(Prof.S.N.

Mitra Memorial Award-2007 Lecture)

Globa l Na viga tio n Sa tel li te Syste m (G NSS)
(A vast system of systems providing global positioning, navigation & timing
information to scores of user community)

Conventional Satellite technology has got three applications : Communication, Remote

sensing and, Scientific studies. The latest one to add to this list is Satellite Based
Navigation also referred as Satellite Navigation/Global Positioning System and lately
termed as Global Navigation Satellite System (GNSS). With the technological
advancement taking place in mobile communications, controls, automobiles, aviation,
geodesy, geological survey, military operations, precision farming, town planning,
banking, weather predictions, power grid synchronization etc., in spite of each one
having separate domain, there is one thing common in all of them for their future; that
is the Precise-position, Timing and Velocity (PVT) – information, which can only be
provided by Global Navigation Satellite System (GNSS).

Global Navigation Satellite System (GNSS) is a vast system of systems, providing global
positioning, navigation and timing information to scores of users in oceans, land, air
and even in space. The paper/talk traces the history of navigation, evolution of
navigation satellites, the three present constellations and a world scenario in this
direction. India has taken a significant step in this direction, with its SBAS system
GAGAN and deployment of its own Regional Navigation Satellite Constellation (IRNSS).
The paper will touch upon the various GNSS connected aspects, their applications and
the Indian perspective.

________________________________________________________________________
Dr. S Pal DFIETE, FIEEE, FNAE, FNASc
Distinguished Scientist
Programme Director, Satellite Navigation Program / Chairman, GAGAN PMB
Deputy Director, Digital & Communication Area
ISRO Satellite Centre, Bangalore-17
pal_surendra@hotmail.com

1
Dr. P S Goel, President INAE, Members of the INAE Council, INAE Fellows,
distinguished guests, ladies and gentleman,
First of all I wish to thank the INAE President Dr. Goel and Council Members for
conferring Prof. S. N. Mitra Memosrial Award on me. It is indeed a great honour to
receive an award in the name of an eminent electronics and RF engineer who worked in
the field of electronics & RF communication when the technologies were not so
advanced, even in advanced countries, what to talk about India. Prof. Mitra was also a
founder member of INAE. I feel highly honoured with the conferment of this award on
me.

As an award lecture I am going to talk to your on ‘Global Navigation Satellite System

– GNSS and efforts being made by India in this direction.

Indian Space Programme as Envisaged by Prof. Vikram Sarabhai to start with had four
components:

Rockets (Launchers like SLV,ASLV,PSLV,GSLV)

Satellites (Communication Satellites, Remote Sensing & Scientific Satellites)
Space Sciences and Space Technology Application

In the last decade the planners of Indian Space Programme (Present Chairman Dr. G
Madhavan Nair , Former Chairman, Dr. Rangan, and Ex Director, ISAC – presently
Secretary, Ministry of Earth Sciences, Dr. Goel) have added Satellite Based Navigation
System to the Indian Space Activities. Satellite Based Navigation System is generally
termed as Global Navigation Satellite System – GNSS. India although a late entrant in
this arena is going to play a major role.

ISRO has taken up GPS Aided GEO Augmented Navigation System (GAGAN) – the
Indian Satellite Based Augmentation System for GPS (S-BAS) along with Airport
Authority of India, Indian Regional Navigation Satellite System IRNSS – India’s own
independent constellation, participation & Co-operation with GALILEO, GLONASS &
thus India is becoming an important member of world GNSS fraternity. Dr. P S Goel
then INAE President then Director of ISRO Satellite Centre did play an important role
in defining GAGAN & IRNSS.

2
As a part of this lecture, I am going to talk to you and tell you about the history of
navigation, global satellite based navigation scenario, Indian participation &
contribution to this newer phenomena of space technology. The talk will end with
GNSS applications & issues.

It is really a great honour for me to deliver the Prof. S N Mitra Memorial (2007) Award
Lecture. It is my humble tribute to the great electronics & RF communication engineer
& one of the founder member of INAE.

3
History of Navigation:

“Navigation is the science of charting one’s own route from Point `A’ to Point `B’
with respect to known references both in spatial as well as temporal domain”.
Navigation is also the process of planning, recording and controlling the movements of a
craft from one place to another.

Navigation is the determination of the position & velocity of a moving vehicle or a craft.
Apparently the word `NAVIGATE’ is derived from the latin word NAVIS – meaning ship
and ‘agere’ ‘to move, steer’or ‘to direct’. There is another thinking about the word
`Navigation’ having its origin in Sanskrit – where `Nav’ or `Nau’ means `Nauka’ – boat
and `gati’ – means `velocity’. Some scholars feel that art of navigation was born in the
Sindhu Valley 6000 years ago.

HISTORY OF NAVIGATION The early man wondered away from

his hut or cave, he asked himself,
• Navigation is the science of charting one’s own where am I? That became the need
route from point ‘A’ to point ‘B’ with respect to
known references both in spatial as well as in and may also be the origin of
temporal domain
navigation. He also perhaps wanted
• Identifying and remembering objects and land marks
like rocks, trees, rivers, marking on trees or leaving to know as how to go back to his
stones/flags and looking at Sun and Moon, as points place, that is which way is his
of reference were the techniques and navigational
aids that the early man used to find his way in destination? The tips to return
jungles, deserts, mountains etc. Perhaps the time
reference was day/night or even could be seasons. became tools of guidance. He had no
• The situation changed drastically when man started concept of position on earth, whose
long voyages on oceans.
size and shape could not be conceived
even for centuries to come.

Identifying and remembering objects and land marks like rocks, trees, rivers, marking
on trees or leaving stones/flags, looking at Sun and Moon as points of reference were
the techniques and navigational aids that the early man used to find his way in jungles,
desserts, mountains etc. Perhaps the time reference was day/night or to start with
even could be seasons.

The situation changed drastically when man started long voyages on oceans. During the
sea voyages to start with the boats were kept near the contours of the shores.
Vegetation, water currents, land contours, birds, water, temperature, wind speed &

4
direction and even water smell were used for navigation. With slight passing of time
celestial objects like Moon, Sun, stars and various constellations were used, based on
the fact that the relative position of stars and their geometrical arrangements look
different from different places on earth. By observing this phenomenon one was able to
compute his position on Earth and the direction that he should take. Great Bear and
Small Bear along with other constellations & planets like Venus, Mars & Jupiter were
extensively used. Slowly Pole Star also came in the arena.

Perhaps the first person to think about navigation from air or space/above land, was
the great Sanskrit scholar `Kalidas”. In his famous literary creation Meghdoot, the
Yaksha instructs/navigates the journey of the Megh above the land, and tells him all
the ground location and ground control points like rivers, mountains, forests, cities and
even flowers and vegetation so that the Megh can reach to Alkapuri and deliver
Yaksha’s message to his beloved. In Meghdoot the way `Kalidas uses biosphere,
animals, birds, vegetation, fragerances and even emotions of the human beings for
navigation, perhaps with most advanced navigational skills of the present technological
paradigm, one will not be able to do.

