5.

GLOBAL POSITIONING SYSTEM (GPS)

5.1 INTRODUCTION
The Global Positioning System (GPS) is a burgeoning technology, which provides
unequalled accuracy and flexibility of positioning for navigation, surveying and GIS data
capture. The GPS NAVSTAR (Navigation Satellite timing and Ranging Global Positioning
System) is a satellite-based navigation, timing and positioning system. The GPS provides
continuous three-dimensional positioning 24 hrs a day throughout the world. The technology
seems to be beneficiary to the GPS user community in terms of obtaining accurate data up to
about100 meters for navigation, meter-level for mapping, and down to millimeter level for
geodetic positioning. The GPS technology has tremendous amount of applications in GIS data
collection, surveying, and mapping.
The Global Positioning System (GPS) is a U.S. space-based radio navigation system that
provides reliable positioning, navigation, and timing services to civilian users on a continuous
worldwide basis -- freely available to all. For anyone with a GPS receiver, the system will
provide location with time. GPS provides accurate location and time information for an
unlimited number of people in all weather, day and night, anywhere in the world.
The Global Positioning System (GPS) is a satellite-based navigation system made up of a
network of 24 satellites placed into orbit by the U.S. Department of Defense. GPS was originally
intended for military applications, but in the 1980s, the government made the system available
for civilian use. GPS works in any weather conditions, anywhere in the world, 24 hours a day.
There are no subscription fees or setup charges to use GPS.
The GPS is made up of three parts: satellites orbiting the Earth; control and monitoring
stations on Earth; and the GPS receivers owned by users. GPS satellites broadcast signals from
space that are picked up and identified by GPS receivers. Each GPS receiver then provides three-
dimensional location (latitude, longitude, and altitude) plus the time.
Individuals may purchase GPS handsets that are readily available through commercial
retailers.
Equipped with these GPS receivers, users can accurately locate where they are and easily
navigate to where they want to go, whether walking, driving, flying, or boating.
 GPS has become a mainstay of transportation systems worldwide, providing navigation
for aviation, ground, and maritime operations. Disaster relief and emergency services depend
upon GPS for location and timing capabilities in their life-saving missions. The accurate timing
provided by GPS facilitates everyday activities such as banking, mobile phone operations, and
even the control of power grids. Farmers, surveyors, geologists and countless others perform
their work more efficiently, safely, economically, and accurately using the free and open GPS
signals.

Geo positioning -- Basic Concepts

By positioning we can understand the determination of stationary or moving objects.
These can be determined as follows
1. In relation to a well-defined coordinate system, usually by three coordinate values and
2. In relation to other point, taking one point as the origin of a local coordinate system.
The first mode of positioning is known as point positioning, the second as relative
positioning. If the object to be positioned is stationary, we can term it as static positioning. When
the object is moving, we call it kinematics positioning. Usually, the static positioning is used in
surveying and the kinematics position in navigation.

GPS - Components and Basic Facts

The GPS uses satellites and computers to compute positions anywhere on earth. The
GPS is based on satellite ranging. That means the position on the earth is determined by
measuring the distance from a group of satellites in space.
The basic principles behind GPS are really simple, even though the system employs some
of the high-techest equipment ever developed. In order to understand GPS basics, the system can
be categorized into 5 Logical steps.

They are listed below

1. Triangulation from the satellite is the basis of the system.

2. To triangulate, the GPS measures the distance using the travel time of the radio message.
3. To measure travel time, the GPS need a very accurate clock.
 4. Once the distance to a satellite is known, then we need to know where the satellite is in
space.
5. As the GPS signal travels through the ionosphere and the earth's atmosphere, the signal is
delayed.

To compute a position in three dimensions, we need to have four satellite measurements.

The GPS uses a trigonometric approach to calculate the positions, The GPS satellites are so high
up that their orbits are very predictable and each of the satellites is equipped with a very accurate
atomic clock.

