Satellites Principle

Basics of Satellite Navigation
an Elementary Introduction
Prof. Dr. Bernhard Hofmann-Wellenhof
Graz, University of Technology, Austria
Basic principles
1.1 Definitions
Satellite geodesy (SG) comprises all techniques to solve the
principal tasks of geodesy with the aid of artificial satellites.
geometrical SG (positioning, navigation) Helmert
dynamical SG (gravity field) Bruns
Basic principles - Definitions

The basic vector equation reads
%S = %R + %%
with
%S
%R
%
%
geocentric position vector

of the satellite
geocentric position vector
of the receiver
distance between receiver

and satellite
unit vector from the
receiver to the satellite

The basic equation can be written in the form
%= k %S %R k
if only distances (ranges) % are observed.

Restrictions in this course:
geometrical observables are considered only
no measurements between satellites (SST) are
considered
no measurements between terrestrial sites are
considered
Thus, only measurements between the set of receivers and
the set of satellites are considered.
Terminology
Positioning: the vectors %S are assumed to be known
( operational SG)
Orbit determination: the vectors %R are assumed to be
known ( tracking stations).

Position vector of the satellite %S = %S(t) depends on time
since
satellite is moving in the orbital plane
orbital plane rotates with respect to the earth
Position vector of the receiver %R :
constant static application
time dependent kinematic application
(note the difference between the terms kinematics and
dynamics)
Basic principles
1.2 Development of SG
Historical review:
1946: stellar triangulation (Visl)
1957: Sputnik was launched on 4th of October
1965: first global network established by the USA
1967: civilian use of the first operational Doppler system
(NNSS, Navy Navigation Satellite System, also
denoted as TRANSIT)
1973: conceptual phase of the Global Positioning System
(GPS)
1984: begin of civilian use of GPS
1995: full operational capability of GPS
1996: full operational capability of GLONASS (the Russian
counterpart of GPS)
1999: first concept for Galileo
Basic principles - Development
01.05.2000: final deactivation of the selective availability

2000: Compass (Chinese GNSS programme) is launched
2002: Galileo programme was officially launched
2004: launching of the 50th GPS satellite
2005: launch of the first IIR-M GPS-satellite
(new M-signal and 2nd civil signal L2C)
Dec. 2005: launch of 1st Galileo test satellite GIOVE-A
April 2008: launch of 2nd Galileo test satellite GIOVE-B
2010: again full operational capability of GLONASS
2011: launch of the first four Galileo satellites (hopefully!)

Future:
Global Navigation Satellite Systems (GNSS) by integrating GPS,
GLONASS, Galileo, Compass, etc., and geostationary (or
inclined geosynchronous) satellites
European contributions are EGNOS (GNSS-1) and Galileo
(GNSS-2)
Accuracies (global scale)
1955: 100 m
astro-geodetic measurements
1965: 10 m
direction measurements
1975: 1 m
laser measurements
1985: 0.1 m
TRANSIT
1995: 0.01 m
GPS
2015: ???
GPS + Galileo + GLONASS + Compass
Advantages of satellite geodesy:

no line-of-sight problem between terrestrial stations
three-dimensional concept
global coordinate system
high accuracy
Operational satellite geodesy (e.g., GPS)

Pros
global system
all-weather system
all-time system
real-time capability ( navigation)
Cons
dependence on (non-civil) system operator
no liability
signal blockage
low navigation performance ( availability, continuity,
integrity)
Basic principles
1.3 Observables
Unit vector (direction) from R to S: %
interesting from a historical point of view
very expensive equipment
limited (and low) accuracy
Basic principles - Observables

Radial velocities (range rates)
Doppler frequency is proportional to the radial velocity
between transmitter and receiver
%=
_
%
_
d%
= k f
dt
Applications
positioning
velocity determination

Ranges
Observation techniques
optical (laser) versus radio based
Loosely speaking, optical ranges are more accurate and
radio-based ranges are weather independent.
pulses versus phases
one-way versus two-way

Distinguish
Ranges %
Pseudoranges R
In the one-way concept two clocks are used. Due to
synchronization errors pseudoranges R = % + %
instead of ranges % are obtained
Range differences
integrating range rates
differencing (pseudo) ranges
- Doppler concept: one station, two satellites
- Interferometric concept: two stations, one satellite
(The vector between the two stations is denoted
baseline.)
Basic principles
1.4 Intersection with ranges
Geometry
ranges: intersection of three spherical shells (concept of 3Dtrilateration)
pseudoranges: determination of a sphere tangent to four
spheres with biased radii
range differences:
Intersection of three hyperboloids (Doppler concept)
Intersection of three spherical shells (interferometric
concept)
Basic principles - Intersection

Intersection with ranges (b)
Basic principles - Intersection

Intersection with pseudoranges

Satellites Principle

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Basics of Satellite Navigation

Basic principles - Definitions

geocentric position vector

distance between receiver

Basic principles - Definitions

if only distances (ranges) % are observed.

Basic principles - Definitions

Basic principles - Definitions

Basic principles - Development

01.05.2000: final deactivation of the selective availability

Basic principles - Development

Basic principles - Development

Advantages of satellite geodesy:

Basic principles - Development

Operational satellite geodesy (e.g., GPS)

Basic principles - Observables

Basic principles - Observables

Basic principles - Observables

Basic principles - Intersection

Basic principles - Intersection

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