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GLOBAL POSITIONING
SYSTEM (GPS)
GLOBAL NAVIGATION SATELITE
SYSTEM(GNSS)
• Satellite navigation System -
uses satellites to provide geo-spatial
positioning
• Satellite navigation system with global
coverage may be termed a global
navigation satellite system (GNSS)
• Allows small electronic receivers to
determine their location…
(longitude, latitude,
and altitude/elevation)
• Various global navigation systems
 NAVSTAR GPS by USA
 GLONASS by Russia
 Galileo by European Union
 IRNSS (Indian Regional Navigation Satellite System,
NavIC)
 GAGAN
(GPS Aided Geo Augmented Navigation)
 GLOBAL POSITIONING
SYSTEM (GPS)
• Satellite-based radio navigation system
• High precise positioning system
• Developed by US dept of Defence
• Shortened form of NAVSTAR GPS
– NAVigation System with Time And Ranging
Global Positioning System
• Uses constellation of 24 operational
satellites, to give user an accurate
position on earth
GLOBAL POSITIONING SYSTEM
(GPS) (Contd.)
• Originally designed for military purpose
• Later used for marine navigation and
surveying
• Finding positional values accurately at any
point on earth’s surface, at any time and in
all weather conditions
SYSTEM OVERVIEW OF GPS
• Space segment
– Satellites orbiting the earth
• Control segment
– Control stations positioned at various
locations to control the satellites
• User segment – GPS users
– Anybody who receives and uses the GPS
signal comes under this segment
SYSTEM OVERVIEW OF GPS
(Contd..)
 THE SPACE SEGMENT
• Constellation of GPS satellites and the
signals broadcast by them
• Allows users to determine position,
velocity and time
• 24 satellites at an altitude of 20,200 km
orbiting the earth every 12 hours
• Travelling at speeds of 11,500 km per
hour
• Powered by solar energy (back up
batteries are also there)
• Satellites in six orbital planes
 FUNCTIONS OF SATELLITES
• The functions of satellites are:
– To receive and store data transmitted by the
ground control stations
– To maintain accurate time by means of
several on-board atomic clocks
– To transmit information and radio signals to
users
 CONTROL SEGMENT
• Consists of:
– One master control station
– Four monitoring stations
– Four ground antennas
Master station in Colorado Springs,
Colorado (USA)
Four monitoring stations at Cape
Canaveral, Ascension Island, Diego Garcia
and Kwajalein Atoll
CONTROL SEGMENT (Contd..)
CONTROL SEGMENT (Contd..)
• Tracks GPS satellites, update their orbiting
position and calibrates and synchronizes their
clocks
• To determine the orbit of each satellite and
predict its path for the next 24 hours
– There may be possibility of satellites travelling out of
orbits
– Ground monitor stations keep track of satellite
orbits, altitude, location and speed
– Ground stations send the orbital data to master
control stations, which send corrected data to the
satellites through ground antennas
– Corrected and exact position of data is called
“Ephemeris”
 THE USER SEGMENT
• Comprises GPS receivers used to receive the
GPS signal for determination of position and time
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and aerial navigation
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 ADVANTAGES
• Relatively high positioning accuracies, in
mm level
• Capability of determining velocity and
time
• Signal availability to users, anywhere on
the globe
• Positioning system with no user charges
and uses relatively low cost hardware
• All weather system, available 24hrs a
day
• Position information is in 3 dimensions
 FEATURES OF GPS
• A one-way ranging system, in which the
satellites transmits signals, but are
unaware of who is using the signal. Hence
the user cannot be
– Detected by enemy (military context)
– Charged for using the system (civilian
context)
• Use of latest atomic clock and microwave
transmission technology, including
spread-spectrum techniques
• Satellite signals are unaffected by cloud
and rain
 FEATURES OF GPS (Contd..)
