Lecture UPC 6.v0.0

gAGE
research group of Astronomy and Geomatics
Lecture 6
Differential positioning with
Code pseudoranges
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
Authorship statement
The authorship of this material and the Intellectual Property Rights are owned by
J. Sanz Subirana and J.M. Juan Zornoza.
These slides can be obtained either from the server http://www.gage.upc.edu,

or jaume.sanz@upc.edu. Any partial reproduction should be previously
authorized by the authors, clearly referring to the slides used.
This authorship statement must be kept intact and unchanged at all times.
gAGE/UPC
24 April 2014

2
gAGE
Contents
1. Linear model for DGNSS: Single Differences

1.1. Linear model
1.2. Geographic decorrelation of ephemeris errors
1.3. Error mitigation and `short´ baseline concept
1.4. Differential code based positioning
2. Augmentation Systems
2.1. Introduction
2.2. Ground-Based Augmentation system (GBAS)
2.3. Satellite based Augmentation System (SBAS)
gAGE/UPC

3
gAGE Error mitigation: DGNSS residual error
Errors are similar for users separated tens, even hundred of kilometres,
and these errors vary ‘slowly’ with time. That is, the errors are
correlated on space and time.
The spatial decorrelation depends on the error component (e.g. Clocks

not decorrelate, ionosphere ~100km...). Thence, long baselines need a
reference stations network.
Error
gAGE/UPC
Short-baselines
Long-baselines

4
gAGE
Linear model for Differential Positioning
Code and carrier measurements
Pi j  i j  c  ti   t j   Ti j  I i j  Ki  K j  Mi j  P ij
Lij  i j  c  ti   t j   Ti j  Ii j   i j   Ni j  bi  b j  mij  L ij
Satellite coordinates r j
deviation r j  r j  r0j
When approximate values of both
receiver and satellite APC positions
are taken, a linearization around
them yields:
i j 0ij
i j  0ij  ρˆ 0ij  ri  ρˆ 0ij  r j
j
ρ̂ 0 i r0j  roi
ρˆ ij ri ρˆ 0ij  j
User coordinates r0  roi
deviation ri  ri  r0i
gAGE/UPC
r0i ri : Receiver coordinates error

ri r j : Satellite coordinates error

To Earth Centre 5
gAGE
Single difference ()ruj  ()ruj  ()uj  ()rj r j
Pu j  uj  c  tu   t j   Tu j  Iuj  Ku  K j  P uj
Pr j  rj  c  tr   t j   Tr j  I rj  K r  K j  P rj
Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj ρˆ uj ρˆ rj

User
rru
Reference
receiver Station
Baseline
The same for the carrier :
gAGE/UPC
rru  ru  rr
Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj ru rr

To Earth Centre 6
gAGE
Single difference ()ru  ()ru  ()u  ()r r j

j j j j
Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj

Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj
Single difference cancels:

• Satellite clock ( t )
j
j
• Satellite code instrumental delays ( K )
• Satellite carrier instrumental delays (b )
j ρˆ uj ρˆ rj
User
rru
Referen
Single differences mitigate/remove errors due receiver Station
Baseline
• Satellite Ephemeris (r j )
gAGE/UPC
j rru  ru  rr
• Ionosphere ( I i )
j
• Troposphere (Ti )
ru rr
• Wind-up (i )
j
The residual errors will depend upon the

baseline
Master of Sciencelength.
in GNSS @ J. Sanz & J.M. Juan
To Earth Centre 7
gAGE
Single-Difference of measurements
(corrected by geometric range!!)
PRN06
PRN06
PLAN-GARR: 15km
PRN30
( L1   )  L1ru
sat
 rusat PRN30 ( P1   )  L1ru
sat
 rusat
Dif. Wind-up: Very small
( L1   )  Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj
( P1   )  Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj

gAGE/UPC
Dif. Instrumental
Dif. Receiver clock: delays and carrier
Main variations Common Dif. Tropo. and Iono. : ambiguities:
for all satellites Small variations constant
8
gAGE
PRN06
PRN06
PLAN-GARR: 15km
PRN30 PRN30
( L1   )  L1ru
sat
 rusat ( P1   )  L1ru
sat
 rusat
PRN06 PRN06
IND1-IND2: 7m IND1-IND2: 7m
gAGE/UPC
PRN30 PRN30
( L1   )  L1ru
sat
 rusat ( P1   )  L1ru
sat
 rusat
9
gAGE
PRN06 PRN06
IND1-IND2: 7m IND1-IND2: 7m
PRN30 PRN30
( L1   )  L1ru
sat
 rusat ( P1   )  L1ru
sat
 rusat
Dif. Wind-up: Very small
( L1   )  Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj
( P1   )  Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj

gAGE/UPC
Dif. Instrumental
Dif. Receiver clock: delays and carrier
Main variations Common Dif. Tropo. and Iono. : ambiguities:
for all satellites Small variations constant
10
gAGE
Pi j  i j  c  ti   t j   Ti j  Ii j  Ki  K j  P ij
Lij  i j  c  ti   t j   Ti j  Ii j   i j   Ni j  bi  b j  L ij
where:  j   j  ρ r j
i 0i
ˆ 0ij  ri  ρˆ 0ij  r j
Single difference ()ruj  ()ruj  ()uj  ()rj

Pruj  ruj  c  tru  Truj  I ruj  Kru   ruj
Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj
ρˆ 0j u ρˆ 0j r
where: 
j
  uj   j ρˆ j
u ρˆ j
rr
ru r
User
ru rru r
 
j
ru
j
0 ru  ρˆ  ru  ρˆ  rr  ρˆ  r  ρˆ  r
j
0u
j
0r
j
0u
j j
0r
j receiver Ref.
Station
gAGE/UPC
Baseline
 0 ruj  ρˆ 0uj  rru  ρˆ 0 ru
j
 rr  ρˆ 0 ru
j
 r j rru  ru  rr
being: 0ruj  0uj  0rj ; rru  ru  rr ru rr

