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GPS Receiver Errors and Corrections

Presentation · February 2016

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 GPS Receiver
Errors and Corrections
Satellite positioning
GEOL 884
Dr. Georgia Fotopoulos
by
Ashraf Abosekeen
 Outlines
GPS RECEIVER

NATURE OF THE SATELLITE SIGNAL

Receiver Error

Errors Description and Corrections

Ashraf Abosekeen (Feb.2016)

 GPS Receiver

 GPS Receiver Components:

1-Antenna ( Capturing the GPS Signal)

2-Local Oscillator ( Eliminate the Carrier Frequency)

3-microprocessor (Calculating the Navigation Information)

General Block Diagram for GPS Rx

“http://swissen.in/gpsrecivr&codes.php” www.U-blox.com

Ashraf Abosekeen (Feb.2016)

 Nature of the GPS Signal

 How the GPS Signal is Generated in the Space Segment???

www.U-blox.com www.U-blox.com
Ashraf Abosekeen (Feb.2016)
 Nature of the GPS Signal

 Carrier Link Budget Analysis for L1 Frequency Signal

𝑃𝑅𝑥 (𝑅𝑒𝑐𝑒𝑖𝑣𝑒𝑑 𝑃𝑜𝑤𝑒𝑟) 𝑃
𝐺𝑎𝑖𝑛 = 𝑃 (w/w) 𝐺𝑎𝑖𝑛 = 10𝑙𝑜𝑔 𝑃𝑅𝑥 (dB)
𝑇𝑥 (𝑇𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑 𝑃𝑜𝑤𝑒𝑟) 𝑇𝑥

www.U-blox.com

• The L1 Received Signal mustn’t fall below (-160 dBw /-130dBm) so the
transmitted signal is supposed to be 21.9w

• But the Received Signal is almost -190dBw falls below the thermal noise level
by 16 dB Ashraf Abosekeen (Feb.2016)
 Nature of the GPS Signal

 Thermal Noise
Unwanted noise in an electronic component arising from dark current or the
agitation of electrons by heat. Also called Johnson noise or the noise floor
(-174dBm).

www.U-blox.com

Ashraf Abosekeen (Feb.2016)

 Nature of the GPS Signal

 Correlation Process
1
𝐶𝐹(𝐶𝑜𝑟𝑟𝑒𝑙𝑎𝑡𝑖𝑜𝑛 𝐹𝑎𝑐𝑡𝑜𝑟) = 𝑁 𝑁 𝑖=1 𝑚𝑏 − 𝑈𝑏
𝑤ℎ𝑒𝑟𝑒 ∶ 𝑁 𝑖𝑠 𝑡ℎ𝑒 𝑡𝑜𝑡𝑎𝑙 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑏𝑖𝑡𝑠 , 𝑚𝑏 𝑚𝑎𝑡𝑐ℎ𝑒𝑑 𝑏𝑖𝑡𝑠 , 𝑎𝑛𝑑 𝑈𝑏 𝑖𝑠 𝑡ℎ𝑒 𝑢𝑛𝑚𝑎𝑡𝑐𝑒𝑑 𝑏𝑖𝑠
correlation process across 30 bits
Search for the maximum correlation in the code and
carrier frequency domains

www.U-blox.com
Ashraf Abosekeen (Feb.2016)
 Nature of the GPS Signal

 Correlation Process Effect

𝑀𝑜𝑑𝑢𝑙𝑎𝑡𝑒𝑑 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑐𝑜𝑑𝑒 − 𝑐𝑜𝑑𝑒 1023 ∗ 103
𝐺𝑠 𝑠𝑦𝑠𝑡𝑒𝑚 𝑔𝑎𝑖𝑛 = =
𝑑𝑎𝑡𝑎 𝑟𝑎𝑡𝑒 50
= 20460 (𝑢𝑛𝑖𝑡𝑙𝑒𝑠𝑠) = 10 log(20460) = 43 𝑑𝐵

www.U-blox.com
Ashraf Abosekeen (Feb.2016)
 Receiver Errors

 Receiver Error Sources GPS Error Budget

Typical Error in
Standard Differential
Meters
1. Synchronization (per satellites)
GPS GPS

