2.

0 GLOBAL POSITIONING SYSTEMS DETAILS

Positioning or finding the user’s location with GPS requires some understanding of the GPS
signal structures and how measurements can be made. Likewise as the GPS signals are received
through a GPS receiver, understanding the capabilities and limitations of the various types of
GPS receivers is essential. Furthermore, the GPS measurements, like all measurable quantities,
contain errors and biases, which can be removed or reduced by combining the various GPS
observable.
2.1 GPS Signal Structure:
 Each GPS satellite transmits a microwave radio signal, composed of two carrier
frequencies (or sine waves) modulated by two digital codes and a navigation message.

 Each
satellite broadcast – 2 carrier phase at a fundamental frequency of 10.23 MH Z (Sine
ways)
 L1 carrier broadcasted at 10.23 MHZ x 154 = 1572.42 MHZ and L2 carrier broadcasted at
10.23 x 120 = 1227.60 MHZ
 The two carriers L1 and L2 are modulated by two Digital Codes and a Navigation
Message.
 L1 carrier wavelength is 19cm and L2 carrier wavelength is 24.4 cm
 L1 carrier has 2 – codes modulated upon it
a) C/A code – Coarse Acquisition Code modulated at 1.023 MHZ (10.23 /10)
b) P code – Precise Code modulated at 10.23 MHZ.

SURVEYING TECHNOLOGY DEPARTMENT 13

P. by Tesfu ch
 / 10
10.23 MHz L1 Carrier
Fundamental x 154 1572.42 MHz
Frequency

C/ A Code P- Code
1.023 MHz 10.23 MHz

L2 Carrier
x 120 1227.60 MHz P- Code
10.23 MHz

 All of the GPS satellites transmit same L1 & L2 carrier frequencies

 Code modulation is different for each satellite which minimize the signal
interference
 Each code consists of streams of binary digits, zeros and ones, known as bits
or chips. The codes are commonly known as PRN codes because they look like random
signals (i.e. they are noise like signals).
 The C/A Code is modulated onto L1 carrier only while P-Code is modulated
onto both L1 and L2 carriers
 C/A code is a stream of 1023 binary digits (i.e. 1023 zeros and ones) that
repeats itself after every millisecond. This means that chipping rate (speed) of C/A code is
1.023 Mbps (Mega bits per second)
 Each satellite is assigned a unique C/A code, which enables the GPS receivers
to identify which satellite is transmitting a particular code
 P – code is a very long sequence of binary digits that repeat itself after 266
days.
 It is 10 times faster than C/A code, i.e. its rate is 10.23 Mbps
 Multiplying the repeat time it takes the P- Code to repeat itself, 266 days, with
its rate, 10.23 Mbps, tells us that the P – code is a stream of 2.35 x 1014 bits or chips.
 The 266-day- long code is divided into 38 segments; each is 1 week long

SURVEYING TECHNOLOGY DEPARTMENT 14

P. by Tesfu ch
 Of these 38 segments, 32 segments are assigned to various GPS satellites
 That means each satellite transmits a unique 1 – week segment of the P– code
that is initialized every Saturday/Sunday midnight crossing.
 The remaining 6 segments are reserved for other uses
 Each GPS satellite is usually identified by its unique 1- week segment of P –
code.
 For Example, A GPS satellite with an ID of PRN 20 refers to a GPS satellite
that is assigned 20th – week segment of the PRN P-Code
 The GPS navigation message is a data stream added to both L1 and L2
carriers as binary biphase modulation at low rate of 50 kbps.
 It consists of 25 frames of 1500 bits each or 37,500 bits in total.
 This means that the transmission of the complete navigation message takes
750 seconds or 12.5 minutes
 The navigation message contains the coordinates of GPS satellites as a
function of time, the satellite health status, the satellite clock correction and atmospheric
data.
 Each satellite transmits its own navigation message.
What do you mean by Modulation?
 Carrier waves are designed to carry the binary C/A and P – codes in a process known as
modulation.
 Modulation means the codes are superimposed on the carrier waves.

Binary Digit

ASK – Amplitude
Modulation
FSK – Frequency
Modulation
PSK – Phase
Modulation

2.2 GPS Receivers:

 Most important hardware in GPS surveying operations is the Receivers
 here are literally hundreds of different GPS receivers available in the market.