To Earth Centre 11
gAGE
Exercise:
Let be: ru  u  r

j j j
where  j   j  ρˆ j  r  ρˆ j  r j (from Taylor expansion)

i 0i 0i i 0i
Show that the Single Differences are given by:
ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  rr  ρˆ 0ruj  r j
being: 0ruj  0uj  0rj ; rru  ru  rr

gAGE/UPC

12
gAGE
ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  rr  ρˆ 0ruj  r j with rru  ru  rr
Let’s assume that:

ε eph
j
• The satellite coordinates are known with an uncertainty r  ε eph

j j
• The reference station coordinates are known with an

uncertainty rr  ε site (i.e. rr  r0r  ε site )
Thence, the user position can be computed from the rru

estimate, with an error ε site , as: r  r  r  ε
u 0u ru site
and where the rru estimate will be affected in ε site

turn by the ephemeris and sitting site errors as: User rru  ru  rr
receiver Ref.
Sta.
ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  ε site  ρˆ 0 ruj  εeph

j
ru rr
gAGE/UPC
Range error due to Range error due to

reference station Sat. coordinates
coordinates uncertainty uncertainty To Earth Centre
Master of Science in GNSS

ru  r0u  ru  r0u  rru  rr  r0u@J. Sanz
rru& J.M.Juan
ε site 13
ε eph
j
gAGE
and where the rru estimate will be affected in
turn by the ephemeris and sitting site errors as:
ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  ε site  ρˆ 0 ruj  εeph

j
ε site
Range error due to Range error due to User rru  ru  rr
reference station Sat. coordinates receiver Ref.
Sta.
coordinates uncertainty uncertainty
Thence, taking into account the relationships: ru rr

b  rru
b b
ρˆ 0 ru
j
 ε site  ε site ; ρˆ 0 ru
j
 ε eph
j
 ε eph
j
 u
j
 u
j To Earth Centre
and being uj 20000 km it follows that for a baseline b  20 km
b 1 The effect of 5 metres error in orbits or in site coordinates

 
gAGE/UPC
uj 1000 is less than 5 mm in range for the estimation of rru .
But, the user position estimate will be shifted by the error

in the site coordinates ru  r0u  rru  ε site
14
gAGE
Exercise:
Demonstrate the following relationship: Satellite-j
b
ρˆ 0 ru
j
 ε site  ε site

Hint:
ρˆ 0 ru
j
 ε site   ρˆ 0uj  ρˆ 0 rj   ε site rj
 ρ0j u  ρ0j r  b
   ε site  ε site
    ρˆ uj
b r rru ρˆ rj
User ru
Refe
receiver Stati
Note: the following approaches have been taken: rru  ru  rr
 j ρ j
ρ j
ρˆ 0 r 
0r 0r
  j
 j
0jr 0ju   0r
ru rr
ρˆ j  ρ0u ρ
j j
gAGE/UPC
0u
 0u 0uj  j
b  rru r0 ru u v  u v To Earth Centre

15
gAGE
Contents

1.1. Linear model
2.1. Introduction
gAGE/UPC

16
gAGE
Geographic decorrelation of ephemeris errors
Position from
broadcast
Satellite
ephemeris
location error
True position  ε
ρuser
user
Differential range error due to
satellite obit error
ρ ref
ε
 ref
user ρuser ρref
  ε  ε
user ref
user
A conservative bound:
b
  

User
with a baseline b  20km
gAGE/UPC
Reference Station 20 1
   
20000 1000

17
gAGE
Satellite Range error
location error  from
ρuser
CREU and ε
EBRE user
Position
from
Satellite
broadcast
Differential range error from
location error
ephemeris between CREU and EBRE
True position  ε
ρuser
user
ρ ref
ε
 ref
 user ρuser ρref
  ε  ε
user ref
 user
gAGE/UPC
288 km of baseline
User
Reference Station

18
gAGE Differential range error from
between CREU and EBRE
Range error
from
CREU and ρuser

ε
EBRE user ρref
ρuser
  ε  ε
user ref
CREU-EBRE
CREU Differential positioning
Absolute positioning
gAGE/UPC
288 km of baseline

19
gAGE
 eph
1 2
2
1
Orbit Errors over the

hyperboloid will not
produce differential
range errors.
1  1  
gAGE/UPC
 1  2  1  2  constant    0
eph
2   2   eph

20
gAGE
research group of Astronomy and Geomatics  eph
 eph
1 2
2
1
Orbit Errors over the

hyperboloid will not
produce differential
range errors.
1  1  
gAGE/UPC
 1  2  1  2  constant    0
eph
2   2   eph

21
By Miguel Juan Zornoza
gAGE
ε • Errors over the hyperboloid (i.e.
 B   A  ctt ) will not produce
û differential range errors.
• The highest error is given by
the vector û , orthogonal to

the hyperboloid and over the
plain containing the baseline
vector b̂ and the LoS vector ρ̂.
Note:
Being the baseline b much smaller than
the distance to the satellite, we can
assume that the LoS vectors from A and
a  (  B   A ) / 2 : hyperboloid semiaxis B receives are essentially identical to .
That is,     
b / 2 : focal length B A
1
where a  b cos    
u  ρˆ  bˆ  ρˆ  bˆ  ρˆ T  ρˆ  - ρˆ ρˆ T bˆ 
 I bˆ   ρˆ  ρˆ T  bˆ   I  ρˆ  ρˆ T  bˆ
2
Note: in this 3D problem  is NOT the elevation of ray.
Note: u  sin  uˆ
Differential range error  produced by an

orbit error  parallel to vector û Note: being uˆ a vector orthogonal
Let    to the LoS ρˆ , thence,   εT uˆ
Thence:
gAGE/UPC
   (  B   A )  2 a  b sin  b
a a      ε T  uˆ   ε T   sin  uˆ 
 2   2
  
  b sin 

  
  ε T  I  ρˆ  ρˆ T 
1 b Where: b = b bˆ
b sin  

Note: ε  ρ      @ J. Sanz
is the baseline
& J.M. Juan vector
gAGE
ORBIT TEST :
Broadcast orbits
Along-track Error (PRN17)
PRN17:
Doy=077, Transm. time: 64818 sec
17 10 3 18 20 0 0.0 1.379540190101E-04 2.842170943040E-12 0.000000000000E+00

