Introduction to NAVSTAR GPS - MIT...
Transcript of Introduction to NAVSTAR GPS - MIT...
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Introductionto
NAVSTAR GPS
Introductionto
NAVSTAR GPS
Charlie Leonard, 1999(revised 2001, 2002)
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Feasibility studies begun in 1960’s.
Pentagon appropriates funding in 1973.
First satellite launched in 1978.
System declared fully operational in April, 1995.
The History of GPS
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How GPS Works
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Control Segment
Space Segment
User Segment
Three Segments of the GPSThree Segments of the GPS
Monitor Stations
GroundAntennas
Master Station
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Kwajalein Atoll
US Space Command
Control SegmentControl Segment
Hawaii
AscensionIs.
Diego Garcia
Cape Canaveral
Ground AntennaMaster Control Station Monitor Station
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Space Segment
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Military.
Search and rescue.
Disaster relief.
Surveying.
Marine, aeronautical and terrestrial navigation.
Remote controlled vehicle and robot guidance.
Satellite positioning and tracking.
Shipping.
Geographic Information Systems (GIS).
Recreation.
User Segment
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Position and coordinates.
The distance and direction between any two waypoints, or aposition and a waypoint.
Travel progress reports.
Accurate time measurement.
Four Basic Functions of GPS
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Position is Based on TimePosition is Based on Time
T + 3
Distance between satelliteand receiver = “3 times thespeed of light”
T
Signal leaves satelliteat time “T”
Signal is picked up by thereceiver at time “T + 3”
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Pseudo Random Noise CodePseudo Random Noise Code
Receiver PRN
Satellite PRN
TimeDifference
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What Time is It?What Time is It?
Zulu Time
Military Time(local time on a 24 hour clock)
Universal Coordinated Time
Greenwich Mean Time
Local Time: AM and PM (adjusted for localtime zone)
GPS Time + 13*
* GPS Time is ahead of UTC by approximately 13 seconds
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Signal From One SatelliteSignal From One Satellite
The receiver issomewhere onthis sphere.
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Signals From Two SatellitesSignals From Two Satellites
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Three Satellites (2D Positioning)Three Satellites (2D Positioning)
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Triangulating Correct PositionTriangulating Correct Position
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Three Dimensional (3D) PositioningThree Dimensional (3D) Positioning
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Selective Availability (S/A)
The Defense Department dithered the satellite timemessage, reducing position accuracy to some GPS users.
S/A was designed to prevent America’s enemies from usingGPS against us and our allies.
In May 2000 the Pentagon reduced S/A to zero meters error.
S/A could be reactivated at any time by the Pentagon.
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Sources of GPS ErrorStandard Positioning Service (SPS ): Civilian Users
Source Amount of Error
Satellite clocks: 1.5 to 3.6 meters
Orbital errors: < 1 meter
Ionosphere: 5.0 to 7.0 meters
Troposphere: 0.5 to 0.7 meters
Receiver noise: 0.3 to 1.5 meters
Multipath: 0.6 to 1.2 meters
Selective Availability (see notes)
User error: Up to a kilometer or more
Errors are cumulative and increased by PDOP.
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Receiver Errors are Cumulative!Receiver Errors are Cumulative!
User error = +- 1 km
System and other flaws = < 9 meters
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Sources of Signal InterferenceSources of Signal Interference
Earth’s Atmosphere
Solid Structures
Metal Electro-magnetic Fields
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Using GPS Receivers forPositioning and Navigation
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XT
E (C
DI)
N (0000)
(00)N
Desired Track(DTK) (xº) Active Leg
Dista
nce t
o Way
point
Bearing (X
0 )
PresentLocation
Speed Over
Ground (SOG)
Tracking (TRK) (xº)
Active GOTOWaypoint
GPS Navigation TerminologyGPS Navigation Terminology
Course Made Good (CMG)
(CMG) (xº)
ActiveFromWaypoint
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Active GOTOWaypoint
Bearing =Course Over Ground (COG) =
Cross Track Error (XTE) =Location Where GOTOWas Executed
Bearing = 650
COG = 50
XTE = 1/2 mi.
