Dr.S.

Pal

Distinguished Scientist/Program Director,

Satellite Navigation Program
Chairman, GAGAN/IRNSS PMB

ISRO Satellite Centre

Bangalore
spal@isac.gov.in
 AN EPOCH
 In English “TIME” is used to specify
an instant (time of day) or as a
measure of time interval
 In Sanskrit Time is termed “KAAL”
 Did the concept of time had any meaning
before the birth of the universe?
 Universe perhaps existed forever or on the
theory that it was set in motion at some
time `To’ in such a manner as to look as
though it had existed forever.
 In 1929 EDWIN HUBBLE threw a spanner in
the ring by suggesting that universe is
expanding.
 Hubble’s observations suggested big bang.
It is just possible that time started with
“BIG BANG”
 Aristotle & Newton’s concept of “ABSOLUTE
TIME” gets changed by theory of relativity
 The only reason for time is so everything
We do not know what is
happening at the moment
farther away in the universe: the
light that we see from distant
galaxies left them millions of
years ago…. Thus, when we look
at the universe, we seeing it as
it was in the past.
- Stephen
Hawking
 1 - Future
NAVSTAR Block 2R,
Next generation of
3500 BC Satellites
Egyptian Obelisks
& Sundials
2000-1500 BC 1978
Mayan Calendar First GPS
Block I
Satellite
1991
1900-1600 BC HP 5071 A Primary
Stonehenge Reference Standard
400 BC-1600 AD
Aztec Calendar

1964 1978
1094 First GPS
1583 HP 5071 A Primary
Sung Su’s Chinese Water Block I
Galileo Discovers Reference Standard
Clock Perfected Satellite
Pendulum
constancy

1727 - 1734
1656 Jantar Mantar
1960
Huygens pendulum Raja Jai Singh II 1955
Essen and Parry start HP 105B
clock Quartz
keeping time with
cesium atomic clock frequency
standard

1736 1948-49
Harrison H1 Chronometer Lyons Develops first
tested at sea 1918 atomic clock
Quartz Oscillator
Developed
NEVER REPEATS AND ALWAYS
MOVES
FORWARD
 We think of time as moving
Linear Time
upward, progress
 We define the progress by Tomorrow
timelines Today
 We define the process of life
Yesterday
by clocks
 In linear time all units are the
same
 Linear time not driven by
subjective experience
 Success a function of never
missing a unit of time
Training
 We are taught to be on time, to worry
about time lost
 We are penalized when we miss a time or
waste time
 We teach time management
 We learn from the railroad and the
assembly line
 Through agriculture, seasons, weather
cycles
 History repeats itself
 Emphasis on birth, anniversaries, death
and rebirth
 Through agriculture, seasons, weather
cycles
 History repeats itself
Always repeats
 One day is like every other
day
 Each year is like every
other year
 Life is about matching
behaviour to cycles
 Progress less important
than adaptation
 Competition to meet
demands of cycle
 Knowledge used to
understand the cycles
 Measurement of time is against a device or
phenomena has regular interval events
(frequency) to take place e.g. oscillators or
some astronomical events.
 A frequency standard whose frequency
corresponds to the spotted definition of the
second, with its specified accuracy achieved
without external calibration of the device.
 Note: the second is defined as follows:
“The duration of 9,192,631770 periods of
the radiation corresponding to the
transition between the two hyperfine levels
of the ground state of the cesium atom-
133”
 PRIMARY CLOCK
A time standard which operates without
external calibration

