CHAPTER 1

SURFACE NAVIGATION SYSTEMS

INTRODUCTION Remember, tactical navigation deals primarily

with fixing the location of the platform to (1) enable
installed weapon systems to function against intended
Today’s Navy uses various navigational systems targets, (2) prevent ownship loss to or interference
in the fleet. As an ET, you will be responsible for with friendly weapon systems, and (3) coordinate
maintaining these systems. ownship weapons systems with those of other
platforms to achieve maximum effect.
In this volume, we will cover navigation
fundamentals, the Ship’s Inertial Navigation System, In tactical navigation, navigation data is used by
Navy Satellite Navigation System, NAVSTAR Global combat systems, including NTDS, to ensure accuracy
Positioning System, fathometers, and TACAN. Let’s in target tracking. Ship’s movements are
start with navigation fundamentals. automatically recorded by computer programs for
applications such as gun laying calculations and Link
NAVIGATION FUNDAMENTALS 11 position reporting. Ship’s attitudes (pitch, roll, and
heading) are transmitted to various display and user
In simple terms, navigation is a method of getting points, and electronic or mathematical computer
from one known point to some distant point. Piloting, stabilization is accomplished, depending on the
celestial navigation, and radio navigation are the system. For example, pitch and roll are used by
commonly used methods. In this chapter, we will NTDS, missile, sonar, gun, and TACAN systems for
discuss radio navigation and its components: dead stabilization data and reference. Heading is used by
reckoning, electronic navigation, and tactical the EW direction finding, sonar, and radar systems for
navigation. The tactical use of NTDS data (tactical true and relative bearing display. Ship’s navigation
navigation) was covered in volume 3, and attitude data are provided by various equipment,
Communications Systems. However, we will review depending on ship class.
it briefly here to help you see how it fits into radio
navigation. We will then discuss dead reckoning and DEAD RECKONING
electronic navigation in more detail.
Dead reckoning is the estimating of the ship’s
TACTICAL NAVIGATION position between known navigational points or fixes.
Radio navigation, consisting of terrestrial systems
You must understand the difference between such as OMEGA and LORAN, and space-based
navigation in the traditional sense and tactical systems, such as SATNAV, TRANSIT, and
navigation. Traditional navigation and piloting are NAVSTAR GPS, provides accurate positions at
concerned primarily with safe maneuvering of the specific fixes. However, with the exception of some
ship with respect to hazards such as shoals, reefs, and gunfire support systems that provide nearly constant
so forth. Tactical navigation is not directly concerned positional updates with respect to a fixed beacon or
wit h maneuvering the ship in navigable waters. For prominent landmark, there is a limit to how often
the purposes of tactical navigation, absolute position fixes can be obtained. This requires us to dead reckon
is unimportant except to the extent that it supports (DR) between the fixes. Dead reckoning can be as
determining the relative position of hostile targets and basic as a DR line for course and speed on a plotting
friendly cooperating platforms. sheet or as sophisticated as an estimate made by an

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inertial navigation system that measures the ship’s 4. Navy Navigation Satellite System (NNSS)
motion in several planes and integrates the results
with a high degree of accuracy. Although the 5. NAVSTAR Global Positioning System (GPS)
methods of dead reckoning may vary, they all share
the following characteristics: (1) the accuracy of the We will also briefly discuss navigation radar,
estimated position never exceeds the navigation surface search radar, and fathometers.
method used to obtain the last fix, and (2) the
accuracy of the estimated position deteriorates over We will cover TACAN in chapter 2.
time.
LORAN/OMEGA—TRANSITION AND
ELECTRONIC NAVIGATION BASIC OPERATION

