GPS (Global Positioning System)

&
DGPS (Differential Global Positioning
System)

Presented by

CTTC (Central Tool Room & Training Center)

 Schedule

• GPS Fundamentals
• Surveying with GPS
• Surveying with DGPS
• Conclusion/Q&A
GPS FUNDAMENTALS:

The GPS System Defined

GPS is Comprised of Three Segments:

Space
Ground
User
 SPACE

GPS
•NAVSTAR
•DoD
•Started in 1973
•Functional from 1978
•Weather independent
•Worldwide
GPS
• NAVASTAR (GPS) – USA
• GLOSASS - RUSSIA
– 3 ORBIT, EACH 10 SET, PRE- 23
• GALILIO - EUROPEAN UNION
– 3 ORBIT, EACH 10, PRE- 12
• BEIDOU-2 - CHINA
– 3ORBIT ,EACH 10, PRE -21

• BEIDOU-1 - CHINA
• (IRNSSS)NAVIC - INDIA
• QZSS - JAPAN
GPS Constellation
• The GPS constellation calls for 24 satellite to be
distributed equally among six circular orbital
planes.
• A satellite constellation is a group of artificial
satellites with a number of satellite with ground
coverage, operating together under shared
control, synchronized so that they overlap well
in coverage.
• The period in which a satellite or other
spacecraft is visible above the local horizon.
Global Positioning
System
Fundamentals
 : Satellite Coverage

• 28 Active Satellites (Current deployment)

• 6 Orbital Planes inclined at 55 degrees
• 12 hour orbital period
• 20,000 kilometers high
• Satellite velocity is approximately 4 km/sec
• 24 hour 3D coverage worldwide
 GROUND Segment

• Monitoring by DoD at Colorado Springs,

Hawaii, Ascension, Diego Garcia, Kwajalein
• They determine position of Satellites and
Predicted Path
GROUND Segment
USER Segment:

• That’s us !
• There are MILLIONS of users worldwide
• Surveyors, Scientists, Fishermen, Pilots,
Soldiers, Mappers ………..
The GPS Signal
The GPS Signal:
PSEUDO-RANDOM COD

Three - part signal:

Time codes
Ephemeris data
Almanac information
(all carried on analog signal)
Satellite Signals

Two frequencies
L1 = 1575.42 MHz
L2 = 1227.60 MHz
L2C, L3, L5
 GPS
Satellite Signals

Carrier phase
+ +
Code phase
= =
L1 or L2 signal
GPS

measured= Satellite
measured=
Position
pseudo
pseudo range
range

computed=
computed=
true
true range
range

Receiver Location
 GPS

Pseudo-range
(Distance to Satellite)
Receiver

Satellite

Time
Difference
GPS

Pseudo-range
(Distance to Satellite)
• Time information is based on satellite receiver
clocks
• Cesium and Rubidium clocks
• Satellite and receiver generate the same code
 GPS

Pseudo-range
(Distance to Satellite)
Distance = Velocity x Time
• Velocity = Speed of light
• Time = difference between signal transmission
time and signal reception time
 GPS

ALMANAC:
Predicted orbit path of Satellite

• Used by receiver to obtain first fix information

GPS

EPHEMERIS:
Known Position of Satellite

• Precise description of each satellite’ orbital

path
GPS

4 satellites = 3D position
How does GPS work

•GPS receiver determines its position

relative to satellite “reference points”
• The GPS unit on the ground figures out its
distance (range) to each of several satellites

12,50
0 km 11,20
11,50 0 km
0 km
•We need at least 3 satellites as reference
points
• Position is calculated using trilateration
(similar to triangulation but with spheres)
 Sphere Concept

• A fourth satellite narrows it from 2 possible points to 1

point
 Measurement Errors

• Inaccurate clocks
• Imprecise satellite orbits
• Measurement noise
• Multipath
• Satellite geometry (DOP)
• Atmospheric delay
GPS Inaccurate Clock Error

Receiver clock error corrected by using

four satellites and post processing
 Imprecise Satellite Orbit Error
GPS

• Ephemeris errors cause positional errors

• DoD adjustments correct orbital fluctuation
• Differential GPS removes error
GPS Measurement Noise

• Receiver dependent (i.e inter-channel bias)

