4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND. Page 3 GPS Describe the principle & working of GPS. GPS works on the principle of ‘Ranging’. The GPS receiver calculates its position by comparing its own self-generated timing signals with timing signals sent by orbiting GPS-satelites. The lime taken by the satelite signal to reach the receiver multiolied by the speed of radio waves gives the range to the satellite. Three ranges from 3 satellites are used for 2-D fixing while 4 ranges from 4 satellites are used for a 3-D fix. Average Speed and direction is obtained from successive position fixes. Instantaneous speed is oblained from the Doppler shift of the satellite carrier frequency. Consider Satellites 1, 2 and 3 and a GPS receiver on the Earth. Say Satellite 1 transmits signal at tine ‘t and the GPS receiver picks up the signal at time Bn Therefore, Range (R) = Cx (tt) Earth Where, C=speed of radio waves (3 x 10°) &(t-ti) = time taken for signal to reach receiver. ‘We are thus located on the surface of a. sphere of radius /P1, centered on satellite 1. Similarly, we can get P2 and P3.using the other two satellites. Knowing location of all 3 satellites in space, we get 3 ranges that intersect at P which is the FIX. The satellites trarismit the ‘signals in 2frequencies. Lt Signal - 1575.42 MH2—Consists of both G/A code and P-Code L2 Signal - 1227.6 MHz — consists of only the P-Code Each satellite transmits pseudo random noise (PRN) signals on these two different frequencies. ‘The\PRN Code (P-Code or C/A Code) identities the satelite to be used. ‘The satelite transmits a Navigation Message containing GPS Date and Time, ephemeris data to determine the position of the satellite in the orbit and almanac data to give information regarding other'satelites. The Navigation Message is of 30 seconds and is transmitted by each satelite in the form of 50 bits/sec data frame (Total 1500 bit frame}. This data is different for each satellite and is previously supplied to it by the Master Control Station. The Navigation Message is divided into 5 sub-rames each of 300 bits, transmitted at 50 bits/s taking 6 seconds to transmit. Each subframe starts with ‘Telemetry’ word containing the satellite status and followed by HOW {hand over word) which enables a receiver to acquire the Code ‘The PRN Code and Navigation message are superimposed by Phase Modulation onto a carrier frequency (Lt or L2) that is picked up and decoded at the receiver. AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND. Page 4 The receiver locks on to one satellite and from this satellite, it obtains the almanac of all the other satellites and thereby selects the most suitable ones for position fixing. Knowing the time the signal was transmitted by the satellite and the time the signal was received at the receiver, the time taken for the signal to reach the receiver is calculated. With this, range is calculated and thus, the position is obtained after determining distances from the receiver to each of the selected satellites. Since it is not possible to precisely synchronize satellite clock and receiver clock, the ranges calculated willbe in error. Hence, these are known as Pseudo (lalse) ranges and appropriate corrections must be applied to get the True Ranges. { This is done by selecting an additional satellite and solving 4 €quations to obtain x, y, z and At (lat, long, altitude and error in time) + Assuming the receiver position is at (x, y, z) relative 16 the centte of the Earth based on the WGS84 spheroid, satellites S1, S2, S3 and S4 are used for position fixing. e Their positions from the Ephemeris are known to be: (x1,-y1, 21), (x2, y2, 22) and so-on. * This gives us the following equations: » PR,— (Cx dt) = (x1 — x)? +01 -y)? + — 2)? PR,—(CxAdt — x)? + G2-y)*? + @—2)* > PRy— (Cx At) = /(@%— x)? + Oa—y)* + 2)" » PRy~ (Cx At) = J (x4— x)? + uy)? + 2)? Where PR Is the Pseudo Range obtained from each of the satellite and (C x At) is error in range measurement due to User clock error. ‘ + Here, there aré 4 unkriowns fe. x, ypz and AI. Hence, by solving the above four equations, a 3D Fix (lat, long & altitude) can be obtained. In'case of a vessel floating in water, a 2D Fix (lat- long) is required and'is obtained by 3-equations using 3 satellites. On board GPS receiver has a processor thal solves these equations: * To compute speed and direction, two methods are used. a) The Doppler shift in received GPS signal can be used to compute the relative speed of the receiver w.rtsthe satellite. b) \Average speed / direction is computed by measuring the difference between two Successive positions. The longer this interval the more accurate the calculated average speéd/direction. 