7.800000000000E+01-5.059375000000E+01 4.506973447820E-09-2.983492318682E+00
-9.257976353169E-05 5.277505260892E-03 8.186325430870E-06 5.153578153610E+03
4.176000000000E+05-5.401670932770E-08-4.040348681654E-01-7.636845111847E-08
9.603630515702E-01 2.215312500000E+02-2.547856603060E+00-7.964974630307E-09
-3.771585673111E-10 1.000000000000E+00 1.575000000000E+03 0.000000000000E+00
2.000000000000E+00 0.000000000000E+00-1.024454832077E-08 7.800000000000E+01
4.104180000000E+05 4.000000000000E+00
gAGE/UPC
diff EPH.dat.org EPHcuc_x0.dat --------------------------------------------------

< -2.579763531685E-06 5.277505260892E-03 8.186325430870E-06 5.153578153610E+03
> -9.257976353169E-05 5.277505260892E-03 8.186325430870E-06 5.153578153610E+03
---------------------------------------------------------------------------------

23
gAGE
Orbit error ε Range error

rov2
Differential range error

39.3 km Baseline: b=31.3km
rov1 31.3 km
11 km
15.2 km
gAGE/UPC
   εT  I  ρˆ  ρˆ T 
19.7 km b
rov3 

24
gAGE
Exercise:
Justify that clock errors completely

cancel in differential positioning.
gAGE/UPC

25
gAGE
Contents

1.1. Linear model
2.1. Introduction
gAGE/UPC

26
gAGE
Error mitigation and short baseline concept
If the distance between the user and the reference station is "short enough",
so that the residual error ionospheric, tropospheric and ephemeris are small
compared to the typical errors due to receiver noise and multipath, it can be
assumed: j
Tru  I ru  0 ;
j
ˆ j j ρ0ru  εeph  0
Note that the previous definition of “shortness” is quite fussy
Working with smoothed code, a residual error of about 0.5 metres could be
tolerable, but for carrier based positioning it should be less than 1 cm to
allow the carrier ambiguity fixing.
• The differential ephemeris error is at the level of few centimetres for

baselines up to 100 Km (i.e. 5 cm assuming a large bound of  eph 10 m ).
j
• The typical spatial gradient of the ionosphere (STEC) is 1-2 mm/km (i.e.
gAGE/UPC
0.1-0.2 m in 100km), but it can be more than one order of magnitude higher
when the ionosphere is active.

27
gAGE
Error mitigation and short baseline concept
Note that the previous definition of “shortness” is quite fussy

• The correlation radio of the troposphere is lower than for the ionosphere. At
10km of separation the residual error can be up to 0.1-0.2 m. Nevertheless,
90% of the tropospheric delay can be modelled and the remaining 10% can
be estimated together with the coordinates (for high precision applications).
For distances beyond a ten of kilometres or significant altitude difference it
would be preferable to correct for the tropospheric delay at the reference
station and user receiver.
Carrier-smoothed code:
Pseudorange code measurement errors due to receiver noise and multipath
can be reduced smoothing the code with carrier measurements.
Smoothed codes of 0.5m (RMS) can be obtained with 100 seconds smoothing.
On the other hand, the ionospheric error is substantially eliminated in
gAGE/UPC
differential mode and the filter can be allowed for lager time smoothing
windows.

28
gAGE
Contents

1.1. Linear model
2.1. Introduction
gAGE/UPC

29
gAGE Differential code based positioning
If the reference station coordinates are known at the Truj 0 ; I ruj 0
centimetre level and the distance between reference

station and user are “not too large”, we can assume ρˆ 0 ru
j
 ε eph
j
0
ε site 0  rru ru
Thence,
Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj Pruj  ruj  c  tru  Kru  P ruj
ruj  0ruj  ρˆ 0uj  rru  ρˆ 0ruj  ε site, r  ρˆ 0ruj  εeph
j
ruj   j
0 ru
 ρˆ 0 uj  ru
Note : for baselines up to 100 km Or, what is the same:

the range error of broadcast Pruj   0 ruj  ρˆ 0 uj  ru  c  tru  Kru  P ruj
orbits is less than 10 cm
(assuming  ephj
10 m ).
The left hand side of previous equation can be spitted in two terms:
one associated to the reference station and the other to the user:
gAGE/UPC

Pruj   0 ruj  Pu j   0 uj  Pr j   0 rj 
rru  ru  rr  ru  ε site @ J. Sanz & J.M. Juan
Pruj   0 ruj  ρˆ 0 uj  ru  c  tru  Kru  P ruj
The left hand side of previous equation can be spitted in two terms:
one associated to the reference station and the other to the user:

Pruj   0 ruj  Pu j   0 uj  Pr j   0 rj 
• The term Pr   0 r is the error in range measured by the reference
j j
station, which can be broadcasted to the user as a differential correction:

PRC j   0 rj  Pr j
• The user applies this differential correction to remove/mitigate common
errors: P j   j  PRC j  ρ ˆ j  r  c  t  j
u 0u 0u u ru P ru
Where the receiver’s instrumental delay term K ru is included

in the differential clock c  tru
gAGE/UPC
For distances beyond a ten of kilometres, or significant altitude difference, it

would be preferable to correct for the tropospheric delay at the reference
station and user receiver. 31
gAGE
Range Differential Correction Calculation
Broadcast SV Actual SV
Position Position
Calculated Measured Puser

