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Tutorial3 GPS

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7 views20 pages

Tutorial3 GPS

Uploaded by

Outis Wong
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© © All Rights Reserved
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MECH 3680 Tutorial

The Positional Accuracy Prediction for GPS

TA: Zhiming CHEN


March 01, 2024
Question of interests
The accuracy of GPS relies on the accuracy of clocks, assuming that we use 4
satellites to perform position fixing. How to estimate the location of the GPS
receiver in the following cases (1-5) where each case has an additional error?

1) If there is a 150 nanosecond error for the clock on a satellite


2) If there is a 100 meters error in the orbit of a satellite
3) If there is a 150 nanosecond error for the clocks on two of these four satellites
4) If there is a 100 meters error for the orbits of two of these four satellites
5) If there is a 100 nanosecond error for the GPS receiver
GPS Mechanism
This animation shows GPS satellites circling the earth and then
being received by an aircraft in flight.
GPS Mechanism
• Ground Stations
• tracking satellites’ locations and updating them to
satellites
• Satellites
• broadcasting signals
• Receivers
• receiving GPS signals
GPS Mechanism
Given the GPS signals, how can we know the location of GPS receiver?

• From the GPS signal message, we can get the sending timestamp 𝑡!
and the satellite location 𝑋, 𝑌, 𝑍
• From the clock of the GPS receiver, we can know the timestamp 𝑡#
when receiving the signal

We can get the range from the satellite to the GPS receiver:

𝑅" = 𝑐 ⋅ (𝑡2 − 𝑡1)

We can get an equation about the location of the GPS receiver: n: the id of satellite
c: the light speed
(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = 𝑅" # 𝑋, 𝑌, 𝑍 : coordinates of the GPS receiver
𝑋" , 𝑌" , 𝑍" : coordinates of the satellite
𝑅" : The range from the satellite to the GPS receiver
GPS Mechanism
How many satellites do we need at least to get the location of
GPS receiver?
(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = 𝑅" #

(b)
(a)
It’s trivial to select the final
solution because the GPS
receiver is on the surface of
the earth and another invalid
solution is in the space.

(c) (d)
GPS Mechanism
How many satellites do we need at least to get the location of GPS
receiver?

(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = 𝑅" #

We need at least 4 satellites because the clock of the GPS


receiver is not as accurate as the atom clock on satellites.

Δ𝑅 = 𝑐 ⋅ Δ𝑡
Designed by the German firm Efratom in
partnership with Rockwell International,
(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = (𝑅" −Δ𝑅)# lightweight, compact, low-power rubidium
atomic clocks like the one shown here
enabled the first four GPS satellites to
achieve the demonstration project’s
milestones.
GPS Mechanism
We have 4 unknown variables in the following equations:

(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = (𝑅" −Δ𝑅)#

If we have 4 satellites, then:

(𝑋 − 𝑋! )# +(𝑌 − 𝑌! )# +(𝑍 − 𝑍! )# = (𝑅! −Δ𝑅)#

(𝑋 − 𝑋# )# +(𝑌 − 𝑌# )# +(𝑍 − 𝑍# )# = (𝑅# −Δ𝑅)#

(𝑋 − 𝑋$ )# +(𝑌 − 𝑌$ )# +(𝑍 − 𝑍$ )# = (𝑅$ −Δ𝑅)#


Designed by the German firm Efratom in
partnership with Rockwell International,
(𝑋 − 𝑋% )# +(𝑌 − 𝑌% )# +(𝑍 − 𝑍% )# = (𝑅% −Δ𝑅)# lightweight, compact, low-power rubidium
atomic clocks like the one shown here
enabled the first four GPS satellites to
achieve the demonstration project’s
milestones.
GPS Mechanism
Time error on our device?

Designed by the German firm Efratom in


partnership with Rockwell International,
lightweight, compact, low-power rubidium
atomic clocks like the one shown here
enabled the first four GPS satellites to
achieve the demonstration project’s
milestones.

https://www.nict.go.jp/JST/JST5_E.html
GPS Mechanism

X Y Z Coordinates
Time Error
of target/receiver
3 unknowns 1 extra unknowns
Question of interests

If we only use 4 satellites


Consider the following cases:

1) 150 ns error for the clock on a satellite


2) 100 m error for the orbit of a satellite
3) 150 ns error for the clocks on two of these four satellites
4) 100 m error for the orbits of two of these four satellites
5) 100 ns error for the GPS receiver
Question of interests
(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = (𝑅" −Δ𝑅)#
Δ𝑅 = 𝑐 ⋅ Δ𝑡
The sign of Δ𝑅 is
dependent on Δ𝑡

(𝑋 − 𝑋" )# +(𝑌 − 𝑌" )# +(𝑍 − 𝑍" )# = (𝑅" −Δ𝑅 − Δ𝑟)#

Δ𝑟 can be a positive or
negative value.
Question of interests

If we only use 4 satellites


Consider the following cases:

1) 150 ns error for the clock on a satellite


2) 100 m error for the orbit of a satellite
3) 150 ns error for the clocks on two of these four satellites
4) 100 m error for the orbits of two of these four satellites
5) 100 ns error for the GPS receiver
Question of interests

(𝑋 − 𝑋! )# +(𝑌 − 𝑌! )# +(𝑍 − 𝑍! )# = (𝑅! −Δ𝑅 − Δ𝑟)#

(𝑋 − 𝑋# )# +(𝑌 − 𝑌# )# +(𝑍 − 𝑍# )# = (𝑅# −Δ𝑅)#

(𝑋 − 𝑋$ )# +(𝑌 − 𝑌$ )# +(𝑍 − 𝑍$ )# = (𝑅$ −Δ𝑅)#

(𝑋 − 𝑋% )# +(𝑌 − 𝑌% )# +(𝑍 − 𝑍% )# = (𝑅% −Δ𝑅)#

Increase the “Δ𝑅” for one satellite


For case 1), Δ𝑟 = ±𝑐 ⋅ Δ𝑡 = ±3×10& ⋅ 150×10'( = ±45 m
For case 2), Δ𝑟 = ±100 m
Question of interests

If we only use 4 satellites


Consider the following cases:

1) 150 ns error for the clock on a satellite


2) 100 m error for the orbit of a satellite
3) 150 ns error for the clocks on two of these four satellites
4) 100 m error for the orbits of two of these four satellites
5) 100 ns error for the GPS receiver
Question of interests

(𝑋 − 𝑋! )# +(𝑌 − 𝑌! )# +(𝑍 − 𝑍! )# = (𝑅! −Δ𝑅 − Δ𝑟)#

(𝑋 − 𝑋# )# +(𝑌 − 𝑌# )# +(𝑍 − 𝑍# )# = (𝑅# −Δ𝑅 − Δ𝑟)#

(𝑋 − 𝑋$ )# +(𝑌 − 𝑌$ )# +(𝑍 − 𝑍$ )# = (𝑅$ −Δ𝑅)#

(𝑋 − 𝑋% )# +(𝑌 − 𝑌% )# +(𝑍 − 𝑍% )# = (𝑅% −Δ𝑅)#

Increase the “Δ𝑅” for two satellites


For case 3), Δ𝑟 = ±𝑐 ⋅ Δ𝑡 = ±3×10& ⋅ 150×10'( = ±45 m
For case 4), Δ𝑟 = ±100 m
Question of interests

If we only use 4 satellites


Consider the following cases:

1) 150 ns error for the clock on a satellite


2) 100 m error for the orbit of a satellite
3) 150 ns error for the clocks on two of these four satellites
4) 100 m error for the orbits of two of these four satellites
5) 100 ns error for the GPS receiver
Question of interests

(𝑋 − 𝑋! )# +(𝑌 − 𝑌! )# +(𝑍 − 𝑍! )# = (𝑅! −Δ𝑅 − Δ𝑟)#

(𝑋 − 𝑋# )# +(𝑌 − 𝑌# )# +(𝑍 − 𝑍# )# = (𝑅# −Δ𝑅 − Δ𝑟)#

(𝑋 − 𝑋$ )# +(𝑌 − 𝑌$ )# +(𝑍 − 𝑍$ )# = (𝑅$ −Δ𝑅 − Δ𝑟)#

(𝑋 − 𝑋% )# +(𝑌 − 𝑌% )# +(𝑍 − 𝑍% )# = (𝑅% −Δ𝑅 − Δ𝑟)#

Increase the “Δ𝑅” for all satellites


For case 5), Δ𝑟 = ±𝑐 ⋅ Δ𝑡 = ±3×10& ⋅ 100×10'( = ±30 m
Conclusion

Now you know


• How GPS works

• Why we need four or more satellites

• Why image on the right might not be correct


Conclusion

Thank You!

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