A
SEMINAR REPORT
ON
GPS TRACKING SYSTEM
SUBMITTED IN PARTIAL FULFILLMENT FOR THE AWARD OF
HIGHER NATIONAL DIPLOMA IN ELECTRICAL/ELECTRONICS
ENGINEERING.
ADESEUN OGUNDOYIN POLYTECHNIC, ERUWA
MAY 2024.
SUPERVISED BY: SUBMMITED BY:
ENGR.MRS ADEYEYE A.H ADEDOKUN VICTOR.A
2220220002
ABSTRACT
The Global Positioning System comprises of a network of 24 to 32 space satellites used to locate
positions or navigate routes anywhere on earth, formed by synthesizing the merits of the Transit,
Timation and 621B.No matter where you are in the world, the system can help you find your way. It
can capture your current location, and even show you the route leading to your intended destination.
The GPS receiver determines the position of an observer by solving pseudorange equations, obtained
from four or more satellites using a mathematical principle called trilateration simultaneously. GPS has
attracted the attention of researchers, who attempt to apply it to various applications, and to solve
ensuing challenges. This paper presents a review of the fundamental theory, applications, and
challenges. Examples of applications reviewed are in vehicle tracking, disaster management,
monitoring geological activity, mapping, navigation, law enforcement, air, land, and sea navigation,
and so on. The challenges associated with GPS such as spoofing and ionospheric disturbances were
reviewed. Therefore, the authors recommended the incorporation of GMS network operators’ base
transceiver stations into GPS position data to enhance position accuracy and precision. Encryption of
GPS signals that can only be decoded by the requesting receiver was also recommended.
Index Terms: Base station, Global Positioning System, Mapping, Navigation, Trilateration, Signal
encryption, Tracking
CHAPTER ONE
INTRODUCTION
1.1 Background to the Study
The Global Positioning System (GPS) is a Global Navigational Satellite System (GNSS)
comprising of a network of 24 to 32 space satellites used to locate positions or navigate routes
anywhere on earth[1]. The first GPS satellite or Space Vehicle (SV) was launched into space in
precise orbit by the US Department of Defense (DoD) in 1978. Originally, the GPS system was
designed for military purpose. But in the 1980s, the US government made the system available
for civilian and commercial use, in any application that requires location coordinates. Roger L.
Easton of the Naval Research Laboratory, Ivan A. Getting of The Aerospace Corporation, and
Bradford Parkinson of the Applied Physics Laboratory are credited with inventing it. The 24
GPS satellites constellation became fully operational in 1994. Merits of the GPS include
(a) GPS allows for time stamping of position,
(b) in comparison with alternate technologies such as VHF based triangulation method and
VHF tracking, GPS are more accurate, and
c. position on air and earth surface can be determined using GPS. Other advantages are
d. Global Positioning System possesses 24-hours coverage with very rapid position
updates, and (e) positions can be determined even in bad weather. In addition, according
to,
GPS permits usage in scalable applications and promotes the development of efficient and safe
technologies. Meanwhile, the next paragraphs provide further details behind the interesting
history of the GPS. Sometimes after the launch of Sputnik by the United State of Soviet Russia
(USSR) in 1957, Dr. F. T. McClure concluded that the observable Doppler shift in the satellite
signal could provide an indication of the position of a person who is stationary. Later, in 1960, I.
A. Getting recommended the use of satellites also for navigations[3]. Meanwhile, the Applied
Physics
Laboratory of the John Hopkins University designed and constructed a prototype satellite based
positioning system for United State of America Navy. Moreover, with further enhancement, the
developed prototype functions as the Navigation Satellite system (NAVSAT), commonly called
Transit. Meanwhile, the USSR developed Cicada operated on the same principle as the Transit
but with lesser accuracy and limited to line of sight since it is operated at higher frequency.
Another predecessor of the GPS is the Time Navigation (Timation) developed by the Naval
Research Laboratory team headed by Roger Easton. Timation integrated atomic clock, thereby
improving the accuracy of the navigation system. Furthermore, the US Air Force developed
621B, which provides 3-dimensional coverage and global service. Digital signals were used,
leading to the avoidance of inter-channel bias shifts. The merits of the Transit, Timation and
621B were synthesized by Col. B. Parkinson to have developed the Navigation Satellite
Systems (NAVSTAR) GPS, so as to get funding from Defense System Acquisition Review
Council (DSARC) in 1973. The components, properties and purpose of the GPS along with
techniques for solving issues associated with navigation was presented .
