Lecture I II GNSS 25sept2023 Part1&2

INDIAN INSTITUTE OF REMOTE SENSING, DEHRADUN
Satellite Navigation
Global Navigation Satellite System
Dr. Ashutosh Bhardwaj

Head, RPMD and Scientist/Engineer-’SF’
ashutosh@iirs.gov.in
https://www.iirs.gov.in/iirs/sites/default/files/pdf/2023/SCHEDULE_126.pdf
History of Mapping and Surveying

• First Maps were mental maps used for navigation.
• Indus Valley civilization had a system of underground drainage.
• About 5000 years ago the Babylonians produced property descriptions and simple property maps on stone
tablets.
• First known surveying by ancient Egyptians- used to reestablish property corners destroyed by flooding of R.
Nile.
• About 2000-2500 years ago Greeks and Romans surveyed and mapped their new settlements with a great
degree of precision using methods that changed very little up to this century.
• Instruments: Chain, Tape, cross staff, optical square, Theodolite, Tacheometer, Compass, Levels, EDM, Total
Station, GPS/GNSS
• Classical Methods- Triangulation/trilateration: 19th 20th Cen..
• Oct. / Nov. 1957: Launch of SPUTNIK-1 & -2; Jan. 1958: Launch of Explorer-1
• 1958: Earth’s Flattening from Satellite Data [f = (a-b)/a)=1/298.3]
• 1976/92: LAGEOS (LAser GEOdynamic Satellites or Laser Geometric Environmental Observation Survey)
• Jan./May, 1989: Etalon-1/2 (Soviet Union: Gravity, Magnetic and Geodynamic measurements)
• 1990: GEOID90 for NAD83 datum
• 1993: Introduction to LAMBDA (least-square ambiguity decorrelation adjustment)
http://www.ggos.org/
Note: Line of sight requirement. Requires: Surveying, Physics, Geodesy, Statistics, astronomy, electronics,…
Surveying
• Surveying is the science and art of determining the relative positions
of various points above, on or below the surface of the earth.
• The dictionary defines the verb survey as, “To determine and
delineate the form, extent, position, etc., of, as a tract of land, by
taking linear and angular measurements, and by applying the
principles of geometry and trigonometry”.
• Surveying includes measurements in deep sea, and extra-terrestrial

space also.
• The main purpose of surveying is to plot a map of the area.

Brief History of Navigation: Technology Perspective

• Landmark based navigation: Stones-Trees-Monuments (local use)
• Celestial Navigation Ok for latitude, poor for longitude until accurate clock invented ~1760
• 13th Century: Magnetic Compass
• 1907: Gyrocompass
• 1912: Radio Direction Finding
• 1930’s: Radar and Inertial Nav
Receiver only 6cm Integrates eLoran, Chayka, GNSS
• 1940-60’s: #Loran-A/B (Very Low frequency Radio-based) How Well Does these Works?
• 1950-70’s: Loran-C/Chayka (High frequency Radio-based)
• 1960’s: Omega/Alpha*(Radio-based) &Transit
• 1980’s: Development of GPS
• 1993/95: GPS - IOC (8th Dec.)/FOC (17th July)
• 1993/95: GLONASS-IOC/FOC
• 1994: International GPS Service IGS begins (now GNSS)
• 2006:GNSS conceptualization**
• 2000’s: eLoran (Enhanced Loran-20m)/eChayka
• 2010: GLONASS resumes / QZSS begins operations
• 2010’s: conceptualization of integrated receivers with GNSS + eLoran + eChayka (Satellite+Terrestrial)
• 2013-16: IRNSS [Global standards body 3GPP, approved protocols (mobile telephony) for NaVIC]
• 2020: Beidou (https://www.reelektronika.nl/technology/integrated-elorangps-receivers/) solar powered eDLoran.
#LORAN: LOng-RAnge Navigation *Alpha was used to determine positions of aircraft, ships, & submarines **beginning of combined receivers
Space Based Geodetic Techniques

• VLBI determines the
relative positions of retroreflectors
the antennas to a time-of-flight; satellite orbits
few millimeters and (mm precision)
the quasar positions

to fractions of a
milliarcsecond
• International VLBI
Service for Geodesy
and Astrometry
(IVS), comprising
some 80
components
(including 45
antennas) sponsored
by 40 organizations • VLBI is a geometric technique; it measures the time difference
located in 20 between the arrival at two Earth-based antennas of a radio
countries. wavefront emitted by a distant quasar (natural radio sources).
https://faculty.fiu.edu/~swdowins/publications/Jin-et-al-JGD-2013.pdf ; https://novatel.com/an-introduction-to-gnss ; https://space-geodesy.nasa.gov/techniques/VLBI.html
• DORIS employs the Doppler Effect to

DORIS
determine the
distance between ground stations and satellites
orbiting the Earth. If the positions of the ground stations
are known, the DORIS measurements allow a precise
determination of the satellite orbit.
• The DORIS ground stations continuously emit radio signals

for Doppler measurements at 2 GHz and at 400 MHz, which
are captured by several satellites carrying DORIS receivers.
https://ggos.org/item/doris/
Laser Ranging - Satellite (SLR) and Lunar (LLR)