Range ref
Pref Pseudoranges
Differential Message Broadcast

PRC, RRC
Reference station
(known Location) User
– The reference station with known coordinates, computes pseudorange

and range-rate corrections: PRC= ref, –Pref , RRC= PRC/t .
– The user receiver applies the PRC and RRC to correct its own
gAGE/UPC
measurements, Puser + (PRC + RRC (t-t0)), removing SIS errors and

improving the positioning accuracy.
DGNSS with code ranges: users within a hundred of kilometres can obtain
one-meter-level positioning accuracy using such pseudorange
corrections.
@ J. Sanz & J.M. Juan
32
The user applies this differential correction to remove/mitigate common
errors: P j   j  PRC j  ρ ˆ j  r  c  t  j
u 0u 0u u ru P ru
where the receiver’s instrumental delay term K ru is included in

the differential clock c  tru
The previous system for navigation equations is written in matrix notation as:

  1
T
ρˆ 01u
 Pref  
1

 2  
 ρˆ 
T
 Pref   
2
0u
1  ru 
     
c  tru 
 n
 
  

 
Pref T
 ρˆ 0nu 1

gAGE/UPC
where
Pref j  Pu j   0 uj  PRC j

33
Time synchronization issues:
For simplicity we have dropped any reference to measurement

epochs, but real-time implementations entail delays in data
transmission and the time update interval can be limited by
bandwidth restrictions.
• Differential corrections vary slowly and its useful life can be up to
several minutes with S/A=off.
• To reduce bandwidth, the reference station computes Pseudorange

Corrections (PRC) and Range-Rate Correction (RRC) for each
satellite in view, which are broadcast to every several seconds, up to
a minute interval with S/A=off.
• The user computes the PRC at the measurement epoch as:

gAGE/UPC
PRC j (t )  PRC j (t0 )  RRC j (t  t0 )

34
Data handling:
Reference station and user have to coordinate how the

measurements are to be processed:
• Corrections must be identified with an Issue of Data (IOD) and
time-out must be considered.
• Both receivers must use the same ephemeris orbits (which are
identified by the IODE).
• If reference station uses a tropospheric model the same model
must be applied by the user.
• If reference station uses the broadcast ionospheric model, the user
must do the same.
gAGE/UPC
Note: we have considered here only code measurements. The carrier based
positioning will be treated next, using double differences of measurements and
targeting the ambiguity fixing.
35
gAGE
Range Differential Correction Calculation
Broadcast Actual SV
SV Position Position
Calculated Measured Puser

Range ref Pref
Pseudoranges
Differential Message Broadcast

PRC, RRC
Reference station
(known Location) User
– The reference station with known coordinates, computes pseudorange and

range-rate corrections: PRC= ref – Pref, RRC= PRC/t .
– The user receiver applies the PRC and RRC to correct its own
gAGE/UPC
measurements, Puser + (PRC(t0) + RRC(t-t0)), removing SIS errors and

improving the positioning accuracy.
DGNSS with code ranges : users within a hundred of kilometres can obtain
one-meter-level positioning accuracy using such pseudorange
corrections.36
@ J. Sanz & J.M. Juan
gAGE
GODN
USN3 76 m
GODS
ftp://cddis.gsfc.nasa.gov/highrate/2013/
gAGE/UPC
1130752.3120 -4831349.1180 3994098.9450 gods

1130760.8760 -4831298.6880 3994155.1860 godn
1112162.1400 -4842853.6280 3985496.0840 usn3

37
gAGE GPS Standalone GPS Standalone USN3
GODN GODN
GODS
GODS
USN3
S/A=off
DGPS DGPS
GODN
GODN
GODS: reference
gAGE/UPC
USN3 station GODS: reference

USN3 station

38
gAGE GODS: reference PRC DGPS
station
GODN
GODS: reference
USN3 station
GODS: reference RRC

station DGPS
GODN
gAGE/UPC
GODS: reference
USN3 station

39
gAGE
Contents

1.1. Linear model
2.1. Introduction
gAGE/UPC

40
gAGE
Introduction: What Augmentation is?
• To enhance the performance of the current GNSS

with additional information to:
– Improve INTEGRITY via real-time monitoring
– Improve ACCURACY via differential corrections
– Improve AVAILABILITY and CONTINUITY
• Satellite Based Augmentation Systems (SBAS)

– E.g., WAAS, EGNOS, MSAS
• Ground Based Augmentation Systems (GBAS)
– E.g., LAAS
• Aircraft Based Augmentation (ABAS)
gAGE/UPC
– E.g., RAIM, Inertials, Baro Altimeter

41
gAGE
Why Augmentation Systems?

• Current GPS/GLONASS Navigation Systems

cannot met the Requirements for All Phases
of Flight:
– Accuracy
– Integrity
– Continuity
– Availability
• Marine and land users will also require

some sort of augmentation for improving
the GPS/ GLONASS performances.
gAGE/UPC

42
gAGE
WHY GNSS NEEDS AN AUGMENTATION ?
GPS Only Civil Aviation
PERFORMANCE CATEGORY I
Requirements
H. 13 m V. 22m ACCURACY (95%) H 16.0 m V 4.0 m
99% (RAIM) AVAILABILITY 99% to 99.990%
INTEGRITY 2.10-7/ approach

gAGE/UPC
?
Time to alarm 6 s
? CONTINUITY OF SERVICE 10-5 / approach

(10-6 / 15 s)

43
gAGE Accuracy: Difference between the measured position at any given
time to the actual or true position.
Even with S/A off a Vertical Accuracy < 4m 95% of time

GPS Before
cannot and After
be guaranteed S/A
with thewas switched
standalone off
GPS.
Colorado Springs, Colorado 2 May 2000
160
140 Horizontal Error (meters)
120 Vertical Error (meters)
100
Instantaneous Error (meters)
80
60
40
20
0
-20
-40
-60
-80 ANALYSIS NOTES
-100
-120 - Data taken from Overlook PAN Monitor Station,
equipped with Trimble SVeeSix Receiver
-140 - Single Frequency Civil Receiver
gAGE/UPC
-160 - Four Satellite Position Solution at Surveyed Benchmark

