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REVISIONS
DESCRIPTION DATE
ICD-GPS-200, Revision C, Initial Release

IRN-200C-001

IRN-200C-002

IRN-200C-003

IRN-200C-004

IRN-200C-005R1




10 October 1993

13 October 1995

25 September 1997

11 October 1999

12 April 2000

14 January 2003
DISTRIBUTION STATEMENT A
APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED.
APPROVALS
AUTHORIZED SIGNATURES REPRESENTING DATE
Signature on file
GPS NAVSTAR JPO
SMC/CZ (AFMC)
15 December 1994
Signature on file
ROCKWELL INTERNATIONAL
SPACE SYSTEMS DIVISION
16 November 1993
Signature on file
ROCKWELL INTERNATIONAL
COLLINS AVIONICS & COMMUNICATIONS DIVISION
15 November 1993
Signature on file
INTERNATIONAL BUSINESS MACHINES (IBM)
FEDERAL SYSTEMS COMPANY
02 December 1993
Signature on file *
MARTIN-MARIETTA
ASTRO SPACE DIVISION
05 August 1994
* An asterisk affixed to the approval signature indicates that the approval is subject to exceptions taken in the "Letter of Exception" contained in
Appendix I of this document.
INTERFACE CONTROL DOCUMENT 10 Oct 1993
DR BY

CHK BY

ARINC RESEARCH CORPORATION
2250 E. Imperial Highway, Suite 450
El Segundo, CA 90245-3509
UNLESS OTHERWISE SPECIFIED:
DIMENSIONS ARE IN INCHES.
TOLERANCES ON:
DECIMALS ANGLES
XX = ±0.03 ±0° 30'
XXX = ±0.01 APPROVALS


ICD TITLE

Navstar GPS Space Segment / Navigation
User Interfaces

SIZE
A
CODE IDENT NO.
0VYX1
DRAWING NO.
ICD-GPS-200
THIS DOCUMENT SPECIFIES TECHNICAL
REQUIREMENTS AND NOTHING HEREIN
CONTAINED SHALL BE DEEMED TO ALTER
THE TERMS OF ANY CONTRACT OR
PURCHASE ORDER BETWEEN ALL PARTIES
AFFECTED.

SCALE: N/A REV: C SHEET i

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REVISION RECORD
LTR DESCRIPTION DATE APPROVED
NC Initial Release

25 Jan 1983
A Incorporates IRN-200NC-001, IRN-200NC-002, and IRN-
200NC-003
25 Sep 1984
B Incorporates IRN-200A-001A

30 Nov 1987
C Incorporates IRN-200B-001 thru IRN-200B-007 10 Oct 1993
C Re-formatted in Microsoft Word 6.0 in GEMS compatible
format
10 Oct 1993 12 Jan 1996
C Changed distribution status to Public Release 25 Sep 1997 20 Oct 1997
















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TABLE OF CONTENTS

1. SCOPE.....................................................................................................................................................................1
1.1 Scope ...............................................................................................................................................................1
1.2 Key Dates ........................................................................................................................................................1
1.3 ICD Approval and Changes.............................................................................................................................1
2. APPLICABLE DOCUMENTS..............................................................................................................................3
2.1 Government Documents..................................................................................................................................3
2.2 Non-Government Documents..........................................................................................................................3
3. REQUIREMENTS .................................................................................................................................................5
3.1 Interface Definition .........................................................................................................................................5
3.2 Interface Identification ....................................................................................................................................5
3.2.1 Ranging Codes ......................................................................................................................................5
3.2.1.1 P-Code.........................................................................................................................................7
3.2.1.2 Y-Code ........................................................................................................................................7
3.2.1.3 C/A-Code ....................................................................................................................................7
3.2.1.4 L2 CM-Code (IIR-M, IIF, and subsequent blocks) .....................................................................7
3.2.1.5 L2 CL-Code (IIR-M, IIF, and subsequent blocks) ......................................................................7
3.2.1.6 Non-standard Codes ....................................................................................................................7
3.2.2 NAV Data............................................................................................................................................10
3.2.3 L1/L2 Signal Structure ...................................................................................................................... 10a
3.3 Interface Criteria............................................................................................................................................11
3.3.1 Composite Signal ................................................................................................................................11
3.3.1.1 Frequency Plan..........................................................................................................................11
3.3.1.2 Correlation Loss ........................................................................................................................11
3.3.1.3 Carrier Phase Noise...................................................................................................................11
3.3.1.4 Spurious Transmissions.............................................................................................................11
3.3.1.5 Phase Quadrature.......................................................................................................................12
3.3.1.6 User-Received Signal Levels ....................................................................................................12
3.3.1.7 Equipment Group Delay............................................................................................................14
3.3.1.7.1 Group Delay Uncertainty ................................................................................................14
3.3.1.7.2 Group Delay Differential ................................................................................................14
3.3.1.8 Signal Coherence.......................................................................................................................14
3.3.1.9 Signal Polarization ....................................................................................................................15
3.3.2 PRN Code Characteristics ...................................................................................................................15
3.3.2.1 Code Structure...........................................................................................................................17
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3.3.2.2 P-Code Generation....................................................................................................................17
3.3.2.3 C/A-Code Generation................................................................................................................28
3.3.2.4 L2 CM-/L2 CL-Code Generation............................................................................................ 32a
3.3.3 Navigation Data...................................................................................................................................33
3.3.3.1 Navigation Data Modulation.....................................................................................................33
3.3.3.1.1 Forward Error Correction................................................................................................33
3.3.4 GPS Time and SV Z-Count.................................................................................................................33
4. NOT APPLICABLE.............................................................................................................................................37
5. NOT APPLICABLE.............................................................................................................................................39
6. NOTES...................................................................................................................................................................41
6.1 Acronyms ......................................................................................................................................................41
6.2 Definitions .....................................................................................................................................................43
6.2.1 User Range Accuracy..........................................................................................................................43
6.2.2 SV Block Definitions ..........................................................................................................................43
6.2.2.1 Developmental SVs...................................................................................................................43
6.2.2.2 Operational SVs ........................................................................................................................43
6.2.2.2.1 Block II SVs....................................................................................................................44
6.2.2.2.2 Block IIA SVs.................................................................................................................44
6.2.2.2.3 Block IIR SVs .................................................................................................................44
6.2.2.2.4 Block IIR-M SVs ............................................................................................................44
6.2.2.2.5 Block IIF SVs..................................................................................................................44
6.2.3 Operational Interval Definitions..........................................................................................................44
6.2.3.1 Normal Operations ....................................................................................................................44
6.2.3.2 Short-term Extended Operations ...............................................................................................44
6.2.3.3 Long-term Extended Operations ...............................................................................................45
6.2.4 GPS Week Number .............................................................................................................................45
6.2.5 Calendar Year......................................................................................................................................45
6.2.6 GPS Day..............................................................................................................................................45
6.2.7 L5 Civil Signal ....................................................................................................................................45
6.3 Supporting Material.......................................................................................................................................45
6.3.1 Received Signals .................................................................................................................................45
6.3.2 Extended Navigation Mode (Block II/IIA)..........................................................................................47
6.3.3 Block IIA Mode (Block IIR/IIR-M)....................................................................................................48
6.3.4 Autonomous Navigation Mode ...........................................................................................................48
10. APPENDIX I. LETTERS OF EXCEPTION...................................................................................................49
10.1 Scope ...........................................................................................................................................................49
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10.2 Applicable Documents ................................................................................................................................49
10.3 Letters of Exception ....................................................................................................................................49
20. APPENDIX II. GPS NAVIGATION DATA STRUCTURE FOR DATA, D(t) ...........................................65
20.1 Scope ...........................................................................................................................................................65
20.2 Applicable Documents. ...............................................................................................................................65
20.2.1 Government Documents....................................................................................................................65
20.2.2 Non-Government Documents............................................................................................................65
20.3 Requirements...............................................................................................................................................66
20.3.1 Data Characteristics...........................................................................................................................66
20.3.2 Message Structure .............................................................................................................................66
20.3.3 Message Content ...............................................................................................................................79
20.3.3.1 Telemetry Word ......................................................................................................................79
20.3.3.2 Handover Word (HOW)..........................................................................................................79
20.3.3.3 Subframe 1 ..............................................................................................................................82
20.3.3.3.1 Subframe 1 Content.......................................................................................................82
20.3.3.3.1.1 Transmission Week Number...............................................................................82
20.3.3.3.1.2 Code(s) on L2 Channel .......................................................................................83
20.3.3.3.1.3 SV Accuracy.......................................................................................................83
20.3.3.3.1.4 SV Health............................................................................................................84
20.3.3.3.1.5 Issue of Data, Clock (IODC)...............................................................................85
20.3.3.3.1.6 Data Flag for L2 P-Code.....................................................................................85
20.3.3.3.1.7 (Reserved) ...........................................................................................................85
20.3.3.3.1.8 Estimated Group Delay Differential ...................................................................85
20.3.3.3.1.9 SV Clock Correction...........................................................................................86
20.3.3.3.2 Subframe 1 Parameter Characteristics ..........................................................................86
20.3.3.3.3 User Algorithms for Subframe 1 Data ..........................................................................86
20.3.3.3.3.1 User Algorithm for SV Clock Correction ...........................................................88
20.3.3.3.3.2 L1 - L2 Correction ..............................................................................................90
20.3.3.3.3.3 Ionospheric Correction........................................................................................91
20.3.3.3.3.4 Example Application of Correction Parameters..................................................91
20.3.3.4 Subframes 2 and 3...................................................................................................................91
20.3.3.4.1 Content of Subframes 2 and 3.......................................................................................93
20.3.3.4.2 Subframe 2 and 3 Parameter Characteristics.................................................................95
20.3.3.4.3 User Algorithm for Ephemeris Determination..............................................................97
20.3.3.4.3.1 Curve Fit Intervals ..............................................................................................97
20.3.3.4.3.2 Parameter Sensitivity ........................................................................................ 101
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20.3.3.4.3.3 Coordinate Systems........................................................................................... 101
20.3.3.4.3.3.1 ECEF Coordinate System....................................................................... 101
20.3.3.4.3.3.2 Earth-Centered, Inertial (ECI) Coordinate System................................. 102
20.3.3.4.3.4 Geometric Range............................................................................................... 102
20.3.3.4.4 NMCT Validity Time................................................................................................ 102a
20.3.3.5 Subframes 4 and 5............................................................................................................... 102b
20.3.3.5.1 Content of Subframes 4 and 5................................................................................... 102b
20.3.3.5.1.1 Data ID and SV ID............................................................................................ 104
20.3.3.5.1.2 Almanac Data.................................................................................................... 106
20.3.3.5.1.3 SV Health.......................................................................................................... 109
20.3.3.5.1.4 (Reserved) ......................................................................................................... 112
20.3.3.5.1.5 (Reserved) ......................................................................................................... 112
20.3.3.5.1.6 Anti-Spoof (A-S) Flags and SV Configurations ............................................... 112
20.3.3.5.1.7 Almanac Reference Week................................................................................. 113
20.3.3.5.1.8 Universal Coordinated Time (UTC) Parameters............................................... 113
20.3.3.5.1.9 Ionospheric Data ............................................................................................... 114
20.3.3.5.1.10 Special Messages ............................................................................................ 117
20.3.3.5.1.11 (Deleted) ......................................................................................................... 118
20.3.3.5.1.12 NMCT............................................................................................................. 118
20.3.3.5.1.13 Calendar Year Counter.................................................................................. 118a
20.3.3.5.2 Algorithms Related to Subframe 4 and 5 Data.......................................................... 118a
20.3.3.5.2.1 Almanac .......................................................................................................... 118a
20.3.3.5.2.2 Almanac Reference Time.................................................................................. 121
20.3.3.5.2.3 Almanac Time Parameters ................................................................................ 121
20.3.3.5.2.4 Universal Coordinated Time (UTC) ................................................................. 122
20.3.3.5.2.5 Ionospheric Model ............................................................................................ 125
20.3.3.5.2.6 NMCT Data ...................................................................................................... 125
20.3.4 Timing Relationships ...................................................................................................................... 129
20.3.4.1 Paging and Cutovers.............................................................................................................. 129
20.3.4.2 SV Time vs. GPS Time ......................................................................................................... 129
20.3.4.3 Speed of Light ....................................................................................................................... 129
20.3.4.4 Data Sets................................................................................................................................ 130
20.3.4.5 Reference Times.................................................................................................................... 132
20.3.5 Data Frame Parity............................................................................................................................ 135
20.3.5.1 SV/CS Parity Algorithm........................................................................................................ 135
20.3.5.2 User Parity Algorithm........................................................................................................... 135
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30. APPENDIX III. GPS NAVIGATION DATA STRUCTURE FOR L2 CNAV DATA, D
C
(t).................... 139
30.1 Scope ......................................................................................................................................................... 139
30.2 Applicable Documents. ............................................................................................................................. 139
30.2.1 Government Documents.................................................................................................................. 139
30.2.2 Non-Government Documents.......................................................................................................... 139
30.3 Requirements............................................................................................................................................. 140
30.3.1 Data Characteristics......................................................................................................................... 140
30.3.2 Message Structure ........................................................................................................................... 140
30.3.3 Message Content ............................................................................................................................. 140
30.3.3.1 Message Type 1 Clock, Health and Accuracy Parameters. ................................................... 147
30.3.3.1.1 Message Type 1 Clock, Health and Accuracy Parameter Content .............................. 147
30.3.3.1.1.1 Transmission Week Number............................................................................. 147
30.3.3.1.1.2 SV Accuracy..................................................................................................... 147
30.3.3.1.1.3 Signal Health (L1/L2/L5).................................................................................. 147
30.3.3.1.1.4 Issue of Data, Clock (IODC)............................................................................. 148
30.3.3.1.1.4.1 Short-term and Long-term Extended Operations .................................... 148
30.3.3.1.1.5 SV Clock Correction......................................................................................... 148
30.3.3.1.2 Message Type 1 Clock, Health and Accuracy Parameter Characteristics................... 149
30.3.3.1.3 User Algorithms for Message Type 1 Clock Data ...................................................... 149
30.3.3.2 Message Type 1 and 2 Ephemeris Parameters. ..................................................................... 150
30.3.3.2.1 Message Type 1 and 2 Ephemeris Parameter Content ................................................ 150
30.3.3.2.2 Message Type 1 and 2 Ephemeris Parameter Characteristics ..................................... 151
30.3.3.2.3 User Algorithm for Ephemeris Determination............................................................ 151
30.3.3.2.3.1 Curve Fit Intervals ............................................................................................ 151
30.3.3.3 Message Type 3 Parameters .................................................................................................. 152
30.3.3.3.1 Message Type 3 Parameter Content ............................................................................ 152
30.3.3.3.1.1 Coordinated Universal Time (UTC) and GPS Time Parameters ....................... 152
30.3.3.3.1.2 Ionospheric Data ............................................................................................... 152
30.3.3.3.1.3 L1/L2 Health..................................................................................................... 152
30.3.3.3.1.4 Estimated L1 – L2 Group Delay Differential.................................................... 153
30.3.3.3.2 Algorithms Related to Message Type 3 Data.............................................................. 154
30.3.3.3.2.1 UTC and GPS Time .......................................................................................... 154
30.3.3.3.2.2 Ionospheric Model ............................................................................................ 154
30.3.3.3.2.3 Inter-Signal Group Delay Differential Correction ............................................ 155
30.3.3.3.2.4 L1 /L2 Ionospheric Correction.......................................................................... 156
30.3.3.4 Message Type 4 Almanac Parameters................................................................................... 156
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30.3.3.4.1 Message Type 4 Almanac Parameter Content............................................................. 156
30.3.3.4.1.1 Almanac Data.................................................................................................... 156
30.3.3.4.1.2 SV Health (L1 and L2)...................................................................................... 157
30.3.3.4.1.3 Anti-Spoof (A-S) Flags and SV Configurations ............................................... 157
30.3.3.4.1.4 Almanac Reference Week................................................................................. 157
30.3.3.4.1.5 SV PRN Number............................................................................................... 157
30.3.3.4.2 Algorithms Related to Message Type 4 Data.............................................................. 157
30.3.3.4.2.1 Almanac ............................................................................................................ 157
30.3.3.4.2.2 Almanac Reference Time.................................................................................. 157
30.3.3.4.2.3 Almanac Time Parameters.................................................................................. 157
30.3.3.5 Message Type 5..................................................................................................................... 158
30.3.3.6 Message Type 6 Reduced Almanac Parameters.................................................................... 158
30.3.3.6.1 Message Type 6 Reduced Almanac Parameter Content.............................................. 158
30.3.3.6.1.1 Reduced Almanac Data..................................................................................... 158
30.3.3.6.1.2 Almanac Reference Week................................................................................. 158
30.3.3.6.1.3 Almanac Reference Time.................................................................................. 158
30.3.3.6.2 Reduced Almanac Packet............................................................................................ 160
30.3.3.6.2.1 SV PRN Number............................................................................................... 160
30.3.3.6.2.2 Reduced Almanac ............................................................................................. 160
30.3.3.6.2.3 Signal Health (L1/L2/L5).................................................................................. 160
30.3.3.7 Message Type 7 Improved Clock, Health and Accuracy Parameters.................................... 160
30.3.3.7.1 Message Type 7 Improved Clock, Health and Accuracy Parameters Content ............ 160
30.3.3.8 Message Type 7, 8, and 9 Improved Ephemeris Parameters. ................................................ 160
30.3.3.8.1 Message Type 7, 8, and 9 Improved Ephemeris Parameters Content ......................... 160
30.3.4 Timing Relationships ...................................................................................................................... 161
30.3.4.1 Paging and Cutovers.............................................................................................................. 161
30.3.4.2 SV Time vs. GPS Time ......................................................................................................... 161
30.3.4.3 Speed of Light ....................................................................................................................... 161
30.3.4.4 Data Sets................................................................................................................................ 161
30.3.4.5 Reference Times.................................................................................................................... 161
30.3.5 Data Frame Parity............................................................................................................................ 162
30.3.5.1 Parity Algorithm.................................................................................................................... 162

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LIST OF FIGURES

Figure 3-1. Space Vehicle/NAV User Interfaces.................................................................................................6
Figure 3-2. Generation of P-, C/A-Codes and Modulating Signals ...................................................................16
Figure 3-3. X1A Shift Register Generator Configuration..................................................................................18
Figure 3-4. X1B Shift Register Generator Configuration..................................................................................19
Figure 3-5. X2A Shift Register Generator Configuration..................................................................................20
Figure 3-6. X2B Shift Register Generator Configuration..................................................................................21
Figure 3-7. P-Code Generation..........................................................................................................................24
Figure 3-8. P-Code Signal Component Timing .................................................................................................25
Figure 3-9. G1 Shift Register Generator Configuration ....................................................................................29
Figure 3-10. G2 Shift Register Generator Configuration ....................................................................................30
Figure 3-11. C/A-Code Generation .....................................................................................................................31
Figure 3-12. C/A-Code Timing Relationships.....................................................................................................32
Figure 3-12A. L2 CM-/L2 CL-Code Timing Relationships................................................................................. 32b
Figure 3-12B. L2 CM/L2 CL Shift Register Generator Configuration ................................................................ 32c
Figure 3-12C. Convolutional Encoder ................................................................................................................. 34a
Figure 3-12D. Convolutional Transmit/Decoding Timing Relationships............................................................. 34a
Figure 3-13. Time Line Relationship of HOW Message.....................................................................................35
Figure 6-1. User Received Minimum Signal Level Variations (Example, Block II/IIA/IIR)............................46
Figure 10-1. Letter of Exception..........................................................................................................................51
Figure 20-1. Data Format ....................................................................................................................................67
Figure 20-2. TLM and HOW Formats.................................................................................................................80
Figure 20-3. Sample Application of Correction Parameters................................................................................92
Figure 20-4. Ionospheric Model ........................................................................................................................ 126
Figure 20-5. Example Flow Chart for User Implementation of Parity Algorithm............................................. 137
Figure 30-1. Message Type 1 Format ................................................................................................................ 141
Figure 30-2. Message Type 2 Format ................................................................................................................ 142
Figure 30-3. Message Type 3 Format ................................................................................................................ 143
Figure 30-4. Message Type 4 Format ................................................................................................................ 144
Figure 30-5. Message Type 5 Format ................................................................................................................ 145
Figure 30-6. Message Type 6 Format ................................................................................................................ 146
Figure 30-7. Reduced Almanac Packet.............................................................................................................. 159

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LIST OF TABLES

Table 3-I. Code Phase Assignments ..................................................................................................................8
Table 3-IA. Code Phase Assignments (IIR-M, IIF, and subsequent blocks only).............................................. 9a
Table 3-IIA. Signal Configuration..................................................................................................................... 10b
Table 3-II. Composite L1 Transmitted Signal Phase ........................................................................................13
Table 3-III. Received Minimum RF Signal Strength .........................................................................................13
Table 3-IV. P-Code Reset Timing......................................................................................................................26
Table 3-V. Final Code Vector States.................................................................................................................27
Table 20-I. Subframe 1 Parameters ...................................................................................................................87
Table 20-II. Ephemeris Data Definitions ............................................................................................................94
Table 20-III. Ephemeris Parameters.....................................................................................................................96
Table 20-IV. Elements of Coordinate Systems ....................................................................................................98
Table 20-V. Data IDs and SV IDs in Subframes 4 and 5.................................................................................. 105
Table 20-VI. Almanac Parameters ..................................................................................................................... 108
Table 20-VII. NAV Data Health Indications ....................................................................................................... 110
Table 20-VIII. Codes for Health of SV Signal Components................................................................................. 111
Table 20-IX. UTC Parameters............................................................................................................................ 115
Table 20-X. Ionospheric Parameters ................................................................................................................. 116
Table 20-XI. (Deleted) ....................................................................................................................................... 119
Table 20-XII. IODC Values and Data Set Lengths.............................................................................................. 131
Table 20-XIII. Reference Times ........................................................................................................................... 134
Table 20-XIV. Parity Encoding Equations............................................................................................................ 136
Table 30-I. Message Type 1 Clock, Health and Accuracy Parameters............................................................ 149
Table 30-II. Group Delay Differential Parameters............................................................................................ 153
Table 30-III. Reduced Almanac Parameters....................................................................................................... 159

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1. SCOPE

1.1 Scope. This Interface Control Document (ICD) defines the requirements related to the interface between the
Space Segment (SS) of the Global Positioning System (GPS) and the Navigation User Segment (US) of the GPS.

1.2 Key Dates. The major milestones for which integration data shall be provided are:
a. (TBD)

1.3 ICD Approval and Changes. ARINC Engineering Services, LLC has been designated the Interface Control
Contractor (ICC), and is responsible for the basic preparation, approval, distribution, and retention of the ICD in
accordance with YEN 75-13B. The following signatories must approve this ICD to make it effective:

a. Space Segment Contractors BLOCK II/IIA/IIF
The Boeing Company

Block IIR/IIR-M
Lockheed-Martin Corporation


b. Control Segment Contractor The Boeing Company


c. User Segment Contractors Rockwell International,
Collins Avionics & Communications Division


d. Navstar GPS Joint Program Office SMC/CZ
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Initial signature approval of this ICD can be contingent upon a letter of exception delineating those items by paragraph
numbers that are not a part of the approval. Such letters of exception can be prepared by any of the signatories and
must be furnished to the ICC for inclusion in Appendix I of the approved and officially released version of the ICD.

Changes to the approved version of this ICD can be initiated by any of the signatories and must be approved by all
above signatories. The ICC is responsible for the preparation of the change paper, change coordination, and the
change approval by all signatories in accordance with YEN 75-13B. Designated signatories can approve proposed
changes to this ICD without any increase in the scope of a specific contract by so specifying in a letter of exception.
Such letters of exception must be furnished to the ICC for inclusion in the released version of the approved change
and in Appendix I of the subsequent revised issues of the ICD.

Whenever all the issues addressed by a letter of exception are resolved, the respective signatory shall so advise the
ICC in writing. When some (but not all) of the exceptions taken by a signatory are resolved, the signatory shall
provide the ICC with an updated letter of exception. Based on such notifications -- without processing a proposed
interface revision notice (PIRN) for approval -- the ICC will omit the obsolete letter of exception from the next
revision of the ICD and will substitute the new one (if required).

Review cycles for all Proposed Interface Revisions Notices (PIRNs) is 45 days after receipt by individual addressees
unless a written request for a waiver is submitted to the ICC. Reviewing parties with delinquent responses will be
charged with an automatic letter of exception.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
3

UNCLASSIFIED
2. APPLICABLE DOCUMENTS

2.1 Government Documents. The following documents of the issue specified contribute to the definition of the
interfaces between the GPS Space Segment and the GPS Navigation User Segment, and form a part of this ICD to
the extent specified herein.

Specifications
Federal
None
Military
None
Other Government Activity
None
Standards
Federal
None
Military
None
Other Publications
YEN 75-13B
21 Oct 1988
Interface Control Working Group Charter

2.2 Non-Government Documents. The following documents of the issue specified contribute to the definition of
the interfaces between the GPS Space Segment and the GPS Navigation User Segment and form a part of this ICD
to the extent specified herein.

Specifications
None

Other Publications
None

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
4

UNCLASSIFIED
(This page intentionally left blank.)
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
5

UNCLASSIFIED
3. REQUIREMENTS

3.1 Interface Definition. As shown in Figure 3-1, the interface between the GPS Space Segment (SS) and the GPS
navigation User Segment (US) consists of two radio frequency (RF) links: L1 and L2. Utilizing these links, the
space vehicles (SVs) of the SS shall provide continuous earth coverage for signals which provide to the US the
ranging codes and the system data needed to accomplish the GPS navigation (NAV) mission. These signals shall
be available to a suitably equipped user with RF visibility to an SV.

3.2 Interface Identification. The carriers of the L-band links are typically modulated by one or more bit trains, each
of which normally is a composite generated by the Modulo-2 addition of a pseudo-random noise (PRN) ranging
code and the downlink system data (referred to as NAV data).

3.2.1 Ranging Codes. Three PRN ranging codes are transmitted: the precision (P) code which is the principal
NAV ranging code; the Y-code, used in place of the P-code whenever the anti-spoofing (A-S) mode of operation is
activated; and the coarse/acquisition (C/A) code which is used primarily for acquisition of the P (or Y) code
(denoted as P(Y)). Appropriate code-division-multiplexing techniques allow differentiating between the SVs even
though they all transmit at the same L-band frequencies. The SVs will transmit intentionally "incorrect" versions of
the C/A and the P(Y) codes where needed to protect the users from receiving and utilizing anomalous NAV signals
as a result of a malfunction in the SV's reference frequency generation system. These two "incorrect" codes are
termed non-standard C/A (NSC) and non-standard Y (NSY) codes.

For Block IIR-M, IIF, and subsequent blocks of SVs, two additional PRN ranging codes are transmitted. They are
the L2 civil-moderate (L2 CM) code and the L2 civil-long (L2 CL) code. The SVs will transmit intentionally
"incorrect" versions of the L2 CM and L2 CL codes where needed to protect the users from receiving and utilizing
anomalous NAV signals as a result of a malfunction in the SV's reference frequency generation system. These
"incorrect" codes are termed non-standard L2 CM (NSCM) and non-standard L2 CL (NSCL) codes. The SVs shall
also be capable of independently initiating and terminating the broadcast of NSCM and/or NSCL code(s) in
response to CS command.

UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
6

UNCLASSIFIED
GPS SPACE SEGMENT (SS)
ON-BOARD
COMPUTER
PROGRAM
(OBCP)
SPACE VEHICLE
(SV)
GPS USER
SEGMENT (US)
L2 L1

Figure 3-1. Space Vehicle/NAV User Interfaces
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
7

UNCLASSIFIED
3.2.1.1 P-Code. The PRN P-code for SV ID number i is a ranging code, P
i
(t), of 7 days in length at a chipping
rate of 10.23 Mbps. The 7 day sequence is the Modulo-2 sum of two sub-sequences referred to as X1 and X2
i
; their
lengths are 15,345,000 chips and 15,345,037 chips, respectively. The X2
i
sequence is an X2 sequence selectively
delayed by 1 to 37 chips thereby allowing the basic code generation technique to produce a set of 37 mutually
exclusive P-code sequences of 7 days in length. Of these, 32 are designated for use by SVs, while the remaining 5
are reserved for other purposes (e.g. ground transmitters, etc.). Assignment of these code phase segments by SV-
ID number (or other use) is given in Table 3-I.

3.2.1.2 Y-Code. The PRN Y-code is used in place of the P-code when the A-S mode of operation is activated.

3.2.1.3 C/A-Code. The PRN C/A-Code for SV ID number i is a Gold code, G
i
(t), of 1 millisecond in length at a
chipping rate of 1023 Kbps. The G
i
(t) sequence is a linear pattern generated by the Modulo-2 addition of two sub-
sequences, G1 and G2
i
, each of which is a 1023 chip long linear pattern. The epochs of the Gold code are
synchronized with the X1 epochs of the P-code. As shown in Table 3-I, the G2
i
sequence is a G2 sequence
selectively delayed by 5 to 950 chips, thereby generating a set of 36 mutually exclusive C/A-codes. Assignment of
these by GPS PRN Signal Number is given in Table 3-I.

3.2.1.4 L2 CM-Code (IIR-M, IIF, and subsequent blocks). The PRN L2 CM-code for SV ID number i is a ranging
code, C
M,i
(t), which is 20 milliseconds in length at a chipping rate of 511.5 Kbps. The epochs of the L2 CM-code
are synchronized with the X1 epochs of the P-code. The C
M,i
(t) sequence is a linear pattern which is short cycled
every count of 10230 chips by resetting with a specified initial state. Assignment of initial states by GPS PRN
Signal Number is given in Table 3-IA.

3.2.1.5 L2 CL-Code (IIR-M, IIF, and subsequent blocks). The PRN L2 CL-code for SV ID number i is a ranging
code, C
L,i
(t), which is 1.5 seconds in length at a chipping rate of 511.5 Kbps. The epochs of the L2 CL-code are
synchronized with the X1 epochs of the P-code. The C
L,i
(t) sequence is a linear pattern which is generated using the
same code generator polynomial as the one used for C
M,i
(t). However, the C
L,i
(t) sequence is short cycled by
resetting with a specified initial state every code count of 767250 chips. Assignment of initial states by GPS PRN
Signal Number is given in Table 3-IA.

3.2.1.6 Non-standard Codes. The NSC, NSCM, NSCL, and NSY codes, used to protect the user from a malfunction
in the SV's reference frequency system (reference paragraph 3.2.1), are not for utilization by the user and, therefore,
are not defined in this document.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
8

UNCLASSIFIED

Table 3-I. Code Phase Assignments (sheet 1 of 2)
Code Phase Selection Code Delay
Chips
SV
ID
No.
GPS PRN
Signal
No.
C/A(G2
i
) (X2
i
) C/A P
First
10 Chips
Octal*
C/A
First
12 Chips
Octal
P
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
2 ⊕ 6
3 ⊕ 7
4 ⊕ 8
5 ⊕ 9
1 ⊕ 9
2 ⊕ 10
1 ⊕ 8
2 ⊕ 9
3 ⊕ 10
2 ⊕ 3
3 ⊕ 4
5 ⊕ 6
6 ⊕ 7
7 ⊕ 8
8 ⊕ 9
9 ⊕ 10
1 ⊕ 4
2 ⊕ 5
3 ⊕ 6
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
5
6
7
8
17
18
139
140
141
251
252
254
255
256
257
258
469
470
471
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
1440
1620
1710
1744
1133
1455
1131
1454
1626
1504
1642
1750
1764
1772
1775
1776
1156
1467
1633
4444
4000
4222
4333
4377
4355
4344
4340
4342
4343
|
|
|
|
|
|
|
|
4343
* In the octal notation for the first 10 chips of the C/A code as shown in this column, the first
digit (1) represents a "1" for the first chip and the last three digits are the conventional octal
representation of the remaining 9 chips. (For example, the first 10 chips of the C/A code for
PRN Signal Assembly No. 1 are: 1100100000).
** C/A codes 34 and 37 are common.
*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).

⊕ = "exclusive or"
NOTE: The code phase assignments constitute inseparable pairs, each consisting of a specific C/A
and a specific P code phase, as shown above.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
9

UNCLASSIFIED

Table 3-I. Code Phase Assignments (sheet 2 of 2)
Code Phase Selection Code Delay
Chips
SV
ID
No.
GPS PRN
Signal
No.
C/A(G2
i
) (X2
i
) C/A P
First
10 Chips
Octal*
C/A
First
12 Chips
Octal
P
20
21
22
23
24
25
26
27
28
29
30
31
32
***
***
***
***
***
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34**
35
36
37**
4 ⊕ 7
5 ⊕ 8
6 ⊕ 9
1 ⊕ 3
4 ⊕ 6
5 ⊕ 7
6 ⊕ 8
7 ⊕ 9
8 ⊕ 10
1 ⊕ 6
2 ⊕ 7
3 ⊕ 8
4 ⊕ 9
5 ⊕ 10
4 ⊕ 10
1 ⊕ 7
2 ⊕ 8
4 ⊕ 10
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
472
473
474
509
512
513
514
515
516
859
860
861
862
863
950
947
948
950
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
1715
1746
1763
1063
1706
1743
1761
1770
1774
1127
1453
1625
1712
1745
1713
1134
1456
1713
4343
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
4343
* In the octal notation for the first 10 chips of the C/A code as shown in this column, the first
digit (1) represents a "1" for the first chip and the last three digits are the conventional
octal representation of the remaining 9 chips. (For example, the first 10 chips of the C/A
code for PRN Signal Assembly No. 1 are: 1100100000).
** C/A codes 34 and 37 are common.
*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).

⊕ = "exclusive or"
NOTE: The code phase assignments constitute inseparable pairs, each consisting of a specific C/A
and a specific P code phase, as shown above.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
9a

UNCLASSIFIED



Table 3-IA. Code Phase Assignments (IIR-M, IIF, and subsequent blocks only) (sheet 1 of 2)
Initial Shift Register State (Octal) End Shift Register State (Octal)
SV
ID
No.
GPS PRN
Signal
No. L2 CM L2 CL L2 CM * L2 CL **
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
742417664
756014035
002747144
066265724
601403471
703232733
124510070
617316361
047541621
733031046
713512145
024437606
021264003
230655351
001314400
222021506
540264026
205521705
064022144
624145772
506610362
220360016
710406104
001143345
053023326
652521276
206124777
015563374
561522076
023163525
117776450
606516355
003037343
046515565
671511621
605402220
002576207
525163451
552566002
034445034
723443711
511222013
463055213
667044524
652322653
505703344
520302775
244205506
236174002
654305531
435070571
630431251
234043417
535540745
043056734
731304103
412120105
267724236
167516066
771756405
047202624
052770433
761743665
133015726
610611511
352150323
051266046
305611373
504676773
272572634
731320771
631326563
231516360
030367366
713543613
232674654
* Short cycled period = 10230
** Short cycled period = 767250
*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).
NOTE: There are many other available initial register states which can be used for other signal
transmitters including any additional SVs in future.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
9b

UNCLASSIFIED



Table 3-IA. Code Phase Assignments (IIR-M, IIF, and subsequent blocks only) (sheet 2 of 2)
Initial Shift Register State (Octal) End Shift Register State (Octal)
SV
ID
No.
GPS PRN
Signal
No. L2 CM L2 CL L2 CM * L2 CL **
20
21
22
23
24
25
26
27
28
29
30
31
32
***
***
***
***
***
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
120161274
044023533
724744327
045743577
741201660
700274134
010247261
713433445
737324162
311627434
710452007
722462133
050172213
500653703
755077436
136717361
756675453
435506112
266527765
006760703
501474556
743747443
615534726
763621420
720727474
700521043
222567263
132765304
746332245
102300466
255231716
437661701
717047302
222614207
561123307
240713073
365636111
143324657
110766462
602405203
177735650
630177560
653467107
406576630
221777100
773266673
100010710
431037132
624127475
154624012
275636742
644341556
514260662
133501670
641733155
730125345
000316074
171313614
001523662
023457250
330733254
625055726
476524061
602066031
012412526
705144501
615373171
041637664
100107264
634251723
257012032
703702423
* Short cycled period = 10230
** Short cycled period = 767250
*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).
NOTE: There are many other available initial register states which can be used for other signal
transmitters including any additional SVs in future.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
10

UNCLASSIFIED
3.2.2 NAV Data. The NAV data, D(t), includes SV ephemerides, system time, SV clock behavior data, status
messages and C/A to P (or Y) code handover information, etc. The 50 bps data is Modulo-2 added to the P(Y)-
and C/A- codes; the resultant bit-trains are used to modulate the L1 and L2 carriers. For a given SV, the data train
D(t), if present, is common to the P(Y)- and C/A- codes on both the L1 and L2 channels. The content and
characteristics of the NAV data, D(t), are given in Appendix II of this document.

For Block IIR-M, the NAV data, D(t), is also Modulo-2 added to the L2 CM-code. However, the NAV data, D(t),
can be used in one of two different data rates which are selectable by ground command. D(t) with a data rate of 50
bps can be commanded to be Modulo-2 added to the L2 CM-code, or D(t) with a symbol rate of 50 symbols per
second (sps) (rate ½ convolutional encode of a 25 bps NAV data) can be commanded to be Modulo-2 added to the
L2 CM-code. The resultant bit-train is combined with L2 CL-code using time-division multiplexing method and the
multiplexed bit-trains are used to modulate the L2 carrier.

The above described (and throughout this document) NAV data, D(t), and its modulation onto the L2 CM-code for
Block IIR-M may change prior to operational broadcast of L2 C signal.

For Block IIF, and subsequent blocks of SVs, L2 CNAV data, D
C
(t), also includes SV ephemerides, system time,
SV clock behavior, status messages, etc. The D
C
(t) is a 25 bps data stream which is coded by a rate ½ convolutional
coder. When selected by ground command, the resulting 50 sps symbol stream is Modulo-2 added to the L2 CM-
code; the resultant bit-train is combined with L2 CL-code using time-division multiplexing method; the multiplexed
bit-trains are used to modulate the L2 carrier. The content and characteristics of the L2 CNAV data, D
C
(t), are given
in Appendix III of this document.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
10a

UNCLASSIFIED
3.2.3 L1/L2 Signal Structure. The L1 link consists of two carrier components which are in phase quadrature with
each other. Each carrier component is bi-phase shift key (BPSK) modulated by a separate bit train. One bit train is
the Modulo-2 sum of the P(Y)-code and NAV data, D(t), while the other is the Modulo-2 sum of the C/A-code and
the NAV data, D(t). For Block II/IIA and IIR, the L2 link is BPSK modulated by only one of those two bit trains;
the bit train to be used for L2 modulation is selected by ground command. A third modulation mode is also
selectable on the L2 channel by ground command: it utilizes the P(Y)-code without the NAV data as the
modulating signal. For a particular SV, all transmitted signal elements (carriers, codes and data) are coherently
derived from the same on-board frequency source.

For Block IIR-M SVs, the L2 consists of two carrier components. One carrier component is BPSK modulated by
the bit train which is the Modulo-2 sum of the P(Y)-code with or without NAV data D(t), while the other is BPSK
modulated by any one of four other bit trains which are selectable by ground command. The four possible bit trains
are; (1) the Modulo-2 sum of the C/A-code and D(t); (2) the C/A-code with no data; (3) a chip-by-chip time
multiplex combination of bit trains consisting of the L2 CM-code with D(t) at 50 bps and the L2 CL-code with no
data and; (4) a chip-by-chip time multiplex combination of bit trains consisting of the L2 CM-code with
convolutionally encoded D(t) (50 sps) and the L2 CL-code with no data. The L2 CM-code with D(t) is time-
multiplexed with L2 CL-code at a 1023 kHz rate. The first L2 CM-code chip starts synchronously with the end/start
of week epoch.

For Block IIF, and subsequent blocks of SVs, the L2 consists of two carrier components. One carrier component is
BPSK modulated by the bit train which is the Modulo-2 sum of the P(Y)-code with or without NAV data D(t), while
the other is BPSK modulated by any one of three other bit trains which are selectable by ground command. The
three possible bit trains are; (1) the Modulo-2 sum of the C/A-code and D(t); (2) the C/A-code with no data and;
(3) a chip-by-chip time multiplex combination of bit trains consisting of the L2 CM-code with D
C
(t) and the L2 CL-
code with no data. The L2 CM-code with the 50 sps symbol stream of D
C
(t) is time-multiplexed with L2 CL-code at
a 1023 kHz rate. The first L2 CM-code chip starts synchronously with the end/start of week epoch.

The different configuration and combination of codes/signals specified in this section are shown in Table 3-IIA.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
10b

UNCLASSIFIED




Table 3-IIA. Signal Configuration
L1 L2**
SV Blocks
In-Phase* Quadrature-Phase* In-Phase* Quadrature-Phase*


Block II/IIA/IIR


P(Y) ⊕ D(t)


C/A ⊕ D(t)
P(Y) ⊕ D(t)
or
P(Y)
or
C/A ⊕ D(t)


Not Applicable



Block IIR-M***



P(Y) ⊕ D(t)



C/A ⊕ D(t)


P(Y) ⊕ D(t)
or
P(Y)
L2 CM ⊕ D(t) with L2 CL
or
L2 CM ⊕ D′(t) with L2 CL
or
C/A ⊕ D(t)
or
C/A


Block IIF


P(Y) ⊕ D(t)


C/A ⊕ D(t)

P(Y) ⊕ D(t)
or
P(Y)
L2 CM ⊕ D
C
(t) with L2 CL
or
C/A ⊕ D(t)
or
C/A
Notes: 1) The configuration identified in this table reflects only the content of Section 3.2.3 and does not
show all available codes/signals on L1/L2.
2) It should be noted that there are no flags or bits in the navigation message to directly indicate
which signal option is broadcast for L2 Civil (L2 C) signal.

⊕ = “exclusive-or” (modulo-2 addition)
D(t) = NAV data at 50 bps
D′(t) = NAV data at 25 bps with FEC encoding resulting in 50 sps
D
C
(t) = L2 CNAV data at 25 bps with FEC encoding resulting in 50 sps

* Terminology of “in-phase” and “quadrature-phase” is used only to identify the relative phase
quadrature relationship of the carrier components (i.e. 90 degrees offset of each other).
** The two carrier components on L2 may not have the phase quadrature relationship. They may be
broadcast on same phase (ref. Section 3.3.1.5).
*** See paragraph 3.2.2 for Block IIR-M L2 C signal.


UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
11

UNCLASSIFIED
3.3 Interface Criteria. The criteria specified in the following define the requisite characteristics of the SS/US
interface.

3.3.1 Composite Signal. The following criteria define the characteristics of the composite L-band signals.

3.3.1.1 Frequency Plan. The L-band signals shall be contained within two 20.46-MHz bands centered about L1 and
L2. The carrier frequencies for the L1 and L2 signals shall be coherently derived from a common frequency source
within the SV. The nominal frequency of this source -- as it appears to an observer on the ground -- is 10.23 MHz.
The SV carrier frequency and clock rates -- as they would appear to an observer located in the SV -- are offset to
compensate for relativistic effects. The clock rates are offset by ∆ f/f = -4.4647E-10, equivalent to a change in the
P-code chipping rate of 10.23 MHz offset by a ∆ f = -4.5674E-3 Hz. This is equal to 10.22999999543 MHz. The
nominal carrier frequencies (f
0
) shall be 1575.42 MHz, and 1227.6 MHz for L1 and L2, respectively.

3.3.1.2 Correlation Loss. Correlation loss is defined as the difference between the SV power received in a 20.46
MHz bandwidth and the signal power recovered in an ideal correlation receiver of the same bandwidth. On the L1
and L2 channels, the worst case correlation loss occurs when the carrier is modulated by the sum of the P(Y) code
and the NAV data stream. For this case, the correlation loss apportionment shall be as follows:

1. SV modulation imperfections 0.6 dB
2. Ideal UE receiver waveform distortion 0.4 dB
(due to 20.46 MHz filter)

3.3.1.3 Carrier Phase Noise. The phase noise spectral density of the unmodulated carrier shall be such that a phase
locked loop of 10 Hz one-sided noise bandwidth shall be able to track the carrier to an accuracy of 0.1 radians rms.

3.3.1.4 Spurious Transmissions. In-band spurious transmissions shall be at least 40 dB below the unmodulated L1
and L2 carriers over the allocated 20.46 MHz channel bandwidth.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
12

UNCLASSIFIED
3.3.1.5 Phase Quadrature. The two L1 carrier components modulated by the two separate bit trains (C/A-code plus
data and P(Y)-code plus data) shall be in phase quadrature (within ±100 milliradians) with the C/A signal carrier
lagging the P signal by 90 degrees. Referring to the phase of the P carrier when P
i
(t) equals zero as the "zero phase
angle", the P(Y)- and C/A-code generator output shall control the respective signal phases in the following manner:
when P
i
(t) equals one, a 180-degree phase reversal of the P-carrier occurs; when G
i
(t) equals one, the C/A carrier
advances 90 degrees; when the G
i
(t) equals zero, the C/A carrier shall be retarded 90 degrees (such that when G
i
(t)
changes state, a 180-degree phase reversal of the C/A carrier occurs). The resultant nominal composite transmitted
signal phases as a function of the binary state of only the two modulating signals are as shown in Table 3-II.

For Block IIR-M, IIF, and subsequent blocks of SVs, phase quadrature relationship between the two L2 carrier
components can be the same as for the two L1 carrier components as described above. However, for the L2 case,
the civil signal carrier component is modulated by any one of three (IIF) or four (IIR-M) different bit trains as
described in paragraph 3.2.3. Moreover, the two L2 carrier components can be in same phase. The resultant
composite transmitted signal phases will vary as a function of the binary state of the modulating signals as well as
the signal power ratio and phase quadrature relationship. Beyond these considerations, additional carrier
components in Block IIR-M, IIF, and subsequent blocks of SVs will result in composite transmitted signal phase
relationships other than the nominal special case of Table 3-II.

For Block IIF, the crosstalk between the C/A, when selected, and P(Y) signals shall not exceed –20 dB in the L1 and
L2. The crosstalk is the relative power level of the undesired signal to the desired reference signal.

3.3.1.6 User-Received Signal Levels. The SV shall provide L1 and L2 navigation signal strength at end-of-life
(EOL), worst-case, in order to meet the minimum levels specified in Table 3-III. The minimum received power is
measured at the output of a 3 dB
i
linearly polarized user receiving antenna (located near ground) at worst normal
orientation, when the SV is above a 5-degree elevation angle. The received signal levels are observed within the in-
band allocation defined in para. 3.3.1.1.

The Block IIF SV shall provide L1 and L2 signals with the following characteristic: the L1 off-axis power gain
shall not decrease by more than 2 dB from the Edge-of-Earth (EOE) to nadir, nor more than 10 dB from EOE to 20
degrees off nadir, and no more than 18 dB from EOE to 23 degrees off nadir; the L2 off-axis power gain shall not
decrease by more than 2 dB from EOE to nadir, and no more than 10 dB from EOE to 23 degrees off nadir; the
power drop off between EOE and ±23 degrees shall be in a monotonically decreasing fashion.

Additional related data is provided as supporting material in paragraph 6.3.1.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
13

UNCLASSIFIED


Table 3-II. Composite L1 Transmitted Signal Phase ** (Block II/IIA and IIR SVs Only)
Code State Nominal Composite L1
Signal Phase*
P C/A

-70.5°
+109.5°
180°
0
1
0
1
0
0
1
1
* Relative to 0, 0 code state with positive angles leading and negative angles lagging.
** Based on the composite of two L1 carrier components with 3 dB difference in the power levels of the two.









Table 3-III. Received Minimum RF Signal Strength
Signal
SV Blocks

Channel
P(Y) C/A or L2 C
L1 -161.5 dBW -158.5 dBW
II/IIA/IIR
L2 -164.5 dBW -164.5 dBW
L1 -161.5 dBW -158.5 dBW
IIR-M/IIF
L2 -161.5 dBW -160.0 dBW

or
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
14

UNCLASSIFIED
3.3.1.7 Equipment Group Delay. Equipment group delay is defined as the delay between the L-band radiated
output of a specific SV (measured at the antenna phase center) and the output of that SV's on-board frequency
source; the delay consists of a bias term and an uncertainty. The bias term is of no concern to the US since it is
included in the clock correction parameters relayed in the NAV data, and is therefore accounted for by the user
computations of system time (reference paragraphs 20.3.3.3.3.1, 30.3.3.3.2.3). The uncertainty (variation) of this
delay as well as the group delay differential between the signals of L1 and L2 are defined in the following.

3.3.1.7.1 Group Delay Uncertainty. The effective uncertainty of the group delay shall not exceed 3.0 nanoseconds
(two sigma).

3.3.1.7.2 Group Delay Differential. The group delay differential between the radiated L1 and L2 signals (i.e. L1
P(Y) and L2 P(Y), L1 P(Y) and L2 C) is specified as consisting of random plus bias components. The mean
differential is defined as the bias component and will be either positive or negative. For a given navigation payload
redundancy configuration, the absolute value of the mean differential delay shall not exceed 15.0 nanoseconds.
The random variations about the mean shall not exceed 3.0 nanoseconds (two sigma). Corrections for the bias
components of the group delay differential are provided to the US in the Nav message using parameters designated
as T
GD
(reference paragraph 20.3.3.3.3.2) and Inter-Signal Correction (ISC) (reference paragraph 30.3.3.3.2.3).

3.3.1.8 Signal Coherence. All transmitted signals for a particular SV shall be coherently derived from the same
on-board frequency standard; all digital signals shall be clocked in coincidence with the PRN transitions for the P-
signal and occur at the P-signal transition speed. On the L1 channel the data transitions of the two modulating
signals (i.e., that containing the P(Y)-code and that containing the C/A-code), L1 P(Y) and L1 C/A, shall be such
that the average time difference between the transitions does not exceed 10 nanoseconds (two sigma).
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
15

UNCLASSIFIED
3.3.1.9 Signal Polarization. The transmitted signal shall be right-hand circularly polarized (RHCP). For the
angular range of ±14.3 degrees from boresight, L1 ellipticity shall be no worse than 1.2 dB for Block II/IIA and
shall be no worse than 1.8 dB for Block IIR/IIR-M/IIF SVs. L2 ellipticity shall be no worse than 3.2 dB for Block
II/IIA SVs and shall be no worse than 2.2 dB for Block IIR/IIR-M/IIF over the angular range of ±14.3 degrees from
boresight.

3.3.2 PRN Code Characteristics. The characteristics of the P-, L2 CM-, L2 CL-, and the C/A-codes are defined
below in terms of their structure and the basic method used for generating them. Figure 3-2 depicts a simplified
block diagram of the scheme for generating the 10.23 Mbps P
i
(t) and the 1.023 Mbps G
i
(t) patterns (referred to as P-
and C/A-codes respectively), and for Modulo-2 summing these patterns with the NAV bit train, D(t), which is
clocked at 50 bps. The resultant composite bit trains are then used to modulate the L-band carriers.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
16

UNCLASSIFIED
Z-
COUNTER
RESET
COMMAND
GENERATOR
X1 CODE
GENERATOR
CODE
SELECT
DEVICE
X2 CODE
GENERATOR
RECLOCKING
DEVICE
10.23 MHz
FREQUENCY
SOURCE
GOLD CODE
GENERATOR
EPOCH
RESET
EPOCH
DETECT
EPOCH
RESET
EPOCH
DETECT
10
20
X1 EPOCH
DATA
ENCODER
D(t)
P
i
(t) D(t)
P
i
(t)
FORMATTED
DATA
P
i
(t)
X2
i
(t)
X1(t)
G
i
(t)
REMOTE
COMMAND
Z-COUNT
1.023
MHz
1 KHz
50 Hz
G
i
(t) D(t)

Figure 3-2. Generation of P-, C/A-Codes and Modulating Signals
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
17

UNCLASSIFIED
3.3.2.1 Code Structure. The P
i
(t) pattern (P-code) is generated by the Modulo-2 summation of two PRN codes,
X1(t) and X2(t - iT), where T is the period of one P-code chip and equals (1.023 x 10
7
)
-1
seconds, while i is an
integer from 1 through 37. This allows the generations of 37 unique P(t) code phases (identified in Table 3-I)
using the same basic code generator.

The linear G
i
(t) pattern (C/A-code) is the Modulo-2 sum of two 1023-bit linear patterns, G1 and G2
i
. The latter
sequence is selectively delayed by an integer number of chips to produce 36 unique G(t) patterns (defined in Table
3-I).

The C
M,i
(t) pattern (L2 CM-code) is a linear pattern which is reset with a specified initial state every code count of
10230 chips. Different initial states are used to generate different C
M,i
(t) patterns (defined in Table 3-IA).

The C
L,i
(t) pattern (L2 CL-code) is also a linear pattern but with a longer reset period of 767250 chips. Different
initial states are used to generate different C
L,i
(t) patterns (defined in Table 3-IA).

For a given SV-ID, two different initial states are used to generate different C
L,i
(t) and C
M,i
(t) patterns.

3.3.2.2 P-Code Generation. Each P
i
(t) pattern is the Modulo-2 sum of two extended patterns clocked at 10.23
Mbps (X1 and X2
i
). X1 itself is generated by the Modulo-2 sum of the output of two 12-stage registers (X1A and
X1B) short cycled to 4092 and 4093 chips respectively. When the X1A short cycles are counted to 3750, the X1
epoch is generated. The X1 epoch occurs every 1.5 seconds after 15,345,000 chips of the X1 pattern have been
generated. The polynomials for X1A and X1B, as referenced to the shift register input, are:

X1A: 1 + X
6
+ X
8
+ X
11
+ X
12
, and
X1B: 1 + X
1
+ X
2
+ X
5
+ X
8
+ X
9
+ X
10
+ X
11
+ X
12
.

Samples of the relationship between shift register taps and the exponents of the corresponding polynomial,
referenced to the shift register input, are as shown in Figures 3-3, 3-4, 3-5 and 3-6.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
18

UNCLASSIFIED









1
0
2
0
3
0
4
1
5
0
6
0
7
1
8
0
9
0
10
1
11
0
12
0
STAGE
NUMBERS
INITIAL
CONDITIONS
SHIFT DIRECTION
0 1 2 3 4 5 6 7 8 9 10 11 12
OUTPUT
TAP
NUMBERS
POLYNOMIAL X1A:
1 + X
6
+ X
8
+ X
11
+ X
12



Figure 3-3. X1A Shift Register Generator Configuration
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
19

UNCLASSIFIED









1
0
2
0
3
1
4
0
5
1
6
0
7
1
8
0
9
1
10
0
11
1
12
0
STAGE
NUMBERS
INITIAL
CONDITIONS
SHIFT DIRECTION
0 1 2 3 4 5 6 7 8 9 10 11 12
OUTPUT
TAP
NUMBERS
POLYNOMIAL X1B:
1 + X
1
+ X
2
+ X
5
+ X
8
+ X
9
+ X
10
+ X
11
+ X
12



Figure 3-4. X1B Shift Register Generator Configuration
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
20

UNCLASSIFIED









1
1
2
0
3
1
4
0
5
0
6
1
7
0
8
0
9
1
10
0
11
0
12
1
STAGE
NUMBERS
INITIAL
CONDITIONS
SHIFT DIRECTION
0 1 2 3 4 5 6 7 8 9 10 11 12
OUTPUT
TAP
NUMBERS
POLYNOMIAL X2A:
1 + X
1
+ X
3
+ X
4
+ X
5
+ X
7
+ X
8
+ X
9
+ X
10
+ X
11
+ X
12



Figure 3-5. X2A Shift Register Generator Configuration
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
21

UNCLASSIFIED









1
0
2
0
3
1
4
0
5
1
6
0
7
1
8
0
9
1
10
0
11
1
12
0
STAGE
NUMBERS
INITIAL
CONDITIONS
SHIFT DIRECTION
0 1 2 3 4 5 6 7 8 9 10 11 12
OUTPUT
TAP
NUMBERS
POLYNOMIAL X2B:
1 + X
2
+ X
3
+ X
4
+ X
8
+ X
9
+ X
12



Figure 3-6. X2B Shift Register Generator Configuration
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
22

UNCLASSIFIED
The state of each generator can be expressed as a code vector word which specifies the binary sequence constant of
each register as follows: (a) the vector consists of the binary state of each stage of the register, (b) the stage 12
value appears at the left followed by the values of the remaining states in order of descending stage numbers, and
(c) the shift direction is from lower to higher stage number with stage 12 providing the current output. This code
vector convention represents the present output and 11 future outputs in sequence. Using this convention, at each
X1 epoch, the X1A shift register is initialized to code vector 001001001000 and the X1B shift register is initialized
to code vector 010101010100. The first chip of the X1A sequence and the first chip of the X1B sequence occur
simultaneously in the first chip interval of any X1 period.

The natural 4095 chip cycles of these generating sequences are shortened to cause precession of the X1B sequence
with respect to the X1A sequence during subsequent cycles of the X1A sequence in the X1 period. Re-
initialization of the X1A shift register produces a 4092 chip sequence by omitting the last 3 chips (001) of the
natural 4095 chip X1A sequence. Re-initialization of the X1B shift register produces a 4093 chip sequence by
omitting the last 2 chips (01) of the natural 4095 chip X1B sequence. This results in the phase of the X1B
sequence lagging by one chip for each X1A cycle in the X1 period.

The X1 period is defined as the 3750 X1A cycles (15,345,000 chips) which is not an integer number of X1B
cycles. To accommodate this situation, the X1B shift register is held in the final state (chip 4093) of its 3749th
cycle. It remains in this state until the X1A shift register completes its 3750th cycle (343 additional chips). The
completion of the 3750th X1A cycle establishes the next X1 epoch which re-initializes both the X1A and X1B shift
registers starting a new X1 cycle.

The X2
i
sequences are generated by first producing an X2 sequence and then delaying it by a selected integer
number of chips, i, ranging from 1 to 37. Each of the X2
i
sequences is then Modulo-2 added to the X1 sequence
thereby producing up to 37 unique P(t) sequences.
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ICD-GPS-200C
10 OCT 1993
23

UNCLASSIFIED
The X2A and X2B shift registers, used to generate X2, operate in a similar manner to the X1A and X1B shift
registers. They are short-cycled, X2A to 4092 and X2B to 4093, so that they have the same relative precession rate
as the X1 shift registers. X2A epochs are counted to include 3750 cycles and X2B is held in the last state at 3749
cycle until X2A completes its 3750th cycle. The polynomials for X2A and X2B, as referenced to the shift register
input, are:

X2A: 1 + X
1
+ X
3
+ X
4
+ X
5
+ X
7
+ X
8
+ X
9
+ X
10
+ X
11
+ X
12
, and
X2B: 1 + X
2
+ X
3
+ X
4
+ X
8
+ X
9
+ X
12
.

(The initialization vector for X2A is 100100100101 and for X2B is 010101010100).

The X2A and X2B epochs are made to precess with respect to the X1A and X1B epochs by causing the X2 period
to be 37 chips longer than the X1 period. When the X2A is in the last state of its 3750th cycle and X2B is in the
last state of its 3749th cycle, their transitions to their respective initial states are delayed by 37 chip time durations.

At the beginning of the GPS week, X1A, X1B, X2A and X2B shift registers are initialized to produce the first chip
of the week. The precession of the shift registers with respect to X1A continues until the last X1A period of the
GPS week interval. During this particular X1A period, X1B, X2A and X2B are held when reaching the last state
of their respective cycles until that X1A cycle is completed (see Table 3-IV). At this point, all four shift registers
are initialized and provide the first chip of the new week.

