GNSS Signals – An Overview

Christopher J. Hegarty
Center for Advanced Aviation System Development
The MITRE Corporation
Bedford, MA 01730-1420

Abstract— This paper provides an overview of Global broadcast what are now referred to as the legacy GPS signals.
Navigation Satellite System (GNSS) signals. Today, GNSS The legacy GPS signals include the coarse/acquisition- (C/A-)
comprises two major constellations: (1) the United States’ code signal on the link 1 (L1) carrier frequency of 1575.42
Global Positioning System (GPS), and (2) the Russian MHz and the precision- (P-) code signal on both L1 and the
Federation’s Globalnaya Navigatsionnaya Sputnikovaya link 2 (L2) frequency of 1227.6 MHz [8]. The C/A-code is
Sistema (GLONASS). Two other major constellations are being open (unencrypted). The P-code signal is only intended for
deployed. Additionally, regional systems have been deployed or authorized (military) use and is normally encrypted. When the
are planned. Whereas most GNSS timing receivers today rely P-code is in this encrypted mode of operation, it is formally
only upon the legacy GPS signals, it is anticipated in the near
referred to as the Y-code. In either mode of operation, the
future that multi-system receivers will become the norm. This
paper describes the characteristics of each of the GNSS signals,
signal is most commonly referred to as the P(Y)-code.
and highlights the performance benefits that will be provided to Both legacy GPS signals are generated using direct
the precise time and frequency community as the GNSS evolves. sequence spread spectrum (DSSS) modulation, illustrated in
Fig. 1. A DSSS signal may be formed as the product of three
I. INTRODUCTION components: (1) a radiofrequency (RF) carrier (2) a data
waveform, and (3) a spreading waveform. For C/A-code or
The Global Navigation Satellite System (GNSS) is
P(Y)-code, the RF carrier is simply a pure sinusoid at L1 or
formally defined as the “worldwide position and time
L2. The data waveform is a series of contiguous 20-ms, unit
determination system that includes one or more satellite
amplitude rectangular pulses generated at 50 Hz with the
constellations” [1, 2]. Today, GNSS comprises two major
polarity of the pulses determined by the binary, 50-bps
constellations: (1) the United States’ Global Positioning
navigation data to be conveyed from the satellite to the user.
System (GPS), and (2) the Russian Federation’s Globalnaya
The spreading waveform is a contiguous series of rectangular
Navigatsionnaya Sputnikovaya Sistema (GLONASS). Two
pulses generated using a deterministic, digital pseudorandom
other major constellations are currently being deployed:
noise (PRN) code. The minimum period between transitions in
Europe’s Galileo and China’s Compass systems. Additionally,
the spreading waveform is referred to as a chip denoted Tc and
regional systems have been deployed or are planned, including
the reciprocal of this period as the chipping rate, Rc, which is
several satellite-based augmentation systems (SBAS), Japan’s
the clock rate of the binary PRN code.
Quasi-Zenith Satellite System (QZSS), and the Indian
Regional Navigation Satellite System (IRNSS). Whereas most The PRN code for each C/A-code signal is taken from the
GNSS timing receivers today rely only upon the legacy GPS family of length-1023 Gold codes [9], and is generated at
signals, it is anticipated in the near future that multi-system 1.023 MHz. A unique PRN is used for each signal type
receivers will become the norm. This paper describes the broadcast by each GPS satellite. The PRN codes for the Y-
characteristics of each of the GNSS signals, and highlights the code are generated at 10.23 MHz using private key
performance benefits that will be provided to the precise time encryption. Both the algorithm and the keys for Y-code are
and frequency community as the GNSS evolves. only available to authorized (e.g., military) users.

