INTERNATIONAL INSTITUTE OF MANAGEMENT, ENGINEERING & TECHNOLOGY, JAIPUR

A Seminar Report On Global Positioning System

Submitted in partial fulfillment of V Semester for the degree of

BACHELOR OF TECHNOLOGY In ELECTRONICS AND COMMUNICATION ENGINEERING

Submitted to: -

Submitted by:-

Mrs. SHILPA SHARMA (Head of Department)

AYUSH AGRAWAL
(V Semester)

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

INTERNATIONAL INSTITUTE OF MANAGEMENT, ENGINEERING & TECHNOLOGY, JAIPUR

CERTIFICATE

This is to certify that a Seminar report entitled Global Positioning System is submitted by AYUSH AGRAWAL (IIMET/BTECH/09/534), Student of 3rd Year V Semester in Electronics and Communication Engineering of Rajasthan Technical University, Kota during the academic year 2011-2012. The report has been found satisfactory and is approved for submission.
Mrs. Asha Jyoti Dubey Mr. Pankaj Uppal SEMINAR COORDINATOR Mrs. SHILPA SHARMA (H.O.D)
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ACKNOWLEDGEMENT
I am greatly thankful to my seminar guides Mrs. Aasha Jyoti Dubey and Mr Pankaj Uppal Electronics and Communication Department, who inspired to present my seminar on Global Positioning System . They helped and encourage me in every possible way . The knowledge acquired during the preparation of seminar report would definitely help me in my future ventures. I would like to express my sincere gratitude to Mrs. Aasha Jyoti Dubey and Mr. Pankaj Uppal, for finding out time and helping me in this seminar . I would also thank all the teacher of our Department for their help in various aspects during the seminar.

(Signature of student) (Ayush Agrawal) B. Tech. V Semester

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PREFACE

The Global Positioning System (GPS) is a space-based global navigation satellite system (GNSS) that provides location and time information in all weather, anywhere on or near the Earth, where there is an unobstructed line of sight to four or more GPS satellites. It is maintained by the United States government and is freely accessible by anyone with a GPS receiver with some technical limitations which are only removed for military users. The GPS project was developed in 1973 to overcome the limitations of previous navigation systems, integrating ideas from several predecessors, including a number of classified engineering design studies from the 1960s. GPS was created and realized by the U.S. Department of Defense (USDOD) and was originally run with 24 satellites. It became fully operational in 1994. In addition to GPS, other systems are in use or under development. The Russian Global Navigation Satellite System (GLONASS) was in use by only the Russian military, until it was made fully available to civilians in 2007. There are also the planned Chinese Compass navigation system and the European Union's Galileo positioning system.

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TABLE OF CONTENT

Certificate from the Institute..I Acknowledgement.II Preface......III Table of contents ...IV-V Figure Index...VI CHAPTER 1 - INTRODUCTION.. 1 CHAPTER 2 OVERVIEW OF GPS2-7 2.1 GPS SEGMENTS.. 2 2.1.1 THE SPACE SEGMENTS.. 3 2.1.2 THE CONTROL SEGMENTS 4 2.1.2.1 THE KEY FUNCTION OF THE CONTROL SEGMENT. 4 2.1.3 THE USER SEGMENTS............................................................. 5 2.2 CONTROL SITES.6-7 CHAPTER 3 BASIC GPS CONCEPTS.8-11 3.1 INTRODUCTION8 3.2 GPS PERFORMANCE REQUIREMENT... 8 3.3 BASIC EQUATION FOR FINDING USER POSITION...10 CHAPTER 4 WORKING OF GPS13 IV CHAPTER 5 GPS SATELLITE SIGNALS.....14 CHAPTER 6 APPLICATIONS15-16

CHAPTER 7 ADVANTAGES AND DISADVANTAGES.17 7.1 ADVANTAGES.17 7.2 DISADVANTAGES..17 CHAPTER 8 CONCLUSION AND FUTURE SCOPE.......18-19 8.1 CONCLUSION..18 8.2 FUTURE SCOPE..19

FIGURE INDEX
Fig. No. Fig.1.1 Topic Page No.