A search of related literature was done via queries on reputable repositories of scholarly
scientific articles such as ieeexplore.org, sciencedirect.com, and onlinelibrary.wiley.com. The
search was done using the following keywords: GPS tracking system. Figure 1 shows a
comparison of the results displayed. Subsequently, we selected articles that better discussed the
subject under consideration. The result of the search show that over the past 10 years, a lot of
researchers have been paying attention to the subject of GPS tracking systems. Furthermore, as
shown by the filtered result of 2012-2017, which is more recent, GPS tracking system is still a
current area of research. Hence, this review assists GPS based system designers to be aware of
the operations of GPS, associated challenges and ongoing research to solve them. It will also
highlight the versatile applications of the global positioning system. In order to improve the
accuracy of the navigation and positioning system, we recommend more research into mobile
cellular base transceiver stations – satellite based system.
1.2 Aim of the Study
The aim of this study is to investigate the review of GPS tracking System
1.3 Objectives of the Study
- to develop a background knowledge on GPS tracking
- to provide valuable insight on GPS tracking
1.4 Significant of the Study
Due to the lack of knowledge on GPS tracking system, this seminar paper signifies to ensure a
pure knowledge and more insights on this seminar, this seminar paper will highlight the uses
and the applications of GPS tracking system
CHAPTER TWO
2.0 SEGMENT OF THE GLOBAL POSITIONING SYSTEM
The GPS system consists of three segments, which are
1. The space segment - the GPS satellites
2. The control system; operated by the US military
3. The user segment; which involves user’s GPS receiver devices.
Fig 1 GPS segment
fig 2 Visible Satellites
2.1 Space Segment
The GPS satellites, placed in six different orbits (four satellites in each orbit) are constantly
moving, and making two complete circles per day, orbiting round the earth in altitude of about
19,000 km (12,000 mi) away from it. The orbits are arranged in such a way that, at least six
satellites are always within line of sight from almost everywhere on the Earth's surface. The
high altitude insures that the satellite orbits are stable, precise, and predictable. It also prevents
the satellites’ motion through space from being affected by atmospheric drag. Because they are
in the space, the satellites are powered primarily be sun-seeking Solar panels, with NiCad
batteries providing secondary power. Each of the GPS satellites has installed in them, four
highly accurate atomic clocks, which enable the GPS to provide the most accurate time system
that exist today
2.2 Control Segment
The control segment of the GPS system comprises: a master control station (MCS) (2) an
alternative master control station (3) dedicated and shared ground antennas, and (4) dedicated
monitor stations. On the control segment, the monitor station keeps track of the precise satellite
orbits. The tracking information is sent to the master control station, which then check for any
discrepancies in the predicted orbits and the actual orbits. Any such orbit discrepancies are
corrected and transmitted back to the satellites as a navigational update, using the GPS
dedicated shared ground antennas. On receiving of this update, the satellites then broadcast the
corrections. The update data synchronize the onboard atomic clocks and adjust the ephemeris of
each satellite’s internal orbital model. The satellites then broadcast these correct orbit
information, along with the other position and timing data, so that GPS receivers can precisely
establish the real location of each satellite
The GPS user segment is composed of hundreds of thousands of US military users of the
secured GPS Precise Positioning Service, and hundreds of millions of other civilian users of the
GPS Standard Positioning Service. The Standard Positioning Service is used in a wide variety
of fields, which includes commerce, science, engineering, agriculture, surveillance, navigation
and tacking. Most civilian users of GPS fall into one of the four broad category uses:
navigation, surveying, mapping, and timing. All GPS users must be have a device with built-in
GPS receiver processor module. Some example of this are: dedicated in-car GPS navigation
unit, GPS modules integrated into smart phones, watches, robots, et
2.3 Satellite Signals
GPS satellites continuously broadcast signal carrying information (modulated carrier wave)
containing satellites position, time, and condition or health of the satellites and the network via
radio wave, which travels at the speed of light, approximately 299,000 km (186,000 mi) per
seconds, and reaches the earth in approximately 6/100ths seconds. The information being
broadcast by all satellite signals is categorized into three – a pseudorandom code, ephemeris
data, and almanac data. Pseudorandom noise code (PRN) is simply an identifier code that
identifies individual satellite used by the receiver to choose which satellite to engage in
communication, and to determine the location of satellites in space thus aiding in the
computation of signal Time of Flight (TOF), and in pin-pointing expertly where the satellite is
in space. Ephemeris data contain information about the status of the satellites (healthy or
unhealthy), and its current time and date. While, almanac data contains the satellites orbit
information and status information such as the precise satellite orbit, and error correction data.
