6 Introduction To Global Positioning Systems v2

Introduction to
Global
Positioning
System
Department of Geodetic Engineering
Training Center for Applied Geodesy and Photogrammetry
GE 12 General Surveying II
Objectives
Explain how GPS works

Identify errors present in GPS.
Enumerate some applications of using GPS.
Perform a simple exercise in way-finding and
navigation.

Outline
I. Evolution of Navigation and
Positioning
II. The Global Positioning System
III. Positioning Using GPS
IV. GPS Sources of Errors
V. Differential GPS
VI. GPS Equipments
VII.GPS Applications & Developments
Evolution of Navigation and Positioning
STONE AGE
Technique of navigation:
Identifying and remembering
objects and landmarks as points
of reference
Points of reference:
Stones
Trees
Mountains
Evolved through time with the

advent of (and the need for)
more sophisticated techniques,
objects and instruments
STAR AGE
Identifying reference points on land is easy
But it became a matter of life and survival
when man started to explore the oceans
Pts of reference: Sun, moon and stars the only
visible objects
Era of celestial navigation began

STAR AGE
Celestial navigation
First serious solution to the problem of finding one's
position in unknown territories , where celestial bodies
were used as points of reference.
relative position of stars and their geometrical
arrangement look different from different locations on
Earth:
Configuration of stars estimate position and direction to take
Angles of view between stars + pre-calculated charts

position
Very tedious and yields inaccurate results
Simpler triangulation if distances to the stars could have
been measured
RADIO AGE
scientists discovered a way to measure
distances using radio signals
Concept:
measure the time it took for special radio signals
to travel from a transmitting station to a special
device designed to receive them (where speed =
c)
Signal travel time * speed = distance
Needs accurate time measurement (1 millionth of
a second error translates to 300 m!)
RADIO AGE
How can I determine my position using

signal transmitter-receiver system?

RADIO AGE: 1 transmitter

How to determine ones position using radio signals?
you are within a certain radius

RADIO AGE: 2 transmitters

How to determine ones position using radio signals?
you are at either of the 2 intersections
3 transmitters exact position!

SATELLITE AGE
satellite-based radio navigation systems were
conceived in which improved radio transmitters
were put aboard satellites orbiting the earth at
high altitudes to give wider coverage.
Signals from navigation satellites can cover large
areas of the earth, and several satellites can cover
the whole planet
satellites act as the reference points and the
distance to them is measured to determine the
three-dimensional position
SATELLITE AGE
the accuracy in computing a position depends on
the accuracy in computing the location of our
reference points
since satellites are not fixed:
locations and their orbits are continuously monitored
from several observation centers around the world
predicts the orbit of the satellite for the next 24 hours
based on the actual orbit information received by the
observation posts for the previous 24 hours
Satellites broadcast their orbit information as part of
their radio signal structure
SATELLITE AGE
BEFORE
NOW
stars
satellites
optical systems
radio signals & receivers
sextant

GPS, GLONASS
What is NAVSTAR GPS?

Goals of NAVSTAR GPS
GPS Segments
GPS Signals
Sources of Error
Remedy to Errors
Developments in Instrumentation
THE GLOBAL POSITIONING

SYSTEM
What is NAVSTAR GPS?

Acronym for Navigation Satellite Time and Ranging
Global Positioning System
Developed due to the US Department of Defense
(DoD) need for very precise navigation
a new system for navigation using satellites proposed
by the US Air Force in 1973
Initial Operational Capability - December 8,1993
Full Operational Capability declared by the US
Secretary of Defense at 00:01 hours on July 17, 1995
NAVSTAR GPS Goals

Answers the questions like:
What time is it?
What is my position (including altitude)?
What is my velocity?
Also answer the questions like:
What is the local time?

