Satellite Navigation Course

Satellite Navigation
Univ.-Prof. Dr.-Ing. habil. Michael Meurer

Chair of Navigation
RWTH Aachen University
&
German Aerospace Center (DLR)
Email: Michael.Meurer@nav.rwth-aachen.de
When, Where and for Whom?

For whom:
Department of Electrical Engineering and Information Technology
Information and Communication Technology (IKT) (Module B)

Micro and Nano Electronics (MiNa) (Module C)
System Engineering and Control (AT) (Module C)
everybody else who is interested in the topic Module Wahl
Master of Science 1st or 2nd year, Bachelor of Science 3rd year
Course:
Lecture (2 SWS) and Exercise (1 SWS), ECTS credits: 4
organized as bi-weekly course in two-weeks interval, details about the time planning
is available in the CAMPUS system.
More Details:
see webpage in CAMPUS System, slides will be made available via L2P
First lecture:
21.10.15 , will take place at 10:00 in bld. 1090 (Rogowski) room 301 (E1)
2
Prof. Dr. habil. Michael Meurer | Lehrstuhl fr Navigation | 21.10.2015
Dates and Times
Date
10:00-11:30
11:35-13:00
14:15-15:45
21.10.2015
04.11.2015
18.11.2015
2E
02.12.2015
2E
16.12.2015
2E
13.01.2016
2E
03.02.2016
2E
10.02.2016
(2E)
L = lecture (90min)
E = exercise (45min)
3
Practical arrangements
lecture slides will be distributed via L2P in advance of the lecture
exercises will be distributed during the lecture
exercises will also be made available via internet
written examination (90min)

at the end of the lecture period/beginning of the examination
period
Examination
Written examination (90min) on

Thursday, 25.02.2016, 11:00-12:30
(please arrive early enough, entrance from 10:30 on)
In
bld. 1132 (Hrsaalgebude HKW "Toaster / Campus Mitte)
room 101 (HKW 1)
The use of the following material is permitted: writing material

and a non-programmable pocket calculator. All other items,
including in particular books, cell phones,... are prohibited.
Motivation
Human beings exist in time and space!
Space and Navigation systems

have the same relation ship as
Time and Clock
6
Some Highlights of the Course
Introduction to radio based determination of position, time and

velocity
Position and velocity estimation
Satellite constellations and orbits
Signals and navigation services (GPS and Galileo)
Acquisition and tracking
Discriminators for delay, frequency and phase and associated loops
Multipath, ionospheric and tropospheric propagation and their

mitigation
Accuracy of position and time
Reference systems for position and time
Relativistic corrections
GPS
Goals of the Course
Overview of and introduction to satellite navigation

Modelling of navigation problems
Understanding challenges
Solution of navigation problems by appropriate technologies
Systematic study and discussion of the topic from the basics

Performance analysis of systems
Ultimate limits of performance
Introduction in latest and planned satellite navigation systems
Motivation for further projects/activities in the field,

e.g. bachelor thesis, master thesis, seminars, satellite navigation lab
contribution to research at our labs at RWTH Aachen and
German Aerospace Center (DLR) / Oberpfaffenhofen
Who is DLR ?
Deutsches Zentrum fr Luft- und Raumfahrt /

German Aerospace Space Center (DLR)
German NASA
National Space Agency and
National Aeronautics and Space Research
Center of Germany (Groforschungseinrichtung des Bundes)
Research Topics:
Space, Aeronautics, Transportation,
Energy and Security
incl. Communications and Navigation
approx. 7500 employees, 32 institutes

Who is DLR ?
10

Institute of Communications and Navigation
DLR Center of Excellence for

Prof. Dr. Michael Meurer
approx. 80 scientists working

in navigation research topics
Sites: Oberpfaffenhofen (Munich)

Neustrelitz
Who is DLR ?
11

Galileo Control Center @ Oberpfaffenhofen

controlling / operation Galileo Constellation
Embedding of Course
Navigation for SafetyCritical Applications
Seminar
Lab
12
Project Work
(Master Thesis,
Bachelor Thesis)
Scientific Project
Work
(PhD)
Expected Precognition
In the lecture the following previous knowledge is assumed:
Coordinate Systems:
Cartesian, polar and spheric coordinate systems
Linear Algebra:
Matrix calculations, eigenvalues, least squares
Probability calculus:
Random variable, probability, probability density, mean, variance,
correlation,
Signal theory:
Frequency, Fourier transformation, spectrum, bandwidth
Linear system theory:

