global positioning system: what it is and how we use it for measuring the earth’s movement. april...
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Global Positioning System: what it is and how we use it for measuring the earth’s movement.
April 21, 2011
References
• Lectures from K. Larson’s “Introduction to GNSS” http://www.colorado.edu/engineering/ASEN/asen5090/
• Strang, G. and K. Borre “Linear Algebra, Geodesy, and GPS”, Wellesley-Cambridge Press, 1997
• Blewitt, G., “Basics of the GPS Technique: Observation Equations”, in “Geodetic Applications of GPS”
• http://www.kowoma.de/en/gps/index.htm• http://www.kemt.fei.tuke.sk/predmety/KEMT559_SK/G
PS/GPS_Tutorial_2.pdf• Lecture notes from G. Mattioli’
(comp.uark.edu/~mattioli/geol_4733/GPS_signals.ppt)
Basics of how it works
• Trilateration• GPS positioning requires distance to 4 satellites
- x,y,z,t - Earth centered, Earth Fixed
- Why t?
- What are some of reasons why measuring distance is difficult?
- How do we know x, y, z, t of satellites?
GPS: Space segment
• Several different types of GPS satellites (Block I, II, II A, IIR)
• All have atomic clocks– Stability of at least 10-13 sec1 sec every ~300,000 yrs
• Dynamics of orbit?• Reference point?
Orbital Perturbations – (central force is 0.5 m/s2)
Source Acceleration
m/s2
Perturbation
3 hrs
Type
Earth oblateness (J2 )
5 x 10-5 2 km @ 3 hrs secular + 6 hr
Sun & moon 5 x 10-6 5-150 m @ 3 hrs secular + 12hr
Higher Harmonics 3 x 10-7 5-80 m @ 3 hrs Various
Solar radiation pressure
1 x 10-7 100-800 m @2 days Secular + 3 hr
Ocean & earth tides
1 x 10-9 0-2m @2 days secular + 12hr
Earth albedo pressure
1 x 10-9 1-1.5m @2 days
From K. Larson
GPS: Space Segment
• 24+ satellites in orbit– Can see 4 at any time, any
point on earth– Satellites never directly over
the poles– For most mid-latitude
locations, satellites track mainly north-south
GPS: Satellite Ground Track
GPS Signal
• Satellite transmits on two carrier frequencies:– L1 (wavelength=19 cm)– L2 (wavelength=24.4 cm)
• Transmits 3 different codes/signals– P (precise) code
• Chip length=29.3 m
– C/A (course acquisition) code• Chip length=293 m
– Navigation message• Broadcast ephemeris (satellite orbital
parameters), SV clock corrections, iono info, SV health
GPS Signal
• Signal phase modulated:
vs
Amplitude modulation (AM) Frequency modulation (FM)
C/A and P code: PRN Codes
• PRN = Pseudo Random Noise– Codes have random noise characteristics but are
precisely defined.• A sequence of zeros and ones, each zero or one
referred to as a “chip”.– Called a chip because they carry no data.
• Selected from a set of Gold Codes.– Gold codes use 2 generator polynomials.
• Three types are used by GPS– C/A, P and Y
PRN Codes: first 100 bits
PRN Code properties
• High Autocorrelation value only at a phase shift of zero.
• Minimal Cross Correlation to other PRN codes, noise and interferers.
• Allows all satellites to transmit at the same frequency.
• PRN Codes carry the navigation message and are used for acquisition, tracking and ranging.
PRN Code Correlation
Non-PRN Code Correlation
Schematic of C/A-code acquisition
Since C/A-code is 1023 chips long and repeats every 1/1000 s, it is inherently ambiguous by 1 msec or ~300 km.
BASIC GPS MEASUREMENT: PSEUDORANGE
( )
= time of reception as observed by the receiver
= time of transmission as generated by the satellite
su
u
s
c t t
t
t
ρ = −
• Receiver measures difference between time of transmission and time of reception based on correlation of received signal with a local replica
The measured pseudorange is not the true range between the satellite and receiver. That is what we clarify with the observable equation.
