Lecture 3 Overview of Satellite Positioning Systems

Overview
of Satellite
Positioning Systems
GE 174 Satellite Positioning Systems
Lecturer: Ma. Rosario Concepcion O. Ang

UP Department of Geodetic Engineering
Outline
l  Historical Developments in Satellite

Geodesy
l  Satellite Positioning Systems
l  The Global Positioning System
l  GLONASS
GE 174 Satellite Positioning Systems 2

Origins of Surveying
Development of Global Surveying Techniques
Optical Global Triangulation
Electromagnetic Global Trilateration
HISTORICAL DEVELOPMENTS

Electromagnetic Global
Trilateration
HIRAN
l  HIgh RANging System
l  First attempt to positionally connect the
continents by electromagnetic
techniques
l  Developed during World War II to
position aircrafts

Electromagnetic Global
Trilateration
HIRAN
•  uses a pulsed signal which is more
focused, its amplitude more precise, and
its phase measurement more accurate
•  Its most important achievement is the
trilateration arcs joining the North
American Datum 1927 with the 1950
European Datum in the early 50’s.
Doppler Positioning System
l  Doppler Effect: Imagine the

continuously changing pitch of a train
whistle as it approaches and passes you.
l  This change in frequency is a function of
range or distance and is the underlying
principle of the Doppler positioning
systems.


l  In the Doppler system, a precisely controlled radio
frequency is continuously transmitted from a
satellite as it orbits past an observer’s station.
l  As the satellite draws nearer the receiver, the
received frequency increases. Then as the satellite
passes the receiver, the frequency decreases below
the transmitted level.
l  With the transmitting frequency, satellite orbit,
and precise timing of observations known, you can
then compute the position of the receiving station.
TRANSIT
l  the immediate
predecessor of the
GPS
l  this system is
composed of seven
satellites orbiting at
an altitude of
1100km with a nearly
circular orbit
TRANSIT
l  designed to determine the
coordinates of military
aircraft and vessels
l  through the decades of the
70’s and 80’s, both the
best and the worst aspects
of TRANSIT system were
instructive.
l  Some of the most
successful strategies of the
TRANSIT have been
incorporated into GPS

TRANSIT
l  uses the concept of a Doppler shift or

Doppler effect.
l  Principle: although a moving object can
transmit electromagnetic waves at a
constant frequency, the receiver
experiences a phase shift in the waves it
receives as an effect of the relative
velocity of the transmitting object with
respect to the receiver
More on History
l  In the 1970’s, the US Department of

Defense (DoD), commissioned a study to
define its future positioning needs. The
study found nearly 120 different
positioning systems in place, all limited by
their special and localized requirements.
The study called for consolidation, and a
single “global positioning system” was
proposed.
GPS Development and
Performance
1978 – Launch of First GPS Satellite
1982 – Prototype Macrometer testing at M.I.T.
1983 – Geodetic Network Densification (Eifel Germany). President Reagan
offers GPS to the world “free of charge”
1984 – Geodetic network densification (Montgomery County, Pennsylvania).
Engineering survey at Stanford
1985 – Precise geoid undulation differences for Eifel network. Codeless dual
band observations. Kinematic GPS surveying. Antenna swap for ambiguity
initialization. First international symposium on precise positioning system
with GPS
1986 – Challenger accident. 10 cm aircraft positioning
1987 – JPL baseline repeatability tests to 0.2 – 0.04 ppm
1989 – Launch of first Block II satellite. OTF solution. Wide area differential
GPS (WADGPS) concepts

