Global Positioning System

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Geodesy

Fundamentals

Geodesy Geodynamics Geomatics Cartography

Concepts

Datum Distance Geoid Fig. Earth Geodesic

Geodetic system Geog. coord. system Hor. pos. represent.

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Spatial ref. system

Technologies

GNSS GPS Galileo Compass GLONASS

Standards

ED50 ETRS89 GRS 80 NAD83 NAVD88 SAD69 SRID UTM WGS84

History

History of geodesy

NAVD29

v t e

Artist's conception of GPS Block II-F satellite in Earth orbit.

Civilian GPS receiver ("GPS navigation device") in a marine application.

Automotive navigation system in a taxicab.

GPS receivers are now integrated in many mobile phones.

U.S. Air Force Senior Airman runs through a checklist during Global Positioning System satellite operations. The Global Positioning System (GPS) is a space-based satellite navigation system that provides location and time information in all weather conditions, anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites. The system provides critical capabilities to military, civil and commercial users around the world. It is maintained by the United States government and is freely accessible to anyone with a GPS receiver. The GPS project was developed in 1973 to overcome the limitations of previous navigation systems,[1] integrating ideas from several predecessors, including a number of classified engineering design studies from the 1960s. GPS was created and realized by the U.S. Department of Defense (DoD) and was originally run with 24 satellites. It became fully operational in 1994. Roger L. Easton is generally credited as its inventor.

Advances in technology and new demands on the existing system have now led to efforts to modernize the GPS system and implement the next generation of GPS III satellites and Next Generation Operational Control System (OCX).[2] Announcements from the Vice President and the White House in 1998 initiated these changes. In 2000, U.S. Congress authorized the modernization effort, GPS III. In addition to GPS, other systems are in use or under development. The Russian Global Navigation Satellite System (GLONASS) was developed contemporaneously with GPS, but suffered from incomplete coverage of the globe until the mid-2000s. There are also the planned European Union Galileo positioning system, Chinese Compass navigation system, and Indian Regional Navigational Satellite System.

Contents

1 History o 1.1 Predecessors o 1.2 Development o 1.3 Timeline and modernization o 1.4 Awards 2 Basic concept of GPS 3 Structure o 3.1 Space segment o 3.2 Control segment o 3.3 User segment 4 Applications o 4.1 Civilian 4.1.1 Restrictions on civilian use o 4.2 Military 5 Communication o 5.1 Message format o 5.2 Satellite frequencies o 5.3 Demodulation and decoding 6 Navigation equations o 6.1 Bancroft's method o 6.2 Trilateration o 6.3 Multidimensional Newton-Raphson calculations o 6.4 Additional methods for more than four satellites 7 Error sources and analysis 8 Accuracy enhancement and surveying o 8.1 Augmentation o 8.2 Precise monitoring o 8.3 Timekeeping 8.3.1 Leap seconds 8.3.2 Accuracy 8.3.3 Format o 8.4 Carrier phase tracking (surveying)

9 Regulatory spectrum issues concerning GPS receivers 10 Other systems 11 See also 12 Notes 13 References 14 Further reading 15 External links

History
The design of GPS is based partly on similar ground-based radio-navigation systems, such as LORAN and the Decca Navigator, developed in the early 1940s and used during World War II.

Predecessors
In 1956, the German-American physicist Friedwardt Winterberg[3] proposed a test of general relativity (for time slowing in a strong gravitational field) using accurate atomic clocks placed in orbit inside artificial satellites. (To achieve accuracy requirements, GPS uses principles of general relativity to correct the satellites' atomic clocks.[4]) Additional inspiration for GPS came when the Soviet Union launched the first man-made satellite, Sputnik, in 1957. Two American physicists, William Guier and George Weiffenbach, at Johns Hopkins's Applied Physics Laboratory (APL), decided to monitor Sputnik's radio transmissions.[5] Within hours they realized that, because of the Doppler effect, they could pinpoint where the satellite was along its orbit. The Director of the APL gave them access to their UNIVAC to do the heavy calculations required. The next spring, Frank McClure, the deputy director of the APL, asked Guier and Weiffenbach to investigate the inverse problempinpointing the user's location given that of the satellite. (The Navy was developing the submarine-launched Polaris missile, which required them to know the submarine's location.) This led them and APL to develop the Transit system.[6] In 1959, ARPA (renamed DARPA in 1972) also played a role in Transit.[7][8][9]