Figure 3-7 shows a functional P-code mechanization. Signal component timing is shown in Figure 3-8, while the
end-of-week reset timing and the final code vector states are given in Tables 3-IV and 3-V, respectively.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
24

UNCLASSIFIED
X1A
REGISTER
C
I
1 6 12
R
4093
DECODE
4092
DECODE
4092
DECODE
4093
DECODE
C
CLOCK
CONTROL
3750
Z-COUNTER
403,200
X1B
REGISTER
C
I
1 12
R
X2A
REGISTER
C
I
1 12
R
X2B
REGISTER
C
I
1 2 12
R
7 DAY
RESET
SHIFT
REGISTER
A
1, 2, 5, 8,
9, 10, 11, 12
1, 3, 4, 5, 7,
8, 9, 10, 11, 12
2, 3, 4,
8, 9, 12
6, 8, 11, 12
A
CLOCK
CONTROL
B
3749
3750
37
C
3749
B
CLOCK
CONTROL
1
i
37
10.23 MHz
C- CLOCK
I - INPUT
R- RESET TO
INITIAL
CONDITIONS
ON NEXT
CLOCK
REGISTER
INPUTS
X1
EPOCH
SET X1A EPOCH
RESUME
HALT
SET X1B
EPOCH
END/WEEK
HALT
START/WEEK
ENABLE
X2
EPOCH
RESUME
HALT
END/WEEK
SET X2B
EPOCH
X2
SET X2A
EPOCH
X1
X2
i
Pi

Figure 3-7. P-Code Generation
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
25

UNCLASSIFIED









0 1 2 3 0 1 2 3 0
X1 EPOCHS
X2 EPOCHS
TIME
37 Chips 74 Chips
P Epoch
0 1.5 sec 3.0 sec 4.5 sec 7 days 14 days


Figure 3-8. P-Code Signal Component Timing
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
26

UNCLASSIFIED

Table 3-IV. P-Code Reset Timing
(Last 400 µsec of 7-day period)
Code Chip
X1A-Code X1B-Code X2A-Code X2B-Code
1 345 1070 967
• • • •
• • • •
• • • •
3023 3367
4092
3989
• • • •
• • • •
• • • •
3127 3471 4092
4093
• • • •
• • • •
• • • •
3749
4093
4092 4093
• • • •
• • • •
• • • •


4092*
4093 4092 4093
* Last Chip of Week.

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10 OCT 1993
27

UNCLASSIFIED

Table 3-V. Final Code Vector States

Code

Chip Number

Vector State
Vector State for 1st Chip
following Epoch

4091

100010010010

X1A

4092

000100100100

001001001000

4092

100101010101

X1B

4093

001010101010

010101010100

4091

111001001001

X2A

4092

110010010010

100100100101

4092

000101010101

X2B

4093

001010101010

010101010100
NOTE: First Chip in each sequence is output bit whose leading edge occurs simultaneously with the epoch.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
28

UNCLASSIFIED
3.3.2.3 C/A-Code Generation. Each G
i
(t) sequence is a 1023-bit Gold-code which is itself the Modulo-2 sum of
two 1023-bit linear patterns, G1 and G2
i
. The G2
i
sequence is formed by effectively delaying the G2 sequence by
an integer number of chips ranging from 5 to 950. The G1 and G2 sequences are generated by 10-stage shift
registers having the following polynomials as referred to in the shift register input (see Figures 3-9 and 3-10).

G1 = X
10
+ X
3
+ 1, and
G2 = X
10
+ X
9
+ X
8
+ X
6
+ X
3
+ X
2
+ 1.

The initialization vector for the G1 and G2 sequences is 1111111111. The G1 and G2 shift registers are initialized
at the P-coder X1 epoch. The G1 and G2 registers are clocked at 1.023 MHz derived from the 10.23 MHz P-coder
clock. The initialization by the X1 epoch phases the 1.023 MHz clock to insure that the first chip of the C/A code
begins at the same time as the first chip of the P-code.

The effective delay of the G2 sequence to form the G2
i
sequence is accomplished by combining the output of two
stages of the G2 shift register by Modulo-2 addition (see Figure 3-11). Thirty-six of the possible combinations are
selected, one to correspond to each of the 36 different P-codes. Table 3-I contains a tabulation of the G2 shift
register taps selected and their corresponding P-code X2
i
and PRN signal numbers together with the first several
chips of each resultant PRN code. Timing relationships related to the C/A code are shown in Figure 3-12.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
29

UNCLASSIFIED









1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
1
10
1
STAGE
NUMBERS
INITIAL
CONDITIONS
SHIFT DIRECTION
0 1 2 3 4 5 6 7 8 9 10
OUTPUT
TAP
NUMBERS
POLYNOMIAL G1:
1 + X
3
+ X
10
INPUT



Figure 3-9. G1 Shift Register Generator Configuration
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
30

UNCLASSIFIED









1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
1
10
1
STAGE
NUMBERS
INITIAL
CONDITIONS
SHIFT DIRECTION
0 1 2 3 4 5 6 7 8 9 10
OUTPUT
TAP
NUMBERS
POLYNOMIAL G2:
1 + X
2
+ X
3
+X
6
+ X
8
+ X
9
+ X
10
INPUT



Figure 3-10. G2 Shift Register Generator Configuration
UNCLASSIFIED

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10 OCT 1993
31

UNCLASSIFIED
10
S
C
I
C
S
I
G1
REGISTER
2 3 6 8 9 10
G2
REGISTER
3
10
10.23 MHz
SYNCH
X1 EPOCH
20
SYNCH
G EPOCH
1 Kbps
1023
DECODE
50 bps TO DATA ENCODER
PHASE SELECT
LOGIC
G2
i
G1
REGISTER INPUTS
C - CLOCK
I - INPUT
S - SET ALL ONES
G
i


Figure 3-11. C/A-Code Generation
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
32

UNCLASSIFIED
1023
etc.
X1 Epoch @ 2/3 bps
0 1 2 18 19 0
1 msec
1023 BIT Gold Code @ 1023 Kbps
1023 1023 1023 1023
Gold Code Epochs @ 1000/sec
Data @ 50 cps
20 msec

Figure 3-12. C/A-Code Timing Relationships
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
32a

UNCLASSIFIED
3.3.2.4 L2 CM-/L2 CL-Code Generation. Each C
M,i
(t) pattern (L2 CM-code) and C
L,i
(t) pattern (L2 CL-code) are
generated using the same code generator polynomial each clocked at 511.5 Kbps. Each pattern is initiated and
reset with a specified initial state (defined in Table 3-IA). C
M,i
(t) pattern is reset after 10230 chips resulting in a
code period of 20 milliseconds, and C
L,i
(t) pattern is reset after 767250 chips resulting in a code period of 1.5
seconds. The L2 CM and L2 CL shift registers are initialized at the P-coder X1 epoch. The first L2 CM-code
chip starts synchronously with the end/start of week epoch. Timing relationships related to the L2 CM-/L2 CL-
codes are shown in Figure 3-12A.

The maximal polynomial used for L2 CM- and L2 CL-codes is 1112225171 (octal) of degree 27. The L2 CM and
L2 CL code generator is conceptually described in Figure 3-12B using modular-type shift register generator.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
32b

UNCLASSIFIED
















































Figure 3-12A. L2 CM-/L2 CL-Code Timing Relationships
End/start of week
X1 Epoch @ 2/3 bps
1.5 second
767250 Chips
767250 BIT L2 CL-Code @ 511.5 Kbps
10230
10230 BIT L2 CM-Code @ 511.5 Kbps
10230 10230 10230 10230 10230 10230
1 2 4 3 73 74
75
0
etc.
etc.
20 msec
1
Data @ 50 cps
L2 CM @ 511.5 Kbps
L2 C @ 1023 Kbps
L2 CL @ 511.5 Kbps
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
32c

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D
E
L
A
Y
N
U
M
B
E
R
S
S
H
I
F
T

D
I
R
E
C
T
I
O
N
O
U
T
P
U
T
I
N
I
T
I
A
L

C
O
N
D
I
T
I
O
N
S

A
R
E

A

F
U
N
C
T
I
O
N

O
F

P
R
N

A
N
D

C
O
D
E

P
E
R
I
O
D

(
M
O
D
E
R
A
T
E
/
L
O
N
G
)
1
3
1
1
3
3
2
3
3
2
2
3
P
O
L
Y
N
O
M
I
A
L
:
1

+

X
3

+

X
4

+
X
5

+

X
6

+

X
9

+

X
1
1

+

X
1
3

+

X
1
6

+

X
1
9

+

X
2
1

+

X
2
4

+

X
2
7




Figure 3-12B. L2 CM/L2 CL Shift Register Generator Configuration
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3.3.3 Navigation Data. The content and format of the NAV data, D(t), and the L2 CNAV data, D
C
(t), are given in
Appendices II and III, respectively, of this document.

3.3.3.1 Navigation Data Modulation. For Block IIF, the L2 CNAV bit train, D
C
(t), is rate ½ encoded and, thus,
clocked at 50 sps. The resultant symbol sequence is then Modulo-2 added to the L2 CM-code. For Block IIR-M,
upon ground command, the NAV bit train, D(t), can be rate ½ encoded and be used to modulate the L2 CM-code.
However, the data rate of D(t) for this purpose will be 25 bps resulting in 50 sps.

3.3.3.1.1 Forward Error Correction. The L2 CNAV bit train, D
C
(t), will always be Forward Error Correction (FEC)
encoded by a rate 1/2 convolutional code. For Block IIR-M, the NAV bit train, D(t), can be selected to be
convolutionally encoded. The resulting symbol rate is 50 sps. The convolutional coding will be constraint length 7,
with a convolutional encoder logic arrangement as illustrated in Figure 3-12C. The G1 symbol is selected on the
output as the first half of a 40-millisecond data bit period.

Twelve-second navigation messages broadcast by the SV are synchronized with every eighth of the SV's P(Y)-code
X1 epochs. However, the navigation message is FEC encoded in a continuous process independent of message
boundaries (i.e. at the beginning of each new message, the encoder registers illustrated in Figure 3-12C contains the
last six bits of the previous message).

Because the FEC encoding convolves successive messages, it is necessary to define which transmitted symbol is
synchronized to SV time, as follows. The beginning of the first symbol that contains any information about the first
bit of a message will be synchronized to every eighth X1 epoch (referenced to end/start of week). The users’
convolutional decoders will introduce a fixed delay that depends on their respective algorithms (usually 5 constraint
lengths, or 35 bits), for which they must compensate to determine system time from the received signal. This
convolutional decoding delay and the various relationships with the start of the data block transmission and SV time
are illustrated in Figure 3-12D.

3.3.4 GPS Time and SV Z-Count. GPS time is established by the Control Segment and is referenced to a UTC (as
maintained by the U.S. Naval Observatory) zero time-point defined as midnight on the night of January 5,
1980/morning of January 6, 1980. The largest unit used in stating GPS time is one week defined as 604,800
seconds. GPS time may differ from UTC because GPS time shall be a continuous time scale, while UTC is
corrected periodically with an integer number of leap seconds. There also is an inherent but bounded drift rate
between the UTC and GPS time scales. The OCS shall control the GPS time scale to be within one microsecond of
UTC (Modulo one second).
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The NAV data contains the requisite data for relating GPS time to UTC. The accuracy of this data during the
transmission interval shall be such that it shall relate GPS time (maintained by the MCS of the CS) to UTC
(USNO) within 90 nanoseconds (one sigma). This data is generated by the CS; therefore, the accuracy of this
relationship may degrade if for some reason the CS is unable to upload data to a SV. At this point, it is assumed
that alternate sources of UTC are no longer available, and the relative accuracy of the GPS/UTC relationship will
be sufficient for users. Range error components (e.g. SV clock and position) contribute to the GPS time transfer
error, and under normal operating circumstances (two frequency time transfers from SV(s) whose navigation
message indicates a URA of eight meters or less), this corresponds to a 97 nanosecond (one sigma) apparent
uncertainty at the SV. Propagation delay errors and receiver equipment biases unique to the user add to this time
transfer uncertainty.

In each SV the X1 epochs of the P-code offer a convenient unit for precisely counting and communicating time.
Time stated in this manner is referred to as Z-count, which is given as a 29-bit binary number consisting of two
parts as follows:

a. The binary number represented by the 19 least significant bits of the Z-count is referred to as the time of
week (TOW) count and is defined as being equal to the number of X1 epochs that have occurred since the
transition from the previous week. The count is short-cycled such that the range of the TOW-count is
from 0 to 403,199 X1 epochs (equaling one week) and is reset to zero at the end of each week. The TOW-
count's zero state is defined as that X1 epoch which is coincident with the start of the present week. This
epoch occurs at (approximately) midnight Saturday night-Sunday morning, where midnight is defined as
0000 hours on the Universal Coordinated Time (UTC) scale which is nominally referenced to the
Greenwich Meridian. Over the years the occurrence of the "zero state epoch" may differ by a few seconds
from 0000 hours on the UTC scale since UTC is periodically corrected with leap seconds while the TOW-
count is continuous without such correction. To aid rapid ground lock-on to the P-code signal, a truncated
version of the TOW-count, consisting of its 17 most significant bits, is contained in the hand-over word
(HOW) of the L-Band downlink data stream; the relationship between the actual TOW-count and its
truncated HOW version is illustrated by Figure 3-13.

b. The ten most significant bits of the Z-count are a Modulo 1024 binary representation of the sequential
number assigned to the current GPS week (see paragraph 6.2.4). The range of this count is from 0 to 1023
with its zero state being defined as the GPS week number zero and every integer multiple of 1024 weeks,
thereafter (i.e. 0, 1024, 2048, etc.).

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Figure 3-12C. Convolutional Encoder


















Figure 3-12D. Convolutional Transmit/Decoding Timing Relationships

G1 (171 OCTAL)

G2 (133 OCTAL)

DATA INPUT

(25 BPS)

SYMBOL

CLOCK

OUTPUT SYMBOLS

(50 SPS)

(ALTERNATING G1/G2)

USER’S DECODING DELAY

DOWNLINK DELAY

LATER

ENCODED DATA BLOCK
TRANSMITTED ON L2
EARLY

SV 12 SECOND EPOCHS

ENCODED
DATA BLOCK
RECEIVED
BY USER
DATA BLOCK
DECODED BY
USER
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403,192 403,196 403,199
P(Y)-CODE EPOCH
(END/START OF WEEK)
1 0 2 3 4 5 6 7 8
100,799 1 0 2 3
X1 EPOCHS 1.5 sec
DECIMAL EQUIVALENTS
OF ACTUAL TOW COUNTS
SUBFRAME EPOCHS
DECIMAL EQUIVALENTS OF HOW-MESSAGE TOW COUNTS
NOTES:
1. TO AID IN RAPID GROUND LOCK-ON THE HAND-OVER WORD (HOW ) OF EACH
SUBFRAME CONTAINS A TRUNCATED TIME-OF-WEEK (TOW) COUNT
2. THE HOW IS THE SECOND WORD IN EACH SUBFRAME (REFERENCE
PARAGRAPH 20.3.3.2).
3. THE HOW-MESSAGE TOW COUNT CONSISTS OF THE 17 MSBs OF THE
ACTUAL TOW COUNT AT THE START OF THE NEXT SUBFRAME.
4. TO CONVERT FROM THE HOW-MESSAGE TOW COUNT TO THE ACTUAL TOW
COUNT AT THE START OF THE NEXT SUBFRAME, MULTIPLY BY FOUR.
5. THE FIRST SUBFRAME STARTS SYNCHRONOUSLY WITH THE END/START OF
WEEK EPOCH.
6 sec

Figure 3-13. Time Line Relationship of HOW Message
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4. NOT APPLICABLE
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5. NOT APPLICABLE
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ICD-GPS-200C
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6. NOTES
6.1 Acronyms
AI - Availability Indicator
AODO - Age of Data Offset
A-S - Anti-Spoofing
Autonav - Autonomous Navigation
BPSK - Bi-Phase Shift Key
cps - cycles per second
CRC - Cyclic Redundancy Check
CS - Control Segment
DN - Day Number
EAROM - Electrically Alterable Read-Only Memory
ECEF - Earth-Centered, Earth-Fixed
ECI - Earth-Centered, Inertial
EOE - Edge-of-Earth
EOL - End of Life
ERD - Estimated Range Deviation
FEC - Forward Error Correction
GPS - Global Positioning System
HOW - Hand-Over Word
ICC - Interface Control Contractor
ICD - Interface Control Document
ID - Identification
IODC - Issue of Data, Clock
IODE - Issue of Data, Ephemeris
ISC - Inter-Signal Correction
LSB - Least Significant Bit
LSF - Leap Seconds Future
L2 C - L2 Civil Signal
L2 CL - L2 Civil-Long Code
L2 CM - L2 Civil-Moderate Code
L2 CNAV - L2 C Navigation
MCS - Master Control Station
MSB - Most Significant Bit
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NAV - Navigation
NDUS - Nudet Detection User Segment
NMCT - Navigation Message Correction Table
NSC - Non-Standard C/A-Code
NSCL - Non-Standard L2 CL-Code
NSCM - Non-Standard L2 CM-Code
NSY - Non-Standard Y-code
OBCP - On-Board Computer Program
OCS - Operational Control Segment
PRN - Pseudo-Random Noise
RF - Radio Frequency
RMS - Root Mean Square
SA - Selective Availability
SEP - Spherical Error Probable
sps - symbols per second
SS - Space Segment
SV - Space Vehicle
SVN - Space Vehicle Number
TBD - To Be Determined
TBS - To Be Supplied
TLM - Telemetry
TOW - Time Of Week
UE - User Equipment
URA - User Range Accuracy
URE - User Range Error
US - User Segment
USNO - U.S. Naval Observatory
UTC - Coordinated Universal Time
WGS 84 - World Geodetic System 1984
WN - Week Number
WN
e
- Extended Week Number
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6.2 Definitions

6.2.1 User Range Accuracy. User range accuracy (URA) is a statistical indicator of the ranging accuracies
obtainable with a specific SV. URA is a one-sigma estimate of the user range errors in the navigation data for the
transmitting satellite. It includes all errors for which the Space and Control Segments are responsible. It does not
include any errors introduced in the user set or the transmission media. While the URA may vary over a given
subframe fit interval, the URA index (N) reported in the NAV message corresponds to the maximum value of URA
anticipated over the fit interval.

6.2.2 SV Block Definitions. The following block definitions are given to facilitate discussion regarding the
capability of the various blocks of GPS satellites to support the SV-to-US interface.

6.2.2.1 Developmental SVs. The original concept validation satellites developed by Rockwell International and
designated as satellite vehicle numbers (SVNs) 1-11 are termed "Block I" SVs. These SVs were designed to provide
3-4 days of positioning service without contact from the CS. These SVs transmitted a configuration code of 000
(reference paragraph 20.3.3.5.1.6). There are no longer any active Block I SVs in the GPS constellation. The last
Block I SV was decommissioned in 1995.

6.2.2.2 Operational SVs. The operational satellites are designated Block II, Block IIA, Block IIR, Block IIR-M and
Block IIF SVs. Characteristics of these SVs are provided below. Modes of operation for these SVs and accuracy of
positioning services provided are described in paragraphs 6.3.2 through 6.3.4. These SVs transmit configuration
codes as specified in paragraph 20.3.3.5.1.6. The navigation signal provides no direct indication of the type of the
transmitting SV.
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6.2.2.2.1 Block II SVs. The first block of full scale operational SVs developed by Rockwell International are
designated as SVNs 13-21 and are termed "Block II" SVs. These SVs were designed to provide 14 days of
positioning service without contact from the CS.

6.2.2.2.2 Block IIA SVs. The second block of full scale operational SVs developed by Rockwell International are
designated as SVNs 22-40 and are termed "Block IIA" SVs. These SVs were designed to provide 180 days of
positioning service without contact from the CS.

6.2.2.2.3 Block IIR SVs. The block of operational replenishment SVs developed by Martin Marietta are
designated as SVNs 41-61 and are termed "Block IIR" SVs. These SVs will provide at least 14 days of positioning
service without contact from the CS when the SVs are operating in the Block IIA mode and will provide a
minimum of 180 days of positioning service without contact from the CS when operating in autonomous
navigation (Autonav) mode.

6.2.2.2.4 Block IIR-M SVs. The subset of operational replenishment SVs developed by Lockheed Martin which
are “Modernized” configuration of “Block IIR” SVs are termed “Block IIR-M”.

6.2.2.2.5 Block IIF SVs. The block of operational replenishment SVs developed by Boeing are designated as SVNs
62-73 and are termed “Block IIF” SVs. This is the first block of operational SVs that transmit the L5 Civil signal.

6.2.3 Operational Interval Definitions. The following three operational intervals have been defined. These labels
will be used to refer to differences in the interface definition as time progresses from SV acceptance of the last
navigation data upload.

6.2.3.1 Normal Operations. The SV is undergoing normal operations whenever the fit interval flag (reference
paragraph 20.3.3.4.3.1) is zero.

6.2.3.2 Short-term Extended Operations. The SV is undergoing short-term extended operations whenever the fit
interval flag is one and the IODE (reference paragraph 20.3.4.4) is less than 240.
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6.2.3.3 Long-term Extended Operations. The SV is undergoing long-term extended operations whenever the fit
interval flag is one and the IODE is in the range 240-255.

6.2.4 GPS Week Number. The GPS week numbering system is established with week number zero (0) being
defined as that week which started with the X1 epoch occurring at midnight UTC(USNO) on the night of January 5,
1980/ morning of January 6, 1980. The GPS week number continuously increments by one (1) at each end/start of
week epoch without ever resetting to zero. Users must recognize that the week number information contained in the
Nav Message may not necessarily reflect the current full GPS week number (see paragraphs 20.3.3.3.1.1,
20.3.3.5.1.7, 20.3.3.5.2.4, and 30.3.3.1.1.1).

6.2.5 Calendar Year. The calendar year used for the calendar year counter (see paragraph 20.3.3.5.1.13) is the year
number from the Gregorian Calendar.

6.2.6 GPS Day. The GPS day used for the calendar year counter (see paragraph 20.3.3.5.1.13) is 57600 X1 epochs
in duration. The start of the GPS day is the start of the UTC(USNO) day minus the UTC(USNO)-GPS correction
for that particular UTC(USNO) day.

6.2.7 L5 Civil Signal. L5 is the GPS downlink signal at a nominal carrier frequency of 1176.45 MHz. The L5
signal is only available on Block IIF and subsequent blocks of SVs and the signal is specified/described in a separate
and different interface control document.

6.3 Supporting Material

6.3.1 Received Signals. The guaranteed minimum user-received signal levels are defined in paragraph 3.3.1.6.
As additional supporting material, Figure 6-1 illustrates an example variation in the minimum received power of the
near-ground user-received L1 and L2 signals from Block II/IIA/IIR SVs as a function of SV elevation angle.

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Figure 6-1. User Received Minimum Signal Level Variations (Example, Block II/IIA/IIR)
0
o
5
o
20
o
40
o
60
o
80
o
100
o
90
o
USER ELEVATION ANGLE (DEG)
R
E
C
E
I
V
E
D

P
O
W
E
R

A
T

3
d
B
i


L
I
N
E
A
R
L
Y

P
O
L
A
R
I
Z
E
D

A
N
T
E
N
N
A

(
d
B
w
)

C/A - L
1
P - L
1
P - L
2
or
C/A - L
2
-158.5
-161.5
-164.5
-155.5
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Higher received signals levels can be caused by such factors as SV attitude errors, mechanical antenna alignment
errors, transmitter power output variations due to temperature variations, voltage variations and power amplifier
variations, and due to a variability in link atmospheric path loss. For Block II/IIA and IIR SVs, the maximum
received signal levels as a result of these factors is not expected to exceed -155.5 dBW and -153.0 dBW,
respectively, for the P(Y) and C/A components of the L1 channel, nor -158.0 dBW for either signal on the L2
channel. For Block IIR-M and IIF SVs, the maximum received signal levels as a result of these factors is not
expected to exceed -155.5 dBW and -153.0 dBW, respectively, for the P(Y) and C/A components of the L1 channel
and L2 channel. In addition, due to programmable power output capabilities of Block IIR-M and IIF SVs, under
certain operational scenarios, individual signal components of Block IIR-M/IIF SVs may exceed the previously
stated maximum but are not expected to exceed -150 dBW.

6.3.2 Extended Navigation Mode (Block II/IIA). The Block II and IIA SVs are capable of being uploaded by the
CS with 182 days of navigation data to support a 180 day positioning service. Due to memory retention
limitations, the Block II SVs may not transmit correct data for the entire 180 days but are guaranteed to transmit
correct data for at least 14 days to support short-term extended operations. Under normal conditions the CS will
provide daily uploads to each SV, which will allow the SV to maintain normal operations as defined in paragraph
6.2.3.1 and described within this ICD. During normal operations, the SVs will have a user range error that is at or
below a level required to support a positioning accuracy of 16 meters spherical error probable (SEP). In addition,
the almanac data, UTC parameters and ionospheric data will be maintained current to meet the accuracy specified
in this ICD.

If the CS is unable to upload the SVs (the CS is unavailable or the SV is unable to accept and process the upload),
each SV will individually transition to short-term extended operations and eventually to long-term extended
operations (based on time from each SV's last upload) as defined in paragraphs 6.2.3.2 and 6.2.3.3, and as further
described throughout this ICD. As time from upload continues through these three operational intervals, the user
range error of the SV will increase, causing a positioning service accuracy degradation. The rate of accuracy
degradation is slow over the short-term extended operations interval, such that at the end of this interval
(approximately 14 days after upload) the US will be able to achieve a positioning accuracy of 425 meters SEP. The
rate of accuracy degradation increases in the long-term extended interval, such that by the 180th day after the last
upload, the positioning errors will have grown to 10 kilometers SEP. During these intervals the URA will continue
to provide the proper estimate of the user range errors.
During short-term and long-term extended operations (approximately day 2 through day 182 after an upload), the
almanac data, UTC parameters and ionospheric data will not be maintained current and will degrade in accuracy
from the time of last upload.
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6.3.3 Block IIA Mode (Block IIR/IIR-M). The Block IIR/IIR-M SVs, when operating in the Block IIA mode, will
perform similarly to the Block IIA SVs and will provide at least 14 days of positioning service (through short-term
extended operations) without contact from the CS.

6.3.4 Autonomous Navigation Mode. The Block IIR/IIR-M and Block IIF SV, in conjunction with a sufficient
number of other Block IIR/IIR-M or Block IIF SVs, operates in an Autonav mode when commanded by the CS.
Each Block IIR/IIR-M/IIF SV in the constellation determines its own ephemeris and clock correction parameters via
SV-to-SV ranging, communication of data, and on-board data processing which updates data uploaded by the CS.
In the Autonav mode the Block IIR/IIR-M/IIF SV will maintain normal operations as defined in paragraph 6.2.3.1
and as further described within this ICD, and will have a user range error that is at or below a level required to
support 16 meter SEP accuracy for Block IIR/IIR-M. If the CS is unable to upload the SVs, the Block IIR/IIR-M
SVs will maintain normal operations for period of at least 180 days after the last upload and the Block IIF SVs will
maintain normal operations for period of at least 60 days.

In the Autonav mode, the almanac data, UTC parameters and ionospheric data are still calculated and maintained
current by the CS and uploaded to the SV as required. If the CS is unable to upload the SVs, the almanac data,
UTC parameters and ionospheric data will not be maintained current and will degrade in accuracy from the time of
the last upload.

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10 OCT 1993
49

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10. APPENDIX I. LETTERS OF EXCEPTION

10.1 Scope. As indicated in paragraph 1.3, initial signature approval of this document, as well as approval of
subsequent changes to the document, can be contingent upon a "letter of exception". This appendix depicts such
"letters of exception" when utilized by any signatory of this document in the initial approval cycle and/or in the
change approval process. The ICC will omit such letters of exception from subsequent revisions of this document
based on written authorization by the respective signatory (without processing a proposed interface revision notice
(PIRN) for approval). When some (but not all) of the exceptions taken by a signatory are resolved, the signatory
shall provide the ICC with an updated letter of exception for inclusion in the next ICD revision (without processing
a PIRN for approval).

10.2 Applicable Documents. The documents listed in Section 2.0 shall be applicable to this appendix.

10.3 Letters of Exception. If signature approval of this document -- as affixed to the cover page -- is marked by an
asterisk, it indicates that the approval is contingent upon the exceptions taken by that signatory in a letter of
exception. Any letter of exception which is in force for the revision of the ICD is depicted in Figure 10-1.
Signatories for whom no letter of exception is shown have approved this version of the document without
exception.
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10 OCT 1993
50

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IRN-200C-002
ICD-GPS-200C
25 SEP 1997
51

UNCLASSIFIED

Space Systems Division
Rockwell International Corporation
2600 Westminster Boulevard
P.O. Box 3644
Seal Beach, California 90740-7644


Rockwell
International



In reply refer to 93MA3728


Date: September 22, 1993

To: The ARINC Companies
11770 E. Warner Ave., Suite 210
Fountain Valley, CA 92708

Subject: Rockwell International Letter of Exception to
ICD GPS-200 PIRN-200A-006NC, dated November
21,1986.

Attention: Thomas R. Denigan

Reference: ARINC Companies FAX dated September 20, 1993,
T. R. Denigan to D. L. Butler, same subject.


It is Rockwell’s position that the statement requested in the subject
letter of exception be incorporated, as written, in the next revision to
ICD-200. The ‘B’ revision of ICD-200 incorporated only the last
portion of the requested change “....the initialization vector for X2A is
100100100101 and for X2B is 010101010100.” It is felt that the first
portion of the sentence, “Using the same convention identified for X1A
and X1B,...” will aid the reader of the ICD in understanding the
derivation of the X2A and X2B terms.

ROCKWELL INTERNATIONAL
Space Systems Division
Signature on file Signature on file
W. L Young, Manager F. E. Cooper, Chief
Engineer
Contracts & Proposals GPS Program


cc: D. L. Butler
W. F. Fratzke





Figure 10-1. Letter of Exception (sheet 1 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
52

UNCLASSIFIED

Collins Avionics & Communications Division
Rockwell International Corporation
350 Collins Road NE
Cedar Rapids, IA 52498
(319) 395-1000


Rockwell
International



September 23, 1993


ARINC Research Corporation
11770 Warner Avenue, Suite 210
Fountain Valley, CA 92708


Attention: Mr. Tom Denigan

Subject: Review of ICD-GPS-200B Outstanding Letters of Exception in
Preparation of ICD-GPS-200C

Dear Mr. Denigan:

A review of Rockwell International’s Collins Avionics & Communications
Division, outstanding Letters of Exception as listed in IRN-200B-007 to
ICD-GPS-200B shows 2 Letters of Exception that have been satisfied or are
no longer pertinent:

sheet 46, (letter dated March 31, 1987)
sheet 53 & 54, (letter dated September 10, 1986)

The following letters as listed in IRN-200B-007 to ICD-GPS-200B are still
pertinent and are to be included in any revised ICD-GPS-200 releases:

sheet 54a, 54c (letter dated March 27, 1991)
sheet 56g (letter dated September 23, 1992)

Sincerely,

Signature on file
C.S, Olson
Program Manager








Figure 10-1. Letter of Exception (sheet 2 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
53

UNCLASSIFIED

Collins Avionics & Communications Division
Rockwell International Corporation
350 Collins Road NE
Cedar Rapids, IA 52498
(319) 395-1000


Rockwell
International
2458b/0048b
March 27, 1991


ARINC Research Corporation
4410 East Fountain Blvd., Suite 100
Colorado Springs, CO 80916

Attention: Ms. Cheryl Abendschan

Subject: Rockwell CACD Letter of Exception against PIRN-200B-001B (as
corrected by ARINC memo on typos and oversights, 19 MAR 91)

The subject PIRN-200B-001B documents the extended navigation capabilities inherent in the
Space Segment/User Segment interface as a result of the incorporation of mission package
software release OR5.10 into the Control Segment. CACD’s approval of this PIRN, which
indicates concurrence that the PIRN accurately reflects the as-built Control and Space
Segments in the area of extended navigation, is given with exception.

CACD takes exception because:

1. The extended navigation capabilities documented by the PIRN are not a requirement of
the GPS Phase III User Equipment (UE) contract F04701-85-C-0038, the GPS UE
Phase IV contract F04701-90-C-0092, or the GPS MAGR Contract F04701-91-C-0003.
Therefore, the GPS User Equipment, which has been and will be developed under
these contracts, do no operate in compliance with extended navigation.

2. While we may technically comment on the impact to the UE as a result of OR5.10
implementation, we cannot (as PIRN approval might otherwise indicate) verify that
OR5.10 implements the extended navigation requirements identified in the PIRN.

In summary, “Long Term Extended” operations from 15 to 180 days following an upload
from the Control Segment are not supported by the Phase III GPS UE. Attachment 1
contains the detailed comments on the PIRN items to which CACD takes exception.

Sincerely,

Signature on file
J. L. Arnold
GPS Programs Manager

Enclosure
cc: Lt. Jim Dagley
Capt. Greg Laushine






Figure 10-1. Letter of Exception (sheet 3 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
54

UNCLASSIFIED


ATTACHMENT 1

Rockwell CACD Exceptions to PIRN-200B-001B



PIRN ITEM Rockwell CACD Comment

17, 18

These PIRN items document the change in the definition of the Week
Number in subframe 1, word 3 due to the implementation of long term
extended ephemeris curve fits which cross GPS week boundaries. The
new definition states that the week number is the ten most significant bits
of the Z-count and will represent the GPS week of the start of the data set
transmission interval. Previously, the week number always represented
the current GPS week of transmission. CACD takes exception to this
redefinition because:

1. The PIRN introduces an inconsistency with the definition of Z-count
given in paragraph 3.3.4, page 33 which states that “the ten most
significant bits of the Z-count are a binary representation of the sequential
number assigned to the present GPS week (Module 1024).”

2. Since the GPS week being transmitted by the Space Segment could
vary from SV to SV (depending upon time of upload) and since the
transmitted GPS week could be different from the current GPS week by
one week starting on day 29 after an upload, the GPS UE could navigate
using the wrong GPS week. Use of the wrong GPS week could cause
navigation interruptions and could result in the incorrect time-tagging of
the satellite data. The user could therefore be provided with navigation
data which is marked valid when, in fact, it is not valid. This is an
unacceptable situation.


22,29,31, 57a, 57b,58, 60

These PIRN items document the change in the definition of the ephemeris
fit interval flag for a value equal to 1 and its corresponding relationship to
the IODC/IODE during extended operations. The GPS UE supports only
a fit interval of 6 hours when the fit interval flag equals 1. The newly
defined ephemeris fit intervals of 8, 14, 26, 50, 74, 98, 122, and 146
hours for Long Term Extended Operations are not supported and the UE
will compute 6 hour curve fits whenever these are in effect.










Figure 10-1. Letters of Exception (sheet 4 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
55

UNCLASSIFIED
ATTACHMENT 1 (cont.)

Rockwell CACD Exceptions to PIRN-200B-001B


PIRN ITEM Rockwell CACD Comment

39, 40, 50, 54

These PIRN items describe the almanac data sets and how the almanac
URE grows throughout extended operations. The GPS UE requirements
for almanac-based direct P-code TTFF (time to first fix) are only
applicable to Normal Operations in which the almanac parameters have
been updated within the last six days. Extended operations may
jeopardize missions of those users who require efficient almanac-based
direct P-code TTFFs.

43 This PIRN item documents the fact that the health summary in subframe
5, page 25 is only updated at the time of almanac upload. During
extended operations the health summary may become outdated due to the
length of time since the last upload.

If the health summary becomes outdated and does not accurately reflect
the status of the GPS constellation, the TTFF for the GPS UE may be
delayed. This is due to the time wasted on the possible acquisition of
unhealthy SVs which were marked “healthy” by the health summary.
Also, attempts to acquire healthy SVs which are marked unhealthy will
not be made. As a result, extended operations may jeopardize missions of
those users who require efficient TTFF.

45,46 These PIRN items document the changes for the UTC parameter data sets
during extended operations. The GPS UE uses the UTC parameters to
provide the user with precise time. Exception is taken because:

1. CACD is not confident that the accuracy of the UTC parameters can be
maintained throughout extended operations. This accuracy is specified as
90 ns (one sigma) on ICD-GPS-200B page 32. As a result, extended
operations may jeopardize missions of those users who require precise
UTC.

2. Since the GPS UE does not account for the degraded accuracy of the
UTC parameters as a function of time during extended operations, the
user may be provided with an incorrect estimate of his time accuracy
which again may jeopardize his mission. CACD believes the UTC
parameters’ accuracy, as a function of time, should be specified in some
GPS system specification.









Figure 10-1. Letters of Exception (sheet 5 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
56

UNCLASSIFIED

Collins Avionics & Communications Division
Rockwell International Corporation
350 Collins Road NE
Cedar Rapids, IA 52498
(319) 395-1000


Rockwell
International

September 23, 1992


ARINC Research Corporation
11770 Warner Avenue, Suite 210
Fountain Valley, CA 92708

Attention: Mr. Peter Fyfe

Subject: PIRN-200B-009A Rockwell CACD Letter of Exception

Dear Mr. Fyfe:

The subject PIRN-200B-009A which documents the changes to the Space Segment/User
Segment interface for the Block IIR SVs is hereby approved by Rockwell CACD with the
following exception:

The PIRN states that UTC parameters (PIRN items 4, 20), ionospheric model
parameters (PIRN items 21, 27a), and almanac data (PIRN items 22a, 22b) will
degrade when the Block IIR SVs do not receive an upload from the Control
Segment. Since the IIR SVs indicate “normal operations” (curve fit interval flag of 4
hours) at all times, dome user segment requirements cannot be met during “normal
operations” in the absence of Control Segment uploads. These affected
requirements are precise UTC time transfer and almanac-based direct P-code time to
first fix.

The affected User Equipment (UE) is that designed and developed by Rockwell CACD under
the GPS UE Phase III Contract F04701-85-C-0038, GPS UE Phase IV Contract F04701-90-
C-0092, and GPS MAGR Contract F04701-91-C-0003.

Sincerely,

Signature on file
C. S. Olson
Program Manager

CSS/jk










Figure 10-1. Letters of Exception (sheet 6 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
57

UNCLASSIFIED






Collins Avionics & Communications Division
Rockwell International Corporation
350 Collins Road NE
Cedar Rapids, IA 52498
(319) 395-1000


Rockwell
International



June 12, 1995


ARINC Research Corporation
2250 East Imperial Highway, Suite 450
El Segundo, CA 90245-3509

Attention: Mr. Thomas Denigan

Subject: PIRN-200C-001 Rockwell CACD Letter of Exception

Enclosure: Approval sheet for PIRN-300C-001

References: ARINC Research Corporation letter dated January 16, 1995;
Subject: PIRN-200C-001 to ICD-GPS-200C

The subject PIRN-200C-001 is approved by Rockwell CACD with the following
exception:

The effect of Item 2, “Change Section 20.3.3.5.2.2, page 121” of this PIRN
is that computed almanac age in Rockwell CACD government User
Equipment (UE) will be approximately 14 hours older than actual
almanac age. Since almanac age computation is for display/output
purposes only there is no impact to receiver operation or navigation
solution accuracy. CACD computes an almanac time-of-transmission that
is nominally the multiple of 2
12
seconds truncated from 3.5 days prior to
the almanac reference time, t
oa
. Item 2 of subject PIRN-200C-001
documents the change of t
oa
from being nominally the multiple of 2
12

seconds truncated from 3.5 days (84 hours) after the first valid
transmission time for an almanac set to being nominally the multiple of
2
12
seconds truncated from 70 hours after the first valid transmission time
for an almanac set. Therefore, Rockwell CACD government UE will
compute and output an incorrect almanac age by approximately 14 hours.





Figure 10-1. Letters of Exception (sheet 7 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
58

UNCLASSIFIED




The second sentence of paragraph 20.3.3.5.2.2, “The almanac is updated often
enough to ensure that GPS time, t, shall differ from t
oa
by less than 3.5 days
during the transmission period”, must not change. This is to ensure the proper
resolution of the GPS week number associated with the almanac.

Technical questions concerning this matter should be referenced to Lawrence Burns
at (319)395-2616.

Sincerely,

Signature on file
Craig Olson
GPS Program Manager
































Figure 10-1. Letters of Exception (sheet 8 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
59

UNCLASSIFIED



International Business Machines Corporation 800 N. Frederick Avenue
Gaithersburg, MD 20879


RD001001935
October 1, 1993


Mr. Tom Denigan
ARINC Research Corporation
11770 Warner Avenue, suite 210
Fountain Valley, CA 92780

Subject: IBM “Letter of Exception” against ICD-GPS-200B as
Modified by IRN-200B-001B

Reference: 1. ICD-GPS-200B, dated November 30, 1987
2. IRN-200B-001B, dated April 15,, 1991
3. IRN-200B-002, dated July 26, 1991
4. IRN-200B-003, dated December 2, 1991
5. IRN-200B-004, dated December 5, 1991
6. IRN-200B-005, dated December 16, 1991
7. IRN-200B-006, dated December 9, 1992
8. IRN-200B-007, dated July 19, 1993
9. IBM letter 020689-2, dated February 6, 1989
10. Contract F04701-90-C-0009

Dear Mr. Denigan:

With the release of the referenced IRN-200B-001B through -007, this letter
represents the current IBM letter of exception against ICD-GPS-200B,
replacing Reference 9.

The IBM contract does not support the following:

Block I end of data transmission (Paragraph 20.3.2)

The option of repeated almanacs for 12 or fewer SVs (Paragraphs
20.3.3.5.1.2, 20.3.3.5.1.3)

The use of pages 2, 3, 4, 5, 7, 8, 9, and 10 of subframe 4 for purpose other
than almanac data for SVs 25 through 32 (Paragraphs 20.3.3.5.1,
20.3.3.5.1.1, 20.3.3.5.1.3, Table 20-V)








Figure 10-1. Letters of Exception (sheet 9 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
60

UNCLASSIFIED


-2-


Mr. Tom Denigan RD001001935
October 1, 1993


Questions and coordination related to the technical content of ICD-GPS-
200 should be addressed to Ming Kang Chien at 301/240-6449.


Very truly yours,


Signature on file
Magdalena V. Clyne
Contract Administrator

cc: Capt. B. Schrimsher, SMC/CZGD 1
Lt. R. Layton, SMC/CZET 1




























Figure 10-1. Letters of Exception (sheet 10 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
61

UNCLASSIFIED

MARTIN MARIETTA ASTRO SPACE
POST OFFICE BOX 8555
PHILADELPHIA, PENNSYLVANIA 19101



17 August 1994
GPS IIR-CM-1046

ARINC Research Corporation
2250 E. Imperial Highway, Suite 450
El Segundo, CA 90245-3509

Attention: Ms. Pat Alexander

Subject: Approval of ICD-GPS-200, Revision C

Reference: Contract F04701-89-C-0073
ICD-GPS-200, Revision C dated 10 October 1993

Dear Ms. Alexander:

Martin Marietta Astro Space approves with exception ICD-GPS-200, Revision C as
evidenced by the attached signed approval sheet. The areas of exception are both
general and specific in nature.

General Areas of Exceptions

Martin Marietta takes exception to specific changes in requirements originally conveyed in
IRN Nos. IRN-200B-001, IRN-200B-004, IRN-200B-005, and IRN-200B-006 of ICD-GPS-
200B. The principal reason for these exceptions is that Martin Marietta’s contract does not
include requirements for Extended Navigation, User Range Accuracy bin structure, some
aspects of the Time of Almanac requirements and the Spherical Error Probability of the
navigation signals received by the navigation users. Detailed reasons for these
exceptions are given below.

1. Extended Navigation
Martin Marietta takes exception to the application of Extended Navigation (EN)
requirements, or the attribution of EN performance or EN performance verification
to the Block IIR SV. Such application or attribution may inadvertently be construed
from the overall context.

The Block IIA operational mode called Long Term Extended Operations/”Extended
Navigation” is undefined and not required in the Block IIR contract. There is no
Block IIR requirement to support 180 days in the Block IIA mode without regular
CS contacts and uploads. The Block IIR contract defines the Block IIA mode in the
context of ICD-GPS-200B dated 30 November 1987 which describes a 14 day
autonomy capability.



Figure 10-1. Letters of Exception (sheet 11 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
62

UNCLASSIFIED
17 August 1994
GPS IIR-CM-1046
Page 2


The Block IIR design supports 180 day autonomy in the context of the Autonomous
Navigation mode and 14 day autonomy in the Block IIA mode. It may be possible to
construct upload databases that will allow operation beyond 14 days with the current
design, but this is not a current requirement. The Block IIR Space Vehicle does not
support such an upload design, performance description, and performance
verification.

Section 20.3.2, sentence 2 states “Block IIR SVs are designed to have sufficient
memory to store 182 days of upload NAV data in the Block IIA mode ...” Martin
Marietta takes exception to a “182 day” NAV data storage requirement in the Block
IIA mode. The Block IIR design and validation plan is required to provide
performance and memory margin computed on 14 day storage in the IIA mode as
defined in Section 20.3.4.4 and 20.3.4.5 of the ICD-GPS-200B dated 30 November
1987.

Sections 20.3.4.4 and 20.3.4.5 with new Tables 20-XII and 20-XIII, define different
“days spanned”, “fit intervals”, and “transmission intervals” compared to the 30
November 1987 ICD-GPS-200B. These changes are generated by some of the
Extended Navigation upload characteristics for the Block IIA SV which supports “182
days” of data. Martin Marietta takes exception to evaluation and validation of the
Block IIR design performance under these modified sections and tables.

2. URA Bin Structure
Martin Marietta takes exception to items relating to URA index to ranges of URA in
meters appears to require the Block IIR SV in the Autonomous Navigation (AN) mode
to transition from on index to the next at exactly the values of URA indicated. This
specification of URA bins is not a defined requirement for Block IIR. The Block IIR AN
design is based on the equations and the ‘no better than’ descriptions present in
ICD-GPS-200B, in accordance with the Block IIR implementation.

When in the AN mode, the Martin Marietta design estimates URA on board the SV
and converts the result to the index in the NAV user message by rearranging the
equations and solving for the index. As a result, our design approximates, but does
not exactly match, the description when Block IIR is in the AN mode.

When Block IIR is in the IIA mode, the Martin Marietta design does match the URA bin
description exactly because we broadcast the index uploaded from the CS and the
CS estimates URA.

3. Spherical Error Probable (SEP)
Martin Marietta takes exception to the URE statement in 6.3.4 since it implies Martin
Marietta responsibility to relate Block IIR URE to 16 meters SEP.




Figure 10-1. Letters of Exception (sheet 12 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
63

UNCLASSIFIED


17 August 1994
GPS IIR-CM-1046
Page 3


IRN-200B-006 added section 6.3.4 on “Autonomous Navigation Mode.” The third
sentence states that the Block IIR SV in the Autonav mode “... will have a user range
error that is at or below a level required to support 16 meter SEP accuracy.” The
Block IIR SV constellation, when authorized to operate in the Autonav mode, is
required to provide 6 meters (1 sigma) URE. The 6 meter requirement is defined in
SV Segment Specification (SS-SS-500). Martin Marietta has been advised that this
independently derived 6 meter URE requirement does support the 16 meter SEP
system requirement for a nominal geometric dilution of precision. The 16 meter SEP
accuracy in the user equipment output is dependent on geometry of the SVs chosen
by the URE for the solution. The 16 meter SEP accuracy is not a requirement for
Block IIR Space Vehicle.

4. Time of Almanac (Toa)
Martin Marietta takes exception to paragraph 20.3.3.5.2.2, since it implies that the SV
is required to ensure that time of almanac (Toa) values be the same for a given data
set (when the SV health is changed by the CS) or that Toa differ for successive data
sets (which contain changes in SV health). This is a CS responsibility.

Martin Marietta is concerned about the ambiguous CS/SV requirement to ensure that
the described Toa values are presented to Users in Appendix II, paragraph
20.3.3.5.2.2.

ICD-GPS-200, Revision C deletes ‘The CS shall ensure’ in paragraph 20.3.3.5.2.2.
This is a change from ICD-GPS-200B dated 11/30/87 which is applied to our
contract. If so deleted, ICD-GPS-200B will be mute as to who ensures that “All Toa
values in SF4&5 shall be the same for a given almanac data set and shall differ for
successive data sets which contain changes in almanac parameters or SV health.’

The Block IIR design is not required to, and does not, affect or check Toa based on
the SV health settings described by this section. The Block IIR design depends on
CS uploads for SV health and the relationship of SV health data to almanac
reference time.

In an independent process, CS uploads for Toa values and almanacs are inputs to
the on-board generation of Toa values when the Block IIR design propagates
almanacs to remain within 3.5 days of GPS time. If the CS provides a valid upload,
the Block IIR on-board processing will maintain that all Toa values in SF4&5 will be
the same for a given almanac data set and will differ for successive data sets which
contain changes in almanac parameters.





Figure 10-1. Letters of Exception (sheet 13 of 15)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
64

UNCLASSIFIED

17 August 1994
GPS IIR-CM-1046
Page 4


Specific Exceptions
In addition, Martin Marietta takes exceptions to the specific requirements listed below:

Paragraph # Description
20.3.3.3.1.1 Change of week number: Extended Navigation (EN).
Table 20-V SV ID Nos. in Note 4 (EN).
6.2.3 - 6.2.3.3 Definitions. CS responsibility. N/A to Block-IIR.
6.3.2, 6.3.3 Extended Navigation Mode description.
6.3.4 “... and will have ... 16 meter SEP accuracy.”
6.3.4 Orbit parameters. Narrative on almanac. N/A to Block-IIR.
Martin Marietta uses ICD-GPS-401 method.
20.3.2 “... 182 days of uploaded NAV data in the Block IIA ...”
20.3.2 “(d) if a control ... subframes will indicate ID = 1 ...”
IRN excludes Block-IIR.
20.3.3.4.1 CS requirement deleted. (Related to extended nav.).
20.3.3.5.1.2 Propagation of Toa requirements.
20.3.3.5.1.2 “For Block II ... transmission interval.”
20.3.3.5.2.2 Propagation of Toa requirements.
20.3.4.1 Reqmt for subframe changes at frame boundary.
20.3.4.4 Table 20-XII: Ext. Nav related.
Table 20-XII IODC Requirements. Ext. Nav related.
20.3.4.4 Two hour data sets are not tested.
Table 20-XII Transmission intervals. Ext. Nav related.

Note that if Martin Marietta has taken earlier exception to a change in any requirements in a
previous revision of this document, Martin Marietta continues to take exception to that
change. The retraction of an exception will be accomplished by a letter explicitly stating that
the exception is no longer valid.

If there are any questions of a technical nature concerning the contents of this letter, please
contact Dave Levin at (610) 354-3022. All other questions or comments should be
addressed to the undersigned at (610) 354-1710.

Very truly yours,
MARTIN MARIETTA ASTRO SPACE

Signature on file
D. Supow
Manager, GPS Contracts cc: Maj. Paul Schubert (CZEP)
GPS PMO

/dd

Figure 10-1. Letters of Exception (sheet 14 of 15)
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
64a

UNCLASSIFIED
Lockheed Martin Federal Systems, Inc.
700 N. Frederick Avenue Gaithersburg, MD 20879-3328
Telephone 301-240-7500

In reply refer to: GOSC96000912

September 5, 1996

ARINC Research Corporation
2250 E. Imperial Highway, Suite 450
El Segundo, CA 90245-3509

Attention: Mr. Soon K. Yi

Subject: PIRN-200C-002

Reference: 1. Contract F04606-95-D-0239
2. ARINC letter RO/SMS/ES/SE/96-025, dated July 9, 1996

Dear Mr. Yi:

PIRN-200C-002 has been reviewed by Lockheed Martin Federal Systems, the Control
Segment Contractor. This PIRN is approved subject to the contractual exception below:

The changes contained in this PIRN are not within the baseline of our GPS OCS Support
Contract.

Enclosed is the signed approval sheet requested in the referenced letter.

If you have any questions, please contact Ming Kang Chien at (301)240-6449.

Very truly yours,

Signature on file
C. T. Thomas
Contract Administrator

Enclosure

cc: Maj. P. Schubert SMC/CZGD
Capt. F. Wylie SMC/CZEA
Capt. J. Gravitt SMC/CZE
Capt. J. Varljen SMC/CZEP
D. Munk SMC/CZGP
D. Greer SM-ALC/PKLX




Figure 10-1. Letters of Exception (sheet 15 of 16).
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
64b

UNCLASSIFIED
Government Systems
350 Collins Road NE
Cedar Rapids, Iowa 52498
Tel. 319.295.1000


Rockwell
Collins

August 27, 1999



ARINC Incorporated
2250 East Imperial Highway, Suite 450
El Segundo, CA 90245-3509

Attention: Mr. Soon K. Yi

Reference: ARINC memo ATE/SMS/OPS/GJP/99-038, dated 28 July 99

Dear Mr. Yi:

Subject: Rockwell Collins, Inc. Letter of Exception against PIRN-200C-003
Revision A, as defined by the referenced ARINC memo

The subject PIRN documents the use of an Earth Centered Inertial (ECI) frame to define the
location of the satellites and account for satellite motion during signal transit time. There are
also numerous typo corrections. Also the Navigation Message Correction Term (NMCT),
also commonly referred to as WAGE, is partially covered.

Rockwell Collins approves this PIRN with the following exceptions:

1) Implementation of older style corrections for satellite motion during signal
transit time (paragraph 20.3.3.4.3.3 and 20.3.3.4.3.4) shall be permitted in User
Equipment.

2) Use of NMCT data (paragraph 20.3.3.5.2.6) is not mandatory and will be
determined by the manufacturers of User Equipment, based on required accuracy.

Sincerely,

Signature on file
A. Caslavka, Director
Navigation Systems

js



Figure 10-1. Letters of Exception (sheet 16 of 16).

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
64c

UNCLASSIFIED
Lockheed Martin Space Systems Company
Space & Strategic Missiles
Valley Forge Operations
P.O. Box 8555 Philadelphia, PA 19101




26 May 2003
GPS IIR-CM-MOD-147

SMC/CZK
2420 VELA WAY, SUITE 1467
LOS ANGELES AFB CA 90245-4659

Attention: Mr. David Smith

Subject: GPS Block IIR Modernization Contract F04701-00-C-0006
Review and approval of ICD-GPS-PIRN-200C-007B, dated 08 November 2003, post 9
April 2003 CCB (L2C = -160).

Reference: 1) PCOL# 03-012, dated 22 May 03; F04701-00-C-0006; REQUEST FOR IMPACTS
DUE TO IMPLEMENTING PROPOSED CHANGES TO PIRN-200C-007
REVISION B

Dear Mr. Smith:

Lockheed Martin Space Systems Company has been asked to review and comment on changes made to
ICD-GPS-PIRN-200C-007B at the JPO CCB boarded on or about 09 April 2003. It is our understanding
that the ONLY change made to the 08 November 2002 of the subject ICD is L2C for IIR-M SVs changed
from –161.4 dBW to –160.0 dBW.

Based on that change, Lockheed Martin takes exception to IIR-M L2 C signal power specified in Table 3-
III. Per Lockheed Martin contract requirements as specified in SS-SS-500, Rev. A, dated 14 May 2001,
LMSSC calculates links using:
• 0-dBi circularly polarized user receiving antenna (located) near ground when the SV is above a 5°
elevation angle
• Atmospheric loss of 0.5 dB at edge of earth
• Assumes SV antenna gains are averaged about azimuth

Using the assumptions as specified in paragraph 3.3.1.6 of PIRN-200C-007B, the GPS IIRM SVs provide
a minimum receive signal of -161.4 dBW for L2 C signal. Lockheed Martin therefore takes exception to -
160 dBW for L2C of PIRN-200c-007B. Formal request for cost and schedule impacts should come
through the JPO Contracting Officer.

To change from -161.4 dBW to -160.0 dBW would have to be analyzed and coordinated between
Lockheed Martin and ITT. If such a change were technically possible, there would be impacts to L-Band
level testing, SV level testing, test scripts, Specs, OOH, and various ICDs. These impacts would be in
both cost and schedule.






Figure 10-1. Letters of Exception (sheet 17 of 18).

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
64d

UNCLASSIFIED
GPS IIR-CM-MOD-147
Page 2



Currently, there is an ongoing effort between Lockheed Martin, Boeing, Arinc, Aerospace, and the JPO
concerning signal flexibility under the ConOps study. Lockheed Martin recommends, based on the
outcome and direction of this effort, that an impact to the ICD-200 change be included in the resulting
request for ROMs for Flex Power implementation.

Note that if Lockheed Martin has taken earlier exception to a change in any requirements in a previous
revision of this document, Lockheed Martin continues to take exception to that change. A letter explicitly
stating that the exception is no longer valid will accomplish the retraction of an exception.

Should you have any questions, please contact Martin O’Connor at (610) 354-7866 for technical
concerns, or the undersigned at (610) 354-7989 for contractual matters.

Very truly yours,

LOCKHEED MARTIN CORPORATION




Signature on file
Brent B. Achee II
GPS Block IIR Deputy Program Director

xc: Capt. K. Eggehorn
Mary Guyes
Soon Yi, ARINC
J. Windfelder, DCMC





















Figure 10-1. Letters of Exception (sheet 18 of 18).

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
65

UNCLASSIFIED
20. APPENDIX II. GPS NAVIGATION DATA STRUCTURE FOR DATA, D(t)

20.1 Scope. This appendix describes the specific GPS navigation (NAV) data structure denoted as D(t). When
transmitted as part of the NAV data, D(t), the specific data structure of D(t) shall be denoted by data ID number 2,
represented by the two-bit binary notation as 01.

20.2 Applicable Documents.

20.2.1 Government Documents. In addition to the documents listed in paragraph 2.1, the following documents of
the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix
to the extent specified herein.

Specifications
None
Standards
None
Other Publications
None

20.2.2 Non-Government Documents. In addition to the documents listed in paragraph 2.2, the following
documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of
this Appendix to the extent specified herein.

Specifications
None
Other Publications
None

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
66

UNCLASSIFIED
20.3 Requirements

20.3.1 Data Characteristics. The data stream shall be transmitted by the SV on the L1 and L2 channels at a rate of
50 bps. In addition, upon ground command, the data stream shall be transmitted by the Block IIR-M SV on the
L2 CM channel at a rate of 25 bps using FEC encoding resulting in 50 sps.

20.3.2 Message Structure. As shown in Figure 20-1, the message structure shall utilize a basic format of a 1500
bit long frame made up of five subframes, each subframe being 300 bits long. Subframes 4 and 5 shall be
subcommutated 25 times each, so that a complete data message shall require the transmission of 25 full frames.
The 25 versions of subframes 4 and 5 shall be referred to herein as pages 1 through 25 of each subframe. Each
subframe shall consist of ten words, each 30 bits long; the MSB of all words shall be transmitted first.

