GLOBAL POSITIONING SYSTEM (GPS)

SAMUEL DEKYEM

EE 651WS: INTRODUCTION TO SPREAD SPECTRUM

INSTRUCTOR: PROFESSOR YAO

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 Outline
• GPS NAVIGATION
• WHAT IS GPS  GPS DATA
 DATA FORMAT
• HISTORY  CODE GENERATOR
 POSITION CALCULATION
 ERROR SOURCES
• OVERVIEW
• SATELLITE GEOMETRY
• SYSTEM ARCHITECTURE  GOOD GEOMETRY
• SEGMENTS  POOR GEOMETRY
 SPACE SEGMENT
 CONTROL SEGMENT
• FUNCTIONS • GPS SATELLITE VEHICLE
 USER SEGMENT
– SIMPLIFIED GPS RECEIVER DIAGRAM
– GPS RECEIVER USES • SUMMARY
• GPS SATELLITE SIGNALS • REFERENCES
 DEMODULATION
 SIGNALS

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 WHAT IS GPS
• GPS: Global Positioning System, is a Global
Navigation Satellite System.
• Developed by the United States Department of
Defense.
• It provides autonomous geo-spatial positioning with
global coverage.
• The system consists of a constellation of between 24
and 32 Medium Earth Orbit satellites and ground
stations that monitor and control GPS operations.

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 The History of GPS
• 1960’s - Feasibility studies begun
• 1973 - Pentagon appropriates funding
• 1978 - First satellite launched
• April, 1995 - System declared fully
operational in

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 OVERVIEW

GPS satellites broadcast signals from space

Signals picked up by GPS receivers
GPS receiver provides three-dimensional
location
1. Latitude
2. Longitude
3. Altitude + time.

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 SYSTEM ARCHITECTURE

S attelites

Users

Ground
Antennas
Control S tation Uplink S tations

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 SEGMENTS
The GPS is made up of three parts:
• Satellites orbiting the Earth
• Control and monitoring stations on Earth
• GPS receivers owned by users.

• Space Segment = Satellites

• Control Segment = Earth Stations
• User Segment = GPS Receivers
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 GPS SEGMENTS DETAILS
Spac e Segm ent

Us ers Segme nt
Up li n k Sta tio ns

Co nt rol Sta tio n

Ground
Ante nnas
Co nt rol Se gm en t

• There are three segments of the GPS

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 SPACE SEGMENT

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 SPACE SEGMENT

• GPS satellites orbit around the globe.

• Transmit radio signals from space to GPS
receivers.
• Repeat the same ground track as earth
• Satellite are spaced to ensures that there will
always be at least 5 satellites in view, visible from
any point on the earth.

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 CONTROL SEGMENT
• Ground stations control the GPS-System
• Communications with the space segment are
conducted through ground antennas
• There are Monitoring stations at
Kwajalein
Hawaii
Diego Garcia
Ascension Islands
Colorado Spring

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 FUNCTIONS
• Signals from satellites are measured by the
Monitoring
• Compute precise orbital data
• Clock corrections for each satellite.
• Ephemeris uploaded by Master Control station
• Master Control station uploads clock data to
the satellites.

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 USER SEGMENT
• Any GPS receiver and antennas
• GPS receivers decode the signals
transmitted from the GPS satellites to
determine
o Position
o Velocity
o Time
• Most receivers used for real time
mapping

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SIMPLIFIED GPS RECEIVER BLOCK DIAGRAM
 GPS RECEIVER USES
• GPS receiver uses include:
1. Navigation
2. Navigation systems for remotely piloted air, land and
water vehicles
3. Time dissemination
4. Management and tracking of ship and land vehicle fleets
5. Road and rail traffic monitoring
6. Dispatch and monitoring of emergency services
7. Aerial, seismic, and land surveying
8. Military
9. Search and rescue
10.Disaster relief

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 GPS RECEIVER USES
11. Marine, aeronautical and terrestrial navigation
12. Satellite positioning and tracking
13. Geographic Information Systems (GIS)

Unmanned Aerial Vehicles

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 GPS Satellite Signals
• L1 Frequency(contains navigation code)
• L2 Frequency is for ionosphere delays
• L1 = 1575.42 MHZ
• L2 = 1227.60 MHZ
• The P-Code (Precise) modulates both the
L1 and L2 carrier phases.