GPS SATTELITE.. 1

Fig.2.1 Fig.2.2 Fig.2.3 Fig.2.4 Fig.2.5 Fig.3.1 Fig.3.2 Fig.3.3 Fig.4.1 Fig.4.2

GPS CONSTELLATION..2 SPACE SEGMENTS.3 CONTROL SEGMENT FIGURE.4 SEGMENTS...5 GPS CONTROL SITES.6 ONE DIMENSIONAL USER POSITION9 TWO DIMENSIONAL USER POSITION...9 FIND KNOW POSITION11 SATELLITE..12 TRILATERATION...13

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CHAPTER-1 INTRODUCTION
The Global Positioning System (GPS) is a location system based on a constellation of about 24 satellites orbiting the earth at altitudes of approximately 11,000 miles. GPS is a radio navigation system that allows land, sea, and airborne users to determine

their exact location, velocity, and time 24 hours a day, in all weather conditions, anywhere in the world. The capabilities of todays system render other well-known navigation and positioning technologiesnamely the magnetic compass, the sextant, the chronometer, and radio-based devicesimpractical and obsolete. GPS was developed by the United States Department of Defense (DOD), for its tremendous application as a military locating utility. The DOD's investment in GPS is immense.

Figure 1.1 GPS SATTELITE

Billions and billions of dollars have been invested in creating this technology for military uses. However, over the past several years, GPS has proven to be a useful tool in non-military mapping applications as well. GPS satellites are orbited high enough to avoid the problems associated with land based systems, yet can provide accurate positioning 24 hours a day, anywhere in the world. Uncorrected positions determined from GPS satellite signals produce accuracies in the range of 50 to 100 meters. When using a technique called differential correction, users can get positions accurate to within 5 meters or less. (1)

CHAPTER 2 OVERVIEW OF GPS

GPS consists, nominally, of a constellation of 24 operational satellites. This constellation, known as the initial operational capability (IOC), was completed in July 1993. The official IOC

announcement, however, was made on December 8, 1993 .To ensure continuous worldwide coverage, GPS satellites are arranged so that four satellites are placed in each of six orbital planes (Figure 1). With this constellation geometry, four to ten GPS satellites will be visible anywhere in the world, if an elevation angle of 10 degree is considered. As discussed later, only four satellites are needed to provide the positioning, or location, information. GPS satellite orbits are nearly circular (an elliptical shape with a maximum eccentricity is about 0.01), with an inclination of about 55 degree to the equator. The semimajor axis of a GPS orbit is about 26,560 km (i.e., the satellite altitude of about 20,200 km above the Earths surface). The corresponding GPS orbital period is about 12 sidereal hours (~11 hours, 58 minutes). The GPS system was officially declared to have achieved full operational capability (FOC) on July 17, 1995, ensuring the availability of at least 24 operational, since GPS achieved its FOC, the number of satellites in the GPS constellation has always been more than 24 operational satellites.

Figure 2.1 GPS Constellation

2.1 GPS Segments

The GPS system is divided into three segments: The Space Segment The Control Segment The User Segment

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2.1.1 The Space Segment

GPS uses more than two dozen operational satellites, with an additional three satellites in orbit as redundant backup.

GPS uses NAVSTAR satellites manufactured by Rockwell International. Each NAVSTAR satellite is approximately 5 meters wide (with solar panels extended) and weighs approximately 900Kg. GPS satellites orbit the earth at an altitude of approximately 20,200Km.Each GPS satellite has an orbital period of 11 hours and 58 minutes. This means that each GPS satellite orbits the Earth twice each day. Highly accurate atomic clocks are installed on these satellites, operating at a fundamental frequency of 10.23MHz each. With the help of these clocks, signals are generated from the satellite, to be broadcast to the Earth. These twenty-four satellites orbit in six orbital planes, or paths. This means that four GPS satellites operate in each orbital plane. Each of these six orbital planes is spaced sixty degrees apart. All of these orbital planes are inclined fifty-five degrees from the Equator.

Figure 2.2 Space Segment

A visual example of the GPS constellation in motion with the Earth rotating. Notice how the number of satellites in view from a given point on the Earth's surface, in this example at 45N, changes with time.

