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GNSS ARCHITECTURE
GNSS stands for Global Navigation Satellite System, and is the standard generic term
for satellite navigation systems that provide autonomous geo-spatial positioning with
global coverage
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Global Navigation Satellite System
GNSS Positioning If you have a GNSS receiver, it is unlikely that
you will ever be lost again.
Simply put, if you don’t know your position, but do know your
distance from three known points, you can trilaterate your
location.
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GNSS Positioning
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GNSS Positioning
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GNSS Positioning
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Basic GNSS Concept
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Basic GNSS Concept
Step 1 - Satellites: GNSS satellites orbit the earth. The satellites know their orbit ephemerides
(the parameters that define their orbit) and the time very, very accurately. Ground-based control
stations adjust the satellites’ ephemerides and time, when necessary.
Step 2 - Propagation:
GNSS satellites regularly broadcast their ephemerides and time, as well as their status. GNSS
radio signals pass through layers of the atmosphere to the user equipment.
Step 3 - Reception:
GNSS user equipment receives the signals from multiple GNSS satellites then, for each
satellite, recovers the information that was transmitted and determines the time of propagation,
the time it takes the signals to travel from the satellite to the receiver.
Step 4 - Computation:
GNSS user equipment uses the recovered information to compute time and position.
Step 5 - Application:
GNSS user equipment utilizes the position and time information in their applications, for
example, navigation, surveying or mapping
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Global Positioning System
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Segments of GPS
1. Space Segment
A constellation of 24 satellites
2. Monitor Station/Control Segment
A network of earth-based facilities
3. Users & Equipment
Space segment
24 satellite vehicles
Six orbital planes
Inclined 55° with respect to equator
Orbits separated by 60°
20,200 km elevation above Earth
Orbital period of 11 hr 55 min
Five to eight satellites visible from any point on Earth
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GPS Constellation
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GPS Satellite Vehicle
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Control segment
Tracking stations around
the world
o 1 Master control station
– Command & Control
o 1 Alternate control station
– Backup
o 16 Monitor stations
– Orbit monitoring
o 4 dedicated ground antenna
– Communication
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Control segment
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User segment
GPS antennas & receiver/processors
Position
Velocity
Precise timing
Application
Aircraft
Ground vehicles
Ships
Individuals
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How does GPS work?
Satellite ranging
Satellite locations
Satellite to user distance
Need four satellites to determine position
Distance measurement
Radio signal traveling at speed of light
Measure time from satellite to user
Low-tech simulation
Pseudo-Random Code
Complex signal
Unique to each satellite
All satellites use same frequency
Economical
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Basic GPS Trilateration- Ranging to First Satellite
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Ranging to Second Satellite
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Basic GPS Trilateration- Position Error
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Detecting Position Error
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Convergence
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Dilution of Precision (DOP)
The geometric arrangement of satellites, as they are presented to the receiver, affects the
accuracy of position and time calculations.
Receivers will ideally be designed to use signals from available satellites in a manner
that minimizes this so called “dilution of precision
• The smaller the value of DOP , the more precise the result of the time or position
calculation.
So, if DOP is very high, the inaccuracy of the position measurement will be much larger
than the inaccuracy of the range measurement.
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Poor - DOP
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High - DOP
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GPS Frequency Plan
The satellites broadcast ranging codes and navigation data on two frequencies using a technique
called code division multiple access (CDMA); that is, there are only two frequencies in use by the
system, called L1 (1,575.42 MHz) and L2 (1,227.6 MHz)
Each satellite generates a short code referred to as the coarse/acquisition or C/A code and a long
code denoted as the precision or P(Y) code.
The C/A code has a 1-ms period and repeats constantly, whereas the P-code satellite transmission is
a 7-day sequence that repeats approximately every Saturday/Sunday midnight.