History of
HISTORY OFNavigation
NAVIGATION Contd
The great sanskrit scholar Kalidas was the first one to imagine above
land navigation. In his famous Sanskrit Kavya `Meghdoot’ Kalidas’s
Yaksha instructs `Megha’ ,how to navigate from Ramagiri to Alkapuri.
Soar up high and head North
…….Lift yourselves a little higher westward and keep moving. Relax for a while on
the top of Mount Amrakuta, whose burning woods you will have helped
soak………
………As you lighten you will pick up speed and reach the rocky Vindhya
Range…….
……….The wind there will be too weak to hoist you…….
……….The chataka birds will follow as you travel shedding rain catching the heady
scent of flowers and charred wood charred summer fires……
………..when you reach Dashran, you will see garden hedges white with Ketaki
flowers……
………..In the royal city of Vidisha you will be able to sip the sweet waters of the
Vetravati River…. …………Go ahead and rest for a white on the low peaks of
Nichais…….
………….Don’t forget to detour a little and checkout the view of Ujjayini’s white
mansions and savor…………………..
………Along the way fill yourselves up at the nirvindhya River……….
……………When you reach Awanti look for Vishala, a city made in
heaven…………….
……………There the cool morning breeze, fragrant from lotus blossoms on the
Shipra River,,,,,,,,,,,,
…………….Nurse the lotus flowers in the Manasa Lake with your water………………
……………There to the north of Kubera’s estate is our house with a large rainbow
like gate and a Mandar tree which is just like a……….

5
 Phoenicians, Vickings,
HISTORY OF NAVIGATION Irish Monks and Greeks
• Phoenicians , Vikings and Greek were undertaking sea voyages and were undertaking sea
had navigation skills even 3000 years back. Phoenicians claimed to
have circumnavigated Africa from Red sea, sailing via the Cape of
Good Hope.
voyages and had great
• Burning fire on mountain tops were used as light houses. The
legendary Light House of Alexandria was an example. navigation skills even 3000
• ‘Navigation’ word has perhaps its origin in ‘Naoka’- ‘Nav’ boat + ‘Gati’-
velocity , in Sanskrit. years back. Phoenicians
• Not much is written in the modern history about Navigation activities
in Asia-Pacific region. Chinese, Arabs etc., had under taken lot of sea
voyages. claimed to have
• In Mohanjadaro ruins (Indian sub continent ) one clay tablet was found
which depicted a boat. circumnavigated Africa
• Sindhu or Indus valley civilization ruins ( parts of Pakistan, Gujarat ,
Harayana ) do show that perhaps a successful business with Romans,
Babylonians and Sumerian civilizations. from Red Sea, sailing via
• Out of 18 Tamil Sidhas, Sidha Bhoganathar went to China via sea
route (even he is supposed to have designed an aeroplane) and lived the Cape of Good Hope.
in China as Lao-tzu, spread Taosim. He is attributed to have great
navigational skills.
During those days perhaps
burning fire on mountain
tops were used as light houses. The Legendary Light house of Alexandria was an
example.

Although `Nav’ word has its origin in `Naoka’ - `Nav’ in Sanskrit “gati” means velocity,
not much is known about Indian’s capabilities in navigation, though great work was
reported in the area of astronomy, time measurement, to certain extent terrain
mapping, village and city planning. In Mohanjadaro ruins ,one clay tablet was found
which depicted a boat. Sindhu or Indus valley civilization which was spread in parts of
Pakistan & Gujarat, do show that India had ports and perhaps a successful business
with Romans, Babylonian and Sumerian civilizations. Bate Dwarka – marine
archeological findings indicate the existence of a well developed marine navigation in
1000 BC.
The archeological site at Lothal
Lothal
(near Ahmedabad, Gujarat,
India) has got remains of a port
which indicates that more than
4500 years back India also had
an advanced sea-transportation
system. The dock is almost of
the same size as that of
modern Vishakapatanam dock.
However not much is known
about the navigation aids used
by the sea travelers. Cholas in the past and Marathas in the recent past had large
navy. As per the classic Tamil literature out of the 18 Tamil Sidhas, – Sidha

6
Bhoganathar went to China via sea route (even he is supposed to have designed an
aeroplace) & lived in China as Lao-tzu, spread Taosim, also had great navigational
skills. Sumerians, Arabs & Chinese also undertook long sea voyages earlier to 3 rd BC.

In the recorded history – Megallan (1550 AD) went on his voyage to circumnavigate
earth equipped with primitive sea charts, an earth globe, cross staff, dead reckoning
tools wooden and metal theodolites and quadrants, hour glasses, a log and knotted
rope. Christopher Columbus started his journey on 6th September 1492. Columbus
had very primitive navigation tools and his place in navigation history is recorded
owing to his courage, resolution and audacity rather than to his insight, intellect
or erudition.

In 324 BC Alexander the great supposed to have expressed his desire to his admiral to
sail to Africa. On Eastern side Arabs had sailed to Malabar Cost and Mallaca strait,
Sumatra and even reached China in 800 AD. Chinese had some fragmented maps
which talked about geographical features of sea, rivers even in 2000 B.C. During Tang
dynasty (700 AD ) such navigational directions extended from Korea around to East,
Africa and the Persian Gulf in the West. Intercontinental trade was pioneered by
Persian Jews, through the `Silk route’ even in 5th century BCE. Jews traveled West to
East and spoke many languages. Even Vasco Da Gama met on Indian shores a Jew ,
whom he supposed to have baptized. Earlier cross-staff astrolable, traverse board and
dead reckoning tools were used. With these tools & great personal skills the sailors
could estimate the ship’s speed direction and approximate latitude but not longitude.

Compass Earlier navigator some

turyDead reckoning tools how could determine
cen
g 14 -16 n
u rin Traverse board
ctio their latitude but not
g d Dire
nin
o sitio Astrolable
ed longitude and speed.
P Spe
Cross-staff
They had hour glass,
tury
ude 0 cen
Radar (Robert Watson – Watt -1935)
ti t pendulum clocks and all
La g 17-2 20th Century
in
dur
Radio Communication ( I & II World War)
Egyptian Groma
n ing primitive time measuring
itio ngin
g
Pos i o Ra equipments. Around
Compass Rose Rad
GPS 1500 AD, Chinese
Sextant TRANSIT
. ... ased invented compass for
Chronometer
de VOR . ce B
George Harrison, 1764 A.D gitu adio Spa tioning
Lon LORAN Based R direction finding, but
d ng Posi
Lan ositioni earlier to them even
P
Europeans, particularly, Italian used compass needles named as lodestone needles for

7
direction finding. During long voyages a great need was felt for a chronometer which
did not get affect by gravity, temperature, humidity and loses less than a few seconds in
24 hours. In seventeenth century AD, Queen Anne of England announced £20000
reward for a certified chronometer. In 1764 George Harrison, a carpenter claimed the
award.

