UNIT VI

SATELLITE NAVIGATION AND

THE GLOBAL POSITIONING
SYSTEM
Abstract
This contribution gives an overview of present and future
navigation systems and their augmentations such as GPS,
GLONASS, GALILEO, WAAS, EGNOS, MSAT, QZSS,
BEIDOU, GAGAN. Performance of the systems depends
on their technical parameters. We will try to evaluate these
and to present our opinion on their advantages for different
applications and in various situations (reception of weak
signals suffering from great attenuation under vegetation
canopy, in urban canyons, influence of reflections and
multipath).
The last part of the contribution deals with an application of
software radio technology for user receiver design and
results obtained from experiments with different algorithms
of processing the satellite navigation systems signals.
Terminology
Satellite (Radio) Navigation Systems
~
Radio Determination Satellite Systems
~
Systems for radio position determination
using satellites
Satellite Navigation Systems
Historical Satellite Navigation Systems
(not realized)
• 601 GPS - NAVSTAR
• TIMATION
•...
• GEOSTAR
• REXSTAR
Satellite Navigation Systems
Past Satellite Navigation Systems
• NNSS - Transit
• Tsikad GPS - NAVSTAR
realized but cancelled
Satellite Navigation Systems

full operational GLONASS

GALILEO GPS - NAVSTAR
in the air, not fully operational,
lack of reliable satellites

projected, in development,
operational from 2008
Satellite Navigation Systems
Global systems: Augmentation systems:
GPS-NAVSTAR WAAS
GLONASS NDGPS
GALILEO EGNOS → GALILEO
MSAS
Local systems: GAGAN
BEIDOU QZSS
…
Principles of Satellite Navigation
Systems

• Doppler systems
• Ranging systems
Principles of Satellite Navigation
Systems – Doppler T
Systems satellite
satellite t2 t3
orbit
r2 t4
fv t1 r3
r1 r4
fp
time marks
receiver stop
start
ti+ti ti+1+ti+1 user
f0 -fp f0
mixer counter
fp
Ni fv
oscillator
ti1  Δti1

Ni  ( f
ti  Δti
0  f p )dt Δti  ri / c
t1+t1 t2+t2 t3+t3 t4+t4

Ni = ΔFΔT+(f0/c){√[(xi+1-x)2+(yi+1-y)2+(zi+1-z)2 ] –
√[(xi-x)2+(yi-y)2+(zi-z)2]} i = 1, 2, 3
Principles of Satellite Navigation
Systems – Ranging Systems
(x1, y1, z1) (x2, y2, z2)
z d2 = c2 (x3, y3, z3)
d1 = c1
d3 = c3
signal (x, y, z) (x4, y4, z4)
transmitted
by satellite d4 = c4
0 x y
0 i = di /c
(xi - x)2 (c 
+ (yi - y)2 + (zi - z)2 =signal ) 2
i by user
received
i = 1, 2, 3
0 mi tuser

(xi - x)2 + (yi - y)2 + (zi - z)2 = (c (mi - 0) )2 i = 1, 2, 3, 4

 
+1
C(t) range
code inside
receiver t
-1 m
+1
received
C(t+) code
t
-1

R()

- 0  
GPS
DELAY DISCRIMINATOR
C(t)
correlator R()
C*(t)
C(t+)
R*()
C()
generátor 
0

m
delay
delay control C*(t) unwanted satellite range code
C*(t)  C(t)

clock
 GPS
EARLY-LATE DISCRIMINATOR
correlator
uL()
C(t - R - /2) R
C(t - m) + u ()
 m = R + 
C() generator filter
-

C(t - R + /2) u() = uL() - uE()

uE()
correlator

uE() uL()
-/2 /2 
clock

-/2 /2 
 Receiver Principle
C(t)D(t)cos(2ft)
1
2
[C(t)D(t)(1+cos(4ft))]
1
C(t)D(t)
1
C2(t)D(t) = D(t)

