Seminar On GPS: Part I Working of GPS/DGPS Part II Programming of GPS
Seminar On GPS: Part I Working of GPS/DGPS Part II Programming of GPS
G PS
– Epsilon:
errors imposed within the ephemeris data sent
in the broadcast message
Anti spoofing
• Here the P code is made un gettable by
converting it into the Y code.
• This problem is over come by cross
correlation
Errors
• Satellite errors
– Errors in modeling clock offset
– Errors in Keplerian representation of ephemeris
– Latency in tracking
• Atmospheric propagation errors
– Through the ionosphere,carrier experiences phase advance and
the code experiences group delay
• Dependent on
• Geomagnetic latitude
• Time of the day
• Elevation of the satellite
Errors
• Atmospheric errors can be removed by
– Dual freq measurement
low freq get refracted more than high freq
thus by comparing delays of L1 and L2 errors
can be eliminated
• Single freq users model the effects of the
ionosphere
Errors
• Troposphere causes delays in code and
carrier
But they aren’t freq dependent
But the errors are successfully modeled
• Errors due to Multipath
• Receiver noise
Errors
• Forces on the GPS satellite
– Earth is not a perfect sphere and hence uneven
gravitational potential distribution
– Other heavenly bodies attract the satellite,but these are
very well modeled
– Not a perfect vacuum hence drag but it is negligible at
GPS orbits
– Solar radiation effects which depends on the surface
reflectivity,luminosity of the sun,distance of to the
sun. this error is the largest unknown errors source
Errors due to geometry
• Poor GDOP
– When angles from the
receiver to the SVs
used are similar
• Good GDOP
– When the angles are
different
DGPS
• Errors in one position are
similar to a local area
• High performance GPS
receiver at a known
location.
• Computes errors in the
satellite info
• Transmit this info in
RTCM-SC 104 format to
the remote GPS
Requirements for a DGPS
• Reference station:
• Transmitter
– Operates in the 300khz range
• DGPS correction receiver
– Serial RTCM-SC 104 format
• GPS receiver
DGPS
• Data Links
– Land Links
• MF,LF,UHF/VHF freq used
• Radiolocations,local FM, cellular telephones and marine
radio beacons
– Satellite links
• DGPS corrections on the L band of geostaionary satellites
• Corrections are determined from a network of reference Base
stations which are monitored by control centers like
OmniSTAR and skyFix
RTCM-SC 104 format
• DGPS operators must follow the RTCM-SC 104
format
• 64 messages in which 21 are defined
• Type 1 contains pseudo ranges and range
corrections,issue of data ephemeris (IODE)and user
differential range error(URDE)
• The IODE allows the mobile station to identify the
satellite navigation used by the reference station.
• UDRE is the differential error determined by the
mobile station
DGPS
• DGPS gives accuracy of 3-5 meters,while
GPS gives accuracy of around 15-20 mts
Part II
Programming Of GPS
(Rockwell “Jupiter” GPS Receiver)
Features:
• 12 parallel satellite tracking channels
• Supports NMEA-0183 data protocol & Binary data protocol.
• Direct, differential RTCM SC 104 data capability
• Static navigation improvements to minimize wander due to
SA
• Active or Passive antenna to lower cost
• Max accuracy achievable by SPS
• Enhanced TTFF when in Keep –Alive power condition.
• Auto altitude hold mode from 3D to 2D navigation
• Maximum operational flexibility and configurable via user
commands.
• Standard 2x10 I/O connector
• User selectable satellites
Satellite acquisition
• Jupiter GPS has 4 types of signal acquisition
– Warm Start…..SRAM
– Initialized start….EEPROM
– Cold Start
– Frozen Start
Navigation Modes
• 3D Navigation
– At least 4 satellites
– Computes latitude, longitude,altitude and time
• 2D Navigation
– Less than 4 satellites or fixed altitude is given
• DGPS Navigation
– Differential corrections are available through the
auxiliary serial port
– Must be in RTCM compliant
I/O interface of Jupiter
• Pins for powering GPS and Active antenna
• Two message formats NMEA and Binary
– Pin 7 should be made high or low accordingly
• Two serial port
– One is I/O….GPS data (Rx,Tx,Gnd)
– Only input….RTCM format differential
corrections (Rx,Gnd)
• Master reset pin(active low)
• Pin to provide battery backup
Selection o f mode
Header format
DCL0 QRAN
Header checksum
Binary Messages
• Example of binary messages:
Aim: To disable the pinning feature
Status of pinning is seen in User setting
Output(Msg ID 1012) O/P message
$ Start
of sentence
Type of sentence
UTC
Validity
Latitude & orientation
Longitude & orientation
Speed
Heading
Date
Magnetic variation and orientation
Checksum (followed by <CR> and <LF> )
Connections with the GPS
• The signals available at the serial pins of
the GPS are TTL level.
• To read the GPS output on Hyper terminal,
the TTL signal is converted into RS 232
using a Max 232 IC
• The input messages are sent to the GPS
using a simple C code
Conclusion:
• Components of the GPS
• Working of the GPS
• Errors sources in GPS
• Working of the DGPS
• Features of the Rockwell Jupiter GPS
• Binary and NMEA format
• Programming of the GPS
Thank you