Each subframe and/or page of a subframe shall contain a telemetry (TLM) word and a handover word (HOW), both
generated by the SV, and shall start with the TLM/HOW pair. The TLM word shall be transmitted first,
immediately followed by the HOW. The latter shall be followed by eight data words. Each word in each frame
shall contain parity (reference Section 20.3.5).
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
67

UNCLASSIFIED






*** RESERVED
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31 61 91 121
SUBFRAME
NO.
PAGE
NO.
1 N/A
TLM
22 BITS
C
HOW
22 BITS
t P
WN
10
BITS
C/A OR P ON L2 - 2 BITS
URA INDEX - 4 BITS
SV HEALTH - 6 BITS
71
7377 83
2 MSBs IODC - 10 BITS TOTAL
L2 P DATA FLAG - 1 BIT
23 BITS*** P 24 BITS*** P P P
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
1 N/A
24 BITS*** P P P P P 16
BITS***
T
GD
8 BITS
8 LSBs IODC - 10 BITS TOTAL
t
oc
16 BITS
219 197
a
f2
8
BITS
a
f1
16 BITS
a
f0
22 BITS
t







Figure 20-1. Data Format (sheet 1 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
68

UNCLASSIFIED



P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31 61 91 121
SUBFRAME
NO.
PAGE
NO.
2 N/A
P P P P P
TLM
22 BITS
HOW
22 BITS
C t
IODE
8
BITS
C
rs
16 BITS
107 69
∆n
16 BITS
8
BITS
24 BITS
MSBs LSBs
M
0
- 32 BITS TOTAL
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
2 N/A
P P P P P
MSBs LSBs
e - 32 BITS TOTAL
C
UC
16 BITS
8
BITS
24 BITS
C
US
16 BITS
8
BITS
167 227
MSBs LSBs
- 32 BITS TOTAL
24 BITS
t
oe
16 BITS
287
t
FIT INTERVAL FLAG - 1 BIT
AODO - 5 BITS
A







Figure 20-1. Data Format (sheet 2 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
69

UNCLASSIFIED



P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31 61 91 121
SUBFRAME
NO.
PAGE
NO.
3 N/A
P P P P P C
TLM
22 BITS
t
HOW
22 BITS
C
ic
16 BITS
8
BITS
77
24 BITS
C
is
16 BITS
8
BITS
137
MSBs LSBs

0
- 32 BITS TOTAL
i
0
- 32 BITS TOTAL


DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
3 N/A
P P P P P 24 BITS
C
rc
16 BITS
8
BITS
24 BITS
24 BITS
t
IODE
8
BITS
IDOT
14
BITS
279
LSBs
i
0
- 32 BITS TOTAL
MSBs LSBs
ω - 32 BITS TOTAL







Figure 20-1. Data Format (sheet 3 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
70

UNCLASSIFIED



P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
NOTE: PAGES 2, 3, 4, 5, 7, 8, 9 & 10 OF SUBFRAME 4 HAVE THE SAME FORMAT AS PAGES 1 THROUGH 24 OF SUBFRAME 5
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
5
1
THRU
24
P P P P P C
TLM
22 BITS
t
HOW
22 BITS
63 69
e
16 BITS
99
t
oa
8
BITS
δ
i
16 BITS


16 BITS
8
BITS
SV HEALTH
DATA ID - 2 BITS
SV ID - 6 BITS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
5
1
THRU
24
P P P P P
A
24 BITS

0
24 BITS
ω
24 BITS
M
0
24 BITS
279 290
t
8 MSBs 3 LSBs
a
f0
- 11 BITS TOTAL
a
f1
- 11 BITS TOTAL







Figure 20-1. Data Format (sheet 4 of 11)
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
71

UNCLASSIFIED



** SEE PARAGRAPH 20.3.3.5.1.13
*** RESERVED
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
5 25
P P P P P
TLM
22 BITS
C
HOW
22 BITS
t
63 69
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS
t
oa
8
BITS
WN
a
8
BITS
SV HEALTH
6 BITS/SV
SV
1
SV
2
SV
3
SV
4
SV HEALTH
6 BITS/SV
SV
5
SV
6
SV
7
SV
8
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
5 25
P P P P P
SV HEALTH
6 BITS/SV
SV
9
SV
10
SV
11
SV
12
SV HEALTH
6 BITS/SV
SV
13
SV
14
SV
15
SV
16
SV HEALTH
6 BITS/SV
SV
17
SV
18
SV
19
SV
20
SV HEALTH
6 BITS/SV
SV
21
SV
22
SV
23
SV
24
6 BITS ***
277
16 BITS t
CALENDAR YEAR **
(for Block IIF)







Figure 20-1. Data Format (sheet 5 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
72

UNCLASSIFIED



** RESERVED FOR SYSTEM USE
*** RESERVED
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
4
P P P P P 1, 6, 11,
16 & 21
24 BITS*** 24 BITS*** 24 BITS***
249
8***
BITS
16
BITS***
t 22 BITS**
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
4
1, 6, 11,
16 & 21
P P P P P C
TLM
22 BITS
HOW
22 BITS
t
63 69
16
BITS***
24 BITS*** 24 BITS***
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS







Figure 20-1. Data Format (sheet 6 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
73

UNCLASSIFIED



** RESERVED FOR SYSTEM USE
*** RESERVED
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
4
P P P P P 12, 19, 20,
22, 23 & 24
24 BITS*** 24 BITS*** 24 BITS***
249
8***
BITS
16 BITS** t 22 BITS**
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
4
12, 19, 20,
22, 23 & 24
P P P P P C
TLM
22 BITS
HOW
22 BITS
t
63 69
16
BITS***
24 BITS*** 24 BITS***
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS







Figure 20-1. Data Format (sheet 7 of 11)
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
74

UNCLASSIFIED



** RESERVED FOR SYSTEM USE
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
4
P P P P P
18
A
1
24 BITS 24 BITS
8
BITS
t
ot
8
BITS
WN
t
8
BITS
219 227
∆t
LS
8
BITS
8
BITS
DN
8
BITS
249 257
∆t
LSF
8
BITS
t
279
14
BITS**
WN
LSF
MSBs LSBs
A
0
- 32 BITS TOTAL
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
4 18
P P P P P
TLM
22 BITS
HOW
22 BITS
C t
63 69 77
α
0
8
BITS
α
1
8
BITS
99 107
α
2
8
BITS
α
3
8
BITS
β
0
8
BITS
129 137
β
1
8
BITS
β
2
8
BITS
β
3
8
BITS
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS







Figure 20-1. Data Format (sheet 8 of 11)
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
75

UNCLASSIFIED



** RESERVED FOR SYSTEM USE
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
4 25
P P P P P
TLM
22 BITS
HOW
22 BITS
C t
63 69
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS
A-SPOOF &
SV CONFIG
SV
1
SV
2
SV
3
SV
4
SV
10
SV
5
SV
6
SV
7
SV
8
SV
9
A- SPOOF &
SV CONFIG
SV
16
SV
11
SV
12
SV
13
SV
14
SV
15
A- SPOOF &
SV CONFIG
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
4
P P P P P
25 SV
22
SV
17
SV
18
SV
19
SV
20
SV
21
A- SPOOF &
SV CONFIG
SV
28
SV
23
SV
24
SV
25
SV
26
SV
27
A- SPOOF &
SV CONFIG
A-SPOOF &
SV CONFIG
SV
29
SV
30
SV
31
SV
32
227
229
SV
25
2 BITS **
SV
26
SV
27
SV
28
SV
29
SV HEALTH
6 BITS/SV
t
SV HEALTH
6 BITS/SV
SV
30
SV
31
SV
32
SV HEALTH - 6 BITS
4 BITS **







Figure 20-1. Data Format (sheet 9 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
76

UNCLASSIFIED



P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
61
SUB
FRAME
NO.
PAGE
NO.
4 13
1 31 91 121
P P P P P C
TLM
22 BITS
HOW
22 BITS
t
63
69
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
4
151 181 211 241 271
P P P P P
13
71
E
R
D
3
4
L
S
B
S
E
R
D
4
6
B
I
T
S
AVAILABILITY INDICATOR - 2 BITS
E
R
D
5
6
B
I
T
S
E
R
D
6
6
B
I
T
S
E
R
D
7
2
M
S
B
S
E
R
D
7
4
L
S
B
S
E
R
D
8
6
B
I
T
S
E
R
D
9
6
B
I
T
S
E
R
D
1
0
6
B
I
T
S
E
R
D
1
1
2
M
S
B
S
E
R
D
1
6
B
I
T
S
E
R
D
2
6
B
I
T
S
E
R
D
3
2
M
S
B
S
E
R
D
2
7
4
L
S
B
S
E
R
D
2
8
6
B
I
T
S
E
R
D
2
9
6
B
I
T
S
E
R
D
3
0
6
B
I
T
S
E
R
D
2
3
4
L
S
B
S
E
R
D
2
4
6
B
I
T
S
E
R
D
2
5
6
B
I
T
S
E
R
D
2
6
6
B
I
T
S
E
R
D
2
7
2
M
S
B
S
E
R
D
1
9
4
L
S
B
S
E
R
D
2
0
6
B
I
T
S
E
R
D
2
1
6
B
I
T
S
E
R
D
2
2
6
B
I
T
S
E
R
D
2
3
2
M
S
B
S
t
E
R
D
1
5
4
L
S
B
S
E
R
D
1
6
6
B
I
T
S
E
R
D
1
7
6
B
I
T
S
E
R
D
1
8
6
B
I
T
S
E
R
D
1
9
2
M
S
B
S
E
R
D
1
1
4
L
S
B
S
E
R
D
1
2
6
B
I
T
S
E
R
D
1
3
6
B
I
T
S
E
R
D
1
4
6
B
I
T
S
E
R
D
1
5
2
M
S
B
S







Figure 20-1. Data Format (sheet 10 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
76a

UNCLASSIFIED



** THE INDICATED PORTIONS OF WORDS 3 THROUGH 10 OF PAGES 14 AND 15 ARE RESERVED FOR SYSTEM USE, WHILE
THOSE OF PAGE 17 ARE RESERVED FOR SPECIAL MESSAGES PER PARAGRAPH 20.3.3.5.1.10
P = 6 PARITY BITS
t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)
C = TLM BITS 23 AND 24 WHICH ARE RESERVED
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 1 WORD 2 WORD 3 WORD 4 WORD 5
1 31
61
91 121
SUBFRAME
NO.
PAGE
NO.
4
14, 15
& 17**
P P P P P C
TLM
22 BITS
HOW
22 BITS
t
63 69
16
BITS**
24 BITS** 24 BITS**
DATA ID - 2 BITS
SV (PAGE) ID - 6 BITS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
150 BITS 3 SECONDS
WORD 6 WORD 7 WORD 8 WORD 9 WORD 10
151 181 211 241 271
4
P P P P P 14, 15
& 17**
24 BITS** 24 BITS** 24 BITS** 24 BITS** 22 BITS** t







Figure 20-1. Data Format (sheet 11 of 11)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
76b

UNCLASSIFIED














(This page intentionally left blank.)
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
77

UNCLASSIFIED

Block II and IIA SVs are designed with sufficient memory capacity for storing 182 days of uploaded NAV data.
However, the memory retention of these SVs will determine the duration of data transmission. Block IIR SVs are
designed to have sufficient memory to store 182 days of uploaded NAV data in the Block IIA mode and to store
210 days of CS data needed to generate NAV data on-board in the Autonav mode. Alternating ones and zeros will
be transmitted in words 3 through 10 in place of the normal NAV data whenever the SV cannot locate the requisite
valid control or data element in its on-board computer memory. The following specifics apply to this default
action: (a) the parity of the affected words will be invalid, (b) the two trailing bits of word 10 will be zeros (to
allow the parity of subsequent subframes to be valid -- reference paragraph 20.3.5), (c) if the problem is the lack of
a data element, only the directly related subframe(s) will be treated in this manner, (d) if a control element cannot
be located, this default action will be applied to all subframes and all subframes will indicate ID = 1 (Block II/IIA
only) (i.e., an ID-code of 001) in the HOW (reference paragraph 20.3.3.2) (Block IIR/IIR-M and IIF SVs indicate
the proper subframe ID for all subframes). Certain failures of control elements which may occur in the SV memory
or during an upload will cause the SV to transmit in non-standard codes (NSC and NSY) which would preclude
normal use by the US. Normal NAV data transmission will be resumed by the SV whenever a valid set of elements
becomes available.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
78

UNCLASSIFIED

Block II SVs are uploaded with 182 days of NAV data. However, the EAROM retentivity for these SVs is
designed and guaranteed for only 14 days. Therefore, Block II SV memory is most likely to fail sometime during
long-term extended operations after repeated write operations. In the case of memory failure, the SV will transmit
alternating ones and zeros in word 3-10 as specified in the above paragraph.

Block IIA SVs are also uploaded with 182 days of data. However, the EAROM retentivity for these SVs is
designed and guaranteed for 180 days.

The memory retentivity for the Block IIR/IIR-M SVs is designed and guaranteed for 210 days.

The memory retentivity for the Block IIF SVs is designed and guaranteed for 90 days.

Although the data content of the SVs will be temporarily reduced during the upload process, the transmission of
valid NAV data will be continuous. The data capacity of specific operational SVs may be reduced to accommodate
partial memory failures.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
79

UNCLASSIFIED

20.3.3 Message Content. The format and contents of the TLM word and the HOW, as well as those of words three
through ten of each subframe/page, are described in the following subparagraphs. The timing of the subframes and
pages is covered in Section 20.3.4.

20.3.3.1 Telemetry Word. Each TLM word is 30 bits long, occurs every six seconds in the data frame, and is the
first word in each subframe/page. The format shall be as shown in Figure 20-2. Bit 1 is transmitted first. Each
TLM word shall begin with a preamble, followed by the TLM message, two reserved bits, and six parity bits. The
TLM message contains information needed by the authorized user and by the CS, as described in the related SS/CS
interface documentation.

20.3.3.2 Handover Word (HOW). The HOW shall be 30 bits long and shall be the second word in each
subframe/page, immediately following the TLM word. A HOW occurs every 6 seconds in the data frame. The
format and content of the HOW shall be as shown in Figure 20-2. The MSB is transmitted first. The HOW begins
with the 17 MSBs of the time-of-week (TOW) count. (The full TOW count consists of the 19 LSBs of the 29-bit Z-
count). These 17 bits correspond to the TOW-count at the X1 epoch which occurs at the start (leading edge) of the
next following subframe (reference paragraph 3.3.4).
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
80

UNCLASSIFIED




























Figure 20-2. TLM and HOW Formats
Preamble
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
1 0 0 0 1 0 1 1
TLM Message
TLM Word
MSB LSB
Parity
= Reserved Bits 1
1 1
TOW-Count Message
(Truncated)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
Sub-
frame
ID
HOW
MSB LSB
Parity
Solved for bits to preserve
parity check with zeros in
bits 29 and 30
0 0
Anti-Spoof Flag
“Alert” Flag
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
81

UNCLASSIFIED
Bit 18 is an "alert" flag. When this flag is raised (bit 18 = "1"), it shall indicate to the unauthorized user that the
SV URA may be worse than indicated in subframe 1 and that he shall use that SV at his own risk.

Bit 19 is an anti-spoof (A-S) flag. A "1" in bit-position 19 indicates that the A-S mode is ON in that SV.

Bits 20, 21, and 22 of the HOW provide the ID of the subframe in which that particular HOW is the second word;
the ID code shall be as follows:

Subframe ID Code
1 001
2 010
3 011
4 100
5 101
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
82

UNCLASSIFIED
20.3.3.3 Subframe 1. The content of words three through ten of subframe 1 are defined below, followed by related
algorithms and material pertinent to use of the data.

20.3.3.3.1 Subframe 1 Content. The third through tenth words of subframe 1 shall each contain six parity bits as
their LSBs; in addition, two non-information bearing bits shall be provided as bits 23 and 24 of word ten for parity
computation purposes. The remaining 190 bits of words three through ten shall contain the clock parameters and
other data described in the following.

The clock parameters describe the SV time scale during the period of validity. The parameters in a data set shall
be valid during the interval of time in which they are transmitted and shall remain valid for an additional period of
time after transmission of the next data set has started. The timing information for subframes, pages, and data sets
is covered in Section 20.3.4.

20.3.3.3.1.1 Transmission Week Number. The ten MSBs of word three shall contain the ten MSBs of the 29-bit Z-
count as qualified herein. These ten bits shall be a Modulo 1024 binary representation of the current GPS week
number at the start of the data set transmission interval (see paragraph 3.3.4(b)). The GPS week number increments
at each end/start of week epoch. For Block II SVs in long-term extended operations, beginning approximately 28
days after upload, the transmission week number may not correspond to the actual GPS week number due to curve
fit intervals that cross week boundaries.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
83

UNCLASSIFIED
20.3.3.3.1.2 Code(s) on L2 Channel. Bits 11 and 12 of word three shall indicate which code(s) is (are) commanded
ON for the L2 channel, as follows:

00 = Reserved,
01 = P code ON,
10 = C/A code ON.

20.3.3.3.1.3 SV Accuracy. Bits 13 through 16 of word three shall give the URA index of the SV (reference
paragraph 6.2.1) for the unauthorized user. The URA index (N) is an integer in the range of 0 through 15 and has
the following relationship to the URA of the SV:

URA INDEX URA (meters)
0 0.00 < URA ≤ 2.40
1 2.40 < URA ≤ 3.40
2 3.40 < URA ≤ 4.85
3 4.85 < URA ≤ 6.85
4 6.85 < URA ≤ 9.65
5 9.65 < URA ≤ 13.65
6 13.65 < URA ≤ 24.00
7 24.00 < URA ≤ 48.00
8 48.00 < URA ≤ 96.00
9 96.00 < URA ≤ 192.00
10 192.00 < URA ≤ 384.00
11 384.00 < URA ≤ 768.00
12 768.00 < URA ≤ 1536.00
13 1536.00 < URA ≤ 3072.00
14 3072.00 < URA ≤ 6144.00
15 6144.00 < URA (or no accuracy prediction is available - unauthorized users are
advised to use the SV at their own risk.)
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
84

UNCLASSIFIED
For each URA index (N), users may compute a nominal URA value (X) as given by:

• If the value of N is 6 or less, X = 2
(1 + N/2)
,
• If the value of N is 6 or more, but less than 15, X = 2
(N - 2)
,
• N = 15 shall indicate the absence of an accuracy prediction and shall advise the unauthorized
user to use that SV at his own risk.

For N = 1, 3, and 5, X should be rounded to 2.8, 5.7, and 11.3 meters, respectively.

20.3.3.3.1.4 SV Health. The six-bit health indication given by bits 17 through 22 of word three refers to the
transmitting SV. The MSB shall indicate a summary of the health of the NAV data, where

0 = all NAV data are OK,
1 = some or all NAV data are bad.

The five LSBs shall indicate the health of the signal components in accordance with the codes given in paragraph
20.3.3.5.1.3. The health indication shall be given relative to the "as designed" capabilities of each SV (as
designated by the configuration code - see paragraph 20.3.3.5.1.6). Accordingly, any SV which does not have a
certain capability will be indicated as "healthy" if the lack of this capability is inherent in its design or if it has
been configured into a mode which is normal from a user standpoint and does not require that capability.

Additional SV health data are given in subframes 4 and 5. The data given in subframe 1 may differ from that
shown in subframes 4 and/or 5 of other SVs since the latter may be updated at a different time.
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
85

UNCLASSIFIED
20.3.3.3.1.5 Issue of Data, Clock (IODC). Bits 23 and 24 of word three in subframe 1 shall be the two MSBs of the
ten-bit IODC term; bits one through eight of word eight in subframe 1 shall contain the eight LSBs of the IODC.
The IODC indicates the issue number of the data set and thereby provides the user with a convenient means of
detecting any change in the correction parameters. Constraints on the IODC as well as the relationship between the
IODC and the IODE (issue of data, ephemeris) terms are defined in paragraph 20.3.4.4.

Short-term and Long-term Extended Operations. Whenever the fit interval flag indicates a fit interval greater than
4 hours, the IODC can be used to determine the actual fit interval of the data set (reference section 20.3.4.4).

20.3.3.3.1.6 Data Flag for L2 P-Code. When bit 1 of word four is a "1", it shall indicate that the NAV data stream
was commanded OFF on the P-code of the L2 channel.

20.3.3.3.1.7 (Reserved)

20.3.3.3.1.8 Estimated Group Delay Differential. Bits 17 through 24 of word seven contain the L1-L2 correction
term, T
GD
, for the benefit of "L1 only" or "L2 only" users; the related user algorithm is given in paragraph
20.3.3.3.3.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
86

UNCLASSIFIED
20.3.3.3.1.9 SV Clock Correction. Bits nine through 24 of word eight, bits one through 24 of word nine, and bits
one through 22 of word ten contain the parameters needed by the users for apparent SV clock correction (t
oc
, a
f2
,
a
f1
, a
f0
). The related algorithm is given in paragraph 20.3.3.3.3.

20.3.3.3.2 Subframe 1 Parameter Characteristics. For those parameters whose characteristics are not fully defined
in Section 20.3.3.3.1, the number of bits, the scale factor of the LSB (which shall be the last bit received), the
range, and the units shall be as specified in Table 20-I.

20.3.3.3.3 User Algorithms for Subframe 1 Data. The algorithms defined below (a) allow all users to correct the
code phase time received from the SV with respect to both SV code phase offset and relativistic effects, (b) permit
the "single frequency" (L1 or L2) user to compensate for the effects of SV group delay differential (the user who
utilizes both frequencies does not require this correction, since the clock parameters account for the induced
effects), and (c) allow the "two frequency" (L1 and L2) user to correct for the group propagation delay due to
ionospheric effects (the single frequency user may correct for ionospheric effects as described in paragraph
20.3.3.5.2.5).
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
87

UNCLASSIFIED

Table 20-I. Subframe 1 Parameters


Parameter

No. of
Bits**
Scale
Factor
(LSB)

Effective
Range***


Units
Code on L2

Week No.

L2 P data flag

SV accuracy

SV health

T
GD


IODC

t
oc


a
f2


a
f1


a
f0


2

10

1

4

6

8*

10

16

8*

16*

22*

1

1

1



1

2
-31




2
4


2
-55


2
-43


2
-31
















604,784






discretes

week

discrete

(see text)

discretes

seconds

(see text)

seconds

sec/sec
2


sec/sec

seconds

* Parameters so indicated shall be two's complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with
indicated bit allocation and scale factor.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
88

UNCLASSIFIED
20.3.3.3.3.1 User Algorithm for SV Clock Correction. The polynomial defined in the following allows the user to
determine the effective SV PRN code phase offset referenced to the phase center of the antennas (∆t
sv
) with respect
to GPS system time (t) at the time of data transmission. The coefficients transmitted in subframe 1 describe the
offset apparent to the two-frequency user for the interval of time in which the parameters are transmitted. This
estimated correction accounts for the deterministic SV clock error characteristics of bias, drift and aging, as well as
for the SV implementation characteristics of group delay bias and mean differential group delay. Since these
coefficients do not include corrections for relativistic effects, the user's equipment must determine the requisite
relativistic correction. Accordingly, the offset given below includes a term to perform this function.

The user shall correct the time received from the SV with the equation (in seconds)
t = t
sv
- ∆t
sv
(1)
where
t = GPS system time (seconds),
t
sv
= effective SV PRN code phase time at message transmission time (seconds),
∆t
sv
= SV PRN code phase time offset (seconds).

The SV PRN code phase offset is given by

∆t
sv
= a
f0
+ a
f1
(t - t
oc
) + a
f2
(t - t
oc
)
2
+ ∆t
r
(2)
where
a
f0
, a
f1
and a
f2
are the polynomial coefficients given in subframe 1, t
oc
is the clock data reference time in
seconds (reference paragraph 20.3.4.5), and ∆t
r
is the relativistic correction term (seconds) which is given
by

∆t
r
= Fe(A)
1/2
sin E
k
.

The orbit parameters (e, A, E
k
) used here are described in discussions of data contained in subframes 2 and 3,
while F is a constant whose value is

F =
2
2
1
c
2µ −
= - 4.442807633 (10)
-10
sec/(meter)
1/2
,

UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
89

UNCLASSIFIED

where

µ = 3.986005 x 10
14

meters
second
3
2

= value of Earth's universal gravitational parameters

c = 2.99792458 x 10
8

meters
second
= speed of light.

Note that equations (1) and (2), as written, are coupled. While the coefficients a
f0
, a
f1
and a
f2
are generated by
using GPS time as indicated in equation (2), sensitivity of t
sv
to t is negligible. This negligible sensitivity will allow
the user to approximate t by t
SV
in equation (2). The value of t must account for beginning or end of week
crossovers. That is, if the quantity t - t
oc
is greater than 302,400 seconds, subtract 604,800 seconds from t. If the
quantity t - t
oc
is less than -302,400 seconds, add 604,800 seconds to t.

The control segment will utilize the following alternative but equivalent expression for the relativistic effect when
estimating the NAV parameters:

∆t
r
= −

→ →
2
2
R V
c

where

R is the instantaneous position vector of the SV,

V is the instantaneous velocity vector of the SV, and
c is the speed of light. (Reference paragraph 20.3.4.3).

It is immaterial whether the vectors

R and

V are expressed in earth-fixed, rotating coordinates or in earth-centered,
inertial coordinates.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
90

UNCLASSIFIED
20.3.3.3.3.2 L1 - L2 Correction. The L1 and L2 correction term, T
GD
, is initially calculated by the CS to account
for the effect of SV group delay differential between L1 P(Y) and L2 P(Y) based on measurements made by the SV
contractor during SV manufacture. The value of T
GD
for each SV may be subsequently updated to reflect the actual
on-orbit group delay differential. This correction term is only for the benefit of "single-frequency" (L1 P(Y) or L2
P(Y)) users; it is necessitated by the fact that the SV clock offset estimates reflected in the a
f0
clock correction
coefficient (see paragraph 20.3.3.3.3.1) are based on the effective PRN code phase as apparent with two frequency
(L1 P(Y) and L2 P(Y)) ionospheric corrections. Thus, the user who utilizes the L1 P(Y) signal only shall modify the
code phase offset in accordance with paragraph 20.3.3.3.3.1 with the equation

(∆t
SV
)
L1P(Y)
= ∆t
SV
- T
GD


where T
GD
is provided to the user as subframe 1 data. For the user who utilizes L2 P(Y) only, the code phase
modification is given by

(∆t
SV
)
L2P(Y)
= ∆t
SV
- γT
GD


where, denoting the nominal center frequencies of L1 and L2 as f
L1
and f
L2
respectively,
γ = (f
L1
/f
L2
)
2
= (1575.42/1227.6)
2
= (77/60)
2
.

The value of T
GD
is not equal to the mean SV group delay differential, but is a measured value that represents the
mean group delay differential multiplied by 1/(1- γ). That is,

T
GD
=
1
1-
γ
(t
L1P(Y)
- t
L2P(Y)
)

where t
LiP(Y)
is the GPS time the i
th
frequency P(Y) signal is transmitted from the SV.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
91

UNCLASSIFIED
20.3.3.3.3.3 Ionospheric Correction. The two frequency (L1 P(Y) and L2 P(Y)) user shall correct for the group
delay due to ionospheric effects by applying the relationship:


- 1
PR - PR
PR
L1P(Y) L2P(Y)
γ
γ
=


where

PR = pseudorange corrected for ionospheric effects,
PR
i
= pseudorange measured on the channel indicated by the subscript.

and γ is as defined in paragraph 20.3.3.3.3.2. The clock correction coefficients are based on "two frequency"
measurements and therefore account for the effects of mean differential delay in SV instrumentation.

20.3.3.3.3.4 Example Application of Correction Parameters. A typical system application of the correction
parameters for a user receiver is shown in Figure 20-3. The ionospheric model referred to in Figure 20-3 is
discussed in paragraph 20.3.3.5.2.5 in conjunction with the related data contained in page 18 of subframe 4. The
c
ERD

term referred to in Figure 20-3 is discussed in paragraph 20.3.3.5.2.6 in conjunction with the related data

contained in page 13 of subframe 4.

20.3.3.4 Subframes 2 and 3. The contents of words three through ten of subframes 2 and 3 are defined below,
followed by material pertinent to the use of the data.
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
92

UNCLASSIFIED






































Figure 20-3. Sample Application of Correction Parameters
CLOCK
CORRECTION
POLYNOMIAL
TROPOSPHERIC
MODEL
IONOSPHERIC
MODEL*
FILTER AND
COORDINATE
CONVERTER
CODE PHASE OFFSET
- TRUE SV CLOCK EFFECTS
- EQUIPMENT GROUP DELAY
DIFFERENTIAL EFFECTS
- RELATIVISTIC EFFECTS
PATH DELAY
- GEOMETRIC
- TROPOSHERIC
- IONOSPHERIC*
PSEUDORANGE
DIVIDED BY THE
SPEED OF LIGHT
- RANGE DATA FROM
OTHER SATELLITES
- CALIBRATION DATA
- AUXILIARY SENSOR
USER POSITION,
VELOCITY, and
TIME (CLOCK BIAS)
ESTIMATE OF SV
TRANSMISSION TIME
a
f0
, a
f1
, a
f2
, t
oc

USER CLOCK BIAS
GPS TIME
GPS TIME
* SINGLE FREQUENCY USER ONLY
** OPTIONAL
T
GD
*
∆ t
r

∆ t
SV

T
tropo

T
iono

c
ERD **
α
n
, β
n

UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
93

UNCLASSIFIED
20.3.3.4.1 Content of Subframes 2 and 3. The third through tenth words of subframes 2 and 3 shall each contain
six parity bits as their LSBs; in addition, two non-information bearing bits shall be provided as bits 23 and 24 of
word ten of each subframe for parity computation purposes. Bits 288 through 292 of subframe 2 shall contain the
Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4
(reference paragraph 20.3.3.5.1.12). The remaining 375 bits of those two subframes shall contain the ephemeris
representation parameters of the transmitting SV.

The ephemeris parameters describe the orbit during the curve fit intervals described in section 20.3.4. Table 20-II
gives the definition of the orbital parameters using terminology typical of Keplerian orbital parameters; it shall be
noted, however, that the transmitted parameter values are such that they provide the best trajectory fit in Earth-
Centered, Earth-Fixed (ECEF) coordinates for each specific fit interval. The user shall not interpret intermediate
coordinate values as pertaining to any conventional coordinate system.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
94

UNCLASSIFIED






Table 20-II. Ephemeris Data Definitions
M
0

∆n
e
(A)
1/2

(OMEGA)
0

i
0

ω
OMEGADOT
IDOT
C
uc

C
us

C
rc

C
rs

C
ic

C
is

t
oe

IODE
Mean Anomaly at Reference Time
Mean Motion Difference From Computed Value
Eccentricity
Square Root of the Semi-Major Axis
Longitude of Ascending Node of Orbit Plane at Weekly Epoch
Inclination Angle at Reference Time
Argument of Perigee
Rate of Right Ascension
Rate of Inclination Angle
Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude
Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude
Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius
Amplitude of the Sine Harmonic Correction Term to the Orbit Radius
Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination
Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination
Reference Time Ephemeris (reference paragraph 20.3.4.5)
Issue of Data (Ephemeris)
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
95

UNCLASSIFIED
The issue of ephemeris data (IODE) term shall provide the user with a convenient means for detecting any change in
the ephemeris representation parameters. The IODE is provided in both subframes 2 and 3 for the purpose of
comparison with the 8 LSBs of the IODC term in subframe 1. Whenever these three terms do not match, a data set
cutover has occurred and new data must be collected. The timing of the IODE and constraints on the IODC and
IODE are defined in paragraph 20.3.4.4.

Any change in the subframe 2 and 3 data will be accomplished with a simultaneous change in both IODE words.
The CS shall assure that the t
oe
value, for at least the first data set transmitted by an SV after an upload, is different
from that transmitted prior to the cutover.

A "fit interval" flag is provided in subframe 2 to indicate whether the ephemerides are based on a four-hour fit
interval or a fit interval greater than four hours (reference paragraph 20.3.3.4.3.1).

The AODO word is provided in subframe 2 to enable the user to determine the validity time for the NMCT data
provided in subframe 4 of the transmitting SV. The related algorithm is given in paragraph 20.3.3.4.4.

20.3.3.4.2 Subframe 2 and 3 Parameter Characteristics. For each ephemeris parameter contained in subframes 2
and 3, the number of bits, the scale factor of the LSB (which shall be the last bit received), the range, and the units
shall be as specified in Table 20-III.

The AODO word (which is not an ephemeris parameter) is a five-bit unsigned term with an LSB scale factor of
900, a range from 0 to 31, and units of seconds.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
96

UNCLASSIFIED


Table 20-III. Ephemeris Parameters
Parameter No. of Bits** Scale Factor (LSB) Effective Range*** Units
IODE
C
rs

∆n
M
0

C
uc

e
C
us

(A)
1/2

t
oe

C
ic

(OMEGA)
0

C
is

i
0

C
rc

ω
OMEGADOT
IDOT
8
16*
16*
32*
16*
32
16*
32
16
16*
32*
16*
32*
16*
32*
24*
14*

2
-5

2
-43

2
-31

2
-29

2
-33

2
-29

2
-19

2
4

2
-29

2
-31

2
-29

2
-31

2
-5

2
-31

2
-43

2
-43






0.03


604,784

(see text)
meters
semi-circles/sec
semi-circles
radians
dimensionless
radians
meters
1/2

seconds
radians
semi-circles
radians
semi-circles
meters
semi-circles
semi-circles/sec
semi-circles/sec
* Parameters so indicated shall be two's complement, with the sign bit (+ or -) occupying the MSB;
** See Figure 20-1 for complete bit allocation in subframe;
*** Unless otherwise indicated in this column, effective range is the maximum range attainable with
indicated bit allocation and scale factor.
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
97

UNCLASSIFIED
20.3.3.4.3 User Algorithm for Ephemeris Determination. The user shall compute the ECEF coordinates of position
for the phase center of the SVs’ antennas utilizing a variation of the equations shown in Table 20-IV. Subframes 2
and 3 parameters are Keplerian in appearance; the values of these parameters, however, are produced by the CS via
a least squares curve fit of the predicted ephemeris of the phase center of the SVs’ antennas (time-position
quadruples; t, x, y, z expressed in ECEF coordinates). Particulars concerning the periods of the curve fit, the
resultant accuracy, and the applicable coordinate system are given in the following subparagraphs.

20.3.3.4.3.1 Curve Fit Intervals. Bit 17 in word 10 of subframe 2 is a "fit interval" flag which indicates the curve-
fit interval used by the CS in determining the ephemeris parameters, as follows:

0 = 4 hours,
1 = greater than 4 hours.

The relationship of the curve-fit interval to transmission time and the timing of the curve-fit intervals is covered in
section 20.3.4.
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
98

UNCLASSIFIED








Table 20-IV. Elements of Coordinate Systems (sheet 1 of 3)

µ = 3.986005 x 10
14
meters
3
/sec
2
WGS 84 value of the earth's universal gravitational
parameter for GPS user



e
= 7.2921151467 x 10
-5
rad/sec WGS 84 value of the earth's rotation rate

A = ( )
2
A Semi-major axis
n
0
=
3
A
µ
Computed mean motion (rad/sec)

t
k
= t - t
oe
* Time from ephemeris reference epoch

n = n
0
+ ∆n Corrected mean motion

M
k
= M
0
+ nt
k
Mean anomaly

* t is GPS system time at time of transmission, i.e., GPS time corrected for transit time (range/speed of
light). Furthermore, t
k
shall be the actual total time difference between the time t and the epoch time
t
oe
, and must account for beginning or end of week crossovers. That is, if t
k
is greater than 302,400
seconds, subtract 604,800 seconds from t
k
. If t
k
is less than -302,400 seconds, add 604,800 seconds to
t
k
.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
99

UNCLASSIFIED






Table 20-IV. Elements of Coordinate Systems (sheet 2 of 3)

M
k
= E
k
- e sin E
k
Kepler's Equation for Eccentric Anomaly
(may be solved by iteration)(radians)

)
`
¹
¹
´
¦
ν
ν
= ν

k
k 1
k
cos
sin
tan True Anomaly


( )
( ) ( )
¦
)
¦
`
¹
¦
¹
¦
´
¦
− −
− −
=

k k
k k
2
1
E cos e 1 / e E cos
E cos e 1 / E sin e 1
tan

)
`
¹
¹
´
¦
ν +
ν +
=

k
k 1
k
cos e 1
cos e
cos E Eccentric Anomaly

Φ
k
= ν
k
+ ω Argument of Latitude

δu
k
= c
us
sin2Φ
k
+ c
uc
cos2Φ
k
Argument of Latitude Correction
δr
k
= c
rs
sin2Φ
k
+ c
rc
cos2Φ
k
Radius Correction
δi
k
= c
is
sin2Φ
k
+ c
ic
cos2Φ
k
Inclination Correction

u
k
= Φ
k
+ δu
k
Corrected Argument of Latitude

r
k
= A(1 - e cosE
k
) + δr
k
Corrected Radius

i
k
= i
0
+ δi
k
+ (IDOT) t
k
Corrected Inclination


}
Second Harmonic Perturbations
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
100

UNCLASSIFIED












Table 20-IV. Elements of Coordinate Systems (sheet 3 of 3)

x
k
′ = r
k
cosu
k

y
k
′ = r
k
sinu
k




k
= Ω
0
+ (


-


e
) t
k
-


e
t
oe
Corrected longitude of ascending node.


x
k
= x
k
′cosΩ
k
- y
k
′cosi
k
sinΩ
k

y
k
= x
k
′sinΩ
k
+ y
k
′cosi
k
cosΩ
k

z
k
= y
k
′sini
k



}
Earth-fixed coordinates.
}
Positions in orbital plane.
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
101

UNCLASSIFIED
20.3.3.4.3.2 Parameter Sensitivity. The sensitivity of the SV's antenna phase center position to small
perturbations in most ephemeris parameters is extreme. The sensitivity of position to the parameters (A)
1/2
, C
rc

and C
rs
is about one meter/meter. The sensitivity of position to the angular parameters is on the order of 10
8

meters/semicircle, and to the angular rate parameters is on the order of 10
12
meters/semicircle/second. Because of
this extreme sensitivity to angular perturbations, the value of π used in the curve fit is given here. π is a
mathematical constant, the ratio of a circle's circumference to its diameter. Here π is taken as

π = 3.1415926535898.

20.3.3.4.3.3 Coordinate Systems.

20.3.3.4.3.3.1 ECEF Coordinate System. The equations given in Table 20-IV provide the SV's antenna phase
center position in the WGS 84 ECEF coordinate system defined as follows:

Origin* = Earth's center of mass

Z-Axis** = The direction of the IERS (International Earth Rotation Service) Reference Pole (IRP)

X-Axis = Intersection of the IERS Reference Meridian (IRM) and the plane passing through the
origin and normal to the Z-axis

Y-Axis = Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system

* Geometric center of the WGS 84 Ellipsoid
** Rotational axis of the WGS 84 Ellipsoid


UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
102

UNCLASSIFIED
20.3.3.4.3.3.2 Earth-Centered, Inertial (ECI) Coordinate System. In an ECI coordinate system, GPS signals
propagate in straight lines at the constant speed c* (reference paragraph 20.3.4.3). A stable ECI coordinate system
of convenience may be defined as being coincident with the ECEF coordinate system at a given time t
0
. The x, y, z
coordinates in the ECEF coordinate system at some other time t can be transformed to the x′, y′, z′ coordinates in the
selected ECI coordinate system of convenience by the simple** rotation:

x′ = x cos(θ) – y sin(θ)
y′ = x sin(θ) + y cos(θ)
z′ = z
where
θ = Ω

e
(t – t
0
)

* The propagation speed c is constant only in a vacuum. The gravitational potential also has a small
effect on the propagation speed, but may be neglected by most users.
** Neglecting effects due to polar motion, nutation, and precession which may be neglected by most users
for small values of (t – t
0
).

20.3.3.4.3.4 Geometric Range. The user shall account for the geometric range (D) from satellite to receiver in an
ECI coordinate system. D may be expressed as,

D = ,

r (t
R
) -

R(t
T
),
where
t
T
and t
R
are the GPS system times of transmission and reception, respectively,
and where,


R(t
T
) = position vector of the GPS satellite in the selected ECI coordinate system at time t
T
,


r (t
R
) = position vector of the receiver in the selected ECI coordinate system at time t
R
.

UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
102a

UNCLASSIFIED
20.3.3.4.4 NMCT Validity Time. Users desiring to take advantage of the NMCT data provided in page 13 of
subframe 4 shall first examine the AODO term currently provided in subframe 2 of the NAV data from the
transmitting SV. If the AODO term is 27900 seconds (i.e., binary 11111), then the NMCT currently available
from the transmitting SV is invalid and shall not be used. If the AODO term is less than 27900 seconds, then the
user shall compute the validity time for that NMCT (t
nmct
) using the ephemeris t
oe
parameter and the AODO term
from the current subframe 2 as follows:

OFFSET = t
oe
[Modulo 7200]

if OFFSET = 0, then t
nmct
= t
oe
- AODO
if OFFSET > 0, then t
nmct
= t
oe
- OFFSET + 7200 - AODO

Note that the foregoing computation of t
nmct
must account for any beginning or end of week crossovers; for
example,

if t* - t
nmct
> 302,400 then t
nmct
= t
nmct
+ 604,800
if t* - t
nmct
< -302,400 then t
nmct
= t
nmct
- 604,800

* t is GPS system time at time of transmission.

Users are advised that different SVs will transmit NMCTs with different t
nmct
and that the best performance will
generally be obtained by applying data from the NMCT with the latest (largest) t
nmct
. As a result, users should
compute and examine the t
nmct
values for all visible and available SVs in order to find and use the NMCT with the
latest t
nmct
. If the same latest (largest) t
nmct
is provided by two or more visible and available SVs, then the NMCT
from any SV with the latest t
nmct
may be selected and used; however, the estimated range deviation (ERD) value
provided by the selected NMCT for the other SVs with the same t
nmct
shall be set to zero if those SVs are used in
the positioning solution. It should be noted that the intended positioning solution accuracy improvement will not be
obtained if the data from two different NMCTs are applied simultaneously or if the data from a given NMCT is
applied to just a subset of the SVs used in the positioning solution (i.e., mixed mode operation results in potentially
degraded solution accuracy).

It should be noted that the NMCT information shall be supported by the Block IIR SV only when operating in the
IIA like mode of operation including the Autonav Test mode.
UNCLASSIFIED
IRN-200C-003
ICD-GPS-200C
11 OCT 1999
102b

UNCLASSIFIED
20.3.3.5 Subframes 4 and 5. Both subframe 4 and 5 are subcommutated 25 times each; the 25 versions of these
subframes are referred to as pages 1 through 25 of each subframe. With the possible exception of "reserved for
system use" pages and explicit repeats, each page contains different specific data in words three through ten. As
shown in Figure 20-1, the pages of subframe 4 utilize seven different formats, while those of subframe 5 use two.
The content of words three through ten of each page is described below, followed by algorithms and material
pertinent to the use of the data.

20.3.3.5.1 Content of Subframes 4 and 5. Words three through ten of each page contain six parity bits as their
LSBs; in addition, two non-information bearing bits are provided as bits 23 and 24 of word ten in each page for
parity computation purposes. The data contained in the remaining bits of words three through ten of the various
pages in subframes 4 and 5 are described in the following subparagraphs.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
103

UNCLASSIFIED
A brief summary of the various data contained in each page of subframes 4 and 5 is as follows:
a. Subframe 4:
• Pages 1, 6, 11, 16 and 21: (reserved);

• Pages 2, 3, 4, 5, 7, 8, 9 and 10: almanac data for SV 25 through 32 respectively.
These pages may be designated for other functions; the format and content for each
page is defined by the SV ID of that page. In this case, the six-bit health word of page
25 is set to "6 ones" (Refer to 20.3.3.5.1.3) and the SV ID of the page will not have a
value in the range of 25 through 32;

• Pages 12, 19, 20, 22, 23 and 24: (reserved);

• Page 13: NMCT;

• Pages 14 and 15: reserved for system use;

• Page 17: special messages;

• Page 18: ionospheric and UTC data;

• Page 25: A-S flags/SV configurations for 32 SVs, plus SV health for SV 25
through 32.

b. Subframe 5:

• Pages 1 through 24: almanac data for SV 1 through 24;

• Page 25: SV health data for SV 1 through 24, the almanac reference time, the
almanac reference week number, and the calendar year counter (for
Block IIF).
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
104

UNCLASSIFIED
20.3.3.5.1.1 Data ID and SV ID. The two MSBs of word three in each page shall contain data ID. Data ID number
two (denoted by binary code 01) denotes the NAV data structure of D(t) which is described in this Appendix.
Future data IDs will be defined as necessary.

As shown in Table 20-V, the data ID is utilized to provide one of two indications: (a) for those pages which are
assigned to contain the almanac data of one specific SV, the data ID defines the data structure utilized by that SV
whose almanac data are contained in that page; and (b) for all other pages, the data ID denotes the data structure of
the transmitting SV.

The SV ID is given by bits three through eight of word three in each page as shown in Table 20-V. Specific IDs
are reserved for each page of subframes 4 and 5; however, the SV ID of pages 2, 3, 4, 5, 7, 8, 9 and 10 of subframe
4 may change for each page to reflect the alternate contents for that page. The SV IDs are utilized in two different
ways: (a) for those pages which contain the almanac data of a given SV, the SV ID is the same number that is
assigned to the PRN code phase of that SV (reference Table 3-I), and (b) for all other pages the SV ID assigned in
accordance with Table 20-V serves as the "page ID". IDs 1 through 32 are assigned to those pages which contain
the almanac data of specific SVs (pages 1-24 of subframe 5 and pages 2-5 and 7-10 of subframe 4). The "0" ID
(binary all zeros) is assigned to indicate a dummy SV, while IDs 51 through 63 are utilized for pages containing
other than almanac data of a specific SV. The remaining IDs (33 through 50) are unassigned.

Pages which carry the same SV ID (e.g., in subframe 4, pages 1, 6, 11, 16 and 21 carry an ID of 57, while pages 12
and 24 are designated by an ID of 62) may not be considered to contain identical data. The data in the pages with
the same SV ID can be different.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
105

UNCLASSIFIED

Table 20-V. Data IDs and SV IDs in Subframes 4 and 5

Page
Subframe 4 Subframe 5
Data ID SV ID* Data ID SV ID*
1
2 Note(3)
3 Note(3)
4 Note(3)
5 Note(3)
6
7 Note(3)
8 Note(3)
9 Note(3)
10 Note(3)
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Note(2)
Note(1)
Note(1)
Note(1)
Note(1)
Note(2)
Note(1)
Note(1)
Note(1)
Note(1)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
Note(2)
57
25
26
27
28
57
29
30
31
32
57
62
52
53
54
57
55
56
58 Note(4)
59 Note(4)
57
60 Note(4)
61 Note(4)
62
63
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(1)
Note(2)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
51
* Use "0" to indicate "dummy" SV. When using "0" to indicate dummy SV, use the data ID of the transmitting
SV.

Note 1: Data ID of that SV whose SV ID appears in that page.
Note 2: Data ID of transmitting SV.
Note 3: Pages 2, 3, 4, 5, 7, 8, 9, and 10 of subframe 4 may contain almanac data for SVs 25 through 32,
respectively, or data for other functions as identified by a different SV ID from the value shown.
Note 4: SV ID may vary.

UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
106

UNCLASSIFIED
20.3.3.5.1.2 Almanac Data. Pages 1 through 24 of subframe 5, as well as pages 2 through 5 and 7 through 10 of
subframe 4 contain the almanac data and a SV health word for up to 32 SVs (the health word is discussed in
paragraph 20.3.3.5.1.3). The almanac data are a reduced-precision subset of the clock and ephemeris parameters.
The data occupy all bits of words three through ten of each page except the eight MSBs of word three (data ID and
SV ID), bits 17 through 24 of word five (SV health), and the 50 bits devoted to parity. The number of bits, the
scale factor (LSB), the range, and the units of the almanac parameters are given in Table 20-VI. The algorithms
and other material related to the use of the almanac data are given in paragraph 20.3.3.5.2.

The almanac message for any dummy SVs shall contain alternating ones and zeros with valid parity. For twelve or
fewer SVs, almanacs may be repeated within the 25-cycle subcommutation limit. Whenever this option is
exercised, the following constraints shall apply: (a) each page of subframes 4 and 5, which is assigned by Table
20-V to one of the active SVs in orbit, must contain the almanac data of that SV to which it is assigned by Table
20-V, (b) those almanac-type pages which remain unused per the above rule, shall then be re-assigned to carry a
duplicate set of almanac data for the active orbiting SV, (c) these page re-assignments shall be in ascending order
of page numbers (starting with subframe 5, followed by subframe 4) being used for SVs having an ascending order
of SV IDs, and (d) each re-assigned page must carry the SV ID of that SV whose almanac data it contains.

The almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to upload the
SVs. If the CS is unable to upload the SVs, the accuracy of the almanac parameters transmitted by the SVs will
degrade over time.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
107

UNCLASSIFIED
For Block II and IIA SVs, three sets of almanac shall be used to span 182 days. The first and second sets will be
transmitted for up to six days each; the third set is intended to be transmitted for the duration of the 182 days from
the last upload, but the duration of transmission will depend on the individual SV's capability to retain data in
memory. All three sets are based on six-day curve fits that correspond to the first six days of the transmission
interval. For Block IIR/IIR-M and IIF SVs, multiple sets of almanac parameters shall be uploaded to span 210 days
and 90 days, respectively.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
108

UNCLASSIFIED


Table 20-VI. Almanac Parameters


Parameter

No. of
Bits**
Scale
Factor
(LSB)

Effective
Range***


Units
e

t
oa


δ
i
****

OMEGADOT

(A)
1/2


(OMEGA)
0


ω

M
0


a
f0


a
f1

16

8

16*

16*

24

24*

24*

24*

11*

11*
2
-21


2
12


2
-19


2
-38


2
-11


2
-23


2
-23


2
-23


2
-20


2
-38



602,112

dimensionless

seconds

semi-circles

semi-circles/sec

meters
1/2


semi-circles

semi-circles

semi-circles

seconds

sec/sec

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with
indicated bit allocation and scale factor;

**** Relative to i
0
= 0.30 semi-circles.

UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
109

UNCLASSIFIED
20.3.3.5.1.3 SV Health. Subframes 4 and 5 contain two types of SV health data: (a) each of the 32 pages which
contain the clock/ephemeris related almanac data provide an eight-bit SV health status word regarding the SV
whose almanac data they carry, and (b) the 25th page of subframe 4 and of subframe 5 jointly contain six-bit health
status data for up to 32 SVs.

The three MSBs of the eight-bit health words indicate health of the NAV data in accordance with the code given in
Table 20-VII. The six-bit words provide a one-bit summary of the NAV data's health status in the MSB position in
accordance with paragraph 20.3.3.3.1.4. The five LSBs of both the eight-bit and the six-bit words provide the
health status of the SV's signal components in accordance with the code given in Table 20-VIII. A special
meaning is assigned, however, to the "6 ones" combination of the six-bit health words in the 25th page of
subframes 4 and 5: it indicates that "the SV which has that ID is not available and there may be no data regarding
that SV in that page of subframes 4 and 5 that is assigned to normally contain the almanac data of that SV"
(NOTE: (a) this special meaning applies to the 25th page of subframes 4 and 5 only; and (b) there may be data
regarding another SV in the almanac-page referred to above as defined in paragraph 20.3.3.5.1.1). The health
indication shall be given relative to the "as designed" capabilities of each SV (as designated by the configuration
code -- see paragraph 20.3.3.5.1.6). Accordingly, any SV which does not have a certain capability will be
indicated as "healthy" if the lack of this capability is inherent in its design or it has been configured into a mode
which is normal from a user standpoint and does not require that capability.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
110

UNCLASSIFIED


Table 20-VII. NAV Data Health Indications
Bit Position in Page
137 138 139

Indication
0

0

0




0


1


1


1



1
0

0

1




1


0


0


1



1
0

1

0




1


0


1


0



1
ALL DATA OK

PARITY FAILURE -- some or all parity bad

TLM/HOW FORMAT PROBLEM -- any departure from standard format (e.g.,
preamble misplaced and/or incorrect, etc.), except for incorrect Z-count, as
reported in HOW


Z-COUNT IN HOW BAD -- any problem with Z-count value not reflecting
actual code phase

SUBFRAMES 1, 2, 3 -- one or more elements in words three through ten of
one or more subframes are bad

SUBFRAMES 4, 5 -- one or more elements in words three through ten of one
or more subframes are bad

ALL UPLOADED DATA BAD -- one or more elements in words three
through ten of any one (or more) subframes are bad


ALL DATA BAD -- TLM word and/or HOW and one or more elements in any
one (or more) subframes are bad


UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
111

UNCLASSIFIED

Table 20-VIII. Codes for Health of SV Signal Components
MSB LSB Definition
0 0 0 0 0
0 0 0 0 1
0 0 0 1 0
0 0 0 1 1
0 0 1 0 0
0 0 1 0 1
0 0 1 1 0
0 0 1 1 1
0 1 0 0 0
0 1 0 0 1
0 1 0 1 0
0 1 0 1 1
0 1 1 0 0
0 1 1 0 1
0 1 1 1 0
0 1 1 1 1
1 0 0 0 0
1 0 0 0 1
1 0 0 1 0
1 0 0 1 1
1 0 1 0 0
1 0 1 0 1
1 0 1 1 0
1 0 1 1 1
1 1 0 0 0
1 1 0 0 1
1 1 0 1 0
1 1 0 1 1
1 1 1 0 0
1 1 1 0 1
1 1 1 1 0
1 1 1 1 1
All Signals OK
All Signals Weak*
All Signals Dead
All Signals Have No Data Modulation
L1 P Signal Weak
L1 P Signal Dead
L1 P Signal Has No Data Modulation
L2 P Signal Weak
L2 P Signal Dead
L2 P Signal Has No Data Modulation
L1 C Signal Weak
L1 C Signal Dead
L1 C Signal Has No Data Modulation
L2 C Signal Weak
L2 C Signal Dead
L2 C Signal Has No Data Modulation
L1 & L2 P Signal Weak
L1 & L2 P Signal Dead
L1 & L2 P Signal Has No Data Modulation
L1 & L2 C Signal Weak
L1 & L2 C Signal Dead
L1 & L2 C Signal Has No Data Modulation
L1 Signal Weak*
L1 Signal Dead
L1 Signal Has No Data Modulation
L2 Signal Weak*
L2 Signal Dead
L2 Signal Has No Data Modulation
SV Is Temporarily Out (Do not use this SV during current pass)**
SV Will Be Temporarily Out (Use with caution)**
Spare
More Than One Combination Would Be Required To Describe Anomalies (Not including those
marked with “**”)
* 3 to 6 dB below specified power level due to reduced power output, excess phase noise, SV attitude, etc.
** See definition above for Health Code 11111.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
112

UNCLASSIFIED
Additional SV health data are given in subframe 1. The data given in subframes 1, 4, and 5 of the other SVs may
differ from that shown in subframes 4 and/or 5 since the latter may be updated at a different time.

The eight-bit health status words shall occupy bits 17 through 24 of word five in those 32 pages which contain
almanac data for individual SVs. The six-bit health status words shall occupy the 24 MSBs of words four through
nine in page 25 of subframe 5 plus bits 19 through 24 of word 8, the 24 MSBs of word 9, and the 18 MSBs of word
10 in page 25 of subframe 4.

The predicted health data will be updated at the time of upload when a new almanac has been built by the CS. The
transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the
constellation.

20.3.3.5.1.4 (Reserved).

20.3.3.5.1.5 (Reserved).

20.3.3.5.1.6 Anti-Spoof (A-S) Flags and SV Configurations. Page 25 of subframe 4 shall contain a four-bit-long
term for each of up to 32 SVs to indicate the A-S status and the configuration code of each SV. The MSB of each
four-bit term shall be the A-S flag with a "1" indicating that A-S is ON. The three LSBs shall indicate the
configuration of each SV using the following code:

Code SV Configuration
001 “Block II/IIA/IIR” SV (A-S capability, plus flags for A-S and "alert" in HOW; memory
capacity as described in paragraph 20.3.2).
010 “Block IIR-M” SV
011 “Block IIF” SV
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
113

UNCLASSIFIED
Additional codes will be assigned in the future, should the need arise.

These four-bit terms shall occupy bits 9 through 24 of word three, the 24 MSBs of words four through seven, and
the 16 MSBs of word eight, all in page 25 of subframe 4.

Since the anti-spoof information is updated by the CS at the time of upload, the anti-spoof data may not correspond
to the actual anti-spoof status of the transmitting SV or other SVs in the constellation.

20.3.3.5.1.7 Almanac Reference Week. Bits 17 through 24 of word three in page 25 of subframe 5 shall indicate
the number of the week (WN
a
) to which the almanac reference time (t
oa
) is referenced (see paragraphs 20.3.3.5.1.2
and 20.3.3.5.2.2). The WN
a
term consists of eight bits which shall be a Modulo 256 binary representation of the
GPS week number (see paragraph 6.2.4) to which the t
oa
is referenced. Bits 9 through 16 of word three in page 25 of
subframe 5 shall contain the value of t
oa
which is referenced to this WN
a
.

20.3.3.5.1.8 Universal Coordinated Time (UTC) Parameters. The 24 MSBs of words six through nine plus the
eight MSBs of word ten in page 18 of subframe 4 shall contain the parameters related to correlating UTC time with
GPS time. The bit length, scale factors, ranges, and units of these parameters are given in Table 20-IX. The
related algorithms are described in paragraph 20.3.3.5.2.4.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
114

UNCLASSIFIED
The UTC parameters shall be updated by the CS at least once every six days while the CS is able to upload the
SVs. If the CS is unable to upload the SVs, the accuracy of the UTC parameters transmitted by the SVs will
degrade over time.

20.3.3.5.1.9 Ionospheric Data. The ionospheric parameters which allow the "L1 only" or "L2 only" user to utilize
the ionospheric model (reference paragraph 20.3.3.5.2.5) for computation of the ionospheric delay are contained in
page 18 of subframe 4. They occupy bits 9 through 24 of word three plus the 24 MSBs of words four and five. The
bit lengths, scale factors, ranges, and units of these parameters are given in Table 20-X.

The ionospheric data shall be updated by the CS at least once every six days while the CS is able to upload the
SVs. If the CS is unable to upload the SVs, the ionospheric data transmitted by the SVs may not be accurate.
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
115

UNCLASSIFIED

Table 20-IX. UTC Parameters


Parameter

No. of
Bits**
Scale
Factor
(LSB)

Effective
Range***


Units
A
0


A
1


∆ t
LS


t
ot


WN
t


WN
LSF


DN

∆ t
LSF


32*

24*

8*

8

8

8

8****

8*

2
-30


2
-50


1

2
12


1

1

1

1







602,112





7

Seconds

sec/sec

seconds

seconds

weeks

weeks

days

seconds
* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with
indicated bit allocation and scale factor;

**** Right justified.


UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
116

UNCLASSIFIED


Table 20-X. Ionospheric Parameters


Parameter

No. of
Bits**
Scale
Factor
(LSB)

Effective
Range***


Units
α
0


α
1


α
2


α
3


β
0


β
1


β
2


β
3


8*

8*

8*

8*

8*

8*

8*

8*

2
-30


2
-27


2
-24


2
-24


2
11


2
14


2
16


2
16


Seconds

sec/semi-circle

sec/(semi-circle)
2


sec/(semi-circle)
3


seconds

sec/semi-circle

sec/(semi-circle)
2


sec/(semi-circle)
3


* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with
indicated bit allocation and scale factor.



UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
117

UNCLASSIFIED
20.3.3.5.1.10 Special Messages. Page 17 of subframe 4 shall be reserved for special messages with the specific
contents at the discretion of the Operating Command. It shall accommodate the transmission of 22 eight-bit ASCII
characters. The requisite 176 bits shall occupy bits 9 through 24 of word three, the 24 MSBs of words four through
nine, plus the 16 MSBs of word ten. The eight MSBs of word three shall contain the data ID and SV ID, while bits
17 through 22 of word ten shall be reserved for system use. The remaining 50 bits of words three through ten are
used for parity (six bits/word) and parity computation (two bits in word ten). The eight-bit ASCII characters shall
be limited to the following set:

Alphanumeric Character ASCII Character Code (Octal)
A - Z A - Z 101 - 132
0 - 9 0 - 9 060 - 071
+ + 053
- - 055
. (Decimal point) . 056
' (Minute mark) ' 047
° (Degree sign) ° 370
/ / 057
Blank Space 040
: : 072
" (Second mark) " 042
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
118

UNCLASSIFIED
20.3.3.5.1.11 (Deleted)

20.3.3.5.1.12 NMCT. Page 13 of subframe 4 shall contain the NMCT data appropriate to the transmitting SV.
Each NMCT contains a two-bit availability indicator (AI) followed by 30 slots which may contain up to 30 valid
six-bit ERD values. The layout of these 31 data items is as shown in Figure 20-1.

The two-bit AI in bits 9 and 10 of word three of page 13 of subframe 4 provide the user with the following
information.

