Global Navigation Satellite Systems and Applications

Prof. Arun K. Saraf

Department of Earth Sciences
Indian Institute of Technology, Roorkee

Lecture – 03
How position is determined by the GNSS? (Part-II)

Hello everyone and welcome to the third lecture of a Global Navigation Satellite
Systems and its Applications. And in today’s discussion, we are going to continue how
position is determined by GNSS. So, this is basically part 2, now we will be going in
more detail how the position is determined.

(Refer Slide Time: 00:53)

First let us look this figure here and what we are see that there are different colored
circles are there. And as you know that GNSS systems are ranging systems, so we can
use that range or distance between satellite and the receiver as a radius of here as a
circle, but in next few slides I will be showing through spheres as well.

So, these circles can be drawn and suppose initially if there is a one satellite, from which
the receiver is receiving signals then what we can do best to know the distance from the
receiver and the satellite. But as we start getting signals from more satellites then these
circles or ultimately imaginary spheres are constructed. Using the range as a radius and
then after 3 satellite signals, we start getting positions. So, this is what it is demonstrated
here, that if we see this blue circle here than in the centre is the satellite, this one and
then this is the radius and a circle is drawn here.

Then we take another satellite here and whose centre is assuming; the centre is here the
circle is drawn. This third one is here and then the red circle is drawn. And as you can
see that there 3 circles here are intersecting at one point and that is the position
estimation of the receiver.

(Refer Slide Time: 02:41)

So, once we get the signal from one satellite, we get the first distance. When we get the
signals from two satellites then a receiver can tell its position somewhere along the
circles formed by the intersection of two spherical rangers. And once we get the signals
from 3 satellites; that means, now it is easier to get the x y position.

Remember that the basic concept of this GPS or ranging system comes from the back
bearing concept, which we have discussed in previous lecture where in a 2D plane; when
you get the back bearing from two objects, which are also visible on the ground as well
as you can locate on the topographic map. Then, when you take the back bearing where
these two back bearing lines intersects, there is the position. The similarly here when
because now we are in 3D rather than in 2D. And therefore, you require at least 3 ranges
to cut or 3 spheres to cut at one location and then you get the x y position.
So, when distances from 3 satellites are known, the receiver’s position must be one of
two points at the intersection of 3 spherical ranges. So, when 3 spheres are intersecting,
there will be two points. Now one point is near the surface of the earth and then our
receivers are experts or a smart enough to find out that which point is the nearest of the
earth or which point is far in the space.

So, the far one in the space can be ignored, so then you get the x y position. So, maybe
able to eliminate one point as being impractical because it is in space or deep
underground and therefore, one which is close to the surface at that moment of time; is
the correct position of x y.

(Refer Slide Time: 05:03)

Now, as I mentioned earlier that instead of circle, now we can think in terms of spheres.
So, when one satellite is there then one sphere is drawn, using the range as a radius.

Then, when two satellites are there then two spheres are drawn and as you can see that
there are two locations this one and this one where it is intersecting, when 3 ranges from
3 satellites are there or signals, our receiver is receiving then we see that now we are
getting very close to the earth. So, one is either is on the surface of the earth and one is
far and this point can be ignored. And therefore, this is the estimation of position using 3
satellites signals.
But as we mentioned earlier if like in back bearing, if you want to make sure that you are
really on the point which you have determined by using two back bearing then you have
to have a back bearing from third object.

Similarly here if I want to more confirmation then I need to have signals from at least 3
or 4 or 5 satellites and it is possible. Even using one navigation system like, for example
GPS signals from 6, 7 satellites at a time on any part of the globe can be received and
these will further confirm the position. So, in a 2 dimensional fix requires 3 satellites and
for a 3 dimensional fix you require 4 satellites.

(Refer Slide Time: 06:49)

And the same concept has been again explain here using these wired spheres or globes
and different ranges, far the distance the satellite, the larger this sphere will be created.
And wherever see in this case they all are intersecting here and that is the position is
determined by your GPS.
(Refer Slide Time: 07:09)

Similarly, as again explained here in a little schematic that one will give you the range,
two satellites will give you along a circle on the surface and the third one will give you
two points; one is far away and one is quiet near to the earth.

