Introduction to

UNIT 1 INTRODUCTION TO GNSS GNSS

Structure
1.1 Introduction
Objectives

1.2 Basics of GNSS

1.3 History of GNSS
1.4 GNSS Systems: Examples
Global Positioning System
GLONASS
Galileo

1.5 Comparison of Different GNSS Systems

1.6 Differential GPS
1.7 Accuracy of DGPS and Sources of Error
1.8 Indian Scenario
1.9 Summary
1.10 Unit End Questions
1.11 References
1.12 Further/Suggested Reading
1.13 Answers

1.1 INTRODUCTION

You all know that since the beginning of civilisation, humans wandered on the
Earth and had found many simple ways to locate themselves on it. For
example, the Early man of the Stone age started navigation by leaving stones,
marking trees or referencing mountains. On the other hand, early mariners Navigation is the process of
monitoring and controlling
used the angular measurements of the celestial bodies such as the Sun and the the movement of a craft or
stars to calculate their positions. Now with the rapid advancement of space vehicle or a person from
technology, navigation on the Earth has become very easy. A constellation of one place to another within
navigation satellites commonly known as Global Navigation Satellite System a specified framework.
(GNSS) has made it possible to determine three dimenisional position of the
object on any part of the Earth or in space. The most widely used
Satellite-based positioning
operational GNSS is the Global Positioning System (GPS).
is the determination of
positions of observing sites
Initially, GNSS was mainly used for defence purposes. But recently, its usage on land or at sea, in the air
has increased and now, it is being widely incorporated by the civilians for and in space by means of
artificial satellites.
different purposes like in tracking systems, navigation, intelligent transportation
systems, weather forecasting, precise positioning and emergency services. In
this unit, we shall discuss the concepts, history and the components of GNSS. You have been introduced
We will also discuss the main GNSS systems of the world including GPS. At to GPS in Unit 1,
Introduction to
the end of the unit, we will compare GPS with other global navigation Geoinformatics of
systems. MGY-001.
5
Global Navigation Objectives
Satellite System
After reading this unit, you should be able to:
l discuss the basics of GNSS;
l describe the history of GNSS;
l outline various global navigation systems;
l compare the GPS with other navigation systems;
l explain the accuracy of differential GPS and sources of errors; and
l elaborate GNSS in Indian context.

1.2 BASICS OF GNSS

In simple words, GNSS are a constellation of satellites designed to determine
positioning and timing information for users on the Earth or in space. In
1970, International Civil Aviation Organisation defined GNSS as “a
worldwide position and time determination system that includes one or more
satellite constellations, aircraft receivers and system integrity monitoring,
augmented as necessary to support the required navigation performance for
the intended operation”. At present, there are mainly two core constellations
for GNSS namely United States of America (USA) Global Positioning
System commonly known as GPS and Russian Federation’s Global
Navigation Satellite System abbreviated as GLONASS. In addition, Galileo -
an European satellite navigation system, GAGAN - an Indian GPS aided
geo-augmented navigation and Compass System - a China navigation satellite
system are the emerging satellite constellations which will evolve into global
constellations in the coming years. The operational GNSS such as GPS and
GLONASS are combined into a single category known as GNSS-1. The
underdeveloping second generation GNSS system e.g. Galileo, Chinese
compass, Japanese quasi-zenith satellite system and Indian regional
navigational satellite system are grouped as GNSS-2. When GPS is used
with corrections from ground or space based augmentation systems then it is
called as a Differential GPS (DGPS). Currently, the complete navigation
satellite technology is known GPS because it is the only fully functional
GNSS with constellation of 32 satellites and most of existing global
applications are related to it.
Components of GNSS
GPS, GLONASS and Galileo are the three main GNSS systems and all these
technologies consist of three main segments/components. These segments are
space, control and user.
l Space Segment: It consists of GNSS satellites like space vehicles that
send radio signals from space.
l Control Segment: It consists of a system of tracking stations located
around the world like master control and monitor network.
l User Segment: It consists of the GNSS receivers and user
6 community. GNSS receivers convert space vehicle(s) signals into
 position, velocity and time estimates which are used by GNSS user Introduction to
GNSS
for navigation, positioning, time dissemination and other research.

