Global Positioning System

Chirag Warty
chiragwarty@ieee.org

UCLA

Presentation Overview
Basics
Earths atmosphErE Astronomers KEplErs thrEE laws Atomic Clocks

NAVSTAR
Types of GPS satellites Satellite Orbit Controls and users Operations Pros and cons

GPS System
Signal transmission Globe dynamics

Applications

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Hipparachus (180 125 BC)

Astronomers
Albert Einstein (1879-1955)

Ptolemy (2nd Century)

Galileo Galilei (1564-1642)

Issac Newton(1642-1727)

Stephen hawking(1942-) Nicolaus Copernicus (1473-1543)

Edwin Hubble(1889-1953)

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Earths atmosphErE
Satellite Types
Low earth orbiting Satellites (LEOS) Medium earth Orbiting Satellites (MEOS) Geostationary satellites (GEOS)

Exosphere
Thermosphere Mesosphere Stratosphere Troposphere
10km -12Km 80% of mass concentration

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Longitude and latitude

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KEplErs thrEE laws

Johannes Kepler (1571 - 1630) KEplErs 1st Law

The path followed by a satellite around the primary will be an ellipse Where 0 < e < 1 When e = 0 , the orbit becomes a circle

KEplErs 2nd law

For equal time intervals a satellite will sweep out equal areas in its orbital plane, focused at the barycenter. Areas A1 = a2 and average velocity s1 and s2 m/s

KEplErs 3rd law

Square of periodic time of the orbit is proportional to the cube of the mean distance between the two bodies Where a = semimajor axis

n = mean motion of satellite in rad/sec

= Earths geocentric gravitational constant
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Atomic Clocks
National Bureau of standards (1949) Atomic resonance frequency standard for time keeping

Most Accurate Standard Television frequency Time distribution services Global positioning Systems Atomic Clocks use precise microwave signals that electron in the atom emit when they change energy level
Absorption Spectroscopy is used in NIST-f1 Clock Technology advances 1990s
Laser cooling & trapping of atoms Precision laser spectroscopy Convenient counting of optical frequencies using optical combs

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NIST F1
NIST F1
Primary Time standard cesium fountain atomic clock Based in Boulder, Colorado

UTC Coordinated Universal Time Accuracy - 5 x 10-16

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NAVSTAR
Navigation System for Timing and Ranging
Brian child Department of defense (DoD) Originally designed for 24 satellites 21 Satellites in use 3 Satellites as replacement
Space segment (satellites) Control segment (control stations) User segment (GPS receiver)

Signal Coding Signal Composition Sources of Error Accuracy

The GPS system

Types of satellite (Block I,

Block II, Block IIA, Block IIR And Block IIF )

Modulation and Multiplexing Applications

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Launched 1978-1985 Launch pad California cape canevereal Weight 845 Kg Life span 4 to 5 years Main Power Supply Solar panels (400 W) Reserve Power source - Nickel Cadmium batteries

Block I

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Launched 1988 to 1996 Launch pad Cape Canaveral Weight 1500 Kg

Block II

Wing Span = 5.1 mts

Life Span = 7.5 years

Atomic clocks =10-13 sec

2 Rubidium 2 Cesium

Block II = 9 satellites Block IIA = 18 satellites

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Launched - September 2005 Weight 2 Tons , $75 million Capability

Second Civilian Signal (L2C) New Military signal with new code (M code, L1M L2M)

Block IIR
After challenger catastrophe in 1986 it was decided to take the satellites to the orbit in pairs with Delta rockets.

3 Rubidium atomic clocks

Accuracy = 1 sec in 1 million years

Power Supply Solar panels 750W

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Satellite Orbit
Speed 3.9 Km/s Circulation Time 11hrs 58 min

Mean Distance 26560 Km

Placement 55degrees inclination with the equator Achievable Maximum coverage Avoid satellite placements at poles (TRANSIT system ). Blue Region is the spatial distribution of signal when the satellite is over Ethiopia
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Control Segment
Master Control Station US Army Location - Schriever AFB , 20 Km south from Colorado Springs

National Geospatial-Intelligence Agency (NGA) was founded in Sep 2005

Operations of the Monitoring Stations

Track Satellite path Collect Data from satellite Process the raw data Transmit correction if necessary

Satellite Tracking Station in Hawaii

Transmit Capability Stations

Ascension Islands Diego Garcia Kwajalein S-band signal (S-band: 2000 - 4000 MHz).

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50th Space Wings 2nd Space Operations Squadron

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User Segment

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Position Determination
Each Satellite constantly is in the process of transmitting its identification Signal Transmitted signal
I am satellite X my position is Y This information was sent at time Z Data about the position of other satellites

Position Determination
Receiver compares the time when the signal was sent and received The time difference tells the distance between the receiver and the satellite Triangulating the signal tells the position

3 Satellites- 2D position Fix (Earth surface)

Assumes that receiver is located on earth surface

4 Satellites 3D position fix

Tells us the height from the earth surface
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Position Determinationerror of 1/100 second, quite common A clock

Computational Capability
Ground Speed Ground track (direction) Doppler effect (signal strength gets stronger in the direction of satellite) 12 satellite signal parallel processing from car races would in GPS navigation lead to a mistake in the position of about 3000 km. To achieve an accuracy of 10 m of the position, the runtime of the signal must be precise to 0.00000003 seconds.

