Wednesday AM: (Doug) 2. PS and Long Period Signals

Size: px
Start display at page:

Download "Wednesday AM: (Doug) 2. PS and Long Period Signals"

Transcription

1 Wednesday AM: (Doug) 2 PS and Long Period Signals

2 What is Colorado famous for?

3 32 satellites 12

4 Early on in the world of science synchronization of clocks was found to be important. consider Paris: puffs of air pneumatic time synchronization service master clock

5 Seismology needs synchronized clocks too GPS antenna Quite simply: GPS gives an accurate time to what the seismometer measures.

6 This is done with GNSS (GPS). But to most glaciologists and seismologists, GPS is a black box Goal here is to look inside the black box just a tiny bit

7 Lesson Goals: Understand the satellite to earth range problem Understand least-squares inverse for all types of problems Get a sense of why GPS is not a substitute for long-period seismometer data. GPS seems to be good enough for some co-seismic motion purposes, but not for co-witnessing what seismometers see (in my humble opinion) at least not yet

8 The range problem: processor, power supply, solar panel, charge controller, receiver hardware, processing software, data storage phase center MHz, 19 cm wavelength L1 and L2 C/A code P code ephemeris antenna Figure out: X,Y,Z,T GPS receiver on McMurdo Ice Shelf in January, 2017 (note bad field technique)

9 GPS was created for and is operated by the U.S. Military

10 But scientists have always been at the heart of it.

11 GPS is open to civilian uses. GLONAS, GALILEO, BEIDOU, and more coming

12

13

14

15

16 Clearing, Illinois

17

18 Seismology uses Coarse Acquisition technique to determine time (to milliseconds) and position (to meters) This lesson tries to explain how Glaciology and Geodesy use phase tracking technique to determine time (to nanoseconds) and position (to mm) Usually a full week summer school would only scratch the surface of this technique

19 Data: t travel time (for radio signal from satellite to receiver) c x s = 19,650 km Game plan Unknowns: X, Y, Z in earth centered, earth fixed coordinates (ECEF), ττ of clock running the seismometer satellite orbit in ECEF coordinates (twice a day) Your GPS receiver says: Hey, this signal arrived at 3: UTC! O satellite sends you a signal saying: I sent this signal at exactly 3:00 UTC and my position is here. you guess you are here. but you are really here!

20 Digression: How is travel time observed? meet Bob Gold

21 Bob Gold invented Gold Codes for GPS: each satellite owns a coarse acquisition Gold code: binary sequence, 1024 digits long

22 Gold codes never cross correlate and Gold codes autocorrelate only once with zero time lag

23 Every seconds, each GPS satellite broadcasts its Gold code toward the receiver antenna: Each GPS receiver internally broadcasts replicas of the GPS Gold codes

24 a hand held GPS can sense the digit to 1% or about 3 meters

25 The GPS receiver has a replica Gold code for each satellite by lining up the receiver code with the code arriving from the satellite t can be determined very precisely

26 Something you might not want to know Gold codes Gold codes are also in the nuclear football

27 Data: t travel time (for radio signal from satellite to receiver) c x s = 19,650 km Game plan Unknowns: X, Y, Z in earth centered, earth fixed coordinates (ECEF), ττ of clock running the seismometer satellite orbit in ECEF coordinates (twice a day) Your GPS receiver says: Hey, this signal arrived at 3: UTC! O satellite sends you a signal saying: I sent this signal at exactly 3:00 UTC and my position is here. you guess you are here. but you are really here!

28 Data: t travel time (for radio signal from satellite to receiver) c x s = 19,650 km Unknowns: X, Y, Z in earth centered, earth fixed coordinates (ECEF), ττ of clock running the seismometer data unknowns speed of light known satellite position - c x satellite clock error known clock error

29 Unknowns: X, Y, Z in earth centered, earth fixed coordinates (ECEF) 4 ττ of clock running the seismometer (clock error) Data: t travel time (for radio signal from satellite to receiver) only 1??! satellite orbit in ECEF coordinates (twice a day) t precisely known satellite position you are here!

30 4 satellites sufficient to solve the problem: N=4 is just enough Typically 12 satellites used to give least-squares solution.

31 Not so fast! This problem isn t linear

32 provisional solution: correct solution: Taylor series expressing delta-terms:

33 unknowns data partial derivatives of the pseudorange expression: use your Grandmother s house coordinates, good enough

34 a linear algebra problem:

35 How do you solve an over-determined inverse problem? if you already knew what m was, you could predict what the perfect data D should be but, the real d doesn t D lies in the range of A,

36 How do you solve an over-determined inverse problem? choose an m that gives a D that is as close as possible to d. D lies in the range of A,

37 How do you solve an over-determined inverse problem? choose an m that gives a D that is as close as possible to d. perpendicularity vector: (d - D) vector: Am

38 How do you solve an over-determined inverse problem? for all D, defining the range of A columns of A must span the range of A basis vectors: columns of A, rows of A T

39 How do you solve an over-determined inverse problem? vector: (d - D) must be perpendicular to columns of A

40 How do you solve an over-determined inverse problem? but,

41 How do you solve an over-determined inverse problem? but, least-squares inverse: in MatLab-ese:

42 Workflow: 1. each time epoch (~15 s to 5 min.) gather pseudo range data 2. compute satellite positions for each time epoch 3. solve the least-squares inverse problem for ECEF coordinates and time 4. post-process either ECEF, ENU or LLH data to estimate kinematics of ice flow

43 Geodetic GPS C/A gives: accuracy in space: meters accuracy in time: microseconds carrier phase tracking can give: accuracy in space: milimeters? always reliable, not that accurate accuracy in time: nanoseconds? accurate, but subject to ambiguity X X X X X

44 Tricks of the trade differencing, differencing and more differencing Two receivers that see the same satellite eliminate the satellite s clock error and, if one receiver is on a fixed benchmark (land), ionosphere and troposphere error.

