GPS MARATHON SERIES

GATE GEOMATICS ENGINEERING

COMMON SECTION
• What is GPS?
• The Global Positioning System (GPS) is a U.S.-owned utility that provides users with positioning, navigation, and timing
(PNT) services. This system consists of three segments: the space segment, the control segment, and the user segment. The
U.S. Space Force develops, maintains, and operates the space and control segments.
History of GPS
• The concept of satellite-based navigation
systems began in the 1950s and 1960s.
• GPS has its origins in the Sputnik era when
scientists were able to track the satellite
with shifts in its radio signal known as the
"Doppler Effect."
• The Soviet Union launched the first
artificial satellite, Sputnik, in 1957.
• The United States Navy developed the
Transit system in the early 1960s, which
used a constellation of six satellites to
provide basic navigation for ships and
submarines.
Birth of GPS
• Started in 1970s when the U.S. Department
of Defense initiated the NAVSTAR program.
• The first GPS satellite, Navstar 1, was
launched in 22 February 1978.
• By the mid-1990s, the GPS system achieved
Full Operational Capability with a
constellation of 24 satellites in orbit. This
allowed for global coverage and high-
precision positioning.
• The GPS satellites circle the Earth at an
altitude of about 20,000 km (12,427 miles)
and complete two full orbits every day.
 Testing/ Launch
Block Launched Operational Unhealthy Retired Manufacturer
Reserve Failures

Rockwell
Block I 11 0 0 0 10 1
International

Rockwell
Block II 9 0 0 0 9 0
International

Rockwell
Block IIA 19 0 0 0 19 0
International

Lockheed
Block IIR 13 6 2 0 3 1
Martin
Lockheed
Block IIRM 8 7 1 0 0 0
Martin
Block IIF 12 12 0 0 0 0 Boeing
Lockheed
Block III 6 6 0 0 0 0
Martin
Lockheed
Block IIIF 0 0 0 0 0 0
Martin
Total 78 31 4 0 41 2
 Satellite
Block Satellite Type Key Features

Block I Concept Validation Satellites - Concept validation satellites.

- Fully operational satellites. - Can operate for 14 days

Block II Fully Operational Satellites
without ground control contact.

- Designed for autonomous operation of 180 days without

Operational Autonomous
• Note: Atomic clocks on GPS Block IIA
Satellites
ground control contact. - Navigation accuracy degrades over
satellites provide highly accurate and time.
reliable timing, with 1-second error
in 158,000 years. Each satellite also Operational Replenishment - Maintain accuracy during prolonged autonomous operation
carries an X-ray detector payload for Block IIR
Satellites (AUTONAV). - Carry 3 atomic clocks (2 rubidium, 1 cesium).
detecting nuclear detonations on
Earth. Triangulation from multiple
satellites helps pinpoint the location - Next generation with 33 satellites launched from 2002 to
and time of nuclear tests. Block IIF Next-Generation Satellites
2012. - Separates military and civil frequencies.

- Potential addition of a third civil frequency for safety of life

operations.

Failed - SVN 20 and SVN 28 failed in space. - SVN 42 experienced an

SVN 20, SVN 28, SVN 42
Satellites unsuccessful launch.
GPS Working
Principal
• The Global Positioning System
(GPS) works on the principle of
trilateration.
• To trilaterate, a GPS receiver
measures the distances to
satellites using radio signals.
• Trilateration involves measuring
distances.
Triangulation Measures
Angles, Not Distance

• On the other hand, surveyors use

triangulation to measure unknown
distances. They do this by establishing a
baseline length.
GPS Constellation
• The GPS constellation is a network of
satellites orbiting the Earth that together
provide global coverage and enable the
Global Positioning System (GPS) to
function.
GPS CONSTELLATION
• − Six (6) fixed orbital planes
• − Altitude 20.200 km (10.981 NM)
• − Orbit period is almost 12 hours
• − Orbital planes are equally spaced 60 degrees apart
• − Inclined 55 degrees with respect to the equatorial plane
• − 4 satellites in each orbit
• − Satellites repeat the same track/configuration over any point
on earth every 24 hrs
• (4 minutes earlier each day due to the earth’s rotation around
the sun)
GPS Segments
The GPS consists of three major segments:

Space Control User

segment segment segment
 Space Segment

• Each satellite broadcasts a navigation

message with exact position, clock,
status, and orbit details of itself (called
Ephemeris) and general position and
health information of all the other
satellites (called Almanac). The
nominal space segment consists of 24
satellites.
Control Segment.