2. Describe the contents of Navigation message in GPS? ‘The Navigation Message is of 30 seconds and is transmitted by each satellite in the form of 50 bits/sec data frame (Total 1500 bit frame). This data is different for each satellite and is previously supplied to it by the Master Control Station. The Navigation Message is divided into 5 sub-frames each of 300 bits, transmitted at 50 bits/s taking 6 seconds to transmit. Each subframe starts with ‘Telemetry’ word containing the satellite status and followed by HOW (hand over word) which enables a receiver to acquire the Code. The remaining part of the 5 subframes are as follows: AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND. Page 5 1* Subframe contains data relating to satellite clock corrections, accuracy and health of the signal * 2% & 3 subframe contains satellite ephemeris defining the position of the satellite * 4” subframe contains the Almanac, orbital data, health and configuration status for every satellite, user messages, UTC calculations, etc. 5!" subframe gives the almanac (continued) of all other satellites, thus allowing the user for optimum choice of satellites for position fixing. 3. What is datum shift? Explain why GPS position cannot be plotted directly on the navigation chart? A goodetic datum ie tho tool used to dofine tho chapo and ize of tho earth, ae well ac tho reference’ point for the various coordinate systems used in mapping the earth. The horizontal datum is the one that is used in measuring a specific position on the earth's surface in coordinate systems such as latitude and longitude. Because of the different local datums (i.e. those having different reference points) the same position can have many different geographic coordinates so it is important to know which datum the reference is in. The vertical datum measures the elevations of specific points on the earth. This data is gathered via tides with sea level measurements, geodetic surveying with different eliipsoid models used with the horizontal datum, and gravity, measured with the geoid. The data is then depicted on maps as some height above sea level. Because the surface is highly irregular however, there are different local geoids that are used to get the most accurate mathematical model possible for use in measuring distances. There are many datums in use around the world today. Some of the most commonly used datums are those of the World Geodelic System, the North ‘American Datums, those of the Ordinance Survey of Great Britain, and the European Datum, otc. Within the World Geodetic System (WGS), there are several different datums that have been in use throughout the years. These are WGS 84, 72, 70, and 60. The WGS 84 is currently the one in use for this system it is one of the most widely used datums around the world. When working with these or other chart datums, itis important to always be aware of which datum a particular chart is referenced in because often there are large differences in terms of distance between place to place on each different datum. This difference between the various datums is termed as “Datum Shift’. This "datum shift" can then cause problems in terms of navigation and/or in ying ly locale a spetific place or object as a user of Uie wrong daluin cant sometimes be hundreds of meters from their actual position. Inview of the above explanation itis very important to ensure that the GPS and the navigational charts are of the same Datum to plot positions directly or else the user will have to apply datum shift corrections to minimize the errors due to the difference in datums of the GPS and the Charts. On paper charts, under the heading “Satellite Derived Position’, corrections to be applied to the GPS obtained position so as to be able to plot the position on the paper chart in the event the chart is of a different datum as compared to WGS 84 datum of the GPS. AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND. Page 6 4. How does the DGPS accurately determine the positions of an Observer? A DGPS is used to enhance the accuracy of a normal GPS. In the DGPS system, a DGPS Reference station is situated at a fixed location and it downloads: the GPS dala from the satellites. ‘A computer at the fixed location calculates the psoudo-range from the GPS satellites and then compares it with the known ranges for that precise geographic location, Itthen computes a range error figure which is then broadcast over tHe MF band-t6 all mobile stations to improve positional accuracy. { Corrections may be given in one of the following styles: 1. The position correction in terms of latitude, longitude, altitude (x, yz) or, 2 The carrectin ta be appliad to pseuida-ranges at ach satellite Specially equipped GPS receivers receive the “error information and\apply necessary corrections to their own fixes. These corrections are valid only within a spetifietvarea about the DGPS ground station. On-board receivers may be programmed to auté-track DGPS'slations, teceive the corrections from them and apply the same to their own fixes. \ DGPS removes common mode ertors i.e\error that are common to both reference and remote receivers (not multipath and reGeiver noise), Errors.are more common when receivers are close by. State the various errors and accuracy of the GPS. Atmosphericéffects“ \ Inconsistencies of atmospheric conditions ‘affect the speed of the GPS signals as they pass through the Earth’s atmosphere) especially the ionosphere. These effects are ‘smallest when the satellite is directly overhead and become greater for satellites nearer the