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2.1.2.The Control Segment

The Control Segment is comprised of a master control station, 5 monitor stations and 4 ground antennas. All of these are strategically located along the Equator.

The Master Control Station (MCS) of the GPS system is operated at Schriever Air Force Base in Colorado Springs, Colorado. The United States Air Force maintains redundant Master Control Stations in Rockville, Maryland and Sunnyvale, California. The Air Force also maintains monitoring stations in Colorado Springs, Hawaii, The Ascension Islands, Diego Garcia, and Kwajalein. 2.1.2.1 Key Functions of the Control Segment The Control Segment keeps track of the orbiting position of the GPS satellites, calibrating and synchronizing their clocks. It also predicts the path of each satellite for the following 24 hours, and uploads this information to each satellite. Communications with the space segment are conducted through ground antennas in the Ascension Islands, Diego Garcia, and Kwajalein. The satellite signals are read here and the measurements sent to the Master Control Station in Colorado. The signals are processed there to determine any errors, and sent back to the four monitor stations with ground antennas, after which the information is uploaded back to the satellites.

Figure 2.3 control segment figure

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2.1.3.The User Segment

This part consists of user receivers which are hand-held or, can be placed in a vehicle.

All GPS receivers have an almanac programmed into their computer, which tells them where each satellite is at any given moment. The GPS receivers detect, decode and process the signals received from the satellites. The receiver is usually used in conjunction with computer software to output the information to the user in the form of a map. As the user does not have to communicate with the satellite there can be unlimited users at one time.

Space Segment

User Segment
Control Segment

Master Station

Monitor Stations
FIGURE 2.4 SEGMENTS

Ground Antennas

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2.2 Control Sites

The control segment of GPS consists of a master control station (MCS), a worldwide network of monitor stations, and ground control stations .The MCS, located near Colorado Springs, Colorado, is the central processing facility of the control segment and is manned at all times . There are five monitor stations, located in Colorado Springs (with the MCS), Hawaii, Kwajalein, Diego Garcia, and Ascension Island. The positions (or coordinates) of these monitor stations are known very precisely.

Figure 2.5 GPS Control Sites

Each monitor station is equipped with high-quality GPS receivers and a cesium oscillator for the purpose of continuous tracking of all the GPS sat- ellites in view. Three of the monitor stations (Kwajalein, Diego Garcia, and Ascension Island) are also equipped with ground antennas for uploading the information to the GPS satellites. All of the monitor stations and the ground control stations are unmanned and operated remotely from the MCS. (6) The GPS observations collected at the monitor stations are transmitted to the MCS for processing. The outcome of the processing is predicted satellite navigation data that includes,

along with other information, the satellite positions as a function of time, the satellite clock parameters, atmospheric data, satellite almanac, and others. This fresh navigation data is sent to one of the ground control stations to upload it to the GPS satellites through the S-band link. Monitoring the GPS system integrity is also one of the tasks of the MCS. The status of a satellite is set to unhealthy condition by the MCS during satellite maintenance or outages. This satellite health condition appears as a part of the satellite navigation message on a near real-time basis. Scheduled satellite maintenance or outage is reported in a message called Notice Advisory to Navstar Users (NANU), which is available to the public through, for example, the U.S. Coast Guard Navigation Center.

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CHAPTER-3

BASIC GPS CONCEPT

3.1 Introduction
This section will introduce the basic concept of how a GPS receiver determines its position. In order to better understand the concept, GPS performance requirements will be discussed first. These requirements determine the arrangement of the satellite constellation. From the satellite constellation, the user position can be solved. However, the equations required for solving the user position turn out to be nonlinear simultaneous equations. In addition, some practical considerations (i.e., the inaccuracy of the user clock) will be included in these equations. These equations are solved through a linearization and iteration method. The solution is in a Cartesian coordinate system and the result will be converted into a spherical coordinate system. However, the earth is not a perfect sphere; therefore, once the user position is found, the shape of the earth must be taken into consideration. The user position is then translated into the earth-based coordinate system. Finally, the selection of satellites to obtain better user position accuracy and the dilution of precision will be discussed.