45 Tricks of the trade differencing, differencing and more differencing add a second satellite and you can eliminate clock errors on both receivers and some ambiguity

46 Tricks of the trade differencing, differencing and more differencing add a second transmitted carrier wave and you can eliminate ionosphere effects and some ambiguity

47 Tricks of the trade and the Kalman filter Rudolf Kalman Apollo 8 board computer containing the Kalman filter software

48 GPS will get better and glacial seismology will likely use it more closely

49 But don t try it by yourself! Phase ambiguity + ionosphere troposphere satellite orbit uncertainty use a GPS processing package from MIT or elsewhere

50 What does geodetic GPS data look like? yup! missing!???

51 ???

52 10 min 30 cm many hours 5 cm mostly noise 1 day s motion

53 What does GPS data look like? Rinex file SP3 file alternatively: you can use the broadcast ephemeris

54 Rinex file What does GPS data look like? X X X military only hand-helds and seismometers geodetic quality phase tracking

55 Rinex file What does GPS data look like? date and time which satellites are in view

56 Rinex file What does GPS data look like? range as number of wavelengths (integer) pseudorange from Gold code autocorrelation (m)

57 What does GPS data look like? SP3 file clock error of satellite date and time X Y Z dt satellite number date and time ECEF coordinates of satellites

58 Exercise(s) with GPS data: Part A: process 1-day of 15-min sample rate C/A data for position and clock error Part B: examine phase-tracking GPS data for 60 days of McMurdo Ice Shelf (deduce tidal constituents, correct for IBE) attempt to co-witness a seismic signal on the McMurdo Ice Shelf introduced in previous exercise (Monday s seismology basics )

59 you will compare C/A result you create with your own hands with JPL s PPP phase tracking solution

60 Part B: 60 days of GPS data from an ice shelf November 2016 to late January 2017

61 ocean tide > 100 cm We want to look beyond the tide: what is the long term vertical motion?

62 problem: estimate these 12 coefficients.

63

64

65 inverse barometer effect -1 cm per 1 mb rise in pressure

66 Why is the ice going up?

Global Positioning System: what it is and how we use it for measuring the earth s movement. May 5, 2009

Global Positioning System: what it is and how we use it for measuring the earth s movement. May 5, 2009 Global Positioning System: what it is and how we use it for measuring the earth s movement. May 5, 2009 References Lectures from K. Larson s Introduction to GNSS http://www.colorado.edu/engineering/asen/

More information

Modelling GPS Observables for Time Transfer

Modelling GPS Observables for Time Transfer Modelling GPS Observables for Time Transfer Marek Ziebart Department of Geomatic Engineering University College London Presentation structure Overview of GPS Time frames in GPS Introduction to GPS observables

More information

t =1 Transmitter #2 Figure 1-1 One Way Ranging Schematic

t =1 Transmitter #2 Figure 1-1 One Way Ranging Schematic 1.0 Introduction OpenSource GPS is open source software that runs a GPS receiver based on the Zarlink GP2015 / GP2021 front end and digital processing chipset. It is a fully functional GPS receiver which

More information

UNIT 1 - introduction to GPS

UNIT 1 - introduction to GPS UNIT 1 - introduction to GPS 1. GPS SIGNAL Each GPS satellite transmit two signal for positioning purposes: L1 signal (carrier frequency of 1,575.42 MHz). Modulated onto the L1 carrier are two pseudorandom

More information

GPS and Recent Alternatives for Localisation. Dr. Thierry Peynot Australian Centre for Field Robotics The University of Sydney

GPS and Recent Alternatives for Localisation. Dr. Thierry Peynot Australian Centre for Field Robotics The University of Sydney GPS and Recent Alternatives for Localisation Dr. Thierry Peynot Australian Centre for Field Robotics The University of Sydney Global Positioning System (GPS) All-weather and continuous signal system designed

More information

Fundamentals of GPS Navigation

Fundamentals of GPS Navigation Fundamentals of GPS Navigation Kiril Alexiev 1 /76 2 /76 At the traditional January media briefing in Paris (January 18, 2017), European Space Agency (ESA) General Director Jan Woerner explained the knowns

More information

Trimble Business Center:

Trimble Business Center: Trimble Business Center: Modernized Approaches for GNSS Baseline Processing Trimble s industry-leading software includes a new dedicated processor for static baselines. The software features dynamic selection

More information

An Introduction to GPS

An Introduction to GPS An Introduction to GPS You are here The GPS system: what is GPS Principles of GPS: how does it work Processing of GPS: getting precise results Yellowstone deformation: an example What is GPS? System to

More information

GPS Global Positioning System

GPS Global Positioning System GPS Global Positioning System 10.04.2012 1 Agenda What is GPS? Basic consept History GPS receivers How they work Comunication Message format Satellite frequencies Sources of GPS signal errors 10.04.2012

More information

Global Navigation Satellite Systems II

Global Navigation Satellite Systems II Global Navigation Satellite Systems II AERO4701 Space Engineering 3 Week 4 Last Week Examined the problem of satellite coverage and constellation design Looked at the GPS satellite constellation Overview

More information

Introduction. Global Positioning System. GPS - Intro. Space Segment. GPS - Intro. Space Segment - Contd..

Introduction. Global Positioning System. GPS - Intro. Space Segment. GPS - Intro. Space Segment - Contd.. Introduction Global Positioning System Prof. D. Nagesh Kumar Dept. of Civil Engg., IISc, Bangalore 560 012, India URL: http://www.civil.iisc.ernet.in/~nagesh GPS is funded and controlled by U. S. Department

More information

3. Radio Occultation Principles

3. Radio Occultation Principles Page 1 of 6 [Up] [Previous] [Next] [Home] 3. Radio Occultation Principles The radio occultation technique was first developed at the Stanford University Center for Radar Astronomy (SUCRA) for studies of

More information

The Global Positioning System

The Global Positioning System The Global Positioning System 5-1 US GPS Facts of Note DoD navigation system First launch on 22 Feb 1978, fully operational in 1994 ~$15 billion (?) invested to date 24 (+/-) Earth-orbiting satellites

More information

Proceedings of Al-Azhar Engineering 7 th International Conference Cairo, April 7-10, 2003.