GPS Development and
Performance
1990 – GEOID90 for NAD83 Datum
1991 – NGS ephemeris service. GIG 91 experiment (Jan 22-‐ Feb 13)
1992 – IGS campaign (June 21 – Sept. 23). Initial solutions to deal with
antispoofing (AS). Narrow correlator spacing C/A-‐code receiver. Altitude
determination system
1993 – Real-‐time Kinematic GPS. ACSM ad hoc committee on accuracy
standards. Orange County GIS/cadastral densification. Initial operational
capability (IOC) on Dec. 8 1-‐2 ppb baseline repeatability. LAMBDA
1994 – IGS service beginning January 1. Antispoofing implementation (Jan 31).
RTCM recommendations on differential GPS. National Spatial Reference
System Committee (NGS). Multiple single frequency receiver experiments
of OTF. Proposal to monitor the earth’s atmosphere

GPS Development and
Performance
1995 – Full operational capability (FOC) on July 17. Precise Point Positioning
(PPP) at JPL
1996 – Precise Decision Directive, first U.S. GPS policy
1998 – Vice president announces second GPS civil signal at 1227.60MHz. JPL’s
automated GPS data analysis service via Internet
1999 – Vice president announces GPS modernization initiative and third civil
GPS signal at 117.45 MHz. IGDG (Internet-‐based global differential GPS) at
JPL.
2000 – Selective availability set to zero. GPS JPO begins modifications to HR-‐
M and HF satellites


GPS Development and
Performance
2004 -‐ the United States Government signed an agreement with the
European Community establishing cooperation related to GPS and
Europe's planned Galileo system
-‐ U.S. President George W. Bush updated the national policy and
replaced the executive board with the National Executive Committee for
Space-‐Based Positioning, Navigation and Timing
-‐ successful tests of assisted GPS for mobile phones
2005 -‐ the first modernized GPS satellite was launched and began transmitting
a second civilian signal (L2C) for enhanced user performance
2007 -‐ the aging mainframe-‐based Ground Segment Control System was
transitioned to the new Architecture Evolution Plan
-‐ The most recent launch was on August 17, 2009. The oldest GPS
satellite still in operation was launched on November 26, 1990, and
became operational on December 10, 1990
2009 -‐ The U. S. Government Accountability Office issued a report warning
that some GPS satellites could fail as soon as 2010

Satellite Positioning Systems
GLOBAL NAVIGATION SATELLITE SYSTEMS

n  standard generic term for satellite
navigation systems that provide
autonomous geo-‐spatial positioning with
global coverage
n  allows small electronic receivers to
determine the location using time signals
transmitted from satellites
(USA) NAVSTAR GPS, fully operational
(EU) GALILEO, planned to be operational on 2014
(PR China) BEIDOU, regional system covering Asia & West Pacific
(PR China) COMPASS, planned to be operational between
2015-‐2017
(RUSSIA) GLONASS,
(INDIA) IRNSS, planned to be operation 2012 covering India
(JAPAN) QZSS, proposed system covering Japan


Global Positioning System
Space Segment
GPS Framework NAVSTAR GPS
30 Satellites
20200 Km
Control Segment
User Segment 1 Master Station
GE 174 Satellite Positioning S5
Receive Satellite Signal Monitoring
ystems
Stations 20
Space Segment
•  consist of a constellation of 24 + satellites in medium
earth orbit transmitting radio signals to users – 31
satellites as of March 2008
•  fly at an altitude of approximately 20,200 km (MEO) –

each satellite circles the earth twice a day
•  six orbital planes with at least 4 satellites per plane
•  55° inclination (tilt relative to the Earth’s equator)
•  Orbital period = 11 hours and 58 minutes

Space Segment
•  The additional satellites improve the

precision of GPS receiver calculations by
providing redundant measurements.
•  About nine satellites are visible from any
point on the ground at any one time,
ensuring considerable redundancy over
the minimum four satellites needed for a
position.
Space Segment

Control Segment
•  consists of a global network of ground facilities that
track the GPS satellites, monitor their transmissions,
perform analyses and send commands and data to the
constellation
•  Include:
•  A master control station
•  An alternate master control station

•  16 monitoring stations
•  12 command and control antennas (ground
antennas)
Control Segment

Control Segment
MASTER CONTROL STATION (MCS)

