A Report on

Global Tracking System (GPS)

Submitted to Submitted By
Nafis Imtiaz Rahman Kanik Sharma
Assistant Professor Reg 2020338048
2nd year 2nd semester
Department of Electrical and Electronic Engineering
Shahjalal University of Science and Technology

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 contents
1. ACKNOWLEDGEMENT
2. ABSTRACT
3. EVOLUTION OF GPS
4. WHAT IS GPS ?
5. TECHNICAL DESCRIPTION
6. INFORMATION IN A GPS SIGNAL
7. GPS ELEMENTS (GPS SEGMENTS)
8. TRACKING
9. APPLICATION OF GPS
10. TRACKING
11. COST OF THE SYSTEM
12. CONCLUTION
13. BIBLOGRAPHY

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 ACKNOWLEDGEMENT

I would like to express my sincere gratitude to all those who have supported
and guided me throughout the preparation of this individual report on the GPS
system. I am thankful to my teacher for their valuable insights and feedback.
Additionally, I appreciate the assistance of my senior and friends for their
encouragement and discussions that enriched the content of this report. This
report would not have been possible without their invaluable contributions.
Thank you for your unwavering support.

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 ABSTRACT

The Global Positioning System (GPS) is a satellite-based navigation and

surveying system for determination of precise position and time, using radio
signals from the satellites, in real-time or in post-processing mode. GPS is
being used all over the world for numerous navigational and positioning
applications, including navigation on land, in air and on sea, determining the
precise coordinates of important geographical features as an essential input to
mapping and Geographical Information System (GIS), along with its use for
precise cadastral surveys, vehicle guidance in cities and on highways using
GPS-GIS integrated systems, earthquake and landslide monitoring, etc. In India
also, GPS is being used for numerous applications in diverse fields like
aircraft and ship navigation, surveying, geodetic control networks, crustal
deformation studies, cadastral surveys, creation of GIS databases, time
service, etc., by various organizations. The Navigation Satellite Timing and
Ranging Global Positioning System (NAVSTAR GPS) developed by the U.S.
Department of Defense (DoD) to replace the TRANSIT Navy Navigation
Satellite System (NNSS) by mid-90’s, is an all-weather high accuracy radio
navigation and positioning system which has revolutionized the fields of
modern surveying, navigation and mapping. For every day surveying, GPS has
become a highly competitive technique to the terrestrial surveying methods
using theodolites and EDMs; whereas in geodetic fields, GPS is likely to replace
most techniques currently in use for determining precise horizontal positions
of points more than few tens of km apart. The GPS, which consists of 24
satellites in near circular orbits at about 20,200 Km altitude, now provides full
coverage with signals from minimum 4 satellites available to the user, at any
place on the Earth. By receiving signals transmitted by minimum 4 satellites
simultaneously, the observer can determine his geometric position (latitude,
longitude and height), Coordinated Universal Time (UTC) and velocity vectors
with higher accuracy, economy and in less time compared to any other
technique available today. GPS is primarily a navigation system for real-time
positioning. However, with the transformation from the ground-to-ground
survey measurements to ground-to-space measurements made possibly by

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GPS, this technique overcomes the numerous limitations of terrestrial
surveying methods, like the requirement of intervisibility of survey stations,
dependability on weather, difficulties in night observations, etc.. These
advantages over the conventional techniques, and the economy of operations
make GPS the most promising
surveying technique of the future. With the well-established high accuracy
achievable with GPS in positioning of points separated by few hundreds of
meters to hundreds of km, this unique surveying technique has found
important applications in diverse fields.

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 EVOLUTION OF GPS
In 1973, the idea of a Global Positioning System, initially dubbed NAVSTAR,
was developed by the United States Department of Defense. Originally, the
technology was intended solely for military personnel and transportation units
to obtain their location [1]. Five years later, in 1978, the first four GPS
satellites were launched into space by the U.S. Department of Defense. GPS
did not reach full operational capacity until July 17, 1995, because a minimum
of 24 satellites are needed to provide full coverage. Before the commercial
release of GPS, the Department of Defense announced that two different GPS
services would be developed: Standard Positioning Service (SPS) and Precise
Positioning Service (PPS). SPS, eventually activated eight years later, was to be
released to the public while PPS was to be reserved for use by the U.S military.
The essential difference between SPS and PPS was that a deliberate random
error was used in SPS to prevent civilians from obtaining exact coordinates
through a technique called Selective Availability (SA) [2]. SA degraded the
signal by roughly 100 meters by slightly altering the satellites’ clocks [3]. The
DOD felt that this change was necessary to protect the security interests of the
U.S. and its allies by denying the full capabilities of GPS to potential enemies.
President Bill Clinton ended the SA service on May 1, 2000. He explained that
“worldwide transportation safety, scientific, and commercial interests could
best be served by discontinuation of SA” [4]. Because they are still able to
selectively deny GPS signals regionally in the case of threatened national
security, the DOD felt that SA could be eliminated without making the U.S or
its allies vulnerable. While SPS is still not as precise as PPS, the termination of
SA increased its accuracy fivefold.