Simply put, electronic navigation is a form of LORAN and OMEGA have been the “workhorse”
piloting. Piloting is the branch of navigation in which systems for many years. However, they are being
a ship’s position is determined by referring to phased out. Based on the DOD policy statement
landmarks with known positions on the earth. These reprinted below and because you may see a civilian
reference points may be bearing and distance to a version aboard your ship from time to time, we will
single object, cross bearings on two or more objects, simply give you an overview of the two systems. In
or two bearings on the same object with a time accordance with the 1992 Federal Radio navigation
interval in between. Plan (FRP), NAVSTAR will become the primary
reference navigation system for surface ships,
Position in electronic navigation is determined in submarines, and aircraft. The DOD requirement for
practically the same way as piloting, though there is LORAN-C and OMEGA will end 31 December 1994
one important difference—the landmarks from which and TRANSIT will be terminated in DECEMBER
the ship’s position is determined do not have to be 1996. Land-based TACAN and VOR/DME are to be
visible from the ship. Instead, their bearings and phased out by the year 2000.
ranges are obtained by electronic means.
LORAN BASICS
The advantages of electronic navigation are
obvious. A ship’s position maybe fixed electronically LORAN is a long-distance radio navigation
in fog or heavy weather that makes it impossible to system used by ships at sea to obtain a position fix,
take visual fixes. Also, an electronic fix can be based The system is based on the difference in the transit
on stations far beyond the range of any local bad time required for pulsed radio signals to arrive at the
weather. LORAN receiver from multiple, synchronized,
omnidirectional ashore transmitters. LORAN also
Since electronic navigation is the primary form of takes advantage of the constant velocity of radio
navigation in today’s Navy, the rest of this chapter signals to use the time lapse between the arrival of
will deal with electronic navigation and the roles two signals to measure the differences in distance
played by the following systems: from the transmitting stations to the point of
reception. The receiving set provides a direct reading,
in microseconds, of the time difference in the arrival
1. Long Range Aid to Navigation (LORAN) of the signals. (Some sets automatically convert the
readings into latitude and longitude.) When the time
2. VLF Radio Navigation (OMEGA) difference is measured between signals received from
any two LORAN transmitter stations, a ship’s line-of-
3. Ship’s Inertial Navigation System (SINS) position (LOP) can be determined.

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OMEGA BASICS ADVANTAGES

OMEGA is a hyperbolic phase-difference SINS has a major security advantage over other
measurement system. Hyperbolic navigation involves types of navigation systems because it is completely
comparing the phase angles of two or more radio independent of celestial, sight, and radio navigation
signals that are synchronized to a common time base. aids. In addition, SINS has the following advantages:
By moving the OMEGA receiver (by ship’s
movement) and keeping the transmitter stations on 1. It is self-contained.
frequency with a constant difference in time and
phase, the system can measure the relative phase 2. It requires minimal outside
relationship between two stations to determine a line information.
of position (LOP) for the ship. The relative phase
angle measured between paired transmitting stations 3. It cannot be jammed.
depends upon the distance of the receiver from each
transmitter. 4. It is not affected by adverse weather
conditions.
It is important to understand that a minimum of
two transmitters are required to obtain a basic position 5. It does not radiate energy.
fix. Three or four are necessary to obtain an accurate
fix. Unfortunately, there are many times in which 6. It is not detectable by enemy sensors.
only two transmitters are available but three are
desired. One way around this problem is to use the Now that we have seen the advantages of this
receiver oscillator as a third, or “phantom,” system, let’s look at its basic components.
transmitter. By setting the receiver oscillator to the
frequency transmitted by each of the two OMEGA BASIC COMPONENTS
transmitters, the operator can compare the actual
transmitted frequencies to the frequencies of the two Look at figure 1-1. The basic components of an
received signals. This comparison provides two inertial navigation system are accelerometers,
phase angles. The operator can then compare the two gyroscopes, servo systems, and the computers (not
phase angles to determine a third phase angle. The shown). Accelerometers measure changes in speed or
three phase angles will yield a fix as accurate as a fix direction along the axis in which they lie. Their
determined from three actual transmitters. output is a voltage, or series of pulses (digital),
proportional to whatever acceleration is experienced.

SHIP’S INERTIAL
NAVIGATION SYSTEM

The Ship’s Inertial Navigation System (SINS) is

a navigation system that (after initial latitude,
longitude, heading, and orientation conditions are set
into the system) continuously computes the latitude
and longitude of the ship by sensing acceleration.
This is in contrast to OMEGA and LORAN, which fix
the ship’s position by measuring position relative to
some known object. SINS is a highly accurate and
sophisticated dead reckoning device. Let’s look at
some of the advantages of using the SINS. Figure 1-1.—Stable platform with inertial components.

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 Figure 1-2 shows an E-transformer accelerometer,
while figure 1-3 shows a pulse counting
accelerometer. Two accelerometers (orientated North-
South and East-West, respectively) are mounted on a
gyro-stabilized platform to keep them in a horizontal
position despite changes in ship’s movement. The
accelerometers are attached to the platform by an
equatorial mount (gimbal) whose vertical axis is
misaligned parallel to the earth’s polar axis. This
permits the N-S accelerometer to be aligned along a
longitude meridian and the E-W accelerometer to be
aligned along a latitude meridian.

Figure 1-3.—Pulse counting accelerometer.