Official logo Emblem of for the 50th NAVSTAR Space Wing GPS The first satellite navigation system, Transit, used by the United States Navy, was first successfully tested in 1960. It used a constellation of five satellites and could provide a navigational fix approximately once per hour. In 1967, the U.S. Navy developed the Timation satellite that proved the ability to place accurate clocks in space, a technology required by GPS. In the 1970s, the ground-based Omega Navigation System, based on phase comparison of signal

transmission from pairs of stations,[10] became the first worldwide radio navigation system. Limitations of these systems drove the need for a more universal navigation solution with greater accuracy. While there were wide needs for accurate navigation in military and civilian sectors, almost none of those was seen as justification for the billions of dollars it would cost in research, development, deployment, and operation for a constellation of navigation satellites. During the Cold War arms race, the nuclear threat to the existence of the United States was the one need that did justify this cost in the view of the United States Congress. This deterrent effect is why GPS was funded. It is also the reason for the ultra secrecy at that time. The nuclear triad consisted of the United States Navy's submarine-launched ballistic missiles (SLBMs) along with United States Air Force (USAF) strategic bombers and intercontinental ballistic missiles (ICBMs). Considered vital to the nuclear-deterrence posture, accurate determination of the SLBM launch position was a force multiplier. Precise navigation would enable United States submarines to get an accurate fix of their positions before they launched their SLBMs.[11] The USAF, with two thirds of the nuclear triad, also had requirements for a more accurate and reliable navigation system. The Navy and Air Force were developing their own technologies in parallel to solve what was essentially the same problem. To increase the survivability of ICBMs, there was a proposal to use mobile launch platforms (such as Russian SS-24 and SS-25) and so the need to fix the launch position had similarity to the SLBM situation. In 1960, the Air Force proposed a radio-navigation system called MOSAIC (MObile System for Accurate ICBM Control) that was essentially a 3-D LORAN. A follow-on study, Project 57, was worked in 1963 and it was "in this study that the GPS concept was born". That same year, the concept was pursued as Project 621B, which had "many of the attributes that you now see in GPS"[12] and promised increased accuracy for Air Force bombers as well as ICBMs. Updates from the Navy Transit system were too slow for the high speeds of Air Force operation. The Navy Research Laboratory continued advancements with their Timation (Time Navigation) satellites, first launched in 1967, and with the third one in 1974 carrying the first atomic clock into orbit.[13] Another important predecessor to GPS came from a different branch of the United States military. In 1964, the United States Army orbited its first Sequential Collation of Range (SECOR) satellite used for geodetic surveying. The SECOR system included three ground-based transmitters from known locations that would send signals to the satellite transponder in orbit. A fourth ground-based station, at an undetermined position, could then use those signals to fix its location precisely. The last SECOR satellite was launched in 1969.[14] Decades later, during the early years of GPS, civilian surveying became one of the first fields to make use of the new technology, because surveyors could reap benefits of signals from the less-than-complete GPS constellation years before it was declared operational. GPS can be thought of as an evolution of the SECOR system where the ground-based transmitters have been migrated into orbit.

Development

With these parallel developments in the 1960s, it was realized that a superior system could be developed by synthesizing the best technologies from 621B, Transit, Timation, and SECOR in a multi-service program. During Labor Day weekend in 1973, a meeting of about 12 military officers at the Pentagon discussed the creation of a Defense Navigation Satellite System (DNSS). It was at this meeting that "the real synthesis that became GPS was created." Later that year, the DNSS program was named Navstar. With the individual satellites being associated with the name Navstar (as with the predecessors Transit and Timation), a more fully encompassing name was used to identify the constellation of Navstar satellites, Navstar-GPS, which was later shortened simply to GPS.[15] After Korean Air Lines Flight 007, a Boeing 747 carrying 269 people, was shot down in 1983 after straying into the USSR's prohibited airspace,[16] in the vicinity of Sakhalin and Moneron Islands, President Ronald Reagan issued a directive making GPS freely available for civilian use, once it was sufficiently developed, as a common good.[17] The first satellite was launched in 1989, and the 24th satellite was launched in 1994. Roger L. Easton is widely credited as the primary inventor of GPS. Initially, the highest quality signal was reserved for military use, and the signal available for civilian use was intentionally degraded (Selective Availability). This changed with President Bill Clinton ordering Selective Availability to be turned off at midnight May 1, 2000, improving the precision of civilian GPS from 100 meters (330 ft) to 20 meters (66 ft). The executive order signed in 1996 to turn off Selective Availability in 2000 was proposed by the U.S. Secretary of Defense, William Perry, because of the widespread growth of differential GPS services to improve civilian accuracy and eliminate the U.S. military advantage. Moreover, the U.S. military was actively developing technologies to deny GPS service to potential adversaries on a regional basis.[18] Over the last decade, the U.S. has implemented several improvements to the GPS service, including new signals for civil use and increased accuracy and integrity for all users, all while maintaining compatibility with existing GPS equipment. GPS modernization[19] has now become an ongoing initiative to upgrade the Global Positioning System with new capabilities to meet growing military, civil, and commercial needs. The program is being implemented through a series of satellite acquisitions, including GPS Block III and the Next Generation Operational Control System (OCX). The U.S. Government continues to improve the GPS space and ground segments to increase performance and accuracy. GPS is owned and operated by the United States Government as a national resource. Department of Defense (DoD) is the steward of GPS. Interagency GPS Executive Board (IGEB) oversaw GPS policy matters from 1996 to 2004. After that the National Space-Based Positioning, Navigation and Timing Executive Committee was established by presidential directive in 2004 to advise and coordinate federal departments and agencies on matters concerning the GPS and related systems. The executive committee is chaired jointly by the deputy secretaries of defense and transportation. Its membership includes equivalent-level officials from the departments of state, commerce, and homeland security, the joint chiefs of staff, and NASA. Components of the

