Workshop on GNSS for Policy and Decision Makers

21st January 2022

Basic GNSS Introduction and Applications

Dinesh Manandhar, Associate Professor (Project)

Center for Spatial Information Science (CSIS), The University of Tokyo
[email protected]

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 1
 Fundamental Problem How to go from A to B?

• How to know my location precisely ?

• In any condition
• At any time
• Everywhere on earth (at least outdoors!)
• How to navigate to the destination?
• Guidance or Navigation
A
• How to synchronize time globally?
• Mobile phones
• Financial Institutes

Where am I
on the Earth?
350 40’ 41”
1390 39’ 40”

B
Source: Google Maps

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 2

 Navigation Types

• Landmark-based Navigation • Radio-based Navigation

• Stones, Trees, Monuments • LORAN, OMEGA
• Limited Local use • Subject to Radio Interference, Jamming,
Limited Coverage
• Celestial-based Navigation
• Stars, Moon • Satellite-based Navigation or GNSS
• Complicated, Works only at Clear Night • TRANSIT (not used anymore)
• GPS, GLONASS, GALILEO, QZSS
(Michibiki), BEIDOU (COMPASS), NavIC
• Sensors-based Navigation (IRNSS)
• Dead Reckoning • Global service, QZSS and NavIC are regional
• Gyroscope, Accelerometer • High Accuracy & Reliability
• Compass, Odometer
• Error accumulate quickly (Drift Error)

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 3

 What is GNSS?
L5/E5/B2/L3 L2 L6/E6/B3 L1/E1/B1
• GNSS or Global Navigation Satellite System is an acronym used to represent
all navigation satellite systems such as

Satellite Country Coverage

GPS USA Global

GLONASS Russia Global

Galileo Europe Global

BeiDou (BDS) China Global

QZSS (Michibiki) Japan Regional

NavIC India Regional

 GPS and GLONASS have signals for civilian and military usage
 Military signals are encrypted and not available for civilian use
 Galileo and BeiDou also have Open and Restricted Signals
 All civilian signals are freely available
 Technical information for civilian signals are made public
 Necessary to develop a receiver
 Its called ICD (Interface Control Document) or IS (Interface
Specification)
https://gssc.esa.int/navipedia/images/c/cf/GNSS_All_Signals.png
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 4
 GPS (USA)

Source: This slide is taken from “GPS Programme Update and International Activities to Protect GNSS Spectrum”
Link: https://www.unoosa.org/oosa/en/ourwork/icg/activities/2022/CSISTokyo/presentations.html
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 5
Please refer original document for detail information
 GLONASS (Russia)

These slides were taken from ICG Website.

DineshPlease refer CSIS,
Manandhar, the original presentation
The University material at Please refer original document for detail information
of Tokyo, [email protected] Slide : 6
https://www.unoosa.org/documents/pdf/icg/2021/ICG15/01.pdf
 Galileo (Europe)

Source: This slide is taken from “Galileo Status Update” Please refer original document for detail information
Link: https://www.unoosa.org/oosa/en/ourwork/icg/activities/2022/CSISTokyo/presentations.html
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 7
 BeiDou (China)

Source: This slide is taken from “BeiDou Navigation Satellite System Development and High-Accuracy Applications”,
Link: Introduction to BeiDou at https://www.unoosa.org/oosa/en/ourwork/icg/activities/2022/CSISTokyo/presentations.html
Please refer original document for detail information Slide : 8
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected]
 QZSS (Japan)

Source: This slide is taken from “Introduction to QZSS and Applications” Please refer original document for detail information
Link: https://www.unoosa.org/oosa/en/ourwork/icg/activities/2022/CSISTokyo/presentations.html
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 9
 NavIC (India)

Source: This slide is taken from “NavIC System and Applications: Status and Update”
Link: https://www.unoosa.org/oosa/en/ourwork/icg/activities/2022/CSISTokyo/presentations.html Please refer original document for detail information
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 10
 Systems Related with Navigation

Navigation Satellite Systems Augmentation Systems

GPS, GLONASS, Galileo, BeiDou, QZSS, NavIC SBAS or GBAS

Satellite Based Augmentation Systems

(SBAS)
PVT Computation Engine
(Position, Velocity and Time)
Ground Based Augmentation Systems
(GBAS)

PVT Solutions with

Enhanced Accuracy and Reliability

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 11

 Satellite Based Augmentation System (SBAS)

• Satellite Based Augmentation System (SBAS) are used to augment GNSS Data
• Provide Higher Accuracy and Integrity
• Correction data for satellite orbit errors, satellite clock errors, atmospheric correction
data and satellite health status are broadcasted from satellites
• SBAS Service Providers
• WAAS, USA (131,133,135,138)
• MSAS, Japan (129,137)
• EGNOS, Europe (120,121,123,124,126,136)
• BDSBAS, China (130,143,144)
• GAGAN, India (127,128,132)
• SDCM, Russia (125,140,141)
• KASS, Korea (134), Also Navigation System
• AUS-NZ, Australia (122)
• NSAS, Nigeria, (147)
• ASAL, Algeria (148) PRN code numbers are given in the bracket

