ELECTRONICS & COMMUNICATION ENGINEERING

JIET School of Engineering & Technology for Girls JODHPUR YEAR-2013

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A PROJECT REPORT ON STUDY OF GPS SUBMITTED BY MANISHA CHOUDHARY B.TECH 4TH YEAR(7TH SEM)

 The Global Positioning System (GPS) is a space-based satellite navigation system that provides location and time information in all weather conditions, anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites.

It is also called NAVSTAR(Navigation Satellite Timing And Ranging)

 GPS was created and realized by the U.S. Department of Defense (DoD) and was originally run with 24 satellites. It became fully operational in 1994. The system provides critical capabilities to military, civil and commercial users around the world. It is maintained by the United States government and is freely accessible to anyone with a GPS receiver. GPS satellites broadcast signals from space, and each GPS receiver uses these signals to calculate its three-dimensional location (latitude, longitude, and altitude) and the current time.
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Structure of GPS System

The current GPS consists of three major segments. SPACE SEGMENT (SS) :- The space segment is composed of 24 to 32 satellites in medium Earth orbit. CONTROL SEGMENT (CS) :- The control segment is composed of a master control station, an alternate master control station, and a host of dedicated and shared ground antennas and monitor stations.

USER SEGMENT (US) :- The user segment is composed of hundreds of thousands of U.S. and allied military users of the secure GPS Precise Positioning Service, and tens of millions of civil, commercial, and scientific users of the Standard Positioning Services.

Space Segment
GPS satellites fly in circular orbits at an altitude of 20,200 km and with a period of 12 hours. Powered by solar cells, the satellites continuously orient themselves to point their solar panels toward the sun and their antenna toward the earth. Orbital planes are centered on the Earth Each planes has about 55 tilt relative to Earth's equator in order to cover the polar regions.

Space Segment (Continued)

Each satellite makes two complete orbits each sidereal day. Sidereal - Time it takes for the Earth to turn 360 degrees in its rotation It passes over the same location on Earth once each day. Orbits are designed so that at the very least, six satellites are always within line of sight from any location on the planet.

Space Segment (Continued)

There are currently 32 actively broadcasting satellites in the GPS constellation. Redundancy is used by the additional satellites to improve the precision of GPS receiver calculations. A non-uniform arrangement improves the reliability and availability of the system over that of a uniform system, when multiple satellites fail This is possible due to the number of satellites in the air today

Control Segment
The CS consists of 3 entities: Master Control System Monitor Stations Ground Antennas

Master Control Station

The master control station, located at Falcon Air Force Base in Colorado Springs, Colorado, is responsible for overall management of the remote monitoring and transmission sites. It calculates any position or clock errors for each individual satellite from monitor stations and then order the appropriate corrective information back to that satellite.

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Monitor Stations
Six monitor stations are located at Falcon Air Force Base in Colorado, Cape Canaveral, Florida, Hawaii, Ascension Island in the Atlantic Ocean, Diego Garcia Atoll in the Indian Ocean, and Kwajalein Island in the South Pacific Ocean. Each of the monitor stations checks the exact altitude, position, speed, and overall health of the orbiting satellites.

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Monitor Stations (continued)

This "check-up" is performed twice a day, by each station, as the satellites complete their journeys around the earth. Variations such as those caused by the gravity of the moon, sun and the pressure of solar radiation, are passed along to the master control station.

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Ground Antennas
Ground antennas monitor and track the satellites from horizon to horizon. They also transmit correction information to individual satellites.

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User Segment
The user's GPS receiver is the US of the GPS system. GPS receivers are generally composed of an antenna, tuned to the frequencies transmitted by the satellites, receiver-processors, and a highly-stable clock, commonly a crystal oscillator). They can also include a display for showing location and speed information to the user. A receiver is often described by its number of channels this signifies how many satellites it can monitor simultaneously. As of recent, receivers usually have between twelve and twenty channels.

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How GPS work?