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 DEMODULATION

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 SIGNALS

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 GPS NAVIGATION:ON GROUND
Waypoint

Bearing = 780
N COG = 3500 e L e g
Bearing = XTE = 1/3 mi. ti v
Ac
650 COG = 50
XTE = 1/2
mi. Bearing = 400
COG = 1040
XTE = 1/4 mi.

Location Where GOTO Course Over Ground (COG) =

Was Executed Bearing =
Cross Track Error (XTE) =
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 GPS DATA
• Navigation Message consists of time-tagged
data bits
• Data bit frame consists of 1500
• Frame consist of five 300-bit sub frames
• Data frame is transmitted every thirty seconds.
• Three six-second sub frames contain orbital
and clock data.

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 GPS DATA
• Twenty-five frames = one Navigation Message
T= 12.5 min (time of message)
• Data frames (1500 bits) are sent every thirty seconds.
Each frame consists of five sub frames.
• Data bit sub frames (300 bits transmitted over six
seconds) contain parity bits that allow for data
checking and limited error correction.
• Clock data parameters describe the SV clock and its
relationship to GPS time.

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 DATA FORMAT

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 CODE GENERATOR

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 POSITION CALCULATION
• x, y, and z components of position
• Ti is the time message is sent
• Tri is the time message is received
• Transit time=tri-ti
• Distance =C*(transit time)
• Calculation applies on 4 satellites

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 ERROR SOURCES
Electronics errors
Multipath effects
Signal delay
Atmospheric effects
Clock errors
Ionospheric delay
Ephemeris Errors

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 GPS SATELLITE GEOMETRY
• Can affect the quality of GPS signals
• Dilution of Precision (DOP) satellite’s
position relative to the others
• DOP value commonly is to determine the
quality of a receiver’s position.
• GPS receiver to pick satellites which
provide the best position triangulation.

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 GOOD GEOMETRY
N

W E

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 GOOD GEOMETRY

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 BAD GEOMETRY

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 BAD GEOMETRY

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 GPS Satellite Vehicle
S band antenna
Solar Array – Two solar panels
◦Battery charging
◦ Power generation
GPS antenna

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 GPS Satellite Vehicle
• Typical Weight
– 900 Kg
• Typical Height
– 5 meters
• Typical Width
– 5 Meters
• Approximate Design life—10 years

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 Summary
• Considered requirements for good receiver reception – more
the four GPS satellites shall be visible at receiver.
• Analyzed GPS space segment
• Defined GPS Segments
• Discussed GPS Signal theory
• Discussed GPS Data format
• Discussed space vehicle positioning calculations and errors
• Analyzed satellite geometry
• Describe typical Space Vehicle specification

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 REFERENCES
• http://www.aero.org/education/primers/gps/
• http://msl.jpl.nasa.gov/Programs/gps.html
• http://ares.redsword.com/gps/
• http://www.novatel.com/Documents/Papers/Galileo_article.pdf
• www.tesaf.unipd.it/dmt/MatDidattico/Modulo3/0302f_MARCHI_GPSNeiRilieviPostE
vento.pdf
• waas.stanford.edu/documents/Stanford%20GPS%20Lab%20Overview%20April
%202006.pdf
• www.unavco.org/community/announce_meetings/2005/antartic_meeting-DC-sept-
05/pdf-talks/johns.pdf
• www.navcen.uscg.gov/cgsic/meetings/EISubcommittee/2005_presentations/02%20M
odern%20PRA.ppt
• srma.stud.hive.no/nweb/navinstrumenter/Global%20Posision%20System.ppt
• http://waas.stanford.edu/~wwu/papers/gps/PDF/LoIONGNSS08.pdf
• http://waas.stanford.edu/~wwu/papers/gps/PDF/SeoIONGNSS08.pdf
• netlab18.cis.nctu.edu.tw/html/paper/2001_11_06/Challenges%20in%20bringing
%20GPS%20to%20Mainstream

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