Global Positioning System

Global Positioning System (GPS)
an all-weather, space-based, radio-navigation system designed by the U.S. Department of Defense (DOD) known as the Navstar Global Positioning System (NAVigation Satellite Timing And Ranging)
initiated in 1973 to reduce the proliferation of navigation aids. accuracy improvements over earlier ground based radio navigation systems and can be used world-wide. downing of Korean Airlines flight 007 over the Soviet Union.
Engineering Surveying II
Department of Construction (MH)
Global Positioning System: 1

How GPS Works

available to the world free of charge. its accuracy has been degraded for general user. degradation is called Selective Availability or SA affects stand alone navigation. completely removed by using two or more receivers differentially.
man-made constellation of stars. improvement on celestial navigation. instead of measuring imprecise angles to stars of known angular position, measurement to precise distances to artificial stars with known 3-D position.
How GPS Works
How GPS Works
21 primary satellite constellation with 3 operational spares - total of 24 satellite constellation space commander's mandate is to provide 21 working satellites at all times. visibility of 5 to 9 satellites world-wide 24 hours a day.
satellites orbit the earth every 12 hours in circular orbit at about 20,200 kilometres. 6 orbital planes with 4 satellites per plane. 2 of the orbital planes inclined at 55 degrees to the equator and spaced equally at 60 degrees around the equator.
How GPS Works
How GPS Works
monitor and uplink stations are located around the world. controlled by the master control station at Falcon Air Force Base in Colorado Springs, Colorado.
continually monitored at Falcon Air Force Base and on Hawaii, Ascension Island in the Atlantic Ocean, Diego Atoll in the Indian Ocean, and Kwajalein Island in the South Pacific Ocean.
How GPS Works
Advantages Of GPS
Updated ephemeris (health and orbit) information is periodically uplinked to the satellites for re-broadcast in the satellite message. Users receiver calculate the positions of the satellites and by applying the ranges (distances) it measures to the satellites, the receiver can compute its own position.
allows extremely accurate positioning worldwide in all kinds of weather. no need to be able to see stars or landmarks to accurately position a vessel, vehicle, person or survey mark. allows surveyor to perform surveys to accuracy levels impossible conventionally.
Advantages Of GPS

Limitations Of GPS

quick and economically. suited to bringing in plane coordinate control for projects of all types -- boundaries, well locations, route alignments, mapping control.
must have clear line of sight to the satellites. signal is very low in tracking in foliage. signal would not be discernible at all from the background noise without the presence of the pseudo-random noise (PRN) code modulated on the carrier frequency.
Limitations Of GPS
Applications Of GPS
Canyons (urban or natural) are areas of very limited usability. mountains, buildings and trees pose visibility problems. limited to surface surveys and obstructions to satellite visibility should be as few as possible.
used in many areas of navigation and surveying and its application list is growing daily. used to establish position for many things, from single receiver positioning of airlines in flight and ships at sea to the measurement of minute movements in the earth's surface.
Applications Of GPS
Applications Of GPS
rent autos in several test market areas with GPS sensors and map display screens which will graphically show your present location and the location you are travelling to. Surveyors are currently using GPS for any kind of location survey where all points cannot be seen from one place.
control aerial photogrammetry from the air and not the ground, especially with attitude determining GPS systems. 3-D position control of dredges, and roadgraders is possible by plugging a digital terrain model CD-ROM into the road grader's computer and automatically blading out a road to grade.
Applications Of GPS
Applications Of GPS
worldwide remote control of vehicles to submeter accuracy is possible. General navigation

Extremely accurate Ocean wide positions Recreational sailing and racing Bay and coastal navigation Return to great fishing holes without leaving a buoy
Vehicle tracking Trucks, trains. buses. maintenance vehicles ambulances, police cars, stolen cars airplanes, ships, cargo containers taxis, rental cars just-in-time manufacturing
Applications Of GPS
Applications Of GPS
Hydrographic location Platform location, seismic vessels, charting vessels Dredging. channel navigation, inclement weather positioning Obstruction locations, collision avoidance positioning
Facilities location Utility poles, manholes, water and gas valves Maintenance problems. road hazards. Accidents Controlling stereo video camera positions for road inventory Signs, bridges and culverts
Applications Of GPS
Applications Of GPS
Surveying
Aerial photo control. topographic surveys Statewide high precision geodetic networks City and county networks Large boundary surveys section and township breakdowns Subsidence surveys (ground water. oil. mining) Dam deformation surveys, Core hole locations Utility, pipeline and highway routes Plate tectonics
Agriculture and biology Tractor location for smart application of chemicals Drainage surveys and watershed modelling Wetlands mapping. habitat mapping
Applications Of GPS
GPS Coordinate System
Archaeology
Site location, site relationships Returning to sites without leaving physical marks
based on the Earth Centred Earth Fixed (ECEF) Cartesian coordinate system. origin is the centre of the mass of the earth. X axis is aligned with the Greenwich Meridian. In the plane of equator. the Y axis is aligned 90 degrees to the X axis
Environmental surveys
Spill and accident locations Sample locations Tracking hazardous shipments

