Position Estimation And

Pseudorange Measurement
GPS Position Location Principles
• The basic requirement of a satellite navigation system like
GPS is that there must be four satellites transmitting
suitably coded signals from known positions.
• Three satellites are required to provide the three distance
measurements, and the fourth to remove receiver clock
error.
• The three satellites provide distance information when the
GPS receiver makes three measurements of range, Ri, from
the receiver to three known points.
• Each distance Ri can be thought of as
the radius of a sphere with a GPS
satellite at its center. The receiver lies
at the intersection of three such
spheres, with a satellite at the center
of each sphere.
• A basic principle of geometry is that
the intersection of three planes
completely defines a point. Thus three
satellites, through measurement of
their distances to the receiver, define
the receiver location close to the
earth's surface.
Position Location in GPS
• The coordinates of the GPS receiver and the GPS satellites are defined
in a rectangular coordinate system with its origin at the center of the
earth. This is called the earth centered earth fixed (ECEF) coordinate
system, and is part of the WGS-84 description of the earth.
• GPS receivers use the WGS-84 parameters to calculate the orbits of
the GPS satellites with the accuracy required for precise
measurement of the range to the satellites.
• The Z-axis of the coordinate system is directed through the earth's
North Pole and the X-and Y-axes are in the equatorial plane. The X-axis
passes through the Greenwich meridian—the line of zero longitude
on the earth's surface, and the Yaxis passes through the 90° east
meridian. The ECEF coordinate system rotates with the earth. The
receiver coordinates are (Ux, Uy, Uz),and the four satellites have
coordinates
 (Xi, Yi, Zi), where I = 1,
2, 3, 4. There may be
more than four satellite
signals available, but we
use only four signals in
a position calculation.
The measured distance
to satellite is called a
psuedorange, PR
Ranging equations
equations which relate pseudorange to time delay
PR = T * c
Thank
you