-180 - Data presented is raw, no smoothing or editing
-200
0 1 2 3 4 5 6 7 8 9 10
Time of Day (Hours UTC)

44
gAGE Integrity: Ability of a system to provide timely warnings to users or
to shut itself down when it should not be used for navigation.
Standalone GPS and GLONAS Integrity is Not Guaranteed
GPS/GLONASS Satellites:
Time to alarm is from minutes to hours
No indication of quality of service
Health Messages:
GPS up to 2 hours late
GLONASS up to 16 hours late
gAGE/UPC

45
gAGE
Continuity: Ability of a system to perform its function without
(unpredicted) interruptions during the intended operation.
Availability: Ability of a system to perform its function at initiation of

intended operation. System availability is the percentage of time
that accuracy, integrity and continuity requirements are met.
Availability and Continuity Must meet requirements
Continuity:
Less than 10-5 Chance of Aborting
a Procedure Once it is Initiated.
Availability:
gAGE/UPC
>99% for every phase of flight (SARPS).

46
gAGE
INTEGRITY
NSE
Confidence bound
gAGE/UPC
Less than 10-7 probability of true

Alert Limit error larger than confidence bound.
Time to alarm 6 s

47
gAGE
SBAS and GBAS Navigation Modes

SBAS
gAGE/UPC
GBAS

48
gAGE
Civil Aviation Signal-in-Space
Performance Requirements
Aviation Accuracy Accuracy Alert Alert Integrity Time Continuity Avail-

(H) 95% (V) 95% Limit (H) Limit (V) to alert ability
ENR 3.7 Km N/A 7400 m N/A 1-10-7/h 5 min. 1-10-4/h 0.99
(2.0 NM) 3700 m to to
1850 m 1-10-8/h 0.99999
TMA 0.74 Km N/A 1850 m N/A 1-10-7/h 15 s 1-10-4/h 0.999
(0.4 NM) to to
1-10-8/h 0.99999
NPA 220 m N/A N/A 1-10-7/h 10 s 1-10-4/h 0.99
(720 ft) 600 m to to
1-10-8/h 0.99999
APV-I 220 m 20 m 600 m 50 m 1-2x10-7 per 10 s 1-8x10-6 in 0.99
(720 ft) (66 ft) approach any 15 s to
0.99999
APV-II 16.0 m 8.0 m 40 m 20 m 1-2x10-7 per 6s 1-8x10-6 in 0.99
(52 ft) (26 ft) approach any 15 s to
0.99999
gAGE/UPC
CAT-I 16.0 m 6.0 - 4.0 m 40 m 15 -10 m 1-2x10-7 per 6s 1-8x10-6 in 0.99

(52 ft) (20 to 13 ft) approach any 15 s to
0.99999

49
gAGE
Contents

1.1. Linear model
2.1. Introduction
gAGE/UPC

50
gAGE
GBAS Concept
Most of the measurement errors are common:

clock, ephemeris, ionosphere and troposphere.
A common correction valid for any receiver within the LADGPS
area is generated and broadcast.
gAGE/UPC
The accuracy is limited by the spatial decorrelation of those

error sources (1m at 100Km).

51
gAGE GBAS Concept
The Ground Station (GS)
responsible for generating

and broadcasting carrier-
smoothed code differential
corrections and approach-
path information to user
aircrafts.
This system is used to
support aircraft operations
during approach and landing.
• It is also responsible of detecting and alarming space-segment
and ground-segment failures.
• The GS must insure that all ranging sources for which GBAS
corrections are broadcast are safe to use. If a failure occurs that
threatens user safety, the GS must detect and alert users (by not
gAGE/UPC
broadcasting corrections for the affected ranging source) within a

certain time-to-alert.
This is from [RD-5]

52
gAGE
research group of Astronomy and Geomatics GBAS Components
The GBAS station involves

redundant Reference
Receivers and antennas,
redundant High Frequency
Data Broadcast equipment
linked to a single antenna.
• The GS tracks, decodes, and monitors GPS satellite information and

generates differential corrections.
• It also performs integrity checks on the generated corrections.
• The correction message, along with suitable integrity parameters
gAGE/UPC
and approach path information, is then broadcast to airborne users

on a VHF channel, up to about 40km.
This is from [RD-5]

53
gAGE
Ground System Functional Flow Diagram
This is from [RD-5]
A variety of integrity monitor algorithms that are grouped into:

gAGE/UPC
• Signal Quality Monitoring (SQM) • Multiple Reference Consist Check (MRCC)

• Data Quality Monitoring (DQM)  sm-monitor
• Measur. Quality Monitoring (MQM) • Message Field Range Test (MFRT)

54
gAGE SQM: Targets satellite signals anomalies and local interference. Implements
tests for Correlation Peak Symmetry, Receiver Signal Power and Code-
Carrier Divergence.
DQM: Checks the validity of the GPS ephemeris and clock data for each
satellite that rises in view of the LGF and at each time new navigation
data messages are broadcast.
MQM: Confirms the consistency of the pseudorange and carrier-phase
measurements over the last few epochs to detect sudden step and any
other rapid errors.
MRCC: Examines the consistency of corrections for each satellite across all
reference receivers.
sm-monitor: Helps ensure a Gaussian distribution for the correction error
with zero mean and that the broadcast spr _ gnd overbounds the actual
errors in the broadcast differential corrections.
MFRT: Verifies that the computed averaged pseudorange corrections and
correction rates fit within the message field bounds. This is from [RD-5]
Executive Monitors (EXM-I and EXM-II) coordinate all previous monitors

gAGE/UPC
and combine failure flags.
• Signal Quality Monitoring (SQM) • Multiple Reference Consist Check (MRCC)

• Data Quality Monitoring (DQM)
 sm-monitor @ J. Sanz & J.M. Juan
• Measur. Quality Monitoring (MQM) • Message Field Range Test (MFRT) 55
gAGE
gAGE/UPC

56
gAGE
Contents

1.1. Linear model
2.1. Introduction
gAGE/UPC

57
gAGE
SBAS Concept
The pseurorange error is split in its components.

