CHAPTER - 3

Global Positioning System (GPS)

3.1 Introduction
Major developments in navigation were the stones, star, radio, and satellite age-based GPS.

The first satellite system developed was called Transit. It was made operational in
1964. Transit had no timing devices aboard the satellites and the time it took a receiver
to calculate its position was about 15 minutes.

The GPS was mainly used for military positioning, navigation, and weapons aiming system. It
has higher accuracy and stable atomic clocks on board to achieve precise time transfer.
The first GPS satellite was launched in 1978 and the first products for civilian consumers
appeared in the mid 1980's. In 1984 the capabilities of GPS was available to the civil
community. The system is still being improved and new, better satellites are still being
launched to replace older ones.

GPS is a network of satellites that continuously transmits coded information which

makes it possible to precisely indentify location on earth by measuring distance from
the satellites

GPS is a satellite-based positioning system operated by the United States Department of

Defense (DoD). GPS include three segments
• Space Segment
• Control Segment
• User Segment

The space segment includes the 24 operational NAVSTAR satellites that orbit the earth
every 12 hours at an altitude of approximately 20,200 kilometers. Each satellite contains
several high-precision atomic clocks and constantly transmits radio signals using a unique
identifying code.

Control segment basically makes sure that the satellites are working properly. It includes
one Master Control Station, five Monitor Stations and a Ground Antenna. The Monitor
Stations passively track each satellite continuously and provide this data to Master Control
Station. The Master Control Station calculates any changes in each satellite's position and
timing. These changes are forwarded to the Ground Antennas and transmitted to each
satellite daily. This ensures that each satellite is transmitting accurate information about its
orbital path

The user segment, comprised of both civilian and military users worldwide, acquires signals
sent from the NAVSTAR satellites with GPS receivers. The GPS receiver uses these
signals to determine where satellites are located. With this data and information stored
internally, the receiver can calculate its own position on earth.

Official name: Navigation System for Timing and Ranging (NAVSTAR)

Generic/common name: Global Positioning System (GPS)

Fundamental principle GPS is based on using radio waves received from multiple satellites
to measure the distance to each satellite. 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 calculate its
own location. This operation is based on a simple mathematical principle called Triangulation
or Trilateration.

Trilateration is a basic geometric principle that allows you to find the location of unknown
place by knowing distance from known place.

Trilateration uses electronic distance measuring equipment to directly measure the

lengths of the sides of triangles from which the angles can be calculated. It is a very
useful method for rough terrain where positions can be accurately carried forward
and is seen as an alternative method to triangulation

The calculation process is as follows

• Receiver activates the GPS system
• The receiver picks up the signals from the satellites (minimum of four). If more than
four satellites it increases the accuracy.
• Uses signal travel time to calculate distance to the satellites
• Triangulates to determine position of the receiver.

This positional information can be used in many applications such as mapping, surveying
and navigation.

3.2 GPS Accuracy and Accuracy Factors

The position calculated by GPS is affected by several factors. Each of the following errors
has an impact on the accuracy of our GPS positions. The GPS system has been designed
to be accurate as possible. But still there are some errors occur which are added together,
these errors can cause a deviation of +/-50-100 meters from the actual GPS receiver
position. There are several sources for these errors, the most significant of which are
discussed below:

Errors
• Minimum Number of satellites required
• Ionosphere - Change in the Travel Time of the Signal
• Troposphere - Change in the Travel Time of the Signal
• Satellite Geometry - General Distribution of the Satellites
• Satellite Health -Availability of Signal
• Signal Strength - Quality of Signal
• Distance from the Reference Receiver
• Radio Frequency (RF) Interference
• Loss of Radio Transmission from Base
• Orbital errors (ephemeris errors) these are inaccuracies of the satellite's reported
location.
• Satellite geometry/shading - poor geometry results when the satellites are located in
a line or in a tight grouping.
• A receiver's built-in clock is not as accurate as the atomic clocks onboard the
GPS satellites.
• GPS units typically will not work indoors, underwater or underground.
• Multipath - Reflection of GPS signals near the Antenna

The global positioning system (GPS) has become the most extensively used positioning and
navigation tool in the world. The positional and elevation accuracy of any given GPS
location is prone to error, due to a number of parameters. GPS accuracy can be
significantly improved with additional data, possibly from multiple sources, and especially
from multiple receivers. In the case of a single GPS receiver, its position and elevation can
be considerably improved with the use of spatial data. In general, the position quality provided
by GPS alone was extremely poor, due to multipath effects caused by the urban area.

To improve the accuracy of GPS readings DGPS are used. The DGPS operation will
dramatically improve the performance of even low cost GPS receivers. In DGPS we get
the Horizontal accuracy of+/ - 5 meters and altitude accuracy of+/ - 10 meters.

3.3. Types of GPS

 a) DGPS
b) Recreational
c) Mapping
d) Survey

a) Differential Global Positioning System (DGPS)

Differential Global Positioning System (DGPS) is an enhancement to GPS. It works by
canceling out most of the natural and manmade errors. Enable precision applications by
reducing the overall Errors

How does it work?