(Refer Slide Time: 07:33)

So, generally and theoretically 3 satellites are sufficient to get receivers location that is
only x y location. And when you add more satellites or when signals are received by the
receiver more than 3 satellites, then the first position which is determined based on 3
satellites can be confirmed. And you keep adding if it is possible if we are getting signals
from 8 or 10 satellites then your position becomes much reliable.

So, it is always better to have as many as satellites and if there are hindrances, one need
to either wait for some time or if it is possible change the position and get the signals
from maximum number of satellite. So, 4 satellites are minimum to secure only one
absolutely technically trigonometrically unambiguous location that is 3D position and
that includes x y.

(Refer Slide Time: 08:43)

And we will generally we go in latitude longitude terms and elevation. And, these are the
equations which are used here in a iteration. So, here these P 1, P 2, P 3 and P 4 are the
measured pseudo range, which we use, which are basically signals, which are being
received. And these pseudo ranges are used for those imaginary spheres which we have
just discussed. And this X i, Y i and Z i, these are the positions of ith satellite vehicle in
Cartesian coordinates that is in, maybe in latitude longitude. And simple X, Y, Z which
will give you the user position which is what we solved here. So, 4 sets of equations are
given here, b is the user clock bias and that too is in distance units because everything we
are working here in distance unit that to be solved for.

So, using these equations and if you get the signals from more than 4 satellites, more
equations or similar equations are added and position is refined. So, these non-linear
equations are solved interactively using an initial estimate of user position X, Y, Z and b
same for all satellites.

So, this is how the real calculations for estimation of position goes on inside a receiver
whenever we switch on open area. So, there are for time being, we can summarize that
how position is determined or how GNSS receiver works in simple 7 steps.

(Refer Slide Time: 10:33)

The first one is as also discussed earlier that these GPS or GNSS receiver detects for 1
way ranging that is range that is time taken and speed of light; and the signal which
reached to the receiver from several satellites, not one satellite.

And minimum 4 for x y z position and each transmission is time tagged as also discussed
earlier that when a signal is dispatch then it is time and date stamped signal which is
transmitted from satellite towards the earth and then each transmission contains the
satellite position. So, these space vehicles of any navigation system.

So, their position is also transmitted along with the time and time of arrival is a
compared to time of transmission and by which you get the range or distance and when
you multiply by speed of light. So, this delta T is multiply by speed of light to obtain the
range and then each range puts the user on a sphere about the satellite.

So, these imaginary spheres which we have just discussed, this range is used as a radius
to, you know to understand these concept of spheres which are intersecting and finally,
intersecting several of these spheres yields a receiver position. Basically if I have set up a
receiver on a tripod, then receiver’s position, if I am holding receiver then again it is our
position or my position.

Now as you know that the very important factor for GNSS to function or GPS to
function is the time and now for a few minutes, we will be discussing basically how time
is important here because the GPS was the first, which was developed and therefore,
there has to be some reference time.

(Refer Slide Time: 12:35)

And in case of GPS, the reference time was 6 January 1980 at 00 hours. So, this is the
first. Atomic clocks which are synchronize on all space vehicles or all these NAVSTAR
satellites of GPS system. They are all reference to the 6 January 1980, 00 hours and these
GPS satellite clocks, which are synchronized and are, installed on each these NAVSTAR
satellites.

They follow this international atomic time or TAI. Sometimes, we also refer as UTC or
universal coordinated time. And this universal coordinated time use for most civil
timekeeping and also it is a quite close to the GMT, this Greenwich Mean Time.

So, this coordinated universal time or in short, we say UTC is the time system uses the
second define true angular rotation of the earth measured as if the earth rotate about its
conventional terrestrial pole. However, UTC is adjusted only in increments of 1 second
and the time zone of UTC is that of Greenwich Mean Time so in that way, it is quiet
similar.

And GPS time, that is your international atomic clock plus 13 seconds as leap seconds
are there and since the 6th January 1980. And this GPS time drifts ahead of UTC as latter
is held leap seconds to accommodate earth slowing.

Because you may be knowing, that the rotation of the earth is also as slowing down so
that adjustment has also has to be done. And therefore, this is adjusted there and this time
difference or the delta between GPS satellites, vehicle time and UTC is included in these
NAVSTAR satellites or timing messages.

So, whenever these GPS satellites, when they dispatch the time then they include this
information as well. And these satellite vehicles clocks are having accuracy within the 10
nanoseconds, they are highly accurate clocks. As you know that one of the, not only GPS
or these GNSS systems are being used for position determination.