The GPS receiver uses the following information to determine a position.

Precise location of satellites: When a GPS receiver is first turned on, it downloads orbit information from all the satellites called an almanac. This process, the first time, can take as long as 12 minutes; but once this information is downloaded, it is stored in the receivers memory for future use.
Distance from each satellite: The GPS receiver calculates the distance from each satellite to the receiver by using the distance formula: distance = velocity x time. The receiver already knows the velocity, which is the speed of a radio wave or 186,000 miles per second (the speed of light). To determine the time part of the formula, the receiver times how long it takes for a signal from the satellite to arrive at the receiver. The GPS receiver multiplies the velocity of the transmitted signal by the time it takes the signal to reach the receiver to determine distance.
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Triangulation to determine position: The receiver determines position by using triangulation. When it receives signals from at least three satellites the receiver should be able to calculate its approximate position (a 2D position). The receiver needs at least four or more satellites to calculate a more accurate 3D position. The position can be reported in latitude/longitude, UTM, or other coordinate system.

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Trilateration

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Operational Overview Video

NASA produced short film that sumarizes GPS http://www.youtube.com/watch?v=wi_3XwkA8cQ

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Navigational Systems
GPS satellites broadcast two different types of data in the primary navigation signal. Almanac sends time and status information about the satellites. Ephemeris has orbital information that allows the receiver to calculate the position of the satellite.

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Navigational Systems (contd)

Satellites broadcast two forms of clock information Coarse / Acquisition code (C/A) - freely available to the public. The C/A code is a 1,023 bit long pseudo-random code broadcast at 1.023 MHz, repeating every millisecond. Restricted Precise code (P-code) - reserved for military usage. The P-code is a similar code broadcast at 10.23 MHz, but it repeats only once a week. In normal operation, the antispoofing mode, the P code is first encrypted into the Y-code, or P(Y), which can only be decrypted by users a valid key.

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GPS Frequencies
L1 (1575.42 MHz) - Mix of Navigation Message, coarse-acquisition (C/A) code and encrypted precision P(Y) code. L2 (1227.60 MHz) - P(Y) code, plus the new L2C code on the Block IIR-M and newer satellites. L3 (1381.05 MHz) - Used by the Defense Support Program to signal detection of missile launches, nuclear detonations, and other applications.

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Main GPS error sources

Clock errors Signal errors (noise) Interference in ionosphere and troposphere Multipath error Satellite position (ephemeris) error Geometrical error (Geometric Dilution of Precision - GDOP) Intentional errors (Selective Availability - SA) Human errors Receiver errors (hardware, software, antenna)

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NMEA sentences
NMEA consists of sentences, the first word of which, called a data type, defines the interpretation of the rest of the sentence. Each Data type would have its own unique interpretation and is defined in the NMEA standard. In the NMEA standard there are no commands to indicate that the gps should do something different. Instead each receiver just sends all of the data and expects much of it to be ignored.
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NMEA sentence GPRMC

Recommended Minimum specific GPS/TRANSIT data (RMC) $GPRMC,1,2,3,4,5,6,7,8,9,10,11*hh<CR><LF UTC time of position Status A= valid position V= NAV receiver warning Latitude,ddmm.mmmm format Latitude hemisphere N or S Longitude, dddmm.mmmm format Longitude hemisphere E or W Speed over ground ,0 to 999.99 knots Course over ground , 0 to 359.9 degrees UTC date of fix position Magnetic variation 0 to 180 degrees Magnetic variation direction E or W
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TYPES OF GPS
Assisted GPS(A-GPS) :
Assisted GPS, generally abbreviated as A-GPS or AGPS, is a system that can under certain conditions improve the startup performance, or time-to-first-fix (TTFF), of a GPS satellitebased positioning system. It is used extensively with GPScapable cellular phones

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Differential GPS
Differential Global Positioning System (DGPS) is an enhancement to Global Positioning System that provides improved location accuracy, from the 15-meter nominal GPS accuracy to about 10 cm in case of the best implementations. DGPS uses a network of fixed, ground-based reference stations to broadcast the difference between the positions indicated by the satellite systems and the known fixed positions.