The current generation of navigation systems such as GPS and

GLONASS and those under development like Galileo determine the user
terminal position through the time of arrival and mode of ranging. In
general, this kind of ranging technique is based on the measurement of
time interval employed by a signal transmitted by an emitter (e.g., satellite,
radio signal) at a known location to arrive at the user receiver.

Here you will read about a simple formula that gives distance of the
receiver from each satellite. In fact, time is the most important parameter
required to know the distance between the satellites and the receiver. The
distance from a known position of a satellite to the receiver end is equal
to the velocity of transmitted signal multiplied by travel time of radio
waves transmitted from the satellites to reach the receiver. In this case,
distance is calculated as:

Distance = Velocity of light × Travel time of the satellite signal

Let us discuss this with a common example of a thunderstorm. If you

work out the phenomenon of thunderstorm such as how far you are from
a bolt of lightning, you would make the following calculations. This
distance can be established quite easily (Fig. 1.1). Distance is the time of
the lightning flash perceived (start time) until the thunder is heard (stop
time), multiplied by the speed sound of at approx. 330m/s. The difference
between the start and stop time is referred as the Signal Travel Time. In
this case, signal is the sound wave travelling through air.

Hence,

Distance = Travel time × Speed of sound

Now you can see that GPS works on the same principle, called ‘Time of
Arrival’(TOA or ToA), sometimes known as Time of Flight (ToF). Time
of arrival is the travel time of a radio signal from a single transmitter to a
remote signal receiver. Time of arrival of the signal measured by the user
receiver is as given below:

TOA = Time instant of arrival – Time instant of transmission

You have read about thunderstorm, where speed of sound is considered

but in the case of satellite navigation, electromagnetic signals are used
which propagate at the speed of light (~ 3 × 108 m/s). If the user
receiver knows the speed of signal, then he/she is only able to determine
the distance from the emitter, simply by multiplying the time of arrival with
signal speed value. By considering the relationship between the speed of
light in vacuum and carrier frequency of a signal, the time represents a
measure for the distance between transmitter and receiver.

7
Global Navigation
Satellite System

Fig. 1.1: Determining the Distance of a Lightning Flash

You can obtain geometric distance between the satellite and receiver by
calculating the true time of arrival. This implies that the receiver has a precise
knowledge of time instant of arrival and time instant of transmission of the
satellite signal. The time instant of arrival can be achieved through direct reading
of the receiver clock whereas time instant of transmission is embedded in the
signal, which is scheduled navigation signal.

To achieve a true difference between these time instants, discussed above, the
satellite and receiver clocks have to be synchronised to the same time scale.
Once the user receiver has a sufficient number of distance values from multiple
satellites with known locations, it can specify its position, according to theoretical
considerations. You shall read about this in Unit 2 GNSS and its Components,
of MGY-003. In satellite-based navigation, transmitters are not having fixed
points, as in the case of terrestrial. We have discussed that the receiver is able
to determine satellite position for each distance measurement. For this purpose,
each navigation signal modulates a message that includes satellite orbital
Satellite ephemeris data parameters. Satellite orbital parameters are generally known as satellite
contains orbital information ephemeris data. This enables the receiver to propagate satellite orbit and then to
and allows the receiver to evaluate transmitter position at each time instant. Orbital parameters are updated
calculate the position of the by the master control station and transmitted to the satellites once or twice a
satellite.
day.

1.3 HISTORY OF GNSS

In this section, we shall discuss about the history of GNSS. You have studied in
the earlier section that leaving stones, marking trees or referencing mountains
were some of the ways used by early humans for finding their locations. Later
on, with the discovery of constellations the relative positions of Sun, Moon and
Stars were considered as point of reference. With the advancement of
communication technology, radio signals were used for finding location by
measuring time taken for special radio signals.