• Clock error
• Ephemeris error
• Ionospheric error
• Local errors (troposphere, multipath, receiver noise)
gAGE/UPC
Uses a network of receivers to cover broad geographic area

58
gAGE
Error Mitigation
Error GBAS SBAS

component
Satellite clock Estimation and
Ephemeris Common Mode Removal each
error
Ionosphere Differencing component
Troposphere Fixed Model
Multipath and Carrier Smoothing by user

gAGE/UPC
Receiver Noise

59
gAGE
Three existing SBAS Systems

gAGE/UPC

60
gAGE
The European Geoestationary Navigation
Overlay SERVICE (EGNOS)
• EGNOS is the European component of a Satellite

Based Augmentation to GPS.
• EGNOS is being developed under the

responsibility of a tripartite group:
– The European Space Agency (ESA)
– The European Organization for the Safety of Air
Navigation (EUROCONTROL)
– The Commission of the European Union.
gAGE/UPC

61
gAGE ECAC Area
(ECAC: European Civil Aviation Conference)
70
Artemis
IOR
AOR-E
60
50
Latitude (°)
40
30
gAGE/UPC
20
-40 -30 -20 -10 0 10 20 30 40
Longitude (°)

62
gAGE
EGNOS Architecture
GEO (x3)
GPS
RIMS
(x 37)
NLES
(x 6)
EWAN
gAGE/UPC
MCC 1 MCC 2 MCC 3 MCC 4 PACF ASQF

63
gAGE
gAGE/UPC

64
gAGE
EGNOS ground segment is composed of the following
stations/centres which are mainly distributed in Europe and are
interconnected between themselves through a land network.
• 37 RIMS (Ranging and Integrity Monitoring Stations) + seven

being deployed: receive the satellite signals and send this
information to the MCC centres.
• 4 MCC (Master Control Centres) receive the information from the

RIMS stations and generate correction messages to improve
satellite signal accuracy and information messages on the status
of the satellites (integrity). The MCC acts as the EGNOS system
'brain'.
• 6 NLES (Navigation Land Earth Stations): they receive the

correction messages from the CPFs for the upload of the data
stream to the geostationary satellites and the generation of the
gAGE/UPC
GPS-like signal. This data is then transmitted to the European

users via the geostationary Satellite
http://egnos-user-support.essp-sas.eu/egnos_ops/egnos_system/system_description/current_architecture

65
gAGE
research group of Astronomy and Geomatics Master Control Center (MCC)
MCC is Subdivided into

– CCF (Central Control Facility)
Monitoring and control EGNOS G/S
Mission Monitoring and archive
ATC I/F
– CPF (Central Processing Facility)

Provides EGNOS WAD corrections
Ensures the Integrity of the EGNOS users
Utilises independent RIMS channels for checking of corrections
Real time software system developed to high software standards
4 MCCs are implemented in EGNOS

gAGE/UPC

66
gAGE
SBAS Differential Corrections and Integrity:
The RTCA/MOPS-DO 229C
gAGE/UPC
Do-229A, B, C, D

67
gAGE
Message Format
DIRECTION OF DATA FLOW FROM SATELLITE; MOST SIGNIFICANT BIT (MSB) TRANSMITTED FIRST
250 BITS - 1 SECOND

IODP (2 BITS) REPEAT FOR 12
REPEAT FOR 12 MORE SATELLITES UDREI MORE SATELLITES
PRCf
212-BIT DATA FIELD
13 12-BIT FAST CORRECTIONS 13 4-BIT UDREIs 24-BITS
PARITY
IODF (2 BITS)
6-BIT MESSAGE TYPE IDENTIFIER (= 2, 3, 4 & 5)
8-BIT PREAMBLE OF 24 BITS TOTAL IN 3 CONTIGUOUS BLOCKS
The corrections, even for

individual satellites are
distributed across several
• 250 bits individual messages.
• One Message per second
gAGE/UPC
• All messages have identical format

68
gAGE
research group of Astronomy and Geomatics SBAS Broadcast Messages (ICAO SARPS)
MSG 0 Don't use this SBAS signal for anything (for SBAS testing)
MSG 1 PRN Mask assignments, set up to 51 of 210 bits
MSG 2 to 5 Fast corrections
MSG 6 Integrity information
MSG 7 Fast correction degradation factor
MSG 8 Reserved for future messages
MSG 9 GEO navigation message (X, Y, Z, time, etc.)
MSG 10 Degradation Parameters
MSG 11 Reserved for future messages
MSG 12 SBAS Network Time/UTC offset parameters
MSG 13 to 16 Reserved for future messages
MSG 17 GEO satellite almanacs Many Message Types
MSG 18 Ionospheric grid point masks Coordinated Through
MSG 19 to 23 Reserved for future messages Issues Data (IOD)
MSG 24 Mixed fast corrections/long term satellite error corrections
MSG 25 Long term satellite error corrections
MSG 26 Ionospheric delay corrections
gAGE/UPC
MSG 27 SBAS outside service volume degradation

MSG 28 to 61 Reserved for future messages
MSG 62 Internal Test Message
MSG 63 Null Message
69
gAGE
Issues of Data (IOD)
IODE
IODEk IODk Long-term No IOD: Fast
GPS repeat msg, Corrections
Ephemeris Corrections
small (2 - 5, 24)
(25) changes
IODCk
IODP
GPS IODGk IODP
IODF
IODF j
IODP
Clock IODP
PRN Integrity
GLONASS
Mask Information
DATA
(1) (6)
IODS IODP
IODP
Service Acceleration
Message Information
(7)
gAGE/UPC
(27)
Ionospheric Ionospheric
Mask Corrections
(18) IODI
IODI
(26)
70
gAGE
Message Time-Outs:
Users can operate even when missing Messages
• Prevents Use of Very Old Data