PSEUDORANGE OBSERVABLE MODEL
( )( )
1 1 1 1
2 2 2 2
1
2
= pseudorange measured on L1 frequency based on code
= pseudorange measured on L2 frequency based on code
= geometrical range from satellit
su
su
R c t t T I M
R c t t T I M
R
ρ ρ ρ
ρ ρ ρ
ρ δ δ ε
ρ δ δ ε
ρ
ρ
= + − + + + +
= + − + + + +
1/ 2
1/ 2
1/ 2
e to user
= user/receiver clock error
= satellite clock error
= tropospheric delay
= ionospheric delay in code measurement on L1/2
= multipath delay in code measurement on L1/2
=
u
s
s u
t
t
T
I
Mρ
ρ
ρ
δ
δ
ε other delay/errors in code measurement on L1/2
CARRIER PHASE MODEL( )( )
1 1 1 1 1 1 1
2 2 2 2 2 2 2
1
2
= carrier phase measured on L1 frequency (C/A or P(Y) parts)
= carrier phase measured on L2 frequency
= geometrical range fr
su
su
R c t t T I M N
R c t t T I M N
R
ρ φ φ
ρ φ φ
φ λ δ δ λ ε
φ λ δ δ λ ε
φ
φ
= + − + − + + +
= + − + − + + +
1 2
1 2
om satellite to user
= user/receiver clock error
= satellite clock error
= tropospheric del
code measurement
ay
, = ionospheric delay in on L1/2
, = multipath delay in carrier phase m
u
s
s u
t
t
T
I I
M Mρ ρ
φ φ
δ
δ
1 2
1 2
1 2
easurement on L1/2
, = carrier phase bias or ambiguity
, = carrier wavelength
, = other delay/errors in carrier phase measurement on L1/2
N N
φ φ
λ λ
ε ε
COMPARE PSEUDORANGE and CARRIER PHASE
• bias term N does not appear in pseudorange • ionospheric delay is equal magnitude but opposite sign • troposphere, geometric range, clock, and troposphere errors
are the same in both • multipath errors are different (phase multipath error much
smaller than pseudorange) • noise terms are different (factor of 100 smaller in phase data)
( )( )
1 1 1 1
1 1 1 1 1 1 1
su
su
R c t t T I M
R c t t T I M N
ρ ρ ρ
ρ φ φ
ρ δ δ ε
φ λ δ δ λ ε
= + − + + + +
= + − + − + + +
Atmospheric Effects
• Ionosphere (50-1000 km)– Delay is proportional to number of electrons
• Troposphere (~16 km at equator, where thickest)– Delay is proportional to temp, pressure, humidity.
Vertical Structure of Atmosphere
Tropospheric effects• Lowest region of the atmosphere – index of refraction = ~1.0003 at
sea level• Neutral gases and water vapor – causes a delay which is not a
function of frequency for GPS signal• Dry component contributes 90-97%• Wet component contributes 3-10%• Total is about 2.5 m for
zenith to 25 m for 5 deg
At lower elevation angles, the GPS signal travels through more troposphere.