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THE INDIAN PROJECT GAGAN

The GPS-Aided Geo Augmented Navigation (GAGAN) system, aimed at making Indian skies safer, is undergoing final operation phase which will be over in the next three years before it is commissioned.

Once operational, GAGAN project would provide augmented information for satellite navigation to aircraft flying over Indian airspace and the routes over the high seas with high level of accuracy, integrity and continuity

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GAGAN CONTD..
The Flight Management System (FMS), based on GAGAN, will also help the operators to save time and money by managing climb, descent and engine performance profiles of aircraft. The FMS will also help in improving airport and airspace access in all weather conditions, and the ability to meet the environmental and obstacle clearance constraints. GAGAN also aims to enhance reliability and reduce delays by defining more precise terminal area procedures that feature parallel routes and environmentally optimised airspace corridors.

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Wide Area Augmentation System

WAAS :The Wide Area Augmentation System (WAAS) is an air navigation aid developed by the Federal Aviation Administration to augment the Global Positioning System (GPS), with the goal of improving its accuracy, integrity, and availability. WAAS uses a network of ground-based reference stations, in North America and Hawaii, to measure small variations in the GPS satellites' signals in the western hemisphere. Measurements from the reference stations are routed to master stations, which queue the received Deviation Correction (DC) and send the correction messages to geostationary WAAS satellites in a timely manner (every 5 seconds or better). Those satellites broadcast the correction messages back to Earth, where WAAS-enabled GPS receivers use the corrections while computing their positions to improve accuracy.

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DILUTION OF PRECISION(DOP)

Dilution of Precision (DOP) reflects each satellites position relative to the other satellites being accessed by a receiver. There are four distinct kinds of DOP. Position Dilution of Precision (PDOP) is the DOP value used most commonly in GPS to determine the quality of a receivers position. Its usually up to the GPS receiver to pick satellites which provide the best position triangulation. Some GPS receivers allow DOP to be manipulated by the user.

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DOP has several components:

PDOP -Position Dilution of Precision (3D),sometimes known as spherical DOP (1.63) HDOP - Horizontal Dilution of Precision (Latitude, Longitude) (1.15) VDOP - Vertical Dilution of Precision (Height) (1.15) TDOP - Time Dilution of Precision (Time)(0.58) Poor GDOP occurs when the satellite angles to the field receiver are similar (signals are all coming in to the receiver in the same angles) Good GDOP is achieved when the 4 satellites used when the angles are different
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FALCON GPS TRAINER

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SKY PLOT

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NMEA SENTENCES

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INTERFACING WITH OPEN SOURCE SOFTWARE (MINI GPS)

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Terms used in GPS

Hot Start: The hot start is when the GPS device remembers its last calculated position and the satellites in view, the almanac used (information about all the satellites in the constellation), the UTC Time and makes an attempt to lock onto the same satellites and calculate a new position based upon the previous information. This is the quickest GPS lock but it only works if you are generally in the same location as you were when the GPS was last turned off. Warm Start: The warm start is when the GPS device remembers its last calculated position, almanac used, and UTC Time, but not which satellites were in view. It then performs a reset and attempts to obtain the satellite signals and calculates a new position. The receiver has a general idea of which satellites to look for because it knows its last position and the almanac data helps identify which satellites are visible in the sky. This takes longer than a hot start but not as long as a cold start.
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 Cold Start : the cold start is when the GPS device dumps all the information, attempts to locate satellites and then calculates a GPS lock. This takes the longest because there is no known information. Channel : It tells the number of satellites the GPS can communicate with at one time. At a given time there are at least 24, more often about 30 satellites that make up the GPS system. Selective Availability: Selective Availability is a term used to describe the way signals from the GPS satellites in orbit around the Earth are masked.It is aimed to degrade the performance of the GPS. The U.S. Government controls the satellites, and uses Selective Availability to confuse the GPS receiver so it can't find your exact position.
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 Pseudo Random Noise Number: A clock reading at the transmitted antenna is compared with the clock reading at the receiver antenna. But since the two clocks are not strictly synchronized, the observed signal travel time is biased with systematic synchronization error. The satellites are identified by the receiver by means of PRN-numbers. Real GPS satellites numbered from 1-32

