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Global Navigation Satellite System
based Positioning
Presented By: Mehjabin Sultana (437589)
Sami Romo (69293A)
Nuno Silva (335872)
A little bit of history
● First navigation satellite belonged to Russia (former Soviet Union): they
launched the first artificial Earth satellite “Sputnik 1”, in 1957. The initial
approach towards the position location was based on measuring the
Doppler shift of the satellite.
● US was also a pioneer in the development of navigation satellites:
“Transit” system was introduced in the 1960s, mostly for targeting
submarine-launched long-range missiles. “Transit” was effective but
required expensive receiver systems
● US moved to the Global Positioning System (GPS) or Navstar system in
the 1980s.
History (cont..)
● Russia also developed a GPS-like system named GLONASS (abbreviation
for the Russian “Globalnaya Navigatsionnay Sputnikovaya Sistema”) in the
1980s.
● Nowadays, both Japan and the European Space Agency (ESA) are
working on GPS augmentation systems, such as MTSAT (Multifunction
Transport Satellite Space based Augmentation System), EGNOS
(European Geostationary Navigation Overlay System)
● Also new stand-alone satellite navigation systems are developed, such as
Galileo (the future European satellite system) and Compass (in China).
● Most common abbreviation for a generic satellite positioning system is
GNSS (Global Navigation Satellite System).
GNSS System Comparison
GPS (US) GALILEO (Europe) GLONASS (Russia) COMPASS (China)
First launch 1978 2011 1982 2007
Full Operational Capability
(FOC)
1995 2018 2011 2020
Number of satellites 32 30 31 35
Orbital planes 6 3 3 3
Access Scheme CDMA CDMA FDMA/CDMA CDMA
Current Status 32 operational 4 IOV satellites,
22 operational
satellites budgeted
24 operational,
1 in preparation,
2 on maintenance,
3 reserved and
1 on test
14 operational satellites,
full coverage on Asia
pacific region
Why do we need satellite-based positioning?
Satellite-based positioning provides us some services:
Location = determining a basic position (e.g., emergency calls)
Navigation = getting from one location to another (e.g., car navigation)
Tracking = monitoring the movement of people and things (e.g., fleet
management, workforce management, lost child/pet tracking)
Mapping = creating maps of the world
Timing = bringing precise timing to the world
GNSS system architecture
GNSS systems are quite complex, involving many different components.
- All GNSS systems are based on the same architecture (3-segment
architecture):
● Space segment: satellites
● Ground segment: monitoring, controlling and uploading stations
● User segment: user community/GNSS receivers
- The number of satellites and monitor stations differ according to the
GNSS system (GPS, Glonass, Galileo, ...)
The three segments of GNSS
Tasks of different segments
The space segment is formed by the satellites, also abbreviated by SV (Satellite Vehicle). The functions of a
satellite are:
● It receives and stores data from the ground control segment.
● It maintains a very precise time. In order to achieve such a goal, each satellite usually carries several
atomic clocks of two different technologies (e.g., cesium and rubidium), depending on the generation of
the satellite.
● It transmits data to users through the use of several frequencies
● It controls both its altitude and position
● It may enable a wireless link between satellites
Tasks of ground segment
● The main functions of the ground segment are to:
● Monitor the satellites; activate spare satellites (if available) to maintain system availability; check the SV
health
● Estimate the on-board clock state and define the corresponding parameters to be broadcast (with
reference to the constellation’s master time)
● Define the orbits of each satellite in order to predict the ephemeris data, together with the almanac;
● Ephemeris = accurate orbit and clock corrections for the satellites. Each satellite broadcast only its
ephemeris data. In GPS, ephemeris is broadcast every 30 s.
● Almanac= coarse orbital parameters/information of the satellites (valid for up to several months)
Tasks of different segments (cont)
Tasks of user segment
● The main functions of a GPS receiver are:
● Receive the data from the satellites belonging to one or several constellations (e.g. GPS; Galileo) on one
or several frequencies. If several constellation => multi-system receivers. If several frequencies => multi-
frequency receivers (dual-frequency GPS-GLONASS receivers are rather common nowadays)
● Acquire the signal from each satellite on sky (acquisition = identification of satellite code and coarse
estimation of time delays and Doppler shifts)
● Track the signal received from the satellites on sky (tracking = fine estimation of time delay and Doppler
shifts)
How GNSS works? : Time Difference
- The GNSS receiver compares the time a signal
was transmitted by a satellite with the time
it was received.
- The time difference tells
the GNSS receiver how far
away the satellite is.
How GNSS works? : Travel Distance
Velocity x Time = Distance
Radio waves travel at the speed of light, roughly 299 792 458 m/s (i.e.,
around 3*108 m/s)
If it took, for example, 0.067 seconds to receive a signal transmitted by a
satellite floating directly overhead, use this formula to find your distance
from the satellite.