Bearing = 780
COG = 3500
XTE = 1/3 mi.
Bearing = 400
COG = 1040
XTE = 1/4 mi.
Active Leg
N
GPS Navigation: On the GroundGPS Navigation: On the Ground
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Position Fix
A position is based on real-time satellite tracking.
It’s defined by a set of coordinates.
It has no name.
A position represents only an approximation of thereceiver’s true location.
A position is not static. It changes constantly as the GPSreceiver moves (or wanders due to random errors).
A receiver must be in 2D or 3D mode (at least 3 or 4satellites acquired) in order to provide a position fix.
3D mode dramatically improves position accuracy.
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Waypoint A waypoint is based on coordinates entered into a GPS
receiver’s memory.
It can be either a saved position fix, or user enteredcoordinates.
It can be created for any remote point on earth.
It must have a receiver designated code or number, or a usersupplied name.
Once entered and saved, a waypoint remains unchanged inthe receiver’s memory until edited or deleted.
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Planning a Navigation RoutePlanning a Navigation Route
Start= Waypoint
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How A Receiver Sees Your RouteHow A Receiver Sees Your Route
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GPS Waypoint Circle of ErrorGPS Waypoint Circle of Error
X
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GPS Dilution of Precision and ItsAffects On GPS Accuracy
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GPS Satellite Geometry
Satellite geometry can affect the quality of GPS signals and accuracyof receiver trilateration.
Dilution of Precision (DOP) reflects each satellite’s position relativeto the other satellites being accessed by a receiver.
There are five distinct kinds of DOP.
Position Dilution of Precision (PDOP) is the DOP value used mostcommonly in GPS to determine the quality of a receiver’s position.
It’s usually up to the GPS receiver to pick satellites which provide thebest position triangulation.
Some GPS receivers allow DOP to be manipulated by the user.
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Ideal Satellite GeometryIdeal Satellite GeometryN
S
W E
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Good Satellite GeometryGood Satellite Geometry
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Good Satellite GeometryGood Satellite Geometry
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Poor Satellite GeometryPoor Satellite GeometryN
S
W E
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Poor Satellite GeometryPoor Satellite Geometry
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Poor Satellite GeometryPoor Satellite Geometry
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Differential GPS
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DGPS Site
x+30, y+60
x+5, y-3
True coordinates =x+0, y+0
Correction = x-5, y+3
DGPS correction = x+(30-5) andy+(60+3)
True coordinates = x+25, y+63
x-5, y+3
Real Time Differential GPSReal Time Differential GPS
DGPS ReceiverReceiver
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NDGPS Ground StationsNDGPS Ground StationsNational Differential Global Positioning System
Yellow areas show overlap between NDGPS stations. Green areas are little to no coverage.Topography may also limit some areas of coverage depicted here.
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NDGPS Ground StationsNDGPS Ground StationsNational Differential Global Positioning System
Yellow areas show overlap between NDGPS stations. Green areas are little to no coverage.Topography may also limit some areas of coverage depicted here.
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Wide Area Augmentation SystemWide Area Augmentation SystemGeostationaryWAAS satellites
GPS Constellation
WAAS ControlStation (West Coast)
Local Area System (LAAS)
WAAS ControlStation (EastCoast)
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How good is WAAS?How good is WAAS?
+ -3 meters
+-15 meters
With Selective Availability setto zero, and under idealconditions, a GPS receiverwithout WAAS can achievefifteen meter accuracy mostof the time.*
Under ideal conditions aWAAS equipped GPSreceiver can achieve threemeter accuracy 95% of thetime.*
* Precision depends on good satellite geometry, open sky view, and no userinduced errors.