Equivalent low-pass systems, impulse response, space state
description
13
References
References and selected textbooks:
E.D.Kaplan, C.J. Hegarty, Ed., Understanding GPS, Principles and

Applications, Artech House, Boston, London, 2nd, Ed. 2006
P. Misra, P. Enge, Global Positioning System, Signal,
Measurements, and Performance, Ganga-Jamuna Press, Lincoln,
MA, 2001
B.W. Parkinson and J.J. Spilker Jr., Global Positioning System:
Theory and Applications, Vol. I and II, Am. Inst. of Aeronautics and
Astronautics, Inc., Washington DC, 1996
14
Outline and Structure (1)
1. Introduction
1.1 Historical Overview of Navigation
1.2 Challenges and Applications
1.3 Definitions
1.4 Understanding the Satellite Navigation Principal
2. From Early Days of Satellite Navigation to Today

2.1 Sputnik
2.2 TRANSIT
15
3. NavStar GPS Status and Architecture

3.1 System Aspects
3.2 Space Segment
3.3 Ground Control Segment
4. Galileo Status and Architecture

4.1 System Aspects
4.2 Space Segment
4.3 Ground Control Segment
16
5. Position, Time and Velocity in GNSS

5.1 Position and Time Determination
5.2 Velocity Determination
5.3 Dilution of Precision
5.4 Error Contributions
6. Satellite Orbits
6.1 Orbit Dynamics
6.2 Description and Modelling of Orbits
6.3 Determination of Satellite Positioning
17
7. Signals and Services

7.1 Spread Spectrum Principle
7.2 Modulation and Pulse Forms
7.3 Frequency Spectrum and Services
7.4 Reference Frequency Generation
8. Pseudorange Estimation
8.1 Correlation Principle
8.2 Signal Aquisition
8.3 Signal Tracking
18
9. Radio Propagation and Error Contributions

9.1 Basic effects of wave propagation
9.2 Ionospheric effects and space weather impact
9.3 Tropospheric effects
9.4 Multipath propagation
9.5 Interference
19
Chapter 1:
Introduction From early to modern times
Univ.-Prof. Dr.-Ing. habil. Michael Meurer

Chair of Navigation
RWTH Aachen University
&
German Aerospace Center (DLR)
Email: Michael.Meurer@nav.rwth-aachen.de
Outline and Structure
1. Introduction
1.3 Definitions
1.4. Understanding the Satellite Navigation Principal

2.1 Sputnik
2.2 TRANSIT
21
Historic Overview - Origin of Navigation

Usage of Natural Phenomena:
Navigation using observations of

Sun, Stars, Moon, Polar Star, Southern Cross
Birds, Wind, Sea Current
4000 B.C.: First astro-navigation in India, Egypt

and Libanon
2000 B.C.: First Sea and River maps in China
1000 B.C.: Phoenician travel over open sea
Distance and Direction measurement in china:

Distance measurement (odometer) using
drum waggon 1 drumbeat per Li (approx. 0.5 km)
3. Century: coach with arm constantly showing
to the south
22
Historic Overview - Greeks and Romans

First comprehension of astronomy:
2. Century B.C. : Hipparchus proposes systems of longitude and

lattitude
100-160 A.D: Ptolemy composes Almagest

(astronomic system of the Greeks)
mathematical description of celestial bodies
Spheric trigonometry
Sine tables
standard book for mathematical astronomy
up to the 17. century
Claudius Ptolemy
(85-165)
23
Historic Overview - Middle Ages

Begin of systematic utilization of technical measurement utilities:
24
approx. 1200: magnetic compass (in China and Italy)
13. century : Introduction of Quadrant in Europe

for sea shipping (instrument for
measuring height of celestial bodies)
16. century : Mercator projection (=isogonic projection)
1609/1619
: Kepler (1571-1630) formulates his

3 basic laws about planet motion
Johannes Kepler
(1571-1630)
Historic Overview
Solving the Longitude Problem
Easy determination of Lattitude on northern

hemisphere by measurement of angle between
polar star and horizont
Polar star
25
Determination of Longitude using globally

available clock, time difference (e.g. sun rise)
allows calculation of longitude difference
(24h is equal to 360)
Availability of sufficiently stable clock not

before 18th century
North
Pole
Historic Overview
Longitude Challenge
1600: Spanish King offers a prize for accurate Longitude Determination
1714: Longitude Act of the British parliament:

