GPS INTRODUCTON:The Global positioning system(GPS) is a satellite based navigation system the was developed by U.

S Department of Defense (DoD) in early 1970s. The GPS is a technology which provides continuous positioning and timing information ,anywhere in the world under any weather conditions. The GPS technology has tremendous amount of application in GPS data collection like: Land/Sea/Air/Space Navigation IVHS- intelligent vehicle highway system Search and rescue Mapping /GIS Surveying and Recreation .. The GPS uses satellites and computers to compute positions any where on the earth and it based on satellite range. This means that the position on the earth is determined by measuring the distance from a group of satellites in the space.

GPS SYSTEM: GPS consists ,nominally , of a constellation of 24 operational satellites. To ensure continuous worldwide coverage, GPS satellites are arranged so that 4 satellites are placed in each of 6 of orbital planes.

 GPS satellite orbits are nearly circular. To compute a position in 3-D, a minimum of 4 satellites have to be observed . Distance = Travel time * Speed of light (Signals travels at the speed of light) To measure this travel time, it requires a very accurate clock, and each of the satellites is equipped with a very accurate atomic clock.

GEOPOSITIOING BASIC CONCEPTS : Positioning relates to the determination of position of stationary or moving objects. This can be determined :1. In relation to a well-defined coordinates system, usually by three coordinates value. Or 2. In relation to other point, taking one point as the origin of a local coordinate system.

GPS SEGMENTS(COMPONENTDS OF GPS): GPS consists of three segments:1. The space segment 2. The control segment 3.The user segment

1. The space segment :-

It consists of 24 satellites constellation introduced in the previous section. Each GPS satellite transmits a signals , which consists two sine waves(also known as carrier frequencies ),two digital codes and a navigation massage . Two codes and the navigation massage are added to the carrier and the codes are used mainly to determine the distance from the users recevier to the GPS satellites. Orbital parameter : Altitude -20,200 km Orbital period-12hr Orbital plane -55 deg. To equatorial plane Number of orbital plane-6 Orbital space spacing -60 deg. apart Number of satellites per orbital plane -4 Total number of constellation -24 Number of operational satellites -21 Number of backup satellites -3

The control segment :-

The control segment of the GPS system consists of a worldwide network stations, with a master control station (MCS) located in the united stated at Colorado springs. The primary task of the operational control segment is tracking the GPS satellites in order to determine and predict satellite location, system integrity, behavior of the satellite atomic clocks, atmospheric data, the satellite almanac , and other considerations. This information is then packed and uploaded into the GPS satellites through the S-BAND (2000-4000 MHz)link.

The master station controls correction, when any satellite strays too far from its assigned position, any necessary repositioning to compensate for unhealthy(not fully functioning ) satellites.

GPS control sites

 3.The user segment :- The user segment includes all military and civilian users. With a GPS receiver connected to a GPS antenna(tuned to the frequencies transmitted by the satellites),receiver-processors and a highly stable clock. A user can receive the GPS signals, which can be used to determine his or her position anywhere in the world. The user segment consists of receivers that decode the signals from the satellites. The receiver performs following tasks: Selecting one or more satellites Acquiring GPS signals Measuring and tracking Recovering navigation data There are two services SPS and PPS The Standard Positioning Service SPS- is position accuracy based on GPS measurements on single L1 frequency C/A code C/A ( coarse /acquisition or clear/access) GPs code sequence of 1023 pseudo random bi phase modulation on L1 freq

 The Precise Position Service PPS is the highest level of dynamic positioning based on the dual freq P-code The P-code is a very long pseudo-random bi phase modulation on the GPS carrier which does not repeat for 267 days Only authorized users, this consists of SPS signal plus the P code on L1 and L2 and carrier phase measurement on L2

GPS THE BASIC IDEA :- The idea behind GPS is rather simple. If
the distance from a point on the earth (a GPS receiver) to three satellites are known along with the satellite location ,then the location of the point (or receiver) can be determined by simply applying the well-known concept of RESECTION. But how can we get the distances to the satellites as well as the satellite location? As mentioned before, each GPS satellite continuously transmits a microwave radio signal composed of two carriers, two codes, and a navigation message. When a GPS receiver is switched on, it will pick up the GPS signal through the receiver antenna. Once the receiver acquires the GPS signal, it will process it using its built-in software. The partial

outcome of the signal processing consists of the distances to the GPS satellites through the digital codes (known as the pseudoranges) and the satellite coordinates through the navigation message. Theoretically, only three distances to three simultaneously tracked satellites are needed. In this case, the receiver would be located at the intersection of three spheres; each has a radius of one receiver-satellite distance and is centered on that particular satellite. however, a fourth satellite is needed to account for the receiver clock offset. In essence, the GPS operates on the principle of trilateration.In trilateration, the position of an unknown point is determined by measuring the lengths of the sides of a triangle between the unknown point and two or more known points (i.e., the satellites). This is opposed to the more commonly understood TRIANGULATION. where a position is determined by taking angular bearings from two points a known distance apart and computing the unknown points position from the resultant triangle.

 TRIANGULATION:Triangulation is the process of finding the position of an unknown point based on forming a triangle with two known points. For simplicity, the dimensions used to determine these points are commonly known as Latitude, Longitude and Elevation. If a group of three satellites are taken to form a triangle, 12 600 miles or 20 200 kilometers above the earth, the shape and size of this triangle will never change The time it takes for the signal to travel from the satellites to the vehicle. The location of each satellite, And accurate time. Given these facts, enough information is available to form a three dimensional figure of a pyramid with a triangle base. The base of the pyramid is formed by the location of the satellites and the apex of the pyramid is the location of the vehicle on the Earth, a point derived from triangulation of the known points of the base.

The GPS equipment knows that all of the apexes (the position of the GPS) of each triangle must be in the same literal position. Adding more satellites makes this more accurate because it gives the GPS more triangles to work with. Satellites are positioned so that every location of the earths surface has access to four satellites 24hrs a day. Satellites rely on the use of solar energy for their operating power and to maintain position. As the earth and moon move through their orbits, varying gravitational forces are placed on the satellites. The system allows for accurate positioning ensuring the satellites do not move from their correct location.

Errors:Satellite errors: Errors in modeling clock offset. Errors in Keplerian representation of ephemeris. Latency in tracking.

Atmospheric propagation errors: Through the ionosphere,carrier experiences phase advance and the code experiences group delay Dependent on : Geomagnetic latitude Time of the day Elevation of the satellite.