• Laser ranging uses ultra-short pulse lasers to measure the https://space-geodesy.nasa.gov/techniques/SLR.html
instantaneous round-trip time-of-flight from ground stations to
orbiting targets equipped with special retroreflectors.
• Laser ranging can be performed to Earth-orbiting targets
(SLR) and to targets on the Moon’s surface (LLR).
• SLR provides mm level precision that can be aggregated over
the global network to provide very accurate satellite orbits,
time histories of station position and motion, and many
other geophysical parameters. International Laser Ranging Service (ILRS), by
IAG (International Association of Geodesy)
• SLR operates in the optical region & is a space geodetic technique that measures unambiguous range directly.
• It supports satellites from 300 km to geosynchronous altitude and provides data to users in near real time.
• A few stations in the global laser ranging network are LLR-capable, tracking routinely the retroreflectors on the
moon and transponders on lunar satellites.
• Most of the present SLR ground systems (legacy systems) operate at 532 nm in the 5 – 10 Hz regime. Newer technology
systems are now operating in the kilohertz region using photon-counting techniques that have greatly enhanced data
productivity and pass interleaving capability.
• The NASA Next Generation SLR system (NGSLR) is a prototype system that embraces the new technology.
• The combined S3A/B and LAGEOS (LAser GEOdynamic Satellite) solutions show a consistency of estimated station
coordinates better than 13 mm, geocenter coordinates with a RMS of 6 mm, pole coordinates with a RMS of 0.19 mas
and Length-of-day with a RMS of 0.07 ms/day when referred to the IERS-14-C04 series (Strugarek et al., 2019).
SATELLITE NAVIGATION
• A satellite navigation system is a system that uses satellites to
provide autonomous geo-spatial positioning. Example:
• GLOBAL
• NAVSTAR GPS
• GLONASS
• BEIDOU Transition: As a direct result of the tragedy killing all 269
• GALILEO aboard Korean Air Lines Flight 007 which strayed into
Russian airspace accidentally & shot down by Soviet air-
to-air missiles on September 1, 1983, near Sakhalin
• REGIONAL Island, Russia, President Ronald Reagan announced on
September 16, 1983 that the GPS system that had
• IRNSS previously been intended for U.S. military use only
• QZSS would now be made available for everyone to use.
The Dhruva project was funded by the Ministry of Electronics and
Information Technology (MeitY), with SAMEER (Society for Applied
Microwave Electronics Engineering and Research) as the nodal
agency. The research team also interfaced with the Space
Applications Centre of the Indian Space Research Organisation.
Global Loran Coverage
Xiaomi Mi8
Source: https://rntfnd.org/wp-content/uploads/eLoran-Definition-Document-0-1-Released.pdf
Source: https://www.geospatialworld.net/blogs/the-redmi-note-9-pro-with-navic-support-is-
https://economictimes.indiatimes.com/https://economictimes.indiatimes.com/news/science/iit-bombay-develops-dhruva-indian-receiver-chip-for-navic-gps-satellites/articleshow/76514498.cms?utm_source=contentofinterest&utm_medium=text&utm_campaign=cppst
here/#:~:text=The%20Redmi%20Note%209%20Pro%20with%20a%20Qualcomm%C2%AE%20Snapdragon,175)%20on%20the%20Mi%20Store.&text=The%20Navigation%20and%20positioning%20features,%2F%20Galileo%2F%20GLONASS%20%2F%20Beidou.
Early Space-Based Radio Navigation System

• Launch of Sputnik – Tracking? -------------Doppler Shift. Altitude: 985km; revolution period: 98 min
• Frank McClure, of the Applied Physics Laboratory, made a suggestion: would it be possible to invert
this problem? – given rise to TRANSIT in late 1950’s (US- 6 sat; Altitude: 1100km; revolution
period: 108 min) / TSYKLON/Cyclone (USSR-10 sat; 6- PARUS: Military; 4- TSIKADA /
Cicada[1979]-commercial /civilian; Altitude: 1000km)
• The Navy Navigational Satellite System or TRANSIT, used observed measurements in Doppler shift
to calculate distance and position to satellites (till 31-12-96).
• A fix requires 40 minutes for a static user-2D.
• Development of basic methods for satellite observations (Sputnik onwards), and for the
computation & analysis of satellite orbits provided publication of the first Earth models such as:
• the Standard Earth models of the Smithsonian Astrophysical Observatory (SAO SE I to SAO SE III), and
• the Goddard Earth Models (GEM) of the NASA Goddard Space Flight Center.
• TRANSIT Doppler positioning helped in improving Earth geoid models (e.g. GEM 10, GRIM).
• Radio Navigation System assisted in crustal deformation studies globally.
• determination of connections between the most important geodetic datums (to ±50 m) by 1970s.
• LAGEOS (LAser GEOdynamic Satellites or Laser Geometric Environmental Observation Survey): SLR-1976/92.
Early Space-Based Radio Navigation System

• Launch of Sputnik – Tracking? -------------Doppler Shift. Altitude: 985km;
revolution period: 98 min
• Frank McClure, of the Applied Physics Laboratory, made a suggestion: would it
be possible to invert this problem? – given rise to TRANSIT in late 1950’s (US- 6
sat; Altitude: 1100km; revolution period: 108 min) / TSYKLON/Cyclone (USSR-
10 sat; 6- PARUS: Military; 4- TSIKADA / Cicada[1979]-commercial /civilian;
Altitude: 1000km)
• The Navy Navigational Satellite System or TRANSIT, used observed
measurements in Doppler shift to calculate distance and position to satellites
(till 31-12-96).
• A fix requires 40 minutes for a static user-2D.
NAVSTAR Global Positioning System