II. GLOBAL CONSTELLATION SIGNALS It should be noted that Fig. 1 is not drawn to scale. There
is a tremendous difference in time scales between the GPS
A. GPS signal components that would be difficult to illustrate on a
The GPS [3-7] is a satellite navigation system operated by common plot. For instance, for the C/A-code there are 1540
the United States. The first GPS satellite was launched in 1978 cycles of RF carrier for every single chip in the spreading
and the nominal constellation size of 24 satellites in medium waveform, and 20460 chips in the spreading waveform for
Earth orbit (MEO) was achieved in 1995. The constellation is every one data bit. If one visualizes the signal traveling
currently overpopulated with 31 operational satellites. The through free space from the satellite to a user on or near the
oldest 22 of the 31 operational satellites, comprising Block surface of the Earth, each period in the RF carrier stretches
IIA and IIR vehicles launched up through 2004, only over approximately 19 cm, each C/A-code chip over 297 m,
and each data bit over nearly 6000 km.
This research is funded by the Federal Aviation Administration. The
contents of this material reflect the views of the author. Neither the Federal
Aviation Administration nor the Department of the Transportation makes any
warranty or guarantee, or promise, expressed or implied, concerning the
content or accuracy of the views expressed herein.

978-1-4577-1820-5/12/$26.00 ©2012 IEEE

 RF carrier
Block IIR-M satellite is set unhealthy). The Block IIF
satellites, launched since 2010 (two thus far, with 12 in total
+1 planned), introduced a third civil signal on a new carrier
data waveform frequency. Both the carrier and the signal are referred to as L5
-1 [12, 13]. The Block III satellites, which are anticipated to be
+1 launched beginning in 2014, will introduce one further signal
spreading – a fourth civil signal referred to as L1C on the L1 carrier.
waveform
-1
Tc
Compared with the legacy signals, the modernized signals
have a number of advanced design features. For all of the
modernized civilian signals, these features include dataless
= DSSS signal
components, longer PRN codes, and various improvements to
the navigation data encoding and content. L5 and L2C
Figure 1. Direct Sequence Spread Spectrum Modulation. additionally employ secondary codes, and L5 and L1C use
wider bandwidth modulations.
Fig. 2 illustrates the evolution of the GPS signals over
satellite blocks. The figure shows the normalized power A dataless component (also referred to as a pilot) is a
spectra (on a logarithmic scale) of the GPS signals for each portion of a GNSS signal that is not modulated by navigation
block vs. frequency, beginning with the legacy signals data. The motivation for including a dataless component is to
broadcast by the Block I, II, IIA, and IIR satellites. Note that enable more robust tracking of the signal by a receiver in low
the legacy signals exhibit the baseband power spectra that are signal-to-noise conditions. The receiver can track the RF
characteristic for any DSSS signals using rectangular chips, carrier component of a pilot using a pure phase locked loop
which is: (PLL) whereas a Costas loop is required to track a signal
modulated by unknown binary data. A PLL can track a signal
with approximately one-quarter the signal-to-noise ratio
sin  fTc  necessary for a Costas loop. Even though only one-half of the
 S ( f )  Tc   total power in each transmitted L2C and L5 signal is devoted
 fTc
to a dataless component, there is still a net 3 dB tracking
robustness benefit allowing a receiver to continue to provide
with Tc = 1/(1.023 MHz) for C/A-code, and Tc = 1/(10.23 measurements in the presence of more interference or more
MHz) for P(Y)-code. Several of the modernized signals signal attenuation (due, e.g, to obstructions in the line-of-sight
exhibit power spectra with the same spectral characteristics between the user and satellite).
because they are also using DSSS modulations with C/A- or
P(Y)-code chipping rates. The dataless components for the modernized GPS signals
are implemented differently. For L2C, a time division
C/A-code
Block I/II/IIA/IIR multiplexing scheme is used to implement the pilot component
P(Y)-code P(Y)-code
as shown in Fig. 3. Two unique PRN codes per satellite are
generated at 511.5 kHz, which is half of the 1.023-MHz C/A-
C/A-code code chipping rate. The chips from the two PRN codes are
Block IIR-M L2C
P(Y)-code P(Y)-code
alternated, i.e., the first transmitted chip is from the first PRN,
M-code M-code the second chip from the second PRN, the third chip from the
first PRN, and so forth. The chips generated from the first
PRN code are modulated by navigation data, and the chips
Block IIF
C/A-code generated from the second PRN code are not. The resultant
L2C
P(Y)-code P(Y)-code signal has the same power spectrum as the C/A-code (ignoring
L5
M-code M-code finescale structure due to the periodic PRN codes) but only
half the chips in the spreading waveform are modulated by
navigation data.
C/A-code
Block III L2C L1C Navigation
P(Y)-code P(Y)-code message Rate 1/2 FEC
L5 M-code (25 bps)
M-code