• GPS satellites are under surveillance of the

Control Segment. Five monitoring ground
stations constantly track the satellite’s
transmissions, clocks, status, and orbits. The
ground stations are located in Hawaii,
Colorado Springs, Ascension Island, Diego
Garcia, and Kwajalein.
User Segment
• The User Segment includes all GPS users. User equipment consists of
a:
− GPS-antenna and
− GPS-receiver with
− Built-in microcomputer or GPS-navigator.
• The GPS receiver measures the traveling
time of the satellite’s signal to establish its
position and calculation in
Latitude/Longitude/height co-ordinates
according to the WGS84 (World Geodetic
System of 1984) reference system.
Advantages of GPS Limitations of GPS

Accurate Positioning Signal Blockage

Global Coverage Indoor Use

Versatility Multi-Path Errors

Real-Time Tracking Signal Interference

Emergency Response Limited Vertical Accuracy

Time Synchronization Satellite Constellation Updates

Efficiency Power Consumption

Environmental Monitoring Cost

Geographic Information Systems (GIS) Privacy Concerns

GPS Signals
• GPS satellite transmits
signals at two frequencies,
designated L1 and L2 on
which three binary
modulations are
impressed. The C/A- code,
the P(Y) code and broadcast
(or navigation) message.
 Carriers

• In the context of GPS, "carriers" refer to the

radio waves transmitted by GPS satellites.
• GPS satellites transmit multiple carriers at
different frequencies.
• The two primary carriers used in GPS are L1 and
L2, which correspond to frequencies of 1575.42
MHz and 1227.60 MHz, respectively.
• These carriers are used for transmitting the GPS
signals and carry the navigation information
that GPS receivers use to determine their
position.
 L1 Signal (1575.42
MHz):
• The L1 signal is the oldest GPS signal.
• It has two parts: the Coarse/Acquisition Code
(C/A) and the Precision Code (P-code).
• The P-code is reserved for military use, while
the C/A is open to the public.
• The L1 signal uses the frequency 1575.42
MHz (source).
• Since the L1 is the oldest and most
established signal, even the cheapest GPS
units can receive it. However, because its
frequency is relatively slow it is not very
effective at traveling through obstacles.
L2 Signal (1227.60 MHz):

• The L2 frequency was implemented after the L1.

• It also has a military code and a civilian use
code.
• The L2 uses the frequency 1227.60 MHz, which
is faster than the L1.
• This allows the signal to better travel through
obstacles such as cloud cover, trees, and
buildings (more on obstacles here).
• However, since L2 is newer, its infrastructure is
not yet complete. Because of this, it cannot be
used on its own: it must be used along with L1
frequencies.
L5

• L5 is the third GPS signal, operating at

1176 MHz.
• It is the most advanced GNSS signal.
• It will be used for safety-of-life
transportation and other demanding
applications such as aviation.
• It will eventually become another signal
available for civilian users.
 GPS Codes (C/A and P):

C/A Code:
• The C/A code is a civilian code used for the Standard Positioning
Service (SPS) provided by GPS.
• It is a simpler code and is intentionally degraded for security
reasons.
• C/A code signals are freely available for public use.
• With the removal of Selective Availability (SA) in 2000, C/A code
signals are more accurate.
P Code:
• The P code is a military-grade code used for the Precise Positioning
Service (PPS) provided by GPS.
• It is more complex and provides higher accuracy than the C/A code.
• P code signals are encrypted and reserved for authorized military
users.
• Civilian GPS receivers can use the encrypted P(Y)-code when
authorized by the government.
Navigational Message:

The Navigational Message is a critical component of GPS signals.

It is broadcast by GPS satellites and contains essential information for GPS receivers to determine their position
and time.

The Navigational Message includes data such as:

• Satellite ephemeris (satellite position information).

• Satellite clock corrections.
• Almanac data (information about all satellites in the constellation).
• Health status of each satellite.
• Ionospheric and UTC time offset parameters.

The Navigational Message is continuously updated by the Control Segment and is used by GPS receivers to
calculate precise positions, including latitude, longitude, altitude, and accurate time.
Structure of GPS Signals:

Pseudorange
Time taken for a GPS signal to travel from satellite to receiver

Used to estimate the distance between the satellite and the receiver
 GPS Time and Coordinated Universal Time (UTC)

GPS Time (GPST): This is the time used by the GPS system. It's like a clock specific to GPS satellites and is incredibly
precise, updated continuously. GPS Time is counted in weeks and seconds from January 6, 1980. Unlike our
everyday clocks, it doesn't experience leap seconds.

Coordinated Universal Time (UTC): UTC is the global time standard. It's based on super-precise atomic clocks from
labs worldwide, and it's so stable that it's even more precise than the Earth's rotation. To keep UTC and the Earth's
rotation in sync, we occasionally add leap seconds to UTC.

The trick is that GPS Time and UTC started off the same at midnight on January 6, 1980. However, because we've
added leap seconds to UTC since then, GPS Time has drifted ahead. For example, on July 1, 2012, GPS Time was 16
seconds ahead of UTC, and on September 11, 2020, it was 18 seconds ahead.