Several models of SINS are in use. In general,

AN/WSN-2 systems are installed on auxiliary ships,
AN/WSN-2A systems are installed on submarines,
and AN/WSN-5 systems are installed or being
installed on surface combatants. In the following
paragraphs, you will be introduced to the AN/WSN-5
Figure 1-2.—E-transformer accelerometer. SINS and its advantages over these earlier systems.

A three-gyro stabilized platform is maintained in

the horizontal position regardless of the pitch, roll, or
yaw of the ship. Figure 1-4 shows a gimbal-mounted
gyro. Ship’s heading changes cause the gyro signals
to operate servo system motors, which in turn keep
the platform stabilized. High-performance servo
systems keep the platform stabilized to the desired
accuracy. (You will find in-depth information on
accelerometers, gyros, and servo systems in NEETS
Module 15, Principles of Synchros, Servos, and
Gyros.).

Maintaining this accuracy over long periods of

time requires that the system be updated periodically.
This is done by resetting the system using information
from some other navigation means; i.e., electronic,
celestial, or dead reckoning. Figure 1-4.— Gimbal-mounted rate gyro.

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AN/WSN-5 SINS Ship’s north, east, and vertical velocity
components
The AN/WSN-5 is a stand-alone set that replaces
the MK 19 MOD 3 gyrocompass in the following Ship’s latitude, longitude, and GMT
class ships: CG 16, CG 26, CGN 9, CGN 25, CGN
35, CGN 36, CGN 38 (except for CGN 41), DDG 37, 2. Two MIL-STD-1397 NTDS type D high-level
DD 963, and LHA 1. It also replaces the AN/WSN-2 channels to an external computer
stabilized gyrocompass set in DDG 993, DD 997, and
CGN 41 class ships. 3. One MIL-STD-1397 NTDS type A slow, 16-
bit, parallel input/output channel to a Navigation
Functional Description Satellite (NAVSAT) receiver AN/WRN-5A, Global
Positioning System (GPS) receiver AN/WRN-6, or
The AN/WSN-5 has the same output capabilities I/O console.
as the AN/WSN-2. It uses an accelerometer-
controlled, three axis, gyro-stabilized platform to 4. One serial AN/WSN-5 to AN/WSN-5 digital
provide precise output of ship’s heading, roll, and link that provides alignment data, Navigation Satellite
pitch data in analog, dual-speed synchro format to (NAVSAT) fix data, calibration constant data, and
support ship’s navigation and fire control systems. other navigation data to the remote AN/WSN-5.
Ship’s heading and attitude data are continually and
automatically derived while the equipment senses and 5, An additional variety of input/output NTDS
processes physical and electrical inputs of sensed channels, depending on which field changes are
motion (inertial), gravity, earth’s rotation, and ship’s installed.
speed. The equipment has an uninterruptible backup
power supply for use during power losses, and built- SATELLITE NAVIGATION SYSTEMS
in test equipment (BITE) to provide fault isolation to
the module/assembly level. Scientists realized that navigation based on
satellite signals was possible after listening to the
Characteristics beep generated by Russia’s first artificial satellite,
Sputnik I. They noticed a shift in the received radio
In addition to the common functions described frequency signals as the satellite passed by. This
above, the AN/WSN-5 adds an increased level of shift, known as the Doppler effect, is an apparent
performance to serve as an inertial navigator and change in a received frequency caused by relative
provides additional analog and digital outputs. motion between a transmitter and a receiver. As the
Additional data provided includes position, velocity, distance between the transmitter and the receiver
attitude, attitude rates, and time data in both serial and decreases, the received frequency appears to increase.
parallel digital formats, providing a variety of As the distance increases, the received frequency
interfaces. The AN/WSN-5 commonly exists in a appears to decrease.
dual-system configuration on surface combatants.
Some examples of AN/WSN-5 digital data outputs With this discovery, scientists were able to show
are: that by accurately measuring a satellite’s Doppler shift
pattern, they could determine the satellite’s orbit.
1. Two Naval Tactical Data System (NTDS) They then determined that by using a known satellite’s
serial channels transmitting: orbit, a listener could determine his own position on
the earth’s surface by observing the satellite’s Doppler
pattern.
Ship’s heading, roll, and pitch
Following the first successful satellite launch in
Ship’s heading rate, roll rate, and pitch rate April 1960, the U.S. Navy Navigation Satellite

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System (NNSS) became operational. This system is an System Satellites
all-weather, highly accurate navigation aid, enabling
navigators to obtain accurate navigation fixes from the Satellites are placed in a circular polar orbit, as
data collected during a single pass of an orbiting
illustrated in figure 1-6, at an altitude of 500 to 700
satellite.
(nominally 600) nautical miles. Each satellite orbits in
The following paragraphs describe the NNSS, its approximately 107 minutes, continually transmitting
satellites, Doppler principles, system accuracy , and two phase-modulated data every 2 minutes on two rf
common shipboard equipments—the AN-WRN-5( V) and carriers. This data includes time synchronization
the AN/SRN-19(V)2. signals, a 400-Hz tone, and fixed and variable
parameters that describe the satellite’s orbit.

