DCG50173 GEODESY 2

5.0 Positioning with GNSS

5.1 Concept of GNSS SYSTEM
 The Global Positioning System (GPS) @GNSS Global
Navigation Statellite System is a navigational or positioning
system developed by the United States Department of
Defense.

 GNSS refers to a constellation of satellites providing signals from

space that transmit positioning and timing data to GNSS receivers. The
receivers then use this data to determine location.

 It was designed as a fast positioning system for 24 hour a

day, three dimensional coverage worldwide.

 It is based on a constellation of 21 active and 3 spare

satellites orbiting 10,900 miles above the earth.

 The NAVigation Satellite with Time And Ranging GPS

(NAVSTAR) satellites have an orbital period of 12 hours and
are not in geosynchronous orbit (they are not stationary over
a point on the earth).
BASIC CONCEPT
 if the distances from a point on the
LOCATE THE POSITIONING
earth (GPS receiver ) to 3 GPS
WITH ARTIFICIAL
satellites are known along the satellites
SATELLITES
locations, then the location of the point
can be determine by concept of
Resection.
 Only three distances to three simultaneously tracked satellites are
needed.
In this case, the receiver would be located at the intersection of
three spheres; each has a radius of one receiver-satellite distance
and is centered on that particular satellite
From a practical point of view, a fourth satellite is needed to account
for the receiver clock offset
 Basic principle of GPS
•A typical conventional survey establishes positions of unknown
points by occupying a known point and measuring to the
unknown points.
•We occupy the unknown point and measure to known points.
Components of GPS
A) Segment Satellite

 GPS satellites fly in medium Earth orbit (MEO)

at an altitude of approximately 20,200 km.
 Each satellite circles the Earth twice a day.
 The satellites in the GPS constellation are
arranged into six equally-spaced orbital planes
surrounding the Earth.
 Each plane contains four "slots" occupied by
baseline satellites.
 This 24-slot arrangement ensures there are at
least four satellites in view from virtually any
point on the planet.
 Satellites in orbital planes at an inclination of 55
degrees. ( ROCKWELL INTERNATIONAL(now Boeing))
 The Block I
satellites were the experimental satellites launched
between 1978 and 1985 used to test the system.
Eleven (11) were launched, none functioning.
 The Block II
satellites comprise the first nine spacecraft of the
operational series.

 In June 2011, the Air Force successfully completed a GPS constellation expansion
known as the "Expandable 24" configuration.
 Three of the 24 slots were expanded, and six satellites were repositioned, so that
three of the extra satellites became part of the constellation baseline.
 As a result, GPS now effectively operates as a 27-slot constellation with improved
coverage in most parts of the world.
The Block IIA
 satellites comprise the second 19 spacecraft
of the operational series.
 is an upgraded version of the GPS Block II
satellites launched in 1989-1990.
 The "II" refers to the second generation of
GPS satellites, although Block II was actually
the first series of operational GPS satellites.
 The "A" stands for advanced.
 Space Vehicle Number (SVN) 22 through
SVN-40
 The first IIA was launched in November 1990,
and the last launch occurred in November
1997.
The Block IIR
 The IIR series were produced to replace the II/IIA
series.
 The "R" in Block IIR stands for replenishment.
 Developed by Lockheed Martin
 the production consisted of a total of 13 satellites:
SVN-41 through SVN-47, SVN-51, SVN-54, SVN-
56, and SVN-59 though SVN-61.
 The first successful launch occurred in July 1997,
and the last in November 2004.
 As of August 2013, there were 12 IIR satellites in the
GPS constellation, forming the backbone of today's
GPS along with the IIR(M) series.
The Block IIR(M)