10,000 for a method that could determine longitude
within 60 nautical miles (111 km)
within 40 nautical miles (74 km)
within 30 nautical miles (56 km).
determination of longitude with an accuracy of 0.5on
ship trip to Westindia (Caribbean Islands) Award is
about 200-times the annual salary of an astronomer
Source: National Maritime
Museum, London
26
Historic Overview
Solving the Longitude Problem
John Harrisons Chronometers

H-4 completed in 1759, tested in
61/62 and 64
Accuracy before:
1 Min / Day
(28km/day at the
equator)
Accuracy after:
0,5 Sec / Day
(0,23km/day at the
equator)
27
Historic Overview 19th Century
1842 : Discovery of the Doppler Effect

- sonic depth finder
1884 : Washington Conference

- definition of prime median at Greenwich
- definition of Greenwich Mean Time as
standard and reference
1895 : First street map published in the USA
View on
Prime Meridian
at Greenwich
28
Historic Overview - 20th Century (1)
29
1904 : First Radio Navigation

- hyperbolic localization using amplitude differences of received signals
1920 : First developments on inertial navigation systems
1948 : Introduction of Standard for Instrument Landing System

- introduction by ICAO (International Civial Aviation
Organization)
1957 : First artificial satellite Sputnik launched

by the U.S.S.R.
- U.S. researchers calculate position using orbits
and Dopplershift
- Origin of Satellite Navigation
1950s : U.S. Navigation System LORAN-C

- military use only until 1974,
- since 1980 FAA supplementary means for
en route navigation in aviation, now going offline
Historic Overview - 20th Century (2)
1967 : U.S. Navy Navigation Satellite System

Transit operational
-
1995 : Navstar Global Positioning System (GPS) fully operational

-
30
Russian pendant Tsikada also in development
Procurement / Development started in 1973 launched by US DOD

1996 Russian Global Navigation Satellite System (GLONASS)
fully opertional
2000s : Studies on Radio Localization in cellular

mobile radio systems
2014/15: European Navigation System GALILEO

operational (IOC), FOC 2018
Various Navigation Applications

Examples
Farming
Fleed management
Shipping
Aviation
Tourism
Search & Rescue
Construction
Time
synchronization
Railway Traffic
31
Mobile Comm.
and Positioning
Road traffic
UAVs
Definition - Positioning
Positioning:
Question: Where am I? Where is the object?
The position is determined by coordinates w.r.t. a coordinate system
The coordinate system is defined by
The origin of the coordinate system and
The orientation of the coordinate axis
We can classify positioning into

absolute positioning (position fixing) and
relative positioning (dead reckoning)
32
Definition - Self and Remote positioning

Question: Who determines the position?
Self Positioning:
Remote Positioning:
Cooperative:
Cooperative:
Position is determined with help of

others mostly infrastructure, e.g.
signals transmitted from other stations
Autonomous / Non Cooperative:
Position is determined by others with

the help of the object to be located,
e.g. positioning of GPS satellite
Autonomous / Non Cooperative:
Position is determined without the help

of others, e.g. visual or inertial
navigation
33
Position is determined by others

without the help of the object to
located, e.g. radar
Definition - Localization
Localization:
Question: Where am I in a topological sense, e.g. geographically?
The position is described in relation to a topography, e.g. a map
34
Definition - Navigation
Navigation:
Question: How do I get from one place to another?
Navigation comprises the planning, monitoring and controling of the
movement of an object from one place to another.
Origin of Navigation
Lat. Navis (Ship) and agere (to act)
Meaning of Navigation in narrower sense:

Determination of position (often also orientation
and velocity) of an object w.r.t. to a reference
Navigation usually considers spacious objects

whereas positioning concerns punctiform position determination
35
Quality Measures of Navigation Systems
Measures defined in 2001 by U.S. Federal Radionavigation Plan (FRP)
Accuracy
36
Accuracy:
Describes the difference (error) between estimated and true
parameter, e.g. distance between true and estimated position
The accuracy is typically described by statistic means of the
difference (error), e.g. the standard deviation, variance or
confidence (often 95%)
Confidence means the maximum value of the difference which is
not exceeded with the probability given (here 95%)
Characterize typical behavior of the system in presence of nominal
error components
37
Accuracy
Integrity
38
Integrity:
Capability of a navigation system to warn the user if the system

