Electromechanical Engineering Dept.

Navigation systemll
Third Class /Navigation /lecture 4 2022

Global Positioning System (GPS)

1.) Introduction:
Global Positioning System (GPS) is a satellite-based navigation
system that allows a user with the proper equipment access to useful and
accurate positioning information anywhere on the globe. Position and
time determination is accomplished by the reception of GPS signals to
obtain ranging information as well as messages transmitted by the
satellites.
GPS consist of 24 satellite-based navigation system, which circles
the earth twice a day in a very precise orbit and transmit information to
the earth, to allow a user with the proper equipment access an accurate
2.) Description of GPS:
The Global Positioning System consists of three separated
elements; the space segment, the control segment, and the user segment,
as shown in figure (1).

Figure (1): Three Segments of GPS.

2.1) Space Segment:

The space segment of the system consists of the GPS satellites.
These space vehicles send radio signals from space. The complete GPS

1
Electromechanical Engineering Dept. Navigation systemll
Third Class /Navigation /lecture 4 2022

constellation consists of 24 NAVSTAR satellites in six orbital planes.

The satellites orbit the earth with a period of 12 hours in circular
20183Km orbits at an inclination of 55 degree with respect to the equator
and are equally spaced (60 degree apart). The satellites are constantly
transmitting radio signals carrying the GPS message. shown in figure (2).

Figure (2): GPS Constellation.

2.2) Control Segment:
The Operational Control System (OCS) consists of a master control
station, monitor stations, and ground control stations.
The main operational tasks of the OCS are; tracking of the
satellites for the orbit and clock determination and prediction, time
synchronization of the satellites, and upload of the data message to the
satellites.
The Master Control Station (MCS) is located at Falcon air force
station in Colorado spring, Colorado, USA. There are five monitor
stations at Colorado spring, Ascension Island, Diego Garcia, Kwajalein,
and Hawaii, as shown in figure (3).

2
Electromechanical Engineering Dept. Navigation systemll
Third Class /Navigation /lecture 4 2022

Figure (3): GPS Control Segment.

The widely dispersed monitor stations employ extremely
stable GPS receivers to gather transmitted navigation data from each of
the GPS satellites as they pass overhead. The locations of the monitor
stations are known with a high degree of accuracy, and each of these
monitor stations is equipped with a precise atomic time standard and
receivers which continuously measure pseudo-ranges to all satellites in
view. Pseudo-ranges are measured every 1.5 seconds and, using the
ionospheres and meteorological data. This information is transmitted
back to the master control station where precise predictions of satellite
ephemeris and clock offsets are made.
The master control station, located in Colorado spring, cooperate
with consolidated space operations center, process the data from all of the
monitor stations to determine the predicted satellite ephemeris and clock
bias parameters for each satellite in the system. These data are then used
to generate upload messages for each satellite to correct the satellites
navigation messages describing these parameters to the users. The upload
messages are then relayed to the appropriate upload station for
subsequent transmission to the satellite. In this manner, each satellite in

3
Electromechanical Engineering Dept. Navigation systemll
Third Class /Navigation /lecture 4 2022

the system is provided with refreshed navigation and timing data to

maintain the entire system in peak operation condition.
2.3) User Segment:
The user segment consists of a variety of radio navigation receivers
(military and civilian) specifically designed to receiver, decode and
process the GPS satellite ranging codes and navigation data messages.
They include standalone sets, as well as equipment that is integrated with
or embedded into other systems. They serve a variety of user applications
including navigation, positioning, time transfer, and surveying and
attitude reference. In general, the receiver consists of the following
elements:
- Antenna.
- Receiver channel or more.
- Microprocessor.
- Memory order unit, display unit, and power supply.
Four satellites are normally required to be simultaneously (in view) of the
receiver for three-dimensional positioning purposes. This allows the user
three-dimensional position coordinates and the user clock offset to be
calculated from the satellite range and position data. Treating the user
offset as an unknown eliminates the requirement for users to be equipped
with precision clocks. Less than four satellites can be used if the user
altitude or system time is precisely known.
3.) The GPS Satellite Signals:
Code Division Multiple Access (CDMA) is the multiple access
technique used by GPS. Because all GPS signals are transmitted at the
same carrier frequency, the signals are separated by assigning a unique
pseudorandom noise (PRN) code to each satellite. The codes are selected
from a set of codes with good cross-correlation properties. Therefore,

4
Electromechanical Engineering Dept. Navigation systemll
Third Class /Navigation /lecture 4 2022

there is a low probability of mistaking one code for another. The GPS
ranging signals are transmitted on two frequencies, L 1, at 1575.42 MHz
(154 * 10.23 MHz), and L2 at 1227.6 MHz (120 * 10.23 MHz), where
10.23 MHz, is the fundamental frequency (fo).
3.1) Codes Used in the GPS:
The GPS L1 signal contains two spread spectrum signals: the Civil,
or Coarse Acquisition (C/A) code, and precision, or P-code. Both signals
are multiplexed onto the L1 carrier in phase quadrature, while the L2
signal contains only P-code.
Figure (4) shows a diagram representing the GPS satellite signals.
The L1 frequency, modulated by the C/A code and navigation message
data, the L2 frequency, modulated by the P code and navigation message
data.

Figure (4): GPS Satellite Signals.

3.2) GPS Navigation Message:
In addition to the codes, the satellite transmits a navigation
message, which is superimposed on both the P-code and C/A-code with a
data rate of 50 bps. This message contains all necessary information to
compute the position of the satellite. A message is 37500 bits long and is
divided into 25 data frames. The length of each frame is 1500 bits. Each
frame is divided into five sub-frames, each consisting of ten words, each

5
Electromechanical Engineering Dept. Navigation systemll
Third Class /Navigation /lecture 4 2022

word contains 30 bits, and hence each sub-frame has 300 bits, as shown
in figure (5). It will therefore take 30 seconds to receive one data frame,
and 12.5 minutes to receive one Master frame (One Master frame
contains all the information in all pages of sub-frames 4 and 5, and
consists of 25 complete frames).

Figure (5): GPS Message Format.

This allows the receiver to obtain critical navigation message data

within 30 sec. The data in the navigation message is normally valid for a
4-hour period. The use of the individual sub-frames, which is shown in
figure (6), each sub-frame begins with a telemetry word (TLM) which is
used by the receiver to acquire the message. The next portion of each sub-
frame is the Hand Over Word (HOW) which is used to determine time
synchronization for transfer from the C/A- to the P-code. Finally, each
sub frame contains a different block of information.

6
Electromechanical Engineering Dept. Navigation systemll
Third Class /Navigation /lecture 4 2022

TLM HOW Block 1: Clock correction

30
second TLM HOW Block 2: Ephemeris
frame
TLM HOW Block 3: Ephemeris

TLM HOW Block 4: Message

TLM HOW Block 5: Almanac

Figure (6): GPS Data Frame.

4.) The GPS Basic Receiver Operations and Description:

The basic receiver operation can be written as:
 Receive radio signals.
 Select satellites suitable for positioning.
 Satellite acquisition and tracking.
 Record the navigation data.
 Measure propagation delay of the signals.
 Measure and correct the pseudo ranges.
 Calculate the desired positioning parameters in the desired
coordinate system.
Normally, a GPS receiver stores the latest almanacs when it is
turned off, since they most often will be usable for the next positioning.
This is due to the validity of the almanacs for a week or more. The
almanacs permit the user to select the best set of satellites suitable for
positioning. The excluded satellites will soon be below the horizon or
have a bad signal quality.