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 12

 GNSS Signals received
by a receiver

Satellite signal power level Position Output

Altitude

GNSS Satellites visible in

the sky where receiver is
located
Time in UTC

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 13

 GNSS Signals received
by a receiver

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 14

 Raw data necessary to
compute position

Satellite signal power level Position Output

Doppler

Altitude

GNSS Satellites visible in

the sky where receiver is
located
Time in UTC

Code Phase Data Carrier Phase Data

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 15

 JAKARTA BANGKOK MANILA

KUALALUMPUR Ho Chi Minh TOKYO

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 16

We do not have BeiDou data in Kualalumpur and Ho Chi Minh stations because of license limitation in the receiver
 GPS Skyplots: Tokyo, Jakarta and Maputo
Tokyo Base-Station Jakarta Base-Station Maputo Base-Station

17

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 17

 How does a GPS/GNSS Receiver Work?

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 18
 GNSS: How does it work?
Determine the Distance using Radio Wave
0ms
Assume that the Satellite Transmits Signal at 0ms.

25ms If Receiver receives the same Signal after 67ms,

Distance = 67x300,000 = 20,100Km

0ms
50ms
Satellite with a known position
transmits a regular time signal.
75ms 25ms

50ms

Distance = (Reception Time - Transmission time) × Speed of light

Speed of Light: 300,000 km/s
2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 19
 GNSS: How does it work?
Principle of Satellite-based Navigation
(xk, yk, zk)
Receiver generates its own GPS signal similar to the signal
coming from the satellite for each satellite
Its called Replica Signal
The Replica Signal includes PRN Code and Carrier Signal
This Replica Signal is moved forward and backward to
match with the incoming signal

2 2 2
𝜌𝑘 = 𝑥0 − 𝑥𝑠𝑘 + 𝑦0 − 𝑦𝑠𝑘 + 𝑧0 − 𝑧𝑠𝑘 +𝜀
(x0,y0,z0)

If k ≥ 4, solve for x, y, z and errors including clock bias 𝜀 ∆t Correlation between Incoming Signal and
Receiver Generated Signal
2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 20
 Pseudorange (Code-Phase Measurement) - 1
Transmission Pseudorange = (Reception Time – Transmission time) x Speed of Light
Time

Signal propagation at the speed of light

Reception
About 20,000 km Time

Transit time

A GPS receiver measures the signal transmission time

from the code phase at signal reception time.
2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 21
 How to Improve GPS Accuracy?

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 22
 Error sources
Satellite Orbit Error
V = 4km/s
Satellite Clock Error

Ionospheric Delay
50 – 200Km

Tropospheric Delay
10Km

Multipath

Thermal Noise

Receiver Clock Error

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 23

 GPS Position Accuracy
How to achieve accuracy from few meters to few centimeters?
meter centimeter

50 cm grid 50 cm grid 5 cm grid

SPP (Single Point Position) DGPS (Differential GPS) RTK (Real Time Kinematic)
Code-phase observation Carrier-phase observation

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 24
 Errors in GPS Observation (L1C/A Signal)
One-Sigma Error , m
Error Sources Comments
Total DGPS
Satellite Orbit 2.0 0.0
Common errors are removed
Satellite Clock 2.0 0.0
Ionosphere Error 4.0 0.4
Common errors are reduced
Troposphere Error 0.7 0.2
Multipath 1.4 1.4
Receiver Circuits 0.5 0.5
If we can remove common errors, position accuracy can be increased.
Common errors are: Satellite Orbit Errors, Satellite Clock Errors and Atmospheric Errors (within few km)
Values in the Table are just for illustrative purpose, not the exact measured values.
Table Source : http://www.edu-observatory.org/gps/gps_accuracy.html#Multipath

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 25
 How to Improve Accuracy?
• Both Code-Phase and Carrier-Phase observations are necessary
• Carrier-phase provides centimeter level resolution
• Need to remove or minimize the following errors:
• Satellite Related Error
• Satellite orbit errors
• Satellite clock errors
• Space Related Errors
• Ionospheric errors
• Tropospheric erros
• Receiver Related Errors
• Receiver clock error
• Receiver circuit related

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 26
 High-Accuracy Observation Methods
• Basically three types of Observation
• DGPS (Differential GPS)
• Code-phase observation
• Requires Base-station (Reference Station)
• RTK (Real Time Kinematic)
• Code-phase and Carrier-Phase Observation
• Requires Base-station (Reference Station)
• PPP (Precise Point Positioning)
• Code-phase and Carrier-phase observation
• Does not require base-station

