GPS

Basic Theory
 Contents

GPS General Characteristics Error Sources

GPS System Components Differential GPS
Outline Principle: Initial Phase Ambiguity
 Range Resolving the Ambiguity
 Position Dilution of Precision
Summary
Range Determination from:
 Code Observations
 Phase Observations
Developed by the US Department of Defense

Provides
Accurate Navigation 10 - 20 m
Worldwide Coverage
24 hour access
Common Coordinate System
Designed to replace existing navigation
systems

Accessible by Civil and Military

GPS Principle : Range

Range = Time Taken x Speed of Light

lX
l
X
Xll

ll
lll
Xl

lV
V
Vl
V lll
l
Vl
GPS System Components

Space
SpaceSegment
Segment
NAVSTAR
NAVSTAR: :Navigation
Navigation
Satellite
Satellite Timeand
Time andRanging
Ranging
24 Satellites
24 Satellites
20200
20200KmKm

Control
ControlSegment
Segment
11Master
MasterStation
Station
User
UserSegment
Segment 55Monitoring
MonitoringStations
Stations
Receive
ReceiveSatellite
SatelliteSignal
Signal
GPS Principle : Point Positioning

R1
R3
R2

•3 Spheres intersect
We are 2somewhere
Spheres onat a as
intersect point
a sphere
a circle
of radius, R1
•3 Ranges to resolve for Latitude, Longitude
and Height
Outline Principle : Position

The satellites are like “Orbiting Control Stations”

Ranges (distances) are measured to each satellites using time dependent

codes

Typically GPS receivers use inexpensive clocks. They are much less
accurate than the clocks on board the satellites

A radio wave travels at the speed of light

(Distance = Velocity x Time)

Consider an error in the receiver clock

1/10 second error = 30,000 Km error
1/1,000,000 second error = 300 m error
 Point Positioning

4 Ranges to resolve for Latitude, Longitude, Height & Time

It is similar in principle to a resection problem
Point Positioning

Point Positioning with at least 4 GPS satellites and

Good Geometry
Error Sources

Like all other Surveying

Equipment GPS works in the Real
World

That means it owns a set of unique

errors
 Satellite Errors
 Satellite Clock Model
though they use atomic clocks, they are still
subject to small inaccuracies in their time
keeping
These inaccuracies will translate into
positional errors.
 Orbit Uncertainty

The satellites position in space is also

important as it’s the beginning for all
calculations
They drift slightly from their predicted orbit
Observation Errors
GPS signals transmit their timing
information via radio waves
It is assumed that a radio wave travels at
19950 Km
the speed of light.

GPS signals must travel through a number

Ionosphere
of layers making up the atmosphere. 200 Km

As they travel through these layers the

signal gets delayed 50 Km
Troposphere

This delay translates into an error in the

calculation of the distance between the
satellite and the receiver
Receiver Error

Unfortunately not all the receivers are

perfect. They can introduce errors of
their own F1

ESC
F2 F3

SFT
F4 F5

CE
F6

Internal receiver noise

Receiver clock drift
Multipath Error

• When the GPS signal arrives at

earth it may reflect off various
obstructions

• First the antenna receives the

signal by the direct route and then
the reflected signal arrives a little
later
Point Positioning Accuracy

Accuracy 10 - 30 m

In theory a point position can be accurate to 10 -

30m based on the C/A Code
 How do I
Improve my Accuracy ?

Use
Differential GPS
 Differential GPS
• The position of Rover ‘B’ can be
determine in relation to Reference
‘A’ provided
Coordinates of ‘A’ is known
Simultaneous GPS observations

• Differential Positioning
Baselin
Eliminates errors in the sat. and A
line Vector
B
receiver clocks
Minimizes atmospheric delays
Accuracy 3mm - 5m
Differential Code / Phase

• If using Code only accuracy is

in the range of 30 - 50 cm
This is typically referred to as
DGPS

• If using Phase or Code &

Phase accuracy is in the order
of 5 - 10 mm + 1ppm Baseline Vec
ector
A B
Initial Phase Ambiguity

Initial phase Ambiguity must be determined to use carrier

phase data as distance measurements over time

Time (0) Time (1)

Ambiguity

Ambiguity

Initial
Phase Measurement Measured
at Time (0) Phase Observable
at Time (1)
 Resolving Ambiguities
Once the ambiguities are resolved, the accuracy of the
measurement does not significantly improve with time
The effect of resolving the ambiguity is shown below:

Accuracy (m)

1.00
Ambiguities
Not resolved

0.10

Ambiguities
Resolved
0.01

Time (mins)
0 120
Rapid Static
Static
0 2 5
Rapid Static
 Dilution of Precision (DOP)
A description of purely geometrical contribution to the uncertainty in a
position fix
It is an indicator as to the geometrical strength of the satellites being tracked at
the time of measurement

GDOP (Geometrical), Poor GDOP

Includes Lat, Lon, Height & Time Good GDOP
PDOP (Positional)
Includes Lat, Lon & Height
HDOP (Horizontal)
Includes Lat & Lon
VDOP (Vertical)
Includes Height only
Summary of GPS Positioning