But nowadays, they are also used to calibrate the timing because this is the standard
which is available globally 24 hours. So, anybody who would like to synchronize their
timings of say, computer which are controlling many things or a wrist watch or other
things, they can also synchronize using GPS timings.

And there are apps are available by which we can synchronize our mobile timing, we can
synchronize our computer timings with the GPS timing or UTC timing. So, that our
system works very accurately. There are many applications of accurate timing, one
example I can give that, when here in IIT Roorkee , we are operating a NOVA satellite
earth station and in which, we are using GPS antenna to receive the location, but the
most important uses of that antenna is for timing of the computer.

So, that because you know that in computers, the timing is maintained through a battery
backup and as time goes, the batteries sometimes may lose the power and may give the
time for the computer little slower. So, in order to synchronize or have a accurate timing,
so that we do not miss the satellite overpasses we use the GPS clocks.

So, every 10 seconds or 30 seconds, it checks the GPS clock and if there is a mismatch
then it synchronizes or supersedes the computer timing. So, timing parameter for which,
you require only one satellite, so almost in all conditions, all parts of the globe where
you are having little bit exposer or open to sky, you can get signal at least from one GPS
satellite and can make your time is very accurate.

(Refer Slide Time: 17:45)

So, now we will look more deeper into the signals and the structure. So, each GPS
satellite transmits a number of signals. Earlier, we touched on this topic and signal
comprises basically two carrier waves; and this is L1 which is at 90 centimeter and L2
which is 23 centimeter. And two codes that codes acquisition C A that is L1 and P or Y
on both L1 and L2.

So, these L1 and L2 carrier waves, so as the satellite, when the messages are coming
having these details inside. So, the carrier is the study transmitted radio frequency signal
whose amplitude, frequency or phase maybe modulated to carry information. And that
information and is received by the receiver.

So, bandwidth allocated for L1 is 24 mega Hertz, for L2 22 mega Hertz and L5 28 mega
Hertz. Earlier, when GPS receiver started coming, they were capable of receiving signals
only from L1 and L2. Now the GNSS receivers even some receivers inside a smart
mobile, they are now capable of receiving signals from L1 L2 and L5 carrier waves.

So, therefore, it becomes much more significant from that point of view that not only
these receivers are capable of receiving signals from GPS satellites or any navigation
systems which are transmitting data in these two frequencies, but also the third one, the
L5. The Indian system which is going to come or will be implemented very soon it is
already in space, it is in L5.

So, therefore, the manufacturers are already started including these frequencies into the
receiver to use this signals. So, this as you can see here that L1 is here and then L2 is
here and this course acquisition code is also there, P, Y code is also there and these
messages which are received by the satellite and using those equations, using ranges and
things are calculated. L3 is used only for nuclear detection system.

(Refer Slide Time: 20:23)

So, L3 frequency is not available in these satellites or not used for these transmissions.
As you can say that L1 carrier is 1575.42 mega Hertz and then carrier code is there,
NAV system data is there, P code is there and the L2 carrier.

So, this is a combined signal which in GPS satellites signals are there, so L1 signals will
combine this one and L2 will combined this one and there are of course, mixtures and
other things are there. Now earlier also slightly touched on this topic, initially when GPS
was launched to civilian or was made open for civilian uses, at that time in order to tell
the accuracy, this selective availability was introduced; that means, that for US defense
people, they had the capability of receiving more accurate signals as compared to the
civilian. And for civilians, this select availability was introduced and this was not
regular. So, sometimes your receiver can give you good position estimations and
sometimes it may give you the bad.

Now, you do not know, whether at that moment of time when you are getting bad or
good whether the selective availability is there or not. So, this was basically, to deny the
high accuracy real time positioning to potential enemies. Because originally these
systems were developed for military purposes and then department of defense of US
government which they reserves the right to deliberately degrade GPS performance on
this career coarse acquisition code, a deactivated on.

However, they realize that GPS has got a good business potential and other systems are
also coming and therefore, on 1st may 2000, they got rid of this selective availability. So,
there is no selective availability means whatever the data which you are getting are
comparatively are accurate data as when the selective availability is there. We always
have doubt whether we are getting good or bad data.