Proceedings of Al-Azhar Engineering 7 th International Conference Cairo, April 7-10, 2003. Proceedings of Al-Azhar Engineering 7 th International Conference Cairo, April 7-10, 2003. MODERNIZATION PLAN OF GPS IN 21 st CENTURY AND ITS IMPACTS ON SURVEYING APPLICATIONS G. M. Dawod Survey Research

More information

Guochang Xu GPS. Theory, Algorithms and Applications. Second Edition. With 59 Figures. Sprin ger

Guochang Xu GPS. Theory, Algorithms and Applications. Second Edition. With 59 Figures. Sprin ger Guochang Xu GPS Theory, Algorithms and Applications Second Edition With 59 Figures Sprin ger Contents 1 Introduction 1 1.1 AKeyNoteofGPS 2 1.2 A Brief Message About GLONASS 3 1.3 Basic Information of Galileo

More information

GPS Milestones, cont. GPS Milestones. The Global Positioning Sytem, Part 1 10/10/2017. M. Helper, GEO 327G/386G, UT Austin 1. US GPS Facts of Note

GPS Milestones, cont. GPS Milestones. The Global Positioning Sytem, Part 1 10/10/2017. M. Helper, GEO 327G/386G, UT Austin 1. US GPS Facts of Note The Global Positioning System US GPS Facts of Note DoD navigation system First launch on 22 Feb 1978, fully operational in 1994 ~$15 billion (?) invested to date 24 (+/-) Earth-orbiting satellites (SVs)

More information

Global Navigation Satellite Systems (GNSS)Part I EE 570: Location and Navigation

Global Navigation Satellite Systems (GNSS)Part I EE 570: Location and Navigation Lecture Global Navigation Satellite Systems (GNSS)Part I EE 570: Location and Navigation Lecture Notes Update on April 25, 2016 Aly El-Osery and Kevin Wedeward, Electrical Engineering Dept., New Mexico

More information

The Global Positioning System

The Global Positioning System The Global Positioning System Principles of GPS positioning GPS signal and observables Errors and corrections Processing GPS data GPS measurement strategies Precision and accuracy E. Calais Purdue University

More information

Chapter 6 GPS Relative Positioning Determination Concepts

Chapter 6 GPS Relative Positioning Determination Concepts Chapter 6 GPS Relative Positioning Determination Concepts 6-1. General Absolute positioning, as discussed earlier, will not provide the accuracies needed for most USACE control projects due to existing

More information

Precise Point Positioning (PPP) using

Precise Point Positioning (PPP) using Precise Point Positioning (PPP) using Product Technical Notes // May 2009 OnPOZ is a product line of Effigis. EZSurv is a registered trademark of Effigis. All other trademarks are registered or recognized

More information

KOMPSAT-2 Orbit Determination using GPS SIgnals

KOMPSAT-2 Orbit Determination using GPS SIgnals Presented at GNSS 2004 The 2004 International Symposium on GNSS/GPS Sydney, Australia 6 8 December 2004 KOMPSAT-2 Orbit Determination using GPS SIgnals Dae-Won Chung KOMPSAT Systems Engineering and Integration

More information

COMPARISON BETWEEN BROADCAST AND PRECISE ORBITS: GPS GLONASS GALILEO AND BEIDOU. A. Caporali and L. Nicolini University of Padova, Italy

COMPARISON BETWEEN BROADCAST AND PRECISE ORBITS: GPS GLONASS GALILEO AND BEIDOU. A. Caporali and L. Nicolini University of Padova, Italy COMPARISON BETWEEN BROADCAST AND PRECISE ORBITS: GPS GLONASS GALILEO AND BEIDOU A. Caporali and L. Nicolini University of Padova, Italy Summary Previous works Input data and method used Comparison between

More information

GPS for crustal deformation studies. May 7, 2009

GPS for crustal deformation studies. May 7, 2009 GPS for crustal deformation studies May 7, 2009 High precision GPS for Geodesy Use precise orbit products (e.g., IGS or JPL) Use specialized modeling software GAMIT/GLOBK GIPSY OASIS BERNESE These software

More information

Foreword by Glen Gibbons About this book Acknowledgments List of abbreviations and acronyms List of definitions

Foreword by Glen Gibbons About this book Acknowledgments List of abbreviations and acronyms List of definitions Table of Foreword by Glen Gibbons About this book Acknowledgments List of abbreviations and acronyms List of definitions page xiii xix xx xxi xxv Part I GNSS: orbits, signals, and methods 1 GNSS ground

More information

Principles of the Global Positioning System Lecture 19

Principles of the Global Positioning System Lecture 19 12.540 Principles of the Global Positioning System Lecture 19 Prof. Thomas Herring http://geoweb.mit.edu/~tah/12.540 GPS Models and processing Summary: Finish up modeling aspects Rank deficiencies Processing

More information

Challenges and Solutions for GPS Receiver Test

Challenges and Solutions for GPS Receiver Test Challenges and Solutions for GPS Receiver Test Presenter: Mirin Lew January 28, 2010 Agenda GPS technology concepts GPS and GNSS overview Assisted GPS (A-GPS) Basic tests required for GPS receiver verification

More information

PDHonline Course L105 (12 PDH) GPS Surveying. Instructor: Jan Van Sickle, P.L.S. PDH Online PDH Center

PDHonline Course L105 (12 PDH) GPS Surveying. Instructor: Jan Van Sickle, P.L.S. PDH Online PDH Center PDHonline Course L105 (12 PDH) GPS Surveying Instructor: Jan Van Sickle, P.L.S. 2012 PDH Online PDH Center 5272 Meadow Estates Drive Fairfax, VA 22030-6658 Phone & Fax: 703-988-0088 www.pdhonline.org www.pdhcenter.com

