INTERNATIONAL SUMMER SCHOOL ON GNSS

GNSS Signals
Christopher J. Hegarty
The MITRE Corporation

Toulouse/Montauban, France, July 16 26, 2012

OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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Binary Phase Shift Keying (BPSK)

T0

carrier

Td

data bits, d(t)

(+1 or -1)
BPSK signal, s(t)
(180 deg phase
shift when data
bit changes)

=
f0= 1/T0 = carrier frequency (Hz)

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Rd= 1/Td = data rate (bits/s)

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Direct Sequence Spread Spectrum

T0

carrier
Tc

spread spectrum
waveform

Td

data waveform

modulated spread
spectrum signal

=
Rc= 1/Tc = chipping rate (chips/s)

Rd= 1/Td = data rate (bits/s)

f0= 1/T0 = carrier frequency (Hz)

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Autocorrelation and Power Spectrum

Let s(t) be a BPSK signal created with random data waveform d(t).
R()

Autocorrelation of data waveform:

R ( ) E d (t )d (t )

, Td
1
Td

0, else

-Td

Power spectrum:

S( f )

R( )e

j 2f

Td

S(f)

Td

sin 2 (fTd )
(fTd ) 2

-Rd

Rd

Power spectrum describes how total power in signal is distributed in frequency domain.
Note that ~90% of a BPSKs signal power is within +/-Rd Hz of carrier.
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Why Spread?
Direct sequence spreading allows precise

ranging
Use of different spreading waveforms for each
satellite can provide a multiple access capability
Multiple satellites can broadcast ranging signals at same
frequencies

Interference rejection

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DSSS Autocorrelation
Tc
Received
signal:

+1
-1

-1

Receiver
replica:

Autocorrelation
Received
signal

Integrate &
Dump

Receiver
replica
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Out

Out

-Tc

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Tc

DSSS Cross-correlation
Tc
Received
signal (SV
j):

+1
-1

-1

Receiver
replica (SV
kj):
Received
signal

Integrate &
Dump

Out

Cross-correlation
Out

Receiver
replica

One code selection goal is to select codes for each satellite to minimize cross-correlation.
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Pseudorandom Sequences
Sequence of bits generated at chip rate to
produce spread spectrum waveform

Periodic for open (unencrypted) signals, aperiodic

for encrypted signals

Desired attributes:

Good autocorrelation and cross-correlation

properties low amplitude sidelobes
Balanced equal number of ones and zeros

Also known as pseudorandom noise (PRN)

sequences, spread spectrum sequences
Often generated with linear feedback shift
registers (LFSRs)
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LFSR Example
State

One Code Period

Code length = 24 - 1 = 15
G(x) = 1 + x1 + x4
Note: state (0,0,0,0) does not occur
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Code repeats

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1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1

1
1
0
1
0
1
1
0
0
1
0
0
0
1
1
1
1

2
1
1
0
1
0
1
1
0
0
1
0
0
0
1
1
1

3
1
1
1
0
1
0
1
1
0
0
1
0
0
0
1
1

4
1
1
1
1
0
1
0
1
1
0
0
1
0
0
0
1

11

Some PRN Sequence Families

m is an arbitrary positive integer

Source: No and Kumar, IEEE Trans. Info. Theory, March 1989.
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Binary Offset Carrier Modulation

Carrier

Spreading code
Tsq

Square wave

Data

BOC signal*

fsq= 1/Tsq = subcarrier frequency (Hz)

By convention, BOC(m,n) refers to a binary offset carrier modulation with m 1.023 MHz
square wave subcarrier frequency and a n 1.023 MHz chipping rate.
*Shown at baseband, i.e., without carrier.

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Sine-phased vs Cosine-Phased BOC

Spreading code
Square wave

Sine-phasing

Spreading code
Square wave

Cosine-phasing
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Multiplexing

Many GNSS satellites broadcast two or more

signals on each carrier frequency

So that efficient switching-class amplifiers can
be used on the spacecraft, multiplexing
techniques that maintain constant envelope are
preferred
Such techniques include:
Phase quadrature for two signals on a carrier frequency, one
multiplies a sine the other a cosine
Interplexing for three signals (Butman and Timor, IEEE Trans
Comm., 1972)
Majority vote for any odd number of signals
Time division multiplexing
Alternative BOC (ALTBOC)

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Constant Envelope
Constant envelope