executive office of the president participate as observers to the executive committee, and the FCC chairman participates as a liaison. The DoD is required by law to "maintain a Standard Positioning Service (as defined in the federal radio navigation plan and the standard positioning service signal specification) that will be available on a continuous, worldwide basis," and "develop measures to prevent hostile use of GPS and its augmentations without unduly disrupting or degrading civilian uses."

Timeline and modernization

Block

I II

IIA 19901997 19 IIR 19972004 12 IIR-M 20052009 8 IIF From 2010 3 IIIA From 2014 0 IIIB IIIC Total 0 0 61

(Last update: October 8, 2012) PRN 01 from Block IIR-M is unhealthy PRN 25 from Block IIA is unhealthy PRN 32 from Block IIA is unhealthy PRN 27 from Block IIA is unhealthy [21] For a more complete list, see list of GPS satellite launches

In 1972, the USAF Central Inertial Guidance Test Facility (Holloman AFB), conducted developmental flight tests of two prototype GPS receivers over White Sands Missile Range, using ground-based pseudo-satellites.[citation needed] In 1978, the first experimental Block-I GPS satellite was launched. In 1983, after Soviet interceptor aircraft shot down the civilian airliner KAL 007 that strayed into prohibited airspace because of navigational errors, killing all 269 people on board, U.S. President Ronald Reagan announced that GPS would be made available for civilian uses once it was completed,[22][23] although it had been previously published [in Navigation magazine] that the CA code (Coarse Acquisition code) would be available to civilian users. By 1985, ten more experimental Block-I satellites had been launched to validate the concept. Command & Control of these satellites had moved from Onizuka AFS, CA and turned over to the 2nd Satellite Control Squadron (2SCS) located at Falcon Air Force Station in Colorado Springs, Colorado.[24][25] On February 14, 1989, the first modern Block-II satellite was launched. The Gulf War from 1990 to 1991, was the first conflict where GPS was widely used.[26] In 1992, the 2nd Space Wing, which originally managed the system, was de-activated and replaced by the 50th Space Wing. By December 1993, GPS achieved initial operational capability (IOC), indicating a full constellation (24 satellites) was available and providing the Standard Positioning Service (SPS).[27] Full Operational Capability (FOC) was declared by Air Force Space Command (AFSPC) in April 1995, signifying full availability of the military's secure Precise Positioning Service (PPS).[27] In 1996, recognizing the importance of GPS to civilian users as well as military users, U.S. President Bill Clinton issued a policy directive[28] declaring GPS to be a dual-use system and establishing an Interagency GPS Executive Board to manage it as a national asset. In 1998, United States Vice President Al Gore announced plans to upgrade GPS with two new civilian signals for enhanced user accuracy and reliability, particularly with respect to aviation safety and in 2000 the United States Congress authorized the effort, referring to it as GPS III. On May 2, 2000 "Selective Availability" was discontinued as a result of the 1996 executive order, allowing users to receive a non-degraded signal globally. In 2004, the United States Government signed an agreement with the European Community establishing cooperation related to GPS and Europe's planned Galileo system. In 2004, United States President George W. Bush updated the national policy and replaced the executive board with the National Executive Committee for Space-Based Positioning, Navigation, and Timing.[29] November 2004, Qualcomm announced successful tests of assisted GPS for mobile phones.[30] In 2005, the first modernized GPS satellite was launched and began transmitting a second civilian signal (L2C) for enhanced user performance. On September 14, 2007, the aging mainframe-based Ground Segment Control System was transferred to the new Architecture Evolution Plan.[31]