Electromagnetic waves travel at the speed of light (3 x 10^8 m/s) Time span from Satellite to receiver 0.07 s Practical Implication
Receiver has a quartz clock with intrinsic delay Runtime signal seems to be longer Pseudo ranges (False circles)

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Master Clock
United States Naval Observatory (USNO) Precise time reference used by all Department of Defense 12 Cesium atomic Clocks, 12 Hydrogen Maser clocks

Delay rate 1 sec in 60 million years

Two way satellite time transfer

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Signal Transmission
Transmitted GPS signal
one-way position determination exact distance and direction transmission of navigation information simultaneous receiving of several satellite signals provision of corrections for ionospheric delay of signals and insusceptibility against interferences and multi path effects

Modulation of the carrier signals

C/A and P-Code Pseudo Random Numbers (PRNs) Transmission of data 0+0=0; 0+1=1; 1+0=1; 1+1=0

Choice of Carrier Frequency

Frequency below 2 GHz Ionospheric delays below 100 MHz and above 10 GHz At Low frequency EM waves differ in speed PRN-codes require a high BW. Tolerant to weather phenomena like, rain, snow or clouds.

Civil GPS -SPS L1 frequency 1575.42 MHz Military Service GPS - PPS 1227.60 MHz of California Los Angeles University

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Signal Transmission
Modulation of Carrier Signals
Coarse Acquisition (C/A) code
1023 chip long code, transmission frequency of 1.023 MHz. A chip in the same as a bit Bandwidth - 2 MHz to 20 MHz (spread spectrum) C/A code is a pseudo random code (PRN) It is repeated every 1023 bits or every millisecond Civil GPS systems

Precise code (P code)

L1 and L2 carrier frequencies at 10.23 MHz pseudo random code Transmitted Encrypted anti-spoofing (AS) mode signal is encrypted in a Y-code. The encrypted code needs a special AS-module accessible only by a special key.
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Signal Transmission
Pseudo Random Numbers (PRNs)
GPS satellites are numbered 1 32 Satellite is identified by their PRN PRN codes are only Pseudo random If the codes were actually random, 21023 possibilities would exist.

Transmission of Data
GPS data Phase modulation Digital Signal can only be transmitted using PM L1 signal + 50 Hz signal constantly transmitted 50 Hz signal = satellite orbits, clock corrections, system parameters Complete signal 37500 bits at 50 bps = 12.5 mins 25 frames of length 1500 bits 25 Frames divided into frames of 300 bits (6 sec) 300 bits divided in to 10 words = 30 bits , 0.6 sec

Data Transmitted

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Signal Composition
Sub frame data
First word (TLM) : Telemetry word, contains information of age of the ephemeris data Second word (HOW) : Hand over word, number of counted z-epoches

Frame data
First sub frame - contains data about status, accuracy, clock correction data of Tx satellite The second and third sub frames contain ephemeris parameters 4th and 5th Sub frame - almanac data about orbit parameters of all satellites, technical status, actual configuration, identification number If satellite is unstable or error in time Control station marks its as unhealthy The information repeats every 30 frames

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Signal Runtime
Satellite transmits PRN code know to the receiver Rx compares received PRN with the one in its memory The colored rectangles = 1, blank gap = 0 Violet rectangles = Signal received from Satellite Orange rectangles = Signal in the Rx memory The signals have to be shifted till they fit this helps the receiver to determine its distance from satellite Cross correlation Algorithm is used Top row = Signal received from satellite Middle row = signal in Rx memory Top row x Middle row = Third row Sum of all elements in third row = 9 Green signal shows the start of the signal

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Error Sources Selective Availability

Selective availability is an artificial falsification of the time in the L1 signal transmitted by the satellite SA turned off : May 2, 2000 5:05 am SA leads to a less accurate position determination Ephemeris data are transmitted with lower accuracy, meaning that the transmitted satellite positions do not comply with the actual positions The reasons for SA were safety concerns. Terrorists should not be provided with the possibility of locating important buildings with homemade remote control weapons Sample space of 200mts

May 1, 2000 with Selective Availability

May 3, 2000 without Selective Availability

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Error Sources
Good Satellite Geometry
Satellites in view are well distributed in space Quadrature separation is optimum for position determination Gray area permissible error

Bad Satellite Geometry

All satellites in view point in the same direction Error of 100 150 mts Obstruction of sky or inside the building

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Error Sources - Height

Latitude placement Error
Top Graph
The diagram on the left side shows the inaccuracy of the height (at the beginning of the curve with SA), recorded in Wuhan (China) Wuhan is situated on 30.5 northern latitude were ideal satellite constellation can be found at all time

Bottom Graph
Casey-Station in the Antarctica (66.3 southern latitude) Due to the satellite constellation from time to time the error is much larger falsification by the atmospheric effect gets more significant the closer the position is to the poles
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Accuracy
Present Accuracy : Civil GPS 15 to 20mts With SA : Civil GPS 100 mts With P-code : Military/ Land survey Few centimeters

Differential GPS (DGPS)

Enables accuracies of about 5mts second stationary GPS receiver is applied for correcting the measurements of the first receiver The correction signal - free of charge, the only costs of the long wave receiver arises

Wide Area Augmentation System (WAAS) Operating since 1999 available for portable GPS receivers since 2001 25 ground stations and two reference stations that calculate correction data The data is sent to the receivers via geostationary satellites
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Accuracy
Accuracy of GPS system with SA activated Typical accuracy with SA deactivated Typical accuracy of differential GPS (DGPS) Typical accuracy with WAAS/EGNOS 100 Meter 15 Meter 3 - 5 Meter 1 - 3 Meter

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Applications

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Questions ?????

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