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 27

 Which Method: DGPS, SBAS, RTK, PPP?

http://www.novatel.com/an-introduction-to-gnss/chapter-5-resolving-errors/

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] 28 Slide : 28

 How to Remove or Minimize Common Errors?
Use Differential Correction
30

Recommended Base-length < 40Km

Send Observation Data to Rover

for Real-Time Position
Base-Station For RTK, both base and rover receivers need to Rover
Antenna is installed at a use data from the same satellites User in the Field
Base-station Antenna position known-position (Either fixed or moving)
shall be known in advance Use RINEX data for post-processing
2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 29
 How to Remove or Minimize Common Errors?
Principle of QZSS MADOCA and CLAS Services
QZSS

GPS

Currently, MADOCA provides correction

data for GPS, GLONASS and QZSS.
It will be extended for Galileo in future.
Correction Data: Base-Station is not required.
Satellite Orbit Error of GPS and Other Satellites The Rover receiver should be able to receiver MADOCA
Satellite Clock Error of GPS and Other Satellites signal in L6 band.
MADOCA correction data is also available online.

Rover
2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 30
GNSS Applications

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 31

 Lots of Opportunities for these GNSS Applications…..

Pay-As-You-
Drive Agriculture
Toll Fee Precision
Legal & Law Farming
Enforcement ERP Emergency & AI
ITS / ADAS Safety Services
Geo-Fencing Medical
Auto-Driving SoL, e-Call Health
Geo-Security
V2V / V2X ERA-GLONASS Transport Services
Illegal Fishing Surveying
Early Warning Vehicles People Flow
Mapping
Rail
GIS
Timing Aviation LBS
Tax Collection UAV / UMV
Applications Space Game
Insurance IoT
Telecom Entertainment
Alternate for M2M
Fuel Tax Secured Finance Advertisement
Collection Transport of Robotics Scientific
Dangerous Power Grid Applications Marketing
Goods Space Weather
Supply-Chain VLBI
Management

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 32

 Road Pricing : ERP to ERP 2.0 (Singapore)

ERP  ERP2.0
ERP is based on Gantry System
Requires construction of huge structures

ERP 2.0 is based on Satellite System (GNSS)

Source: https://onemotoring.lta.gov.sg/content/onemotoring/home/driving/traffic_information/traffic-smart.html

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 33

 Dynamic Road Pricing (DRP) based on GNSS
• Road Usage Charging
• Pricing is variable and based on
• Distance, time, location,
• Vehicle type, lane and occupancy
• Traffic congestion condition

• Reward road users for using alternate routes to

avoid congested route
• Payback the drivers who help to minimize traffic
congestion
• No Physical Toll Gates
• GPS-based system is used for Location, Distance and
Lane occupation
• Can be implemented on any road section
• Not limited to only highways, express ways or toll roads

• Global Seamless Implementation

• The same system can be implemented globally
• The same In-vehicle device can be used globally
• Single system for smooth cross-border operation
• Once a border is crossed, charging or rewarding rates can
be updated automatically

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 34

 GNSS for Precise Farming

Before and after seedling, the tractor has to irrigate, put

fertilizer and spray pesticides where there are plants.
If they are put far from the plant, it will affect the yield.

This requires few centimeter level of accuracy so that the

tractor can automatically perform the job at different
stages of plant growth and harvesting.

GNSS is a core system to provide this level of accuracy.

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 35

 Fishing Boat Monitoring

Queensland Fisheries in Australia requires every boat to have GPS tracking device
Fishing boats in Bali, Indonesia https://www.youtube.com/watch?v=2qWTAZ8hmOY&t=36s

 Monitoring of Fishing Boats is necessary to fishing industry.

 This will help the fishermen to generate more income in long-term.
 Over-fishing, Illegal fishing shall be stopped to protect marine ecology and bio-diversity.

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 36

Slide from QZSS Presentation by S. Kogure, UTokyo/ICG GNSS Training, 11 – 14 January 2022
Link: https://www.unoosa.org/oosa/en/ourwork/icg/activities/2022/CSISTokyo/presentations.html
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 37
 QZSS Early Warning System (EWS) : System to Test EWS
Disaster and Crisis (DC) Management Report (in Japan)
QZSS
EWS Message
Decoding
GNSS
2 (Pos. Vel.,Time)
Coding
Display EWS
Message
Coding Interface

