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Lecture 4 - Introduction To Global Positioning System

The document provides an overview of the Global Positioning System (GPS). It describes that GPS was developed by the US Department of Defense for precise navigation. It has three segments - the space segment consisting of satellites, the control segment for controlling the satellites, and the user segment of receivers. It then discusses the satellites, signals, sources of error like clock errors, and techniques to improve accuracy like differential GPS.

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86 views

Lecture 4 - Introduction To Global Positioning System

The document provides an overview of the Global Positioning System (GPS). It describes that GPS was developed by the US Department of Defense for precise navigation. It has three segments - the space segment consisting of satellites, the control segment for controlling the satellites, and the user segment of receivers. It then discusses the satellites, signals, sources of error like clock errors, and techniques to improve accuracy like differential GPS.

Uploaded by

buhlyunbarter
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Introduction to

Global
Positioning
System
What is NAVSTAR GPS?
NAVigation Satellite Time And Ranging
Global Positioning System

- developed due to the need of the US Department


of Defense (DoD) for very precise navigation
- a system for navigation using satellites proposed
by the US Air Force in 1973

Initial Operational Capability: 08 December1993


Full Operational Capability: 17 July 1995
GPS Segments
• Space Segment:
- constellation of satellites
• Control Segment:
- controls the satellites
• User Segment:
- users with receivers
Space Segment
• System:
32 satellites in the operational
mode 31 in use; 1 reserve
8 spares (legacy satellites, for
testing)
10 more in upcoming launches

• Cost:
US$25,000,000; 2000 kg
• Satellite Clocks:
Hydrogen Maser Atomic Clocks
Space Segment: GPS Orbits

32 Satellites in 6 orbital planes


4-6 satellites in each plane
20,200 km altitude
550 inclination
Control Segment

- tracks the satellite orbits


- does time synchronization
- uploads the navigation message
- manages the denial of accuracy (DOA)
Control Segment

Master Control Station is located at the Consolidated Space Operations


Center (CSOC) at Falcon Air Force Station near Colorado Springs.
User Segment

Users = Receivers
GPS Signals
GPS satellites transmit microwave carrier signals:
– L1 frequency (1575.42 MHz) carries the
navigation message and the SPS code signals
– L2 frequency (1227.60 MHz) is used by PPS receivers

Three (3) binary codes shift the L1 and/or L2 carrier phase:


– C/A Code (Coarse/Acquisition Code) modulates the L1
carrier phase and provides the basis for the civilian SPS
– P-Code (Precise Code) modulates both the L1 and L2
carrier phases and provides the basis for the PPS
– The Navigation Message also modulates the L1-C/A code
signal. It is a 50 Hz signal consisting of data bits
describing GPS satellite orbits, clock corrections and other
parameters.
Minimum Number of Satellites
• At least 4 satellites
are needed for a GPS
observation
– Distances from
3 satellites
 3D coordinates
– Plus 1 satellite
 to correct for clock
errors
Sources of Error
GPS Survey
Satellite Clock
• One (1) billionth of a second (nanosecond) of
inaccuracy in a satellite clock results in about 30 cm of
error in measuring the distance to that satellite.
• Even very accurate clocks accumulate an error of one
(1) billionth of a second every three (3) hours.
• Satellite clock drifts are continuously monitored by
ground stations and compared with the master control
clock systems that are combinations of more than 10
very accurate atomic clocks.
• Errors are calculated and included in the messages that
are transmitted by the satellites.
Receiver Clock
• Similar to the satellite clock errors, any error in the
receiver clock causes inaccuracy in distance
measurements.
• Not practical to equip receivers with very accurate
atomic clocks:
– Weight: > 20 kg
– Cost: US$50,000
– require extensive care in temperature control
• Remedy: make simultaneous measurements to four
satellites.
Satellite Orbit Error
• Orbits of satellites are monitored continuously from
several monitoring stations around the earth and their
predicted orbital information is transmitted to the
satellites which they, in turn, transmit to the receivers.
• Based on historical data, the accuracy of orbital
prediction is in the order of a few meters of error in
position.
Atmospheric Errors
• Speed of light varies due to atmospheric conditions.
• Effects of ionosphere: >10 m.
• Remedy: use dual frequency receivers.
Atmospheric Delay
GPS signals are delayed
as they pass through
the atmosphere