Travel Distance: 299792458 m/s x 0.067 s = 20086094.69 m
How GNSS works? : Triangulation in 2D (I)
Geometric Principle:
You can find one location if
you know its distance from
other, already-known locations.
Location can be anywhere on
the periphery of the circle.
How GNSS works? : Triangulation in 2D (II)
Location can be any of
the two intersecting
points (red dots)
How GNSS works? : Triangulation in 2D (III)
Location is exactly
at the intersecting
point of the three
circles (red dot)
How GNSS works?: 3D Trilateration
1 Satellite
2 Satellites
3 Satellites
How GNSS works? Position Determination
● GNSS systems use the concept of Time-Of-Arrival (TOA) of signals +
triangulation/trilateration to determine user position.
● Minimum 3 satellites
needed in order to
determine the user
coordinates xu, yu, zu
(horizontal, vertical &
height). The 4th satellite
is needed to determine
the clock error.
4 unknowns
Applications - Military
● Joint Direct Attack Munition (JDAM) smart bomb, Tomahawk cruise
missile...
o No need for ground support
o Guidance system can be used in all weather conditions
o Reverts to inertial navigation when GPS signal is lost
● Combat Survivor Evader Locator (CSEL)
o All weather availability
o Ease of use (fast and accurate)
Applications - Agriculture
● Tractor guidance
o Tractor drives itself minimizing over-lap and
under-lap
o Shortens the amount of time used per field
o Ability to work in low visibility conditions
increases productivity
● Yield mapping
o GPS with grain flow and grain moisture
sensors
o Processed yield maps can be used to
investigate factors affecting the yield
Applications - Marine
● Automatic Identification System (AIS) is used for vessel traffic control
around busy seaways
o http://www.landsort-ais.se
Applications - Surveying and Mapping
● Survey vessels combine GPS positions with sonar depth soundings to
make the nautical charts that alert mariners to changing water depths and
underwater hazards
Applications - Aviation
● Enhanced Ground Proximity Warning System (EGPWS) reduces the risk
of controlled flight into terrain, a major cause of many aircraft accidents
Applications - Rail
● Positive Train Control (PTC) systems prevent collisions, derailments, work
zone incursions, and passage through switches in the wrong position
Applications - Recreation
● Geocaching
● “Checking-in” in social media
● Sports tracker: saving and sharing
your jog route with friends
● Andropas journey planner: see the bus
or train location real time, will you
make it to the bus or not?
Applications - Space
● Launch vehicle tracking
o Replacing or augmenting tracking radars with higher
precision, lower-cost GPS units for range safety and
autonomous flight termination
● Timing solutions
o Replacing expensive spacecraft atomic clocks with
low-cost, precise time GPS receivers
● Constellation control
o Providing single point-of-contact to control for the orbit
maintenance of large numbers of space vehicles such
as telecommunication satellites
Applications - Timing
● Wireless telephone and data networks use GPS time to keep all of their base stations in sync
● Major investment banks use GPS to synchronize their network computers located around the
world
● Integration of GPS time into seismic monitoring networks enables researchers to quickly locate
the epicenters of earthquakes and other seismic events
● The U.S. Federal Aviation Administration (FAA) uses GPS to synchronize reporting of hazardous
weather from its 45 Terminal Doppler Weather Radars located throughout the United States
● By analyzing the precise timing of an electrical anomaly as it propagates through a grid,
engineers can trace back the exact location of a power line break
References
● An introduction to GPS, mms.nps.gov/gis/gps/How_GPS_Works.ppt
● http://www.colorado.edu/geography/gcraft/notes/gps/gps_ftoc.html
● European GNSS Supervisory Authority GSA - www.gsa.europa.eu
● European Space Agency ESA - http://www.esa.int/esaNA/galileo.html
● ION Institute of Navigation - http://www.ion.org/
● www.GPS.gov
Thanks!!

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Global navigation satellite system based positioning combined

  • 1. Global Navigation Satellite System based Positioning Presented By: Mehjabin Sultana (437589) Sami Romo (69293A) Nuno Silva (335872)
  • 2. A little bit of history ● First navigation satellite belonged to Russia (former Soviet Union): they launched the first artificial Earth satellite “Sputnik 1”, in 1957. The initial approach towards the position location was based on measuring the Doppler shift of the satellite. ● US was also a pioneer in the development of navigation satellites: “Transit” system was introduced in the 1960s, mostly for targeting submarine-launched long-range missiles. “Transit” was effective but required expensive receiver systems ● US moved to the Global Positioning System (GPS) or Navstar system in the 1980s.