GPS Multipath Errors
GPS Multipath Errors

• Caused by signal reflective

materials
• Reduce with ground planes,
planning, longer static
occupations
 GPS Satellite Geometry Error

• Dilution of Precision (DOP)

• High DOP means less accuracy
• Plan ahead for best geometry or set filters in
session setup
 GPS Atmospheric Delay

• Ionosphere and troposphere

• Differential GPS eliminates both types of
atmospheric error
 GPS Positional
Accuracy
Phase Measurement Code Measurement

SPS (Degraded)
Absolute

SPS-Standard Positioning Service

PPS-Precision Positioning Service SPS (w/o SA)
SA-Selected Availability
PPS-Military
Moving Survey
Differential

Differential
Static Survey

1 2 5 1 2 5 10 20 50 1 2 5 10 20 50 100

Millimeters Centimeters Meters

Let’s talk a little more about ...

Carrier Phase Observations

 Carrier Phase
Ranging

Fractional
Phase
Observed

Phase ambiguity
computed:
Unknown
number of
whole cycles
 Single Difference:
Between Receivers

Satellite clock error cancels

Orbit error cancels
Atmospheric delay errors reduced
 Non-Canceling
Errors:

Ionosphere

Troposphere
Single Difference:
Between
Satellites

Receiver Clock Error is

Removed
Double Difference:
The difference between two single differences

All common errors are

effectively canceled.
Triple Difference:
The difference of two double differences over
time.

T2
T1 T1

T2

The integer cycle

ambiguity
cancels
 Vector Computation

X,Y,Z X,Y,Z

Est.
X,Y,Z

KNOW
NX,Y,Z Final
X,Y,Z
Vector
Surveying with GPS:
Basic Geodesy
for
GPS Surveyors
GPS Relates all Measurements
to the WGS 84
Ellipsoid
(a mathematical surface)
Any other display/value is computed from
WGS84
THE ELLIPSOID
a mathematical surface

S a = Semi major axis

b = Semi minor axis
f = a-b = Flattening
a
 Geodetic
Datums

• Origin/Orientation/Coordinate System
• Originally the Ellipsoid was selected to best
fit the local geoid (i.e.NAD27) and a single
ellipsoid was used in many datums (Clarke
1866)
• GPS used the WGS84 Ellipsoid, NOW a
World Datum
ELLIPSOID DEFINITIONS

WORLD GEODETIC SYSTEM 1984

a = 6,378,137 m 1/f = 298.25722312

GEODETIC REFERENCE SYSTEM 1980

a = 6,378,137 m 1/f = 298.25722101
CLARKE 1866
a = 6,378,206.4 m 1/f = 294.97869821…
Earth Centered-Earth Fixed Origin
X,Y,Z (ECEF) System

DX

Z DZ

DY
X

Y
ECEF Coordinates are converted
to
Latitude, Longitude, Height

Ht

Lat

Long
 Coordinate Height
Components

• X, Y, Z
– Integrated height, cannot be separated
– All values referenced to geocenter
• Lat, Long, Ht
– Full 3-D using GPS
– vertical referred to user datum
• Grid
– 2-D, height is completely separate
Connection to the Physical
World

• The ellipsoid is a mathematical surface

• To relate HEIGHTS, we use a model of the
gravity geopotential called a GEOID
• The Geoid Model (Geoid 96 and now Geoid
99) calculates a separation that is applied to
the Ellipsoid Height to estimate Orthometric
elevations
THE GEOID AND TWO ELLIPSOIDS

CLARKE 1866
GRS80-WGS84

Earth Mass
Center

GEOID
ELLIPSOID/ GEOID RELATIONSHIP

H = Orthometric Height
h = Ellipsoidal Height
N = Geoid Height
H=h+N
H h TOPOGRAPHIC SURFACE

PERPENDICULAR
Geoid
Ellipsoid TO ELLIPSOID
GEOID96
GRS80 PERPENDICULAR
TO GEOID (PLUMBLINE)
DEFLECTION OF THE VERTICAL
DEFLEC96
GPS is a Three Dimensional
System !