2 2

cos(2ft)
()2
C2(t) = 1 delay m
D2(t) = 1
discriminator
pseudorange
phase
lock C(t)
Systems Parameters (Properties)
We will deal with systems:
• GPS – NAVSTAR
• GLONASS
• GALILEO
GPS - NAVSTAR
 GPS
Constellation Plane
F E D C B A
D2
E1 B3
C2 B2 160°
F4 D1
120°
A3
80°
F3 F1
40°
A4
D3 E4 0° Equator
B4 C1
320°
A2
280°
B1 satellite
C3 A1 F2 240° operational
E2
200° spare
C4 E3 17° 137° 257°
D4
77° 197° 317°
Right ascension of ascending node
Inclination 55°
Semimajor axis 26561.75 km (altitude above Earth 20183,6 km)
Excentricity nominally e = 0, generally e < 0,02
GPS
Present Signal Structure (1/3)
Signal in time domain:
L1: s(t)=ACCC/A(t).D(t)cos(2πf1t)+APP(t).D(t)sin(2πf1t)
L2: s(t)=APP(t).D(t)sin(2πf1t)
Code multiplex - each satellite has own range codes CC/A(t) and P(t)
Signal in frequency domain:
L2 L1
1227,6 MHz 1575,42 MHz
±12 MHz ±12 MHz
C/A

P(Y) P(Y)

RNSS ARNS/RNSS
1215 1260 1559 1610 MHz
GPS Parameters
Signal Structure (2/3)
Navigation Message Organisation of Data
(Data) Content: Frame:
navigation message = 25 pages ~ 12,5 mins
• transmitting satellite Kepler
parameters
frame = 1500 bits ~ 30 s ~ 5 subframes
• almanac – Kepler parameters
of others satellites
• satellite „health“ 25 pages
1 2 3
• corrections of 4 5
– satellite clock frequency
subframe=10 words ~ 6 s
– troposphere refraction
1 2 3 4 5 6 7 8 9 0
•…
word = 30 bits ~ 0,6 s
bit ~ 20 ms
GPS Parameters
Signal Structure (3/3)
Navigation Message FEC Hamming Coding
received data
 h11 h12 ... h1k 1 0 0 0
h h22 ... h2 k 0 1 0 0 
B  a1 ,..., ak , r1 ,..., rm  H   21
 ... ... ... ... ... ... ... ...
 
hm1 hm 2 ... hmk 0 0 0 1
a1 ,..., ak informatio n bits
r1 ,..., rm parity (control) bits

S T  HB T syndrom if S  0 message without errors

S  0 error in received message
GPS
Services
• SPS – Standard Positioning Service
only C/A code accessible

• PPS – Precision Positioning Service

for authorized users
P(Y) code accessible
GLONASS
GLONASS
Constellation

• 24 satellites (8 satellites
in each of 3 planes)
• e ~ 0 (circular orbit)
• inclination 64.8°
• altitude 19 100 km,
• orbit period 11h 15m
• angular spacing between
orbits 120°
GLONASS
Signal Structure
• Frequencies:
– L1: fj = 1602 + 9j/16
– L2: fi = 1246 + 7i/16 [MHz]
• Modulation:
– Navigation message
– Pseudorandom ranging code
• Sequence of maximum length
• Period 1 msec
• Bit rate 511 kb/s
– 100 Hz auxiliary meander sequence – Manchester
code
GLONASS
Signal Structure
• Data
– Hamming code (84,8)
– 50 b/s in strings
– 15 strings ~frame
– 5 frames ~navigation message ~2.5 min

