Global Navigation Satellite System (GNSS)

- A vast System of Systems

Dr. S. Pal
Outstanding Scientist/Program Director,
Satellite Navigation Program
Chairman, GAGAN PMB
Deputy Director,

ISRO Satellite Centre

Bangalore
 HISTORY OF NAVIGATION
• Navigation is the science of charting one’s own
route from point ‘A’ to point ‘B’ with respect to
known references both in spatial as well as in
temporal domain
• Identifying and remembering objects and land marks
like rocks, trees, rivers, marking on trees or leaving
stones/flags and looking at Sun and Moon, as points
of reference were the techniques and navigational
aids that the early man used to find his way in
jungles, deserts, mountains etc. Perhaps the time
reference was day/night or even could be seasons.
• The situation changed drastically when man started
long voyages on oceans.
 HISTORY OF NAVIGATION
• Phoenicians , Vikings and Greek were undertaking sea voyages and
had navigation skills even 3000 years back. Phoenicians claimed to
have circumnavigated Africa from Red sea, sailing via the Cape of
Good Hope.
• Burning fire on mountain tops were used as light houses. The
legendary Light House of Alexandria was an example.
• ‘Navigation’ word has perhaps its origin in ‘Naoka’- ‘Nav’ boat + ‘Gati’-
velocity , in Sanskrit.
• Not much is written in the modern history about Navigation activities
in Asia-Pacific region. Chinese, Arabs etc., had under taken lot of sea
voyages.
• In Mohanjadaro ruins (Indian sub continent ) one clay tablet was found
which depicted a boat.
• Sindhu or Indus valley civilization ruins ( parts of Pakistan, Gujarat ,
Harayana ) do show that perhaps a successful business with
Romans, Babylonians and Sumerian civilizations.
• Out of 18 Tamil Sidhas, Sidha Bhoganathar went to China via sea
route (even he is supposed to have designed an aeroplane) and lived
in China as Lao-tzu, spread Taosim. He is attributed to have great
navigational skills.
 History of Navigation
The great sanskrit scholar Kalidas (4th century A.D) was the first one to
imagine above land navigation. In his famous Sanskrit Kavya
`Meghdoot’ , Kalidas’s Yaksha instructs `Megha’ ,how to navigate from
Ramagiri to Alkapuri. He used complete Bio-Sphere as Navigational
Control Points.
Soar up high and head North
…….Lift yourselves a little higher westward and keep moving. Relax for a while on
the top of Mount Amrakuta, whose burning woods you will have helped soak…
……
………As you lighten you will pick up speed and reach the rocky Vindhya Range…
….
……….The wind there will be too weak to hoist you…….
……….The chataka birds will follow as you travel shedding rain catching the heady
scent of flowers and charred wood charred summer fires……
………..when you reach Dashran, you will see garden hedges white with Ketaki
flowers……
………..In the royal city of Vidisha you will be able to sip the sweet waters of the
Vetravati River…. …………Go ahead and rest for a white on the low peaks of
Nichais…….
………….Don’t forget to detour a little and checkout the view of Ujjayini’s white
mansions and savor…………………..
………Along the way fill yourselves up at the nirvindhya River……….
……………When you reach Awanti look for Vishala, a city made in heaven…………
….
……………There the cool morning breeze, fragrant from lotus blossoms on the
Shipra River,,,,,,,,,,,,
…………….Nurse the lotus flowers in the Manasa Lake with your water………………
……………There to the north of Kubera’s estate is our house with a large rainbow
like gate and a Mandar tree which is just like a……….
Archeological site at Lothal (Gujarat ,India) has got remains of
a port which indicated more than 4500 years back India had
advanced sea transport system. The dock is almost of the
same size as that of Visakhapatnam, modern port.
 Compass

n t uryDead reckoning tools

16 ce
4 -
r in g 1 Traverse board c t ion
du Di r e
ni n g
s i t i o Astrolable
Po p e ed
Cross-staff S

t ur y
t u de cen
Radar (Robert Watson – Watt -1935)
i
Lat 17-20 20th Century

r i n g Radio Communication ( I & II World War)