Data Communication
Link
QZSS Receiver
QZSS Control Office
3 Data
Japan Link

1 6 7
4 5
EWS Test Message
Teams generate sample EWS message
See documents: EWS_Format.pdf
EWS_Message_Example.pdf
Alarm, Evacuation Flashing light Siren System Showing message
Minimum Requirement as MVP (Minimum Viable Product) for PoC level Prototype:
Guidance on signage display
Item (1) : Generate sample test EWS message
Item (2) : Read EWS message from Spresense device and display in a PC
Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 38
 eCALL / ERA-GLONASS
eCALL (Europe) ERA-GLOANASS (Russia)

https://www.youtube.com/watch?v=pJkhBLKs2lc
https://www.youtube.com/watch?v=yj0j9aV7Km4

90% of accident victims survive if help is available within 9 minutes of accidents

Only 15% can be saved after 18 minutes – ERA-GLONASS

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 39

Reference Slides

Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 40

 GPS L1C/A Signal Structure
• Carrier Signal
• It defines the frequency of the signal
• For example:
• GPS L1 is 1575.42MHz, L2 is 1227.60MHz and L5 is 1176.45MHz
• PRN Code
• Necessary to modulate carrier signal
• Used to identify satellite ID in the signal
• Should have good auto-correlation and cross-correlation properties
• Navigation Data
• Includes satellite orbit related data (ephemeris and almanac data)
• Includes satellite clock related information (clock errors etc.)
• Includes satellite health information

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 41
 GPS L1C/A Signal Structure (Satellite Side)

x154

L1 Carrier, 1575.42Mhz
Carrier Signal
∑

X1, Clock x1/10

10.23Mhz
PRN Code, 1.023Mhz
Atomic Clock PRN Code
Rb or Cs Clocks

L1 Band GPS Signal

x1/204600

Navigation Data, 50Hz

Navigation Data

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 42
 Pseudorange (Code-Phase Measurement) - 2

1-sequence of PRN Code is 1023 bits, 1ms long.

This corresponds to 300Km

1-bit or chip corresponds to 1/1023 ms.

This is about 293m (say 300m) in distance.

In the receiver, signals are resampled at certain frequency, say 10MHz.

This means every chip will be further divided into 10 smaller chips.
If it is possible to detect code phase at 1/10 of this sampled chip, then range
measurement accuracy would be about 300/10/10 = 3m.
However, there are various types of noises and this accuracy may not be possible.
Normally, GPS L1C/A guarantees an accuracy within 10m.
2m
Thus, using Code-Phase (PRN code) measurement, the accuracy will be limited to few
meters level.

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 43
 PRN (Pseudo Random Noise) Code
• PRN Code is a sequence of randomly distributed zeros and ones that is one millisecond long.
• This random distribution follows a specific code generation pattern called Gold Code.
• There are 1023 zeros and ones in one millisecond.
• Each GPS satellite transmits a unique PRN Code.
• GPS receiver identifies satellites by its unique PRN code or ID.
• It continually repeats every millisecond
• The receiver can detect where the PRN code terminated or repeated.
• A unique sequence of bits indicates start of a PRN code.
• It helps to measure signal transit time and compute pseudorange between the receiver and the satellite
• Its also called C/A (Coarse Acquisition) code in GPS

1ms / 1023

Unique Sequence at the

start of the PRN code
0 1 0 1 0 0 11 0 1 0 0

1ms
2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 44
 Carrier-Phase Measurement – 1
• Carrier-Phase measurement is done by counting the number of cycles coming from the satellite to the
receiver.
• However, there are many complexities in measuring total number of cycles (N) from the satellite to the
receiver.
• This is called integer ambiguity
• This is due to the fact that all cycles are the same and there are no headers to tell the receiver when a new cycle has
arrived after number of cycles as in PRN code.
• A PRN code has a header to tell the receiver that this is the beginning of the PRN code that is 1023 chips long.
• There are algorithms to solve this problem of ambiguity resolution.
• One complete cycle for GPS L1 band is 19cm long.
• Thus, if we can measure one wavelength, we can get 19cm accuracy
• If we can measure 1/10th of a cycle, we get about 2cm accuracy.
• Thus, Carrier-Phase measurement can provide centimeter level accuracy.

2cm
19cm

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 45
 Code-Phase (PRN Code) vs. Carrier-Phase Measurement

21,000
000
300
600
19cm

Code-Phase Measurement Carrier-Phase Measurement

Measuring distance between the satellite and the receiver with a tape
Measuring distance between the satellite and the receiver with a tape
that has distance markings but distance values are not written. We only
that has distance markings as well as distance values written. So that we
know that each distance marker is 19cm apart. So, we need to count at
can measure correct distance.
certain point the number of cycles separately that’s coming to the
receiver. This is called integer ambiguity solving.

Only provide meter level accuracy Provides centimeter level accuracy

Simple and required measurement. It’s part of signal demodulation Counting of number of cycles (solving integer ambiguity) is not required
process. So this can’t be avoided. if carrier-phase based measurement such as RTK or PPP is not required.

2022/02/02 8:23 PM Dinesh Manandhar, CSIS, The University of Tokyo, [email protected] Slide : 46