should not be used
Limit risk of abnormal behaviour of the system due to errors
resulting from system failures
Typical parameters e.g. Integrity Risk, Alert Limit and Time-to-alert
39
Accuracy
Integrity
Continuity
40
Continuity:
Capability of a navigation system to offer a navigation service

without interrupt during an ongoing operation
Limit risk of losing the service unexpectedly
41
Accuracy
Integrity
Continuity
Availability
42
Availability:
Percentage of time (probability) for all possible users in the service

area in which the navigation service is available
Availability presumes Accuracy + Integrity [+ Continuity]
43
Relationship between parameters:
Availability
Continuity
Integrity
Accuracy
44
Standardisation Organisations
for Navigation
General Standardisation Organisations:
International Organization for Standardization (ISO)
American National Standards Institute (ANSI)
Comit Europen de Normalisation (CEN)
Application related Standardisation Organisations:
International Civil Aviation Organization (ICAO)

International Maritime Organization (IMO)
International Hydrographic Organization (IHO)
National Aeronautics and Space Administration (NASA)
European Space Agency (ESA)
Russian Space Agency (Roscosmos)
European Telecommunications Standard Institute (ETSI)
Further Organizations
International Telecommunications Union (ITU)
U.S. Federal Aviation Administration (FAA)
European Organization for the Safety of Air Navigation (Eurocontrol)
45
Summary
History of Navigation:
Transition from Observation of Natural Phenomena to Radio based
Technologies
Terrestrial and Satellite Based Positioning
Importance of Accurate Time for Precise Positioning
Manifold Applications of Localization
Definitions:
Self and Remote Positioning
Localization
Navigation
Quality Measures
46
Accuracy
Integrity
Continuity
Availability
Outline and Structure
1. Introduction
1.3 Definitions
1.4. Understanding the Satellite Navigation Principal

2.1 Sputnik
2.2 TRANSIT
47
How does it work?
1
(x1, x2, x3,t)
48
Measurement of the time of arrival of the signals from at least four

synchronized satellites provide us with (x1,x2,x3,t), additional measurements
improve the accuracy and reliability
1 ns corresponds to 30 cm
Time of Arrival
Measuring the time of arrival using the receivers clock

correlation of the received signal with a local copy
satellite signal
local replica
(known sequence)
delay measured using the receivers clock
period of sequence (1023 for GPS open signal)
49
finite bandwidth measurements,

corrupted by noise and errors
300m in GPS
Time of Transmission
Informing about the time of transmission using the transmitter's

clock
50
encode the information about the clock reading during transmission

(navigation message 50 bps)
determine the beginning of the frame with high accuracy
Pseudo Range vs. Range
Pseudorange:
Pseudorange = c ( Time of Arrival (measured with Rx clock)

- Time of Transmission (measured with Tx clock) )
c 3 108
51
m
s
Pseudorange and range are only equal,

if propagation speed in medium is close to vacuum and
if the clocks of Rx and Tx are perfectly synchronized
Code and Carrier Phase Signal
signal flow
20 ms
information
50 bps
=5101 bps
Start of a subframe,
time encoded in the data
information
1 Mcps
=1106 bps
Carrier
1.5 GHz
=1.5109 1/s
52
next subframe,
ditto
..
1 data bit = 20 repetition

of the spreading code
code bit = chip

19 cm
modulated on carrier (BPSK)
300 m
ambiguity!
System Architecture of
Global Satellite Navigation Systems
Space Segment
Global Navigation
Satellite System (GNSS)
Ground Control Segment

User Segment
53
Space Segment
Tasks:
Transmission of navigation signals
Provision of navigation message

(e.g. orbit information, time information,
corrections,)
Components:
54
Constellation of several navigation

satellites (typically 24-30) in
medium earth orbit (MEO,
typical altitude 19.000-24.000km)
Ground Control Segment