Tropospheric effects
Dry Troposphere Delay
Saastamoinen model:• P0 is the surface pressure (millibars)• f is the latitude• h is the receiver height (m)
Hopfield model:• hd is 43km
• T0 is temperature (K)
Mapping function:• E – satellite elevation
( )3, 02.277 10 1 0.0026cos 2 0.00028z dT h Pφ−= × + +
6 0,
0
77.6 105d
z d
P hT
T−= ×
10.00143
sintan 0.0445
dmE
E
=+
+
~2.5 m at sea level
1 (zenith) – 10 (5 deg)
Wet Troposphere Correction
Less predictable than dry part, modeled by:
Saastamoinen model:
Hopfield model:
• hw is 12km
• e0 is partial pressure of water vapor in mbar
Mapping function:
3, 0
12552.277 10 0.05z wT e
T− ⎛ ⎞= × +⎜ ⎟⎝ ⎠
0, 2
0
0.3735w
z w
e hT
T=
10.00035
sintan 0.017
dmE
E
=+
+
0 – 80 cm
Examples of Wet Zenith Delay
Ionosphere effects• Pseudorange is longer – “group delay”
• Carrier Phase is shorter – “phase advance”
( )( )
( )( )
( )
1 1 1 1
2 2 2 2
1 1 1 1 1 1 1
1 2 2 2 2 2 2
2
1 1 1 1 1 1 1
1
40.3
sL u L L L
sL u L L L
sL u L L L
sL u L L L
sL u L L L
R c t t I T MP
R c t t I T MP
R N c t t I T MP
R N c t t I T MP
TECI I
f
R N c t t I T MP
ρ ρ ρ
ρ ρ ρ
φ φ φ
φ φ φ
ρ φ
ρ φ φ
ρ δ δ ε
ρ δ δ ε
λ φ λ δ δ ε
λ φ λ δ δ ε
λ φ λ δ δ ε
λ
= + − + + + +
= + − + + + +
= − + − + + + +
= − + − + + + +
⋅≈ − ≈
= − + − − + + +
( )2 2 2 2 2 2s
L u L L LR N c t t I T MPρ φ φφ λ δ δ ε= − + − − + + +
TEC = Total Electron Content
28
Determining Ionospheric Delay
( )
( )
( )( )
22
1 2 12 21 2
21
2 2 12 21 2
2 21 2
2 12 21 2
Ionospheric delay on L1 pseudorange
Ionospheric delay on L2 pseudorange
40.3
L L L
L L L
L L
fI
f f
fI
f f
f fTEC
f f
ρ
ρ
ρ ρ
ρ ρ
ρ ρ
= −−
= −−
= −−
Where frequencies are expressed in GHz, pseudoranges are in meters, and TEC is in TECU’s (1016 electrons/m2)
Ionosphere maps
30
Ionosphere-free Pseudorange
( )2
21 2 12 2
1 2
2 21 2
" 3" 1 22 2 2 21 2 1 2
1 2
Ionospheric delay on L1 pseudorange
Ionosphere-free pseudorange
2.546 1.546
L L L
IF L L L
IF L L
fI
f f
f f
f f f f
ρ ρ ρ
ρ ρ ρ ρ
ρ ρ ρ
= −−
= = −− −
= −
Ionosphere-free pseudoranges are more noisy than individual pseudoranges.
Multipath
• Reflected signals– Can be mitigated
by antenna design– Multipath signal
repeats with satellite orbits and so can be removed by “sidereal filtering”
Standard Positioning Error BudgetSingle Frequency Double Frequency
Ephemeris Data 2 m 2 m
Satellite Clock 2 m 2 m
Ionosphere 4 m 0.5 – 1 m
Troposphere 0.5 – 1 m 0.5 – 1 m
Multipath 0-2 m 0-2 m
UERE 5 m 2-4 m
UERE = User Equivalent Range Error
Intentional Errors in GPS
• S/A: Selective availability– Errors in the satellite orbit or clock– Turned off May 2, 2000
With SA – 95% of points within 45 m radius. SA off, 95% of points within 6.3 m
• Didn’t effect the precise measurements used for tectonics that much. Why not?