AI Navigation Message Correction Table Availability

00 The correction table is unencrypted and is available to both authorized and unauthorized users.

01 The correction table is encrypted and is available only to authorized users (normal mode).

10 No correction table available for either authorized or unauthorized users.

11 Reserved.

Each one of the 30 six-bit ERD slots in bits 11 through 24 of word three, bits 1 through 24 of words four through
nine, and bits 1 through 22 of word ten of page 13 of subframe 4 will correspond to an ERD value for a particular
SV ID. There are 31 possible SV IDs that these ERD slots may correspond to, ranging from SV ID 1 to SV ID 31.
SV ID 32 is not a valid SV ID for any of the slots in an NMCT. The correspondence between the 30 ERD slots
and the 31 possible SV IDs depends on the SV ID of the particular transmitting SV in accordance with the
following two rules: 1) the CS shall ensure via upload that no SV shall transmit an NMCT containing an ERD
value which applies to its own SV ID, and 2) the CS shall ensure via upload that all ERD values shall be
transmitted in ascending numerical slot order of the corresponding SV ID. To illustrate: the SV operating as SV
ID 1 will transmit (in order) ERD values which correspond to SV ID 2 through SV ID 31 in ERD slots 1 through
30 respectively, while the SV operating as SV ID 31 will transmit ERD values which correspond to SV ID 1
through SV ID 30 in ERD slots 1 through 30 respectively.
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IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
118a

UNCLASSIFIED
Each ERD value contained in an NMCT ERD slot shall be represented as a six-bit two’s complement field with the
sign bit occupying the MSB and an LSB of 0.3 meters for an effective range of ±9.3 m. A binary value of
“100000” shall indicate that no valid ERD for the corresponding SV ID is present in that slot.

20.3.3.5.1.13 Calendar Year Counter. For Block IIF SVs, bits 7 through 22 of word ten in page 25 of subframe 5
shall indicate the calendar year (reference paragraph 6.2.5). The CS shall ensure that this counter shall increment at
the start of the GPS day (reference paragraph 6.2.6) corresponding to calendar January 1
st
.

Note that for other blocks of SVs, bits 7 through 22 of word ten in pages 25 of subframe 5 do not provide calendar
year counter. For these other blocks of SVs, the 16 bits nominally provide alternating ones and zeros.

20.3.3.5.2 Algorithms Related to Subframe 4 and 5 Data. The following algorithms shall apply when interpreting
Almanac, Universal Coordinated Time, Ionospheric Model, and NMCT data in the NAV message.

20.3.3.5.2.1 Almanac. The almanac is a subset of the clock and ephemeris data, with reduced precision. The user
algorithm is essentially the same as the user algorithm used for computing the precise ephemeris from the one
subframe 1, 2, and 3 parameters (see Table 20-IV). The almanac content for one SV is given in Table 20-VI. A
close inspection of Table 20-VI will reveal that a nominal inclination angle of 0.30 semicircles is implicit and that
the parameter δ
i
(correction to inclination) is transmitted, as opposed to the value computed by the user. All other
parameters appearing in the equations of Tables 20-IV, but not included in the content of the almanac, are set to
zero for SV position determination. In these respects, the application of the Table 20-IV equations differs between
the almanac and the ephemeris computations.
UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
118b

UNCLASSIFIED














(This page intentionally left blank.)

UNCLASSIFIED
IRN-200C-002
ICD-GPS-200C
25 SEP 1997
119

UNCLASSIFIED

Table 20-XI. (Deleted)

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
120

UNCLASSIFIED
The user is cautioned that the sensitivity to small perturbations in the parameters is even greater for the almanac
than for the ephemeris, with the sensitivity of the angular rate terms over the interval of applicability on the order
of 10
14
meters/(semicircle/second). An indication of the URE provided by a given almanac during each of the
operational intervals is as follows:

Almanac Ephemeris URE
(estimated by analysis)
Operational Interval 1 sigma (meters)

Normal 900*
,†

Short-term Extended 900 - 3,600*
Long-term Extended 3600 - 300,000*




* URE values generally tend to degrade quadratically over time. Larger errors may be encountered
during eclipse seasons and whenever a propulsive event has occurred.



After the CS is unable to upload the SVs, URE values for the SVs operating in the Autonav mode
tend to degrade quadratically such that the URE will approach 300,000 meters 1 sigma at 180
days.
UNCLASSIFIED
IRN-200C-001
ICD-GPS-200C
13 OCT 1995
121

UNCLASSIFIED
20.3.3.5.2.2 Almanac Reference Time.

Normal and Short-term Extended Operations. The almanac reference time, t
oa
, is some multiple of 2
12
seconds
occurring approximately 70 hours after the first valid transmission time for this almanac data set (reference
20.3.4.5). The almanac is updated often enough to ensure that GPS time, t, shall differ from t
oa
by less than 3.5
days during the transmission period. The time from epoch t
k
shall be computed as described in Table 20-IV,
except that t
oe
shall be replaced with t
oa
.

Long-term Extended Operations. During long-term extended operations or if the user wishes to extend the use
time of the almanac beyond the time span that it is being transmitted, one must account for crossovers into time
spans where these computations of t
k
are not valid. This may be accomplished without time ambiguity by
recognizing that the almanac reference time (t
oa
) is referenced to the almanac reference week (WN
a
), both of which
are given in word three of page 25 of subframe 5 (see paragraph 20.3.3.5.1.7).

All t
oa
values in subframes 4 and 5 shall be the same for a given almanac data set and shall differ for successive
data sets which contain changes in almanac parameters or SV health. Note that cutover to a new upload may occur
between the almanac pages of interest and page 25 of subframe 5 (reference paragraph 20.3.4.1), and thus there
may be a temporary inconsistency between t
oa
, in the almanac page of interest, and in word 3 of page 25 of
subframe 5. The t
oa
mismatch signifies that this WN
a
may not apply to the almanac of interest and that the user
must not apply almanac data until the pages with identical values of t
oa
are obtained.

20.3.3.5.2.3 Almanac Time Parameters. The almanac time parameters shall consist of an 11-bit constant term (a
f0
)
and an 11-bit first order term (a
f1
). The applicable first order polynomial, which shall provide time to within 2
microseconds of GPS time (t) during the interval of applicability, is given by
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
122

UNCLASSIFIED
t = t
sv
- ∆t
sv

where
t = GPS system time (seconds),
t
sv
= effective SV PRN code phase time at message transmission time
(seconds),
∆t
sv
= SV PRN code phase time offset (seconds).

The SV PRN code phase offset is given by

∆t
sv
= a
f0
+ a
f1
t
k


where the computation of t
k
is described in paragraph 20.3.3.5.2.2, and the polynomial coefficients a
f0
and a
f1
are
given in the almanac. Since the periodic relativistic effect is less than 25 meters, it need not be included in the
time scale used for almanac evaluation. Over the span of applicability, it is expected that the almanac time
parameters will provide a statistical URE component of less than 135 meters, one sigma. This is partially due to
the fact that the error caused by the truncation of a
f0
and a
f1
may be as large as 150 meters plus 50 meters/day
relative to the t
oa
reference time.

During extended operations (short-term and long-term) the almanac time parameter may not provide the specified
time accuracy or URE component.

20.3.3.5.2.4 Universal Coordinated Time (UTC). Page 18 of subframe 4 includes: (1) the parameters needed to
relate GPS time to UTC, and (2) notice to the user regarding the scheduled future or recent past (relative to NAV
message upload) value of the delta time due to leap seconds (∆t
LSF
), together with the week number (WN
LSF
) and
the day number (DN) at the end of which the leap second becomes effective. "Day one" is the first day relative to
the end/start of week and the WN
LSF
value consists of eight bits which shall be a Modulo 256 binary representation
of the GPS week number (see paragraph 6.2.4) to which the DN is referenced. The user must account for the
truncated nature of this parameter as well as truncation of WN, WN
t
, and WN
LSF
due to rollover of full week
number (see paragraph 3.3.4(b)). The CS shall manage these parameters such that the absolute value of the
difference between the untruncated WN and WN
LSF
values shall not exceed 127.
UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
123

UNCLASSIFIED
Depending upon the relationship of the effectivity date to the user's current GPS time, the following three different
UTC/GPS-time relationships exist:

a. Whenever the effectivity time indicated by the WN
LSF
and the DN values is not in the past (relative to
the user's present time), and the user's present time does not fall in the time span which starts at DN + 3/4 and
ends at DN + 5/4, the UTC/GPS-time relationship is given by

t
UTC
= (t
E
- ∆t
UTC
) [Modulo 86400 seconds]

where t
UTC
is in seconds and
∆t
UTC
= ∆t
LS
+ A
0
+ A
1
(t
E
- t
ot
+ 604800 (WN - WN
t
)), seconds;
t
E
= GPS time as estimated by the user on the basis of correcting t
SV
for factors
described in paragraph 20.3.3.3.3 as well as for ionospheric and selective
availability (SA) (dither) effects;
∆t
LS
= delta time due to leap seconds;
A
0
and A
1
= constant and first order terms of polynomial;
t
ot
= reference time for UTC data (reference 20.3.4.5);
WN = current week number (derived from subframe 1);
WN
t
= UTC reference week number.

The estimated GPS time (t
E
) shall be in seconds relative to end/start of week. During the normal and short-term
extended operations, the reference time for UTC data, t
ot
, is some multiple of 2
12
seconds occurring approximately
70 hours after the first valid transmission time for this UTC data set (reference 20.3.4.5). The reference time for
UTC data (t
ot
) shall be referenced to the start of that week whose number (WN
t
) is given in word eight of page 18 in
subframe 4. The WN
t
value consists of eight bits which shall be a Modulo 256 binary representation of the GPS
week number (see paragraph 6.2.4) to which the t
ot
is referenced. The user must account for the truncated nature of
this parameter as well as truncation of WN, WN
t
, and WN
LSF
due to rollover of full week number (see paragraph
3.3.4(b)). The CS shall manage these parameters such that the absolute value of the difference between the
untruncated WN and WN
t
values shall not exceed 127.
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10 OCT 1993
124

UNCLASSIFIED

b. Whenever the user's current time falls within the time span of DN + 3/4 to DN + 5/4, proper
accommodation of the leap second event with a possible week number transition is provided by the following
expression for UTC:

t
UTC
= W[Modulo (86400 + ∆t
LSF
- ∆t
LS
)], seconds;

where

W = (t
E
- ∆t
UTC
- 43200)[Modulo 86400] + 43200, seconds;

and the definition of ∆t
UTC
(as given in 20.3.3.5.2.4a above) applies throughout the transition period. Note that
when a leap second is added, unconventional time values of the form 23:59:60.xxx are encountered. Some user
equipment may be designed to approximate UTC by decrementing the running count of time within several
seconds after the event, thereby promptly returning to a proper time indication. Whenever a leap second event is
encountered, the user equipment must consistently implement carries or borrows into any year/week/day counts.

c. Whenever the effectivity time of the leap second event, as indicated by the WN
LSF
and DN values, is in
the "past" (relative to the user's current time), the relationship previously given for t
UTC
in 20.3.3.5.2.4a above is
valid except that the value of ∆t
LSF
is substituted for ∆t
LS
. The CS will coordinate the update of UTC parameters at
a future upload so as to maintain a proper continuity of the t
UTC
time scale.

UNCLASSIFIED
IRN-200C-005R1
ICD-GPS-200C
14 Jan 2003
125

UNCLASSIFIED
20.3.3.5.2.5 Ionospheric Model. The "two frequency" (L1 and L2) user shall correct the time received from the SV
for ionospheric effect by utilizing the time delay differential between L1 and L2 (reference paragraph 20.3.3.3.3.3).
The "one frequency" user, however, may use the model given in Figure 20-4 to make this correction. It is estimated
that the use of this model will provide at least a 50 percent reduction in the single - frequency user's RMS error due
to ionospheric propagation effects. During extended operations, or for the SVs in the Autonav mode if the CS is
unable to upload the SVs, the use of this model will yield unpredictable results.

20.3.3.5.2.6 NMCT Data. For each SV, the ERD value in the NMCT is an estimated pseudorange error. Each ERD
value is computed by the CS and represents the radial component of the satellite ephemeris error minus the speed of
light times the satellite clock error. The satellite ephemeris and clock errors are computed by subtracting the
broadcast from current estimates. Therefore, the ERD value may be used as follows to correct the user's measured
pseudorange:

PR
c
= PR – ERD
where,
PR
c
= pseudorange corrected with the ERD value from the NMCT
PR = measured pseudorange

Note that as described above, the ERD values are actually error estimates rather than differential corrections and so
are subtracted rather than added in the above equation.

UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
126

UNCLASSIFIED
The ionospheric correction model is given by


( )
¦
¦
)
¦
¦
`
¹
¦
¦
¹
¦
¦
´
¦
≥ ∗ ∗
<
(
(
¸
(

¸

|
|
.
|

\
|
+ − + ∗ ∗
=


57 . 1 x , 10 0 . 5 F
57 . 1 x ,
24
x
2
x
1 ) AMP ( 10 0 . 5 F
T
9
4 2
9
iono
(sec)


where
T
iono
is referred to the L1 frequency; if the user is operating on the L2 frequency, the correction term must
be multiplied by γ (reference paragraph 20.3.3.3.3.2),


¦
)
¦
`
¹
¦
¹
¦
´
¦
= <
≥ φ α
=

=
0 AMP , 0 AMP if
0 AMP ,
AMP
3
0 n
n
m n
(sec)


( )

PER
50400 - t 2
x
π
= (radians)


¦
)
¦
`
¹
¦
¹
¦
´
¦
= <
≥ φ β
=

=
72,000 PER , 000 , 72 PER if
000 , 72 PER ,
PER
3
0 n
n
m n
(sec)

F = 1.0 + 16.0 [0.53 - E]
3


and α
n
and β
n
are the satellite transmitted data words with n = 0, 1, 2, and 3.



Figure 20-4. Ionospheric Model (Sheet 1 of 3)
UNCLASSIFIED

ICD-GPS-200C
10 OCT 1993
127

UNCLASSIFIED

Other equations that must be solved are


φ
m
= φ
i
+ 0.064cos(λ
i
- 1.617) (semi-circles)



φ
ψ
+
λ
=
λ
i
u i
cos
sinA
(semi-circles)



¦
)
¦
`
¹
¦
¹
¦
´
¦
− = φ − < φ
+ = φ + > φ
≤ φ − ψ + φ
= φ
0.416 then , 416 . 0 if
0.416 then , 416 . 0 if
0.416 circles), cosA(semi
i i
i i
i u
i
(semi-circles)


0.022 -
0.11 E
0137 . 0

+
= ψ (semi-circles)


t = 4.32 * 10
4
λ
i
+ GPS time (sec)



where
0 ≤ t < 86400: therefore, if t ≥ 86400 seconds, subtract 86400 seconds;
if t < 0 seconds, add 86400 seconds.





Figure 20-4. Ionospheric Model (Sheet 2 of 3)
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ICD-GPS-200C
10 OCT 1993
128

UNCLASSIFIED

The terms used in computation of ionospheric delay are as follows:
• Satellite Transmitted Terms
α
n
- the coefficients of a cubic equation representing the amplitude of the vertical
delay (4 coefficients - 8 bits each)
β
n
- the coefficients of a cubic equation representing the period of the model
(4 coefficients - 8 bits each)

• Receiver Generated Terms
E - elevation angle between the user and satellite (semi-circles)
A - azimuth angle between the user and satellite, measured clockwise positive from
the true North (semi-circles)
φ
u
- user geodetic latitude (semi-circles) WGS-84
λ
u
- user geodetic longitude (semi-circles) WGS-84
GPS time - receiver computed system time

• Computed Terms
X - phase (radians)
F - obliquity factor (dimensionless)
t - local time (sec)
φ
m
- geomagnetic latitude of the earth projection of the ionospheric intersection
point (mean ionospheric height assumed 350 km) (semi-circles)
λ
i
- geodetic longitude of the earth projection of the ionospheric intersection point
(semi-circles)
φ
i
- geodetic latitude of the earth projection of the ionospheric intersection point
(semi-circles)
ψ - earth's central angle between the user position and the earth projection of
ionospheric intersection point (semi-circles)

Figure 20-4. Ionospheric Model (Sheet 3 of 3)
UNCLASSIFIED
IRN-200C-001
ICD-GPS-200C
13 OCT 1995
129

UNCLASSIFIED
20.3.4 Timing Relationships. The following conventions shall apply.

20.3.4.1 Paging and Cutovers. At end/start of week (a) the cyclic paging of subframes 1 through 5 shall restart
with subframe 1 regardless of which subframe was last transmitted prior to end/start of week, and (b) the cycling of
the 25 pages of subframes 4 and 5 shall restart with page 1 of each of the subframes, regardless of which page was
the last to be transmitted prior to the end/start of week. Cutovers to newly updated data for subframes 1, 2, and 3
occur on frame boundaries (i.e., Modulo 30 seconds relative to end/start of week). Newly updated data for
subframes 4 and 5 may start to be transmitted with any of the 25 pages of these subframes.

20.3.4.2 SV Time vs. GPS Time. In controlling the SVs and uploading of data, the CS shall allow for the
following timing relationships:

a. Each SV operates on its own SV time;
b. All time-related data in the TLM word and the HOW shall be in SV-time;
c. All other data in the NAV message shall be relative to GPS time;
d. The acts of transmitting the NAV message shall be executed by the SV on SV time.

20.3.4.3 Speed of Light. The speed of light used by the CS for generating the data described in the above
paragraphs is

c = 2.99792458 x 10
8
meters per second

which is the official WGS-84 speed of light. The user shall use the same value for the speed of light in all
computations.

UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
130

UNCLASSIFIED
20.3.4.4 Data Sets. The IODE is an 8 bit number equal to the 8 LSBs of the 10 bit IODC of the same data set. The
following rules govern the transmission of IODC and IODE values in different data sets: (1) The transmitted
IODC will be different from any value transmitted by the SV during the preceding seven days; (2) The transmitted
IODE will be different from any value transmitted by the SV during the preceding six hours. The range of IODC
will be as given in Table 20-XII.

Cutovers to new data sets will occur only on hour boundaries except for the first data set of a new upload. The first
data set may be cut-in (reference paragraph 20.3.4.1) at any time during the hour and therefore may be transmitted
by the SV for less than one hour. During short-term operations, cutover to 4-hour sets and subsequent cutovers to
succeeding 4-hour data sets will always occur Modulo 4 hours relative to end/start of week. Cutover from 4-hour
data sets to 6-hour data sets shall occur Modulo 12 hours relative to end/start of week. Cutover from 12-hour data
sets to 24-hour data sets shall occur Modulo 24 hours relative to end/start of week. Cutover from a data set
transmitted 24 hours or more occurs on a Modulo 24-hour boundary relative to end/start of week.

The start of the transmission interval for each data set corresponds to the beginning of the curve fit interval for the
data set. Each data set remains valid for the duration of its curve fit interval.
UNCLASSIFIED
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14 Jan 2003
131

UNCLASSIFIED



Table 20-XII. IODC Values and Data Set Lengths
Days
Spanned
Transmission Interval
(hours)
(Note 5)
Curve Fit
Interval
(hours)
IODC Range
(Note 1)
1 2 (Note 4) 4 (Note 2)
2-14
15-16
17-20
21-27
28-41
42-59
60-87
88-122
123-182
4
6
12
24
48
72
96
120
144
6
8
14
26
50
74
98
122
146
(Note 2)
240-247
248-255, 496 (Note 3)
497-503
504-510
511, 752-756
757-763
764-767, 1008-1010
1011-1020
Note 1: For transmission intervals of 6 hours or greater, the IODC values shown will be transmitted in
increasing order.

Note 2: IODC values for blocks with 1-, 2- or 4-hour transmission intervals (at least the first 14 days after
upload) shall be any numbers in the range 0 to 1023 excluding those values of IODC that
correspond to IODE values in the range 240-255, subject to the constraints on re-transmission
given in paragraph 20.3.4.4.

Note 3: The ninth 12-hour data set may not be transmitted.

Note 4: Some SVs will have transmission intervals of 1 hour per paragraph 20.3.4.4.

Note 5: The first data set of a new upload may be cut-in at any time and therefore the transmission interval
may be less than the specified value.

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14 Jan 2003
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Normal Operations. The subframe 1, 2, and 3 data sets are transmitted by the SV for periods of two hours. The
corresponding curve fit interval is four hours. SVs operating in the Autonav mode will deviate. They will transmit
subframe 1, 2, and 3 data sets for periods of one hour. The corresponding curve-fit interval will be four hours.

Short-term and Long-term Extended Operations. The transmission intervals and curve fit intervals with the
applicable IODC ranges are given in Table 20-XII.

20.3.4.5 Reference Times. Many of the parameters which describe the SV state vary with true time, and must
therefore be expressed as time functions with coefficients provided by the Navigation Message to be evaluated by
the user equipment. These include the following parameters as functions of GPS time:

a. SV time,
b. Mean anomaly,
c. Longitude of ascending node,
d. UTC,
e. Inclination.

Each of these parameters is formulated as a polynomial in time. The specific time scale of expansion can be
arbitrary. Due to the short data field lengths available in the Navigation Message format, the nominal epoch of the
polynomial is chosen near the midpoint of the expansion range so that quantization error is small. This results in
time epoch values which can be different for each data set. Time epochs contained in the Navigation Message and
the different algorithms which utilize them are related as follows:
UNCLASSIFIED
IRN-200C-004
ICD-GPS-200C
12 April 2000
133

UNCLASSIFIED
Epoch Application Algorithm Reference
t
oc
20.3.3.3.3.1
t
oe
20.3.3.4.3
t
oa
20.3.3.5.2.2 and 20.3.3.5.2.3
t
ot
20.3.3.5.2.4

Table 20-XIII describes the nominal selection which will be expressed Modulo 604,800 seconds in the Navigation
Message.

The coefficients of expansion are obviously dependent upon choice of epoch, and thus the epoch time and
expansion coefficients must be treated as an inseparable parameter set. Note that a user applying current
navigation data will normally be working with negative values of (t-t
oc
) and (t-t
oe
) in evaluating the expansions.

The CS will introduce small deviations from the nominal if necessary to preclude possible data set transition
ambiguity when a new upload is cut over for transmission. A change from the reference time is used to indicate a
change of values in the data set.
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12 April 2000
134

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Table 20-XIII. Reference Times
Hours After First Valid Transmission Time
Fit Interval (hours) Transmission
Interval (hours)
t
oc

(clock)
t
oe

(ephemeris)
t
oa

(almanac)
t
ot

(UTC)
4 2* 2 2
6 4 3 3
8 6 4 4
14 12 7 7
26 24 13 13
50 48 25 25
74 72 37 37
98 96 49 49
122 120 61 61
146 144 73 73
144 (6 days) 144 70 70
144 (6 days) 4080 70 70

* Some SVs will have transmission intervals of 1 hour per paragraph 20.3.4.4.
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20.3.5 Data Frame Parity. The data signal shall contain parity coding according to the following conventions.

20.3.5.1 SV/CS Parity Algorithm. This algorithm links 30-bit words within and across subframes of ten words
using the (32.26) Hamming Code described in Table 20-XIV.

20.3.5.2 User Parity Algorithm. As far as the user is concerned, several options are available for performing data
decoding and error detection. Figure 20-5 presents an example flow chart that defines one way of recovering data
(d
n
) and checking parity. The parity bit D
30
*
is used for recovering raw data. The parity bits D
29
*
and D
30
*
, along
with the recovered raw data (d
n
) are Modulo-2 added in accordance with the equations appearing in Table 20-XIV
for D
25
. . . D
30
, which provide parity to compare with transmitted parity D
25
. . . D
30
.
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Table 20-XIV. Parity Encoding Equations

D
1
= d
1
⊕ D
30


D
2
= d
2
⊕ D
30


D
3
= d
3
⊕ D
30


• •
• •
• •
• •
D
24
= d
24
⊕ D
30


D
25
= D
29

⊕ d
1
⊕ d
2
⊕ d
3
⊕ d
5
⊕ d
6
⊕ d
10
⊕ d
11
⊕ d
12
⊕ d
13
⊕ d
14
⊕ d
17
⊕ d
18
⊕ d
20
⊕ d
23

D
26
= D
30

⊕ d
2
⊕ d
3
⊕ d
4
⊕ d
6
⊕ d
7
⊕ d
11
⊕ d
12
⊕ d
13
⊕ d
14
⊕ d
15
⊕ d
18
⊕ d
19
⊕ d
21
⊕ d
24

D
27
= D
29

⊕ d
1
⊕ d
3
⊕ d
4
⊕ d
5
⊕ d
7
⊕ d
8
⊕ d
12
⊕ d
13
⊕ d
14
⊕ d
15
⊕ d
16
⊕ d
19
⊕ d
20
⊕ d
22

D
28
= D
30

⊕ d
2
⊕ d
4
⊕ d
5
⊕ d
6
⊕ d
8
⊕ d
9
⊕ d
13
⊕ d
14
⊕ d
15
⊕ d
16
⊕ d
17
⊕ d
20
⊕ d
21
⊕ d
23

D
29
= D
30

⊕ d
1
⊕ d
3
⊕ d
5
⊕ d
6
⊕ d
7
⊕ d
9
⊕ d
10
⊕ d
14
⊕ d
15
⊕ d
16
⊕ d
17
⊕ d
18
⊕ d
21
⊕ d
22
⊕ d
24

D
30
= D
29

⊕ d
3
⊕ d
5
⊕ d
6
⊕ d
8
⊕ d
9
⊕ d
10
⊕ d
11
⊕ d
13
⊕ d
15
⊕ d
19
⊕ d
22
⊕ d
23
⊕ d
24


Where
d
1
, d
2
, ..., d
24
are the source data bits;

the symbol  is used to identify the last 2 bits of the previous word of the subframe;

D
25
, D
26
, ..., D
30
are the computed parity bits;

D
1
, D
2
, ..., D
29
, D
30
are the bits transmitted by the SV;

⊕ is the "Modulo-2" or "Exclusive-Or" operation.

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ENTER
IS D
30
= 1?
*
COMPLEMENT
D
1
. . . D
24
TO OBTAIN
d
1
. . . d
24
DO NOT
COMPLEMENT
D
1
. . . D
24
TO OBTAIN
d
1
. . . d
24
SUBSTITUTE d
1
. . . d
24
,
D
29
& D
30
INTO
PARITY EQUATIONS
(TABLE 20-XIV)
* *
ARE COMPUTED
D
25
. . . D
30
EQUAL TO CORRESPONDING
RECEIVED
D
25
. . . D
30
?
PARITY CHECK
FAILS
PARITY CHECK
PASSES
FAIL
EXIT
PASS
EXIT
YES NO
YES NO

Figure 20-5. Example Flow Chart for User Implementation of Parity Algorithm
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30. APPENDIX III. GPS NAVIGATION DATA STRUCTURE FOR L2 CNAV DATA, D
C
(t)

30.1 Scope. This appendix describes the specific GPS L2 CNAV data structure denoted as D
C
(t).

30.2 Applicable Documents.

30.2.1 Government Documents. In addition to the documents listed in paragraph 2.1, the following documents of
the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix
to the extent specified herein.

Specifications
None
Standards
None
Other Publications
None

30.2.2 Non-Government Documents. In addition to the documents listed in paragraph 2.2, the following
documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of
this Appendix to the extent specified herein.

Specifications
None
Other Publications
None

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30.3 Requirements

30.3.1 Data Characteristics. The L2 CNAV data stream includes the same data as the L1 and L2 C/A data stream,
but in an entirely different format. Also, the L2 CNAV data stream uses a different parity algorithm.

30.3.2 Message Structure. As shown in Figures 30-1 through 30-6, the L2 CNAV message structure utilizes a
basic format of twelve-second 300-bit long messages. Each message contains a Cyclic Redundancy Check (CRC)
parity block consisting of 24 bits covering the entire twelve-second message (300 bits) (reference Section 30.3.5).
At present, only message types 1-6 are defined. Message types 7 through 63 are reserved and message type 0 is the
default message. To protect users from message generation failures, the SV shall replace the content of each
affected message type with the default message type. In the event that a particular message is not assigned (by the
CS) a particular message type for broadcast, the SV shall generate and broadcast the default message type in that
message slot.

In addition, Message Types 7 through 9 are presently undefined but are reserved to be used in future broadcast of
new clock and ephemeris parameters. The new parameters will be different than the parameters of Message Type 1
and 2, and as such, the related algorithms will also be different than the current equations of Table 20-IV. The
initial broadcast of Message Type 1 and 2 will be for test purposes and, as such, will stop and be replaced by
Message Type 7 through 9 as soon as the latter message types are fully defined and implemented.

30.3.3 Message Content. Each message starts with an 8-bit preamble – 10001011, followed by a 6-bit PRN number
of the transmitting SV, a 6-bit message type ID with a range of 0 (000000) to 63 (111111), and the 17-bit message
time of week (TOW) count. When the value of the message TOW count is multiplied by 6, it represents SV time in
seconds at the start of the next 12-second message. An “alert” flag, when raised (bit 38 = “1”), indicates to the user
that the SV URA may be worse than indicated in Message Type 1, and the SV should be used at the user’s own risk.
For each default message (Message Type 0), bits 39 through 276 shall be alternating ones and zeros and the message
shall contain a proper CRC parity block.
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8 BITS
MESSAGE TYPE ID

6
BITS
PREAMBLE
PRN MESSAGE
TOW COUNT*
17 BITS
"ALERT" FLAG - 1 BIT
WN
10 BITS
9 21 15 39 52
L5 HEALTH - 1 BIT
56
URA INDEX - 4 BITS
IDOT
14 BITS
60
C
16 BITS
74
C
us
16 BITS
C
uc
16 BITS
90
106 122
C
rc
5
LSBs
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
C
is
16 BITS
138
C
ic
16 BITS
154
24 BITS
170
1
7 MSBs
194
t
oc
IODC
10 BITS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
a
f0
22 BITS
220
a
f1
16 BITS
242
a
f2
8 BITS
258
CRC
24 BITS
277
38 55
ANTI-SPOOF FLAG - 1 BIT
* MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE
C
rs
11 MSBs
RESERVED
11 BITS
266 210
L2 HEALTH - 1 BIT
L1 HEALTH - 1 BIT
42
WNe - 3 BITS
101
rc

&
9 LSBs
201
t
oc
6
BITS









Figure 30-1. Message Type 1 Format
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8 BITS
MESSAGE TYPE ID
6
BITS
PREAMBLE
MESSAGE
TOW COUNT*
17 BITS
"ALERT" FLAG - 1 BIT
32 BITS
9 15 21
∆ n

16 BITS
71 87
151
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
1
183
247
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
t
oe
16 BITS
IODC
10 BITS
201 263
CRC
24 BITS
ω
32 BITS
274
38
273
FIT INTERVAL FLAG - 1 BIT
A
RESERVED - 3 BITS
277
* MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE
39
6
BITS
PRN
M
0

14 MSBs
M
0

18 LSBs
101 119
e
32 BITS
i
0
32 BITS

0
18 MSBs

0
14 LSBs
215









Figure 30-2. Message Type 2 Format
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8 BITS
MESSAGE TYPE ID

6
BITS
PREAMBLE
PRN
6
BITS
MESSAGE
TOW COUNT*
17 BITS
"ALERT" FLAG - 1 BIT
9 15 21
α
1
8 BITS
47 55
β
1
8 BITS
A
0
32 BITS
79
β
3
- 2 LSBs
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
A
1
24 BITS
135
∆t
LS
8 BITS
159
1
t
ot
8 BITS
167
WN
t
8 BITS
175
DN
8 BITS
191
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
207
CRC
24 BITS
RESERVED
4
BITS
277
WN
LSF
8 BITS
39
38
α
0
8 BITS
α
2
8 BITS
α
3
8 BITS
β
0
8 BITS
71 63 95
β
3
6
MSBs
103 183
8 BITS
* MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE
8 BITS
215 223
ISCL2C
8 BITS
231
ISCL1C/A
β
2
8 BITS
87
201
∆ t
LSF
6 LSBs
TGD
268
RESERVED FOR L5
37 BITS
273
L1/L2 HEALTH
∆ t
LSF
- 2 MSBs
5 BITS









Figure 30-3. Message Type 3 Format
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8 BITS
MESSAGE TYPE ID
6
BITS
PREAMBLE
PRN
6
BITS
MESSAGE
TOW COUNT*
17 BITS
"ALERT" FLAG - 1 BIT
9 21 15
PRN
a
6
BITS
45
8 BITS
53 61
M
0
24 BITS
e
16 BITS
101
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
δ
i
16 BITS
141
ω
24 BITS
157
1

0
20 MSBs
181
16 BITS
205
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
CRC
24 BITS
RESERVED
30 BITS
277 225 221
AS/SV CONFIG - 4 BITS
39
38
WNa
8 BITS
t
oa
8 BITS 24 BITS
77 69
L1/L2 SV HEALTH
A
125
Ω 0
4
LSBs
a
f0
11 BITS
a
f1
11 BITS
247 236

&
* MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE
RESERVED FOR L5
8 BITS
201









Figure 30-4. Message Type 4 Format
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8 BITS
MESSAGE TYPE ID
6
BITS
PREAMBLE
PRN
6
BITS
MESSAGE
TOW COUNT*
17 BITS
"ALERT" FLAG - 1 BIT
9 15 21
TEXT MESSAGE (29 8-BIT CHAR)
62 MSBs
TEXT MESSAGE (29 8-BIT CHAR)
BITS 63-162
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
1
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
CRC
24 BITS
277 271
TEXT PAGE - 4 BITS
39
38
TEXT MESSAGE (29 8-BIT CHAR)
70 LSBs
* MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE
RESERVED - 2 BITS
275









Figure 30-5. Message Type 5 Format
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8 BITS
MESSAGE TYPE ID
6
BITS
PREAMBLE
PRN
6
BITS
MESSAGE
TOW COUNT*
17 BITS
"ALERT" FLAG - 1 BIT
9 15 21
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
1
DIRECTION OF DATA FLOW FROM SV MSB FIRST
100 BITS 4 SECONDS
CRC
24 BITS
277
39
38
RESERVED - 5 BITS
* MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE
WNa
8
BITS
47
toa
8
BITS
PACKET 2
15 MSBs
PACKET 1
31 BITS
55 86
PACKET 3
31 BITS
117 148
PACKET 6
31 BITS
210 241
PACKET 2
16 LSBs
PACKET 4
31 BITS
PACKET 5
22 MSBs
PACKET 5
9 LSBs
PACKET 7
31 BITS
179
272
101
201









Figure 30-6. Message Type 6 Format
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30.3.3.1 Message Type 1 Clock, Health and Accuracy Parameters.

30.3.3.1.1 Message Type 1 Clock, Health and Accuracy Parameter Content. The clock parameters in Message Type
1 describe the SV time scale during the period of validity. The parameters in a data set shall be valid during the
interval of time in which they are transmitted and shall remain valid for an additional period of time after
transmission of the next data set has started.

30.3.3.1.1.1 Transmission Week Number. Bits 39 through 51 shall contain thirteen bits which are a Modulo 8192
binary representation of the current GPS week number at the start of the data set transmission interval (see
paragraph 6.2.4). These thirteen bits are comprised of 10 LSBs (WN) that represent the ten MSBs of the 29-bit Z-
count as qualified in paragraph 20.3.3.3.1.1, and 3 MSBs (WN
e
) which are three extra bits to extend the range of
transmission week number from 10 bits to 13 bits.

30.3.3.1.1.2 SV Accuracy. Bits 56 through 59 shall contain the URA index of the SV (reference paragraph 6.2.1)
for the unauthorized (non-Precise Positioning Service) user. The URA index (N) is an integer in the range of 0
through 15 and follows the same rules as defined in paragraph 20.3.3.3.1.3.

30.3.3.1.1.3 Signal Health (L1/L2/L5). The three, one-bit, health indication in bits 52 through 54 refers to the L1,
L2, and L5 signals of the transmitting SV. The health of each signal is indicated by,

0 = Signal OK,
1 = Signal bad or unavailable.

The health indication shall be given relative to the “as designed” capabilities of each SV. Accordingly, any SV that
does not have a certain capability will be indicated as “healthy” if the lack of this capability is inherent in its
design or if it has been configured into a mode that is normal from a user standpoint and does not require that
capability.

The predicted health data will be updated at the time of upload when a new data set has been built by the CS. The
transmitted health data may not correspond to the actual health of the transmitted SV.

Additional SV health data are given in Message Types 3, 4, and 6. The data given in Message Type 1 may differ
from that shown in other Message Types of the transmitting SV and/or on other SVs since the latter may be updated
at a different time.
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30.3.3.1.1.4 Issue of Data, Clock (IODC). Bits 210 through 219 shall contain the IODC. The IODC indicates the
issue number of the data set and thereby provides the user with a convenient means of detecting any change in the
correction parameters. Constraints on the IODC term are defined in paragraph 30.3.4.4.

30.3.3.1.1.4.1 Short-term and Long-term Extended Operations. Whenever the fit interval flag indicates a fit interval
greater than 4 hours, the IODC can be used to determine the actual fit interval of the data set (reference section
30.3.4.4).

30.3.3.1.1.5 SV Clock Correction. Message Type 1 contains the parameters needed by the users for apparent SV
clock correction (t
oc
, a
f2
, a
f1
, a
f0
). The related algorithm is given in paragraph 20.3.3.3.3.1.

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30.3.3.1.2 Message Type 1 Clock, Health and Accuracy Parameter Characteristics. For those parameters whose
characteristics are not fully defined in Section 30.3.3.1.1, the number of bits, the scale factor of the LSB (which is
the last bit received), the range, and the units shall be as specified in Table 30-I.

30.3.3.1.3 User Algorithms for Message Type 1 Clock Data. The algorithms defined in paragraph 20.3.3.3.3.1
allow all users to correct the code phase time received from the SV with respect to both SV code phase offset and
relativistic effects. However, since the SV clock corrections of equations in paragraph 20.3.3.3.3.1 are estimated by
the CS using dual frequency L1 and L2 P(Y) code measurements, the single-frequency L1 or L2 user and the dual
frequency L1 C/A - L2 C user must apply additional terms to the SV clock corrections equations. These terms are
described in paragraph 30.3.3.3.1.4.


Table 30-I. Message Type 1 Clock, Health and Accuracy Parameters


Parameter

No. of
Bits**
Scale
Factor
(LSB)

Effective
Range***


Units
Week No.

SV accuracy (URA)

Signal health (L1/L2/L5)

IODC

t
oc


a
f2


a
f1


a
f0


13

4

3

10

16

8*

16*

22*

1



1



2
4


2
-55


2
-43


2
-31










604,784






weeks

(see text)

(see text)

(see text)

seconds

sec/sec
2


sec/sec

seconds

* Parameters so indicated are two’s complement, with the sign bit (+ or -) occupying the MSB;
** See Figure 30-1 for complete bit allocation in Message Type 1;
*** Unless otherwise indicated in this column, effective range is the maximum range attainable with
indicated bit allocation and scale factor.
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30.3.3.2 Message Type 1 and 2 Ephemeris Parameters.

30.3.3.2.1 Message Type 1 and 2 Ephemeris Parameter Content. The contents of the ephemeris representation
parameters in Message Types 1 and 2 are defined below, followed by material pertinent to the use of the data.

The ephemeris parameters describe the orbit of the transmitting SV during the curve fit intervals described in section
30.3.4. Table 20-II gives the definition of the orbital parameters using terminology typical of Keplerian orbital
parameters; it is noted, however, that the transmitted parameter values are expressed such that they provide the best
trajectory fit in Earth-Centered, Earth-Fixed (ECEF) coordinates for each specific fit interval. The user shall not
interpret intermediate coordinate values as pertaining to any conventional coordinate system.

The issue of data, IODC, term provides the user with a convenient means for detecting any change in the clock and
ephemeris representation parameters. The IODC is transmitted in Message Type 1 and 2 for the purpose of
comparison of the IODC term between the two message types. Whenever the IODC value in the two message types
do not match, a data set cutover has occurred and new data must be collected. The timing and constraints on the
IODC are defined in paragraph 30.3.4.4.

Any change in the Message Type 1 and 2 data will be accomplished with a simultaneous change in the IODC word.
The CS will assure that the t
oc
/t
oe
value, for at least the first data set transmitted by an SV after an upload, is different
from that transmitted prior to the cutover.

A “fit interval” flag is provided in Message Type 2 to indicate whether the ephemerides are based on a four-hour fit
interval or a fit interval greater than four hours (reference paragraph 30.3.3.2.3.1).

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30.3.3.2.2 Message Type 1 and 2 Ephemeris Parameter Characteristics. For each ephemeris parameter contained in
Message Types 1 and 2, the number of bits, the scale factor of the LSB (which is the last bit received), the range,
and the units are as specified in Table 20-III. See Figures 30-1 and 30-2 for complete bit allocation in Message
Types 1 and 2.

30.3.3.2.3 User Algorithm for Ephemeris Determination. The user shall compute the ECEF coordinates of position
for the phase center of the SVs’ antennas utilizing a variation of the equations shown in Table 20-IV. The
ephemeris parameters are Keplerian in appearance; the values of these parameters, however, are produced by the CS
via a least squares curve fit of the predicted ephemeris of the phase center of the SVs’ antennas (time-position
quadruples; t, x, y, z expressed in ECEF coordinates). Particulars concerning the periods of the curve fit, the
resultant accuracy, and the applicable coordinate system are given in the following subparagraphs and
subparagraphs of 20.3.3.4.3.2, 20.3.3.4.3.3, and 20.3.3.4.3.4.

30.3.3.2.3.1 Curve Fit Intervals. Bit 273 of Message Type 2 is a “fit interval” flag which indicates the curve-fit
interval used by the CS in determining the ephemeris parameters, as follows:

0 = 4 hours,
1 = greater than 4 hours.

The relationship of the curve-fit interval to transmission time and the timing of the curve-fit intervals is covered in
section 30.3.4.

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30.3.3.3 Message Type 3 Parameters. The contents of Message Type 3 are defined below, followed by material
pertinent to the use of the data.

30.3.3.3.1 Message Type 3 Parameter Content. Message Type 3 contains UTC and ionospheric parameters and
other data.

30.3.3.3.1.1 Coordinated Universal Time (UTC) and GPS Time Parameters. Message Type 3 shall contain the
parameters related to correlating UTC(USNO) time with GPS Time. The bit length, scale factors, ranges, and units
of these parameters are given in Table 20-IX. The related algorithms are described in paragraph 30.3.3.3.2.1.

The parameters relating GPS time to UTC(USNO) shall be updated by the CS at least once every six days while
the CS is able to upload the SVs. If the CS is unable to upload the SVs, the accuracy of the UTC parameters
transmitted by the SVs will degrade over time.

30.3.3.3.1.2 Ionospheric Data. The ionospheric parameters which allow the “L1 only”, or “L2 only” user to utilize
the ionospheric model (reference paragraph 30.3.3.3.2.2) for computation of the ionospheric delay are contained in
Message Type 3. The bit lengths, scale factors, ranges, and units of these parameters are given in Table 20-X. See
Figure 30-3 for complete bit allocation in Message Type 3.

The ionospheric data shall be updated by the CS at least once every six days while the CS is able to upload the
SVs. If the CS is unable to upload the SVs, the ionospheric data transmitted by the SVs may not be accurate.

30.3.3.3.1.3 L1/L2 Health. The five-bit health indication in bits 268 through 272 refers to the L1 and L2 signals of
the transmitting SV. The data shall indicate the health of the L1 and L2 signal components in accordance with the
codes given in Table 20-VIII.

The predicted health data will be updated at the time of upload when a new data set has been built by the CS. The
transmitted health data may not correspond to the actual health of the transmitting SV.

Additional SV health data are given in Message Types 1, 4, and 6. The data given in Message Type 3 may differ
from that shown in other Message Types of the transmitting SV and/or on other SVs since the latter may be updated
at a different time.
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30.3.3.3.1.4 Estimated L1 – L2 Group Delay Differential. The group delay differential correction terms, T
GD
,
ISC
L1C/A
, ISC
L2C
, for the benefit of single frequency L1 P, L1 C/A, L2 P, L2 C users and dual frequency L1/L2 users
is contained in bits 207 through 230 of Message Type 3. The bit length, scale factors, ranges, and units of these
parameters are given in Table 30-II. See Figure 30-3 for complete bit allocation in Message Type 3. The bit string
of “10000000” shall indicate that the group delay value is not available. The related user algorithms are given in
paragraphs 30.3.3.3.2.3 and 30.3.3.3.2.4.


Table 30-II. Group Delay Differential Parameters ****

Parameter
No. of
Bits**
Scale Factor
(LSB)
Effective
Range***

Units
T
GD


ISC
L1C/A


ISC
L2C


8*

8*

8*

2
-31


2
-31

2
-31

seconds

seconds

seconds

* Parameters so indicated are two’s complement with the sign bit (+ or -) occupying the MSB;
** See Figure 30-3 for complete bit allocation in Message Type 3;
*** Effective range is the maximum range attainable with indicated bit allocation and scale factor;
**** The bit string of “10000000” shall indicate that the group delay value is not available.


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30.3.3.3.2 Algorithms Related to Message Type 3 Data. The following algorithms shall apply when interpreting
UTC, Ionospheric Model data, and Group Delay Differential data in the L2 CNAV message.

30.3.3.3.2.1 UTC and GPS Time. Message Type 3 includes: (1) the parameters needed to relate GPS Time to
UTC(USNO), and (2) notice to the user regarding the scheduled future or recent past (relative to NAV message
upload) value of the delta time due to leap seconds (∆t
LSF
), together with the week number (WN
LSF
) and the day
number (DN) at the end of which the leap second becomes effective. Information required to use these parameters
to calculate t
UTC
is in paragraph 20.3.3.5.2.4.

30.3.3.3.2.2 Ionospheric Model. The “two frequency” (L1 C/A and L2 C) user shall correct the time received from
the SV for ionospheric effect by utilizing the time delay differential between L1 and L2 (reference paragraph
30.3.3.3.2.4). The “one frequency” user, however, should use the model given in paragraph 20.3.3.5.2.5 to make
this correction.
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30.3.3.3.2.3 Inter-Signal Group Delay Differential Correction. The correction terms, ISC
L1C/A
and ISC
L2C
, are
initially provided by the CS to account for the effect of SV group delay differential between L1 P(Y) and L1 C/A
and between L1 P(Y) and L2 C, respectively based on measurements made by the SV contractor during SV
manufacture. The values of ISCs for each SV may be subsequently updated to reflect the actual on-orbit group
delay differential. For maximum accuracy, the single frequency L1 C/A user must use the correction terms to make
further modifications to the code phase offset given by:

(∆t
SV
)
L1C/A
= ∆t
SV
- T
GD
+ ISC
L1C/A


where T
GD
(see paragraph 20.3.3.3.3.2) and ISC
L1C/A
are provided to the user as Message Type 3 data, described in
paragraph 30.3.3.3.1.4. For the single frequency L2 C user, the code phase offset modification is given by:

(∆t
SV
)
L2C
= ∆t
SV
- T
GD
+ ISC
L2C


where, ISC
L2C
is provided to the user as Message Type 3 data.

The values of ISC
L1C/A
and ISC
L2C
are measured values that represent the mean SV group delay differential between
the L1 P(Y)-code and the L1 C/A- or L2 C-codes respectively as follows,

ISC
L1C/A
= t
L1P
- t
L1C/A

ISC
L2C
= t
L1P
- t
L2C
.

where, t
Lix
is the GPS time the i
th
frequency x signal is transmitted from the SV.
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30.3.3.3.2.4 L1 /L2 Ionospheric Correction. The two frequency (L1-C/A and L2 C) user shall correct for the group
delay and ionospheric effects by applying the relationship:


GD
12
A / C 1 L 12 C 2 L A / C 1 L 12 C 2 L
T c
1
) ISC ISC ( c ) PR PR (
PR −
γ −
γ − + γ −
=

where,
PR = pseudorange corrected for ionospheric effects,
PR
i
= pseudorange measured on the channel indicated by the subscript,
ISC
i
= inter-signal correction for the channel indicated by the subscript (see paragraph 30.3.3.3.2.3),
T
GD
= see paragraph 20.3.3.3.3.2,
c = speed of light,

and where, denoting the nominal center frequencies of L1 and L2 as f
L1
and f
L2
respectively,
γ
12
= (f
L1
/f
L2
)
2
= (1575.42/1227.6)
2
= (77/60)
2
.

30.3.3.4 Message Type 4 Almanac Parameters. The contents of Message Type 4 are defined below, followed by
material pertinent to the use of the data.

30.3.3.4.1 Message Type 4 Almanac Parameter Content. Message Type 4 contains almanac data.

30.3.3.4.1.1 Almanac Data. Message Type 4 contains the almanac data and SV health words for SVs in the
constellation. The almanac data are a reduced-precision subset of the clock and ephemeris parameters. The number
of bits, the scale factor (LSB), the range, and the units of the almanac parameters are given in Table 20-VI. The
algorithms and other material related to the use of the almanac data are given in paragraph 30.3.3.4.2.

The almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to upload the
SVs. If the CS is unable to upload the SVs, the accuracy of the almanac parameters transmitted by the SVs will
degrade over time.

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30.3.3.4.1.2 SV Health (L1 and L2). Message Type 4 contains the eight-bit L1/L2 health words defined in
paragraph 20.3.3.5.1.3, Table 20-VII, and Table 20-VIII.

The predicted health data will be updated at the time of upload when a new almanac has been built by the CS. The
transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the
constellation.

The data given in Message Types 1, 3, and 6 of the other SVs may differ from that shown in Message Type 4 since
the latter may be updated at a different time.

30.3.3.4.1.3 Anti-Spoof (A-S) Flags and SV Configurations. Bits 221 to 224 of Message Type 4 shall contain a
four-bit-long term for each operational SV in the constellation to indicate the A-S status (of the L1 and L2 signals)
and the configuration code of each SV. The terms are defined in paragraph 20.3.3.5.1.6.

30.3.3.4.1.4 Almanac Reference Week. Bits 45 through 52 of Message Type 4 shall indicate the number of the
week (WN
a
) to which the almanac reference time (t
oa
) is referenced (see paragraphs 30.3.3.4.1.1 and 30.3.3.4.2.2).
The WN
a
term consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number
(see paragraph 6.2.4) to which the t
oa
is referenced. Bits 69 through 76 of Message Type 4 shall contain the value of
t
oa
, which is referenced to this WN
a
.

30.3.3.4.1.5 SV PRN Number. Bits 39 through 44 of Message Type 4 shall specify PRN number of the SV whose
almanac is provided in the message.

30.3.3.4.2 Algorithms Related to Message Type 4 Data. The following algorithms shall apply when interpreting
Almanac data in the NAV message.

30.3.3.4.2.1 Almanac. The almanac is a subset of the clock and ephemeris data, with reduced precision. The user
algorithm is essentially the same as the user algorithm used for computing the precise ephemeris from the Message
Type 1 and 2 parameters (see paragraph 30.3.3.2.3). The almanac content for one SV is given in Table 20-VI.
Important information about the almanac calculation is contained in paragraph 20.3.3.5.2.1.

30.3.3.4.2.2 Almanac Reference Time. See the two subparagraphs labeled Normal and Short-term Extended
Operations and Long-term Extended Operations of paragraph 20.3.3.5.2.2.

30.3.3.4.2.3 Almanac Time Parameters. See paragraph 20.3.3.5.2.3.
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30.3.3.5 Message Type 5. Message Type 5 is reserved for special messages with the specific contents at the
discretion of the Operating Command. It can accommodate the transmission of 29 eight-bit ASCII characters. The
requisite 232 bits occupy bits 39 through 270 of Message Type 5. The eight-bit ASCII characters shall be limited to
the set described in paragraph 20.3.3.5.1.10.

30.3.3.6 Message Type 6 Reduced Almanac Parameters. The contents of Message Type 6 are defined below,
followed by material pertinent to the use of the data.

30.3.3.6.1 Message Type 6 Reduced Almanac Parameter Content. Message Type 6 contains reduced set of almanac
data for up to 7 SVs in each 12-second (300-bit) message.

30.3.3.6.1.1 Reduced Almanac Data. Message Type 6 contains the reduced almanac data and SV health words for
SVs in the constellation (the health words are discussed in paragraph 30.3.3.1.1.3). The reduced almanac data of a
SV is broadcast in a packet of 31 bits in length as described in Figure 30-7. Each Message Type 6 contains 7
packets providing reduced almanac data for up to 7 SVs. The reduced almanac data are a subset of the almanac data
which provide less precise ephemeris of which values are provided relative to pre-specified reference values. The
number of bits, the scale factor (LSB), the range, and the units of the reduced almanac parameters are given in
Table 30-III. The algorithms and other material related to the use of the reduced almanac data are given in
paragraph 30.3.3.6.2.

The reduced almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to
upload the SVs. If the CS is unable to upload the SVs, the accuracy of the reduced almanac parameters transmitted
by the SVs will degrade over time.

30.3.3.6.1.2 Almanac Reference Week. Bits 39 through 46 of Message Type 6 shall indicate the number of the
week (WN
a
) to which the almanac reference time (t
oa
) is referenced (see paragraph 30.3.3.6.1.3). The WN
a
term
consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number (see paragraph
6.2.4) to which the t
oa
is referenced. Bits 47 through 54 of Message Type 6 shall contain the value of t
oa
, which is
referenced to this WN
a
.

30.3.3.6.1.3 Almanac Reference Time. See the two subparagraphs labeled Normal and Short-term Extended
Operations and Long-term Extended Operations of paragraph 20.3.3.5.2.2.

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Figure 30-7. Reduced Almanac Packet




Table 30-III. Reduced Almanac Parameters *****
Parameter No. of Bits Scale Factor (LSB) Effective Range

Units
δ
A
***

0

Φ
0
****
8 *
7 *
7 *
2
+9

2
-6

2
-6

**
**
**
meters
semi-circles
semi-circles
* Parameters so indicated shall be two’s complement with the sign bit (+ or -) occupying the MSB;
** Effective range is the maximum range attainable with indicated bit allocation and scale factor;
*** Relative to A
ref
= 26,559,710 meters;
**** Φ
0
= Argument of Latitude at Reference Time = M
0
+ ω;
***** Relative to following reference values:
e = 0
δ
i
= +0.0056 seimi-circles (i = 55 degrees)
Ω = -2.6 x 10
-9
semi-circles/second.



31 BITS
PRN
a


6 BITS
δ
A


8 BITS

0

7 BITS
Φ
0

7 BITS
L1 HEALTH
L2 HEALTH
L5 HEALTH
1 7 15 22 31 30 29
* See Figure 30-6 for complete bit allocation in message
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30.3.3.6.2 Reduced Almanac Packet. The following shall apply when interpreting the data provided in each packet
of reduced almanac.

30.3.3.6.2.1 SV PRN Number. Bits 1 through 6 in each packet of Message Type 6 shall specify PRN number of the
SV whose reduced almanac is provided in the same packet.

30.3.3.6.2.2 Reduced Almanac. The reduced almanac data is provided in bits 7 through 28 of each packet. The
data from a packet along with the reference values (see Table 30-III) provide ephemeris with further reduced
precision. The user algorithm is essentially the same as the user algorithm used for computing the precise ephemeris
from the Message Type 1 and 2 parameters (see paragraph 30.3.3.2.3 and Table 20-IV). Other parameters appearing
in the equations of Table 20-IV, but not provided by the reduced almanac with the reference values, are set to zero
for SV position determination.

30.3.3.6.2.3 Signal Health (L1/L2/L5). The three, one-bit, health indication in bits 29 through 31 of each packet
refers to the L1, L2, and L5 signals of the SV whose PRN number is specified in bits 1 through 6 of the same packet.
The signal health indication is described in paragraph 30.3.3.1.1.3.

The predicted health data will be updated at the time of upload when a new reduced almanac has been built by the
CS. The transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the
constellation.

The data given in Message Types 1, 3, and 4 of the same or other SVs may differ from that shown in Message Type
6 since the latter may be updated at a different time.

30.3.3.7 Message Type 7 Improved Clock, Health and Accuracy Parameters.

30.3.3.7.1 Message Type 7 Improved Clock, Health and Accuracy Parameters Content. To be Defined.

30.3.3.8 Message Type 7, 8, and 9 Improved Ephemeris Parameters.

30.3.3.8.1 Message Type 7, 8, and 9 Improved Ephemeris Parameters Content. To be Defined.

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30.3.4 Timing Relationships. The following conventions shall apply.

30.3.4.1 Paging and Cutovers. Paging of messages is completely arbitrary, but sequenced to provide optimum
user performance. Message types 1 and 2 shall be broadcast consecutively.

30.3.4.2 SV Time vs. GPS Time. In controlling the SVs and uploading of data, the CS shall allow for the
following timing relationships:

a. Each SV operates on its own SV time;
b. All time-related data (TOW) in the messages shall be in SV-time;
c. All other data in the NAV message shall be relative to GPS time;
d. The acts of transmitting the NAV messages shall be executed by the SV on SV time.

30.3.4.3 Speed of Light. See paragraph 20.3.4.3.

30.3.4.4 Data Sets. The IODC is a 10 bit value transmitted in Message Type 1 and 2 that indicates the issue
number of the data set provided in the two message types. The transmission of IODC value in different data sets
shall be such that the transmitted IODC will be different from any value transmitted by the SV during the preceding
seven days. The range of IODC will be as given in Table 20-XII.

Cutovers to new data sets follow the rules in the second subparagraph of paragraph 20.3.4.4.

The start of the transmission interval for each data set corresponds to the beginning of the curve fit interval for the
data set. Each data set remains valid for the duration of its curve fit interval.

Normal Operations. Message Type 1 and 2 data sets are transmitted by the SV for periods of two hours. The
corresponding curve fit interval is four hours.

Short-term and Long-term Extended Operations. The transmission intervals and curve fit intervals with the
applicable IODC ranges are given in Table 20-XII.

30.3.4.5 Reference Times. See paragraph 20.3.4.5.
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30.3.5 Data Frame Parity. The data signal contains parity coding according to the following conventions.

30.3.5.1 Parity Algorithm. Twenty-four bits of CRC parity will provide protection against burst as well as random
errors with a probability of undetected error ≤ 2
-24
= 5.96×10
-8
for all channel bit error probabilities ≤ 0.5. The
CRC word is calculated in the forward direction on a given message using a seed of 0. The sequence of 24 bits
(p
1
,p
2
,...,p
24
) is generated from the sequence of information bits (m
1
,m
2
,...,m
276
) in a given message. This is done by
means of a code that is generated by the polynomial

( )

=
=
24
0 i
i
i
X g X g

where

otherwise 0
24 , 23 , 18 , 17 , 14 , 11 , 10 , 7 , 6 , 5 , 4 , 3 , 1 , 0 i for 1 g
i
=
= =


This code is called CRC-24Q (Q for Qualcomm Corporation). The generator polynomial of this code is in the
following form (using binary polynomial algebra):

( ) ( ) ( ) X p X 1 X g + =

where p(X) is the primitive and irreducible polynomial

( ) 1 X X X X X X X X X X X p
3 5 7 8 9 11 12 13 17 23
+ + + + + + + + + + =

When, by the application of binary polynomial algebra, the above g(X) is divided into m(X)X
24
, where the
information sequence m(X) is expressed as

( )
1 k
1
2
2 k 1 k k
X m X m X m m X m

− −
+ ⋅ ⋅ ⋅ + + + =

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The result is a quotient and a remainder R(X) of degree < 24. The bit sequence formed by this remainder represents
the parity check sequence. Parity bit p
i
, for any i from 1 to 24, is the coefficient of X
24-i
in R(X).

This code has the following characteristics:

1) It detects all single bit errors per code word.

2) It detects all double bit error combinations in a codeword because the generator polynomial g(X) has a
factor of at least three terms.

3) It detects any odd number of errors because g(X) contains a factor 1+X.

4) It detects any burst error for which the length of the burst is ≤ 24 bits.

5) It detects most large error bursts with length greater than the parity length r = 24 bits. The fraction of
error bursts of length b > 24 that are undetected is:

a) 2
-24
= 5.96 × 10
-8
, if b > 25 bits.

b) 2
-23
= 1.19 × 10
-7
, if b = 25 bits.