More information

Fundamentals of GPS for high-precision geodesy

Fundamentals of GPS for high-precision geodesy Fundamentals of GPS for high-precision geodesy T. A. Herring M. A. Floyd R. W. King Massachusetts Institute of Technology, Cambridge, MA, USA UNAVCO Headquarters, Boulder, Colorado, USA 19 23 June 2017

More information

Fast convergence of Trimble CenterPoint RTX by regional augmentation

Fast convergence of Trimble CenterPoint RTX by regional augmentation Fast convergence of Trimble CenterPoint RTX by regional augmentation Dr. Ralf Drescher Trimble Terrasat GmbH, Munich EGU General Assembly 2015, Vienna Thursday, 16 April 2015 Outline Introduction CenterPoint

More information

GPS the Interdisciplinary Chameleon: How Does it do That?

GPS the Interdisciplinary Chameleon: How Does it do That? GPS the Interdisciplinary Chameleon: How Does it do That? Geoff Blewitt Nevada Bureau of Mines and Geology & Seismological Laboratory University of Nevada, Reno, USA Cool Science using GPS Application

More information

EE 570: Location and Navigation

EE 570: Location and Navigation EE 570: Location and Navigation Global Navigation Satellite Systems (GNSS) Part I Aly El-Osery Kevin Wedeward Electrical Engineering Department, New Mexico Tech Socorro, New Mexico, USA In Collaboration

More information

GNSS Technologies. PPP and RTK

GNSS Technologies. PPP and RTK PPP and RTK 29.02.2016 Content Carrier phase based positioning PPP RTK VRS Slides based on: GNSS Applications and Methods, by S. Gleason and D. Gebre-Egziabher (Eds.), Artech House Inc., 2009 http://www.gnssapplications.org/

More information

Principles of the Global Positioning System Lecture 08

Principles of the Global Positioning System Lecture 08 12.540 Principles of the Global Positioning System Lecture 08 Prof. Thomas Herring http://geoweb.mit.edu/~tah/12.540 Summary Review: Examined methods for measuring distances Examined GPS codes that allow

More information

FieldGenius Technical Notes GPS Terminology

FieldGenius Technical Notes GPS Terminology FieldGenius Technical Notes GPS Terminology Almanac A set of Keplerian orbital parameters which allow the satellite positions to be predicted into the future. Ambiguity An integer value of the number of

More information

GLOBAL POSITIONING SYSTEMS

GLOBAL POSITIONING SYSTEMS GLOBAL POSITIONING SYSTEMS GPS & GIS Fall 2017 Global Positioning Systems GPS is a general term for the navigation system consisting of 24-32 satellites orbiting the Earth, broadcasting data that allows

More information

Multi-Constellation GNSS Precise Point Positioning using GPS, GLONASS and BeiDou in Australia

Multi-Constellation GNSS Precise Point Positioning using GPS, GLONASS and BeiDou in Australia International Global Navigation Satellite Systems Society IGNSS Symposium 2015 Multi-Constellation GNSS Precise Point Positioning using GPS, GLONASS and BeiDou in Australia Xiaodong Ren 1,Suelynn Choy

More information

2. GPS and GLONASS Basic Facts

2. GPS and GLONASS Basic Facts 2. GPS and GLONASS Basic Facts In 1973 the U.S. Department of Defense decided to establish, develop, test, acquire, and deploy a spaceborne Global Positioning System (GPS). The result of this decision

More information

PDHonline Course L105 (12 PDH) GPS Surveying. Instructor: Jan Van Sickle, P.L.S. PDH Online PDH Center

PDHonline Course L105 (12 PDH) GPS Surveying. Instructor: Jan Van Sickle, P.L.S. PDH Online PDH Center PDHonline Course L105 (12 PDH) GPS Surveying Instructor: Jan Van Sickle, P.L.S. 2012 PDH Online PDH Center 5272 Meadow Estates Drive Fairfax, VA 22030-6658 Phone & Fax: 703-988-0088 www.pdhonline.org www.pdhcenter.com

More information

Bernese GPS Software 4.2

Bernese GPS Software 4.2 Bernese GPS Software 4.2 Introduction Signal Processing Geodetic Use Details of modules Bernese GPS Software 4.2 Highest Accuracy GPS Surveys Research and Education Big Permanent GPS arrays Commercial

More information

Presented at the FIG Congress 2018, May 6-11, 2018 in Istanbul, Turkey

Presented at the FIG Congress 2018, May 6-11, 2018 in Istanbul, Turkey Presented at the FIG Congress 2018, May 6-11, 2018 in Istanbul, Turkey 2 Improving Hydrographic PPP by Height Constraining Ashraf Abdallah (Egypt) Volker Schwieger, (Germany) ashraf.abdallah@aswu.edu.eg

More information

Jun CHEN. Differential GNSS positioning with low-cost receivers. Background. Objective: Methods:

Jun CHEN. Differential GNSS positioning with low-cost receivers. Background. Objective: Methods: Jun CHEN Differential GNSS positioning with low-cost receivers Duration of the Thesis: 6 months Completion: May 2013 Tutor: Prof. Dr. sc.-techn. Wolfgang Keller Dr. Maorong Ge (Potsdam-GFZ) Examiner: Prof.

