Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
A Seminar Report on
Department of Electronics & Communication Engineering Sarvajanik College of Engineering & Technology Dr R.K. Desai Road, Athwalines, Surat - 395001, India.
CERTIFICATE
This is to certify that the Seminar report entitled GPS Based Location Based Services is prepared & presented by Miss. Divvi Jothsna Narsimham Ramavataram Class Roll No 10 of B.E.IV Sem VIII Electronics & Communication Engineering during year 2008-2009. Her work is satisfactory.
Signature of Guide
Acknowledgment
I would like to express my sincere thanks to Prof Nehal Shah. She helped me in selecting my seminar topic as per my capability. She encouraged me with worthy suggestions and support. Without her guidance, I would have not been able to complete my seminar report. I rarely find words to express my gratitude towards my faculty members of the Electronics Department who were constantly involved with me during my seminar preparation. And last but not the least, I am thankful to all my colleagues and friends, who have directly or indirectly contributed in preparing this seminar.
INDEX
1 Introduction....................................................................................................................... 9 1.1 Location Based Services:.......................................................................................... 9 1.2 Types of Location Based Services:........................................................................... 9 1.3 Applications of Location Based Services: ................................................................ 9 1.4 Classification of Location Based Services:............................................................. 10 Global Positioning System.............................................................................................. 11 2.1 History: ................................................................................................................... 11 2.2 Reason of choosing Global Positioning System: .................................................... 12 The Parts of Global Positioning System ......................................................................... 13 3.1 Space Segment:....................................................................................................... 13 3.2 Control Segment: .................................................................................................... 14 3.3 User Segment:......................................................................................................... 15 Working of GPS.............................................................................................................. 16 4.1 Method of Triangulation:........................................................................................ 17 4.2 Need of four satellites: ............................................................................................ 19 4.3 Measuring distance from a satellite: ....................................................................... 19 GPS Satellite Signals ...................................................................................................... 20 5.1 The two L-band carriers:......................................................................................... 21 5.1.1 L1 component: ................................................................................................ 21 5.1.2 L2 component: ................................................................................................ 21 5.2 The Ranging Codes:................................................................................................ 21 5.2.1 Course Acquisition Code (C/A):..................................................................... 21 5.2.2 Precision Code (P): ......................................................................................... 21 5.3 The Navigation Message: ....................................................................................... 22 5.3.1 Structure of the Navigation Message:............................................................. 22 5.4 GPS Positioning Services: ...................................................................................... 27 5.4.1 Standard Positioning Service (SPS):............................................................... 27 5.4.2 Precise Positioning Service (PPS): ................................................................. 27 5.5 GPS signal transmission and reception:.................................................................. 27 5.5.1 Autocorrelation Technique: ............................................................................ 28 GPS Errors and Selective Availability............................................................................ 30 6.1 Selective Availability:............................................................................................. 30 6.2 Sources of errors: .................................................................................................... 31 6.2.1 Ionospheric Propagation Errors: ..................................................................... 31 6.2.2 Tropospheric Propagation Error: .................................................................... 31 6.2.3 Ephemeris Data Errors:................................................................................... 31 6.2.4 Signal Multi-path Error:.................................................................................. 32 6.2.5 Onboard clock errors: ..................................................................................... 32 6.2.6 Receiver clock errors: ..................................................................................... 33 Advantages and Disadvantages ...................................................................................... 34 7.1 Advantages:............................................................................................................. 34 7.2 Disadvantages [7]: .................................................................................................. 34 Assisted GPS................................................................................................................... 35
2 3
7 8