g du
Egyptian Groma

o n in
s it i g in g
Po R a n
o
Compass Rose Radi
GPS
Sextant TRANSIT
. .
Chronometer
e VOR ... e B a s e d
i t u d ac g
George Harrison, 1764 A.D
Lon
g a dio Sp n i n
LORAN R
sed g o si tio
B a P
Land ositionin
 LAND BASED LORAN -C (LONG RANGE NAVIGATION)
• FIRST RADIO-POSITIONG SYSTEM FOR
MARITIME APPLICATIONS
• SERVICE FROM 30 CHAINS FOR WIDE
COVERAGE
• PRINCIPLE OF RANGING FOR POSITION-FIX:
• RADIO-PULSE TRANSMISSION FROM MASTER AND
SECONDARY STATIONS (OVER A GLOBAL NETWORK)
• RECIEVER GETS BOTH PULSES AND TIME
DIFFERENCES (TD) FOR EACH PAIR OF MASTER-
SECONDARY STATIONS IS COMPUTED
• LOCUS OF POINTS HAVING THE SAME TD FROM A
SPECIFIC MASTER-SECONDARY PAIR IS A CURVED
LINE OF POSITION (LOP).
• POSITION DETERMINED BY INTERSECTION OF 2 LOPs
• TD IS USED WITH MAPS TO ESTIMATE LAT/LONG
• PHASE MEASUREMENTS IMPROVES PRECISION

• LORAN OPERATING RANGE : 90-110 KHZ x1,y1

x2,y2
• LIMITED COVERAGE: ~1000km RANGE x3,y3
x,y
• OBSTRUCTION/INTERFERENCE FROM GROUND
( x2 − x) 2 + ( y2 − y ) 2 − ( x1 − x) 2 + ( y1 − y ) 2 = d 21
FEATURES
( x3 − x) 2 + ( y3 − y ) 2 − ( x1 − x ) 2 + ( y1 − y ) 2 = d 31
• REFLECTION BY IONOSPHERE

• POSITION ACCURACY: ~460m (AT BEST)

SATELLITE GPS (1978) &
GLONASS
NAVIGATION &
TIMATION
POSITION SYSTEMS Developed in 1972 by the Naval Research Laboratory (NRL),
TIMATION satellites were intended to provide time and frequency
transfer. The third satellite acted as a GPS technology
demonstrator.

TSIKADA
Russian four satellite civil navigation system

TSYKLON
First navigation satellite launched by soviet union in late 1967.
The satellite is based on doppler technique similar to
TRANSIT system.
SECOR (Sequential Collation of Range)
SECOR was a U.S army satellite navigation and positioning system. Thirteen satellites
were launched between 1964 and 1969.
TRANSIT
Operated in 100 MHz and 400 MHz frequency bands and allowed the user to determine
their position by measuring the Doppler shift of a radio signal transmitted by
the satellite.
When man moves from one place to another 3D positioning (latitude,
longitude & height) are required.
SPUTNIK
First artificial Satellite launched from Russia. Operated using
Doppler frequency shift to obtain position.
 Navigation Satellites
• TRANSIT (US Navy satellite developed by John Hokins, Applied
Physics Laboratory , 1960-1996). Based on doppler shift
measurements of a 400 MHz tone.
• TIMATION ( TIMe/navigATION) Programme. - 2 satellites (1967
& 1969) also called NCST ( Navy Centre for Space Technology)
satellites carried quartz oscillator which were regularly updated
by master clocks.
• NAVSTAR ( NAVigation Satellite Timing and Ranging) of US Air
force PROJECT621. used pseudorandom noise ranging signals.
• Under TIMATION Program two more satellites viz., NTS-I
( Navigation Technology Satellite) and NTS-II were launched in
1974 and 1977 and carried Rubidium and cesium Atomic clocks.
• In 1978, US Govt. Decided to bring all the above technologies
under one head and made a joint program office under which
umbrella, GPS satellites were developed and first block 1
satellites were launched during 1978-1985 and second block
during 1989 to 1990. GPS constellation was completed by 1995.
Zenith
Elevation
doppler

Horizon

time ρ = ∫ ρ ∂t + ρ , ρ = (x s − xu )2 + (ys − yu )2 + (z s − zu )2
0
 SATELLITE CONSTELLATION
DESIGN PARAMETER

