Lecture 1
Lecture 1
Lecture 1
GPS/GNSS OVERVIEW
TAJUL ARIFFIN BIN MUSA (PhD)
UTM-Geomatic Innovation Research Group (GnG)
Faculty Built Environment & Surveying
Universiti Teknologi Malaysia
81310 Skudai, Johor, MALAYSIA.
Email: tajulariffin@utm.my
Mobile: 017-7294601
PART I:
GEODESY
GEODESY
What is Geodesy?
• Geodesy is “the branch of science concerned with:
✓ the determination of the size & shape of the Earth,
✓ the exact position of points on, above or within the
Earth, and
✓ a description of its variable gravity field.
Reference Frames
What is GNSS?
Global Navigation Satellite
System
• “GNSS is a satellite system
that is used to pinpoint
geographic location of a
user's receiver anywhere on
land and sea, in the air or in
Earth orbit.”
• A common term for GPS,
GLONASS, Galileo, BeiDou,
QZSS and NAVIC.
THE GNSS
Billions
1
0
Code
THE GPS
GPS Signal
Transmit ranging codes & ephemeris information
(and other data) on three (3) L‐bands carriers.
These carriers are modulated by
Pseudo-Random-Noise (PRN) L5 Carrier, 1176.45 MHz,
ranging codes and navigation 𝝀𝑳𝟓 = 25.48 cm
message. • Civil Navigation (CNAV)
Message
L1 Carrier, 1575.42 MHz, L2 Carrier, 1227.6 MHz,
𝝀𝑳𝟏 = 19.03 cm 𝝀𝑳𝟐 = 24.42 cm
• C/A-Code (Civil) • P(Y)-Code Encrypted
• P(Y)-Code Encrypted • L2C (Civil)
• L1C (Civil) Source:
https://www.gps.gov/systems/gps/modernization/civilsignals/
• Military (M- Code) (updated: January 2019)
THE GPS
GPS MODERNIZATION Source: GPS.GOV (2017)
LEGACY SATELLITE MODERNIZED SATELLITES
BLOCK IIA BLOCK IIR BLOCK IIR-M BLOCK IIF BLOCK III
Keplerian Elements
v True Anomaly
a Semi-major axis of ellipse
e Eccentricity
i Inclination of the orbit • Define satellite position in orbit - v
• Define size and shape of satellite
Ω Right ascension of the
orbit - a, e
ascending node
• Define the orientation of satellite orbit
ω Argument of perigee
-ω
• Define the orbital plane in equatorial
system - Ω, i
THE GPS
Keplerian Ellipse e
Satellite
r
earth
aν
Apogee Perigee
• position vector, r
Satellite Position
• true anomaly, ν focus
• semi-major axis, a : Size of Orbit
• eccentricity, e : Shape of Orbit Original Sourced:
Chan Wing-Yee, Geodetic Survey, HK
THE GPS
Keplerian in Equatorial System
Axis coincides with
Z
• argument of perigee, : celestrial ephemerides pole
orientation of orbit
• right ascension of the Satellite Perigee
orbital plane
ascending node,
in equatorial
• inclination, i system
Equatorial plane ν
X i Y
Ascending node
Modified from:
Chan Wing-Yee, Geodetic Survey, HK
THE GPS
Orbit Perturbations
• Although Keplerian elements
describe the GPS orbits, forces of
Δn - secular change in mean anomaly
(or argument of perigee).
gravitational and non-
gravitational perturb motion of • •
GPS satellites. , i - secular drift of ascending node in
equatorial plane and change in
• The perturbations are inclination with time.
characterised by periodic and
secular components, and must be
continually determined through Cuc , Cus , Crc , Crs , Cic , Cis - amplitudes
the analysis of tracking GPS data. of cosine and sine harmonic correction
• The perturbations parameters terms to alongtrack, radial and about
are: crosstrack values.
THE GPS
Broadcast Ephemerides
Broadcast ephemerides are part of
satellite navigation message, and based
on observations and computation at the
Master Control Stations.
The ephemerides are broadcast (mostly)
every hour and should only be used
during the prescribed period of
approximately four hours to which they
refer.
Broadcast ephemerides data are used to
compute GPS satellite orbit.
THE GPS
Source:
ftp://igs.org/pub/data/format/sp3_docu.txt
PART IV:
GPS POSITIONING &
OBSERVATION
TECHNIQUE
GPS POSITIONING & OBS TECHNIQUE
Positioning Mode Static
Point Positioning The principle is based on determining the vector
between two stationary receivers or known as baseline
The coordinate of a point with
vector by using carrier-phase data. Usually for a long
respect to the WGS84 datum is
hours observation.
determined from a single receiver
which measure C/A code ranges to
Rapid Static
(four or more) satellites.