frequency
L5 L2 L1
(1176.45 MHz) (1227.6 MHz) (1575.42 MHz) 10,230 chip code Chip by chip
generator CM multiplexer L2C signal
code
511.5 kHz clock
Figure 2. Evolution of the GPS Signals.
767,250 chip code
generator CL code
The eight Block IIR-M satellites launched between 2005 1/2
and 2009 introduced two new navigation signals – a new
1.023 MHz clock
military signal on L1 and L2 referred to as the M code [10],
and a new civil signal on L2 referred to as L2C [8, 11]. (Only
7 of the 8 are broadcasting usable signals today; the seventh Figure 3. Baseband L2C Signal Generation.
 To implement a pilot component for L5, two equal-power As is well-known in estimation theory (see, e.g., [16]), a
DSSS signals per satellite are broadcast in phase quadrature receiver’s ability to precisely estimate time-of-arrival of an
upon the same carrier, using unique PRN codes per signal. arbitrary signal in the presence of additive white Gaussian
The inphase signal is referred to as I5 and is modulated by noise is well-predicted by the root-mean-square (RMS) signal
navigation data. The quadraphase signal, known as Q5, is not bandwidth. The RMS signal bandwidth is defined as the
modulated by the navigation data. A similar method is used to integral of the signal’s power spectrum weighted by the
generate a pilot component for L1C, except that the two L1C squared frequency deviation from the carrier frequency. The
components are inphase with each other and for L1C, 3/4 of larger a signal’s RMS bandwidth, the more precise the time-
the signal power is devoted to the pilot. of-arrival measurement. Thus, BOC signals enable more
precise pseudorange measurements than would be obtained by
All the modernized GPS civil signals use PRN codes that a DSSS signal with the same chipping rate and signal-to-noise
are at least ten times longer than those used for the legacy ratio. L5 provides a signal with a large RMS bandwidth for
civilian C/A-code signal. Longer PRN codes reduce civilian users, but does so using ordinary DSSS with a 10
interference between signals when being processed by a times higher chip rate than the C/A-code.
receiver that is receiving signals simultaneously from multiple
satellites. Whereas the C/A-code uses length-1023 PRN codes, The L1C signal [17, 18] also provides an RMS bandwidth
L5 and L1C use two length-10230 codes for each satellite (one greater than that of the C/A-code or L2C. L1C uses a mixture
for the data component and one for the dataless component of of two BOC modulations referred to as multiplexed BOC
each signal). L2C uses two different PRN lengths per satellite (MBOC) [19]. The construction of L1C is illustrated in Fig. 4.
for its data and dataless components. A length-10230 PRN, The L1C data component uses BOC(1,1) modulation and has
referred to as the moderate-length code (CM) is used for the ¼ of the overall L1C power dedicated to it. The pilot
data component, and a long code (CL) of length-767250 is component is more complicated and is perhaps most easily
used for the pilot. understood through the viewpoint of its generation employing
DSSS but with 1.023 MHz symbols that are not rectangular
The L5 and L1C signal components are further modulated pulses but rather either one or six cycles of a squarewave –
by secondary codes (also referred to generically as overlay BOC(1,1) or BOC(6,1) symbols, respectively. As shown in
codes). Secondary codes reduce interference between GNSS Fig. 4, 29 of every 33 symbols in the spreading waveform are
signals, and also facilitate robust data bit synchronization BOC(1,1) and 4 of 33 are BOC(6,1). Since ¾ of the L1C
within GNSS receivers. The specific secondary codes used for
power is in the pilot, overall ¾ × 4/33 = 1/11 of the signal
L5 are referred to as Neuman-Hofman codes after the power is devoted to BOC(6,1) modulation and the remaining
researchers that identified them for another application over 10/11 of the power is BOC(1,1).
40 years ago [14]. The Neuman-Hofman code for I5 is 10 bits
in length, and the code for Q5 is 20 bits in length. Like all 25% Power Data Component
binary synchronization codes, the Neuman-Hofman codes are  
generated at the PRN code repetition interval (1 ms) and
simply either leave each repetition of the PRN code as it
originally was or inverts it, depending on whether the BOC(1,1) BOC(6,1)
corresponding synchronization code value is a digital 0 or 1.
75% Power Pilot Component
For instance, the Neuman-Hofman code for I5 is 0000110101.
For every 10 repetitions of the I5 PRN code, the first 4  
repetitions are transmitted as is, the 5th and 6th inverted, the 7th
as is, the 8th inverted, the 9th as is, and the 10th inverted. Figure 4. L1C Signal Design.