Satellite Clocks 1.5 0

2. Receiver Clock Error
Orbit Errors 2.5 0

3. Antenna Phase Centre Variation Ionosphere 5.0 0.4

4. Unintentional Interference Troposphere 0.5 0.2

Receiver Noise 0.3 0.3

5. Intentional interference
• Spoofing Multipath 0.6 0.6

• Jamming http://www.trimble.com/gps_tutorial/howgps-error2.aspx

Ashraf Abosekeen (Feb.2016)

 Errors Description & Corrections

 Synchronization Problem Solution

• Time shift occurs because the

GNSS Satellites are in motion.

• The Receiver Generates a

replica of the Received code.

 This Time shift can be mitigated

by adding 4th term to the set of
equations that the Receiver
solve.

geology.wlu.edu

Ashraf Abosekeen (Feb.2016)

 Errors Description & Corrections

 Receiver Clock Error Solution

• Impurities of the quartz Crystal oscillators
makes them vulnerable to Temperature effect.

• Micro variations of their generated frequency

suddenly occurs (Several 𝟏𝟎−𝟗 Hz).

• These sudden variations increase the

acquisition time ( Disrupting the Correlation
for the Code and frequency Process).

 Developing quartz oscillators with reduced

tendencies to micro variations can reduce this
disturbance (Temperature compensated
crystal oscillators (TCXO)). www.shimmer-co.com.tw

Ashraf Abosekeen (Feb.2016)

 Errors Description & Corrections

 Antenna-phase-Center Variation
• The antenna phase center does not
coincide with the physical (geometrical)
center of the antenna, but varies w.r.to the
elevation and the azimuth of the GPS
satellite.

• Depends on the antenna type (Few Cms error).

 Neglected in most Practical GPS

applications.

 For short Baselines and with the same type

of antennas looking at the same direction
(the same orientation) it can be cancelled
by the Double Differencing.
https://www.researchgate.net/publication/259169868_Influence_of_GP
S_antenna_phase_center_variation_on_precise_positioning
Ashraf Abosekeen (Feb.2016)
 Errors Description & Corrections

 Unintentional Interference
• The effect of the same or nearest frequencies in use (LTE
telecommunication systems , and the VHF channel 12 (156.600MHz)).

http://www.novatel.com/tech-talk/velocity/velocity-
2015/unintentional-interference/

• Using H-GPS Receiver Leads to Faster Time-To-First-Fix

(TTFF) and Better Tracking (expensive).

Using a Highly Selective Antennas for the GPS Frequencies

(depend on the application i.e. Leica Choke Antenna AT504 ,
and Novatel pinwheel antenna).

• Using Multiple Constellation Equipped Receiver (use other

GNSS Systems Frequencies). Ashraf Abosekeen (Feb.2016)
 Errors Description & Corrections

Intentional Interference

Spoofing Jamming

Electronic warfare method

Electronic warfare method to hide the GPS Signal from
to Deceive the GPS the Receiver, So that no
receiver to make false solution produced and the
calculations . receiver stuck in the search
phase.

Ashraf Abosekeen (Feb.2016)

 Errors Description & Corrections

 SPOOFING
• Regenerate the GPS Signal, then transmit it just to capture a local GPS
receiver.

• Spoofing affects only the C/A code signals (Structure is known) but not the
Y-Code (Encrypted).

• Depending on the Receiver ability to discriminate between the real and

spoofed signal the receiver will or will not be a Spoofing victim.

International Journal of Navigation and Observation Volume 2012, Article ID 127072, 16 pages
Ashraf Abosekeen (Feb.2016)
 Errors Description & Corrections

 ANTI-SPOOFING Techniques
 Using multiple Constellation systems like
GLONASS,GALILEO, and BEIDOU
Simultaneously. www.faa.gov

 Aiding the GPS Receiver by the INS which is

immune to the electromagnetic signals attack.

 Using Multiple Antenna Receiver (DF (Direction www.Novatel.com

Finder) for the spoofing transmitter).

