GPS

Global Positioning System

 GPS Basics
1. What is GPS? These topics will be covered in this
slide set.
2. How does it work?
3. Brief history of GPS
• NAVSTAR GPS (Navigation Satellite Timing
and Ranging system)
• 24 Satellites orbiting the earth
• Provides accurate positioning, navigation
and timing
• Operates 24 hrs/day, in all weather
• Can be used for any application that
requires location information
Wikipedia GPS constellation animation,
NOAA orbit animation (requires Macromedia Flash Player)
What is GPS?
GPS is a satellite-based system,
operated and maintained by the U.S.
Department of Defense (DoD), that
provides accurate location and timing
information to people worldwide.
The system transmits radio signals
that can be used by GPS receivers to
calculate position, velocity and time
anywhere on earth, any time of day
or night, in any kind of weather.
The NAVSTAR GPS concept was
developed in the early 1970's to
meet the U.S. military’s need for
improved navigation and positioning.
The first Block I GPS satellite was
launched in 1978 and Full
Operational Capability (FOC) was
achieved in 1994.
The Global Positioning System is a
National resource and an
international utility for positioning,
navigation and timing.
 GPS Segments
Space The GPS consists of 3 segments: space,
control and user.

The space segment is the satellite

constellation, consisting of 24 or more
satellites. The first Block I satellite was
launched in early 1978. The 1986
Challenger disaster slowed the GPS
constellation development. In February
1989 the first Delta 2 launch took place.
User Control The constellation is now fully operational
and consists of 24 or more satellites
(currently, there are 31).

The control segment is operated by the U.S.

Department of Defense (DoD) which tracks
and maintains the satellites. The
Department of Transportation (DoT) now
has management responsibility, along with
DoD.

The user segment consists of both military

and civilian users. Military uses of GPS
include navigation, reconnaissance, and
missile guidance systems. Civilian use of
GPS developed at the same time as military
use, and has expanded far beyond anyone's
original expectations.
Power Space Segment
– Sun-seeking solar panels GPS Satellites

– Nicad batteries The GPS satellites weigh about 900

kg and are about 5 meters wide with
Timing the solar panels fully extended. They
are built to last about 7.5 years, but
– 4 atomic clocks many have outlasted their original
estimated life-span. The solar panels
provide primary power; secondary
power is provided by Nicad batteries.
On board each satellite are four
highly accurate atomic clocks.

Quartz clock accuracy: quartz clocks

are accurate to approximately 1
second per month
Atomic clock accuracy: atomic clocks
are accurate to roughly 1 second per
20 million years
National standards agencies maintain
an accuracy of 10-9 seconds per day
(approximately 1 part in 1014)
• 24 satellites in 6 orbital planes
• Orbit the earth at ~ 20,200 km (11,000 nautical
miles)
• Satellites complete an orbit in approx. 12 hours
• Satellites rise (and set) about 4 minutes earlier
each day
Satellite Orbits
There are four satellites in each orbit
plane, and each plane is inclined 55
degrees relative to the equatorial
plane (the satellite path crosses the
equator at a 55 degree angle). The
high altitude insures that satellite
orbits are stable, precise and
predictable, and that the satellites'
motion through space is not affected
by atmospheric drag. It also insures
satellite coverage over large areas.
GPS satellites orbit around the earth,
in contrast to TV satellites which are
in geostationary orbits (they rotate
with the earth). The GPS satellites
cross over any point on the earth
approximately twice per day.

GPS satellites originally broadcast
messages via radio signals on 2
frequencies
– L1: 1575.42 Mhz (C/A and P/Y code)
– L2: 1227.60 Mhz (P/Y code)
Two levels of service
– Standard Positioning Service (SPS)
– Precise Positioning Service (PPS)
(Anti-spoofing (AS) guards
against fake transmissions of
satellite data by encrypting the
P-code to form the Y-code)
Satellite Signals
The radio signals travel at the speed of
light: 300,000 km per second (186,000
miles per second). It takes 6/100ths of a
second for a GPS satellite signal to reach
earth. These signals are transmitted at a
very low wattage (about 300-350 watts
in the microwave spectrum).
C/A code (Coarse Acquisition code) is
available to civilians as the Standard
Positioning Service (SPS). Before
selective availability (SA) was turned off,
SPS provided a predictable positioning
accuracy of 100 meters horizontally, 156
meters vertically, and time transfer
accuracy to UTC within 340
nanoseconds (95 percent). SPS now
provides average horizontal accuracy of
7.8 meters 95% of the time and average
vertical accuracy of <= 15 meters 95% of
the time.
The Precise Positioning Service (PPS),
available only to the military (and other
authorized users), provides higher
accuracy via the P code.