85 bits
111110…110

No 0 Data Parity Time mark

1.7 sec 0.3 sec

2 sec
GLONASS
Constellation history
26

22

16 16
14
12 12 12 12 13 12
11
10 10
9 8 8
7
GALILEO
 GALILEO
Constellation
3 GEO satellites:
• Inmarsat III
 AOR-E 15.5°W
 F5 25.0°E
• ESA Artemis 21.5°E
30 MEO satellites:
• 9 satellites in each of 3 planes (Walker constellation 27/3/1)
• 3 spare satellites (1 in each plane)
• e = 0 (circular orbits)
• inclination 56°
• altitude 23 616 km
• orbit period 14h 21.6m ~ 1+2/3 rev. a day ~ ground track
repeats every 3 days
GALILEO
Architecture
REGIONAL GALILEO LOCAL
COMPONENTS CORE SYSTEM COMPONENTS

IMS
regional uplink
MEO CONSTELLATION Local
Network IULS Infra-

NAV SIS
…. NAV SIS
struct.

Communication link
ICC
. NAV SIS NAV SIS
.
. .
. GSS .
Network
IMS
Network Local
Infra-
struct.
ICC Communication link

INTEGRITY
IMS DETERMINATION NAVIGATION CONTROL &
& DISSEMINATION CONSTELLATION MANAGEMENT

GCC

L-band UHF
NAV SAR

External
COSPAS-SARSAT
GROUND SEGMENT
Complementary
Systems

USER SEGMENT
GALILEO
Services
• OS – Open Service
free of charge, positioning, navigation, timing services

• CS – Commercial Service
added value to OS, garanteed services

• SoL – Safety of Life

integrity message

• PRS – Public Regulated Service

police, customs, ...
dedicated signal, under governmental control

• SAR – Search and Rescue

coordinated with COSPAS – SARSAT
 GALILEO
Signals and Spectra
E5 E6 L6 E2 L1 E1

1215.00

1559.00

1591.00
1164.00

1260.00

1300.00

1563.00

1587.00
1544.10
SAR downlink
ARNS ARNS
960 MHz 1214 MHz 1559 MHz 5250 MHz

RNSS RNSS
1151 MHz 1300 MHz 1559 MHz 5030 MHz

f [MHz]
ARNS – Aeronautical Radio Navigation Service
RNSS – Radion Navigation Satellite Service
GALILEO
Signals and Spectra – BOC(m,n)
s(t) = carrier x subcarier x (ranging)code

1
subcarrier – m
1,023.106 TS
TS

1
n
code – PRN 1,023.106 TC
TC

BOC modulation BOC(m,n)

GALILEO
BOC Spectrum
0

-5
BOC(1,1)
-10
BPSK(1)
-15

-20

-25

-30

-35

-40
-5 -4 -3 -2 -1 0 1 2 3 4 5
6
x 10

m = 1 – subcarrier frequency is 1.023 MHz

n = 1 – range code chip frequency is 1.023 MHz
GALILEO
BOC Correlation Function
1

0.5

BOC(1,1)

-0.5
-8 -6 -4 -2 0 2 4 6 8
-6
x 10

m = 1 – subcarrier frequency is 1.023 MHz

n = 1 – range code chip frequency is 1.023 MHz
 GALILEO
BOC modulation
BOC(1,1) BOC(5,1) BOC(5,2)
1 1 1
correlation

0.8 0.8
function

0.6
0.6

0.4
0.5 0.4

0.2
0.2
0

0
-0.2

0 -0.2
-0.4

-0.6 -0.4

-0.8 -0.6

-1 -0.8
-0.5 -1.5 -1 -0.5 0 0.5 1 1.5 -1.5 -1 -0.5 0 0.5 1 1.5
-8 -6 -4 -2 0 2 4 6 8 -6
x 10 -6
-6 x 10
x 10

0 0 0

-5 -5 -5
spectrum

-10 -10 -10

-15 -15 -15

-20 -20 -20

-25 -25 -25

-30 -30 -30

-35 -35
-35

-40 -40
-40 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5
-5 -4 -3 -2 -1 0 1 2 3 4 5 7 7
6 x 10 x 10
x 10
 GALILEO
Signals, Services and Spectra
code data rate data
service modulation
encryption [symbol/s] encryption
PRS BOC(15,2.5) yes 100 yes E2 L1 E1