horizon, since the path through the atmosphere is longer. They are further classified as: a) \lonospheric Delay: '* As tha two transmitted carriers must pass through the ionosphere, a speed reduction is caused by the refraction of the radio waves. © \\ The extent of the delay and consequently the error introduced into the pseudo-range measurement is dependent upon the electron density the radio wave encounters along the signal path. Electron density itself is dependent upto three factors ~ the time of the day, the elevation of the satellite and latitude of the receiver. * _ lonosphetic error is inversely proportional to the square of the carrier frequency. Hence, tho GPS satellites transmit on two frequencies so that the delay may be quantified in the receiver, an error correction figure calculated and applied to the final fix solution. After all corrective data has been applied to the solution in a single frequency GPS receiver, fix AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND. Page 7 iv. error due to ionosphere is unlikely to exceed 10m. b) _Tropospheric Delay: Troposphere also introduces a delay into the pseudo-range calculation. This error, however, is independent of frequency, but it is predictable. The GPS receivers hold a software solution in the form of a mathematical model to eliminate the’effect of this delay. Figures for relative humidity, pressure and temperature are interfaced with the processor to produce corrective data which is then applied to the tix calculation. Error from this source is unlikely to exceed 1 m. { User Clock Error: All satellites are fitted with atomic clocks which have great accurady. It isnot feasible-to install atomic clocks onboard due to its high cost. The receiver clock is ‘common crystal clock which is not as accurale as the satellite's atomic clock, If user clock is not perfectly synchronized with the satelite clock, range measurementwill not be accurate. For this, the receiver clock time is updated every sub-frame (6 seconds) and residual error is compensated for by computing the clock error (At) using pseudo ranges from 3 or 4 satelites. (3 satellites for a 2D Fix and 4 satellites for a 3D Fix). Satellite Clock Error: © The satellites use atomic clocks,running-at 10.23 MHz to precisely time their transmissions. Owing to the effects of relativity, the atomic clock in a’ GPS Satellite runs slightly faster when in the orbit © To correct for this, before, the launch, the clocks re set to run at 10.22999999543 MHz instead of 10.23 MHz, The atomic clocks have an error of about 8-17 nanoseconds per day leading.to measurement error of aboult 2.5 to'S m. © Updating the atomic clocks daily will shorten their life. Hence, updating is done after the error accumblates to about 1 millisecond. Meanwhile, the errors in clock data are monitored by ground based stations and information is passed on to the Master Control Station, who then uploads the clock data to the satelite as part of the Navigation Message. \Geometric-Dilution of Precision: The angular separation between satellites determines the angle of cut, which governs the quality of position obtained. Wider the angular separation betwoen satellites, tho better is the accuracy of the fix. Low value of GDOP inaicates high accuracy of fix. Knowing the position of the satellites, from the almanac, the receiver automatically selects the best configuration of satellites based on their geometry and elevation. GDOP or DOP values are displayed on the receiver‘tnit, DOP may be expressed separately as HDOP (horizontal), VDOP (vertical), PDOP (positional -3d) and TDOP (time) AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND. Page 8 ood Ditution of Precision Vv. Multipath Error: This is caused when signals are received indirectly from.other obstructions ‘such as building, walls, beacons, etc. When the receiver aniérina tegeives both directand indirect signals (via reflected paths), at slightly differing times, both the signals mix.together.and distort the signal fed to the receiver thus leading to errors. Final fix errors of about’ m can be produced by this effect. Careful positioning of the antennawill éliminate this error. vi. Deviation of the satellite from predicted path (Ephemeris Error): The satellites are monitored by thé:ground’stations and theitspaths are predicted. However, some satellites may’slightly deviate from their predicted path resulting in small positional inaccuracy, 6. Working Principle of DGPS and its limitations? ADGPS is used to’ enhance the accuracy of a normal GPS. * Inthe-OGPS system, a DGPS Reference station is situated at a fixed location and it downloads ‘the GPS data from the satellites. © \A computer at the fixed location calculates the pseudo-range from the GPS satellites and then ‘compares it with the known ranges for thal precise geographic location. * It then computes a range error figure which is then broadcast over the MF band to all mobile stations to Improye positional accuracy. * Corréctions may be given in one of the following styles: 1. The position correction in terms of latitude, longitude, altitude (x, y, z) or, 2. The'correetion