Once the receiver has obtained the almanac information of the satellites, it picks the one to
listen to, by their unique pseudorandom code (sequence of zeros and ones), which is in the
range of 1 - 32. There can be a delay of about 30 seconds before achieving the first computed
position because of the need to read the ephemeris data.
2.4 Satellite Frequency Satellites
Signals are transmitted on two separate L-band carrier frequencies L1 and L2 (L1, at 1.57542
GHz and L2, at 1.2276 GHz), using the unique code division multiple access (CDMA)
technology, to modulate their bit stream of pseudorandom noise (PRN) code (1023 bits of
length). The GPS receiver uses this distinct C/A code pattern to identify each individual
satellite. The period for the PRN code is 1ms, which result in a PRN bit rate of 1.023 Mbps
(f/10) of C/A code for civilian use. While the P code, which provides PPS for military users
utilizes a PRN code with a bit rate of 10.23 Mbps, which is ten times faster than the PRN bit
rate of the C/A code . The L1 carrier broadcast (or is modulated by) both the Coarse Acquisition
(C/A) code and the Precise (P) code. Whereas, the L2 carrier broadcast only the precise (P) code
C/A code is a public encoding system that provides Standard Positioning Service (SPS) for
millions of civilian GPS users, although it has a lower resolution navigation accuracy than the P
code. The standard horizontal accuracy is about 15 meters 95% of the time. That is, a user can
read his position within about 15 meter of his true position on the earth, 95% of the time. While,
P code is usually encrypted and provides Precise Positioning Service (PPS), available only to
the U.S. military and other NATO nations they grants access to the encrypted code. Using the P
code on both L-band frequencies, a military receiver achieves a greater accuracy. To increase
the accuracy of the C/A code and the P code to within an average of about three to five meters,
additional techniques such as Wide Area Augmentation System (WAAS), Differential GPS
(DGPS) , Assisted GPS, and inertial navigation system are used. GPS signals require a direct
line or path between satellites and the receiver device. On the other hand, it will be difficult if
not impossible for GPS to computer positions if the signals are being blocked by any solid
object, be it the human hand, heavy forest canopy, mountain ranges, buildings, or any other
obstacle. In addition, satellite signals cannot penetrate water, soil, underground bunker, and
caves
2.5 Working Principle of the GPS System
Once the GPS receiver obtains a ‘lock’ on the satellites by means of their unique PRN codes, it
picks the one it wants to ‘listen’ for their radio signal message. A GPS receiver must be locked
onto the signal of four or more satellites in order to estimate a more accurate 3-D position
(longitude, latitude, and altitude) of the user. After picking the satellites to listen to, the receiver
acquires the almanac data from their incoming radio wave signal. The almanac data contains
time and date information about when the signals leaves the satellites i.e. when they are
transmitted. By comparing the satellites’ time of transmission (TOT) of the signal with the time
it receives the signal i.e. time of arrival (TOA), the receiver is able to measure the signal travel
time – time of flight (TOF). Then by multiplying this elapse time (time of flight) by the speed of
light, which is approximately 299,000 km (186,000 mi) per seconds, the receiver computes its
distance away from the satellites, as given by the equation:
Speed, v = 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒
, 𝑑 𝑡𝑖𝑚𝑒, 𝑡
Therefore, d = v.T
The GPS signal Time of Flight (TOF) is calculated to be the difference between the satellites’
Time of Transmission (TOT) of the signal and the Time of Arrival (TOA) of the signal to the
receiver. Thus, in order to calculate the TOF the GPS receiver has to ‘know’ the TOT and the
TOA of the signal. To ‘know’ the TOA of the satellite signal, the GPS receiver simply “checks”
its own internal clock for the time the signal was received. To ‘know’ the TOT, the receiver’s
internal clock must be synchronized with the satellite’s onboard clocks. This makes it possible
for the receiver to generate the same digital transmission codes with the satellite at the same
time. So when the receiver gets a signal from the satellites, to ‘know’ the satellite’s TOT, the
GPS receiver call back its memory and “check” the time when it generated similar codes. This
gives the receiver the time the signal left the satellite. With its distances from at least three
satellites estimated, the GPS receiver can compute a 2-D position (longitude and latitude) of the
user and track movement.