Not constant envelope

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Dataless (Pilot) Components

Many modern GNSS signals include a component

that is not modulated by navigation data

Both signal components are still modulated by a PRN

Motivation allows carrier phase to be tracked

using a phase locked loop (PLL) instead of a
Costas loop

A PLL can reliably track in 6 dB lower signal-to-noise ratio (SNR)

conditions
So, if one-half of the signal power is devoted to a dataless
component, there is a net 3 dB SNR benefit
Data demodulation suffers a power loss, but this can be overcome
by forward error correction

Data-modulated and dataless components are

multiplexed on same carrier

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Secondary Codes

Secondary codes with lengths up to 1800 bits are

used in many modern GNSS signal designs

Each repetition of the spreading waveform is kept as is or

inverted following a deterministic pattern
Also referred to as synchronization code

Benefits:
Reduces cross-correlation between signals
Helps receiver synchronize with data bits
Reduces impact of narrowband interference

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Polarization
Current and planned GNSS signals are right

hand circularly polarized (RHCP)

User antenna should be also

+
+
+
-

+
+
+

E-field

Linear Polarization

0
1

RHCP
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Relativistic Effects

GNSS satellite clocks are set slow to appear at the desired

frequencies to an observer on the ground.
Source: Ashby, N., www.livingreviews.org
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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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GPS Navigation Signals

Today - 2 navigation frequencies, 3 signals
L1 = 1575.42 MHz (154 10.23 MHz)
Coarse Acquisition (C/A) code
Precision (P(Y)) code

L2 = 1227.6 MHz (120 10.23 MHz)

P(Y) code

Future - 3 navigation frequencies, 8 signals

L1 C/A, C, P(Y), and M-code
L2 C, P(Y), and M-code
L5 = 1176.45 MHz (115 10.23 MHz)
L2C,

M-code, and L5 are being broadcast by a growing subset of the satellites in the
GPS constellation.
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GPS Signal Evolution

L5

L2

L1
C/A

P(Y)

P(Y)

Present Signals

L2C

Signals After
Modernization

L1C
M

P(Y)

1176 MHz

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C/A

1227 MHz

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P(Y)

1575 MHz

23

GPS Spreading Codes

Signal

Chipping Rate
(Mchip/s)

Carrier frequency
(MHz)

C/A

1.023

1575.42 (L1)

1023 chip Gold codes repeat

every 1 ms

L2C

1.023

1227.6 (L2)

2 codes per SV each at 511.5

kHz, future

P(Y)

10.23

L1 and L2

Repeats 1/week. When Pcode is encrypted, referred to

as Y-code

L5

10.23

1176.45 (L5)

5.115

L1 and L2

L1C

1.023

L1

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Comments

2 codes per SV, future

BOC(10,5) modulation
future
BOC(1,1)/BOC(6,1) - future

24

Signal Power Spectra

Normalized Power Spectrum (W/Hz)

x 10

-6

0.9

C/A or L2C

0.8
0.7
0.6
L1C

0.5
0.4
0.3

P(Y)-code

0.2

M-code

0.1
0
-15

-10

-5

10

15

Offset from Carrier Frequency (MHz)

Notes:

(1) C/A codes actually have line spectra - continuous approximation shown.
(2) L5 signal spectrum resembles P(Y), except that L5 is also a line spectrum.

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C/A Code (PRN2) Spectrum

-20

-30

Power Spectral Density (dBc/Hz)

-40

-50

-60

-70

-80

-90

-100

100

200

300

400

500

600

700

800

900

1000

1100

1200

1300

1400

1500

1600

1700

1800

1900

2000

Frequency Offset from L1 (kHz)

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Spacecraft Signal Generation

Atomic clocks

Frequency Synthesizer
(10.23 MHz)

C/A

Navigation Data
Unit

P(Y)

L1 modulator/
Power Amplifiers/
Synthesizer
L2 modulator/
Power Amplifiers/
Synthesizer

Phased
array
antenna

Combiner

Nuclear detonation
detection
signal (L3)

Timing for all signals derived from 10.23 MHz atomic clock-based frequency
synthesizer. Note that C/A and P(Y) are in quadrature on L1.
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C/A Code Generation

G 1 GENERATOR
+
1

G 1 = ---10101111111111

10

SHIFT REGISTER
1.023
MBPS
CLOCK

SET TO
"ALL
ONES"

PHASE
SELECTOR
G 2i

S1

GOLD CODE
XG i (t)
C/A CODE

XG 2
C/A CODE

S2
SHIFT REGISTER

+
G 2 GENERATOR

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10

G 2 = ---01001111111111
G EPOCH
1kBPS

1023
DECODE

20

50 BPS
DATA
CLOCK

28

C/A Code Timing Relationships

X1 Epoch @ 2/3 bps

1023

1023

1023

1023

1023 BIT Gold Code @ 1023 kbps

0

18

1023

etc.