8.1 Need of Assisted GPS:............................................................................................ 35 8.2 Concept of Assisted GPS[9]: .................................................................................. 36 9 Applications of GPS ....................................................................................................... 38 9.1 Vehicle history tracking or Bread-crumbing:...................................................... 38 9.2 Real time tracking:.................................................................................................. 38 9.3 Turn by turn navigation or route guidance: ............................................................ 38 10 Road map devices using GPS ......................................................................................... 40 11 Conclusion ...................................................................................................................... 42 12 Bibliography ................................................................................................................... 43
List of figures
Figure 3-1 Parts of GPS .......................................................................................................... 13 Figure 3-2 Space Segment of GPs .......................................................................................... 14 Figure 3-3Control Segment of GPS........................................................................................ 15 Figure 4-1 Working Of GPS ................................................................................................... 16 Figure 4-2 Step 1 of triangulation........................................................................................... 17 Figure 4-3 Step 2 of triangulation........................................................................................... 18 Figure 4-4 Step 3 of triangulation........................................................................................... 18 Figure 5-1 GPS Satellite Signal Components......................................................................... 20 Figure 5-2 Structure of entire Navigation message ................................................................ 23 Figure 5-3 TLM and HOW word formats............................................................................... 24 Figure 5-4 Time Line relationship of HOW word .................................................................. 25 Figure 5-5 A schematic diagram showing how the GPS pseudo range.................................. 28 Figure 6-1 Plot of position determination with....................................................................... 30 Figure 6-2 Multi-path effect.................................................................................................... 32 Figure 8-1 Distortions of signals due to unclear view of sky ................................................. 35 Figure 8-2 Concept of Assisted GPS ...................................................................................... 37 Figure 10-1 Road mapping using Nokia 5800........................................................................ 40 Figure 10-2 Structure of a road map ....................................................................................... 41
List of tables
Table 2-1 Disadvantages of various positioning techniques................................................... 12 Table 5-1 Sub-frame ID code of HOW word ......................................................................... 24
1) The first one deals with the safety applications including emergency services and roadside assistance. 2) The second category deals with the information related applications like business finder, traffic alerts and weather report. 3) The third category is tracking application, which includes friend finder, fleet tracking management, asset tracking and child tracking. 4) The last is the location based billing, for example, billing with zone based or area based pricing options
10
11
3. 4.
Celestial Omega
5.
Loran
6.
SatNav
12
Figure 3-1 Parts of GPS The space and control segments are operated by Unites States Military and administered by the U.S Air Force.
13
Figure 3-2 Space Segment of GPs The satellite broadcast signal contains data which identifies the satellite and provides the positioning, timing, ranging data, satellite status and corrected orbit parameters of the satellites.
14
satellites. Finally, the satellites use the corrected information in their data transmissions down to the end users. This sequence of events occurs every few hours for each of the satellites in order to ensure that any possibility of error creeping into the satellite position of their clocks is minimized.
15
4 Working of GPS
The principle behind GPS is the measurement of distance (range) between the satellites and the receiver. The satellites tell us exactly where they are in their orbits by broadcasting data and this data in turn is used by the receiver to compute their positions [5].
Figure 4-1 Working Of GPS Each satellite transmits data that indicates its location and current time. All GPS satellites synchronize operations so that these repeating signals are transmitted at the same instant. These signals moving at the speed of light arrive at the GPS receiver at slightly different times because some satellites are farther away than others. The distance to the GPS satellites can be determined by estimating the amount of time it takes for their signals to reach the receiver. When the receiver estimates the distance to at least four GPS satellites, it can calculate its position in three dimensions. The Global Positioning System uses various position techniques. They are: 1) Precise Point positioning (PPP): It is a method to perform precise position determination using a single GPS receiver. Combining precise satellite positions and clocks with a dual frequency GPS receiver, PPP provides position solutions at centimeter to decimeter level which is useful in applications like airborne mapping. 2) Differential positioning: It uses a network of fixed, ground based reference stations to broadcast the difference between the positions indicated by the satellite systems and known fixed positions. 16
These stations broadcast the difference between the measured satellite pseudo-ranges and actual pseudo-ranges, and receiver stations may correct their pseudo-ranges by the same amount. 3) Real time kinematics positioning (RTK): It is used in land survey and in hydrographic survey based on the use of carrier phase measurements of the GPS. Here a signal reference station provides the real time corrections of even to centimeter level of accuracy. RTK uses the satellites carrier as its signal and not the messages contained within. 4) Positioning using triangulation method Of these methods, the triangulation method is described as below.