The M code uses a variant of DSSS modulation referred
to as binary offset carrier (BOC) [15]. BOC modulation adds a All of the modernized civil GPS signals provide similar
fourth component – a deterministic square wave - to the three navigation data content to that provided by the C/A-code and
normal DSSS components shown in Fig 1. For M-code, the P(Y)-code signals. L1C and L5 convey navigation data at 50
spreading waveform is generated with a 5.115 MHz chipping bps, and L2C at 25 bps. Several improvements relative to
rate and the squarewave component is clocked at 10.23 MHz C/A-code are notable. First, all the modernized signals use
so that there are two cycles of square wave per spreading forward error correction (FEC) encoding such as rate ½
waveform chip. The addition of the squarewave component convolutional encoding (e.g., L2C and L5) or low density
gives rise to a power spectrum (see Fig. 2) that resembles the parity check codes (L1C). FEC techniques take the raw
superposition of two equal-power DSSS power spectra (see navigation data bits to be conveyed to the end-user and
equation 1) at the same chipping rate (5.115 MHz), offset in judiciously add redundancy to them. Although the rate of
frequency from the carrier by plus and minus the squarewave binary data is increased (by a factor of two for rate ½
frequency. The effect of the squarewave component is thus encoding), the receiver is able to decode the raw navigation
similar in effect to amplitude modulation double-sideband, data bits with a smaller probability of error. For the reader
which uses a sinusoid rather than a squarewave. The notation without a communication theory background, it may be
BOC(m,n) is widely used to refer to a BOC modulation with a helpful towards understanding GNSS signal specifications to
m × 1.023 MHz squarewave frequency and a n × 1.023 MHz know that the rate of raw navigation data, Rb, is normally
chipping rate. Using this notation, the M-code may be stated specified in units of bits/second (bps) and the resultant higher
to employ a BOC(10,5) modulation. data rate after FEC is applied, Rs, in units of symbols/second
(sps). The net benefit of FEC is that the receiver can read the protect the radio astronomy service in the 1610.6 – 1613.8
navigation data bits in poorer signal-to-noise conditions. MHz and 1660 – 1670 MHz bands, Russia has committed to
migrate away from using the upper channels. A range of
All of the modernized GPS civil signals also utilize an channel numbers from -7 to +6 are used amongst the
improved error detection scheme. The legacy navigation data operational satellites. Since there are more satellites in the
on C/A- and P(Y)-code uses a Hamming (32, 26) code for nominal GLONASS constellation than there are channels, two
error detection, which is very inefficient in that 6 parity bits GLONASS satellites may transmit upon the same channel
are used for every 30-bit word. The modernized civil signals number if they are in antipodal slots within the same orbital
use a 24-bit cyclic redundancy check (CRC) code along with a plane [20]. It should be noted that all of the GLONASS
much longer word length (e.g., 300 bits for L5). This CRC signals are coherently derived from the same clock and the L2
scheme is much more efficient and allows receivers of the carrier frequencies are 7/9 the L1 frequencies.
modernized signals to more robustly detect the occurrence of
one or more bit errors. Lastly, the navigation data fields, Fig. 5 illustrates the evolution of the GLONASS signals.
although similar to those conveyed via C/A-code and P(Y)- The first-generation satellites only broadcast the civilian
code have more precise least significant bits and some standard accuracy signals on the L1 carrier frequencies and the
additional terms, e.g., in the satellite ephemeris representation, high accuracy signals on both sets of carriers. All of the
to ensure that the data field design will not significantly limit currently operational GLONASS-M satellites provide the
pseudorange measurement precision in the future. standard accuracy signals additionally on the L2 carriers. The
standard accuracy signals are modulated by navigation data at
B. GLONASS 50 bps. The data waveform is Manchester-encoded, i.e., each
GLONASS is a satellite navigation system operated by the symbol in the data waveform (see Fig. 1) is one cycle of a 50
Russian Federation. Although the nominal GLONASS 24- Hz squarewave rather than a 20-ms rectangular pulse.
satellite constellation was first fully populated in 1995, the standard
GLONASS
original GLONASS satellites exhibited a short lifespan (1 to 3 accuracy signals