It is interesting to note that although most of the navigators could determine latitude
with very good accuracy, but determination of longitude of a place always remained a
problematic exercise, in want of an accurate clock. However by 1700 AD longitude of
many places were determined with respect to Paris Observatory. The methodology
depended on pendulum clocks and telescopes. Pendulum clocks could not be used in
sea due to errors on account of gravity variations, humidity, temperature effect and
added instability of the boat made it difficult to determine the latitude. With the advent
of chronometer life became much simpler to determine both longitude and latitudes in
sea.

It took another 220 years after the invention of chronometer to estimate very accurately
the position, velocity and time instantaneously independent of location and weather.

With the advent of Marine Chronometer by George Harison, the British Parliament
declared Greenwich laboratory longitude to be 0º longitude reference and
Greenwich time to be the Mean time reference for all purposes. Later on in the
year 1884 at Washington this was ratified by an international agreement and the
Greenwich meridian was adopted as the prime meridian. French for long time to
come were still using Paris observatory meridian as 0º meridian.

Till the end of the nineteenth century for positioning, timing and navigation
chronometers, sextants and various types of compasses were the main tool. The
beginning of twentieth century brought the use of radio-telegraph, HF radio while first
and second world wars brought the use of radars for navigation. Over the years some of
the land based radio positioning equipments and systems like LORAN, OMEGA, DECCA
& VOR. ALPHA & CHAKYA came into use. Quite a few of them are still in use and may
continue to be in use in spite of satellite based navigation.

With the advent of space technology Transit, GPS & GLONASS positioning and
navigation systems were evolved, which could provide position and guidance accuracies
in meters and submeters.

8
Besides the above, for guidance purposes for aircrafts, instrument landing system and
microwave landing system are used in poor visibility. IR & laser sensors are used for
missile guidance systems.

Basic Principle of Radio Navigation

Radio Navigation technique involves positioning and accurate determination of time in

some standard reference frame. There are three basic principles of positioning, based
on the fact that radio waves travel with the speed of light, a well known parameter:
1) Trilateration
2) Hyperbolic positioning
3) Doppler positioning

Trilateration: If the distance from three known location transmitters is known then the
observer can compute its position unambiguously. Estimation of a position based on
measurement of distance is referred as trilateration. An rf navigation system working
on this principle is referred as a time of arrival system (TOA system).

LAND BASED LORAN -C (LONG RANGE NAVIGATION)

• FIRST RADIO-POSITIONG SYSTEM FOR
Hyperbolic positioning : is a
MARITIME APPLICATIONS
• SERVICE FROM 30 CHAINS FOR WIDE system where distance from a
COVERAGE
• PRINCIPLE OF RANGING FOR POSITION-FIX: master station and two
• RADIO-PULSE TRANSMISSION FROM MASTER AND
SECONDARY STATIONS (OVER A GLOBAL NETWORK)
• RECIEVER GETS BOTH PULSES AND TIME
synchronized slave stations are
DIFFERENCES (TD) FOR EACH PAIR OF MASTER-
SECONDARY STATIONS IS COMPUTED
• LOCUS OF POINTS HAVING THE SAME TD FROM A
plotted and the point of intersection
SPECIFIC MASTER-SECONDARY PAIR IS A CURVED
LINE OF POSITION (LOP).
• POSITION DETERMINED BY INTERSECTION OF 2 LOPs
is the position of the observer.
• TD IS USED WITH MAPS TO ESTIMATE LAT/LONG
• PHASE MEASUREMENTS IMPROVES PRECISION Loran-C is an example of this
• LORAN OPERATING RANGE : 90-110 KHZ x1,y1
x2,y2
• LIMITED COVERAGE: ~1000km RANGE x3,y3 system.
• OBSTRUCTION/INTERFERENCE FROM GROUND x,y
FEATURES ( x2 − x ) 2 + ( y2 − y ) 2 − ( x1 − x ) 2 + ( y1 − y ) 2 = d 21

( x3 − x ) 2 + ( y3 − y ) 2 − ( x1 − x ) 2 + ( y1 − y ) 2 = d 31
• REFLECTION BY IONOSPHERE

• POSITION ACCURACY: ~460m (AT BEST)

Doppler positioning system : is based on continuous monitoring of the frequency shift

of a stable transmitter by observer & then based on number of observations, position of
the observer is determined.
Satellite based navigation like GPS, GLONASS are based on TOA/Trilateration while
earlier system like TRANSIT, TSIKADA etc. were using Doppler Positioning and TOA.

9
Space Based Navigation

After the launch of Sputnik-I on 4th October 1957 by the erstwhile Soviet Union, two
scientists (Dr. William H Guier & Dr. George C Wieffenbach) at the Applied Physics
Laboratory (APL) of John Hopkins University were carefully studying the rf transmission
and observed certain regularities, the most important was the prominent changes in
doppler shift produced by an over flight, caused by accelerations along the line of sight,
which were enhanced by the spacecraft high speed and low orbital latitude. They
determined the orbit of Sputnik very accurately from the doppler frequency data,
observed from one location in a single pass, since the satellite orbit obeyed Kepler’s
Laws. This lead to the idea that “If the satellites orbit were already known, a radio
receiver (observer) unknown position could be determined accurately from the doppler
measurements.

SATELLITE GPS (1978) &

GLONASS This idea gave birth
NAVIGATION &
TIMATION
POSITION SYSTEMS Developed in 1972 by the Naval Research Laboratory (NRL),
to TRANSIT system
TIMATION satellites were intended to provide time and frequency
transfer. The third satellite acted as a GPS technology
demonstrator.
navigation concept.
TSIKADA The Transit
Russian four satellite civil navigation system
spacecraft provided
TSYKLON
First navigation satellite launched by soviet union in late 1967. inputs for analyzing
The satellite is based on doppler technique similar to TRANSIT
system.
Earth’s gravity,
SECOR (Sequential Collation of Range)
SECOR was a U.S army satellite navigation and positioning system. Thirteen satellites ionospheric
were launched between 1964 and 1969.
TRANSIT refraction
Operated in 100 MHz and 400 MHz frequency bands and allowed the user to determine
their position by measuring the Doppler shift of a radio signal transmitted by correction,
the satellite.
When man moves from one place to another 3D positioning (latitude, development of
longitude & height) are required.
SPUTNIK reliable mechanical
First artificial Satellite launched from Russia. Operated using
Doppler frequency shift to obtain position. and electronic
satellite
construction techniques. TRANSIT could give best position accuracy (approx.) 25M.
TIMATION a programme of US Naval Research Laboratory used the concept of
synchronized tone transmission. It also had onboard stable atomic frequency standards
(Rubidium and Cesium). TIMATION provided precise time & accurate position to
passive terrestrial observers using range better than Doppler measurement. Meanwhile
U.S Airforce under a programme termed as 621B launched satellites where ranges
were measured to four satellites simultaneously in view by matching (correlating) the