The principle is similar as static
method (using carrier-phase data)
except the occupation time is
shorter (5 to 15 minutes) and the
DGPS baseline should be comparatively
This technique involves in short, less than 15 kilometres.
determining the combined effect of
navigation message ephemeris and Pseudo-Kinematic
satellite clock errors by using C/A The point of interest are
code at reference station and revisited after about an hour (to
transmitting corrections, in real-time, get different satellite
to a user’s receiver. configuration) to facilitate
ambiguity resolution and to
obtain a better accuracy by
Network-RTK RTK using carrier-phase data.
It is a carrier-phase based The coordinate of roving
positioning by combining and receiver is computed in Stop & Go
(near) real-time by the Kinematic
interpolating measurements This mode is characterised by alternatively stopping
roving receiver once it It is based on one stationary
from a network of reference and moving one receiver as the rover linked with
received carrier-phase and one moving receiver. The
stations (i.e. Continuous another receiver that served as a based station. The
data from the base station two receivers perform the
Operating Reference Station main interest in the stopped positions and several
via communication link observation simultaneously
(CORS) or Permanent GPS measurement (carrier-phase data) epochs at the
(i.e., radio-link or internet- using carrier phase data.
station). stop locations are accumulated and averaged.
based).
GPS POSITIONING & OBS TECHNIQUE
Positioning Mode
User coordinates
in WGS84.
User coordinates
Point Positioning/Navigation Solution follow datum being
used by base station.
Differential Positioning/DGPS
GPS POSITIONING & OBS TECHNIQUE
GPS Error Sources & Biases
Satellite dependent:
• Satellite clock uncertainties
• Ephemeris uncertainties
• Hardware Errors
Satellite-Receiver dependent:
• Atmospheric Delay
➢ Ionospheric Delay
➢ Tropospheric Delay
• Carrier phase ambiguity
Receiver dependent:
• Receiver clock uncertainties
• Multipath (imaging & scattering)
• Ref. coordinate uncertainties
GPS POSITIONING & OBS TECHNIQUE
Satellite-Receiver Geometry
GPS POSITIONING & OBS TECHNIQUE
Expected GPS Accuracy Code Measurement
Phase Measurement
Modes of Positioning
Point Positioning
Relative Navigation
1 mm 1 cm 10 cm 1m 10 m
GPS POSITIONING & OBS TECHNIQUE
Rapid Static for GCP Establishment
Rapid static is highly recommended for the establishment of Ground Control Point (GCP)
for drone mapping . The principle is similar as static method (using carrier-phase data)
except the occupation time is shorter (5 to 15 minutes) and the baseline should be
comparatively short, usually less than 15 kilometres.
GCP 3
GPS POSITIONING & OBS TECHNIQUE
Rapid Static for GCP Establishment
3D Cartesian Coordinate
Note: Z is not Height
GPS CORS A 3D Geographical Coordinate
( XA, YA, ZA ) in Latitude, Longitude and
Ellipsoidal Height.
(φA, λA, hA )
Base Station
1. Establish a GPS base station for every 30 km chainage and network to MyRTKnet stations.
2. Make use of dual frequency survey type GPS receivers.
3. A minimum of one (1) hour duration GPS static observation at each base station with 1 second
data sampling rate.
4. Minimum satellite mask angle above the horizon is 10 degrees.
5. Maximum Positional DOP during observation is 3.
6. Provide all GPS observation information in the observation form and keep all observation data in
RINEX format.
7. Network baseline processing with fixed integer solution required for all baselines.
8. Maximum allowable misclosure per loop of baselines is 10 ppm.
9. All baselines are required to be adjusted relative to MyRTKnet stations (constraint to at least two
(2) MyRTKnet stations during network least square adjustment).
10.Output base stations geodetic coordinates in GDM2000 with maximum allowable residual of 3cm
in any one component (X, Y, Z).
GPS POSITIONING & OBS TECHNIQUE
Previous Project by UTM: Job Specifications
Ground Control Point (GCP) Project Report
1. Establish a GCP for every 500 metres. 1. Project sketch showing the network.
2. A minimum of 15 minutes GPS fast static observation 2. Station description and diagrams.
technique. 3. Observation form.
3. Follow item 4-6 in the base station establishment. 4. Raw GPS observation data files.
4. Single baseline processing with fixed integer solution 5. Baseline processing results.
required for each baseline. 6. Repeat baseline analysis.
5. Repeat single baseline processing with different base 7. Least square adjustment results.
station. 8. Final coordinate list.
6. Provide the projected 2D coordinate in RSO
Geocentric.
7. Maximum different from item 4 & 5 must not exceed
3cm in 2D coordinate and 6 cm in orthometric height.
GPS Levelling
1. Observe at least three (3) nearby Bench Mark (BM).
2. Follow item 2-10 in the base station establishment.
3. Apply GPS levelling technique to obtain orthometric
height and follow requirement in the establishment
of GCP (item 10).