 PROPER TIME
The local time, as indicated by an ideal
clock, in a relativistic sense
 Secondary frequency standard
A frequency standard which requires external
calibration
 Standard frequency and time signal service
A radio communication service for scientific,
technical and other purposes, providing the
transmission of specified frequencies, time signals
or both of stated high precision, intended for general
reception
 Allan Variance or Allan Deviation
The standard method of characterizing the frequency
stability of oscillators in the time domain, both
short and long term.
 Atomic Time Scale (TA)
A time scale based on atomic or molecular resonance
phenomena. Elapsed time is measured by counting
cycles of a frequency locked to an atomic or
molecular transition. Earlier time scales were based
on the rotational rate of the earth.
 Clock
A device for maintaining and displaying time.
 Coordinated Universal Time (UTC)
A coordinated time scale, maintained by the Bureau International
des Poids et Mesures (BIPM), which forms the basis of a
coordinated dissemination of standard frequencies and time
signals. A UTC clock has the same rate as a Temps Atomic
International (TAI) clock or international atomic time clock but
differs by an integral number of seconds called leap seconds. The
UTC scale is adjusted by the insertion or deletion of leap seconds
to ensure approximate agreement with UT1.

 Frequency Drift
The linear (first-order) component of a systematic change in
frequency of an oscillator over time. Drift is due to aging plus
changes in the environment and other factors external to the
oscillator
 DUT1
The approximate time difference between UT1 and UTC, expressed
to the nearest 0.1 s. DUT1 = UT1 + or - UTC. DUT1 may be regarded
as a correction to be added to UTC to obtain a better approximation
to UT1. The values of DUT1 are given by the International Earth
Rotation Service (IERS) in integral multiples of 0.1 s.
 Epoch
The beginning of an era (or event) or the reference date
for a system of measurements.
 Frequency
The rate at which a periodic phenomenon occurs over
time.
 Frequency stability
Statistical estimate of the frequency fluctuations of a
signal over a given time interval.
• Long term stability usually involves measurement
averages beyond 100s.
•Short term stability usually involves measurement
averages from a few tenths of a second to 100s.
Generally, there is a distinction between systematic
effects such as frequency drift and stochastic frequency
fluctuations. Special variances have been developed for
the characterization of these fluctuations. Systematic
instabilities may be caused by radiation, pressure,
temperature, and humidity. Random or stochastic
instabilities are typically characterized in the time
domain or frequency domain. They are typically
dependent on the measurement system bandwidth or on
 Frequency standard
An oscillator such as a rubidium, cesium, or hydrogen
maser whose output is used as a frequency.
 Greenwich Mean Time (GMT)
A 24 Hour system based on mean solar time plus 12 hours
at Greenwich, England. Greenwich Mean Time can be
considered approximately equivalent to Coordinated
Universal Time (UTC), which is broadcast from all standard
time and frequency radio stations. However, GMT is now
obsolete and has been replaced by UTC.
 International Atomic Time (TAI)
An atomic time scale based on data from a worldwide set of
atomic clocks. It is the internationally agreed upon time
reference conforming to the definition of the second, the
fundamental unit of atomic time in the International System
of Units (SI). It is defined as the duration of 9,192, 631, 770
periods of the radiation corresponding to the transition
between two hyperfine levels of the ground state of the
cesium - 133 atom. The TAI is maintained by the Bureau
International des Poids et Mesures (BIPM) in France.
Although TAI was officially introduced in January 1972, it
has been available since July 1955. Its epoch was set so
that TAI was in approximate agreement with UT1 on 1
 Leap second
An intentional time step of one second used to adjust
UTC to ensure approximate agreement with UT1. An
inserted second is called a positive leap second, and an
omitted second is called a negative leap second. A
positive leap second is presently needed slightly more
often than once per year.
 Second
The basic unit of time or time interval in the International
System of Units (SI) which is equal to 9 192 631 770
periods of radiation corresponding to the transition
between the two hyperfine levels of the ground state of
cesium-133.
 Sidereal time
The measure of time defined by the apparent diurnal
motion of the vernal equinox; hence, a measure of the
rotation of the Earth with respect to the reference frame
that is related to the stars rather than the sun. Two
types of sidereal time are used in astronomy: mean
sidereal time and apparent sidereal time. One sidereal
day is equal to about 23 hours, 56 minutes, and 4.090
seconds of mean solar time. Also, 366.2422 mean
sidereal days equal 365.2422 mean solar days.
 Synchronization
The process of measuring the difference in time of two time
scales such as the output signals generated by two clocks. In
the context of timing, synchronization means to bring two
clocks or data streams into phase so that their difference is 0
(see time scales in synchronism).
 Syntonization
Relative adjustment of two frequency sources with the
purpose of canceling their frequency difference but not
necessarily their phase difference.
 Terrestrial Time (TT)
The new 1991 International Astronomical Union replacement
for what was once called Ephemeris Time. On 1 January 1997,
TT = TAI + 32.184 seconds, and the length of the second is
chosen so that it agrees with the International Second (SI) on
the Geoid. The TT scale differs from the old Ephemeris Time in
its conceptual definition. Practically, however, it is realized by
means of International Atomic Time (TAI).
 Time interval
The duration between two instants read on the same time
scale.
 Time scale
A system of unambiguous ordering of events. A time scale is
meant to be stable and homogeneous.
 Time standard
A continuously operated device used for the realization
of a time scale in accordance with the definition of the
second and with an appropriately chosen origin.

