GNSS Signals

INTERNATIONAL SUMMER SCHOOL ON GNSS
GNSS Signals
Christopher J. Hegarty
The MITRE Corporation
Toulouse/Montauban, France, July 16 26, 2012
OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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SUMMER SCHOOL ON GNSS
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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Binary Phase Shift Keying (BPSK)

T0
carrier
Td
data bits, d(t)

(+1 or -1)
BPSK signal, s(t)
(180 deg phase
shift when data
bit changes)
=
f0= 1/T0 = carrier frequency (Hz)
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Rd= 1/Td = data rate (bits/s)
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Direct Sequence Spread Spectrum

T0
carrier
Tc
spread spectrum
waveform
Td
data waveform
modulated spread
spectrum signal
=
Rc= 1/Tc = chipping rate (chips/s)
Rd= 1/Td = data rate (bits/s)
f0= 1/T0 = carrier frequency (Hz)

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Autocorrelation and Power Spectrum

Let s(t) be a BPSK signal created with random data waveform d(t).
R()
Autocorrelation of data waveform:

R ( ) E d (t )d (t )
, Td
1
Td
0, else
-Td
Power spectrum:
S( f )
R( )e
j 2f
Td
S(f)
Td
sin 2 (fTd )
(fTd ) 2
-Rd
Rd
Power spectrum describes how total power in signal is distributed in frequency domain.
Note that ~90% of a BPSKs signal power is within +/-Rd Hz of carrier.
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Why Spread?
Direct sequence spreading allows precise
ranging
Use of different spreading waveforms for each
satellite can provide a multiple access capability
Multiple satellites can broadcast ranging signals at same
frequencies
Interference rejection
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DSSS Autocorrelation
Tc
Received
signal:
+1
-1
-1
Receiver
replica:
Autocorrelation
Received
signal
Integrate &
Dump
Receiver
replica
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Out
Out
-Tc
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Tc
DSSS Cross-correlation
Tc
Received
signal (SV
j):
+1
-1
-1
Receiver
replica (SV
kj):
Received
signal
Integrate &
Dump
Out
Cross-correlation
Out
Receiver
replica
One code selection goal is to select codes for each satellite to minimize cross-correlation.
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Pseudorandom Sequences
Sequence of bits generated at chip rate to
produce spread spectrum waveform
Periodic for open (unencrypted) signals, aperiodic

for encrypted signals
Desired attributes:
Good autocorrelation and cross-correlation

properties low amplitude sidelobes
Balanced equal number of ones and zeros
Also known as pseudorandom noise (PRN)

sequences, spread spectrum sequences
Often generated with linear feedback shift
registers (LFSRs)
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LFSR Example
State
One Code Period
Code length = 24 - 1 = 15
G(x) = 1 + x1 + x4
Note: state (0,0,0,0) does not occur
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Code repeats
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1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
1
1
0
1
0
1
1
0
0
1
0
0
0
1
1
1
1
2
1
1
0
1
0
1
1
0
0
1
0
0
0
1
1
1
3
1
1
1
0
1
0
1
1
0
0
1
0
0
0
1
1
4
1
1
1
1
0
1
0
1
1
0
0
1
0
0
0
1
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Some PRN Sequence Families
m is an arbitrary positive integer

Source: No and Kumar, IEEE Trans. Info. Theory, March 1989.
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Binary Offset Carrier Modulation

Carrier
Spreading code
Tsq
Square wave
Data
BOC signal*
fsq= 1/Tsq = subcarrier frequency (Hz)

By convention, BOC(m,n) refers to a binary offset carrier modulation with m 1.023 MHz
square wave subcarrier frequency and a n 1.023 MHz chipping rate.
*Shown at baseband, i.e., without carrier.
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Sine-phased vs Cosine-Phased BOC

Spreading code
Square wave
Sine-phasing
Spreading code
Square wave
Cosine-phasing
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Multiplexing
Many GNSS satellites broadcast two or more
signals on each carrier frequency