10
incoming PRN signal with a user-generated replica signal and measuring the received
phase against the user’s (receiver) crystal clock. With this concept the user’s latitude,
longitude, altitude and a correction to the user’s clock could be determined. In 1978 all
the programmes were merged by US government in to a single entity and a Joint
Program Office for Global Positioning System (GPS) – NAVSATAR was created . The
moto of GPS – JPO was:

o Drop 5 bombs simultaneously in the same hole

o Build a cheap set that navigation (<$10000)
[Both the targets have since been met more than adequately]

Parallely Soviet Union was also working on satellite based navigation and they launched
TSYKLON & TSIKADA series of navigation satellites which finally culminated into
GLONASS constellation.
Both GPS & GLONASS constellations used onboard atomic clocks and PRN signals.
GPS had two frequencies but different codes for all satellites (CDMA) while GLONASS

Navigation Satellites had separate frequencies

• TRANSIT (US Navy satellite developed by John Hokins, Applied
Physics Laboratory , 1960-1996). Based on doppler shift & codes for satellites
measurements of a 400 MHz tone.
• TIMATION ( TIMe/navigATION) Programme. - 2 satellites (1967
& 1969) also called NCST ( Navy Centre for Space Technology)
(FDMA).
satellites carried quartz oscillator which were regularly updated

•
by master clocks.
NAVSTAR ( NAVigation Satellite Timing and Ranging) of US Air
Both the constellation
force PROJECT621. used pseudorandom noise ranging signals.
• Under TIMATION Program two more satellites viz., NTS-I worked well and were in
( Navigation Technology Satellite) and NTS-II were launched in
1974 and 1977 and carried Rubidium and cesium Atomic clocks.
• In 1978, US Govt. Decided to bring all the above technologies full operational mode in
under one head and made a joint program office under which
umbrella, GPS satellites were developed and first block 1
satellites were launched during 1978-1985 and second block 1995-98. Meanwhile
during 1989 to 1990. GPS constellation was completed by 1995.
European Union also
doppler

Zenith
Elevation
Horizon

time  ∂t +ρ , ρ = (x s −xu )2 +(y s −yu )2 +(z s −zu )2

ρ = ∫ρ
0 announced its intention
of putting their own navigation satellite constellation GALILEO by 2012. Many other
nations have also notified their intentions of having their own constellation or
participating in GNSS.

11
 GPS, GLONASS & GALILEO - Configuration
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

Indian Scenario
India is developing GAGAN – its Satellite Based Augmented System, IRNSS – Indian
Regional Navigation Satellite System and also participating in GALILEO & GLONASS
Programme.

Working of Navigation Satellites

As explained earlier, navigation satellites were operating using either Doppler Effect or
TOA of signal (Time of Arrival) principle. For NAVSTAR – GPS or GLONASS the basic
position determination methodology attempts to determine the least directed line
tangent to four spherical shells centered on four spacecraft. The radius of each shell is
determined by the Time of Arrival (TOA) of the radio signal. The straight line need to be
defined due to the fact that observations are made over a large period of time and the
observer may not be stationary. The RF signals when pass through ionosphere and
troposphere gets slowed down, some times even angle of arrival also changes. Hence
the observer receivers are equipped with algorithams and look up data to correct for
these. The receivers reduce the error so caused using signals from multiple satellites,
multiple correlators. Kalman filter techniques are used for estimation of position, time
& velocity.

Both GPS & GLONASS constellations were aimed and designed primarily for military
uses. In 1996 first time GPS was opened for civilian uses, however the signal for
civilian use (Standard Positioning System – SPS) had a feature called selective
availability (SA) where clock and ephemeris were intentionally tampered to give position
accuracies of the order of 100 meter while the Precision Positioning System (PPS) could
give even sub meters accuracy. On 1st May 2000 U.S President Bill Clinton removed the

12
SA feature there by even SPS accuracy has come to be ~25 meters. PPS services are
reserved for military applications. There is an underlying warning that ability to
supply satellite navigation signals is also the ability to deny their availability. The
administration who controls a particular navigation satellite constellation, potentially
has the ability to degrade or eliminate satellite navigation services over any territory it
desires. This makes most of the users vulnerable to this veiled threat. Due to this
reason only new constellations are in offing.
GLONASS the Russian constellation was complete till 1998, later on with the fall of
mighty Soviet Union lots of satellites became unuseable. As of now, there are around
11 spacecraft. India will be helping in launching GLONASS-M spacecraft and also
manufacturing GLONASS-K bus. It is hoped that by 2010-2011 both the constellation
(GPS & GLONASS) will be in operation and overall position determination accuracies
will get enhanced.

Satellite Constellation Design Criterion

The basic criterion for selection of constellation for global coverage are:

• The orbital height should be above 18500 KMS, to be above the Van Allen
Radiation belts
• The orbital period should be almost approx. 12 hrs for greater visibility
• To give a coverage at high latitudes that is near or on the poles the orbital
inclination should be >50 deg.
• SATELLITE CONSTELLATION The spacecraft design should be such
DESIGN PARAMETER that it should be autonomous to the
maximum extent and orbital
ORBIT CHARACTERISTICS COMMUNICATION correction are rarely done, since it
• ANTENNA
•ORBITAL HEIGHT >= 20,000 – ISO FLUX (MORE THAN EARTH DISC) takes almost 24 hours for spacecraft
KM • FREQUENCY - L BAND to get stabilized for navigation
Re
–LONGER VISIBILITY θ = cos −1( )
– MINIMUM BACKGROUND THERMAL
Re + alt purposes
π µ NOISE
2

• –ORBITAL PERIOD T= , n= 3
n a
– MINIMUM PATHLOSS The spacecraft dimensions should be
•PERTURBATIONS(MINIMUM) – MINIMAL IONOSPHERIC GROUP DELAY such that solar radiation pressure
– MINIMAL ATTENUATION
–SOLAR RADIATION PRESSURE
(IMPACTS ECCENTRICITY)
(Impacts eccentricity) and Luni/solar
–LUNI SOLAR FORCES (IMPACTS
forces (Impacts – inclination) effects
INCLINATION) are minimum
• For efficient launch considerations
and optimum in orbit spare policy, the
total constellation should have
SATELLITE CONSTELLATION DESIGN PARAMETER
atleast three planes
1. ORBIT CHARACTERISTICS 2. COMMUNICATION • (GPS-6, GLONASS-3, GALILEO-3)
•ORBITAL HEIGHT >= 20,000 KM • ANTENNA
Re
–LONGER VISIBILITY θ = cos −1( )
Re + alt – ISO FLUX (MORE THAN EARTH DISC)
–ORBITAL PERIOD T=
2π
n
, n=
µ
a3
• FREQUENCY - L BAND
– MINIMUM BACKGROUND THERMAL NOISE
• The spacecraft payload should be
•PERTURBATIONS(MINIMUM)
–SOLAR RADIATION PRESSURE – MINIMUM PATHLOSS based on atomic clocks (min. of
(IMPACTS ECCENTRICITY) – MINIMAL IONOSPHERIC GROUP DELAY
–LUNI SOLAR FORCES (IMPACTS – MINIMAL ATTENUATION
INCLINATION) • MODULATION - CDMA/FDMA
•PLANES – MODULATION OF BPSK & SPREAD
SPECTRUM
–LAUNCH CONSIDERATIONS
– CDMA- SINGLE FREQUENCY FOR
–SPARE REQUIREMENT MULTIPLE SATELLITE DOWNLINK
•INCLINATION – FDMA- MULTIPLE FREQUENCY JAMMING
DIFFICULT
–GLOBAL/HIGH LATITUDE COVERAGE