years), and the constellation rapidly deteriorated to as few as 6 high accuracy

signals
operational satellites in 2001. Fortunately, GLONASS is now
on the rebound and the constellation of MEO satellites was -7 +6 -7 +6
again fully repopulated in December 2011. No first- GLONASS-M

generation satellites remain in service. All of the 24 currently

operational satellites are modernized GLONASS-M vehicles.
The first next-generation GLONASS-K vehicle (GLONASS-
+6 -7 +6
K1) was launched in February 2011 and is currently GLONASS-K
-7
undergoing flight testing.
CDMA CDMA
The GLONASS-M satellites broadcast navigation signals CDMA
signals signals signals
[20] in two sub-bands of L-band referred to as L1 and L2. A +6
-7 +6 -7
frequency division multiple access (FDMA) design for the L3 L2 L1
frequency
signals are utilized, as contrasted to the code division multiple (1164 – 1215 MHz) (~1238 - 1255 MHz) (~1593 - 1612 MHz)
access (CDMA) design used by GPS and the systems to be
Figure 5. GLONASS Signal Evolution.
described later in this paper. Two signal types are broadcast by
each GLONASS satellite – an open standard accuracy signal A recent development in GLONASS is that CDMA
and an encrypted high accuracy signal. DSSS modulation is signals, in addition to the FDMA signals described above, are
used with a 511 kHz chipping rate for the standard accuracy planned for the GLONASS-K satellites and beyond. The
signals, and 5.11 MHz for the high accuracy signals. One PRN FDMA approach for GLONASS, with each signal on a
code for each signal type is shared amongst all of the separate carrier frequency, leads to slightly more complex user
satellites, but different carrier frequencies are used from one equipment. Further, group delay variations across the
satellite to the next. passband of receivers can result in biases in the measurements
The L1 carrier frequencies are given by: made from one signal to the next. These biases can impact the
achievable accuracy unless sophisticated calibration
techniques are employed.
 f K1  f 01  K  f1  
The GLONASS-K1 satellite includes a test CDMA signal
at 1202.025 MHz, which is referred to as GLONASS L3.
and the L2 carrier frequencies by: Additional CDMA GLONASS signals in the L1, L2, and L3
bands are planned for later GLONASS-K vehicles [21]. The
 f K 2  f 02  K  f 2   plans are not yet finalized, but may include signals overlaying
the current GLONASS FDMA signals as well as signals
similar to the GPS L1C and L5 signals upon the GPS L1 and
where f 01 = 1602 MHz, f 02 = 1246 MHz, f1 = 0.5625 L5 carrier frequencies.
MHz, f1 = 0.4375 MHz, and K is the channel number. The
channel numbers originally spanned from 0 to +13, but to
C. Galileo
Galileo is a planned European satellite navigation system E5A Signal:
Data +Pilot
E5B Signal:
Data +Pilot E6C Signal:
E1-B/C Signal:
Data+ Pilot
consisting of 30 satellites (27 primary plus 3 active spares) in DSSS
Rc =10.23Mcps
DSSS
Rc =10.23Mcps E6P Signal:
Data+ Pilot
DSSS
CBOC
Rc =1.023Mcps
Rs=50sps Rs=250sps Rc =5.115Mcps E1-A Signal: Rs =250sps
three MEO orbital planes at about 23,000 km altitude. The OS/SOL{/CS}
Services
OS/SOL{/CS}
Services
BOCc (10,5).
Rc =5.115Mcps
PRS Service
Rs =1000sps
CS Service
BOCc(15,2.5)
PRS Service
OS/SOL{/CS}
Services
system will provide four distinct navigation services referred
to as the: (1) Open Service (OS), (2) Safety of Life service
(SoL), (3) Commercial Service (CS), and (4) Public Regulated
Service (PRS). Two test satellites were launched in 2005 and
2008. The first four operational satellites are referred to as in-
orbit validation (IOV) vehicles. Two IOV satellites were Frequency
(MHz)
launched in October 2011 and the next two are expected to be
E5 Signal:
launched later in 2012. The system is anticipated to be fully AltBOC(15,10)