ORBIT CHARACTERISTICS COMMUNICATION

• ANTENNA
•ORBITAL HEIGHT >= 20,000 – ISO FLUX (MORE THAN EARTH DISC)
KM • FREQUENCY - L BAND
Re
–LONGER VISIBILITY θ = cos −1( )
Re + alt – MINIMUM BACKGROUND THERMAL
T=
2π
, n= 3
µ NOISE
–ORBITAL PERIOD n a
– MINIMUM PATHLOSS
•PERTURBATIONS(MINIMUM) – MINIMAL IONOSPHERIC GROUP DELAY
– MINIMAL ATTENUATION
–SOLAR RADIATION PRESSURE
(IMPACTS ECCENTRICITY)
–LUNI SOLAR FORCES (IMPACTS
INCLINATION)
 SATELLITE CONSTELLATION DESIGN PARAMETER
1. ORBIT CHARACTERISTICS 2. COMMUNICATION
•ORBITAL HEIGHT >= 20,000 KM • ANTENNA
Re
–LONGER VISIBILITY θ = cos −1( )
Re + alt – ISO FLUX (MORE THAN EARTH DISC)
2π µ
–ORBITAL PERIOD T=
n
, n=
a3
• FREQUENCY - L BAND
•PERTURBATIONS(MINIMUM) – MINIMUM BACKGROUND THERMAL NOISE
– MINIMUM PATHLOSS
–SOLAR RADIATION PRESSURE
(IMPACTS ECCENTRICITY) – MINIMAL IONOSPHERIC GROUP DELAY
–LUNI SOLAR FORCES (IMPACTS – MINIMAL ATTENUATION
INCLINATION) • MODULATION - CDMA/FDMA
•PLANES – MODULATION OF BPSK & SPREAD
SPECTRUM
–LAUNCH CONSIDERATIONS
– CDMA- SINGLE FREQUENCY FOR
–SPARE REQUIREMENT MULTIPLE SATELLITE DOWNLINK
•INCLINATION – FDMA- MULTIPLE FREQUENCY JAMMING
DIFFICULT
–GLOBAL/HIGH LATITUDE COVERAGE
 REALTIME POSITION FIXING USING SATELLITES

• REAL-TIME 3D POSITION FIXING:

(XI,YI,ZI)
• 1-WAY RANGING ρ4
Ionospheric delay
• ATOMIC CLOCK FOR PRECISE ρ3
RANGING Tropospheric delay
ρ2
• MIN OF 4 SATELLITES VISIBLE
ANYTIME
ρ1
• WORLD-WIDE TIME SYNCHRONISATION
• 2-FREQUENCY FOR IONOSPHERIC (X,Y,Z, b)
CORRECTIONS (Un Known)
• SIMPLE USER-END EQUIPMENT
• ACCURACY: FEW METRES
P1 = ( X −X1 )2 +(Y −Y1 ) 2 +(Z −Z1 ) 2 +b
SOURCES OF ERROR P2 = ( X −X 2 )2 +(Y −Y2 ) 2 +(Z −Z 2 )2 +b
System Noise ~ 2m
P3 = ( X −X 3 )2 +(Y −Y3 ) 2 +(Z −Z3 )2 +b
Ephemeris ~ 5m
Satellite clock ~ 1m P4 = ( X −X 4 )2 +(Y −Y4 ) 2 +(Z −Z 4 )2 +b

Receiver clock ~ 2m
Multi-path ~ 0.5m
Troposphere delay ~ 1m
Ionosphere delay ~10m
 ELEMENTS OF A SATELLITE POSITION FIXING
• MEASUREMENT (UHF, S-BAND, LASER)
• MODELLING (Geo-Potential, Drag, SRP,
Luni-Solar)
• ESTIMATION (Least-Square, Kalman filter)

n n
μ ∞  Re  ∞ n  Re 
V = − [1 − ∑ J   P (sinφ) + ∑ ∑ J   P (sinφsinφ) (λ − λ )]
r n  n nm  r  nm nm
n=2  r  n = 2m = 1  

1 C A
Pdrag = − ρ ( d )vr vr
2 m

A
Pdrag = − P (1 + η ) )vu
m
LEO (m/s2)
di 2 3
= ∑ y j [cos i sin 2i j sin(Ω − Ω j ) + sin i sin 2 i j sin 2(Ω − Ω j )] Atm drag 6*10-5
dt j =18
SRP 4.7*10-6
Sun 5.6*10-7
Moon 1.2*10-6
 DILUTION OF PRECISION AND IMPACT ON
POSITION ACCURACY
• POSITION ERROR IS A FUNCTION
OF:
• DILUTION OF PRECISION
ρ1 ρ2
• MEASUREMENT ACCURACY