The primitive navigation system which is known as LORAN (Long Range

Navigation) was developed in early 1940s by USA. It became operational in
1943. LORAN was the first radio navigation system that provided aid to the
marine radio navigation. It was based on the principle of time difference between
8 the receipt of signals from a pair of radio transmitters. It covered only 5% of the
Earth’s surface and just provided 2 dimensional information (latitude and Introduction to
longitude) with an accuracy up to 250 m. During the early 1960s, the GNSS
importance of GNSS was first realised by the US Department of Space. As a
consequence, several US Government agencies started putting efforts for
designing and developing satellite system for the determination of three
dimensional positions. The result of such efforts led to the development of
navigation system named Omega. It became operational in 1971 and was shut
down in 1997. It was the first radio navigation system for the aircraft which was
operated by US in cooperation with six partner countries such as Argentina,
John Alvin Pierce, the
Norway, Liberia, France, Japan and Australia. It enabled ships and aircraft to
“Father of Omega”
determine their position by receiving very low frequency radio signals. (source: [Link]
hyperbolic/[Link])
During the same time US developed and deployed first satellite based navigation
system known as TRANSIT. This system is also known as NAVSAT (Navy
Navigation Satellite System) because it was primarily used by U.S. Navy for
determining accurate location information. TRANSIT provided continuous
navigation satellite service from 1964 to 1996 initially for Polaris submarines and Polaris submarine was a
later on for civilian usage. It was also used for geodetic and hydrographic two-stage solid-fuel
surveying. The advent of GPS made TRANSIT as an obsolete system. As a nuclear-armed submarine
built during the Cold War
consequence, its navigation service ceased in 1996. by the United States Navy.
The swift growth in civilian use of GNSS took place only twenty years ago
Geodetic survey involves
which was limited to merchant ships’ crews and surveyors. The major large area of land surveys in
breakthrough came with the introduction of American NAVSTAR, more which corrections are made
commonly known as GPS. The roots of GPS are closely connected to the to report for the curvature
launch of the Sputnik satellite by the former Soviet Union in 1957. But a of the earth.
modern GPS came into existence in 1973 when US Department of Defense
Hydrographic
decided to develop satellite navigation system based on its previous systems like
survey encompasses the
TRANSIT. When the first satellite was launched in 1978, the GPS was only measurement and
intended for US military applications. Today, millions of GPS receivers are being description of features
used in transport, commerce and variety of recreational activities. In mid 1980s, which affect marine
the system was made available for civilian uses especially in aviation industry. By navigation, construction,
dredging and exploration.
1994, a complete constellation of 24 satellites was in orbit initiating the GPS
system’s full operational capability. The ‘Cold War’ rivalry between the USA and Delhi government has
the former Soviet Union led to the ‘Space Race’ and almost parallel agreed the usage of
development of GLONASS − the Soviet system. GPS in autorickshaws
and taxis in Delhi and
National Capital Region
1.4 GNSS SYSTEMS: EXAMPLES (NCR). This would
enable the customers
You have already been introduced to the three examples of GNSS viz., GPS, to have uniformity in
GLONASS and Galileo. In this section we will further discuss about them. The fares and reach the
two main satellite-based navigation systems operational today are GPS and precise location.
GLONASS. Both systems were originally military networks, with each one based
on constellations of 24 operational satellites in order to give the user an accurate
position. Despite of their military origins, GPS and GLONASS had innumerable
civilian applications that was far beyond the original contemplation. Satellite
navigation has completely changed the lives of common man. The civil aviation
sector has greatly benefitted from this technology. Civilians like hikers, private
pilots and boat owners are making extensive use of satellite positioning. It is
estimated that nine out of every ten new satellite navigation receivers are
currently being sold for civilian or commercial use. Let us discuss about the
different operational and under development navigational systems.
9
Global Navigation 1.4.1 Global Positioning System
Satellite System
GPS satellites were developed under NAVSTAR programme of US. Hence,
NAVSTAR is commonly known as NAVSTAR-GPS (NAVigation System with
Timing And Ranging Global Positioning System). It is planned for both civilian
and military use. NAVSTAR GPS was developed in 3 phases. They are:

z Phase 1: 1973-1979 - Concept Validation

z Phase 2: 1979-1985- Full development and tests

z Phase 3: 1985-till date - Production and Deployment

GPS is based on GNSS (Fig. 1.2) and maintained by US government. It is

freely accessible by anyone with a GPS receiver. In 1978, the first experimental
Block refers to the Block I, GPS satellite was launched. By 1985, eleven more experimental Block
satellites associated
with each phase of
I satellites had been launched to validate the concept (Table 1.1). On February
development of global 14, 1989, a new type of satellite was activated and the first modern Block II
navigation satellite satellite was launched. By December 1993, GPS achieved initial operational
system. capability, indicating a full constellation of 24 satellites was available and provided
SPS is a positioning and the Standard Positioning Service (SPS). In 1995, Full Operation Capacity
timing service that will be (FOC) was achieved and five years later accuracy for civilian users increased
available to all GPS users
on a continuous, world-
from about 100 m to 20 m as the result of deactivation of Selective
wide basis with no direct Availability.
charge.

Selective Availability is
the intentional degrada-
tion of the absolute
positioning performance
capabilities of the
NAVSTAR satellite
system for civilian use by
the U.S. military.

Fig. 1.2: GPS Satellite Artist’s Impression

(source: [Link]/Dateien/ GPS_ [Link])

In 2005, the modernisation of GPS system began by launching the first satellite
of type IIR-M, which supported a new military signal on L1 and L2 and the
addition of the second civil code (C/A) on L2 frequency. As of 12 February
2007 the space segment was built-up by 30 operational satellites of Block IIA,
12 satellites of Block IIR and 3 satellites of Block IIR-M (Crews, 2007). The
addition of third civil signal L5 at 1176.45 MHz in Block II F satellite has given
an entirely different and more efficient structure. We will discuss about the GPS
PPS is a highly accurate
survey in the next unit.
military positioning, velocity
and timing service which is The fully operational capability of GPS was acheived by April 1995, signifying
available continuously, full availability of the military’s secure Precise Positioning Service (PPS). The
worldwide to users oldest GPS satellite was launched on November 26, 1990 and became operational
authorized by the U.S.
on December 10, 1990. The recent operational GPS satellite was launched on
10
May 28, 2010. Currently, we have 31 operational satellites providing signals. Introduction to
Table 1.1 shows different blocks of satellites and their availability. GNSS

Table 1.1: Summary of GPS satellites

We will read about GPS in
Block Launch Satellite Launches Currently in orbit Unit 3, GPS Survey and
Period Applications of MGY-003.
Success Failure

I 1978–1985 10 1 0

II 1989–1990 9 0 0

IIA 1990–1997 19 0 10

IIR 1997–2004 12 1 12

IIR-M 2005–2009 8 0 7

IIF 2010–2011 2 0 2

Total 60 2 31

1.4.2 GLONASS
GLONASS is satellite based radio navigation system which provides the
positioning and timing information to users, similar to GPS (Fig. 1.3). It is
operated by the Ministry of Defense of the Russian Federation. During the
period of over three decades GLONASS has gone through numerous
improvements which can be divided into three generations:
z the original GLONASS is out of service (since 1982)
z GLONASS-M (since 2003)
z GLONASS-K are operational now (since 2011)
The most important specifications of this system were:
z 24 planned satellites (21 standard + 3 reserve satellites)
z 3 orbital levels with an angle of 64.8° from the equator
z orbital altitude of 19,100 km
z orbital period of 11h 15.8 min
Every GLONASS satellite transmits two codes (C/A and P-Code) on two
frequencies. Every satellite transmits the same codes PRN (Pseudorandom noise),
but at different frequencies in the vicinity of 1602 MHz and 1246 MHz.

Fig. 1.3: GLONASS Satellite (source: [Link]/SPECIALS/

ESA_Permanent_Mission_in_Russia/SEMWMIW4QWD_0.html) 11
Global Navigation You have earlier read that there are three segments in GNSS satellite systems.
Satellite System
GLONASS also comprises three segments as discussed below:
You will read about
the space, control and 1) space segment
user segments in detail
in Unit 2, GNSS and 2) control segment
its Components, of
MGY-003 3) user segment
z Space Segment consists of satellites located in the middle of the circular
orbit at 19,100 km altitude with a 64.8o inclination and a period of 11 h
and 15 min. The constellation operates in three orbital planes with 8 evenly
spaced satellites on each. A fully operational constellation with global
coverage consists of 24 satellites, while 18 satellites are necessary for
covering the territory of Russia. GLONASS is especially suited for usage in
the northern latitudes.