operational by 2020.
The Galileo navigation signals [22] are transmitted in the Figure 7. Galileo Signals.
four frequency bands indicated in Fig. 6. These four frequency
bands are referred to as E5a, E5b, E6 and E1. They provide a Spreading code
wide bandwidth for the transmission of the Galileo signals.
The Galileo frequency bands have been selected in spectrum Square wave
allocated globally for radionavigation satellite services
(RNSS) and in addition to that, the E5a, E5b and E1 bands are Sine-phasing
included in the allocated spectrum for aeronautical
radionavigation services (ARNS), employed by civil-aviation
Spreading code
users, and allowing dedicated safety-critical applications. The
frequency bands are also either overlapping or contiguous to Square wave
frequency bands used by other GNSS constellations. As with
the remaining GNSS constellations to be discussed in this Cosine-phasing
paper, the Galileo frequency plan is based around the use of a
10.23 MHz master clock onboard each satellite for Figure 8. Sine-phased (ordinary) vs. Cosine-Phased BOC Modulation.
interoperability with GPS. This frequency was selected for
GPS in the 1970’s for the main reason that when divided by The E1-B and E1-C signals are data and pilot components
10 to 1.023 MHz it allows the length-1023 C/A-code PRN to of an MBOC signal that exhibits the same power spectrum as
repeat in a convenient time interval of 1-ms. the GPS L1C signal. Unlike L1C, however, the Galileo
Lower L-Band Upper L-Band
MBOC signal comprised of E1-B/-C (referred to as composite
BOC or CBOC) has equal power in its data and pilot
ARNS ARNS
RNSS RNSS components and many other differences. The Galileo CBOC
E5a E5b E6 E1 signal carries 125 bps (250 sps due to rate ½ FEC) navigation
L5 L2 L1
data and supports the OS, SoL, and CS services. Length-4092
PRN codes are utilized, which repeat every 4 ms at the 1.023
MHz MHz chipping rate. A 100-bit secondary code is applied to
E1-C.
95
5

