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APPENDIX 3

Calculation of Satellite Position from

Ephemeris Data

Table A3-1. Representation of GPS Broadcast Ephemeris

Time Parameters
t0e
Reference time, ephemeris parameters (s)
t0c
Reference time, clock parameters (s)
a0, a1, a2 Polynomial coefficients for clock correction (bias (s), drift (s/s), drift rate (aging)
(s/s2))

A
e
i0
0

M0
n

i
Cus
Cuc
Cis
Cic
Crs
Crc

Keplerian Parameters
Square root of the semi-major axis (m1/2)
Eccentricity (dimensionless)
Inclination angle at reference time (semicircles)
Longitude of ascending node at reference time (semicircles)
Argument of perigee (semicircles)
Mean anomaly at reference time (semicircles)
Pertubation Parameters
Mean motion difference from computed value (semicircles/s)
Rate of change of right ascension (semicircles/s)
Rate of change of inclination (semicircles/s)
Amplitude of the sine harmonic correction term to the argument of latitude
(rad)
Amplitude of the cosine harmonic correction term to the argument of latitude
(rad)
Amplitude of the sine harmonic correction term to the angle of inclination (rad)
Amplitude of the cosine harmonic correction term to the angle of inclination
(rad)
Amplitude of the sine harmonic correction term to the orbit radius (m)
Amplitude of the cosine harmonic correction term to the orbit radius (m)

Source: Seeber (2003).

The individual satellite time, tSV, is corrected to GPS system time, t, using:
t tSV tSV

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in which

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tSV a0 a1(t t0c) a2(t t0c)2

(A3-1)

Differentiating Eq. A3-1 with respect to time yields satellite clock drift.
The satellite coordinates in the WGS-84 Cartesian system are computed for a
given epoch, t. The time, tk, elapsed since the reference epoch, t0e, is tk t t0e.
Table A3-2. Calculating Satellite Coordinates from GPS Broadcast Ephemeris
Constants
GM 3.986005 1014 m3/s2
e 7.292115 105 rad/s
3.1415926535898 (exactly)

Keplerian Parameters to ECEF Coordinates

Satellite orbital period

T 2 GM A3
n0

GM

Computed mean motion

A
n n0 n

M k M 0 ntk

Ek M k esin Ek

cos k

sin k

WGS-84 value for the product of gravitational

constant G and the mass of the Earth M
WGS-84 value of the Earths rotation rate

Corrected mean motion

Mean anomaly
Keplers equation of eccentric anomaly is solved by
iteration.
Because of the small eccentricity of GPS orbits (e
0.001), two steps are usually sufficient:

E0 M , Ei M esin Ei1, i 1, 2, 3, ...

cos Ek e

True anomaly

1 e cos Ek
1 e2 sin Ek

1 e cos Ek
k k
uk Cuc cos 2k Cus sin 2k
rk Crc cos 2k Crs sin 2k
ik Cic cos 2k Cis sin 2k
uk k uk
rk A(1 ecos Ek) rk
ik i0 itk ik
Xk rk cos uk
Yk rk sin uk
)t t
k 0 (
e k
e 0e
Xk Xk cos k Yk sin k cos ik
Yk Xk sin k Yk cos k cos ik
Zk Yk sin ik

True anomaly
Argument of latitude
Argument of latitude correction
Radius correction
Inclination correction
Corrected argument of latitude
Corrected radius
Corrected inclination
Position in the orbital plane
Position in the orbital plane
Corrected longitude of ascending node
Earth-fixed geocentric satellite coordinate
Earth-fixed geocentric satellite coordinate
Earth-fixed geocentric satellite coordinate

ECEF, Earth-centered, Earth-fixed.

Source: Seeber (2003).

Applied GPS for Engineers and Project Managers