To make sure your GPS receiver understands this difference and can accurately calculate your position, the GPS
system sends information (A0 and A1 constants) in the Navigation Message that helps your receiver relate GPS
Time to UTC. This message also tells your receiver about any future leap seconds.
Time Systems in GPS
GPS Time (GPST) Coordinated Universal Time (UTC)

- Worldwide time scale based on International Atomic Time

- GPS system's time scale
(TAI)

- Based on atomic time, continuously updated - Leap seconds added to UTC to align with Earth's rotation

- The time scale is a count of the number of weeks, and seconds

- GPS time steered to UTC, accurate within 1 microsecond
of the current week, since an epoch.

The start epoch was 0 hours (midnight) Sunday 6-Jan-1980,

- Leap seconds are periodically added to UTC
when GPS time was 0.

- GPS time does not include leap seconds, providing a

continuous, uniform time scale
GPS Time

local 2020-09-09 14:37:04 Wednesday day 253 timezone UTC-6

UTC 2020-09-09 20:37:04 Wednesday day 253 MJD 59101.85907

GPS 2020-09-09 20:37:22 week 2122 333442 s cycle 2 week 0074 day 3

Loran 2020-09-09 20:37:31 GRI 9940 47 s until next TOC 20:37:51 UTC

TAI 2020-09-09 20:37:41 WEDNESDAY day 253 37 leap seconds

GPS Time is the time standard of the GPS system. It is also known as GPS
System Time (GPST). Coordinated Universal Time is the time standard for
the world.

The rates of these two standards are virtually the same. Specifically,
the rate of GPS Time is kept within 1 microsecond, and usually less than
25 nanoseconds, of the rate of Coordinated Universal Time (UTC). The
exact difference is in two constants, A0 and A1 in the NAV message,
which give the time difference and rate of system time against UTC.
Principal of Geopositioning

GEOPOSITIONING USES VARIOUS VISUAL THE CALCULATION REQUIRES

AND ELECTRONIC METHODS INCLUDING MEASUREMENTS OR OBSERVATIONS
POSITION LINES AND POSITION CIRCLES,
CELESTIAL NAVIGATION, RADIO
OF DISTANCES OR ANGLES TO
NAVIGATION, AND THE USE OF SATELLITE REFERENCE POINTS WHOSE
NAVIGATION SYSTEMS. POSITIONS ARE KNOWN.
 Methods of Geopositioning
• Satellite-Based Positioning: Using satellites like GPS for accurate location determination.
• Triangulation and Multilateration: Calculating positions by measuring angles or distances
from known reference points.
• Geodetic Datums and Coordinate Systems: Frameworks and coordinates to define and
express locations.
• Ground Control Points: Precise reference points for improving accuracy in mapping and
remote sensing.
• Sensor Technologies: GPS, GNSS, LiDAR, and more for capturing location data.
• Correction Techniques: Methods to correct errors and enhance accuracy, like DGPS and RTK.
• Data Integration and Analysis: Combining location data with other information for various
applications.
• Privacy and Security: Ensuring the protection of sensitive location data.
GPS Positioning Types
• GPS positioning encompasses various types and methods, each suited
to different applications and accuracy requirements. Here are the key
types of GPS positioning:
1. Absolute Positioning:
• Description: Absolute positioning provides the absolute geographic
coordinates (latitude, longitude, and altitude) of a GPS receiver with
respect to a global reference frame (e.g., WGS84).
• Applications: Navigation, mapping, surveying, and geodetic
applications where precise global positioning is required.
2. Differential Positioning:
• Description: Differential positioning enhances the accuracy of GPS by
comparing a reference station's known position to the receiver's
position. Corrections are applied to reduce errors.
• Applications: Surveying, precision agriculture, and applications
requiring high accuracy (Real-Time Kinematic - RTK, Differential GPS -
DGPS).
3. Single-Point Positioning:

Description: Single-point positioning involves determining

the position of a GPS receiver independently without the
use of reference stations or differential corrections.

Applications: General navigation, location-based services,

and basic mapping where moderate accuracy is acceptable.
4. Point Positioning vs. Relative Positioning:

Positioning Positioning

Point Positioning: Determines the Relative Positioning: Determines the

absolute position of a single GPS relative positions between two or
receiver with respect to a global more GPS receivers. It does not rely
reference frame. on global coordinates but focuses on
the inter-receiver distances.
5. Static vs. Kinematic Positioning:

Static Positioning: GPS receivers are stationary during data

collection, allowing for precise, long-duration measurements.