However by estimating its distances from four or more satellites the GPS receiver can compute
a 3-D position of the user’s exact location using a mathematical principle called trilateration.
The result is then, displayed on an electronic map, which the user can view from the screen of
his receiving device. After determining the position, the GPS unit calculates other quantities
such as speed, bearing, track, trip distance, distance to destination, sunrise and sunset time and
more. Conceptually, trilateration is the operation for determining geometric position or location,
by locating the points of three or more known distances, and then taking the common point
where all the measured distances intercept (triangulating) to be the true position. If for example
you were told you are 1800 km away from Lagos, Nigeria, 10,200 km from New York, U.S.A.,
and 7,000 km from Ontario, Canada. You can easily locate your position from a map (electronic
or paper) with accurate precision by locating each of these known distances, and then taking
your true position to be the point where all three measured locations intercept. If you were given
your distance and bearing from a fourth city or point, you could even estimate your position
even more precisely
CHAPTER THREE
GPS APPLICATIONS
3.1 Application of GPS
Some of the more recent applications of GPS are highlighted in the following subsection.
3.1.2 Automated Vehicle: Sidek et al studied the critical flaw in GPS based vehicle speed
monitoring system. Gonder et al used GPS based travel data in the evaluation of Plug-In
Hybrid Electric Vehicles (PHEV). Challita et al pointed out that GPS is not ideal for urban
communities and other GPS denied environment such as indoors and urban areas. Owing to
this, Weiss et al fused vision data with GPS data particle filter in the control of autonomous
micro aerial vehicles (MAVs). Furthermore, researchers are attempting to build a robust vehicle
tracking system by incorporating the GSM module into the GPS, with authors like Tolentino
and Talampas[ adding a mechanism for autonomously powering the system via a piezoelectric
generator.
3.1.3 Monitoring Earth Movement: One of the many scientific applications of the GPS
involves the use of a GPS unit to monitor geological activities such as earth tremors,
earthquakes and volcanic rumblings. Berglund et al studied the relationship of earthquake
ground movement and tracking characteristics of GNSS receivers. Understanding that the
resulting GPS data in the invent of earth movement can result in inaccurate prediction, Wu et al[
proposed the use of Kalman filter along with smoothing techniques, while Lim et al reviewed
different forms of extended Kalman filter.
3.1.4 Power Tracking: GPS has been used in low power tracking systems in conjunction with
GPRS module as presented , and in dual-axis solar tracking system along with digital compass.
Mapping, Survey and Navigation: GPS data is used to generate a very accurate map for any
site of geographic location, which includes street map, highway map, maps of archaeological
sites, and maps for towns, countries, and even the world. In Land survey, Surveyors use GPS to
map out roads, bridges, parking lots, pedestrian paths, and more, during construction. In
addition, GPS is used to map and determine property boundaries. Dedicated in-car GPS
navigation unit are of great use to drivers to navigate unfamiliar routes safely, and find detours
around traffic problems. Also, a person with a GPS receiver module integrated into any mobile
device such as, wrist watches, smart phones, calculators, and any other digital electronic device
with a screen, can safely travel through any pathway on earth – be it forest jungles, land, air, or
sea. What is more, GPS navigation system curtails accident and collision of all kinds
Geo-fencing (location finding/tracking system): GPS have a very useful application in
location find and tracking system. With a GPS receiver module, even as small a microchip,
attached to a person or thing, all locations and movement of that person or thing can precisely
be pinpointed and monitored. Hence, GPS tracking system has been applied in vehicle tracking,
person tracking, pet tracking, and the tracking of any other valuable item. Software applications
are used to collect information from then GPS receiver module, and then send/transmit these
information to a monitoring device such as a smart phone or computer or otherwise. This of
course is a very useful tool for private investigators and other law enforcement agents.
Disaster relief/emergency services: emergency services are making use of GPS to find their
way to an accident location more quickly than ever before, especially in situations of extreme
weather conditions on land where time can be a matter live and death. GPS also aid in assessing
damage after the occurrence of a natural disaster such as hurricane, earthquakes, and fire.