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 What is GPS ?
The Global Positioning System (GPS) is a U.S.-owned utility that provides users
with positioning, navigation, and timing (PNT) services. This system consists of
three segments: the space segment, the control segment, and the user
segment. The U.S. Space Force develops, maintains, and operates the space
and control segments.
The space Segment
The GPS space segment consists of a constellation of satellites transmitting
radio signals to users. The United States is committed to maintaining the
availability of at least 24 operational GPS satellites, 95% of the time.
To ensure this commitment, the U.S. Space Force has been flying 31
operational GPS satellites for well over a decade.

The control Segment

The GPS control segment consists of a global network of ground facilities that
track the GPS satellites, monitor their transmissions, perform analyses, and
send commands and data to the constellation. The current Operational
Control Segment (OCS) includes a master control station, an alternate master
control station, 11 command and control antennas, and 16 monitoring sites.
The locations of these facilities are shown in the map above.

The user Segment

The GPS User Segment consists on L-band radio receiver/processors and
antennas which receive GPS signals, determine pseudoranges (and other
observables), and solve the navigation equations in order to obtain their
coordinates and provide a very accurate time

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The GPS SYSTEM

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 The working Principle of GPS

All measurement of GPS are

1. Ranging by time of flight measurements.
2. 2D localization by range measurements.
3. 3D localization by range measurements.
4. Localization errors.

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 Ranging by time of flight measurements

▶ Time of flight (TOF): signal travel time from transmitter to receiver

▶ TOF t can be converted to range r using signal carrier speed c
▶ For electromagnetic waves in free space carrier speed is
c = 299, 792, 458 m/s

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2D localization by range measurements
▶ Position and range of a satellite limits the RX location to a circle
▶ RX location from two satellites is ambiguous: A or B
▶ Can disambiguate receiver location using a third satellite
▶ Can also disambiguate receiver location using feasibility constraints
(e.g. receiver has to be on the surface of the earth)

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▶ Position and range of a satellite limits the RX location to a sphere
▶ Spheres from three satellites intersect at two possible RX locations
▶ Can disambiguate by picking the location closest to earth surface

▶ Need signals from at least four satellites to estimate (xr , yr , zr , τd).

▶ For each acquired satellite the receiver needs to calculate:
– Exact location of the satellite relative to earth
– Range from satellite to receiver (using TOF)
▶ Satellite locations in orbit are calculated from the ephemeris data
▶ Satellite ranges (TOF) are calculated from the ranging codes

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Localization errors
▶ Errors in range estimation result is localization uncertainty

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 INFORMATION IN A GPS SIGNAL

The GPS signal contains ephemeris and almanac data. Ephemeris data is constantly transmitted by
each satellite and contains important information such as status of the satellite (healthy or
unhealthy), current date, and time. Without this part of the message, your GPS receiver would have
no idea what the current time and date are. This part of the signal is essential to determining a
position, as we’ll see in a moment. The almanac data tells the GPS receiver where each GPS satellite
should be at any time throughout the day. Each satellite transmits almanac data showing the orbital
information for that satellite and for every satellite in the system.

Tracking of GPS
Global Positioning System (GPS) is a satellite-based navigation and positioning system that has
revolutionized the way we track and locate objects, people, and vehicles. It comprises a network of
24 to 32 satellites orbiting the Earth, maintained by the United States Department of Defense.
These satellites emit signals containing precise timing information and the satellite's position. GPS
receivers on the ground or in vehicles intercept these signals, allowing them to determine their own
position and velocity.
The process of tracking using GPS involves multiple steps:
1. Satellite Signal Reception: A GPS receiver or tracking device intercepts signals from multiple
satellites in view. The more satellites it can communicate with, the more accurate the tracking
becomes.
2. Triangulation: By analyzing the signals from at least four satellites, the GPS receiver can calculate its
precise position through a process called triangulation. Each satellite sends signals with a
timestamp, and the receiver uses the time delay of these signals to determine its distance from each
satellite.
3. Data Processing: The GPS receiver processes the data it receives from the satellites, using complex
algorithms to compute latitude, longitude, altitude, and velocity.
4. Display and Logging: The calculated location data is then displayed on the device's screen, and it can
also be logged or transmitted to a central server for further analysis.