Now, as we keep using word this accuracy. So, it is better to define in this reference of
positioning that the degree of conformance of that position with true position and since
accuracy is a statistical measure of performance. So, this is very important to understand
that this is degree of conformance of that position with the true position. Now when you
are in open area and a reference position, how you get the reference position and either
through maps. a map may also carry some error. So, it becomes very difficult to confirm
with the true position, but these GNSS systems have now allowed us to get an average
position estimation for a point through a permanent station.

And if suppose we have collected data from a permanent station for 1 year or 2 years,
then we can assume that is the average position within 2 year time is the true position
then we can compare or can say that today which I am getting the position is according
to that is plus minus this one. So, average of many year data or many weeks data, many
month data can become for some cases a true position, otherwise it is very difficult to get
this one.
(Refer Slide Time: 24:27)

So, this a C/A code carries, what it carries? It is a 1023 bit gold code and originally
intended as simply as acquisition code for P code receivers and modulates the L1 only
carrier.

And chipping rate are 1.023 mega Hertz and this sequence length is 1023 bits and thus
say period of 1 millisecond. And this provides the data for standard positioning services
and the usual position generated for most civilian receivers. So, when the selective
availability was there then this kind of situation was there and this is modulated by the
navigation or time message code.

And this coarse acquisition code which is a pseudo random string of bits that is used
primarily by commercial GNSS receivers to determine the range to the transmitting
GNSS satellites; that means, that whatever we are using as a civilian or the commercial
GNSS receivers which are available to us, this is how they perform. Still, what military
people are using, how accurately they are using, old details may not be available to us.
So, we need not to discuss that part, we focus only in this which is available to civilian.
(Refer Slide Time: 26:01)

Now this one was the codes acquisition, now it is precise code, generally encrypted as
mentioned because of selective availability, it was encrypted. Then requires special
shapes to decode and modulates both L1 and L2 frequency and also modulated by
Nav/time and these satellites time data message and chipping rate is 10.23 and 10 times
faster than C/A code ensuring improved time measurement. Because in order to degrade
the data or accuracy through that selective availability; this one was not available there.

And therefore, the timing signals were also slow in that sense and sequence length is
2.35 multiply by 10 to power 14 bits. And this P code rate is fundamental frequency
basically provides the basis of all others that P code of different that C/A code, L1 and
L2 frequencies. So, nowadays whatever we are receiving, we are also along with coarse
acquisition, we are also receiving precise code through L2 as well.
(Refer Slide Time: 27:21)

Now these navigation messages go further inside these messages. So, in order to solve
the user position equations, as I have shown earlier through 4 equations one must know,
where these space vehicle or a satellite maybe NAVSTAR GPS satellite is there. And
this navigation time and time code provide this 50 Hertz signal modulated on L1 and L2
frequency and these satellite vehicles own position information is transmitted at 1500 bit
data frame which includes Pseudo Keplerian orbital parameters or orbital elements,
determined by control centre via ground tracking.

And receiver implements orbit to position algorithm. That is why, when we were
discussing the 3 main segments of a GNSS system; one important segment was the
control system. So, the control system, they basically controls the entire system and also
provides data through the satellites to the receivers. And also includes this navigation
message also include, the clock data and satellite status that is also health of the satellite.

And because we will be discussing more in detail, but for timing, I would like to just
briefly mention here that because the satellite signals, you know that the satellite 20000,
especially about GPS these satellites are deep in space 20200 kilometer away from us.

And when the signals are coming towards the earth through a receiver, they have to pass
through the entire atmospheric layers; ionospheric or tropospheric layers also, where
delays may occur and current information may not be there. So, therefore, some
corrections through models, some standard corrections are also applied to these
navigation messages before it is reach to the receiver.

So, this thing is also important as a part of navigation message and this international
telecommunication union; ITU reserve this 1559 to this 1610 mega Hertz band for
satellite based navigation through world radio communication conference held every 3
year.

Because these different radio frequencies, which are available in the electromagnetic
spectrum, the part of these radio frequencies are reserved for different purposes. Like for
example, here a 1559 to 1610 are mega Hertz are reserved for navigation satellites.
Similarly different frequencies 1675 and so, they are reserved for mythological satellite
and these frequency, there are no constraint; that means, the direct broadcasting can
happen without any legal problems and other things.

So, similarly here for navigation message or navigation satellites, this frequency band is
available for all types of GNSS systems. And this GPS, mainly we are discussing
currently GPS, but later lectures, we will be discussing other systems as well and
sometimes in between, we will be comparing with GPS with other GLONASS and
Galileo and other systems also.