What is the distance between two points?
What is my estimated time of arrival?
Simply stated:
The GPS satellites are nothing more than a set of clocks in the sky
GPS Segments
Space Segment:
--the constellation of
satellites
Control Segment:
--monitor and control
the satellites
User Segment:
--users with receivers
GPS Segments
Space Segment
System: up to 32 medium Earth orbit satellites
24 satellites in the operational mode
21 in use
3 spares (for testing)
Altitude:
20,200 Km with periods of 12 hr.
Current Satellites:
Block IIR- $25,000,000; 2000 kg
Satellite clocks:
Hydrogen Maser Atomic Clocks
GPS Segments
Space Segment: GPS Orbits
24 Satellites in 6 orbital planes

4 satellites in each plane
20,200 km altitude
550 inclination
GPS Segments
Control Segment
Master Control Station is located at the Consolidated Space Operations Center

(CSOC) at Falcon Air Force Station near Colorado Springs
GPS Segments
Control Segment
Functions of the Operations Centre
Track the satellites for orbit and clock
determination
Time synchronization
Upload the Navigation Message
Manage DOA

User Segment
Users - Receivers

GPS Signals
GPS Satellites transmit microwave carrier signals:
L1 frequency (1575.42 MHz) carries the navigation
message and the SPS code signals.
L2 frequency (1227.60 MHz) is used by PPS receivers.
Three binary codes shift the L1 and/or L2 carrier phase.
C/A Code modulates the L1 carrier phase, provides the
basis for the civilian SPS.
P-Code modulates both the L1 and L2 carrier phases,
provides the basis for the PPS.
The Navigation Message also modulates the L1-C/A code
signal. It is a 50 Hz signal consisting of data bits
describing GPS satellite orbits, clock corrections, and
other parameters.
GPS Signals

GPS Clock Signals

Two types of clock signals are
transmitted
C/A Code - Coarse/Acquisition Code
available for civilian use on L1
provides 300 m resolution
P Code - Precise Code on L1 and L2
used by the military provides 3m
resolution
Minimum Number of Satellites

GPS: How does it Work?
Navigation Message
Denial of Accuracy
POSITIONING USING GPS


At least 4 satellites are
needed for a GPS
observation
Distances from 3 satellites
3D coordinates
Plus 1 satellite
to correct for clock errors


Why 4 satellites to get a position?
The problem is that the clock signal from the
satellite is corrupted by atmospheric refraction
Another major problem is that the receivers clock is
not very accurate


GPS: How does it Work?

Typical receiver: one channel C/A code on L1
During the acquisition time you are receiving the navigation

message also on L1
The receiver then reads the timing information and computes
the pseudo-ranges
The pseudo-ranges are then corrected
Corrected ranges are used to compute the position

Note: This is a very complicated iterative nonlinear equation
Navigation Message
To compute your position one must know the
position of the satellite
Navigation Message - transmitted on both L1 and L2
at 50 bits/s for 30 s
Navigation message consists of two parts:
- satellite almanac
- clock bias

Denial of Accuracy (DOA)

The US military uses two approaches to prohibit
use of the full resolution of the system
1. Selective Availability (SA)
- noise is added to the clock signal and the
navigation message has lies in it
2. Anti-Spoofing (AS)
- P-code is encrypted with Y code
The military sometimes turns off both DOA

techniques

Satellite Clock
Receiver Clock
Satellite Orbit Error
Atmospheric Errors
Multipath
Receiver Errors
Geometric Dilution of Precision
Satellite Mask Angle
Selective Availability
GPS SOURCES OF ERRORS

Satellite Clock
1 billionth of a second (nanosecond) of inaccuracy
in a satellite clock results in about 30 cm of error in
measuring the distance to that satellite.
Even very accurate clocks accumulate an error of 1
billionth of a second every three hours
Satellite clock drifts are continuously monitored by
ground stations and compared with the master
control clock systems that are combinations of
more than 10 very accurate atomic clocks.
Errors are calculated and included in the messages
that are transmitted by the satellites
Receiver Clock
Similar to satellite clock errors, any error
in the receiver clock causes inaccuracy in
distance measurements.
Not practical to equip receivers with very
accurate atomic clocks:
Weight: > 20 kg
Cost: US $ 50,000
require extensive care in temperature
control
Remedy: make simultaneous

measurements to four satellites
Satellite Orbit Error

Orbits of satellites are monitored
continuously from several monitoring
stations around the earth and their
predicted
orbital
information
is
transmitted to the satellites, which they
in turn transmit to the receivers
Based on historical data, the accuracy of
orbital prediction is in the order of a few
meters few meters of error in
position
Atmospheric Errors
Speed of light varies due to atmospheric
conditions
Effects of ionosphere: >10 km
Remedy: use dual frequency receivers