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 The application of GPS
Due to the high accuracy, versatility, ease and economy of operation, and all-weather
operation offered by GPS, it has found numerous applications in many fields, ranging from the
mm-level high precision geodesy to the several-metre level navigational positioning. Some of
these applications are:
- Establishment of high precision zero order Geodetic National Survey Control Network
of GPS stations.
- Strengthening, densification and readjustment of existing Primary Control Networks
using GPS stations.
- Connecting remote islands to mainland Geodetic Control Networks.
- Determination of a precise geoid using GPS data.
- Earth rotation and Polar Motion Studies from GPS data.
- Estimating gravity anomalies using GPS.
- Marine Geodesy : positioning of oceanic stations, buoys etc.
- Earthquake monitoring : Crustal movements of the order of few cm/year can be
monitored using GPS method, thus making GPS most suitable for monitoring
continental drifts, neotectonic / seismotectonic movement, etc.
- Vertical Control Network : High accuracy of few mm in heights achievable with GPS
at much less cost and time compared to levelling to make GPS method most suitable
for establishing lower accuracy vertical control networks.
- Geophysical positioning, mineral exploration and mining.
- Survey control for topographical and cadastral surveys.
- Ground control for photogrammetric control surveys and mapping.
- Offshore positioning : Shipping, offshore platforms, fishing boats etc.
- Instantaneous time transfer over trans-continental distances with accuracies of few nano
seconds.
- Space craft tracking : Vector separation between GPS satellites and any other satellites
can be monitored by GPS, e.g., pinpointing the location of LANDSAT etc.
- General aircraft navigation, approach to runways, navigation/positioning in remote
areas like deserts, dense jungles, shaded areas of microwave, precise sea navigation,
approach to harbours etc. It is expected that in 1990s most civilian aircrafts, ships,
boats will be fitted with GPS equipments and even hikers, boat and car owners, truck
drivers will be using it extensively.,
- Military ; Improved weapon delivery accuracies i.e. for missiles etc., for ranging in
artillery, navigation for Army, Navy, Airforce - thus affecting ultimate saving of upto 1
billion dollars annually on navigation in U.S.A.
- Scientific applications, like studies related to the ionosphere and troposphere,
glaciology, etc.

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 The cost of GPS System
The cost of a GPS system can vary significantly depending on several factors, including the type of
GPS device, its features, and the brand. Here's a general overview of the costs associated with
different types of GPS systems:

1. Smartphone GPS Apps: Many smartphones come with built-in GPS functionality, and there are
various GPS apps available for download. These apps are often free or come with a minimal one-
time purchase cost. Some may offer premium features through in-app purchases or subscription
models.

2. Dedicated GPS Navigation Devices: Standalone GPS navigation devices range in price from around
$50 to several hundred dollars. Basic models provide essential navigation features, while higher-end
devices may include additional features like traffic updates, voice commands, and larger screens.

3. GPS Watches and Wearables: GPS-enabled sports and fitness watches or smartwatches can cost
anywhere from $100 to several hundred dollars, depending on the brand and features. These
devices are tailored for activities such as running, cycling, and hiking, and may offer heart rate
monitoring, multisport tracking, and other advanced functions.

4. Fleet and Vehicle Tracking Systems: These systems are used for fleet management and vehicle
tracking in businesses. Costs can vary widely based on the scale of the operation and features
required. Smaller-scale solutions may start at a few hundred dollars per vehicle, while larger-scale,
enterprise-level systems can cost thousands of dollars per vehicle, including hardware and
subscription fees.

5. Asset Tracking Devices: Asset tracking systems, used to monitor the location of assets like
shipping containers or equipment, can vary in price based on the tracking technology and features.
Simple GPS trackers may cost under $100, while more sophisticated, long-lasting devices with
additional sensors and connectivity options can range from $200 to several hundred dollars.

6. Aviation and Marine GPS: GPS systems designed for aviation and marine navigation can be quite
expensive, often costing thousands or even tens of thousands of dollars. These specialized systems
are tailored for the unique requirements of these industries, including precise altitude and depth
measurements, aviation charts, and marine navigation maps.

7. Surveying and Geodetic GPS: High-precision GPS equipment used in surveying, geodesy, and
scientific research can range from a few thousand dollars to tens of thousands of dollars or more,
depending on the required accuracy and capabilities.

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 Conclusion
GPS is a fantastic tool of the 21st century offering many functions: waypoint, MOB…. However,
received information is not always reliable, and it would have been interesting to see in which cases
it is not. Furthermore, the space segment is completely controlled by the American Army which
enables them to completely remove the satellite cover in certain countries in the event of a war…
This aspect mobilized Europe towards the creation of its own GPS system: the project GALILEO,
which should be in place2008. The future of GPS appears to be virtually unlimited; technological
fantasies abound. The system provides a novel, unique, and instantly available address for every
square yard on the surface of the planet–a new international standard for locations and distances.
To the computers of the world, at least, our locations may be defined not by a street address, a city,
and a state, but by a longitude and a latitude. With the GPS location of services stored with phone
numbers in computerized “yellow pages,” the search for a local restaurant or the nearest gas station
in any city, town, or suburb will be completed in an instant. With GPS, the world has been given a
technology of unbounded promise, born in the laboratories of scientists who were motivated by
their own curiosity to probe the nature of the universe and our world, and built on the fruits of
publicly supported basic research.

Bibliography
1. Nasa Website
2. National Geographic Society
3. IEEE
4. Understanding GPS principle and application (2nd edition)

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