 Universal Time (UT) Family

Universal Time (UT) is the general designation of time
scales based on the rotation of the Earth. In applications
in which a precision of a few tenths of a second cannot
be tolerated, it is necessary to specify the form of UT
such as UT1 which is directly related to polar motion and
is proportional to the rotation of the Earth in space. The
UT1 is further corrected empirically for annual and
semiannual variations in the rotation rate of the earth to
obtain UT2.
 Universal Time is the mean solar time of the prime
meridian plus 12 hours, determined by measuring the
angular position of the Earth about its axis. The UT is
sometimes designated GMT, but this designation
should be avoided.
 Mean Solar Time is simply apparent solar time
corrected for the effects of orbital eccentricity and
the tilt of the Earth's axis relative to the ecliptic
plane; that is, corrected by the equation of time
which is defined as the hour angle of the true Sun
minus The hour angle of the mean Sun.
Since Jan 1, 1998, the maintenance of
International Atomic Time (TAI) and of
Coordinated Universal Time, UTC ( with the
exception of decisions and announcements
concerning leap seconds of UTC) has been
the responsibility of the international
bureau of weights & measures (BIPM) under
the authority of the International
Committee Of Weights & Measures (CIPM).
The dates of leap seconds of UTC are
decided and announced by the International
Earth Rotation & Reference System Service
(IIERS) which is responsible for the
determination of earth rotation parameters
and the maintenance of the related celestial
and terrestrial reference systems.
 International Atomic Time (TAI) and
Coordinated Universal Time (UTC) are
obtained from a combination of data from
some 300 atomic clocks kept by about 65
laboratories spread world wide. The data
are regularly reported to BIPM by about 55
timing centres which maintain a local UTC.
The data are in the form of time difference
(UTC(IC) – clock) taken at 5 day intervals at
oh. UTC.
 An interactive algorithm process a Free
Atomic Time Scale (EAL defined as a
weighted average of clock readings. The
processing is carried out & subsequently
treats one month block of date. The
weighting procedure and clock frequency
predictions are chosen so that EAL is
UTC Labs Network
 1320
340