More information

magicgnss: QUALITY DATA, ALGORITHMS AND PRODUCTS FOR THE GNSS USER COMMUNITY

magicgnss: QUALITY DATA, ALGORITHMS AND PRODUCTS FOR THE GNSS USER COMMUNITY SEMANA GEOMATICA 2009 magicgnss: QUALITY DATA, ALGORITHMS AND PRODUCTS FOR THE GNSS USER COMMUNITY MARCH 3, 2009 BARCELONA, SPAIN SESSION: GNSS PRODUCTS A. Mozo P. Navarro R. Píriz D. Rodríguez March 3,

More information

PRINCIPLES AND FUNCTIONING OF GPS/ DGPS /ETS ER A. K. ATABUDHI, ORSAC

PRINCIPLES AND FUNCTIONING OF GPS/ DGPS /ETS ER A. K. ATABUDHI, ORSAC PRINCIPLES AND FUNCTIONING OF GPS/ DGPS /ETS ER A. K. ATABUDHI, ORSAC GPS GPS, which stands for Global Positioning System, is the only system today able to show you your exact position on the Earth anytime,

More information

Sub-daily signals in GPS. at semi-annual and annual periods

Sub-daily signals in GPS. at semi-annual and annual periods Sub-daily signals in GPS observations and their effect at semi-annual and annual periods Matt King1 Chris Watson2, Nigel Penna1 Newcastle University, UK 2 University of Tasmania, Australia 1 Propagation

More information

Integer Ambiguity Resolution for Precise Point Positioning Patrick Henkel

Integer Ambiguity Resolution for Precise Point Positioning Patrick Henkel Integer Ambiguity Resolution for Precise Point Positioning Patrick Henkel Overview Introduction Sequential Best-Integer Equivariant Estimation Multi-frequency code carrier linear combinations Galileo:

More information

CARRIER PHASE VS. CODE PHASE

CARRIER PHASE VS. CODE PHASE DIFFERENTIAL CORRECTION Code phase processing- GPS measurements based on the pseudo random code (C/A or P) as opposed to the carrier of that code. (1-5 meter accuracy) Carrier phase processing- GPS measurements

More information

GPS for. Land Surveyors. Jan Van Sickle. Fourth Edition. CRC Press. Taylor & Francis Group. Taylor & Francis Croup, an Informa business

GPS for. Land Surveyors. Jan Van Sickle. Fourth Edition. CRC Press. Taylor & Francis Group. Taylor & Francis Croup, an Informa business GPS for Land Surveyors Fourth Edition Jan Van Sickle CRC Press Taylor & Francis Group Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Croup, an Informa business Contents Preface

More information

Understanding GPS: Principles and Applications Second Edition

Understanding GPS: Principles and Applications Second Edition Understanding GPS: Principles and Applications Second Edition Elliott Kaplan and Christopher Hegarty ISBN 1-58053-894-0 Approx. 680 pages Navtech Part #1024 This thoroughly updated second edition of an

More information

ESTIMATION OF IONOSPHERIC DELAY FOR SINGLE AND DUAL FREQUENCY GPS RECEIVERS: A COMPARISON

ESTIMATION OF IONOSPHERIC DELAY FOR SINGLE AND DUAL FREQUENCY GPS RECEIVERS: A COMPARISON ESTMATON OF ONOSPHERC DELAY FOR SNGLE AND DUAL FREQUENCY GPS RECEVERS: A COMPARSON K. Durga Rao, Dr. V B S Srilatha ndira Dutt Dept. of ECE, GTAM UNVERSTY Abstract: Global Positioning System is the emerging

More information

PRECISE RECEIVER CLOCK OFFSET ESTIMATIONS ACCORDING TO EACH GLOBAL NAVIGATION SATELLITE SYSTEMS (GNSS) TIMESCALES

PRECISE RECEIVER CLOCK OFFSET ESTIMATIONS ACCORDING TO EACH GLOBAL NAVIGATION SATELLITE SYSTEMS (GNSS) TIMESCALES ARTIFICIAL SATELLITES, Vol. 52, No. 4 DOI: 10.1515/arsa-2017-0009 PRECISE RECEIVER CLOCK OFFSET ESTIMATIONS ACCORDING TO EACH GLOBAL NAVIGATION SATELLITE SYSTEMS (GNSS) TIMESCALES Thayathip Thongtan National

More information

Kalman Filter Based Integer Ambiguity. Ionosphere and Troposphere Estimation

Kalman Filter Based Integer Ambiguity. Ionosphere and Troposphere Estimation ION GNSS 2010 Kalman Filter Based Integer Ambiguity Resolution Strategy t for Long Baseline RTK with Ionosphere and Troposphere Estimation Tokyo University of Marine Science and Technology Tomoji jitakasu

More information

GPS data correction using encoders and INS sensors

GPS data correction using encoders and INS sensors GPS data correction using encoders and INS sensors Sid Ahmed Berrabah Mechanical Department, Royal Military School, Belgium, Avenue de la Renaissance 30, 1000 Brussels, Belgium sidahmed.berrabah@rma.ac.be

More information

GNSS & Coordinate Systems

GNSS & Coordinate Systems GNSS & Coordinate Systems Matthew McAdam, Marcelo Santos University of New Brunswick, Department of Geodesy and Geomatics Engineering, Fredericton, NB May 29, 2012 Santos, 2004 msantos@unb.ca 1 GNSS GNSS

More information

Asian Journal of Science and Technology Vol. 08, Issue, 11, pp , November, 2017 RESEARCH ARTICLE

Asian Journal of Science and Technology Vol. 08, Issue, 11, pp , November, 2017 RESEARCH ARTICLE Available Online at http://www.journalajst.com ASIAN JOURNAL OF SCIENCE AND TECHNOLOGY ISSN: 0976-3376 Asian Journal of Science and Technology Vol. 08, Issue, 11, pp.6697-6703, November, 2017 ARTICLE INFO

More information

Introduction to GNSS

Introduction to GNSS Introduction to GNSS Dimitrios Bolkas, Ph.D. Department of Surveying Engineering, Pennsylvania State University, Wilkes Barre Campus PSLS Surveyor s Conference Hershey, PA Global Navigation Satellite System

More information

Precise Positioning with NovAtel CORRECT Including Performance Analysis

Precise Positioning with NovAtel CORRECT Including Performance Analysis Precise Positioning with NovAtel CORRECT Including Performance Analysis NovAtel White Paper April 2015 Overview This article provides an overview of the challenges and techniques of precise GNSS positioning.

