1. GTECH 201
Session 08
GPS

2. Global Positioning Systems

3. GPS is a Satellite Navigation System
GPS was originally funded by and controlled by the U. S. military.
GPS provides specially coded satellite signals that can be processed in a GPS receiver, enabling the receiver to compute position, velocity and time.
Four GPS satellite signals are used to compute positions in three dimensions and the time offset in the receiver clock.

4. The Satellites
At least 24 satellites orbit the earth in 12 hours

5. The Satellites
The satellite orbits repeat almost the same ground track (as the earth turns beneath them) once each day. The orbit altitude is such that the satellites repeat the same track and configuration over any point approximately each 24 hours (4 minutes earlier each day). There are six orbital planes with four satellites in each equally spaced (60 degrees apart), and inclined at about fifty-five degrees with respect to the equatorial plane. This constellation provides the user with between five and eight satellites visible from any point on the earth.

6. GPS receivers convert the satellite signals into position, velocity, and time estimates.
Four satellites are required to compute the four dimensions of X, Y, Z (position) and Time.
Navigation in three dimensions is the primary function of GPS.
Precise positioning is possible using GPS receivers at reference locations providing corrections and relative positioning data for remote receivers.
Surveying, geodetic control, and plate tectonic studies are examples.
GPS Receivers

7. Standard Reception
Without further techniques, the accuracy is approximately   100 meter horizontal meter vertical
The position of the receiver is where the signals from a set of satellites intersect.

8. Standard Reception
The position is determined from multiple measurements at a single measurement epoch. The measurements are used together with satellite position estimates based on the precise orbital elements (the ephemeris data) sent by each satellite. This orbital data allows the receiver to compute the satellite positions in three dimensions at the instant that they sent their respective signals. Four satellites (normal navigation) can be used to determine three position dimensions and time. Position dimensions are computed by the receiver in Earth-Centred, Earth-Fixed X, Y, Z (ECEF XYZ) coordinates. Three satellites are used to compute a two-dimensional, horizontal fix (in latitude and longitude) given an assumed height. This is often possible at sea or in altimeter equipped aircraft. More satellites can provide extra position fix certainty and can allow detection of out-of-tolerance signals under certain circumstances. Position in XYZ is converted within the receiver to geodetic latitude, longitude and height above the ellipsoid. Latitude and longitude are usually provided in the geodetic datum on which GPS is based (WGS-84). Receivers can often be set to convert to other user-required datums. Position offsets of hundreds of meters can result from using the wrong datum.

11. Carrier Phase Tracking (Surveying)
Accuracies of millimeters under special circumstances
Ionospheric delay differences
Two receivers be within about 30 km of each other
Real-Time-Kinematic (RTK)

12. GPS Error Sources
GPS errors are a combination of noise and bias. Noise and bias errors combine, resulting in typical ranging errors of around fifteen meters for each satellite used in the position solution.

13. GPS Error Sources Noise errors Ephemeris (orbital sphere) data errors
Bias errors
Ephemeris (orbital sphere) data errors
Tropospheric delays
Ionosphere delays
Multipath
Noise and bias errors combine, resulting in typical ranging errors of around fifteen meters for each satellite used in the position solution

14. Geometric Dilution of Precision (GDOP) and Visibility
GPS ranging errors are magnified by the range vector differences between the receiver and satellites.
The volume of the shape described by the unit-vectors from the receiver to the satellites used in a position fix is inversely proportional to GDOP.

15. Geometric Dilution of Precision
Poor GDOP, a large value representing a small unit vector-volume, results when angles from receiver to the set of satellites used are similar.

16. Geometric Dilution of Precision
Good GDOP, a small value representing a large unit-vector-volume, results when angles from receiver to satellites are different.

17. Geometric Dilution of Precision
GDOP is computed from the geometric relationships between the receiver position and the positions of the satellites the receiver is using for navigation. For planning purposes GDOP is often computed from Almanacs and an estimated position. Estimated GDOP does not take into account obstacles that block the line-of-sight from the position to the satellites. Estimated GDOP may not be realizable in the field.

18. Differential GPS Techniques
Relative to a known position
Differential corrections may be used in real-time or later, with post-processing techniques

19. DGPS (code) range error < 100 km distance
Combined Error
Error source
Typical range error
DGPS (code) range error < 100 km distance
Clock
1 m
Ephemeris
Troposphere
Ionosphere
10 m
Pseudo-range noise
Receiver noise
Multipath
0.5 m
RMS error
15 m
1.6 m
Combined error
60 m
6 m

20. Differential Carrier GPS (Survey)