• In 1973 the U.S. DOD decided to establish, develop, test, acquire, and deploy a
spaceborne Global Positioning System (GPS), resulting in the NAVSTARGPS
(NAVigation Satellite Timing And Ranging Global Positioning System). Wooden
(1985) defined: “It is an all-weather, space based navigation system
development by the U.S. DOD to satisfy the requirements for the military forces
to accurately determine their position, velocity, and time in a common
reference system, anywhere on or near the Earth on a continuous basis”.
Space- Vs. Ground-based Nav. Systems

High frequency (short wave-length) radio signals, necessary for optimal
atmospheric penetration, require line-of-sight transmission paths. Ground-based
systems are limited to objects above ground.
Advantages of GNSS
• The use of GLONASS in addition to GPS provides very significant
advantages:
 increased availability of satellites & signals.
 markedly increased spatial distribution of visible satellites
 reduced HDOP and VDOP (DOP) factors
 Better atmospheric correction
 decreased occupation times means faster RTK results
 A larger satellite constellation also improves real-time carrier phase differential
positioning performance.
 accurate, robust & reliable services even in bad conditions
 Less expensive high-end services
Source: https://www.novatel.com/assets/Documents/Papers/GLONASSOverview.pdf
GPS/GLONASS/Galileo/Beidou General
Characteristics
• Developed by the US DOD/USSR/EU
• Provides
• Accurate
Parameter Navigation
NAVSTAR GPS GLONASS Galileo Beidou1/2
Position
• 1010-20m
- 20 m 10-20m ~10-20m ~10-20m
• Velocity ~ 10cm/s
Velocity 10cm/s 10cm/s currently)
20cm/s 20cm/s
• Time ~ 0.1 µs (15ns
• 6/3 0.1
Time orbits
µs (15ns) 20ns 20ns 20/50ns
1 •
st Worldwide
Satellite PRN 4 Coverage
Kosmos1413 *GIOVE-A Beidou-1A
• 24 hour access 12Oct.1982 28Dec,2005 30Oct.2000
22Feb.1978
Ellipsoid WGS84 PZ - 90.11 GTRF CGCS2000* *
• Common Coordinate System
# ##
• WGS84 :: Parametry Zemli 1990(PZ-90.11)

• Designed to replace existing navigation systems
• Accessible by Civil and Military
#Parametry Zemli 1990(PZ-90.11) ## Galileo Terrestrial Reference Frame

*Galileo-In Orbit Validation Element (GIOVE) * * China Geodetic Coordinate System 2000
GNSS Systems
Source: Mod. from Nel Samama GPS GLONASS GALILEO Beidou
Master Control 1station in US 1 in Russia 2 in EU 1 MCS / 2 UPLOAD St.
Surveillance 11 stations 7 30-40 30 (iGMAS)
Satellites 30 24 30 35 (GEO-5, IGSO-3, MEO-27)
Orbital planes 6 Minm 4 sat Ø=15° 3(120°/45°) 3(9+1-40°) 7 (3 IGSO+3 MEO+GEO)
Inclination 55° 64.8° 56° 55°
Altitude (Km) 20180near-25820far 19100-24680 23222-28920 GEO, IGSO, MEO:21528
Ground track repetition 1 day 7d 23h 27m28s 10 days ~1/7 days / @ after 13 oribts in 10 days
Revolution time 11h 57m 58s 11h 15m 44s 14h 4min 12h 53min 24s (MEO); 24h
Selective Availability Off No No -
Anti-spoofing YES No No YES
services 2(SPS,PPS) 2(SPS,HPS) OS, SoL,CS,PRS,SAR OS (B1, B2), Authorized Service (B1, B3)
Frequency bands 3(L1,L2,L3,L4,L5,L1C,L2C,M) 3 (L1,L2, L3) 5(L1,E5a,E5b,E6,L6) B1I, B2I, B3I*, B1C, B2a
Velocity, c=299792458m/s 3870 3950 3675 ~3.02km/s
PropagationTime (T-ms) 67-86 64-82 77-96 71 (21528) -120 (36000)
Distance travelled during T 260-333m 252-325m 285-355m D=V*t (as per orbit selected)
• *B1I (1561.098 MHz) & B3I (1268.52 MHz) for a transition from BD2 to BD3. Two new frequencies, B1C (1575.42 MHz) and B2a
(1176.45 MHz) for multi-system compatibility. # international GNSS Monitoring and Assessment Service (iGMAS)
* Remote Sens. 2019, 11, 1559; doi:10.3390/rs11131559 www.mdpi.com/journal/remotesensing

