3 GNSS Principle 20170221

Principle of GNSS
- Qin Honglei
2017218
Office New building F317 - F317 Email : qhlmmm@sina.com

1 - Develop History
2 - System structure
3 - Basic principle
4 - Source of Errors
- CNT Lab of Beihang University

Sputnik
The first artificial satellite was launched -
The First artificial satellite was launched by Soviet on Oct 4th,1957.

Since that time, the military department attached importance to the
research on navigation and position using satellite. It was shaped like a
sphere and had four radiating radio

Using Doppler shift to determination satellite position -
Two scientists of the Johns Hopkins University Applied Physics Laboratory (APL)
-- George Weiffenbach and William Guier -- were able to determine Sputnik's orbit
by analyzing the Doppler shift of its radio signals during a single pass.

Satellite Position idea generation -
Frank McClure, the chairman of APL's Research Center, went a step further
by suggesting that the satellites position were known and predictable, the
Doppler shift could be used to locate a receiver on Earth; in other words, one
could navigated by satellite.

The first Satellite Navigation System was born-
Transit is the first operational satellite-based navigation system. Transit was

originally intended to support the U.S. Navys submarine fleet. The first Transit
satellite is launched in 1959, finished in 1964,decommissioned at the end of 1996.
it is also named NNSS(Navy Navigation Satellite System) .

Satellite number :6
Orbit number :6
Eccentricity : 0 (circularity)
Orbital inclination : 90
Satellite period : 107min
Satellite height : 1075km(600nm)
Orbits separated by : 30
The tone broadcast by Transit at 400MHz by polar orbiting satellites.
Actually, two frequencies were transmitted to correct for ionospheric delay
. Transit has four tracking stations, one calculating center, one control center, two
ground antenna, one astronomical observatory (navy).

Principle of Transit
t1 t2 t2 t3 t3 t4
t4
t3
t2
t1
P(X,Y,Z)
hyperboloid - hyperbola - point


The disadvantage of Transit

Positioning time was too long for one time: because the point of intersection was
from the same satellite, the two epoch time of satellite couldnt too short. Otherwise the distance of the two
epoch times satellite position was too near, the precise of users positioning was low. At one positioning
process, it was need the observation angle is near 90, and the time was about 15~18min. Transit was not
very useful for high dynamic applications like airplane and missile.
The time was too long for satellite presence: the receiver of user couldnt identified
the different satellite signals because the sending signal of the satellite wasnt adopted TDMAFDMA and
CDMA technique. It was not permitted two satellites appear at same time, so the satellites number couldnt
more than six. The user saw one satellite about 1.5hr at middle latitude region.
The precise was not very high because of three reasons:
(1) The precise of satellite orbit was low;
(2) The satellites signal frequency was low, it was easy effected by ionosphere;
(3) The satellite clock frequency was not very stable.

Timation Satellite System
Timation, a Navy satellite system, is developed under Roger Easton at the Naval
Research Lab (NRL) for advancing the development of high-stability clocks, time-
transfer capability. The first Timation satellite is launched in May 1967.

Timation Satellite System
Timation project used 12 to 18 satellites to composing the globe positioning system

net. The satellite height was 500nmi, orbit were circle, period were 8 hr. Timation was
a two dimensional system and could not satisfied high dynamic condition.

Woodford Nakamura
621B Satellite Navigation System
The 621B was establish as the navigation system for vehicles moving rapidly in
three dimensions by the Air Forces Space and Missile Organization in 1963. By 1972,
the program has already demonstrated operation of a new type of satellite-ranging
signal based on pseudorandom noise (PRN).

621B Satellite Navigation System
The 621B system had 3 to 4 constellations, one constellation consisted of 4 to 5

satellites, one satellite at center was geosynchronous satellite, others used oblique
orbit which period is 24hr. The disadvantages of 621B was the coverage of polar
regions and the station setting.

Parkinson
Birthday of GPS Saturday, 1 Sept Monday, 3 Sept. 1973
To increase efficiency and reduce inter-service bickering, A Joint Program Office(JPO) were formed
that forced the various services to work together, located at the Air Forces Space and Missile
Organization. The origin name of GPS is NAVSTAR, GPS title originated with General Hank
Stehling Who was the Director of Space for U.S. Air Force DCS Research and Development.

The original mission of GPS - GPS
Drop 5 bombs in the same hole;

Build a cheap set that navigates ( <$10,000 )

The important event of GPS

1993 GPS Standard Positioning Service available IOC
1994 - FAA approves GPS for use in National Airspace System FOC
1998 - Two new GPS civil signals(L2 and L5) announced
2000 - Selective Availability set to zero
2010 President Obama announces National Space Policy including GPS

The status of GPS Now2017/02/14
BLOCK IIR - 11
BLOCK IIR(M) - 8
BLOCK IIF - 12

1 - Develop History
3 - Basic principle

(2)Space Segment -
Satellite Constellation

Ground antenna Monitor station

GNSS Receiver-
Master Control Center-
(1) Control Segment (3)User Segment

(1) Control Segment
US Space Command Master Control Station

Cape Canaveral
Monitoring Station
Hawaii Kwajalein Atoll
Diego Garcia
Ascension Is.
Ground Antenna


