DP Operator Manual

Section 12 Satellite Positioning Systems, and Differential systems

Systems
There are 2 main systems the American Global positioning System (GPS), and The
Russian GLONASS system. These are military systems that are made available to
civilian users. They use the same method of operation and operate in the L1, and L2
band. The L2 frequency has only recently been made available to civilian users.
All satellites in a system broadcast on the same frequencies. To allow the receiver to
differentiate between satellites, each satellite has a unique Pseudo Random Noise
(PRN) code. This is combined with the carrier frequency in the satellite to make a
unique signal. At the receiver the carrier is removed to leave the PRN code which is
used for fixing

Components
Satellite (SV) Space Vehicles or Positioning Satellites
Ground antennas Used by tracking stations to plot SVs
Tracking stations plot orbits of SVs to check position.
Master Control Can move satellites, take them in and out of service. They also
give the satellites their Almanac (where the satellites are going
to be and what time they will start broadcasts)
User with antenna, receiver, and processor.

Mode of Operation
1. Switch on the GPS; it downloads the almanacs from satellites. It knows where
satellites are, and what time they will start various broadcasts
2. The receiver generates internally the signals from the SVs in view.
3. When the signal is received from each SV the time delay between SV and the
internal receiver signals is measured
4. Speed of signal travel is known, we have a time delay, distance is calculated
(speed X time = distance)
5. The receiver knows where the satellite is (Master control tells the satellite,
satellite tells the receiver). The ranges are plotted and a position is derived.
6. A minimum of 4 satellite is needed for a fix (3 if one variable is known)

Sources of Error
Multi-path
SVs signals bounce off nearby objects, and are also received, these cause a
degradation of accuracy, and if severe enough make signals unusable. This is
sometimes called long path interference.
If the extra signals are bouncing off an object onboard you may need to move the
antenna. If they are bouncing off an object outside the ship, moving position, or
changing heading may reduce the effect.

Troposphere and Ionosphere errors

The SV signal is refracted (bent) as it travels through the earths atmosphere. The
bending depends on Ionisation, temperature, pressure, and humidity. This cannot be
measured everywhere so it is assumed. If the actual conditions are different, the
signal will follow a different path to the projected path and you have got an error.

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Geometry
This is position line theory. If the position lines cross at right angles and there is an
error, the area of uncertainty will be smaller than if the position lines cross at a small
angle

Clock errors
While the clocks used are very accurate, they are not perfect; any timing error can
result in a position error

Ephemeris (orbital errors)

These can occur when the SV does not follow the path projected by Master control.

Finger trouble
This has not happened but has been predicted; the idea is that one day an operative
will make some kind of programming error that will not be spotted by quality control.,
and will causing a position error.

Scintillation
This is extreme localised bending of the SV signal caused by sunspot activity. The
path followed by the signals from the SVs is so different from that projected it can
make the signal unusable. It can even affect differential corrections as the rate of
ionisation at the correcting station and the user is so different the corrections are
invalid.

Differential Satellite systems

Due to military concerns when GPS was first introduced, the signals were
deliberately degraded, by dithering; this was a random rapidly varying timing error,
called Selective Availability (SA). This reduced the accuracy of GPS to about 30
metres which was not good enough for DP. Commercial companies set up a system
to correct for SA, and while SA was removed in 2001 Differential is still used as it
helps improve reliability and correct for other sources of error.

Components
Reference stations set up worldwide to monitor SVs and calculate timing errors
SVs Space Vehicles or Positioning Satellites
Hubs collect timing corrections from Reference stations and transmit
to user, one or several
Inmarsat Telecommunications satellites used to transmit corrections to
users
Spotbeam Dedicated omni-directional satellites used to transmit
corrections
HF Radio Radio stations used to transmit corrections

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Operation
1. At the Reference station a fix is derived from the SV signals
2. As the Reference station is a known fixed location the errors in the individual
position lines is calculated (it is not simply move your fix 3 metres on bearing
045)
3. The corrections are coded, then transmitted to the hub.
4. The hub then sends the corrections by all the different routes to the user.
5. The user equipment then takes the corrections, decodes them and applies
them to its Satellite LOPs fix to correct them