So that efficient switching-class amplifiers can
be used on the spacecraft, multiplexing
techniques that maintain constant envelope are
preferred
Such techniques include:
Phase quadrature for two signals on a carrier frequency, one
multiplies a sine the other a cosine
Interplexing for three signals (Butman and Timor, IEEE Trans
Comm., 1972)
Majority vote for any odd number of signals
Time division multiplexing
Alternative BOC (ALTBOC)
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Constant Envelope
Constant envelope
Not constant envelope
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Dataless (Pilot) Components
Many modern GNSS signals include a component

that is not modulated by navigation data
Both signal components are still modulated by a PRN
Motivation allows carrier phase to be tracked

using a phase locked loop (PLL) instead of a
Costas loop
A PLL can reliably track in 6 dB lower signal-to-noise ratio (SNR)

conditions
So, if one-half of the signal power is devoted to a dataless
component, there is a net 3 dB SNR benefit
Data demodulation suffers a power loss, but this can be overcome
by forward error correction
Data-modulated and dataless components are

multiplexed on same carrier
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Secondary Codes
Secondary codes with lengths up to 1800 bits are

used in many modern GNSS signal designs
Each repetition of the spreading waveform is kept as is or

inverted following a deterministic pattern
Also referred to as synchronization code
Benefits:
Reduces cross-correlation between signals
Helps receiver synchronize with data bits
Reduces impact of narrowband interference
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Polarization
Current and planned GNSS signals are right
hand circularly polarized (RHCP)

User antenna should be also
+
+
+
-
+
+
+
E-field
Linear Polarization
0
1
RHCP
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Relativistic Effects
GNSS satellite clocks are set slow to appear at the desired

frequencies to an observer on the ground.
Source: Ashby, N., www.livingreviews.org
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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GPS Navigation Signals

Today - 2 navigation frequencies, 3 signals
L1 = 1575.42 MHz (154 10.23 MHz)
Coarse Acquisition (C/A) code
Precision (P(Y)) code
L2 = 1227.6 MHz (120 10.23 MHz)

P(Y) code
Future - 3 navigation frequencies, 8 signals

L1 C/A, C, P(Y), and M-code
L2 C, P(Y), and M-code
L5 = 1176.45 MHz (115 10.23 MHz)
L2C,
M-code, and L5 are being broadcast by a growing subset of the satellites in the
GPS constellation.
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GPS Signal Evolution

L5
L2
L1
C/A
P(Y)
P(Y)
Present Signals
L2C
Signals After
Modernization
L1C
M
P(Y)
1176 MHz
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C/A
1227 MHz
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P(Y)
1575 MHz
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GPS Spreading Codes

Signal
Chipping Rate
(Mchip/s)
Carrier frequency
(MHz)
C/A
1.023
1575.42 (L1)
1023 chip Gold codes repeat

every 1 ms
L2C
1.023
1227.6 (L2)
2 codes per SV each at 511.5

kHz, future
P(Y)
10.23
L1 and L2
Repeats 1/week. When Pcode is encrypted, referred to

as Y-code
L5
10.23
1176.45 (L5)
5.115
L1 and L2
L1C
1.023
L1
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Comments
2 codes per SV, future

BOC(10,5) modulation
future
BOC(1,1)/BOC(6,1) - future
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Signal Power Spectra

Normalized Power Spectrum (W/Hz)
x 10
-6
0.9
C/A or L2C
0.8
0.7
0.6
L1C
0.5
0.4
0.3
P(Y)-code
0.2
M-code
0.1
0
-15
-10
-5
10
15
Offset from Carrier Frequency (MHz)
Notes:
(1) C/A codes actually have line spectra - continuous approximation shown.
(2) L5 signal spectrum resembles P(Y), except that L5 is also a line spectrum.
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C/A Code (PRN2) Spectrum

-20
-30
Power Spectral Density (dBc/Hz)
-40
-50
-60
-70
-80
-90
-100
100
200
300
400
500
600
700
800
900
1000
1100
1200
1300
1400
1500
1600
1700
1800
1900
2000
Frequency Offset from L1 (kHz)
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Spacecraft Signal Generation