(1) Control Segment
SCC:System Control Center

TT&C:
Telemetry, Tracking and Control
ULS:Uplink station
MS:Monitoring station
CC:Central clock
SLR:Laser tracking station

(1) Control Segment
Master Control Station of GPS - GPS

The master control station is located on the Schriever
Air Force Base (formerly Falcon AFB), about
20 km south of Colorado Springs.
The master control station get the data from the
monitor stations are processed 24h a day in real time. As
results, information about orbits and clocks of the
satellites are obtained. Doing this, possible malfunctions
can quickly be detected.
Additionally, from the raw data new ephemeris data are calculated. Once to twice a day,
theses data and other commands are sent back to the satellites via the transmitting antennae on
Ascension Islands, Diego Garcia or Kwajalein by means of a S-band signal (S-band: 2000 - 4000
MHz).

(1) Control Segment
Monitor stations
Falcon AFB
Kwajalein
Ascension Island
Hawaii
Diego Garcia
The master control station (Schriever AFB) and four additional monitoring stations (on Hawaii-,
Ascension Islands-, Diego Garcia- and Kawajalein - ) were set up for
monitoring the satellites.

(1) Control Segment
Monitor stations
The passive monitor stations

are GNSS receivers which track
all satellites in their range and
collect data of the satellite signals.
The raw data are then sent to the
master control station where the
data are processed.
Monitor station on Hawaii

(1) Control Segment
Basic Functions of Monitor Stations -
These stations are the eyes and ears of GPS, monitoring satellites as they pass
overhead by measuring distances to them every 1.5 seconds.- 1.5

This data is then smoothed using ionospheric and meteorological
information and sent to Master Control Station at Colorado Springs. .-

The ionospheric() and meteorological data() is needed to
get more accurate delay measurements, which in turn improve location
estimation.

(1) Control Segment
GPS: Monitor stations+ six NGA () station


(1) Control Segment
GLONASS Future Ground station Distribution


(1) Control Segment
GPS Ground Antenna
Master control station estimates parameters describing

satellites' orbit and clock performance. This information
is then returned to transportable ground antenna stations
which transmit the information to satellites
Antenna Specifications
Reflector diameter: Nominal 7 meters
Feed type: 5-horn Prime Focus
Transmit power: 2.1 Kilowatts
Uplink frequency: 1783.7 Mhz
Downlink frequency: 2227.5 Mhz

(2) Space segment
2435 satellites
3 or 6 orbital planes
MEOIGSO or GEO orbit
8 12 satellites visible on Earth

(2) Space segment
GPS Constellation
32 satellites
6 orbital planes
Inclined 55with respect to equator
Orbits separated by 60
20,200 km elevation above Earth
Orbital period of 11 hr 58 min

(2) Space segment
BeiDou(Compass) Constellation
The constellation of BeiDou Navigation

Satellite (regional) System is composed of 3
type orbit, including:
Five Geostationary Earth Orbit (GEO) satellites
5GEO
Four Medium Earth Orbit (MEO) satellites 4
MEO
Five Inclined Geosynchronous Satellite Orbit (IGSO)
satellites 5IGSO.

(2) Space segment
Ground track for GNSS Satellite
MEO track
GEO track
IGSO track

(2) Space segment
Three or four atomic clocks (Rubidium Caesium or hydrogen maser )

S band antenna for satellite control S
Mult-element L band antenna for user communication L
Navigation payload

(2) Space segment
GPS satellite
Galileo satellite
BDS satellite

(2) Space segment

(2) Space segment

(2) Space segment
The space segment consists of at least 24 satellites. The first of the satellites was brought to
its orbit as early as 1978. During the years the satellites became more and more sophisticated
and meanwhile seven different types of these satellites exist (Block I, Block II, Block IIA, ,
Block IIR, Block IIR-M, Block IIF and Block III).

(3) User segment
Antenna

RF front ADC Acquisition Tracking Position

A/D

GNSS Receiver Structure -


(3) User segment
GNSS Receiver Types
High Sensitive GNSS Receiver

-
Using in weak GNSS signal

environment, like in room,forest,city
canyon and high earth orbit spacecraft.
The key technology is how to pick-up
signal from high level noise.

(3) User segment
GNSS Receiver Types
High dynamic GNSS Receiver

-
Using in high dynamic carrier,

like on fighter plane and missile.
The key technology is how to get
over the effect inducing by speed,
acceleration and jerk.

(3) User segment
GNSS Receiver Types
Multi-System GNSS Receiver

-
Integrated two or more GNSS system

together, like GPS,GLONASS,BDS,
, GALILEO and other A u g m e n t a t i o n
System.

(3) User segment
GNSS Receiver Types
GNSS Receiver for Mapping

-
The more sophisticated receivers for
professional use in agriculture, mapping and
GIS, military, oil and gas, public safety,
survey etc. The principle of these receivers is
the same as the above, but they often use
extra receivers and special antennas for
higher accuracy and can often store an
enormous amount of in the field collected
data, which can be treated later in the office.