13
 three with two in hot redundancy) & antenna should be iso- flux (slightly more
than earth’s disc coverage)
• Frequency is L-band to take advantage of minimum background thermal noise
and lesser path loss.

The present day navigation REALTIME POSITION FIXING USING SATELLITES

(XI,YI,ZI)
satellites work on “Time of • REAL-TIME 3D POSITION FIXING:
ρ4
• 1-WAY RANGING
Ionospheric delay
Arrival” parameter from a • ATOMIC CLOCK FOR PRECISE
RANGING
ρ3
Tropospheric delay
ρ2
• MIN OF 4 SATELLITES VISIBLE
number of navigation ANYTIME
ρ1
• WORLD-WIDE TIME SYNCHRONISATION

satellites whose position • 2-FREQUENCY FOR IONOSPHERIC

CORRECTIONS
(X,Y,Z , b)
(Un Known)
• SIMPLE USER-END EQUIPMENT
and orbital parameters are • ACCURACY: FEW METRES

P1 = ( X − X 1 ) 2 + (Y −Y1 ) 2 + ( Z − Z1 ) 2 + b

known to a great accuracy SOURCES OF ERROR

System Noise ~ 2m
P2 = ( X − X 2 ) 2 + (Y −Y2 ) 2 + ( Z − Z 2 ) 2 + b
P3 = ( X − X 3 ) 2 + (Y − Y3 ) 2 + ( Z − Z 3 ) 2 + b
Ephemeris ~ 5m
and equipped with onboard Satellite clock
Receiver clock
~ 1m
~ 2m
P4 = ( X − X 4 ) 2 + (Y −Y4 ) 2 + ( Z − Z 4 ) 2 + b

Multi-path ~ 0.5m
atomic clocks. The receiver Troposphere delay ~ 1m
Ionosphere delay ~10m

correlates the information,

uses Kalman filters and estimates the ranges (position, velocity & time). To estimate
only position, data from three satellites are enough, but to remove clock bias the fourth
satellite is needed for time parameter. The range estimated this way is only `PSUEDO
RANGE’ and has got errors contributed by various sources like system noise,
ionosphere, clock etc. To get the true range one has to apply correction for all the
errors. Besides the error correction to estimate better accuracy even the satellites used
for observations should be geographically widely separated to give minimum
geometrical dilution of precision (G-DOP) which is inversely proportional to the volume
enclosing visible satellites. For satellite position fixing accurately one has to apply
geopotential, atmospheric drag, solar radiation pressure and luni-solar effects.

ELEMENTS OF A SATELLITE POSITION FIXING

• MEASUREMENT (UHF, S-BAND, LASER)
• MODELLING (Geo-Potential, Drag, SRP,
Luni-Solar)
• ESTIMATION (Least-Square, Kalman filter)

n n
μ ∞ R  ∞ n  Re 
V = − [1− ∑ J  e  P (sin φ) + ∑ ∑ J   P (sinφsinφ) (λ − λ )]
r n  n nm  r  nm nm
n =2  r  n = 2m = 1  

1 C A
Pdrag = − ρ ( d )vr vr
2 m

A
Pdrag = −P (1 +η) ) vu
m
LEO
di 2 3 (m/s2)
= ∑ y j [cos i sin 2i j sin(Ω − Ω j ) + sin i sin 2 i j sin 2(Ω − Ω j )] Atm drag 6*10-5
dt j =1 8
SRP 4.7*10-6
Sun 5.6*10-7
Moon 1.2*10-6

14
 DILUTION OF PRECISION AND IMPACT ON
POSITION ACCURACY
• POSITION ERROR IS A FUNCTION
OF:
• DILUTION OF PRECISION
ρ1 ρ2
• MEASUREMENT ACCURACY

ρ1
ρ2

DOP α 1/volume MEASUREMENT ERROR

−1
DOP = Trace  AT A 

 

 xi − xu yi − yu zi − zu 
where, A =  1
 ρi ρi ρi i =1,4

ρ =Range

Satellite Based Positioning System

Satellite Positioning System mainly consists of three segments:
1. Space Segment – A constellation of SATELLITE POSITIONING SYSTEM SEGMENTS

orbiting or
Geostationary/Geosynchronous
satellites whose orbital parameters
are accurately known and are
equipped with atomic clocks.
2. Ground Control Systems - Ground
Control Segment consists of a
number of monitoring and message
uplinking stations. The ground segment maintains the constellation,
monitors satellite health, finds out accurate orbital parameter (using CDMA,
laser or one way ranging across the globe), maintains the network time and
uplinks the various parameters to satellites for transmitting to users.
3. User Segment consists of a multichannel receivers with high sensitivity
(-160 dBW) and fast processors to give the position to the user. The user
segment is only one way receiving system which does not have any linkage
with the constellation except receiving signals. The constellation & ground
segment are blind to the user.

Global Scenario of GNSS

GPS and GLONASS were the two constellations which were completely operational from
years 1995 to 1998. GLONASS service was badly affected due to the fall of Soviet
Union. However GPS programme continued. In the year 2000 AD, European Union
announced its ambitious plan of a parallel constellation of 30 satellites in three planes

15
with a large number of free and paid services. The constellation is called GALILEO.

GPS, GLONASS & GALILEO - Configuration They have put two

Constellation GPS GLONASS GALILEO spacecraft in orbit for
Total Satellites 24+3 24 (4 Opr) 27+3
Orbital Period 12 hrs 11hrs 15min 14Hrs 22min
Orbital planes 6 3 3
experiments. The whole
Orbital height (km) 20200 19100 23616
Sat. In each plane 4 8 10 constellation is likely to
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 be completed by 2012-
1227.6MHz 1602 - 1616 MHz 1559 - 1591 MHz
Modulation CDMA FDMA CDMA 2013. Meanwhile
Russians are making
efforts to make the
GLONASS constellation
complete by 2010.