3.2 GPS Performance Requirements

Some of the performance requirements are listed below:
1. The user position root mean square (rms) error should be 1030 m. 2. It should be applicable to real-time navigation for all users including the high-dynamics 3. 4.

5. 6. 7.

user, such as in high-speed aircraft with flexible maneuverability. It should have worldwide coverage. Thus, in order to cover the Polar Regions the satellites must be in inclined orbits. The transmitted signals should tolerate, to some degree, intentional and unintentional interference. For example, the harmonics from some narrowband signals should not disturb its operation. Intentional jamming of GPS signals is a serious concern for military applications. It cannot require that every GPS receiver utilize a highly accurate clock such as those based on atomic standards. When the receiver is first turned on, it should take minutes rather than hours to find the user position. The size of the receiving antenna should be small. The signal attenuation through space should be kept reasonably small.

These requirements combining with the availability of the frequency band allocation determines the carrier frequency of the GPS to be in the L band (12) GHz of the microwave range.

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X1

X1

X2

S1

S2

Figure 3.1 One Dimensional User Position

The position of a certain point in space can be found from distance measured from this point to some known positions in space. Let us use some examples to illustrate this point. In Figure 3.1, the user position is on the x-axis; this is a onedimensional case. If the satellite position S1 and the distance to the satellite x1 are both known. The user position can be at two places, either to the left or right of S1. In order to determine the user position, the distance to another satellite with known position must be measured. In this figure, the positions of S2 and x2 uniquely determine the user position U. Figure 3.2 shows a two-dimensional case. In order to determine the user position, three satellites and three distances are required. The trace of a point with constant distance to a fixed point is a circle in the two-dimensional case. Two satellites and two distances give two possible solutions because two circles intersect at two points. A third circle is needed to uniquely determine the user position. For similar reasons one might decide that in a three-dimensional case four satellites and four distances are needed. The equal-distance trace to a fixed point is a sphere in a three-dimensional case. Two spheres intersect to make a circle. This circle intersects another sphere to produce two points. In order to determine which point is the user position, one more satellite is needed.
X2

X1 S2 S1

S3

X3

Figure 3.2Two-Dimensional User Position (9)

In GPS the position of the satellite is known from the ephemeris data transmitted by the satellite. One can measure the distance from the receiver to the satellite. Therefore, the position of the receiver can be determined. In the above discussion, the distance measured from the user to the satellite is assumed to be very accurate and there is no bias error. However, the distance measured between the receiver and the satellite has a constant unknown bias, because the user clock usually is different from the GPS clock. In order to resolve this bias error one more satellite is required. Therefore, in order to find the user position five satellites are needed. If one uses four satellites and the measured distance with bias error to measure a user position, two possible solutions can be obtained. Theoretically, one cannot determine the user position. However, one of the solutions is close to the earths surface and the other one is in space. Since the user position is usually close to the surface of the earth, it can be uniquely determined. Therefore, the general statement is that four satellites can be used to determine a user position, even though the distance measured has a bias error. The method of solving the user position depends on the iteration. The initial position is often selected at the center of the earth. The iteration method will converge on the correct solution rather than the one in space. In the following discussion four satellites are considered the minimum number required in finding the user position.

3.3 Basic Equations for Finding User Position

In this section the basic equations for determining the user position will be presented. Assume that the distance measured is accurate and under this condition three satellites are sufficient. In Figure 7, there are three known points at locations r1 or (x1, y1, z1), r2 or (x2, y2, z2), and r3 or (x3, y3, z3), and an unknown point at ru or (xu, yu, zu). If the distances between the three known points to the unknown point can be measured as 1, 2, and 3, these distances can be written as 1 = ( X 1 X u ) + (Y1 Yu ) + ( Z 1 Z u ) 2 = ( X 2 X u ) + (Y2 Yu ) + ( Z 2 Z u ) 3 = ( X 3 X u ) + (Y3 Yu ) + ( Z 3 Z u ) Because there are three unknowns and three equations, the values of xu, yu, and zu can be determined from these equations. Theoretically, there should be two sets of solutions as they are second-order equations. These equations can be solved relatively easily with linearization and an iterative approach.