Interesting Nomenclature: Beidou is Chinese name for the Big Dipper / Saptharishi
Ursa Major is the third biggest constellation in

terms of area (after Virgo and Hydra) making it
one of the most iconic marks in the night sky.
QZSS use satellites name as Michibiki, which means 'guide' or 'show the way')
Space Segment
(Initial Operational Capability(IOC)-1993)
(Full Operational Capability(FOC)-1995)
Block I Block II/IIA
Launches: Dec. 23, 2018 onwards…
Total IIIA Series: 10 planned; IIIF Series: 11th onwards
 Entirely new design
 new ground control system (known as OCX $500 million/ $6
billion : FOC by 2021 by Raytheon). OCX passed
cybersecurity tests.
 first GPS sent aboard on a SpaceX rocket
 M-Code: more powerful GPS 3 signal for military users (e.g.
First Launch: 22 Feb 78(78-85)# First Launch: 14 Apr 89(89-97) F-22, Hawkeye) & more secure against jamming or spoofing.
On-Orbit: None, Total=11 Total II Series: 27 (1+14+12+8)  S-Band serial telemetry link
Block IIIA/IIIF
GPS III will deliver three times
better accuracy and provide up to
eight times improved anti-jamming
capabilities.
Block IIR / IIR-M(L2C & code M on both
L1& L2)
Block IIF: Flexible Capabilities Source: www.gps.gov/systems/gps/space/
https://www.boeing.com/space/global-positioning-system/
www.globalsecurity.org/space/systems/gps_3.htm
First Launch:22 Jul 1997/25Sep2005 First Launch: 2009
Total=12/8 Acquiring up to 19 SV’s
First Launch: 2018
(R: Replenishment; M: Modernized) Acquiring up to 32 SV’s
#Inclination=63°:- optimized for North American region. The last Block I/II satellite was deactivated end of
March 1996/March 2007.
GPS System Components

• Development costs estimate ~$12 billion
• Annual operating cost ~$750 million
• 3 Segments:
• Space: Satellites
• User: Receivers
• Control: Monitor & Control stations
• Prime Space Segment contractor: Rockwell International/ Boeing than Lockheed
Martin, Boeing and again Lockheed Martin…
• Coordinate Reference: WGS-84
• Operated by US Air Force Space Command (AFSC)
• Mission control center operations at Schriever (formerly Falcon) AFB,
Colorado Springs
NAVSTAR GPS Satellite Constellation

• L1C is the fourth civilian GPS signal,
designed to enable interoperability
between GPS and international satellite
navigation systems.
• The US and Europe originally developed
L1C as a common civil signal for GPS
and Galileo. Japan's QZSS and China's
BeiDou system are also adopting L1C-
like signals.
• The main difference between GPS and
GLONASS is that in GLONASS each
satellite has its own frequencies but the
same code whereas in GPS all satellites
use the same frequencies but have Source: https://www.gps.gov/systems/gps/space/
https://www.gps.gov/systems/gps/space/#III
different codes.
NAVSTAR GPS Satellite Constellation
GLONASS Status • The GLONASS system time is based

on the Central Synchronizer within
the ground based control complex. It
is realized by hydrogen masers with a
daily stability of better than 5⋅10-14.
• On board time scales of GLONASS
satellites are based on Cesium clocks.
• The daily stability of the satellite
frequencies is better than 5⋅10-13.
GLONASS satellites
Source: https://www.glonass-iac.ru/en/guide/
GPS System Components

Space Segment
• 24 Satellites • 12 Hourly orbits
• 4 satellites in 6 Orbital Planes inclined at – In view for 4-5 hours
55 Degrees • Designed to last 7.5 years
• 20200 Km above the Earth • Different Classifications
• Every satellite is visible from minimum 2 – Block 1, 2, 2A, 2R, 2R-M, 2F, 3 & 3F
ground stations
55̊
Equator
Managed by the US National Space-Based Positioning, Navigation, and Timing (PNT)

Executive Committee
Control Segment Monitor and Control Stations
Colorado
Springs
Ascension Kwajalein
Hawaii
Islands
Diego
Garcia
Master Control Station

Monitor Station
Ground Antenna
Control Segment: Latest

The GPS network has 16 monitoring sites/stations that provide global coverage. Six (6) are owned
by the Air Force and 10 by the National Geospatial Intelligence Agency. They require sophisticated
receivers to track GPS satellites as they pass overhead. These collect signals, measurements, and
atmospheric data, and feed observations to the master control station.
Source: https://spacenews.com/as-gps-3-launch-nears-air-force-keeps-watchful-eye-on-ground-controls/ ; https://www.gps.gov/systems/gps/control/

Control Segment: Role

 Master Control Station
 Responsible for collecting tracking data from the monitoring stations and
calculating satellite orbits and clock parameters
 5 Monitoring Stations
 Responsible for measuring pseudorange data. This orbital tracking
network is used to determine the broadcast ephemeris and satellite clock
modeling
 Ground Control Stations with Antenna (S-band, uplink), Responsible for
upload of information to SV’s
 Routine maintenance
GLONASS signals
• The GLONASS satellite signal identifies the satellite and provides:
 position, velocity and acceleration vectors at a reference epoch to compute
satellite locations
 synchronization bits, data age and satellite health
 offset of GLONASS time from UTC (SU) (formerly Soviet Union & now Russia)
 almanacs of all other GLONASS satellites
Unlike GPS, all GLONASS satellites transmit the same code at different
frequencies. They derive signal timing and frequencies from one of three on-board
cesium atomic clocks operating at 5 MHz:
For example, L1 = 1602 MHz + (n x 0.5625) MHz where n = the frequency

channel number (n = 0, 1, 2 and so on)
L2= 1246 MHz + n × 0.4375 MHz
• The frequency ratio f2 /f1 is constant for all GLONASS satellites & amounts to 7/9.
User Segment- Who uses it