ρ1
ρ2

DOP α 1/volume MEASUREMENT ERROR

−1
DOP = Trace A T A 

 

x −xu yi −yu zi −zu 
where, A = i 1
 ρi ρi ρi i =1,4
ρ =Range
SATELLITE POSITIONING SYSTEM SEGMENTS
GPS, GLONASS & GALILEO - Configuration
Constellation GPS GLONASS GALILEO
Total Satellites 24+3 24 (4 Opr) 27+3
Orbital Period 12 hrs 11hrs 15min 14Hrs 22min
Orbital planes 6 3 3
Orbital height (km) 20200 19100 23616
Sat. In each plane 4 8 10
Inclination 55 deg 64.8 deg 56 deg
Plane Separation 60 deg 120 deg 120 deg
Frequency 1575.42MHz 1246 - 1257 MHz 1164 - 1300 MHz
1227.6MHz 1602 - 1616 MHz 1559 - 1591 MHz
Modulation CDMA FDMA CDMA
 GLOBAL POSITIONING SYSTEM
• GPS is first one way (passive) ranging satellite
system
• The principal objective of the DOD is to offer US
military accurate estimates of Position, Velocity and
Time (PVT) for a high dynamics platform (P ≈ 10m,
velocity error 0.1 m/s and time error 100 ns all in
rms)
• Signal should have a measure of resistance to
jamming and interference. That is why transmission
of signals on the same carrier is being done using
CDMA.
• Provision to deny the use to US adversaries and at
the same time enhancing the accuracy over a
geographical location on a limited time. (This was
done in the Iraq war keeping high accuracy over a
period of 2Hrs).
 Planned modernization of the GPS signals
Current frequency Plan Planned Frequency Capabilities
(additional)
------------------------------------------------------------------------------------------------------------------
Carrier frequencies Additional civilian frequency 6 dB higher power
relative to L1

L1 : 1575.42 MHz L5 : 1176.45 MHz 20 MHz broadcast

bandwidth
L2 : 1227.60 MHz (safety-of-life service frequency Improved signal cross
L2 C protection (ARNS-band)) correlation

Code frequencies ME code (L1/L2) M-code designed to

(pseudorandom) enhance system security
P-code: 10.23 MHZ (on L1/L2) to improve anti-jamming

Code frequencies (gold code) Dual freq. ionosphere

C/A-code:1.023MHz(onL1) C/A code on L2(1127.60MHz) correction (improved)
UERE and better
accuracy)

Navigation message Ephemeris, SV clock parameters On L1, L2 and L5

ionospheric parameters, SV health
 GLONASS
(GLObal’naya NAvigatsionnaya Sputnikovaya Sistema)

• Parallel constellation to GPS

• Constellation was fully operational only in 1995 – 98 and

failed satellites were not replaced later on.
• As of April 2006, 15 operational satellites available.
Minimum satellites required are 18 which will be
available by 2007 end.
• GLONASS is credited for providing precise universal
time coordinated transfer with better position accuracies
• India will be helping in completion of the full constellation
by launching M series and manufacturing K series

Note: Use of GLONASS in addition to GPS provides increased

satellite signal observations, spatial distribution of visible
satellites, reduced horizontal and vertical DOP and decreased
occupational times.
 GALILEO Services (Planned)
• Galileo envisages the provision of large variety of services based on
needs and market analysis.

– satellite only, locally assisted, EGNOS Combined services

• Galileo satellite only services:

• Open services, Safety of life, Commercial, Public regulated,
Search & Rescue

• Open service Position and Timing Performance of :

• H : 15 meters, V : 35 meters (95% Single frequency)
• H : 4 meters, V : 8 meters (95% Dual frequency)
• Integrity: No, Timing Accuracy: 39 ns (Three frequencies)

• Safety of Life:
• Availability : 99.8%, Position accuracy : 4-6 m (95% Dual Frequency)
• Integrity: Yes, Certification/Liability: Yes
 GALILEO Services (Planned)
• Combined Services:
• Availability : 99.8% (Global), Position Accuracy : 95% (Dual frequency)
• Integrity Value Added Services

• Public Regulated Services:

• Availability : 99%, Position Accuracy: H-6.5m, V-12m(95% Dual
frequency), Timing Accurcy : 100 ns, Integrity: Yes

• Search and Rescue Services: Capacity:150 beacons

• Galileo Locally Assisted Services:

• Local Precision Navigation Service (1m, TTA 1s),

• Local High Precision Navigation Service (Position error < 10 cm)
• Local Assisted Navigation Services
• Local Augmented Availability Services (Pseudolite services)

