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Why GPS?

Location :To determine a basic position Navigation: Getting from one location to another Tracking: Monitoring the movement of people and things Mapping: Creating maps of the world Timing: Bringing precise timing to the world

Three Segments of GPS

Space segment - consisting of satellites which broadcast signals Control segment - steering the whole system User segment - including many types of receivers

SPACE SEGMENT 24 Satellites 12 Hour Orbital Period 10,900 N.miles Altitude USER SEGMENT Track Code and Phase Extract Satellite Message Computes Position CONTROL SEGMENT Time Synchronization Orbit Prediction Satellite Health

Control Segment One master control station Five monitoring stations Three ground antennas Satellites health maintained and monitored Satellite orbits were determined and checked Clocks behavior are monitored and calculated Inject broadcast message

User Segment

GPS Receivers Antennas

Computers (Hardware)
Processors (Software) Land, Sea, and Airborne Operators

GPS Receiver

Antenna and Preamplifier

Terminal or Control/Display Unit

Radio Signal Microprocessor

Recording Device

Power Supply

How GPS works?


Triangulation from satellite is the basis of the system A GPS receiver measures the distance using the travel time of a radio signals GPS needs very accurate clock to measure travel time Once the distance to satellite are known, then we need to know exactly where the satellites are in space Satellites and receivers generate same code and keeps same time As the GPS signal travels through the atmosphere, the signal is delayed (time difference is calculated).

Triangulation

You are somewhere here!

11,000 miles from satellite-1

11000 miles from satellite -1 and 12000 miles from satellite -2

Position is calculated from distance measurements (ranges) to satellites . Three ranges are enough if we reject ridiculous answers or use another tricks Mathematically we need 4 satellites ranges to determine location

Measuring Distance from Satellites


Velocity * Travel Time = Distance Velocity = velocity of light 186,000 miles per seconds Travel time is determined my measuring how long a radio signal takes to reach to receiver from the satellite. To do so, both the satellite and receiver are generating the same pseudo-random codes at exactly the same time. By comparing how late the satellites pseudo-random code appears compared to our receivers code, determine how long it took to reach. Then multiply.

Getting Perfect Timing


Synchronizing the watches of satellites and receivers.ATOMIC CLOCK on board satellite (cost 50K to 100K U$). Receivers use much less accurate clocks and brilliant trick which is to make an extra satellite measurement.
True Position

4 seconds 4 seconds 6 seconds 5 seconds (wrong time)

6 seconds

7 seconds (wrong time) Wrong position

4 seconds

6 seconds 4 seconds 6 seconds

5 seconds (wrong time)


8 seconds 7 seconds (wrong time)

8 seconds 9 seconds (wrong time)

Pseudo range of third satellite cannot intersect at the intersection of pseudo ranges of first two satellites. It alerts the receiver computer that there is the clock error. In this example,by subtracting 1 second from each measurement the ranges would intersect at one point. With that error correction determined, the receiver apply the correction to all measurements from then on. It is in 2D explanation. In 3D, one more satellite measurement is required.

Knowing where a satellite in a space


Monitor and relay the updated exact position to satellite by DOD. Then satellite transmits corrected position information in the timing signals its broadcasting. Therefore, GPS signal is more than pseudo-random code. It also includes ephemeris information as well.

PDOP (Positional Dilution of Precision) GDOP(Geometric Dilution of precision)

Errors & Biases in GPS

Errors
Atmospheric delays (Ionospheric particles, Tropospheric clouds) Satellite Clocks Orbital (Ephemeris, Cycle slip) Multipath (reflections) Receiver measurement noise

Satellite Clock Offsets Satellite Position Offsets (may be deliberate) Ionospheric Delay

Multipath Reflection

Receiver Noise and Lag Receiver Cycle Slips

Differential GPS

Differential GPS measurements can be much more accurate than standard GPS measurements A receiver placed at a known location calculates the combined error in the satellite range data That correction can be applied to all other receivers in the same locale, to eliminate virtually all error in their measurements

How DGPS work?

Two GPS Reference station which is put at precisely known location. Rover receiver which is moving around to measure.
Backward calculating by Reference station By using its know position and known satellite position, the theoretical distance is calculated. Then the theoretical distance is divided by speed of light to get the time. Compare the theoretical time and the time actually they took. Difference is the error or delay in the satellite signal. List of instantaneous errors Reference station must go through all the visible satellites and computes their instantaneous errors. Then list of errors is encoded to standard format (RTCM104) and transmit it to the rover receivers through radio links. Roving receivers receive the complete list of errors and apply the corrections for the particular satellites they are using. Real-Time DGPS Post-Processing DGPS

Reference Receiver

ERROR CORRECTING MESSAGE Position to be Determined

Data Collector
Antenna

Base Station
Antenna

Receiver
Laptop Computer

Receiver
Data Collector

PC for Editing and Differential Correction

Host Computer with Database Programme

GPS Applications
Emergency Services Military

Natural Resources
Remote Sensing and GIS Social Science Surveying and Mapping Transportation Urban Watershed Management

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