• Confidence Degrades When Data is Lost
• IODF: Detect Missing Fast Corrections
1 second
System Latency
The Correction is tof: Time of applicability Last bit of message:

estimated by the (1st bit of message) tof+1sec
gAGE/UPC
master station
Correction time-Out

71
gAGE Associated Maximum En Route, Precision
Data Message Update Interval Terminal, NPA Approach
Types (seconds) Timeout (seconds) Timeout (seconds)
WAAS in Test Mode 0 6 N/A N/A

PRN Mask 1 60 None None
UDREI 2-6, 24 6 18 12
Fast Corrections 2-5, 24 60 (*) (*)
Long Term 24, 25 120 360 240
Corrections
GEO Nav. Data 9 120 360 240
Fast Correction 7 120 360 240
Degradation
Weighting Factors 8 120 240 240
Degradation 10 120 360 240
Parameters
Ionospheric Grid 18 300 None None
Mask
Ionospheric 26 300 600 600
gAGE/UPC
Corrections
UTC Timing Data 12 300 None None
Almanac Data 17 300 None None
(*) Fast Correction Time-Out intervals are given in MT7 [between 12 to 120 sec]
72
gAGE
PRN MASK (MT01)
Bit No 1 2 3 4 5 6 . 38 . 120 . 210
Value 0 1 0 1 1 0 1 1 0
PRN GPS GPS GPS GLONASS AORE
PRN 2 PRN 4 PRN 5 Slot 1 PRN 120
PRN mask 1 2 3 21 29
Number
Each MT01 contains its associated IODP
Assignment
Up to 51 satellites in 210 slots. PRN
Slot
Note: Each Correction set in 1-37 GPS/GPS Reserved
MT 2-5,5,6,7,24,25 its 38-61 GLONASS
characterized by its PRN-Mask

62-119 Future GNSS
gAGE/UPC
120-138 GEO/SBAS
number, between 1 to 51. 139-210 Future GNSS/GEO/SBAS/Pseudolites

73
gAGE
Example of message: Fast Corrections
(MT2-5,24)
• Primarily Removed SA
– Common to ALL users
– Up to 13 Satellites Per Message
– Pseudorange Correction /confidence Bound
– Range Rate Formed by Differencing
– UDRE degrades Over Time
• Acceleration Term in MT 7
gAGE/UPC
• Reset when new Message Received

74
gAGE Example of message: Fast Corrections
(MT2-5,24)
(t )  PRC n  RRC n (t  t n )
PRC (t Y  C1  PRC   *  t sat  dt sat
PRC n  PRC o
RRC n   TGD  IONO  TROP
t n  to
DIRECTION OF DATA FLOW FROM SATELLITE; MOST SIGNIFICANT BIT (MSB) TRANSMITTED FIRST
250 BITS - 1 SECOND

IODP (2 BITS) REPEAT FOR 12
REPEAT FOR 12 MORE SATELLITES UDREI MORE SATELLITES
PRCf
13 12-BIT FAST CORRECTIONS 13 4-BIT UDREIs 24-BITS

PARITY
IODF (2 BITS)
6-BIT MESSAGE TYPE IDENTIFIER (= 2, 3, 4 & 5)
8-BIT PREAMBLE OF 24 BITS TOTAL IN 3 CONTIGUOUS BLOCKS
gAGE/UPC
( RSSUDRE  0 MT10)
s 2i, flt  s 2UDRE   2 fc   2rrc   2ltc   2er

75
gAGE Example of message: Ionospheric Corrections
(MT26)
• Only Requiered for Precission Approach

– Grid of Vertical Ionospheric Corrections
– Users Select 3 o 4 IGPs that Surrounding IPP
• 5ºx5º or 10ºx10º for 55º<Lat<55º
• Only 10ºx10º for 55º<|Lat|<85º
• Circular regions for |Lat|>85º
– Vertical Correction and UIVE Interpoled to IPP

– Both Converted to Slant by Obliquity Factor
gAGE/UPC
IGP: Ionospheric Grid Point

IPP: Ionospheric Pierce Point

76
gAGE
research group of Astronomy and Geomatics Global IGP Grid
W180 W140 W100 W60 W20 0 E20 E60 E100 E140
N85
N75
N65
N55
N50
S50
0 1 2 3 4 5 6 7 8
S55
S65
gAGE/UPC
S75
S85
Predefined Global IGP Grid

77
Fast Corrections
gAGE
Ephemeris +
+ Long Term Corrections MT1, MT2,5,24, MT6,
+ MT25, MT7, MT12,
Clocks UDRE MT9

+
Degradation Param.
MT10
IONO Corrections
+ MT18
IONO GIVE
+ MT26
Degradation Param.
PRC  ** ttsat

y  C1  PRC sat
 dt sat  TGD  IONO  TROP
gAGE/UPC
s  s s
2 2
flt
2
UIRE s 2
air s 2
tropo

78
Navigation System Error
gAGE y = Gx
and Protection levels
ˆ =  G WG  G T W y
-1
T
x
X  N , E, U , cdt 
 d N2 d NE d NV d NT 
 
 d NE d E2 d EV d ET 
  G T WG   
 2
 d d 
1
Px  dN  d
2 2 2 2
d V2 HPL  6.00   N   d NE
E E 2
 d NV d EV dVT 
d  2
 NT d ET dVT d T2  2  
W  PY1
VPL  5.33 dV
s 12 0 
 