So, GPS bands, this through US federal communication they use 1215 to 1240 mega
Hertz, 1559 to 1610 mega Hertz and this L5 frequency uses 1164 to 1188 mega Hertz.
So, 3 frequencies are being used here L1, L2 and L5. Now there is a concept which is
called Almanac and this is also involved in case of navigation systems, that in addition to
its own navigation data or navigation matches which we have just discuss.
(Refer Slide Time: 31:41)

Each space vehicle also broadcasts information about the other space vehicles; because I
remember that when we started discussing about say GPS, we said there is a
constellation. And these constellations; that means network of satellites in space orbiting
around the earth. So, it is better always that each satellite knows the information about
the other satellites. So, this is called Almanac and this helps to get position very quickly.
So, that information is also required. So, this in a reduced accuracy format, this is
transmitted known as Almanac and this permits receiver to predict from a cold start
where to look for SV space vehicles when powered up.

This is very important here, because in the earlier systems these Almanac was required to
feed before some estimates about the position was given to the receiver that probably
you are in this location. But nowadays things have improved and therefore, when after a
very long time, when you switch on any receiver, it takes lot of time to get the position in
terms of latitude longitude.

But if you regularly use then it does not take long time because the receiver remembers
the previous position and once you switch on, it tries to locate the satellite based on the
previous position. And if there is not much change in the previous position then the
current position comes very quickly through these receivers because this is all done
through this almanac. So, this permits receiver to predict from the cold start because the
cold start means after a very long time or suppose you have bought a receiver in America
and now you have started using in India.

So, it takes time because where to look for these space vehicles once you switch on. So,
that is why it is there and once you have used it, saved some position in future within
say, with in India or some part of India then it will not take much time. So, GPS orbits
are so predictable, an Almanac may be valid for months together and this Almanac data
is large that is 12.5 minutes to transfer entirely, that is why it is said, I have just
mentioned that initially if you have bought a new receiver which might have been tested
say in china or US and when you start using in India, give some time initially. And once
you have used then receiver will get the Almanac and then in future it will not be a
problem.

So, Almanac data basically, it is a set of data which is downloaded from each satellite
over the course of 12.5 minutes and it contains orbital parameters approximation for all
satellites, GNSS to universal standard time conversion parameters and single frequency
ionospheric model parameters. Because this delay, which might be occurring between
the satellite signals which coming from satellite space vehicle towards the earth that
model parameters are also there along within the Almanac data. So, initially give some
time to get the accurate position and later on then it is not a big issue.

(Refer Slide Time: 35:23)

Now, we start looking the structure of this navigation data which is received by the
receiver, it is divided 3 data blocks as you can see the data block I, II and III.

The first one; data block appears in the first sub frame and this is a frame and contains
the clock coefficient or biased. And then the second data block which appears in the
second block or sub frames and this contains all necessary parameters for the
computation of satellite coordinates. And this third data block appears 4th and 5th sub
frames and contains the Almanac data which we have just discussed with clock and
ephemeris parameters for all available satellites of GPS or we may call as GNSS system.
So, most of these later system, which we were developed, the concept they have they are
using of basically GPS for the data transmission as we can say that the range
determination from the code observation.

(Refer Slide Time: 36:29)

So, received code from the satellite and then generated code from the receiver and then
the d distance is calculated and with the time difference which is taken here.

So, receiver signal code comparing the simulation shows how things are getting
calculated here. Now this pseudo ranges that is code is there, so each satellites and say
unique signal, unique in sense because each satellite is having its own ID. So, each
signals becomes unique, it is having own time, position and other things. So, unique
signal which repeats itself every millisecond, every millisecond a new signal is coming.
And the frequency, you can set whether you want every millisecond, every second or 5
second that can we save through a good receiver. Receiver compares self-generated
signals with the received signals and then from the time difference delta T, a range
observation can be determined.

And this receiver clock needs to be synchronize with the satellite clock so, that initially
done in a very few seconds. So, this velocity into this time taken, will give you the
distance.

(Refer Slide Time: 37:55)

Now, this range determination from the phase observation is also done that includes the
wavelength of a signal is 19 centimeter on L1 and 24 centimeter on L2. And the receiver
compare self-generated phase with received phase. So, that with timing as well as the
phase and number of wavelength is not known at the time of the receiver is switched on.
So, it takes some time that is. we call as the carrier phase ambiguity. And this ambiguity
is the number of integer carrier phase cycles between the user and the satellite at start of
tracking, when you switch on a receiver sometimes ambiguity for short.