550 1110

830
 The ground reference time for IRNSS
satellite system, is provided by IRNSS
Network Time (IRNWT) Facility. This has
the following functions:
 Providing the Navigation Timekeeping to
support the navigation mission for Orbit
Determination and Time Synchronization
(OD&TS) services of the IRNSS
constellation.
 Generating the Metrological Timekeeping
to steer IRNWT towards International
Atomic Time (TAI) and also provide the
IRNSS-UTC timing determination service to
the user.
 IRNWT shall also provide time offset
between IRNWT and GPS time for the use
of common user community
 IRNWT shall be the reference time scale used
in IRNSS system. This shall be continuous time
scale generated from ground atomic clocks
ensemble at IRNSS Timing Facility.
 The IRNWT shall be steered to International
Atomic Time (TAI) such that the difference
between TAI‑IRNWT shall be within 20 ns (1 σ)
at any time (target is 10 ns) measured over 30
days cycle.
 The difference between IRNWT-UTC is
maintained with an uncertainty of 20 ns (1 σ),
to obtain UTC through IRNWT (with leap
seconds corrections) by end user.
 IRNWT shall provide the stability viz.,
         a) The short term stability: 5.0 x 10-14 over a day
      b) The long term stability : 1.5 x 10-13 over 30 days
 IRNWT shall establish a clock model for calibrating
all ground clocks of the system. Frequency offset
and frequency drift of ground clocks is corrected
using time keeping system using the ensemble
algorithms.
 IRNWT frequency stability shall be optimized on short
term (τ=1 day)
 IRNWT time stability shall be optimized to
medium/long term (τ=30 days)
 IRNWT frequency offset (normalized to TAI): <5.5 x
10-14
(1 day)
 Interface with NPL(Delhi), PTB (Germany), Bureau
International des Pods et Measures (BIPM) by
exchange of all relevant clock data
 Two way Satellite Time and Frequency Transfer and
GNSS Common View techniques for the time
transfer and clock synchronization for the remote
clocks at IRIMS, IRCDR stations and to international
 UTC
Labs

TWSTFT GPS CV
Cs 1 1 PPS
Time Signal Time Interval
1 PPS Multiplexer Counter
Cs 2
1 PPS
Cs 3
-- 10 MHz
Multi Channel RS 232 Processing
-- Phase Comparator Subsystem
Cs N 10 MHz

10
Cesium MHz 10 MHz
Switch Micro Phase
1 PPS
Matrix 1 PPS
Stepper
AHM 1

AHM 2 Pulse and RF IRIG B Code

Distribution Amplifier Generator
AHM 3
Active 1 PPS 10 MHz
H- Masers
 UTC
Labs
GPS /
IRIMS-1
1 PPS
IRNSS Timing Centre TWSTFT
GLONASS/
Galileo
Cs 1 Cs 2 10 MHz 1 PPS Common
1 PPS
View

TWSTFT or OFC Links

Receiver.
IRIMS-2 1 PPS Cs 1
Cs 1 Cs 2 10 MHz Processing System
Cs 2
---- • IRNWT computation
---- Cs 3 • IRNWT steering execution
---- • System clocks characterization
IRIMS-n 1 PPS
• Spacecraft clock drift
Cs 4 10 MHz estimation
Cs 1 Cs 2 10 MHz