to be applied to pseudo-ranges of each satelite. © Specially equipped GPS receivers receive the error information and apply necessary corrections to their own fixes. * These corrections are valid only within a specified area about the DGPS ground station. * On-board receivers may be programmed to auto track DGPS stations, receive the corrections AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING “Chp:BeEW-1 ‘Date 12.02.0020-Revsion’0.7”-PrepsAS Appr KND Page from them and apply the same to their own fixes. * DGPS removes common mode errors i.e. errors that are common to both reference and remote receivers (not multipath and receiver noise). Errors are more common when receivers are close by. In very restricted waters, multipath errors in DGPS can be significant. Hence it is important to use other means for position fixing such as Radar. The users GPS receiver always applies the newest corrections received and depending on the user-to-reference receiver separation and the age of the correction applied, DGPS can give accuracy of upto about 1-10 m based on C/A Code using standard positioning system. en wre corres DGPs Stationary GPS Receiver (corrects or reduces error) 7. Describe the various segments of GPS, The GPS consists of 8 segments: Viz - Space Segment, Ground Segment, User Segment. ‘Space Segment: The space segment comprises of a network of satellites. There are 24 satellites at an altitude of 20200 kilometers above the Earth orbiting in 6 different planes, These planes are inclined at an angle of 55°. The positions of satellites are, such that we can receive signals [rut jun of 4 satellites al any point on Wie: earth. Satellites are equipped with very precise clocks that keep accurate time to within three nanoseconds (0.000000008 of a second) + This precision'timing is important because the receiver must determine exactly how long it takes for signals to travel from each GPS satelite to receiver. + Each satelite contains a supply of fuel and small servo engines so that it can be moved in orbit to correct for positioning errors, AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘ApprsKND Page 10 Each satellite contains four atomic clocks. These clocks are accurate to a nano-second. ‘+ Each satellite transmits two separate signals, one for military purposes and one for civilian use (C/A Code & P- Code) The Ground Segment, also referred to as Control Segment or Operational Control System, OCS, is the responsible for the proper operation of the GPS system. The main tasks performed by the CS are the following: ‘+ Monitoring and control of satellite orbital parameters; ‘* Monitoring health and status of the satellite subsystems (solar arrays, battery power and the level of propellant used for maneuvers); Activation of spare satellites; + Update of parameters in the navigation message (ephemeris, almanac and clock coftections); Resolving satellite anomalies; Controlling Selective Availability (SA) and Anti-Spdofing (A/S) Passive tracking of the satellites. : + The Ground Segment is comprised of four major Subsystems: — Master Control Station (MCS) \ — Network of four ground antennas (GAs), : — Network of globally- distributed monitor stations (MSs): The Master Control Station \ \ \ The Master Control Station (MCS) lotated at Colorado Springs is the central control node for the GPS satellite constellation, The MCS is responsible Yor all aspects, of constellation command and control, to include: / | \ = Routine satellite bus énd payload status monitoring * Satellite maintonance’and anomaly resolution. ‘© Monitoring and management of Précise, Positioning Service (PPS) Signal-In-Space (SIS) performance in support of alh performance standards. + Navigation-message data upload operations as required to sustain performance in accordance with accuracy and integrity performance standards. + Dotectifig.and responding to PPS, SIS failures. The Monitor Stations They are distributed arourid the world and equipped with atomic clocks standards and GPS receivers to continJously collect GPS data for all the satolites in view from their locations. The collected data is sent to the Master Control Station where it is processed to estimate satellite orbits (ephemeries) and clock errors/among other parameters, and to generate the Navigation Message The Monitor Stations network comprised fives sites located in * Hawaii, * Colorado springs (Colorado, US), AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND___Page 11 * Ascension Island (South Atlantic), ‘+ Diego Garcia (Indian Ocean), * Kwajalein (North Pacific) The User Segment (Receiver Segment) This consists of a receiving antenna, receiver with built in computer and display unit. The receiver locks on to one satellite and from this satellite it obtains the almanac of allthe other satellites and thereby selects the four most suitable satellites for position fixing. The fix obtained jé displayed on the display unit along with other information such as course and speed made good, etc. Receivers designed to receive only one frequency are known aS single frequency receiver. To enhance the position accuracy, there are dual frequency receivers ‘that can receive both the frequencies. 