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UNCLASSIFIED

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ICD-GPS-200C 10 OCT 1993 ii

UNCLASSIFIED

UNCLASSIFIED

REVISION RECORD LTR NC A B C C C Initial Release Incorporates IRN-200NC-001, IRN-200NC-002, and IRN200NC-003 Incorporates IRN-200A-001A Incorporates IRN-200B-001 thru IRN-200B-007 Re-formatted in Microsoft Word 6.0 in GEMS compatible format Changed distribution status to Public Release DESCRIPTION DATE 25 Jan 1983 25 Sep 1984 30 Nov 1987 10 Oct 1993 10 Oct 1993 25 Sep 1997 12 Jan 1996 20 Oct 1997 APPROVED

IRN-200C-001 ICD-GPS-200C 13 OCT 1995 iii

UNCLASSIFIED

UNCLASSIFIED (This page intentionally left blank.) ICD-GPS-200C 10 OCT 1993 iv UNCLASSIFIED .

UNCLASSIFIED Page Revision Record Pages i ii iii iv v-xvi 1-5 6 7 8-9 9a-9b 10-10b 11-17 18-25 26 27-32 32a-32d 33-34 34a-34b 35-40 41-48 49-50 51-64 64a-64b 64c-64d 65-66 67-70 71 72-73 74-75 76-76b 77-79 80 81 82 83-84 Revision IRN-200C-005R1 Original IRN-200C-001 Original IRN-200C-005R1 IRN-200C-005R1 Original IRN-200C-005R1 Original IRN-200C-005R1 IRN-200C-005R1 IRN-200C-005R1 Original IRN-200C-003 Original IRN-200C-005R1 IRN-200C-005R1 IRN-200C-005R1 Original IRN-200C-005R1 Original IRN-200C-002 IRN-200C-003 IRN-200C-005R1 IRN-200C-005R1 IRN-200C-002 IRN-200C-005R1 IRN-200C-002 IRN-200C-003 IRN-200C-002 IRN-200C-005R1 IRN-200C-004 IRN-200C-005R1 IRN-200C-004 Original Pages 85 86-88 89 90-91 92-93 94 95 96 97 98 99-100 101 102-102b 103-104 105-106 107 108-110 111-112 113 114-116 117-118 118a 118b 119 120 121 122 123 124 125 126-128 129 130 131-132 133-134 Revision IRN-200C-004 Original IRN-200C-003 IRN-200C-005R1 IRN-200C-003 Original IRN-200C-002 Original IRN-200C-003 IRN-200C-004 Original IRN-200C-004 IRN-200C-003 IRN-200C-005R1 Original IRN-200C-005R1 Original IRN-200C-005R1 IRN-200C-004 Original IRN-200C-002 IRN-200C-005R1 IRN-200C-002 IRN-200C-002 IRN-200C-005R1 IRN-200C-001 IRN-200C-004 IRN-200C-005R1 Original IRN-200C-005R1 Original IRN-200C-001 IRN-200C-004 IRN-200C-005R1 IRN-200C-004 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 v UNCLASSIFIED .

UNCLASSIFIED Pages 135 136-138 139-164 Revision IRN-200C-005R1 Original IRN-200C-005R1 Pages Revision IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 vi UNCLASSIFIED .

.....3.............................................................. IIF...4 Spurious Transmissions....3 3......................................1 1....7 3.....................................8 Signal Coherence............................................1....................................................................................................................................6 Non-standard Codes ................11 3..................3...................................................................................1 2.................3..........................1 Government Documents ..................................................12 3...................2.......5 3..................3 2................................ APPLICABLE DOCUMENTS.....14 3........1...............................1...............................3......................7 3..................................................1.............................................1......................................................................................11 3........................................................................................11 3.......................15 3..........................................................................3.15 3...........................3............3..............................................................................11 3.........................1 1..............5 3............11 3.......3 Interface Criteria.....10 3.........2 Interface Identification ...........2.1.....................11 3...................................................................2 Group Delay Differential ...........................7 Equipment Group Delay........................................................1 Frequency Plan.........................................1............. and subsequent blocks) ...........................................2..........................................................3........................................................ SCOPE...........................................................................2................................5 L2 CL-Code (IIR-M.....................................................3...................................................................1...........................................................................3 C/A-Code ..................1............................1.............................................................................UNCLASSIFIED TABLE OF CONTENTS 1........................................2 Key Dates ...1 Scope ..............................................................................3 Carrier Phase Noise.........................1.......2...............................................7 3.....................1.................................................................................................................1 Code Structure...............3............... IIF...1..............................3..2............2..1....................9 Signal Polarization .........................................2..........................3 ICD Approval and Changes.......................................3 L1/L2 Signal Structure ..............................................................................................................................................................................................................................................1 Group Delay Uncertainty ................4 L2 CM-Code (IIR-M.......................1 Ranging Codes ............................................................................1 P-Code......................................................................................................................................................................................................7.....3 2......................................7 3..............................1 Interface Definition .................................................2 NAV Data...................14 3......................1........................................................................................2....1 1.......................................... and subsequent blocks) .............2 PRN Code Characteristics .12 3...............................................6 User-Received Signal Levels ......5 3......................................5 Phase Quadrature............3.........2....1.........................................1 Composite Signal ..................................................................2 Y-Code ............................................................................................. 10a 3...............................................................................7 3......17 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 vii UNCLASSIFIED ............................3..........................................................................3...............................14 3......................... REQUIREMENTS ................2 Correlation Loss ................1.................7 3............5 3.................................................14 3.............................................................2 Non-Government Documents............7.......................

44 6...................................................3 Block IIR SVs ..............3.......................................................................................45 6.......2...........44 6..................................................45 6.....................................................................................................3....................................................3.......................45 6......................................................................................................28 3...........................................................3 Operational Interval Definitions...........................................................................................................3.....................................................................4 Autonomous Navigation Mode ..2...2..............2 Definitions .....2.............................................4 GPS Time and SV Z-Count.........................................................................................................5 Block IIF SVs....................................48 6................1 Scope .........2...17 3....43 6...................................................................................3............................................................................................................................................44 6.4 Block IIR-M SVs ...............................................2..............................3.2 Block IIA SVs..........3 Block IIA Mode (Block IIR/IIR-M).................1 Developmental SVs.2..3...............................................................2..........................4 L2 CM-/L2 CL-Code Generation...........................3 C/A-Code Generation.......................................................43 6.....33 3........................... NOT APPLICABLE.......2 Extended Navigation Mode (Block II/IIA).........3...................2..........................................................2.........................................45 6................................44 6.........................................41 6........3......6 GPS Day..................................................................................................................................................................................................2...................................................2 P-Code Generation .........2.................2.......1 User Range Accuracy.....................................................................................................45 6............43 6...............................................................................33 3............................................. APPENDIX I..........................44 6...........33 3........................................2..........2.......................................3.......................3....2....................................44 6.........................................................2..........................................................................................................................41 6.....3.........................2 SV Block Definitions ..............................................................2.....37 5.................................3 Supporting Material.................................3...43 6..........2 Operational SVs ........33 4.....................................................................7 L5 Civil Signal ...................................................................49 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 viii UNCLASSIFIED ...................4 GPS Week Number ............... LETTERS OF EXCEPTION................48 10.............2.......3 Navigation Data.........................2................................2..........................45 6....................................................................................................................1 Acronyms ....................................................... NOTES.....2................................39 6.............44 6.....2...................................................43 6...............................................49 10................................................................................2 Short-term Extended Operations .....................44 6..........1 Received Signals ........................3 Long-term Extended Operations ........................................................................................................................................................................................1 Navigation Data Modulation ...........45 6............................2..................................................UNCLASSIFIED 3........................................................2...3.......................2......2..............2..........2.........................................3....47 6.2..................1 Normal Operations .......................................... 32a 3...................................................................................................................................................2......................................................................1 Forward Error Correction..........2.........5 Calendar Year.1...1 Block II SVs............................................... NOT APPLICABLE.........................................3..............................

............L2 Correction .............3 Subframe 1 . ...3 User Algorithms for Subframe 1 Data .3...........................................................3.93 20................................................... APPENDIX II......85 20.........86 20....3.............1....65 20..................49 10.................1...........3...........2 Subframe 2 and 3 Parameter Characteristics..............3.....................3......6 Data Flag for L2 P-Code .....82 20....................1 Curve Fit Intervals .................4................ GPS NAVIGATION DATA STRUCTURE FOR DATA.......................3...86 20....3...............1.................................................3..................................................97 20......................85 20.....................................91 20.................................3.9 SV Clock Correction................................2 L1 ..........3...88 20............................3............................................ D(t) ............3.....................3...........3...........................3.................................................49 20.............................83 20...............................3.91 20....................4 Example Application of Correction Parameters........................................................................................................................................................................................3............................3.....................1........1 Content of Subframes 2 and 3 .....................................1................1.3..........................................................3...........3...........3...............4.............3 Message Content .3 User Algorithm for Ephemeris Determination ......3...........3............................65 20...............3.1 Telemetry Word ..................................1..................................................3....3...................................................79 20.....3...................UNCLASSIFIED 10.....................................4 Subframes 2 and 3 ..............................2 Applicable Documents...............3.....................8 Estimated Group Delay Differential ....................................91 20.3..................................................................................3......3........3....3................................................................3.....................................................3 Ionospheric Correction...........3............................3.....................3..66 20...66 20....................79 20..90 20...............3.............3...............83 20..3 Requirements.....................................................3.....3..............3..................................4......................3..........................................................................3...........................................................3......7 (Reserved) ......................................3............................................................................................... Clock (IODC).................3.............3..............66 20..........79 20.......3..85 20................3...............1 Transmission Week Number...............................3.................................4...1 Data Characteristics............2 Code(s) on L2 Channel ....................1 Government Documents.....................................3.....3............................................................................................................3 SV Accuracy .82 20............3...........2.................3.......................3 Letters of Exception ...........................4........................................................3................................................86 20.1 Subframe 1 Content..........3....................................84 20..............................................................1 User Algorithm for SV Clock Correction ......3........................................3........................................................2 Non-Government Documents..................................3........4 SV Health.....3............97 20.........................3............1.......................3...............2 Applicable Documents .................................................3.....................................2.................3.........101 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 ix UNCLASSIFIED ........................2 Subframe 1 Parameter Characteristics .........................................3.........3..95 20........3..1 Scope ............3..................................................3.......82 20...................................2 Parameter Sensitivity ...3..2 Message Structure ..............3..5 Issue of Data...........2 Handover Word (HOW).......3.................85 20....65 20...65 20......1........65 20..

..........................5................................109 20........................3..3......9 Ionospheric Data ........................5...............3........................3..................................1.........3................5.......4 Universal Coordinated Time (UTC) .......3 SV Health.......................129 20......5..........3.....3.............5.......3...104 20.............................1 ECEF Coordinate System ..................121 20..............................................135 20.....106 20.......................................102 20..............3 Speed of Light ...........................3 Almanac Time Parameters ............................................5 Subframes 4 and 5 .............................5..........3........ 118a 20....................................2.....................3....3..............4..........3.1............................3........113 20................................3...........3.5.3..........3........2 SV Time vs........................................13 Calendar Year Counter.....3............................2 Almanac Data.............................................3............3....................3.....6 Anti-Spoof (A-S) Flags and SV Configurations ....5..5..........................................................3.....3...........2.................4.................................................3..................1....5.........114 20.................................12 NMCT ................5..................101 20..........................UNCLASSIFIED 20..... 102a 20.............................3....................3...............129 20..................................3...........102b 20........129 20..................................................4 Geometric Range..3.........3.....................................3....3.................................... GPS Time .............1................3....................................................4....5.......................................................................3.........5................................................3.....3..4...3 Coordinate Systems.....5....................11 (Deleted) ........................4................................ Inertial (ECI) Coordinate System .........................3.3...........3.....3...........................................2.....................................................4 (Reserved) ......3..................................................................2......2........................................1..................................3........................................................................................5.1.........112 20..................5.....1............................................3..........3...................................2...................................6 NMCT Data ...8 Universal Coordinated Time (UTC) Parameters....................1 Paging and Cutovers........................1.....5...............................................................3.......118 20.....3.............3.......135 20...............3...101 20..............5.......................10 Special Messages .......................3...................4 Timing Relationships ........129 20...........................3..........1.................112 20...102 20................3.....3.......3......................................4..............................................2 Almanac Reference Time...............117 20.113 20..1 Almanac .....................1 Content of Subframes 4 and 5 ...3..5...................................102b 20......5.........................3...121 20........1....7 Almanac Reference Week..............3..........112 20..............3................................1..........................3..1......125 20.........................4.....................4..5 Ionospheric Model .....3.....118 20.........................3...............5 (Reserved) ........4.............3...............................3........................................130 20......................1 Data ID and SV ID.....................1..........................132 20...5..1 SV/CS Parity Algorithm............3.................... 118a 20...............122 20...........4....................3..................................................3...........3.....................5 Data Frame Parity.....3..........4 Data Sets....................................................5......4 NMCT Validity Time............2 Algorithms Related to Subframe 4 and 5 Data.................. 118a 20...3..........5 Reference Times......2 User Parity Algorithm ......2 Earth-Centered......3......135 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 x UNCLASSIFIED ...........125 20.....5.............3........

............147 30........................1 UTC and GPS Time .....................2 Message Type 1 and 2 Ephemeris Parameters................................3..........3......3..............................3..................139 30.....................3...................... ..........................3 Message Content ........3.3................3...................152 30.1 Transmission Week Number....................................3...149 30.....3..3 Signal Health (L1/L2/L5).1...3...1...............................152 30...3...............3..............2 SV Accuracy ............. Health and Accuracy Parameter Characteristics ...140 30...............147 30...............1.....................1 Message Type 3 Parameter Content............1..155 30....3.............3.......151 30..............................3..........................3.......147 30..1..1............2......3............149 30..3...2.....150 30..................................150 30.....................4..3.3.........................................................1.........3..........3........................154 30.......3 User Algorithm for Ephemeris Determination .....................3.2...........2 Message Type 1 Clock....................2......3...................................3..........3.......3...............................1 Message Type 1 and 2 Ephemeris Parameter Content ...3.....4 Estimated L1 – L2 Group Delay Differential.....................1...3.......................3.........................................................1.....3....1.3...............................139 30.....3.........2 Ionospheric Data ..............................................................156 30........................ Clock (IODC)................... Health and Accuracy Parameters.........................4 L1 /L2 Ionospheric Correction...............1 Scope .1...................................... ............................140 30....1.........3.......2 Non-Government Documents..152 30............3...............3...............3....................................................4 Issue of Data. APPENDIX III....2........3.........151 30.......................3 L1/L2 Health........................3......................................153 30.....148 30.............................3 Inter-Signal Group Delay Differential Correction ..............................................................................139 30...3...........3....147 30....................139 30......3............................140 30................1 Message Type 1 Clock.................................2 Applicable Documents...................3...................2 Ionospheric Model ....1......................2..1 Government Documents.......3..............3................................ Health and Accuracy Parameter Content........152 30............................139 30....3..........3 Requirements...........3............1....................147 30.......1....................3........................................1..........3..............1 Data Characteristics...1 Message Type 1 Clock..............3......3.................................151 30..............3 User Algorithms for Message Type 1 Clock Data ..................................... DC(t)..........1..........1 Short-term and Long-term Extended Operations .3................3.148 30.3.....1..3...2....................156 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 xi UNCLASSIFIED .......................3.............2.3.........................................2 Message Type 1 and 2 Ephemeris Parameter Characteristics ..............................1.............................................................................................................................152 30........ ............2 Algorithms Related to Message Type 3 Data.........................................3...140 30.........2....................................3..........3.............................................2 Message Structure ..................................... GPS NAVIGATION DATA STRUCTURE FOR L2 CNAV DATA.......148 30.3.....3......................2..3..........3.....................................................................154 30...................................................................................3............3..........4 Message Type 4 Almanac Parameters.............1 Coordinated Universal Time (UTC) and GPS Time Parameters ...5 SV Clock Correction................3 Message Type 3 Parameters ................................1 Curve Fit Intervals ...............3.154 30...UNCLASSIFIED 30..............................

...................3..........................3................3...........UNCLASSIFIED 30................160 30................158 30.1............1.....3.........3...............3...3..................................161 30...................3....................3.....3 Speed of Light ...............................................162 30............6.1.....1 SV PRN Number.2..............................3...........................4 Data Sets.....................6.....1..............6........1 Parity Algorithm.......3......3.................................4 Almanac Reference Week.......................160 30................ Health and Accuracy Parameters...............4............................158 30.......5 Reference Times......3.......2 Reduced Almanac ... GPS Time ...4.......................3 Almanac Reference Time..5 Message Type 5...........3......3..4..................................................................3.......4.3.................................. and 9 Improved Ephemeris Parameters Content ..........156 30........160 30................................................................1...3..157 30............................1 Message Type 6 Reduced Almanac Parameter Content.3..... .........................6.......2 Almanac Reference Week...............6..........3.........................4.160 30..............3......6 Message Type 6 Reduced Almanac Parameters..........................3........160 30..3.....3..157 30....................................160 30.....6..........161 30.......................5 SV PRN Number....7.................................4.3.156 30................2 Almanac Reference Time...................3.....3.2.......3.....2.......4... 8...161 30..157 30.....................4..................1 Almanac Data.............................................3..1...2.........1 Paging and Cutovers................................2 SV Time vs......................3.............6.......................3......................4...3..............................3................157 30..........3.....4..........4 Timing Relationships ..........................................3........................................................7 Message Type 7 Improved Clock.4.3...........158 30....3......1 Reduced Almanac Data.......................................3...............................................................3.......................................160 30...................161 30...... and 9 Improved Ephemeris Parameters..............................158 30.............. 8......................8 Message Type 7....................3..............................4........................................................................................................................158 30..162 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 xii UNCLASSIFIED .2 Reduced Almanac Packet............................3.....................................................2 SV Health (L1 and L2)....157 30..................3 Anti-Spoof (A-S) Flags and SV Configurations ........................2...................3...3...................................1................................3..5 Data Frame Parity..........................3 Almanac Time Parameters...................8...3.............................3.....3.............................................................................................................3.........................160 30................158 30.3.....1 Message Type 7 Improved Clock........6....................157 30..3 Signal Health (L1/L2/L5)......................3...157 30........................................5.........................2..1 Message Type 7.....................4.............................3...............3............ Health and Accuracy Parameters Content ......3.....4...3.................................................................157 30........3..................161 30............4.....................................1 Message Type 4 Almanac Parameter Content..................161 30......2 Algorithms Related to Message Type 4 Data....1 Almanac .....1.....3..............................

............................................................................................................................................................................................................................................................................................................................................... Figure 3-6.................................80 Sample Application of Correction Parameters........................................................... Figure 20-4.............................................................................................51 Data Format ...............................30 C/A-Code Generation ........................................................31 C/A-Code Timing Relationships. Figure 30-4...........................126 Example Flow Chart for User Implementation of Parity Algorithm..............................143 Message Type 4 Format..................................................... Figure 3-13...........................................................................................................UNCLASSIFIED LIST OF FIGURES Figure 3-1.................................... Figure 10-1..............24 P-Code Signal Component Timing ............... Figure 3-12..................................................................................................................................................................................................................... Figure 30-3...................................20 X2B Shift Register Generator Configuration......................................................18 X1B Shift Register Generator Configuration.......................................159 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 xiii UNCLASSIFIED ............................................................................................................... Figure 3-5.....................................................................................................................................................32 L2 CM-/L2 CL-Code Timing Relationships ...........................137 Message Type 1 Format....................................................................................................................................... Figure 30-6............. Figure 20-5...........32b L2 CM/L2 CL Shift Register Generator Configuration .....................................141 Message Type 2 Format.................... Figure 3-12C.....................................................67 TLM and HOW Formats......................146 Reduced Almanac Packet................ Figure 20-3......................144 Message Type 5 Format...............29 G2 Shift Register Generator Configuration .................................................................. Figure 3-3............................ 34a Convolutional Transmit/Decoding Timing Relationships.............................................. Figure 30-7................. Figure 3-9.........................................46 Letter of Exception.................. C/A-Codes and Modulating Signals ..................................................................... Figure 3-10. Block II/IIA/IIR)..21 P-Code Generation..... Figure 3-12B.................. Figure 3-4............................................................................ Figure 30-5...... Figure 6-1.................................. 34a Time Line Relationship of HOW Message . Figure 3-2..........19 X2A Shift Register Generator Configuration............. Figure 3-7.............................................................................16 X1A Shift Register Generator Configuration............................92 Ionospheric Model ...............145 Message Type 6 Format...........................35 User Received Minimum Signal Level Variations (Example........................................................ Figure 3-8........ Figure 3-12A.............. Figure 20-1.. 32c Convolutional Encoder ........ Figure 20-2..........25 G1 Shift Register Generator Configuration ..................................... Figure 3-12D........ Figure 3-11................ Figure 30-1.......................................................................... Space Vehicle/NAV User Interfaces............................................................6 Generation of P-................142 Message Type 3 Format........................................................................................ Figure 30-2....................................................................................................

.............................................. Table 3-IA....................... Code Phase Assignments ........................................ Table 20-V...........................................................................149 Group Delay Differential Parameters.........................................................159 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 xiv UNCLASSIFIED ................................................ Table 20-VIII................................134 Parity Encoding Equations........................................................... and subsequent blocks only).......................................................................................153 Reduced Almanac Parameters.......................... Table 30-I.............................................................................. Table 20-II......115 Ionospheric Parameters . Table 20-VI.....................13 Received Minimum RF Signal Strength ......................................................................................................................................................................... Table 20-XI.......................................................................................................................................................108 NAV Data Health Indications ....................................................................87 Ephemeris Data Definitions .................. Table 20-X............................................. Table 20-IV.... 9a Signal Configuration ........ Table 30-II...............................................94 Ephemeris Parameters............................96 Elements of Coordinate Systems ................................... Table 20-III........................................................................................................................................................................................................................................ Table 3-III...................................................................................................................................................................................98 Data IDs and SV IDs in Subframes 4 and 5..... Table 20-XII.111 UTC Parameters..................................................................................................................... Health and Accuracy Parameters..................................... Table 20-IX.................136 Message Type 1 Clock.................... Table 20-VII.......................................................27 Subframe 1 Parameters .........................................119 IODC Values and Data Set Lengths........................... Table 3-IIA................................................... Table 3-V.............................110 Codes for Health of SV Signal Components........................................... Table 20-XIII..................................... Table 3-II..............................13 P-Code Reset Timing .......................................................UNCLASSIFIED LIST OF TABLES Table 3-I..116 (Deleted) ............. Table 3-IV.................... Table 30-III.......................................................10b Composite L1 Transmitted Signal Phase ..................131 Reference Times ............... Table 20-I.............................. IIF......................................... Table 20-XIV......................26 Final Code Vector States.......................................105 Almanac Parameters ............................................8 Code Phase Assignments (IIR-M.........................................

distribution. User Segment Contractors Rockwell International. and retention of the ICD in accordance with YEN 75-13B. approval. ARINC Engineering Services. The following signatories must approve this ICD to make it effective: a. This Interface Control Document (ICD) defines the requirements related to the interface between the Space Segment (SS) of the Global Positioning System (GPS) and the Navigation User Segment (US) of the GPS. SCOPE 1. (TBD) 1.UNCLASSIFIED 1. Navstar GPS Joint Program Office SMC/CZ IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 1 UNCLASSIFIED . and is responsible for the basic preparation. 1. LLC has been designated the Interface Control Contractor (ICC).1 Scope. The major milestones for which integration data shall be provided are: a. Space Segment Contractors BLOCK II/IIA/IIF The Boeing Company Block IIR/IIR-M Lockheed-Martin Corporation b.3 ICD Approval and Changes. Control Segment Contractor The Boeing Company c.2 Key Dates. Collins Avionics & Communications Division d.

When some (but not all) of the exceptions taken by a signatory are resolved.without processing a proposed interface revision notice (PIRN) for approval -. Based on such notifications -. Reviewing parties with delinquent responses will be charged with an automatic letter of exception. the signatory shall provide the ICC with an updated letter of exception.UNCLASSIFIED Initial signature approval of this ICD can be contingent upon a letter of exception delineating those items by paragraph numbers that are not a part of the approval. The ICC is responsible for the preparation of the change paper. Such letters of exception can be prepared by any of the signatories and must be furnished to the ICC for inclusion in Appendix I of the approved and officially released version of the ICD.the ICC will omit the obsolete letter of exception from the next revision of the ICD and will substitute the new one (if required). Review cycles for all Proposed Interface Revisions Notices (PIRNs) is 45 days after receipt by individual addressees unless a written request for a waiver is submitted to the ICC. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 2 UNCLASSIFIED . Changes to the approved version of this ICD can be initiated by any of the signatories and must be approved by all above signatories. Such letters of exception must be furnished to the ICC for inclusion in the released version of the approved change and in Appendix I of the subsequent revised issues of the ICD. the respective signatory shall so advise the ICC in writing. change coordination. and the change approval by all signatories in accordance with YEN 75-13B. Designated signatories can approve proposed changes to this ICD without any increase in the scope of a specific contract by so specifying in a letter of exception. Whenever all the issues addressed by a letter of exception are resolved.

UNCLASSIFIED 2.1 Government Documents. APPLICABLE DOCUMENTS 2. Specifications Federal None Military None Other Government Activity None Standards Federal None Military None Other Publications YEN 75-13B 21 Oct 1988 Interface Control Working Group Charter 2. The following documents of the issue specified contribute to the definition of the interfaces between the GPS Space Segment and the GPS Navigation User Segment and form a part of this ICD to the extent specified herein.2 Non-Government Documents. Specifications None Other Publications None IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 3 UNCLASSIFIED . The following documents of the issue specified contribute to the definition of the interfaces between the GPS Space Segment and the GPS Navigation User Segment. and form a part of this ICD to the extent specified herein.

UNCLASSIFIED (This page intentionally left blank.) IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 4 UNCLASSIFIED .

3. These two "incorrect" codes are termed non-standard C/A (NSC) and non-standard Y (NSY) codes. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 5 UNCLASSIFIED . Three PRN ranging codes are transmitted: the precision (P) code which is the principal NAV ranging code. and subsequent blocks of SVs. The SVs will transmit intentionally "incorrect" versions of the C/A and the P(Y) codes where needed to protect the users from receiving and utilizing anomalous NAV signals as a result of a malfunction in the SV's reference frequency generation system. As shown in Figure 3-1. the space vehicles (SVs) of the SS shall provide continuous earth coverage for signals which provide to the US the ranging codes and the system data needed to accomplish the GPS navigation (NAV) mission. two additional PRN ranging codes are transmitted. IIF. The SVs will transmit intentionally "incorrect" versions of the L2 CM and L2 CL codes where needed to protect the users from receiving and utilizing anomalous NAV signals as a result of a malfunction in the SV's reference frequency generation system. These "incorrect" codes are termed non-standard L2 CM (NSCM) and non-standard L2 CL (NSCL) codes.UNCLASSIFIED 3. The SVs shall also be capable of independently initiating and terminating the broadcast of NSCM and/or NSCL code(s) in response to CS command. the interface between the GPS Space Segment (SS) and the GPS navigation User Segment (US) consists of two radio frequency (RF) links: L1 and L2. Utilizing these links.1 Interface Definition. Appropriate code-division-multiplexing techniques allow differentiating between the SVs even though they all transmit at the same L-band frequencies. REQUIREMENTS 3. These signals shall be available to a suitably equipped user with RF visibility to an SV. For Block IIR-M. the Y-code.2. used in place of the P-code whenever the anti-spoofing (A-S) mode of operation is activated. 3.2 Interface Identification. They are the L2 civil-moderate (L2 CM) code and the L2 civil-long (L2 CL) code. each of which normally is a composite generated by the Modulo-2 addition of a pseudo-random noise (PRN) ranging code and the downlink system data (referred to as NAV data). and the coarse/acquisition (C/A) code which is used primarily for acquisition of the P (or Y) code (denoted as P(Y)). The carriers of the L-band links are typically modulated by one or more bit trains.1 Ranging Codes.

Space Vehicle/NAV User Interfaces ICD-GPS-200C 10 OCT 1993 6 UNCLASSIFIED .UNCLASSIFIED GPS SPACE SEGMENT (SS) ON-BOARD COMPUTER PROGRAM (OBCP) SPACE VEHICLE (SV) L1 L2 GPS USER SEGMENT (US) Figure 3-1.

3.000 chips and 15.2.1.5 seconds in length at a chipping rate of 511.6 Non-standard Codes. Assignment of initial states by GPS PRN Signal Number is given in Table 3-IA.2.2.345.5 Kbps. of 7 days in length at a chipping rate of 10. Of these.5 Kbps. The PRN C/A-Code for SV ID number i is a Gold code. NSCM. the CL.3 C/A-Code. The PRN L2 CM-code for SV ID number i is a ranging code. G1 and G2i. The CL. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 7 UNCLASSIFIED . 3. and subsequent blocks). IIF. Assignment of these by GPS PRN Signal Number is given in Table 3-I. 3. respectively. The 7 day sequence is the Modulo-2 sum of two sub-sequences referred to as X1 and X2i.2.i(t). 3.345.1.1. The NSC.2.1 P-Code.1.1. Assignment of these code phase segments by SVID number (or other use) is given in Table 3-I. are not defined in this document. NSCL.i(t).i(t) sequence is short cycled by resetting with a specified initial state every code count of 767250 chips. Gi(t). 3. CL. while the remaining 5 are reserved for other purposes (e. The epochs of the L2 CL-code are synchronized with the X1 epochs of the P-code. thereby generating a set of 36 mutually exclusive C/A-codes. which is 20 milliseconds in length at a chipping rate of 511. each of which is a 1023 chip long linear pattern. The Gi(t) sequence is a linear pattern generated by the Modulo-2 addition of two subsequences. The CM. CM.i(t).5 L2 CL-Code (IIR-M.i(t) sequence is a linear pattern which is generated using the same code generator polynomial as the one used for CM. and subsequent blocks). As shown in Table 3-I.4 L2 CM-Code (IIR-M.1). 32 are designated for use by SVs. The PRN Y-code is used in place of the P-code when the A-S mode of operation is activated.2. which is 1. the G2i sequence is a G2 sequence selectively delayed by 5 to 950 chips. The PRN L2 CL-code for SV ID number i is a ranging code. Pi(t). Assignment of initial states by GPS PRN Signal Number is given in Table 3-IA.1. and NSY codes.2.g. The epochs of the Gold code are synchronized with the X1 epochs of the P-code. ground transmitters. therefore.).2 Y-Code. used to protect the user from a malfunction in the SV's reference frequency system (reference paragraph 3. are not for utilization by the user and.i(t) sequence is a linear pattern which is short cycled every count of 10230 chips by resetting with a specified initial state.UNCLASSIFIED 3. The epochs of the L2 CM-code are synchronized with the X1 epochs of the P-code. IIF. their lengths are 15.23 Mbps. of 1 millisecond in length at a chipping rate of 1023 Kbps. The X2i sequence is an X2 sequence selectively delayed by 1 to 37 chips thereby allowing the basic code generation technique to produce a set of 37 mutually exclusive P-code sequences of 7 days in length. The PRN P-code for SV ID number i is a ranging code.037 chips. etc. However.

the first digit (1) represents a "1" for the first chip and the last three digits are the conventional octal representation of the remaining 9 chips.g. (For example. C/A codes 34 and 37 are common. each consisting of a specific C/A and a specific P code phase. ⊕ = "exclusive or" NOTE: The code phase assignments constitute inseparable pairs. as shown above. ground transmitters). GPS PRN Signal No.UNCLASSIFIED Table 3-I. PRN sequences 33 through 37 are reserved for other uses (e. Code Phase Assignments (sheet 1 of 2) Code Delay Chips C/A 5 6 7 8 17 18 139 140 141 251 252 254 255 256 257 258 469 470 471 P 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 First 10 Chips Octal* C/A 1440 1620 1710 1744 1133 1455 1131 1454 1626 1504 1642 1750 1764 1772 1775 1776 1156 1467 1633 First 12 Chips Octal P 4444 4000 4222 4333 4377 4355 4344 4340 4342 4343         4343 Code Phase Selection C/A(G2i) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 * 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 2 3 4 5 1 2 1 2 3 2 3 5 6 7 8 9 1 2 3 ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ 6 7 8 9 9 10 8 9 10 3 4 6 7 8 9 10 4 5 6 (X2i) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 ** *** In the octal notation for the first 10 chips of the C/A code as shown in this column. SV ID No. 1 are: 1100100000). the first 10 chips of the C/A code for PRN Signal Assembly No. ICD-GPS-200C 10 OCT 1993 8 UNCLASSIFIED .

GPS PRN Signal No. (For example.g. C/A codes 34 and 37 are common. the first 10 chips of the C/A code for PRN Signal Assembly No. Code Phase Assignments (sheet 2 of 2) Code Delay Chips C/A 472 473 474 509 512 513 514 515 516 859 860 861 862 863 950 947 948 950 P 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 First 10 Chips Octal* C/A 1715 1746 1763 1063 1706 1743 1761 1770 1774 1127 1453 1625 1712 1745 1713 1134 1456 1713 First 12 Chips Octal P 4343                 4343 Code Phase Selection C/A(G2i) 20 21 22 23 24 25 26 27 28 29 30 31 32 *** *** *** *** *** * 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34** 35 36 37** 4 5 6 1 4 5 6 7 8 1 2 3 4 5 4 1 2 4 ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ 7 8 9 3 6 7 8 9 10 6 7 8 9 10 10 7 8 10 (X2i) 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 ** *** In the octal notation for the first 10 chips of the C/A code as shown in this column. SV ID No. ground transmitters). PRN sequences 33 through 37 are reserved for other uses (e. 1 are: 1100100000). each consisting of a specific C/A and a specific P code phase. the first digit (1) represents a "1" for the first chip and the last three digits are the conventional octal representation of the remaining 9 chips. ⊕ = "exclusive or" NOTE: The code phase assignments constitute inseparable pairs. ICD-GPS-200C 10 OCT 1993 9 UNCLASSIFIED .UNCLASSIFIED Table 3-I. as shown above.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 Short cycled period = 10230 Short cycled period = 767250 PRN sequences 33 through 37 are reserved for other uses (e. IIF. SV ID No. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 9a UNCLASSIFIED . and subsequent blocks only) (sheet 1 of 2) Initial Shift Register State (Octal) L2 CM 742417664 756014035 002747144 066265724 601403471 703232733 124510070 617316361 047541621 733031046 713512145 024437606 021264003 230655351 001314400 222021506 540264026 205521705 064022144 L2 CL 624145772 506610362 220360016 710406104 001143345 053023326 652521276 206124777 015563374 561522076 023163525 117776450 606516355 003037343 046515565 671511621 605402220 002576207 525163451 End Shift Register State (Octal) L2 CM * 552566002 034445034 723443711 511222013 463055213 667044524 652322653 505703344 520302775 244205506 236174002 654305531 435070571 630431251 234043417 535540745 043056734 731304103 412120105 L2 CL ** 267724236 167516066 771756405 047202624 052770433 761743665 133015726 610611511 352150323 051266046 305611373 504676773 272572634 731320771 631326563 231516360 030367366 713543613 232674654 GPS PRN Signal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 * ** *** Code Phase Assignments (IIR-M. ground transmitters).UNCLASSIFIED Table 3-IA. NOTE: There are many other available initial register states which can be used for other signal transmitters including any additional SVs in future.g.

ground transmitters). 20 21 22 23 24 25 26 27 28 29 30 31 32 *** *** *** *** *** * ** *** Code Phase Assignments (IIR-M. NOTE: There are many other available initial register states which can be used for other signal transmitters including any additional SVs in future. 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 Short cycled period = 10230 Short cycled period = 767250 PRN sequences 33 through 37 are reserved for other uses (e. IIF. and subsequent blocks only) (sheet 2 of 2) Initial Shift Register State (Octal) L2 CM 120161274 044023533 724744327 045743577 741201660 700274134 010247261 713433445 737324162 311627434 710452007 722462133 050172213 500653703 755077436 136717361 756675453 435506112 L2 CL 266527765 006760703 501474556 743747443 615534726 763621420 720727474 700521043 222567263 132765304 746332245 102300466 255231716 437661701 717047302 222614207 561123307 240713073 End Shift Register State (Octal) L2 CM * 365636111 143324657 110766462 602405203 177735650 630177560 653467107 406576630 221777100 773266673 100010710 431037132 624127475 154624012 275636742 644341556 514260662 133501670 L2 CL ** 641733155 730125345 000316074 171313614 001523662 023457250 330733254 625055726 476524061 602066031 012412526 705144501 615373171 041637664 100107264 634251723 257012032 703702423 GPS PRN Signal No. SV ID No. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 9b UNCLASSIFIED .UNCLASSIFIED Table 3-IA.g.

includes SV ephemerides. D(t) with a data rate of 50 bps can be commanded to be Modulo-2 added to the L2 CM-code. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 10 UNCLASSIFIED . For Block IIR-M.UNCLASSIFIED 3. are given in Appendix III of this document. and subsequent blocks of SVs. the resultant bit-train is combined with L2 CL-code using time-division multiplexing method. L2 CNAV data.2 NAV Data. etc. system time. the resulting 50 sps symbol stream is Modulo-2 added to the L2 CMcode. the multiplexed bit-trains are used to modulate the L2 carrier.and C/A. The above described (and throughout this document) NAV data. and its modulation onto the L2 CM-code for Block IIR-M may change prior to operational broadcast of L2 C signal. system time. The DC(t) is a 25 bps data stream which is coded by a rate ½ convolutional coder. SV clock behavior data. also includes SV ephemerides. D(t). When selected by ground command. DC(t). the resultant bit-trains are used to modulate the L1 and L2 carriers.codes on both the L1 and L2 channels. The resultant bit-train is combined with L2 CL-code using time-division multiplexing method and the multiplexed bit-trains are used to modulate the L2 carrier. The content and characteristics of the NAV data. For a given SV.codes. etc. The 50 bps data is Modulo-2 added to the P(Y)and C/A. is also Modulo-2 added to the L2 CM-code. are given in Appendix II of this document. SV clock behavior. the NAV data. if present.2. D(t). status messages. However. D(t). the NAV data. DC(t). the data train D(t). The content and characteristics of the L2 CNAV data. D(t). is common to the P(Y). For Block IIF. D(t). or D(t) with a symbol rate of 50 symbols per second (sps) (rate ½ convolutional encode of a 25 bps NAV data) can be commanded to be Modulo-2 added to the L2 CM-code. can be used in one of two different data rates which are selectable by ground command. The NAV data. status messages and C/A to P (or Y) code handover information.

it utilizes the P(Y)-code without the NAV data as the modulating signal. while the other is BPSK modulated by any one of three other bit trains which are selectable by ground command. The four possible bit trains are. (1) the Modulo-2 sum of the C/A-code and D(t). the L2 consists of two carrier components. One bit train is the Modulo-2 sum of the P(Y)-code and NAV data. while the other is BPSK modulated by any one of four other bit trains which are selectable by ground command. For Block II/IIA and IIR. the L2 consists of two carrier components.3 L1/L2 Signal Structure. One carrier component is BPSK modulated by the bit train which is the Modulo-2 sum of the P(Y)-code with or without NAV data D(t). the L2 link is BPSK modulated by only one of those two bit trains. The L1 link consists of two carrier components which are in phase quadrature with each other. D(t). The three possible bit trains are. (1) the Modulo-2 sum of the C/A-code and D(t). The L2 CM-code with the 50 sps symbol stream of DC(t) is time-multiplexed with L2 CL-code at a 1023 kHz rate. (3) a chip-by-chip time multiplex combination of bit trains consisting of the L2 CM-code with DC(t) and the L2 CLcode with no data. A third modulation mode is also selectable on the L2 channel by ground command: derived from the same on-board frequency source. The first L2 CM-code chip starts synchronously with the end/start of week epoch. For Block IIR-M SVs.2.UNCLASSIFIED 3. codes and data) are coherently IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 10a UNCLASSIFIED . For a particular SV. The L2 CM-code with D(t) is timemultiplexed with L2 CL-code at a 1023 kHz rate. Each carrier component is bi-phase shift key (BPSK) modulated by a separate bit train. (2) the C/A-code with no data and. One carrier component is BPSK modulated by the bit train which is the Modulo-2 sum of the P(Y)-code with or without NAV data D(t). (4) a chip-by-chip time multiplex combination of bit trains consisting of the L2 CM-code with convolutionally encoded D(t) (50 sps) and the L2 CL-code with no data. D(t). For Block IIF. (3) a chip-by-chip time multiplex combination of bit trains consisting of the L2 CM-code with D(t) at 50 bps and the L2 CL-code with no data and. the bit train to be used for L2 modulation is selected by ground command. all transmitted signal elements (carriers. (2) the C/A-code with no data. and subsequent blocks of SVs. while the other is the Modulo-2 sum of the C/A-code and the NAV data. The first L2 CM-code chip starts synchronously with the end/start of week epoch. The different configuration and combination of codes/signals specified in this section are shown in Table 3-IIA.

2) It should be noted that there are no flags or bits in the navigation message to directly indicate which signal option is broadcast for L2 Civil (L2 C) signal.e.2 for Block IIR-M L2 C signal.5).2.3. ** The two carrier components on L2 may not have the phase quadrature relationship. *** See paragraph 3. 90 degrees offset of each other). IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 10b UNCLASSIFIED .UNCLASSIFIED Table 3-IIA.1. Signal Configuration L1 SV Blocks In-Phase* Quadrature-Phase* In-Phase* P(Y) ⊕ D(t) or P(Y) or C/A ⊕ D(t) P(Y) ⊕ D(t) or P(Y) Quadrature-Phase* L2** Block II/IIA/IIR P(Y) ⊕ D(t) C/A ⊕ D(t) Not Applicable L2 CM ⊕ D(t) with L2 CL or L2 CM ⊕ D′(t) with L2 CL or C/A ⊕ D(t) or C/A L2 CM ⊕ DC(t) with L2 CL or C/A ⊕ D(t) or C/A Block IIR-M*** P(Y) ⊕ D(t) C/A ⊕ D(t) Block IIF P(Y) ⊕ D(t) C/A ⊕ D(t) P(Y) ⊕ D(t) or P(Y) Notes: 1) The configuration identified in this table reflects only the content of Section 3. Section 3.3 and does not show all available codes/signals on L1/L2. ⊕ = “exclusive-or” (modulo-2 addition) D(t) = NAV data at 50 bps D′(t) = NAV data at 25 bps with FEC encoding resulting in 50 sps DC(t) = L2 CNAV data at 25 bps with FEC encoding resulting in 50 sps * Terminology of “in-phase” and “quadrature-phase” is used only to identify the relative phase quadrature relationship of the carrier components (i.2. They may be broadcast on same phase (ref.

The carrier frequencies for the L1 and L2 signals shall be coherently derived from a common frequency source within the SV.1.UNCLASSIFIED 3. For this case. The nominal carrier frequencies (f0) shall be 1575.as they would appear to an observer located in the SV -. the worst case correlation loss occurs when the carrier is modulated by the sum of the P(Y) code and the NAV data stream.3.6 MHz for L1 and L2.2 Correlation Loss.46 MHz bandwidth and the signal power recovered in an ideal correlation receiver of the same bandwidth.6 dB Ideal UE receiver waveform distortion 0.3.1.23 MHz offset by a ∆ f = -4. equivalent to a change in the P-code chipping rate of 10.5674E-3 Hz. 3. the correlation loss apportionment shall be as follows: 1. The clock rates are offset by ∆ f/f = -4.23 MHz.4 dB (due to 20. 3. SV modulation imperfections 0. In-band spurious transmissions shall be at least 40 dB below the unmodulated L1 and L2 carriers over the allocated 20.3.is 10. 2.1.42 MHz. The nominal frequency of this source -.1 Frequency Plan.3 Carrier Phase Noise. This is equal to 10. The SV carrier frequency and clock rates -.46 MHz filter) 3. respectively. On the L1 and L2 channels. The following criteria define the characteristics of the composite L-band signals. 3.4 Spurious Transmissions.1 radians rms.46-MHz bands centered about L1 and L2. The criteria specified in the following define the requisite characteristics of the SS/US interface.1. Correlation loss is defined as the difference between the SV power received in a 20.22999999543 MHz.3 Interface Criteria.as it appears to an observer on the ground -. and 1227.3. 3.4647E-10.1 Composite Signal.46 MHz channel bandwidth. The phase noise spectral density of the unmodulated carrier shall be such that a phase locked loop of 10 Hz one-sided noise bandwidth shall be able to track the carrier to an accuracy of 0.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 11 UNCLASSIFIED .are offset to compensate for relativistic effects. The L-band signals shall be contained within two 20.

the C/A carrier shall be retarded 90 degrees (such that when Gi(t) changes state. and P(Y) signals shall not exceed –20 dB in the L1 and L2. for the L2 case. the L2 off-axis power gain shall not decrease by more than 2 dB from EOE to nadir. Moreover. the power drop off between EOE and ±23 degrees shall be in a monotonically decreasing fashion. nor more than 10 dB from EOE to 20 degrees off nadir. a 180-degree phase reversal of the P-carrier occurs. the civil signal carrier component is modulated by any one of three (IIF) or four (IIR-M) different bit trains as described in paragraph 3.UNCLASSIFIED 3. worst-case.1. the crosstalk between the C/A. 3.3.1.1. The Block IIF SV shall provide L1 and L2 signals with the following characteristic: the L1 off-axis power gain shall not decrease by more than 2 dB from the Edge-of-Earth (EOE) to nadir. the two L2 carrier components can be in same phase. when Gi(t) equals one. Referring to the phase of the P carrier when Pi(t) equals zero as the "zero phase angle". a 180-degree phase reversal of the C/A carrier occurs). Additional related data is provided as supporting material in paragraph 6.1. and subsequent blocks of SVs will result in composite transmitted signal phase IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 12 UNCLASSIFIED . relationships other than the nominal special case of Table 3-II.3. when selected.5 Phase Quadrature. Beyond these considerations. The two L1 carrier components modulated by the two separate bit trains (C/A-code plus data and P(Y)-code plus data) shall be in phase quadrature (within ±100 milliradians) with the C/A signal carrier lagging the P signal by 90 degrees. IIF.3. The minimum received power is measured at the output of a 3 dBi linearly polarized user receiving antenna (located near ground) at worst normal orientation.6 User-Received Signal Levels. The resultant nominal composite transmitted signal phases as a function of the binary state of only the two modulating signals are as shown in Table 3-II. The SV shall provide L1 and L2 navigation signal strength at end-of-life (EOL). The received signal levels are observed within the inband allocation defined in para.3. and no more than 18 dB from EOE to 23 degrees off nadir.1. additional carrier components in Block IIR-M. For Block IIF. the P(Y).2. For Block IIR-M.and C/A-code generator output shall control the respective signal phases in the following manner: when Pi(t) equals one. when the SV is above a 5-degree elevation angle. However.3. and subsequent blocks of SVs. the C/A carrier advances 90 degrees. 3. and no more than 10 dB from EOE to 23 degrees off nadir. The resultant composite transmitted signal phases will vary as a function of the binary state of the modulating signals as well as the signal power ratio and phase quadrature relationship. when the Gi(t) equals zero. The crosstalk is the relative power level of the undesired signal to the desired reference signal. IIF. in order to meet the minimum levels specified in Table 3-III. phase quadrature relationship between the two L2 carrier components can be the same as for the two L1 carrier components as described above.

5 dBW -161.5° +109.5° 180° * ** 0 1 0 1 Code State C/A 0 0 1 1 Relative to 0. Received Minimum RF Signal Strength Signal SV Blocks Channel P(Y) L1 -161.5 dBW -164. Table 3-III.5 dBW or C/A or L2 C -158.0 dBW II/IIA/IIR L2 L1 IIR-M/IIF L2 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 13 UNCLASSIFIED .5 dBW -160.5 dBW -158.5 dBW -161.5 dBW -164. Based on the composite of two L1 carrier components with 3 dB difference in the power levels of the two. Composite L1 Transmitted Signal Phase ** (Block II/IIA and IIR SVs Only) Nominal Composite L1 Signal Phase* P 0° -70. 0 code state with positive angles leading and negative angles lagging.UNCLASSIFIED Table 3-II.

3.1 Group Delay Uncertainty.3). Equipment group delay is defined as the delay between the L-band radiated output of a specific SV (measured at the antenna phase center) and the output of that SV's on-board frequency source.1. The effective uncertainty of the group delay shall not exceed 3.0 nanoseconds (two sigma). The group delay differential between the radiated L1 and L2 signals (i. shall be such that the average time difference between the transitions does not exceed 10 nanoseconds (two sigma). IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 14 UNCLASSIFIED . L1 P(Y) and L1 C/A.e. the absolute value of the mean differential delay shall not exceed 15.1. The random variations about the mean shall not exceed 3. L1 P(Y) and L2 C) is specified as consisting of random plus bias components.3).2) and Inter-Signal Correction (ISC) (reference paragraph 30.3.3. all digital signals shall be clocked in coincidence with the PRN transitions for the Psignal and occur at the P-signal transition speed.8 Signal Coherence. and is therefore accounted for by the user computations of system time (reference paragraphs 20.1..1. 3. L1 P(Y) and L2 P(Y).3.7 Equipment Group Delay. On the L1 channel the data transitions of the two modulating signals (i.3.3.1.0 nanoseconds (two sigma).UNCLASSIFIED 3.3.3. that containing the P(Y)-code and that containing the C/A-code).3.3.e.2.2. 30. The uncertainty (variation) of this delay as well as the group delay differential between the signals of L1 and L2 are defined in the following.3.2 Group Delay Differential.3. The bias term is of no concern to the US since it is included in the clock correction parameters relayed in the NAV data.3. Corrections for the bias components of the group delay differential are provided to the US in the Nav message using parameters designated as TGD (reference paragraph 20. All transmitted signals for a particular SV shall be coherently derived from the same on-board frequency standard.3.3.7. the delay consists of a bias term and an uncertainty. For a given navigation payload redundancy configuration.0 nanoseconds.3. 3.3.3. The mean differential is defined as the bias component and will be either positive or negative. 3.7.

and for Modulo-2 summing these patterns with the NAV bit train. Figure 3-2 depicts a simplified block diagram of the scheme for generating the 10. 3.3 degrees from boresight.3.23 Mbps Pi(t) and the 1.023 Mbps Gi(t) patterns (referred to as Pand C/A-codes respectively). For the angular range of ±14.9 Signal Polarization.2 dB for Block II/IIA and shall be no worse than 1. L2 CL-.8 dB for Block IIR/IIR-M/IIF SVs. The transmitted signal shall be right-hand circularly polarized (RHCP).2 dB for Block II/IIA SVs and shall be no worse than 2. The resultant composite bit trains are then used to modulate the L-band carriers. D(t).UNCLASSIFIED 3.2 PRN Code Characteristics.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 15 UNCLASSIFIED . L2 CM-. and the C/A-codes are defined below in terms of their structure and the basic method used for generating them.2 dB for Block IIR/IIR-M/IIF over the angular range of ±14. which is clocked at 50 bps.1. L1 ellipticity shall be no worse than 1. The characteristics of the P-.3 degrees from boresight. L2 ellipticity shall be no worse than 3.

023 MHz ZCOUNTER X1 CODE GENERATOR 10 GOLD CODE GENERATOR EPOCH DETECT X1(t) RESET COMMAND GENERATOR X2i(t) Pi(t) REMOTE COMMAND CODE SELECT DEVICE RECLOCKING DEVICE Gi(t) Gi(t) D(t) FORMATTED DATA D(t) DATA ENCODER Pi(t) EPOCH RESET X2 CODE GENERATOR 10.UNCLASSIFIED EPOCH DETECT Z-COUNT X1 EPOCH EPOCH RESET 20 50 Hz 1 KHz 1. C/A-Codes and Modulating Signals IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 16 UNCLASSIFIED .23 MHz FREQUENCY SOURCE Pi(t) D(t) Figure 3-2. Generation of P-.

23 Mbps (X1 and X2i). X1(t) and X2(t .i(t) patterns.UNCLASSIFIED 3. The linear Gi(t) pattern (C/A-code) is the Modulo-2 sum of two 1023-bit linear patterns. referenced to the shift register input.5 seconds after 15. G1 and G2i. X1 itself is generated by the Modulo-2 sum of the output of two 12-stage registers (X1A and X1B) short cycled to 4092 and 4093 chips respectively. This allows the generations of 37 unique P(t) code phases (identified in Table 3-I) using the same basic code generator. The CM.2.023 x 107)-1 seconds.345. while i is an integer from 1 through 37. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 17 UNCLASSIFIED . When the X1A short cycles are counted to 3750. For a given SV-ID. Different initial states are used to generate different CM. are: X1A: 1 + X6 + X8 + X11 + X12. as referenced to the shift register input. The polynomials for X1A and X1B. Different initial states are used to generate different CL. Each Pi(t) pattern is the Modulo-2 sum of two extended patterns clocked at 10. The Pi(t) pattern (P-code) is generated by the Modulo-2 summation of two PRN codes.i(t) and CM. Samples of the relationship between shift register taps and the exponents of the corresponding polynomial.000 chips of the X1 pattern have been generated. 3. two different initial states are used to generate different CL. The CL.3.i(t) patterns (defined in Table 3-IA).iT).3. The latter sequence is selectively delayed by an integer number of chips to produce 36 unique G(t) patterns (defined in Table 3-I).i(t) patterns (defined in Table 3-IA). are as shown in Figures 3-3. the X1 epoch is generated.i(t) pattern (L2 CL-code) is also a linear pattern but with a longer reset period of 767250 chips. 3-5 and 3-6. The X1 epoch occurs every 1. and X1B: 1 + X1 + X2 + X5 + X8 + X9 + X10 + X11 + X12.2 P-Code Generation. 3-4.1 Code Structure.i(t) pattern (L2 CM-code) is a linear pattern which is reset with a specified initial state every code count of 10230 chips. where T is the period of one P-code chip and equals (1.2.

X1A Shift Register Generator Configuration ICD-GPS-200C 10 OCT 1993 18 UNCLASSIFIED .UNCLASSIFIED POLYNOMIAL X1A: 1 + X6 + X8 + X11 + X12 STAGE NUMBERS 1 0 2 0 3 0 4 1 5 0 6 0 7 1 8 0 9 0 10 1 11 0 12 0 OUTPUT 0 1 2 3 4 5 6 7 8 9 10 11 12 INITIAL CONDITIONS SHIFT DIRECTION TAP NUMBERS Figure 3-3.

X1B Shift Register Generator Configuration ICD-GPS-200C 10 OCT 1993 19 UNCLASSIFIED .UNCLASSIFIED POLYNOMIAL X1B: 1 + X1 + X2 + X5 + X8 + X9 + X10 + X11 + X12 STAGE NUMBERS 1 0 2 0 3 1 4 0 5 1 6 0 7 1 8 0 9 1 10 0 11 1 12 0 OUTPUT 0 1 2 3 4 5 6 7 8 9 10 11 12 INITIAL CONDITIONS SHIFT DIRECTION TAP NUMBERS Figure 3-4.

X2A Shift Register Generator Configuration ICD-GPS-200C 10 OCT 1993 20 UNCLASSIFIED .UNCLASSIFIED POLYNOMIAL X2A: 1 + X1 + X3 + X4 + X5 + X7 + X8 + X9 + X10 + X11 + X12 STAGE NUMBERS 1 1 2 0 3 1 4 0 5 0 6 1 7 0 8 0 9 1 10 0 11 0 12 1 OUTPUT 0 1 2 3 4 5 6 7 8 9 10 11 12 INITIAL CONDITIONS SHIFT DIRECTION TAP NUMBERS Figure 3-5.

X2B Shift Register Generator Configuration ICD-GPS-200C 10 OCT 1993 21 UNCLASSIFIED .UNCLASSIFIED POLYNOMIAL X2B: 1 + X2 + X3 + X4 + X8 + X9 + X12 STAGE NUMBERS 1 0 2 0 3 1 4 0 5 1 6 0 7 1 8 0 9 1 10 0 11 1 12 0 OUTPUT 0 1 2 3 4 5 6 7 8 9 10 11 12 INITIAL CONDITIONS SHIFT DIRECTION TAP NUMBERS Figure 3-6.

This code vector convention represents the present output and 11 future outputs in sequence. the X1B shift register is held in the final state (chip 4093) of its 3749th cycle. (b) the stage 12 value appears at the left followed by the values of the remaining states in order of descending stage numbers. and (c) the shift direction is from lower to higher stage number with stage 12 providing the current output.345. ICD-GPS-200C 10 OCT 1993 22 UNCLASSIFIED . i. It remains in this state until the X1A shift register completes its 3750th cycle (343 additional chips). Using this convention. Reinitialization of the X1A shift register produces a 4092 chip sequence by omitting the last 3 chips (001) of the natural 4095 chip X1A sequence. The X1 period is defined as the 3750 X1A cycles (15. ranging from 1 to 37. at each X1 epoch. The natural 4095 chip cycles of these generating sequences are shortened to cause precession of the X1B sequence with respect to the X1A sequence during subsequent cycles of the X1A sequence in the X1 period. The first chip of the X1A sequence and the first chip of the X1B sequence occur simultaneously in the first chip interval of any X1 period. the X1A shift register is initialized to code vector 001001001000 and the X1B shift register is initialized to code vector 010101010100. The X2i sequences are generated by first producing an X2 sequence and then delaying it by a selected integer number of chips. To accommodate this situation. This results in the phase of the X1B sequence lagging by one chip for each X1A cycle in the X1 period. Each of the X2i sequences is then Modulo-2 added to the X1 sequence thereby producing up to 37 unique P(t) sequences.000 chips) which is not an integer number of X1B cycles. The completion of the 3750th X1A cycle establishes the next X1 epoch which re-initializes both the X1A and X1B shift registers starting a new X1 cycle.UNCLASSIFIED The state of each generator can be expressed as a code vector word which specifies the binary sequence constant of each register as follows: (a) the vector consists of the binary state of each stage of the register. Re-initialization of the X1B shift register produces a 4093 chip sequence by omitting the last 2 chips (01) of the natural 4095 chip X1B sequence.

When the X2A is in the last state of its 3750th cycle and X2B is in the last state of its 3749th cycle. as referenced to the shift register input. used to generate X2. They are short-cycled. During this particular X1A period. their transitions to their respective initial states are delayed by 37 chip time durations. Figure 3-7 shows a functional P-code mechanization. X2A to 4092 and X2B to 4093. (The initialization vector for X2A is 100100100101 and for X2B is 010101010100). At the beginning of the GPS week. The polynomials for X2A and X2B. Signal component timing is shown in Figure 3-8. At this point. so that they have the same relative precession rate as the X1 shift registers. X1B. are: X2A: 1 + X1 + X3 + X4 + X5 + X7 + X8 + X9 + X10 + X11 + X12. operate in a similar manner to the X1A and X1B shift registers. and X2B: 1 + X2 + X3 + X4 + X8 + X9 + X12. respectively. The X2A and X2B epochs are made to precess with respect to the X1A and X1B epochs by causing the X2 period to be 37 chips longer than the X1 period. while the end-of-week reset timing and the final code vector states are given in Tables 3-IV and 3-V. X2A and X2B are held when reaching the last state of their respective cycles until that X1A cycle is completed (see Table 3-IV). The precession of the shift registers with respect to X1A continues until the last X1A period of the GPS week interval. X1A. X2A and X2B shift registers are initialized to produce the first chip of the week. ICD-GPS-200C 10 OCT 1993 23 UNCLASSIFIED . X1B. all four shift registers are initialized and provide the first chip of the new week.UNCLASSIFIED The X2A and X2B shift registers. X2A epochs are counted to include 3750 cycles and X2B is held in the last state at 3749 cycle until X2A completes its 3750th cycle.