NAVY NAVIGATION SATELLITE SYSTEM The fixed parameters describe the nominal orbit of
the satellite. Variable parameters (small corrections to
the fixed parameters) are transmitted at two-minute
This highly accurate, world-wide, all weather system intervals and describe the fine structure of the satellite
enables navigators to obtain fixes approximately every 2
orbit. The satellite memory stores sufficient variable
hours, day or night. Looking at figure 1-5, you can see
parameters to provide the two-minute orbit corrections
that it consists of earth-orbiting satellites, tracking
stations, injection stations, the U.S. Naval Observatory, for 16 hours following injection of fresh data into the
a computing center, and shipboard navigation memory. Since data injections occur about every 12
equipment. hours, the satellite memory will not

Figure 1-5.—Navy Navigation Satellite System.

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 path until the radio receiver in the tracking station
locks on to the satellite’s transmitted signal. The
receiver processor and data processing equipment
decode and record the satellite message. The Doppler
tracking signal is digitized and sent with the satellite
time measurements to the computing center, via a
control center, where a refined orbit is calculated.

The tracking stations maintain highly stable oscil-

lators that are continually compared against a WWV
transmitted frequency standard. In addition, the
Naval Observatory sends daily messages that give the
error in the transmitted standard. The Naval
observatory error is then added to the data obtained
from the frequency standard, and corrections are
made to the station oscillators. The station oscillators
are used to drive station clocks, which are compared
Figure 1-6.—Satellite orbits. with the time marks received from the satellite. This
time data is transmitted by the tracking stations to the
run out. Each two-minute long satellite message is control center, where the satellite clock error is
timed so that the end of the 78th bit, which is the last calculated and the necessary time correction bits are
bit of the second synchronization signal, coincides added or deleted in the next injection message to the
with even 2 minutes of Greenwich mean time (GMT). satellite.
Thus the satellites can also be used as an accurate
time reference by all navigators equipped with a Computing Center
satellite navigation set.
The central computing center continually accepts
Each satellite is designed to receive, sort, and satellite data inputs from the tracking stations and the
store data transmitted from the ground and to Naval Observatory. Periodically, to obtain fixed
retransmit this data at scheduled intervals as it circles orbital parameters for a satellite, the central
the earth. Each satellite tells users which satellite it computing center computes an orbit for each satellite
is, the time according to the satellite clock, and its that best fits the Doppler curves obtained from all
present location. With this information, the user’s tracking stations. Using this computed orbital shape,
navigation set can determine exactly where the the central computing center extrapolates the position
satellite is, one of the necessary steps toward of the satellite at each even 2-minutes in universal
determining a precise navigational position. time for the 12 to 16 hours subsequent to data
injection. These various data inputs are supplied to
Tracking Stations the injection stations via the control center, as is data
on the nominal space of the orbits of the other
Tracking s t a t i o n s a r e l o c a t e d i n M a i n e , satellites, commands and time correction data for the
Minnesota, California, and Hawaii. As each satellite satellite, and antenna pointing orders for the injection
passes within radio line-of-sight (los) of each of these station antennas.
tracking stations, it is tracked to accurately determine
its present and future orbits. Just before predicted Injection Station
satellite acquisition, the tracking station’s antenna is
pointed toward the satellite to acquire its signals. As The injection stations, after receiving and
the satellite rises above the horizon, the tracking verifying the incoming message from the control
antenna continues to follow the satellite’s predicted center, store the message until it is needed for