 The most visible segment - Everyone!
 GPS receivers are found in many locations and applications
 Merchant, Navy, Coast Guard vessels
 Surveyors
 Has completely revolutionized surveying
 Hikers, Mountain Climbers, Backpackers
 Cars now being equipped
 Communications & Imaging Satellites
 Space-to-Space Navigation
 Any system requiring accurate timing
 Commercial Truckers, Commercial Airliners, Civil Pilots
The GNSS constellation system’s potential civil applications are many and mirror those of GPS.
Why GPS?
• Weather Independent • Economical advantages

(Rain/fog/ snow have no effect • Common Coordinate System
on signals)
• Wide Range of Applications
• Does not require line of sight
• Competitively Priced
• Gives high Geodetic Accuracy • Quicker and requires less
manpower
• Can be operated day and night
How It Works (In 5 Easy Steps)

• GPS is a ranging system (triangulation)
• The “reference stations” are satellites moving at 4 km/s
Steps:
1. A GPS receiver (“the user”) detects 1-way ranging signals from several satellites
• Each transmission is time-tagged
• Each transmission/ephemeris contains the satellite’s position
2. The time-of-arrival is compared to time-of-transmission
3. The delta-T is multiplied by the speed of light to obtain the range:
P= [(Transmission time – Reception time) × Speed of light]
4. Each range puts the user on a sphere about the satellite
5. Intersecting several of these yields a user position
Outline Principle : Range

Range = Time Taken x Speed of Light
SA: Selective
availability
Xll
Acc.: 10-100m
Vl
A receiver in autonomous mode provides navigation and positioning accuracy of

about 10 (SA off) to 100 m (SA on) due to the effects of GPS errors!!?
Multi-Satellite Ranging
1 range puts Intersecting with A 3rd range

user on the a 2nd range constrains user to 1
spherical face restricts user to of the 2 points.
of the cone. the circular arcs.
https://novatel.com/an-introduction-to-gnss Source: Trimble (free e-book): GPS The

Pictures courtesy http://giswww.pok.ibm.com/gps First GNSS
Outline Principle : Position

 The satellites are like “Orbiting Control Stations”
 Ranges (distances) are measured to each satellite using time dependent
codes
 Typically GPS receivers use inexpensive clocks. They are much less accurate
than the clocks on board the satellites
 A radio wave travels at the speed of light
 (Distance = Velocity x Time)
 Consider an error in the receiver clock
 1/10 second error = 30,000 Km error
 1/1,000,000 second error = 300 m error
Timing
• Accuracy of position is only as good as your clock
• To know where you are, you must know when you receive.
• Receiver clock must match SV clock to compute delta-T
• SVs carry atomic oscillators (2 rubidium, 2 cesium each)

• Not practical for hand-held receiver
• Accumulated drift of receiver clock is called clock bias
• The erroneously measured range is called a pseudorange
• To eliminate the bias, a 4th SV is tracked

• 4 equations, 4 unknowns
• Solution now generates X,Y,Z and b
• If Doppler also tracked, Velocity can be computed
• Each Galileo satellite has two master passive hydrogen maser atomic clocks and
two secondary rubidium atomic clocks which are independent of one other
Quiz Time
• Which is the counterpart system of
• Which is the counterpart system of LORAN: Alpha:
• Chyka • Chyka
• GLONASS • Omega
• GPS • GPS
• Alpha • GLONASS
• Galileo is from:
• Russia • Beidou is from:
• European Union • Russia
• USA • European Union
• Japan • USA
• China
• GPS is based on:
• Accumulated drift of receiver clock is called:
• 1-way ranging
• clock bias
• 2-way ranging
• Pseudorange
• 3-way ranging
• triangulation
• None
• trilateration
• Positioning requires minimum…… number of satellites:
• GLONASS use following signals:
• 3
• FDMA
• 4
• CDMA
• 5
• Both of the above
• 6
• TDMA
Position Equations
P1  ( X  X 1 ) 2  (Y  Y1 ) 2  ( Z  Z 1 ) 2  b
P2  ( X  X 2 ) 2  (Y  Y2 ) 2  ( Z  Z 2 ) 2  b
P3  ( X  X 3 ) 2  (Y  Y3 ) 2  ( Z  Z 3 ) 2  b
P4  ( X  X 4 ) 2  (Y  Y4 ) 2  ( Z  Z 4 ) 2  b
Where: Pi = Measured PseudoRange (Biased ranges) to the ith SV
Xi , Yi , Zi = Position of the ith SV, Cartesian Coordinates
X , Y , Z = User position, Cartesian Coordinates, to be solved-for
b = User clock bias (in distance units), to be solved-for
• The above nonlinear equations are solved iteratively using an initial estimate of the user
position, XYZ, and b- same for all satellites.
• To solve the user position equations, one must know where the SV is:
• The navigation and time code provides this
• 50 Hz signal modulated on L1 and L2
GPS Time
• GPS time is referenced to 6 January 1980, 00:00:00
• Jan 6 = First Sunday in 1980
• GPS satellite clocks are essentially synched to International Atomic Time (TAI)
(and therefore to UTC/zulu time since Jan. 1, 1972 for global civil time)
• TAI, maintained at Lab., France, is the basis for Coordinated Universal Time (UTC), used for
most civil timekeeping
• GPS time = TAI + 13s
• Since 13 leapseconds existed on 1/6/1980
• GPS time drifts ahead of UTC as the latter is “held” (leapseconds) to

accommodate earth’s slowing
• Delta between GPS SV time & UTC is included in nav/timing message
• SV clocks good to about 1 part in 1013
• Effectively, GPS time starts with zero at the beginning of each week.
GPS Signal Structure