It uses a network of fixed, ground-based reference stations to broadcast the difference
between the positions indicated by the satellite systems and the known fixed positions. Two
GPS receivers are used for DGPS. A high precision "Base" GPS receiver (Base Receiver or
Base Station) is placed at a known "controlled" point of reference such as a National
Geodetic Survey marker.

DGPS is providing more accuracy than GPS system.

This receiver collects GPS signals and compares the results to the actual known coordinate
of the Base. A "rover'' receiver collects autonomous information in the field. Software/
Hardware at the base station calculates the difference (differential) between the known
position and the GPS position. This differential is an effective measurement of positional
offset, in both direction and distance. The differential data can be used to correct the
positional errors in the data collected from the Rover GPS receivers in either real-time or
after the fact (post processing). For this method the radio signals cross through the
atmosphere at a consistent speed of light. The electromagnetic energy passes through the
Earth's atmosphere (Ionosphere and Troposphere) and slows down. DGPS can generate
errors resulting from the distortions produced in the troposphere and ionosphere.

The station then broadcasts a radio signal to all DGPS equipped receivers in the area,
providing signal correction information for that area. Post Processing the DGPS system
finds out the exact locations of unknown points by using reference points, known as 'suNey
markers'. This technique is called as Post- Processing. Depending on the amount of data
being sent in the DGPS correction signal, correcting for these effects can reduce the error
significantly offering accuracies of less than 10 cm.
b) Recreational Grade GPS

This unit is designed to acquire a location quickly without the need for pinpoint accuracy.
Typically the accuracy is < 15 meters (49 feet) with no differential correction. Recreational
products are not specifically designed for GIS mapping, they can be used successfully in
some applications such as outdoor sports, hiking, geocaching, etc. It is comparatively
cheaper than other GPS.

c) Mapping Grade DGPS

These GPS receivers are typically less user friendly than the recreational GPS, and they cost
significantly more. Mapping grade GPS are more accurate than recreational units, commonly
to within a meter (~3 feet). Mapping grade GPS receivers are most often used by government
agencies, researchers, and other users who require more accurate and dependable
coordinate fixes than a recreational GPS can provide.
d) Survey Grade DGPS
Survey grade units are used where accuracy is crucial such as cadastral surveys, Highway
construction and other engineering projects. They are capable of providing horizontal
accuracy to within a centimeter. Survey grade GPS receivers are the most accurate and the
most expensive. These GPS receivers are most often used by professional surveyors. It is
more accurate. A survey grade GPS is used to establish a known point. From there, total
station laser instruments are used to lay out measurements for other positions in the
neighborhood of the known point.

3.4 List of Global Navigation Satellite System

There are currently three global navigation systems in operation

a) Navigation Satellite Timing and Ranging system (NAVSTAR)

b) GLONASS (Global'naya Navigatsivannaya Sputnikovaya Sistema)
c) GALILEO is under development by the European Community.

a) NAVSTAR:
NAVSTAR commonly referred to as the Global Positioning System (GPS) and owned by the
United States of America. The NAVSTAR GPS was developed by the U.S. Department
of Defense (DoD). It consists of a constellation of 24 to 27 satellites in operation and placed
in six orbital planes. These satellites are orbiting the earth at a high altitude
(approximately 20,200 meter). Each plane is inclined 55 degrees relative to the equator.
The satellites complete an orbit in approximately 12 hours. The signal from the satellite
requires a direct line to GPS receivers and cannot penetrate water, soil, walls, or other
obstacles such as trees, buildings, and bridges.

b) GLONASS
GLONASS constellation is composed of 24 satellites in three orbital planes whose
ascending nodes are 120 degrees apart. Each satellite operates in circular 19,100-km orbits
at an inclination angle of 64.8 degrees, and each satellite completes an orbit in
approximately 11 hours and 15 minutes. The spacing of satellites in orbits is arranged so
that a minimum of five satellites is in view to users worldwide. The GLONASS constellation
provides continuous and global navigation coverage. Each GLONASS satellite transmits a
radio-frequency navigation signal containing a navigation message for users.

c) GALILEO
GALILIO is the global navigation satellite system being developed by an initiative launched
by the European Union and the European Space Agency (ESA). GALILIO will be fully
operable by 2014. The navigation system is intended to provide measurements down to the
meter range including the height (altitude) above sea level, and better positioning services
at high latitudes as compared to GPS and GLONASS. As a further feature, GALILIO will
provide a global Search and Rescue (SAR) functions which is able to transfer the
distress signals from the user's transmitter to the Rescue Co-ordination Centre, which
will then initiate the rescue operation. At the same time, the system will provide a signal
to the user, informing him that his situation has been detected and that help is on the
way. GALILIO services will be free and open to everyone. The high-accuracy
capabilities will be available for paying commercial users and for military use. Below
figure shows all three types of Global navigation and Satellite System (GNSS)

3.5 GPS Today & its Limitations

GPS technology has matured into a resource that goes far beyond its original design goals.
Used by scientists, sportsmen, farmers, soldiers, pilots, surveyors, hikers, sailors, dispatchers,
firefighters etc. GPS makes their work more productive, safer, and easier.