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GPS Frequency Plan
• The GPS employs quadrature Binary Phase Shift Keying
(BPSK) modulation at two frequencies (CDMA)
L1 = 1,575.42 MHz
o 1 = 19 cm
L2 = 1,227.6 MHz
o 2 = 24 cm
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Application of GPS Technology
Location - determining a basic position
Navigation - getting from one location to another
Tracking - monitoring the movement of things
Mapping - creating maps of the world
Timing - bringing precise timing to the world
Private and recreation
Traveling by car
Hiking, climbing, biking
Vehicle control
Mapping, survey, geology
English Channel Tunnel
Agriculture
Aviation
General and commercial
Spacecraft
Maritime
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Determining Satellite-to-User Range
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Determining GPS Position
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Determining Position
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Determining Position
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Determining Position
The satellite clock offset from system time, δt, is assumed to be negligible
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Determination of Position Velocity & Time
GPS receiver
(x,y,z)
Sat3
(x3,y3,z3)
Kalman filtering provides a means for improving PVT estimates based on optimal
processing of time sequence measurements
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Determination of Position Velocity & Time
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Determination of PVT
If we know approximately where the receiver is, then we can denote the offset of the true
position) from the approximate position by a displacement
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Determination of PVT
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Determination of PVT
Solving the first-order partial derivatives to eliminate nonlinear terms
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Determination of PVT
unit vector
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Determination of PVT
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Determination of PVT
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GNSS Signal representation
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GPS Frame
Sub-frame 1
o Clock correction parameters, giving the satellite clock offset from GPS time.
o Coefficient of the ionosphere propagation delay model for single frequency users
(only L1 detection).
Sub-frame 2 and 3
o Satellite ephemeris from which satellite coordinates in instantaneous coordinate
system can be determined.
Sub-frame 4
o Reserved for alphanumeric message for future applications and almanac data
for satellites 25 through 32
Sub-frame 5
o Almanac data for one satellite, successive sub-frames (5) will contain almanac
data for up to 24 satellites.
First 3 sub-frames are refreshed every hour with ephemeris data that are applicable to
new time period (and are valid for 1.5 hours). Sub-frames 4 and 5 are refreshed at the
upload time (nominally each day).
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GNSS Signal representation
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GNSS Received Signal
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Determining GPS Position
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National GPS
GPS in USA
GLONASS in Russia
GALILEO in European countries
COMPASS in China
IRNSS in India
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GPS Errors and Accuracy
Accurate determination of position by GPS depends on treatment of various types of errors
inherent in the technology. Errors in GPS observations can be categorized on the bases of
nature or source of errors as follows:
On the basis of nature of errors
•Random errors
• Instrument noise
•Systematic errors
• Satellite related errors
• Receiver related errors
• Signal propagation errors
•Gross errors
• Loss of satellite signal
• Corruption of GPS signals due to any power line or object having magnetic
characteristics
• Improper levelling and/or centring of receiver antenna
• Errors in measuring height of antenna centre from ground
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GPS Errors and Accuracy
• On the basis of sources of errors in GPS observations
• Satellite dependent
• Originate from satellite or are found to be part of satellite transmitted signals
• Receiver clock
• Cycle slips
• Antenna phase centre movement
• Receiver noise
• Observation medium dependent
• Originate during signal propagation from satellite to receiver
• Ionosphere delay
• Tropospheric delay
• Station dependent
• Multipath
• Some of these errors may be systematic which change from one epoch to another whereas the random errors
need to be distributed and adjusted within the set of GPS observations.
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GPS Errors and Accuracy
Satellite dependent errors
Satellite dependent errors result in ephemeris errors (EE) as a result of (a) natural orbital perturbations due to
various forces and (b) other factors such as selective availability (SA) and drift in satellite clocks.
•Satellite dependent EE are most difficult to completely model, correct and compensate for because many forces
acting on the predicted orbit of a satellite are difficult to measure directly. Satellite orbital bias is defined as the
discrepancy between the true position (and velocity) of a satellite and its broadcast ephemeris .