 Each GPS satellite transmits a number of signals
 The signal comprises two UHF carrier waves (L1-19cm and L2-23cm) and two codes
as low power radio signals (C/A on L1 and P or Y on both L1 and L2) as well as a
satellite orbit message. [L5
 Bandwidth allocated for L1-24 MHz, L2-22 MHz, & L5-28 MHz
Fundamental
Frequency
10.23 MHz ÷ 10
L1 C/A Code P (Y)-Code L1C-Code M-Code

GLONASS fundamental 1575.42 MHz 1.023 MHz 10.23 MHz 10.23 MHz 10.23 MHz
x 154
frequency is 5.0MHz
x 120 L2 P (Y)-Code L2C-Code M-Code
frequencies used by the 1227.60 MHz 10.23 MHz 10.23 MHz 10.23 MHz
satellites are within the 1.1
to 1.6 GHz band 50 BPS L5 MessageI5-code
Satellite Q5-Code
(Almanac & Ephemeris)
1176.45 MHz 10.23 MHz 10.23 MHz
L3(1381.05MHz); L4 (1379.913MHz): used only for a atomic flash detection; Nudet (Nuclear Detection) System
(NDS). L5: 1176.45 MHz (25.5 cm, In-door apps., anti-jamming, 1ms period, safety of life). L2C: 1227.60MHz (in
pre-operational testing and available on 24 satellites since May, 2017). L1C:1575.42MHz (III series onwards)
Modernized GPS – New Signals

• Second civil signal (“L2C”): with CNAV code
•Began with GPS Block IIR-M in Sep 2005. Designed to meet commercial needs.
•civil-moderate code (called CM, 20 ms) & civil-long length code (called CL, 1500ms)
•Higher accuracy through ionospheric correction
• ~24 dB greater correlation (~250 times stronger) than L1 C/A-code.
• Third civil signal (“L5”)
•Begins with GPS Block IIF
•First launch: ~2008 (GPS IIR-M Demo); ~2009 (GPS IIF)
•Designed to meet requirements for transportation safety (safety-of-life)
•in-phase code (I5-code) & quadrature-phase code (Q5-code). Both codes are 10,230
bits long and transmitted at 10.23 MHz (1ms repetition).
• Fourth civil signal (“L1C”)
•Begins with GPS Block III; First launch: 23rd Dec. 2018; 32 satellites
•Designed with international partners to enable GNSS interoperability
•100 bit/s and CNAV-2
Precise (P) Code

• P-code rate is the fundamental frequency (provides the basis for all others), e.g.:
• P-Code (10.23 MHz) X 115 = 1.176 MHz (Carrier L5).
• Generally encrypted into the Y-code (A.S.)

• Requires special chip to decode
• Modulates both L1 & L2
• Also modulated by Nav/Time data message
• Chipping rate=10.23 MHz (λ=29.30m) i.e. 10 times faster than C/A code ensuring
improved time measurement. Therefore, the accuracy is approx. 10 times higher
than for the C/A-code. [GLONASS: 5.11 MHz ]
• Sequence Length = 2.35*1014 bits (Period = 266 days). [GLONASS: 5.11*106 bits]
• The total code is partitioned into 37 one–week segments. One segment is
assigned to each satellite
Coarse Acquisition (C/A) Code

• Also known as Clear-Access code
• 1023/511-bit Gold Code (GPS/GLONASS); L1C is 10230-bit Weil Code
• Originally intended as simply an acquisition code for P-code receivers
• Modulates the L1 only
• Chipping rate = 1.023 / 0.511 MHz (λ=290 meter)
• Sequence Length = 1023 / 511 bits, (Period = 1 millisec). The time interval
between two subsequent bits (≈ 10−6 s) approx. corresponds to 300m.
• Provides the data for Standard Positioning Service (SPS)
• The usual position generated for most civilian receivers
• Modulated by the Navigation/Timing Message code
• M-Code frequency is 5.115MHz (on both L1 & L2).
Navigation Message
 In order to solve the user position equations, one must know where the SV is:
 The navigation and time code provides this
50 Hz signal modulated on L1 and L2
 The SV’s own position information is transmitted in a 1500-bit data frame
Pseudo-Keplerian orbital elements
Determined by control center via ground tracking
Receiver implements orbit-to-position algorithm
 Also includes clock data and satellite status
 And ionospheric / tropospheric corrections
 International Telecommunication Union (ITU) has reserved 1559-1610MHz band for satellite
based navigation through World Radio Communication (WRC) conferences, held every three
year.
 GPS bands (US Federal Communication Commission): (1215-1240MHz, 1559-1610 MHz, L5-
1164-1188MHz)
Navigation Message
Structure of Navigation data
DB I: Appears in the I subframe & contains the clock coefficient/bias.

