A

SEMINAR REPORT

ON

GLOBAL POSITIONING SYSTEM

In
ELECTRONICS AND COMMUNICATION ENGINEERING
By
RAMAKRISHNA RAJU.M
08D15A0409

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
TRR ENGINEERING COLLEGE
(AFFILATED TO JNTU HYDERABAD),
 HYDARABAD-500072.

ABSTRACT
INTRODUCTION
HISTORY
ELEMENTS OF GPS

THE FREQUENCIES USED

RECEIVERS(USER SEGMENT)

NAVIGATION SIGNALS(CONTROL SEGMENT)

CALCULATING POSITIONS

ELEVATION

GPS APPLICATIONS
CONCLUSION
 GLOBAL POSITIONING SYSTEM(GPS)

ABSTRACT

The ability to locate oneself on the earth and in its vicinity and navigate over its
surface is knowledge that has fascinated humankind for these millennia. All the
techniques available that implement the above mentioned core theme use,
“GLOBAL POSITIONING SYSTEM” (GPS), which has become a vital global
utility, indispensable for modern navigation on land, sea, and air around the world,
as well as an important tool for Map-Making and Land Surveying.

Global Positioning System (GPS) technology is a great boon to

anyone who has the need to navigate either great or small distances. This
wonderful navigation technology was actually first available for government use
back in the late 1970s. In the past ten or so years, It has been made available to the
general public in the form of handheld receivers that use this satellite technology
provided by the U.S. government.

Through the use of these handheld

receivers, one can navigate back to a starting point or other predetermined
locations without the use of maps or any other equipment. In conjunction with
accurate maps like ones provided by the USGS, and other basic tools like a
compass and Lat/Long or UTM scales, one can navigate to identified locations on
maps or take readings from a location that they are at or have been at and plot
those locations on a map.

Global Positioning System (GPS) is the only fully functional

Global Navigation Satellite System (GNSS). The GPS uses a constellation of
between 24 and 32 Medium Earth Orbit satellites that transmit precise microwave
signals that enable GPS receivers to determine their location, speed, direction, and
time. GPS was developed by the United States Department of Defenses. Its official
name is NAVSTAR-GPS
 This paper provides description of all the technical aspects of
GPS along with techniques to improve the accuracy of the system. It also deals
with some of very important GPS applications like vehicle tracking, mobile
tracking, in military, in geology etc towards the end.
 INTRODUCTION

GPS is a space-based radio positioning system that provides 24*7 three-

dimensional positions, velocity and time information to suitably equipped users
anywhere on or near the surface of the earth and sometimes off the earth.

It consists of a network of twenty four orbiting satellites that are

orbiting in space eleven thousand miles from earth and a GPS receiver includes an
antenna adapted to receive GPS satellite signals from each of the GPS satellites.
There is navigation solution determining circuitry coupled to the antenna that
receives the GPS satellite signals and performs navigation and fault detection and
exclusion functions. The GPS satellites are orbited high enough to avoid problems
associated with land based systems, yet can provide accurate positioning twenty
four hours a day, anywhere in the world.

HISTORY:

GPS was developed by the United States Department of Defense,

for its tremendous application as a military locating utility.

A team led by Richard B. Kershner discovered that, because of the

Doppler Effect, the frequency of the signal being transmitted by satellite Sputnik
was higher as it approached, and lower as it continued away from them. This is
because; they knew their exact location on the globe that they could pinpoint where
the satellite was along its orbit by measuring the Doppler distortion. This shows
that if the satellite's position was known, they could identify their own position on
earth and thus came the first satellite navigation system, Transit. Later US
Department of Defense developed NAVSTAR GPS (navigation signal

timing and ranging GPS), and launched the first experimental satellite.
Elements of GPS:

GPS has three parts:

1) Space segment: The space segment consists of a constellation of 24

satellites (and about six "spares"), each in its own orbit 11,000 nautical miles
above Earth.
2) User segment: The user segment consists of receivers, which you can
hold in your hand or mount in a vehicle, like your car.
3) Control segment: The control segment consists of ground stations (six
of them, located around the world) that make sure the satellites are working
properly.