Note: Total Project cost is ≈2.3 billion Euros and market as projected is
≈10 billion Euros/Year and Growth rate is 25% and will reach 300
billion Euros in 2020 with 3 billion receivers in market.
1164.000 MHz

GPS
1188.000 MHz

1212.000 MHz

GALILEO
1215.000 MHz
1215.600 MHz

GPS
1237.827 MHz
1239.600 MHz
GLONASS

1260.000 MHz

1261.610 MHz
GALILEO

1300.000 MHz
1559.000 MHz
1563.420 MHz
GPS

1587.420 MHz
1592.952 MHz

1610.000 MHz
GLONASS

1620.610 MHz
Radioastronomy

1626.500 MHz
1610.6 – 1613.6 MHz

5010.000 MHz
GALILEO

5030.000 MHz
GPS, GLONASS & GALILEO
Frequency Plans
Thankfully borrowed from ICG – Bangalore Meet
Thankfully borrowed from ICG – Bangalore Meet
 Comparison of SATNAV Systems
System GPS GLONASS GALILEO GAGAN / IRNSS
No. of satellites
24 (30) 14 now, 24 reqd 30 , GIOVE-A. 2/7
Altitude 20,200 Km 19,100 Km 23,616 Km 36,000 Km
Frequency of L-band L-band L-band L1,L5 / L5 & S-
operation band
Absolute 10 meters 10 meters 8 meters < 8 meters with
position GAGAN & < 20
accuracy meters with
IRNSS
Multiple access
CDMA FDMA/CDMA CDMA CDMA
Spacecraft life 7.5 years 5 years >7 years 10 years
Controlled by Dept. of Min. of Defence Not yet known India
Defence, US
Airforce
Coordinate WGS-84, ECEF PZ-90, ECEF ITREF WGS-84
system
LIMITATIONS OF GPS AND GLONASS
• GPS stand alone, cannot satisfy the integrity,
accuracy & availability requirements for all
phases of flight, particularly for the more
stringent precision approaches.
• Integrity is not guaranteed, since all satellites
may not be satisfactorily working all times.
• Time to alarm could be from minutes to hours
and there is no indication of quality of service.
• Accuracy is not sufficient even with S/A off, the
vertical accuracy for 95% of the time is >10m.
• For GPS & GLONASS stand alone systems
availability & continuity are not assured.
• All these calls for a special system addressing all
the above, which could be done by augmenting
the GNSS systems.
 REQUIREMENT OF ENHANCEMENT OF
ACCURACY, AVAILABILITY AND INTEGRITY

• For the safety-critical applications it is essential

that a user be assured that the system is
operating within design tolerances and the
position estimates derived from it can be trusted
to be within specifications – This is the so
called integrity requirement.
• Timely warning of a system anomaly (which may
be hazardous is called “time to alarm”.
– 30Sec En-route
– 6 Sec APV II (Approach with Vertical Guidance)
 AUGMENTATION OF GPS / GLONASS
LIMITATIONS OF GPS:
• SIGNAL NOT AVAILABLE INSIDE
TUNNEL & WATER
• NO ASSURANCE OF AVAILABILITY
AND INTEGRITY OF DATA
– CRITICAL FOR AVIATION
APPLICATIONS
– ACCURACY REQUIREMENTS
STRINGENT

• SPACE BASED AUGMENTATION (SBAS)

– WAAS, EGNOS, MSAS & GAGAN
• GROUND BASED AUGMENTATION (GBAS)
– LAAS, PSUEDOLITE, DGPS
• AIRCRAFT BASED AUGMENTATION (ABAS)
– RAIM (RECEIVER AUTONOMOUS
INTEGRITY MONITORING TECHNIQUE)
GPS Wide Area Augmentation Systems

* *
C-WAAS
EGNOS MSAS
WAAS

*
GAGAN

*
US WIDE AREA AUGMENTATION SYSTEM OF GPS –
WAAS

• 24 Wide Area
Reference Stations
• 2 Wide Area Master
Stations
• 2 Navigation Land
Uplink Stations
• 2 GEOs –AOR &
POR

FAA presentation to ISRO

 EUROPEAN GEOSTATIONARY NAVIGATION
OVERLAY SERVICE - EGNOS

• 34 Range Integrity
Monitoring Stations –
Rims
• 4 Master Control Stations
• 2 Navigation Land Uplink
Stations
• 2 GEOs – INMARSAT
AOR E & IOR and
presently working on
ARTEMIS