Since satellite life is limited and based on experience, US has planned modernization of
the GPS signals by increasing BW and power and additing extra signal L5, with ME
code on L1/L2, but still providing the existing services.

As stated earlier the GLONASS constellation dwindled post soviet era. However
Russians have planned modernization & revival of the full constellation using M & K
series of spacecraft.

GALILEO constellation envisage a large number of services. GALILEO has discussed

interoperability issues with GPS & GLONASS. Galileo will also be having a service
termed as PRS, (Public Regulated Services) available on the lines of PPS & M code of
GPS to selected users of the European Union.

The space segment of any GNSS constellation provides one way ranging where the user
will never have communication with spacecraft and the space segment is always blind
of the users. All constellation except GLONAS transmit their signals using CDMA, to
have resistance to jamming & interference. The same thing is achieved in GLONAS by
FDMA. Russians have 14 sets of frequencies. They repeat the frequency for satellites
on antipodal mode. However for interoperability considerations under GLONAS
modernization. GLONAS will also be transmitting one signal using CDMA.

L-band frequency spectra from 1164 to 1620 is completely occupied by GPS, GLONASS
& GALILEO transmitting frequencies.

16
 Radioastronomy
1610.6 – 1613.6 MHz

GPS GPS GPS

GALILEO GLONASS GALILEO GLONASS GALILEO

1300.000 MHz

1592.952 MHz
1188.000 MHz

1212.000 MHz

1215.600 MHz

1237.827 MHz
1239.600 MHz

1260.000 MHz

1559.000 MHz
1563.420 MHz

1587.420 MHz

1610.000 MHz
1620.610 MHz

1626.500 MHz

5010.000 MHz

5030.000 MHz
1215.000 MHz

1261.610 MHz
1164.000 MHz

GPS, GLONASS & GALILEO

Frequency Plans

All the three constellations have carried out extensive coordination with each other.
Needless to add that GPS & GLONASS were the earlier players. However new services
are also being planned in the overlapping frequencies but using orthogonal & BOC
modulations techniques. L-band is the most crowded band in the available space to

17
earth links. India for this very reason has gone to L& S-bands of frequencies for its
IRNSS Constellation.

Thankfully borrowed from ICG – Bangalore Meet

GPS, GLONASS stand alone, cannot satisfy the integrity, accuracy and availability
requirements for all phases of flight, particularly for the more stringent precision
approaches. Integrity is
not guaranteed, since
LIMITATIONS OF GPS AND GLONASS
all satellites may not be
• GPS stand alone, cannot satisfy the integrity,
satisfactorily working accuracy & availability requirements for all
phases of flight, particularly for the more
all the times. Time to stringent precision approaches.
• Integrity is not guaranteed, since all satellites
alarm could be from may not be satisfactorily working all times.
• Time to alarm could be from minutes to hours
minutes to hours and and there is no indication of quality of service.
• Accuracy is not sufficient even with S/A off, the
there is no indication of vertical accuracy for 95% of the time is >10m.
quality of service. • For GPS & GLONASS stand alone systems
availability & continuity are not assured.
Accuracy is not • All these calls for a special system addressing all
the above, which could be done by augmenting
sufficient even with the GNSS systems.

S/A off in GPS. The

vertical accuracy for 95% of the time is >10m. For GPS & GLONASS stand alone
systems availability and continuity are not assured (while for GALILEO for certain
services integrity, accuracy and availability are assured). All these calls for a special

18
system addressing all the above, which could be done by augmenting the GNSS
systems.

For the safety-critical applications like civil aviation sector, it is essential that a user be
assured that the system is operating within design tolerances and the position

REQUIREMENT OF ENHANCEMENT OF estimates derived from

ACCURACY, AVAILABILITY AND INTEGRITY it can be trusted to be
• For the safety-critical applications it is essential within specifications –
that a user be assured that the system is This is the so called
operating within design tolerances and the
position estimates derived from it can be trusted integrity requirement.
to be within specifications – This is the so Timely warning of a
called integrity requirement.
• Timely warning of a system anomaly (which may system anomaly (which
be hazardous is called “time to alarm”. may be hazardous is
– 30Sec En-route
called “time to alarm”.
– 6 Sec APV II (Approach with Vertical Guidance)

The Space Based

Augmentation termed as S-BAS is the most popular system for augmenting the existing
constellation. In space Based Augmentation system a GPS like signal is transmitted by
a geostationary satellite (there are no S-BAS system as of now for GLONASS &
GALILEO) which ensures the integrity parameter of the constellation & besides that
transmits correction related to ionosphere, troposphere, ephemeris and timings.
Presently American WAAS (Wide Area Augmentation System) is the only certified S-BAS
system. EGNOS (European Geo Navigation Overlay System) is under certifications,
while GAGAN of India and M-SAS of Japan are under deployment. Brazil, Nigeria,
Russia and China have also expressed their intention of having their own S-BAS
systems.

19
 AUGMENTATION OF GPS / GLONASS
LIMITATIONS OF GPS:
• SIGNAL NOT AVAILABLE INSIDE
TUNNEL & WATER
• NO ASSURANCE OF AVAILABILITY
AND INTEGRITY OF DATA
– CRITICAL FOR AVIATION
APPLICATIONS
– ACCURACY REQUIREMENTS
STRINGENT

• SPACE BASED AUGMENTATION (SBAS)

– WAAS, EGNOS, MSAS & GAGAN
• GROUND BASED AUGMENTATION (GBAS)
– LAAS, PSUEDOLITE, DGPS
• AIRCRAFT BASED AUGMENTATION
(ABAS)
– RAIM (RECEIVER AUTONOMOUS
INTEGRITY MONITORING TECHNIQUE)

GPS Wide Area Augmentation Systems

* *
C-WAAS
EGNOS MSAS
WAAS

*
GAGAN

(* INTENDED SYSTEMS)

US WIDE AREA AUGMENTATION SYSTEM OF GPS – The US & European Systems are the forerunners
WAAS consisting of a large number of reference, uplink
• 24 Wide Area and Master Control Centres with each one
Reference Stations
having 2 GEO spacecraft.
• 2 Wide Area Master
Stations
• 2 Navigation Land
Uplink Stations
• 2 GEOs –AOR &
POR

FAA presentation to ISRO

20
 EUROPEAN GEOSTATIONARY NAVIGATION
OVERLAY SERVICE - EGNOS

• 34 Range Integrity
Monitoring Stations –
Rims
• 4 Master Control Stations
• 2 Navigation Land Uplink
Stations
• 2 GEOs – INMARSAT
AOR E & IOR and
presently working on
ARTEMIS

EGNOSS presentation to ISRO

Japan has planned M-SAS along with its own novel system QZSS (a tear drop shape
constellation) to avoid problems of low look angles.