1559.00

1591.00
1563.00

1587.00
OS/SoL/ some
BOC(1,1) none 250
CS (CS)
OS/SoL/ no data
BOC(1,1) none -
CS („pilot“)

1575.420
I subcarrier
code rate
modulation frequency
Mchips/s
MHz
IN PHASE
sin()

BOC(15,2.5) 15.345 2.5575

BOC(1,1) 1.023 1.023

SoL uses the same signals as OS with integrity message

Q
 GALILEO
Signals, Services and Spectra
code data rate data
service modulation
encryption [symbol/s] encryption
OS/SoL AltBOC(15,10) none 50 none

OS/SoL AltBOC(15,10) none no data („pilot“) -

OS/SoL/CS AltBOC(15,10) none 250 some (CS)

OS/SoL/CS AltBOC(15,10) none no data („pilot“) -

1215.00
1207.140
1191.795
1176.450
1164.00

I Differerent signals are broadcast

• on I and Q channels
E5 • in upper (E5b) and lower
IN PHASE

E5a E5b
sin()

(E5a) part of the band

E5a and E5b may be used as
Q a single ultra wide channel
 GALILEO
Spectrum, Services and Spectra
code data rate data
service modulation
encryption [symbol/s] encryption
BOC(10,5)
PRS government 100 yes
TDMA
CS PSK(5) commercial 1000 yes

CS PSK(5) commercial no data („pilot“) -

1260.00

1300.00
1268.520

1278.750

1288.980
I

E6
IN PHASE
sin()

Q
 IN PHASE

Q
sin()

I
1164.00

E5a
1176.450

1191.795
E5
GALILEO

E5b
1207.140

1215.00

1260.00
1268.520

1278.750
E6

1288.980
1300.00
SAR downlink
1544.10
1559.00
Signal, Services and Spectra

1563.00

1575.420

1587.00
L6 E2 L1 E1

1591.00
 GALILEO
Service Parameters
Open Safety of
Commercial Service Public Regulated Service
Service Life Service
(CS) (PRS)
(OS) (SoL)

Coverage global global local global local global

h=4, v=8
dual 1
Accuracy <1 <10 cm
frequency local 4-6
h-horizontal three local h=6.5
augmented dual
v-vertical frequency augmented v=12 signals frequency
h=15, v=35
[m] access signals
single
frequency

Availability 99.9% 99.9% 99 – 99.9% 99.9%

Integrity No Value added service Yes Yes

BEIDOU
BEIDOU
„China‘s „Beidou“ navigation system is a
regional positioning system mainly covering
the country and its neighbouring areas, thus
making vertical positioning impossible and
limiting the number of users.“
• 3 geostationary satellites
• circular orbits
BEIDOU
Constellation (Beidou 1B orbit)
Augmentations
Augmentation
Differential GPS (DGPS)

known corrections
coordinates
receiver transmiter user
reference reference
station station receiver
Augmentation
Differential GPS (DGPS)

known corrections
coordinates
receiver transmitter
user
reference reference
receiver
station station
Augmentations
• Many systems
– NDGPS
– maritime systems
• Systems with satellite channel for corrections
transmission
– WADGPS
– SBAS (ICAO) – Satellite Based Augmentation
Systems
• WAAS
• MSAS
• EGNOS → future part of GALILEO
• …
Augmentations
SBAS - Constellation
GAGAN MSAS
EGNOS WAAS
MTSAT
INMARSAT
ARTEMIS INMARSAT

GPS
Augmentations
SBAS - signals

Similar to SATNAV systems signals

Augmentation
QZSS
 Augmentation
QZSS - Constellation
(1) Inclined orbital plane at approximately 45 deg from GSO
 Ground track draws a figure “8” centered on the equator
４５deg
(2) 3 satellites on the 3 orbit planes operate so that the
right ascension of the nodes are each 120 degrees apart
 Every 8 hours each of the 3 satellites passes over the
same point on the figure “8” ground track