5.2 COMPONENTS OF GPS

The GPS is divided into three major components
 The Control Segment
 The Space Segment
 The User Segment

The Control Segment

The Control Segment consists of five monitoring stations (Colorado Springs, Accession
Island, Diego Garcia, Hawaii, and Kwajalein Island).
Three of the stations (Ascension, Diego Garcia, and Kwajalein) serve as uplink
installations, capable of transmitting data to the satellites, including new ephemeredes (satellite
positions as a function of time), clock corrections, and other broadcast message data, while
Colorado Springs serves as the master control station. The Control Segment is the sole
responsibility of the DOD who undertakes construction, launching, maintenance, and virtually
constant performance monitoring of all GPS satellites.
The DOD monitoring stations track all GPS signals for use in controlling the satellites
and predicting their orbits. Meteorological data also are collected at the monitoring stations,
permitting the most accurate evaluation of tropospheric delays of GPS signals. Satellite tracking
data from the monitoring stations are transmitted to the master control station for processing.
This processing involves the computation of satellite ephemeredes and satellite clock corrections.
The master station controls orbital corrections, when any satellite strays too far from its assigned
position, and necessary repositioning to compensate for unhealthy (not fully functioning)
satellites.

The Space Segment

The Space Segment consists of the Constellation of NAVASTAR earth orbiting satellites.
The current Defence Department plan calls for a full constellation of 24 Block II satellites (21
operational and 3 in-orbit spares). The satellites are arrayed in 6 orbital planes, inclined 55
degrees to the equator.
They orbit at altitudes of about 12000, miles each, with orbital periods of 12 sidereal
hours (i.e., determined by or from the stars), or approximately one half of the earth's periods,
approximately 12 hours of 3-D position fixes. The next block of satellites is called Block IIR,
and they will provide improved reliability and have a capacity of ranging between satellites,
which will increase the orbital accuracy. Each satellite contains four precise atomic clocks
(Rubidium and Cesium standards) and has a microprocessor on board for limited self-monitoring
and data processing. The satellites are equipped with thrusters which can be used to maintain or
modify their orbits.

The User Segment

The user segment is a total user and supplier community, both civilian and military. The
User Segment consists of all earth-based GPS receivers. Receivers vary greatly in size and
complexity, though the basic design is rather simple. The typical receiver is composed of an
antenna and preamplifier, radio signal microprocessor, control and display device, data recording
unit, and power supply. The GPS receiver decodes the timing signals from the 'visible' satellites
(four or more) and, having calculated their distances, computes its own latitude, longitude,
elevation, and time.
This is a continuous process and generally the position is updated on a second-by-second
basis, output to the receiver display device and, if the receiver display device and, if the receiver
provides data capture capabilities, stored by the receiver-logging unit.

How it works
 GPS satellites circle the earth twice a day in a very precise orbit and transmit signal
information to earth. GPS receivers take this information and use triangulation to calculate the
user's exact location. Essentially, the GPS receiver compares the time a signal was transmitted by
a satellite with the time it was received. The time difference tells the GPS receiver how far away
the satellite is. Now, with distance measurements from a few more satellites, the receiver can
determine the user's position and display it on the unit's electronic map.
GPS receiver must be locked on to the signal of at least three satellites to calculate a 2D
position (latitude and longitude) and track movement. With four or more satellites in view, the
receiver can determine the user's 3D position (latitude, longitude and altitude). Once the user's
position has been determined, the GPS unit can calculate other information, such as speed,
bearing, track, trip distance, distance to destination, sunrise and sunset time and more.

The GPS satellite system

The 24 satellites that make up the GPS space segment are orbiting the earth about 12,000
miles above us.
They are constantly moving, making two complete orbits in less than 24 hours. These
satellites are traveling at speeds of roughly 7,000 miles an hour. GPS satellites are powered by
solar energy. They have backup batteries onboard to keep them running in the event of a solar
eclipse, when there's no solar power. Small rocket boosters on each satellite keep them flying in
the correct path.

Here are some other interesting facts about the GPS satellites (also called NAVSTAR, the
official U.S. Department of Defense name for GPS)

 The first GPS satellite was launched in 1978.

 A full constellation of 24 satellites was achieved in 1994.
 Each satellite is built to last about 10 years. Replacements are constantly being built and
launched into orbit.
  A GPS satellite weighs approximately 2,000 pounds and is about 17 feet across with the
solar panels extended.
 Transmitter power is only 50 watts or less.

Definition of signal

GPS satellites transmit two low power radio signals, designated L1 and L2. Civilian GPS
uses the L1 frequency of 1575.42 MHz in the UHF band. The signals travel by line of sight,
meaning they will pass through clouds, glass and plastic but will not go through most solid
objects such as buildings and mountains. A GPS signal contains three different bits of
information a pseudorandom code, ephemeris data and almanac data. The pseudorandom code is
simply an I.D. code that identifies which satellite is transmitting information. We can view this
number on our Garmin GPS unit's satellite page, as it identifies which satellites it's receiving.