Ephemerides is z Control Segment consists of the system control center and a network of
a table of values command tracking stations across Russia. Its control segment is similar to
that gives the GPS that monitors the status of satellites and determines the ephemerides
positions
of astronomical and satellite clock offsets with respect to GLONASS time and Coordinated
objects in the sky. Universal Time (UTC). It uploads the navigation data to the satellites twice
a day.
Universal Coordinated
Time (UTC) is the z User Segment consists of equipment that tracks and receives the satellite
primary time
standard by which the signals. This equipment is capable of simultaneously processing the signals
world regulates clocks from a minimum of four satellites to obtain accurate position, velocity and
and time. timing measurements. Like GPS, GLONASS has a dual military and civilian
usage.
1.4.3 Galileo
Galileo aims to provide a
high-precision positioning Galileo is the European Union radio navigation program that was launched by the
system upon which European Commission and developed jointly with the European Space Agency. It
European nations can rely, is named after the famous Italian astronomer Galileo Galilei. It will open the
independently from the
US GPS, Russian
door to a revolution comparable to that generated by mobile phones. In addition,
GLONASS and chinese Galileo promises a new generation of universal services in various sectors, such
Compass systems, which as transport, telecommunications, agriculture and fisheries. The Galileo program
can be disabled in times of
war or conflict.
will be managed and controlled by civilians and will offer a guarantee of quality
and continuity of service that is essential for many applications.

Galileo provides the provision of a large variety of services. Some of the services
will be provided autonomously by Galileo and others will result from the
combined use of Galileo and other systems. Galileo will provide multiple levels of
service to users throughout the world. Five services are planned:

1. An open service will be free of direct user charges;

2. A commercial service will combine value-added data to a high-accuracy

positioning service;

3. Safety-of-life (SOL) service for safety critical users;

4. Public regulated service strictly for government-authorised users requiring a

higher level of protection;

5. Support for search and rescue.

12
Like GPS, the Galileo system also consists of following three components, Introduction to
namely: GNSS

1) Space Segment

2) Control Segment

3) User Segment

z Space Segment: It comprises a constellation of 27 satellites with

3 operational inorbit spares, in medium height circular orbits at 23,616 km
above the Earth’s surface. Orbits have 56° inclination and a 14 hr 22 min
period. Satellites are located in three orbital planes, where nine operational
satellites are equally spaced in each orbital plane and 1 spare satellite per
plane is provided. Therefore, orbital and constellation parameters of Galileo
and GPS will be different; at any time and any location on the Earth. The
maximum number of visible satellites is 25 (13 from Galileo and 12 from
GPS), 21 (11 from Galileo and 10 from GPS) and 17 (9 from Galileo and
8 from GPS).

z Control Segment’s: It’s main functions are satellite and mission control.
Satellite control includes constellation management through monitoring and
control. It also determines and disseminates integrity information (warning
alerts within time-to-alarm requirements) on a global basis. The Galileo
control center is the core of the system and includes all control and
processing facilities. Further components of the ground control segment are
the Galileo sensor stations, which collect navigation data from the Galileo
satellites as well as meteorological and other required environmental
information.