Kinematic Positioning: GPS receivers are in motion during data

collection, accounting for dynamic changes in position. Used in
applications like vehicle tracking, aircraft navigation, and mobile
mapping.
6. Real-Time vs. Post-Mission Processing:
• Real-Time Processing: GPS data is processed in real-time, providing
immediate positioning solutions. Often used in navigation and time-
sensitive applications.
• Post-Mission Processing: GPS data is collected and stored for later
analysis. Data is processed offline, allowing for more extensive data
analysis and precise positioning.
• The choice of GPS positioning type depends on the specific
application, accuracy requirements, and the availability of
infrastructure such as reference stations for differential corrections.
Different methods offer different levels of accuracy, real-time
capabilities, and suitability for various industries and tasks.
GPS Antenna
What it Does: Think of a GPS antenna as the "ears" of a GPS system. It listens to
signals from satellites.
Types: GPS antennas come in different forms, like the ones you see on your car's
dashboard or the ones on top of a boat's mast.
Where They Go: They should be placed where they can "see" the sky without
obstructions like buildings or trees.
Boosting Signals: Some antennas have amplifiers to make the signals stronger for
better reception.
Uses: You find them in your car's GPS, your phone, or even on a surveyor's
equipment.
 Types of GPS Receivers:
• Single-Frequency Receivers:
• Use a single frequency (typically L1) for positioning.
• Common in consumer-grade devices.
• Dual-Frequency Receivers:
• Utilize both L1 and L2 frequencies for enhanced accuracy and correction of signal errors.
• Preferred for high-precision applications.
• Real-Time Kinematic (RTK) Receivers:
• Provide real-time centimeter-level accuracy by using reference stations and corrections.
• Widely used in surveying and precision agriculture.
• Differential GPS (DGPS) Receivers:
• Improve positioning accuracy by receiving corrections from ground-based reference stations.
• Used in maritime navigation and land surveying.
• Multi-GNSS Receivers:
• Receive signals from multiple satellite navigation systems, such as GPS, GLONASS, Galileo, and
BeiDou, for enhanced global coverage and accuracy..
 Types of GPS Receivers:
• Handheld GPS:
Use: These are like pocket-sized maps for hiking or road trips.
• Automotive GPS:
Use: They help you navigate while driving, avoiding traffic and finding places like gas stations.
• Marine GPS:
Use: These are for boats and ships to help them sail safely on the water.
• Aviation GPS:
Use: Used by pilots to navigate through the skies, with extra features like alerts for obstacles.
• Surveying GPS:
Use: Surveyors and builders use these to get super-precise measurements for construction.
• Military GPS:
Use: Used by the military for security and navigation, often with extra protection.
• OEM GPS:
Use: These are like the secret ingredients inside your smartphone or IoT devices that make location services work.
• Dual-Frequency GPS:
Use: They are like the GPS pros, using two signals for pinpoint accuracy.
GPS Orbits
• GPS satellites fly in medium Earth orbit (MEO) at an
altitude of approximately 20,200 km (12,550 miles).
Each satellite circles the Earth twice a day.
 • GPS Satellite Coordinates, or ephemeris data – provide
information about the current position of GPS satellites
in orbit, satellites location in space, its velocity.
• Satellite Identifier (PRN) – Pseudorandom Number .
• Satellite Health

GPS Satellite • Time of Ephemeris

• Satellite Position
Coordinates • Velocity
• Clock Offset
• Ephemeris Age
• Orbital Elements
• Satellite Almanac
1. Satellite Identifier (PRN) – Pseudorandom Number:
1. Satellite Identifier (PRN), short for Pseudorandom Number, is a unique identification number assigned to each GPS satellite. These numbers
help GPS receivers differentiate between and track multiple satellites in the constellation.
2. Satellite Health:
1. Satellite Health refers to the status or condition of a GPS satellite. It indicates whether the satellite is functioning correctly or experiencing
any issues. GPS receivers use this information to determine if a satellite's signals should be trusted for accurate position calculations.
3. Time of Ephemeris:
1. Time of Ephemeris is the timestamp that indicates when the satellite's ephemeris data was last updated. Ephemeris data contains
information about the satellite's orbit, which is essential for accurate position calculations.
4. Satellite Position:
1. Satellite Position represents the coordinates (latitude, longitude, and altitude) of a GPS satellite in space. This information is necessary for
GPS receivers to calculate their own positions based on signals from multiple satellites.
5. Velocity:
1. Velocity refers to the speed and direction at which a GPS satellite is moving in its orbit. GPS receivers use satellite velocity data along with
satellite position data to calculate accurate user positions.
6. Clock Offset:
1. Clock Offset refers to the difference between the satellite's onboard clock time and the precise GPS time. This offset is critical for accurately
determining the time it takes for signals to travel from satellites to the GPS receiver.
7. Ephemeris Age:
1. Ephemeris Age indicates how old the ephemeris data for a particular satellite is. Fresher ephemeris data is more accurate, and GPS receivers
use this information to assess the reliability of a satellite's signals.
8. Orbital Elements:
1. Orbital Elements are a set of parameters that describe the shape, size, and orientation of a satellite's orbit. These elements are used to
predict the satellite's future positions and are crucial for precise positioning calculations.
9. Satellite Almanac:
1. Satellite Almanac is a collection of data that provides approximate information about the orbits of all the GPS satellites in the constellation.
While less accurate than ephemeris data, the almanac helps GPS receivers quickly identify which satellites are in view and estimate their
approximate positions.
 GPS Signal Processing
Signal needs to be processed so that the carried information can be
extracted and used.
Characteristics of
Signals