1 - Develop History
3 - Basic principle

How to position

x1 xu y1 yu z1 zu
2 2 2
R1 =
R2
x2 xu y2 yu z2 zu
2 2 2
R2 =
x3 xu y3 yu z3 zu
2 2 2
R2 R3 =
R1
R2
R1
R4
R1
R3
R3
x4 xu y4 yu z4 zu
2 2 2
R4 =

The steps of GNSS working
First step: Calculate the satellite position from Navigation message


Step 2 : Measure distance from satellite to user receiver


Max Range -
42000km
Min Scale -
1mm

One bit including m PRN code

Message
One period Tcode One period One period
PRN Code
PRN Chip 1 Chip(Tchip )
Carrier

BPSK
180 invert

Second (3108m)Frame -
Millisecond (300km) PRN period
Microsecond(300m)PRN code
Nanosecond(0.3m)PRN chip

t
Satellite PRN
Receiver PRN
First Method: Using Pseudo Random Noise(PRN) Code

1 0 0 0 1 1 0 0 1 1 1 1 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 0 1
1 1 1 1 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 0 1 1 0 0 0 1 1 0 0
=10 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 1 1 0 1 0 0 0 1 0 1 1 0
1 0 0 0 1 1 0 0 1 1 1 1 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 0 1
1 0 0 0 1 1 0 0 1 1 1 1 0 0 1 0 0 0 0 1 1 1 0 1 1 0 0 1 0 1
=30 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

Second Method:
Using Carrier Phase
The integer ambiguity resolution is one of the

primary problems in GNSS carrier phase measurement

tS
tR
R= nTchip=(tS-tR)c
R= (tS-tR)c+S-R c

x1 xu y1 yu z1 zu +t S R c
2 2 2
R1 =
2 2 2
R2 =
xu , yu , zu , tS R
2 2 2
R3 =
2 2 2
R4 =

Your location is:

Longitude39o 97909 N
Latitude 116o 36638 E
Altitude 105m
Step 3 : Calculate the User position using at least four Pseudo-range

4

The important of time

Each GNSS satellite is equipped with two atomic clock at least
accurate to 3 nanoseconds (10-9 s 1meter)
Ground control stations correct satellites time
Satellites correct GNSS receivers time
Satellite signal sending to GNSS receiver need about 60-90ms (18,000km to
24,000km)
From the base frequency of the atomic
clocks (10.23 MHz) all other frequencies
that are required for the satellite are derived.

1 - Develop History
3 - Basic principle


Receiver Errors are Cumulative!

toe
Predicted orbit t0
a) t0toe

Tracking measurement b)
real orbit
c)
tk
d)

Upload ephemeris e)

tk
Ground antenna Monitor station
Receiver Orbit prediction

Master Control Center

All together
Typ:1-6m
Typ:0.8m

tsc a0 a1 (t toc ) a2 (t toc )2 +tr

a0clock bias
a1 clock drift
a2 frequency drift
tocdata reference time
t current time
tr relativistic effects correction

Moving Clock
Slow
Fast
Stationary Clock

Low Gravity Space
fast
slow
High Gravity Planet

tr Fe a sin Ek
F : Constant
e : Eccentricity
a : semimajor axis
Ek : Eccentric anomaly

s(t ) AD(t ) PRN (t ) cos(t 0 )

dv p
vg v p
d
F2 dn p
ng n p f
F Layer1501000km df
F1
c c
ng np
E Layer90130km vg vp
50-1000km
vp : Carrier phase velocity

vg : Information group velocity

n p : Index refraction for carrier phase

ng : Index refraction for information group


c2 c3 c4 c2 40.3ne 40.3ne
ng =1 Siono , g
User User 40.3TEC
SV
1 1
f2 f3 f4 f2 f2 1 ds dl
SV
f2 f2
c c c c 40.3ne 40.3ne
n p =1 22 33 44 1 22 1 Siono , p
User User 40.3TEC
f f f f f2 SV

1
f 2

ds SV
dl -
f2
ne : Electron density

1
R cos 2
2
Fpp 1 e
Re h
40.3TEC
Siono , g Fpp
f2
40.3TEC
Siono , p - Fpp
h
f2
Fpp : Obliquity factor
Re : Elevation angle -
h : Height of maximum TEC
-

x2 x4
Ionospheric zenith delay(m)
9
Fpp 5.0 10 A 1 , x 1.57
TIono L1 2 24 (sec)

Fpp 5.0 10 ,
9
x 1.57

A
2 (t 50400)
x (radians )
T/2 T
0 4 8 12 16 20 24 A 0 +1 + 2 2 + 3 3
Local time (h) 8Klobuchar
T 0 +1 + 2 2 +3 3
1 , 2 , e , 1 , 2 , 3 : From navigation message
: Magnetic latitude of User Position

s f1 (t ) Af1 D f1 (t ) PRN f1 (t ) cos(2 f1t f1 ) s f2 (t ) Af2 D f2 (t ) PRN f2 (t )cos(2 f 2t f2 )
40.3TEC 40.3TEC
f Fpp f Fpp
1
f1 2
f2
Siono,corr
f1
2
f 22
f 2 f12

f1
f2
1
1

f1 f2

Global occurrence characteristics of scintillation

Varying effects of scintillation on GNSS

g ( 1) g
1
H Rd 10 k1Rd p
6
H Rd 106 k2 Rd p e
d dry 1 d wet 1
T g m T g m ( 1) Rd T
Strop md ddry mw dwet 2m(zenith)20m(10)

Dry component effect can easily modeled account for approximately 90%,
Wet component effect is highly variable and very difficult to model, only about 10% can modeled.