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transmission to the satellite. Just before satellite time- designed to broadcast on two frequencies (150 and
of-rise, the injection station’s antenna is pointed to 400 MHz). The receiver measures the difference in
acquire, lock on, and track the satellite through the refraction between the two signals and supplies this
pass. The receive equipment receives and locks on to measurement to the computer. The computer uses this
the satellite signals and the injection station transmits refraction measurement as part of its computation to
the orbital data and appropriate commands to the obtain accurate fixes. The most serious problem
satellite. Transmission to the satellite is at a high bit affecting accuracy is the effect of uncertainty in the
rate, so injection is completed in about 15 seconds. vessel’s velocity on the determination of position.
Velocity computation problems are inherent in the
The message transmitted by the satellite system. Position error resulting from an error in
immediately after an injection contains a mix of old velocity measurement is somewhat dependent on the
and new data. The injection station compares a geometry of the satellite pass. You can expect about
readback of the newly injected data with data the a 0.2 mile error for every one-knot error in the
satellite should be transmitting as a check for errors. vessel’s velocity. Knowing this, you can see that
If no errors are detected, injection is complete, If one precision navigation of a moving vessel requires an
or more errors are detected, injection is repeated at accurate measurement of the velocity of the moving
two-minute intervals (updating the variable vessel, such as is provided by a good inertial
parameters as necessary) until satellite transmission is navigation system (See the section on Ship’s Inertial
verified as being correct. Navigation System.). In general, intermittent
precision navigation fixes would not be of extreme
DOPPLER PRINCIPLES value for a moving vessel unless it had some means of
interpolating between these precision fixes. A good
Look at figure 1-7. Stable oscillator frequencies inertial navigation system provides such a means, and
radiating from a satellite coming toward the receiver simultaneously provides the accurate velocity
are first received (T1) at a higher frequency than measurements required to permit position fixes with
transmitted, because of the velocity of the the NNSS.
approaching satellite. The satellite’s velocity produces
accordion-like compression effects that squeeze the In summary, precision navigation for moving
radio signals as the intervening distance shortens. As vessels can’t be provided by the Navy Navigation
the satellite nears its closest point of approach, these Satellite System alone, but can be provided by the use
compression effects lessen rapidly, until, at the of this system in conjunction with a good inertial
moment of closest approach (T2), the cycle count of system. Given the orbital parameters of a satellite, the
the received frequencies exactly matches those which Doppler shift of the signal transmitted from that
are generated. As the satellite passes beyond this satellite, and the velocity of the vessel, it is possible
point and travels away from the receiver (T3), to obtain a navigational fix if the satellite is within los
expansion effects cause the received frequencies to of the navigation set and has a maximum elevation at
drop below the generated frequencies proportionally the time of closest approach (TCA) of between 10
to the widening distance and the speed of the receding and 70 degrees. Satellite passes suitable for use in
satellite. obtaining a navigational fix will usually occur at no
more than 2-hour intervals (depending on user
FACTORS AFFECTING ACCURACY latitude and configuration of the satellite cons-
tellation). It is a matter of your viewpoint whether you
Measurement of Doppler shift is complicated by consider the inertial system as a means of
the fact that satellite transmissions must pass through interpolating between the satellite navigation fixes or
the earth’s upper atmosphere on their way from space consider the satellite fixes as a means for correcting
to the receiver. Electrically charged particals in the the inevitable long term drills (see the paragraphs on
ionospheric layer cause refraction of these basic components of an inertial navigation system) of
transmissions. To solve this problem, the satellites are even the best inertial navigation systems.

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 Figure 1-7.—Doppler shift relative to satellite transmitted frequency.

The two most common satellite navigation AN/WRN-5(V) RADIO NAVIGATION SET
systems used by the Navy are the AN/WRN-5 and the
AN/SRN-19. The following paragraphs provide The AN/WRN-5 Radio Navigation Set, shown in
descriptions of these navigation sets. figure 1-8, is a receiver-data processor-display set

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designed to recieve and phase track signals 7. 100-KHz output
transmitted by satellites of the NNSS. These signals
are processed to obtain navigation information that is The functional elements of the AN/WRN-5
monitored on video displays and used elsewhere for include the following components:
ship navigation.
1. Preamplifier unit
The AN/WRN-5 is designed to be used in various
configurations as described below. Each of these 2. Built-in two channel receiver
configurations is defined by options in external
equipment used or variations in inputs and outputs. 3. Built-in expanded data processor unit
The options available for alternative configurations (XPDU) with 16K word memory
are:
4. Front panel keyboard for operator-to-
1. Teleprinter, ASR-33 system interface

2. Additional remote video displays, IP- 5. Front panel magnetic tape cassette transport
1154(U) with read/write capability for OPNAV
program loading or data recording
3. Frequency standard, AN/URQ-10/23
(external reference) 6. Front panel video display for system to
operator input/output
4. Dual antennas (separate 400-MHz and
150-MHz antennas) 7. Remote video monitor

5. Input/output bus 8. Built-in synchro-to-digital convertor for

interface with the ship’s speed and heading
6. External lock indicator sensors to provide dead reckoning capability

Figure 1-8.—AN/WRN-5 front panel.