• Heights measured are DIFFERENCES in

Ellipsoid Height - NOT Elevations
 Height
Elements

Terrain

h
Ellipsoid H

Sea Level N

Geoid

h=H+N
h = Ellipsoid height = height of station above ellipsoid
H = Orthometric height = height of station above geoid
N = Geoid height = height of geoid above ellipsoid
 GEOID96/99
Models

• NGS
– Gravity measurements
– Comparisons of ellipsoid height differences to
orthometric height differences
• Centimeter relative accuracy in many
years
– Sufficient orthometric bench marks
– Good network structure
• Caveat Emptor - a model is a model...
 GPS Derived
Elevations

BM

BM
Ellipsoid

Geoid

h=H+N

h Ellipsoid Ht
H Orthometric Ht
N Geoid Ht
 Mapping
Projections

• Representing a curved surface on a flat

plane
• Consistent azimuth reference
• Distance corrections for curvature
 Z

Y
PLANE COORDINATE SYSTEMS

STATE PLANE AND UNIVERSIAL

TRANSVERSE MERCATOR GRID
COORDINATES ARE A DIRECT
MATHEMATICAL CONVERSION FROM
LATITUDE AND LONGITUDE TO A
CARTESIAN NORTHING AND EASTING (Y & X)
COORDINATE SYSTEM, AND MUST
MAINTAIN THE SAME DATUM TAG [e.g. NAD
83(1992)] AS THE LATITUDE AND LONGITUDE
 Local
Modeling

• When a Geoid model doesn’t fit well

• Comparison of ellipsoid height differences to
orthometric height differences
• Requires GPS observations on sufficient
points of known elevation
 Local
Modeling
C

B D
BM A

BM
Ellipsoid E

Geoid

Diff. Ellipsoid - Diff Orthometric = Diff Geoid

A to C
1223.45 - 2145.36 = -921.91
1248.95 - 2171.66 = -922.71
921.91 - 922.71 = -0.8
 Surveying with DGPS:

Receiver Capabilities and

Surveying Techniques
 Surveying and Mapping use
DIFFERENTIAL GPS
• Differential GPS (DGPS), differences data from a fixed
point and roving point(s).
• DGPS may be performed post-processed or in real-time
• Post-processed surveys include
1. STATIC
2. KINEMATIC
• Real-Time surveys include
1. RTCM
2. RTK
• Think NETWORK not traverse
• Always measure HI's (antenna heights)
• Elevation is not measured... Ellipsoid
height is
 Survey Techniques
STATIC

• Method- Simultaneous observations between

stationary receivers
– Generally one hour sessions
• Planning Considerations
– Site visibility
– Drive time between stations (sessions)
 Survey Techniques
STATIC

• Used for primary control and general purpose

networks
– Longer sessions provide greater accuracy
• Used in areas of limited mobility
 Survey Techniques -
RAPID STATIC

• Simultaneous observations between stationary

receivers
– Generally 8 - 20 minute sessions with dual-
frequency GPS receivers
• Planning Considerations
– Site visibility
– Drive time between stations (sessions)
 Survey Techniques -
RAPID STATIC

• Used when baselines are short (<15 Km)

• Does not have the same geometric strength of
the Static solution due to weaker change of
satellite geometry
 Four Static Sessions
2
4

3
1

A 5
B 6

C
7

8 D
 Measure the Short Lines !

400m

20 K
 Better Approach

400m

20 K
 Control

• Need sufficient control to solve rotation biases;

Avoid distorted positions and Improve vertical
• Horizontal
– Minimum = 2; 3 or more recommended
• Vertical
- Minimum = 3; 4 or more recommended
Survey Techniques - Kinematic

– Simultaneous observations between a stationary

receiver(s) and one or more rovers
– very short occupation times, usually under one
minute
 Survey Techniques -
Kinematic

•Solve phase ambiguity up front on known line and/or

initialization bar (Single-Frequency GPS)
•Short static initialization or OTF [software] (Dual-
Frequency GPS)

• Ambiguities carried throughout survey

•Requires constant lock on 4 or more satellites at all
times or re-initialization required
 Survey Techniques -
Kinematic

• Open terrain required

• Pre-Planning
– Route visibility
– Site visibility
– Drive time (circuit)
 Survey Techniques -
Kinematic

Two Techniques commonly employed today:

1. Stop & Go (Survey)
2. Trajectory; a.k.a. Continuous
Kinematic (Precise Positioning – airborne,
hydrographic)
 Survey Techniques –
Stop & Go Kinematic