•Satellite position as a function of time, included in broadcast navigation message, are predicted from previous GPS
observations at ground control stations.
•Ephemeris information to calculate GPS satellite positions is generated from the tracking data collected by five
monitor stations of the control segment. The collected tracking data is processed at the MCS and the satellite
navigation message information is uploaded to every satellite. Errors in the prediction of a satellite position are
transmitted to the user in the satellite data message and are available to GPS users at the time of observation.
•Satellite motion is controlled by Keplerian laws which in mean sense considers motion about ideal earth having
perfectly radial gravitational field and no atmosphere.
•Ideal earth : Spherical earth having axis of rotation passing through its centre of gravity (CG) and having
homogeneous mass distribution.
•Real earth : Earth is non-homogeneous body of random mass distribution and non radial gravitational field. Hence,
motion is governed by Newton's laws where satellite position in space described by six Keplerian elements.
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GPS Errors and Accuracy
Effects of orbital bias
•Errors resulting from the accuracy of the orbit computation procedure itself
Data used are P code pseudo-ranges, and although the tracking geometry is not strong (most of the tracking stations
are in the equatorial belt), accuracies better than 5 m are achievable.
•Errors resulting from unpredictable orbital motion during the period since upload
These are essentially the prediction errors. Their magnitude can vary from a few meters (close to the time of navigation
message upload) to several tens of meters.
•EE depends on:
• Number and location of tracking stations
• Orbital force model
• Satellite geometry
•EE are uncorrelated between satellites and affect both code and phase measurements .
•EE produce equal error shifts in calculated absolute point positions where height is a weakly determined component
because there are no satellites below the horizon . This component is usually of the order of 2 or 3 times less accurate
than the horizontal components.
•EE of a particular satellite is identical to all users world wide. However, different users see the same satellite at
different view angles, hence its effect on range measurement and consequently on computed positions is different.
•Therefore, use of single receiver operation propagates orbit error into the position results and results in amplification
of positional error. While using two receivers, both will be in error by nearly the same amount (function of the distance
between the two receivers - the closer they are, the more similar the error due to orbital bias). Use of Relative or
differential positioning (DGPS), therefore, is an effective strategy for minimizing the effect of this bias using
differencing operation.
•Magnitude of error: usually in the order of 2 to 5 m, can be up to 50 m under SA. Range error due to combined effect of
ephemeris and satellite clock ≈ 2.3 m (1 σ level).
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GPS Errors and Accuracy
Types of satellite ephemerides
There are two types of ephemerides (plural of ephemeris or file of values from which the position and velocity
information of satellite at a given time can be derived):
(i) Broadcast ephemerides
(ii) Precise ephemerides
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How accurate is GPS?
• Time spent on measurement
• Design of receiver
• Post processing
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GPS Errors and Accuracy - Summary
Sources of Errors Effect
Non-sphericity of earth
Gravitational General relativity
Tidal attraction
Solar radiation pressure
Satellite Non- Air drag Orbital error
Gravitational Solar wind
Magnetic field
Satellite clock
Others
Selective availability
Ionosphere refraction
Tropospheric refraction Signal delays
Signal
Propagation Multipath
Increase in received
Special relativity
frequency
Antenna phase centre variation
Receiver Receiver clock bias Error in observed PRN
Receiver noise
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Indian Regional Navigation Satellite System (IRNSS)
Satellite Location
Inclination 30°
GSO – 4 No.
RAAN - 55°E, 111°E
Command stations 5
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IRNSS
1) The Indian Regional Navigation Satellite System comprising seven satellites would be
able to provide navigation system with much better accuracy and targeted position.
2) It is designed to provide accurate real-time positioning and timing services over India
and region extending to 1,500 km around India.
3) The system is very much similar to the GPS of the US which has 24 satellites, GLONASS of
Russia (24 satellites), Galileo of Europe (27 satellites) and China's COMPASS (35 satellites).