Tasks:
Determination of orbit information and

satellite clocks corrections
Provision of further correction

(e.g. Ionosphere, Group delays)
Generation and upload of navigation

message to satellites
Monitoring of space segment

(correctness of navigation signals)
Control of space segment (satellite

maneuvers, house keeping, )
uplink and
TT&C stations
Components:
55
control center(s)
Global network of monitoring

stations, uplink and TT&C
stations
monitoring stations
Control Center(s)
TT&C = Telemetry, tracking & command
navigation signal
command signal
data exchange
User Segment
Tasks:
Reception of navigation signals
Determination of pseudoranges
Decoding of navigation message

information (orbit, corrections..)
Determination of user position
Components:
56
User navigation receiver (plenty of

different types, form factors, .)
Sources of Error in Pseudoranges
satellite clock
and transmitter
1.5 ns
satellite orbit
45 cm
23000 km
corrections
ionospheric
delay
2f ~ cm, 1f < 35 m
interference
monitoring
- ground segment
receiver
57
70-400 km
tropospheric
delay
5-10 cm
0-10 km
multipath
0-150 m
<1 km
Coordinate Systems
Hipparchus, 2nd century BC
Represent the users position

latitude easy
longitude (time)
Earth Centered Earth Fixed
( zero longitude =
Greenwich meridian)
local: East, Nord, Up
longitude of
the
ascending node
inclination
satellites
orbital plane
58
latitude
(parallels)
Represent the satellites orbit

Conventional Inertial
Reference System
(0 = vernal equinox)
Keplers description two
body and gravitation
longitude
(meridians)
earth
time!
Key Figures
50 times faster than

Porsche Carrera or ICE
amazing difference in
the orders of magnitude
1 second in 100000 years

50% of a typical bulb
indoor 100-1000 less
1/10 [AttoWatts]
59
Summary
Today, positioning is based on the measurement of propagation delays

between various satellites and the user.
Extreme constraints on
system synchronization (sat. vs. syst. time: 1.5 ns)
satellite orbit determination (45 cm)
measurement of the time of arrival by correlation (mm-dm)
estimation of excess delays in the atmosphere (ionosphere and
troposphere)
multipath
Need for an accurate global reference system
Accuracy is not the only criterion: integrity, as well as the availability of
accuracy and integrity are additional key elements in many applications
60

Satellite Navigation Course

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Satellite Navigation Course

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Satellite Navigation

Univ.-Prof. Dr.-Ing. habil. Michael Meurer

When, Where and for Whom?

Information and Communication Technology (IKT) (Module B)

Dates and Times

lecture slides will be distributed via L2P in advance of the lecture

exercises will be distributed during the lecture

exercises will also be made available via internet

written examination (90min)

Written examination (90min) on

The use of the following material is permitted: writing material

Space and Navigation systems

Some Highlights of the Course

Introduction to radio based determination of position, time and

Position and velocity estimation

Satellite constellations and orbits

Signals and navigation services (GPS and Galileo)

Acquisition and tracking

Discriminators for delay, frequency and phase and associated loops

Multipath, ionospheric and tropospheric propagation and their

Accuracy of position and time

Reference systems for position and time

Goals of the Course

Overview of and introduction to satellite navigation

Systematic study and discussion of the topic from the basics

Introduction in latest and planned satellite navigation systems

Motivation for further projects/activities in the field,

Deutsches Zentrum fr Luft- und Raumfahrt /

approx. 7500 employees, 32 institutes

Deutsches Zentrum fr Luft- und Raumfahrt /

Institute of Communications and Navigation

DLR Center of Excellence for

approx. 80 scientists working

Sites: Oberpfaffenhofen (Munich)

Deutsches Zentrum fr Luft- und Raumfahrt /

Galileo Control Center @ Oberpfaffenhofen

Linear system theory:

References and selected textbooks:

E.D.Kaplan, C.J. Hegarty, Ed., Understanding GPS, Principles and

Outline and Structure (1)

2. From Early Days of Satellite Navigation to Today

Outline and Structure (2)

3. NavStar GPS Status and Architecture

4. Galileo Status and Architecture

Outline and Structure (3)

5. Position, Time and Velocity in GNSS

Outline and Structure (4)

7. Signals and Services

Outline and Structure (5)

9. Radio Propagation and Error Contributions

Univ.-Prof. Dr.-Ing. habil. Michael Meurer

Outline and Structure

2. From Early Days of Satellite Navigation to Today

Historic Overview - Origin of Navigation

Navigation using observations of

4000 B.C.: First astro-navigation in India, Egypt

2000 B.C.: First Sea and River maps in China

1000 B.C.: Phoenician travel over open sea

Distance and Direction measurement in china:

Historic Overview - Greeks and Romans

2. Century B.C. : Hipparchus proposes systems of longitude and

100-160 A.D: Ptolemy composes Almagest

Historic Overview - Middle Ages

approx. 1200: magnetic compass (in China and Italy)