How does the Global Positioning System work ?

Updated 26th June 2011

Article by Darren Griffin

Introduction
When I first wrote this article back in 2002, consumer grade GPS
was very new, very expensive and very rare! Consequently most of
those who chose to invest in GPS hardware had a vested interest in
discovering how this marvel of technology worked. Back in 2001
when map based GPS navigation first arrived, new users could not
believe that the system was fee free with no service plan and no
contract, what was the catch they all asked? And so the seed of an
idea that became this explanation was born.
6+ years on GPS is mainstream, a commodity item that is no longer amazing or to be marveled
at. We just open the box, switch on and use it with little thought to the technology that drives it.
But it is still worth explaining how a small black box sat on your dashboard or held in your hand
can know where you are anywhere on the surface of the planet to an accuracy of about 10m for
consumer grade and 10mm for survey grade devices! That device on your dash is receiving a
signal from a satellite orbiting above you at an altitude of over 11,000 miles! Not bad for a
device that is not connected to a 2m dish!

Background - Navstar
The Global Positioning System (GPS) network we all use is called Navstar and is paid for and
operated by the US Department of Defence (DoD). This Global Navigation Satellite System
(GNSS) is currently the only fully operational system but Russia has GLONASS, China has
COMPASS and the EU has GALILEO each at varying stages of development or testing.
As a military system, Navstar was originally designed and reserved for the sole use of the
military but civilian users were allowed access in 1983. Back then, accuracy for civilian users
was intentionally degraded to +/- 100m using a system known as Selective Availability (SA) but
this was eliminated in May 2000.

The Satellite Network
The GPS satellites transmit signals to a GPS receiver. These receivers passively receive satellite
signals; they do not transmit and require an unobstructed view of the sky, so they can only be
used effectively outdoors. Early receivers did not perform well within forested areas or near tall
buildings but later receiver designs such as SiRFStarIII, MTK etc have overcome this and
improved performance and sensitivity markedly. GPS operations depend on a very accurate time
reference, which is provided by atomic clocks on board the satellites.

There are at least 24 operational GPS satellites at all times plus a number of spares. the receiver also "knows" it is located somewhere on the surface of an imaginary sphere centred at the satellite. It then determines the sizes of several spheres. orbit with a period of 12 hours (two orbits per day) at a height of about 11. Signals from multiple satellites are required to calculate a position How Position is Determined A GPS receiver "knows" the location of the satellites because that information is included in the transmitted Ephemeris data (see below).000kph).20 miles away at most. The signals. one for each satellite and therefore knows the receiver is located where these spheres intersect.000mph (3. arrive at a GPS receiver at slightly different times because some satellites are further away than others. Compare that with a TV signal. Other types of receivers use a method called . The distance to the GPS satellites can be determined by estimating the amount of time it takes for their signals to reach the receiver.The Navstar GPS Constellation Each GPS satellite transmits data that indicates its location and the current time. Those signal have to pass through space and our atmosphere before reaching your satnav after a journey of 11. The satellites. A wonder then that it works as well as it does and when the occasional hiccup occurs you will at least understand the reasons why. All GPS satellites synchronize operations so that these repeating signals are transmitted at the same instant. moving at the speed of light.500 miles traveling at 9. often hidden inside the case itself. By estimating how far away a satellite is.500 miles. GPS Accuracy The accuracy of a position determined with GPS depends on the type of receiver. it can calculate its position in three dimensions. The GPS signals are transmitted at a power equivalent to a 50 watt domestic light bulb. operated by the US DoD.000 watts. And compare the size of your TV's roof mounted antenna with that of your GPS. Most consumer GPS units have an accuracy of about +/-10m. transmitted from a large tower 10 . Ground stations are used to precisely track each satellite's orbit.9km/s or 14. When the receiver estimates the distance to at least four GPS satellites. Here is an interesting comparison. at a power level of 5-10.

How Is The Signal Timed? All GPS satellites have several atomic clocks. Cold Starts & Warm Starts Explained Often manufacturers and reviews will refer to Factory. You can often view this number on your GPS unit's satellite information page. The data is considered valid for up to 4 hours but different manufacturers consider it valid for different periods with some treating it as stale after only 2 hours.Differential GPS (DGPS) to obtain much higher accuracy. glass. plastic etc but will not travel through solid objects such as buildings and mountains. code that identifies which satellite is transmitting information. The GPS signal contains three different bits of information — a pseudo random code. Almanac data is not precise and can be valid for many months. By comparing how much the satellite signal is lagging. 3. called pseudo-random code. these can be simply explained as follows:  Factory Start o  All data is considered invalid. Because ephemeris data is very precise orbital and clock correction data necessary for precise positioning. Cold Start . The signal that is sent out is a random sequence. These are designated as L1 and L2. D. producing an accuracy greater than 1 meter. Understanding the above. All GPS receivers know this sequence and repeat it internally. each part of which is different from every other. With Almanac data the receiver can concentrate on those satellites it can see and forget about those that would be over the horizon and out of view.42 MHz) in the UHF band. satellites and the receivers must be in synch. its validity is much shorter. DGPS requires an additional receiver fixed at a known location nearby. Each satellite will broadcast its OWN ephemeris data showing the orbital information for that satellite only. almanac data and ephemeris data. 1. The signals travel by line of sight. It can then determine which satellites it should track. Cold and Warm Start times. The receiver picks up the satellite's transmission and compares the incoming signal to its own internal signal. Almanac data is data that describes the orbital courses of the satellites. Observations made by the stationary receiver are used to correct positions recorded by the roving units. This random sequence is repeated continuously. meaning they will pass through clouds. Every satellite will broadcast almanac data for EVERY satellite. What does the signal consist of? GPS satellites transmit two radio signals. the travel time becomes known. A Civilian GPS uses the L1 signal frequency (1575. The pseudo random code is simply an I. 2. Your GPS receiver uses this data to determine which satellites it expects to see in the local sky. Ephemeris data is data that tells the GPS receiver where each GPS satellite should be at any time throughout the day. It is broadcast in three six second blocks repeated every 30 seconds. the number attached to each signal bar identifies which satellites it's receiving a signal from. Therefore.