• The three main features of signals are:

• Amplitude (A) ⇒ the peak of the signal

from the center line
• Frequency (f) ⇒ how often signal
sequences repeats across time
• Phase (ϕ) ⇒ how many degrees the
signal shifts from the original point
Signal Modulation

• Signal Modulation is the process of

adding data to a carrier wave to make it
usable, like putting information on a
blank canvas.
• There are three common ways to do
this: ASK, FSK, and PSK, which adjust
either the signal's amplitude,
frequency, or phase.
Signal Modulation:
• Think of it as sending messages through the air. Imagine you have a
blank sheet of paper (the carrier wave) and you want to write
something on it (your message or data).
• You can write in different ways, like using big or small letters,
changing the color, or even drawing pictures. This process of adding
your message to the blank sheet is called modulation.
ASK, FSK, PSK
• In ASK, we change signal strength to represent 0s and 1s. FSK alters
the signal's frequency, and PSK adjusts its phase.
• ASK (Amplitude Shift Keying) is like writing your message with thick
or thin lines.
• FSK (Frequency Shift Keying) is like using different colors to write
your message.
• PSK (Phase Shift Keying) is like tilting your paper slightly while
writing.
 • CDMA allows multiple users to share one frequency band by

CDMA (Code- assigning each user a unique code. This is like each product in a
store having its own barcode.

Division Multiple
Access)
Correlation
• Correlation measures how well two signals match. High correlation
means they match well, while low correlation indicates differences.
• This is like checking if two things match or not. If two things are very
similar, like two puzzle pieces fitting together perfectly, their
correlation is high. If they are different, their correlation is low.

First correlation example. Signal 1 is random noise. Signal 2 is

the same noise but with different phases (phase increases
when signal moving rightward). The red dot is the correlation
of two signals at the current time. A peak happens only when
two signal matches in phase.
Demodulation

Demodulation is the reverse of modulation. It

extracts data from received signals. In CDMA, PRN
codes act as keys to unlock the data.

After sending messages, you need to figure out

what was written or said. Demodulation is like
reading those messages or decoding them.
 GPS Signal: GPS is like a special way of sending
messages to find your location.

• GPS signals use CDMA and PSK. They include a carrier wave, PRN code,
and navigation data. This data helps us determine our position.

GPS signal structure. From top to bottom, carrier wave,

navigation message, PRN code, and GPS signal (XOR of
the above three signals).
Carrier Wave

Carrier waves in GPS use

Carrier Wave: This is like a
two frequencies to ensure
special GPS signal that
reliability. Doppler shifts
helps you figure out
might change the received
where you are.
frequency slightly.
PRN Code
• PRN codes distinguish signals from different satellites. There are C/A
codes for public use and P codes for military.
• PRN Code: These are like secret codes assigned to different GPS
satellites so you can tell them apart.

Correlation of satellite №1’s C/A code (PRN1) with a phase

delayed version of itself. The blue dot marks the first chip of
the PRN code, and the red dot is the correlation result at the
current time. The correlation time series is similar to the first
correlation example of random noise.
• The correlation of two different PRN
codes doesn’t have a peak. In this way,
user can’t use PRN2 to demodulate
data on PRN1 because the correlation
is always around 0. This makes it
possible to separate the data
modulated on one satellite with the
other.
Navigation Message
• Navigation Message: This is the actual
information that helps you know your
exact location.
• Signal Acquisition: It's like trying to
find out which GPS satellites are
nearby so you can use their signals.

• Signal Tracking: It's like constantly

adjusting your GPS to make sure
you're getting the best information.
Feedback Loops: These are like self-
correcting systems. If something goes
wrong, they help you fix it automatically.

• Negative feedback loops are used in GPS tracking because they stabilize the system.
• Negative Feedback: It's like having a system that makes small corrections to keep everything on
track. For example, when you're driving, you make tiny adjustments to stay in your lane.
• Positive Feedback: This would make things go out of control. For example, if your car accelerated
every time you steered, it would be very hard to drive safely.
• So, in simpler terms, signal processing is about sending and receiving
messages in different ways, and GPS is a clever system that uses
special codes and signals to help you figure out where you are, like a
high-tech treasure map.
Navigational solution in GPS, whether code-
based or phase-based,

1. Code-Based 2. Phase-Based
Navigational Navigational
Solution: Solution:
1. Code-Based Navigational Solution:

Concept: In code-based navigation, the GPS receiver uses the pseudorandom codes transmitted by GPS satellites to calculate
your position.