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 and accurate satellite position fixes during 6. Displays inputted speed and heading.
ship maneuvers
7. Displays inputted set and drift.
9. Optional addition of a teleprinter
8. Displays data on a tracked satellite.
The combination of fictional elements in the
AN/WRN-5 provides many capabilities including 9. Performs a self-test of computer functions
automatic storage of satellite information, time- [limited to verification of the digital circuitry).
ordered alerts for up to eight satellites, and built-in
self test. The front panel video display provides The AN/SRN-19(V)2 consists of the major
current time, latitude/longitude, dead reckoning components shown in figure 1-9.
position (automatically updated by satellite fixes), and
satellite tracking information such as fix merit and Figure 1-10 shows a simplified block diagram of
satellite alerts. You will find specific information on this system. The following paragraphs describe these
the capabilities of this navigation set in the AN/WRN- components.
5 operation and maintenance technical manual.
ANTENNA GROUP OE-284/SRN-19(V)
AN/SRN-19(V)2 RADIO NAVIGATION SET
The antenna group consists of the AS-3330/SRN-
The AN/SRN-19(V)2 is an automatic shipboard 19(V) antenna and AM-7010/SRN-19(V) rf amplifier
navigation set that provides a continuous display of
the ship’s position. The ship’s position, which is Antenna
obtained by dead reckoning on true speed and
heading, is periodically corrected by satellite fixes. The antenna is a linear, vertically-polarized type
Specifically, the navigation set can perform the that receives rf signals transmitted by the satellite. Its
following functions: horizontal pattern is omnidirectional; its vertical
pattern varies approximately 11 dB from 10 to 70
1. After each successful satellite pass, computes degrees above the horizontal plane.
and displays the present location of the ship to a
nominal at-sea accuracy of 0.25 nautical mile. Rf Amplifier

Note: Accuracy of the fix is affected by high The rf amplifier provides initial amplification of
sunspot activity. During these periods, nominal the 400-MHz satellite signals from the antenna and
at-sea accuracy may degrade to approximately then sends them, via rf coaxial cable, to the receiver
0.5 nautical mile. for further amplification and processing. The rf
amplifier consists of a bandpass filter module, a 400-
2. Dead reckons between satellite fixes MHz amplifier, and a dc block module.

3. Computes and displays the range and bearing RECEIVER-PROCESSOR R-2135/SRN-19(V)

from the present position to any destination using the
great circle program. The receiver-processor consists of a single
channel (400-MHz) receiver, a 5-MHz reference
4. Computes and displays the next expected rise oscillator, a data processor with a programmable read-
time and elevation at closest approach of the only memory (PROM) program, a keyboard, display,
previously tracked satellite, cassette recorder, two synchro-to-digital ( S / D )
converters, and a power supply. It processes inputs
5. Displays GMT accurate to 1 second. from the rf amplifier, ship’s EM log, gyrocompass,
and receiver-processor keyboard.

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 Figure 1-9.—AN/SRN-19(V)2 major components.

Receiver Data Processor

The receiver extracts, amplifies, and formats This unit processes inputs from the receiver, ship’s
message information from the rf signal transmitted EM log, and gyrocompass through the S/D convertors
by the satellite, and measures the Doppler shift of the and the keyboard. It then performs computations and
signal. The message data obtained by demodulation of provides the desired outputs to the front panel
the rf carrier describes the satellite’s position at the display, readout indicator, teleprinter, and cassette
time of transmission. recorder.

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 READOUT INDICATOR initialized. You must also enter information on
AND TELEPRINTER antenna height before the system can provide an
accurate fix.
The readout indicator provides an identical visual
readout of the data displayed on the front panel of the You can find specific information on the
receiver-processor. The readout indicator is usually AN/SRN-19(V)2 in the shipboard operations and
located at a site some distance from the receiver- maintenance manual for this navigation set.
processor.
NAVSTAR GLOBAL
The teleprinter provides a permanent record of POSITIONING SYSTEM
displayed data. The printouts for modes 01 and 03
occur every 15 minutes or as selected by the operator. NAVSTAR GPS is a space-based, radio
A printout also occurs each time a display mode is navigation system that provides continuous,
elected and when satellite fix data is received. extremely accurate three-dimensional position,
velocity, and timing signals to users world-wide. It
One final note on the AN/SRN-19 system. You consists basically of ground control, satellites, and
must “tell” the equipment where it is when it is user equipment, as shown in figure 1-11.

Figure 1-10.—AN/SRN-19(V)2 simplified block diagram.