DB II: Appears in the II and III subframes and contains all necessary parameters
for the computations of the satellite co-ordinates (Broadcast Ephemeris).
DB III: Appears in the IV and V subframes and contains the almanac data with
clock, ephemeris parameters, special information for all available GPS satellites.
The 5 frames take 6 sec. each to broadcast; so 30 sec. to get complete message
The Almanac
• In addition to its own nav data, each
SV also broadcasts info about ALL the
other SV’s
• In a reduced-accuracy format
• Known as the Almanac
• Permits receiver to predict, from a
cold start, “where to look” for SV’s
when powered up
• GPS orbits are so predictable, an
almanac may be valid for months
• Almanac data is large
• 12.5 minutes to transfer in entirety
Source:www.glonass-iac.ru/en/GLONASS/ephemeris.php
Range Determination from Code Observations

 Pseudoranges (Code) Received Code
 PRN uniquely identifies each satellite.
from Satellite
 PRN provides timing coordination for GPS.
Generated
 PRN enable amplification of signals.
Code from
 Each satellite sends a unique signal which repeats itself approx. 1
msec. Receiver
 Receiver compares self generated signal with received signal dT
(correlation process) for synchronization of Receiver clock with D = V (dT)
the satellite clock.
 From the time difference (dT) a range observation can be
determined.
Receiver/Signal Code Comparison

PRN: sequence of on & off
pulses (period: 1 millisec.)
Range Determination from Phase Observations
 Phase Observations
Received Satellite
 Wavelength of the signal is 19 cm on L1 and 24 cm
on L2 Phase
 Receiver compares self-generated phase with
received phase Generated
 Number of wavelengths is not known at the time Phase from
the receiver is switched on (carrier phase ambiguity) Receiver
 As long as you track the satellite, the change in
dT
distance can be observed (the carrier phase
ambiguity remains constant)
D = c .dT + N λ
If longer PRN code is used, receiver becomes more resistive to Jamming signal. But, signal
processing is more complex
Satellite Geometry
 Satellite geometry can affect the quality of signals and accuracy of receiver
trilateration.
 Positional Dilution of Precision (PDOP) reflects each satellite’s position relative to
the other satellites being accessed by a receiver.
 PDOP can be used as an indicator of the quality of a receiver’s triangulated
position.
 It’s usually up to the GPS receiver to pick satellites which provide the best
position trilateration.
Dilution of Precision (DOP)

 Satellite geometry can affect the quality of signals and accuracy of receiver trilateration.
• A description of purely geometrical contribution to the uncertainty in a position fix.
• It is an indicator as to the geometrical strength of the satellites being tracked at the time
of measurement
– GDOP (Geometrical) Good GDOP Poor DOP
• Includes Lat, Lon, Height & Time
– PDOP (Positional)
• Includes Lat, Lon & Height
– HDOP (Horizontal)
• Includes Lat & Lon QUALITY DOP
Very Good 1-3
– VDOP (Vertical) Good 4-5
• Includes Height Fair 6
Suspect >6
Satellite Geometries
Ideal Satellite Geometry Good Satellite Geometry
Skewed Satellite Geometry Poor Satellite Geometry

Case Studies
STEPS IN PHOTOGRAMMETRY
Aerial / UAV / satellite:
Magazine/ Digital - Photo / image Inputs
(GNSS + IMU)
Ground Control survey Photo Processing /

scanning (N/A to sat.)
Digital Elevation Model
Aero/Sat. Triangulation/
Control extension and Block
Adjustment
Stereo data capture

DEM Generation Photogrammetric for Planimetric
Contour Generation features
Triangulated Irregular Network
Digital Topographic
maps
Ortho Image
/ Mosaic Generation
3D Mapping Contours
Vector overlaid on Orthoimage Hard copy & softcopy of digital Maps GIS and Engineering
and Ortho Photo/image Maps Applications
Topographic maps
Stereovision/Stereoplotting Systems
Stereovision/Stereoplotting
Wild A-10 Analog Stereoplotter
Wild BC-2 Analytical Plotter

Note: Refraction distortion occurs radially outward from the nadir point & is zero at nadir (Ch. 4, Wolf et al.).
Block
GROUND CONTROL (Ch. 16)

• Ground control for photogrammetry :
• The objective of the ground control is to locate the ground positions of points
which can be identified on aerial photographs/images; or satellite images.
• It is necessary in order to establish the position and orientation of each

photograph in space relative to the ground.
• Enable the photographs to be used in compilation of planimetric maps,

topographic maps and mosaics.
• 1st step: Basic survey 2nd Step: Photo control
• The accuracy of finished photogrammetric product can be no better than the

ground control upon which they are based. (pg. 347, Wolf)
GCPs:
1. Sharp, positively defined and identifiable,
2. Favourable Location (Von Grubber)
3. Minimum 3 GCPs for space resection, more for LS adjustment.
4. For orientation of stereomodel:
Minimum 2 horizontal & 3 vertical. More suggested for LS adj..
Practicaly 3 horizontal & 4 vertical . 5th Vertical control in center.
Control Point
Tie Point
STEPS IN PHOTOGRAMMETRY
Aerial / UAV / satellite:
Magazine/ Digital - Photo / image Inputs
(GNSS + IMU)
Ground Control survey Photo Processing /

scanning (N/A to sat.)
Aero/Sat. Triangulation/
Control extension and Block
Adjustment
Stereo data capture

DEM Generation Photogrammetric for Planimetric
Contour Generation features
Triangulated Irregular Network
Digital Topographic
maps
Ortho Image
/ Mosaic Generation
3D Mapping Contours
Vector overlaid on Orthoimage Hard copy & softcopy of digital Maps GIS and Engineering
and Ortho Photo/image Maps Applications
Topographic maps
Open sources of DEMs