z User Segment: This includes the family of different types of user receivers,
with different capabilities of using the Galileo signals according to the various
services. Users must be equipped with adequate multifunctional terminals to
take full benefit from all Galileo services (global, local, and combined). The
functions implemented in the user terminal should allow the user to receive
directly the actual Galileo receiver.
Check Your Progress I Spend
5 mins
1) What is TRANSIT system?
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2) What are the four basic levels of accuracy in GPS?
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Global Navigation
Satellite System 1.5 COMPARISON OF DIFFERENT GNSS
SYSTEMS
You have read in the above sections that there are currently three main GNSS
systems in different stages of development. US NAVSTAR GPS is the only fully
operational GNSS. The Russian Federation GNSS, GLONASS is in the process
of being restored to full operation. The European Union’s Galileo positioning
system is a second generation GNSS in the initial deployment phase. The full
Orbit Constellation (FOC) will be reached in 2015. See in Table 1.2 which
summarises some of the key features of these three different GNSS systems.
Table 1.2: Comparison of the most important properties of three existing
GNSS systems-GPS, GLONASS and Galileo (source:[Link]/
Dateien/GPS_CompendiumGPS-[Link])
Properties GPS GLONASS Galileo
Start of development 1973 1972 2001
1st Satellite Launch February 22, 1978 October 12, 1982 December 28, 2005
Number of Satellites Minimum: 24 / Planned: 24 + 3 Planned: 27 + 3
Maximum: 32 passive reserves active reserves
Orbitals 6 3 3
Inclination 55° 64.8° 56°
Altitude 20,180 km 19,100 km 23,616 km
Orbital Period 11 hr 58 min 11 hr 15.8 min 14 hr 5 min

Time System GPS-Time GLONASS-Time GST (Galileo

System Time)
Signal Characteristic CDMA FDMA CDMA
Frequencies 2 frequencies, with 2 frequencies, 2 frequencies, with a
a 3rd frequency with a 3rd 3rd frequency
planned frequency planned planned
Encryption Military Signal Military Signal OS, CS, SoL and
PRS services
Services 2 (civilian+military) 2 (civilian+military) 5
Responsibility US Department Russian Defense Civilian
of Defense Ministry Governments of
the EU
Integrity Signal Currently none None Planned
but planned

1.6 DIFFERENTIAL GPS

Differential GPS is a Differential GPS (DGPS) was developed to meet the requirements of positioning
method of increasing the
and distance measuring applications that required the best accuracies. In this
accuracy of positions
derived from GPS section, you will read about Differential GPS. The principle of DGPS is that any
receivers. With DGPS two receivers, relatively close together will experience similar atmospheric errors.
receivers, position accuracy It is necessary requirement for DGPS that a GPS receiver be set up on a
is improved from 30 m to precisely known location. GPS receiver is the base or reference station (Fig.
better than 10 m.
1.4). The base station receiver calculates its position based on satellite signals.
14 Thereafter this location is compared to the known location. The difference is
applied to GPS data recorded by the second GPS receiver, which is known as Introduction to
the roving receiver. The corrected information can be applied to data from the GNSS
roving receiver in real time in the field using radio signals. DGPS involves the use
of a control or reference receiver at a known location to measure the
systematic GPS errors.

(D)GPS
Receiver

k
a Lin Surveyed GPS
t Antenna
Da (D) GPS Reference
Receiver

Data Link Connections

DGPS Ground Station

Fig. 1.4: A typical architecture of DGPS (source: [Link]
PubFullText /RTO/AG/RTO-AG-160-V21///[Link])

Real-time DGPS occurs when on receiving data, the base station calculates and
broadcasts corrections for each satellite. Further, the corrections are received by
the roving receiver via a radio signal, if the source is land based or via a satellite
signal, if it is satellite based. This correction is then applied to the position it is
calculating. Real-time differential corrections usage allows navigation within 1 to 2
m of any location depending on the service and GPS receiver.
The differential correction of GPS data by postprocessing uses a base GPS
receiver that logs positions at a known location and a rover GPS receiver that
collects positions in the field. The files from the base and rover are transferred to
the office processing software, which computes corrected positions for the
rover’s file. This resulting corrected file can be viewed in or exported to a
Geographic Information System (GIS).
There are many permanent GPS base stations currently operating throughout the
world that provide data necessary for differentially correcting GPS data. This
data can be downloaded from the internet or via a Bulletin Board System
(BBS), depending on the technology preferred by the base station owner.
Sources of base station data for postprocessing fall into four categories namely:
z public sources
z commercial sources
z web-based services
z base station ownership
The various DGPS services available are categorised according to broadcast
range of the correction signals:
15
Global Navigation z Local DGPS are, basically, the Local Area Augmentation System (LAAS)
Satellite System but sometimes also called as the Ground Based Augmentation Systems
(GBAS).
z Regional DGPS
z Wide Area DGPS (WADGPS) or Satellite Based Augmentation Systems
(SBAS) employ satellites to transmit DGPS correction data.