More information

CHAPTER 2 GPS GEODESY. Estelar. The science of geodesy is concerned with the earth by quantitatively

CHAPTER 2 GPS GEODESY. Estelar. The science of geodesy is concerned with the earth by quantitatively CHAPTER 2 GPS GEODESY 2.1. INTRODUCTION The science of geodesy is concerned with the earth by quantitatively describing the coordinates of each point on the surface in a global or local coordinate system.

More information

Principles of the Global Positioning System Lecture 20" Processing Software" Primary research programs"

Principles of the Global Positioning System Lecture 20 Processing Software Primary research programs 12.540 Principles of the Global Positioning System Lecture 20" Prof. Thomas Herring" Room 54-820A; 253-5941" tah@mit.edu" http://geoweb.mit.edu/~tah/12.540 " Processing Software" Examine basic features

More information

GPS: History, Operation, Processing

GPS: History, Operation, Processing GPS: History, Operation, Processing Impor tant Dates 1970 s: conceived as radionavigation system for the US military: realtime locations with few-meter accuracy. 1978: first satellite launched 1983: Declared

More information

Global Correction Services for GNSS

Global Correction Services for GNSS Global Correction Services for GNSS Hemisphere GNSS Whitepaper September 5, 2015 Overview Since the early days of GPS, new industries emerged while existing industries evolved to use position data in real-time.

More information

Principles of Global Positioning Systems Spring 2008

Principles of Global Positioning Systems Spring 2008 MIT OpenCourseWare http://ocw.mit.edu 12.540 Principles of Global Positioning Systems Spring 2008 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms. 12.540

More information

Introduction to Global Navigation Satellite System (GNSS) Signal Structure

Introduction to Global Navigation Satellite System (GNSS) Signal Structure Introduction to Global Navigation Satellite System (GNSS) Signal Structure Dinesh Manandhar Center for Spatial Information Science The University of Tokyo Contact Information: dinesh@iis.u-tokyo.ac.jp

More information

Generation of Consistent GNSS SSR Corrections

Generation of Consistent GNSS SSR Corrections Generation of Consistent GNSS SSR Corrections for Distributed CORS Networks Jannes Wübbena, Martin Schmitz, Gerhard Wübbena Geo++ GmbH 30827 Garbsen, Germany www.geopp.de Abstract Generation of Consistent

More information

Integrity of Satellite Navigation in the Arctic

Integrity of Satellite Navigation in the Arctic Integrity of Satellite Navigation in the Arctic TODD WALTER & TYLER REID STANFORD UNIVERSITY APRIL 2018 Satellite Based Augmentation Systems (SBAS) in 2018 2 SBAS Networks in 2021? 3 What is Meant by Integrity?

More information

GPS: History, Operation, Processing

GPS: History, Operation, Processing GPS: History, Operation, Processing Impor tant Dates 1970 s: conceived as radionavigation system for the US military: realtime locations with few-meter accuracy. 1978: first satellite launched 1983: Declared

More information

Posicionamento por ponto com. Posicionamento por satélite UNESP PP 2017 Prof. Galera

Posicionamento por ponto com. Posicionamento por satélite UNESP PP 2017 Prof. Galera Posicionamento por ponto com multiconstelação GNSS Posicionamento por satélite UNESP PP 2017 Prof. Galera Single-GNSS Observation Equations Considering j = 1; : : : ; f S the frequencies of a certain GNSS

More information

Global Positioning Systems - GPS

Global Positioning Systems - GPS Global Positioning Systems - GPS GPS Why? What is it? How does it work? Differential GPS How can it help me? GPS Why?? Where am I? How do I get there? Where are you, and how do I get to You? WHO CARES???

More information

Compact Data Transmission Standard for High-Precision GPS

Compact Data Transmission Standard for High-Precision GPS Compact Data Transmission Standard for High-Precision GPS Dr. Nicholas C. Talbot Trimble Navigation BIOGRAPHY Nicholas Talbot graduated from the Royal Melbourne Institute of Technology, Australia, with

More information

MINOS Timing and GPS Precise Point Positioning

MINOS Timing and GPS Precise Point Positioning MINOS Timing and GPS Precise Point Positioning Stephen Mitchell US Naval Observatory stephen.mitchell@usno.navy.mil for the International Workshop on Accelerator Alignment 2012 in Batavia, IL A Joint

More information

Asia Oceania Regional Workshop on GNSS Precise Point Positioning Experiment by using QZSS LEX

Asia Oceania Regional Workshop on GNSS Precise Point Positioning Experiment by using QZSS LEX Asia Oceania Regional Workshop on GNSS 2010 Precise Point Positioning Experiment by using QZSS LEX Tomoji TAKASU Tokyo University of Marine Science and Technology Contents Introduction of QZSS LEX Evaluation

More information

NASDA S PRECISE ORBIT DETERMINATION SYSTEM

NASDA S PRECISE ORBIT DETERMINATION SYSTEM NASDA S PRECISE ORBIT DETERMINATION SYSTEM Maki Maeda Takashi Uchimura, Akinobu Suzuki, Mikio Sawabe National Space Development Agency of Japan (NASDA) Sengen 2-1-1, Tsukuba, Ibaraki, 305-8505, JAPAN E-mail:

More information

GPS Carrier-Phase Time Transfer Boundary Discontinuity Investigation

GPS Carrier-Phase Time Transfer Boundary Discontinuity Investigation GPS Carrier-Phase Time Transfer Boundary Discontinuity Investigation Jian Yao and Judah Levine Time and Frequency Division and JILA, National Institute of Standards and Technology and University of Colorado,