8 With respect to GPS write short notes on :C.A. code , Navigation Message , Carrier Frequency, Dilution of Precession (DOP) ‘Course Acquisition Code (C.A.Code) - The term CA codes stands for the Coarse Acquisition code broadcast by the satellites. It provides less accurate positioning than the.P codes and is affected by Selective Availability. Selective availability is the intentional satellite clock degradation and ephemeris manipulations resulting in erroneots positions going upto 100 metres off. With effect from 1* May 2000, termination of the SA was'orderediby the then président Bill Clinton, The GPS satellites transmit radio Signals tovearth at'1227\6 Mz (L2) and 1575.42 MHz (L1). The P codes are sent on both frequencies. The CA codes are senbonly’on the Lt frequency. ‘Navigation Message - The navigation message is a 30 second message in the form of 50 Bits/sec data frame, which is different for each satelite, is previously supplied to the satellites by master control station and is divided into-5 sub-frames Each sub frame commences with telemetry word (TLM) containing satellite status followed by hand over word (HOW) data for acquiring P code from GIA codé~The 1* sub frame contains data relating to satelite clock correction. The 2" and 3" sub frames contain'the satellite ephemeris defining the position of the satellite. The 4" sub frame passes alphanumeric data to the user and will only be used when upload station has a need to pass specific message. The.5" sub gives the almanac of all the other satellites which includes data on satellite health and identity codes thus allowing the user for optimum, choice of the satellites for position fixing. Errors in the satellite clock are uploaded by the Master Control Station to the satellites to be broadcast to the User segments so as user receiver receives and the correction is applied. Carrier Frequency - The GPS satolites transmits radio signals to earth at 1227.6 MHz (L2) and 1575.42 MHz (L1). The reason for transmitting in dual frequency is reducing the errors due to the ionospheric interference. GPS receivers with dual frequency receiver are advantageous over single frequency receivers, Since different frequencies will be affected in a different way by the same ionospheric interference and this will result in minimal distortion of the one of the carrier frequencies. AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘ApprsKND Page 12 Dilution of Precision (DOP) - Dilution of Precision (DOP) is a term used for expressing the mathematical quality of a solution. DOP can exist in one dimension only. Examples are: a. Time DOP (TDOP) - is the error in positioning due to clock errors. b. Horizontal DOP (HDOP) - is the error in the horizontal plane or 2-Dfix (x, y axis or latitude and longitude) Vertical DOP (VDOP) - is the error in the vertical plane (z axis or altitude) Geometric (DOP) —is the error due to satellite geometry or positioning if the sky. .. Position DOP (PDOP) -is the error in a 3-D fix (x, y, 2 axis or latitude, longitude, altitude) pao Out of all, the PDOP is of most value to a navigator. PDOP in the GPSthas an optimum value of unity. If the figure is higher, the solution is diluted, The PDOP will approach unity when a solution is made | with a satellite overhead and three other satellites evenly spaced at law elevation “angles, Alternatively, if all satellites are in the same plane, PDOP would be near infinity and the fix would be unsound. Modern GPS receivers may be programmed to reject a position solution i the PDOP evel is high. The geometry of the satellite can also seriously affect the accuracy’of a position fix. When pseudo ranges are measured from satellites that are close together in the sky, the result is an enlarged area of improbabilily resulting in a bad GDOP. Alternatively, ifthe satellites are well spaced, the improbability area would be smaller. Modern GPS receivers pidk the optimum satellites from those available for position fixing. : 9. Why shipboard GPS receiver needs to track minimum of throe satellites for position? AGPS receiver must lock-oh to four satellites to ) get 2 3-D position. Threg satellites aré used to, iG calculate a horizontal position plus altitude ( F) while the fourth satelite is used fo synchronize ] the recéiver's clock with the satellites’ atomic oop Cw clocks. If the signals from only three satellites are available, the~receiver uses “one to synchronize the time and the other two to calculate a 2-D position. If a receiver picks up a signal from one satelite and the receiver know it's 20,000km away, the receiver must be somewhere on a sphere (not a circle) of radius 20,000km, centered on that satellite. With two signals, from two different ) satellites, the receiver must be somewhere where two spheres meet (somewhere in a circle of overlap). Three signals puts the receiver at one of two points on that circle—and that’s usually enough to figure out where the receiver is, because AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘ApprsKND Page 13 ‘one of the points might be up in the air or in the middle of the ocean. But with four signals, the receiver knows their position precisely. Finding ones position this way is called trilateration. 