How it works: Each GPS satellite broadcasts a unique pseudorandom code. Your GPS receiver knows these codes and listens
for signals from multiple satellites. When it receives signals from at least four satellites, it measures the time it takes for
each signal to reach it (this is the pseudorange, as explained earlier). By comparing the time delays and knowing the
positions of these satellites in space (which are continuously broadcast by the satellites), the receiver can calculate your
position on Earth's surface.

Precision: Code-based navigation provides a good level of accuracy for most civilian GPS applications, such as driving, hiking,
and general navigation. However, it may not be precise enough for high-precision applications like surveying.
2. Phase-Based Navigational Solution:

Concept: Phase-based navigation is a more advanced and precise technique that considers not only the timing of
signals but also their phase.

How it works: In phase-based navigation, your GPS receiver measures the phase of the carrier signal sent by GPS
satellites. The phase represents the alignment of the signal's waveform when it's received. By examining the phase
differences between signals from multiple satellites, the receiver can calculate very precise distance measurements.

Higher Precision: Phase-based navigation offers much higher precision compared to code-based navigation. It's like
knowing not only the song titles (pseudorange) on different radio stations but also knowing exactly where you are in
each song (phase).

Challenges: While phase measurements provide exceptional accuracy, they are also more sensitive to factors like
signal interference and atmospheric conditions. Managing these challenges is crucial for reliable phase-based
navigation.
GPS DATA PROCESSING MODELS

Real-Time Kinematic (RTK) GPS:

Differential GPS (DGPS):
Precise Point Positioning (PPP):
Static GPS Processing:
Kinematic GPS Processing:
Post-Processing GPS:
Real-Time Kinematic
(RTK) GPS:
RTK GPS uses a base station with a
known location and a rover GPS
receiver to provide real-time,
centimeter-level positioning accuracy.

high-precision GPS technique

Differential GPS (DGPS):

DGPS is a technique used to enhance the

accuracy of GPS positioning by correcting for
errors caused by factors like atmospheric
conditions, satellite clock errors, and signal
path delays.

DGPS requires a reference station with a known

location. This station receives the same GPS
signals as the user's receiver and calculates
errors in the signals. These errors are then
transmitted to the user's GPS receiver, which
applies corrections to improve accuracy.
 Precise Point Positioning (PPP)
Concept: PPP is a technique for achieving high-
precision GPS positioning without the need for a
nearby reference station. It relies on precise
satellite orbit and clock information.

How it works: PPP requires access to high-quality

satellite orbit and clock data, often provided by
government agencies or commercial providers.
The receiver combines this data with its
observations to calculate a highly accurate
position.

Applications: PPP is used in geodetic surveying,

scientific research, and applications requiring
high-precision positioning globally.
Static GPS Processing:

Concept: Static GPS processing is used for

stationary GPS receivers that collect data
over an extended period.

How it works: GPS data collected by a

stationary receiver is processed to determine
precise positions. This technique is used in
geodetic surveys and scientific studies that
require precise, long-term monitoring.
Kinematic GPS Processing:
Concept: Kinematic GPS involves processing data collected from a moving
receiver, such as a vehicle or aircraft, to determine its precise position, velocity,
and orientation.

How it works: Kinematic GPS models account for the dynamic movement of
the receiver and use complex algorithms to estimate its trajectory in real-time.

Applications: Kinematic GPS is used in vehicle navigation, geospatial mapping,

and geophysical research.
Post-Processing GPS:
Concept: Post-processing GPS involves collecting GPS data and then
processing it offline using specialized software to achieve higher
accuracy.
How it works: After data collection, the GPS data is processed using
correction models and precise ephemeris data. This allows for
improved accuracy compared to real-time processing.
Applications: Post-processing GPS is used in geodetic surveys,
scientific research, and applications where accuracy is critical.
GPS Data
Processing
Method Method Type Instruments Accuracy Time Taken

RTK GPS Real-time GPS Receivers Centimeter Real-time

DGPS Differential GPS Receivers Decimeter Real-time

GPS Receiver, Minutes to

PPP Precise Centimeter
Data Hours

Static GPS Static GPS Receiver Centimeter Hours to Days

GPS Receiver, Real-time or

Kinematic
Kinematic Mobile Centimeter Post-
GPS
Platform processing

Post-
Post- GPS Receiver, Minutes to
Processing Centimeter
processing Software Hours
GPS
Single-Point Positioning Models:

Model Type Method Description Typical Accuracy

Uses pseudoranges from
Single-Point multiple GPS satellites to
Pseudorange-Based Model Meter-level
Positioning estimate the receiver's
position.
Utilizes carrier phase
Single-Point measurements to estimate
Carrier Phase-Based Model Centimeter-level
Positioning the receiver's position,
achieving higher accuracy.
Differential Positioning Models:

Model Type Method Description Typical Accuracy

Differential Correction Differential Enhances accuracy by transmitting corrections from Centimeter to

Model Positioning a reference station to a remote rover receiver. Decimeter-level

Real-Time Kinematic Differential Provides real-time centimeter-level accuracy through

Centimeter-level
(RTK) Model Positioning real-time correction transmission.