Composit signal

Direct signal
Reflected signal

Multipaty Non multipaty


Choke coil

0.1chip
0.5 chip
Composit signal

Direct signal Reflected signal


Composit signal scomposit A0 D(t ) PRN (t ) cos(t 0 )+

A1 D(t 1 ) PRN (t 1 ) cos(t 0 1 )
A1 ,1 ,1
sreflect path A1D(t 1 ) PRN (t 1 ) cos(t 0 1 )

Direct signal Reflected signal

sdirectpath A0 D(t ) PRN (t ) cos(t 0 )



error GDOP user

1
GDOP H T H ax1 a y1 a z1 1

Hx ax 2 ay 2 az 2 1
H
x x y z c t
T

1 2 3 n
T axn a yn azn 1
x2u xu x2u yu x2u zu x2u ctb D D12 D13 D14

2
11

2
2
2
D21
u ctb
D22 D23 D24 2
user
y x y y y z y
cov(dx) E dxdx 2
T

u u u u u u
zu xu zu yu zu zu zu ctb D31
2 2 2
D32 D33 D34
2 D D44

ctb xu 2
ctb yu 2
ctb zu 2
ctb ctb 41
D42 D43

GDOP D112 D22

2
D33
2
D44
2
x2u y2u z2u ct2 b
PDOP D112 D22

2
D33
2
x2u y2u z2u
HDOP D112 D22

2
x2u y2u
VDOP D33
2
z2u
TDOP 2
D44 ct2 b
GDOPGeometrical Dilution of Precision

PDOP Position Dilution of Precision
HDOP Horizontal Dilution of Precision
VDOP Vertical Dilution of Precision
TDOP Time Dilution of Precision



12 n 12 n
x,y,z
12 n

Local Area Augmentation System- LAAS
Landing - Landing on aircraft carrier



1 GPS System GPS
2 GLONASS System
3 Galileo System
4 BeiDou System
5 Region and Augmentation System-


Increasing System Capabilities Increasing Defense/Civil Benefit
It is the policy of the United States to maintain U.S. leadership() in the service,
provision, and use of satellite navigation systems.
Meet growing demands() by improving the performance () of GPS services
Remain competitive with international satellite navigation systems.
Introduce modern technologies throughout the space and control segments that will
enhance overall performance
Improve system for both civil & military in accuracy, availibility, integrity, and reliability.

2005 2010 2015 2020 2025
GPS IIR(M)
GPS IIF
Space Segment- GPS III
Legacy Accuracy Architecture Launch and early orbit, Next Generation

Launch Checkout
Improvement Evolution Plan Anomaly resolution, and Operational Control
Initiative(L-AII) (AEP) Disposal Operations (LADO) System (OCX) Capability (LCC)
Control Segment

The IIR series were produced to replace the II/IIA series as

the II/IIA satellites gradually degraded or exceeded their
intended design life. The "R" in Block IIR stands for
replenishment.
The production consisted of a total of 13 satellites. As of Nov
2015, there were 12 IIR satellites in the GPS constellation,
forming the backbone of today's GPS along with the IIR(M)
series.
Key Improvements:
On-board clock monitoring.
Launched in 1997-2004

The IIR(M) series of satellites are an upgraded version of

the IIR series. The "M" in IIR(M) stands for modernized.
There are 8 IIR(M) satellite. As of Nov 2015, there were 8
healthy IIR(M) satellites in the GPS constellation, with the
final one (SVN-49) set to "unusable" status but transmitting
signals for test purposes.
Key Improvements:
Second civilian GPS signal (L2C) for improved performance
in commercial applications
Two new military signals (M-Code/L1&L2) providing
enhanced military jam-resistance.
Flexible power levels for military signals.
Launched in 2005-2009.

L2C designed specifically to meet commercial needs.The first GPS IIR(M) satellite featuring
L2C launched in 2005. Available on 24 GPS satellites around 2016.
Features
Combined with L1 C/A in a dual-frequency receiver, L2C enables ionospheric correction,
a technique that boosts accuracy.
L2C broadcasts at a higher effective power than the legacy L1 C/A signal, making it easier
to receive under trees and even indoors.
Modern signal design (Civil Navigation-CNAV), including multiple
message types and forward error correction (FEC).
L2C moderate length code (CM): 10.23chips, 511.5kHz, 20m period.
L2C long code (CL): 767,250chips , 511.5kHz,1.5s period.
Includes dedicated channel for codeless tracking. 1227.60MHZ
Satellites transmitting L2C signal21 2016.09.25

The CNAV structure which was used on L2C has individual messages which can be broadcast
in a flexible order with variable repeat cycles.
63 different message types, 15 types have already been defined.
The CNAV message consists of a 12s , 300 bit long message
Preamble: 8bits (1-8)
Satellite pseudorandom noise (PRN) number: 6bits (9-14)
Message type ID: 6bits (15-20)
GPS Time of Week: 17bits (21-37)
A alert of flag: 1bit (38)
Message data : 238bit (39-276)
A Cyclic Redundancy Check (CRC) parity block: 24bit (277-300).
The GPS Time of Week will change every 12 seconds.