1.7 ACCURACY OF DGPS AND SOURCES OF

ERROR
In this section, we will discuss about the accuracy levels exhibited and sources
of errors in DGPS data. The controlled tests and quite recent extensive
operational use of DGPS have repeatedly demonstrated that DGPS results
exhibit an accuracy to the order of about 10 m. Many recent applications of
Pseudorange is a measure DGPS use C/A code (Coarse Acquisition) pseudorange as the only observable
of range or distance with achieved accuracies of 1 to 5 m in real-time. It allows the civilian user to
between the GPS receiver
increase position accuracy from 1 to 100m making it more useful for many
and the GPS satellite.
civilian applications.
Sources of Errors of DGPS
The major sources of errors affecting DGPS are the following:
z Ephemeris Error: They are the errors present in the ephemeris data. They
range from few metre to decimetre level.
z Ionospheric and Tropospheric Propagation Delay: When the satellite
signal passes through the ionosphere and troposphere, it is slowed down, as
the velocity of the signal is affected. These propagation delays can introduce
an error.
z Satellite Clock Drift: Even though the clocks in the satellite are very
accurate (to about 3 nanoseconds) and slight drift in this clock causes small
errors which have a considerable affect on the accuracy of the position.
Multipath effect describes z Multipath: Multipath error occurs when the receiver antenna is positioned
the reflection of satellite close to a large reflecting surface such as a lake or building.
signals from terrestrial
objects such as buildings. z Selective Availability (S/A): It is a process applied by US Department of
Defense to GPS signal. This is intended to deny full accuracy of GPS to the
civilian and hostile foreign powers by subjecting the satellite clocks to a
Dithering is the process process known as “dithering”, which alters their time slightly.
of introduction of digital
noise into the system. z Anti-Spoofing: It is similar to S/A in that its intention is to deny civilian and
hostile powers access to the P-code part of GPS signal.
Spend Check Your Progress II
5 mins
1) List the categories of DGPS services available.
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16 .................................................................................................................
2) List the major sources of error affecting DGPS. Introduction to
GNSS
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1.8 INDIAN SCENARIO

After reading about the current generation and under development GNSS
systems, you must be curious to know about the Indian scanario of GNSS.
GAGAN, which is a GPS Aided Geo-Augmented Navigation is a planned
implementation of a regional Satellite Based Augmentation System (SBAS) of
the Indian government. It is a system to improve the accuracy of a GNSS
receiver by providing reference signals. Wide Area Augmentation System (WAAS)
codes for L1 frequency and L5 frequency were obtained from US Air
Force and US Department of Defense in November 2001 and March 2005, to
begin implementing SBAS over the Indian airspace. The system will use eight
reference stations located in Delhi, Guwahati, Kolkata, Ahmedabad,
Bangalore, Jammu, Thiruvananthapuram and Port Blair and a master control
center at Bangalore.
The next major milestone in GAGAN is the conduct of Preliminary System
Acceptance Testing (PSAT). It was successfully completed in December 2010.
The first GAGAN navigation payload GSAT-8 was launched on May 21, 2011.
The second GAGAN payload is scheduled to be launched on GSAT-10 in the
first quarter of 2012. The third GAGAN payload is planned on another
geostationary satellite. GAGAN after its final operational phase completion, will
provide seamless air navigation service across regional boundaries. While the
ground segment will have subsystems such as data communication
network, SBAS correction and verification, operations and maintenance,
performance monitoring display and payload simulator.
The project costing 774 crore is being implemented in three phases from
2008 by the Airport Authority of India with the help of the Indian Space
Research Organisation’s (ISRO) technology and space support. The goal is to
provide navigation system for all phases of flight over the of Indian airspace and
in the adjoining area. It is applicable to safety-of-life operations and meets the
performance requirements of international civil aviation regulatory bodies.