Figure 4-2 Step 1 of triangulation 2) Next the distance of the receiver from a second satellite is measured and it is around 10,000 miles away. Thus, now the receiver is not only on the first sphere, but also on the sphere that is 10,000 miles from the second satellite.
17
Figure 4-3 Step 2 of triangulation 3) If we then make a measurement from a third satellite and find that the receiver is 8,000 miles from that satellite, it narrows the position of the receiver even further to the two points where the 8,000 mile sphere cuts through the circle that is the intersection of the first two spheres.
Figure 4-4 Step 3 of triangulation Thus, by ranging from three satellites we can narrow the position of the receiver to just two points in space. From these two points, one is always out somewhere where it makes no sense, like thousands of kilometers out in space. The receivers are smart enough to sense that one of the two points is wrong and rejects that point. Although three satellites give us the precise location in the universe, four satellites are needed to ensure an accurate position.
18
19
Figure 5-1 GPS Satellite Signal Components Modulated onto the carrier waves are the PRN ranging codes and navigation message for the user. The primary function of the ranging code is to determine the signal transit time from satellite to receiver. The transit time when multiplied by the velocity of light gives the receiver-satellite range. The navigation message contains the satellite orbit information and satellite clock parameters. All signals are derived from the output of a highly stable atomic clock.
20
5.1.2 L2 component:
The frequency of this component is 1227.60 MHz. In contrast to the L1 signal, the L2 signal is modulated with only the 50-bps data and the P-code, although there is the option of not transmitting the 50-bps data stream.
code was modulated with the W-code which is a special encryption sequence, to generate the Y-code. Here the encrypted signal is referred to as the P(Y) code. The W-code is applied to the P-code at approximately 500 KHz, which is a slower rate than that of the P-code itself by a factor of 20.
22
Figure 5-2 Structure of entire Navigation message Each sub-frame or page of a sub-frame starts with a Telemetry (TLM) word a Handover word (HOW) pair. The TLM word is transmitted first, immediately followed by the HOW. The later is then followed by 8 data words.
23
Figure 5-3 TLM and HOW word formats Within its structure it contains the start time for the next sub-frame, which is transmitted as the time of the week (TOW). The TOW count begins with the value 0 at the beginning of the GPS week (i.e. from Saturday 23:59:59 hours to Sunday 00:00:00 hours) and is increased by a value of 1 every 6sec. The HOW is then transmitted in order to synchronize with the Pcode. Bit nos. 20 to 22 used in the HOW word identifies the sub-frame just transmitted. The sub-frame ID code of the HOW word is as follows: Sub-frame 1 2 3 4 5 ID Code 001 010 011 100 101
GPS time is established by the Control Segment and is used as the primary time reference for all GPS operations. The zero time point is defined as midnight on the night of January 5, 1980/ morning of January 6, 1980. The largest unit used in stating GPS time is one week which is defined as 604,800 seconds. GPS time differs from UTC because GPS time is continuous time scale, while UTC (Universal Coordinated Time) is corrected periodically with an integer number of leap seconds. In each satellite, an internally derived 1.5 second epoch provides a convenient unit for precisely counting and communicating time. Time stated in this manner is referred to as a Zcount. The Z count is provided to the user as a 29-bit binary number consisting of two parts as follows: 1) Time of Week (TOW): The binary number represented by the 19 least significant bits of the Z count is known as the time of week (TOW) count and is defined as the number of 1.5 second epochs that have occurred since the transition from the previous week. The range of TOW count is from 0 to 403,199 1.5 second epochs and is reset to zero at the end of each week. The TOW counts zero state is defined as that 1.5 second epoch which is coincident with the start of the present week. This epoch occurs at midnight Saturday night-Sunday morning. In order to aid in rapid ground lock on, the HOW of each sub-frame contains a truncated time of week (TOW) count. The HOW message TOW count consists of the 17 MSBs of the actual TOW count at the start of the next sub-frame. To convert from HOW message TOW count to actual TOW count at the start of the next sub-frame, multiply it by four.