Atomic clocks
Frequency Synthesizer
(10.23 MHz)
C/A
Navigation Data
Unit
P(Y)
L1 modulator/
Power Amplifiers/
Synthesizer
L2 modulator/
Power Amplifiers/
Synthesizer
Phased
array
antenna
Combiner
Nuclear detonation
detection
signal (L3)
Timing for all signals derived from 10.23 MHz atomic clock-based frequency
synthesizer. Note that C/A and P(Y) are in quadrature on L1.
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C/A Code Generation

G 1 GENERATOR
+
1
G 1 = ---10101111111111
10
SHIFT REGISTER
1.023
MBPS
CLOCK
SET TO
"ALL
ONES"
PHASE
SELECTOR
G 2i
S1
GOLD CODE
XG i (t)
C/A CODE
XG 2
C/A CODE
S2
SHIFT REGISTER
+
G 2 GENERATOR
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G 2 = ---01001111111111
G EPOCH
1kBPS
1023
DECODE
20
50 BPS
DATA
CLOCK
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C/A Code Timing Relationships
X1 Epoch @ 2/3 bps
1023
1023
1023
1023
1023 BIT Gold Code @ 1023 kbps

0
18
1023
etc.
1 ms
19
Gold Code Epochs @ 1000/s
Data @ 50 cps
20 ms
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P-code Generation
Generator based on four

12-stage shift registers
10.23 Mchips per second
Reset once/week
For details, see Interface
Specification IS-GPS-200F
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Received Minimum Signal Levels

RECEIVED POWER OUT OF 3 dBil USER ANTENNA (dBW)
-155.5
C/A - L1
-158.5
P - L1
-161.5
P - L2 or
-164.5
0o 5o
C/A - L2
20o
40o
60o
80o
90o
100o
USER ELEVATION ANGLE (DEG)
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Typical GPS L1 C/A Link Budget

Power in dBW = 10 log10 (Power in W)
Power in dBm = 10 log10 (Power in mW)
1 mW = 0.001 W = 0 dBm = -30 dBW
Transmit power:
40 W
= 16 dBW
Antenna gain:
12 dB
Free space
path loss:
-184.7 dB
Received Signal:
2 10-16 W
= -157 dBW
Thermal Noise
(2 MHz bandwidth):
1.4 10-14 W
= -138.5 dBW
EARTH
Received signal power is less than the thermal noise power in the receiver.
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C/A and P(Y) Navigation Data
Each subframe is 300 bits (6 s @ 50 bps). Entire message repeats every 12.5 min
(5 subframes 300 bits/subframe 25 pages = 37500 bits/message)
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L2C Characteristics Summary

L2 = 1227.6 MHz
Minimum received power = -160 dBW
PRN code chipping rate = 511.5 kHz for each
of two codes
Time Division Multiplexed (TDM) Signal
Chip by chip multiplexing of two PRN sequences

Total chip rate: 1.023 MHz
Specification: IS-GPS-200F
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L2 Civil Signal Definitions

L2C the L2 civil signal
CM the L2C moderate length code
10,230 chips, 20 milliseconds
CL the L2C long code

767,250 chips, 1.5 second
NAV the legacy navigation message
provided by C/A and P(Y)

CNAV improved L2C and L5 navigation
data message format and contents
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IIF L2C Signal Generation

L5-Like CNAV
Message
25 bits/sec
Rate 1/2 FEC
Legacy NAV
Message
50 bits/sec
10,230 Chip
Code Generator
511.5 kHz Clock
767,250 Chip
Code Generator
1/2
CM
Code
CL
Code
Chip by Chip
Multiplexer
B2
A1
B1
A2
Transmitted
Signal
C/A Code
Generator
1.023 MHz
Clock
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L2C Code Characteristics

Codes are disjoint segments of a longperiod maximal length code
27-stage linear feedback shift register with

multiple taps is short-cycled to get desired
period
Selected to have perfect balance
Separate shift registers for each of the two
codes
1 cycle of CL & 75 cycles of CM every 1.5 s
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L2C Code Generator