Atmospheric Delay
GPS signals are delayed
as they pass through
the atmosphere
< 10 km
> 10 km
Multipath
Occurs when GPS signals are reflected and the
receiver detects two signal instead of one at
different times. This causes confusion in some
low-end GPS units, but is generally easy to
correct.
High-end receivers compensate for multipath
Mapping and Survey units use a hardware
solution: a special semi-directional antenna

Multipath

Geometric Dilution of
Precision
The effect of the geometry of the
satellites on the position error can
roughly be interpreted as the ratio of the
position error to the range error

Precision
how many meters of error are introduced
in the computed position as a result of
one meter of error in measuring
distances to the satellites?
ANSWER:
it depends on the number and the
geometry of the satellites used
Precision
CASE 1:
4 four satellites clustered near each other:
1 m of error in distance tens or hundreds of
meters of error in position
CASE 2:
many satellites are scattered around the sky:
1 m of error in distance 1.5 m of error in
position
Precision
Imagine the tetrahedron that is formed by lines connecting the
receiver to each satellite used.
The larger the volume of this tetrahedron, the smaller (better) the
GDOP.
In most cases, the larger the number of satellites the smaller the
GDOP.
Poor GDOP

Better GDOP
Satellite Mask Angle

Atmospheric Refraction is greater for satellites at
angles that are low to the receiver because the signal
must pass through more atmosphere.
There is a trade off between mask angle and
atmospheric refraction. Setting high angles will
decrease atmospheric refraction, but it will also
decrease the possibility of tracking the necessary four
satellites.
Selective Availability (S/A)

The US DoD has determined that providing a high
level of precision to the general public is against the
US national interest.
Introduced man-made intentional errors to degrade
the position accuracy of GPS to about 100 meters.
Discourages hostile forces from using GPS
Largest source of error
Eventually removed in May 2000
How S/A Works

Off-setting satellite clocks.
Introduction of ephemeris error by the Space
Command control center
Only the military has the correction information.


Error introduced by S/A is up to 70 meters
With S/A on you can expect no better than 100-m
accuracy
With S/A off you can expect accuracies from 20 to 40
meters

Selective Availability Removed!

On May 2, 2000, Selective Availability was eventually removed

Errors that can be corrected

How Does it Work?
Processing Techniques
GPS Community Base Stations
DIFFERENTIAL GPS

Differential GPS
Differential GPS is an effective way to correct
various inaccuracies in the GPS system.
Differential GPS or "DGPS" can yield
measurements good to a couple of meters in
moving applications and even better in stationary
situations.
That improved accuracy has a profound effect on
the importance of GPS as a resource. With it, GPS
becomes a universal measurement system capable
of positioning things on a very precise scale.
Differential GPS:
Errors that can be corrected?

Satellite/Receiver clock error
Satellite Ephemeris error
Atmospheric Refraction
Ionospheric Refraction
Tropospheric Refraction
Receiver Noise
Multipath -- least
Selective Availability
Differential GPS:
How does it work?

Two GPS receivers are used for
DGPS.
A high precision Base GPS receiver
(Base Receiver or Base Station) is
placed at a known controlled point
of reference such as a National
Geodetic Survey marker. This receiver
collects GPS signals and compares the
results to the actual known coordinate
of the Base.
A rover receiver collects
autonomous information in the field.
Differential GPS:
How does it work?

Software/Hardware at the base station
calculates the difference (differential)
between the known position and the
GPS position.
This differential is an effective
measurement of positional offset, in
both direction and distance.
The differential data can be used to
correct the positional errors in the data
collected from the Rover GPS receivers
in either real-time or after the fact.

Differential GPS:
DGPS: Post-Processing
There is no real-time connection between the
base and the rover.
Each receiver collects data independently of the
other.
Data collected from the rover is brought back
to the office.
Data from the base station is then obtained
(available from a variety of sources).
Base stations can be permanent or portable.