Py   
0 2 
sN  s i2  s i2, flt  s i2,UIRE  s i2,air  s i2,tropo

-Ks-s s Ks
gAGE/UPC
X ~ N (0,1)
P( X  5.33)  107

79
gAGE
Fast and Long-Term Correction Degradation
s
   fc   rrc   ltc   er , if 
2
 RSSUDRE  0 ( MT10)
s 2i, flt   UDRE

s 2UDRE   2 fc   2 rrc   2ltc   2er , if RSSUDRE  1 ( MT10)
t tu tlat 
2
MT25
 fc a 2
MT2-6,24 tltc , v0 or v1
 Cltc ,v 0 floor  I ltc 

t t
 ltc,v 0 IODF ,UDREi
 ltc ,v 0  tu  tof MT7
ai I fc ,i tlat
(when IODF  3)
0 , if t0  t  t0  I ltc _ v1
 ltc,v1  
Clts _ lsb  Cltc _ v1 max 0, t0  t , t  t0  I ltc _ v1 , otherwise
MT10
0
Brrc , Cltc _ lsb , Cltc _ v1,
 er
Neither fast nor long term corrections
 have time out for precision approach
Cer Otherwise Iltc _ v1, Cltc _ v0 , Iltc _ v0 ,

IODFcurrent , IODFprevious 3
gAGE/UPC
IODFcurrent , IODFprevious 3
0 , ( IODF  IODFprevious ) mod 2 1 Cer , RSSUDRE ,

 rrc
current
  a I fc Brrc

 4  t  t  t of  , ( IODF current
 IODFprevious ) mod 2 1
Ciono _ ramp , Ciono _ step ,
Iiono , RSSiono
80
gAGE
Degradation of Ionospheric Corrections
1

  R cos E 2 
s F s
2
2 2 2 Fpp  1   e  
UIRE pp UIVE   Re  hI  
 Wn  x pp , y pp  s n2,ionogrid , N  4 or 3 MT10

N
s 2
UIVE
n 1 Brrc , Cltc _ lsb , Cltc _ v1 ,
I ltc _ v1 , Cltc _ v 0 , I ltc _ v 0 ,
s GIVE   iono 
2
RSSiono  0 ( MT10)
s
, if
2
ionogrid  Cer , RSSUDRE ,
s GIVE   iono RSSiono  1 ( MT10)
2 2
, if
Ciono _ ramp , Ciono _ step ,
I iono , RSSiono
iono  Ciono _ step floor I t tiono


 Ciono _ ramp  t  tiono  MT26
gAGE/UPC
iono
tiono,GIVEi

81
gAGE
Users know the receiver-satellites geometry and can compute bounds on
the horizontal and vertical position errors.
These bounds are called Protection Levels (HPL and VPL). They provide
good confidence (10-7/hour probability) that the true position is within a

bubble around the computed position.
Protection
Level
True
Error
-Ks-s s Ks Tail area Probability P(VPE>VPL) < 10-7 /sample
N
s i2  s i2, flt  s i2,UIRE  s i2,air  s i2,tropo
 sV2i s i2
gAGE/UPC
VPL  KV
i 1
GEOMETRY

82
gAGE
EGNOS
Availability
Integrity
gAGE/UPC
Accuracy

DGNSS implementations: WADGNSS (SBAS) 83
gAGE
EGNOS
Availability
Integrity
Continuity
gAGE/UPC
Accuracy

84
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.
[RD-5] Gang Xie, Optimal on-airport monitoring of the integrity of GPS-based
landing systems, PhD Dissertation, 2004.
gAGE/UPC

85
gAGE
EGNOS Safety of Life Service Definition Document (Ref : EGN-SDD SoL, V1.0).
European Comission.
http://www.essp-sas.eu/downloads/vubjj/egnos_sol_sdd_in_force.pdf
12 GPS Standard Positioning Service Performance Standard [RD-3].

13 This is the typical range of ionospheric residual errors after application of the baseline Klobuchar
model broadcast by GPS for mid-latitude regions.

gAGE/UPC
SREW: Satellite Residual Error for the Worst user location.

UIVD: User Ionospheric Vertical Delay.
UERE: User Equivalent Range Error

86

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gAGE

research group of Astronomy and Geomatics

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

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

These slides can be obtained either from the server http://www.gage.upc.edu,

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

1. Linear model for DGNSS: Single Differences

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

The spatial decorrelation depends on the error component (e.g. Clocks

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

r0i ri : Receiver coordinates error

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

Single difference ()ruj  ()ruj  ()uj  ()rj r j

Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj ρˆ uj ρˆ rj

Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj ru rr

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

Single difference ()ru  ()ru  ()u  ()r r j

Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj

Single difference cancels:

The residual errors will depend upon the

Dif. Wind-up: Very small

( L1   )  Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj

( P1   )  Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj

Dif. Wind-up: Very small

( L1   )  Lruj  ruj  c  tru  Truj  I ruj   ruj   Nruj  bru  L ruj

( P1   )  Pruj  ruj  c  tru  Truj  I ruj  Kru  P ruj

Single difference ()ruj  ()ruj  ()uj  ()rj

being: 0ruj  0uj  0rj ; rru  ru  rr ru rr

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

Let be: ru  u  r

where  j   j  ρˆ j  r  ρˆ j  r j (from Taylor expansion)

Show that the Single Differences are given by:

ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  rr  ρˆ 0ruj  r j

being: 0ruj  0uj  0rj ; rru  ru  rr

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

Let’s assume that:

• The satellite coordinates are known with an uncertainty r  ε eph

• The reference station coordinates are known with an

Thence, the user position can be computed from the rru

and where the rru estimate will be affected in ε site

ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  ε site  ρˆ 0 ruj  εeph

Range error due to Range error due to

Master of Science in GNSS

turn by the ephemeris and sitting site errors as:

ruj  0ruj  ρˆ 0uj  rru  ρˆ 0 ruj  ε site  ρˆ 0 ruj  εeph

Thence, taking into account the relationships: ru rr

and being uj 20000 km it follows that for a baseline b  20 km

b 1 The effect of 5 metres error in orbits or in site coordinates

uj 1000 is less than 5 mm in range for the estimation of rru .

But, the user position estimate will be shifted by the error

Demonstrate the following relationship: Satellite-j

b  rru r0 ru u v  u v To Earth Centre

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

1. Linear model for DGNSS: Single Differences

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

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

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

CREU and ρuser

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

Orbit Errors over the

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

Orbit Errors over the