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In GPS operation, the positions of the satellites are given. This information can be obtained from the data transmitted from the satellites.

X2, Y2, Z2

X1, Y1, Z1

X3, Y3, Z3

Figure 3.3 Use Three Known Positions to Find One Unknown Position

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CHAPTER-4 WORKING OF GPS

All satellites have clocks set to exactly the same time. All satellites know their exact position in space from data sent to them from the systems controllers. Each satellite transmits its position and a time signal. The signals travel to the receiver delayed only by distance traveled. The receiver calculates the distance to each satellite and trilaterates its own position. Orbit 11,000 miles above Earth. 6 visible satellites from any point on Earth. 5 monitoring stations synchronize the atomic clocks on board each satellite distance from a satellite to a receiver in miles=(186,000 mi/sec) x (signal travel time in seconds)

Figure4.1 Satellite

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Figure 4.2 Trilateration

Pseudo-Random Code Complex signal Unique to each satellite All satellites use same frequency Amplified by information theory Distance to a satellite is determined by measuring how long a radio signal takes to reach us from that satellite. To make the measurement we assume that both the satellite and our receiver are generating the same pseudo-random codes at exactly the same time. By comparing how late the satellite's pseudo-random code appears compared to our receiver's code, we determine how long it took to reach us. Multiply that travel time by the speed of light and you've got distance. Accurate timing is the key to measuring distance to satellites. Satellites are accurate because they have four atomic clocks ($100,000 each) on board. To use the satellites as references for range measurements we need to know exactly where they are. GPS satellites are so high up their orbits are very predictable. All GPS receivers have an almanac programmed into their computers that tells them where in the sky each satellite is, moment by moment. Minor variations in their orbits are measured by the Department of Defense.

 The error information is sent to the satellites, to be transmitted along with the timing signals. (13)

CHAPTER-5 GPS SATELLITE SIGNALS

Atomic Clock (G, Rb) fundamental frequency - 10.23. MHz 1. L1 Carrier Signal - 154 X 10.23 MHz 2. L1 Frequency - 1575.42 MHz 3. L1 Wave length - 19.05 Cm 4. L2 Carrier Signal - 120 X 10.23 MHz 5. L2 Frequency - 1227.60 MHz 6. L2 Wave Length - 24.45 Cm 7. P-Code Frequency (Chipping Rate) - 10.23 MHz (Mbps) 8. P-Code Wavelength - 29.31 M 9. P-Code Period 267 days - 7 Days/Satellite 10. C/A-Code Frequency (Chipping Rate) - 1.023 MHz (Mbps) 11. C/A-Code Wavelength - 293.1 M 12. C/A-Code Cycle Length - 1 Milisecond 13. Data Signal Frequency - 50 bps 14. Data Signal Cycle Length - 30 Seconds

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CHAPTER-6 APPLICATIONS
Military GPS user equipment has been integrated into fighters, bombers, tankers, helicopters, ships, submarines, tanks, jeeps, and soldiers' equipment. In addition to basic navigation activities, military applications of GPS include target designation of cruise missiles and precision-guided weapons and close air support. To prevent GPS interception by the enemy, the government controls GPS receiver exports. GPS satellites also can contain nuclear detonation detectors. Automobiles are often equipped GPS receivers. They show moving maps and information about your position on the map, speed you are traveling, buildings, highways, exits etc. Some of the market leaders in this technology are Garmin and TomTom, not to mention the built in GPS navigational systems from automotive manufacturers. For aircraft, GPS provides Continuous, reliable, and accurate positioning information for all phases of flight on a global basis, freely available to all. Safe, flexible, and fuel-efficient routes for airspace service providers and airspace users. Potential decommissioning and reduction of expensive ground based navigation facilities, systems, and services. Increased safety for surface movement operations made possible by situational awareness. Agriculture GPS provides precision soil sampling, data collection, and data analysis, enable localized variation of chemical applications and planting density to suit specific areas of the field. Ability to work through low visibility field conditions such as rain, dust, fog and darkness increases productivity. Accurately monitored yield data enables future site-specific field preparation. Disaster Relief Deliver disaster relief to impacted areas faster, saving lives. Provide position information for mapping of disaster regions where little or no mapping information is available. Example, using the precise position information provided by GPS, scientists can study how strain builds up slowly over time in an attempt to characterize and possibly anticipate earthquakes in the future. Marine applications