• Unique pseudorandom code
• Ephemeris data
• Clock behavior
• Clock corrections
• System time
• Status messages
• Almanac
The almanac data can be
transferred to the office
computer and used to
display a graphic showing
the locations of all satellites.
This information can also be
used to predict satellite
availability for a specific
mapping time and date.
Information
Contained in
Satellite Signals
Each satellite transmits a radio signal
containing its unique pseudorandom
(appears to be random but is not)
code. This code identifies the
satellite and distinguishes it from
other satellites.
The signal also contains the precise
location of the satellite (ephemeris
data), its clock behavior and clock
corrections, system time (highly
accurate because of the atomic
clocks on-board the satellites) and
status messages (usually referring to
satellite health).
In addition, an almanac is also
provided which gives the
approximate location data for each
active satellite. The almanac is
automatically downloaded from the
satellites to the GPS receiver when
the receiver is operating outside. It
takes about 12 minutes to receive an
almanac.

• Satellite signals require a direct line
to GPS receivers
• Signals cannot penetrate water,
soil, walls or other obstacles
Signal Behavior
Trees, buildings, bridges, mountain
ranges, your hand (over the receiver
antenna) or your body can all block
the satellite signals. Heavy forest
canopy causes interference, making
it difficult to compute positions. In
canyons (and "urban canyons" in
cities) GPS signals are blocked by
mountains or buildings.
• Sent along with position and timing
messages
• Prediction of all satellite orbits
• Needed to run satellite availability
software
• Valid for about 30 days
Satellite Almanac
The almanac has information about
the orbits of all 24+ satellites. A GPS
receiver uses the almanac (for quick
acquisition of satellite positions),
along with satellite data messages, to
precisely establish the position of
each satellite it is tracking. Satellite
availability software uses the
almanac to make graphs of satellite
locations overhead and to calculate
the best times to survey in a
particular area. This graph shows the
number of satellites available during
a specific mapping time period. GPS
receivers automatically collect a new
almanac each time they are turned
on for more than about 15 minutes.
It is important to use an up-to-date
almanac when viewing satellite
availability in planning software.
Almanac data are valid for about 30
days, but a new almanac should be
transferred to satellite availability
software as frequently as possible.

Earthmap:NASA http://visibleearth.nasa.gov/
Control Segment
US DoD Monitoring
The control segment consists of five
Monitor Stations (Hawaii, Kwajalein
[West Pacific], Ascension Island [South
Atlantic], Diego Garcia [Indian Ocean],
Colorado Springs), three Ground
Antennas (Ascension Island, Diego
Garcia, Kwajalein) and a Master Control
Station (MCS) located at Schriever Air
Force Base in Colorado.
During August and September 2005, six
additional monitor stations of the NGA
(National Geospatial-Intelligence
Agency) were added. Now, every
satellite can be seen from at least two
monitor stations. This allows more
precise calculation of orbits and
ephemeris data. For the end user, this
improvement translates to better
precision. In the near future, five more
NGA stations will be added so that
every satellite can be seen by at least
three monitor stations. This improves
integrity monitoring of the satellites and
thus the whole system.

• Orbits are precisely measured
• Discrepancies between predicted orbits
(almanac) and actual orbits (ephemeris)
are transmitted back to the satellites
• So satellites can transmit their correct
locations
US DoD
Monitoring
The monitor stations track all
satellites in view, accumulating
ranging data. This information is
processed at the MCS to determine
satellite orbits and to update each
satellite's navigation message.
Updated information is transmitted
to each satellite via the Ground
Antennas.
The GPS satellites send satellite data
messages (position and timing), an
almanac, and orbital corrections they
receive from the Master Control
Station. The GPS receiver uses all this
information to compute positions.
 User Segment

The user segment consists of

receivers that provide positioning,
velocity and precise timing to users
worldwide.