10 MHz
IRIMS Stations

CDMA-1
1 PPS AHM 1
Cs 1 Cs 2 10 MHz
1 PPS 10 MHz
AHM 2
TWSTFT or OFC Links

CDMA-2 1 PPS
Cs 1 Cs 2 10 MHz

----
---- 1 PPS
---- AHM
CDMA-n 1 PPS
10 MHz 10
Cs 1 Cs 2 MHz
10 MHz

H-Maser of ISRO
CDMA Ranging Stations
 Active Hydrogen Masers are used to provide
stable signals for Frequency and time and
measurement and the differences of time
between events. This will be the Master Clock.
 The Cesium Atomic Clocks are used in an
ensemble to generate the virtual paper clock
and to build stable time measurements by
characterizing the clocks and identifying and
removing the noise components.
 The performance of all clocks measured at the
regular intervals by using suitable algorithms
and time transfer techniques with other time
labs in India and abroad.
 The measured offset between the Master clock
and virtual paper clock will be applied to the
Phase Micro Stepper(PMS)/Auxiliary Output
Generator(AOG) system at regular intervals to
get highly stable time (IRNWT time).
 The system shall have two active hydrogen masers (AHM)
on two independent chains in the ‘Maser Room’ (MR) in a
Precision controlled environment. This will provide the short
term stability.
 The system shall also contain four cesium atomic clocks
(two per chain) in the Maser room. Each clock shall be
backed up with battery and two steerable cleanup
oscillators with reference generators. This will provide the
long term stability.
 All the clock signals are fed to the Multi-channel Phase
Comparator(MPC) and the output of the MPC is fed to
ensemble algorithm. The Clock ensemble provides the
combined advantage of AHM’s better short-term stability
and Cesium clock’s better long-term stability
 Two-Way Satellite Time and Frequency Transfer (TWSTFT)
and GNSS Common View (GCV) equipment shall be used for
the purpose of estimating the offset between IRNWT and
TAI using time transfer method.
 The measured offsets generated from the steering
algorithm provides the paper clock. This shall be used for
steering the selected Maser clock thro’ Auxiliary Output
 Data collected from all the clocks are
stored and maintained at IRNWT facility in
a data base using data storage and
management system.
 The characterization of clocks will be
carried out using the data in archive and
also data collected from the various other
time labs in India and abroad using Two
Way Time transfer and GPS common view
techniques.
 Suitable backup procedures will be followed
using the secondary media like tapes,
DVD/optical discs.. etc for maintenance of
the history data base.
 Clock data will be preserved for the period
of three years for any analysis purpose.
 Time also will be distributed using the IEEE-1588
protocol on LAN which distance limited and requires
special interface at the receiving end.
 1 PPS, 5 MHz, 10MHz clocks will also be available in
the BNC connector for distribution in IRIG-B time
code for the distribution thro’ NTP.
 IRNWT time generated will be distributed thro’ two
numbers of NTP servers for all the computer systems
at Navigation Center(INC) on the TCP/IP LAN.
 Measured offsets from the paper clock & time
transfer method, shall be used for steering the
Master clock to provide the IRNWT time.
 GNSS Common View receivers will be used
to characterize the atomic clocks in
collaboration with NPL, Delhi in India and
PTB,Germany and other time labs in the
world through suitable working
arrangement. This will give the minimum
resolution of 3 to 7 ns measurement
accuracy.
 Two Way Time Transfer techniques will be
used for improving the accuracy for 1 to 3
ns with PTB, Germany and NPL, UK to steer
towards the International Atomic Time.
 Traveling calibrated atomic clocks will also
used for the synchronizing misbehaved
(restored after the repair) atomic clocks at
CDMA/IRIM stations.
 GNSS receivers are also used for the time
offset estimation of the IRNWT time with
UTC.
 Generation of IRNSS System Time
 Estimation of IRNSS Clock Corrections in
terms :
 Satellite Clock Bias afo
 Satellite Clock Drift af1
 Satellite Clock Drift rate af2

The clock corrections are estimated in the

Navigation Control Centre and uplinked to the
IRNSS Satellites. The user receives the clock
correction parameters and computes the postiion
accurately. These parameters are updated at
regular intervals of time (once in half an hour)
 •The fundamental measurement
namely pseudo range in the GNSS
receiver works by accurately timing
how long it takes for the signals to
travel from the satellites' antennas to
the receiver's antenna and converting
the time delays to ranges using the
speed of light
•Clock Jumps: result in a jump in
pseudorange. Consequently, large
jumps will affect the navigation
solution
•Frequency drift: affects the pseudo
Clock range more significantly, since the
jumps
drift gets integrated with time and
manifests in large error in the pseudo
range (see the slope change after the
clock jump)

Clock performance of GIOVE A

 For on-board clock, the effect of clock jump associated
with the change in clock drift (similar to GIOVE-A) will
result into a clock error value reaching as high as ~300 m
over a day. Consider the values similar to GIOVE-A clock,

Frequency clock jump = 2.0E-12

Frequency drift = 1.0E-11 / day
Clock Error Build-up over two hours
= [2.0E-12 * 7200 + 1.0E-11 * 7200] * 3.0e^8 m
= 26 m (Approx)

 It can be noted that the clock error build-up is primarily

due to clock-drift and the contribution of clock jump is not
significant. If the clock error build is observed, then it can
be corrected immediately and communicated to the user.