Elements of GPS:?

GPS Constellation (Space segment) :

There are at least twenty four operational GPS satellites at all

times which orbit with a time period of twelve hours. Ground stations are used to
precisely track each satellite's orbit. Each GPS satellite transmits data that indicates
its location and the current time. All GPS satellites synchronize operations so that
these repeating signals are transmitted at the same instant. The receiver calculates
position of the sa dimensions if the distance to at least four GPS satellites is
known. The 24 satellites that make up the GPS space segment are orbiting the earth
about 12,000 miles above us. They are constantly moving, making two complete
orbits in less than 24 hours. These satellites are travelling at speeds of roughly
7,000 miles an hour.
 The signal travels to the ground at the speed of light. Even at this
speed, the signal takes a measurable amount of time to reach the receiver. The
difference between the time when the signal is received and the time when it was
sent, multiplied by the speed of light, enables the receiver to calculate the distance
to the satellite. To make this measurement as accurate as possible, the GPS
navigation signals are specially designed to make it easy for GPS receivers to
measure the time of arrival and to allow all the satellites to operate on the same
frequency without interfering with each other.

The Frequencies Used:

The following figure shows the GPS constellation with all the 24 satellites rev

The frequencies that make

up the GPS electromagnetic spectrum are L1 (1575.42 MHz), L2 (1227.60 MHz),
L3 (1381.05 MHz) with two new signals L4 (1841.40 MHz), L5 (1176.45 MHz)
also being studied.
Receivers(User segment):

GPS receivers vary widely in accuracy because of the expense of

adding more radio receivers needed to tune in more satellites. More expensive
units, known as "dual-frequency receivers", tune in the L2 signals in order to
correct for ionospheric delays.

Another major factor in the accuracy of a GPS fix is the amount of

processing applied to the received

signals. GPS receivers may include an input for differential corrections, using the
RTCM SC-104 format. Receivers with internal DGPS receivers can outperform
those using external RTCM data. Many GPS receivers can relay position data to a
PC or other device using the NMEA 0183 protocol. Receivers can interface with
external devices via a number of means, such as a serial connection, a USB
connection or even a wireless connection like the BLUETOOTH technology.

Navigation Signals(control segment):

GPS satellites transmit signals to equipment on the ground. GPS

receivers passively receive satellite signals but do not transmit. GPS receivers
require an unobstructed view of the sky, so they are used only outdoors and they
often do not perform well within forested areas or near tall buildings.
 GPS satellites broadcast three different types of data in the primary
navigation signals. The first is the almanac which sends coarse time information
with second precision along with status information about the satellites.

The second is the ephemeris, which contains orbital information that

allows the receiver to calculate the position of the satellite at any point in time.
These bits of data are folded into the 37,500 bit Navigation Message.

The satellites also broadcast two forms of accurate clock information,

the Coarse Acquisition code and the precise code. In normal operation, the so-
called "anti-spoofing mode", the P code is first encrypted into the Y-code.

The following figure gives an overview of how the GPS works. It

includes the spacecraft constellation, master control system and the signal structure

Ionosphere and troposphere delays —

the satellite signal slows as it passes through the atmosphere. The GPS system uses
a built-in model that calculates an average amount of delay to partially correct for
this type of error.

Signal multipath — This occurs when the GPS signal is reflected off objects such
as tall buildings or large rock surfaces before it reaches the receiver. This increases
the travel time of the signal, thereby causing errors.
Receiver clock errors — A receiver's built-in clock is not as accurate as the atomic
clocks onboard the GPS satellites. Therefore, it may have very slight timing errors.

Orbital errors — Also known as ephemeris errors, these are inaccuracies of the
satellite's reported location.