Precise Point Positioning Differential Achieves high-precision positioning without a nearby Sub-decimeter to
(PPP) Model Positioning reference station, relying on precise satellite data. Centimeter-level
GPS data formats
• GPS data formats like RINEX (Receiver Independent Exchange Format)
and SP3 (Standard Precise Ephemeris Format) are essential for
exchanging and storing GPS data, particularly for precise positioning
and navigation applications.
RINEX (Receiver Independent Exchange
Format):
• Purpose: RINEX is a standardized data format used for exchanging GPS data between different
GPS receivers and software processing tools. It facilitates data compatibility and interoperability.
• Data Types: RINEX files typically contain various types of GPS data, including pseudorange
measurements, carrier phase observations, satellite ephemerides, ionospheric data, and more.
• Key Features:
• Time-stamped observations: RINEX files include precise time information for each GPS
measurement, enabling accurate data processing.
• Header Information: Each RINEX file begins with a header section that provides metadata such as
receiver and antenna information, observation types, and time system information.
• Usage: RINEX data is widely used in geodetic surveying, precise positioning, and GPS data
analysis. It is a standard format for exchanging GPS data within the geodetic and surveying
communities
SP3 (Standard Precise Ephemeris Format):
• Purpose: SP3 is a standardized data format used for distributing precise satellite ephemeris data.
It provides highly accurate satellite orbit and clock information.
• Data Types: SP3 files primarily contain precise ephemerides (satellite orbit data) and satellite
clock corrections. This data is essential for precise positioning and navigation.
• Key Features:
• High Accuracy: SP3 files provide satellite ephemerides and clock corrections at a level of precision
suitable for centimeter-level positioning.
• Time-Stamped: SP3 files are time-stamped, allowing users to access precise satellite positions and
clock information at specific epochs.
• Usage: SP3 data is essential for high-precision GPS applications such as Real-Time Kinematic (RTK)
positioning, Precise Point Positioning (PPP), and scientific research. It is commonly used in
conjunction with GPS receivers and processing software to achieve accurate positioning.
GPS ERRORS AND ACCURACY
• GPS errors and accuracy play a crucial role in determining the
precision of GPS-based positioning and navigation. Here's an
overview of various GPS errors and factors affecting accuracy:
1. Ephemeris Errors and Orbit Perturbations:

Ephemeris Errors: Inaccuracies in the predicted

satellite positions (ephemerides) transmitted by
GPS satellites.

Orbit Perturbations: Variations in satellite orbits

due to gravitational effects of the Earth, Moon,
and other celestial bodies.
2. Forces on GPS Satellites:
• Gravitational forces from celestial bodies and solar radiation pressure
can affect satellite orbits.
3. Effects of Orbital Bias:
• Systematic errors in the estimation of satellite orbits and clocks.
4. Clock Bias (Satellite & Receiver):
• Satellite Clock Bias: Errors in satellite clock readings transmitted to
GPS receivers.
• Receiver Clock Bias: Errors in the GPS receiver's clock synchronization.
 5. Cycle Slip
Loss of carrier phase count ambiguity resolution, leading to position
errors.
6. Selective Availability (SA):
• A deliberate degradation of GPS signals by the U.S. government (no
longer active) to limit civilian accuracy.
Ionospheric & Tropospheric Errors:
• Ionospheric Errors: Delay of GPS signals due to the Earth's
ionosphere, which varies with solar activity and time of day.
• Tropospheric Errors: Delay of GPS signals caused by the Earth's
troposphere, primarily due to atmospheric conditions.
Multipath:
• Signals reflecting off surfaces or structures before reaching
the GPS antenna, causing signal interference.
9. Station Coordinates:
• Errors in the known positions of GPS reference stations used
for differential correction.
10. DOP
• DOP values quantify the geometric arrangement of visible satellites
relative to a GPS receiver. High DOP values indicate poor geometric
conditions for precise positioning.
11. User Equivalent Range Error (UERE):
• A measure of the total error budget for GPS positioning,
encompassing various error sources. It quantifies the expected error
in the user's position.
• To achieve accurate GPS positioning, many of these errors must be
mitigated or corrected. Differential GPS (DGPS) and Precise Point
Positioning (PPP) are techniques used to improve accuracy by
compensating for some of these errors. Additionally, advancements in
satellite technology, such as the deployment of additional GNSS
constellations like GLONASS, Galileo, and BeiDou, have improved the
accuracy and availability of GPS signals worldwide.
GNSS SYSTEM
 CHINA JAPAN