1 ms
19

Gold Code Epochs @ 1000/s

Data @ 50 cps

20 ms

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P-code Generation

Generator based on four

12-stage shift registers
10.23 Mchips per second
Reset once/week
For details, see Interface
Specification IS-GPS-200F

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Received Minimum Signal Levels

RECEIVED POWER OUT OF 3 dBil USER ANTENNA (dBW)

-155.5

C/A - L1

-158.5

P - L1

-161.5

P - L2 or

-164.5

0o 5o

C/A - L2

20o

40o

60o

80o

90o

100o

USER ELEVATION ANGLE (DEG)

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Typical GPS L1 C/A Link Budget

Power in dBW = 10 log10 (Power in W)
Power in dBm = 10 log10 (Power in mW)
1 mW = 0.001 W = 0 dBm = -30 dBW

Transmit power:
40 W
= 16 dBW
Antenna gain:
12 dB

Free space
path loss:
-184.7 dB

Received Signal:
2 10-16 W
= -157 dBW

Thermal Noise
(2 MHz bandwidth):
1.4 10-14 W
= -138.5 dBW

EARTH

Received signal power is less than the thermal noise power in the receiver.
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C/A and P(Y) Navigation Data

Each subframe is 300 bits (6 s @ 50 bps). Entire message repeats every 12.5 min
(5 subframes 300 bits/subframe 25 pages = 37500 bits/message)
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L2C Characteristics Summary

L2 = 1227.6 MHz
Minimum received power = -160 dBW
PRN code chipping rate = 511.5 kHz for each
of two codes
Time Division Multiplexed (TDM) Signal

Chip by chip multiplexing of two PRN sequences

Total chip rate: 1.023 MHz

Specification: IS-GPS-200F

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L2 Civil Signal Definitions

L2C the L2 civil signal
CM the L2C moderate length code
10,230 chips, 20 milliseconds

CL the L2C long code

767,250 chips, 1.5 second

NAV the legacy navigation message

provided by C/A and P(Y)

CNAV improved L2C and L5 navigation
data message format and contents

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IIF L2C Signal Generation

L5-Like CNAV
Message
25 bits/sec

Rate 1/2 FEC

Legacy NAV
Message
50 bits/sec

10,230 Chip
Code Generator
511.5 kHz Clock
767,250 Chip
Code Generator
1/2

CM
Code

CL
Code

Chip by Chip
Multiplexer

B2

A1

B1

A2

Transmitted
Signal

C/A Code
Generator
1.023 MHz
Clock

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L2C Code Characteristics

Codes are disjoint segments of a longperiod maximal length code

27-stage linear feedback shift register with

multiple taps is short-cycled to get desired
period
Selected to have perfect balance

Separate shift registers for each of the two

codes
1 cycle of CL & 75 cycles of CM every 1.5 s

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L2C Code Generator

DELAY
NUMBERS

3
OUTPUT

INITIAL CONDITIONS ARE A FUNCTION OF PRN AND CODE PERIOD (MODERATE/LONG)

SHIFT DIRECTION

Linear shift register generator with 27 stages and 12 taps

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L5 Characteristics Summary

L5 = 1176.45 MHz
Minimum received power = -154.9 dBW
Code chipping rate = 10.23 MHz
QPSK Signal

In-Phase (I5) = Data Channel

Quadraphase (Q5) = Data-Free Channel
Equal Power in I5 and Q5 (-157.9 dBW)
Independent spreading codes on I5 and Q5

Specification: IS-GPS-705
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L5 Characteristics Summary (contd)

I and Q Modulation (1 kbps)
Forward Error Correction (FEC) encoded 50 bps data on I5
(100 sps)
Further encoded with 10-bit Neuman-Hofman Code

Q5 encoded with 20-bit Neuman-Hofman Code

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L5 Codes
Codes with 2 - 13 stage shift registers
Length of one (XA code) = 8190 chips
Length of second (XB code) = 8191 chips
Exclusive-ord together to generate longer code