12 4093 DECODE X2 SHIFT REGISTER Figure 3-7. 2. P-Code Generation ICD-GPS-200C 10 OCT 1993 24 UNCLASSIFIED .23 MHz C I X1A REGISTER 1 6 12 R SET X1A EPOCH X1 EPOCH A 6. 10. 5.200 C I 1 X1B REGISTER 12 R SET X1B EPOCH B 3749 1. 7. 8.UNCLASSIFIED 10. 11.RESET TO INITIAL CONDITIONS ON NEXT CLOCK 3750 C I 1 X2A REGISTER 12 R C SET X2A EPOCH 1. 3. 12 CLOCK CONTROL HALT 4093 DECODE END/WEEK 7 DAY RESET REGISTER INPUTS C . 9. 9. 8. 5. 4. 8. 12 RESUME X2 EPOCH 4092 DECODE START/WEEK 37 ENABLE A X1 END/WEEK HALT B Pi CLOCK CONTROL C I X2B REGISTER 1 2 12 R X2i SET X2B EPOCH C 3749 1 i 37 2. 10. 3. 11. 8. 12 RESUME 4092 DECODE 3750 CLOCK CONTROL HALT Z-COUNTER 403.INPUT R . 4.CLOCK I . 9. 11.

0 sec 4.UNCLASSIFIED 0 1 2 3 0 1 2 3 0 X1 EPOCHS 37 Chips 74 Chips X2 EPOCHS P Epoch TIME 0 1.5 sec 3. P-Code Signal Component Timing ICD-GPS-200C 10 OCT 1993 25 UNCLASSIFIED .5 sec 7 days 14 days Figure 3-8.

P-Code Reset Timing (Last 400 µsec of 7-day period) Code Chip X1A-Code 1 • • • 3023 • • • 3127 • • • 3749 • • • 4092* * Last Chip of Week. X1B-Code 345 • • • 3367 • • • 3471 • • • 4093 • • • 4093 X2A-Code 1070 • • • 4092 • • • 4092 • • • 4092 • • • 4092 X2B-Code 967 • • • 3989 • • • 4093 • • • 4093 • • • 4093 IRN-200C-003 ICD-GPS-200C 11 OCT 1999 26 UNCLASSIFIED .UNCLASSIFIED Table 3-IV.

ICD-GPS-200C 10 OCT 1993 27 UNCLASSIFIED .UNCLASSIFIED Table 3-V. Final Code Vector States Vector State for 1st Chip Code Chip Number Vector State following Epoch X1A 4091 100010010010 001001001000 4092 000100100100 X1B 4092 100101010101 010101010100 4093 001010101010 X2A 4091 111001001001 100100100101 4092 110010010010 X2B 4092 000101010101 010101010100 4093 001010101010 NOTE: First Chip in each sequence is output bit whose leading edge occurs simultaneously with the epoch.

2. The G2i sequence is formed by effectively delaying the G2 sequence by an integer number of chips ranging from 5 to 950. The effective delay of the G2 sequence to form the G2i sequence is accomplished by combining the output of two stages of the G2 shift register by Modulo-2 addition (see Figure 3-11).3. Each Gi(t) sequence is a 1023-bit Gold-code which is itself the Modulo-2 sum of two 1023-bit linear patterns. and G2 = X10 + X9 + X8 + X6 + X3 + X2 + 1. Thirty-six of the possible combinations are selected. ICD-GPS-200C 10 OCT 1993 28 UNCLASSIFIED . The G1 and G2 registers are clocked at 1.23 MHz P-coder clock.UNCLASSIFIED 3. The initialization by the X1 epoch phases the 1. Table 3-I contains a tabulation of the G2 shift register taps selected and their corresponding P-code X2i and PRN signal numbers together with the first several chips of each resultant PRN code.3 C/A-Code Generation. G1 and G2i. The G1 and G2 shift registers are initialized at the P-coder X1 epoch. The initialization vector for the G1 and G2 sequences is 1111111111. one to correspond to each of the 36 different P-codes. Timing relationships related to the C/A code are shown in Figure 3-12.023 MHz derived from the 10. The G1 and G2 sequences are generated by 10-stage shift registers having the following polynomials as referred to in the shift register input (see Figures 3-9 and 3-10). G1 = X10 + X3 + 1.023 MHz clock to insure that the first chip of the C/A code begins at the same time as the first chip of the P-code.

G1 Shift Register Generator Configuration ICD-GPS-200C 10 OCT 1993 29 UNCLASSIFIED .UNCLASSIFIED POLYNOMIAL G1: 1 + X3 + X10 STAGE NUMBERS 1 INPUT 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 OUTPUT 0 1 2 3 4 5 6 7 8 9 10 INITIAL CONDITIONS SHIFT DIRECTION TAP NUMBERS Figure 3-9.

G2 Shift Register Generator Configuration ICD-GPS-200C 10 OCT 1993 30 UNCLASSIFIED .UNCLASSIFIED POLYNOMIAL G2: 1 + X2 + X3 +X6 + X8 + X9 + X10 STAGE NUMBERS 1 INPUT 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 OUTPUT 0 1 2 3 4 5 6 7 8 9 10 INITIAL CONDITIONS SHIFT DIRECTION TAP NUMBERS Figure 3-10.

C/A-Code Generation ICD-GPS-200C 10 OCT 1993 31 UNCLASSIFIED .UNCLASSIFIED 3 X1 EPOCH I S 10.23 MHz C G1 REGISTER 10 G1 SYNCH 10 2 3 6 8 9 10 I C SYNCH S G2 REGISTER 20 G EPOCH 1 Kbps 1023 DECODE Gi G2i PHASE SELECT LOGIC 50 bps TO DATA ENCODER REGISTER INPUTS C I S CLOCK INPUT SET ALL ONES Figure 3-11.

C/A-Code Timing Relationships ICD-GPS-200C 10 OCT 1993 32 UNCLASSIFIED . 1023 BIT Gold Code @ 1023 Kbps 0 1 2 18 19 0 Gold Code Epochs @ 1000/sec Data @ 50 cps 20 msec Figure 3-12.UNCLASSIFIED X1 Epoch @ 2/3 bps 1023 1023 1023 1023 1023 1 msec etc.

Each CM.UNCLASSIFIED 3. The L2 CM and L2 CL shift registers are initialized at the P-coder X1 epoch. and CL.i(t) pattern (L2 CM-code) and CL. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 32a UNCLASSIFIED .i(t) pattern (L2 CL-code) are generated using the same code generator polynomial each clocked at 511. The first L2 CM-code chip starts synchronously with the end/start of week epoch.5 Kbps.i(t) pattern is reset after 10230 chips resulting in a code period of 20 milliseconds. The L2 CM and L2 CL code generator is conceptually described in Figure 3-12B using modular-type shift register generator.and L2 CL-codes is 1112225171 (octal) of degree 27.2. CM. The maximal polynomial used for L2 CM.4 L2 CM-/L2 CL-Code Generation. Each pattern is initiated and reset with a specified initial state (defined in Table 3-IA). Timing relationships related to the L2 CM-/L2 CLcodes are shown in Figure 3-12A.3.i(t) pattern is reset after 767250 chips resulting in a code period of 1.5 seconds.

10230 BIT L2 CM-Code @ 511. L2 CM-/L2 CL-Code Timing Relationships IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 32b UNCLASSIFIED . etc.5 Kbps 1 10230 2 10230 3 10230 4 10230 73 10230 74 10230 75 10230 20 msec etc.5 second 1 X1 Epoch @ 2/3 bps 767250 Chips 767250 BIT L2 CL-Code @ 511.UNCLASSIFIED 0 End/start of week 1.5 Kbps L2 CL @ 511.5 Kbps Data @ 50 cps L2 CM @ 511.5 Kbps L2 C @ 1023 Kbps Figure 3-12A.

POLYNOMIAL: DELAY NUMBERS 1 + X + X +X + X + X + X 3 4 5 6 9 11 +X 13 +X 16 +X 19 +X +X +X 21 24 27 Figure 3-12B. 3 3 2 3 2 3 3 2 1 1 1 3 OUTPUT 32c SHIFT DIRECTION L2 CM/L2 CL Shift Register Generator Configuration UNCLASSIFIED INITIAL CONDITIONS ARE A FUNCTION OF PRN AND CODE PERIOD (MODERATE/LONG) UNCLASSIFIED IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 .

UNCLASSIFIED (This page intentionally left blank.) IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 32d UNCLASSIFIED .

the encoder registers illustrated in Figure 3-12C contains the last six bits of the previous message). There also is an inherent but bounded drift rate between the UTC and GPS time scales. of this document. 3. The G1 symbol is selected on the output as the first half of a 40-millisecond data bit period. The OCS shall control the GPS time scale to be within one microsecond of UTC (Modulo one second).3. the L2 CNAV bit train. Twelve-second navigation messages broadcast by the SV are synchronized with every eighth of the SV's P(Y)-code X1 epochs. DC(t). upon ground command. DC(t). D(t).1. Naval Observatory) zero time-point defined as midnight on the night of January 5. with a convolutional encoder logic arrangement as illustrated in Figure 3-12C. For Block IIF.UNCLASSIFIED 3. thus.e. For Block IIR-M. The resultant symbol sequence is then Modulo-2 added to the L2 CM-code. or 35 bits). The L2 CNAV bit train. 1980/morning of January 6.3. and the L2 CNAV data.4 GPS Time and SV Z-Count.3. clocked at 50 sps.3. the NAV bit train. 1980. 3. at the beginning of each new message. The largest unit used in stating GPS time is one week defined as 604. DC(t). D(t). for which they must compensate to determine system time from the received signal. the navigation message is FEC encoded in a continuous process independent of message boundaries (i. can be rate ½ encoded and be used to modulate the L2 CM-code. The convolutional coding will be constraint length 7. will always be Forward Error Correction (FEC) encoded by a rate 1/2 convolutional code. Because the FEC encoding convolves successive messages. while UTC is corrected periodically with an integer number of leap seconds. GPS time is established by the Control Segment and is referenced to a UTC (as maintained by the U.S. The content and format of the NAV data.3 Navigation Data. GPS time may differ from UTC because GPS time shall be a continuous time scale.1 Forward Error Correction. respectively. it is necessary to define which transmitted symbol is synchronized to SV time. is rate ½ encoded and. However. the NAV bit train.800 seconds.3. However. 3. D(t). are given in Appendices II and III.1 Navigation Data Modulation. the data rate of D(t) for this purpose will be 25 bps resulting in 50 sps. can be selected to be convolutionally encoded. This convolutional decoding delay and the various relationships with the start of the data block transmission and SV time are illustrated in Figure 3-12D. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 33 UNCLASSIFIED . The resulting symbol rate is 50 sps. The users’ convolutional decoders will introduce a fixed delay that depends on their respective algorithms (usually 5 constraint lengths. For Block IIR-M. as follows.3. The beginning of the first symbol that contains any information about the first bit of a message will be synchronized to every eighth X1 epoch (referenced to end/start of week).

This data is generated by the CS. 0.g. The TOWcount's zero state is defined as that X1 epoch which is coincident with the start of the present week.UNCLASSIFIED The NAV data contains the requisite data for relating GPS time to UTC. where midnight is defined as 0000 hours on the Universal Coordinated Time (UTC) scale which is nominally referenced to the Greenwich Meridian. thereafter (i. The range of this count is from 0 to 1023 with its zero state being defined as the GPS week number zero and every integer multiple of 1024 weeks. Propagation delay errors and receiver equipment biases unique to the user add to this time transfer uncertainty. This epoch occurs at (approximately) midnight Saturday night-Sunday morning. and the relative accuracy of the GPS/UTC relationship will be sufficient for users. the accuracy of this relationship may degrade if for some reason the CS is unable to upload data to a SV. The accuracy of this data during the transmission interval shall be such that it shall relate GPS time (maintained by the MCS of the CS) to UTC (USNO) within 90 nanoseconds (one sigma). IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 34 UNCLASSIFIED . which is given as a 29-bit binary number consisting of two parts as follows: a. this corresponds to a 97 nanosecond (one sigma) apparent uncertainty at the SV. 2048. Over the years the occurrence of the "zero state epoch" may differ by a few seconds from 0000 hours on the UTC scale since UTC is periodically corrected with leap seconds while the TOWcount is continuous without such correction. b. Time stated in this manner is referred to as Z-count. The count is short-cycled such that the range of the TOW-count is from 0 to 403.). etc. a truncated version of the TOW-count. In each SV the X1 epochs of the P-code offer a convenient unit for precisely counting and communicating time. it is assumed that alternate sources of UTC are no longer available. Range error components (e.4). The binary number represented by the 19 least significant bits of the Z-count is referred to as the time of week (TOW) count and is defined as being equal to the number of X1 epochs that have occurred since the transition from the previous week. the relationship between the actual TOW-count and its truncated HOW version is illustrated by Figure 3-13. therefore.2. To aid rapid ground lock-on to the P-code signal. consisting of its 17 most significant bits. SV clock and position) contribute to the GPS time transfer error. is contained in the hand-over word (HOW) of the L-Band downlink data stream. The ten most significant bits of the Z-count are a Modulo 1024 binary representation of the sequential number assigned to the current GPS week (see paragraph 6.199 X1 epochs (equaling one week) and is reset to zero at the end of each week.e. At this point. and under normal operating circumstances (two frequency time transfers from SV(s) whose navigation message indicates a URA of eight meters or less). 1024.

Convolutional Encoder ENCODED DATA BLOCK TRANSMITTED ON L2 ENCODED DATA BLOCK RECEIVED BY USER DATA BLOCK DECODED BY USER USER’S DECODING DELAY DOWNLINK DELAY EARLY LATER SV 12 SECOND EPOCHS Figure 3-12D. Convolutional Transmit/Decoding Timing Relationships IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 34a UNCLASSIFIED .UNCLASSIFIED G2 (133 OCTAL) DATA INPUT (25 BPS) OUTPUT SYMBOLS (50 SPS) (ALTERNATING G1/G2) G1 (171 OCTAL) SYMBOL CLOCK Figure 3-12C.

UNCLASSIFIED (This page intentionally left blank.) IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 34b UNCLASSIFIED .

2).3.199 1 2 3 4 5 6 7 8 DECIMAL EQUIVALENTS OF ACTUAL TOW COUNTS SUBFRAME EPOCHS 6 sec 100. THE FIRST SUBFRAME STARTS SYNCHRONOUSLY WITH THE END/START OF WEEK EPOCH.196 403. MULTIPLY BY FOUR. 3. 4. Time Line Relationship of HOW Message ICD-GPS-200C 10 OCT 1993 35 UNCLASSIFIED .5 sec 0 403.192 403. TO AID IN RAPID GROUND LOCK-ON THE HAND-OVER WORD (HOW ) OF EACH SUBFRAME CONTAINS A TRUNCATED TIME-OF-WEEK (TOW) COUNT 2. THE HOW-MESSAGE TOW COUNT CONSISTS OF THE 17 MSBs OF THE ACTUAL TOW COUNT AT THE START OF THE NEXT SUBFRAME.UNCLASSIFIED P(Y)-CODE EPOCH (END/START OF WEEK) X1 EPOCHS 1. THE HOW IS THE SECOND WORD IN EACH SUBFRAME (REFERENCE PARAGRAPH 20. Figure 3-13.3. TO CONVERT FROM THE HOW-MESSAGE TOW COUNT TO THE ACTUAL TOW COUNT AT THE START OF THE NEXT SUBFRAME.799 0 1 2 3 DECIMAL EQUIVALENTS OF HOW-MESSAGE TOW COUNTS NOTES: 1. 5.

) ICD-GPS-200C 10 OCT 1993 36 UNCLASSIFIED .UNCLASSIFIED (This page intentionally left blank.

UNCLASSIFIED 4. NOT APPLICABLE ICD-GPS-200C 10 OCT 1993 37 UNCLASSIFIED .

) ICD-GPS-200C 10 OCT 1993 38 UNCLASSIFIED .UNCLASSIFIED (This page intentionally left blank.

NOT APPLICABLE ICD-GPS-200C 10 OCT 1993 39 UNCLASSIFIED .UNCLASSIFIED 5.

UNCLASSIFIED (This page intentionally left blank.) ICD-GPS-200C 10 OCT 1993 40 UNCLASSIFIED .

Clock Issue of Data.1 Acronyms AI AODO A-S Autonav BPSK cps CRC CS DN EAROM ECEF ECI EOE EOL ERD FEC GPS HOW ICC ICD ID IODC IODE ISC LSB LSF L2 C L2 CL L2 CM L2 CNAV MCS MSB Availability Indicator Age of Data Offset Anti-Spoofing Autonomous Navigation Bi-Phase Shift Key cycles per second Cyclic Redundancy Check Control Segment Day Number Electrically Alterable Read-Only Memory Earth-Centered.UNCLASSIFIED 6. Earth-Fixed Earth-Centered. Inertial Edge-of-Earth End of Life Estimated Range Deviation Forward Error Correction Global Positioning System Hand-Over Word Interface Control Contractor Interface Control Document Identification Issue of Data. Ephemeris Inter-Signal Correction Least Significant Bit Leap Seconds Future L2 Civil Signal L2 Civil-Long Code L2 Civil-Moderate Code L2 C Navigation Master Control Station Most Significant Bit IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 41 UNCLASSIFIED . NOTES 6.

S. Naval Observatory Coordinated Universal Time World Geodetic System 1984 Week Number Extended Week Number IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 42 UNCLASSIFIED .UNCLASSIFIED NAV NDUS NMCT NSC NSCL NSCM NSY OBCP OCS PRN RF RMS SA SEP sps SS SV SVN TBD TBS TLM TOW UE URA URE US USNO UTC WGS 84 WN WNe - Navigation Nudet Detection User Segment Navigation Message Correction Table Non-Standard C/A-Code Non-Standard L2 CL-Code Non-Standard L2 CM-Code Non-Standard Y-code On-Board Computer Program Operational Control Segment Pseudo-Random Noise Radio Frequency Root Mean Square Selective Availability Spherical Error Probable symbols per second Space Segment Space Vehicle Space Vehicle Number To Be Determined To Be Supplied Telemetry Time Of Week User Equipment User Range Accuracy User Range Error User Segment U.

1. It includes all errors for which the Space and Control Segments are responsible. There are no longer any active Block I SVs in the GPS constellation.5.2 SV Block Definitions. Block IIA. These SVs transmit configuration codes as specified in paragraph 20.5.2.3.2.3. The last Block I SV was decommissioned in 1995. The original concept validation satellites developed by Rockwell International and designated as satellite vehicle numbers (SVNs) 1-11 are termed "Block I" SVs. Block IIR. These SVs transmitted a configuration code of 000 (reference paragraph 20.2 Definitions 6. The following block definitions are given to facilitate discussion regarding the capability of the various blocks of GPS satellites to support the SV-to-US interface. The navigation signal provides no direct indication of the type of the transmitting SV. It does not include any errors introduced in the user set or the transmission media. URA is a one-sigma estimate of the user range errors in the navigation data for the transmitting satellite. User range accuracy (URA) is a statistical indicator of the ranging accuracies obtainable with a specific SV. Characteristics of these SVs are provided below.1 Developmental SVs. 6. The operational satellites are designated Block II.3. Modes of operation for these SVs and accuracy of positioning services provided are described in paragraphs 6.2 through 6.1. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 43 UNCLASSIFIED .3.4. the URA index (N) reported in the NAV message corresponds to the maximum value of URA anticipated over the fit interval.UNCLASSIFIED 6.3.2.6). Block IIR-M and Block IIF SVs. 6. While the URA may vary over a given subframe fit interval.2.2. These SVs were designed to provide 3-4 days of positioning service without contact from the CS.2.6. 6.1 User Range Accuracy.3.2 Operational SVs.

IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 44 UNCLASSIFIED .3. This is the first block of operational SVs that transmit the L5 Civil signal.2.3.2. The SV is undergoing normal operations whenever the fit interval flag (reference paragraph 20. 6. The block of operational replenishment SVs developed by Boeing are designated as SVNs 62-73 and are termed “Block IIF” SVs.UNCLASSIFIED 6.2. The second block of full scale operational SVs developed by Rockwell International are designated as SVNs 22-40 and are termed "Block IIA" SVs. The block of operational replenishment SVs developed by Martin Marietta are designated as SVNs 41-61 and are termed "Block IIR" SVs.4) is less than 240. The subset of operational replenishment SVs developed by Lockheed Martin which are “Modernized” configuration of “Block IIR” SVs are termed “Block IIR-M”.4 Block IIR-M SVs. 6.1) is zero. The first block of full scale operational SVs developed by Rockwell International are designated as SVNs 13-21 and are termed "Block II" SVs. 6.2.2 Short-term Extended Operations.3.3. The following three operational intervals have been defined.2.2 Block IIA SVs.3. These labels will be used to refer to differences in the interface definition as time progresses from SV acceptance of the last navigation data upload.4. 6.5 Block IIF SVs.2. 6.1 Block II SVs.2.1 Normal Operations. These SVs were designed to provide 14 days of positioning service without contact from the CS. The SV is undergoing short-term extended operations whenever the fit interval flag is one and the IODE (reference paragraph 20. 6.2.2.4. These SVs will provide at least 14 days of positioning service without contact from the CS when the SVs are operating in the Block IIA mode and will provide a minimum of 180 days of positioning service without contact from the CS when operating in autonomous navigation (Autonav) mode.2.3 Operational Interval Definitions.2.3 Block IIR SVs. These SVs were designed to provide 180 days of positioning service without contact from the CS.2.2.2.2. 6.3.2.2.2.

3.3.1.2.3 Supporting Material 6.3. 6.3. 6.13) is 57600 X1 epochs in duration. The GPS week numbering system is established with week number zero (0) being defined as that week which started with the X1 epoch occurring at midnight UTC(USNO) on the night of January 5.5.45 MHz.2.1.3.3.2.5. The calendar year used for the calendar year counter (see paragraph 20. 20. 6. Users must recognize that the week number information contained in the Nav Message may not necessarily reflect the current full GPS week number (see paragraphs 20.3.2.1.2.3.7 L5 Civil Signal. 20.3. 6.1.5.6 GPS Day. Figure 6-1 illustrates an example variation in the minimum received power of the near-ground user-received L1 and L2 signals from Block II/IIA/IIR SVs as a function of SV elevation angle. The guaranteed minimum user-received signal levels are defined in paragraph 3.3.1. The GPS day used for the calendar year counter (see paragraph 20.4 GPS Week Number. 1980. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 45 UNCLASSIFIED . The start of the GPS day is the start of the UTC(USNO) day minus the UTC(USNO)-GPS correction for that particular UTC(USNO) day. As additional supporting material.2.3. The L5 signal is only available on Block IIF and subsequent blocks of SVs and the signal is specified/described in a separate and different interface control document.3.3.4.5 Calendar Year.1. The SV is undergoing long-term extended operations whenever the fit interval flag is one and the IODE is in the range 240-255. and 30. 6. 1980/ morning of January 6.1.3.3.1.3 Long-term Extended Operations.1).7.13) is the year number from the Gregorian Calendar.UNCLASSIFIED 6. L5 is the GPS downlink signal at a nominal carrier frequency of 1176.6.5.1 Received Signals. The GPS week number continuously increments by one (1) at each end/start of week epoch without ever resetting to zero.3.

L1 -161.5 C/A . Block II/IIA/IIR) IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 46 UNCLASSIFIED .L2 0o 5o 20o 40o 60o 80o 90o 100o USER ELEVATION ANGLE (DEG) Figure 6-1.L1 P .5 RECEIVED POWER AT 3dBi LINEARLY POLARIZED ANTENNA (dBw) -158. User Received Minimum Signal Level Variations (Example.5 P .5 -164.UNCLASSIFIED -155.L2 or C/A .

During normal operations. the Block II SVs may not transmit correct data for the entire 180 days but are guaranteed to transmit correct data for at least 14 days to support short-term extended operations. mechanical antenna alignment errors. Under normal conditions the CS will provide daily uploads to each SV. and due to a variability in link atmospheric path loss. the almanac data.2 and 6.2 Extended Navigation Mode (Block II/IIA).2. such that by the 180th day after the last upload. If the CS is unable to upload the SVs (the CS is unavailable or the SV is unable to accept and process the upload). In addition. In addition. UTC parameters and ionospheric data will not be maintained current and will degrade in accuracy from the time of last upload. the user range error of the SV will increase.5 dBW and -153.0 dBW. which will allow the SV to maintain normal operations as defined in paragraph 6. the SVs will have a user range error that is at or below a level required to support a positioning accuracy of 16 meters spherical error probable (SEP). the positioning errors will have grown to 10 kilometers SEP. for the P(Y) and C/A components of the L1 channel and L2 channel. the maximum received signal levels as a result of these factors is not expected to exceed -155. nor -158. each SV will individually transition to short-term extended operations and eventually to long-term extended operations (based on time from each SV's last upload) as defined in paragraphs 6. causing a positioning service accuracy degradation.0 dBW for either signal on the L2 channel. respectively.1 and described within this ICD. voltage variations and power amplifier variations. 6. The rate of accuracy degradation increases in the long-term extended interval. Due to memory retention limitations. transmitter power output variations due to temperature variations.2. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 47 UNCLASSIFIED . respectively. under certain operational scenarios.0 dBW. and as further described throughout this ICD.UNCLASSIFIED Higher received signals levels can be caused by such factors as SV attitude errors. such that at the end of this interval (approximately 14 days after upload) the US will be able to achieve a positioning accuracy of 425 meters SEP.3.3.3. During short-term and long-term extended operations (approximately day 2 through day 182 after an upload). the maximum received signal levels as a result of these factors is not expected to exceed -155. As time from upload continues through these three operational intervals. UTC parameters and ionospheric data will be maintained current to meet the accuracy specified in this ICD.3. for the P(Y) and C/A components of the L1 channel.5 dBW and -153. individual signal components of Block IIR-M/IIF SVs may exceed the previously stated maximum but are not expected to exceed -150 dBW. For Block IIR-M and IIF SVs. the almanac data. During these intervals the URA will continue to provide the proper estimate of the user range errors.3.2. The rate of accuracy degradation is slow over the short-term extended operations interval. For Block II/IIA and IIR SVs. The Block II and IIA SVs are capable of being uploaded by the CS with 182 days of navigation data to support a 180 day positioning service. due to programmable power output capabilities of Block IIR-M and IIF SVs.

3. and on-board data processing which updates data uploaded by the CS. communication of data. will perform similarly to the Block IIA SVs and will provide at least 14 days of positioning service (through short-term extended operations) without contact from the CS. Each Block IIR/IIR-M/IIF SV in the constellation determines its own ephemeris and clock correction parameters via SV-to-SV ranging. In the Autonav mode the Block IIR/IIR-M/IIF SV will maintain normal operations as defined in paragraph 6. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 48 UNCLASSIFIED .1 and as further described within this ICD. The Block IIR/IIR-M SVs. the Block IIR/IIR-M SVs will maintain normal operations for period of at least 180 days after the last upload and the Block IIF SVs will maintain normal operations for period of at least 60 days. 6.2. If the CS is unable to upload the SVs. UTC parameters and ionospheric data are still calculated and maintained current by the CS and uploaded to the SV as required. and will have a user range error that is at or below a level required to support 16 meter SEP accuracy for Block IIR/IIR-M. If the CS is unable to upload the SVs. the almanac data. In the Autonav mode.3.3. the almanac data. operates in an Autonav mode when commanded by the CS.3 Block IIA Mode (Block IIR/IIR-M).4 Autonomous Navigation Mode. in conjunction with a sufficient number of other Block IIR/IIR-M or Block IIF SVs. UTC parameters and ionospheric data will not be maintained current and will degrade in accuracy from the time of the last upload. The Block IIR/IIR-M and Block IIF SV. when operating in the Block IIA mode.UNCLASSIFIED 6.

The documents listed in Section 2. 10. Any letter of exception which is in force for the revision of the ICD is depicted in Figure 10-1. This appendix depicts such "letters of exception" when utilized by any signatory of this document in the initial approval cycle and/or in the change approval process. initial signature approval of this document.as affixed to the cover page -.3. Signatories for whom no letter of exception is shown have approved this version of the document without exception.UNCLASSIFIED 10.2 Applicable Documents. The ICC will omit such letters of exception from subsequent revisions of this document based on written authorization by the respective signatory (without processing a proposed interface revision notice (PIRN) for approval). As indicated in paragraph 1. LETTERS OF EXCEPTION 10.3 Letters of Exception. When some (but not all) of the exceptions taken by a signatory are resolved. If signature approval of this document -. it indicates that the approval is contingent upon the exceptions taken by that signatory in a letter of exception. APPENDIX I.1 Scope. the signatory shall provide the ICC with an updated letter of exception for inclusion in the next ICD revision (without processing a PIRN for approval). ICD-GPS-200C 10 OCT 1993 49 UNCLASSIFIED .is marked by an asterisk. can be contingent upon a "letter of exception". 10.0 shall be applicable to this appendix. as well as approval of subsequent changes to the document.

UNCLASSIFIED (This page intentionally left blank.) ICD-GPS-200C 10 OCT 1993 50 UNCLASSIFIED .

UNCLASSIFIED

Space Systems Division Rockwell International Corporation 2600 Westminster Boulevard P.O. Box 3644 Seal Beach, California 90740-7644

Rockwell International

In reply refer to 93MA3728 Date: To: September 22, 1993 The ARINC Companies 11770 E. Warner Ave., Suite 210 Fountain Valley, CA 92708 Rockwell International Letter of Exception to ICD GPS-200 PIRN-200A-006NC, dated November Thomas R. Denigan ARINC Companies FAX dated September 20, 1993, T. R. Denigan to D. L. Butler, same subject.

Subject: 21,1986. Attention: Reference:

It is Rockwell’s position that the statement requested in the subject letter of exception be incorporated, as written, in the next revision to ICD-200. The ‘B’ revision of ICD-200 incorporated only the last portion of the requested change “....the initialization vector for X2A is 100100100101 and for X2B is 010101010100.” It is felt that the first portion of the sentence, “Using the same convention identified for X1A and X1B,...” will aid the reader of the ICD in understanding the derivation of the X2A and X2B terms. ROCKWELL INTERNATIONAL Space Systems Division

Signature on file
W. L Young, Manager Engineer Contracts & Proposals cc: D. L. Butler W. F. Fratzke

Signature on file
F. E. Cooper, Chief GPS Program

Figure 10-1. Letter of Exception (sheet 1 of 15)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 51

UNCLASSIFIED

UNCLASSIFIED

Collins Avionics & Communications Division Rockwell International Corporation 350 Collins Road NE Cedar Rapids, IA 52498 (319) 395-1000

Rockwell International

September 23, 1993 ARINC Research Corporation 11770 Warner Avenue, Suite 210 Fountain Valley, CA 92708 Attention: Subject: Mr. Tom Denigan Review of ICD-GPS-200B Outstanding Letters of Exception in Preparation of ICD-GPS-200C

Dear Mr. Denigan: A review of Rockwell International’s Collins Avionics & Communications Division, outstanding Letters of Exception as listed in IRN-200B-007 to ICD-GPS-200B shows 2 Letters of Exception that have been satisfied or are no longer pertinent: sheet 46, (letter dated March 31, 1987) sheet 53 & 54, (letter dated September 10, 1986) The following letters as listed in IRN-200B-007 to ICD-GPS-200B are still pertinent and are to be included in any revised ICD-GPS-200 releases: sheet 54a, 54c (letter dated March 27, 1991) sheet 56g (letter dated September 23, 1992) Sincerely,

Signature on file
C.S, Olson Program Manager

Figure 10-1. Letter of Exception (sheet 2 of 15)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 52

UNCLASSIFIED

UNCLASSIFIED

Collins Avionics & Communications Division Rockwell International Corporation 350 Collins Road NE Cedar Rapids, IA 52498 (319) 395-1000

Rockwell International
2458b/0048b

March 27, 1991 ARINC Research Corporation 4410 East Fountain Blvd., Suite 100 Colorado Springs, CO 80916 Attention: Subject: Ms. Cheryl Abendschan Rockwell CACD Letter of Exception against PIRN-200B-001B (as corrected by ARINC memo on typos and oversights, 19 MAR 91)

The subject PIRN-200B-001B documents the extended navigation capabilities inherent in the Space Segment/User Segment interface as a result of the incorporation of mission package software release OR5.10 into the Control Segment. CACD’s approval of this PIRN, which indicates concurrence that the PIRN accurately reflects the as-built Control and Space Segments in the area of extended navigation, is given with exception. CACD takes exception because: 1. The extended navigation capabilities documented by the PIRN are not a requirement of the GPS Phase III User Equipment (UE) contract F04701-85-C-0038, the GPS UE Phase IV contract F04701-90-C-0092, or the GPS MAGR Contract F04701-91-C-0003. Therefore, the GPS User Equipment, which has been and will be developed under these contracts, do no operate in compliance with extended navigation. While we may technically comment on the impact to the UE as a result of OR5.10 implementation, we cannot (as PIRN approval might otherwise indicate) verify that OR5.10 implements the extended navigation requirements identified in the PIRN.

2.

In summary, “Long Term Extended” operations from 15 to 180 days following an upload from the Control Segment are not supported by the Phase III GPS UE. Attachment 1 contains the detailed comments on the PIRN items to which CACD takes exception. Sincerely,

Signature on file
J. L. Arnold GPS Programs Manager Enclosure cc: Lt. Jim Dagley Capt. Greg Laushine

Figure 10-1. Letter of Exception (sheet 3 of 15)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 53

UNCLASSIFIED

UNCLASSIFIED

ATTACHMENT 1 Rockwell CACD Exceptions to PIRN-200B-001B

PIRN ITEM 17, 18

Rockwell CACD Comment These PIRN items document the change in the definition of the Week Number in subframe 1, word 3 due to the implementation of long term extended ephemeris curve fits which cross GPS week boundaries. The new definition states that the week number is the ten most significant bits of the Z-count and will represent the GPS week of the start of the data set transmission interval. Previously, the week number always represented the current GPS week of transmission. CACD takes exception to this redefinition because: 1. The PIRN introduces an inconsistency with the definition of Z-count given in paragraph 3.3.4, page 33 which states that “the ten most significant bits of the Z-count are a binary representation of the sequential number assigned to the present GPS week (Module 1024).” 2. Since the GPS week being transmitted by the Space Segment could vary from SV to SV (depending upon time of upload) and since the transmitted GPS week could be different from the current GPS week by one week starting on day 29 after an upload, the GPS UE could navigate using the wrong GPS week. Use of the wrong GPS week could cause navigation interruptions and could result in the incorrect time-tagging of the satellite data. The user could therefore be provided with navigation data which is marked valid when, in fact, it is not valid. This is an unacceptable situation.

22,29,31, 57a, 57b,58, 60

These PIRN items document the change in the definition of the ephemeris fit interval flag for a value equal to 1 and its corresponding relationship to the IODC/IODE during extended operations. The GPS UE supports only a fit interval of 6 hours when the fit interval flag equals 1. The newly defined ephemeris fit intervals of 8, 14, 26, 50, 74, 98, 122, and 146 hours for Long Term Extended Operations are not supported and the UE will compute 6 hour curve fits whenever these are in effect.

Figure 10-1.

Letters of Exception (sheet 4 of 15)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 54

UNCLASSIFIED

UNCLASSIFIED

ATTACHMENT 1 (cont.) Rockwell CACD Exceptions to PIRN-200B-001B PIRN ITEM 39, 40, 50, 54 Rockwell CACD Comment These PIRN items describe the almanac data sets and how the almanac URE grows throughout extended operations. The GPS UE requirements for almanac-based direct P-code TTFF (time to first fix) are only applicable to Normal Operations in which the almanac parameters have been updated within the last six days. Extended operations may jeopardize missions of those users who require efficient almanac-based direct P-code TTFFs. This PIRN item documents the fact that the health summary in subframe 5, page 25 is only updated at the time of almanac upload. During extended operations the health summary may become outdated due to the length of time since the last upload. If the health summary becomes outdated and does not accurately reflect the status of the GPS constellation, the TTFF for the GPS UE may be delayed. This is due to the time wasted on the possible acquisition of unhealthy SVs which were marked “healthy” by the health summary. Also, attempts to acquire healthy SVs which are marked unhealthy will not be made. As a result, extended operations may jeopardize missions of those users who require efficient TTFF. 45,46 These PIRN items document the changes for the UTC parameter data sets during extended operations. The GPS UE uses the UTC parameters to provide the user with precise time. Exception is taken because: 1. CACD is not confident that the accuracy of the UTC parameters can be maintained throughout extended operations. This accuracy is specified as 90 ns (one sigma) on ICD-GPS-200B page 32. As a result, extended operations may jeopardize missions of those users who require precise UTC. 2. Since the GPS UE does not account for the degraded accuracy of the UTC parameters as a function of time during extended operations, the user may be provided with an incorrect estimate of his time accuracy which again may jeopardize his mission. CACD believes the UTC parameters’ accuracy, as a function of time, should be specified in some GPS system specification.

43

Figure 10-1.

Letters of Exception (sheet 5 of 15)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 55

UNCLASSIFIED

UNCLASSIFIED

Collins Avionics & Communications Division Rockwell International Corporation 350 Collins Road NE Cedar Rapids, IA 52498 (319) 395-1000

Rockwell International

September 23, 1992 ARINC Research Corporation 11770 Warner Avenue, Suite 210 Fountain Valley, CA 92708 Attention: Subject: Dear Mr. Fyfe: The subject PIRN-200B-009A which documents the changes to the Space Segment/User Segment interface for the Block IIR SVs is hereby approved by Rockwell CACD with the following exception: The PIRN states that UTC parameters (PIRN items 4, 20), ionospheric model parameters (PIRN items 21, 27a), and almanac data (PIRN items 22a, 22b) will degrade when the Block IIR SVs do not receive an upload from the Control Segment. Since the IIR SVs indicate “normal operations” (curve fit interval flag of 4 hours) at all times, dome user segment requirements cannot be met during “normal operations” in the absence of Control Segment uploads. These affected requirements are precise UTC time transfer and almanac-based direct P-code time to first fix. The affected User Equipment (UE) is that designed and developed by Rockwell CACD under the GPS UE Phase III Contract F04701-85-C-0038, GPS UE Phase IV Contract F04701-90C-0092, and GPS MAGR Contract F04701-91-C-0003. Sincerely, Mr. Peter Fyfe PIRN-200B-009A Rockwell CACD Letter of Exception

Signature on file
C. S. Olson Program Manager CSS/jk

Figure 10-1.

Letters of Exception (sheet 6 of 15)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 56

UNCLASSIFIED

page 121” of this PIRN is that computed almanac age in Rockwell CACD government User Equipment (UE) will be approximately 14 hours older than actual almanac age. 1995 ARINC Research Corporation 2250 East Imperial Highway. Thomas Denigan PIRN-200C-001 Rockwell CACD Letter of Exception Approval sheet for PIRN-300C-001 ARINC Research Corporation letter dated January 16. Subject: PIRN-200C-001 to ICD-GPS-200C The subject PIRN-200C-001 is approved by Rockwell CACD with the following exception: The effect of Item 2. IA 52498 (319) 395-1000 Rockwell International June 12. CACD computes an almanac time-of-transmission that is nominally the multiple of 212 seconds truncated from 3.2. Letters of Exception (sheet 7 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 57 UNCLASSIFIED .2.3.UNCLASSIFIED Collins Avionics & Communications Division Rockwell International Corporation 350 Collins Road NE Cedar Rapids.5 days (84 hours) after the first valid transmission time for an almanac set to being nominally the multiple of 212 seconds truncated from 70 hours after the first valid transmission time for an almanac set. “Change Section 20. Therefore.5 days prior to the almanac reference time.3. Suite 450 El Segundo.5. Rockwell CACD government UE will compute and output an incorrect almanac age by approximately 14 hours. Figure 10-1. CA 90245-3509 Attention: Subject: Enclosure: References: Mr. toa. Since almanac age computation is for display/output purposes only there is no impact to receiver operation or navigation solution accuracy. 1995. Item 2 of subject PIRN-200C-001 documents the change of toa from being nominally the multiple of 212 seconds truncated from 3.

Signature on file Craig Olson GPS Program Manager Figure 10-1. Sincerely. Technical questions concerning this matter should be referenced to Lawrence Burns at (319)395-2616.2.2.3.3. “The almanac is updated often enough to ensure that GPS time.5. t. This is to ensure the proper resolution of the GPS week number associated with the almanac.5 days during the transmission period”. must not change.UNCLASSIFIED The second sentence of paragraph 20. Letters of Exception (sheet 8 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 58 UNCLASSIFIED . shall differ from toa by less than 3.

IRN-200B-005. Frederick Avenue Gaithersburg. 8. IRN-200B-006. Denigan: With the release of the referenced IRN-200B-001B through -007.2) The option of repeated almanacs for 12 or fewer SVs (Paragraphs 20.3. replacing Reference 9.3.UNCLASSIFIED International Business Machines Corporation 800 N. IRN-200B-002. 20. dated December 2. 1992 8. Table 20-V) Figure 10-1.5. CA 92780 Subject: Reference: IBM “Letter of Exception” against ICD-GPS-200B as Modified by IRN-200B-001B 1. dated November 30. 7.1. ICD-GPS-200B. and 10 of subframe 4 for purpose other than almanac data for SVs 25 through 32 (Paragraphs 20. Tom Denigan ARINC Research Corporation 11770 Warner Avenue.3.3. dated February 6.3. dated December 9.3. 1989 10. 1993 Mr. 20.3. 3. this letter represents the current IBM letter of exception against ICD-GPS-200B.3.1. suite 210 Fountain Valley.1. dated December 5.. IRN-200B-003. The IBM contract does not support the following: Block I end of data transmission (Paragraph 20. IRN-200B-004.3.1. 1991 5.5. 5. 9. dated July 19.5. 1991 4.5.3) The use of pages 2. 1993 9.1.3. 1987 2. 1991 7. Contract F04701-90-C-0009 Dear Mr. IRN-200B-001B. IBM letter 020689-2.3. dated April 15. MD 20879 RD001001935 October 1. 1991 6. 20. 4.1. dated December 16.3.5. 1991 3. dated July 26. IRN-200B-007.2. Letters of Exception (sheet 9 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 59 UNCLASSIFIED .

Schrimsher. SMC/CZGD Lt. Tom Denigan RD001001935 October 1. Letters of Exception (sheet 10 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 60 UNCLASSIFIED . Signature on file Magdalena V. Clyne Contract Administrator cc: Capt. 1993 Questions and coordination related to the technical content of ICD-GPS200 should be addressed to Ming Kang Chien at 301/240-6449. Layton. SMC/CZET 1 1 Figure 10-1.UNCLASSIFIED -2Mr. R. B. Very truly yours.

The Block IIA operational mode called Long Term Extended Operations/”Extended Navigation” is undefined and not required in the Block IIR contract. Detailed reasons for these exceptions are given below. IRN-200B-001. CA 90245-3509 Attention: Subject: Ms. The Block IIR contract defines the Block IIA mode in the context of ICD-GPS-200B dated 30 November 1987 which describes a 14 day autonomy capability. Such application or attribution may inadvertently be construed from the overall context. Pat Alexander Approval of ICD-GPS-200. Extended Navigation Martin Marietta takes exception to the application of Extended Navigation (EN) requirements. or the attribution of EN performance or EN performance verification to the Block IIR SV. Figure 10-1. some aspects of the Time of Almanac requirements and the Spherical Error Probability of the navigation signals received by the navigation users.UNCLASSIFIED MARTIN MARIETTA ASTRO SPACE POST OFFICE BOX 8555 PHILADELPHIA. The principal reason for these exceptions is that Martin Marietta’s contract does not include requirements for Extended Navigation. 1. Revision C Reference: Contract F04701-89-C-0073 ICD-GPS-200. Letters of Exception (sheet 11 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 61 UNCLASSIFIED . The areas of exception are both general and specific in nature. Suite 450 El Segundo. Alexander: Martin Marietta Astro Space approves with exception ICD-GPS-200. User Range Accuracy bin structure. General Areas of Exceptions Martin Marietta takes exception to specific changes in requirements originally conveyed in IRN Nos. There is no Block IIR requirement to support 180 days in the Block IIA mode without regular CS contacts and uploads. Revision C as evidenced by the attached signed approval sheet. IRN-200B-004. PENNSYLVANIA 19101 17 August 1994 GPS IIR-CM-1046 ARINC Research Corporation 2250 E. Revision C dated 10 October 1993 Dear Ms. IRN-200B-005. and IRN-200B-006 of ICD-GPS200B. Imperial Highway.

the Martin Marietta design estimates URA on board the SV and converts the result to the index in the NAV user message by rearranging the equations and solving for the index.4.3. Sections 20. The Block IIR AN design is based on the equations and the ‘no better than’ descriptions present in ICD-GPS-200B. Section 20. When Block IIR is in the IIA mode. our design approximates.UNCLASSIFIED 17 August 1994 GPS IIR-CM-1046 Page 2 The Block IIR design supports 180 day autonomy in the context of the Autonomous Navigation mode and 14 day autonomy in the Block IIA mode.3. but does not exactly match.. performance description. Spherical Error Probable (SEP) Martin Marietta takes exception to the URE statement in 6. and “transmission intervals” compared to the 30 November 1987 ICD-GPS-200B. It may be possible to construct upload databases that will allow operation beyond 14 days with the current design.4 and 20. 3. sentence 2 states “Block IIR SVs are designed to have sufficient memory to store 182 days of upload NAV data in the Block IIA mode . the description when Block IIR is in the AN mode.4. in accordance with the Block IIR implementation.4 and 20.4 since it implies Martin Marietta responsibility to relate Block IIR URE to 16 meters SEP. This specification of URA bins is not a defined requirement for Block IIR.” Martin Marietta takes exception to a “182 day” NAV data storage requirement in the Block IIA mode. the Martin Marietta design does match the URA bin description exactly because we broadcast the index uploaded from the CS and the CS estimates URA.5 of the ICD-GPS-200B dated 30 November 1987. When in the AN mode.4. As a result. but this is not a current requirement. Martin Marietta takes exception to evaluation and validation of the Block IIR design performance under these modified sections and tables.. The Block IIR design and validation plan is required to provide performance and memory margin computed on 14 day storage in the IIA mode as defined in Section 20. These changes are generated by some of the Extended Navigation upload characteristics for the Block IIA SV which supports “182 days” of data.3. “fit intervals”. and performance verification.3.2. Figure 10-1.5 with new Tables 20-XII and 20-XIII. 2. URA Bin Structure Martin Marietta takes exception to items relating to URA index to ranges of URA in meters appears to require the Block IIR SV in the Autonomous Navigation (AN) mode to transition from on index to the next at exactly the values of URA indicated.3.3. Letters of Exception (sheet 12 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 62 UNCLASSIFIED . The Block IIR Space Vehicle does not support such an upload design.4. define different “days spanned”.

is required to provide 6 meters (1 sigma) URE.3. the Block IIR on-board processing will maintain that all Toa values in SF4&5 will be the same for a given almanac data set and will differ for successive data sets which contain changes in almanac parameters. If so deleted.. ICD-GPS-200B will be mute as to who ensures that “All Toa values in SF4&5 shall be the same for a given almanac data set and shall differ for successive data sets which contain changes in almanac parameters or SV health.3. ICD-GPS-200. paragraph 20.5. 4.2.3.4 on “Autonomous Navigation Mode. Martin Marietta has been advised that this independently derived 6 meter URE requirement does support the 16 meter SEP system requirement for a nominal geometric dilution of precision.” The third sentence states that the Block IIR SV in the Autonav mode “.” The Block IIR SV constellation. The 6 meter requirement is defined in SV Segment Specification (SS-SS-500).2.3. This is a change from ICD-GPS-200B dated 11/30/87 which is applied to our contract. Revision C deletes ‘The CS shall ensure’ in paragraph 20. The 16 meter SEP accuracy in the user equipment output is dependent on geometry of the SVs chosen by the URE for the solution. Martin Marietta is concerned about the ambiguous CS/SV requirement to ensure that the described Toa values are presented to Users in Appendix II. and does not. The Block IIR design depends on CS uploads for SV health and the relationship of SV health data to almanac reference time. In an independent process.2. This is a CS responsibility.3.2. If the CS provides a valid upload.5 days of GPS time.2.3.UNCLASSIFIED 17 August 1994 GPS IIR-CM-1046 Page 3 IRN-200B-006 added section 6. Letters of Exception (sheet 13 of 15) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 63 UNCLASSIFIED . when authorized to operate in the Autonav mode. The 16 meter SEP accuracy is not a requirement for Block IIR Space Vehicle.5. will have a user range error that is at or below a level required to support 16 meter SEP accuracy. Time of Almanac (Toa) Martin Marietta takes exception to paragraph 20. since it implies that the SV is required to ensure that time of almanac (Toa) values be the same for a given data set (when the SV health is changed by the CS) or that Toa differ for successive data sets (which contain changes in SV health)..3.’ The Block IIR design is not required to. CS uploads for Toa values and almanacs are inputs to the on-board generation of Toa values when the Block IIR design propagates almanacs to remain within 3.5.2. Figure 10-1. affect or check Toa based on the SV health settings described by this section.

4.3.6.3 6.” “(d) if a control .5. 6.4.3.” IRN excludes Block-IIR.3.5.1 Table 20-V 6..2 20. MARTIN MARIETTA ASTRO SPACE Signature on file D.1. Nav related. Propagation of Toa requirements.3 . Letters of Exception (sheet 14 of 15) cc: Maj.. Transmission intervals.1 20. “. The retraction of an exception will be accomplished by a letter explicitly stating that the exception is no longer valid..” Propagation of Toa requirements. Ext.3. Reqmt for subframe changes at frame boundary.3.. Paul Schubert (CZEP) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 64 UNCLASSIFIED . CS requirement deleted. N/A to Block-IIR.4 20.4.3.2 20.2 20.UNCLASSIFIED 17 August 1994 GPS IIR-CM-1046 Page 4 Specific Exceptions In addition. and will have .2. Very truly yours. Two hour data sets are not tested.1.3. Supow Manager.1..3. Martin Marietta uses ICD-GPS-401 method..2 20.1 20. IODC Requirements. If there are any questions of a technical nature concerning the contents of this letter. CS responsibility.2 20.2.. please contact Dave Levin at (610) 354-3022. Ext.4 Table 20-XII Description Change of week number: Extended Navigation (EN).4.3. GPS Contracts GPS PMO /dd Figure 10-1. All other questions or comments should be addressed to the undersigned at (610) 354-1710.. 16 meter SEP accuracy.3.3. Nav related.3.3. “For Block II .3. Extended Navigation Mode description..3. Nav related. Martin Marietta takes exceptions to the specific requirements listed below: Paragraph # 20. N/A to Block-IIR.5...3. Definitions.. SV ID Nos. Narrative on almanac. Table 20-XII: Ext.” Orbit parameters. (Related to extended nav. 182 days of uploaded NAV data in the Block IIA .3. subframes will indicate ID = 1 .).. “..4 6.3.4 Table 20-XII 20.2. in Note 4 (EN). Martin Marietta continues to take exception to that change. Note that if Martin Marietta has taken earlier exception to a change in any requirements in a previous revision of this document.2.3 6.3.3. transmission interval.3.

UNCLASSIFIED Lockheed Martin Federal Systems. Contract F04606-95-D-0239 2. ARINC letter RO/SMS/ES/SE/96-025. Suite 450 El Segundo. Thomas Contract Administrator Enclosure cc: Maj. Letters of Exception (sheet 15 of 16). Soon K. 700 N. Wylie Capt. 1996 ARINC Research Corporation 2250 E. Yi PIRN-200C-002 1. Schubert Capt. If you have any questions. CA 90245-3509 Attention: Subject: Reference: Dear Mr. Enclosed is the signed approval sheet requested in the referenced letter. Gravitt Capt. MD 20879-3328 Telephone 301-240-7500 In reply refer to: GOSC96000912 September 5. Inc. Imperial Highway. Mr. Greer SMC/CZGD SMC/CZEA SMC/CZE SMC/CZEP SMC/CZGP SM-ALC/PKLX Figure 10-1. T. Very truly yours. 1996 Signature on file C. F. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 64a UNCLASSIFIED . please contact Ming Kang Chien at (301)240-6449. J. Frederick Avenue Gaithersburg. Varljen D. Yi: PIRN-200C-002 has been reviewed by Lockheed Martin Federal Systems. the Control Segment Contractor. Munk D. P. This PIRN is approved subject to the contractual exception below: The changes contained in this PIRN are not within the baseline of our GPS OCS Support Contract. dated July 9. J.

3. Letter of Exception against PIRN-200C-003 Revision A.4.3. Also the Navigation Message Correction Term (NMCT). Director Navigation Systems js Figure 10-1. Soon K.3 and 20. Letters of Exception (sheet 16 of 16). Suite 450 El Segundo.5. Iowa 52498 Tel. Signature on file A. also commonly referred to as WAGE. Caslavka.6) is not mandatory and will be determined by the manufacturers of User Equipment. 319.3. based on required accuracy.3. 1999 ARINC Incorporated 2250 East Imperial Highway. Sincerely.2. as defined by the referenced ARINC memo The subject PIRN documents the use of an Earth Centered Inertial (ECI) frame to define the location of the satellites and account for satellite motion during signal transit time.3.295.3. Rockwell Collins approves this PIRN with the following exceptions: 1) Implementation of older style corrections for satellite motion during signal transit time (paragraph 20.3. is partially covered. CA 90245-3509 Attention: Mr. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 64b UNCLASSIFIED . There are also numerous typo corrections.UNCLASSIFIED Government Systems 350 Collins Road NE Cedar Rapids.4. Inc.1000 Rockwell Collins August 27. Yi Reference: ARINC memo ATE/SMS/OPS/GJP/99-038. 2) Use of NMCT data (paragraph 20.3. dated 28 July 99 Dear Mr.4) shall be permitted in User Equipment. Yi: Subject: Rockwell Collins.

4 dBW to -160. dated 22 May 03. If such a change were technically possible. F04701-00-C-0006. These impacts would be in both cost and schedule.0 dBW would have to be analyzed and coordinated between Lockheed Martin and ITT. Box 8555 Philadelphia. PA 19101 26 May 2003 GPS IIR-CM-MOD-147 SMC/CZK 2420 VELA WAY. A. Based on that change. 1) PCOL# 03-012. Smith: Lockheed Martin Space Systems Company has been asked to review and comment on changes made to ICD-GPS-PIRN-200C-007B at the JPO CCB boarded on or about 09 April 2003. SV level testing.4 dBW to –160.5 dB at edge of earth • Assumes SV antenna gains are averaged about azimuth Using the assumptions as specified in paragraph 3.1. David Smith GPS Block IIR Modernization Contract F04701-00-C-0006 Review and approval of ICD-GPS-PIRN-200C-007B. It is our understanding that the ONLY change made to the 08 November 2002 of the subject ICD is L2C for IIR-M SVs changed from –161. To change from -161. SUITE 1467 LOS ANGELES AFB CA 90245-4659 Attention: Subject: Mr.3. OOH. Formal request for cost and schedule impacts should come through the JPO Contracting Officer.0 dBW. Lockheed Martin therefore takes exception to 160 dBW for L2C of PIRN-200c-007B. Per Lockheed Martin contract requirements as specified in SS-SS-500. dated 14 May 2001. Lockheed Martin takes exception to IIR-M L2 C signal power specified in Table 3III. the GPS IIRM SVs provide a minimum receive signal of -161.6 of PIRN-200C-007B. post 9 April 2003 CCB (L2C = -160). Letters of Exception (sheet 17 of 18). dated 08 November 2003.O. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 64c UNCLASSIFIED . Figure 10-1. Rev.4 dBW for L2 C signal. Specs.UNCLASSIFIED Lockheed Martin Space Systems Company Space & Strategic Missiles Valley Forge Operations P. LMSSC calculates links using: • 0-dBi circularly polarized user receiving antenna (located) near ground when the SV is above a 5° elevation angle • Atmospheric loss of 0. test scripts. REQUEST FOR IMPACTS DUE TO IMPLEMENTING PROPOSED CHANGES TO PIRN-200C-007 REVISION B Reference: Dear Mr. and various ICDs. there would be impacts to L-Band level testing.

DCMC Figure 10-1. Very truly yours. Aerospace.UNCLASSIFIED GPS IIR-CM-MOD-147 Page 2 Currently. Arinc. Lockheed Martin continues to take exception to that change. K. Eggehorn Mary Guyes Soon Yi. or the undersigned at (610) 354-7989 for contractual matters. Windfelder. Boeing. LOCKHEED MARTIN CORPORATION Signature on file Brent B. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 64d UNCLASSIFIED . that an impact to the ICD-200 change be included in the resulting request for ROMs for Flex Power implementation. Lockheed Martin recommends. Letters of Exception (sheet 18 of 18). please contact Martin O’Connor at (610) 354-7866 for technical concerns. there is an ongoing effort between Lockheed Martin. and the JPO concerning signal flexibility under the ConOps study. A letter explicitly stating that the exception is no longer valid will accomplish the retraction of an exception. Should you have any questions. Achee II GPS Block IIR Deputy Program Director xc: Capt. based on the outcome and direction of this effort. ARINC J. Note that if Lockheed Martin has taken earlier exception to a change in any requirements in a previous revision of this document.

UNCLASSIFIED

20. APPENDIX II. GPS NAVIGATION DATA STRUCTURE FOR DATA, D(t) 20.1 Scope. This appendix describes the specific GPS navigation (NAV) data structure denoted as D(t). When transmitted as part of the NAV data, D(t), the specific data structure of D(t) shall be denoted by data ID number 2, represented by the two-bit binary notation as 01. 20.2 Applicable Documents. 20.2.1 Government Documents. In addition to the documents listed in paragraph 2.1, the following documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix to the extent specified herein. Specifications None Standards None Other Publications None 20.2.2 Non-Government Documents. In addition to the documents listed in paragraph 2.2, the following

documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix to the extent specified herein. Specifications None Other Publications None

IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 65

UNCLASSIFIED

UNCLASSIFIED

20.3 Requirements 20.3.1 Data Characteristics. The data stream shall be transmitted by the SV on the L1 and L2 channels at a rate of 50 bps. In addition, upon ground command, the data stream shall be transmitted by the Block IIR-M SV on the L2 CM channel at a rate of 25 bps using FEC encoding resulting in 50 sps. 20.3.2 Message Structure. As shown in Figure 20-1, the message structure shall utilize a basic format of a 1500 bit long frame made up of five subframes, each subframe being 300 bits long. Subframes 4 and 5 shall be subcommutated 25 times each, so that a complete data message shall require the transmission of 25 full frames. The 25 versions of subframes 4 and 5 shall be referred to herein as pages 1 through 25 of each subframe. Each subframe shall consist of ten words, each 30 bits long; the MSB of all words shall be transmitted first. Each subframe and/or page of a subframe shall contain a telemetry (TLM) word and a handover word (HOW), both generated by the SV, and shall start with the TLM/HOW pair. shall contain parity (reference Section 20.3.5). The TLM word shall be transmitted first, immediately followed by the HOW. The latter shall be followed by eight data words. Each word in each frame

IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 66

UNCLASSIFIED

UNCLASSIFIED

DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO. PAGE NO. WORD 2 71 1 TLM 1 N/A 22 BITS C P 31 HOW 22 BITS t P 61 WN 10 BITS P 23 BITS*** P 73 77 83 91 3 SECONDS WORD 3 WORD 4

MSB FIRST WORD 5

121 P

24 BITS***

C/A OR P ON L2 - 2 BITS URA INDEX - 4 BITS SV HEALTH - 6 BITS

L2 P DATA FLAG - 1 BIT 2 MSBs IODC - 10 BITS TOTAL

DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 181 WORD 7 197 TGD 8 BITS 3 SECONDS WORD 8 211 219 toc 16 BITS 241 af2 8 BITS af1 16 BITS WORD 9

MSB FIRST WORD 10 271 af0 22 BITS

1

N/A

24 BITS***

P

16 BITS***

P

P

P

t P

8 LSBs

IODC - 10 BITS TOTAL

*** RESERVED P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED

Figure 20-1. Data Format (sheet 1 of 11)

IRN-200C-002 ICD-GPS-200C 25 SEP 1997 67

UNCLASSIFIED

3. 1 TLM 2 N/A C P 22 BITS 22 BITS 31 HOW t P WORD 2 61 IODE 8 BITS 3 SECONDS WORD 3 69 Crs 16 BITS 91 ∆n P 16 BITS 8 BITS P WORD 4 107 MSB FIRST WORD 5 121 24 BITS P MSBs M0 .1 BIT AODO .5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1.32 BITS TOTAL LSBs DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 CUC 2 N/A 16 BITS 167 181 WORD 7 211 CUS 16 BITS 3 SECONDS WORD 8 227 241 WORD 9 MSB FIRST WORD 10 271 toe 16 BITS 287 8 BITS P 24 BITS P 8 BITS P 24 BITS P t P MSBs e .5 BITS A .32 BITS TOTAL LSBs MSBs LSBs FIT INTERVAL FLAG .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO. Data Format (sheet 2 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 68 UNCLASSIFIED .32 BITS TOTAL P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. PAGE NO.