More information

Advances in GNSS Technology and it s Application to Tidal Derivation

Advances in GNSS Technology and it s Application to Tidal Derivation Advances in GNSS Technology and it s Application to Tidal Derivation Tim Painter Chief Surveyor Fugro Survey Africa Pty Ltd John Vint Survey and Starfix Product Manager Fugro Survey AS, Norway Scope of

More information

Multisystem Real Time Precise-Point-Positioning, today with GPS+GLONASS in the near future also with QZSS, Galileo, Compass, IRNSS

Multisystem Real Time Precise-Point-Positioning, today with GPS+GLONASS in the near future also with QZSS, Galileo, Compass, IRNSS 2 International Symposium on /GNSS October 26-28, 2. Multisystem Real Time Precise-Point-Positioning, today with +GLONASS in the near future also with QZSS, Galileo, Compass, IRNSS Álvaro Mozo García,

More information

Every GNSS receiver processes

Every GNSS receiver processes GNSS Solutions: Code Tracking & Pseudoranges GNSS Solutions is a regular column featuring questions and answers about technical aspects of GNSS. Readers are invited to send their questions to the columnist,

More information

Introduction to GNSS

Introduction to GNSS Introduction to GNSS Dimitrios Bolkas, Ph.D. Department of Surveying Engineering, Pennsylvania State University, Wilkes Barre Campus PSLS Surveyor s Conference January 21-24, 2018 Hershey, PA Global Navigation

More information

Broadcasting System Time Scales Offsets in Navigation Messages. Assessment of Feasibility

Broadcasting System Time Scales Offsets in Navigation Messages. Assessment of Feasibility Broadcasting System Time Scales Offsets in Navigation Messages. Assessment of Feasibility A. Druzhin, A. Tyulyakov. A. Pokhaznikov Working Group A ICG-8, Dubai, United Arab Emirates 2 Rastrelli Square,

More information

GNSS Technologies. PPP and RTK

GNSS Technologies. PPP and RTK PPP and RTK 22.03.2017 Content Carrier phase based positioning PPP RTK VRS Slides based on: GNSS Applications and Methods, by S. Gleason and D. Gebre-Egziabher (Eds.), Artech House Inc., 2009 http://www.gnssapplications.org/

More information

Global Positioning Systems -GPS

Global Positioning Systems -GPS Global Positioning Systems -GPS GPS Why? What is it? How does it work? Differential GPS How can it help me? GPS Why?? Where am I? How do I get there? Where are you, and how do I get to You? WHO CARES???

More information

VARIATION OF STATIC-PPP POSITIONING ACCURACY USING GPS-SINGLE FREQUENCY OBSERVATIONS (ASWAN, EGYPT)

VARIATION OF STATIC-PPP POSITIONING ACCURACY USING GPS-SINGLE FREQUENCY OBSERVATIONS (ASWAN, EGYPT) ARTIFICIAL SATELLITES, Vol. 52, No. 2 2017 DOI: 10.1515/arsa-2017-0003 VARIATION OF STATIC-PPP POSITIONING ACCURACY USING GPS-SINGLE FREQUENCY OBSERVATIONS (ASWAN, EGYPT) Ashraf Farah Associate professor,

More information

COMPARISON OF GPS COMMERCIAL SOFTWARE PACKAGES TO PROCESSING STATIC BASELINES UP TO 30 KM

COMPARISON OF GPS COMMERCIAL SOFTWARE PACKAGES TO PROCESSING STATIC BASELINES UP TO 30 KM COMPARISON OF GPS COMMERCIAL SOFTWARE PACKAGES TO PROCESSING STATIC BASELINES UP TO 30 KM Khaled Mohamed Abdel Mageed Civil Engineering, Cairo, Egypt E-Mail: khaled_mgd@yahoo.com ABSTRACT The objective

More information

Positioning Australia for its farming future

Positioning Australia for its farming future Positioning Australia for its farming future Utilizing the Japanese satellite navigation QZSS system to provide centimetre positioning accuracy across ALL Australia David Lamb 1,2 and Phil Collier 2 1

More information

GLOBAL POSITIONING SYSTEMS. Knowing where and when

GLOBAL POSITIONING SYSTEMS. Knowing where and when GLOBAL POSITIONING SYSTEMS Knowing where and when Overview Continuous position fixes Worldwide coverage Latitude/Longitude/Height Centimeter accuracy Accurate time Feasibility studies begun in 1960 s.

More information

Broadcast Ionospheric Model Accuracy and the Effect of Neglecting Ionospheric Effects on C/A Code Measurements on a 500 km Baseline

Broadcast Ionospheric Model Accuracy and the Effect of Neglecting Ionospheric Effects on C/A Code Measurements on a 500 km Baseline Broadcast Ionospheric Model Accuracy and the Effect of Neglecting Ionospheric Effects on C/A Code Measurements on a 500 km Baseline Intro By David MacDonald Waypoint Consulting May 2002 The ionosphere

More information

International Journal of Scientific & Engineering Research, Volume 7, Issue 12, December-2016

International Journal of Scientific & Engineering Research, Volume 7, Issue 12, December-2016 International Journal of Scientific & Engineering Research, Volume 7, Issue 2, December-26 642 Enhancement of Precise Point Positioning Using GPS Single Frequency Data Ibrahim F. Shaker*, Tamer F. Fath-Allah**,

More information

Effect of Quasi Zenith Satellite (QZS) on GPS Positioning

Effect of Quasi Zenith Satellite (QZS) on GPS Positioning Effect of Quasi Zenith Satellite (QZS) on GPS ing Tomoji Takasu 1, Takuji Ebinuma 2, and Akio Yasuda 3 Laboratory of Satellite Navigation, Tokyo University of Marine Science and Technology 1 (Tel: +81-5245-7365,