M e r i d ia n t h r o u g h A N o rth p o le E llip so id

Z axis runs approx. through the poles. all of the positioning and vector measurement mathematics is performed in this system. an ellipsoid has been defined that best fits the shape the earth. WGS 84 ellipsoid.
N o rm a l A
G re e n w ic h m e rid ia n
P o la r a x i s E q u a to ria l p la n e
S o u th p o le Department of Construction (MH)
latitude, longitude, and height are specified in relation to this ellipsoidal surface. receiver computes its position in X, Y and Z. calculates and displays it position in latitude, longitude and height. other positional systems must be translated, rotated and scaled from the WGS 84 positions using transformation parameters.
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done in the post processing stage or in realtime for some receiver. next step: computing rectangular grid coordinates on a mapping projection such as UTM or Hong Kong Grid Coordinates. grid coordinates are used for mapping, GIS positioning. survey plans. and right-of-way plans.
GPS Accuracy

rectangular system: provide simple coordinate geometry computations and consistent azimuths, unlike the curved geodetic surface.
accuracies ranges from 100 m to mm. single receiver using C/A code - 100 meters 2-D rms (150 meters vertical) 95% of the time with SA turned on. two receivers using dual frequency carrier, phase measurements - millimetres over large distances approaching one part in 109.
GPS Accuracy
GPS Accuracy
for accuracy better than 100 meters need at least 2 receivers; Then apply differential range corrections for code phase measurements; or difference out common errors for carrier phase measurements.
accuracy depends on the observables use and the time span of the observations. For navigation and real-time applications:
instantaneous position accuracy is highly influenced by satellite geometry.
GPS Accuracy
For longer surveying sessions,
GPS Accuracy
Satellite geometry Dilution of Precision (DOP) calculations = ratio of the positioning accuracy to the measurement accuracy, or = DOP O O = the measurement accuracy (standard deviation), = positioning accuracy (e.g., standard deviation in one coordinate).
effect of poor geometry is not vital because it can be averaged with periods of good geometry. good satellite geometry is very important in getting good positions.
GPS Accuracy
Position Computation
unitless numbers indicating the geometric strength of the figure formed by the user and the satellites. the smaller the DOP value, the stronger the geometry of the figure.
receiver computes its position by measuring the distance (range) to satellites of known position. a stopwatch measurement; range = speed of light multiplied by the time of signal transmission In racing, speed of the racer = distance travelled x time taken to complete the race

GDOP (three position coordinates plus clock offset in the solution) PDOP (three coordinates) HDOP (two horizontal coordinates) VDOP (height only) TDOP (clock offset only), and HTDOP (horizontal position and time)
In GPS, the speed of the signal (the speed of light) is known. by measuring the time, the signal takes to get to our receiver, we can compute the distance it travelled. receiver measures the time it takes the signal to reach the receiver from the satellite by correlating a code sent by the satellite to a replica code generated in the receiver.
amount of shift between the two signals equals the time of transmission.
Code Correlation
dT dT = Time of transmission = Range
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Timing is the vital component in the process
In EDM, one clock is used to measure the time of the reflecting light waves. In GPS, two clocks, the satellite clock and the receiver clock, are used. If use only one clock, we need only three satellites to compute a good 3-dimensional position. For two clocks , fourth measurement is required to solve for four unknowns - X, Y, Z and T (our receiver clock offset).
a nanosecond (a billionth of a second) = about 3 decimetres (one foot) of range a microsecond (millionth of a second) = about 300 meters (980 feet) a millisecond (a thousandth of a second) = about 300 kilometres (186 miles)
Clock offset results in large errors in position computation because the receiver clock is simply a quartz oscillator - slightly better than your wristwatch (remember a millionth of a second is 300 meters).