Point Positioning :
10 - 30 m (1 epoch solution, depends on SA)
5 - 10 m (24 hours)
Differential Code / Phase :
30 - 50 cm (P Code)
1 - 5 m (CA Code)
Differential Phase :
5 mm + 1 ppm
Many Thanks for Your
Attention.
Leica Geosystems
Heerbrugg
Switzerland
 Real Time
GPS Surveying
Contents

• What is Real Time ? • Limitations

• Real Time Industry Standards
• What is Real Time GPS ?
• Real Time Modes Supported
• Point Positioning
• Applications
• Real Time Differential Code
• Planning a Real Time Survey
• Real Time Differential Phase
• Important Considerations - On Site
• Real Time Differential
Requirements
• Advantages of Real Time
GPS
What is Real Time ?

In a scientific sense Real Time can be defined

as any action undertaken that results in an
instantaneous response. Look at your watch.
The time displayed is happening in Real Time.
What is Real Time GPS ?

3 Distinct Categories: 3 Distinct Operation Methods:

• Point Positioning • Accuracy

( Navigated Position ) • Limitation
• Real Time Differential Code • Complexity
RTIME Code
RTCM All Version
• Real Time Differential Phase
RT-SKI
RTCM All Version
Point Positioning

Accuracy 10 to 20m in
each component

Dependent on DoD
Selective Availability

Navigation Applications

Not suited for Surveying or

Precise Navigation
Real Time Differential Code (RTIME Code)

• At Reference Station
Reference Station on a Known Point
Tracks all Satellites in View
Computes corrections for each satellite
Transmits corrections via a communication link in either propriety format or in
the RTCM format

• At the Rover Station

Rover unit receives the corrections via the communication link
Rover position corrected by applying the received corrections

ACCURACY 0.3m - 0.5m

Real Time Phase (RTSKI)

• At Reference Station
Reference Station on a Known Point
Tracks all Satellites in View
Transmits via a communication link GPS
Measurements along with the Reference Station Coordinates

• At the Rover Station

Rover receives the GPS Measurements and Reference Station
Coordinates via the communication link
Rover undertakes computations to resolve Ambiguities
ACCURACY 1 – 2cm + 2ppm
Real Time Differential Requirements

• Initial Coordinates (WGS84) • Getting into Local

Known Coordinates Coordinate Systems
Single Point Positioning • Local Ground
• State Plane
• Communication Link
Range to be covered.
• GPS Hardware
Inter-visibility
• Dual Frequency
Weight and Power requirements
• Single Frequency
Operational Costs
Advantages of Real Time GPS

Good Accuracy
• No post processing
Immediate Results
• One man operation
One Base multiple rovers
increases production
• Collect raw data
Increased confidence
• Ease of operation
Limitation

• The two largest limitations effecting Real Time GPS Surveying

Obstructions
Multipath
Loss of lock
Communication Link
Range
Location of Transmitter
Power Consumption

• Real Time GPS has become an acceptable tool within the Survey
Industry. It is not always the correct tool for the task.
Real Time Industry Standard: RTCM

Radio Technical Commission for Maritime

RTCM message typically consists of
Reference station parameters
Pseudorange Corrections
Range Rate Corrections
Corrections are based on the L1 Pseudorange observation
Corrections are broadcast by:
UHF radios up to 40 Km
VHF radios up to 100 Km
Communication Satellites
Every measurement is independent, no need for ambiguity resolution
Real Time Industry Standard: RTCM

E.g: US Coast Guard Nav Beacons:

Broadcast RTCM
Service is free
Accuracy in the range of 1 - 5 m
Ideal for GIS Surveys and hydographic
work
Applications

• Boundaries
• Topo and Locations
• Seismic Stakeout
• Mapping
• Profiles
• Monitoring
• Establishing Portable
• Volumes
Control Stations
• Photo control (sharing with Total
• Construction Control and Stations)
Stakeout • Slope Staking
Applications (Real Time)

DTM Stakeout
Existing
Ground Surface

Design Surface
in DXF format
Applications (Real Time)

Road Alignments
Horizontal
Tangents, Spirals, Curves
Profiles
Parabolic Curves
Cross Sections
Planning a Real Time Project

• Accuracy Requirements
Code = meter / sub-meter
Phase = centimeter

• Availability of Control
Horizontal
Vertical
Both

• Type of Transformation
Local Grid
WGS84
Planning a Real Time Project

• Availability of satellites

• Installation of Reference Station

Communication Link
Minimum obstructions
Known Coordinates
Check stations
Important Considerations - On Site

• Check Hardware
Check Battery and Memory capacity

• Check Stations
Verifiy transformation
Verifiy Base Station coordinates
Verifiy Heights of Instruments, Ant. Offsets

• Quality Assurance
Coordinate Quality Indicator
Averaging Limit
Many Thanks for Your
Attention.
Leica Geosystems
Heerbrugg
Switzerland
 Different GPS
Operation Types
and
Applications
CONTENTS

• Using GPS for Surveying

• Static
• Rapid Static
• Kinematics
• Real Time
• Accuracy and Observation Time
• Recommended Recording Intervals
Using GPS for Surveying

All GPS Surveying is carried out using differential techniques. That is

to say a baseline is measured from a fixed point, (a reference station)
to an unknown point (a rover station).