Civilian applications of GPS exist in

almost every field, from surveying to
transportation to natural resource
management to agriculture. The
civilian community is a powerful
political force in influencing GPS
policy decisions.

Examples of civilian GPS applications include 1) GPS on a helicopter to 90% of the data created in the world
identify the location of victims in search and rescue operations, 2) GPS on a today has some type of geographic
tractor/combine linked to a yield monitor to generate yield maps (precision component, and civilian users
farming), 3) GPS used for aircraft navigation or to mark where rangeland outnumber military users worldwide.
weeds have been sprayed, 4) GPS used for recreational sailing navigation,
5) Emergency services response system: a combined GPS/GIS system used
to dispatch emergency vehicles and find the quickest route to a destination
(GPS is also being used for pizza delivery systems!), 6) GPS to help a
backpacker navigate in the woods.
GPS receiver calculates its position by
measuring the distance to satellites
(satellite ranging)
How Does GPS
Work?
GPS satellites are constantly
transmitting signals that contain orbit
data and timing information. Receivers
pick up those signals and use the
information to compute positions.
Note: Receivers don’t send signals back
to satellites, contrary to what many
people think. They are receivers not
transceivers.
The distance measurement calculated
by a GPS receiver is referred to as a
range or “pseudorange.” Because of
errors in the system, it is not a true
range measurement.
In order to compute a position, we
START by measuring the distance
between the receiver and the satellites.
The satellites are the known points; the
GPS receiver on the ground is the
unknown point. The range (actually
pseudorange: estimate of range) is
measured as elapsed transit time.

1. Measure time for signal to travel from
satellite to receiver
2. Speed of light x travel time = distance
Distance measurements to 4 satellites are
required to compute a 3-D position
(latitude, longitude and altitude)
Measuring
Distance to
Satellites
Since radio waves travel at the speed
of light, we can multiply the travel
time of the GPS signal by 300,000
kilometers per second (186,000 miles
per second) to get the distance
between the GPS satellite and the
receiver. Once we have the distance
measurements it's basically a
problem of geometry: if we know
where the 4 satellites are and how
far we are from each satellite, we can
compute our location through
trilateration.
Note: It takes about .06 seconds for a
GPS radio signal to reach Earth.
 Trilateration
3 Distance Measurements
Here is an example of trilateration in two
dimensions (note that GPS works in 3
dimensions, but it’s the same idea). Three
ranges (distance measurements) will locate
a point in two-dimensional space. If we
know that our location is 127 miles from
Great Falls, then we are somewhere on the
red circle. If we also know that we are 122
miles from Billings, then our position is
somewhere on the purple circle, and, if we
are 80 miles from Helena, we are
somewhere on the green circle.
Considering the three range measurements
together, our position must be where the
three circles intersect, or, Bozeman!

With GPS, trilateration refers to measuring

the distance (lengths) from 3 satellites to
establish a position on the Earth. So,
receivers compute positions through
trilateration (measuring distances to
satellites, not angles, as in triangulation).
And with GPS, we are calculating 3-
dimensional positions and correcting for
timing offset, so we need four

Not Triangulation! measurements to determine latitude,

longitude, altitude and timing offset. This
will be explained further in the next several
slides.
 GPS receiver receives a chunk
of code from the satellite and
looks back to see how long ago
it was generated
Time
difference
Satellite and GPS receiver
generate the same codes at
the same time (so the synchronized codes
receiver “knows” when the
signal left the satellite)
Measuring Travel
Time of Satellite
Signals
In order to measure the travel time of the
satellite signal, we have to know when the
signal left the satellite AND when the signal
reached the receiver. Presumably our
receiver "knows" when it receives a signal,
because it can note the time of reception,
but how does it know when the signal left
the satellite?
GPS satellites generate a complicated set of
digital codes. These codes are complicated
enough that they can be compared easily
and unambiguously (look at the diagram of
the code shown on the slide in red). They
are "pseudo-random" sequences that
actually repeat every millisecond. The trick
is that the GPS satellites and our receivers
are synchronized so they're generating the
same code at exactly the same time.
So, when a GPS receiver receives codes
from a satellite, it looks back to see how
long ago it (the receiver) generated the
same code. The time difference is how long
the signal took to get from the satellite to
the receiver. In other words, the receiver
compares how "late" the received satellite
code is, compared to the code generated
by the receiver itself.
 GPS receiver receives a chunk
Measuring Travel
of code from the satellite and Time of Satellite
looks back to see how long ago
it was generated Signals
This slide shows the receiver
“sliding” the code it received from
the satellite to the left, to match up
with the code it generated. The
amount it has to slide is the time
difference, or the time it took to
travel from the satellite to the
receiver antenna.