On May 19, 2009, the United States Government Accountability Office issued a report warning that some GPS satellites could fail as soon as 2010.[32] On May 21, 2009, the Air Force Space Command allayed fears of GPS failure saying "There's only a small risk we will not continue to exceed our performance standard."[33] On January 11, 2010, an update of ground control systems caused a software incompatibility with 8000 to 10000 military receivers manufactured by a division of Trimble Navigation Limited of Sunnyvale, Calif.[34] On February 25, 2010,[35] the U.S. Air Force awarded the contract to develop the GPS Next Generation Operational Control System (OCX) to improve accuracy and availability of GPS navigation signals, and serve as a critical part of GPS modernization. A GPS satellite was launched on May 28, 2010.[36] The oldest GPS satellite still in operation was launched on November 26, 1990, and became operational on December 10, 1990.[37] The GPS satellite, GPS IIF-2, was launched on July 16, 2011 at 06:41 GMT from Space Launch Complex 37B at the Cape Canaveral Air Force Station.[38] The GPS satellite, GPS IIF-3, was launched on October 4, 2012 at 12:10 GMT from Space Launch Complex 37B at the Cape Canaveral Air Force Station.[39]

Awards
On February 10, 1993, the National Aeronautic Association selected the GPS Team as winners of the 1992 Robert J. Collier Trophy, the nation's most prestigious aviation award. This team combines researchers from the Naval Research Laboratory, the USAF, the Aerospace Corporation, Rockwell International Corporation, and IBM Federal Systems Company. The citation honors them "for the most significant development for safe and efficient navigation and surveillance of air and spacecraft since the introduction of radio navigation 50 years ago." Two GPS developers received the National Academy of Engineering Charles Stark Draper Prize for 2003:

Ivan Getting, emeritus president of The Aerospace Corporation and an engineer at the Massachusetts Institute of Technology, established the basis for GPS, improving on the World War II land-based radio system called LORAN (Long-range Radio Aid to Navigation). Bradford Parkinson, professor of aeronautics and astronautics at Stanford University, conceived the present satellite-based system in the early 1960s and developed it in conjunction with the U.S. Air Force. Parkinson served twenty-one years in the Air Force, from 1957 to 1978, and retired with the rank of colonel. GPS developer Roger L. Easton received the National Medal of Technology on February 13, 2006.[40]

In 1998, GPS technology was inducted into the Space Foundation Space Technology Hall of Fame.[41] Francis X. Kane (Col. USAF, ret.) was inducted into the U.S. Air Force Space and Missile Pioneers Hall of Fame at Lackland A.F.B., San Antonio, Texas, March 2, 2010 for his role in

space technology development and the engineering design concept of GPS conducted as part of Project 621B. On October 4, 2011, the International Astronautical Federation (IAF) awarded the Global Positioning System (GPS) its 60th Anniversary Award, nominated by IAF member, the American Institute for Aeronautics and Astronautics (AIAA). The IAF Honors and Awards Committee recognized the uniqueness of the GPS program and the exemplary role it has played in building international collaboration for the benefit of humanity.

Basic concept of GPS

the time the message was transmitted satellite position at time of message transmission

The receiver uses the messages it receives to determine the transit time of each message and computes the distance to each satellite using the speed of light. Each of these distances and satellites' locations define a sphere. The receiver is on the surface of each of these spheres when the distances and the satellites' locations are correct. These distances and satellites' locations are used to compute the location of the receiver using the navigation equations. This location is then displayed, perhaps with a moving map display or latitude and longitude; elevation information may be included. Many GPS units show derived information such as direction and speed, calculated from position changes. In typical GPS operation, four or more satellites must be visible to obtain an accurate result. Four sphere surfaces typically do not intersect. [a] Because of this, it can be said with confidence that when the navigation equations are solved to find an intersection, this solution gives the position of the receiver along with the difference between the time kept by the receiver's on-board clock and the true time-of-day, thereby eliminating the need for a very large, expensive, and power hungry clock. The very accurately computed time is used only for display or not at all in many GPS applications, which use only the location. A number of applications for GPS do make use of this cheap and highly accurate timing. These include time transfer, traffic signal timing, and synchronization of cell phone base stations. Although four satellites are required for normal operation, fewer apply in special cases. If one variable is already known, a receiver can determine its position using only three satellites. For example, a ship or aircraft may have known elevation. Some GPS receivers may use additional clues or assumptions such as reusing the last known altitude, dead reckoning, inertial navigation, or including information from the vehicle computer, to give a (possibly degraded) position when fewer than four satellites are visible.[42][43][44]