The IIF series expand on the capabilities of the IIR(M). The

"F" in IIF stands for follow-on. Compared to previous
generations, GPS IIF satellites have a longer life expectancy
and a higher accuracy requirement. The IIF series includes a
total of 12 satellites. The first IIF satellite launched in May
2010. As of Nov 2015, there were 11 operational IIF satellites
in the GPS constellation.
Key Improvements:
Operational version of the third civilian GPS signal (L5) for
transportation.
safety12-year design lifespan.
Extremely accurate atomic clocks. A mix of rubidium and
cesium atomic clocks to keep time within 8 billionths of a
second per day

L5 is the third civilian GPS signal, designed to meet demanding requirements for safety-of-life
transportation and other high-performance applications. In 2009, the Air Force successfully broadcast
an experimental L5 signal on the GPS IIR-20(M) satellite. The L5 broadcast will not include a data
message until OCX comes online.
Future aircraft will use L5 in combination with L1 C/A to improve accuracy (via ionospheric
correction) and robustness (via signal redundancy).
Higher transmitted power than L1 C/A or L2C
Greater bandwidth for improved jam resistance
Modern signal design (CNAV)
Binary Offset Carrier (BOC) modulation
Includes dedicated channel for codeless
tracking 1176.45MHZ
Satellites transmitting L5 signal12 2012.09.25


The GPS III series is the newest block of GPS satellites. GPS
III will provide more powerful signals in addition to enhanced
signal reliability, accuracy, and integrity -- all of which will
support precision, navigation, and timing services. Based on the
current, four GPS III satellites will be produced with options to
purchase an additional eight satellites.
Key Improvements:
Fourth civilian GPS signal (L1C) for international
interoperability.
Enhanced signal reliability, accuracy, and integrity
Laser reflectors; search & rescue payload
No Selective Availability
15-year design lifespan.
Begins launching in 2016


Civilian use signal, broadcast on the L1 frequency (1575.42 MHz). The L1C will be available with
first Block III launch, scheduled for 2014, available on 24 GPS satellites around 2021.
The PRN codes are 10,230 bits long and transmitted at 1.023 Mbit/s. It uses both Pilot and
Data carriers like L2C.
The modulation technique used is BOC(1,1) for the data signal and TMBOC for the pilot.
The time multiplexed binary offset carrier (TMBOC) is BOC(1,1) for all except 4 of 33
cycles, when it switches to BOC(6,1). Of the total L1C signal power, 25% is allocated to the
data and 75% to the pilot.[16]
Modern signal design (CNAV-2)
Implementation will provide C/A code to ensure backward
compatibility
Data-less signal component pilot carrier improves tracking
Enables greater civil interoperability with Galileo L1
1575.42MHZ

It was designed to improve the anti-jamming and secure access of the military GPS signals. Very little has been
published about this new, restricted code.
The modulation method is BOC(10,5), This signal will have an overall bandwidth of approximately 24
MHz.
The M-code is designed to be autonomous, meaning that a user can calculate their position using only
the M-code signal.
the M-code is intended to be broadcast from a high-gain directional antenna, in addition to a full-
Earth antenna. This directional antenna's signal, called a spot beam, is intended to be aimed at a
specific region (several hundred kilometers in diameter) and increase the local signal strength by 20
dB.
While the whole Earth M-code signal is available on the Block IIR-M satellites, the spot beam
antennas will not be deployed until the Block III satellites are deployed, tentatively in 2013.

Directional Antenna Spectrum of L1

Air Force will acquire eight GPS IIIA satellites in this competition and plans to begin launches in
2013. Eight GPS IIIB, and sixteen GPS IIIC satellites are planned for later increments, with each
increment including more capabilities based on technical maturity.
When fully deployed, the GPS III constellation will enable a cross-link command and control
architecture, allowing the entire GPS constellation to be updated from a single ground
station instead of waiting for each satellite to orbit in view of a ground antenna as well as a
new spot beam capability for enhanced M-Code coverage and increased resistance to hostile
jamming.
All of these enhancements contribute to improved accuracy and assured availability for
military and civilian users worldwide.