Measures of Reliability.
Many and varied screens are available to tell you how your systems are performing,
what they indicate is not the spread of fixes but the reliance an operator can have
based on the geometric strength of the satellite constellation:-
1. A traffic light system green is good, amber use with caution, red unusable
2. A simple numerical indicator 1 is poor 9 is good
3. A slide bar with a sliding scale following the 1 to 9 indicator
4. The operator is also presented with numerous Dilution Of Precision (DOP)
measurements, such as Horizontal (HDOP) Vertical (VDOP), Position
(PDOP)

Advantages
1. Once set up it is easy to use
2. Signals monitored, and problems promulgated
3. Water depth (shallow or deep) not a concern
4. No physical links to anything
5. No need to reset within normal operational moves
6. Helps to correct for all sources of error
7. Some systems will give indication of multi-path
8. Dual frequency systems available, which are more reliable and can, reduce
the effects of scintillation.

Disadvantages
1. Systems can be affected by multi-path
2. May need to set for different areas of operations, trial points, reference
stations, height aiding etc.
3. Can be affected by sunspot activity especially single frequency systems
4. Corrections can be blocked line of sight
5. If operating close to large tall structures SVs can be blocked reducing the
number of satellites available, to the extent that fixes become unusable
6. Correction links can be knocked out by microwave interference.
7. Corrections become less relevant as you move away from reference stations
(you would not operate in the Pacific using corrections for Aberdeen)
8. Corrections need to be up to date, before SA was removed this was about 30
seconds. Now SA is gone this is not so relevant.
9. Must have 3 or 4 satellites for a fix
10. Cannot use satellites that are too high or too low.

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11. System interfaces vary, some are quite complex, others are just a black box
with the operator having no insight into processing.
12. Systems can be jammed,a 1 watt jammer could effectively jam a coastal port)

Different uses, and new methods

DARPS (Differential and Relative Positioning)

In its most basic form only 2 GPS receivers are needed, usually between something
like a FPSO , and a shuttle tanker. The FPSO broadcasts its GPS fix over UHF to the
shuttle tanker, which then calculates a range and bearing to the FPSO. As the 2 are
relatively close together if there are any errors they should be common and the
relative range and bearing should be accurate.

DUAL FREQUENCY SYSTEMS

If both L1 and the L2 frequencies are used it is possible to calculate actual ray
bending. At the Reference station both signals are received, by measuring the
difference in rate of bending of the two signals the actual bending at the reference
station can be calculated. This can then be applied to the SV signals to remove the
effect, and then the fix is calculated and residual errors calculated, and transmitted.
At the user end both frequencies are received, the signal bending at the user is
calculated and its effect removed. The corrections from the reference station are
applied to give a fix that has no ionospheric-tropospheric-scintillation errors.

Single frequency with scintillation Dual frequency with scintillation

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REAL TIME KINEMATIC MEASURES CARRIER PHASE DIFFERENCE

500km system with decimetre accuracy available Offshore from Fugro, and Thales
now available, gives position, Heading, VRU, and height of tide information

SEA PATH A SHORT RANGE CARRIER PHASE DIFFERENCE SYSTEM

10KM range needs a local reference station, gives position, Heading, VRU, and
height of tide information

REAL TIME GYPSY A WORLD WIDE DUAL FREQUENCY SYSTEM

Uses the NASA system of reference stations, collects data from all GPS satellites
sends it to a hub that calculates a single set of corrections that are broadcast via
inmarsat

EGNOS/WAAS/MSAS (EUROPEAN/USA/JAPAN)
Augment GPS and Glonass signals using a DGPS style set up. The next phase, a
stand alone GPS system called Galileo has just been given the go ahead, with
multiple frequencies, and better atomic clocks, it is expected to exceed GPS
standards

GPS- INS COMBINATION

A combination of ships inertial navigation system (SINS) and GPS, should the GPS
dropout the SINS component can be used to provide a reference signal, that will
hopefully not degrade before either GPS is regained or the DP is safely terminated.

Other sources of information.

1. Admiralty list of radio signals. GNSS volume
2. www.mercat.com Mercat , an American university website
3. www.trimble.com Trimble website, a very good introduction to GPS and
DGPS
4. www.fugro.com Fugro

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