This is undertaken using one of two methods :

Post Processing
The raw GPS data from the satellites is recorded and processed in the
office using software LGO

Real Time
The processing of the data is carried out as you work, giving an
instantaneous and accurate position
 Static Survey (STS)

All GPS Surveying is carried out using differential techniques. That is to say a
baseline is measured from a fixed point, (a reference station) to an unknown point
(a rover station).

This is undertaken using one of two methods :

Post Processing
The raw GPS data from the satellites is recorded and processed in the office using
software used to create control points by putting one GPS unit on a known point
and the second on the unknown point and collect a data. After that post
processing must be done using a software to solve the unknown point
Real Time
The processing of the data is carried out as you work, giving an instantaneous
and accurate position
Rapid Static Survey (STS) - 1/2

Short observation time for baselines up to 20 km.

Accuracy is 5-10 mm + 1 ppm

• Applications
Control Surveys, GIS city inventories, detail surveys. Replace
traversing and local triangulation. Any job where many points
have to be surveyed

• Advantages
Easy, quick, efficient
Ideal for short range survey
Rapid Static Survey (STS) - 2/2
1 Reference and 1 Rover

Rover
Rover
Rover

4 5
6

Rover
Rover

7
Reference Rover
3

Ref 1 8
Rover Rover

1
2

48 Training GPS System 1200 June 2007 DJE-3192

Rapid Static Survey (STS) - 2/2
1 Reference and 1 Rover
2 Reference and 1 Rover

Rover
Rover
Rover

4 5
6

Rover
Rover

7
Reference
3

Ref 1 Ref2
Rover Rover

1
2

49 Training GPS System 1200 June 2007 DJE-3192

Rapid Static Survey (STS) - 2/2
1 Reference and 1 Rover
2 Reference and 1 Rover
1 Reference and 1 Rover (leap frog)
Reference
Rover
Rover
Rover
Reference

4 5
6

Rover
Reference
Rover
Reference

7
Reference
3

Ref 1 Ref2
Rover
Reference Rover

1
2

50 Training GPS System 1200 June 2007 DJE-3192

True Kinematic (KIS)
Stop Mode Accuracy : 10 - 20 mm + 1 ppm
 The rover must first initialize

Moving Mode
 Once enough data is collected to resolve the ambiguities, user can now move the receiver
 Lock must be maintained on a minimum of 4 satellites at all time
 Rover records data at a specific time interval
 If lock is lost, the system must re-initialize

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51 Training GPS System 1200 June 2007 DJE-3192

Kinematic on the Fly (KOF) - 1/2
Moving Mode Accuracy : 10 - 20 mm + 1 ppm
 This technique does not require a static initialization

 While moving, once the rover is continuously tracking a minimum of 5 satellites on the L1 & L2 for a period of
time, the ambiguities can be resolved

 Travelling under an obstruction will cause a loss of lock

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52 Training GPS System 1200 June 2007 DJE-3192

Kinematic on the Fly (KOF) - 1/2
Moving Mode

Ambiguity resolution will re-establish once 5 satellites on L1 & L2 are acquired and
tracking is consistent for a short period of time

 This technique allows positions to be determined up to the point that the

minimum satellites were re-acquired

:59

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53 Training GPS System 1200 June 2007 DJE-3192

Real Time
Real Time Code, Real Time Phase
 No post processing required
 Results are instantly available
 Can operate in two modes
 RT-SKI
 RT-DGPS

B
A

54 Training GPS System 1200 June 2007 DJE-3192

Accuracy and Observation Times
Static :
Baseline Number of Observation
GDOP Accuracy
Length Satellites Time

20 - 50 Km  4  6 2 - 3 hr 5 mm + 1 ppm
50 - 100 Km  4  6 min. 3 hr 5 mm + 1 ppm
> 100 Km  4  6 min. 4 hr 5 mm + 1 ppm

Rapid Static :
Baseline Number of Observation
GDOP Accuracy
Length Satellites Time

0 - 5 Km  4  5 5 - 10 min 5 - 10 mm + 1 ppm
5 - 10 Km  4  5 10 - 15 min 5 - 10 mm + 1 ppm
10 - 30 Km  4  5 10 - 20 min 5 - 10 mm + 1 ppm

55 Training GPS System 1200 June 2007 DJE-3192

 Recommended Recording Intervals

Operation Recording
Type Interval

Static 10 sec

Rapid Static 5 - 10 sec

Kinematic 0.2 sec or more

56 Training GPS System 1200 June 2007 DJE-3192

Many Thanks for Your
Attention.
Leica Geosystems,
Heerbrugg
Switzerland