Differential GPS:
DGPS: Real-time Processing

RTDGPS: usually used in situations where highly accurate
real-time GPS data is critical
Real-time Navigation of Aircraft
IVHS (intelligent vehicle highway system )
Unlike post-processed DGPS, RTDGPS is processed on

the spot with software and or hardware solutions. This
requires special equipment and/or services.
The accuracy of real-time DGPS, while less than that of
post-processed, is improving.
Real-time carrier-phase is now also feasible using a signal
processing technique called On-the-fly Ambiguity
Resolution
Differential GPS:
Processing Techniques:
Post Processing vs. Real-time
FACTORS
Accuracy
Time
Navigation
Cost
Remote Locations
Portability
Postprocessing
Real-time
Differential GPS:

A way to make the GPS even
more accurate
Works by canceling out most of
the natural and man made (S/A)
errors
Enables Precision Applications
by reducing the Overall Error
Budget (User Equivalent Range
Error) or UERE.

Differential GPS:
Public GPS Stations

Continuous
observation
and
dissemination of the received
signals.
By combining the signals from the
Electronic GCP with those
received by users GPS, positional
accuracy with several cm order
can be achieved on real-time basis.

GPS Community Base Station in UP

Located at the rooftop of Melchor Hall
Beneath the base station antenna is a Coast and
Geodetic Survey control point


The antenna is connected to a receiver computer

UP GPS Community Base Station

UP GPS Community Base Station
Source: FB Page of Engr. Cha Guevara

Antenna
Receivers
GPS EQUIPMENT

GPS Equipments
Antenna
Mounted on a roof, a pole, a truck, or a person.

GPS Equipments
Receivers
Each satellite that is tracked requires a "channel" in the receiver.
Receivers generally have 6, 8, or 12 channels available.
Recreation-grade receivers: designed for casual users
(recreationists). Typically uses CA code, and has the least
accurate positioning ability.
Navigating receivers: same as recreation receivers, designed for
portability and long battery life.
Mapping-grade receivers: Designed to include more features,
allow higher accuracy, and to store more data, as well as attribute
data. Typically use L1, L2 code.
Survey-grade receivers: Designed for extreme accuracy.
Usually larger and heavier than other receiver types. Very
expensive. Typically use L1, L2 code.
GPS Equipments
Receivers: Cost
Recreation Grade:
P4200- P33,600
dramatic drop in prices over
the last 2 years
Mapping Grade:
P33,600 - P560K
Survey Grade:
P500K - P3M

GPS Equipments
Receivers: Performance
What kind of positional
accuracy can I get?
(horizontal accuracy)
Recreation Grade:
1 - 3 meters possible
(typically requires post
processing or real-time
correction)
Mapping Grade:
1m - sub-meter possible
Survey Grade:
1-5 cm (yes, centimeters!)

Uses
Applications
Developments
GPS APPLICATIONS &

DEVELOPMENTS
Uses of GPS
Airplane and Boat Navigation

Continental Drift
Surveying
Precise Timing
Iceberg Tracking
Archaeological Expeditions
Mobile Multimedia

GPS Applications
Agricultural Applications
Precision agriculture has made a
need to combine GPS and GIS for
various applications.
These technologies enable real-time
data collection with accurate
position information and efficient
manipulation and analysis of large
amounts of spatial data.
This information can be used to
improve management in farm
operation and resources.

GPS Applications
GPS Position Measurement Systems

GPS-based Mapping and GIS
Systems are today's most exciting
GPS applications
Commercial Integrated highperformance GPS receiver and
antenna.
Up to 2-to-5 meter accuracy.

Commercial software available
for planning GPS mapping,
differentially processing GPS
data, GIS output, plotting, and
data dictionary creation.