Chipping rate of 10.23 MHz

Reset with 1 ms epochs (10,230 chips)

Two codes per satellite (4096 available)

One for I5, one for Q5

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L5 I and Q Code Generators

Exclusive OR
Reset to all 1s on next clock
1

10

11

12

13
Decode 1111111111101

All 1's
XA(t)

XA Coder
XBI State for SV i

XIi(t)

Code Clock
1 ms Epoch

XBI(t+niTc)

Initial XBI State

Reset

XQi(t)
1

10

11

12

13

Exclusive OR

XBQ(t+niTc)

XBI Coder
XBQ State for SV i
Initial XBQ State

10

11

12

13

Exclusive OR

XBQ Coder

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L5 Neuman-Hofman Codes
Encoded symbols and carrier
Modulate at PRN code epoch rate
Spreads PRN code 1 kHz spectral lines to 50 Hz spectral lines
(including FEC)
Reduces effect of narrowband interference by 13 dB
Reduces SV cross-correlation most of the time
Provides more robust symbol/bit synchronization

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10-ms Neuman-Hofman Code on I5

1.5

Neuman-Hoffman Code Value

0.5

0
0

10

-0.5

-1

-1.5

Code Delay - Milliseconds

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20-ms Neuman-Hofman Code on Q5

1.5

Neuman-Hoffman Code Value

0.5

0
0

10 11 12 13 14 15 16 17 18 19 20

-0.5

-1

-1.5

Code Delay - Milliseconds

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L5 Data Content and Format

Six-Second 300-bit Messages

Format with 24-bit cyclic redundancy code (CRC)
(same as satellite-based augmentation systems)
Convolutionally encoded: rate , length-7

Messages scheduled for optimum receiver

performance
Lined up with L1 sub-frame epochs

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M-code

Unlike current GPS signals, M-code is generated

with four components

10.23 MHz square wave, in addition to carrier, spreading

waveform, and data

Creates an effect similar to amplitude modulation

- double sideband (AM-DSB)

i.e., moves signal energy away from carrier to upper and lower
sidebands

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M-code Generation
Carrier (L1 or
L2)

5.115 Mchip/s
spreading code

10.23 MHz
square wave

Data

M-code signal*
*Shown at baseband, i.e., without carrier.

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M-code Autocorrelation
1
0.8
0.6

Autocorrelation

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-0.2

-0.15

-0.1

-0.05
0
0.05
Delay (microseconds)

0.1

0.15

0.2

Note the presence of multiple peaks due to the square wave subcarrier.
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L5, L2C, and M-code Nav Data

Improvements made to clock and ephemeris

representation
Clock resolution significantly enhanced
Legacy message resolution ~ .5 ns

Ephemeris
Resolution enhanced
Rate terms added for semi-major axis, mean motion, and
inclination improve curve fit

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L1C

New L1 civil signal on GPS IIIA+

Interoperable with GALILEO L1 signal

Modulation is multiplexing of BOC(1,1) and

BOC(6,1) symbols referred to as multiplexed

BOC (MBOC)
Planned features:
Dataless component, powerful forward error correction,
length-10230 PRN codes

Specified in IS-GPS-800

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L1C MBOC
25% Power Data Component

-55

C/A Code
BOC(1,1)

-60

TMBOC
BOC(1,1)

-65

Power Spectral Density (dBW/Hz)

BOC(6,1)

75% Power Pilot Component

Pilot f

29
BOC (1,1) f
33

Data f

Signal f

4
BOC (6,1) f
33

-70

-75

-80

-85

-90

-95
-15

BOC (1,1) f

-10

-5

10

15

Frequency (MHz)

3
1
Pilot f Data f
4
4
10
1

BOC (1,1) f
BOC (6,1) f
11
11

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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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Current GLONASS Signals

DSSS modulation
Frequency Division Multiple Access (FDMA)

scheme with multiple carriers in two sub-bands

f K 1 1602 K 0.5625 MHz
f K 2 7 / 9 f K1

Standard accuracy signal - 511 kHz chip rate,

length-511 maximal-length codes
High accuracy signal 5.11 MHz chip rate,
encrypted
Data at 50 bps, Manchester-encoded
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Standard Accuracy PRN Generation

See GLONASS Interface Control Document, version 5.1 for further signal details.
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Evolution of GLONASS Signals

L3
(1164 1215 MHz band)

Frequency (MHz)
L2 (~1238 1593)

L1 (~1593 1612)

GLONASS-K1 (launched Feb 2011) is broadcasting a test 10.23 MHz chip

rate CDMA signal at 1202.025 MHz. CDMA signals for L1, L2, L3 and
planned for future satellites.
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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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Galileo Frequency Bands

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Frequencies and Power Levels

Note that carrier frequencies were selected to be integer

multiples of 10.23 MHz for interoperability with GPS.