•  located at Schriever Air Force Base 25 km
(16 mi) ESE of Colorado Springs, Colorado, USA
•  performs the primary control segment
functions, providing command and control of
the GPS constellation
•  generates and uploads navigation messages
and ensures the health and accuracy of the
satellite constellation
Control Segment
MASTER CONTROL STATION (MCS)

•  receives navigation information from the
monitoring stations, utilizes this information to
compute the precise locations of GPS satellites
in space and then uploads this data to the
satellites


Control Segment
MONITORING STATIONS
•  16 monitoring stations located throughout the
world – 6 from the Air Force (Hawaii, Kwajalein,
Ascension Island, Diego Garcia, Colorado
Springs and Cape Canaveral) and 10 from the
National Geospatial-‐Intelligence Agency (NGA)


Control Segment
GROUND ANTENNA
•  used by the MCS to communicate with the GPS
satellites for command and control purposes
•  synchronize the atomic clocks on board the
satellites to within a few nanoseconds of each
other
•  adjust the ephemeris of each satellite's internal
orbital model

Control Segment
GROUND ANTENNA
•  4 dedicated GPS ground antenna sites co-‐
located with the monitoring stations at
Kwajalein Atoll, Ascension Island, Diego Garcia,
Cape Canaveral
•  in addition, it is connected to the 8 Air Force
Satellite Control Network (AFSCN) remote
tracking stations worldwide, increasing
visibility, flexibility and robustness for
telemetry, tracking and command
Control Segment
GROUND ANTENNA
•  The MCS uplinks data through the ground antennas to
the GPS satellites.
•  This includes:
•  Clock correction factors
•  Atmospheric data
•  Almanac – log of all GPS satellite positions
•  Ephemeris data – orbit information for a particular
satellite
Control Segment

Control Segment

User Segment
•  consists of the GPS receiver equipment, which
receives the signals from the GPS satellites and
uses the transmitted information to calculate
the user’s three-‐dimensional position and time
•  composed of hundreds of thousands of U.S.
and allied military users of the secure GPS
Precise Positioning Service, and tens of millions
of civil, commercial, and scientific users of the
Standard Positioning Service

User Segment
Types of Receivers:
1.  Navigation / Mapping Grade – (C/A-‐code)
2.  Single Frequency / Survey Grade – (C/A-‐code

and L1 carrier)
3.  Dual Frequency / Geodetic Grade – (C/A-‐code,

P-‐code and L1 & L2 carriers)
•  GE 174 Satellite Positioning Systems 35
User Segment Types of receivers:
1. Navigation/Mapping Grade
User
with GPS Segment
worldwide community ofReceivers
receivers
civilian &(C/A-code)
military users equippe
2. Single Frequency/Survey Grade
Receivers (C/A-code and L1
carrier
Typical information sought:
3. Dual2D or 3D position, navigation
Frequency/Geodetic Receivers
parameters (position, velocity, heading),
(C/A-code, time
P-code and L1 & L2
carriers
Fundamental+Principles+of+Global+Positioning+System+(GPS)
Mapping Grade 9
Fund
Survey Grade
Fundamental+Principles+of+Global+Positioning+System+(GPS)
Geodetic Grade
GLONASS
l  Global’naya Navigatsionnaya Sputnikkovaya
Sistema
(Global Navigation Satellite Systems)
l  Some receivers are even designed to collect data
from both GPS and GLONASS.
l  The GLONASS signals were also used by many
Western GPS receivers as a complement/backup to
the GPS system itself.
l  The operational system contained 21 satellites in 3
orbital planes, with 3 on-‐orbit spares.
l  GLONASS provides 100 meters accuracy with its C/A
(deliberately degraded) signals and 10-‐20 meter
accuracy with its P (military) signals
GLONASS
•  Based on a constellation of satellites which
continuously transmit coded signals in two
frequency bands.
•  Managed for the Russian Federation
Government by the Russian Space Forces and
the system is operated by the Coordination
Scientific Information Center (KNITs) of the
Ministry of Defense of the Russian Federation.