If yes I have mentioned that if you are regularly using your receiver, then this time for
tracking is very short, quickly you get a very accurate position. And as long as you track
the satellite, the change in distance can be observed; that means if I keep switching, I
leaved this receiver switched on then I can track my position if I am changing the
position.
(Refer Slide Time: 39:11)

So, satellite geometry can affect the quality of signals and accuracy receiver trilateration.
This geometry is how, when I am receiving signal through in my receiver, how they are
arrange in space that is what is satellite geometry. So, this Positional Dilution Of
Precision or in short we say PDOP, which reflects the each satellite position relative to
other satellites, being accessed by the receiver.

And we will see in detail how it is important for determination of accurate position. So,
PDOP can be used as an indicator of quality of receiver’s triangulated position. And this
is usually up for GPS receiver to pick satellites which provide the best position
trilateration. So, also one more important parameter which is set in receivers we can
change it though, but generally it is said that is the satellite mask angle from the horizon.
(Refer Slide Time: 40:13)

So, if you keep a zero mask angle; that means, it will have the reflected signals and if we
give some higher values like 5 degree or 10 degree above the horizon then it will cut few
satellite signals. So, because of this mask angle, we have to keep because near the
surface of the earth you are having atmospheric refraction, which is greater at angles
which are very low or near the horizon. And if we go higher then this refraction reduces,
but by the time you will reduce the sky for your receiver to receive the signals from
different satellites.

So, this is basically a trade of between mask angle and atmospheric refraction and the
setting high mask angle; that means, if I cut the signals say instead of 5 degree or if cut
for 20 degree then I live with limited sky. And therefore, in order to decrease the
atmospheric refraction, but then the number of satellites which would be available for
position determination would be very few. As you can see here that this is the receiver
and the angle is set here, say 15, this is the mask angle. So, these satellites, but if I
change the mask angle to say 45 degree or 50 degree, then I will be missing the satellites
which are at low elevations with that location.

So, too high mask angle may not be very beneficial. So, 5 degree, 10 degree is more than
sufficient which will also avoid if there are buildings, forest or other things and the
remaining part; that means, if we set for 15 degree then, 30 degrees is lost, 150 degree
sky above a receiver is available.
(Refer Slide Time: 42:29)

Now there is also, instead of position dilution of precision, now we are Dilution Of
Precision that is DOP, the satellite geometry can affect the quality of signals as we have
mentioned accuracy of receiver trilateration. And DOP is indicator of a geometrical
strength of the satellite. Now different these GDOP or PDOP are there.

That one is the GDOP that is Geometrical Dilution Of Precision, which includes the lat.,
long., elevation and time. PDOP is the Positional Dilution Of Precision and which
include lat., long., and elevation not time. And HDOP is the Horizontal Dilution Of
Precision includes lat., long., not elevation. And then VDOP, which is mainly for vertical
or elevation which includes the elevation. So, we have to struck a balance so, that we get
a more precise location and whatever the setting is required, mask angle and other things.
So, generally the receiver will tell at that moment when you are getting a position, same
time we will also tell the DOP, how DOP is there that is Dilution Of Precision.

So, if you are getting DOP value between 1 to 3, we consider as a very good, but if you
are getting more than 6 then our position may not be very accurate and in between a
good and fair positions or DOPs are there so that one has to take care. Now as soon here
with few more figures I will be showing, that if I am here at this location and only
satellites from one direction are available; and I am not getting signals from other
directions then we consider as a poor DOP dilution of precision.
But if satellites from different part of the sky are available; that means, I am getting
signals from this one, I am getting signals from this one, I am also getting signal from
this then I am getting good geometric dilution of precision. And therefore, my position
estimation, elevation, time is going to be much better than compared to having poor this
GDOP.

So, generally in good receivers, the software inside these receivers, even in your smart
mobiles if you are having appropriate app then you can also see a sky plots. So, this is
the sky plot; basically this is sky plots, what it is indicating that a receiver is the opaque’s
of the cone and in space, a cone is found; the base of the cone is plotted here as a sky
plot. So, these are the locations of different satellite.

