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early solutions:
• marking trails with piles of stones
(problems when snow falls…or on ocean)
• navigating by stars
(requires clear nights and careful measurements)
most widely used for centuries
…location within a mile or so
modern ideas:
• LORAN: radio-based; good for coastal waters
…limited outside of coastal areas
• Sat-Nav: low orbit satellites; use low frequency Doppler
…problems with small movements of receivers
Department of Defense finally said:
“we need something better: all-day and all-night; all terrain”
end-product is Global Positioning System (GPS)
• system (constellation) of 24 satellites in high altitude orbits
(cost ~ $12 billion)
• coded satellite signals that can be processed in a GPS
receiver to compute position, velocity, and time
• parts of system include:
space (GPS satellite vehciles, or SVs)
control (tracking stations)
users
first one launched in 1978
….June 26, 1993
Air Force launched 24th SV
orbit ~ 12 hours
27 satellites: 24 operational and 3 spare
ground tracks
basic concept is that the GPS constellation replaces “stars” and
gives us reference points for navigation
GPS block II
weigh ~1900 lbs.
GPS block I built by Rockwell
step 1: using satellite ranging
this is if clocks
were correct…
location of receiver is X
what if they weren’t correct?
what if receiver wasn’t perfect? “real” time
…receiver is off by 1 second
XX
XX position is wrong;
caused by wrong time
measurements wrong time
how do we know that it is wrong?
…measurement from third satellite (fourth in 3D)
3rd satellite at 3 seconds
all 3 intersect
at X…
if time is correct
XX