 The IIR(M) series of satellites are an

upgraded version of the IIR series,
completing the backbone of today's GPS
constellation.
 The "M" in IIR(M) stands for modernized,
referring to the new civil and military GPS
signals added with this generation of
spacecraft.
GPS Block IIF
 The IIF series expand on the capabilities of the
IIR(M) series with the addition of a third civil
signal in a frequency protected for safety-of-
life transportation.
 The "F" in IIF stands for follow-on. Compared
to previous generations, GPS IIF satellites
have a longer life expectancy and a higher
accuracy requirement.
 Each spacecraft uses a mix of rubidium and
cesium atomic clocks to keep time within 8
billionths of a second per day.
 The IIF series will improve the accuracy, signal
strength, and quality of GPS.
GPS Block III
 Currently under development by Lockheed Martin,
the GPS III series is the newest block of GPS
satellites (SVN-74 and up).
 GPS III will provide more powerful signals in addition
to enhanced signal reliability, accuracy, and integrity
-- all of which will support precision, navigation, and
timing services.
 As of April 2013, GPS III Satellite Vehicles (SVs) 03-
08 are in the Production and Deployment Phase.
 15-year design lifespan.
 Future versions will feature increased capabilities to
meet demands of military and civilian users alike.
 B) Control segment
❑ Control segment consists of a global network of ground
facilities that track the GPS satellites, monitor their transmissions,
perform analyses, and send commands and data to the constellation.

❑ The current operational control segment includes a master control

station, an alternate master control station, 12 command and control
antennas, and 16 monitoring sites.

❑The locations of these facilities are shown in the map below.

Master Control Station (MCS)
 ….in Colorado is where 2nd Space Operations
Squadron (2SOPS) performs the primary control
segment functions, providing command and control
of the GPS constellation.
 The MCS generates and uploads navigation
messages and ensures the health and accuracy of
the satellite constellation.
 It receives navigation information from the monitor
stations, utilizes this information to compute the
precise locations of the GPS satellites in space, and
then uploads this data to the satellites
 MCS to perform satellite maintenance and anomaly
resolution
Monitor Stations
✓ track the GPS satellites as they pass
overhead and channel their observations
back to the master control station.
✓ collect atmospheric data, range/carrier
measurements, and navigation signals.
✓ The sites utilize sophisticated GPS
receivers and are operated by the MCS.
✓ There are 16 monitoring stations located
throughout the world, including six from the
Air Force and 10 from the National
Geospatial-Intelligence Agency (NGA).
Ground Antennas
 Ground antennas are used to communicate with the GPS
satellites for command and control purposes.

 These antennas support S-band communications links that

send/transmit navigation data uploads and processor program
loads, and collect telemetry.

 The ground antennas are also responsible for normal command

transmissions to the satellites.

 There are four dedicated GPS ground antenna sites co-located

with the monitor stations at Kwajalein Atoll, Ascension Island,
Diego Garcia, and Cape Canaveral.

 In addition, the control segment is connected to the eight Air

Force Satellite Control Network (AFSCN) remote tracking
stations worldwide, increasing visibility, flexibility, and
robustness for telemetry, tracking, and command.
C) User segment
5.2 DEVELOPMENT OF GPS
HISTORY & DEVELOPMENT OF GPS