Intentional Errors in GPS
• A/S: Anti-spoofing– Encryption of the P code (Y code)– Different techniques for dealing with A/S
• Recover L1, L2 phase• Can recover pseudorange (range estimated using P-
code)• Generally worsens signal to noise ratio
AS Technologies Summary Table
Trimble 4000SSi
Ashtech Z-12 & µZ
From Ashjaee & Lorenz, 1992
PSEUDORANGE OBSERVABLE MODEL
( )( )
1 1 1 1
2 2 2 2
1
2
= pseudorange measured on L1 frequency based on code
= pseudorange measured on L2 frequency based on code
= geometrical range from satellit
su
su
R c t t T I M
R c t t T I M
R
ρ ρ ρ
ρ ρ ρ
ρ δ δ ε
ρ δ δ ε
ρ
ρ
= + − + + + +
= + − + + + +
1/ 2
1/ 2
1/ 2
e to user
= user/receiver clock error
= satellite clock error
= tropospheric delay
= ionospheric delay in code measurement on L1/2
= multipath delay in code measurement on L1/2
=
u
s
s u
t
t
T
I
Mρ
ρ
ρ
δ
δ
ε other delay/errors in code measurement on L1/2
EXAMPLE OF PSEUDORANGE (1)
( )1 1 1 1s
uR c t t T I Mρ ρ ρρ δ δ ε= + − + + + +
EXAMPLE OF PSEUDORANGE (2)
GEOMETRIC RANGE
• Distance between position of satellite at time of transmission and position of receiver at time of reception
( ) ( ) ( )2 2 2s s su u uR x x y y z z= − + − + −
PSEUDORANGE minus GEOMETRIC RANGE
• Difference is typically dominated by receiver clock or satellite clock.
( )1 1 1 1s
uR c t t T I Mρ ρ ρρ δ δ ε− = − + + + +
L1 PSEUDORANGE - L2 PSEUDORANGE
• Differencing pseudoranges on two frequencies removes geometrical effects, clocks, troposphere, and some ionosphere
( )( )
1 1 1 1
2 2 2 2
1 2 1 2 1 2 1 2
su
su
R c t t T I M
R c t t T I M
I I M M
ρ ρ ρ
ρ ρ ρ
ρ ρ ρ ρ ρ ρ
ρ δ δ ε
ρ δ δ ε
ρ ρ ε ε
= + − + + + +
= + − + + + +
− = − + − + −
Geometry Effects: Dilution of Precision (DOP)
Good Geometry Bad Geometry
Dilution of Precision
€
VDOP =σ h
HDOP = σ n2 +σ e
2
PDOP = σ n2 +σ e
2 +σ h2
TDOP =σ t
GDOP = σ n2 +σ e
2 +σ h2 + c 2σ t
2
Covariance is purely a function of satellite geometry
Dilution of Precision
Positioning
• Most basic: solve system of range equations for 4 unknowns, receiver x,y,z,t
P1 = ( (x1 - x)2 + (y1 - y)2 + (z1 - z)2 )1/2 + ct - ct1
…P4 = ( (x4 - x)2 + (y4 - y)2 + (z4 - z)2 )1/2 + ct - ct4
• Linearize problem by using a reference, or a priori, position for the receiver– Even in advanced software, need a good a priori position
to get solution.
Positioning vs. Differential GPS
• By differencing observations at two stations to get relative distance, many common errors sources drop out.
• The closer the stations, the better this works• Brings precision up to mm, instead of m.
Single Differencing
• Removes satellite clock errors• Reduces troposphere and ionosphere delays to differential between two sites • Gives you relative distance between sites, not absolute position
€
ΔLABj = ΔρAB
j + cΔτ AB + ΔZABj − ΔIAB
j + ΔBABj
Double Differencing
€
∇ΔLABjk =∇ΔρAB
jk +∇ΔZABjk −∇ΔIAB
jk + λ∇ΔNABjk
• Receiver clock error is gone• Random errors are increased (e.g., multipath, measurement noise)• Double difference phase ambiguity is an integer
€
ΔLABj = ΔρAB
j + cΔτ AB + ΔZABj − ΔIAB
j + ΔBABj
ΔLABk = ΔρAB
k + cΔτ AB + ΔZABk − ΔIAB
k + ΔBABk
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 packages will– Estimate integer ambiguities
• Reduces rms of East component significantly
– Model physical processes that effect precise positioning, such as those discussed so far plus
• Solid Earth Tides• Polar Motion, Length of Day• Ocean loading• Relativistic effects• Antenna phase center variations
High precision GPS for Geodesy• Produce daily
station positions with 2-3 mm horizontal repeatability, 10 mm vertical.
• Can improve these stats by removing common mode error.