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 NOTE precise position and a clock error for each satellite are
GPS will become the primary reference calculated. The control center also calculates satellite
navigation system for surface ships, submarines, positioning for the group of satellites. Positioning
and aircraft. Refer to the DOD policy statement data for a single satellite is called ephemeris data;
under the LORAN and OMEGA section of this data for a group of satellites is called almanac data.
chapter for specific details on this important Once each 24 hours, the control center transmits the
transition. ephemeris and almanac data to each satellite to update
the navigation data message.
GROUND CONTROL
SATELLITES
The ground control segment tracks the satellites,
monitors and controls satellite orbits, and updates the There are 21 active operational and 3 active spare
satellite navigation data message. The ground control satellites in circular orbits, with a 55-degree
system consists of unmanned monitor stations and a inclination to the earth. These satellites provide
manned control center. Monitor stations, located navigation data to the navigation sets. The satellites
throughout the world, use GPS receivers to track each are arranged in six concentric rings that allow them to
satellite. Tracking information gathered by the orbit the earth twice a day and provide world-wide
monitor stations is sent to the control center, where a continuous coverage. Each satellite broadcasts two

Figure 1-11.—NAVSTAR GPS major elements.

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spread-spectrum rf signals, 1575.42 MHz (LI-RF) sphere representing the distance from the navigation
and 1227.60 MHz (L2-RF). Each signal is modulated set to the satellite. The point where the three spheres
with a unique code sequence and a navigation data intersect (X) is the position of the navigation set,
message. The code sequence allows the navigation This explanation does not account for errors. For
sets to identify the satellite, and the data message satellite ranging to provide accurate position data, the
provides the navigation sets information about the following three sources of error must be compensated
operation of the satellite. for:

An observer on the ground will observe the same Satellite position and clock error
satellite ground track twice each day, but the satellite
will become visible 4 minutes earlier each day Atmospheric delay of satellite signals
because of a 4 minute per day difference between the
rotation of the earth and the satellite orbit time. The Navigation set clock error
satellites are positioned so a minimum of four
satellites are always observable to a user anywhere on With these errors compensated for, the GPS can
earth. determine position fixes within 50 feet or less and is
accurate to within a tenth of a meter-per-second for
Satellite Signal Structure velocity and 100 nanoseconds for time. This accuracy,
however, requires inputs from four satellites.
The satellites transmit their signals using spread
spectrum techniques. Two types of techniques are USER EQUIPMENT
used: course acquisition (C/A) code and precise (P)
code. The C/A code is available to military and User equipment is installed in ships, aircraft, and
civilian GPS users. The P code is available only to motorized vehicles. The vehicle version can also be
U.S. military, NATO military and other users as carried by personnel (particularly SEAL teams and
determined by the DOD. other special forces units) as a manpack. The most
common manpack version is the AN/PSN-8( ). The
Since only the P code is on both frequencies, the most common shipboard GPS receiver is the
military users can make a dual-frequency comparison AN/WRN-6. These GPS receivers will be described
to compensate for ionospheric propagation delay. later in this chapter.
The C/A code-only users must use an ionospheric
model, which results in lesser navigation accuracy. Signal Acquisition
Superimposed on both codes is the NAVIGATION-
message (NAV-msg), containing satellite ephemeris During operation, navigation sets collect and
data, atmospheric propagation correction data, and store satellite almanac data in critical memory. The
satellite clock-bias information. almanac data is normally available when the
navigation set is first turned on and provides
Satellite Ranging information on satellite locations. Operators may
input information about the navigation set position,
GPS navigation is based on the principle of time, and velocity to enhance the information in
satellite ranging. Satellite ranging involves measuring critical memory. With this information, the navigation
the time it takes the satellite signal to travel from the set determines which satellites are available and
satellite to the navigation set. By dividing the travel searches for the code sequences that identify those
time by the speed of light, the distance between the particular satellites. When the C/A code of an
satellite and the navigation set is known. By ranging available satellite is identified, the navigation set
three satellites, a three-dimensional picture, such as switches to the more accurate P code, collects the
the one shown in figure 1-12, can be developed. The navigation data message, and updates critical
distance measurement to each satellite results in a memory.

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 Figure 1-12.—Satellite ranging.

Navigation Set Clock Error determines the correct navigation set position.