32 BITS TOTAL LSBs i0 .5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1. Data Format (sheet 3 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 69 UNCLASSIFIED .32 BITS TOTAL P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.32 BITS TOTAL DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 181 Crc 16 BITS WORD 7 211 3 SECONDS WORD 8 241 WORD 9 MSB FIRST WORD 10 271 279 IDOT 14 BITS 3 N/A 24 BITS P 8 BITS P 24 BITS P Ω 24 BITS • P IODE 8 BITS t P LSBs i0 .3. 1 TLM 3 N/A C P 22 BITS 22 BITS 31 HOW t P WORD 2 61 Cic 16 BITS 3 SECONDS WORD 3 77 91 WORD 4 MSB FIRST WORD 5 121 Cis 16 BITS 137 8 BITS P 24 BITS P 8 BITS P MSBs Ω0 . PAGE NO.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO.32 BITS TOTAL MSBs LSBs ω .

Data Format (sheet 4 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 70 UNCLASSIFIED . 1 THRU 24 WORD 2 61 1 TLM C P 22 BITS 22 BITS 31 HOW t P 16 BITS 63 69 e 91 toa P 8 BITS 99 δi 16 BITS 3 SECONDS WORD 3 WORD 4 MSB FIRST WORD 5 121 5 P Ω 16 BITS • 8 P BITS DATA ID .6 BITS SV HEALTH DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 1 THRU 24 181 WORD 7 211 Ω0 24 BITS ω P 24 BITS P 3 SECONDS WORD 8 241 M0 24 BITS WORD 9 MSB FIRST WORD 10 271 279 290 5 A 24 BITS P P t P 8 MSBs af0 .11 BITS TOTAL af1 . 7. PAGE NO. 8.11 BITS TOTAL P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. 5.3. 3.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED NOTE: PAGES 2. 9 & 10 OF SUBFRAME 4 HAVE THE SAME FORMAT AS PAGES 1 THROUGH 24 OF SUBFRAME 5 3 LSBs Figure 20-1. 4.2 BITS SV ID .

1.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1. WORD 2 61 1 TLM 5 25 C P 22 BITS 22 BITS 31 HOW t P 63 69 toa WNa 8 8 P BITS BITS 91 SV HEALTH 6 BITS/SV P SV SV SV SV 1 2 3 4 3 SECONDS WORD 3 WORD 4 MSB FIRST WORD 5 121 SV HEALTH 6 BITS/SV P SV SV SV SV 5 6 7 8 DATA ID . PAGE NO.5.6 BITS DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 WORD 7 3 SECONDS WORD 8 WORD 9 MSB FIRST WORD 10 151 SV HEALTH 6 BITS/SV P SV SV SV SV 9 10 11 12 181 SV HEALTH 6 BITS/SV P SV SV SV SV 13 14 15 16 211 SV HEALTH 6 BITS/SV P SV SV SV SV 17 18 19 20 241 SV HEALTH 6 BITS/SV P SV SV SV SV 21 22 23 24 6 BITS *** 271 277 5 25 16 BITS t P CALENDAR YEAR ** (for Block IIF) ** SEE PARAGRAPH 20.3.3.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO.13 *** RESERVED P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3. Data Format (sheet 5 of 11) IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 71 UNCLASSIFIED .2 BITS SV (PAGE) ID .

2 BITS SV (PAGE) ID .6 BITS DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 1. PAGE NO. 11. 11.3. 6. 1. Data Format (sheet 6 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 72 UNCLASSIFIED . 16 & 21 181 WORD 7 211 3 SECONDS WORD 8 241 WORD 9 249 MSB FIRST WORD 10 271 4 24 BITS*** P 24 BITS*** P 24 BITS*** P 8*** BITS 16 BITS*** P 22 BITS** t P ** RESERVED FOR SYSTEM USE *** RESERVED P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. 16 & 21 WORD 2 61 1 TLM 4 C P 22 BITS 22 BITS 31 HOW t P 16 BITS*** P 24 BITS*** P 63 69 91 3 SECONDS WORD 3 WORD 4 MSB FIRST WORD 5 121 24 BITS*** P DATA ID . 6.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO.

20. PAGE NO.2 BITS SV (PAGE) ID .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO. 23 & 24 181 WORD 7 211 3 SECONDS WORD 8 241 WORD 9 249 MSB FIRST WORD 10 271 4 24 BITS*** P 24 BITS*** P 24 BITS*** P 8*** BITS 16 BITS** P 22 BITS** t P ** RESERVED FOR SYSTEM USE *** RESERVED P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. 19. 22. 20.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1. 12. 22. Data Format (sheet 7 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 73 UNCLASSIFIED . 23 & 24 WORD 2 61 1 TLM 4 C P 22 BITS 22 BITS 31 HOW t P 16 BITS*** P 24 BITS*** P 63 69 91 3 SECONDS WORD 3 WORD 4 MSB FIRST WORD 5 121 24 BITS*** P DATA ID . 19.3.6 BITS DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 12.

2 BITS SV (PAGE) ID .3.32 BITS TOTAL LSBs WNLSF ** RESERVED FOR SYSTEM USE P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. PAGE NO.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1.6 BITS DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 A1 4 18 24 BITS 181 WORD 7 211 3 SECONDS WORD 8 219 227 241 WORD 9 249 257 MSB FIRST WORD 10 271 279 14 BITS** P 24 BITS P WNt DN ∆tLS ∆tLSF tot 8 8 P P 8 8 8 8 8 BITS BITS BITS BITS BITS BITS BITS t P MSBs A0 . WORD 2 61 1 TLM 4 18 C P 22 BITS 22 BITS 31 HOW t P 63 69 77 91 99 107 3 SECONDS WORD 3 WORD 4 MSB FIRST WORD 5 121 129 137 α0 α1 α2 α3 β0 β1 β2 β3 8 8 P 8 8 8 P 8 8 8 P BITS BITS BITS BITS BITS BITS BITS BITS DATA ID . Data Format (sheet 8 of 11) IRN-200C-003 ICD-GPS-200C 11 OCT 1999 74 UNCLASSIFIED .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO.

SPOOF & SV CONFIG 4 25 SV SV SV SV SV SV 17 18 19 20 21 22 MSB FIRST WORD 9 WORD 10 181 A.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO. Data Format (sheet 9 of 11) IRN-200C-003 ICD-GPS-200C 11 OCT 1999 75 UNCLASSIFIED .3. PAGE NO.2 BITS SV (PAGE) ID .SPOOF & SV CONFIG SV SV SV SV SV SV 23 24 25 26 27 28 211 A-SPOOF & SV CONFIG SV SV SV SV 29 30 31 32 229 241 SV HEALTH 6 BITS/SV P SV SV SV SV 26 27 28 29 271 SV HEALTH 6 BITS/SV SV SV SV 30 31 32 P P SV 25 P t P 2 BITS ** SV HEALTH .6 BITS DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 WORD 7 3 SECONDS WORD 8 227 151 A.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1.SPOOF & SV CONFIG SV SV SV SV SV SV 5 6 7 8 9 10 121 A.SPOOF & SV CONFIG SV SV SV SV SV SV 11 12 13 14 15 16 P P P DATA ID .6 BITS 4 BITS ** ** RESERVED FOR SYSTEM USE P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. WORD 2 61 1 TLM 4 25 C P 22 BITS 22 BITS 31 HOW t P 63 69 A-SPOOF & SV CONFIG SV SV SV SV 1 2 3 4 MSB FIRST WORD 4 WORD 5 3 SECONDS WORD 3 91 A.

5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED Figure 20-1.2 BITS SV (PAGE) ID . WORD 2 61 1 TLM 4 13 C P 22 BITS 22 BITS 31 HOW t P 63 3 SECONDS WORD 3 69 71 E R D 1 6 B I T S E R D 2 6 B I T S E R D 3 2 M S B S MSB FIRST WORD 4 WORD 5 91 E R D 3 4 L S B S E R D 4 6 B I T S E R D 5 6 B I T S E R D 6 6 B I T S E R D 7 2 M S B S 121 E R D 7 4 L S B S E R D 8 6 B I T S E R D 9 6 B I T S E R D 1 0 6 B I T S E R D 1 1 2 M S B S P P P DATA ID .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUB FRAME NO.6 BITS AVAILABILITY INDICATOR . PAGE NO. Data Format (sheet 10 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 76 UNCLASSIFIED .3.2 BITS MSB FIRST WORD 9 241 E R D 2 0 6 B I T S E R D 2 1 6 B I T S E R D 2 2 6 B I T S E R D 2 3 2 M S B S E R D 2 3 4 L S B S E R D 2 4 6 B I T S E R D 2 5 6 B I T S E R D 2 6 6 B I T S E R D 2 7 2 M S B S DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 E R D 1 1 4 L S B S E R D 1 2 6 B I T S E R D 1 3 6 B I T S E R D 1 4 6 B I T S E R D 1 5 2 M S B S 3 SECONDS WORD 8 211 WORD 10 271 E R D 2 7 4 L S B S E R D 2 8 6 B I T S E R D 2 9 6 B I T S E R D 3 0 6 B I T S WORD 7 181 E R D 1 5 4 L S B S E R D 1 6 6 B I T S E R D 1 7 6 B I T S E R D 1 8 6 B I T S E R D 1 9 2 M S B S 4 13 P P E R D 1 9 4 L S B S P P t P P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.

3.2 BITS SV (PAGE) ID . 15 & 17** 181 WORD 7 211 3 SECONDS WORD 8 241 WORD 9 MSB FIRST WORD 10 271 4 24 BITS** P 24 BITS** P 24 BITS** P 24 BITS** P 22 BITS** t P THE INDICATED PORTIONS OF WORDS 3 THROUGH 10 OF PAGES 14 AND 15 ARE RESERVED FOR SYSTEM USE. 15 & 17** WORD 2 61 1 TLM 4 C P 22 BITS 22 BITS 31 HOW t P 16 BITS** P 24 BITS** P 63 69 91 3 SECONDS WORD 3 WORD 4 MSB FIRST WORD 5 121 24 BITS** P DATA ID .1.5) C = TLM BITS 23 AND 24 WHICH ARE RESERVED ** Figure 20-1. Data Format (sheet 11 of 11) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 76a UNCLASSIFIED . WHILE THOSE OF PAGE 17 ARE RESERVED FOR SPECIAL MESSAGES PER PARAGRAPH 20.6 BITS DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 6 151 14.10 P = 6 PARITY BITS t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20. 14.3. PAGE NO.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 150 BITS WORD 1 SUBFRAME NO.3.5.

UNCLASSIFIED (This page intentionally left blank.) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 76b UNCLASSIFIED .

Normal NAV data transmission will be resumed by the SV whenever a valid set of elements becomes available. (b) the two trailing bits of word 10 will be zeros (to allow the parity of subsequent subframes to be valid -.5). Certain failures of control elements which may occur in the SV memory or during an upload will cause the SV to transmit in non-standard codes (NSC and NSY) which would preclude normal use by the US. Block IIR SVs are designed to have sufficient memory to store 182 days of uploaded NAV data in the Block IIA mode and to store 210 days of CS data needed to generate NAV data on-board in the Autonav mode. the memory retention of these SVs will determine the duration of data transmission.3..3. (d) if a control element cannot be located. However.e.2) (Block IIR/IIR-M and IIF SVs indicate the proper subframe ID for all subframes).reference paragraph 20. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 77 UNCLASSIFIED . Alternating ones and zeros will be transmitted in words 3 through 10 in place of the normal NAV data whenever the SV cannot locate the requisite valid control or data element in its on-board computer memory. only the directly related subframe(s) will be treated in this manner. The following specifics apply to this default action: (a) the parity of the affected words will be invalid. this default action will be applied to all subframes and all subframes will indicate ID = 1 (Block II/IIA only) (i.UNCLASSIFIED Block II and IIA SVs are designed with sufficient memory capacity for storing 182 days of uploaded NAV data. an ID-code of 001) in the HOW (reference paragraph 20.3. (c) if the problem is the lack of a data element.

Therefore. The memory retentivity for the Block IIF SVs is designed and guaranteed for 90 days.UNCLASSIFIED Block II SVs are uploaded with 182 days of NAV data. the SV will transmit alternating ones and zeros in word 3-10 as specified in the above paragraph. In the case of memory failure. However. Although the data content of the SVs will be temporarily reduced during the upload process. The memory retentivity for the Block IIR/IIR-M SVs is designed and guaranteed for 210 days. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 78 UNCLASSIFIED . However. Block IIA SVs are also uploaded with 182 days of data. the transmission of valid NAV data will be continuous. Block II SV memory is most likely to fail sometime during long-term extended operations after repeated write operations. the EAROM retentivity for these SVs is designed and guaranteed for only 14 days. the EAROM retentivity for these SVs is designed and guaranteed for 180 days. The data capacity of specific operational SVs may be reduced to accommodate partial memory failures.

UNCLASSIFIED

20.3.3 Message Content. The format and contents of the TLM word and the HOW, as well as those of words three through ten of each subframe/page, are described in the following subparagraphs. The timing of the subframes and pages is covered in Section 20.3.4. 20.3.3.1 Telemetry Word. Each TLM word is 30 bits long, occurs every six seconds in the data frame, and is the first word in each subframe/page. The format shall be as shown in Figure 20-2. Bit 1 is transmitted first. Each TLM word shall begin with a preamble, followed by the TLM message, two reserved bits, and six parity bits. The TLM message contains information needed by the authorized user and by the CS, as described in the related SS/CS interface documentation. 20.3.3.2 Handover Word (HOW). The HOW shall be 30 bits long and shall be the second word in each

subframe/page, immediately following the TLM word. A HOW occurs every 6 seconds in the data frame. The format and content of the HOW shall be as shown in Figure 20-2. The MSB is transmitted first. The HOW begins with the 17 MSBs of the time-of-week (TOW) count. (The full TOW count consists of the 19 LSBs of the 29-bit Zcount). These 17 bits correspond to the TOW-count at the X1 epoch which occurs at the start (leading edge) of the next following subframe (reference paragraph 3.3.4).

IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 79

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UNCLASSIFIED

TLM Word 1 = Reserved Bits Parity 1 1

MSB Preamble 1 0 0 0 1 0 1 1 1 2 3 4 5 6 7 8 9 10 11 12 13 TLM Message

LSB

14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

HOW Anti-Spoof Flag “Alert” Flag MSB TOW-Count Message (Truncated) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 LSB Subframe ID Parity 0 0 Solved for bits to preserve parity check with zeros in bits 29 and 30

20 21 22 23 24 25 26 27 28 29 30

Figure 20-2. TLM and HOW Formats

IRN-200C-004 ICD-GPS-200C 12 April 2000 80

UNCLASSIFIED

UNCLASSIFIED

Bit 18 is an "alert" flag. When this flag is raised (bit 18 = "1"), it shall indicate to the unauthorized user that the SV URA may be worse than indicated in subframe 1 and that he shall use that SV at his own risk. Bit 19 is an anti-spoof (A-S) flag. A "1" in bit-position 19 indicates that the A-S mode is ON in that SV. Bits 20, 21, and 22 of the HOW provide the ID of the subframe in which that particular HOW is the second word; the ID code shall be as follows: Subframe 1 2 3 4 5 ID Code 001 010 011 100 101

IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 81

UNCLASSIFIED

For Block II SVs in long-term extended operations. IRN-200C-004 ICD-GPS-200C 12 April 2000 82 UNCLASSIFIED .3.3.3. 20. The timing information for subframes. The content of words three through ten of subframe 1 are defined below. followed by related algorithms and material pertinent to use of the data. two non-information bearing bits shall be provided as bits 23 and 24 of word ten for parity computation purposes. 20.3. The remaining 190 bits of words three through ten shall contain the clock parameters and other data described in the following.1 Subframe 1 Content. The third through tenth words of subframe 1 shall each contain six parity bits as their LSBs.3. pages.3. and data sets is covered in Section 20. the transmission week number may not correspond to the actual GPS week number due to curve fit intervals that cross week boundaries.3 Subframe 1.3. The ten MSBs of word three shall contain the ten MSBs of the 29-bit Zcount as qualified herein.1 Transmission Week Number.3.4.1. in addition. These ten bits shall be a Modulo 1024 binary representation of the current GPS week number at the start of the data set transmission interval (see paragraph 3. The parameters in a data set shall be valid during the interval of time in which they are transmitted and shall remain valid for an additional period of time after transmission of the next data set has started.UNCLASSIFIED 20. beginning approximately 28 days after upload.3.4(b)). The GPS week number increments at each end/start of week epoch.3. The clock parameters describe the SV time scale during the period of validity.

40 < URA ≤ 4.3 SV Accuracy.00 < URA (or no accuracy prediction is available . The URA index (N) is an integer in the range of 0 through 15 and has the following relationship to the URA of the SV: URA INDEX 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0. 20.3.3.85 6.00 < URA ≤ 768.00 < URA ≤ 3072.40 4.00 < URA ≤ 192.85 9.3.00 1536. C/A code ON.00 768.1. Bits 13 through 16 of word three shall give the URA index of the SV (reference paragraph 6.85 < URA ≤ 6.00 < URA ≤ 48.1.3.00 < URA ≤ 96.unauthorized users are advised to use the SV at their own risk.00 192.00 < URA ≤ 1536.00 3072.65 < URA ≤ 13.00 96. P code ON.00 < URA ≤ 384.2 Code(s) on L2 Channel.) ICD-GPS-200C 10 OCT 1993 83 UNCLASSIFIED .65 < URA ≤ 24.40 < URA ≤ 3.UNCLASSIFIED 20.00 2.65 13.00 < URA ≤ 6144.00 6144.00 48.65 24.00 384.00 URA (meters) < URA ≤ 2.3.3. Bits 11 and 12 of word three shall indicate which code(s) is (are) commanded ON for the L2 channel. as follows: 00 = 01 = 10 = Reserved.85 < URA ≤ 9.2.1) for the unauthorized user.40 3.

ICD-GPS-200C 10 OCT 1993 84 UNCLASSIFIED .3.2).3.4 SV Health. any SV which does not have a certain capability will be indicated as "healthy" if the lack of this capability is inherent in its design or if it has been configured into a mode which is normal from a user standpoint and does not require that capability.3. The health indication shall be given relative to the "as designed" capabilities of each SV (as designated by the configuration code . Accordingly. X should be rounded to 2. Additional SV health data are given in subframes 4 and 5. The data given in subframe 1 may differ from that shown in subframes 4 and/or 5 of other SVs since the latter may be updated at a different time. 20.3.5. 3. 1 = some or all NAV data are bad.6). and 5. N = 15 shall indicate the absence of an accuracy prediction and shall advise the unauthorized user to use that SV at his own risk.3.see paragraph 20. X = 2(1 + N/2).8.3 meters. The five LSBs shall indicate the health of the signal components in accordance with the codes given in paragraph 20. If the value of N is 6 or more.1.7. 5. The six-bit health indication given by bits 17 through 22 of word three refers to the transmitting SV. but less than 15.1. and 11.UNCLASSIFIED For each URA index (N). The MSB shall indicate a summary of the health of the NAV data. users may compute a nominal URA value (X) as given by: • • • If the value of N is 6 or less.3.3.5.1. respectively. where 0 = all NAV data are OK. X = 2(N .3. For N = 1.

3. 20.4.3.1. Constraints on the IODC as well as the relationship between the IODC and the IODE (issue of data. The IODC indicates the issue number of the data set and thereby provides the user with a convenient means of detecting any change in the correction parameters.3.3.3.UNCLASSIFIED 20.3. 20. Bits 17 through 24 of word seven contain the L1-L2 correction term. it shall indicate that the NAV data stream was commanded OFF on the P-code of the L2 channel.3. the related user algorithm is given in paragraph 20. Short-term and Long-term Extended Operations.3.3. Clock (IODC).3.3.6 Data Flag for L2 P-Code. ephemeris) terms are defined in paragraph 20.1.3. When bit 1 of word four is a "1".3. Whenever the fit interval flag indicates a fit interval greater than 4 hours.5 Issue of Data.4. IRN-200C-004 ICD-GPS-200C 12 April 2000 85 UNCLASSIFIED .1.4). TGD.8 Estimated Group Delay Differential. Bits 23 and 24 of word three in subframe 1 shall be the two MSBs of the ten-bit IODC term.1. the IODC can be used to determine the actual fit interval of the data set (reference section 20.3.3. bits one through eight of word eight in subframe 1 shall contain the eight LSBs of the IODC.3.3.4. for the benefit of "L1 only" or "L2 only" users.3.7 (Reserved) 20.

1.3.3.3. the range.9 SV Clock Correction.3. Bits nine through 24 of word eight.3. the number of bits. (b) permit the "single frequency" (L1 or L2) user to compensate for the effects of SV group delay differential (the user who utilizes both frequencies does not require this correction.3.3 User Algorithms for Subframe 1 Data. and (c) allow the "two frequency" (L1 and L2) user to correct for the group propagation delay due to ionospheric effects (the single frequency user may correct for ionospheric effects as described in paragraph 20.2. 20. ICD-GPS-200C 10 OCT 1993 86 UNCLASSIFIED . and the units shall be as specified in Table 20-I.UNCLASSIFIED 20. af0).3.1. af1.3.3. 20. since the clock parameters account for the induced effects).3. bits one through 24 of word nine.2 Subframe 1 Parameter Characteristics. the scale factor of the LSB (which shall be the last bit received). and bits one through 22 of word ten contain the parameters needed by the users for apparent SV clock correction (toc.3.3.5). The algorithms defined below (a) allow all users to correct the code phase time received from the SV with respect to both SV code phase offset and relativistic effects. For those parameters whose characteristics are not fully defined in Section 20.3. af2. The related algorithm is given in paragraph 20.3.3.3.3.3.5.

Subframe 1 Parameters Scale Factor (LSB) 1 1 1 Parameter Code on L2 Week No.784 seconds sec/sec2 sec/sec seconds Parameters so indicated shall be two's complement. See Figure 20-1 for complete bit allocation in subframe. Unless otherwise indicated in this column. effective range is the maximum range attainable with indicated bit allocation and scale factor. with the sign bit (+ or -) occupying the MSB. L2 P data flag SV accuracy SV health TGD IODC toc af2 af1 af0 * ** *** No.UNCLASSIFIED Table 20-I. ICD-GPS-200C 10 OCT 1993 87 UNCLASSIFIED . of Bits** 2 10 1 4 6 8* 10 16 8* 16* 22* Effective Range*** Units discretes week discrete (see text) 1 2-31 discretes seconds (see text) 24 2-55 2-43 2-31 604.

drift and aging.3. while F is a constant whose value is 1 = af0 + af1(t . as well as for the SV implementation characteristics of group delay bias and mean differential group delay. and ∆tr is the relativistic correction term (seconds) which is given by ∆tr = Fe(A)1/2 sin Ek. = tsv . the user's equipment must determine the requisite relativistic correction.UNCLASSIFIED 20.toc) + af2(t . This estimated correction accounts for the deterministic SV clock error characteristics of bias. The polynomial defined in the following allows the user to determine the effective SV PRN code phase offset referenced to the phase center of the antennas (∆tsv) with respect to GPS system time (t) at the time of data transmission.∆tsv (1) The SV PRN code phase offset is given by ∆tsv where af0. the offset given below includes a term to perform this function.4. The user shall correct the time received from the SV with the equation (in seconds) t where t tsv ∆tsv = = = GPS system time (seconds).5). Ek) used here are described in discussions of data contained in subframes 2 and 3.4. af1 and af2 are the polynomial coefficients given in subframe 1. Accordingly. Since these coefficients do not include corrections for relativistic effects.3. SV PRN code phase time offset (seconds).1 User Algorithm for SV Clock Correction. effective SV PRN code phase time at message transmission time (seconds).3.3.442807633 (10)-10 sec/(meter)1/2. The coefficients transmitted in subframe 1 describe the offset apparent to the two-frequency user for the interval of time in which the parameters are transmitted. A. ICD-GPS-200C 10 OCT 1993 88 UNCLASSIFIED . toc is the clock data reference time in seconds (reference paragraph 20.toc)2 + ∆tr (2) F = − 2µ c2 2 = .3. The orbit parameters (e.

if the quantity t . The value of t must account for beginning or end of week crossovers.toc is less than -302.99792458 x 108 = speed of light. rotating coordinates or in earth-centered.400 seconds.3). This negligible sensitivity will allow the user to approximate t by tSV in equation (2). IRN-200C-003 ICD-GPS-200C 11 OCT 1999 89 UNCLASSIFIED . add 604.800 seconds from t. V is the instantaneous velocity vector of the SV. (Reference paragraph 20.800 seconds to t.4. subtract 604.3. and c is the speed of light. → → It is immaterial whether the vectors R and V are expressed in earth-fixed. sensitivity of tsv to t is negligible. If the quantity t . While the coefficients af0. as written. are coupled. That is. inertial coordinates.toc is greater than 302.UNCLASSIFIED where meters 3 second 2 meters second µ = 3. af1 and af2 are generated by using GPS time as indicated in equation (2). The control segment will utilize the following alternative but equivalent expression for the relativistic effect when estimating the NAV parameters: → → ∆tr = − where → → 2 R •V c2 R is the instantaneous position vector of the SV.986005 x 1014 = value of Earth's universal gravitational parameters c = 2. Note that equations (1) and (2).400 seconds.

TGD where TGD is provided to the user as subframe 1 data.6)2 = (77/60)2.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 90 UNCLASSIFIED .3. 1 1-γ TGD = (tL1P(Y) .3. the user who utilizes the L1 P(Y) signal only shall modify the code phase offset in accordance with paragraph 20. The L1 and L2 correction term. The value of TGD is not equal to the mean SV group delay differential. denoting the nominal center frequencies of L1 and L2 as fL1 and fL2 respectively.42/1227. For the user who utilizes L2 P(Y) only.3.3. The value of TGD for each SV may be subsequently updated to reflect the actual on-orbit group delay differential.3. but is a measured value that represents the mean group delay differential multiplied by 1/(1.3.γTGD where.2 L1 .3. This correction term is only for the benefit of "single-frequency" (L1 P(Y) or L2 P(Y)) users.UNCLASSIFIED 20.3. That is. Thus.L2 Correction. TGD. is initially calculated by the CS to account for the effect of SV group delay differential between L1 P(Y) and L2 P(Y) based on measurements made by the SV contractor during SV manufacture.1) are based on the effective PRN code phase as apparent with two frequency (L1 P(Y) and L2 P(Y)) ionospheric corrections. it is necessitated by the fact that the SV clock offset estimates reflected in the af0 clock correction coefficient (see paragraph 20. the code phase modification is given by (∆tSV)L2P(Y) = ∆tSV .tL2P(Y)) where tLiP(Y) is the GPS time the ith frequency P(Y) signal is transmitted from the SV.γ). γ = (fL1/fL2)2 = (1575.1 with the equation (∆tSV)L1P(Y) = ∆tSV .3.3.3.

3.3.UNCLASSIFIED 20.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 91 UNCLASSIFIED .5.γ PR = where PR PRi = = pseudorange corrected for ionospheric effects.3.3.3. The contents of words three through ten of subframes 2 and 3 are defined below.3. A typical system application of the correction parameters for a user receiver is shown in Figure 20-3. The ionospheric model referred to in Figure 20-3 is discussed in paragraph 20.3.3.3 Ionospheric Correction.3. The ERD c term referred to in Figure 20-3 is discussed in paragraph 20.3.5 in conjunction with the related data contained in page 18 of subframe 4.2. The clock correction coefficients are based on "two frequency" measurements and therefore account for the effects of mean differential delay in SV instrumentation.5.2.3. 20.3.2. The two frequency (L1 P(Y) and L2 P(Y)) user shall correct for the group delay due to ionospheric effects by applying the relationship: PR L2P(Y) .3. pseudorange measured on the channel indicated by the subscript.4 Example Application of Correction Parameters.3.γ PR L1P(Y) 1.6 in conjunction with the related data contained in page 13 of subframe 4.3.3. 20.3.4 Subframes 2 and 3. followed by material pertinent to the use of the data. and γ is as defined in paragraph 20.

GEOMETRIC . af1.UNCLASSIFIED TGD* af0.EQUIPMENT GROUP DELAY DIFFERENTIAL EFFECTS . and TIME (CLOCK BIAS) .TROPOSHERIC .AUXILIARY SENSOR ERD ** c USER CLOCK BIAS GPS TIME * SINGLE FREQUENCY USER ONLY ** OPTIONAL Figure 20-3.IONOSPHERIC* FILTER AND COORDINATE CONVERTER USER POSITION. Sample Application of Correction Parameters IRN-200C-003 ICD-GPS-200C 11 OCT 1999 92 UNCLASSIFIED . βn PSEUDORANGE DIVIDED BY THE SPEED OF LIGHT GPS TIME PATH DELAY .RANGE DATA FROM OTHER SATELLITES . VELOCITY. af2. toc ∆ tr ∆ tSV CLOCK CORRECTION POLYNOMIAL ESTIMATE OF SV TRANSMISSION TIME Ttropo TROPOSPHERIC MODEL CODE PHASE OFFSET .TRUE SV CLOCK EFFECTS .CALIBRATION DATA .RELATIVISTIC EFFECTS Tiono IONOSPHERIC MODEL* αn.

3.3. two non-information bearing bits shall be provided as bits 23 and 24 of word ten of each subframe for parity computation purposes. Bits 288 through 292 of subframe 2 shall contain the Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.5.UNCLASSIFIED 20.12). The ephemeris parameters describe the orbit during the curve fit intervals described in section 20.3.1.3. in addition. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 93 UNCLASSIFIED . that the transmitted parameter values are such that they provide the best trajectory fit in EarthCentered.4. Earth-Fixed (ECEF) coordinates for each specific fit interval. The remaining 375 bits of those two subframes shall contain the ephemeris representation parameters of the transmitting SV. The user shall not interpret intermediate coordinate values as pertaining to any conventional coordinate system. it shall be noted.1 Content of Subframes 2 and 3. The third through tenth words of subframes 2 and 3 shall each contain six parity bits as their LSBs.3.4. however. Table 20-II gives the definition of the orbital parameters using terminology typical of Keplerian orbital parameters.

5) Issue of Data (Ephemeris) ICD-GPS-200C 10 OCT 1993 94 UNCLASSIFIED .UNCLASSIFIED Table 20-II.4. Ephemeris Data Definitions M0 ∆n e (A)1/2 (OMEGA)0 i0 ω OMEGADOT IDOT Cuc Cus Crc Crs Cic Cis toe IODE Mean Anomaly at Reference Time Mean Motion Difference From Computed Value Eccentricity Square Root of the Semi-Major Axis Longitude of Ascending Node of Orbit Plane at Weekly Epoch Inclination Angle at Reference Time Argument of Perigee Rate of Right Ascension Rate of Inclination Angle Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius Amplitude of the Sine Harmonic Correction Term to the Orbit Radius Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination Reference Time Ephemeris (reference paragraph 20.3.

The timing of the IODE and constraints on the IODC and IODE are defined in paragraph 20.3. Any change in the subframe 2 and 3 data will be accomplished with a simultaneous change in both IODE words. the scale factor of the LSB (which shall be the last bit received).3. A "fit interval" flag is provided in subframe 2 to indicate whether the ephemerides are based on a four-hour fit interval or a fit interval greater than four hours (reference paragraph 20.3.1). The IODE is provided in both subframes 2 and 3 for the purpose of comparison with the 8 LSBs of the IODC term in subframe 1. and the units shall be as specified in Table 20-III.4.3. The AODO word is provided in subframe 2 to enable the user to determine the validity time for the NMCT data provided in subframe 4 of the transmitting SV. and units of seconds.3.4. is different from that transmitted prior to the cutover.4.4. a data set cutover has occurred and new data must be collected. Whenever these three terms do not match. for at least the first data set transmitted by an SV after an upload. 20.UNCLASSIFIED The issue of ephemeris data (IODE) term shall provide the user with a convenient means for detecting any change in the ephemeris representation parameters. The related algorithm is given in paragraph 20. a range from 0 to 31.4. the range. The CS shall assure that the toe value.2 Subframe 2 and 3 Parameter Characteristics.3.3. the number of bits. IRN-200C-002 ICD-GPS-200C 25 SEP 1997 95 UNCLASSIFIED . The AODO word (which is not an ephemeris parameter) is a five-bit unsigned term with an LSB scale factor of 900. For each ephemeris parameter contained in subframes 2 and 3.4.3.

ICD-GPS-200C 10 OCT 1993 96 UNCLASSIFIED .03 dimensionless radians meters1/2 604. Unless otherwise indicated in this column.UNCLASSIFIED Table 20-III. with the sign bit (+ or -) occupying the MSB. See Figure 20-1 for complete bit allocation in subframe. of Bits** 8 16* 16* 32* 16* 32 16* 32 16 16* 32* 16* 32* 16* 32* 24* 14* 2-5 2 2 2 -43 Scale Factor (LSB) Effective Range*** (see text) meters Units semi-circles/sec semi-circles radians 0.784 seconds radians semi-circles radians semi-circles meters semi-circles semi-circles/sec semi-circles/sec 2-31 -29 2-33 -29 2-19 24 2-29 2 2 2 2 -31 2-29 -31 2-5 -31 2-43 -43 Parameters so indicated shall be two's complement. Ephemeris Parameters Parameter IODE Crs ∆n M0 Cuc e Cus (A)1/2 toe Cic (OMEGA)0 Cis i0 Crc ω OMEGADOT IDOT * ** *** No. effective range is the maximum range attainable with indicated bit allocation and scale factor.

z expressed in ECEF coordinates). 1 = greater than 4 hours.3. Subframes 2 and 3 parameters are Keplerian in appearance. t.3. The user shall compute the ECEF coordinates of position for the phase center of the SVs’ antennas utilizing a variation of the equations shown in Table 20-IV. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 97 UNCLASSIFIED . x.UNCLASSIFIED 20.3 User Algorithm for Ephemeris Determination. however. are produced by the CS via a least squares curve fit of the predicted ephemeris of the phase center of the SVs’ antennas (time-position quadruples. the resultant accuracy.4. Particulars concerning the periods of the curve fit.3.3. y.4. as follows: 0 = 4 hours.3. the values of these parameters.4. 20.1 Curve Fit Intervals. Bit 17 in word 10 of subframe 2 is a "fit interval" flag which indicates the curvefit interval used by the CS in determining the ephemeris parameters. The relationship of the curve-fit interval to transmission time and the timing of the curve-fit intervals is covered in section 20. and the applicable coordinate system are given in the following subparagraphs.3.

400 seconds. IRN-200C-004 ICD-GPS-200C 12 April 2000 98 UNCLASSIFIED . tk shall be the actual total time difference between the time t and the epoch time toe.e.2921151467 x 10 rad/sec • A= n0 = ( A ) 2 µ A3 tk = t . if tk is greater than 302.toe* n = n0 + ∆n Mk = M0 + ntk Time from ephemeris reference epoch Corrected mean motion Mean anomaly * t is GPS system time at time of transmission. add 604..800 seconds to tk. Furthermore. Elements of Coordinate Systems (sheet 1 of 3) µ = 3. GPS time corrected for transit time (range/speed of light). That is. If tk is less than -302.400 seconds.986005 x 1014 meters3/sec2 WGS 84 value of the earth's universal gravitational parameter for GPS user WGS 84 value of the earth's rotation rate Semi-major axis Computed mean motion (rad/sec) -5 Ω e = 7.800 seconds from tk. subtract 604.UNCLASSIFIED Table 20-IV. and must account for beginning or end of week crossovers. i.

UNCLASSIFIED Table 20-IV.e cosEk) + δrk ik = i0 + δik + (IDOT) tk } Second Harmonic Perturbations Corrected Argument of Latitude Corrected Radius Corrected Inclination ICD-GPS-200C 10 OCT 1993 99 UNCLASSIFIED .e sin Ek  sin ν k  ν k = tan −1    cos ν k   1 − e 2 sin E / (1 − e cos E )   k k  = tan −1  (cos E k − e ) / (1 − e cos E k )       e + cos ν k  E k = cos −1   1 + e cos ν k  Kepler's Equation for Eccentric Anomaly (may be solved by iteration)(radians) True Anomaly Eccentric Anomaly Argument of Latitude Argument of Latitude Correction Radius Correction Inclination Correction Φ k = νk + ω δuk = cussin2Φk + cuccos2Φk δrk = crssin2Φk + crccos2Φk δik = cissin2Φk + ciccos2Φk uk = Φk + δuk rk = A(1 . Elements of Coordinate Systems (sheet 2 of 3) Mk = Ek .

ICD-GPS-200C 10 OCT 1993 100 UNCLASSIFIED . Ωk = Ω0 + ( Ω .UNCLASSIFIED Table 20-IV.yk′cosiksinΩk yk = xk′sinΩk + yk′cosikcosΩk zk = yk′sinik Corrected longitude of ascending node.Ω e toe xk = xk′cosΩk . Elements of Coordinate Systems (sheet 3 of 3) xk′ = rkcosuk yk′ = rksinuk } • • • Positions in orbital plane.Ω e ) tk . } Earth-fixed coordinates.

Earth-Fixed orthogonal coordinate system Z-Axis** = X-Axis = * Geometric center of the WGS 84 Ellipsoid ** Rotational axis of the WGS 84 Ellipsoid IRN-200C-004 ICD-GPS-200C 12 April 2000 101 UNCLASSIFIED .UNCLASSIFIED 20.3. the ratio of a circle's circumference to its diameter.3.3.4. and to the angular rate parameters is on the order of 1012 meters/semicircle/second.1415926535898. The sensitivity of position to the parameters (A)1/2.4. Earth-Centered.3.4. π is a mathematical constant. 20.3. The sensitivity of the SV's antenna phase center position to small perturbations in most ephemeris parameters is extreme. the value of π used in the curve fit is given here. Because of this extreme sensitivity to angular perturbations.2 Parameter Sensitivity.3.3 Coordinate Systems. The equations given in Table 20-IV provide the SV's antenna phase center position in the WGS 84 ECEF coordinate system defined as follows: Origin* = Earth's center of mass The direction of the IERS (International Earth Rotation Service) Reference Pole (IRP) Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis Y-Axis = Completes a right-handed. The sensitivity of position to the angular parameters is on the order of 108 meters/semicircle. 20.1 ECEF Coordinate System.3.3.3.3. Here π is taken as π = 3. Crc and Crs is about one meter/meter.

z coordinates in the ECEF coordinate system at some other time t can be transformed to the x′.R (tT)| where tT and tR are the GPS system times of transmission and reception.3. In an ECI coordinate system.3. The gravitational potential also has a small effect on the propagation speed. and where.3. y′.3). The x. and precession which may be neglected by most users for small values of (t – t0). z′ coordinates in the selected ECI coordinate system of convenience by the simple** rotation: x′ = x cos(θ) – y sin(θ) y′ = x sin(θ) + y cos(θ) z′ = z where θ = Ω e (t – t0) * The propagation speed c is constant only in a vacuum. The user shall account for the geometric range (D) from satellite to receiver in an ECI coordinate system. GPS signals propagate in straight lines at the constant speed c* (reference paragraph 20.3.4. → → • D = | r (tR) . ** Neglecting effects due to polar motion.3.4 Geometric Range. but may be neglected by most users. 20. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 102 UNCLASSIFIED . nutation. y.2 Earth-Centered. → → R (tT) = position vector of the GPS satellite in the selected ECI coordinate system at time tT.3. r (tR) = position vector of the receiver in the selected ECI coordinate system at time tR.3. Inertial (ECI) Coordinate System.4.3. respectively. D may be expressed as.UNCLASSIFIED 20.4. A stable ECI coordinate system of convenience may be defined as being coincident with the ECEF coordinate system at a given time t0.

4. It should be noted that the intended positioning solution accuracy improvement will not be obtained if the data from two different NMCTs are applied simultaneously or if the data from a given NMCT is applied to just a subset of the SVs used in the positioning solution (i. As a result.800 * t is GPS system time at time of transmission. if t* . mixed mode operation results in potentially degraded solution accuracy).604. for example. then tnmct = toe . If the AODO term is 27900 seconds (i. then the user shall compute the validity time for that NMCT (tnmct) using the ephemeris toe parameter and the AODO term from the current subframe 2 as follows: OFFSET = toe [Modulo 7200] if OFFSET = 0. then the NMCT from any SV with the latest tnmct may be selected and used.3. users should compute and examine the tnmct values for all visible and available SVs in order to find and use the NMCT with the latest tnmct.3. then the NMCT currently available from the transmitting SV is invalid and shall not be used..OFFSET + 7200 . the estimated range deviation (ERD) value provided by the selected NMCT for the other SVs with the same tnmct shall be set to zero if those SVs are used in the positioning solution. however. then tnmct = toe .AODO if OFFSET > 0..tnmct > 302.tnmct < -302. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 102a UNCLASSIFIED .e.400 then tnmct = tnmct . Users desiring to take advantage of the NMCT data provided in page 13 of subframe 4 shall first examine the AODO term currently provided in subframe 2 of the NAV data from the transmitting SV.800 if t* . It should be noted that the NMCT information shall be supported by the Block IIR SV only when operating in the IIA like mode of operation including the Autonav Test mode. binary 11111).400 then tnmct = tnmct + 604.AODO Note that the foregoing computation of tnmct must account for any beginning or end of week crossovers.4 NMCT Validity Time.UNCLASSIFIED 20. If the same latest (largest) tnmct is provided by two or more visible and available SVs.e. Users are advised that different SVs will transmit NMCTs with different tnmct and that the best performance will generally be obtained by applying data from the NMCT with the latest (largest) tnmct. If the AODO term is less than 27900 seconds.

3.3. each page contains different specific data in words three through ten.5 Subframes 4 and 5. Both subframe 4 and 5 are subcommutated 25 times each.3. 20.3. the pages of subframe 4 utilize seven different formats.UNCLASSIFIED 20. two non-information bearing bits are provided as bits 23 and 24 of word ten in each page for parity computation purposes. The data contained in the remaining bits of words three through ten of the various pages in subframes 4 and 5 are described in the following subparagraphs. With the possible exception of "reserved for system use" pages and explicit repeats. The content of words three through ten of each page is described below. the 25 versions of these subframes are referred to as pages 1 through 25 of each subframe.5. IRN-200C-003 ICD-GPS-200C 11 OCT 1999 102b UNCLASSIFIED . followed by algorithms and material pertinent to the use of the data. As shown in Figure 20-1.1 Content of Subframes 4 and 5. in addition. Words three through ten of each page contain six parity bits as their LSBs. while those of subframe 5 use two.

b. 6. 3.3) and the SV ID of the page will not have a value in the range of 25 through 32. SV health data for SV 1 through 24. reserved for system use. and the calendar year counter (for Block IIF). 5. A-S flags/SV configurations for 32 SVs. 4. the format and content for each page is defined by the SV ID of that page. 16 and 21: (reserved). These pages may be designated for other functions. special messages. ionospheric and UTC data. plus SV health for SV 25 through 32. 7. Subframe 4: • • Pages 1. Pages 2.UNCLASSIFIED A brief summary of the various data contained in each page of subframes 4 and 5 is as follows: a. (reserved). 9 and 10: almanac data for SV 25 through 32 respectively.5.3. • • • • • • Pages 12.3.1. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 103 UNCLASSIFIED . the almanac reference time. 22. 11. In this case. Subframe 5: • • Pages 1 through 24: Page 25: almanac data for SV 1 through 24. 20. 8. the almanac reference week number. 23 and 24: Page 13: Pages 14 and 15: Page 17: Page 18: Page 25: NMCT. 19. the six-bit health word of page 25 is set to "6 ones" (Refer to 20.

4.. the SV ID is the same number that is assigned to the PRN code phase of that SV (reference Table 3-I). the data ID is utilized to provide one of two indications: (a) for those pages which are assigned to contain the almanac data of one specific SV. As shown in Table 20-V. and (b) for all other pages the SV ID assigned in accordance with Table 20-V serves as the "page ID". and (b) for all other pages.UNCLASSIFIED 20. 11. 6. pages 1. 7. the SV ID of pages 2.g. IDs 1 through 32 are assigned to those pages which contain the almanac data of specific SVs (pages 1-24 of subframe 5 and pages 2-5 and 7-10 of subframe 4). the data ID denotes the data structure of the transmitting SV. The SV IDs are utilized in two different ways: (a) for those pages which contain the almanac data of a given SV.1. Future data IDs will be defined as necessary.3.3. The two MSBs of word three in each page shall contain data ID. while IDs 51 through 63 are utilized for pages containing other than almanac data of a specific SV. while pages 12 and 24 are designated by an ID of 62) may not be considered to contain identical data.1 Data ID and SV ID. 3. the data ID defines the data structure utilized by that SV whose almanac data are contained in that page. The "0" ID (binary all zeros) is assigned to indicate a dummy SV. Pages which carry the same SV ID (e. in subframe 4. 9 and 10 of subframe 4 may change for each page to reflect the alternate contents for that page. 8. The remaining IDs (33 through 50) are unassigned. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 104 UNCLASSIFIED . The SV ID is given by bits three through eight of word three in each page as shown in Table 20-V. 5. however. Specific IDs are reserved for each page of subframes 4 and 5.5. Data ID number two (denoted by binary code 01) denotes the NAV data structure of D(t) which is described in this Appendix. The data in the pages with the same SV ID can be different. 16 and 21 carry an ID of 57.

3. 7.UNCLASSIFIED Table 20-V. and 10 of subframe 4 may contain almanac data for SVs 25 through 32. respectively. When using "0" to indicate dummy SV. Data IDs and SV IDs in Subframes 4 and 5 Subframe 4 Page Data ID 1 Note(3) Note(3) Note(3) Note(3) 6 7 Note(3) 8 Note(3) 9 Note(3) 10 Note(3) 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 2 3 4 5 Note(2) Note(1) Note(1) Note(1) Note(1) Note(2) Note(1) Note(1) Note(1) Note(1) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) Note(2) SV ID* 57 25 26 27 28 57 29 30 31 32 57 62 52 53 54 57 55 56 58 Note(4) 59 Note(4) 57 60 Note(4) 61 Note(4) 62 63 Data ID Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(1) Note(2) SV ID* 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 51 Subframe 5 * Use "0" to indicate "dummy" SV. 9. Data ID of transmitting SV. 5. use the data ID of the transmitting SV. ICD-GPS-200C 10 OCT 1993 105 UNCLASSIFIED . Pages 2. or data for other functions as identified by a different SV ID from the value shown. 4. Note 1: Note 2: Note 3: Note 4: Data ID of that SV whose SV ID appears in that page. 8. SV ID may vary.

followed by subframe 4) being used for SVs having an ascending order of SV IDs. and (d) each re-assigned page must carry the SV ID of that SV whose almanac data it contains. almanacs may be repeated within the 25-cycle subcommutation limit.3). The almanac message for any dummy SVs shall contain alternating ones and zeros with valid parity. must contain the almanac data of that SV to which it is assigned by Table 20-V. the accuracy of the almanac parameters transmitted by the SVs will degrade over time. The number of bits.2. which is assigned by Table 20-V to one of the active SVs in orbit.3. as well as pages 2 through 5 and 7 through 10 of subframe 4 contain the almanac data and a SV health word for up to 32 SVs (the health word is discussed in paragraph 20.2 Almanac Data. ICD-GPS-200C 10 OCT 1993 106 UNCLASSIFIED . and the 50 bits devoted to parity. shall then be re-assigned to carry a duplicate set of almanac data for the active orbiting SV. the following constraints shall apply: (a) each page of subframes 4 and 5.5.5. (b) those almanac-type pages which remain unused per the above rule. The almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to upload the SVs. For twelve or fewer SVs.5. Whenever this option is exercised. The almanac data are a reduced-precision subset of the clock and ephemeris parameters. and the units of the almanac parameters are given in Table 20-VI. bits 17 through 24 of word five (SV health). If the CS is unable to upload the SVs. Pages 1 through 24 of subframe 5.3. the range.1.UNCLASSIFIED 20. the scale factor (LSB).3.3. The algorithms and other material related to the use of the almanac data are given in paragraph 20. (c) these page re-assignments shall be in ascending order of page numbers (starting with subframe 5. The data occupy all bits of words three through ten of each page except the eight MSBs of word three (data ID and SV ID).3.3.1.

multiple sets of almanac parameters shall be uploaded to span 210 days and 90 days. respectively. three sets of almanac shall be used to span 182 days.UNCLASSIFIED For Block II and IIA SVs. For Block IIR/IIR-M and IIF SVs. The first and second sets will be transmitted for up to six days each. but the duration of transmission will depend on the individual SV's capability to retain data in memory. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 107 UNCLASSIFIED . All three sets are based on six-day curve fits that correspond to the first six days of the transmission interval. the third set is intended to be transmitted for the duration of the 182 days from the last upload.

30 semi-circles. **** Relative to i0 = 0. ** See Figure 20-1 for complete bit allocation in subframe. ICD-GPS-200C 10 OCT 1993 108 UNCLASSIFIED .UNCLASSIFIED Table 20-VI.112 Parameter e toa δi**** OMEGADOT (A)1/2 (OMEGA)0 ω M0 af0 af1 No. effective range is the maximum range attainable with indicated bit allocation and scale factor. *** Unless otherwise indicated in this column. of Bits** 16 8 16* 16* 24 24* 24* 24* 11* 11* Effective Range*** Units dimensionless seconds semi-circles semi-circles/sec meters1/2 semi-circles semi-circles semi-circles seconds sec/sec * Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB. Almanac Parameters Scale Factor (LSB) 2-21 212 2-19 2-38 2-11 2-23 2-23 2-23 2-20 2-38 602.

to the "6 ones" combination of the six-bit health words in the 25th page of subframes 4 and 5: it indicates that "the SV which has that ID is not available and there may be no data regarding that SV in that page of subframes 4 and 5 that is assigned to normally contain the almanac data of that SV" (NOTE: (a) this special meaning applies to the 25th page of subframes 4 and 5 only.3.3 SV Health.5. The three MSBs of the eight-bit health words indicate health of the NAV data in accordance with the code given in Table 20-VII.3. however. Subframes 4 and 5 contain two types of SV health data: (a) each of the 32 pages which contain the clock/ephemeris related almanac data provide an eight-bit SV health status word regarding the SV whose almanac data they carry. A special meaning is assigned.6).3.5.3. The health indication shall be given relative to the "as designed" capabilities of each SV (as designated by the configuration code -. The five LSBs of both the eight-bit and the six-bit words provide the health status of the SV's signal components in accordance with the code given in Table 20-VIII.1.3.5.3.1. ICD-GPS-200C 10 OCT 1993 109 UNCLASSIFIED .3.UNCLASSIFIED 20. and (b) the 25th page of subframe 4 and of subframe 5 jointly contain six-bit health status data for up to 32 SVs.1).4.1.3.3. and (b) there may be data regarding another SV in the almanac-page referred to above as defined in paragraph 20.see paragraph 20.1. Accordingly. any SV which does not have a certain capability will be indicated as "healthy" if the lack of this capability is inherent in its design or it has been configured into a mode which is normal from a user standpoint and does not require that capability. The six-bit words provide a one-bit summary of the NAV data's health status in the MSB position in accordance with paragraph 20.

etc.). 2. preamble misplaced and/or incorrect.one or more elements in words three through ten of one or more subframes are bad SUBFRAMES 4. 5 -.some or all parity bad TLM/HOW FORMAT PROBLEM -.any problem with Z-count value not reflecting actual code phase SUBFRAMES 1.any departure from standard format (e.TLM word and/or HOW and one or more elements in any one (or more) subframes are bad ICD-GPS-200C 10 OCT 1993 110 UNCLASSIFIED . as reported in HOW Indication 0 1 1 Z-COUNT IN HOW BAD -.g. NAV Data Health Indications Bit Position in Page 137 0 0 0 138 0 0 1 139 0 1 0 ALL DATA OK PARITY FAILURE -.one or more elements in words three through ten of any one (or more) subframes are bad 1 0 0 1 0 1 1 1 0 1 1 1 ALL DATA BAD -.UNCLASSIFIED Table 20-VII.one or more elements in words three through ten of one or more subframes are bad ALL UPLOADED DATA BAD -.. except for incorrect Z-count. 3 -.

See definition above for Health Code 11111. SV attitude.UNCLASSIFIED Table 20-VIII. excess phase noise. etc. MSB LSB Codes for Health of SV Signal Components Definition 00000 00001 00010 00011 00100 00101 00110 00111 01000 01001 01010 01011 01100 01101 01110 01111 10000 10001 10010 10011 10100 10101 10110 10111 11000 11001 11010 11011 11100 11101 11110 11111 * ** All Signals OK All Signals Weak* All Signals Dead All Signals Have No Data Modulation L1 P Signal Weak L1 P Signal Dead L1 P Signal Has No Data Modulation L2 P Signal Weak L2 P Signal Dead L2 P Signal Has No Data Modulation L1 C Signal Weak L1 C Signal Dead L1 C Signal Has No Data Modulation L2 C Signal Weak L2 C Signal Dead L2 C Signal Has No Data Modulation L1 & L2 P Signal Weak L1 & L2 P Signal Dead L1 & L2 P Signal Has No Data Modulation L1 & L2 C Signal Weak L1 & L2 C Signal Dead L1 & L2 C Signal Has No Data Modulation L1 Signal Weak* L1 Signal Dead L1 Signal Has No Data Modulation L2 Signal Weak* L2 Signal Dead L2 Signal Has No Data Modulation SV Is Temporarily Out (Do not use this SV during current pass)** SV Will Be Temporarily Out (Use with caution)** Spare More Than One Combination Would Be Required To Describe Anomalies (Not including those marked with “**”) 3 to 6 dB below specified power level due to reduced power output. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 111 UNCLASSIFIED .

20.1.3. 20.5. The six-bit health status words shall occupy the 24 MSBs of words four through nine in page 25 of subframe 5 plus bits 19 through 24 of word 8. memory capacity as described in paragraph 20. The data given in subframes 1. 4.3. plus flags for A-S and "alert" in HOW.5 (Reserved).5. The three LSBs shall indicate the configuration of each SV using the following code: Code 001 010 011 SV Configuration “Block II/IIA/IIR” SV (A-S capability. and the 18 MSBs of word 10 in page 25 of subframe 4. Page 25 of subframe 4 shall contain a four-bit-long term for each of up to 32 SVs to indicate the A-S status and the configuration code of each SV.6 Anti-Spoof (A-S) Flags and SV Configurations.1. and 5 of the other SVs may differ from that shown in subframes 4 and/or 5 since the latter may be updated at a different time.2). “Block IIR-M” SV “Block IIF” SV IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 112 UNCLASSIFIED .3.5.3.3. The eight-bit health status words shall occupy bits 17 through 24 of word five in those 32 pages which contain almanac data for individual SVs. The predicted health data will be updated at the time of upload when a new almanac has been built by the CS.4 (Reserved). 20.UNCLASSIFIED Additional SV health data are given in subframe 1.1. the 24 MSBs of word 9. The transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the constellation.3. The MSB of each four-bit term shall be the A-S flag with a "1" indicating that A-S is ON.3.

1.3.2. should the need arise.5. the 24 MSBs of words four through seven.3. 20.2.3. These four-bit terms shall occupy bits 9 through 24 of word three. scale factors.3. The related algorithms are described in paragraph 20.5.2.UNCLASSIFIED Additional codes will be assigned in the future.8 Universal Coordinated Time (UTC) Parameters. Bits 17 through 24 of word three in page 25 of subframe 5 shall indicate the number of the week (WNa) to which the almanac reference time (toa) is referenced (see paragraphs 20. the anti-spoof data may not correspond to the actual anti-spoof status of the transmitting SV or other SVs in the constellation. 20.5.3.3.5.5.1.4.2 and 20. The bit length. all in page 25 of subframe 4. ranges.7 Almanac Reference Week. Bits 9 through 16 of word three in page 25 of subframe 5 shall contain the value of toa which is referenced to this WNa. and the 16 MSBs of word eight. and units of these parameters are given in Table 20-IX.4) to which the toa is referenced.3. The WNa term consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number (see paragraph 6. Since the anti-spoof information is updated by the CS at the time of upload.3.3.3. The 24 MSBs of words six through nine plus the eight MSBs of word ten in page 18 of subframe 4 shall contain the parameters related to correlating UTC time with GPS time.1. IRN-200C-004 ICD-GPS-200C 12 April 2000 113 UNCLASSIFIED .2).

5) for computation of the ionospheric delay are contained in page 18 of subframe 4. If the CS is unable to upload the SVs.3. If the CS is unable to upload the SVs. They occupy bits 9 through 24 of word three plus the 24 MSBs of words four and five. The ionospheric data shall be updated by the CS at least once every six days while the CS is able to upload the SVs. The bit lengths. ICD-GPS-200C 10 OCT 1993 114 UNCLASSIFIED . the accuracy of the UTC parameters transmitted by the SVs will degrade over time. 20.1.2. ranges.3.5. the ionospheric data transmitted by the SVs may not be accurate. scale factors.3.5. The ionospheric parameters which allow the "L1 only" or "L2 only" user to utilize the ionospheric model (reference paragraph 20. and units of these parameters are given in Table 20-X.UNCLASSIFIED The UTC parameters shall be updated by the CS at least once every six days while the CS is able to upload the SVs.9 Ionospheric Data.3.

UNCLASSIFIED Table 20-IX. Right justified. Unless otherwise indicated in this column. effective range is the maximum range attainable with indicated bit allocation and scale factor.112 Parameter A0 A1 32* 24* 8* 8 8 8 No. See Figure 20-1 for complete bit allocation in subframe. UTC Parameters Scale Factor (LSB) 2-30 2-50 1 212 1 1 1 1 7 602. **** ICD-GPS-200C 10 OCT 1993 115 UNCLASSIFIED . of Bits** Effective Range*** Seconds sec/sec seconds seconds weeks weeks days seconds Units ∆ tLS tot WNt WNLSF DN 8**** 8* ∆ tLSF * ** *** Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB.

ICD-GPS-200C 10 OCT 1993 116 UNCLASSIFIED . of Bits** 8* 8* 8* 8* 8* 8* 8* 8* Effective Range*** Seconds sec/semi-circle Units sec/(semi-circle)2 sec/(semi-circle)3 seconds sec/semi-circle sec/(semi-circle)2 sec/(semi-circle)3 Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB. effective range is the maximum range attainable with indicated bit allocation and scale factor. Ionospheric Parameters Scale Factor (LSB) 2-30 2-27 2-24 2-24 211 214 216 216 Parameter α0 α1 α2 α3 β0 β1 β2 β3 * ** *** No. See Figure 20-1 for complete bit allocation in subframe.UNCLASSIFIED Table 20-X. Unless otherwise indicated in this column.

plus the 16 MSBs of word ten.1. Page 17 of subframe 4 shall be reserved for special messages with the specific contents at the discretion of the Operating Command. the 24 MSBs of words four through nine.071 053 055 056 047 370 057 040 072 042 IRN-200C-002 ICD-GPS-200C 25 SEP 1997 117 UNCLASSIFIED .5.10 Special Messages.3.132 060 . The remaining 50 bits of words three through ten are used for parity (six bits/word) and parity computation (two bits in word ten).3. ' ° / Space : " Code (Octal) 101 . The eight MSBs of word three shall contain the data ID and SV ID.UNCLASSIFIED 20. while bits 17 through 22 of word ten shall be reserved for system use. (Decimal point) ' (Minute mark) ° (Degree sign) / Blank : " (Second mark) ASCII Character A-Z 0-9 + . It shall accommodate the transmission of 22 eight-bit ASCII characters. The eight-bit ASCII characters shall be limited to the following set: Alphanumeric Character A-Z 0-9 + . The requisite 176 bits shall occupy bits 9 through 24 of word three.