21
 Japanese S-BAS System
(MSAS)
GPS Constellation
ellation
MTSAT

Sapporo GMS

NTT 64Kbs

User

Kobe MCS
Ibaraki
Fukuoka GMS Tokyo MCS
GMS

KDD 128Kbs
Hawaii MRS
MCS Master Control Station
MRS Monitor and Ranging Station
Naha GMS Australia MRS
GMS Ground Monitor Station

MSAS is the Wide area Augmentation System of Japan like WAAS and is based on MTSAT.
ICG 2007, Bangalore meet

QZSS Navigation System

Navigation System Architecture

Navigation Signals QZSS
L1: 1575.42 MHz
L2: 1227.60 MHz
L5: 1176.45 MHz
LEX: 1278.75 MHz
WDGPS Correction
TWSTFT Message, LEX NAV
Up: 14.43453GHz
Down: 12.30669GHz L1-SAIF: 1575.42 MHz
LEX: 1278.75 MHz

Laser Ranging

TT&C, NAV
Message Upload**

Monitor Station NW Time Management TT&C・NAV

SLR Site Station Message Uplink
Station

User Receiver

Master Control Station MCS)

Geonet GSI
Function distributed in each institute
Timing management, WDGPS
correction, etc.

**: Under trade-off study between S (Up: 2025-2110, Down: 2200-2290MHz)

and C (Up:5000-5010, Down:5010-5030MHz) band
SLR: Satellite Laser Ranging, TWSTFT: Two Way Satellite Time and Frequency Transfer

China had its Beidou system. China is going in a big way with its COMASS (~ 35
satellites) system which will have GEO, MEO Components. Their plans are to have a
global system.

Indian Scenario in GNSS

India has entered in the arena of GNSS for the last seven years. We have used Satellite
Positioning System (SPS) in IRS & Scientific satellites and have completed GAGAN-TDS
the technology demonstration phase of Indian S-BAS system along with Airports
Authority of India. India plans to participate in GALILEO & GLONASS. We have also

22
planned to have our own regional constellation (IRNSS) which will provide accuracies
over the land mass comparable or better than GPS. We have also taken up in a big way
the Ionospheric & Tropospheric studies and their modeling. India may becomea
biggest user of GNSS for GIS, mobile, survey, mining, fishing industry, aviation, road,
rail transport etc.

NATIONAL SPACE SYSTEMS

GNSS
India has presently six components of
LAUNCH INSAT IRS GAGAN
Applications Science
its space programme.
VEHICLES IRNSS
GNSS is the latest one to enter in to
Indian Space Arena and will augment
the existing worldwide satellite based
Navigation Systems.

To start with India has undertaken (ISRO & Airports Authority of India joint
venture) to establish its own Satellite Based Augmentation System for the GPS
constellation – named GAGAN (GPS Augmented GEO Aided Navigation System) on the
lines with WAAS of US. In the Technology Demonstration (TDS) phase the system
consists of eight reference stations to measure ionospheric, ephemeris and time
corrections, one master control centre at Bangalore along with one uplink station for
GEO. GSAT-4 spacecraft will carry the
required L-band transponder, transmitting
corrections for L1 & L5 (GRS) frequencies.
As of today for the TDS phase we are using
INMARSAT 4F1 spacecraft. GAGAN Final
Operational Phase (FOP) has begun. In the
FOP phase we shall have minimum of two
Master Control Centres, 16 reference

INDIAN AIRSPACE TO BE SERVICED

C BAND
40
GPS L1 & L2 L1 & L5 GEO
35
GPS L1 & L2

30
GPS Nav Data GEO D/L GPS Nav Data 25
in L1
GEO D/L 20
in L1

GAGAN USER 15
GPS and GEO
INRES
INRES Broadcast Messages
GPS & GEO data 10
GPS & GEO data D/L in C and L
5
INMCC U/L in C
INSAT Coverage 83 Deg.
INLUS 0
23
GAGAN COVERAGE THROUGH INSAT
BANGALORE
Correction BANGALORE
Messages
­5
INDIAN S-BAS PROGRAM – GAGAN
­10
GPS AIDED GEO AUGMENTED 40 50 60 70 80 90 100 110
NAVIGATION
stations with (triple receiver redundancy) & redundant communication links. The
whole system will be certified system for safety of life services. The GAGAN FOP is likely
to be completed by 2010.

The GAGAN is required to service the Indian Airspace (As defined by AAI). However
the GEO foot prints cover a larger area, provides opportunity to serve the neighbouring
countries by establishing suitable reference station.

[GAGAN is a fine example of great cooperation and understanding between an R&D

organization (ISRO) and a large Public Sector Service Provider (AAI) for executing a
complex technological project]

GAGAN-TDS Phase position accuracy results are very encouraging, clearly indicating
the improvements shown by the augmentations achieved over the GPS alone system.

The position accuracies from GAGAN-TDS results show very encouraging results. The
red and blue shaded areas show with and without S_BAS correction. With corrections
accuracies are approx. 3 meter.

Preliminary System Acceptance Test Results

PSAT Exit Criteria

– Position
Accuracy better
than 7.5 Meters

Achieved
position
accuracy in
North, East
and Up
directions is
better than
the Exit
Criteria

An SBAS receiver was flown on the NRSA aircraft. The SIS (Signal in Space) from
GAGAN was verified and the performances were compared with the INMCC (Indian
Master Control Centre) generated HPL/VPL (Horizontal and Vertical Protection Limits)
contours and were observed to be in perfect agreement.

24
25
GGTA

26
India falls on the magnetic equator & under the equatorial ionosphere whose behaviour
is quite unpredicted. Ionosphere correction and modeling are two important tasks for
any satellite based augmentation system. To study this phenomena ISRO has

POSITION OF MAGNETIC EQUATOR AND established almost 28 Total

SCINTILLATION REGIONS
Electron Content (TEC)
Monitoring Stations, around the
country and taken up iono
studies in a big way. The
models & results will be used for
GAGAN & future navigation
• INDIAN REGION EXPERIENCES UNPREDICTABLE
IONOSPHERIC DISTURBANCES projects.
• SUCCESS OF GAGAN IS DEPENDANT ON THE STUDY AND
MODEL THE IONOSPHERE OVER THE REGION.

Indian Regional Navigation Satellite System (IRNSS)

India has planned its own Regional Navigation Satellite System consisting of seven
satellites in GEO orbit.