Equator

120 deg

Top view Side view

 Augmentation
QZSS
Satellite visibility ensured with high elevation angle
of more than 70 degrees.
準天頂衛星の仰角(東京）
90

80

70
Minimum elevation angle
for QZSS (approx. 70 deg)
60
Elevation Angle (deg)

50 Elevation angle for GSO sat

(E130deg) Approx. 48 deg
40

30

SAT1
20 SAT2
SAT3
GEO110
10 GEO130
GEO150

0
0 4 8 12 16 20 24
Time (Hr)

Elevation angle at Tokyo (24hour) The urban canyon picture

(Shinjuku area)

Planed for 2010

MODERNISATION

GPS
 Spectrum of Future GPS
Present state
Second civil signal L2
Third civil signal L5 and new military signal L1 a L2

L5 L2 L1
1176,45 MHz 1227,6 MHz 1575,42 MHz
±12 MHz ±12 MHz ±12 MHz
C/A M C/A M

P(Y) P(Y)

ARNS RNSS ARNS/RNSS

960 1215 1260 1559 1610

MHz
 Frequency and codes
1990 2000 2010 2020 2030
GPS L1 L2 L5
C/A P(Y) M C/A P(Y) M F1 F2
24 satellites
II, IIA
97
1-28
28 sats
7,4 y.

IIR 89 05
1-8
8 sats 8 satellites
7,9 y.
97
IIR 12 satellites
9-20
12 satsc
7,9 y. 18 satellites
IIF 12 IIR+ 6 IIF
02
1-6 18 satellites
6 satellites
6 sats 4 d. IIF
15 y.
04
IIF
7-30 24 satellites
24 sats 6 satellites
15 y. 06

Precision 95% 100 m 10 m 5m 0.5 m

L1 = 1575,42 MHz
L2 = 1227, 6 MHz
L5 = 1176,45 MHz
Comparison of Systems
Comparison of Systems
What is an advantage of modernized or new
systems ???
• Systems use two or three frequencies
→ suppression of ionosphere refraction
• New modulation methods have
– very sharp correlation function
→ better precision
– broad spectrum
→ thermal noise resistance
Comparison of Systems
• New modulation methods have
– very sharp correlation function
→ better precision
– broad spectrum
→ thermal noise resistance
– higher code rate
→ easier multipath mitigation
Comparison of Systems
Multipath Mitigation

BPSK(5)
BPSK(10)
BOC(10,5)
BOC(15,10)
Comparison of Systems
• New modulation methods have
– very sharp correlation function
→ better precision
– broad spectrum
→ thermal noise resistance
– higher code rate
→ easier multipath mitigation
• Constellations ensure better satellite
visibility
→ lower PDOP → better precision,
integrity, …
RECEIVER ARCHITECTURE
Requirements
• Processing of all known and planned SATNAV
signals:
– GPS L1, L2, L5
– GLONASS
– GALILEO
– Augmentations
• EGNOS
• WAAS
• Flexible design and development of powerful
algorithms of signal processing
• Easy implementation of them
• Rapid and simple prototyping and testing
 Software Defined Radio 
RECEIVER ARCHITECTURE
Requirements
Software Defined Radio 

What processor to use ???

• DSP
• FPGA
RECEIVER ARCHITECTURE
DSP Concept

Loops in algorithms – lower computational power

 RECEIVER ARCHITECTURE
FPGA Concept

No loops in algorithms
parallel processing → higher computational power
Conclusions
• Software Radio is prospective technology
for multi-systems GNSS receivers, as well
as FPGA technology
• This technology make possible design of
receivers for hard receptions conditions
(leaves canopy, urban environment, etc.)