DELAY
NUMBERS
3
OUTPUT
INITIAL CONDITIONS ARE A FUNCTION OF PRN AND CODE PERIOD (MODERATE/LONG)
SHIFT DIRECTION
Linear shift register generator with 27 stages and 12 taps
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L5 Characteristics Summary
L5 = 1176.45 MHz
Minimum received power = -154.9 dBW
Code chipping rate = 10.23 MHz
QPSK Signal
In-Phase (I5) = Data Channel

Quadraphase (Q5) = Data-Free Channel
Equal Power in I5 and Q5 (-157.9 dBW)
Independent spreading codes on I5 and Q5
Specification: IS-GPS-705
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L5 Characteristics Summary (contd)

I and Q Modulation (1 kbps)
Forward Error Correction (FEC) encoded 50 bps data on I5
(100 sps)
Further encoded with 10-bit Neuman-Hofman Code
Q5 encoded with 20-bit Neuman-Hofman Code
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L5 Codes
Codes with 2 - 13 stage shift registers
Length of one (XA code) = 8190 chips
Length of second (XB code) = 8191 chips
Exclusive-ord together to generate longer code
Chipping rate of 10.23 MHz

Reset with 1 ms epochs (10,230 chips)
Two codes per satellite (4096 available)

One for I5, one for Q5
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L5 I and Q Code Generators

Exclusive OR
Reset to all 1s on next clock
1
10
11
12
13
Decode 1111111111101
All 1's
XA(t)
XA Coder
XBI State for SV i
XIi(t)
Code Clock
1 ms Epoch
XBI(t+niTc)
Initial XBI State

Reset
XQi(t)
1
10
11
12
13
Exclusive OR
XBQ(t+niTc)
XBI Coder
XBQ State for SV i
Initial XBQ State
10
11
12
13
Exclusive OR
XBQ Coder
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L5 Neuman-Hofman Codes
Encoded symbols and carrier
Modulate at PRN code epoch rate
Spreads PRN code 1 kHz spectral lines to 50 Hz spectral lines
(including FEC)
Reduces effect of narrowband interference by 13 dB
Reduces SV cross-correlation most of the time
Provides more robust symbol/bit synchronization
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10-ms Neuman-Hofman Code on I5

1.5
Neuman-Hoffman Code Value
0.5
0
0
10
-0.5
-1
-1.5
Code Delay - Milliseconds
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20-ms Neuman-Hofman Code on Q5

1.5
Neuman-Hoffman Code Value
0.5
0
0
10 11 12 13 14 15 16 17 18 19 20
-0.5
-1
-1.5
Code Delay - Milliseconds
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L5 Data Content and Format
Six-Second 300-bit Messages

Format with 24-bit cyclic redundancy code (CRC)
(same as satellite-based augmentation systems)
Convolutionally encoded: rate , length-7
Messages scheduled for optimum receiver

performance
Lined up with L1 sub-frame epochs
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M-code
Unlike current GPS signals, M-code is generated

with four components
10.23 MHz square wave, in addition to carrier, spreading

waveform, and data
Creates an effect similar to amplitude modulation

- double sideband (AM-DSB)
i.e., moves signal energy away from carrier to upper and lower
sidebands
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M-code Generation
Carrier (L1 or
L2)
5.115 Mchip/s
spreading code
10.23 MHz
square wave
Data
M-code signal*
*Shown at baseband, i.e., without carrier.
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M-code Autocorrelation
1
0.8
0.6
Autocorrelation
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-0.2
-0.15
-0.1
-0.05
0
0.05
Delay (microseconds)
0.1
0.15
0.2
Note the presence of multiple peaks due to the square wave subcarrier.
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L5, L2C, and M-code Nav Data
Improvements made to clock and ephemeris
representation
Clock resolution significantly enhanced
Legacy message resolution ~ .5 ns
Ephemeris
Resolution enhanced
Rate terms added for semi-major axis, mean motion, and
inclination improve curve fit
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L1C
New L1 civil signal on GPS IIIA+

Interoperable with GALILEO L1 signal
Modulation is multiplexing of BOC(1,1) and
BOC(6,1) symbols referred to as multiplexed

