GPS Overview

TEC7132

April 2004

What is GPS?

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

Location or positional fix Velocity Direction of travel Accurate time

Global Navigation Satellite Systems (GNSS)

NAVSTAR

USA

GLONASS

Russians

Galileo

Europeans

GPS involves 5 Basic Steps

Trilateration

SV Ranging

Intersection of spheres Determining distance from SV Why consistent, accurate clocks are required

Timing

Positioning

Correction of errors

Knowing where SV is in space

Correcting for ionospheric and tropospheric delays

How GPS works?

Range from each satellite calculated Technique called trilateration is used to determine you position or fix

range = time delay X speed of light

Intersection of spheres

At least 3 satellites required for 2D fix However, 4 satellites should always be used

The 4th satellite used to compensate for inaccurate clock in GPS receivers Yields much better accuracy and provides 3D fix

Determining Range
Receiver

and satellite use same code Synchronized code generation Compare incoming code with receiver generated code
Measure time difference between the same part of code
Series of ones and zeroes repeating every 1023 bits. So Complicated alternation of bits that pattern looks random thus called pseudorandom code.

From satellite From receiver

Signal Structure
Each

satellite transmits its own unique code Two frequencies used

L1

Codes
CA

Carrier 1575.42 MHz L2 Carrier 1227.60 MHz

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

Three SV ranges known

20,000 Km radius

22,000 Km radius

Located at one of these 2 points. However, one point can easily be eliminated because it is either not on earth or moving at impossible rate of speed.

21,000 Km radius

Accurate Timing is the Key

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

1/100th of a second error could introduce error of 1,860 miles Discrepancy between satellite and receiver clocks must be resolved Fourth satellite is required to solve the 4 unknowns (X, Y, Z and receiver clock error)

1 nanosecond = 1 billionth of a second

Satellite Positioning
Also

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

Sources of Errors
Largest

source is due to the atmosphere

Atmospheric

refraction
Ionosphere (Charged Particles) Troposphere

Charged particles Water vapor

Other Sources of Errors

Geometry

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

Dilution of Precision (DOP)

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

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

Differential Correction

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

DGPS Methods

Post-processing

Corrections performed after the data is collected Special software required

Real-time

Corrections are performed while the data is being collected Need special equipment to receive the DGPS signal

Wide Area Augmentation System - WAAS

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

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

WAAS Satellites

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

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

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

GPS Accuracy Comparison

Some common GPS devices used by FWS:

GPS Device

Autonomous

WAAS DGPS

Real-time

DGPS

Post-process

DGPS

Garmin GPSMap 76s Rockwell PLGR Federal Users Only

~ 10 - 15

~3

1-3

~ 8 - 15

NA

NA

Trimble - GeoXT

~ 10

~3

1-3

Sub-meter

Accuracy given in meters

GPS Accuracy Issues

Ways to improve the accuracy of your GPS collected data

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

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

Some issues to consider when purchasing GPS devices

What is the accuracy level required for your application? (10 meters or sub-meter) How is unit going to be used in field?

External antenna required, in heavy canopy, ease of use, durability, data dictionary capability, waterproof

Cost from $100 to $12K

Staff expertise..training..support network

How well does unit interface with GIS?

Latest Technology
Mobile mapping software for WindowsCE devices

TerraSync (Trimble)
ArcPad (ESRI) Multi-path rejection technology Trimble GeoXT Bluetooth Allows for cable free operation

ArcPad Software
Bring GIS data into the field!

Integrate GPS with GIS

Custom forms for data collection

ArcPad Training
NCTC 3 day course (TEC7133) Utilize ArcPad Tools for ArcGIS

Geodatabase - check out & check in Applets & ArcPad Studio

Design custom forms for data collection

Utilize GPSCorrect extension Customize the ArcPad interface

Next offering: September 1-3, 2004