GPS

Eng. Luis Escudero Herrera

loeh@[Link]
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ESSC 541-542 Lecture 4.14.05
What is GPS?
It is a system that provides
positioning, navigation and
free timing and
uninterruptedly.

The system is made up of a

satellite constellation in orbit,
ground stations of
monitoring and control and the
mobile receivers property of
each user.

It transmits radio signals that

they identify mobile receptors
with coordinate information of
latitud, longitud, altitud y hora
precise.
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 GPS satellites

The first GPS satellite was sent.

in 1978

The constellation was completed in

1994

Satellites built to last

like 10 years

Approximately 2000 messages

pounds and are 17 feet long

The transmission power is

only 50 Watts or less

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 What is GPS?

It is a constellation of satellites
orbiting the Earth held by the
Government of the United States with
the purpose of defining positions
geographic on and over the surface of
the Earth. It consists of three segments:

User Segment

Control Segment

Spatial Segment
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GPS segments

Segment
Special

Segment
User
Segmento
Control
Ground
Antennas
Master Station Monitor Stations
USER SEGMENT
It consists of the team
Antenna of
signal receptor band L
issued by the satellites
GPS to calculate your own
position. It is composed Receptor
from an antenna, a receiver
and a unit of
Processor
signal processing. of data

Interface
Spatial Segment

24+ satellites
-6 plans with 55° of
inclination
Each plan has 4-5
satellites
Transmission position and
information time
about 2 frequencies
–La Constelación tiene
spare parts
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Spatial Segment

Very high orbit

-20,200 km
–1 revolution in
approximately 12 hrs
Travels approx. 7,000 mph
Considerations
Accuracy
Survival skill
Coverage

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Control Segment
Monitoring and Control

Colorado
Springs

Islands Kwajalein
Hawaii
Ascension
Diego
Garcia

Master Control Station

Monitor Station
Terrestrial Antenna 9
 Control Segment: Maintaining the System

Correct errors of
Orbit and clock

Observation Create new message

Navigation
Ephemeral and clock

Station of
(5) Monitoring Stations Alcon AFB Upload of info. 10
 How the system works

Segment
Spatial
24+ Satellites The current ephemeral
is transmitted to
the users
Stations
Monitors:
Diego García User
Ascension Island Final
Kwajalein
Hawaii
Colorado Springs

GPS Control
Colorado Springs
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 GPS OPERATION

•
The GPS receiver works by measuring its distance to the satellites.
and uses that information to calculate its position with the principle of
triangulation. To determine the distance to the satellites, the equipment
you can calculate your geographical situation by multiplying the time that
The signal transmitted takes time at the speed of light. With three
measurements, the position can be determined.

Longitude
d E=TxV
Pto B
•L
a
t
Pto i
A Pto t
C u
d
GPS uses the mathematical principle of triangulation.

Triangulation

Through very measurement

needs our distance
(through time that
(the signal takes) three
satellites, we can achieve by
our triangulation
position anywhere in
the earth.
 HOW DOES HE/SHE DO IT?
Suppose we measure our distance to the first satellite and
it turns out to be 20,000 km. Therefore, we must be at
any point in the universe that limits our position to the
surface of a sphere that has as its center said satellite and
whose radius is 20,000 km.

A measurement can
•20,000 Km
•to be located anywhere
part of the sphere
Next, we measure our distance to a second satellite and
we discovered that we are 22,000 km away from it.
Then, we will be somewhere on the circumference that results from
the intersection of the two spheres.

Two measurements can be found

anywhere in this circle
If we now measure our distance to a third satellite and
we discovered that we are 24,000 km away from it, it will be limited
our position even more, to the two points at which the sphere of
24,000 km cuts the circumference that results from the intersection of
the first two spheres.

Three measurements can be found

at either of these two points
"That is, by measuring our distance to three satellites"
we limit our positioning to only two possible points.

The team "decides" which of them is our true position.

Why is geographical position only found on Earth at latitude?
and length.

Latitude

l
o
n
g
I
t
u
d
Using GPS
The accuracy of a GPS usually has a margin of error.
less than 10 meters.
Interferences modify the error (the people, the
buildings). It is important to take the measurement with 5 decimals.