UNCLASSIFIED 20.5. There are 31 possible SV IDs that these ERD slots may correspond to.1.3. IRN-200C-002 ICD-GPS-200C 25 SEP 1997 118 UNCLASSIFIED . AI 00 01 10 11 Navigation Message Correction Table Availability The correction table is unencrypted and is available to both authorized and unauthorized users. No correction table available for either authorized or unauthorized users. ranging from SV ID 1 to SV ID 31.1. The two-bit AI in bits 9 and 10 of word three of page 13 of subframe 4 provide the user with the following information. Each NMCT contains a two-bit availability indicator (AI) followed by 30 slots which may contain up to 30 valid six-bit ERD values.5. bits 1 through 24 of words four through nine.12 NMCT.3. To illustrate: the SV operating as SV ID 1 will transmit (in order) ERD values which correspond to SV ID 2 through SV ID 31 in ERD slots 1 through 30 respectively. while the SV operating as SV ID 31 will transmit ERD values which correspond to SV ID 1 through SV ID 30 in ERD slots 1 through 30 respectively. The correction table is encrypted and is available only to authorized users (normal mode). and bits 1 through 22 of word ten of page 13 of subframe 4 will correspond to an ERD value for a particular SV ID. Each one of the 30 six-bit ERD slots in bits 11 through 24 of word three. Reserved. Page 13 of subframe 4 shall contain the NMCT data appropriate to the transmitting SV. The correspondence between the 30 ERD slots and the 31 possible SV IDs depends on the SV ID of the particular transmitting SV in accordance with the following two rules: 1) the CS shall ensure via upload that no SV shall transmit an NMCT containing an ERD value which applies to its own SV ID.11 (Deleted) 20.3. The layout of these 31 data items is as shown in Figure 20-1.3. and 2) the CS shall ensure via upload that all ERD values shall be transmitted in ascending numerical slot order of the corresponding SV ID. SV ID 32 is not a valid SV ID for any of the slots in an NMCT.

with reduced precision. A close inspection of Table 20-VI will reveal that a nominal inclination angle of 0. and 3 parameters (see Table 20-IV). 20. A binary value of “100000” shall indicate that no valid ERD for the corresponding SV ID is present in that slot.UNCLASSIFIED Each ERD value contained in an NMCT ERD slot shall be represented as a six-bit two’s complement field with the sign bit occupying the MSB and an LSB of 0.5. and NMCT data in the NAV message.3.2.2.3. Universal Coordinated Time. but not included in the content of the almanac. Note that for other blocks of SVs.5.30 semicircles is implicit and that the parameter δ i (correction to inclination) is transmitted. The user algorithm is essentially the same as the user algorithm used for computing the precise ephemeris from the one subframe 1.1.13 Calendar Year Counter. the application of the Table 20-IV equations differs between the almanac and the ephemeris computations. 20. For Block IIF SVs. The CS shall ensure that this counter shall increment at the start of the GPS day (reference paragraph 6. as opposed to the value computed by the user. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 118a UNCLASSIFIED .3 meters for an effective range of ±9.2 Algorithms Related to Subframe 4 and 5 Data. the 16 bits nominally provide alternating ones and zeros.1 Almanac. All other parameters appearing in the equations of Tables 20-IV.5). bits 7 through 22 of word ten in page 25 of subframe 5 shall indicate the calendar year (reference paragraph 6. 2. For these other blocks of SVs. bits 7 through 22 of word ten in pages 25 of subframe 5 do not provide calendar year counter.6) corresponding to calendar January 1st.3. Ionospheric Model. are set to zero for SV position determination. In these respects.3.3 m. The almanac content for one SV is given in Table 20-VI.5. 20. The almanac is a subset of the clock and ephemeris data.2.3.3. The following algorithms shall apply when interpreting Almanac.

) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 118b UNCLASSIFIED .UNCLASSIFIED (This page intentionally left blank.

(Deleted) IRN-200C-002 ICD-GPS-200C 25 SEP 1997 119 UNCLASSIFIED .UNCLASSIFIED Table 20-XI.

† 900 . Larger errors may be encountered during eclipse seasons and whenever a propulsive event has occurred. † After the CS is unable to upload the SVs.3. URE values for the SVs operating in the Autonav mode tend to degrade quadratically such that the URE will approach 300. An indication of the URE provided by a given almanac during each of the operational intervals is as follows: Almanac Ephemeris URE (estimated by analysis) Operational Interval Normal Short-term Extended Long-term Extended 1 sigma (meters) 900* . IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 120 UNCLASSIFIED .600* 3600 . with the sensitivity of the angular rate terms over the interval of applicability on the order of 1014 meters/(semicircle/second).UNCLASSIFIED The user is cautioned that the sensitivity to small perturbations in the parameters is even greater for the almanac than for the ephemeris.000 meters 1 sigma at 180 days.000* * URE values generally tend to degrade quadratically over time.300.

The almanac reference time. The time from epoch tk shall be computed as described in Table 20-IV. 20.5 days during the transmission period.5. The almanac time parameters shall consist of an 11-bit constant term (af0) and an 11-bit first order term (af1). which shall provide time to within 2 microseconds of GPS time (t) during the interval of applicability.5.3. Note that cutover to a new upload may occur between the almanac pages of interest and page 25 of subframe 5 (reference paragraph 20. t.5). and in word 3 of page 25 of subframe 5. During long-term extended operations or if the user wishes to extend the use time of the almanac beyond the time span that it is being transmitted.4. and thus there may be a temporary inconsistency between toa.3.UNCLASSIFIED 20.4.2. The almanac is updated often enough to ensure that GPS time.3. The applicable first order polynomial.3 Almanac Time Parameters.7). in the almanac page of interest. both of which are given in word three of page 25 of subframe 5 (see paragraph 20.1).3.3. The toa mismatch signifies that this WNa may not apply to the almanac of interest and that the user must not apply almanac data until the pages with identical values of toa are obtained.3. This may be accomplished without time ambiguity by recognizing that the almanac reference time (toa) is referenced to the almanac reference week (WNa).3.3. shall differ from toa by less than 3. one must account for crossovers into time spans where these computations of tk are not valid. is some multiple of 212 seconds occurring approximately 70 hours after the first valid transmission time for this almanac data set (reference 20. Long-term Extended Operations. is given by IRN-200C-001 ICD-GPS-200C 13 OCT 1995 121 UNCLASSIFIED . toa.2.1.2 Almanac Reference Time.5. Normal and Short-term Extended Operations. except that toe shall be replaced with toa. All toa values in subframes 4 and 5 shall be the same for a given almanac data set and shall differ for successive data sets which contain changes in almanac parameters or SV health.

WNt.∆tsv GPS system time (seconds). Over the span of applicability.2. The user must account for the truncated nature of this parameter as well as truncation of WN. During extended operations (short-term and long-term) the almanac time parameter may not provide the specified time accuracy or URE component. and the polynomial coefficients af0 and af1 are given in the almanac.3. effective SV PRN code phase time at message transmission time (seconds). and WNLSF due to rollover of full week number (see paragraph 3. one sigma.3. together with the week number (WNLSF) and the day number (DN) at the end of which the leap second becomes effective.5.4(b)). it is expected that the almanac time parameters will provide a statistical URE component of less than 135 meters. 20.4) to which the DN is referenced. The SV PRN code phase offset is given by ∆tsv = af0 + af1 tk where the computation of tk is described in paragraph 20.UNCLASSIFIED t where t tsv ∆tsv = = = = tsv .5. it need not be included in the time scale used for almanac evaluation. and (2) notice to the user regarding the scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds (∆tLSF). This is partially due to the fact that the error caused by the truncation of af0 and af1 may be as large as 150 meters plus 50 meters/day relative to the toa reference time. The CS shall manage these parameters such that the absolute value of the difference between the untruncated WN and WNLSF values shall not exceed 127. SV PRN code phase time offset (seconds).4 Universal Coordinated Time (UTC).2.3. Since the periodic relativistic effect is less than 25 meters.3. Page 18 of subframe 4 includes: (1) the parameters needed to relate GPS time to UTC.2.3. IRN-200C-004 ICD-GPS-200C 12 April 2000 122 UNCLASSIFIED . "Day one" is the first day relative to the end/start of week and the WNLSF value consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number (see paragraph 6.2.

UTC reference week number.5). ∆tLS A0 and A1 tot WN WNt = = = = = delta time due to leap seconds. reference time for UTC data (reference 20. and WNLSF due to rollover of full week number (see paragraph 3.WNt)).3. tot.3.5).∆tUTC) [Modulo 86400 seconds] where tUTC is in seconds and ∆tUTC tE = = ∆tLS + A0 + A1 (tE . The reference time for UTC data (tot) shall be referenced to the start of that week whose number (WNt) is given in word eight of page 18 in subframe 4. constant and first order terms of polynomial. is some multiple of 212 seconds occurring approximately 70 hours after the first valid transmission time for this UTC data set (reference 20. Whenever the effectivity time indicated by the WNLSF and the DN values is not in the past (relative to the user's present time). IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 123 UNCLASSIFIED . the reference time for UTC data. current week number (derived from subframe 1).4.4. The user must account for the truncated nature of this parameter as well as truncation of WN. The estimated GPS time (tE) shall be in seconds relative to end/start of week.3.3 as well as for ionospheric and selective availability (SA) (dither) effects. and the user's present time does not fall in the time span which starts at DN + 3/4 and ends at DN + 5/4. The CS shall manage these parameters such that the absolute value of the difference between the untruncated WN and WNt values shall not exceed 127. seconds.UNCLASSIFIED Depending upon the relationship of the effectivity date to the user's current GPS time. the following three different UTC/GPS-time relationships exist: a. the UTC/GPS-time relationship is given by tUTC = (tE . During the normal and short-term extended operations.4) to which the tot is referenced.4(b)). GPS time as estimated by the user on the basis of correcting tSV for factors described in paragraph 20.3.2. The WNt value consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number (see paragraph 6.3. WNt.3.tot + 604800 (WN .

5. and the definition of ∆tUTC (as given in 20. as indicated by the WNLSF and DN values. the relationship previously given for tUTC in 20.4a above is valid except that the value of ∆tLSF is substituted for ∆tLS.∆tUTC .xxx are encountered. thereby promptly returning to a proper time indication. Some user equipment may be designed to approximate UTC by decrementing the running count of time within several seconds after the event.5. proper accommodation of the leap second event with a possible week number transition is provided by the following expression for UTC: tUTC where W = (tE . seconds. seconds. Whenever the effectivity time of the leap second event. Whenever the user's current time falls within the time span of DN + 3/4 to DN + 5/4.4a above) applies throughout the transition period.43200)[Modulo 86400] + 43200.3.2.2. the user equipment must consistently implement carries or borrows into any year/week/day counts. unconventional time values of the form 23:59:60. c. ICD-GPS-200C 10 OCT 1993 124 UNCLASSIFIED .UNCLASSIFIED b.3. The CS will coordinate the update of UTC parameters at a future upload so as to maintain a proper continuity of the tUTC time scale. is in the "past" (relative to the user's current time).∆tLS)]. Note that when a leap second is added.3.3. Whenever a leap second event is encountered. = W[Modulo (86400 + ∆tLSF .

the ERD value in the NMCT is an estimated pseudorange error.3. the ERD values are actually error estimates rather than differential corrections and so are subtracted rather than added in the above equation. PRc = pseudorange corrected with the ERD value from the NMCT PR = measured pseudorange Note that as described above.UNCLASSIFIED 20.5 Ionospheric Model. or for the SVs in the Autonav mode if the CS is unable to upload the SVs. Each ERD value is computed by the CS and represents the radial component of the satellite ephemeris error minus the speed of light times the satellite clock error.5.frequency user's RMS error due to ionospheric propagation effects.3.5. may use the model given in Figure 20-4 to make this correction.3. The satellite ephemeris and clock errors are computed by subtracting the broadcast from current estimates. the use of this model will yield unpredictable results.3. the ERD value may be used as follows to correct the user's measured pseudorange: PRc = PR – ERD where.3. It is estimated that the use of this model will provide at least a 50 percent reduction in the single .3. 20.2.3). Therefore.3. During extended operations. however. The "two frequency" (L1 and L2) user shall correct the time received from the SV for ionospheric effect by utilizing the time delay differential between L1 and L2 (reference paragraph 20.6 NMCT Data.3.2. For each SV. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 125 UNCLASSIFIED . The "one frequency" user.

3. Ionospheric Model (Sheet 1 of 3) ICD-GPS-200C 10 OCT 1993 126 UNCLASSIFIED .000 ∑ F = 1.0 + 16. if the user is operating on the L2 frequency. AMP ≥ 0  AMP = n = 0    if AMP < 0. AMP = 0 ∑ (sec) x= 2π (t .3.000  PER = n = 0  (sec)   if PER < 72.0 [0.2).  3  n  α n φ m .50400 ) PER (radians)  3  n  β n φ m .UNCLASSIFIED The ionospheric correction model is given by Tiono     x 2 x 4  . x ≥ 1.3. and 3. x < 1. 2.57  F ∗ 5.E]3 and αn and βn are the satellite transmitted data words with n = 0. 1.0 ∗ 10 − 9 + (AMP)1 − +    2 24  =   (sec)      −9 . the correction term must be multiplied by γ (reference paragraph 20.3.0 ∗ 10   ( ) where Tiono is referred to the L1 frequency.57  F ∗ 5.000. PER = 72. PER ≥ 72. Figure 20-4.53 .

Figure 20-4.11 (semi-circles) t = 4. add 86400 seconds. then φi = +0.416.UNCLASSIFIED Other equations that must be solved are φm = φi + 0.022 E + 0.416.0137 . subtract 86400 seconds. if t ≥ 86400 seconds.1.0.617) (semi-circles) λ i = λu + ψ sinA cos φ i (semi-circles) φ u + ψ cosA(semi − circles).416   φi =  if φi > +0.064cos(λi .416   if φ < −0.416  i i   (semi-circles) ψ= 0. φi ≤ 0. if t < 0 seconds. Ionospheric Model (Sheet 2 of 3) ICD-GPS-200C 10 OCT 1993 127 UNCLASSIFIED . then φ = −0.32 * 104λi + GPS time (sec) where 0 ≤ t < 86400: therefore.

Ionospheric Model (Sheet 3 of 3) elevation angle between the user and satellite (semi-circles) azimuth angle between the user and satellite. measured clockwise positive from the true North (semi-circles) user geodetic latitude (semi-circles) WGS-84 user geodetic longitude (semi-circles) WGS-84 receiver computed system time ICD-GPS-200C 10 OCT 1993 128 UNCLASSIFIED .8 bits each) the coefficients of a cubic equation representing the period of the model (4 coefficients .UNCLASSIFIED The terms used in computation of ionospheric delay are as follows: • Satellite Transmitted Terms αn βn the coefficients of a cubic equation representing the amplitude of the vertical delay (4 coefficients .8 bits each) • Receiver Generated Terms E A φu λu GPS time • Computed Terms X F t φm λi φi ψ phase (radians) obliquity factor (dimensionless) local time (sec) geomagnetic latitude of the earth projection of the ionospheric intersection point (mean ionospheric height assumed 350 km) (semi-circles) geodetic longitude of the earth projection of the ionospheric intersection point (semi-circles) geodetic latitude of the earth projection of the ionospheric intersection point (semi-circles) earth's central angle between the user position and the earth projection of ionospheric intersection point (semi-circles) Figure 20-4.

The acts of transmitting the NAV message shall be executed by the SV on SV time. In controlling the SVs and uploading of data. All time-related data in the TLM word and the HOW shall be in SV-time.3.3. and (b) the cycling of the 25 pages of subframes 4 and 5 shall restart with page 1 of each of the subframes. The user shall use the same value for the speed of light in all computations. regardless of which page was the last to be transmitted prior to the end/start of week.3. At end/start of week (a) the cyclic paging of subframes 1 through 5 shall restart with subframe 1 regardless of which subframe was last transmitted prior to end/start of week. GPS Time. The following conventions shall apply.99792458 x 108 meters per second which is the official WGS-84 speed of light.UNCLASSIFIED 20.1 Paging and Cutovers.3. 2.4 Timing Relationships. 20. 20.4. Modulo 30 seconds relative to end/start of week).4. IRN-200C-001 ICD-GPS-200C 13 OCT 1995 129 UNCLASSIFIED .3 Speed of Light. and 3 occur on frame boundaries (i. d. the CS shall allow for the following timing relationships: a. Newly updated data for subframes 4 and 5 may start to be transmitted with any of the 25 pages of these subframes.4. c. The speed of light used by the CS for generating the data described in the above paragraphs is c = 2. 20.e. b. Each SV operates on its own SV time. Cutovers to newly updated data for subframes 1. All other data in the NAV message shall be relative to GPS time.2 SV Time vs..

4 Data Sets. (2) The transmitted IODE will be different from any value transmitted by the SV during the preceding six hours. The IODE is an 8 bit number equal to the 8 LSBs of the 10 bit IODC of the same data set. Cutover from 12-hour data sets to 24-hour data sets shall occur Modulo 24 hours relative to end/start of week. cutover to 4-hour sets and subsequent cutovers to succeeding 4-hour data sets will always occur Modulo 4 hours relative to end/start of week. The range of IODC will be as given in Table 20-XII. Each data set remains valid for the duration of its curve fit interval.3.4. The first data set may be cut-in (reference paragraph 20. During short-term operations.3. Cutover from 4-hour data sets to 6-hour data sets shall occur Modulo 12 hours relative to end/start of week. Cutovers to new data sets will occur only on hour boundaries except for the first data set of a new upload. IRN-200C-004 ICD-GPS-200C 12 April 2000 130 UNCLASSIFIED . The following rules govern the transmission of IODC and IODE values in different data sets: (1) The transmitted IODC will be different from any value transmitted by the SV during the preceding seven days. The start of the transmission interval for each data set corresponds to the beginning of the curve fit interval for the data set.4.UNCLASSIFIED 20.1) at any time during the hour and therefore may be transmitted by the SV for less than one hour. Cutover from a data set transmitted 24 hours or more occurs on a Modulo 24-hour boundary relative to end/start of week.

Note 4: Some SVs will have transmission intervals of 1 hour per paragraph 20. 496 (Note 3) 497-503 504-510 511. IODC Values and Data Set Lengths Days Spanned Transmission Interval (hours) (Note 5) 2 (Note 4) 4 6 12 24 48 72 96 120 144 Curve Fit Interval (hours) 4 6 8 14 26 50 74 98 122 146 IODC Range (Note 1) 1 2-14 15-16 17-20 21-27 28-41 42-59 60-87 88-122 123-182 (Note 2) (Note 2) 240-247 248-255. Note 2: IODC values for blocks with 1-. Note 3: The ninth 12-hour data set may not be transmitted.or 4-hour transmission intervals (at least the first 14 days after upload) shall be any numbers in the range 0 to 1023 excluding those values of IODC that correspond to IODE values in the range 240-255. 1008-1010 1011-1020 Note 1: For transmission intervals of 6 hours or greater.4. subject to the constraints on re-transmission given in paragraph 20. 2.4.3.4.4. Note 5: The first data set of a new upload may be cut-in at any time and therefore the transmission interval may be less than the specified value. the IODC values shown will be transmitted in increasing order. 752-756 757-763 764-767.UNCLASSIFIED Table 20-XII. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 131 UNCLASSIFIED .3.

e. the nominal epoch of the polynomial is chosen near the midpoint of the expansion range so that quantization error is small. The specific time scale of expansion can be arbitrary. c. UTC.UNCLASSIFIED Normal Operations. b. 2. This results in time epoch values which can be different for each data set. 2. and 3 data sets are transmitted by the SV for periods of two hours. Mean anomaly. The transmission intervals and curve fit intervals with the Each of these parameters is formulated as a polynomial in time. applicable IODC ranges are given in Table 20-XII. SVs operating in the Autonav mode will deviate. Short-term and Long-term Extended Operations. Inclination. The corresponding curve fit interval is four hours. Longitude of ascending node. Time epochs contained in the Navigation Message and the different algorithms which utilize them are related as follows: IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 132 UNCLASSIFIED .5 Reference Times. d.4. The corresponding curve-fit interval will be four hours. Due to the short data field lengths available in the Navigation Message format.3. and 3 data sets for periods of one hour. Many of the parameters which describe the SV state vary with true time. and must therefore be expressed as time functions with coefficients provided by the Navigation Message to be evaluated by the user equipment. They will transmit subframe 1. SV time. The subframe 1. These include the following parameters as functions of GPS time: a. 20.

3.3. and thus the epoch time and expansion coefficients must be treated as an inseparable parameter set. A change from the reference time is used to indicate a change of values in the data set.3.4 Table 20-XIII describes the nominal selection which will be expressed Modulo 604.3.3.3. Note that a user applying current navigation data will normally be working with negative values of (t-toc) and (t-toe) in evaluating the expansions.3 20.2.2.2.5. The CS will introduce small deviations from the nominal if necessary to preclude possible data set transition ambiguity when a new upload is cut over for transmission. The coefficients of expansion are obviously dependent upon choice of epoch.UNCLASSIFIED Epoch toc toe toa tot Application Algorithm Reference 20.800 seconds in the Navigation Message.2 and 20.3.3.5.3.3.5.3.4. IRN-200C-004 ICD-GPS-200C 12 April 2000 133 UNCLASSIFIED .3.3 20.1 20.

Reference Times Hours After First Valid Transmission Time Fit Interval (hours) Transmission Interval (hours) 2* 4 6 12 24 48 72 96 120 144 144 4080 toc (clock) 2 3 4 7 13 25 37 49 61 73 toe (ephemeris) 2 3 4 7 13 25 37 49 61 73 toa (almanac) tot (UTC) 4 6 8 14 26 50 74 98 122 146 144 (6 days) 144 (6 days) * 70 70 70 70 Some SVs will have transmission intervals of 1 hour per paragraph 20.3.UNCLASSIFIED Table 20-XIII.4.4. IRN-200C-004 ICD-GPS-200C 12 April 2000 134 UNCLASSIFIED .

5. The parity bit D30* is used for recovering raw data. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 135 UNCLASSIFIED . D30.1 SV/CS Parity Algorithm.3.5 Data Frame Parity.5.UNCLASSIFIED 20. .2 User Parity Algorithm. This algorithm links 30-bit words within and across subframes of ten words using the (32. D30. along with the recovered raw data (dn) are Modulo-2 added in accordance with the equations appearing in Table 20-XIV for D25 . The data signal shall contain parity coding according to the following conventions. As far as the user is concerned.26) Hamming Code described in Table 20-XIV. 20. 20. . .3. several options are available for performing data decoding and error detection. . The parity bits D29* and D30*.3. which provide parity to compare with transmitted parity D25 . Figure 20-5 presents an example flow chart that defines one way of recovering data (dn) and checking parity.

. D30 are the computed parity bits. the symbol is used to identify the last 2 bits of the previous word of the subframe. D25.... D26. d24 are the source data bits. Parity Encoding Equations D1 D2 D3 • • • • D24 D25 D26 D27 D28 D29 D30 Where = = = d1 ⊕ D30 d2 ⊕ D30 d3 ⊕ D30 • • • • d24 ⊕ D30 D29 ⊕ d1 ⊕ d2 ⊕ d3 ⊕ d5 ⊕ d6 ⊕ d10 ⊕ d11 ⊕ d12 ⊕ d13 ⊕ d14 ⊕ d17 ⊕ d18 ⊕ d20 ⊕ d23 D30 ⊕ d2 ⊕ d3 ⊕ d4 ⊕ d6 ⊕ d7 ⊕ d11 ⊕ d12 ⊕ d13 ⊕ d14 ⊕ d15 ⊕ d18 ⊕ d19 ⊕ d21 ⊕ d24 D29 ⊕ d1 ⊕ d3 ⊕ d4 ⊕ d5 ⊕ d7 ⊕ d8 ⊕ d12 ⊕ d13 ⊕ d14 ⊕ d15 ⊕ d16⊕ d19 ⊕ d20 ⊕ d22 D30 ⊕ d2 ⊕ d4 ⊕ d5 ⊕ d6 ⊕ d8 ⊕ d9 ⊕ d13 ⊕ d14 ⊕ d15 ⊕ d16 ⊕ d17 ⊕ d20 ⊕ d21 ⊕ d23 D30 ⊕ d1⊕ d3⊕ d5⊕ d6⊕ d7⊕ d9 ⊕ d10 ⊕ d14 ⊕ d15 ⊕ d16 ⊕ d17 ⊕ d18 ⊕ d21 ⊕ d22⊕ d24 D29 ⊕ d3 ⊕ d5 ⊕ d6 ⊕ d8 ⊕ d9 ⊕ d10 ⊕ d11 ⊕ d13 ⊕ d15 ⊕ d19 ⊕ d22 ⊕ d23 ⊕ d24 = = = = = = = d1. d2. D30 are the bits transmitted by the SV. D1.. .UNCLASSIFIED Table 20-XIV. ⊕ is the "Modulo-2" or "Exclusive-Or" operation. D29.. D2.. ICD-GPS-200C 10 OCT 1993 136 UNCLASSIFIED .. ...

d24 SUBSTITUTE d1 . . D24 TO OBTAIN d1 . d24 YES * IS D30 = 1? NO DO NOT COMPLEMENT D1 .UNCLASSIFIED ENTER COMPLEMENT D1 . . . D30 EQUAL TO CORRESPONDING RECEIVED D25 . D24 TO OBTAIN d1 . . . . . d24. . . * * D29 & D30 INTO PARITY EQUATIONS (TABLE 20-XIV) NO ARE COMPUTED D25 . . . . . D30? YES PARITY CHECK FAILS PARITY CHECK PASSES FAIL EXIT PASS EXIT Figure 20-5. . Example Flow Chart for User Implementation of Parity Algorithm ICD-GPS-200C 10 OCT 1993 137 UNCLASSIFIED .

) ICD-GPS-200C 10 OCT 1993 138 UNCLASSIFIED .UNCLASSIFIED (This page intentionally left blank.

This appendix describes the specific GPS L2 CNAV data structure denoted as DC(t).UNCLASSIFIED 30. DC(t) 30.2.2. In addition to the documents listed in paragraph 2.1 Scope.2.2 Non-Government Documents. APPENDIX III. 30. the following documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix to the extent specified herein. Specifications None Other Publications None IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 139 UNCLASSIFIED . In addition to the documents listed in paragraph 2. the following documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix to the extent specified herein. GPS NAVIGATION DATA STRUCTURE FOR L2 CNAV DATA. 30. Specifications None Standards None Other Publications None 30.1.1 Government Documents.2 Applicable Documents.

the related algorithms will also be different than the current equations of Table 20-IV. the L2 CNAV message structure utilizes a basic format of twelve-second 300-bit long messages. when raised (bit 38 = “1”).3. as such. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 140 UNCLASSIFIED . An “alert” flag. the SV shall replace the content of each affected message type with the default message type. Each message starts with an 8-bit preamble – 10001011. the L2 CNAV data stream uses a different parity algorithm.3 Message Content.2 Message Structure.3. only message types 1-6 are defined. the SV shall generate and broadcast the default message type in that message slot. it represents SV time in seconds at the start of the next 12-second message. In addition. The L2 CNAV data stream includes the same data as the L1 and L2 C/A data stream. and the 17-bit message time of week (TOW) count. bits 39 through 276 shall be alternating ones and zeros and the message shall contain a proper CRC parity block. 30. Also. indicates to the user that the SV URA may be worse than indicated in Message Type 1. The new parameters will be different than the parameters of Message Type 1 and 2. Message types 7 through 63 are reserved and message type 0 is the default message. Each message contains a Cyclic Redundancy Check (CRC) parity block consisting of 24 bits covering the entire twelve-second message (300 bits) (reference Section 30. To protect users from message generation failures.UNCLASSIFIED 30. and the SV should be used at the user’s own risk. followed by a 6-bit PRN number of the transmitting SV. a 6-bit message type ID with a range of 0 (000000) to 63 (111111). In the event that a particular message is not assigned (by the CS) a particular message type for broadcast. The initial broadcast of Message Type 1 and 2 will be for test purposes and. Message Types 7 through 9 are presently undefined but are reserved to be used in future broadcast of new clock and ephemeris parameters.3 Requirements 30. At present.3. will stop and be replaced by Message Type 7 through 9 as soon as the latter message types are fully defined and implemented.3. 30.5). For each default message (Message Type 0). and as such.1 Data Characteristics. When the value of the message TOW count is multiplied by 6. but in an entirely different format. As shown in Figures 30-1 through 30-6.

1 BIT URA INDEX .4 BITS ANTI-SPOOF FLAG .1 BIT MSB FIRST DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 101 Crc 5 LSBs 106 Cus 16 BITS 122 Cuc 16 BITS 138 Cis 16 BITS 154 Cic 16 BITS 170 194 & Ω 24 BITS toc 7 MSBs DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 201 toc 9 LSBs 210 IODC 10 BITS 220 af0 22 BITS 242 af1 16 BITS 258 af2 8 BITS 266 RESERVED 11 BITS MSB FIRST 277 CRC 24 BITS * MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE Figure 30-1.1 BIT WNe .1 BIT 6 BITS 6 BITS 15 21 MESSAGE TOW COUNT* 17 BITS 38 39 42 WN 10 BITS 52 55 56 60 IDOT 14 BITS 74 MSB FIRST 90 C rs 16 BITS C rc 11 MSBs L1 HEALTH . Message Type 1 Format IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 141 UNCLASSIFIED .3 BITS L2 HEALTH .1 BIT L5 HEALTH .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 1 9 PRN 8 BITS PREAMBLE MESSAGE TYPE ID "ALERT" FLAG .

Message Type 2 Format IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 142 UNCLASSIFIED .1 BIT DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 101 M0 18 LSBs 119 e 32 BITS 151 i0 32 BITS MSB FIRST 183 Ω0 18 MSBs DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 201 215 247 263 toe 16 BITS IODC 10 BITS MSB FIRST 273 274 277 CRC 24 BITS RESERVED .1 BIT * MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE Figure 30-2.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 1 9 PRN 8 BITS PREAMBLE MESSAGE TYPE ID 6 BITS 6 BITS 15 21 MESSAGE TOW COUNT* 17 BITS 38 39 71 MSB FIRST 87 ∆n 16 BITS M0 14 MSBs A 32 BITS "ALERT" FLAG .3 BITS Ω0 14 LSBs ω 32 BITS FIT INTERVAL FLAG .

Message Type 3 Format IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 143 UNCLASSIFIED .1 BIT DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 103 A0 32 BITS β3 .2 MSBs DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 201 ∆tLSF 207 TGD 215 ISCL1C/A 8 BITS 223 ISCL2C 8 BITS 231 RESERVED FOR L5 37 BITS L1/L2 HEALTH * MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE 268 273 MSB FIRST 277 CRC 24 BITS RESERVED 6 LSBs 8 BITS 4 5 BITS BITS Figure 30-3.2 LSBs 135 A1 24 BITS 159 ∆tLS 8 BITS 167 tot 8 BITS 175 MSB FIRST 183 WNLSF 8 BITS 191 DN 8 BITS WN t 8 BITS ∆tLSF .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 1 9 PRN 8 BITS PREAMBLE MESSAGE TYPE ID 6 BITS 6 BITS 15 21 MESSAGE TOW COUNT* 17 BITS 38 39 α0 8 BITS 47 α1 8 BITS 55 α2 8 BITS 63 α3 8 BITS 71 β0 8 BITS MSB FIRST 79 β1 8 BITS 87 β2 8 BITS 95 β3 6 MSBs "ALERT" FLAG .

Message Type 4 Format IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 144 UNCLASSIFIED .UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 1 9 PRN 8 BITS PREAMBLE MESSAGE TYPE ID 6 BITS 6 BITS 15 21 MESSAGE TOW COUNT* 17 BITS 38 39 PRNa 6 BITS 45 WNa 8 BITS 8 BITS 8 BITS 53 61 69 toa 8 BITS 77 MSB FIRST A 24 BITS RESERVED FOR L5 "ALERT" FLAG .4 BITS * MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE Figure 30-4.1 BIT L1/L2 SV HEALTH MSB FIRST DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 101 M0 24 BITS 125 e 16 BITS 141 δi 16 BITS 157 181 ω 24 BITS Ω0 20 MSBs DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 201 205 221 225 af0 11 BITS 236 af1 11 BITS 247 RESERVED 30 BITS MSB FIRST 277 CRC 24 BITS Ω0 4 LSBs & Ω 16 BITS AS/SV CONFIG .

4 BITS * MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE MSB FIRST 275 277 CRC 24 BITS RESERVED .2 BITS Figure 30-5.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 1 9 PRN 8 BITS PREAMBLE MESSAGE TYPE ID 6 BITS 6 BITS 15 21 MESSAGE TOW COUNT* 17 BITS 38 39 MSB FIRST TEXT MESSAGE (29 8-BIT CHAR) 62 MSBs "ALERT" FLAG . Message Type 5 Format IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 145 UNCLASSIFIED .1 BIT DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS MSB FIRST TEXT MESSAGE (29 8-BIT CHAR) BITS 63-162 DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 271 TEXT MESSAGE (29 8-BIT CHAR) 70 LSBs TEXT PAGE .

5 BITS * MESSAGE TOW COUNT = 17 MSBs OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE 272 277 MSB FIRST CRC 24 BITS Figure 30-6.UNCLASSIFIED DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 1 9 PRN 8 BITS PREAMBLE MESSAGE TYPE ID 6 BITS 6 BITS 15 21 MESSAGE TOW COUNT* 17 BITS 38 39 WNa 8 BITS 47 toa 8 BITS 55 PACKET 1 31 BITS MSB FIRST 86 PACKET 2 15 MSBs "ALERT" FLAG .1 BIT DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS MSB FIRST 101 PACKET 2 16 LSBs 117 PACKET 3 31 BITS 148 PACKET 4 31 BITS 179 PACKET 5 22 MSBs DIRECTION OF DATA FLOW FROM SV 100 BITS 4 SECONDS 201 PACKET 5 9 LSBs 210 PACKET 6 31 BITS 241 PACKET 7 31 BITS RESERVED . Message Type 6 Format IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 146 UNCLASSIFIED .

Additional SV health data are given in Message Types 3.1. These thirteen bits are comprised of 10 LSBs (WN) that represent the ten MSBs of the 29-bit Zcount as qualified in paragraph 20.3. Bits 39 through 51 shall contain thirteen bits which are a Modulo 8192 binary representation of the current GPS week number at the start of the data set transmission interval (see paragraph 6.2.1. 30.4). and 6. and 3 MSBs (WNe) which are three extra bits to extend the range of transmission week number from 10 bits to 13 bits.3. 30. The parameters in a data set shall be valid during the interval of time in which they are transmitted and shall remain valid for an additional period of time after transmission of the next data set has started.3.1 Message Type 1 Clock.3.1. any SV that does not have a certain capability will be indicated as “healthy” if the lack of this capability is inherent in its design or if it has been configured into a mode that is normal from a user standpoint and does not require that capability. Accordingly.3.2 SV Accuracy. 0 = Signal OK. Health and Accuracy Parameters.3.3 Signal Health (L1/L2/L5). Bits 56 through 59 shall contain the URA index of the SV (reference paragraph 6. 30.3.1.UNCLASSIFIED 30.1.3. one-bit. The data given in Message Type 1 may differ from that shown in other Message Types of the transmitting SV and/or on other SVs since the latter may be updated at a different time. The three.3. 1 = Signal bad or unavailable.3.1 Transmission Week Number. Health and Accuracy Parameter Content. The URA index (N) is an integer in the range of 0 through 15 and follows the same rules as defined in paragraph 20. health indication in bits 52 through 54 refers to the L1. L2. 4.3.3. The clock parameters in Message Type 1 describe the SV time scale during the period of validity. The health of each signal is indicated by.1) for the unauthorized (non-Precise Positioning Service) user.3.3. 30. The health indication shall be given relative to the “as designed” capabilities of each SV. The transmitted health data may not correspond to the actual health of the transmitted SV.3.3.2.1. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 147 UNCLASSIFIED .3.1.1.1. and L5 signals of the transmitting SV. The predicted health data will be updated at the time of upload when a new data set has been built by the CS.1 Message Type 1 Clock.1.

af2.1. af1. 30. the IODC can be used to determine the actual fit interval of the data set (reference section 30. 30.3.4. Clock (IODC).1.1.3.4 Issue of Data.1.3.5 SV Clock Correction. Whenever the fit interval flag indicates a fit interval greater than 4 hours.4). Bits 210 through 219 shall contain the IODC.3.1.3. af0).4.UNCLASSIFIED 30. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 148 UNCLASSIFIED .4. The IODC indicates the issue number of the data set and thereby provides the user with a convenient means of detecting any change in the correction parameters.3.3.3.1.3.1 Short-term and Long-term Extended Operations.1.3. Constraints on the IODC term are defined in paragraph 30.3.4. The related algorithm is given in paragraph 20.3. Message Type 1 contains the parameters needed by the users for apparent SV clock correction (toc.

3.3. However.3 User Algorithms for Message Type 1 Clock Data. since the SV clock corrections of equations in paragraph 20.2 Message Type 1 Clock.UNCLASSIFIED 30.784 seconds sec/sec2 sec/sec seconds Parameters so indicated are two’s complement. Health and Accuracy Parameters Scale Factor (LSB) 1 Parameter Week No.1 allow all users to correct the code phase time received from the SV with respect to both SV code phase offset and relativistic effects. the scale factor of the LSB (which is the last bit received). See Figure 30-1 for complete bit allocation in Message Type 1.1. effective range is the maximum range attainable with indicated bit allocation and scale factor. the range. 30.3.1. and the units shall be as specified in Table 30-I.3.3. These terms are described in paragraph 30.3.3. the number of bits. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 149 UNCLASSIFIED . Table 30-I.3.1.1.3.1 are estimated by the CS using dual frequency L1 and L2 P(Y) code measurements. For those parameters whose characteristics are not fully defined in Section 30.3. The algorithms defined in paragraph 20. Unless otherwise indicated in this column.3.3.3. the single-frequency L1 or L2 user and the dual frequency L1 C/A .3. Message Type 1 Clock.4. Health and Accuracy Parameter Characteristics. SV accuracy (URA) Signal health (L1/L2/L5) IODC toc af2 af1 af0 * ** *** No.1.L2 C user must apply additional terms to the SV clock corrections equations.3.3. with the sign bit (+ or -) occupying the MSB. of Bits** 13 4 3 10 16 8* 16* 22* Effective Range*** weeks Units (see text) 1 (see text) (see text) 24 2-55 2-43 2-31 604.3.

a data set cutover has occurred and new data must be collected.UNCLASSIFIED 30. The CS will assure that the toc/toe value. The ephemeris parameters describe the orbit of the transmitting SV during the curve fit intervals described in section 30.3. The user shall not interpret intermediate coordinate values as pertaining to any conventional coordinate system.3.4.1).3.3.4.2. Whenever the IODC value in the two message types do not match.3.3.2 Message Type 1 and 2 Ephemeris Parameters. The IODC is transmitted in Message Type 1 and 2 for the purpose of comparison of the IODC term between the two message types. Table 20-II gives the definition of the orbital parameters using terminology typical of Keplerian orbital parameters. The contents of the ephemeris representation parameters in Message Types 1 and 2 are defined below. The timing and constraints on the IODC are defined in paragraph 30. Earth-Fixed (ECEF) coordinates for each specific fit interval.3.4.3. followed by material pertinent to the use of the data. for at least the first data set transmitted by an SV after an upload. A “fit interval” flag is provided in Message Type 2 to indicate whether the ephemerides are based on a four-hour fit interval or a fit interval greater than four hours (reference paragraph 30. term provides the user with a convenient means for detecting any change in the clock and ephemeris representation parameters. that the transmitted parameter values are expressed such that they provide the best trajectory fit in Earth-Centered. Any change in the Message Type 1 and 2 data will be accomplished with a simultaneous change in the IODC word. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 150 UNCLASSIFIED .1 Message Type 1 and 2 Ephemeris Parameter Content. it is noted. IODC. The issue of data.3. is different from that transmitted prior to the cutover. however. 30.2.

3. however. The relationship of the curve-fit interval to transmission time and the timing of the curve-fit intervals is covered in section 30. The ephemeris parameters are Keplerian in appearance. the values of these parameters.3. the resultant accuracy.4. z expressed in ECEF coordinates).2. the number of bits.3.4. the scale factor of the LSB (which is the last bit received).3.3. Particulars concerning the periods of the curve fit. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 151 UNCLASSIFIED .3.3. are produced by the CS via a least squares curve fit of the predicted ephemeris of the phase center of the SVs’ antennas (time-position quadruples.2 Message Type 1 and 2 Ephemeris Parameter Characteristics.3.2. y. 1 = greater than 4 hours.3.4. Bit 273 of Message Type 2 is a “fit interval” flag which indicates the curve-fit interval used by the CS in determining the ephemeris parameters. The user shall compute the ECEF coordinates of position for the phase center of the SVs’ antennas utilizing a variation of the equations shown in Table 20-IV. and 20. See Figures 30-1 and 30-2 for complete bit allocation in Message Types 1 and 2.3.3 User Algorithm for Ephemeris Determination. 20. as follows: 0 = 4 hours.3. x. t. and the units are as specified in Table 20-III.3.3.1 Curve Fit Intervals.3.3. the range.3.3.2.4. and the applicable coordinate system are given in the following subparagraphs and subparagraphs of 20.4. 30. 30. For each ephemeris parameter contained in Message Types 1 and 2.2.UNCLASSIFIED 30.3.

The five-bit health indication in bits 268 through 272 refers to the L1 and L2 signals of the transmitting SV. 30.3 Message Type 3 Parameters. Additional SV health data are given in Message Types 1.3.3. scale factors.1. The bit length. ranges. The ionospheric data shall be updated by the CS at least once every six days while the CS is able to upload the SVs.3. The related algorithms are described in paragraph 30.1. Message Type 3 shall contain the parameters related to correlating UTC(USNO) time with GPS Time.3. 30.1. 4.3.3. The bit lengths. If the CS is unable to upload the SVs. and units of these parameters are given in Table 20-X.1 Coordinated Universal Time (UTC) and GPS Time Parameters. 30. the accuracy of the UTC parameters transmitted by the SVs will degrade over time. scale factors. ranges.2. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 152 UNCLASSIFIED .3.1 Message Type 3 Parameter Content. The data shall indicate the health of the L1 and L2 signal components in accordance with the codes given in Table 20-VIII. 30.3. The predicted health data will be updated at the time of upload when a new data set has been built by the CS.3. and units of these parameters are given in Table 20-IX.3.1. followed by material pertinent to the use of the data.3 L1/L2 Health.3. The transmitted health data may not correspond to the actual health of the transmitting SV.3.2.3.3.3. Message Type 3 contains UTC and ionospheric parameters and other data.2) for computation of the ionospheric delay are contained in Message Type 3.3. or “L2 only” user to utilize the ionospheric model (reference paragraph 30. the ionospheric data transmitted by the SVs may not be accurate.2 Ionospheric Data. The ionospheric parameters which allow the “L1 only”.3. The parameters relating GPS time to UTC(USNO) shall be updated by the CS at least once every six days while the CS is able to upload the SVs.3. The contents of Message Type 3 are defined below. and 6. If the CS is unable to upload the SVs. See Figure 30-3 for complete bit allocation in Message Type 3.3. The data given in Message Type 3 may differ from that shown in other Message Types of the transmitting SV and/or on other SVs since the latter may be updated at a different time.UNCLASSIFIED 30.3.

4 Estimated L1 – L2 Group Delay Differential. Table 30-II. for the benefit of single frequency L1 P. ISCL1C/A.3.3. The bit length. ranges. of Bits** 8* 8* 8* Group Delay Differential Parameters **** Scale Factor (LSB) 2-31 2-31 2-31 Effective Range*** Parameter TGD ISCL1C/A ISCL2C Units seconds seconds seconds * ** *** **** Parameters so indicated are two’s complement with the sign bit (+ or -) occupying the MSB. scale factors. L2 C users and dual frequency L1/L2 users is contained in bits 207 through 230 of Message Type 3. The group delay differential correction terms.3. See Figure 30-3 for complete bit allocation in Message Type 3.3. L1 C/A.3. L2 P.2. The related user algorithms are given in paragraphs 30. ISCL2C.3.3. The bit string of “10000000” shall indicate that the group delay value is not available.4.1. No. See Figure 30-3 for complete bit allocation in Message Type 3.2. TGD. Effective range is the maximum range attainable with indicated bit allocation and scale factor.UNCLASSIFIED 30.3. The bit string of “10000000” shall indicate that the group delay value is not available.3 and 30. and units of these parameters are given in Table 30-II.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 153 UNCLASSIFIED .

2 Ionospheric Model.3.3. and (2) notice to the user regarding the scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds (∆tLSF).3.3. 30.2. should use the model given in paragraph 20.3. The following algorithms shall apply when interpreting UTC.3.5. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 154 UNCLASSIFIED .2 Algorithms Related to Message Type 3 Data.4. Message Type 3 includes: (1) the parameters needed to relate GPS Time to UTC(USNO). Ionospheric Model data.1 UTC and GPS Time.3. together with the week number (WNLSF) and the day number (DN) at the end of which the leap second becomes effective.2. The “one frequency” user.3.3.2.3.3.2.3. however.3.3.2.UNCLASSIFIED 30.4).5 to make this correction. and Group Delay Differential data in the L2 CNAV message.3.5. Information required to use these parameters to calculate tUTC is in paragraph 20. 30.3. The “two frequency” (L1 C/A and L2 C) user shall correct the time received from the SV for ionospheric effect by utilizing the time delay differential between L1 and L2 (reference paragraph 30.

described in paragraph 30. respectively based on measurements made by the SV contractor during SV manufacture.3.3.3. The values of ISCL1C/A and ISCL2C are measured values that represent the mean SV group delay differential between the L1 P(Y)-code and the L1 C/A.TGD + ISCL2C where.tL1C/A ISCL2C = tL1P . tLix is the GPS time the ith frequency x signal is transmitted from the SV.UNCLASSIFIED 30. The values of ISCs for each SV may be subsequently updated to reflect the actual on-orbit group delay differential. ISCL1C/A and ISCL2C. where. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 155 UNCLASSIFIED .3 Inter-Signal Group Delay Differential Correction.3.4.TGD + ISCL1C/A where TGD (see paragraph 20.or L2 C-codes respectively as follows. the single frequency L1 C/A user must use the correction terms to make further modifications to the code phase offset given by: (∆tSV)L1C/A = ∆tSV .3. For the single frequency L2 C user. For maximum accuracy.1. ISCL1C/A = tL1P .3.3.3.3.2. the code phase offset modification is given by: (∆tSV)L2C = ∆tSV .2) and ISCL1C/A are provided to the user as Message Type 3 data. The correction terms. are initially provided by the CS to account for the effect of SV group delay differential between L1 P(Y) and L1 C/A and between L1 P(Y) and L2 C.3. ISCL2C is provided to the user as Message Type 3 data.tL2C.

2.2. The two frequency (L1-C/A and L2 C) user shall correct for the group delay and ionospheric effects by applying the relationship: (PR L 2C − γ12 PR L1C / A ) + c (ISC L 2C − γ12 ISC L1C / A ) − c TGD 1 − γ12 PR = where. ISCi = inter-signal correction for the channel indicated by the subscript (see paragraph 30.3.6)2 = (77/60)2.4.1 Message Type 4 Almanac Parameter Content. The contents of Message Type 4 are defined below.4 L1 /L2 Ionospheric Correction.3. the scale factor (LSB). and where. PR = pseudorange corrected for ionospheric effects.3.2. 30.4. and the units of the almanac parameters are given in Table 20-VI.4.3. the range.3. PRi = pseudorange measured on the channel indicated by the subscript.3.3).3.1. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 156 UNCLASSIFIED . If the CS is unable to upload the SVs. denoting the nominal center frequencies of L1 and L2 as fL1 and fL2 respectively. followed by material pertinent to the use of the data.3.3. the accuracy of the almanac parameters transmitted by the SVs will degrade over time.3. The almanac data are a reduced-precision subset of the clock and ephemeris parameters. γ12 = (fL1/fL2)2 = (1575. The number of bits.4 Message Type 4 Almanac Parameters.3. The algorithms and other material related to the use of the almanac data are given in paragraph 30.3.42/1227.3.3.3. c = speed of light. 30. 30.3.1 Almanac Data.2. The almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to upload the SVs.3. Message Type 4 contains almanac data. Message Type 4 contains the almanac data and SV health words for SVs in the constellation.UNCLASSIFIED 30. TGD = see paragraph 20.3.

4. and Table 20-VIII. Table 20-VII.3.1.2.2 Almanac Reference Time.3.3).3.3. 30. The data given in Message Types 1.2. The almanac is a subset of the clock and ephemeris data.2).4.2. 30.2.3. The WNa term consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number (see paragraph 6.1.3.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 157 UNCLASSIFIED . 30.4. 30.2.6.3.3. The terms are defined in paragraph 20.4. Bits 69 through 76 of Message Type 4 shall contain the value of toa. Important information about the almanac calculation is contained in paragraph 20.3.4.5.3.5.3.3.1.4. Message Type 4 contains the eight-bit L1/L2 health words defined in paragraph 20. The user algorithm is essentially the same as the user algorithm used for computing the precise ephemeris from the Message Type 1 and 2 parameters (see paragraph 30.4) to which the toa is referenced. Bits 45 through 52 of Message Type 4 shall indicate the number of the week (WNa) to which the almanac reference time (toa) is referenced (see paragraphs 30.3.1.2 Algorithms Related to Message Type 4 Data.3 Almanac Time Parameters. Bits 221 to 224 of Message Type 4 shall contain a four-bit-long term for each operational SV in the constellation to indicate the A-S status (of the L1 and L2 signals) and the configuration code of each SV.3.5.3.UNCLASSIFIED 30.4. 30.5 SV PRN Number.3. The almanac content for one SV is given in Table 20-VI.3.3.3.1.3 Anti-Spoof (A-S) Flags and SV Configurations.3.3. The predicted health data will be updated at the time of upload when a new almanac has been built by the CS.4.2 SV Health (L1 and L2). Bits 39 through 44 of Message Type 4 shall specify PRN number of the SV whose almanac is provided in the message. See paragraph 20.2.3.3.1.5. The transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the constellation.2.3. and 6 of the other SVs may differ from that shown in Message Type 4 since the latter may be updated at a different time.1 Almanac. See the two subparagraphs labeled Normal and Short-term Extended Operations and Long-term Extended Operations of paragraph 20.2. with reduced precision.3. 30.3.5. The following algorithms shall apply when interpreting Almanac data in the NAV message.3.4.3.4 Almanac Reference Week.1.3.3.2.3. 30.1.3. 3.1 and 30. which is referenced to this WNa.2.4.3.

1. 30. The reduced almanac data of a SV is broadcast in a packet of 31 bits in length as described in Figure 30-7. The reduced almanac data are a subset of the almanac data which provide less precise ephemeris of which values are provided relative to pre-specified reference values.6.3.5.1.3.1.3.5.3 Almanac Reference Time.3.3.5 Message Type 5.1.6.2. followed by material pertinent to the use of the data. The number of bits. 30.UNCLASSIFIED 30.3. 30. which is referenced to this WNa.2. the accuracy of the reduced almanac parameters transmitted by the SVs will degrade over time.3. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 158 UNCLASSIFIED . The algorithms and other material related to the use of the reduced almanac data are given in paragraph 30. If the CS is unable to upload the SVs. Message Type 6 contains reduced set of almanac data for up to 7 SVs in each 12-second (300-bit) message. Bits 39 through 46 of Message Type 6 shall indicate the number of the week (WNa) to which the almanac reference time (toa) is referenced (see paragraph 30.6. The WNa term consists of eight bits which shall be a Modulo 256 binary representation of the GPS week number (see paragraph 6. It can accommodate the transmission of 29 eight-bit ASCII characters.1 Message Type 6 Reduced Almanac Parameter Content. 30.3. the range.3.3.3. The contents of Message Type 6 are defined below. the scale factor (LSB). See the two subparagraphs labeled Normal and Short-term Extended Operations and Long-term Extended Operations of paragraph 20.6. Message Type 5 is reserved for special messages with the specific contents at the discretion of the Operating Command.1.3.2 Almanac Reference Week.6. Each Message Type 6 contains 7 packets providing reduced almanac data for up to 7 SVs.2. The reduced almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to upload the SVs.1.1.3.6.4) to which the toa is referenced.3.3). Bits 47 through 54 of Message Type 6 shall contain the value of toa. The eight-bit ASCII characters shall be limited to the set described in paragraph 20.3.3.3.3.3).10.1 Reduced Almanac Data.3. The requisite 232 bits occupy bits 39 through 270 of Message Type 5. 30. Message Type 6 contains the reduced almanac data and SV health words for SVs in the constellation (the health words are discussed in paragraph 30. and the units of the reduced almanac parameters are given in Table 30-III.3.6 Message Type 6 Reduced Almanac Parameters.2.3.3.

Reduced Almanac Parameters ***** Parameter δA *** Ω0 Φ0 **** * ** *** **** ***** No. Relative to following reference values: e=0 δi = +0. Effective range is the maximum range attainable with indicated bit allocation and scale factor.0056 seimi-circles (i = 55 degrees) Ω = -2. • IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 159 UNCLASSIFIED . of Bits 8* 7* 7* Scale Factor (LSB) 2+9 2 -6 Effective Range ** ** ** Units meters semi-circles semi-circles 2-6 Parameters so indicated shall be two’s complement with the sign bit (+ or -) occupying the MSB.6 x 10-9 semi-circles/second.559.UNCLASSIFIED 31 BITS 1 PRNa 6 BITS 7 δA 8 BITS 15 Ω0 7 BITS 22 Φ0 7 BITS 29 30 31 L1 HEALTH L2 HEALTH * See Figure 30-6 for complete bit allocation in message L5 HEALTH Figure 30-7. Reduced Almanac Packet Table 30-III. Φ0 = Argument of Latitude at Reference Time = M0 + ω. Relative to Aref = 26.710 meters.

3. The user algorithm is essentially the same as the user algorithm used for computing the precise ephemeris from the Message Type 1 and 2 parameters (see paragraph 30. The predicted health data will be updated at the time of upload when a new reduced almanac has been built by the CS.7 Message Type 7 Improved Clock. Health and Accuracy Parameters. The data from a packet along with the reference values (see Table 30-III) provide ephemeris with further reduced precision.1 Message Type 7.2. 30.3.3.1 Message Type 7 Improved Clock.3.2. and 4 of the same or other SVs may differ from that shown in Message Type 6 since the latter may be updated at a different time. but not provided by the reduced almanac with the reference values.3. health indication in bits 29 through 31 of each packet refers to the L1.6. 30.3. 3. 30.8.3.1.2. and 9 Improved Ephemeris Parameters.1 SV PRN Number. Bits 1 through 6 in each packet of Message Type 6 shall specify PRN number of the SV whose reduced almanac is provided in the same packet. 30.3. one-bit.3. The transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the constellation. and 9 Improved Ephemeris Parameters Content. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 160 UNCLASSIFIED .8 Message Type 7.3. Other parameters appearing in the equations of Table 20-IV.2 Reduced Almanac.3 Signal Health (L1/L2/L5).3 and Table 20-IV).3.3. To be Defined. 30. L2.1.UNCLASSIFIED 30. 30.6. and L5 signals of the SV whose PRN number is specified in bits 1 through 6 of the same packet. 8. The three.3. The signal health indication is described in paragraph 30.3. The reduced almanac data is provided in bits 7 through 28 of each packet.6. To be Defined.7.3.3.3.3.6.2 Reduced Almanac Packet. Health and Accuracy Parameters Content.3. 8. The data given in Message Types 1. 30.2.3.3. The following shall apply when interpreting the data provided in each packet of reduced almanac. are set to zero for SV position determination.

The start of the transmission interval for each data set corresponds to the beginning of the curve fit interval for the data set.4.5.4. All other data in the NAV message shall be relative to GPS time.4 Data Sets. b.1 Paging and Cutovers. The transmission intervals and curve fit intervals with the applicable IODC ranges are given in Table 20-XII. GPS Time.3. 30. All time-related data (TOW) in the messages shall be in SV-time.3 Speed of Light.3.5 Reference Times.4.4. The acts of transmitting the NAV messages shall be executed by the SV on SV time.4. 30. d.3. Short-term and Long-term Extended Operations.4 Timing Relationships.3.4. See paragraph 20. Each data set remains valid for the duration of its curve fit interval.4.3.3.3. The corresponding curve fit interval is four hours.4. Normal Operations. but sequenced to provide optimum user performance. Each SV operates on its own SV time. See paragraph 20. the CS shall allow for the following timing relationships: a. 30. Paging of messages is completely arbitrary.3. The range of IODC will be as given in Table 20-XII. The transmission of IODC value in different data sets shall be such that the transmitted IODC will be different from any value transmitted by the SV during the preceding seven days. Message Type 1 and 2 data sets are transmitted by the SV for periods of two hours.2 SV Time vs. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 161 UNCLASSIFIED .UNCLASSIFIED 30. 30. The IODC is a 10 bit value transmitted in Message Type 1 and 2 that indicates the issue number of the data set provided in the two message types. c. 30. The following conventions shall apply.3.3. Message types 1 and 2 shall be broadcast consecutively.4. Cutovers to new data sets follow the rules in the second subparagraph of paragraph 20. In controlling the SVs and uploading of data.

5 Data Frame Parity.m276) in a given message.5..m2.3. 4.5.11. The generator polynomial of this code is in the following form (using binary polynomial algebra): g(X ) = (1 + X )p(X ) where p(X) is the primitive and irreducible polynomial p(X ) = X 23 + X17 + X13 + X12 + X11 + X 9 + X 8 + X 7 + X 5 + X 3 + 1 When. This is done by means of a code that is generated by the polynomial g(X ) = ∑ g i X i i=0 24 where g i = 1 for i = 0..3..6.96×10-8 for all channel bit error probabilities ≤ 0.. The CRC word is calculated in the forward direction on a given message using a seed of 0.p2. where the information sequence m(X) is expressed as m(X ) = m k + m k −1X + m k − 2 X 2 + ⋅ ⋅ ⋅ + m1X k −1 IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 162 UNCLASSIFIED ..17. Twenty-four bits of CRC parity will provide protection against burst as well as random errors with a probability of undetected error ≤ 2-24 = 5.3.14..5. The data signal contains parity coding according to the following conventions.1 Parity Algorithm. 30. 23.18.p24) is generated from the sequence of information bits (m1. the above g(X) is divided into m(X)X24.1. The sequence of 24 bits (p1. by the application of binary polynomial algebra. 24 = 0 otherwise This code is called CRC-24Q (Q for Qualcomm Corporation).UNCLASSIFIED 30.10...7.

The bit sequence formed by this remainder represents the parity check sequence. The fraction of error bursts of length b > 24 that are undetected is: a) 2-24 = 5. if b = 25 bits. 3) It detects any odd number of errors because g(X) contains a factor 1+X.UNCLASSIFIED The result is a quotient and a remainder R(X) of degree < 24. if b > 25 bits. b) 2-23 = 1. is the coefficient of X24-i in R(X). 5) It detects most large error bursts with length greater than the parity length r = 24 bits.19 × 10-7. 2) It detects all double bit error combinations in a codeword because the generator polynomial g(X) has a factor of at least three terms. 4) It detects any burst error for which the length of the burst is ≤ 24 bits. Parity bit pi. This code has the following characteristics: 1) It detects all single bit errors per code word.96 × 10-8. for any i from 1 to 24. IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 163 UNCLASSIFIED .

) IRN-200C-005R1 ICD-GPS-200C 14 Jan 2003 164 UNCLASSIFIED .UNCLASSIFIED (This page intentionally left blank.