SURVEYING TECHNOLOGY DEPARTMENT 15

P. by Tesfu ch
 They are generally capable of achieving accuracies from sub meter to sub-centimeters
 The price of receiver ranging from $100 for simple hand held units to $15,000 for
sophisticated geodetic quality units.
 GPS Receivers Components:
A. Antenna:
 GPS receiver requires an Antenna attached to it either internally or externally
 The antenna receives the incoming satellite signal and then converts its energy into an
electric current.
 It is designed to collect only the L1 frequency or both L1 and L2
 Coaxial cables are used to connect antenna with sensor.
 Types of Antenna –
Micro strip Antenna – receive one or both the frequencies
Dipole Antenna – stable phase centre & simple construction
Choke Ring - built with several concentric rings & reduce multiple paths.
B. Pre – Amplifier:
 GPS signal induces a voltage in the antenna that is sent from
receiver to preamplifier.
 In preamplifier, signal power is increased and filtered to reduce
interference.
C. The RF section: signal processing is done here
 Signal processing is easy if the signals arriving at the antenna are lowered to a common
frequency band.
 To accomplish this – incoming frequency the incoming frequency is combined with a
signal at a harmonic frequency.
 The two frequencies are multiplied together in a device known as Mixer
 Two frequencies come out – one of them is sum of the two that went in and another is the
difference between them.
 The two frequencies then go through a band pass filter that removes the unwanted high
frequencies and selects the lower of the two.
 For tracking P – code, this filter will have 20MH Z bandwidth but it will be around 2MHZ
if the C/A code is required

SURVEYING TECHNOLOGY DEPARTMENT 16

P. by Tesfu ch
 The resultant signal is called IF, Intermediate Frequency or Beat Frequency.
 This beat frequency is the difference between the Doppler – shifted carrier frequency that
came from the satellite and the frequency generated by the receiver.
 A replica of C/A or P – code is generated by receiver is correlated with IF Signal. At this
point the pseudo range is measured which is the time shift required to align the internally
generated code with the IF signal, multiplied by the speed of light.
 A receiver generates another replica of the carrier. That carrier is correlated with IF
signal and shift in phase can be measured.
D. Channels:
 The antenna itself does not sort the information gathered.
 The signals from different satellites enter the receiver simultaneously
 In the Channels of the RF section the signals are identified and differentiated from one
another.
 It is a combination of hardware & of software to separate one signal from other
 At any given time- only one frequency from one satellite can be on one channel at a time
 A receiver can have 3 – 40 physical channels. 12-channel parallel receiver is common.

E. Microprocessor: Processed signals are displayed on display unit and or at the same time
recorded at storing device using micro- Processor.
F. Power System: the entire system is attached to Battery
Types of Receiver
1. Single- frequency code Receiver
2. Single- frequency carries – smoothed code receiver
3. Single frequency code & carrier receiver
4. Dual frequency receiver
 Single frequency receiver access – L1 frequency only
 Dual frequency receivers access both L1 & L2 frequencies
a) Single frequency code receiver – measures the pseudo-ranges with C/A code only. It is less
expensive and least accurate.
b) Single frequency carrier smoothed code receiver - also measures
the

SURVEYING TECHNOLOGY DEPARTMENT 17

P. by Tesfu ch
pseudo-ranges with the C/A code only. However, with this receiver type, the higher resolution
carrier frequency is used internally to improve the resolution of code pseudo range, which results
in high precision measurements.
c) Single frequency code and carrier receivers – output the raw C/A code pseudo ranges, L1
carrier phase measurements and the navigation message.
d) Dual frequency – expensive & more accurate. Measuring, L1 & L2, C/A code & code &
navigation message.

2.3 Time System: Time plays a vital role in positioning with GPS
 GPS signals are controlled by Atomic clocks
 In addition, measuring the distance (ranges) from the receiver
to satellite is based on both receiver and satellite clocks.
A number of Time system are used world wide for various purposes:

1. Universe Time: is a universal time that gives a measure of the rotation

of the earth. i.e. one rotation = 24 hours = 3600 and 1 hour = 150
2. International Atomic Time (IAT)
Computed based on independent time scales generated by atomic clocks located at various
timing laboratories throughout the world.
3. Universe Time Coordinated:
 Time as maintained by US Naval Observatory and is time scale based on International
Atomic Time (IAT)