GLONASS
Operational Space Ground Control
Segment… Segment…
•  21 satellites in 3 •  Ground Control Center
orbital planes, with 3 on-‐ and Time Standards is
orbit spares. located in Moscow.
•  Each satellite operates •  Telemetry and tracking
in circular 19,100 km stations are in St.
orbits at an inclination Petersburg, Ternopol,
angles of 64.8°. Eniseisk, and
Komsomolsk-‐na-‐Amure.
GLONASS
•  First GLONASS satellites were launched into orbit

in 1982.
•  GLONASS was officially declared operational on
September 24, 1993 by a decree of the President of
the Russian Federation.
•  The constellation is currently operating in a
degraded mode with only 8 satellites fully
operational.

GLONASS
Number of satellites 24 Active

Geometry 3 planes, 8 satellites each

Orbit
MEO -‐ 19,100 km (10,313 nmi) circular, 64.8° inclination

Orbit Period
11 hours 15 minutes

Coverage
Global

Initial Operational
Capability (IOC) 1993 September 24

Full Operational Capability

(FOC)

Operated by:
Coordination Scientific Information Center (KNITs)

Thank you for listening! J

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Overview

GE 174 Satellite Positioning Systems

Lecturer: Ma. Rosario Concepcion O. Ang

l Historical Developments in Satellite

GE 174 Satellite Positioning Systems 2

GE 174 Satellite Positioning Systems 3

l Doppler Eﬀect: Imagine the

GE 174 Satellite Positioning Systems 6

GE 174 Satellite Positioning Systems 7

l uses the concept of a Doppler shift or

l In the 1970’s, the US Department of

GE 174 Satellite Positioning Systems 13

GE 174 Satellite Positioning Systems 15

GLOBAL NAVIGATION SATELLITE SYSTEMS

(USA) NAVSTAR GPS, fully operational

(EU) GALILEO, planned to be operational on 2014

(INDIA) IRNSS, planned to be operation 2012 covering India

(JAPAN) QZSS, proposed system covering Japan

GE 174 Satellite Positioning Systems 19

• ﬂy at an altitude of approximately 20,200 km (MEO) –

• six orbital planes with at least 4 satellites per plane

• 55° inclination (tilt relative to the Earth’s equator)

• Orbital period = 11 hours and 58 minutes

• The additional satellites improve the

GE 174 Satellite Positioning Systems 23

• An alternate master control station

GE 174 Satellite Positioning Systems 25

MASTER CONTROL STATION (MCS)

MASTER CONTROL STATION (MCS)

GE 174 Satellite Positioning Systems 27

GE 174 Satellite Positioning Systems 28

GE 174 Satellite Positioning Systems 32

GE 174 Satellite Positioning Systems 33

GE 174 Satellite Positioning Systems 34

Types of Receivers:

1. Navigation / Mapping Grade – (C/A-­‐code)

2. Single Frequency / Survey Grade – (C/A-­‐code

3. Dual Frequency / Geodetic Grade – (C/A-­‐code,

GE 174 Satellite Positioning Systems 38

• First GLONASS satellites were launched into orbit

GE 174 Satellite Positioning Systems 40

GE 174 Satellite Positioning Systems 42

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l  Historical Developments in Satellite

l  Doppler Eﬀect: Imagine the

l  uses the concept of a Doppler shift or

l  In the 1970’s, the US Department of

•  ﬂy at an altitude of approximately 20,200 km (MEO) –

•  six orbital planes with at least 4 satellites per plane

•  55° inclination (tilt relative to the Earth’s equator)

•  Orbital period = 11 hours and 58 minutes

•  The additional satellites improve the

•  An alternate master control station

1.  Navigation / Mapping Grade – (C/A-‐code)

2.  Single Frequency / Survey Grade – (C/A-‐code

3.  Dual Frequency / Geodetic Grade – (C/A-‐code,

•  First GLONASS satellites were launched into orbit