NAVIGATIONAL

EQUIPMENTS
K.R.GUPTA
Indian Maritime University
GPS

GPS
(GNSS)
GPS
Global Navigation Satellite System (GNSS) is the
standard generic term for satellite navigation
systems that provide autonomous geo-spatial
positioning with global coverage. A GNSS allows
small electronic receivers to determine their
location (longitude, latitude, and altitude) to within
a few metres using time signals transmitted along a
line of sight by radio from satellites.
GPS
 As of 2007, the United States NAVSTAR
Global Positioning System (GPS) is the only fully
operational GNSS. The Russian GLONASS is a
GNSS in the process of being restored to full
operation. The European Union's
Galileo positioning system is a next generation
GNSS in the initial deployment phase, scheduled to
be operational in 2010
GPS
ORBITS: Equatorial orbit – polar orbit inclination 0
degs to 90 degs
 
Kepler’s Laws:
A satellite orbit, with respect to the earth, is an
eclipse.
GPS
 Space segment: 24 operational SVs, four in each of
six orbital planes, in near circular orbits at an altitude
of 20200km(10900 nm) at an inclination angle of 55
degs. Approximate orbital period of 12hours. Since
the earth is turning beneath the SV orbits, all the
satellites will appear over any fixed point on the earth
every 23h56m.
 This ensures that at least six SVs with an elevation
greater than 9.5degs will be in view of a receiving
antenna at any point on the earth’s surface at any time.
GPS

GPS SATELLITES ORBITS

SPACE SEGMENT
GPS
Control segment: SV telemetry controls from Air
force base, Colorado. 5 monitoring stations,
locations precisely surveyed with WGS-84
datums(World Geodetic System 1984). Data
transmitted to each SV and sequentially transmitted
as a data frame to receiving stations.
GPS
 The flight paths of the satellites are tracked by US Air Force monitoring
stations in Hawaii, Kwajalein, Ascension Island, Diego Garcia, and
Colorado Springs, Colorado, along with monitor stations operated by the
National Geospatial-Intelligence Agency (NGA).[28] The tracking
information is sent to the Air Force Space Command's master control
station at Schriever Air Force Base in Colorado Springs, which is
operated by the 2nd Space Operations Squadron (2 SOPS) of the
United States Air Force (USAF). Then 2 SOPS contacts each GPS
satellite regularly with a navigational update (using the ground antennas
at Ascension Island, Diego Garcia, Kwajalein, and Colorado Springs).
These updates synchronize the atomic clocks on board the satellites to
within a few nanoseconds of each other, and adjust the ephemeris of
each satellite's internal orbital model.
GPS
 The Master Control station uploads ephemeris and
clock data to the SVs.
 Three times a day to individual SVs.

 The SVs then send subsets of the orbital ephemeris

data to GPS receivers over radio signals. In
Navigation message
GPS
 All SVs transmit a navigation message comprising
orbital data, clock timing characteristics, system
time and a status message. They also send an
extensive almanac giving the orbital and health
data for every active SV, to enable a user to locate
all SVs once one has been acquired and the data
downloaded.
GPS
 NAVIGATION MESSAGE
 A data frame is transmitted every thirty seconds.
 Each frame consists of five subframes.
 1. Satellite Clock correction data
 2,3: Satellite orbital data(Ephemeris)
 4. special data (ionospheric msgs etc.)
 5. Almanac of rest 23 satellites
GPS
 User segment
 GPS receivers come in a variety of formats, from devices integrated
into cars, phones, and watches, to dedicated devices such as those
shown here from manufacturers Trimble, Garmin and Leica
 The user's GPS receiver is the user segment (US) of the GPS. In
general, GPS receivers are composed of an antenna, tuned to the
frequencies transmitted by the satellites, receiver-processors, and a
highly-stable clock (often a crystal oscillator). They may also include a
display for providing location and speed information to the user. A
receiver is often described by its number of channels: this signifies how
many satellites it can monitor simultaneously. Originally limited to four
or five, this has progressively increased over the years so that, as of
2007[update], receivers typically have between 12 and 20 channels. [30]
gps
 Clock data parameters describe the SV clock and
its relationship to GPS time.

 Each SV sends the amount to which GPS Time is

offset from Universal Coordinated Time. This
correction can be used by the receiver to set UTC
to within 100 ns.
GPS
 GPS Time is a "paper clock" ensemble of the Master
Control Clock and the SV clocks. GPS Time is
measured in weeks and seconds from 24:00:00,
January 5, 1980 and is steered to within one
microsecond of UTC. GPS Time has no leap seconds
and is ahead of UTC by several seconds.
 At the transition between 23:59:59 UTC on
December 31, 1998 and 00:00:00 UTC on January 1,
1999, UTC was retarded by one-second. GPS Time
is now ahead of UTC by 13 seconds.
GPS
 GPS position fixes are achieved by the precise
measurement of the distance between a number of
SVs and a receiver at an instant in time and/or
phase measurement. The receiver processor
corrects the range measurement to produce a
precise fix.
GPS
 It might seem three satellites are enough to solve
for position, since space has three dimensions.
However, even a very small clock error multiplied
by the very large speed of light[15]—the speed at
which satellite signals propagate—results in a large
positional error. Therefore receivers use four or
more satellites to solve for x, y, z, and t, which is
used to correct the receiver's clock.
GPS
GPS

TRUE RANGE = PSUEDO

RANGE
( + OR -)
CLOCK BIAS
GPS
ERRORS
 SV clock errors uncorrected by Control Segment
can result in one meter errors.

