gAGE

research group of Astronomy and Geomatics

Introduction

Contact: jaume.sanz@upc.edu
gAGE/UPC

Web site: http://www.gage.upc.edu

Master of Science in GNSS @ J. Sanz & J.M. Juan

1
gAGE Specific Objectives:
• To learn about GNSS observables (code and phase), their
research group of Astronomy and Geomatics

characteristics, properties, combinations and applications.

• To learn how to calculate satellites orbits and clocks from
navigation message. To know the achievable precision.
• To learn how to model pseudodistance for code and phase
measurements. This includes calculation of: 1) Coordinates at
emission epoch, 2) Ionospheric delay (Klobuchar model), 3)
Tropospheric delay, 4) relativistic correction, 5) clocks offsets and
satellite instrumental delays, 6) phase wind-up, etc.
• To learn how to set and solve the navigation equation system
using least-squares or Kalman filter (algorithm level).
• To know how to use phase differential positioning: Floating and
fixing ambiguities.
• To learn Carrier Phase Ambiguity Fixing techniques.
gAGE/UPC

To get tools and skills to process and analyze GNSS

data. To implement algorithms for satellite navigation.
Master of Science in GNSS @ J. Sanz & J.M. Juan
3
gAGE
research group of Astronomy and Geomatics

An intuitive approach to
GNSS positioning
gAGE/UPC

Master of Science in GNSS @ J. Sanz & J.M. Juan

4
gAGE
research group of Astronomy and Geomatics

Suppose that a lighthouse is emitting

acoustic signals at regular intervals
of 10 minutes and intense enough to
be heard some kilometres away.
gAGE/UPC

Assume that a ship with a clock perfectly synchronised to the one in the lighthouse
is receiving these signals in a time that is not an exact multiple of 10 minutes, for
example 20 seconds later (t = n*10m + 20s)
Master of Science in GNSS @ J. Sanz & J.M. Juan
5
gAGE
research group of Astronomy and Geomatics

Suppose that a lighthouse is emitting

acoustic signals at regular intervals
of 10 minutes and intense enough to
be heard some kilometres away.
gAGE/UPC

Master of Science in GNSS @ J. Sanz & J.M. Juan

6
gAGE
research group of Astronomy and Geomatics
gAGE/UPC

F3
Master of Science in GNSS @ J. Sanz & J.M. Juan
7
gAGE
research group of Astronomy and Geomatics

The ranges are measured by

traveling time of the acoustic
signal from the lighthouses to
the ship.

Synchronism errors in
clocks (lighthouses and
ship) affect accuracy
gAGE/UPC

F3
Master of Science in GNSS @ J. Sanz & J.M. Juan
8
gAGE
research group of Astronomy and Geomatics
How GNSS Works

Satellites broadcast
orbit and clock data
Satellite coordinates
and clock offset

Lighthouses
coordinates P
Receiver measures
traveling time from
satellite to receiver
 Pseudorange (P)

Lighthouses-ship
gAGE/UPC

ranges.

Thence, the receiver coordinates are found solving a

geometrical
Master of Science in GNSS problem: from sat. coordinates and ranges 9
@ J. Sanz & J.M. Juan
gAGE
research group of Astronomy and Geomatics
How GNSS Works

One of the solutions is not

gAGE/UPC

on the Earth surface.

Master of Science in GNSS @ J. Sanz & J.M. Juan

10
gAGE
research group of Astronomy and Geomatics
How GNSS Works

Receiver
location
gAGE/UPC

Master of Science in GNSS @ J. Sanz & J.M. Juan

11
gAGE
How GNSS Works

Lesson 1:
research group of Astronomy and Geomatics

GPS measurements
and its combinations

Measurements:
Ranges
“Pseudoranges” are
computed from the
traveling time sat-rec
Several error sources
affect these
measurements

Receiver
gAGE/UPC

location

Master of Science in GNSS @ J. Sanz & J.M. Juan

12
gAGE
How GNSS Works
Satellite location
research group of Astronomy and Geomatics

Satellite coordinates
and clock offsets are Lesson 2:
computed from the
navigation message: GPS Orbits and
(orbit.f) clocks

