Global

Positioning
System
(GPS)
Planned Lifespan: 7.5 years
Weight: 1900 lbs (in orbit)
Size: 17 ft with solar panels

GPS Constellation
Altitude: 10,900 nautical miles (26561
The current GPS constellation km semi-major)
consists of Orbital Period: 12 hours
Orbital Plane: 55o to equatorial plane
32 Block II/IIA/IIR/IIR-M Six Orbital Planes
satellites. 3.87km/s
24 satellites
Three Segments of GPS
GPS Satellite
GPS Orbit Configuration
GPS IIRb
Master Control & Monitor Station Network
 GPS Frequency Scheme
Band Frequency(MHz) Description

L1 1575.42 Coarse-acquisition (C/A) and encrypted precision

P(Y) codes, plus the L1 civilian (L1C) and military (M) codes on future
Block III satellites.

L2 1227.60 P(Y) code, plus the L2C and military codes on the
Block IIR-M and newer satellites

L3 1381.05 Used for nuclear detonation (NUDET) detection.

L5 1176.45 Proposed for use as a civilian safety-of-life (SoL)

signal.
 Spread Spectrum Technique

Substantial increase in Bandwidth

Spreading Original signal using noise like
than required
sequence i.e. Pseudo Random Noise
(PRN) sequence
Mitigate harmful effect of Interference
Deliberate
Inadvertent

37 Gold Codes (PRN sequence) have been identified for GPS

Each sequence has unique number : Each satellite is identified by this number
 Signal Structure
Each satellite carries FOUR cesium and rubidium atomic clocks which are periodically
updated from a ground station in Colorado.

The GPS Navigation Message contains parameters that describe the location of the
GPS satellites, their clock offsets, and various other system parameters.

The Navigation Message consists of 25 data frames, each divided into five sub-frames.
The sub-frames are 300 bit sequences. Bits are transmitted at 50 bits per second. Each
sub-frame takes 6 seconds, each frame 30 seconds, and the entire set of 25 frames
takes 750 seconds (12.5 minutes) to complete.
 Output
Sequence Clock

a CL b CL c CL d CL e
D Q D Q D Q Q
D

Clock 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
a 0 1 0 1 1 0 0 1 0 0 0 1 1 1 1 0
b 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1 1
c 1 1 0 1 0 1 1 0 0 1 0 0 0 1 1 1
d 1 1 1 0 1 0 1 1 0 0 1 0 0 0 1 1
e 1 1 1 1 0 1 0 1 1 0 0 1 0 0 0 1
First 100 bits of PRN #1 and PRN #22
2nd order Doppler <9547km<
(Special) Grav. Poten. (General)
2 fo = received
f f'
1
v
U v
o
'
o

2 2
.71
05

fo 2c
c cma
x fo = emitted

GPS Orbit Radius =26562 km and

fo '
fo
'
4
.4
61
01
0

fo
fo - fo= 4.56x10-3 Hz at 10.23 MHz for GPS
Thus, Frequency of the Base Oscillator ( fo )
= 10.229 999 999 544 MHz

Relativistic Effects on GPS Clock

Amplitude Modulation Frequency Modulation

Phase Modulation (BPSK)

 The GPS Week Number count began at approximately midnight on
the evening of 05 January 1980 / morning of 06 January 1980. Since
that time, the count has been incremented by 1 each week, and
broadcast as part of the GPS message. The GPS Week Number
field is modulo 1024. This means that at the completion of week 1023,
the GPS week number rolled over to 0 on midnight GPS Time of the
evening of 21 August 1999 / morning of 22 August 1999.
Note that this corresponded to 23:59:47 UTC on 21 August 1999.

Week beginning GPS Week Number

at 0000 GPS Time on broadcast by satellites
06 Jan 1980 1
13 Jan 1980 2
15 Aug 1999 1023
ROLLOVER
22 Aug 1999 0
29 Aug 1999 1

Seconds are counted from 0 Hrs UTC Sunday to 24 Hrs UTC Saturday and counted
number of seconds for the respective time of the day are broadcast as SOW (0 to
604800).
 GPS Calendar
Row Example Definition
First 7 Calendar day of the month
Second 1643:4 Full GPS week since 1st epoch : day of week number
Third 619:345600 GPS Week since latest epoch : seconds of week at midnight of day
Fourth 188 Julian Day Number
The GPS clocks are free-running and their rate is monitored against
GPS Time (GPST). GPST is itself kept synchronised within 1
millisecond to UTC as defined by the U.S. Naval Observatory (after
taking into account the leap second offsets) and is also made available
to all GPS users via clock error coefficients in a polynomial form:

