Introduction to GPS

The Global Positioning System

Second Edition

Ahmed El-Rabbany

fr
ARTECH
H O USE
BOSTON|LONDON
artechhouse.com
Contents

Preface xiii

Acknowledgments xiv

1 Introduction to GPS 1

1.1 Overview of GPS 2

1.2 GPS Segments 3

1.3 GPS Satellite Generations 4

1.4 Current GPS Satellite Constellation 6

1.5 Control Sites 7

1.6 GPS: The Basic Idea 8

1.7 GPS Levels of Service 10

1.8 WhyUseGPS? 11
References 11

2 GPS Details 13

2.1 GPS Signal Structure 13

2.2 GPS Modernization 16

VII
VIII Introduction to GPS: The Global Positioning System

2.3 GPS Receiver Types 18

2.4 Time Systems 20

2.5 Pseudorange Measurements 21

2.6 Carrier Phase Measurements 22

2.7 Doppler Measurements 24

2.8 Cycle Slips 25

2.9 Linear Combinations of GPS Observables 26

References 27

3 GPS Satellite Orbit 29

3.1 Motion of Space Objects 29

3.2 Types of Orbits 32

3.3 Ideal (Keplerian) Satellite Orbit 33

3.4 Perturbed Satellite Orbit 35

3.5 GPS Broadcast Orbit 36

3.6 GPS Almanac 39

3.7 Satellite Visibility 40

References 42

4 GPS Errors and Biases 43

4.1 GPS Ephemeris Errors 44

4.2 Selective Availability 45

4.3 Satellite and Receiver Clock Errors 47

4.4 Multipath Error 48

4.5 Antenna Phase Center Variation 49

4.6 Receiver Measurement Noise 50

4.7 Ionospheric Delay 51

4.8 Tropospheric Delay 55

 Contents IX

4.9 Other Errors and Biases 56

4.10 Satellite Geometry Measures 57

4.11 User Equivalent Range Error 60

References 61

5 GPS Positioning Modes 65

5.1 GPS Point Positioning: The Classicai Approach 66

5.2 GPS PPP 68

5.3 GPS Relative Positioning 70

5.4 Static GPS Surveying 71

5.5 Fast (Rapid) Static 73

5.6 Stop-and-Go GPS Surveying 74

5.7 RTK GPS 76

5.8 Real-Time Differential GPS 77

5.9 Real Time Versus Postprocessing 79

5.10 Communication (Radio) Link 80

References 82

6 Ambiguity Resolution Techniques 83

6.1 Antenna Swap Method 85

6.2 OTF Ambiguity Resolution 86

References 88

7 GPS Data, Products, and Correction Services 89

7.1 GPS Data and Product Services 91

7.2 Maritime DGPS Service 93

7.3 WADGPS Systems 95

7.4 Multisite RTK System 98

References 99
X Introduction to GPS: The Global Positioning System

8 GPS Standard Formats 103

8.1 RINEX Format 104

8.2 SP3 Format 109

8.3 RTCM SC-104 Standards for DGPS Services 112

8.4 NMEA 0183 Format 118

References 121

9 GPS Integration 123

9.1 GPS/Loran-C Integration 123

9.2 GPS/LRF Integration 127

9.3 GPS/Dead Reckoning Integration 128

9.4 GPS/INS Integration 130

9.5 GPS/Pseudolite Integration 132

9.6 GPS/Cellular Integration 134

References 136

10 GPS Applications 139

10.1 GPS for the Utility Industry 139

10.2 GPS for Forestry and Natural Resource 141

10.3 GPS for Precision Farming 142

10.4 GPS for Civil Engineering Applications 144

10.5 GPS for Monitoring Structural Deformations 145

10.6 GPS for Open-Pit Mining 146

10.7 GPS for Land Seismic Surveying 148

10.8 GPS for Marine Seismic Surveying 149

10.9 GPS for Airborne Mapping 151

10.10 GPS for Seafloor Mapping 152

10.11 GPS for Vehicle Navigation 154

 Contents XI

10.12 GPS for Transit Systems 156

10.13 GPS for the Retail Industry 157

10.14 GPS for Cadastral Surveying 159

10.15 Waypoint Navigation (GPS Stakeout) 160

References 161

11 Other Satellite Navigation Systems 163

11.1 The GLONASS System 163

11.2 Galileo—The European Global Satellite Navigation

System 167

11.3 Chinese Regional Satellite Navigation System

(Beidou System) 170

11.4 The Japanese QZSS Satellite Navigation System 172

References 173

Appendix A:
Geodetic Principles—Datums, Coordinate Systems,
and Map Projections 175

A.1 What Is a Datum? 175

A.2 Geodetic Coordinate System 177

A.2.1 Conventional Terrestrial Reference System 179
A.2.2 The WGS 84 and NAD 83 Systems 180

A.3 What Coordinates Are Obtained with GPS? 181

A.4 Datum Transformations 182

A.5 Map Projections 183

A.5.1 Transverse Mercator Projection 184
A.5.2 Universal Transverse Mercator 185
A.5.3 Modified Transverse Mercator 187
A.5.4 Lambert Conical Projection 188
A.5.5 Stereographic Double Projection 189

A.6 Local Arbitrary Mapping Systems 190

XII Introduction to GPS: The Global Positioning System

A.7 Height Systems 191

References 193

Appendix B:
GPS Accuracy and Precision Measures 195
Reference 196

Appendix C:
Useful Web Sites 197
C.l GPS/Glonass/Galileo Information and Data 197
C.2 Some GPS Manufacturers 199

About the Author 201

Index 203