Ephemeris data tells the GPS receiver where each GPS satellite should be at any time
throughout the day. Each satellite transmits ephemeris data showing the orbital information for
that satellite and for every other satellite in the system.

Almanac data, which is constantly transmitted by each satellite, contains important

information about the status of the satellite (healthy or unhealthy), current date and time. This
part of the signal is essential for determining a position.

Sources of GPS signal errors

Factors that can degrade the GPS signal and thus affect accuracy include the following

 Ionosphere and troposphere delays — the satellite signal slows as it passes through the
atmosphere. The GPS system uses a built-in model that calculates an average amount of
delay to partially correct for this type of error.
  Signal multipath — this occurs when the GPS signal is reflected off objects such as tall
buildings or large rock surfaces before it reaches the receiver. This increases the travel
time of the signal, thereby causing errors.
 Receiver clock errors — a receiver's built-in clock is not as accurate as the atomic clocks
onboard the GPS satellites. Therefore, it may have very slight timing errors.
 Orbital errors — also known as ephemeris errors, these are inaccuracies of the satellite's
reported location.
 Number of satellites visible — the more satellites a GPS receiver can "see," the better the
accuracy. Buildings, terrain, electronic interference, or sometimes even dense foliage can
block signal reception, causing position errors or possibly no position reading at all. GPS
units typically will not work indoors, underwater or underground.
 Satellite geometry/shading — this refers to the relative position of the satellites at any
given time. Ideal satellite geometry exists when the satellites are located at wide angles
relative to each other. Poor geometry results when the satellites are located in a line or in
a tight grouping.
 Intentional degradation of the satellite signal — Selective Availability (SA) is an
intentional degradation of the signal once imposed by the U.S. Department of Defense.
SA was intended to prevent military adversaries from using the highly accurate GPS
signals.
 The government turned off SA in May 2000, which significantly improved the accuracy
of civilian GPS receivers.

GPS Positioning Types

Absolute positioning
The mode of positioning relies upon a single receiver station. It is also referred to as
'stand-alone' GPS, because, unlike differential positioning, ranging is carried out strictly between
the satellite and the receiver station, not on a ground-based reference station that assists with the
computation of error corrections. As a result, the positions derived in absolute mode are subject
to the unmitigated errors inherent in satellite positioning. Overall accuracy of absolute
positioning is considered to be no greater than 50 meters at best by Ackroyd and Lorimer and to
be + 100 meter accuracy by the U.S. Army Corps of Engineers.

Differential Positioning
Relative or Differential GPS carries the triangulation principles one step further, with a
second receiver at a known reference point. To further facilitate determination of a point's
position, relative to the known earth surface point, this configuration demands collection of an
error-correcting message from the reference receiver. Differential-mode positioning relies upon
an established control point. The reference station is placed on the control point, a triangulated
position, the control point coordinate. This allows for a correction factor to be calculated and
applied to other roving GPS units used in the same area and in the same time series. Inaccuracies
in the control point's coordinate are directly additive to errors inherent in the satellite positioning
process.
Error corrections derived by the reference station vary rapidly, as the factors propagating
position errors are not static over time. This error correction allows for a considerable amount of
error of error to be negated, potentially as much as 90 percent.
 Fig 5.2.1: GPS Setup

GPS Services
GPS satellites provide service to civilian and military users. The civilian service is freely
available to all users on a continuous, worldwide basis. The military service is available to U.S.
and allied armed forces as well as approved Government agencies. A variety of GPS
augmentation systems and techniques are available to enhance system performance to meet
specific user requirements. These improve signal availability, accuracy, and integrity, allowing
even better performance than is possible using the basic GPS civilian service.

The outstanding performance of GPS over many years has earned the confidence of
millions of civil users worldwide. It has proven its dependability in the past and promises to be
of benefit to users, throughout the world, far into the future.
5.3 GPS APPLICATIONS
One of the most significant and unique features of the Global Positioning Systems is the
fact that the positioning signal is available to users in any position worldwide at any time. With a
fully operational GPS system, it can be generated to a large community of likely to grow as there
are multiple applications, ranging from surveying, mapping, and navigation to GIS data capture.
The GPS will soon be a part of the overall utility of technology.
There are countless GPs applications, a few important ones are covered in the following
passage.

