Nav Payload Coverage

INSAT Coverage 74 & 93.5 E

3 Satellite Coverage
 CONFIGURATION OF TECHNOLOGY DEMONSTRATION
SYSTEM

• 8 INRES (Indian Reference Stations)

• 1 INMCC (Indian Master Control Centre)

• 1 INLUS (Indian Navigation Land Uplink Station)

• Navigation Payload (L1 & L5) for GEO

• Aircraft WAAS Receivers for demonstration

• Communication links between INRES & INMCC

• TEC Network (18 Stations) for IONO Correction

 INRES

• INRES (Indian Reference Station) are GPS Tracking stations, set up at

well surveyed points, whoso coordinates in WGS-84 are well known.

• They have mainly an Atomic Clock and redundant (atleast three) GPS
Dual Frequency Receivers.

• The Receivers collect Pseudorange and Carrier Phase measurements

at Dual frequencies and transmit the data in real time to INMCC
(Indian Master Control Centre)

• Either a Fibre Optic cable or a Vsat terminal is used for Data

Transmission
Bangalore INRES Facility
 INMCC

• INMCC collects GPS data transmitted from all the INRES in

the network in real time.
• They process the data to compute

1. GPS Ephemeris and Clock Errors

2. Intergrity
3. Parameters GIVD (Grid Ionospheric Vertical Delay) and GIVE
(Grid Ionospheric Vertical Error) in a 50 by 50 over Indian
region to correct Ionospheric delay

• Sends the data to a Navigation Land Earth Station (NLES)

 INLUS

• INLUS received the WADGPS Correction data from INMCC

• It suitable formats the data and transmits to a Geostationary

Satellite (GSAT-4 in GAGAN)

• It transmits the data in C Band and receives back in C Band the

stored data in the Satellite

• It verifies the Data for its validity

11 Mtr Antenna with Prime Focus
Feed
 GSAT-4 Satellite

• GSAT-4 Satellite, to be yet launched will be placed at 840 E

• It will carry two CXL and one CXC bent pipe Transponder

• The two CXL Transponders are CXL1 and CXL5

 Major Challenge in GAGAN
• The major Challenge in GAGAN is to bring down the error due
to Ionosphere to less than 0.5 m, using Grid Based Models.
Worldwide TEC during Near-Solar
Maximum Conditions
21 August 2001 (from JPL)
 Atmospheric Effects on L Band Signals Transmitted from
Navigation Satellites
Ionosphere causes
1. Additional Group Delay or Absolute Range Error
2. Carrier Phase Advance or Relative Range Error
3. Amplitude Scintillations
4. Phase Scintillations
5. Doppler Shift or Range rate Error
6. Faraday Rotation
7. Refraction or Bending
8. Distortion of Pulse waveforms

Troposphere causes
1. Tropospheric Refraction or Absolute Range Error
2. Amplitude Scintillations
 Major Features of Equatorial Ionosphere over Indian Region

• India lies in Equatorial Anomaly region

• Ionospheric delay at L band are very high (50-60 m)

• It is highly variable with time and latitude (Dynamic)

• Behaviour is unpredictable

• Ionospheric scintillation is high

• Ionospheric Bubbles occur more frequently over the region

• Ionosphere influences accuracy, integrity, availability &

Continuity of service
 IS
C
TE
GPS

ER H
IV IC
CE WH
R E IN
BY PS
D G
RE TO
IONOSPHERIC

SU ON
PIERCE

EA I
M ECT
POINTS

R
DI
T
VERTICAL

AN
DIRECTION IN WHICH

SL
TEC IS FIRST
COMPUTED FROM
SLANT TEC

Km CE
0 RFA
35 SU
’S
RTH USER
EA TEC RECEIVER AIRCRAFT
RECEIVER

50 BY 50 GRID POINT
NODES WHERE 50 BY 50 GRID
SLANT DIRECTION
VERTICAL TEC IS
TO GPS FROM USER
COMPUTED FROM
IN WHICH TEC IS
MEASUREMENTS
REQUIRED BY USER
AIRCRAFT

NOT TO SCALE

PRINCIPLE OF GRID BASED IONOSPHERIC MODEL

 Present Status of GAGAN

• TDS has been completed suddessfully.

• Under benign Ionospheric conditions, the performance of

GAGAN is good enough to meet APV 1 service

• Ionospheric Scintillations that occur after sunset and till two

hours after midnight is still a problem over indian region

• FOP is being planned, to improve the performance of GAGAN

Principle of Local Area Augmentation System (LAAS)