How GPS Works

NAVSTAR

NAVigation Satellite Timing And Ranging

Operated by Air Force
Launch Weight 1800 kg (4000 lb)
Orbital radius 20,200 km
Orbital Period 12 hours
Inclination 55 degrees
24 active, 4 spare
4 planes, 6 satellites per plane

Locating Earthquakes

Locating Earthquakes - Depth

GPS and Seismology

GPS is a lot like locating earthquakes
Use Trilateration
Locate an unknown point using distances
from three known points
Unknown point is actually at intersection of
three spheres (in earth, sort of)

One important difference

Earthquakes create signals with different
speeds so distance is coded in the signal

The Timing Problem

Travel time = Radius to satellite

Distance to NAVSTAR: 14,000-20,000 km
Travel time =.05-.07 seconds
Have to measure travel time to sub-ppm
accuracy
How do you know radius if you dont know
where you are?
Synchronized signals in GPS unit and
satellite

Signals in GPS

An Early Pseudo-Random Code

1776 (seed)
17762 = 3154176
15412 = 2374681
37462 = 14032516
40322 = 16257024
62572 = 39150049
91502 = 83722500, etc.

The Clock Problem

Atomic clocks costs thousands of dollars
In the overall budget of a satellite program, thats
chump change
In the cost of a hand-held GPS unit, not so much

GPS units use inexpensive quartz clocks

Not precise enough
One microsecond = 300 meters

Have satellites broadcast time signals?

How do we know the travel time?

Unpredictable timing error introduced

Timing Errors
Satellite positions known precisely and
ephemeris (or almanacs) updated
regularly
If distances r1, r2, r3 are known, we can
solve for latitude, longitude, and elevation
3 variables, 3 unknowns
If we also have to solve for an unknown
timing error, three radii are insufficient

Effect of Timing Error

Correcting Clock Errors

We have four unknowns: latitude,
longitude, elevation and error
Can solve with four satellite fixes
Once error is known, can reset GPS unit
clock
This is why the magic number of four for
GPS signals
Full x,y,z solution = 3D

What About Less Than Four?

We have four unknowns: latitude,
longitude, elevation and error
Three satellites arent enough
But we have a fourth sphere: the Earth
May have to make assumptions about
radius due to oblateness of earth and
topography
Can get latitude and longitude (2D) and
accuracy limited