SURVEYING TECHNOLOGY DEPARTMENT 18

P. by Tesfu ch
 Because of variation in earth’s rotation, UTC is adjusted by
increment of 1 second called leap second.
 For Surveying & Navigational purposes, Universe time is required
not the atomic time.
4. GPS Time: - It is the time scales generated by atomic clocks at the monitor station and
satellites.
 Time system upon which GPS is based
 There is no leap second introduced into GPS time i.e. it is a continuous time scale.
 IAT = GPS time + 19 seconds
 On Jan 6, 1980, GPS time was set equal to UTC
 However, with introduction of leap second to UTC, GPS time is 13 seconds a head of
UTC on Jan 01, 1999.
 The difference between GPS & UTC is given in the GPS navigation message.
 After accounting for leap second and using adjustment in the navigation message, GPS
time can be related to UTC within 20 ns or better.
2.4 Pseudo Range Measurements:
 Pseudo range is a measure of the range or distance between the GPS receiver and satellite.
 Either P – code or C/A code can be used for Pseudo Range measurement.
 Let us assume that both satellite and receiver clocks are perfectly synchronized.
 When the PRN code is transmitted from the satellite, the receiver generates exact Replica of
that code.
 After some time, equivalent to the Signal travel time in space, the transmitted code will be
picked by the receiver
 By comparing the
time

SURVEYING TECHNOLOGY DEPARTMENT 19

P. by Tesfu ch
 Multiplying the travel time with speed of light gives the range between satellite and receiver.
 Unfortunately the assumption that the receiver and satellite clocks are synchronization is not
exactly true
 In fact, measured range is contaminated, along with other errors, by synchronization error
between the satellite and receiver clocks. For this reason, this quantity is referred to as
pseudo range not the range
 GPS was designed so that range determination by C/A code measurement is less precise then
that of military P – code measurement
2.5 Carrier Phase Measurement:
 Another way of measuring the range to satellites can be obtained through the carrier
phases.
 The range is sum of the total number of full carrier cycles plus fractional cycles at the
receiver and satellites multiplied by carrier wavelength.
i.e Range =
[Total no of full carrier waves cycles + Total no of partial cycles] x Carrier WL.

 Range measured with carriers are far more accurate than those obtained with the codes
(pseudo range)

SURVEYING TECHNOLOGY DEPARTMENT 20

P. by Tesfu ch
 This is due to the fact that WL (or resolution) of carrier phase 19 cm in case of L1 and
24.4 cm in case of L2 are much smaller than those of codes 300m and 30 m in case of C/A
code and P-code respectively.
 Problem: Carrier waves are pure sine waves – which means all the cycles look the same,
therefore, GPS receiver has no means to differentiate one cycle from another.
 i.e. when receiver is switched on – it cannot determine total no of complete cycles
between the Satellite and Receiver It can only measure fraction of cycle very accurately,
while the initial no of complete cycles reaming unknown
 This is called Initial Cycle Ambiguity
 Fortunately, receiver has a capability to keep track of phase change.
 That means initial cycle ambiguity remains unchanged over the time as long as no signal
loss occurs.
 If the initial cycle ambiguity parameters are resolved, accurate range measurement can be
obtained which leads to accurate position determination.
 This is achieved through relative positioning technique using two GPS receivers
simultaneously tracking same satellites.
Phase Difference:
 The carrier phase from satellite and one generated by the receiver are compared
 The phase difference between the incoming signal and the receiver generated carrier
phase - is fractional part of the carrier phase measurements
 Beat – is a pulsation resulting from the combination of two waves with different
frequencies. Meaning, two different frequencies combine together to create a third note
called Beat.
 In GPS a Beat is created by combining two identical Un-modulated carriers say L1
carriers
- One from satellite
- Second from receiver
 Both have frequency of 1575.42 MHz. Thus there is no difference in these
two L1 carriers from satellite and Receiver
 If there is no difference in these two L1 carriers – how can there be a beat

SURVEYING TECHNOLOGY DEPARTMENT 21

P. by Tesfu ch
 But there is slight difference between the two carriers – the frequency of
L1 carrier coming from satellite changes during its trip from satellite to receiver called
Doppler’s Shift.
 GPS Receiver tries to differentiate this Doppler’s shift and compare the
phases of two L1 carriers to calculate the distance.

SURVEYING TECHNOLOGY DEPARTMENT 22

P. by Tesfu ch