The QuickFix file you download from the internet is part of a solution from your GPS chip manufacturer. This takes around 5-15 seconds on average.o  Almanac data is current but Ephemeris is not or has expired. you may be driving between high buildings (urban canyons. Considerably less than a second of interruption is enough to mean the receiver will have to wait for the next transmission. SiRF call their solution Instant Fix (I Edition) or A-GPS (assisted GPS). In a real life scenario for example. To compute a PVT (position velocity time) solution the receiver will look for satellites based on where it 'thinks' it is roughly located and the almanac if current. Warm Start o Both Almanac and Ephemeris data is current. The signal strength required for downloading ephemeris data from satellites is 28dbHZ whereas the signal strength required for calculating your position once your GPS has received the ephemeris data is much lower at only 15 dBHz. Should any one packet not be received completely without error then it must start over again. This will extend the initial time to lock considerably. So a valid QuickFix file allows your device to calculate your position in 5-15 sec rather than the minute it would otherwise take (if stationary). To understand what QuickFix is you need to understand in detail how a GPS calculates your position. In this case the receiver will initiate a factory start and begin downloading both almanac and ephemeris data. see below) and the received GPS signal keeps changing all the time. This is why your GPS is so slow to calculate a fix when you switch it on in your hire-car at the airport! QuickFix Explained QuickFix is a feature provided by some manufacturers/devices. Once data from three satellites has been received an accurate positional fix is calculated. and lowers the minimal signal strength required . If it finds one or more of the satellites it expects to see it will lock onto that satellite and begin downloading ephemeris data. Your receiver must complete reception of ephemeris data without error. Clearly doing this whilst moving leads to much higher error rates and longer fix times. The file contains specially prepared ephemeris data that is valid for 7 days that your GPS chip uses instead of the the data received from satellites for calculating your first fix. This allows the chip to skip the "download ephemeris from satellite" step and instead to start calculating your position immediately after powering on. If you are moving whilst trying to obtain a fix this process may take much longer than it would if you were stationary. If you are attempting a lock having re-located more than a couple of hundred miles since your last fix then the ephemeris data will in most cases no longer be valid. The receiver will be looking for satellites in the sky above that cannot be seen because of your re-location. If at any time the GPS receiver loses the signal of any satellite or the signal drops below 28 dBHz then it has to start all over again and track that satellite for another minute. For the initial position calculation your GPS chipset needs to find at least 4 satellites with a strong enough signal (28 dBHz or more) and it must keep those satellites and the signal strength for approximately one minute in order that it can download the data from the satellites that is essential for calculating your position (this it the ephemeris data explained earlier). this data is transmitted in three packets.

electronic interference. 10. Signal multi path — This occurs when the GPS signal is reflected off objects such as tall buildings or large rock surfaces before it reaches the receiver. causing position errors or possibly no position reading at all. 5. 3. The GPS system uses a built-in model that calculates an average amount of delay to partially correct for this type of error. Intentional degradation of the satellite signal — Selective Availability (SA) is an . terrain. thereby causing errors. 4. Satellite geometry/shading — This refers to the relative position of the satellites at any given time. Orbital errors — Also known as ephemeris errors.for calculating your position from 28 dBHz to 15 dBHz. i. This increases the travel time of the signal. tracking a minimum of 4 satellites with 28dbHz signal continuously for around a minute. GPS units typically will not work indoors. Poor geometry results when the satellites are located in a line or in a tight grouping. these are inaccuracies of the satellite's reported location. 6. 2. 8. Number of satellites visible — The more satellites a GPS receiver can "see. If at any time your GPS chipset finds the Quickfix ephemeris data is invalid or very old it defaults to calculating your position the traditional way. it may have very slight timing errors.e. 7. or sometimes even dense foliage can block signal reception." the better the accuracy. 9. underwater or underground. Ideal satellite geometry exits when the satellites are located at wide angles relative to each other. Therefore. Ionosphere and troposphere delays — The satellite signal slows as it passes through the atmosphere. Sources of GPS signal error Factors that can degrade the GPS signal and thus affect accuracy include the following: There are many causes for position errors or low signal 1. Receiver clock errors — A receiver's built-in clock is not as accurate as the atomic clocks onboard the GPS satellites. Buildings.

visit NASA's web site where you will find a GPS Satellite tracker applet similar to below that allows you to track all of the 2.  Replacements are constantly being built and launched into orbit.  There are over 8.  A GPS satellite weighs approximately 2.000 foreign objects orbiting the earth consisting of items like nose cones and panels from old satellites.intentional degradation of the signal once imposed by the U. Some Satellite Facts Here are some other interesting facts about the GPS satellites:  There are some 2.  A full constellation of 24 satellites was achieved in 1994. The government turned off SA in May 2000. For more information about satellites and GPS satellites in particular.500 satellites of all types and purpose orbiting the earth. SA was intended to prevent military adversaries from using the highly accurate GPS signals.500 plus satellites that currently orbit our planet but more specifically you can track the Navstar network of satellites and see which ones are currently flying over your location. .000 pounds and is about 17 feet across with the solar panels extended. DoD.  Transmitter power is a mere 50 watts or less.  Each satellite is built to last about 10 years.S. spanner and more!  The first GPS satellite was launched in 1978. which significantly improved the accuracy of civilian GPS receivers. an astronaut's glove.

2500 Satellites orbit the Earth .