 Monitoring the C/N0 Ratio all the time

(Correlator check).
International Journal of Navigation
 Using SAASM (Selective Availability Anti- and Observation Volume 2012,
Article ID 127072, 16 pages

spoofing Module) Receivers.

Ashraf Abosekeen (Feb.2016)
 Errors Description & Corrections

 JAMMING
• Overpowering GPS satellite signals
locally so that a receiver can no longer
operate.

• Despite the P-code Receivers spread

over 10 times the frequency range of
www.Novatel.com
the C/A code ones and handle 10 times
the jamming power compared with
the C/A code ones it’s also vulnerable
to jamming if the interference level is
high.

• This means even the SAASM Receiver

can be Jammed.

http://www.psu.edu/ Ashraf Abosekeen (Feb.2016)

 Errors Description & Corrections

 ANTI-JAMMING Techniques
• Fast and selective Filtering the RF received signals at the GPS Receiver is the first
effective method, but only works for the out of band signals.

• Aiding the GPS Receiver with INS System but the error will grow with time.

• Using of Multiple Antenna elements equally spaced to find the jammer direction
(by making triangulation to get the high power signal direction), then using
adaptive antennas array to produce “null” or low gain loop towards the jammer
(i.e. Novatel GAJT antenna).

http://www.novatel.com/solutions/anti-jamming-technology/#whatWeOffer
Ashraf Abosekeen (Feb.2016)
Ashraf Abosekeen (Feb.2016)
 References

[1] Jean Marie Zogg. (2007). Essentials of Satellite Navigation Theory and Principles Systems and Applications
Overview (3rd ed.).
[2] Aboelmagd Noureldin, Tashfeen B. Karamat, Jacques Georgy, Fundamentals of Inertial
Navigation,Satellite-based Positioning and their Integration. vol. 1. Heidelberg New York Dordrecht
London: Springer 2013.
[3] Elliott D. Kaplan, "Understanding GPS Principles and Applications" Artech House Boston,London, 1996.
[4] A. D. S. Ashwani Kumar, Ezharul Ansari, and Kamatham Yedukondalu, "Improved Phase Center Estimation
for GNSS Patch Antenna," IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, vol. 61 pp. 1909-1915,
2013.
[5] A. B. Ali Jafarnia-Jahromi, John Nielsen, and G´erard Lachapelle, "GPS Vulnerability to Spoofing Threats
and a Review of Antispoofing Techniques," International Journal of Navigation and Observation, vol. 2012
p. 16, 2012.
[6] Air Force Program “Global Positioning System (GPS) Selective Availability Anti-Spoofing Module
(SAASM)”,GPS SAASM 2011.
[7] Ron Holm,” Why convert to a SAASM-based Global Positioning System?”, Military EMBEDDED SYSTEMS
Hardware, july 2006.
[8] Ahmed I. EL-Hattab, "Influence of GPS antenna phase center variation on precise positioning," NRIAG
Journal of Astronomy and Geophysics, vol. 2 pp. 272–277, December 2013.
Ashraf Abosekeen (Feb.2016)
 References

[9] Ahmed El-Rabbany, Introduction to GPS: The Global Positioning System. Boston: Artech House, 2002
[10] https://www.e-education.psu.edu/geog160/node/1924/
[11] https://www.novatel.com/techtalk/
[12] http://www.sxbluegps.com/technology/gps-the-error-budget/#gpsworks/
[13] http://www.montana.edu/gps/understd.html#What_is_GPS/
[14] http://www.edu-observatory.org/gps/gps_accuracy.html/
[15] https://www.e-education.psu.edu/geog862/node/1861/
[16] http://www.ngs.noaa.gov/ANTCAL/
[17] http://www.tekmon.eu/1-3-4-antenna-phase-centre-offset-and-variation/
[18] http://www.novatel.com/solutions/anti-jamming-technology/#whatWeOffer/
[19] http://www.faa.gov/
[20] http://www.navipedia.net/index.php/Antenna_Phase_Centre/
[21] https://en.wikipedia.org/wiki/Marine_VHF_radio/
[22] http://www.trimble.com/gps_tutorial/howgps-error2.aspx/

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