EGNOSS presentation to ISRO

 Japanese S-BAS System
(MSAS)
GPS Constellation
MTSAT

Sapporo GMS

NTT 64Kbs

User

Kobe MCS
Ibaraki
Fukuoka GMS Tokyo MCS
GMS

KDD 128Kbs
Hawaii MRS
MCS Master Control Station
MRS Monitor and Ranging Station
Naha GMS Australia MRS
GMS Ground Monitor Station

MSAS is the Wide area Augmentation System of Japan like WAAS and is based on MTSAT.
ICG 2007, Bangalore meet
 QZSS Navigation System

Navigation System Architecture

Navigation Signals
L1: 1575.42 MHz
QZSS
L2: 1227.60 MHz
L5: 1176.45 MHz
LEX: 1278.75 MHz ＧＰＳ
WDGPS Correction
TWSTFT Message, LEX NAV
Up: 14.43453GHz
Down: 12.30669GHz L1-SAIF: 1575.42 MHz
LEX: 1278.75 MHz

Laser Ranging

TT&C, NAV
Message Upload**

Monitor Station NW Time Management TT&C ・ NAV

SLR Site Station Message Uplink
Station

User Receiver

Master Control Station （ MCS)

Geonet （ GSI ）
Function distributed in each institute
Timing management, WDGPS
correction, etc.

**: Under trade-off study between S (Up: 2025-2110, Down: 2200-2290MHz)

and C (Up:5000-5010, Down:5010-5030MHz) band
SLR: Satellite Laser Ranging, TWSTFT: Two Way Satellite Time and Frequency Transfer
BEIDOU – Chinese regional satellite Navigation System
• Beidou system consists of two geo-synchronous
satellites in space and a third used as back up, a
control centre located at Beijingand number of
monitoring and calibration stations on ground
distributed through out China and the Beidou
positioning receivers.

• Beidou system is fully operational in early 2004.

• Similar to that of the Geostar regional navigation

system. - Radio determination satellite service
(RDSS) New Chinese
Regional system
• Besides positioning, the system can perform two announced is
way data communication. named as
– Users can determine their position and also transmit COMPASS and may
messages to each other.
consist of GEO, and
• Accuracy (H – about 100 meters, some MEO
T synch < 10 ms, T accuracy < 100 ns) components
 INDIAN SCENARIO IN GNSS

• Satellite Positioning System (SPS) in IRS &

Scientific satellites & GAGAN
• Participation in GALILEO & GLONASS
• Having our own regional constellation (IRNSS)

• Ionospheric & Tropospheric – Studies and modeling

India may become biggest user of GNSS for GIS,
mobile, survey, mining, fishing industry, aviation,
road, rail transport, etc.
NATIONAL SPACE SYSTEMS

GNSS
LAUNCH INSAT IRS GAGAN
VEHICLES Applications Science
IRNSS
 INDIAN AIRSPACE TO BE SERVICED

40

35

30

25

20

15

10

­5

­10
40 50 60 70 80 90 100 110
 C BAND
GPS L1 & L2 L1 & L5 GEO GPS L1 & L2

GPS Nav Data GEO D/L GPS Nav Data

in L1
GEO D/L
in L1

GAGAN USER
GPS and GEO
INRES
Broadcast Messages
INRES GPS & GEO data
GPS & GEO data D/L in C and L
INMCC U/L in C
GAGAN COVERAGE THROUGH INSAT
BANGALORE INLUS
Correction BANGALORE
Messages
INDIAN S-BAS PROGRAM – GAGAN
GPS AIDED GEO AUGMENTED
NAVIGATION
 Indian Master Control Centre
• The INMCC has been established in
GAGAN AAI premises with all the
infrastructure and facilities at
Kundalahalli, Bangalore

• Factory Acceptance and Site Acceptance

testing of INMCC subsystems have
been completed

• Preliminary System Acceptance Testing

(PSAT) of GAGAN subsystems has been
GAGAN Master Control Facility successfully carried out with Satellite
Emulation Subsystem.

GAGAN Display System Service Monitoring Subsystem

 Indian Land Uplinking Station
• Factory Acceptance and Site
Acceptance testing Indian
Land Uplinking Station
(INLUS) subsystems have
been completed

• INLUS is co-located with

INMCC, Kundalahalli.
GAGAN Uplinking Facility
• A 11 meter C-band dish
antenna has been installed. C-
band feed is under integration.