time is distance. small time errors can lead to large range errors. receiver measures the time interval by correlating a code. How exactly is this done? What is this code that the receiver uses to measure the time interval?
Y X Z T
Receiver Clock Offset
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two ranging codes available. for single frequency receivers, only one code is used. this code is the C/A or Coarse Acquisition code which contains no information. a unique pattern of bits, on or off, that is repeated over and over. created with bi-phase modulation of the carrier frequency.
C/A code is 1024 bits long, and is repeated every millisecond. 32 unique codes reserved which allow to identify individual satellites and measure ranges to them.
Carriers L2
L1 Modulated Carrier
Ranging Code
satellites modulate own C/A code on the same Ll (1575.42 MHz) frequency. each receiver channel generates replica codes, cycling through the available codes until it finds a match. once a channel locks on to the signals from a satellite, the receiver clock can be synchronised to GPS time from the satellite.
ranges are measured by comparing the time shift between the receiver generated and the satellite generated codes. once at least four satellites have valid ranges and the receiver can determine where the satellites are, the receiver can start to compute its position.
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How does the receiver know where the satellites are so that it can calculate its position? How do we get this information from a code that is simply a pattern containing no information?
the broadcast message is also modulated on the ranging code. every 20 repetitions of the C/A code (every 20 milliseconds) marks a bit boundary in the broadcast message. to change the value of the bit, the ranging code is inverted. message is broadcast at 50 bits per second.
message contains clock corrections, satellite health information and orbital parameters, among other things.
19 20 1 Code is inverted Message bit changes
orbital parameters allow the receiver to compute the satellite positions at any instant. selective availability is only accurate to about 100 meters horizontally and 150 meters vertically - 95 percent of the time. 99 percent of the time, it is accurate to within 300 meters horizontally.
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Better Positioning Accuracy

100 meters is bull's eye accurate for:


one receiver is on a known position, range corrections can be calculated and then passed to any number of remote receivers.
X,Y,Z X,Y,Z
a transcontinental flight, driving across a trackless desert or sailing in the middle of the ocean. For increased accuracy, at least two receivers are required in order to remove common errors by differencing.
X,Y,Z
simple inverse between known receiver position and known satellite positions (from the broadcast ephemeris) to establish the correct range. ranges are then subtracted from measured pseudo-ranges to compute the range corrections. applied to remote receiver's measured ranges before the position is computed.
differential correction can be applied in realtime (with communication links between receivers) or in post processing. using C/A code, a position computed using the differentially corrected ranges is typically within 2 to 5 meters of its true position. using P code, corrected position is submeter, usually around 3 decimetres.
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P code contains no information and is a more complex code with a faster chipping rate (10 MHz as opposed to 1 MHz) that allows resolving the range more accurately. also modulated on the L2 (1227.60 MHz) carrier frequency and on the Ll carrier frequency.
P code allows comparing of the differing delays in the signals and compute the true ionospheric delay. ionospheric delay is one of the largest errors. How do we get centimetres or even millimetres out of our measurements ?
method of measurement is changed from stopwatch to a ruler.


switch to measuring the phase of the carrier wavelength.
introduce ambiguity into measurement. as Ll wavelength is very short (about 19 centimetres) and the ambiguity is the whole number of wavelengths associated with our phase measurement. receiver cannot determine the number of whole wavelength associated with the first measurement.
The elements of carrier phase ranging
Fractional phase measured
Unknown number of whole cycles associates with the first measurement, i.e. the initial range ... determined in postprocessing.
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receiver can track the change in range throughout the observation. through post processing techniques the initial phase ambiguity, or integer bias can be determined (initial ranges to satellites) requires the processing of simultaneously measured data from two or more receivers.
previously this processing was done in the office or hotel room after observations. possible to do this in real-time (using a communications link to combine the data from two receivers) now. provides capability to do setting out.
Carrier Phase Differencing
Carrier Phase Differencing
range corrections are not computed and passed. differencing the actual phase measurements and removing common errors as satellite ranges and survey vectors are solved. purpose of differencing measurements is to remove common errors.
there are many errors which are not under our control; and cannot be measure accurately. By differencing, any common errors cancel out in the equations.
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Global Positioning System

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Global Positioning System (GPS)

Global Positioning System (GPS)

Department of Construction (MH)

Global Positioning System: 1

Department of Construction (MH)

Global Positioning System: 2

Global Positioning System (GPS)

How GPS Works

Department of Construction (MH)

Global Positioning System: 3

Department of Construction (MH)

Global Positioning System: 4

How GPS Works

How GPS Works

Department of Construction (MH)

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Department of Construction (MH)

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How GPS Works

How GPS Works

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Department of Construction (MH)

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How GPS Works

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worldwide remote control of vehicles to submeter accuracy is possible. General navigation

Department of Construction (MH)

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Department of Construction (MH)

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GPS Coordinate System

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GPS Coordinate System

GPS Coordinate System

S o u th p o le Department of Construction (MH)

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