How GPS Works

Karan Barua(2K8/EC/644) Kavita Kajla(2K8/EC/646) Kritika Nimesh(2K8/EC/648)

Introduction

GPS: Global Positioning System is a worldwide radio-navigation system formed from a constellation of 24 satellites and their ground stations. Uses the principle of triangulation and timeof-arrival of signals to determine the location of a GPS receiver.

Typical GPS Applications

Location - determining a basic position

Navigation - getting from one location to another

Tracking - monitoring the movement of people and things. Mapping - creating maps of the world

Timing - bringing precise timing to the world

Trilateration Requirements

To triangulate, a GPS receiver measures distance using the travel time of radio signals. To measure travel time, GPS receiver needs very accurate timing.

Along with distance, receiver need accurate data on where satellites are in space.
System will also need to correct for any delays the signal experiences as it travels through atmosphere.

3-D Trilateration Method

If the surfaces of two spheres intersect at more than one point, they intersect in a circle. The intersection of a third spherical surface with the first two will be its intersection with that circle; in most cases of practical interest, this means they intersect at two points.

The intersection of a fourth spherical surface with the first three will be its intersection with one of the two points above giving us the exact location.

Three Dimensional (3D) Positioning

Components of GPS System

Control Segment: five ground stations located on earth. Space Segment: satellite constellation (24 active satellites in space).
User Segment: GPS receiver units that receive satellite signals and determine receiver location from them.

Ground Monitor Stations

Falcon AFB Colorado Springs, CO Master Control Monitor Station

Kwajalein Monitor Station Hawaii Monitor Station Ascension Island Monitor Station Diego Garcia Monitor Station

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 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.

Functions of Monitor Stations (Contd)

Master control station estimates parameters describing satellites' orbit and clock performance,. It also assesses health status of the satellites and determines if any re-positioning may be required. This information is then returned to three uplink stations (collocated at the Ascension Island, Diego Garcia and Kwajalein monitor stations) which transmit the information to satellites.

Space Segment

Space segment is the satellite constellation.

24 satellites with a minimum of 21 operating 98% of the time 6 Orbital planes Circular orbits 20-200 km above the Earth's surface 11 hours 58 minute orbital period Visible for approximately 5 hours above the horizon

GPS Satellite Orbits

Orbits of GPS satellites need to be updated every once in a while because orbit does not stay circular without adjustments. Adjustments needed because: Other objects exert gravitational force on each satellite (e.g. sun, moon) Effect of gravity is non-uniform during orbit. Radiation pressure (due to solar radiation). Atmospheric drag Other effects

Third Component of GPS: User Segment

User segment comprises receivers that have been designed to decode signals transmitted from satellites for purposes of determining position, velocity or time. Receiver must perform the following tasks: select one or more satellites in view acquire GPS signals measure and track signal recover navigational data

Measuring Distance using a PRC Signal

At a particular time (let's say midnight), the satellite begins transmitting a long, digital pattern called a pseudo-random code (PRC).
The receiver begins running the same digital pattern also exactly at midnight.

When the satellite's signal reaches the receiver, its transmission of the pattern will lag a bit behind the receiver's playing of the pattern.

Measuring Distance

The length of the delay is equal to the signal's travel time. The receiver multiplies this time by the speed of light to determine how far the signal traveled.

Assuming the signal traveled in a straight line, this is the distance from receiver to satellite.

Synchronizing Clocks

In order to make this measurement, the receiver and satellite both need clocks that can be synchronized down to the nanosecond. Accurate time measurements are required. If we are off by a thousandth of a second, at the speed of light, that translates into almost 200 miles of error.

Synchronizing Clocks (Contd)

To make a satellite positioning system using only synchronized clocks, you would need to have atomic clocks not only on all the satellites, but also in the receiver itself. But atomic clocks cost somewhere between $50,000 and $100,000, which makes them a just a bit too expensive for everyday consumer use. The Global Positioning System has a clever, solution to this problem. Every satellite contains an expensive atomic clock, but the receiver itself uses an ordinary quartz clock, which it constantly resets.

Synchronizing Clocks (Contd)

The Global Positioning System has a clever, effective solution to this problem. Every satellite contains an expensive atomic clock, but the receiver itself uses an ordinary quartz clock, which it constantly resets. In a nutshell, the receiver looks at incoming signals from four or more satellites and gauges its own inaccuracy.