4) The system will be used for terrestrial, aerial and marine navigation, disaster
management, vehicle tracking and fleet management, integration with mobile phones,
precise timing, mapping and geodetic data capture, terrestrial navigation aid for hikers and
travellers, visual and voice navigation for drivers.
5) ISRO launched sixth navigation satellite IRNSS-1G on April 28, 2016, IRNSS-1F on March
10, 2016, the other five being IRNSS-1A on July 1, 2013, IRNSS-1B (April 4, 2014), IRNSS-1C
(October 16, 2014), IRNSS-1D (March 28, 2015) and IRNSS-1E (January 20, 2016),
6) Total cost of all the seven satellites was Rs. 1,420 crore and it has a 12-year mission life
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Reference
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Advanced GNSS Concepts
Differential GNSS ~ A commonly used technique for improving GNSS
o Using the code-based positioning technique
o Using the (precisely) known locations of the
base station and the satellites, the location of
satellites being determined from the
precisely known orbit ephemerides and
satellite time.
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Method of Differential Correction
o The reference ground station(s) at known locations receive NAVSTAR
signals (Navigation Satellite Timing & Ranging)
o The pseudo range correction, PRC(t), and the Range Rate Correction
RRC(t) are sent from the reference ground station
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Method of Differential Correction
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Method of Differential Correction
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Why Differential GPS?
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Idea Behind Differential GPS….
There is one receiver measuring the timing errors and then it
provides correction information to the other receivers that are
roving around. In this way virtually all errors can be eliminated
from the system.
The reference receiver is fixed at a point that is accurately
surveyed. This reference station receives the same GPS signals
as the roving receivers but instead of using timing signals to
calculate its position, it uses its known position to calculate
timing
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Types Differential GPS
o Local Area DGPS (LADGPS)
o Wide-Area DGPS (WADGPS)
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Types Differential GPS
The corrections account for the combined effects of
navigation message ephemeris and satellite clock errors.
Atmospheric propagation delay errors at the reference station
are also corrected.
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Wide-Area DGPS (WADGPS)
o WADGPS is a form of DGPS in which the user’s receiver receives
corrections determined from a network of reference stations distributed
over a wide geographical area.
o Separate corrections are determined for specific error sources, such as
satellite clock, ionosphere propagation delay, and ephemeris.
o The corrections are applied in the user’s receiver or attached computer in
computing the receiver’s coordinates.
o The corrections are typically supplied in real time by way of a geostationary
communication satellite or through a network of ground-based transmitters
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Wide-Area DGPS (WADGPS)
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Wide-Area DGPS (WADGPS)
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Typical Error Budget
Summary of GPS Error Sources
Typical Error (in Meters) Standard GPS Differential GPS
Satellite Clocks 1.5 0
Orbit Errors 2.5 0
Ionosphere 5.0 0.4
Troposphere 0.5 0.2
Receiver Noise 0.3 0.3
Multipath 0.6 0.6
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Tutorial
#1. Observer location (0, 0, 6378 Km) measures clock delay of 0.17097528 sec from all four GPS
satellites.
satellite range measured are(0, 13280.5, 23002.5), (0, -13280.5, 23002.5), (13280.5,0, 23002.5)
and (-13280.5, 0, 23002.5).
What is the Clock offset error in GPS receiver? Assume velocity of signal as 2.99792458x105
km/s.
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Solution
The measured delay time, T is given as T = 0.17097528. It is also
mentioned that
the velocity of the EM wave propagation is 2.99792458 × 105
. Hence, the range due
to measured delay time is pseudo range PRc = 2.99792458 × 105 ×
0.17097528 =
51257.09945 Km.
Now, the satellites have same range from the observer, and we have the
ranging equa
(0 − 0)2 + (13280.5 − 0)2 + (23002.5 − 6378.0)2 = (51257.09945 − tuc)
2
By solving the above equation we get, 51257.09945 − tuc = 21277.8213
and tu =
51257.09945−21277.8213
2.99792458×105 = 0.1 sec
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