Agriculture and Ecology: Several crop producers are now using GPS and other electronic and
computer equipment to practice Site Specific Management (SSM) precision agriculture
operation such as in applying fertilizers, pesticides, and other inputs only where they are
needed. This and several other forms of application of GPS in agriculture has greatly increased
crop yield, protect the environment, and even helps in monitoring farm activities such as field
time, working area, machine travel distance, and fuel consumption.
Sport and Tourism: GPS system is in monitoring the movement of sport men and women
According to Macleod et al, the following conditions must be met before using GPS in the
studying of hockey players’ movement (a) clear sky visibility (b) a minimum of 9- channel GPS
receiver is needed (c) a large memory capacity processor and (d) a computer interface. Proposed
technique on the use of GPS have helps to determine and map cyclist injury risk and bicycle
volumes in the assigned route. Beeco et al combined recreation suitability mapping and GPS
visitor tracking to develop spatial models for protected environments and parks. While, Zheng
et al [ developed a heuristic method based on collected GPS data of tourist that aid
understanding of tourist mobility.
3.2 CHALLENGES AND SOLUTIONS OF GPS BASED TECHNOLOGIES
In spite of the numerous beneficial applications, there are still challenges that researchers are
proposing various solutions such as operation in GPS denied environment , resultant
ionospheric disturbances and signal spoofing . Conceptually, ionosperic abnormality or
scintillation effect results in loss of lock in GPS Phase-Locked Loop (PLL). GPS are susceptible
to the irregularities in the ionosphere, such as fluctuation in ionization density, variability in the
phase and amplitude of scintillate, resulting in ranging error or loss of precision . While, GPS
signal spoofing results when person(s) with mal-intentions send misleading signals to capture
and command the GPS for purpose(s) different from those intended by the user. In order to
mitigate issues resulting from ionospheric disturbances, Xu et al proposed multi-PLL
possessing tracking fusion and output fusion that will mitigate GPS signal degradation due to
ionospheric disturbances. Dagefu et al proposes radio triangulation and high resolution
direction finding, under the High Frequency (HF) scenario, owing to its immunity to attenuation
and multipath through wall and floor respectively. Integrating an earth based receiver, used in
estimating Total Electron Content (TEC), which is an important parameter monitored in
ionosperic observation due to its potential for introducing error in space based position and
system navigation. About two years earlier, Lightsey presented FOTON (Fast Orbital TEC
Observable Receiver) for space application such as “GPSbased ionospheric sounding”. Tsuji et
al proposed a tracking loop along with inertial navigation system to address the challenges of
satellite signal degradation. Inertia navigation system results in improved signal to noise (S/N)
ratio. In , Günther studied spoofing in navigation system, which is attempting to mislead
receivers in terms of their time and position estimations. Countermeasures include comparing
the following properties or parameters against standard models
(a) estimated states
(b) dynamics, and
(c) received signal.
Kerns et al investigated Unmanned Aerial Vehicle (UAV) capture and control through GPS
signal spoofing. Misleading GPS signals are used to misdirect the UAV, and specify its speed
and position. Furthermore,according to Chong challenges associated with security and privacy
owing to control by military and civilian agencies need to be given more attention. Also, stem
interoperability challenges due to competing systems will need to be resolved.
3.3 CONCLUSION AND RECOMMENDATION
GPS system has its usefulness in very wide areas of applications. In addition to the ones already
mentioned, GPS system are used in real estate evaluation and taxation assessment, robotics,
recreation and sports, tourism, environment protection, atmospheric studies, dredging, oil and
gas exploration, scientific exploration, and so on. Application of the GPS system current and
future knows no bound. More and more areas of applications of the GPS system in anything or
field, where position, location, navigation, mapping, and time information are required, is
continually being researched. Furthermore, more research to reduce error and improve accuracy
of the GPS system should be ongoing. Therefore, we recommend a more expansive cooperation
between mobile cellular operators and GPS to enhance accuracy and precision in position
location. This cooperation will involves using signals from three base transceiver stations to
predict locations in GPS-denied environments. Integrating this with existing GPS system will
improve signal reliability and accuracy. In addition, owing to human activities, external features
of the earth are rapidly changing; hence, there is a need to regularly update available maps to
incorporate newer earth feature and land markers. This will improve GPS based navigation and
surveying. Furthermore, to address security and privacy issue, will recommend development of
a more secure encryption algorithm decodable only by the GPS receiver. This will present
interception by unwanted third parties.