1.9 SUMMARY
In this unit, we have discussed about GNSS basics and various current
generation and under development GNSS and their comparisons. In addition to
this, you have also learnt about the operation of DGPS which gives high accurate
measurement. You have learnt about the status of GNSS in Indian context.
Let us recall the important points covered in this unit:
z Navigation during the Stone Age was done by leaving stones, marking trees
or referencing mountains by early humans. With the advancement of
technology, we are currently using the satellites for locating ourselves on the
Earth. 17
Global Navigation z The fundamental equation of satellite navigation is :
Satellite System
Distance = Velocity of light × Time of the satellite signal.
z Currently operational GNSS are American GPS and Russian Federation
GLONASS.
z GPS is having 31 operational satellites in space.
z GLONASS revolves in middle circular orbit at 19,100 km altitude with a
64.8 o inclination in a period of 11 h and 15 min.
z Galileo is a GNSS of the European Union, which is underdevelopment.
Galileo will provide multiple levels of service to users throughout the world
viz., Open service, Commercial service, Safety-of-life (SOL), Public
regulated service and Support for search and rescue.
z DGPS are essential to achieve high accuracies at a level of few centimeters
level.
z DGPS work as real-time DGPS when the base station calculates and
broadcasts corrections for each satellite as it receives data. Post processing
correction is required on DGPS data to achieve more accurate
measurement.
z India’s augmentation service is known as GAGAN.

Spend
30 mins
1.10 UNIT END QUESTIONS
1) Discuss the three GNSS satellites.
2) Compare the most important properties of three existing GNSS systems viz.,
GPS, GLONASS and GALILEO.
3) Give an account of status of GNSS system in India.

1.11 REFERENCES
z Crews, M. (2007), GPS Wing Program Update, Munich Satellite
Navigation Summit 2007.
z [Link]
[Link]
z [Link]
z International Civil Aviation Organization (2007), Annex 10 to the Convention
of International Civil Aviation, Montreal, PQ, Canada. Radio Navigation
Aids, vol. I Jul. 17, Amendment 82.
z [Link]/SPECIALS/ ESA_Permanent_Mission_in_Russia/
SEMWMIW4QWD_0.html
z [Link]/Dateien/ GPS_ [Link]
Data from above websites has been retrieved between 20th August and 15th
September 2011.

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 Introduction to
1.12 FURTHER/SUGGESTED READING GNSS

z Kaplan, E.D. and Hegarty, C. (2005), Understanding GPS Principle and

Applications, Artech House Publishers, Norwood, 706p.
z Leica Geosystems A.G. (1999), GPS Basics, Heerbrugg [Link],
Switzerland, 64p.
z McNamara J. (2008), GPS for Dummies, 2nd Ed, Willey Publishing Inc.,
Indiana, 408p.

1.13 ANSWERS
Check Your Progress I
1) The TRANSIT system also known as NAVSAT (for Navy Navigation
Satellite System), was the first satellite navigation system to be used
operationally. The system was primarily used by the US Navy to provide
accurate location information to its Polaris ballistic missile submarines and
also for hydrographic and geodetic surveying.
2) The four types of Differential GPS accuracy are : Autonomous
Accuracy, Differential GPS Accuracy (DGPS), Real-Time Kinematic
Accuracy and Float (RTK Float), Real-Time Kinematic Accuracy
Check Your Progress II
1) The various DGPS services available are categorized according to the
broadcast range of the correction signals. They are Local DGPS: Local
Area Augmentation System (LAAS) sometimes called Ground Based
Augmentation Systems (GBAS), Regional DGPS and Wide Area DGPS
(WADGPS) or Satellite Based Augmentation Systems (SBAS).
2) The major sources of error affecting DGPS are- Ephemeris Error,
Ionospheric Propagation Delay, Tropospheric Propagation Delay, Satellite
Clock Drift, Multipath, Receiver Noise and clock drift and Selective
Availability.
Unit End Answers
1) Refer to subsections 1.4.1, 1.4.2 and 1.4.3 of the section on GNSS
satellites.
2) Refer to section 1.5 and Table 1.2
3) Refer to section 1.8

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