GPS navigation sets determine distance to a Signal Delay and Multipath Reception
satellite by accurately measuring the time difference
between satellite signal transmission and when the Two types of atmospheric delay can affect the
navigation set receives this signal. This difference in accuracy of navigation set signal measurements. The
time is directly proportional to the distance between first is tropospheric delay. Tropospheric delay can be
the satellite and the receiver. Therefore, the same accurately predicted; the prediction is included in the
time reference must be used by both the receiver and almanac data.
the satellite.
The second type of delay is caused when the
The clock in the GPS receiver in not nearly as satellite signal passes through the ionosphere. This
accurate as the atomic clock in the satellite. This type of signal delay is caused by the ionosphere being
causes the receiver and satellite clocks to be slightly thicker in some areas and by satellite signals received
o u t o f s y n c , which in turn causes the time from nearer the horizon having to pass through more
measurements to be inaccurate. The error is further of the ionosphere than those received from directly
compounded by the distance calculation, so the overhead. Ionospheric delay will phase shift the
position of the navigation set cannot be accurately lower satellite transmission frequency, L2-RF, more
determined. than the higher frequency, L1-RF. The navigation set
measures ionospheric delay by measuring the phase
The navigation set compensates for these errors shift between these two signals and then uses this
by using the distance measurement from a fourth computation to compensate for the ionospheric delay.
satellite to calculate the clock error common to all
four satellites. The navigation set then removes the Multipath reception is caused by a satellite signal
clock error from the distance measurements, and then reflecting off of one or more objects. This causes the

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reflected signals to reach the navigation set at different C/A mode. it has an accuracy of 100 meters, though
times than the original signal. The reception of multipath better results have been obtained by individual users.
signals may cause errors in the navigation set
calculations. The AN/WRN-6 navigation set makes The AN/WRN-6(V), shown in figure 1-13, operates in
operators aware of multipath errors by a “fail” or “warn” three modes.
message and/or fluctuations in the carrier-to-noise ratio.
Multipath reception may be corrected by changing the
ship’s position. The “Initialization” mode is part of the set start-up.
During initialization, the operator tests current position,
AN/WRN-6(V) Satellite Signals Navigation Set date, and time data, either manually or from other
equipment. The data entered is used to speed up satellite
The Satellite Signals Navigation Set AN/WRN- acquisition.
6(V)computes accurate position coordinates, elevation,
speed, and time information from signals transmitted by “Navigation” is the normal operating mode. During
NAVSTAR Global Positioning System (GPS) satellites. In the navigation mode, the set receives satellite data,
the P mode, it has an accuracy of 16 meters. In the C/A calculates

Figure 1-13.—Satellite Navigation Set AN/WRN-6(V).

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navigation data, exchanges data with other interconnected operation and maintenance technical manual.
systems, and monitors the set’s performance. The
navigation mode allows the operator to enter mission data; AN/PSN-8( ) Manpack Navigation Set
view position, velocity, and time data; and control the set’s
configuration. The AN/PSN-8( ) operates similarly to the AN/WRN-
6(V), though obviously it is not interfaced with other
The “self-test’’ mode allows the operator to perform a equipment. Shown in figure 1-14, each manpack contains
complete test of the navigation set at any time. When the a receiver section and a computer section. The receiver
set is in “test,” it will not track satellites. processes the rf signals from the satellites and sends the
satellite’s positions and times to the computer. The
The two major components of the AN/WRN-6(V) are computer uses the positions and times to find the satellite
the R-2331/URN receiver and the indicator control C- set’s position coordinates, elevation, and changes in the
11702/UR. The other units (antenna, antenna amplifier, position of the manpack set. The time it takes for the set
and mounting base) perform functions similar to those of to change position is used to compute speed. For more
similar units in other systems. For more detailed detailed information on this navigation set. refer to the
information on this system, refer to the AN/WRN-6(V) operator’s manual for the AN/PSN-8( ) Manpack

Figure 1-14.—Manpack Navigation Set AN/PSN-8( ).

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Navigation Set. The AN/VSN-8( ) Vehicular FATHOMETERS
Navigation Set is also included in this manual.
Fathometers are used for taking depth soundings.
NAVIGATIONAL AIDS They are particularly useful when the vessel is
transitioning shallow, unfamiliar waters. A block
Other equipment used for navigation that ETs are diagram of the Sonar Sounding Set AN/UQN-4A is
responsible for includes: navigation radars, surface shown in figure 1-15,
search radars (sometimes used as navigation radars)
and fathometers. Information on surface search and On many ships the Sonar Technicians will be
navigation radars is contained in NAVEDTA 12414, responsible for this equipment, but there are ships
Radar Systems. (mostly noncombatants) on which ETs are responsible
for the fathometers. For more detailed information on
The following paragraphs will discuss fathometers, refer to the appropriate equipment
fathometers. technical manual.

Figure 1-15.—AN/UQN-4A functional diagram.

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