  • 3. History (cont..) ● Russia also developed a GPS-like system named GLONASS (abbreviation for the Russian “Globalnaya Navigatsionnay Sputnikovaya Sistema”) in the 1980s. ● Nowadays, both Japan and the European Space Agency (ESA) are working on GPS augmentation systems, such as MTSAT (Multifunction Transport Satellite Space based Augmentation System), EGNOS (European Geostationary Navigation Overlay System) ● Also new stand-alone satellite navigation systems are developed, such as Galileo (the future European satellite system) and Compass (in China). ● Most common abbreviation for a generic satellite positioning system is GNSS (Global Navigation Satellite System).
  • 4. GNSS System Comparison GPS (US) GALILEO (Europe) GLONASS (Russia) COMPASS (China) First launch 1978 2011 1982 2007 Full Operational Capability (FOC) 1995 2018 2011 2020 Number of satellites 32 30 31 35 Orbital planes 6 3 3 3 Access Scheme CDMA CDMA FDMA/CDMA CDMA Current Status 32 operational 4 IOV satellites, 22 operational satellites budgeted 24 operational, 1 in preparation, 2 on maintenance, 3 reserved and 1 on test 14 operational satellites, full coverage on Asia pacific region
  • 5. Why do we need satellite-based positioning? Satellite-based positioning provides us some services: Location = determining a basic position (e.g., emergency calls) Navigation = getting from one location to another (e.g., car navigation) Tracking = monitoring the movement of people and things (e.g., fleet management, workforce management, lost child/pet tracking) Mapping = creating maps of the world Timing = bringing precise timing to the world
  • 6. GNSS system architecture GNSS systems are quite complex, involving many different components. - All GNSS systems are based on the same architecture (3-segment architecture): ● Space segment: satellites ● Ground segment: monitoring, controlling and uploading stations ● User segment: user community/GNSS receivers - The number of satellites and monitor stations differ according to the GNSS system (GPS, Glonass, Galileo, ...)
  • 8. Tasks of different segments The space segment is formed by the satellites, also abbreviated by SV (Satellite Vehicle). The functions of a satellite are: ● It receives and stores data from the ground control segment. ● It maintains a very precise time. In order to achieve such a goal, each satellite usually carries several atomic clocks of two different technologies (e.g., cesium and rubidium), depending on the generation of the satellite. ● It transmits data to users through the use of several frequencies ● It controls both its altitude and position ● It may enable a wireless link between satellites Tasks of ground segment ● The main functions of the ground segment are to: ● Monitor the satellites; activate spare satellites (if available) to maintain system availability; check the SV health ● Estimate the on-board clock state and define the corresponding parameters to be broadcast (with reference to the constellation’s master time) ● Define the orbits of each satellite in order to predict the ephemeris data, together with the almanac; ● Ephemeris = accurate orbit and clock corrections for the satellites. Each satellite broadcast only its ephemeris data. In GPS, ephemeris is broadcast every 30 s. ● Almanac= coarse orbital parameters/information of the satellites (valid for up to several months)
  • 9. Tasks of different segments (cont) Tasks of user segment ● The main functions of a GPS receiver are: ● Receive the data from the satellites belonging to one or several constellations (e.g. GPS; Galileo) on one or several frequencies. If several constellation => multi-system receivers. If several frequencies => multi- frequency receivers (dual-frequency GPS-GLONASS receivers are rather common nowadays) ● Acquire the signal from each satellite on sky (acquisition = identification of satellite code and coarse estimation of time delays and Doppler shifts) ● Track the signal received from the satellites on sky (tracking = fine estimation of time delay and Doppler shifts)
  • 10. How GNSS works? : Time Difference - The GNSS receiver compares the time a signal was transmitted by a satellite with the time it was received. - The time difference tells the GNSS receiver how far away the satellite is.
  • 11. How GNSS works? : Travel Distance Velocity x Time = Distance Radio waves travel at the speed of light, roughly 299 792 458 m/s (i.e., around 3*108 m/s) If it took, for example, 0.067 seconds to receive a signal transmitted by a satellite floating directly overhead, use this formula to find your distance from the satellite. Travel Distance: 299792458 m/s x 0.067 s = 20086094.69 m
  • 12. How GNSS works? : Triangulation in 2D (I) Geometric Principle: You can find one location if you know its distance from other, already-known locations. Location can be anywhere on the periphery of the circle.
