Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
Elements of GPS
Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
4
5
one billion users
Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
Development & Delivery of the Navigation Message
Space
Segment
Spread Spectrum
Ranging Signals &
Navigation Data
Control
Segment
User Segment
GPS Operational Control Segment
(from Anthony Russo CGSIC, 2008)
Alaska
Schriever
AFB Colorado England
Vandenberg AFB S Korea
California USNO
Cape
Hawaii Canaveral
Bahrain
Kwajalein
Ecuador
Tahiti Ascension Diego Garcia
Argentina South Africa
Australia
Master Control Station OCS Monitor Station New
Zealand
Backup MCS NGA Monitor Station
Ground Antenna Future Monitor Station
Ground Control Segment
• Continuously
– Track GPS satellites (svs)
– Estimate clock and orbit
– Keep GPS time
– Upload data that describes clock & orbit for each sv
• Infrequently
– Command small maneuvers to maintain orbit
– Command small clock corrections
– Command major relocations to compensate for any sv failures
50 bps Navigation Data
Each subframe is 300 bits (6 s @ 50 bps). Entire message repeats every 12.5 min
(5 subframes × 300 bits/subframe × 25 pages = 37500 bits/message)
Keplerian Elements
(from Misra and Enge, 2006)
Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
GPS Signals in the Time Domain
Carrier at 1575.42 MHz (L1) 19 cm wavelength (L1)
Code at 1.023 Mcps (C/A) 300 m wavelength (C/A)
Navigation Data at 50 bps
20 ms/bit
20 repeats of the C/A code
Frequency Spectrum (f = c/λ)
LF
3×104 = 30 KHz 105
MF3×105
3×105 = 300 KHz 106
HF 3×106
3×106 = 3 MHz 107
VHF3×107
3×107 = 30 MHz 108
UHF3×108 L Band (Iridium, GPS) S Band
3×108 = 300 MHz 109
9
S Band X Band
SHF3×10
3×109 = 3 GHz 1010
EHF3×1010
3×1010 = 30 GHz 1011
3×1011
15
L1 for Civil Users of GPS
L5 L2 L1
L band
1 GHz 2 GHz
GPS L1 supports over
2 billion users
L2 for Civil Users of GPS First sv launched Sept 25, 2005
L5 L2 L1
L band
1 GHz 2 GHz
Signal Spectra for GPS, Galileo, Compass and GLONASS
GPS Receivers: Time of Arrival Measurements
Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
GPS Receivers: Time of Arrival Measurements
received signal
likelihood
measured by
correlation
late replica
× Average
prompt replica
× Average
early replica
× Average delay
Each Satellite Stamps the Transmission Time.
GPS Receiver Measures the Arrival Time.
Travel Time in a Vacuum
True time
ttmt trcv
True Travel Time
d
trcv - ttmt =
c
23
1 satellite defines a circle (sphere) of possible locations:
2 satellites seem to be enough.
3 satellites for three dimensions.
If the User Clock is fast then all ranges would be
measured long!
If the User Clock is
slow then all ranges
would be measured
short!
Measured Arrival Time—Including Clock Bias
True time
ttmt trcv
d
t rcv - ttmt =
c
tu = trcv + bu
bu = clock bias
d
tu - ttmt = + bu
c
27
Every aircraft must be able to view
at least(!) 4 GPS satellites
Generally, more than four
satellites are needed. We
favor 7 or 8 in view to
guarantee good geometry
Adjust user clock
until lines of
position agree.
Navigation Equations:
Solve for four unknowns
(1)
( )
(1)
( ) (
(1)
) (1)
+ bu - B (1) + e u( )
2 2 2
t = xu - x + yu - y + zu - z
1
( 2)
(x - x( ) ) + ( y - y( ) ) + ( z - z( ) ) + bu - B ( 2) + e u( )
2 2 2
t =
2 2 2 2
u u u
(3)
(x - x( ) ) + ( y - y( ) ) + ( z - z( ) ) + bu - B (3) + eu( )
2 2 2
t =
3 3 3 3
u u u
( 4)
(x - x( ) ) + ( y - y( ) ) + ( z - z( ) ) + bu - B ( 4) + e u( )
2 2 2
t =
4 4 4 4
u u u
Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
GPS Errors & Nominal Accuracy
1. Time of
Transmission
4. Time 2. Correct
of Arrival Satellite Location
3. Speed of
Radio Wave
Accuracy (from S. Lo, 2000)
Accuracy (from Misra & Enge, 2006)
$5 for a chip
Differential GPS is used when better accuracy is needed.
GPS Velocity Estimates 1-min samples over a day
Fundamentals of Satellite Navigation
1.6 Satellites
1.7 Navigation message
1.8 Navigation signals
1.9 Pseudoranging
1.10 Performance: a first look