Block IIA Block IIR

1990 1997
Power Spectrum (dBW/Hz)

-220 P(Y) C/A
-230
-240
-250
1227.6 1575.42
Frequency (MHz)
Block IIR-M, 2005

-220
L2C
-230
M
-240
-250
1227.6 1575.42
Frequency (MHz)
-220
Block IIF, 2010
-230
L5
-240
-250
1176.45 1227.6 1575.42

Frequency (MHz)
Block III, 2016
-220
L1C
-230
-240
-250
1176.45 1227.6 1575.42

L5 Frequency (MHz) L1
L2

(2016)

1 GPS System GPS
2 GLONASS System
3 Galileo System
4 BeiDou System

GLONASS is operated for the Russian government by the Russian Aerospace Defence Forces.
Development of GLONASS began in the Soviet Union in 1976.
The constellation was completed in 1995.
In the 2000s (decade), under Putins presidency, the restoration of the system was made a top
government priority and funding was substantially increased
In October 2011, the full orbital constellation of 24 satellites was restored, enabling full
global coverage.


Total satellites in constellation 27 SC

Operational 23 SC
In commissioning phase -
In maintenance 1 SC
Under check by the Satellite Prime Contractor 1 SC
Spares 1 SC
In flight tests phase 1 SC

In 2011, Russia decided to expand the GLONASS constellation to 30 satellites

using six orbital planes.

Roadmap of GLONASS modernization

1602 + n0.5625 1246 +
Satellite Current 1575.42 MHz 1242 MHz 1207.14 MHz 1176.45 MHz
Launch MHz n0.4375 MHz
series status (L1, CDMA) (L2, CDMA) (L3, CDMA) (L5, CDMA)
(L1, FDMA) (L2, FDMA)
Out of
GLONASS 1982 L1OF, L1SF L2SF
service
In
GLONASS-M 2003 L1OF, L1SF L2OF, L2SF
service
In
GLONASS-K1 2011 L1OF, L1SF L2OF, L2SF L3O
service
Design
GLONASS-K2 2013 L1OF, L1SF L1OC, L1SC L2OF, L2SF L2SC L3OC
phase
L1OC,
GLONASS- Research L2OC,
KM
2015 L1OF, L1SF L1OCM, L2OF, L2SF L3OC L5OC
phase L2SC
L1SC
"O": open signal (standard precision), "S": obfuscated signal (high precision); "F":FDMA, "": CDMA; n=7,6,5,...,6
Glonass-K1 series use 1202.025 MHz for the L3OC signal


1 GPS System GPS
2 GLONASS System
3 Galileo System
4 BeiDou System

Galileo is built by the European Union (EU) and European Space Agency (ESA). In 1998, the European Union
decided to pursue its own satellite navigation system. Because of the US Government opposing the project, until
early 2002 the European Union (EU) decided to fund the development of Galileo.The system is intended primarily
for civilian use, unlike the United States system.

30 in-orbit spacecraft (including 6 spares)

Orbital altitude: 23,222 km (MEO)
3 orbital planes
56inclination, ascending nodes separated
by 120 longitude
Satellite lifetime: >12 years
Satellite mass: 675 kg
Satellite body dimensions: 2.7m/1.2 m/1.1 m
Span of solar arrays: 18.7 m
Power of solar arrays: 1.5 kW



Full Operational Capability

30 operational satellites and
complete ground infrastructure
2020
Exploitation Phase
FOC1 system
2017-2019
Initial Galileo Services
OS,SAR,PRS,CS
demonstrator
2015-2016
In-Orbit Validation
4 satellites initial ground
infrastructure
2013
Development system Testbed
GIOVE A/B
2005

Svalbard ULS/GSS
Alaska GSS
Kiruna TTC
Redu GSS
Urumchi GSS
Fucino GSS
Washington GSS
S. Korea GSS
Riyadh GSS
Hawaii GSS Kourou
TTC/ULS/GSS
New Caledonia
ULS/GSS
Reunion ULS/GSS
Papeete ULS/GSS
Easter Island GSS
Cordoba GSS South Africa GSS Perth GSS
Sensor Stations
Up-Link stations
TT&C stations
Control Centres Troll GSS

Component IOV Phase FOC Phase
Satellites 4 27(+3)
Control Centres 1 3
Mission Uplink Stations 5 9
TT&C Stations 2 5
Sensor Stations 20 30-40
IOV (In Orbit Validation), FOC (Full Operational Capability)


Total satellites in constellation 18 SC

Operational -
In commissioning phase -
In maintenance
Under check by the Satellite Prime Contractor -
Spares -
In flight tests phase 18 SC

1 GPS System GPS
2 GLONASS System
3 Galileo System
4 BeiDou System

The BeiDou Navigation System is named after the Big Dipper constellation, which
is known in Chinese as Bidu. Original ideas of a Chinese satellite navigation system
had been conceived and worked on by Chen Fangyun and coworkers in the 1980s. The
development of the Beidou would be carried out in three steps:
I. 2000 - 2003: Experimental BeiDou-

1 navigation system consisting of 3
satellites
II. by 2012: Regional BeiDou-2(step1)
navigation system covering China
and neighboring regions
III. by 2020: Global BeiDou-2(step2)
navigation system