< 10 km > 10 km
Multipath
• Occurs when GPS signals are reflected and the receiver
detects two signal instead of one at different times. This
causes confusion in some low-end GPS units but is
generally easy to correct.
• High-end receivers compensate for multipath.
Multipath
Geometric Dilution of Precision
• Imagine the tetrahedron that is formed by lines connecting the
receiver to each satellite used, the larger the volume of this
tetrahedron, the smaller (better) the GDOP.
• In most cases, the larger the number of satellites the smaller the
GDOP.
Poor GDOP Better GDOP
Geometric Dilution of Precision
Satellite Mask Angle
• Atmospheric refraction is greater for satellites at
angles that are low to the receiver because the signal
must pass through more atmosphere.

• There is a trade off between mask angle and


atmospheric refraction. Setting high angles will
decrease atmospheric refraction, but it will also
decrease the possibility of tracking the necessary four
satellites.
Differential GPS

- an effective way to correct various inaccuracies in


the GPS system
- differential GPS (DGPS) can yield measurements
good to a couple of meters in moving applications
and even better in stationary situations
- with it, GPS becomes a universal measurement
system capable of positioning things on a very
precise scale
How does it work?
• At least two GPS receivers are used for DGPS.
• A high precision “base” GPS receiver (Base Receiver or Base Station) is
placed at a known “controlled” point of reference such as a National
Geodetic Survey marker. This receiver collects GPS signals and compares
the results to the actual known coordinate of the base.
• A “rover” receiver collects autonomous information in the field.
• The rover and base (reference) receivers simultaneously observe the same
satellites.
• At the BASE: since the position of the base is known, it can accurately
quantify the total error in the measured pseudorange from each
satellite.
• At the ROVER: the rover corrects its measured pseudorange
measurements.
• The corrected pseudoranges are used to estimate the position at meter
level accuracy.
How does it work?
• General Types:
– Post Processing Differential GPS
– Real Time Differential GPS

• Positioning Modes:
– Static
– Kinematic
DGPS: Post-Processing
• There is no real-time connection between the
base and the rover.
• Each receiver collects data independently of the
other.
• Data collected from the rover is brought back
to the office.
• Data from the base station is then obtained
(available from a variety of sources).
• Base stations can be permanent or
portable.
DGPS: Real-Time Processing
• Usually used in situations where highly
accurate real-time GPS data is critical
• Unlike post-processing DGPS, this is processed
on the spot with software and or hardware
solutions
• This requires special equipment and/or
services.
• The accuracy of real-time DGPS, while
less than that of post-processed, is
improving.
Processing Techniques:
Post Processing vs. Real-Time

FACTORS Post- Real-Time


Processing
Accuracy 
Time 
Navigation 
Cost 
Remote Locations 
Portability 
GPS Receivers

Recreation-Grade Receivers: designed for casual users


(recreationists); have the least accurate positioning ability

Navigating Receivers: same as recreation receivers;


designed for portability and long battery life

Mapping-Grade Receivers: designed to include more


features, allow higher accuracy; can store more data

Survey-Grade Receivers: designed for extreme accuracy;


usually larger and heavier than other receiver types; very
expensive
Developments in GPS
Instrumentation
• Total station equipped with a
Global Positioning System
(GPS) receiver

• Able to (re)locate points


without need for reference
points

• Multi-GNSS
Multi-GNSS
• Receiver system which is able to
calculate position, time and velocity
from multiple GNSS
– GLONASS (24 satellites) has been operated
for long time like GPS, however, it is a
little hard to use due to FDMA
– BeiDou (20 satellites)
– GALILEO (12 satellites)
– Number of visible satellite increases from
12 to 30 if we use all navigation satellites
Multi-GNSS
Multi-GNSS
GPS Community Base Station in UP
 Located at the rooftop of Melchor Hall
 Beneath the base station antenna is a Coast and
Geodetic Survey control point
GPS Community Base Station in UP
Uses of GPS

• Airplane and Boat Navigation


• Continental Drift
• Surveying
• Precise Timing
• Iceberg Tracking
• Archaeological Expeditions
• Mobile Multimedia
Surveying and Mapping
Navigation

Search and Rescue

Shipping Aviation
Recreation

Space
Exploration

Industry
Location-Based Services

TOUR
APPS

+ More Uses
End.

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