NAVSTAR GPS 1993-fully operational

 Development work on GPS commenced in 1973
as a result of the merger of several R&D
programs within the U.S. Department of
Defense, namely the Navy's "TIMATION" project,
and the Air Force's "621B" project.
 The first satellite was launched in 1978.
The GLONASS System
 Created by Russian which equivalent to the
GPS system
Others GPS System
 The compass system (China)
 Galileo (europe)
 DORIS (Doppler Orbitography and
radiopositioning integrated by Satellite)-
France
 Indian Regional navigation Satellite
System(IRNSS)
 Quasi-Zenith Satellite System(QZSS)
APPLICATIONS OF USING GPS IN
GEOSPATIAL ENVIRONMENT
 GPS supports the accurate mapping
and modeling of the physical world —
from mountains and rivers to streets and
buildings to utility lines and other
resources.
 Features measured with GPS can be
displayed on maps and in geographic
information systems (GIS) that store,
manipulate, and display geographically
referenced data.
 My-RTK net --JUPEM has successfully
established both active and passive GNSS
networks to replace the old triangulation
networks in Malaysia.
 These new networks will facilitate the
development and enhancement of various
surveying and mapping activities and meet
the requirements of all types of users,
ranging from the novice to the scientists.
MALAYSIA REAL-TIME KINEMATIC
GNSS NETWORK (MyRTKnet)
 Beginning 2002, JUPEM has established a network known as the
Malaysia Real-Time Kinematic GNSS Network or MyRTKnet that
uses a new generation of RTK solution known as Virtual Reference
Station (VRS).
 MyRTKnet is based on a network of GPS reference stations
continuously connected via tele-communication network to the
control centre, situated at JUPEM headquarters in Kuala Lumpur.
 By the end of 2008, Malaysia has seventy-eight (78) RTK reference
stations for the network with fifty (50) stations covering the whole
Peninsular Malaysia, apart from fourteen (14) stations each covering
Sabah and Sarawak.
 The spacing between stations ranges from 30 to 100 km.
 Each station is equipped with either a Trimble 5700 or a NetR5
GPS receiver, antenna, power supply and modem to communicate
with the central facility via Internet Protocol Virtual Private Network
(IPVPN) communication infrastructure

 The central facility at JUPEM headquarters in Kuala Lumpur

continuously gathers the information from GPS receivers at all
MyRTKnet stations and creates a living database of regional area
corrections.

 With MyRTKnet, a virtual reference station will be established for

any single roving GPS user near the survey area.

 It also models the spatial errors that limit GPS accuracy through a
network solution and in turn generates corrections for the roving
GPS users to be positioned anywhere inside the network with an
accuracy better than a few centimetres to a few decimetres in real-
time.

 A website is also available to enable downloading of GPS data for

postprocessing solutions.
GPS Positioning Techniques
Preparation before fieldwork