(Refer Slide Time: 45:29)

So, if the satellites are spread over within this sky plot or within the circles nicely then
we say that, I am having a good GDOP Dilution Of Precision. But if they are located
only say inside this one and a not spread throughout this sky plot, then I am having poor
satellite geometry and; that means, that the position estimation from this is not going to
be as good as from this one.

So, whenever you are taking more accurate data, wait for some time, you may get the
better Dilution Of Precision or Geometric Dilution Of Precision by in few minutes time,
the satellites may come up because they are all moving at a very high speed. So, they
may come up and then you may get better dilution of precision and therefore, better
position estimations. If there are only in a one side it may happen in the field because
suppose you are in a valley or something, limited sky is available.

So, you will be seeing poor satellite geometry, but if data is required then one has to take
from that one, but if choices available, the best thing wait for some time maybe 10
minutes, 15 minutes, your geometry of the satellite in a sky plot will improve. And then
you take the data and this is also shown in 2D that how it affects that because remember
that spheres are drawn.

(Refer Slide Time: 47:07)

So, here there is one satellite and one sphere is drawn, there is another satellite and then
sphere is drawn for this. So, if they are spread far then this position which is being
estimated will have a sharp point like in case of back bearing, but if you are having two
close satellites then this red part that is the estimation of position is a big area so; that
means, the receiver might be anywhere within this red area. But in case of if geometry is
good then receiver is only restricted in a small area; that means, we are getting a good
position here.
(Refer Slide Time: 47:59)

Now this more important here, there are comparisons of 3 GNSS systems are shown.
Here the GPS, GLONASS and GALILEO. GALILEO is not really global it is a regional,
but anyway.

And all details are there, but the main, what we want to focus here in the anti-spoofing
that is in GPS, it is there, but in GLONASS and Galileo it is not there. So, this is
basically anti-spoofing is denial of P code that is precision code by the control segment.
3 segments are there. Remember that is space segment, control segment and user
segment. So, control segment, they are the controllers of these navigation system.

So, in case of GPS, they say anti because through this anti-spoofing, the deny this P code
that is precision code and that also called anti -spoofing and it is normally replaced by
encrypted Y code and then encryptions are added. So, you cannot rely because remember
this thing, all these navigation systems which have been developed by different countries
or union of countries, whole are for military purposes. So, they are keeping the accuracy
part under their control.
(Refer Slide Time: 49:21)

Now these services as we have touch little bit that if through GPS, we get the Standard
Positioning Services; we get this Precise Positioning Service for army people. For
GLONASS we get this Standard Positioning Service which is called HPS and also High
Precision Services SPS which is Russian system. Now GALILEO which is European
system, it is open source. So, no restrictions are there and the safety of life SoL, for in
case of emergencies are also available. And for commercial purposes and this
Commercial Service CS by GALILEO Operating Commissionaire that is GOC is also
available.

So, and a public regulated services are there which may be used by European police or
anti-fraud offices, they use. So, different navigation systems are providing different
services for different people for different purposes thus this is one. And also this search
and rescue in case of emergency that service is also available. So, now this we are
reaching to the end of this particular discussion that the point positioning methods.
(Refer Slide Time: 50:35)

Using stand-alone receiver provides 10 to 15 meter accuracy, which is dependent on SA

satellite quotes. Selectivity availability currently is not there and one epoch solution is
there. There is another option which we will be discussing later in this course is the
differential positioning method by using two receiver simultaneously tracking a
minimum 4 satellites probably 5.

And which may yield our position accuracy of 0.5 centimeter to 5 meter accuracy with
respect to a reference station. So, that is also possible with a few GNSS receivers
systems; one is a of course, GPS it was developed initially. So, differential techniques
used code will give a meter accuracy or centimeter accuracy and phase will give you the
centimeter. So, simple code will give you the meter accuracy, the phase will give you the
centimeter. So, this differential GNSS as I have mentioned to improve the GNSS
accuracy that uses pseudo range errors at a known location and that errors becomes our
reference and then it is compared with the current position and subtracted. So, this is how
we get the error estimates and from a roving receiver that can be subtracted and accuracy
can be improved too.

(Refer Slide Time: 52:29)

So, this basically for getting better accuracy here, so this brings to the end of this
discussion. And in end of most of these presentations, I am having one or at least one
cartoon which is all related with GPS, just to enjoy after each lecture.

Thank you very much.