GPS POSITIONING & OBS TECHNIQUE
Previous Project by UTM: Project Area
Distribution of GPS stations In Project Area (8 GPS base stations + 272 GCPs).
This project was completed in 8 days.
GPS POSITIONING & OBS TECHNIQUE
Previous Project by UTM: GPS Network & GCP
BASE8 GPS base
BASE7
stations network
connected with
BASE6
MyRTKnet
stations using
BASE5 static
BASE2 BASE4 observation.
BASE1 MyRTKnet Station
Obstructed Site
PART V:
GPS APPLICATIONS
APPLICATIONS
General GPS Applications
Timing
• Financial & banking system.
• Telecommunication system.
• Electrical power grids.
• Computer network &
system applications.
Navigation & Tracking
• Vehicle Guidance &
Navigation.
• Fleet Management.
• Traffic Guidance System.
• Aviation.
• Public safety & disaster relief General Mapping &
Social Activities
• Land Valuation (capitalised
value of potential yield).
• Soil & crops documentation
• Precise farming.
• Fishing, hiking & travelling.
• Rescue service.
• Mobile Mapping.
APPLICATIONS
GPS Surveying
Cadastral survey
Hydrographic survey • Cadastral Reference
•Maritime surveying. mark.
•Depths profiling. • Locating boundary.
•Wreck search. • Support Cadastral
Control Infra.
Engineering survey
• Infrastructure
development (road, rail,
ports, monitoring).
• Asset capture, planning of
utility services
(power, water,
telecommunications).
APPLICATIONS
Geodetic & Scientific Studies Land Deformation &
Regional Geodynamic Study Structural Monitoring
• Monitor (near real-time) behavior • Structures stability
and motion of tectonic faults. monitoring.
• Earthquake related pre-/co-/post- • Alarming system.
seismic motions.
• Determination of point
Year velocity.
• Structures maintenance.
2005.2 2005.3 2005.4 2005.5 2005.6 2005.7 2005.8 2005.9 2006
1
-1
-2
-3
-4 Displacements.
• Temporal Height Variations.
-5
-6
-7
Space weather
Space weather GPS Meteorology
• Monitoring the conditions
• Monitoring of the
the conditions Earth's
of the ionosphere.
Earth's • The effects from tropospheric
• Solar maximum
ionosphere.& impact to communications systems, delay areelectric power
considered grids & satellites.
to be
• Solar maximum
• Scintillation & impact in
effect, especially to Equatorial
communications
area. ‘noise’, but it is also a ‘signal’,
systems, electric power grids & satellites. that can be studied to improve
• Scintillation effect, especially in Equatorial our understanding of Earth’s
area.
atmosphere.
GPS for Drone & Underground Utility Mapping
in UTM, Johor.
A project executed by Undergrads & Postgrads
REFERENCES
• GPS.GOV (2017). Official U.S. government information about the Global Positioning System
(GPS) and related topics, http://http://www.gps.gov/systems/gps/space/ (last
visited January, 2019).
• Hofmann-Wellenhof, B., Lichtenegger, H. and Collins, J. (2013). Global Positioning System:
Theory and Practice. Springer-Verlag Wein, Austria. Revised edition.
• MGEX (2017). The Multi-GNSS Experiment and Pilot Project (MGEX), http://mgex.igs.org/ (last
visited January, 2019).
• Musa, T. A. (2017). Lecture Notes SGHU2252 & SGHU3253, Universiti Teknologi Malaysia.
• Misra, P., & Enge, P. (2001). Global Positioning System: Signals, Measurements and
Performance Second Edition. Massachusetts: Ganga-Jamuna Press.
• Omar, M.K., Ses, S. and Mohamed, A. (2005). Enhancement of Height System for Malaysia using
Space Technology : The Study of The Datum Bias Inconsistencies In Peninsular
Malaysia, Research Report Vot 72367 Faculty of Geoinformation Science &
Engineering Universiti Teknologi Malaysia.
• Rizos, C. (1997). Principles and Practice of GPS Surveying, University of New South Wales.
• Wing-Yee, C. (2006). Introduction to RINEX, GPS Raw Data, Geodetic Survey Section, HK.
• Wolf, P. R., & Dewitt, B. A. (2000). Elements of Photogrammetry: with Applications in GIS
(Vol.3). New York: McGraw-Hill.
• Gunawardene, N. (2014). When Worlds Collide. Ceylon Today.
• PSU (2019). Lesson 7: Static, DGPS, RTK, https://www.e-education.psu.edu/geog862/ (last
visited March 2019).
For any future inquiries please contact:
TAJUL ARIFFIN BIN MUSA (PhD)
Geomatic Innovation Research Group (GnG)
Faculty of Built Environment & Surveying
Universiti Teknologi Malaysia
Email: tajulariffin@utm.my
Mobile: 017-7294601