= a0 + a1 (t - toc) + a2 (t - toc)2
where:
a0 is the clock bias term, (t0)
a1 is the clock drift term, (y0)
a2 is the clock drift-rate, (ya)
t is the satellite clock time (seconds in the
GPS week), and
toc is the reference epoch for the coefficients
(seconds in the GPS week).
NPL, New Delhi India
 Received
Code

Receivers
CorrelationCode
between Received Code and Receivers Code
 xs,ys,zs,ts Code-based
S Time transfer

R xr,yr,zr,tr

(xr - xs)2 + (yr - ys)2 + (zr - zs)2

tr ts= + tr-s
PSEUDORANGE
c RANGE TIME OFFSET

8/21/17 34
 GPS RECEIVER FOR TIMING

MULTICHANNEL(sat) RECEIVER

Unknown: 4 parameters
(3 coordinates and time)

4 satellites to be tracked (Method I)

SINGLE CHANNEL(SAT) RECEIVER

Known: 3 coordinates of Receiver

Unknown: (One parameter) TIME

1 satellites to be tracked (Method II)

8/21/17 35
 Sources of Error
To understand the potential for GPS, it
becomes important to understand the
limitations.

NPL, New Delhi India

 Sources of Error
Satellite
Clock bias
Orbital errors (ephemeris)
Signal
Ionospheric refraction
Tropospheric refraction
Receiver
Antenna phase center variation
Clock bias
Multipath

NPL, New Delhi India

 OBSERVABLES

I ) Code

Code = 300 m 1% => 3m

R= P +C*

II) Phase (Carrier)

Carrier phase Carrier = 19cm 1% =1.9mm

= (1/ )* P + (C/ )* +N
Where N is Ambiguity.

P= f (Xs,Ys, Zs, Xr,Yr, Zr, )

NPL, New Delhi India

 Error Budget
Pseudorange

p = + c (dt dT) + dion + dtrop + p

Carrier phase

= + c (dt dT) + N - dion + dtrop +

NPL, New Delhi India

 Satellite Clock Bias
dt

Error is noted in subframe 1 of the Navigation message

p = + c (dt dT) + dion + dtrop + p

NPL, New Delhi India

 Ionospheric Effect
Ionospheric delay
dion
broadcast correction
removes only of the
ionospheric effect
Speed of light reduced

Error is noted in subframe 4 of the Navigation message

p = + c (dt dT) + dion + dtrop + p

NPL, New Delhi India
 Receiver Clock Bias
dT

p = + c (dt dT) + dion + dtrop + p

NPL, New Delhi India

Orbital Bias Where am I?

Ephemeris bias

Error is noted subframe 1 of the Navigation message

Also known as the broadcast ephemeris

NPL, New Delhi India
 Tropospheric Effect

Tropospheric delay
dtrop
were stuck with this

Speed of light reduced

dion error is noted in subframe 4 of the Navigation message

p = + c (dt dT) + dion + dtrop + p
NPL, New Delhi India
 Multipath
GPS signal bounces before
hitting antennae
Provides inaccurate
positional reading
Causes include buildings,
vehicles, rock cliffs, etc

NPL, New Delhi India

 Multipath
p

Signal reaches receiver

after reflecting off other
objects

E.g., The Urban

Canyon

p = + c (dt dT) + dion + dtrop + p

NPL, New Delhi India
 Receiver Error
p

Rounding off
(# of decimal places)

Calculation errors
(adding fractions)

p = + c (dt dT) + dion + dtrop + p

NPL, New Delhi India

Typical Error Budget for GPS

Source Error(1) %

Sat Clock 1.5m 8.02

Orbit 2.5m 13.37

Ionosphere 10m 53.47

Troposphere 2.0m 10.7

Rx Noise 1.5m 8.02

Multipath 1.2m 6.42

Total 18.7m 100

NPL, New Delhi India

 Global Navigation Satellite System
Global Positioning System (GPS)
GLONASS
Galileo
BeiDou (Compass) Navigation Satellite System
Quasi-Zenith Satellite System (QZSS) with
Satellite Based Augmentation Systems (SBAS)
Wide Area Augmentation System (WAAS) in the United States
European Geostationary Navigation Overlay Service (EGNOS) in
Europe
GPS Aided Geo Augmented Navigation (GAGAN) in India.
Multi-functional Satellite Augmentation System (MSAS) In Japan
Ground Based Augmentation Systems (GBAS) like Local Area
Augmentation System (LAAS)
Indian Regional Navigational Satellite System (IRNSS).