BOC (MBOC)
Planned features:
Dataless component, powerful forward error correction,
length-10230 PRN codes
Specified in IS-GPS-800
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L1C MBOC
25% Power Data Component
-55
C/A Code
BOC(1,1)
-60
TMBOC
BOC(1,1)
-65
Power Spectral Density (dBW/Hz)
BOC(6,1)
75% Power Pilot Component
Pilot f
29
BOC (1,1) f
33
Data f
Signal f
4
BOC (6,1) f
33
-70
-75
-80
-85
-90
-95
-15
BOC (1,1) f
-10
-5
10
15
Frequency (MHz)
3
1
Pilot f Data f
4
4
10
1
BOC (1,1) f
BOC (6,1) f
11
11
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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Current GLONASS Signals

DSSS modulation
Frequency Division Multiple Access (FDMA)
scheme with multiple carriers in two sub-bands

f K 1 1602 K 0.5625 MHz
f K 2 7 / 9 f K1
Standard accuracy signal - 511 kHz chip rate,

length-511 maximal-length codes
High accuracy signal 5.11 MHz chip rate,
encrypted
Data at 50 bps, Manchester-encoded
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Standard Accuracy PRN Generation
See GLONASS Interface Control Document, version 5.1 for further signal details.
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Evolution of GLONASS Signals
L3
(1164 1215 MHz band)
Frequency (MHz)
L2 (~1238 1593)
L1 (~1593 1612)
GLONASS-K1 (launched Feb 2011) is broadcasting a test 10.23 MHz chip

rate CDMA signal at 1202.025 MHz. CDMA signals for L1, L2, L3 and
planned for future satellites.
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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Galileo Frequency Bands
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Frequencies and Power Levels
Note that carrier frequencies were selected to be integer

multiples of 10.23 MHz for interoperability with GPS.
CS = Commercial Service
SoL = Safety of Life Service
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PRN Codes
E5 primary codes may be generated with LFSRs or stored

in memory
E1 primary codes are stored in memory
E6 codes are not disclosed in Galileo OS ICD
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E5 Signal Characteristics
E5 is a wideband signal, centered at 1191.795 MHz

Generated using alternative BOC (AltBOC) technique
Similar in appearance to two coherently generated DSSS
signals with 10.23 MHz chip rates and centered at +/15.345 MHz from 1191.795 MHz
E5a at 1176.45 MHz
E5b at 1207.14 MHz
E5a and E5b each have data and pilot components
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E6 includes 3 components: A (for Public Regulated

Service), B & C (for Commercial Service)
CS signal is DSSS modulated with 5.115 MHz chip rate
High rate data: 500 bps/1000 sps
Data and pilot components
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E1 includes 3 components: A (for Public Regulated

Service), B & C (for Open, Safety of Life, and Commercial
Services)
B&C components represent Galileos implementation of
MBOC (interoperable with GPS L1C)
Composite BOC (CBOC) technique used to achieve
mixture (in power) of 10/11 BOC(1,1) and 1/11 BOC(6,1)
Data (125 bps/250 sps) and pilot components (50-50%
power split)
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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COMPASS Signals
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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IRNSS Signal Characteristics
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OVERVIEW
Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals
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QZSS Signal Characteristics
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Summary of GNSS Signal Plans

GPS
(US)
GLONASS
(Russia)
L1
L2
L5
Future
CDMA
signal
Galileo
(Europe)
COMPASS
(China)
1170 1180 1190 1200 1210 1220 1230 1240 1250 1260 1270 1280 1290 1300
Frequency (MHz)
1560 1570 1580 1590 1600 1610
1170 1180 1190 1200 1210 1220 1230 1240 1250 1260 1270 1280 1290 1300
1170 1180 1190 1200 1210 1220 1230 1240 Frequency
1250 1260(MHz)
1270 1280 1290 1300
Frequency (MHz)
1560 1570 1580 1590 1600 1610