Hint: go to the previous slide and

then back to this one to see the
“slide”.

Satellite and GPS receiver

generate the same codes at
the same time (so the synchronized codes
receiver “knows” when the
signal left the satellite)
 How GPS
One measurement narrows down our position to the Positions are
surface of a sphere Computed
Now let’s look graphically at how GPS
positions are computed. The first
measurement narrows down our
position to the surface of a sphere. In
this example we are 12,000 miles
away from the satellite, and 12,000
miles is the radius of a sphere
centered on the satellite. Our
position could be anywhere on the
surface of that sphere.
 When we add a second measurement, we can narrow down our position a little
more. The intersection of two spheres is a circle. Now we know that our position is
somewhere on that circle.
 Adding a third measurement narrows down our position even further. The three
spheres intersect at only two points. We can discard one of the two points
because it is nowhere near the earth. The computers in GPS receivers have various
techniques for distinguishing the correct point from the incorrect one.
In theory, we should be able to nail down a 3 dimensional position (x, y, z or
latitude, longitude, altitude) with 3 perfect measurements. However, there is a
problem (timing offset) that causes error in the measurements. To solve this
problem, we need a fourth measurement to establish an accurate 3-D position ...
 What is Timing
– Receivers use
Offset?
accurate quartz
clocks Timing offset refers to the difference
in synchronization between the
satellite clock and the receiver clock.
Remember, the satellites have highly
accurate atomic clocks on board. In
order to be perfectly in sync, we
– Satellites use would have to have an atomic clock
in our receiver. But, atomic clocks are
highly accurate far too expensive to put in GPS
receivers, so we have to live with the
atomic clocks receiver clocks and satellite clocks
being slightly out of sync. This
difference causes the timing
measurements to be slightly off.
Remember that time is needed in
The next few slides illustrate the problem graphically. The order to calculate a range: the time it
illustration is shown in 2-D to make it easier to visualize – takes for the satellite signal to reach
remember that GPS works in 3-D (satellite range measurements the receiver is multiplied by the
are determined from spheres (3-D), not circles (2-D) – the sphere speed of light to get the distance, or
represents the satellite signal transmitting in all directions from range. Without a correct time
measurement, we can’t calculate a
the satellite). But we will illustrate the problem (and it’s solution)
correct range.
using circles because it is easier to see.

A between the satellite and receiver
B (travel time x speed of light =
4 seconds
6 seconds
Note: The explanation of timing offset will be shown in two
dimensions for illustration. Remember that in reality we are
working with spheres, not circles, and we need 3 perfect
measurements to calculate a 3-D position, not 2.
2-D Illustration of
Timing Offset
Remember that establishing the
travel time of the GPS signal is the
first step in calculating the distance
distance).
In an ideal situation there would be
no timing error. Let's say we're 4
seconds from satellite A and 6
seconds from satellite B: our position
is where the 2 circles intersect (we
can throw out the other position
because it is nowhere near the earth
– remember, in 3-D, it takes 3
measurements to get to this point).
Note: the times we are using here are
not accurate – in reality, it takes
about 6/100ths of a second for a
satellite signal to reach the earth.
 2-D Illustration of
Timing Offset
If the receiver clock is one second
fast (it's ahead one second from the
satellite clock) the receiver will
"think" the distance from satellite A
is 5 seconds and the distance from
satellite B is 7 seconds. And it
"thinks" our position is where the
two dotted circles intersect. We
obviously have an incorrect position
here because of timing offset.

Note: The explanation of timing offset will be shown in two

dimensions for illustration. Remember that in reality we are
working with spheres, not circles, and we need 3 perfect
measurements to calculate a 3-D position, not 2.
 2-D Illustration of
Timing Offset
But if we add an extra imperfect
A measurement, we now have enough
B information to figure out the amount
that the clocks are out of sync.