• Multiple satellite system, which ensures
the visibility of sufficient number of
satellites anywhere on the globe, at any
time
– not less than four satellites at any time, at any
point on the surface of earth
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zeros and ones, the language of
computers
Coarse/Acquisition code (C/A Code) – 1.023MHz
Precision code (P-Code) – 10.23 MHz
Transmitted code is called pseudo-
random code
 Since it looks like a noise signal
 Complex code
Each satellite has its own unique
pseudo-random code
GPS SATELLITE SIGNAL
STRUCTURE
GPS SATELLITE SIGNAL
STRUCTURE (Contd..)
PRINCIPLE OF WORKING OF
GPS-SATELLITE RANGING
• Satellite range – distance from the satellite to
the GPS receiver
• GPS positions are based on the distance
from the satellite to the GPS receiver on
earth
• Basic idea of determination of position is
– resection or trilateration
– Distance = velocity X time
– Velocity of radio signal = 290,000 km per s
(almost equal to speed of light)
– Precise time - when signal left the satellite and
when it reach the receiver
SATELLITE RANGING - TIME CALCULATION
• Main purpose of coded signal is:
– calculation of travel time of radio signal from
satellite to GPS receiver
– Also called Time of Arrival
When pseudo-random code reaches
GPS receiver, it generates the same code
and tries to match with the satellite’s code
Receiver compares two codes to
determine how much delay is required in
its code to match the satellite code
 SATELLITE RANGING - POSITION
CALCULATION
• Four unknowns to be determined
– Position coordinates (x,y,z)
– Time of travel of signal
• Observation of four satellites produces four
equations
• When receiver picks up a signal from one
satellite, the position will be an imaginary
sphere with satellite as centre and distance
as radius
• GPS receiver starts picking up signals from
two satellites
SATELLITE RANGING - POSITION
CALCULATION (Contd..)
SATELLITE RANGING - POSITION
CALCULATION (Contd..)
• Position of GPS receiver will be along the
intersection of two large circles
• When receiver picks up signals from third
satellite, the position of receiver will be
on the point of intersection of three
circles
• With four satellites, the receiver will get a
precise position and it will be able to
compute the elevation of position with
reference to a selected datum
 GPS MEASUREMENT
TECHNIQUES
• 2 types of signal measurement
approaches have been used for
positioning with GPS
• Important observables are code and
phase values methods based on these
two are used
– Code measurements
– Carrier phase measurements
# +,
 APPLICATION OF GPS
• Used for navigation by mariners and
fishermen
• Survey operations
• Emergency road side assistance at the
push of a button
• Vehicle tracking
• Route guidance
 GPS SURVEYS
• Static surveying
– Rapid static surveying
– Reoccupation mode
• Kinematic surveying
• Real – time DGPS surveying
 STATIC SURVEYING
• First method and primary technique
• Involves long observation time (1-2 hrs
depending on number of visible satellites)
in order to resolve the integer ambiguities
between the satellite and the receiver
• Atleast two receivers collect carrier-phase
data in stationary or static mode for a long
duration of time
STATIC SURVEYING (Contd..)
• Line between a pair of GPS receivers is called
baseline
• Station coordinate differences are calculated in
terms of 3D coordinate system (X, Y, Z) based
on WGS84 ellipsoid (IJ7D:7H: 9EEH:?D7J;
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• These coordinate systems are then shifted to
projected coordinate
• One of the receivers is placed on point whose
coordinates are known (reference receiver)
• Second one is positioned over the point whose
coordinate is unknown (rover)
 STATIC SURVEYING (Contd..)
• Both receivers must receive signals from
the same four or more satellites for a
period of time (few minutes to several
hours)
• Session’s duration depends on:
– length of baseline
– geometry of satellites
– Precision of result required
• Larger the constellation of satellites, lower
the session duration
 STATIC SURVEYING (Contd..)