 Ephemeris data errors: 1 meter

GPS
 Tropospheric delays: 1 meter. The troposphere is
the lower part (ground level to from 8 to 13 km) of
the atmosphere that experiences the changes in
temperature, pressure, and humidity associated
with weather changes.
 Ionosphere delays: 10 meters. The ionosphere is
the layer of the atmosphere from 50 to 500 km that
consists of ionized air.
 -Overcome by Dual Frequency receivers
GPS
 Multipath: 0.5 meters.
 Multipath is caused by reflected signals from
surfaces near the receiver that can either interfere
with or be mistaken for the signal that follows the
straight line path from the satellite.
 Multipath is difficult to detect and sometime hard
to avoid.
 Siting of the GPS Antenna location is important.
GPS
 GDOP: Geometric Dilution of Precision
 This is caused by the angular separation of the SVs used for
computing the GPS position. Wider the separation better the
accuracy. The lower the GDOP value better the accuracy.
 GDOP value of <6 is acceptable for posn.fixes
 GDOP Components
 PDOP = Position Dilution of Precision (3-D), sometimes the Spherical
DOP.
 HDOP = Horizontal Dilution of Precision (Latitude, Longitude).
 VDOP = Vertical Dilution of Precision (Height).
 TDOP = Time Dilution of Precision (Time).
GPS
 Blunders can result in errors of hundred of kilometers.
 Control segment mistakes due to computer or human error can
cause errors from one meter to hundreds of kilometers.
 User mistakes, including incorrect geodetic datum selection,
can cause errors from 1 to hundreds of meters.
 Receiver errors from software or hardware failures can cause
blunder errors of any size.
 Noise and bias errors combine, resulting in typical ranging
errors of around fifteen meters for each satellite used in the
position solution.
GPS
 Differential Global Positioning System (DGPS) is
an enhancement to Global Positioning System that
uses a network of fixed ground based reference
stations to broadcast the difference between the
positions indicated by the satellite systems and the
known fixed positions.
GPS
 This broadcast is done on the MF band (285-315
khz) – approximate range 100 to 150 nm.
One method is to compute and send the
correction to Latitude, Longitude and Altitude
to the users (vessels). The users will apply these
corrections to the GPS position calculations and
obtain a more accurate position fix. But the users
have to use the same set of SVs as the ground
reference station.
GPS
 These stations broadcast the difference between the
measured satellite pseudoranges and actual
(internally computed) pseudoranges, and receiver
stations may correct their pseudoranges by the
same amount.
 The accuracy deteriorates as the distance from the
Ground reference station increases.
GPS
 The GPS navigation message includes the difference between
GPS time and UTC, which as of 2009 is 15 seconds due to the
leap second added to UTC December 31 2008. Receivers
subtract this offset from GPS time to calculate UTC and
specific timezone values. New GPS units may not show the
correct UTC time until after receiving the UTC offset message.
 The GPS-UTC offset field can accommodate 255 leap seconds
(eight bits) which, given the current rate of change of the
Earth's rotation (with one leap second introduced
approximately every 18 months), should be sufficient to last
until approximately year 2300.
GPS
 Other satellite navigation systems in use or various states of development
include:
 Galileo – a global system being developed and constructed by the
European Union and other partner countries, and planned to be operational
by 2013.
 Beidou – People's Republic of China's experimental regional system.
 COMPASS – A proposed global satellite positioning system by the
People's Republic of China.[84]
 GLONASS – Russia's global system which is being completed in
partnership with India.[85]
 IRNSS – India's regional navigation system covering Asia and the
Indian Ocean only (distinct from India's participation in GLONASS). [86]
 QZSS – Japanese proposed regional system covering Japan only.
GPS Currently in
Block Launch Period Satellites launched
service
I 1978–1985 10+1[1] 0
II 1985–1990 9 0
13 of the 19
IIA 1990–1997 19
launched
12 of the 12
IIR 1997–2004 12+1[1]
launched
IIR-M 2005–2009 7+1[2] 6 of the 7 launched
IIF 2009–2011 0+10[2] 0
IIIA 2014–? 0+12[3] 0
IIIB 0+8[3] 0
IIIC 0+16[3] 0
Total 57+2[1]+11[2]+36[3] 31
[1]
Failed
[2]
In preparation
[3]
Planned.
(Last update: 16 December 2008)