GPS Overview

What is GPS?

Radio-based navigation system developed by DoD

Initial operation in 1993
Fully operational in 1995
System is called NAVSTAR
NAVigation with Satellite Timing And Ranging
Referred to as GPS
Series of 24 satellites, 6 orbital planes, 4 satellite vehicles (SV) on each
plane
Works anywhere in the world, 24 hours a day, in all weather conditions and
provides:

Location or positional fix

Velocity
Direction of travel
Accurate time

Global Navigation Satellite Systems

(GNSS)

NAVSTAR

GLONASS

USA

Russians

Galileo

Europeans

Signal Structure
Each

satellite transmits its own

unique code
Two frequencies used
L1

Carrier 1575.42 MHz

L2 Carrier 1227.60 MHz

Codes
CA

Code use L1 (civilian code)

P (Y) Code use L1 & L2 (military code)

GPS involves 5 Basic Steps

Trilateration

SV Ranging

Why consistent, accurate clocks are required

Positioning

Determining distance from SV

Timing

Intersection of spheres

Knowing where SV is in space

Correction of errors

Correcting for ionospheric and tropospheric delays

How GPS works?

Range from each satellite calculated
range = time delay X speed of light
Technique called trilateration is used to
determine you position or fix

Intersection of spheres

At least 3 satellites required for 2D fix

However, 4 satellites should always be used

The 4th satellite used to compensate for inaccurate

clock in GPS receivers
Yields much better accuracy and provides 3D fix

Determining Range
Receiver

and satellite use same code

Synchronized code generation
Compare incoming code with receiver
generated code
Measure time difference
between the same part of code

From satellite
From receiver

Series of ones
and zeroes repeating
every 1023 bits. So
Complicated alternation
of bits that pattern looks
random thus called
pseudorandom code.

Three SV ranges known

20,000 Km radius

Located at one of these 2 points.

However, one point can easily
be eliminated because it is either
not on earth or moving at impossible
rate of speed.

22,000 Km radius

21,000 Km radius

Accurate Timing is the Key

SVs have highly accurate atomic clocks
Receivers have less accurate clocks
Measurements made using nanoseconds

1 nanosecond = 1 billionth of a second

1/100th of a second error could introduce error

of 1,860 miles
Discrepancy between satellite and receiver
clocks must be resolved
Fourth satellite is required to solve the 4
unknowns (X, Y, Z and receiver clock error)

Satellite Positioning
Also

required in the equation to solve

the 4 unknowns is the actual location
of the satellite.
SV are in relatively stable orbits and
constantly monitored on the ground
SV position is broadcast in the
ephemeris data streamed down to
receiver

Sources of Errors
Largest

source is due to the

atmosphere
Atmospheric

refraction

Charged particles
Water vapor

Ionosphere
(Charged Particles)
Troposphere

Other Sources of Errors

Geometry

of satellite positions
Satellite clock errors
SV position or ephemeris errors
Quality of GPS receiver
Multi-path errors

Dilution of Precision (DOP)

Geometric location of the satellites as seen
by the receiver
The more spread out the satellites are in
the sky, the better the satellite geometry
PDOP (position dilution of precision) is a
combination of VDOP and HDOP
The lower the PDOP value, the better the
geometric strength
PDOP value less than 6 is recommended

Selective Availability
The intentional introduction of errors for
civilian users is called Selective Availability
SA was terminated on May 2, 2000
When SA was on, civilian users accuracy
was ~100 meters
Military has capability to degrade signal in
certain theaters of operation this is
called spoofing

Differential Correction

Technique used to correct some of these errors

Referred to as differential GPS or DGPS
In DGPS, two GPS receivers are used
One receiver is located at an accurately surveyed
point referred to as the base station
A correction is calculated by comparing the known
location to the location determined by the GPS
satellites
The correction is then applied to the other
receivers (known as the rover) calculated
position

DGPS Methods

Post-processing

Corrections performed after the data is

collected
Special software required

Real-time

Corrections are performed while the data is

being collected
Need special equipment to receive the DGPS
signal

Wide Area Augmentation System - WAAS

New real-time DGPS
Satellite based
FAA initiative.now fully operational
Series of ~25 ground reference stations
relay info to master control station
Master control station sends correction
info to WAAS satellite

http://gps.faa.gov/programs/waas/howitworks.htm

WAAS Satellites

WAAS satellites are geo-stationary

On east coast, WAAS satellite sits off coast of Brazil over equator
at 53.96 West (#35 on Garmin)
http://www.lyngsat.com/tracker/inmar3f4.shtm
On west coast, WAAS satellite sits over Pacific ocean at 178.0 East
(#47 on Garmin)

http://www.lyngsat.com/tracker/inmar3f3.shtml

Ability to get signal deteriorates in northern latitudes (satellite is

lower on the horizon)
If you can get WAAS satellite signal..~3 meter accuracy
However, cannot always get signal due to obstructions
More WAAS satellites becoming available in future
Europeans (EGNOS)
Japanese (MSAS)

GPS Accuracy Comparison

Some common GPS devices used by FWS:

WAAS

Real-time

Post-process

DGPS

DGPS

DGPS

~ 10 - 15

~3

1-3

Federal Users Only

~ 8 - 15

NA

NA

Trimble - GeoXT

~ 10

~3

1-3

Sub-meter

GPS Device

Autonomous

Garmin GPSMap 76s

Rockwell PLGR

Accuracy given in meters

GPS Accuracy Issues

Ways to improve the accuracy of your GPS collected data

Standardize data collection methods

Establish protocols for your applications
Employ averaging techniques
Perform mission planning
Utilize DGPS
Understand how the selection of datums and coordinate
systems affect accuracy

GPS data collected in wrong datum can introduce ~200 meters of error into
your GIS!

Some issues to consider

when purchasing GPS devices

What is the accuracy level required for your application?

(10 meters or sub-meter)

How is unit going to be used in field?

External antenna required, in heavy canopy, ease of use,

durability, data dictionary capability, waterproof

Cost from $100 to $12K

Staff expertise..training..support network

How well does unit interface with GIS?

Latest Technology
Mobile mapping software for WindowsCE devices
TerraSync (Trimble)
ArcPad (ESRI)
Multi-path rejection technology
Trimble GeoXT
Bluetooth
Allows for cable free operation

ArcPad Software
Bring GIS data into the field!

Integrate GPS with GIS

Custom forms for data collection