EUROPE RUSSIA
 Global Navigation Satellite System

COUNTRY NO. OF SATELLITE ALTITUDE

BeiDou Navigation Satellite 35 21, 150 KM

System (BDS) - CHINA

Galileo – EUROPEAN UNION 24+ 23, 222 KM

GLONASS - RUSSIA 24+ 19, 130 KM

GPS - USA 31 20, 180 KM

 INDIA - IRNSS
Indian Regional Navigation
Satellite System

- 7 satellites
- 36, 000 km
Positional errors
Clock errors
NOT ACCURATE

- AUGMENTATION IS NEEDED
FOR GNSS DATA
ACCURACY RELIABILITY AVAILABILITY
 SBAS
Satellite Based Augmentation System

SBAS improves the accuracy and reliability of GNSS

information by correcting signal measurement errors and
by providing information about the accuracy, integrity,
continuity and availability of its signal's which helps in
reducing position errors below 1 meter.
USA Wide Area Augmentation System

European Geostationary Navigation

EUROPE Overlay Service

Multifunctional Satellite
JAPAN Augmentation System

INDIA GPS Aided Geo Augmented

Navigation System

CHINA Satellite Navigation Augmented System

System for Differential

RUSSIA Correction and monitoring
 EUROPE

European Geostationary Navigation

Overlay Service

-initial operation in 2005

-official in 2009
 JAPAN

Multifunctional Satellite
Augmentation System

-2007
 INDIA

-2015

GPS Aided Geo Augmented

Navigation System
 CHINA

Satellite Navigation Augmented System

 RUSSIA

System for Differential

Correction and monitoring
 How SBAS Works?

ICAO

International Civil Aviation Organization

Each Satellite-Based
Augmentation
system contains 3
major segments,

• Ground Segment
• Space Segment
• User Segment
GROUND SEGMENT

REFERENCE STATIONS
MASTER STATION
UPLINK STATION
 REFERENCE
STATION

- Receives Signals from GNSS satellites

and Geostationary Satellites
- Decode the Data and Send it to Master
Station
 Master Station

- Master Station Process the data that is provided by

Reference Station.
- Generate Correction Messages and Send Them to Uplink
Stations.
 UPLINK STATIONS

- Uplink Stations transmit the correction messages

to geostationary satellite.
SPACE SEGMENT

- Receives the Correction Messages from ground

control station and Rebroadcast message to the
user segment
 USER SEGMENT

- And this case the user segment (aircraft) equipped

with GNSS and SBAS receivers receives the correct
data and messages from Geostationary satellite to
identify the precise location
Positional errors
Clock errors
NOT ACCURATE

- AUGMENTATION IS NEEDED
FOR GNSS DATA
ACCURACY RELIABILITY AVAILABILITY
 SBAS
Satellite Based Augmentation System

SBAS improves the accuracy and reliability of GNSS

information by correcting signal measurement errors and
by providing information about the accuracy, integrity,
continuity and availability of its signal's which helps in
reducing position errors below 1 meter.
USA Wide Area Augmentation System

European Geostationary Navigation

EUROPE Overlay Service

Multifunctional Satellite
JAPAN Augmentation System

INDIA GPS Aided Geo Augmented

Navigation System

CHINA Satellite Navigation Augmented System

System for Differential

RUSSIA Correction and monitoring
 EUROPE

European Geostationary Navigation

Overlay Service

-initial operation in 2005

-official in 2009
 JAPAN

Multifunctional Satellite
Augmentation System

-2007
 INDIA

-2015

GPS Aided Geo Augmented

Navigation System
 CHINA

Satellite Navigation Augmented System

 RUSSIA

System for Differential

Correction and monitoring
 How SBAS Works?

ICAO

International Civil Aviation Organizton

Each Satellite-Based
Augmentation
system contains 3
major segments,

• Ground Segment
• Space Segment
• User Segment
GROUND SEGMENT

REFERENCE STATIONS
MASTER STATION
UPLINK STATION
 REFERENCE
STATION

- Receives Signals from GNSS satellites

and Geostationary Satellites
- Decode the Data and Send it to Master
Station
 Master Station

- Master Station Process the data that is provided by

Reference Station.
- Generate Correction Messages and Send Them to Uplink
Stations.
 UPLINK STATIONS

- Uplink Stations transmit the correction messages

to geostationary satellite.
SPACE SEGMENT

- Receives the Correction Messages from ground

control station and Rebroadcast message to the
user segment
 USER SEGMENT

- And this case the user segment (aircraft) equipped

with GNSS and SBAS receivers receives the correct
data and messages from Geostationary satellite to
identify the precise location