• It will not work in Tunnels, Underwater, Inside the building

• It needs Clear sky to see satellites
• It gives out coordinates in WGS 84, must be transformed to local datum
• It produces ellipsoidal not orthometric heights.
 3.6 Uses of GPS Technology
GPS Today used by variety of professional to make the work more productive, safer and
easier. Commonly GPS used in fields are listed below
i) Survey and Mapping
ii) Height and Location
iii) Vehicle Tracking
iv) Navigation
v) Timing

B Areas of GPS application

• Precession Agriculture
• Geo tagging
• Vehicle tracking
• Construction
• Navigation
• Emergency services such as fire
• Survey mapping
• Fishing
• Security & Defense
• Utility management
• Geo tagging
• Forestry
• Public Safety and services
• Train Control
• Sport and Recreation
• Oil and mineral explosion
• Nature conservation and protection

(i) GPS used for Survey and mapping

Surveying is the first and foremost step conducted before doing any large-scale activities, such
as utilities, and civil construction. Traditional methods are time- consuming and often
require multiple trips to the same site to gather accurate data as human tends to make
mistake. Use of modern technology such as GPS survey can enhance the quality and
increases the productivity of conventional survey team, reduces data collection time, and
improves survey accuracy. GPS provide a very accurate coordinates of the surveyed points
and this can be transferred to any existing digital map database. This provide very precise
digital survey record. This accuracy can be improved further to few centimeters by post
processing GPS data through advanced surveying software. By using a single GPS receiver a
surveyor can obtain the precise coordinates of a location within a minute and can move on to
the next location. The coordinates then be stored and can be downloaded to a computer with
Map database. The GPS coordinates can are be imported into the database and the survey
report for the entire area is generated within a short time. GPS coordinates are obtained by
mounting a GPS receiver on a vehicle and survey is performed as the vehicle moves. This
provides a very dense survey coordinates with very little additional effort. GPS/ DGPS are an
excellent data collection tool for creating and maintaining a GIS data.

(ii) Use of GPS in height and Location

Each GPS satellite broadcasts a high power, narrow bandwidth signal that may be received
by receiver antenna. Receiver receives signals simultaneously from all the visible satellites.
Each satellite has an on-board timing clock it is able to transmit signals down at exactly
known instants. The signals come down to receiver at the speed of light and the time of
arrival of the signals at receiver. A computer program in receiver notes the time of
arrival of the signals received from the various visible GPS satellites and is able to work
out latitude, longitude and height.

(iii) Use of GPS in Vehicle tracking

A vehicle tracking system combines the installation of an electronic device in a vehicle, with
designed computer software, to enable, to track vehicle's location.

Modern vehicle tracking systems commonly use GPS or GLONASS technology for
locating the vehicle.

Today GPS are fitted in cars, ambulances, fleets and police vehicles such as Automatic
Vehicle Locating System (AVLS), Vehicle Tracking and Information System (VTIS), Mobile
Asset Management System (MAMS), these systems offer an effective tool for improving the
operational efficiency and utilization of vehicles. AG PS tracking unit is a device that uses
the Global Positioning System to determine the precise location of a vehicle, person, or
other asset to which it is attached and to record the position of the asset at regular intervals.
This device keeps server updated about the location of vehicle. The server maintains a
record of
these updates. The recorded location data can be stored within the tracking unit, or it may
be transmitted to a central location data base, or internet-connected computer, using a
cellular (GPRS or SMS), radio, or satellite modem embedded in the unit. At any point of
time one can log into our portal to access this data in form of maps, charts and analytical
reports. This allows the asset's location to be displayed against a map backdrop either in
real time or when analyzing the track later, using GPS tracking software as shown in below
figure. A GPS tracker essentially contains GPS module to receive the GPS signal and
calculate the coordinates. For data loggers it contains large memory to store the
coordinates. Further the GSM/GPRS modem to transmit this information to a central
computer either via SMS or via GPRS in form of IP packets. Tracking systems enable a
base station to keep track of the vehicles without the intervention of the driver where, as
navigation system helps the driver to reach the destination. The navigation system will have
a graphic, display for the driver which is not needed for a tracking system. Vehicle Tracking
Systems (VTS} combine a number of well-developed technologies. Irrespective of the
technology being used, VTS consist of three subsystems: a) In-vehicle unit (IVU), b) Base
station and c) Communication link. The IVU includes a suitable position sensor and an
intelligent controller together with an appropriate interface to the communication link.
Network Overlay Systems use cell phone infrastructure for locating vehicles. In India GPS
systems are used in various departments such as police, emergencies, jal board,
transportation system for example bus and truck, Tsunami disasters.

(iv) GPS in Navigation

GPS helps to determine exactly where you are and to how to get somewhere else. This
technology is very useful in Air and on the land.

(v) GPS in Timing

GPS can be used to determine precise timing, time intervals and frequency.