More information

Math 215 Project 1 (25 pts) : Using Linear Algebra to solve GPS problem

Math 215 Project 1 (25 pts) : Using Linear Algebra to solve GPS problem Due 11:55pm Fri. Sept. 28 NAME(S): Math 215 Project 1 (25 pts) : Using Linear Algebra to solve GPS problem 1 Introduction The age old question, Where in the world am I? can easily be solved nowadays by

More information

Lab Assignment #3 ASE 272N/172G Satellite Navigation Prof. G. Lightsey Assigned: October 28, 2003 Due: November 11, 2003 in class

Lab Assignment #3 ASE 272N/172G Satellite Navigation Prof. G. Lightsey Assigned: October 28, 2003 Due: November 11, 2003 in class The University of Texas at Austin Department of Aerospace Engineering and Engineering Mechanics Lab Assignment #3 ASE 272N/172G Satellite Navigation Prof. G. Lightsey Assigned: October 28, 2003 Due: November

More information

Study and analysis of Differential GNSS and Precise Point Positioning

Study and analysis of Differential GNSS and Precise Point Positioning IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-issn: 2278-1676,p-ISSN: 2320-3331, Volume 9, Issue 2 Ver. I (Mar Apr. 2014), PP 53-59 Study and analysis of Differential GNSS and Precise

More information

GNSS Technologies. GNSS Acquisition Dr. Zahidul Bhuiyan Finnish Geospatial Research Institute, National Land Survey

GNSS Technologies. GNSS Acquisition Dr. Zahidul Bhuiyan Finnish Geospatial Research Institute, National Land Survey GNSS Acquisition 25.1.2016 Dr. Zahidul Bhuiyan Finnish Geospatial Research Institute, National Land Survey Content GNSS signal background Binary phase shift keying (BPSK) modulation Binary offset carrier

More information

ANALYSIS OF GPS SATELLITE OBSERVABILITY OVER THE INDIAN SOUTHERN REGION

ANALYSIS OF GPS SATELLITE OBSERVABILITY OVER THE INDIAN SOUTHERN REGION TJPRC: International Journal of Signal Processing Systems (TJPRC: IJSPS) Vol. 1, Issue 2, Dec 2017, 1-14 TJPRC Pvt. Ltd. ANALYSIS OF GPS SATELLITE OBSERVABILITY OVER THE INDIAN SOUTHERN REGION ANU SREE

More information

Understanding GPS/GNSS

Understanding GPS/GNSS Understanding GPS/GNSS Principles and Applications Third Edition Contents Preface to the Third Edition Third Edition Acknowledgments xix xxi CHAPTER 1 Introduction 1 1.1 Introduction 1 1.2 GNSS Overview

More information

Surveying Using Global Navigation Satellite Systems

Surveying Using Global Navigation Satellite Systems Surveying Using Global Navigation Satellite Systems This document has been designed to provide details of GPS technology to enable the practising surveyor to integrate GPS techniques into their surveying

More information

RTCM State Space Representation (SSR) Overall Concepts Towards PPP-RTK

RTCM State Space Representation (SSR) Overall Concepts Towards PPP-RTK RTCM State Space Representation (SSR) Overall Concepts Towards PPP-RTK Gerhard Wübbena Geo++ GmbH 30827 Garbsen Germany www.geopp.de Contents Terms and Abbreviations RTCM-SSR Working Group GNSS Error Sources

More information

The GLOBAL POSITIONING SYSTEM James R. Clynch February 2006

The GLOBAL POSITIONING SYSTEM James R. Clynch February 2006 The GLOBAL POSITIONING SYSTEM James R. Clynch February 2006 I. Introduction What is GPS The Global Positioning System, or GPS, is a satellite based navigation system developed by the United States Defense

More information

IAG School on Reference Systems June 7 June 12, 2010 Aegean University, Department of Geography Mytilene, Lesvos Island, Greece SCHOOL PROGRAM

IAG School on Reference Systems June 7 June 12, 2010 Aegean University, Department of Geography Mytilene, Lesvos Island, Greece SCHOOL PROGRAM IAG School on Reference Systems June 7 June 12, 2010 Aegean University, Department of Geography Mytilene, Lesvos Island, Greece SCHOOL PROGRAM Monday June 7 8:00-9:00 Registration 9:00-10:00 Opening Session

More information

One Source for Positioning Success

One Source for Positioning Success novatel.com One Source for Positioning Success RTK, PPP, SBAS OR DGNSS. NOVATEL CORRECT OPTIMIZES ALL CORRECTION SOURCES, PUTTING MORE POWER, FLEXIBILITY AND CONTROL IN YOUR HANDS. NovAtel CORRECT is the

More information

CONTINUED EVALUATION OF CARRIER-PHASE GNSS TIMING RECEIVERS FOR UTC/TAI APPLICATIONS

CONTINUED EVALUATION OF CARRIER-PHASE GNSS TIMING RECEIVERS FOR UTC/TAI APPLICATIONS CONTINUED EVALUATION OF CARRIER-PHASE GNSS TIMING RECEIVERS FOR UTC/TAI APPLICATIONS Jeff Prillaman U.S. Naval Observatory 3450 Massachusetts Avenue, NW Washington, D.C. 20392, USA Tel: +1 (202) 762-0756

More information

GPS Tutorial Trimble Home > GPS Tutorial > How GPS works? > Triangulating

GPS Tutorial Trimble Home > GPS Tutorial > How GPS works? > Triangulating http://www.trimble.com/gps/howgps-triangulating.shtml Page 1 of 3 Trimble Worldwide Popula PRODUCTS & SOLUTIONS SUPPORT & TRAINING ABOUT TRIMBLE INVESTORS GPS Tutorial Trimble Home > GPS Tutorial > How

More information

Some of the proposed GALILEO and modernized GPS frequencies.

Some of the proposed GALILEO and modernized GPS frequencies. On the selection of frequencies for long baseline GALILEO ambiguity resolution P.J.G. Teunissen, P. Joosten, C.D. de Jong Department of Mathematical Geodesy and Positioning, Delft University of Technology,

More information