Surveying and Mapping

The high precision of GPS carrier phase measurements, together with appropriate
adjustment algorithms, provides an adequate tool for a variety of tasks for surveying and
mapping.
Using DGPs methods, accurate and timely mapping of almost anything can be carried
out. The GPS is used to map cut blocks, road alignments, and environmental hazards such as
landslides, forest fires, and oil spills. Applications, such as cadastral mapping, needing a high
degree of accuracy also can be carried out using high grade GPS receivers. Continuous kinematic
techniques can be used for topographic surveys and accurate linear mapping.

Navigation
Navigation using GPS can save countless hours in the field. Any feature, even if it is
under water, can be located up to one hundred meters simply by scaling coordinates from a map,
entering waypoints, and going directly to the site. Examples include road intersections, corner
posts, plot canters, accident sites, geological formations, and so on. GPS navigation in
helicopters, in vehicles, or in a ship can provide an easy means of navigation with substantial
savings.
Remote Sensing and GIS

It is also possible to integrate GPS positioning into remote-sensing methods such as

photogrammetry and aerial scanning, magnetometry, and video technology. Using DGPS or
kinematic techniques, depending upon the accuracy required, real time or post-processing will
provide positions for the sensor which can be projected to the ground, instead of having ground
control projected to an image. GPS are becoming very effective tools for GIS data capture. The
GIS user community benefits from the use of GPS for locational data capture in various GIS
applications. The GPS can easily be linked to a laptop computer in the field, and, with
appropriate software, users can also have all their data on a common base with every little
distortion. Thus GPS can help in several aspects of construction of accurate and timely GIS
databases.

Geodesy
Geodetic mapping and other control surveys can be carried out effectively using high-
grade GPs equipment. Especially when helicopters were used or when the line of sight is not
possible, GPS can set new standards of accuracy and productivity.

Military
The GPS was primarily developed for real time military positioning. Military applications
include airborne, marine, and land navigation.

5.4 GPS RECEIVER

When people talk about "a GPS," they usually mean a GPS receiver. The Global
Positioning System (GPS) is actually a constellation of 27 Earth-orbiting satellites (24 in
operation and three extras in case one fails). The U.S. military developed and implemented this
satellite network as a military navigation system, but soon opened it up to everybody else.
 Each of these 3,000- to 4,000-pound solar-powered satellites circles the globe at about
12,000 miles (19,300 km), making two complete rotations every day. The orbits are arranged so
that at any time, anywhere on Earth, there are at least four satellites "visible" in the sky.
A GPS receiver's job is to locate four or more of these satellites, figure out the distance to
each, and use this information to deduce its own location. This operation is based on a simple
mathematical principle called trilateration.GPS receiver calculates its position on earth based on
the information it receives from four located satellites. This system works pretty well, but
inaccuracies do pop up. For one thing, this method assumes the radio signals will make their way
through the atmosphere at a consistent speed (the speed of light). In fact, the Earth's atmosphere
slows the electromagnetic energy down somewhat, particularly as it goes through the ionosphere
and troposphere. The delay varies depending on where you are on Earth, which means it's
difficult to accurately factor this into the distance calculations.
Problems can also occur when radio signals bounce off large objects, such as skyscrapers,
giving a receiver the impression that a satellite is farther away than it actually is. On top of all
that, satellites sometimes just send out bad almanac data, misreporting their own position.
Differential GPS (DGPS) helps correct these errors. The basic idea is to gauge GPS
inaccuracy at a stationary receiver station with a known location. Since the DGPS hardware at
the station already knows its own position, it can easily calculate its receiver's inaccuracy. The
station then broadcasts a radio signal to all DGPS-equipped receivers in the area, providing
signal correction information for that area. In general, access to this correction information
makes DGPS receivers much more accurate than ordinary receivers.

GPS network
 Fig 5.4.1 GPS receiver communicating with satellite and mobile phone.

GPS data decoding

G.P.S receiver continuously sends data and the microcontroller receives the data when
ever it requires. The data sent by the G.P.S is a string of characters which should be decoded to
the standard format. This is done by the program which we implement in the controller.