BeiDou-1 consists of four geostationary satellites (three working satellites and one backup satellite). This
means that the system does not require a large constellation of satellites, but it also limits the coverage to areas on
Earth. The area that can be serviced is from longitude 70E to 140E and from latitude 5N to 55N. A
frequency of the system is 2491.75 MHz. The last satellite was launched in 2007.
Position calculation
A signal is transmitted skyward by a remote terminal.
Each of the geostationary satellites receive the signal.
Each satellite sends the accurate time of when each received the signal to
a ground station.
The ground station calculates the longitude and latitude of the remote
terminal, and determines the altitude from a relief map.
The ground station sends the remote terminal's 3D position to the
satellites.
The satellites broadcast the calculated position to the remote terminal

BeiDou-2 is not an extension to the existing BeiDou-1. The BeiDou-2(step 1) will be a constellation of 14
satellites, which include 5 GEO satellites for backward compatibility with BeiDou-1, and 9 non-
geostationary satellites (4 MEO and 5 in inclined geostationary orbit), that will offer. The free service will
have a 10 meter location-tracking accuracy.
Beidou uses China Geodetic Coordinate System 2000 (CGCS2000), coinciding
with the International Terrestrial Reference Frame (ITRF) at a few centimetre
level.
GEO
Semi-major axis: a=6,378,137.0meters
Flattening : f=1/298.257222101
Earths gravitational constant: GM=3.986004418 14 3 2 1014 m3 /s2
Angular velocity of the Earth: =7.292115 10 rad/s 10-5 rad/s
MEO

GEO: 6 IGSO: 5 MEO: 5

GEO: 5 IGSO: 5 MEO: 4


The new system will be a constellation of 35 satellites that will offer complete coverage
of the globe.
5: Geostationary (GEO) satellites
27: Medium Earth orbit (MEO) satellites
3: Inclined geostationary orbit (IGSO) satellites
There will be two levels of service provided GEO
Free service to civilians
licensed service to Chinese government and military users
The licensed service will be more accurate than the free service, can be used for communication,
and will supply information about the system status to the users.
Performance of system
10-meter positioning accuracy
20-nanosecond timing accuracy
MEO
0.2 meters/second velocity accuracy;



1 GPS System GPS
2 GLONASS System
3 Galileo System
4 BeiDou System

SDCM

WAAS is an air navigation aid

developed by the US Federal Aviation
Administration to augment GPS, with
the goal of improving its accuracy,
integrity, and availability. Essentially,
WAAS is intended to enable aircraft to
rely on GPS for all phases of flight,
including precision approaches to any
airport within its coverage area.


EGNOS) is a satellite based augmentation system (SBAS) developed by the ESA. It supplements the GPS, GLONASS and
Galileo systems by reporting on the reliability and accuracy of the signals. The system started its initial operations in July 2005,
showing outstanding performances in terms of accuracy (better than 2 meters) and availability (above 99%); and it was certified
for use in safety of life and commercial severval applications in 2011.

Operational Phase (Long Term Operations, Extensions, Replenishments)

Programme
Deployment Phase
Definition Phase
EGNOS
Phases
2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019

QZSS was authorized by the Japanese government in 2002. At the beginning the
system was developed by the Advanced Space Business Corporation (ASBC)
team,including Mitsubishi Electric Corp., Hitachi Ltd., and GNSS Technologies Inc. When
in 2007 ASBC collapsed, the work was taken over by JAXA together with Satellite
Positioning Research and Application Center (SPAC), established in February 2007 and
approved by the Ministers associated with QZSS research and development.
The QZSS service area covers East Asia and Oceania region and its platform is multi-
constellation GNSS. The QZSS system is not required to work in a stand-alone mode,
but together with data from other GNSS satellites.



(1) Initial Phase Operation

The Initial Phase Operation started in September 2010 with the launch of the first quasi-zenith
satellite, Michibiki, has been completed by summer 2011, with all functions of the satellite and the ground segment
confirmed.During the initial phase, technical verifications and applications demonstrations have been made
using Michibiki.
(2) Accelerate deployment
In 2011 the Government of Japan has decided to accelerate the QZSS deployment in order to reach a 4-satellite
constellation by the late 2010s, while aiming at a final 7-satellite constellation in the future.
(3) Full operational statue
Later on March 2013, the Japanese Cabinet Office has formally announced a 50 billion (US$540 million)
contract award with Mitsubishi to build one geostationary satellite and two additional quasi-zenith satellites
(QZSs). The three satellites are scheduled to be launched before the end of 2017. In addition, another contract was
also signed with a special purpose company (led by NEC and supported by Mitsubishi UFJ Lease & Finance and
Mitsubishi Electric Corporation) to fund the design and construction of the ground control system as well as its
verification and maintenance for a period of 15 years



GPS only GPS + QZSS

Showing Availability improvement per day
Bldg 0 20 40 60 80 100 (%)
Legend

MSAS is a Japnese SBAS (Satellite Based Augmentation System) which supports DGPS(Differential
GPS )designed to supplement the GPS system by reporting (then improving) on the reliability and
accuracy of those signals. Tests had been accomplished successfully, MSAS for aviation use was
commissioned on September 27, 2007.
Multifunctional Transport Satellites (MTSAT) are a series of weather and aviation control satellites. They are geostationary satellites
owned and operated by the Japanese Ministry of Land, Infrastructure, Transport and Tourism and the Japan Meteorological
Agency (JMA),