  • 13. How GNSS works? : Triangulation in 2D (II) Location can be any of the two intersecting points (red dots)
  • 14. How GNSS works? : Triangulation in 2D (III) Location is exactly at the intersecting point of the three circles (red dot)
  • 15. How GNSS works?: 3D Trilateration 1 Satellite 2 Satellites 3 Satellites
  • 16. How GNSS works? Position Determination ● GNSS systems use the concept of Time-Of-Arrival (TOA) of signals + triangulation/trilateration to determine user position. ● Minimum 3 satellites needed in order to determine the user coordinates xu, yu, zu (horizontal, vertical & height). The 4th satellite is needed to determine the clock error. 4 unknowns
  • 17. Applications - Military ● Joint Direct Attack Munition (JDAM) smart bomb, Tomahawk cruise missile... o No need for ground support o Guidance system can be used in all weather conditions o Reverts to inertial navigation when GPS signal is lost ● Combat Survivor Evader Locator (CSEL) o All weather availability o Ease of use (fast and accurate)
  • 18. Applications - Agriculture ● Tractor guidance o Tractor drives itself minimizing over-lap and under-lap o Shortens the amount of time used per field o Ability to work in low visibility conditions increases productivity ● Yield mapping o GPS with grain flow and grain moisture sensors o Processed yield maps can be used to investigate factors affecting the yield
  • 19. Applications - Marine ● Automatic Identification System (AIS) is used for vessel traffic control around busy seaways o http://www.landsort-ais.se
  • 20. Applications - Surveying and Mapping ● Survey vessels combine GPS positions with sonar depth soundings to make the nautical charts that alert mariners to changing water depths and underwater hazards
  • 21. Applications - Aviation ● Enhanced Ground Proximity Warning System (EGPWS) reduces the risk of controlled flight into terrain, a major cause of many aircraft accidents
  • 22. Applications - Rail ● Positive Train Control (PTC) systems prevent collisions, derailments, work zone incursions, and passage through switches in the wrong position
  • 23. Applications - Recreation ● Geocaching ● “Checking-in” in social media ● Sports tracker: saving and sharing your jog route with friends ● Andropas journey planner: see the bus or train location real time, will you make it to the bus or not?
  • 24. Applications - Space ● Launch vehicle tracking o Replacing or augmenting tracking radars with higher precision, lower-cost GPS units for range safety and autonomous flight termination ● Timing solutions o Replacing expensive spacecraft atomic clocks with low-cost, precise time GPS receivers ● Constellation control o Providing single point-of-contact to control for the orbit maintenance of large numbers of space vehicles such as telecommunication satellites
  • 25. Applications - Timing ● Wireless telephone and data networks use GPS time to keep all of their base stations in sync ● Major investment banks use GPS to synchronize their network computers located around the world ● Integration of GPS time into seismic monitoring networks enables researchers to quickly locate the epicenters of earthquakes and other seismic events ● The U.S. Federal Aviation Administration (FAA) uses GPS to synchronize reporting of hazardous weather from its 45 Terminal Doppler Weather Radars located throughout the United States ● By analyzing the precise timing of an electrical anomaly as it propagates through a grid, engineers can trace back the exact location of a power line break
  • 26. References ● An introduction to GPS, mms.nps.gov/gis/gps/How_GPS_Works.ppt ● http://www.colorado.edu/geography/gcraft/notes/gps/gps_ftoc.html ● European GNSS Supervisory Authority GSA - www.gsa.europa.eu ● European Space Agency ESA - http://www.esa.int/esaNA/galileo.html ● ION Institute of Navigation - http://www.ion.org/ ● www.GPS.gov

Notas del editor

  1. One satellite can achieve full operational capabilities when it has at least 24 satellites. IOV: In-orbit validation, which has it’s own orbit.
  2. are the most visible part
  3. The orbit, which Clarke first described as useful for broadcast and relay communications satellites,[6] is sometimes called the Clarke Orbit.[7] Similarly, the Clarke Belt is the part of space about 35,786 km (22,236 mi) above sea level, in the plane of the Equator, where near-geostationary orbits may be implemented. The Clarke Orbit is about 265,000 km (165,000 mi) long.
  4. However, in a 3-dimensional space, we really need 3 satellites to exactly pin-point our position with three different measurements. As the user clock is very cheap and unsynchronized with the satellites, we do need a fourth measurement in order to get rid of the time-bias of the receiver.
  5. Triangulation: working with angles. Trilateration: working with distance.
  6. JDAM = Kit to make normal bomb in to smart bomb
  7. “Precision agriculture increases yield and lowers cost”
  8. As you can see, GPS is just one instrument in many applications, where measurements from multiple sources are combined!
  9. Rapid growth of mobile apps, some using GPS Geocaching is just finding hidden geocaches using a normal GPS receiver
  10. A bit surprisingly GPS is also used in space technology!
  11. Some applications only use the accurate timing of the GPS signal and do not use the location data at all