5 seconds
(wrong time) When the receiver gets a series of
7 seconds measurements that cannot intersect
(wrong time) at a single point, it finds the
adjustment to all measurements that
lets the ranges go through one point.
In this example, subtracting 1 second
9 seconds from all three measurements makes
(wrong time) the circles intersect at a point.

C
So, by adding one extra
measurement (the 3rd measurement
in this 2-D example) we can cancel
out any consistent clock error the
receiver might have. Remember that
in 3 dimensions this means we really
need 4 measurements to cancel out
the error.

• The first three measurements
narrow down our position
• A fourth measurement is
needed to correct for the
difference in synchronization
between satellite and receiver
clocks
Correcting for
Timing Offset
The four measurements are used to
solve for four variables: latitude,
longitude, altitude and timing offset.
By the way, GPS can also provide a
measurement of velocity and
heading, which is important for
navigation.

• 4 measurements: 4 variables
• Latitude
• Longitude
• Altitude
• Time (timing offset)
 GPS Timeline
Dept. of
Transportation Selective
GPS conceived by (DoT) became Availability
U.S. Department involved in (SA) de-
of Defense (DoD) management of Selective activated, GPS GPS
funding approved GPS to respond to Availability Modernization Modernization
by Congress civil needs (SA) activated Begins Continues

1970s 1980s 1990s 2000s 2010s 2020s

1994 1996
1978 2005
GPS declared Presidential Decision
First Block, I First
fully Directive (PDD)
satellite modernized
operational strengthened federal
launched Block IIR-M
policy for GPS and
provided strategic vision satellite
Aug 1990 – Jun 1991 launched (with
for its management & use
SA deactivated new L2C signal)
1974 during Persian Gulf 1997
First satellite War GPS Modernization
launched Planning Begins

• GPS is the global standard
• 40-year old system
• Satellite expected life 7.5 years –
opportunity to upgrade with replenishment
• Improved ground (monitoring) facilities
• Modernization to improve capabilities for
civil and military users
• Removal of selective availability (SA) was
first step
GPS
Modernization
GPS is the first Global Navigation
Satellite System (GNSS), and the U.S.
Government wants it to be the best in
the world. The system is almost 40
years old and upgrades are needed. As
old satellites are taken out of operation,
there is an opportunity to replace them
with upgraded satellites.
GPS is being modernized in order to
further improve positioning, navigation
and timing capabilities for both civil and
military users. The modernization
initiative includes improved ground and
space facilities, and will result in
substantial improvements in GPS
positioning accuracy.
Removal of selective availability (SA) in
May 2000 was the first step in the GPS
Modernization initiative. This action
immediately improved GPS accuracy
from 100 meters to less than 5 meters.
This graph shows the immediate effect of SA removal.
Notice the difference in horizontal and vertical error
before and after SA was eliminated.
Selective
Availability (SA)
SA made it difficult to determine which
highway a car was on, in areas where
several highways run in parallel – this
caused problems for in-car navigation
systems. Now, it is possible to
determine in which lane a car is
traveling. Removal of SA significantly
benefits emergency vehicle response to
E-911 calls. SA removal has also
benefited fleet management – making
tracking the locations of taxis, buses,
tractor trailers and boxcars more
efficient, especially in crowded parking
lots and railway yards.

Removal of SA has increased the safety

of GPS for non-precision runway
approaches and generally improved
pilot situational awareness.

Recreational benefits include the ability

Today, the Standard Positioning Service
(SPS) provides horizontal positioning
accuracy of 7.8 meters (95 percent).
Shaw, Michael, Kanwaljit
Sandhoo and David Turner,
Modernization of the Global
Positioning System, GPS
World Magazine, September
2000
to more precisely locate favorite fishing
holes, boating obstacles, and game left
for future retrieval. Fisherman can more
accurately locate lobster pots and other
fishing gear.
 Selective
1990 – Availability (SA)
April The first step in GPS modernization
was the removal of SA on May 1,
2000 2000, by President Clinton. This
x SA on: immediately increased the accuracy
100 meter of stand-alone GPS receivers from
spread 30-100 meters to about 10 meters.