Number of satellites visible — The more satellites a GPS receiver can "see," the
better the accuracy. Buildings, terrain, electronic interference, or sometimes even
dense foliage can block signal reception, causing position errors or possibly no
position reading at all. GPS units typically will not work indoors, underwater or
underground.

Satellite geometry/shading — this refers to the relative position of the satellites at

any given time. Ideal satellite geometry exists when the satellites are located at
wide angles relative to each other. Poor geometry results when the satellites are
located in a line or in a tight grouping.

Calculating Positions:

In a nutshell, GPS is based on satellite ranging - calculating the

distances between the receiver and the position of satellites. The receivers measure
the time delay between when the signal is sent and the local time when the signal is
received. This delay, multiplied by the speed of light, gives the distance to that
satellite.

The receiver now has an accurate estimate of the position and the
distance of the satellite. This tells the receiver that it lies on the surface of an
imaginary sphere whose radius is that distance. To calculate the precise position, at
least four such measurements are taken simultaneously. This places the receiver at
the intersection of the four imaginary spheres as shown in the figure below.
Mathematics in GPS:

Specific mathematics is used by the receivers on the ground to calculate location

on earth, using the two signals (location and timing) emanating from the satellites.

Although the actual calculations that GPS makes involve much more sophisticated
mathematics, we can boil down the essence of the mathematics to the following
description:

1. Each satellite sends two signals:

1. The location/3-dimensional coordinates of the

o satellite in space (based on on-board computer models and updated

data from NORAD)

Signal 1: (xs, ys, zs)

o 2. A timing signal, based on a &quotpseudo-random code" (in our

class, we consider the signal to contain the precise moment the signal
is sent, which can then be compared to when the signal is received)

Signal 2: time sent

2. The receiver then:

o Subtracts the timing signals to find the total time it took the signal to
reach it
 ttotal = trcvd - tsent

Multiplies this total by the speed of light to get the distance away that
each satellite is

d = rt(distance = rate x time)

Rate of the signal = c = the speed of light = 186,282.396 miles per second

dto satellite = c * ttotal

o Since the satellites are in motion, the GPS receivers must then take
into account Doppler data, which represents the relative speeds
between the satellites and the receiver. However, for the purposes of
this consider the system to be stationary.
o The receiver can now establish equations of spheres that surround
each satellite:

(x - xs)2 + (y - ys)2 + (z - zs)2 = d2to satellite(s=s1,s2,s2,s4)

Elevation
Elevation

The accuracy of position calculated by a GPS receiver relies on three

accurate measurements: the current time, the position of the satellite, and the time
delay for the signal. However, several "real world" effects intrude and degrade the
accuracy of the system as shown in the table.

Source Effect

Ionospheric effects ± 5 meter

Ephemeris errors ± 2.5 meter

Satellite clock errors ± 2 meter

Multipath distortion ± 1 meter

Tropospheric effects ± 0.5 meter

Numerical errors ± 1 meter or less

Techniques to Improve Accuracy:

There are various methods available which improve the accuracy to a

great extent.

Differential GPS used by receivers which can improve the normal

GPS accuracy of 4-20 meters to 1-3 meters.
 Wide Area Augmentation System is used in case of ionospheric
delays. This system uses a series of ground reference stations to calculate GPS
correction messages, which are uploaded to a series of additional satellites in
geosynchronous orbit.

A Local Area Augmentation System is similar to WAAS but in this case, the
correction data are transmitted from a local source, typically at an airport or
another location where accurate positioning is needed. These correction data are
typically useful for only about a thirty to fifty kilometer radius around the
transmitter.

A Carrier-Phase Enhancement utilizes the 1.575 GHz L1 carrier wave

to act as a sort of additional clock signal, resolving ambiguity caused by variations
in the location of the pulse transition (logic 1-0 or 0-1) of the C/A signal.

Wide Area GPS Enhancement which provides more accurate satellite

clock and ephemeris data to specially-equipped receivers.

GPS APPLICATIONS

GPS can provide any point on earth with a unique address and hence
finds its greatest utility in the field of Geographic Information Systems (GIS).
However GPS is not just confined to GIS but is widely being used in many other
areas as well.