10. Whatare the various alarms of GPS. GPS receivers allow the setting of various alarms like: * Cross Track Error Alarm — wars the navigator that vessel is off its intended route line, + Arrival Alarm — informs the navigator that vessel is approaching a destination’ waypoint. + High DOP Alarm — warns navigator when DOP valua is high and fixes may be unreliable. * No Fix Alarm — warns navigator when no GPS signal is received: + Anchor Watch Alarm — sounds when vessel goos beyond set limita from anchor position + Proximity Alarm — similar to arrival alarm; triggers when nearing @ set position. 11. Short Notes on Precise Position Service (PPS) & Selective Availability (SA) Precise Positioning Service (PPS) is a positioning and timing service provided by way of authorized access to ranging signals broadcast al the GPS L1 and L2 frequencies. The L1 frequency, transmitted by all GPS satollites, contains a coarse/acquisition (C/A) code ranging signal, with a navigation data message, that is available for peaceful civil, commercial, and scientific use; and a precision (P) code ranging signal with a navigation data message, that is reserved for authorized / Military use. The P- code will normally be eryptographically altered to become the Y-code. The Y-code will not be available to users that do not have valid cryptographic keys. GPS satellites also transmit a second P- or Y- (P(¥}-) code ranging signal with a navigation data message at the L2 frequency. Selective Availability is a feature thatwas incorporated into the GPS design. It was only applied to the SPS signaland introduced variation into the timing of the navigation message. This had the effect of degrading the accuracy of the psetidorange measurements. The intent was to deny civilian users the full accuracy of GPS. Selective Availabilty was discontinued on 01" May 2000. Standard Positioning Service (SPS) is a positioning and timing service provided by way of ranging signals broadcast at the GPS L1 frequency. The L1 frequency, transmitted by all satellites, contains a coarse acquisition (C/A) code ranging signal, with a navigation data message, that is available for peaceful civil, commercial, and scientific use. The Standard Positioning Service Is based on the Coarse/Acqulsitlon code (C/A(t)), which Is modulated only on L1. It has a chipping-rate of 1.023 MHz, and contains 1 028 chips, so that the code is repeated every millisecond and each chip lasts about 1 is, meaning a chip-width or wavelength of 298.1 metre. AEMTC4B ANGLO-EASTERN MARITIME TRAINING CENTRE Second Mate (F.G.) BRIDGE EQUIPMENT AND WATCHKEEPING Chp: BEW-1 Date: 12.02.2020 Revision: 0.1 Prep: AS. ‘Appr: KND___Page 14. 12. How does the GPS determine the User's speed? The carrier frequency is used to determine the speed of the user by measurement of Doppler shift i.e. change in frequency of the radio waves received when the distance between the satellite and the user is changing due to the relative motion between the two. The position and velocity of the satellite as well as the position of the user are known to the user's receiver, which has an inbuilt computer. The velocity vector of the satellite/can be fesolved into two components: | i In the direction towards the user In the direction perpendicular to the direction towards the user. ‘The second component is not considered because speed in this direction will not cause Doppler shift. The receiver calculates the velocity vector of the satellite in the diréction towards the user-If the relative approach speed between the satellite and the user’é\spoed based on the Doppler shift measurement is not equal to the satellites speed vector towards or away from the satelite. Similarly with the help of other 2 satellites, the receiver can. calculate 2 additional’speed vectors and these speed vectors will be towards or away from the,respetiive satollites\Thése 3 velocity vectors are resolved within the receiver and the speed of the\User is Calculated along with the direction of travel 13. What do you understand by pseudo range and tre range? A GPS receiver calculates its position bya technique’ called satellite ¢anging, ‘which’ involyés measuring the distance betweén the GPS receiver and the GPS satellites it is tracking, The range a receiver calculates is called’a-pseudorangeor an estimate of range rather than a true range, is measured as elapsed transit time. The position of each-satellite is known, and the satolites transmit their positions as. partof the "messages" they send via radio waves. The GPS receiver on the ground is tho unknown point,-and must compute ite position based on the information it receives from the satellites. The initial ‘calculated position based on the receipt of the radio signals from the satellite gives Pseudorange. This calculation contains a component “At” which is the user clock error. On resolving the equations obtained from atleast 3 other satellites, the user clock error is resolved and nullified and the True Range is obtained AEMTC