2) GPS Week number: The ten most significant bits of the Z count are a binary representation of the sequential number assigned to the GPS week (Modulo 1024). The range of this count is from 0 to 1023, with its zero state being defined as that week which starts with the 1.5 sec epoch. At the end of GPS week number 1023, the GPS week number will roll-over to 0.
Information by Sub-frame:
1) Sub-frame 1: The first sub-frame carries the current GPS week number, the health of the transmitting satellite, and clock correction data. The health gives information about the state of the satellites transmitted navigation data and signals. For example, it indicates whether navigation data is corrupted, the sub-frames that are affected by corrupted data, and if the satellite is or will be temporarily out. From the health information, the receiver can thus decide whether to use a navigation and measurement data from this satellite for position estimation. Clock correction data informs the receiver about the amount of the drift of the satellites clock with regard to GPS time. The correction is specified by means of polynomial coefficients, which are used by the receiver to compute the exact GPS time. 2) Sub-frames 2 and 3: These sub-frames contain the ephemeris data, which is used to determine the precise satellite position and velocity required by the navigation solution. This data contains all data needed by the receiver to compute the exact satellite position in space. The ephemeris does not reflect the satellite position at the time of measurements but instead it reflects the satellite position at the exact time. The receiver can then estimate the current position taking into consideration the difference between current and reference time. 3) Sub-frame 4: The 25 pages of this sub-frame contains the almanac data for satellites with pseudorandom code (PRN) numbers 25 and higher, as well as special messages, ionospheric correction terms, and coefficients to convert GPS time to UTC time. The almanac is a subset of each satellites ephemeris and clock data. The almanac helps to speed up the start-up time of the GPS receiver since it obtains a rough overview of the current satellite constellation when the receiver is turned on, which replaces the time consuming identification by means of C/A codes. 4) Sub-frame 5: The 25 pages of this sub-frame contain the almanac for satellites with PRN numbers from 1 to 24. All 25 pages are transmitted together with information on the health of satellite from 1 to 24.
26
Published specifications for the Precise Positioning Service are: 1) 17.8 meter horizontal accuracy 2) 22.7 meter vertical accuracy 3) 100 nanoseconds time accuracy
27
the antenna, to boost the signal strength, so that it is not overcome by noise by the time it gets to the other end of the antenna cable. The signal then enters the receiver, which then measures it using a process called auto-correlation.
Figure 5-5 A schematic diagram showing how the GPS pseudo range Observation is related to satellite and receiver clocks Also the receiver generates GPS like signals internally. The receiver knows precisely what the transmitted GPS signal is supposed to look like at any given time, and it generates an electronic replica, in synchronization with the receivers own clock. The receiver then compares the replica signal with the actual signal. Since the GPS signal was created in the satellite some time previously, the receivers replica signal must be delayed in to match up the incoming signal with the replica signal. This time delay is measured by the receiver. This represents the time taken for the signal to pass from the satellite to the receiver, but it includes any error in the satellite and the receiver clock. This time delay is therefore related to the range to the satellite. Now let us see how the receiver matches the two signals. The time difference is computed by autocorrelation. The first bit from signal one is multiplied by the first bit of signal two. For example, if the first bits from the two signals both have values -1, then the result is (-1) x (-1) = +1. Similarly, if both bits have values +1, then the result is +1. While on the other hand, if the two bits disagree, the result is (+1) x (-1) = -1. This process is repeated for the second pair of bits, and so on. The result can be written as a sequence of +1 (where the bits agree) and -1 (where the bits disagree). This sequence is then summed, and divided by the total number of bits in each signal. For example, if the signal A can be written (+1,-1,-1,+1,-1), and signal B can be written (+1,+1,-1,-1,+1), then multiplication gives (+1,-1,+1,-1,-1); the sum of which gives -1; then dividing by the number of bits (5) gives -0.2. If the two signals matched perfectly, the result would be +1. If the two signals were completely random, the result will close to zero. 28
Thus, larger the number of bits that are compared, the better is the resolution because the random bits will average to zero, better as more bits are compared. Now since that the peak autocorrelation is found, the inferred time displacement between the two signals is multiplied by the speed of light. This observation is called pseudo range. This pseudo range measurement is shown schematically in above figure.