• KPA and INLUS-RF rack has

been integrated and installed
at the site.

GAGAN INLUS RF and Signal Generation

Subsystems
 Indian Reference Stations
• All the eight Indian Reference Stations
(INRES) have been established. Factory
Acceptance and Site Acceptance testing
INRES have been completed. All the
INRES stations have been linked to
INMCC by Optical Fibre Links except for
Port Blair.

• The indigenously designed Navigation

payload bread-board testing has been
completed and flight model fabrication is
Reference Station Antenna under progress.

• Indigenous development of Navigation

software is under development at ISAC.
Algorithm for major S/W modules have
been designed and being coded. Real
time data from INMCC is being archived
in the navigation Software Laboratory

• The TEC data received from 18 TEC

Reference Station Rack
station is being archived at SAC,
Ahmedabad. Iono/Tropo model activity
is in progress. Scientists to whom study
contracts have been awarded submitted
their report.
Preliminary System Acceptance Test Results

PSAT Exit Criteria

– Position
Accuracy better
than 7.5 Meters

Achieved
position
accuracy in
North, East
and Up
directions is
better than
the Exit
Criteria
GGTA
Locations of GAGAN Reference Stations
and
TEC stations
 POSITION OF MAGNETIC EQUATOR AND
SCINTILLATION REGIONS

• INDIAN REGION EXPERIENCES UNPREDICTABLE

IONOSPHERIC DISTURBANCES
• SUCCESS OF GAGAN IS DEPENDANT ON THE STUDY AND
MODEL THE IONOSPHERE OVER THE REGION.
 GAGAN PERFORMANCE
SPECIFICATIONS
Accuracy Integrity Time-to-Alert Continuity Availability

1-10-4/hr to 0.99 to
En route 3.7 km (H) 1-10 per hr
-7
5 min
1-10-8/hr 0.99999

1-10-4/hr to 0.999 to
Terminal 0.74 km (H) 1-10 per hr
-7
15 sec
1-10-8/hr 0.99999

Initial & Int

Approach, 1-10-4/hr to 0.99 to
NPA, 220 m (H) 1-10 per hr
-7
10 sec
1-10-8/hr 0.99999
Departure

220 m (H) 1-2x10-7 per 1-8x10-6/hr in 0.99 to

APV-I approach 10 sec any 15 sec
20 m (V) 0.99999

16 m (H) 1-2x10-7 per 1-8x10-6/hr 0.99 to

APV-II 6 sec
8 m (V) approach in any 15 sec 0.99999
 IMPACT AND APPLICATIONS OF GAGAN

TECHNOLOGY ISSUES
•INTEGRATED RECIEVER SYSTEMS
•PRECISE ORBIT DETERMINATION
• WAD CORRECTION
•ATMOSPHERIC CORRECTION
•INTEGRITY MONITORING
 THREAT MODELS & MONITORS

 SAFETY ISSUES

• S-BAS MESSAGES, UPLINK &

SYNCHRONIZATION
SHIP ROUTING

NAVIGATION/
APPLICATIONS
LANDING •NAVIGATION - AIR, SEA & LAND
•POSITIONING APPLICATIONS -
SURVEY
•IMAGE CORRECTION
•GIS
IMAGE CORRECTION/ ROAD NAVIGATION •KINEMATIC SURVEYS
MAP MAKING •SURVEILLENCE/FLEET
MONITORING
340
1320

550 1110

830

IRNSS
INDIAN REGIONAL NAVIGATIONAL SATELLITE SYSTEM
 IRNSS Architecture
• Space Segment
– Seven satellite configuration, 3 SVs in Geo-Stationary orbit ( 34°,
83° and 132° East), 4 SVs are in GEO Synchronous orbit placed at
inclination of 29 ° (with Longitude crossing at 55° and 111° East)
– The configuration takes care of continuity of service with a failure
of one satellite.
– The satellites are of 1 ton class with navigation payload of 102
Kgs and power consumption of 676 Watts .
– There will be two downlinks (L and S bands) providing dual
frequency operation with EIRP of 31.5 dBW at EOC.
– The payload will have 3 Rubidium clocks.
• Ground Segment
– Master Control Center
– IRNSS Ranging & Integrity Monitoring stations (IRIM)
– IRNSS Telemetry and Command stations
– Navigation Control Centre
– IRNSS Network Timing Centre
• User Segment
Planned operationalization by 2011-2012
 IRNSS Coverage Area
HDOP & VDOP (99%) for the
Proposed Constellation
GEO 34,83,132
GSO 55(55,235), 111(111,291)
User Mask Angle 5deg
 IRNSS Error Budget
SYSTEM IRNSS(D) GPS(D)