• Global GTOPO: http://edcdaac.usgs.gov/gtopo30/
SRTM: http://glcf.umiacs.umd.edu/data
• ETOPO-1/2 http://srtm.csi.cgiar.org/
• GTOPO (~1 km) ASTER: http://www.gdem.aster.ersdac.or.jp/index.jsp
CartoDEM: www.bhuvan.nrsc.gov.in
• SRTM (C-band/X-band) TanDEM-X:
DEM (90 /https://tandemx-90m.dlr.de.
30 m)
• ASTER DEM (30 m) ALOS PALSAR: https://www.asf.alaska.edu/sar-data/palsar/terrain-
corrected-rtc/
• ALOS PALSAR (12.5m) MERIT: http://hydro.iis.u-tokyo.ac.jp/~yamadai/MERIT_DEM
• ALOS PRISM (30m) Techniques
EarthEnv DEM90m: / tools available to obtain DEM
http://www.earthenv.org/DEM.html :
• TanDEM-X (90m) • Aerial & Satellite Photogrammetry
• National/Regional • SAR Interferometry (InSAR)
• Cartosat-1 DEM (30 m) • Laser Altimetry / Laser Scanner
• EU-DEM (30m) • Radargrammetry
• Fused /Assimilated DEMs • Topographic Maps
• MERIT • GPS/Conventional surveying methods
• EarthEnv 90m • Computed Tomography/Reflection Tomography
http://www.igs.org/network
Future…
References
 https://www.gps.gov/technical/ps/2020-SPS-performance-standard.pdf
 http://www.glonass-ianc.rsa.ru/pls/htmldb/f?p=202:1:15000421459964108253
 http://igscb.jpl.nasa.gov/
 http://www.navcen.uscg.gov/gps/precise/default.htm
 https://rntfnd.org/wp-content/uploads/eLoran-Definition-Document-0-1-Released.pdf
Interface Control Documents:
 http://www.navcen.uscg.gov
 http://www.Glonass-ianc.ras.ru
 http://www.Galileoju.com
Links:
 UNAVCO http://archive.unavco.ucar.edu/cgi-bin/dmg/pss
 CDDIS http://cddisa.gsfc.nasa.gov/cddis.html Contact Details of the Faculty:
 NGS/CORS http://www.ngs.noaa.gov/CORS/
 SOPAC http://sopac.ucsd.edu/ Email- ashutosh@iirs.gov.in
Tel- 0135-2524117

Lecture I II GNSS 25sept2023 Part1&2

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Lecture I II GNSS 25sept2023 Part1&2

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INDIAN INSTITUTE OF REMOTE SENSING, DEHRADUN

Global Navigation Satellite System

Dr. Ashutosh Bhardwaj

History of Mapping and Surveying

• Surveying includes measurements in deep sea, and extra-terrestrial

• The main purpose of surveying is to plot a map of the area.

Brief History of Navigation: Technology Perspective

Space Based Geodetic Techniques

the quasar positions

• DORIS employs the Doppler Effect to

• The DORIS ground stations continuously emit radio signals

Laser Ranging - Satellite (SLR) and Lunar (LLR)

Global Loran Coverage

Early Space-Based Radio Navigation System

Early Space-Based Radio Navigation System

NAVSTAR Global Positioning System

Space- Vs. Ground-based Nav. Systems

• WGS84 :: Parametry Zemli 1990(PZ-90.11)

#Parametry Zemli 1990(PZ-90.11) ## Galileo Terrestrial Reference Frame

* Remote Sens. 2019, 11, 1559; doi:10.3390/rs11131559 www.mdpi.com/journal/remotesensing

Ursa Major is the third biggest constellation in

GPS System Components

NAVSTAR GPS Satellite Constellation

NAVSTAR GPS Satellite Constellation

GLONASS Status • The GLONASS system time is based

GPS System Components

Managed by the US National Space-Based Positioning, Navigation, and Timing (PNT)

Control Segment Monitor and Control Stations

Master Control Station

Control Segment: Latest

Source: https://spacenews.com/as-gps-3-launch-nears-air-force-keeps-watchful-eye-on-ground-controls/ ; https://www.gps.gov/systems/gps/control/

Control Segment: Role

For example, L1 = 1602 MHz + (n x 0.5625) MHz where n = the frequency

User Segment- Who uses it

• Weather Independent • Economical advantages

How It Works (In 5 Easy Steps)

Outline Principle : Range

A receiver in autonomous mode provides navigation and positioning accuracy of

1 range puts Intersecting with A 3rd range

https://novatel.com/an-introduction-to-gnss Source: Trimble (free e-book): GPS The

Outline Principle : Position

• SVs carry atomic oscillators (2 rubidium, 2 cesium each)

• Accumulated drift of receiver clock is called clock bias

• The erroneously measured range is called a pseudorange

• To eliminate the bias, a 4th SV is tracked

• GPS time drifts ahead of UTC as the latter is “held” (leapseconds) to

GPS Signal Structure

L1 C/A Code P (Y)-Code L1C-Code M-Code

Modernized GPS – New Signals

Precise (P) Code

• Generally encrypted into the Y-code (A.S.)

Coarse Acquisition (C/A) Code

Structure of Navigation data

DB I: Appears in the I subframe & contains the clock coefficient/bias.

Range Determination from Code Observations

Receiver/Signal Code Comparison

Range Determination from Phase Observations

Dilution of Precision (DOP)

Skewed Satellite Geometry Poor Satellite Geometry

Ground Control survey Photo Processing /

Stereo data capture

Wild A-10 Analog Stereoplotter

Wild BC-2 Analytical Plotter