These graphs show 1-hour base files

(5 second logging interval) from the
old MSU GPS Base Station on the
roof of Leon Johnson Hall before and
after SA was eliminated. Each point
you see in the graph is a GPS
measurement (latitude, longitude
May 1, and altitude) of the stationary GPS
2000 base station. The spread across the
widest part of the points while SA
SA off: was implemented is 100 meters.
x After SA was turned off, the spread
3 meter across the points was only 3 meters.
spread The black x in each map shows the
true location of the base station.

GPS satellites broadcast messages via radio signals
on 3 frequencies (L1, L2 and L5)
• L1: 1575.42 Mhz (C/A and P/Y code)
• L2: 1227.60 Mhz (P/Y code)
• L2C: 1227.60 Mhz (2005-2016)
• Non-safety critical applications
• More sophisticated code
• Higher power
• L5: 1176.45 Mhz (2005-2018)
• For safety of life applications (civil aviation)
• Higher power
• Wider bandwidth
• L1C: 1575.42 Mhz (2016)
• Interoperability between GPS and other
GNSSs
• Improved reception in cities and other
challenging environments
New Satellite
Signals
Three new civil signals (L2C, L5 and L1C) will
be added to future satellites. The new
signals will significantly improve the
robustness and reliability of GPS for civil
users. Higher power and wider bandwidth
signals will make it much easier to acquire
and track GPS signals under tree canopy
and indoors.
Estimated accuracy is one meter or better
in real-time, without augmentations. This
new capability will spur new applications
for GPS, further expanding the rapidly
growing market for GPS equipment and
services worldwide. For more information
on GPS Modernization, see the GPS
Modernization slide show.
 Other Global
Navigation
First satellite launched Satellite Systems
Other Global Navigation Satellite
Systems (GNSS) exist. They will be
1978 2005 discussed in the next few slides. This
slide shows the launch year for the
first satellite in each system.

1984 2000
 Galileo

Galileo is Europe's contribution to the

next generation Global Navigation
Satellite System (GNSS). Unlike GPS,
which is funded by the public sector
and operated by the U.S. Air Force,
Galileo will be a civil-controlled system
that draws on both public and private
sectors for funding. The service will be
free at the point of use, but a range of
chargeable services with additional
features will also be offered. These
additional features would include
improved reception, accuracy and
availability. The Galileo system will
consist of 30 satellites positioned in
three orbit planes at 23,333 km
altitude. Galileo is expected to be fully
operational by 2015. Galileo’s first two
operational satellites were launched in
2011. Galileo currently has 2 test
satellites and 2 in-orbit validation (IOV)
satellites (Source: The Almanac, By:
Richard B. Langley GPS World,
December 1, 2011,
http://www.gpsworld.com/GNSS%20Sys
tem/Almanac/almanac-4265 )
 GLONASS

GLONASS is the Russian satellite

navigation system which, like GPS,
consists of 24 satellites. However,
there are configuration and signal
structure differences. On December
8, 2011, the GLONASS constellation
was completed. Russia is now
discussing and planning GLONASS
modernization.
 BeiDou

In an effort to shake off dependence

on foreign systems, China is now
building its own global satellite
navigation system. The initial
constellation of three geostationary
Earth orbit (GEO) satellites was
completed in 2003. A fourth GEO
satellite was launched in 2007. The
initial regional Beidou system
(Beidou-1) is being expanded, in
stages, into a global system known as
Beidou-2 or Compass. It will include
five GEO satellites, 27 medium Earth
orbit (MEO) satellites, and five
inclined geosynchronous orbit (IGSO)
satellites. The system will cover the
Asia-Pacific region by 2012 with the
global system expected to be fully
completed by 2020.
 6 Things to Take Away Today
1. 3 GPS segments
2. Satellites transmit radio signals containing
– Unique pseudorandom code And, there’s a lot more to it
– Ephemeris data than this … we’ll progress
– Clock behavior and clock corrections through the rest of the
important info in the next
– System time
few weeks.
– Status messages
– Almanac
3. Formula for satellite ranging (D = t ∙ v)
4. 4 satellites to compute an accurate 3-D position (the 4th measurement is
needed to correct for timing offset)
5. GPS is an evolving system with major improvements coming in the next 10
years
6. We are not the only country with a GNSS