 GPS allows access to fast and accurate position, course, and speed information, saving navigators time and fuel through more efficient traffic routing. Provides precise navigation information to boaters. Enhances efficiency and economy for container management in port facilities. (15) Other Applications not mentioned here include Railroad systems Recreational activities (returning to the same fishing spot) Heading information replacing compasses now that the poles are shifting Weather Prediction Skydiving taking into account winds, plane and dropzone location Many more!

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CHAPTER-7 ADVANTAGES AND DISADVANTAGES

7.1 ADVANTAGES
Fast speed Leads you in right direction Helps improve mapping skills Makes navigation easier Has panic buttons built in You can be found easier if in danger or in accident Plugs into your car cigarette lighter

7.2 DISADVANTAGES
Cellular devices can track other cellular device users not very cheap People focus on GPS more than road = accidents Should be used as backup map but used as 1st resource - Possible Failures Needs good care and handling External power Needs batteries (handheld ones) Inaccuracy

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CHAPTER-8 CONCLUSION AND FUTURE SCOPE

8.1 CONCLUSION
Mapping and surveying companies use GPS extensively. In the field of wildlife management also. Archaeologists and explorers are using the system. Anyone equipped with a GPS receiver can use it as a reference point to find another location. With a basic knowledge of math and science, plus a hand-held GPS receiver, you could be an instant hero if you and friends got lost on a camping trip.PS-equipped balloons are monitoring holes in the ozone layer over the polar regions, and air quality is being monitored using GPS receivers.

8.2 FUTURE SCOPE

Usage Many issues surround the future of Global Positioning System technology and operability. The most certain aspect of the future of GPS is its increased usage and its expansion into new areas of application. Bradford Parkinson, from the University of Minnesota Center for Transportation Studies, predicts that by 2010 there will be more than 50 million GPS users that perform applications relating to the following fields: -automobiles -ships -farm vehicles -aircraft - military systems Technology Additional advances in GPS technology will also include increased positional accuracy and more reliable calculations. The addition of civilian codes and civilian frequencies will be developed to solely meet the needs of civilian users with little to no military application. (Marine Computer Systems) GPS Satellite System Interoperability

With the advent of the European GALILEO system, GPS developers and users have increasingly

(18) pondered the benefits of interoperating the NAVSTAR and GALILEO systems. The possible benefits include: - more available signals that will allow GPS users to access more satellites from remote areas - additional signal power and spectrum diversity will lessen the impact of expected signal noise and interference - improved signal redundancy Some potential drawbacks, costs and challenges that will be incurred with interoperability include: -increased equipment cost to the user to be able to access both systems -additional noise and interference environment - setting satellite orbits to ensure that interoperability actually benefits the user GNSS Many experts expect a GNSS (Global Navigation Satellite System) to be developed that capitalizes on the compatibility of technology from the NAVSTAR GPS system and the GALILEO GPS system. This comprehensive support system would provide users with navigation information that covers a broader area with higher accuracy data. GPS users across the world will benefit from the access to more satellites due to the availability of two or more satellite constellations.

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REFRENCES

http://www.scribd.com/doc/6698521/GPS-Final-Report http://varpa.bc.ca/files/GPS/GPS%20seminar.pdf http://www.google.com/url? sa=t&source=web&cd=5&ved=0CD8QFjAE&url=http%3A%2F %2Fwww.casde.iitb.ac.in%2FIMSL%2Fmotion%2Fgps%2FSeminar %2520on%2520GPS.ppt&rct=j&q=seminar%20report%20on%20gps %20pdf&ei=4zFbTrLHMTtrQf05ZCfCw&usg=AFQjCNFTpDGGdvELPNRdrg7vab9zS2g SWA&cad=rja

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