1) Planning
-Logistical consideration, connection to control, standards &
specification for GPS surveys, number of receivers parties, site
selection, observation schedule, etc
2) Reconnaissance
-Satellite visibility & availability, site conditions & access, station
marking, etc
3) Field Procedures
The equipment checklist, on-site procedures
4) Post-processing & result presentation
- Baseline processing, minimally constrained solutions, fitting GPS
-network results to geodetic control, QC, heights, etc
GPS survey method
 Static
 Rapid static
 Stop & GO
 Reoccupation
 RTK(Real time Kinematic)
STATIC METHOD
• One receiver, the base receiver, is set up over a point with
precisely known coordinates or known point.
• The other receiver, the remote receiver, is set up over a
point whose coordinates are sought (sometimes referred to
as the unknown point).
• The base receiver can support any number of remote
receivers, as long as a minimum of four common satellites
is visible at both the base and the remote sites.
• The observation, or occupation, time varies from about 20
minutes to a few hours, depending on the distance between
the base and the remote receivers
• The measurements are usually taken at a recording interval
of 15 or 20 seconds, or one sample measurement every 15
or 20 seconds.
• After completing the field measurements, the collected
data is downloaded from the receivers into the PC for
processing. Different processing options may be selected
depending on the user requirements, the baseline length,
and other factors. For example, if the baseline is relatively
short, say, 15 or 20 km, resolving the ambiguity parameters
would be a key issue to ensure high-precision positioning.
On-Site Procedures: A Checklist
 GPS receiver initialisation procedures.
 Set-up and orientation of antenna.
 Correct cable connection of antenna to receiver, receiver to battery,
etc.
 Double (and triple) checking of centring and antenna height
measurement.
 Receiver startup procedure, for example entry of site number,
height of antenna, etc.
 Start of tracking.
 Survey of eccentric station.
 Temperature, pressure and humidity measurements (if required).
 Monitoring receiver operation and data recording.
 Field log entries.
 Photographs of point occupancy.
 Procedures at completion of session, for example
communication, data transfer to P.C.
 Instructions in event of receiver problems,
contingency plans, etc.
 To use an RTK system, it is necessary to establish
a single or series of base stations on site.
 It is a carried out in real time.
 The Reference Station has a radio link attached
and rebroadcasts the data it receives from the
satellites.
 The Rover also has a radio link and receives the
signal broadcast from the Reference.
 the Rover also receives satellite data directly from
the satellites via it’s own GPS Antenna.
 These two sets of data can be processed together
at the Rover to resolve the ambiguity and
therefore obtain a very accurate position relative to
the Reference receiver.
 Then, set up the station at secure location.
 Once the Reference Receiver has been set up
and is broadcasting data through the radio link,
the Rover Receiver can be activated.
 When it is tracking satellites and receiving data
from the Reference, it can begin the initialization
process.
 This is similar to the initialization performed in a
post-processed kinematic on the fly survey, the
main difference being that it is carried out in
real-time.
 Once the initialization is complete, the
ambiguities are resolved and the Rover can
record point and coordinate data.
 At this time, baseline accuracies will be in the 1
- 5cm range.
 It is important to maintain contact with the
Reference Receiver, otherwise the Rover may
lose the ambiguity.
 This results in a far less accurate position being
calculated.
 Additionally, problems may be encountered
when surveying close to obstructions such as
tall buildings, trees etc. as the satellite signal
may be blocked.
 RTK is quickly becoming the most common
method of carrying out high precision, high
accuracy GPS surveys in small areas and
can be used for similar applications as a
conventional total station.
 This includes detail surveying, stakeout, etc.
GPS Data Processing
HARDWARE FOR ROVER GPS SYSTEM.
 In order to receive MyRTKnet corrections,
users need to have a GPS rover system,
which should consist of the following:
• GPS receiver with firmware and controller
• Data-logger
• Mobile phone with GSM or GPRS service
 The hardware requirements to enable the
use of various services of MyRTKnet are
listed in Table 3.
5.3 TRANSFORMATION COORDINATES
 Datum transformation is a computational process of
converting a position given in one coordinate reference
system into the corresponding position in another
coordinate reference system.
 It requires and uses the parameters of the
transformation and the ellipsoids associated with the
source and target coordinate reference systems.
 The transformation parameter values associated with
the transformation can be determined empirically from
a measurement or a calculation process.
 The parameters are computed based on coordinates of
control stations which are common to different datums.
 They are generated through least square analysis
using various models accepted by the global
geodetic community
 Datum transformation can be accomplished by
many different methods.
 A simple three parameter conversion can be
accomplished by conversion through Earth-Centred
Earth Fixed (ECEF) cartesian coordinates from one
reference datum to another by three origin offsets
that approximate differences in rotation, translation
and scale.
 A complete datum conversion is usually based on
seven parameter transformations, which include
three translation parameters, three rotation
parameters and a scale.
COORDINATE CONVERSION
Conversion between Geographical Coordinates and Cartesian
Coordinates

 The conversion of three-dimensional

coordinates from geographical to
cartesian or vice versa can be carried
out through the knowledge of the
parameters of an adopted reference
ellipsoid (Figure 2).
 The forward conversion from geodetic
coordinates (, ,h ) to cartesian
coordinate ( X,Y,Z ) is as follows:
 Bursa-Wolf Datum Transformation Formulae
❖ Bursa-Wolf formulae is a seven-parameter model for transforming three-
dimensional cartesian coordinates between two datums .
❖ This transformation model is more suitable for satellite datums on a global
scale (Krakwisky and Thomson, 1974).
❖ The transformation involves three geocentric datum shift parameters
( X ,  Y,  Z ), three rotation elements ( RX , RY , RZ ) and a scale factor
(1 + L ).