29
30
Selective Availability is an artificial falsification of the time in the L1 signal transmitted by the satellite for civil GPS receivers that leads to a less accurate position determination. Additionally the ephemeris data is transmitted with lower accuracy, meaning that the transmitted satellite positions do not comply with the actual positions. In this way an inaccuracy of the position of 50-150 m is achieved. Also from the deactivation of SA, the determination of heights has improved. One side effect of the Selective Availability is the capability to correct the frequency of the GPS cesium and rubidium atomic clocks to an accuracy of approximately 2 x 10-13. Hence, this represented a significant improvement over the raw accuracy of the clocks.
31
determined by the master control station of the GPS ground segment based on monitoring of individual signals by four monitoring stations.
32
33
34
Figure 8-1 Distortions of signals due to unclear view of sky With AGPS [8], a wireless network sends information directly to the GPS receiver, which in turn allows the receiver to quickly locate the four satellites and process the data contained in their signals. The AGPS information includes identification of the visible satellites. Since the receiver is only searching for specific signals, the amount of time it takes for a GPS receiver to obtain its first location or time to first fix (TTFF) is reduced from minutes to seconds. Assistance is also provided to the GPS receiver by sending the ephemeris data for each satellite so that this data does not have to be decoded from the GPS signals. The receiver
35
must still obtain signals from at least four satellites to determine the time it took each signal to arrive at the receiver without the need of decoding the entire signal. Assisted GPS effectively increases the sensitivity of the receiver so that it is able to obtain and demodulate the satellite signals in areas where unassisted GPS could not. Further, since ephemeris data is already provided to the receiver, it can determine more quickly than if unassisted, even in clear view of the sky. Assisted GPS is more advantageous when the device is in unfriendly RF environment. For example, this situation prevails when the device is first powered. When first powered, there is no valid ephemeris data on the GPS receiver, so the positions of the satellites in the sky are unknown. Thus, in this case the Assistance information enables the receiver to obtain a fix more quickly than an unassisted device and in some cases to obtain a position fix where an unassisted device could not obtain. If a GPS receiver has been functioning and has been demodulating the satellite signals prior to entering an unfriendly RF environment, the assistance offers no advantage. However, if the receiver remains in this unfriendly RF environment for a period of time, the satellites viewable over its position will change. In addition, the ephemeris data of each satellite will also change, as corrections are made to its orbit. For these reasons the ephemeris data becomes stale and needs to be updated on the GPS receiver. Regular updates of ephemeris data to the receiver enable the device to continue operation in conditions where an unassisted device would cease to operate.