CS = Commercial Service
SoL = Safety of Life Service
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PRN Codes

E5 primary codes may be generated with LFSRs or stored

in memory
E1 primary codes are stored in memory
E6 codes are not disclosed in Galileo OS ICD

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E5 Signal Characteristics

E5 is a wideband signal, centered at 1191.795 MHz

Generated using alternative BOC (AltBOC) technique
Similar in appearance to two coherently generated DSSS
signals with 10.23 MHz chip rates and centered at +/15.345 MHz from 1191.795 MHz
E5a at 1176.45 MHz
E5b at 1207.14 MHz
E5a and E5b each have data and pilot components
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E6 Signal Characteristics

E6 includes 3 components: A (for Public Regulated

Service), B & C (for Commercial Service)
CS signal is DSSS modulated with 5.115 MHz chip rate
High rate data: 500 bps/1000 sps
Data and pilot components

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E1 Signal Characteristics

E1 includes 3 components: A (for Public Regulated

Service), B & C (for Open, Safety of Life, and Commercial
Services)
B&C components represent Galileos implementation of
MBOC (interoperable with GPS L1C)
Composite BOC (CBOC) technique used to achieve
mixture (in power) of 10/11 BOC(1,1) and 1/11 BOC(6,1)
Data (125 bps/250 sps) and pilot components (50-50%
power split)
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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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COMPASS Signals

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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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IRNSS Signal Characteristics

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OVERVIEW

Modulation basics
GPS signals
GLONASS signals
GALILEO signals
COMPASS signals
IRNSS signals
QZSS signals

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QZSS Signal Characteristics

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Summary of GNSS Signal Plans

GPS
(US)

GLONASS
(Russia)

L1

L2

L5

Future
CDMA
signal

Galileo
(Europe)
COMPASS
(China)

1170 1180 1190 1200 1210 1220 1230 1240 1250 1260 1270 1280 1290 1300
Frequency (MHz)

1560 1570 1580 1590 1600 1610

1170 1180 1190 1200 1210 1220 1230 1240 1250 1260 1270 1280 1290 1300
1170 1180 1190 1200 1210 1220 1230 1240 Frequency
1250 1260(MHz)
1270 1280 1290 1300
Frequency (MHz)

1560 1570 1580 1590 1600 1610

1560 1570 1580 1590 1600 1610

1170 1180 1190 1200 1210 1220 1230 1240 1250 1260 1270 1280 1290 1300
Frequency (MHz)
1210
1220
1230
1240
1250
1210 1220 1230 1240 1250 1260
1260 1270
1270 1280
1280 1290
1290 1300
1300
Frequency
Frequency (MHz)
(MHz)

1560 1570 1580 1590 1600 1610

IRNSS
(India)
QZSS
(Japan)

SBAS

ESA INTERNATIONAL
1170
1180
1190
1170 ON
1180 GNSS
1190 1200
1200
SUMMER SCHOOL

MITRE

Compass & IRNSS

1560
1570
1580
S-band
1560 In
1570
1580 1590
1590 1600
1600 1610
1610

References

1. Kaplan, E., and C. Hegarty (Eds.), Understanding GPS: Principles

2.
3.
4.
5.
6.
7.
8.

and Applications, 2nd Edition, Artech House, 2006.

Misra, P., and P. Enge, Global Positioning System: Signals,
Measurements, and Performance, 2nd Edition, Ganga-Jumana
Press, 2006.
GPS Interface Specifications, available from www.gps.gov
GALILEO Open Service Signal in Space Interface Control
Document, available from www.gsa.europa.eu
GLONASS Interface Control Document, available from
www.glonass-ianc.rsa.ru
COMPASS information from:
www.unoosa.org/pdf/icg/2010/ICG5/18october/04.pdf
IRNSS information from:
www.unoosa.org/pdf/icg/2010/ICG5/18october/05.pdf
QZSS ICD available from: qzss.jaxa.jp/is-qzss/index_e.html

ESA INTERNATIONAL
SUMMER SCHOOL ON GNSS

MITRE

72