Functions
- Provide an additional pseudo-range signal from a SBAS satellite
- Determine and transmit GNSS satellite health status
- Provde GNSS satellite ephemeris and clock corrections(fast and long-term)
- Determine and transmit ionospheric corrections
Carrier frequency
- 1575.42MHz (GPS L1)
PRN Code
- 129 and 137


GPS Aided Geo Augmented Navigation

GAGAN is a planned implementation of a regional satellite-

based augmentation system (SBAS) by the Indian government.
It is a system to improve the accuracy which would make
airline operations more efficient and cut down costs as it
reduces separation between aircrafts, increase air safety and
fuel efficiency. .
The availability of the GAGAN signal in the countrys air
space will bridge the gap between European Unions European
Geostationary Navigation Overlay Service (EGNOS) and
Japans Multi-functional Satellite Augmentation System
(MSAS) coverage areas.

May 2011
May 2013


3 GEO Satellites at 34, 83, 131.5 East

4 IGSO Satellites at 29 inclination with Longitude cross 55 and 111.75
IRNSS-1A was Launched on 2013.07.01 IRNSS-1B on 2014.04.05 , IRNSS-1C on
2014.10.16 , IRNSS-1D on 28 March 2015.
The remaining three satellites IRNSS-1E has a planned launch in January
2016 , IRNSS-1F and IRNSS-1G should be in orbit by March 2016 and by middle of
2016, India will have the full navigational satellite system in place.
June 2014, the IRNSS SIS ICD for SPS was released

Each carrier is modulated by three signals namely, BPSK (1), Data

channel BOC (5, 2) and Pilot channel BOC (5, 2).

The System for Differential Corrections and Monitoring (SDCM) is the SBAS currently being developed in
the Russian Federation as a component of GLONASS.
He main differentiator of SDCM with respect to other SBAS systems is that it is conceived as an SBAS
augmentation that would perform integrity monitoring of both GPS and GLONASS satellites, whereas the
rest of current SBAS initiatives provide corrections and integrity just to GPS satellites.
The SDCM objectives are:

(1) Integrity monitoring of GNSS satellites (GPS and GLONASS)
(2) Provide differential corrections to GLONASS satellites
(3) A posteriori detail analysis of GLONASS system performances.
The positioning performance provided by SDCM will be of 1 to 1.5 meters in the
horizontal plane and of 2 to 3 meters in vertical. In addition, it is expected to offer a cm-
level positioning service for users at a range of 200 kilometers of the reference stations


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Principle of GNSS

Office New building F317 - F317 Email : qhlmmm@sina.com

- CNT Lab of Beihang University

The first artificial satellite was launched -

The First artificial satellite was launched by Soviet on Oct 4th,1957.

- CNT Lab of Beihang University

Using Doppler shift to determination satellite position -

- CNT Lab of Beihang University

Satellite Position idea generation -

The first Satellite Navigation System was born-

Transit is the first operational satellite-based navigation system. Transit was

- CNT Lab of Beihang University

hyperboloid - hyperbola - point

The disadvantage of Transit

Timation Satellite System

- CNT Lab of Beihang University

Timation Satellite System

Timation project used 12 to 18 satellites to composing the globe positioning system

- CNT Lab of Beihang University

621B Satellite Navigation System

- CNT Lab of Beihang University

621B Satellite Navigation System

The 621B system had 3 to 4 constellations, one constellation consisted of 4 to 5

- CNT Lab of Beihang University

Birthday of GPS Saturday, 1 Sept Monday, 3 Sept. 1973

- CNT Lab of Beihang University

The original mission of GPS - GPS

Drop 5 bombs in the same hole;

- CNT Lab of Beihang University

The important event of GPS

- CNT Lab of Beihang University

The status of GPS Now2017/02/14

- CNT Lab of Beihang University

Ground antenna Monitor station

US Space Command Master Control Station

- CNT Lab of Beihang University

SCC:System Control Center

- CNT Lab of Beihang University

Master Control Station of GPS - GPS

The passive monitor stations

Monitor station on Hawaii

- CNT Lab of Beihang University

Basic Functions of Monitor Stations -

- CNT Lab of Beihang University

GPS: Monitor stations+ six NGA () station

GLONASS Future Ground station Distribution

GPS Ground Antenna

Master control station estimates parameters describing

- CNT Lab of Beihang University

MEOIGSO or GEO orbit

8 12 satellites visible on Earth

- CNT Lab of Beihang University

Inclined 55with respect to equator

20,200 km elevation above Earth

Orbital period of 11 hr 58 min

- CNT Lab of Beihang University

The constellation of BeiDou Navigation

- CNT Lab of Beihang University

Ground track for GNSS Satellite

- CNT Lab of Beihang University

Three or four atomic clocks (Rubidium Caesium or hydrogen maser )

- CNT Lab of Beihang University

- CNT Lab of Beihang University

- CNT Lab of Beihang University