1560 1570 1580 1590 1600 1610
1170 1180 1190 1200 1210 1220 1230 1240 1250 1260 1270 1280 1290 1300
Frequency (MHz)
1210
1220
1230
1240
1250
1210 1220 1230 1240 1250 1260
1260 1270
1270 1280
1280 1290
1290 1300
1300
Frequency
Frequency (MHz)
(MHz)
1560 1570 1580 1590 1600 1610
IRNSS
(India)
QZSS
(Japan)
SBAS
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1170
1180
1190
1170 ON
1180 GNSS
1190 1200
1200
SUMMER SCHOOL
MITRE
Compass & IRNSS
1560
1570
1580
S-band
1560 In
1570
1580 1590
1590 1600
1600 1610
1610
References
1. Kaplan, E., and C. Hegarty (Eds.), Understanding GPS: Principles
2.
3.
4.
5.
6.
7.
8.
and Applications, 2nd Edition, Artech House, 2006.

Misra, P., and P. Enge, Global Positioning System: Signals,
Measurements, and Performance, 2nd Edition, Ganga-Jumana
Press, 2006.
GPS Interface Specifications, available from www.gps.gov
GALILEO Open Service Signal in Space Interface Control
Document, available from www.gsa.europa.eu
GLONASS Interface Control Document, available from
www.glonass-ianc.rsa.ru
COMPASS information from:
www.unoosa.org/pdf/icg/2010/ICG5/18october/04.pdf
IRNSS information from:
www.unoosa.org/pdf/icg/2010/ICG5/18october/05.pdf
QZSS ICD available from: qzss.jaxa.jp/is-qzss/index_e.html
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GNSS Signals

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INTERNATIONAL SUMMER SCHOOL ON GNSS

Toulouse/Montauban, France, July 16 26, 2012

Binary Phase Shift Keying (BPSK)

data bits, d(t)

Rd= 1/Td = data rate (bits/s)

Direct Sequence Spread Spectrum

Rd= 1/Td = data rate (bits/s)

f0= 1/T0 = carrier frequency (Hz)

Autocorrelation and Power Spectrum

Autocorrelation of data waveform:

Periodic for open (unencrypted) signals, aperiodic

Good autocorrelation and cross-correlation

Also known as pseudorandom noise (PRN)

One Code Period

Some PRN Sequence Families

m is an arbitrary positive integer

Binary Offset Carrier Modulation

fsq= 1/Tsq = subcarrier frequency (Hz)

Sine-phased vs Cosine-Phased BOC

Many GNSS satellites broadcast two or more

signals on each carrier frequency

Not constant envelope

Dataless (Pilot) Components

Many modern GNSS signals include a component

Both signal components are still modulated by a PRN

Motivation allows carrier phase to be tracked

A PLL can reliably track in 6 dB lower signal-to-noise ratio (SNR)

Data-modulated and dataless components are

Secondary codes with lengths up to 1800 bits are

Each repetition of the spreading waveform is kept as is or

hand circularly polarized (RHCP)

GNSS satellite clocks are set slow to appear at the desired

GPS Navigation Signals

L2 = 1227.6 MHz (120 10.23 MHz)

Future - 3 navigation frequencies, 8 signals

GPS Signal Evolution

GPS Spreading Codes

1023 chip Gold codes repeat

2 codes per SV each at 511.5

Repeats 1/week. When Pcode is encrypted, referred to

2 codes per SV, future

Signal Power Spectra

Offset from Carrier Frequency (MHz)

C/A Code (PRN2) Spectrum

Power Spectral Density (dBc/Hz)

Frequency Offset from L1 (kHz)

Spacecraft Signal Generation

C/A Code Generation

C/A Code Timing Relationships

X1 Epoch @ 2/3 bps

1023 BIT Gold Code @ 1023 kbps

Gold Code Epochs @ 1000/s

Generator based on four

Received Minimum Signal Levels

USER ELEVATION ANGLE (DEG)

Typical GPS L1 C/A Link Budget

C/A and P(Y) Navigation Data

L2C Characteristics Summary

Chip by chip multiplexing of two PRN sequences

L2 Civil Signal Definitions

CL the L2C long code

NAV the legacy navigation message

provided by C/A and P(Y)