2
15 87
.7
.4

.1

.7

.4
15 9
64

10
5
91
0

15

37

60

00

63

91
76

07

78

75

15
15
96

11

16
11

12

12

12

13
11

12

12

15

Galileo Navigation Bands GPS Navigation Bands The E5A and E5B signals very closely resemble ordinary
10.23 MHz chipping rate DSSS signals centered at 1176.45
MHz and 1207.6 MHz, respectively. Each signal has a data
Figure 6. Galileo Signal Bands.
and pilot component, with equal power in each. The E5A
An overview of the Galileo signals is provided in Fig. 7. signal conveys 25 bps (50 sps) navigation data, and the E5B
In the E1 band, there are three signals referred to as E1-A, -B, signal conveys 125 bps (250 sps) navigation data. Length-
and –C. E1-A is an encrypted cosine-phased BOC(15, 2.5) 10230 PRN codes are used, which repeat every 1-ms. 100-bit
signal that is used for the PRS. Cosine-phase BOC (BOCc) is a secondary codes are applied to the E5A and E5B pilot
modulation that is closely related to the ordinary BOC that components. 20- and 4-bit secondary codes are applied to the
was described earlier in this paper. As shown in Fig. 8, the data components of E5A and E5B, respectively. The E5A and
difference between the two is related to the phasing of the E5B signals are generated coherently using a BOC variant
spreading waveform and the squarewave component. For referred to as alternative BOC (AltBOC) [22] and can be
ordinary (also known as sine-phased) BOC, the rising edges in processed as a single wideband signal, referred to as E5, for
the squarewave are aligned with chip-transition epochs in the high-precision applications.
spreading waveform. For cosine-phased BOC, each positive The E6 band includes a BOCc(10,5) signal that supports
half-cycle of the squarewave is centered at the chip-transition the PRS as well as ordinary DSSS signals (data and pilot)
epoch. The power spectra of baseband cosine- and sine-phased generated with a 5.115 MHz chipping rate and 500 bps (1000
BOC modulations are similar, but cosine-phased BOC has sps) navigation data that support the CS.
higher-frequency content.
D. Compass Monitoring (SDCM). China has recently signaled its
Compass (also referred to as BeiDou) is a Chinese satellite intentions to develop an SBAS as well.
navigation system [23] that is being deployed in three phases. At present, three SBASs are operational: WAAS with 3
Phase I was an experimental system relying on active (two- GEOs, MSAS with 2 GEOs, and EGNOS with 3 GEOs.
way) ranging to geostationary orbit (GEO) satellites. Phase II GAGAN and SDCM are not yet operational, but each
and Phase III rely on satellites in three types of orbit: MEO, presently has a single GEO broadcasting SBAS signals for
GEO, and inclined geosynchronous orbit (IGSO). The testing. It is envisioned that global SBAS services will
satellites in IGSO have a ground track that resembles a figure- eventually migrate towards supporting dual-frequency user
eight oriented North-South with the center at a single point on equipment with signals at both 1575.42 MHz and 1176.45
the equator at a designated longitude. The intent of Phase II, MHz [27].
which will be completed later this year, is to provide an
autonomous navigation capability to users within China. In B. QZSS
Phase III, coverage will expand to cover the entire surface of The Quasi-Zenith Satellite System (QZSS) [28] is a
the Earth using a combination of 27 MEO, 3 IGSO, and 5 satellite navigation system that is being developed by the
GEO satellites. To date, 3 MEOs, 5 IGSOs, and 5 GEOs have government of Japan. QZSS is not intended to provide a
been launched. Phase III is planned to be completed by 2020. stand-alone navigation capability, but rather to improve the
For Phase III, three carrier frequencies are planned: B1 at performance of GPS in Japan, particularly in urban
1575.42 MHz, B2 at 1191.795 MHz, and B3 at 1268.52 MHz. environments where buildings obscure visibility of much of
Open signals will be broadcast on only two of the carriers: B1 the sky. QZSS was originally planned to be a three IGSO-
and B2. The B1 open signal has two components referred to as satellite constellation with coverage optimized for Japan.