36
Figure 8-2 Concept of Assisted GPS Since an A-GPS server can obtain from the MSC the handsets position (up to the level of cell and sector), and at the same time monitors signals from the GPS satellites seen by MS, it can predict the signals received by the handset for any given time. Specifically, it can predict the Doppler shift (due to satellite motion) of GPS signals experienced by the handset receiver, as well as other signal parameters that are a function of the mobiles location. In a typical sector, the uncertainty in the predicted time of arrival of a satellite signal at the mobile is about 5 s, which corresponds to 5 chips of the C/A spreading code sequence. Therefore, AGPS server can predict to within 5 chips the phase of the PRN sequence that the receiver should use to de-spread the C/A signal from a particular satellite and communicate that prediction to the mobile. The search space for the actual Doppler shift and PRN phase is therefore greatly reduced and the AGPS handset can accomplish the task in a small fraction of the time required by conventional GPS receivers. In addition, the AGPS server maintains a connection with the handset receiver over the wireless link, asking it to make specific measurements, collect the results, and communicate them back. After de-spreading, an AGPS receiver could pass the PRN phase information back to the AGPS server, which would then calculate the mobile location coordinates. To reduce the amount of information sent over the air-interface, a preferred solution is to perform additional signal processing in the handset and return pseudo ranges instead. An additional way to help the handset receiver in detecting GPS signals in Sensitivity Assistance (or modulation wipe-off). The sensitivity assistance message contains sets of predicted data bits in the GPS navigation message, which are expressed to modulate GPS signal of specific satellites at specified times. For optimal performance of sensitivity assistance, AGPS server must communicate to the handset the PRN sequence timing with an accuracy of several microseconds.
37
9 Applications of GPS
GPS applications[10] for mobile computing fall into the following categories:
destination. The system then provides the driving directions, which are delivered as voice instructions through text-to-speech or recorded audio output. If the driver does not follow an instruction, say by missing a turn, the navigation system will automatically recalculate the route without the need for any action by the driver. Some of the benefits that the GPS navigation can provide are: 1) Reduce unnecessary mileage and fuel costs by providing accurate driving directions. 2) Improve on time performance as drivers are less likely to get lost or follow inefficient routes. 3) Reduce vehicle engine idling time as driver lookup customer locations on maps.
39
Figure 10-1 Road mapping using Nokia 5800 The 5800 also has a built in mapping application called Nokia Maps, which shows our location on a street map, and tells us how to get to another location by driving or walking and can give details of nearby amenities such as shops, fuel stations, museums etc. Nokia maps use both GPS and cell tower positioning to tell us where we are. The latter gives an instant rough position while GPS data is used after the phone has locked onto enough satellite signals to calculate its position. The various portions of road map is as shown below:
40
41
11 Conclusion
Thus, from above discussion, it is evident that the Global Positioning System is the very accurate method of positioning. It is very accurate in the position determination of the receiver. The area covered by the GPS is the whole Earth and it uses the minimum number of satellite required for it. Its time limitation was overcomed by using Assisted GPS which in turn is less accurate than GPS but much faster. GPS has already been used in cell phones for various applications like road mapping etc. In military application it is the only system relied upon in providing data to very expensive guided weapons. Thus, GPS can be considered as the most advanced accurate, commercially available and multi-use satellite navigation system that has ever been existed.
42
12 Bibliography
1) Axel Kupper, Location Based Services, Fundamentals and operation, Wiley Publication, 2005 2) http://www.kowama.de/en/gps History and setup of GPS System 3) http://www.trimble.com/gps GPS tutorials 4) Gregory T. French, An Introduction to the Global Positioning System, What it is and How it works, Geo-research, Inc Publication, 1st edition 5) http://www.aero.org/education/primers/gps/ Introduction and working of GPS 6) Mohinder S. Grewal, Lawrence R. Weill, Angus P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration, A John Wiley & Sons, Inc. Publication,2001 7) A. Kleusberg and R.B. Langley, Limitations of GPS, University of New Brunswick, March/April 1990, Vol. 1, No. 2, pp. 50-52. 8) www.skytel.com Assisted GPS 9) Djuknic, Goran M. and Robert E. RichtonBell, Geolocation and AGPS, Laboratories, Lucent Technologies, February 2001. 10) Michael Forbes, Mobile GPS Applications, Electric Compass, 2008, pp. 4-7
43