Measurements:
Ranges
“Pseudoranges” are
computed from the
traveling time sat-rec
Several error sources
affect these
measurements

Receiver
gAGE/UPC

location

Master of Science in GNSS @ J. Sanz & J.M. Juan

13
gAGE
How GNSS Works
Satellite location
research group of Astronomy and Geomatics

Satellite coordinates
and clock offsets are
computed from the
navigation message:
(orbit.f)

Measurements:
Ranges
“Pseudoranges” are
Atmospheric propagation: IONO, TROPO computed from the
Lesson 3:
traveling time sat-rec
Several error sources
affect GPS
thesemeasurements
Relativistic modeling (code)
measurementseffects

MODEL:

Atmospheric propag.,
relativistic effects,
Receiver clocks and instrum.
gAGE/UPC

delays are modeled

location and removed.
And the navigation
equations are built

Master of Science in GNSS @ J. Sanz & J.M. Juan

14
gAGE
How GNSS Works
Satellite location
research group of Astronomy and Geomatics

Satellite coordinates
and clock offsets are
computed from the
navigation message:
(orbit.f)

 xio − x1 yio − y1 zio − 1 

 Measurements: z 1
ρ 1
ρ 1
ρ 1
P

 22
11 11
dt −−∑
Pi −− ρρioio ++dt 11
∑δδkk 
11




io
Ranges io io 

∆xii 
xio − x yio − y are zio − z 2 ∆y 
2 2

 Pi − ρioio + dt −∑
 − ρ + − δ  “Pseudoranges”
∑ δkk  = computed
 1
22 22 22
P dt  ii 
 ρio fromρio2 the ρio2
2
   ∆zii 
........
........  traveling
 time sat-rec
..........   
P nn  
 Pi − ρioio + dt −∑
− ρ + − ∑ δkk  affect
δ Several error sources cdtii 
nn nn nn
dt
 xio − x n yio −these
yn zio − z n 
 ρn 1
Lesson 3: measurements
 io ρion ρion 

Solving the
MODEL:
navigation Equations
Atmospheric propag.,
Navigation relativistic effects,
equations clocks and instrum.
The geometric delays are modeled
gAGE/UPC

problem is linearized, and removed.

and Weighted Least And the navigation
Mean Squares or equations are built
Kalman filter are
used to compute the
solution.
Master of Science in GNSS @ J. Sanz & J.M. Juan
15
gAGE
research group of Astronomy and Geomatics
How GNSS Works

Lessons 4, 5, 6:
Code and Carrier phase
Differential positioning.
Floating/fixing
ambiguities

Receiver
gAGE/UPC

location

Master of Science in GNSS @ J. Sanz & J.M. Juan

16
gAGE
research group of Astronomy and Geomatics References

[RD-1] J. Sanz Subirana, J.M. Juan Zornoza, M. Hernández-Pajares, GNSS

Data processing. Volume 1: Fundamentals and Algorithms. ESA TM-
23/1. ESA Communications, 2013.
[RD-2] J. Sanz Subirana, J.M. Juan Zornoza, M. Hernández-Pajares, GNSS
Data processing. Volume 2: Laboratory Exercises. ESA TM-23/2. ESA
Communications, 2013.
[RD-3] Pratap Misra, Per Enge. Global Positioning System. Signals,
Measurements, and Performance. Ganga-Jamuna Press, 2004.
[RD-4] B. Hofmann-Wellenhof et al. GPS, Theory and Practice. Springer-Verlag.
Wien, New York, 1994.
gAGE/UPC

Master of Science in GNSS @ J. Sanz & J.M. Juan

17
gAGE
research group of Astronomy and Geomatics

Thank you!
gAGE/UPC

Master of Science in GNSS @ J. Sanz & J.M. Juan

gAGE
research group of Astronomy and Geomatics
gAGE/UPC

F3
Master of Science in GNSS @ J. Sanz & J.M. Juan
19
gAGE
research group of Astronomy and Geomatics
gAGE/UPC

F3
Master of Science in GNSS @ J. Sanz & J.M. Juan
20