Developments in GPS
Developments in GPS Instrumentation

Total station equipped with a
Global Positioning System
(GPS) receiver
Able to (re)locate points
without need for reference
points

Developments in GPS
Prospects in Positioning and

Navigation
DOD has already eliminated S/A (2000)
Russia has its a system known as GLONASS (since 1995,
fully restored in 2011) but not quite caught attention due to:
Poor documentation of GLONASS
Divided attention between GPS and GLONASS
The EU has just deployed its own system: Galileo
composed of 30/31 satellites
Targeted to be operational (read: commercialized) in 2008,
but moved to 2010, 2014, then 2020
Intended to be interoperable with current GPS system
Developments in GPS
Galileo Services

Developments in GPS
Prospects in Positioning and

Navigation
Chinas BeiDou Navigation Satellite System is expanding
globally (old system: COMPASS) by 2020; initial 16-satellite
regional (Asia and Pacific) version was completed by
December 2012
France (DORIS Doppler Orbitography and Radiopositioning Integrated by Satellite), India (IRNSS Indian
Regional Navigation Satellite System) and Japan (QZSS
Quasi-Zenith Satellite System) are in the process of
developing regional navigation systems
References
B. Hofmann-Wellenhof, H. Lichtenegger, and J.
Collins, GPS: Theory and Practice, Third Edition,
Springer-Verlag, 1994.
T. Logsdon, The Navstar Global Positioning System,
Van Nostrand, 1992.
A. Leick, GPS Satellite Surveying, Second edition,
Wiley, 1995.
Enrico C. Paringit GE 1 Earth Trek Lecture notes
References
T. A. Herring, "The Global Positioning System,"
Scientific American, pp. 44-50, February 1996.
N. J. Hotchkiss, A Comprehensive Guide to Land
Navigation with GPS, Alexis, 1994.
Special Edition on the Global Positioning System,
Satellite Times, March/April 1996.
D. Sobel, Longitude, Walker, 1995.
Jabad Positioning Systems, A GPS Tutorial: Basics
of High-Precision Global Positioning Systems, 1998.
References (Web Sites)

GPS Program Office
http://www.laafb.af.mil/SMC/CZ/homepage/
US Coast Guard Navaigation Center
http://www.navcen.uscg.mil/default.htm
GPS Precise Orbits
http://www.ngs.noaa.gov/GPS/GPS.html
GPS World Magazine
http://www.gpsworld.com/

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Introduction to

Explain how GPS works

Department of Geodetic Engineering

Evolution of Navigation and Positioning

Evolved through time with the

Evolution of Navigation and Positioning

Department of Geodetic Engineering

Evolution of Navigation and Positioning

Angles of view between stars + pre-calculated charts

Evolution of Navigation and Positioning

Evolution of Navigation and Positioning

How can I determine my position using

Department of Geodetic Engineering

Evolution of Navigation and Positioning

RADIO AGE: 1 transmitter

you are within a certain radius

Evolution of Navigation and Positioning

RADIO AGE: 2 transmitters

you are at either of the 2 intersections

3 transmitters exact position!

Evolution of Navigation and Positioning

Evolution of Navigation and Positioning

Evolution of Navigation and Positioning

radio signals & receivers

Department of Geodetic Engineering

What is NAVSTAR GPS?

THE GLOBAL POSITIONING

What is NAVSTAR GPS?

NAVSTAR GPS Goals

Also answer the questions like:

What is the local time?

Space Segment: GPS Orbits

24 Satellites in 6 orbital planes

Master Control Station is located at the Consolidated Space Operations Center

Department of Geodetic Engineering

Department of Geodetic Engineering

Department of Geodetic Engineering

GPS Clock Signals

Minimum Number of Satellites

POSITIONING USING GPS

Department of Geodetic Engineering

Minimum Number of Satellites

Department of Geodetic Engineering

Minimum Number of Satellites

Department of Geodetic Engineering

Minimum Number of Satellites

Department of Geodetic Engineering

GPS: How does it Work?

During the acquisition time you are receiving the navigation

Corrected ranges are used to compute the position

Department of Geodetic Engineering

Denial of Accuracy (DOA)

The military sometimes turns off both DOA

Department of Geodetic Engineering

GPS SOURCES OF ERRORS

Department of Geodetic Engineering

Remedy: make simultaneous

Satellite Orbit Error

Department of Geodetic Engineering

Department of Geodetic Engineering

Department of Geodetic Engineering

Department of Geodetic Engineering

Department of Geodetic Engineering