Communication
Following are the communication related segments of GPS Message formats Satellite frequencies Demodulation and decoding Navigation equations.

Message Format

The message structure has a basic format of a 1500-bit-long frame made up of five sub frames, each sub frame being 300 bits (6 seconds) long. Sub frames 4 and 5 are sub commutated 25 times each, so the a complete data message requires the transmission of 25 full frames. Each sub frame consists of ten words, each 30 bits long. Each message takes 750 seconds to complete.

Satellite frequencies

All satellites broadcast at the same two frequencies, 1.57542 GHz (L1 signal) and 1.2276 GHz (L2 signal). The satellite network uses a CDMA spreadspectrum technique where the low-bitrate message data is encoded with a high-rate pseudo-random (PRN) sequence that is different for each satellite

Demodulation and decoding

Because all of the satellite signals are modulated onto the same L1 carrier frequency, the signals must be separated after demodulation. This is done by assigning each satellite a unique binary sequence known as a Gold code. The signals are decoded after demodulation using addition of the Gold codes corresponding to the satellites monitored by the receiver

Navigation equations

The receiver uses messages received from satellites to determine the satellite positions and time sent. The x, y, and zcomponents of satellite position and the time sent are designated as [xi, yi, zi, ti] where the subscript i denotes the satellite and has the value 1, 2, ..., n, where When the time of message reception indicated by the on-board clock is , the message's transit time is where is clock bias.

Navigation equations(Contd.)

Assuming the message traveled at the speed of light (c) the distance traveled is (tr + b ti)c. The clock error or bias, b , is the amount that the receiver's clock is off. The receiver has four unknowns, the three components of GPS receiver position and the clock bias [x, y, z, b]. The equations of the sphere surfaces are given by:

Navigation equations(Contd.)

2 Types of Errors

Errors can be categorized as intentional and unintentional. Intentional errors: government can and does degrade accuracy of GPS measurements. This is done to prevent hostile forces from using GPS to full accuracy. Policy of inserting inaccuracies in GPS signals is called Selective Ability (SA). SA was single biggest source of inaccuracy in GPS. SA was deactivated in 2000.

Sources of Unintentional Timing Errors

Typical Errors
Source of Error Typical Error in Meters (per satellite) 1.5 2.5 5.0 0.5 0.3 0.6 30

Satellite Clocks Orbit Errors Ionosphere Troposphere Receiver Noise Multipath SA

Differential GPS

Technique called differential correction can yield accuracies within 1-5 meters, or even better, with advanced equipment. Differential correction requires a second GPS receiver, a base station, collecting data at a stationary position on a precisely known point. Because physical location of base station is known, a correction factor can be computed by comparing known location with GPS location determined by using satellites.

Improved Offered by Differential GPS

Source Ionosphere Troposphere Signal Noise Orbit Data Clock Drift Multipath Receiver Noise SA

Uncorrected 0-30 meters 0-30 meters 0-10 meters 1-5 meters 0-1.5 meters 0-1 meters ~1 meter 0-70 meters

With Differential Mostly Removed All Removed All Removed All Removed All Removed Not Removed Not Removed All Removed

Using GPS Data

A GPS receiver essentially determines the receiver's position on Earth. Once the receiver makes this calculation, it can tell you the latitude, longitude and altitude of its current position. To make the navigation more userfriendly, most receivers plug this raw data into map files stored in memory.

Using GPS Data (Contd)

You can use maps stored in the receiver's memory, connect the receiver to a computer that can hold more detailed maps in its memory, or simply buy a detailed map of your area and find your way using the receiver's latitude and longitude readouts. Some receivers let you download detailed maps into memory or supply detailed maps with plug-in map cartridges.

Using GPS Data (Contd)

A standard GPS receiver will not only place you on a map at any particular location, but will also trace your path across a map as you move.
If you leave your receiver on, it can stay in constant communication with GPS satellites to see how your location is changing. This is what happens in cars equipped with GPS.

Using GPS Data

With this information and its built-in clock, the receiver can give you several pieces of valuable information: How far you've traveled (odometer) How long you've been traveling Your current speed (speedometer) Your average speed A "bread crumb" trail showing you exactly where you have traveled on the map The estimated time of arrival at your destination if you maintain your current speed

Thank you!