B1-CD and B1-CP, which are data and pilot components, Recently, Japan has announced its intent to expand QZSS to
respectively, of an MBOC signal with the same spectral seven satellites, but the details of the new design are not yet
characteristics as the GPS L1C and Galileo E1-B/C signals. available. One satellite has been launched thus far in
B1-CD will provide 50 bps (100 sps) navigation data. The B2 September 2010, and the full constellation is expected to be
carrier will be modulated by an AltBOC(15,10) signal similar deployed within a decade.
to Galileo E5A/E5B, except that the data rates will be The QZSS satellites will broadcast six navigation signals
different. The lower B2 AltBOC sidelobe signal is referred to on four carrier frequencies [29]. The carrier frequencies are
as B2a and the upper as B2b. The B2a data component will 1575.42 MHz (common with GPS L1 and Galileo E1),
convey 25 bps (50 sps) navigation data, and the B2b data 1278.75 MHz (common with Galileo E6), 1227.6 (common
component will convey 50 bps (100 sps) navigation data. with GPS L2), and 1176.45 MHz (common with GPS L5).
Four of the signals were designed to be highly interoperable
III. REGIONAL CONSTELLATION SIGNALS with GPS C/A-code, L2C, L5, and L1C, using the same major
A. SBAS design principles. A fifth signal, referred to as L1-SAIF for
“submeter-class augmentation with integrity function” uses
Satellite-based augmentation systems (SBAS) [24] are the SBAS L1 signal design. The sixth and final signal, referred
being developed around the world by the global civil aviation to as LEX, is an experimental signal that is described in [29].
community to provide differential corrections, integrity
parameters and ionospheric data for aircraft navigation. An C. IRNSS
SBAS consists of a ground network of monitoring stations that
collect GNSS satellite measurements (today primarily GPS- The Indian Regional Navigation Satellite System (IRNSS)
only) and GEO satellites to broadcast these data to end users. [30] is a satellite navigation system planned by India. The
Current-generation SBAS GEOs broadcast directly on the overall system will consist of seven satellites. Three of the
GPS L1 carrier frequency of 1575.42 MHz. The SBAS signal satellites will be placed in GEO with longitudes of 34°E,
[25] is open, resembles the GPS C/A code signal, and may be 83°E, and 132°E. The four remaining satellites will be placed
used for ranging. As compared with GPS C/A-code, a higher in IGSO with a pair of figure-eight groundtracks centered on
data rate of 250 bps is employed with rate ½ forward error the equator at 55°E and 111°E in longitude. The intended
correction encoding to enable all the requisite system data to service volume is bounded in longitude between 40°E and
be provided to the user. User equipment process GPS C/A 140°E and in latitude between 40°S and 40°N. Current plans
code and SBAS signals on L1 only. SBAS is standardized call for the first satellite to be launched in 2012 and and the
internationally by the International Civil Aviation entire constellation to be operational around 2020.
Organization (ICAO) [1]. Three services are planned for IRNSS. The IRNSS
Several SBAS systems are either already operational or in Standard Positioning Service will be based upon DSSS signals
the final development stage. These include the Wide Area with rectangular chips and a 1.023 MHz chipping rate
Augmentation System (WAAS) [26] in the United States, the broadcast at 1191.795 MHz and 2491.005 MHz. A Precise
European Geostationary Navigation Overlay Service Positioning Service will operate using the same carrier
(EGNOS) in Europe, the Multifunctional Transport Satellite frequencies and DSSS modulation type, but with a higher
(MTSAT)-Based Augmentation System (MSAS) in Japan, the 10.23 MHz chipping rate. Restricted Services will also be
GPS and GEO Augmented Navigation (GAGAN) system in provided via a 10.23 MHz chipping rate DSSS signal on the
India, and the Russian System of Differential Correction and 1191.795 MHz carrier frequency.
 IV. SUMMARY [15] Betz, J. W., “Binary Offset Carrier Modulations for Radionavigation,”
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