27
340
1320

550 1110

830

IRNSS
INDIAN REGIONAL NAVIGATIONAL SATELLITE SYSTEM

28
 IRNSS Architecture The space segment will consist of seven
• Space Segment spacecraft (3 in GEO and 4 in Geo Geo
– Seven satellite configuration, 3 SVs in Geo-Stationary orbit ( 34°,
83° and 132° East), 4 SVs are in GEO Synchronous orbit placed at
inclination of 29 ° (with Longitude crossing at 55° and 111° East) Synchronous Orbit (29 deg inclination)
– The configuration takes care of continuity of service with a failure
of one satellite.
– The satellites are of 1 ton class with navigation payload of 102 covering the GEO arc from 34 deg to 111 deg.
Kgs and power consumption of 676 Watts .
– There will be two downlinks (L and S bands) providing dual
frequency operation with EIRP of 31.5 dBW at EOC.
The IRNSS system will be transmitting siz
– The payload will have 3 Rubidium clocks.
• Ground Segment signals in L1, L5 & S-band frequencies, for
– Master Control Center
– IRNSS Ranging & Integrity Monitoring stations (IRIM) standard positioning and precision
– IRNSS Telemetry and Command stations
– Navigation Control Centre positioning applications. All the satellites will
– IRNSS Network Timing Centre
• User Segment be providing position accuracies, over the
Planned operationalization by 2011-2012
Indian Geo political Boundary + 1500 KMS
areas, equivalent or better than GPS/GLONASS or GALILEO constellations.

Under IRNSS besides the Satellite Control Centre, Navigation Control Centre and IRNSS
Network timing centres
are planned to be
established.

IRNSS Coverage Area

HDOP & VDOP (99%) for the
Proposed Constellation
GEO 34,83,132
GSO 55(55,235), 111(111,291) 29
User Mask Angle 5deg
IRNSS constellation will be operational by the year 2011 AD.

GNSS Applications and Related Issues:

Perhaps next to INTERNET if any single technological phenomena which is going

to influence many walks of human life will be GNSS. GNSS applications besides
navigation and timing informations are numerous. The most common applications are
mapping, surveying, natural resources and land management (town planning, forest
mapping, epidemic mapping and management, precision farming etc.) scientific studies
(Iono, Tropo and atmospheric studies), health monitoring of tall buildings, long bridges,
search and rescue, powergrid synchronization, banking and mobile services time
control etc., are a few important applications.

In the near future mobile, satellite based navigation services, internet and other telecom
services will get merged in to one service giving birth to many newer applications which
will be termed as GNSS Assisted Applications.

Assisted GNSS Applications

Satellite positioning
Satellite positioning
• NAVIGATION • NATURAL RESOURCE AND LAND augmentation systems
systems (GPS, Galileo,
MANAGEMENT (EGNOS, WAAS)
– SPACECRAFT GLONASS)
– GIS INGEST
– AIRCRAFT
– FOREST MENSURATION
– SHIP
– TOWN PLANNING Mobile Inertial navigation
– VEHICLE – FLEET MOVEMENT communications ASSISTED-GNSS sensors (implemented
• GEOGRAPHIC DATA – ROUTING/ALIGNMENT signaling network(s) POSITIONING into the rover itself:
COLLECTION • MONITORING THE HEALTH OF TALL ALGORITHM accelerometer,
– MAPPING BUILDINGS/TOWERS, LONG BRIDGES barometer)
– SURVEYING • Power grid s ynchronization
– ENGINEERING • AGRICULTURE
– PRECISION FARMING Location server(s)
• SCIENTIFIC RESEARCH Fixed
• EMERGENCY RESPONSE telecommunications
– ATMOSPHERIC STUDIES Terrestrial positioning
– SEARCH AND RESCUE network nodes with systems (LORAN C)
• GEODYNAMICS • BUSINESS SOLUTIONS short-range wireless
– CRUSTAL MOVEMENTS – LOCATION BASED SERVICES data communications
– CRUSTAL DEFORMATIONS • MOBILE equipment (Bluetooth,
• TOURISM WLAN)
• MILITARY
• RETAILING/Banking

30
 AREAS OF RESEARCH & DEVELOPMENT IN
POSITIONING AND TIMING SYSTEM
(GNSS)
SCIENCE
• IONO-TROPO MODELLING IN
THE EQUATORIAL REGION IN L-
BAND
• RADIO OCCULTATION STUDIES
FOR NEAR EARTH
ATMOSPHERIC TEMPERATURE
PROFILE
• REAL-TIME WEATHER
FORECASTING
Although GNSS is going to be a big phenomena but interoperability between various
constellations, interferences, standardization of signals and receivers and use of
precision measurement equipments by terrorist/anti-social elements are some of the
issues which need to be tackled.
Issues related with GNSS
• Interoperability refers to the ability of open global
and regional satellite navigation and timing services
to be used together to provide better capabilities at
the user level than would be achieved by relying
solely on one service or signal.
• Compatibility refers to the ability of space-based
positioning, navigation, and timing services to be
used separately or together without interfering with
each individual service or signal.
TECHNOLOGY
• PRECISION ORBITS
• TIME SYNCHRONISATION
• DEVELOPMENT OF NAVIGATION
SOFTWARE
• ATOMIC CLOCK – RUBIDIUM, CESIUM,
HYDROGEN MASERS
• ISOFLUX ANTENNAS FOR SPACECRAFT
• DUAL RECEIVERS (GPS+GLONAAS,
GPS+GALILEO)
• ACCURATE ESTIMATE OF PHASE DELAYS
ONBOARD SATELLITE
Issues related with GNSS
• Intentional and Unintentional Interferences
• Multipath, Indoor and Urban Environment
• Over crowding of Frequency Spectra
• Need for higher anti-jamming margins
• Protection of RNSS and Radio Astronomy bands
• Continuity of existing and planned constellations
• Ionospheric and Solar weather impact on GNSS signals
• Standardization of Civilian Signals and Receivers
• Universal Time and Reference Frames (Each
Constellation as of today has adopted different time and
geodetic reference frames)
31
 CONCLUSION

After all, we need measurements of space and time for

almost all our activities and GNSS provides these.

Hence, GNSS will influence our life more than any other
technological advent.

Acknowledgements:
The Author wishes to express sincere thanks and gratitude to ISRO Management; Dr.
G. Madhavan Nair, Chairman-ISRO/Secretary DOS, Dr. K Kasturirangan, Former
Chairman, ISRO and Dr. P S Goel, Former Director, ISAC Dr. K N Shankara, Director-
ISAC, for giving opportunities to work and lead the Indian Satellite Based Navigation
Program. The author also puts on record his gratitude towards Dr. Ramalingam,
Chairman, Airports Authority of India, AAI/GAGAN colleagues for their wholehearted
support to the GAGAN Project. Dr. Ramalingam played the most important role in
bringing AAI & ISRO together to realize GAGAN, whose fruits will be reaped by many
GNSS users in the years to come not only by India but, the entire world civil aviation
community.

References:
i) Lecture on Global Navigation Satellite Systems- A Vast System of
Systems. Houston System of Systems Seminar, IEEE-AESS,
NASAS/JSC/Gilruth Centre, Houston, Texas, USA, 11-12th October
2007.
ii) Global Navigation Satellite System (GNSS) – An Indian Scenario, Vikram
Sarabhai Memorial Lecture, IETE Mid Term Symposium-2007, Vadodara,
India (April 2007).

32
33