Accuracy can be improved by averaging the

results of multiple captures or collections in the same
point.
The GPS must be configured to use the appropriate datum.
for the area.
 Capture of coordinates with
GPS
The requirements for a good coordinate acquisition with the
GPS son:
It is recommended to receive at least 7 satellites.
at least 4 satellites are needed to determine the
localization of a point on the earth.
It is important to look at how the satellites are positioned and
use the one that interests you the most.

The GPS receiver must be in an open area

obstacles above our heads and far from surfaces
reflectors.
To have a clear vision on the horizon (to be under
a strong forest cover would help in decision making
coordinates).
It is important to record the date of the measurement. May 8
In 2001, Clinton lifted the interference that was generated.
errors greater than 100 meters.
A 30-meter extension is conservative (in the area
open is 10-15 meters and under trees it can reach
mayor de 30 metros).
Accuracy and Precision in GPS
Accuracy
The proximity of a measurement to the value
standard or true
Precision
The degree to which various measures provide
very close answers to each other

What affects accuracy and

the accuracy in GPS?
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 USE OF GPS
Basically, GPS technology can be used in
any place, except those where it is impossible
receive signal: such as inside buildings, basements,
in potholes or underwater.
USE OF GPS
The use that can be given is varied:
The main thing is that we can position ourselves anywhere in the
world (with positions in geographical coordinates and altitude)
Important points of interest can be recorded as a place.
fishing, a sunken vessel, a reef, etc.
Saving time, space, and fuel because the equipment us
Can you recommend the shortest route to go from one place to another?
(Geo-reference with a starting point and an ending point).
You can connect to virtually any equipment of
navigation (radar, sonar, echo sounder, etc). Connected to
sonar, it can alert us to shallow depths.
Data can be recorded and then processed in programs.
Additionally, the equipment is capable of measuring areas in a
geographical environment.
APPLICATIONS OF THE GPS SYSTEM
Originally, the applications of the GPS system were strictly
militaries, but after the downing of a Korean jumbo after invading the
airspace of the former Soviet Union due to a navigation error
In 1984, the U.S. Department of Defense allowed the use of GPS.
for civil navigation. From then on, they can be divided into
GPS applications in two, military applications and applications
civilians.
 Military applications

Aviation: recognition and location

of objectives, in-flight report, calculation of
{"rutas":"routes","aproximación al aterrizaje":"approach to landing","precisión":"precision"}
from the bombings, etc...

Naval operations: navigation

amphibious operations, coastal patrol,
location of mines,
submarine positioning, etc...

Ground forces: survival

artillery positioning, reconnaissance
and target location, recovery of
teams, meeting points
evacuations, etc...

Launch of guided missiles

 CIVIL APPLICATIONS

Maritime uses: ocean navigation,

recreational (is the largest civil application)
of ports and coastal areas. Position of
sites submarines
localization of fishing banks, points
meeting and coastal areas, etc...

Civil aviation: positioning,

air navigation, landing.

Land transport: improvement in the

efficiency and safety in transportation
of goods, automated guided vehicles.

Geographical applications: geodesy,

geodynamics, topography, etc...

Sports and safety uses

In general, GPS receivers provide in their
main window the data of the latitude, longitude,
speed and course of the vessel, the date and the
time and, if it is connected to other devices, the
depth, the temperature of the water, etc. Also
they have event markers, arrival alarms or
of course deviations XTE (cross track error), TIME TO
GO - TTG (time to arrive), ESTIMATED TIME
ARRIVED - ETA (estimated time of arrival).
In the integrated teams with plotters, there is presented
with navigation charts, with 'tracks' or
presentation of the route, heading line, cursor,
approach controls, also with other types
presentation on the screen that simulates the
route of the vessel as if it were
road called highway.
 Sources of Error

Clock Error
-Differences between the clock of
satellite and the receiver's clock
Ionospheric Delays
Delay in the signals of the
GPS when passing through
the layer of free ions of Satellite
electrons known as the
ionosphere.
Composite Error
Caused reflections of the
GPS signal that gets mixed up
with the desired signal Antenna
GPS

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Hard Surface
 Sources of Errors
Largest source is due to the atmosphere
Atmospheric refraction
Charged particles
Water vapor
Ionosphere
Charged Particles

