Dinesh Mani Bhandari
RS&GIS | Mechatronics Engineer
Email: [Link]@[Link]
Objectives
• To outline main concepts of GPS/GNSS and enable students to access
receiver characteristics,
• To analyze GNSS receiver data and
• Conduct static and kinematic surveys.
Textbooks and References
1. M. E. Canon, ENGO 561 Lecture Notes Space and Inertial Positioning, Winter 1995, University
of Calgary
2. B. Hofmann-Wellenhof, H. Lichtenegger and J. Collins, Springer-Verlag, New York, GPS Theory
and Practice
3. Guide to GPS Positioning, Canadian GPS Associates
4. Selected technical papers as recommended by the Geomatics Department
5. Gilbert Strang-Linear Algebra, Geodesy and GPS 1997
6. NAVSTAR Global Positioning System Surveying – American Society of Civil Engineers 2000
7. Pradip Mishra and Per Enge, Ganga-Jamuna Press, Lincoln, Massachusetts USA – Global
Positioning System 2012
Contents
• Introduction to GNSS
• Basic concepts
• Space Segment
• Control Segment
• User Segment
• Applications of GNSS
Fundamental Problem
How to know your location precisely?
• In any condition
• At any time
• Anywhere on earth (at least outdoors)
How to navigate to the destination?
• Guidance or Navigation
How to synchronize time globally?
• Mobile phone
• Financial Institutes
• Data Centers / Substations
Navigation Types
GNSS
• Global Navigation Satellite System (GNSS) is the technical interoperability and
compatibility between various satellite navigation systems like GPS, GLONASS,
GALILEO, BeiDou, QZSS, NAVIC to be used by civilian users without considering the
nationalities of each system in order to promote the safety and convenience of life.
• GNSS is the standard generic term for all navigation satellite systems.
• The main application of GNSS is to determine the position in the Global reference
system any where any time on the Globe in a simple, fast and cost-effective manner.
GNSS: How does it work?
GPS
GLONASS
A space-based satellite navigation system operated by the Russian Aerospace Defense
Forces. It provides an alternative to Global Positioning System (GPS) and is the second
alternative navigational system in operation with global coverage and of comparable
precision.
GLONASS
GLONASS Civil Services
Galileo
Galileo is the global navigation satellite system (GNSS) that is currently being created by
the European Union (EU) and the European Space Agency (ESA).It is named after the
Italian astronomer Galileo Galilei.
Galileo
What aspects of GNSS are important?
GPS/GNSS Segments
Control Segment
• The control segment consists of 5
monitoring stations and 1 out of
which serve as the master control
station.
• It is solely responsible for the
construction, launching,
maintenance, and virtually constant
performance monitoring of all GPS
satellites along with the
Meteorological data.
• The data received by monitoring
station is sent to the master control
segment for preprocessing which
involves the computation of
satellite position, clock and orbital
corrections.
GPS/GNSS Segments
Space Segment
• It consists of the Constellation of
NAVSTAR earth orbiting satellites.
• They orbit at altitudes of about 20000
Km each with orbital periods of 12
hours.
• GPS satellites send radio signals.
GPS/GNSS Segments
User Segment
• Consists of GPS receivers.
• GPS receiver convert the radio signals
into Position, Velocity and Time
estimates.
• 3 satellites are required to compute
Position (X,Y,Z)
• 4th satellite is used to recalibrate
receiver clock (Time).
Application Domains of GNSS
GNSS Technology Trends
GNSS Technology Trends
GNSS Applications
GNSS Applications
Location-Based Services (LBS)
Location-Based Services (LBS)
Road
Aviation
Agriculture
Agriculture
Agriculture
Surveying
Timing & Synchronization
GNSS Fundamentals Cont.…
Part-II
BeiDou
BeiDou Navigation Satellite System (BDS)
• BDS provides all-time, all-weather and high-accuracy
positioning, navigation and timing services to global
users.
BeiDou: Segments
• Space Segment: The space segment is
a hybrid navigation constellation
consisting of GEO, IGSO and MEO
satellites.
• Ground Segment: The ground segment
consists of various ground stations,
including master control stations, time
synchronization and uplink stations, as
well as several monitoring stations.
• User segment: The user segment
consists of chips, modules and
antennas, as well as terminals,
application systems and application
services, which may be compatible
with other GNSS systems.
QZSS
Quasi-Zenith Satellite System (QZSS)
• QZSS or Michibiki (to guide, to show the way) is regional
navigation satellite system commissioned by the Japanese
Government in 2002 as a National Space Development
Program.
• At the beginning the system was developed by the
Advanced Space Business Corporation team.
• In 2007, the work was taken over by JAXA together with
satellite Positioning Research and Application Center.
QZSS
• The goal of QZSS is to provide highly precise
and stable positioning services in the Asia-
Oceania region, compatible with GPS.
• QZSS uses one geostationary satellite and
three satellites in Tundra-type highly inclined,
slightly elliptical, geosynchronous orbits.
• Altitude 32,000 km to 40,000 Km
Geostationary satellites are made to stand still in the sky
above the equator at a fixed longitude so they can be
seen at any time from the earth’s surface.
Each orbit is 120° apart from the other two. Because of this inclination, they are not
geostationary; they do not remain in the same place in the sky. Instead, their ground traces
are asymmetrical figure-8 patterns, designed to ensure that one is always almost directly
overhead (elevation 60° or more) over Japan.