Error (1 sigma) (1 sigma)

EPH 2.0 1.4
Clock 2.0 1.8
Ionosphere 1.2 0.5
Troposphere 0.2 0.2
Rx. Noise 0.6 0.6
Multipath 1.0 1.5
UERE(m) 3.3 2.84
HDOP 3.0 1.5
VDOP 3.0 2.3
Pos. Accu.-H(m) ~9.9 4.3
~9.9
Pos. Accu.-V(m) 6.5

IRNSS system provides the Dual frequency user with

a targeted position accuracy better than 10 metres
in the coverage area.
• NAVIGATION • NATURAL RESOURCE AND LAND
– SPACECRAFT MANAGEMENT
– GIS INGEST
– AIRCRAFT
– FOREST MENSURATION
– SHIP
– TOWN PLANNING
– VEHICLE – FLEET MOVEMENT
• GEOGRAPHIC DATA – ROUTING/ALIGNMENT
COLLECTION • MONITORING THE HEALTH OF TALL
– MAPPING BUILDINGS/TOWERS, LONG BRIDGES

– SURVEYING • Power grid synchronization

– ENGINEERING • AGRICULTURE
– PRECISION FARMING
• SCIENTIFIC RESEARCH
• EMERGENCY RESPONSE
– ATMOSPHERIC STUDIES
– SEARCH AND RESCUE
• GEODYNAMICS • BUSINESS SOLUTIONS
– CRUSTAL MOVEMENTS – LOCATION BASED SERVICES
– CRUSTAL DEFORMATIONS • MOBILE
• TOURISM
• MILITARY
• RETAILING/Banking
Assisted GNSS Applications
Satellite positioning
Satellite positioning
augmentation systems
systems (GPS, Galileo,
(EGNOS, WAAS)
GLONASS)

Mobile Inertial navigation

communications ASSISTED-GNSS sensors (implemented
signaling network(s) POSITIONING into the rover itself:
ALGORITHM accelerometer,
barometer)

Location server(s)
Fixed
telecommunications Terrestrial positioning
network nodes with systems (LORAN C)
short-range wireless
data communications
equipment (Bluetooth,
WLAN)
 AREAS OF RESEARCH & DEVELOPMENT IN
POSITIONING AND TIMING SYSTEM
(GNSS)

SCIENCE
• IONO-TROPO MODELLING IN THE
EQUATORIAL REGION IN L-BAND
• RADIO OCCULTATION STUDIES
FOR NEAR EARTH
ATMOSPHERIC TEMPERATURE
PROFILE
• REAL-TIME WEATHER
FORECASTING
TECHNOLOGY
• PRECISION ORBITS
• TIME SYNCHRONISATION
• DEVELOPMENT OF NAVIGATION
SOFTWARE
• ATOMIC CLOCK – RUBIDIUM, CESIUM,
HYDROGEN MASERS
• ISOFLUX ANTENNAS FOR SPACECRAFT
• DUAL RECEIVERS (GPS+GLONAAS,
GPS+GALILEO)
• ACCURATE ESTIMATE OF PHASE DELAYS
ONBOARD SATELLITE
 Issues related with GNSS
• Interoperability refers to the ability of open global
and regional satellite navigation and timing services
to be used together to provide better capabilities at
the user level than would be achieved by relying
solely on one service or signal.

• Compatibility refers to the ability of space-based

positioning, navigation, and timing services to be
used separately or together without interfering with
each individual service or signal.
 Issues related with GNSS
• Intentional and Unintentional Interferences
• Multipath, Indoor and Urban Environment
• Over crowding of Frequency Spectra
• Need for higher anti-jamming margins
• Protection of RNSS and Radio Astronomy bands
• Continuity of existing and planned constellations
• Ionospheric and Solar weather impact on GNSS signals
• Standardization of Civilian Signals and Receivers
• Universal Time and Reference Frames (Each
Constellation as of today has adopted different time and
geodetic reference frames)
 CONCLUSION

After all, we need measurements of space and time for

almost all our activities and GNSS provides these.

Hence, GNSS will influence our life more than any other
technological advent.