• Post processing software analyzes all data
from the receivers simultaneously and
obtains the differential position between
the receivers
• Used for long lines, geodetic networks,
tectonic plate studies
• Offers high accuracy of 1cm to 0.1cm over
long distances like 10km
 APPLICATIONS OF STATIC
METHOD
• Geodetic control over large areas
• National and conventional networks
• Monitoring tectonic movements
• High accuracy survey networks
 RAPID STATIC SURVEYING
• To measure baselines and determine
positions up to centimeter level with short
observation time of about 5-20 min
• A reference point is chosen and one or more
rovers operate with respect to it
• Used for detailing the existing network,
establishing control points etc..
• Reference receiver is set up at a known point
• Rover receivers are moved to each of the
required points
 RAPID STATIC SURVEYING
(Contd..)
• When working with more than one rover, it is
essential to ensure that all rovers operate at
each occupied point simultaneously
• Rapid static technique provide the same
accuracy available from 1-2 hr session of
static positioning with observations of 5-20
min
• Reoccupation
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KINEMATIC METHOD
• Referred as semi-kinematic surveying, in which
the carrier phase ambiguities are resolved before
the actual survey starts
• A reference station is established
• At least four satellites have to be tracked without
loss of signal
• The roving receiver starts from the known position
coordinates
• Then it moves to other points maintaining lock on
the satellites
• Rover maintains only for a small time for two
epochs on each detail point
• Epoch is a particular fixed instant of time used as
a reference point on a time scale
 STOP-AND-GO TECHNIQUE
(Contd.)
• Similar to rapid static method in which,
– All receivers observe the same satellites
simultaneously
– Reference receiver occupy the same
control point throughout the survey
• Kinematic method differs in the
movement of rovers from point to point
• Stop momentarily at each new point for
a short period
• Data provides vectors between
themselves and reference receivers
STOP-AND-GO TECHNIQUE
(Contd.)
 APPLICATIONS
• Used for detailed and engineering surveys
in open areas
• Used where points are close together
 ADVANTAGES AND
DISADVANTAGES
• Advantages
– Fast and economical
– Fastest way to survey detail points
• Disadvantages
– New static or rapid static fix is needed if
complete loss of satellite lock occurs
– Must maintain phase lock of at least four
satellites for a successful survey
 TRUE KINEMATIC METHOD

• Uses differential carrier phase tracking

• Requires two receivers for recording
observations simultaneously
• Referred as dynamic surveying
• Reference receiver remains fixed on a
known control point
• Roving receiver collects data on a moving
platform (vehicle, vessel, aircraft etc.)
TRUE KINEMATIC METHOD
 TRUE KINEMATIC METHOD
(Contd.)
• The reference and rover are switched on
and remain stationary for 5-20 min for
collecting data
• After this period, the rover may move
freely
• While the rover moves, the user can
record its positions at a predefined
recording rate (say 1, 2, 3,4,5 seconds)
• If loss of satellite lock occurs, a new
period of static initialization must take
place
 TRUE KINEMATIC METHOD
• Advantages
(Contd.)
– Very short sessions
– Fast and economical
– Produce largest number of positions in least
time
– Continuous measurements
• Disadvantages
– Slight degradation in the accuracy of work
– Needs initialization in the case of complete
loss of satellite lock
– Occupied stations should be free of
overhead obstructions
– Route between stations must be clear
 TRUE KINEMATIC METHOD
(Contd.)
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– Measuring trajectory of moving objects
– In hydrographic surveys
– In surveying centre of road
– Photogrammetry with ground control
– For preparation of topographic maps
 REAL TIME DIFFERENTIAL GPS
(DGPS)
• Improves accuracy
• Reference receiver computes the error
and transmits to the rover
• Radio data link between reference and
rover
• Rover applies correction
• No post processing required
PLANNING OF GPS SURVEYING
• Fundamentally carried out in four phases
(a)Planning and preparation
(b)Field operations
(c) Post processing and data generation
(d)Report preparation
DATA SHEET

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 VISIBILITY DIAGRAM
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