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Flow chart for decoding NMEA sentence

START

Get NMEA sentences from serial port and wait until $ is recieved

If $ found

If sentence contain GPRMC

Y

Separate the fields and display each field included in it

If Enter 0x0D is encountere d

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Microchip PIC
PIC is a family of modified Harvard architecture microcontrollers made by Microchip Technology Microcontroller Unit (MCU) Microprocessor unit (MPU) Program memory for instructions Data memory for data I/O ports Support devices such as timers

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Microcontroller Unit

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PIC18F MPU and Memory

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Microprocessor Unit
Includes Arithmetic Logic Unit (ALU), Registers, and Control Unit Arithmetic Logic Unit (ALU) Instruction decoder 16-bit instructions Status register that stores flags 5-bits WREG working register 8-bit accumulator

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Microprocessor Unit
Registers Program Counter (PC) 21-bit register that holds the Program Memory address Bank Select Register (BSR) 4-bit register used in direct addressing the Data Memory File Select Registers (FSRs) 12-bit registers used as memory pointers in indirect addressing Data Memory Control unit Provides timing and control signals Read and Write operations
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PIC18F - Address Buses

Address bus 21-bit address bus for Program Memory Addressing capacity: 2 MB 12-bit address bus for Data Memory Addressing capacity: 4 KB

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Data Bus and Control Signals

Data bus 16-bit instruction/data bus for Program Memory 8-bit data bus for Data Memory Control signals Read and Write

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Data Memory with Access Bank

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 Copy (Move) 8-bit number (Literal) into W register

Mnemonics: MOVLW 8-bit Binary format:

Instruction Descriptions

0000 1110 XXXX XXXX (any 8-bit number) Copy (Move) contents of W register into PORTC (File)
Mnemonics: MOVWF PORTC, a
(a indicates that PORTC is in the Access Bank)

Binary format:

0110 1110 1000 0010 (82H is PORTC address)

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Illustration
Program (software)
Logic 0 to TRISC sets up PORTC as an output port Byte 55H turns on alternate LEDs
MOVLW MOVWF output MOVLW LEDS MOVWF SLEEP 00 TRISC 0x55 PORTC ;Load W register with 0 ;Set up PORTC as ;Byte 55H to turn on ;Turn on LEDs ;Power down
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PICkit-3

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The Status LEDs indicate the status of the PICkit 3. 1. Power (green) Power is supplied to the PICkit 3 via the USB port. 2. Active (yellow) The PICkit 3 has connection to the PC USB port and the Communication link is active. 3. Status:Busy (red) The PICkit 3 is busy with a function in progress, such as Programming. PicKit3 Programmer/Debugger Microchips PICkit 3 In-Circuit Debugger/Programmer uses in-circuit debugging logic incorporated into each chip with Flash memory to provide a low-cost hardware debugger and programmer The MPLAB PICkit 3 is connected to the design engineer's PC using a full speed USB interface and can be connected to the target

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MPLAB Integrated Development Environment

The MPLAB X IDE is the new graphical, integrated debugging tool set for all of Microchips more than 800 8-bit, 16-bit and 32-bit MCUs and digital signal controllers, and memory devices. It includes a feature-rich editor, source-level debugger, project manager, software simulator, and supports Microchips popular hardware tools, such as the MPLAB ICD 3 in-circuit debugger, PICkit 3, and MPLAB PM3 programmer.

Sample view of mplab

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