Troposphere
Some typical errors
Satellite clock error +/- 2 meters

Receiver noise +/- 0.5 meters

Interference in
ionosphere and troposphere +5 meters
Multipath error +1.4 meters
Satellite position (“ephemeris”) error ±2 meters

poor GDOP up to 200 meters

Human errors up to hundreds of meters
Receiver errors
(hardware, software, antenna) any size possible
Using a handheld GPS receiver
Typical accuracy: ±10 m Horizontal
(civilian use, good GDOP)

Results of measurements over one month (Garmin 12XL)

Horizontal Accuracy (50%) ±3.9 meters
Vertical Accuracy (50%)±9.6 meters
Horizontal Accuracy (95%) ±9.3 meters
Vertical Accuracy (95%) ±21.9 meters

Source: GPS ACCURACY MONITOR by Dennis Milbert

[Link]
Differential GPS
The differential GPS is a system that provides receivers.
from GPS corrections to the data received from GPS satellites with
They provide greater accuracy in the calculated position.
It was conceived primarily due to the introduction of the
selective availability (intentional degradation of the GPS signal)
in order to avoid the excessive accuracy of GPS receivers
modern commercials).
The use of Differential GPS provides an accuracy of 1 to 2.
metros (System that provides GPS receivers,
corrections to the data received from GPS satellites, based on a
fixed ground reference GPS receiver
Real-time Differential GPS: They have high precision and
give an accuracy in a decentimeter range. They are very expensive and
few times is such precision needed in the records of the
biological collections.
 Differential GPS
Method to remove errors that affect the
GPS measurements

A train station reception is placed in a

localization where the coordinates are known

The time signal in the reference location is

compare with the time at the remote location

The time difference represents the error in the signal

of the satellite

Real-time corrections are transmitted to the

remote receiver
-Simple frequency (1-5 m)
Real frequency (sub-metric) Localization Localization
Error
Referent Remote
Post-Processing of Differential GPS involves
corrections a little later
[Link]/OPUS

Online post-processing 33
WAAS System (WIDE AREA AUGMENTATION
SYSTEM
Satellite and station system
lands that provide corrections of
GPS signals
25 reference ground stations
through US
Master stations create
GPS message correction
Corrected differential message is
transmitted via satellites
geostationary to a receiver
5 Times the accuracy (3 m) 95% of
tiempo
It only requires enabled GPS.
with WAAS

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WAAS Differential
Step #1–Reference stations receive GPS signals and
calculate error
WAAS Differential
Step #2–Reference stations create interpolated error map
WAAS Differential
Step #3–Master stations upload error map to WAAS satellites
WAAS Differential
Step #4–WAAS satellites broadcast corrections
 GPS Accuracy Comparison

GPS Device Autonomous WAAS Real-time Post-process

DGPS DGPS DGPS

Garmin GPSMap 76s ~ 10 - 15 ~3 3 1-3

Rockwell–PLGR
Federal Users Only ~ 8 - 15 NA 3 NA

Trimble - GeoXT ~ 10 ~3 1-3 Sub-meter

Accuracy given in meters

 Why should I worry about
datum and coordinate systems
When did I use GPS?

Datum and Coordinate System

There are many systems of
data and coordinates in use
currently

Incorrect referencing of
coordinates to the datum may
result in errors of
position of hundreds of meters
With sub-metric accuracy
available with the GPS of
today, a careful
selection and conversion of the
data is critical!

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 Geodetic Datum: What is it?
•Define the size and the
shape of the earth
Used as a basis for
coordinate systems
Variety of models:
Flat Earth
Spherical
Ellipsoidal
WGS 84 defines heights
geoids for the whole earth
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 Coordinate Systems: What are they?
Based on Geodetic Data

Describe locations in two or three.

(i.e. X, Y, Z or X, Y)

Local and Global

Common systems
Geodetic Latitude, Longitude (global)
UTM (local)
State Plane (local)

Variety of transformation methods

Tool of [Link]/dutchs/UsefulData/[Link]
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online conversion
Latitude, Longitude

The Greenwich Meridian and the Equator are

reference plans used to define the
latitude and longitude

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 What is the location?
correct?
The same location can have several
reference positions, depending on the
coordinate system used

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