Vehicle Tracking:
A GPS tracking system uses GPS to determine the location of a vehicle, person, or
pet and to record the position at regular intervals in order to create a track file or
log of activities. The recorded data can be stored within the tracking unit, or it may
be transmitted to a central location, or Internet-connected computer, using a
cellular modem, 2-way radio or satellite. This allows the data to be reported in
real-time; using either web browser based tools or customized software.

Mobile Phone Tracking:

This is ideal for business especially if its mobile, what you need is
mobile phone tracking which is simple and easy to use and can be set up in
minutes. Unlike vehicle tracking, mobile tracking also means one can continue to
track, even when the employee has left their car or van. This allows you to monitor
the work force every minute, any time, day or night to improve business efficiency.

Interestingly, mobile phone tracking can be extended to track where a

person is, by triangulating his position between cells, track which cell he is
entering by knowing the cell from which he enters.
 GPS is a great system to use, especially with the event of GPS
receivers becoming smaller and smaller and better GPS software coming out and
providing more accurate tracking for the user who needs to track more frequently.
The following suggest a clear description of the whole process of tracking that

takes place. Navigation:

GPS is used by people around the world as a navigation aid in cars,
airplanes, and ships. Hand-held GPS receivers can be used by mountain climbers
and hikers. Glider pilots use the logged signal to verify their arrival at turn points
in competitions.

Earthquake Detection:
The satellites in the constellation are arranged so that several of them are "visible"
from any point on the surface of the earth at any time. The GPS network will
continuously measure movements of the earth's crust with a precision of one
millimeter per year, which will show us where strain is building up and the
receivers that will continuously measure the constant, yet physically imperceptible,
movements of earthquake faults. Scientists face lot of difficulty to rapidly assess
the size of large earthquakes but, GPS-based detection offers the most advantages
even when an earthquake has a magnitude of 8.5.

Not only earthquakes but, scientists can now estimate an earthquake’s

potential for causing a tsunami using deep ocean buoy readings and seismometer
data.
A new tsunami-detection technique that uses GPS data could potentially save many
lives by helping alert people in time to escape.

Military:

GPS allows accurate targeting of various military weapons including

cruise missiles and precision-guided munitions, as well as improved command and
control of forces through improved location awareness. The satellites also carry
nuclear detonation detectors, which form a major portion of the United States
Nuclear Detonation Detection System. Most effective use of GPS in military can
be seen in jamming of any radio navigation system.

Geophysics and Geology:

High precision measurements of earth’s crustal strain can be made

with GPS by finding the relative displacement between GPS sites, one of which is
assumed to be stationary. Multiple stations situated around an actively deforming
area (such as a volcano or fault zone) can be used to find strain and site velocities
relative to a stable reference site. For example, measurements of ground
deformation around a volcano can be used to interpret the source and cause—a
dike, sill, or other body beneath the surface.

Surveying:

More costly and precise receivers are used by land surveyors to locate
boundaries, structures, and survey markers, and for road construction. There is also
a growing demand for Automatic Grade Control systems that use GPS positions
and 3D site plans to automatically control the blades and buckets of construction
equipment.

Entertainment:

The availability and cost of hand-held GPS receivers has led to

recreational applications including location-based games like the popular game
Geocaching

CONCLUSION

GPS is the product of a long and complicated history and has brought
many changes in the society since then. It has increasingly become more evident in
society through its implementation into items such as vehicles, mobile phones and
pet collars. The economics of GPS make the measurement technology readily
available and accessible to all users. Many issues surround GPS when it comes to
its future. The most certain aspect of the future of GPS is its increased usage and
its expansion into new areas of application.
 We have seen that GPS setup could be just the one we may need for
the PDA devices which are considered to be using the latest technology as on
today. Thus, what one can conclude is that GPS will continue to intrude into many
other fields and will be an evergreen technology for many more years to come