QZSS
• Satellites on quasi-zenith orbits
(QZO) have a slower speed in the
northern hemisphere by moving
away from the earth, and a faster
speed in the southern
hemisphere by coming closer to
the earth.
• Satellites spend approximately 13
hours in the northern hemisphere
and roughly 11 hours in the
southern hemisphere, allowing
them to remain near Japan for a
long period of time.
Difference of eccentricity
• Eccentricity: how much a conic
section (a circle, ellipse, parabola or
hyperbola) varies from being
circular.
• A circle has an eccentricity of zero,
so the eccentricity shows you how
"un-circular" the curve is.
QZSS: Segments
• Space Segment:
• Ground Segment:
• User Segment:
[Link]
ents/pdf/icg/2019/icg14/[Link]
Advantages of QZSS
• QZSS signal is designed in such a
way that it is interoperable with GPS
• QZSS is visible near zenith; improves
visibility & DOP in dense urban area
• Provides Orbit Data of other GNSS
signals
• Provides Augmentation Data for
Sub-meter and Centimeter level
position accuracy
• Provides Messaging System during
Disasters
[Link]
Applications of QZSS
• Short Message Broadcast during
Emergencies and Disasters
• crisis management information released
by organizations for disaster
prevention—including information when
a disaster like an earthquake or tsunami
occurs—is transmitted via Quasi-Zenith
Satellites (QZS)
• Disaster-related information is
transmitted in intervals of four seconds.
Applications of QZSS
• Sub-meter Level Augmentation
Service (SLAS)
• To reduce errors in satellite
positioning, information that can be
utilized to decrease these errors
(sub-meter level augmentation
information)—such as ionospheric
delay, orbit errors and clock
errors—is transmitted by Quasi-
Zenith Satellites (QZS).
Applications of QZSS
• Centimeter Level Augmentation
Service (CLAS)
• To carry out highly precise satellite
positioning, distances from the
Geospatial Information Authority of
Japan's GNSS-based control stations
are calculated using data from these
control stations.
• Information used to accurately
search for one's current position
(centimeter level augmentation
information) is transmitted by QZS.
IRNSS/NavIC
• Indian Regional Navigation Satellite System (IRNSS) with an
operation name of NAVIC (i.e., Navigation with Indian Constellation)
is an autonomous regional satellite navigation system.
• INRSS is an independent and autonomous regional navigation
system aiming a service area about 1500 km around India.
• INRSS is being developed by Indian Space Research Organization
(ISRO) under Indian government.
IRNSS/NavIC
• Constellation consists of 7
satellites
• 3 satellites are in the
geostationary orbit.
• 4 satellites are in
geosynchronous orbits with the
required inclination and
equatorial crossings in two
different planes.
• All the satellites (IRNSS 1A –
1G) of the constellation are
configured identically.
IRNSS/NavIC: Segments
IRNSS/NavIC: Segments
• User Segment:
• The user segment consists of a specially designed dual frequency receiver.
• Several types of receivers are planned with single and dual frequency reception.
Single frequency receivers may be provided with capability to receive ionospheric
correction.
• The user receiver may receive other constellations in addition to INRSS.
• All the seven INRSS satellite will be continuously tracked by the user receiver.
INRSS provides two types of service:
Standard Positioning Service (SPS), which is provided to all the users.
Restricted Service (RS), which is an encrypted service provided only to the
authorized users.
GNSS: Summary
GNSS is great opportunity for science and research
• Over 130 GNSS satellites available with unique
features for scientific exploitation
• Providing Global coverage, multi-constellation,
multifrequency and long-term data availability
(decades !) which correlates with many scientific
applications.
• A dense network of precious GNSS data available
worldwide including several hundreds of professional
receivers and billions of smartphones and IoT sensors.
• Systems under continuous technological
improvements (more stable clocks, new on-board
sensors, more signals and of better quality) enhancing
scientific possibilities
GNSS Scientific Fields
GNSS Scientific Fields
GNSS Scientific Fields
GNSS Commercial Fields
Mutli-GNSS Issues
• Compatibility
• Interference issues (disrupt radio frequency signal)
• Interoperability
• Use of the same receiver and antenna to receive different
signals
• Interchangeable
• Any four satellites would provide 3D position [one GPS, one
GLONASS, one Galileo and one BeiDou]
• Robust and efficient algorithm for regional data
improvement.
GPS/GNSS Positioning
• GPS positioning is based on the concept of
trilateration (not triangulation).
• As GPS satellites broadcast their location
and time, trilateration measure distances
to pinpoint their exact position on Earth.
A B
Satellite Location
Clock Time
C = 3000000km/s
t*V=S
t
C
GPS/GNSS Positioning
• In three-dimensional world that GPS
satellites broadcast signals as a sphere.
• Each satellite is at the center of a sphere.
• Where all spheres intersect determines the
position of the GPS receiver.
References
Introduction to GNSS Module 01, Dr. Dinesh Manandhar, CSIS, The University of Tokyo
[Link]
[Link]
GNSS_.pdf
[Link]
[Link]
[Link]
Global Navigation Satellite Systems, Dr. Apichon Witayangkurn, CSIS, The University of Tokyo
[Link]
[Link]