• Initialize survey
• Occupy discrete points for several epochs
• Maintain lock on 4 or more satellites or re-initialize
• One or more base stations and/or One or more
rovers may be used
 Survey Techniques -
Stop & Go Kinematic
One Base - One Rover Example
SSSS

NAME
 Survey Techniques -
Continuous Kinematic

• Only the Kinematic path is of interest;

discrete points are not located (sometimes used for topographic
surveys)
• A position is computed for each point (epoch) along the path
• Maintain lock on 4 or more satellites or re-initialize (OTF with
Dual Frequency GPS)
• One or more base stations and/or One or more rovers may be
used
 Survey Techniques -
Continuous Kinematic
Example

BASE
Vessel
Differential GPS

• We have discussed the post-processed

Differential techniques STATIC and
KINEMATIC
• Both require that data be collected in the
field and differenced in GPS computer
software.
• What if it is desirable to have positions while
in the field, in real-time?
Real-Time Differential GPS
(DGPS)

• Two Types:
• RTCM – Code Phase corrections; possible to
obtain sub-meter horizontal
• (There is now an RTCM standard for carrier
phase [RTK] corrections)
• RTK – Carrier Phase corrections; possible to
obtain centimeter horizontal and vertical
Real-Time DGPS
Basic Concepts

• Requires: Establishment of Base Station at

known location
• Requires: Realtime data link between Base
and Remote sites
• Assumes: Range measurement errors are
equal at Base and Remote stations
 RTCM- Pseudorange
Computation

• TOA (time of arrival) ranging

• Unique PRN code for each SV
• Replication of PRN codes in user equipment
• Code matching (correlation) by slewing
replica code
• Receiver clock bias term
• Pseudorange result
Pseudorange Positioning
accuracies

• Two factors affecting position accuracy

– User Equivalent Range Error (UERE)
• Clock stability
• Orbit predictability
• Errors in Navigation Message
• PRN correlation accuracy
• Atmospheric distortions
– Dilution of Precision (DOP)
 Computation of Pseudorange
Corrections at Base Station

• True (computed) range to satellite computed from:

– known X,Y,Z at Base
– Satellite’s X,Y,Z from broadcast ephemeris
• Observed range measured by TOA ranging technique
• C-O range correction (PRC, in meters) calculated PRC
= Pseudo-Range Correction
• Range rate correction (RRC, in cm/sec) calculated
 Application of corrections at
Remote user equipment

• PRC’s, RRC’s and other information transmitted to

Remote user station
– RTCM messages contain corrections
• Remote receiver decodes message
– PRC’s are added to raw observed ranges
– RRC’s are applied as necessary, based on age of
corrections.
• Remote position computed from corrected ranges
Considerations in applying range
corrections

• Only common satellites can be used

• Both reference and remote site must use
same ephemerides for common satellites
• Correction aging (latency) is important
• Noisy ranges can be de-weighted
• Integrity Monitoring is essential
DGPS
Real-Time Kinematic (RTK)

• Solution/Results in Real Time by using

telemetry link
• Base broadcasts corrections to an
unlimited number of rovers
• Uses Carrier Phase (DBEN) data
• RTK works on a GRID
Overview of THALES GPS
Systems - SURVEY

• Z-Xtreme - Dual Frequency

• Locus – Single Frequency
• ProMark 2 – Single Frequency
DGPS
GPS
Z-Xtreme
LOCUS
• Single-Frequency
SURVEY receiver
• 8 channel
• Powered by “C” or “D”
cell batteries
• 100 Hours ‘D’
• 40 Hours ‘C’
ProMark 2
 Overview of ASHTECH GPS
Systems - MAPPING
• ProMARK X and X-CM

• Reliance
ProMARK
• Handheld Unit
• Two Models:
X Code
X-CM Plus Carrier

Inexpensive Mapping
Solution
Reliance
• Small field pack system
• Full feature/attribute
capability
• Multiple configurations
Sub-Meter
Decimeter *
Precision
Reliance
• Post-processed and
Real-Time (RTCM)
Mapping
• Decimeter Reliance
may be used with
LOCUS for survey
operations
• SUMMARY

• Questions & Answers