DGPS Survey

Differential Global Positioning System (DGPS)
CHAPTER 1
1.1 Differential GPS :-

A Differential Global Positioning System (DGPS) is an
enhancement to the Global Positioning System (GPS) which provides
improved location accuracy and integrity, in the range of operations of
each system, from the 15-meter nominal GPS accuracy to about 1-3
cm in case of the best implementations. This technique was developed in
the early 1980s, and it is widely used in various forms.
Each DGPS uses a network of fixed ground-based reference
stations to broadcast the difference between the positions indicated by
the GPS satellite system and known fixed positions. These stations
broadcast the difference between the measured satellite pseudo
ranges and actual (internally computed) pseudo ranges, and receiver
stations may correct their pseudo ranges by the same amount. The digital
correction signal is typically broadcast locally over ground-based
transmitters of shorter range.
Until 2000, civilian users had to contend with Selective
Availability (SA). The DoD intentionally introduced random timing
errors in satellite signals to limit the effectiveness of GPS and its
potential misuse by adversaries of the United States. These timing errors
could affect the accuracy of readings by as much as 100 meters.
With SA removed, a single GPS receiver from any manufacturer
can achieve accuracies of approximately 10 meters. To achieve the
accuracies needed for quality GIS records from one to two meters up to
a few centimeters requires differential correction of the data. The
majority of data collected using GPS for GIS is differentially corrected
to improve accuracy.
DGPS is a method of improving the accuracy of your receiver by
adding a local reference station to augment the information available
GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009
1
from the satellites. It also improves the integrity of the whole GPS
system by identifying certain errors.
Differential GPS uses one unit at a known location and a rover.–
The stationary unit compares its calculated GPS location with the actual
location and computes the error.–The rover data is adjusted for the error.
The underlying premise of differential GPS (DGPS) is that any two
receivers that are relatively close together will experience similar
atmospheric errors. DGPS requires that a GPS receiver be set up on a
precisely known location. This GPS receiver is the base or reference
station. The base station receiver calculates its position based on satellite
signals and compares this location to the known location.
The difference is applied to the GPS data recorded by the second
GPS receiver, which is known as the roving receiver. The corrected
information can be applied to data from the roving receiver in real time
in the field using radio signals or through post post-processing after data
capture using special processing software.
Differential correction techniques are used to enhance the quality
of location data gathered using global positioning system (GPS)
receivers. Differential correction can be applied in real Differential real
time directly in the field or when post time post-processing data in the
office. Although both methods are based on the same underlying
principles, each accesses different data sources and achieves different
levels of accuracy. Combining both methods provides flexibility during
data collection and improves data integrity. GPS is a very important data
input source. GPS is one of two (soon to be more) GNSS – Global
Navigation Satellite System.

2
Figure: 1- Differential GPS/DGPS
Examples:
a) Satellite Based Augmentation System (SBAS)
b) Wide Area Augmentation System (WAAS)
c) Local Area Augmentation System (LAAS)
d) European Geostationary Navigation Overlay Service (EGNOS)
e) Omni STAR
f) Coast guard beacon service.

3
1.2 Why do Need Differential GPS:-
By using DGPS we can improve our positional accuracy from

around 1.5m with standard GPS to around 40cm with DGPS, without the
need for post processing.
In the case of the road survey van (top right), users can measure
the amount of road wear and judge whether the road should be
resurfaced just by driving over it. Just one day’s driving can replace a
month’s manual work using traditional methods.
There are many other applications like this. The labour saving is
immense but at the same time, previously impossible tasks are made
possible such as the prediction of earthquakes before they occur.

4
1.3. Working Principle:-
 The stationary receiver must be located on a known control point.

 The stationary unit works backwards—instead of using timing to
calculate.
 position, it uses its position to calculate timing.Can do this because
precise location of stationary receiver is known, and hence, so is
location of satellite
 Once it knows error, it determines a correction factor and sends it
to the other receiver.
 Message sent to rover with correction factor for all satellites.
 More reference stations becoming available.
Figure 2: - Working principle of DGPS.

5
CHAPTER 2
2.1. Design Objectives of GPS:-
 Suitable for different platforms: aircraft, ship, land-based and

space (missiles and satellites),
 Ability to handle a wide variety of dynamics,
 Real-time positioning, velocity and time determination capability
to an appropriate accuracy,
 Single global geodetic datum (reference system)
for defining position,
 Differential accuracy standards: highest accuracy to be restricted to
a certain class of authorized users,
 Resistant to jamming (intentional and unintentional),
 Redundancy provisions to ensure the survivability of the system,
 Passive positioning system that does not require the transmission
of signals from the user to the satellite,
 Ability to provide the service to an unlimited number of users and
world-wide coverage
 Low cost, low power, therefore highly complex satellite segment,
 Total replacement of the Transit 1 satellite and other terrestrial
navigation aid systems.

6
2.2. The GPS system components :-

 The space segment
 The control segment
 The user segment.
Figure 3:- Components of GPS System.

7
2.2.1. Space segment:-

The space segment of an artificial satellite system is one of its
three operational components (the others being the user and ground
segments). It comprises the satellite or satellite constelation and the
uplink and downlink satellite links.
The overall design of the payload, satellite, ground segment, and end-
to-end system is a complex task. Satellite communications payload
design must be properly coupled with the capabilities and interaction
with the spacecraft bus that provides power, stability and environmental
support to the payload.
 Basic functions of satellites include:
 Receive and store information transmitted by the control
station.
 Perform limited data processing by its own computer
 Maintain very accurate time by means of on board 2 cesium
and 2 rubidium oscillators.
 Transmit information to the user by the signal message
 Maneuver to position in space controlled by the control
segment.

8
Figure 4:- GPS constellation consisting of six orbital planes with four
satellites in each plane.
2.2.2.Control Segment:-
1. Control Segment I
a) It consists of 5 tracking stations to collect data based on observing
satellite in their orbits. Tracking is executed with two frequency
receivers equipped with highly precise cesium oscillators.
b) Meteorological data is also collected for accurate evaluation of
tropospheric delay.
2. Control segment II
a) One MCS, takes data from other 5 tracking stations and
consequently predicts satellites orbits by extrapolation.
b) Computes clock correction for satellite time referred to GPS time
frame.
c) Satellite time synchronization is carried out by connecting MCS to
US Naval Observatory (USNO) in Washington DC.
d) The clock correction data is then sent to transmitting station for
uploading.
3. Control segment III

a) Three transmitting stations are involved for transmitting recent
data (including broadcast message) to satellites.
b) These stations also send telemetry commands for repositioning,
switching spare components etc.

9
2.2.3. User Segment:-

a) Consists of GPS receiver units with capability to obtain real time
positioning.
b) GPS receivers are hand-held radio-receivers/computers which
measure the time that the radio signal takes to travel from a GPS
satellite until it arrives at the GPS antenna.
c) Using the travel time multiplied by the speed of light provides a
calculation of range.
d) To each satellite in view. From this and additional information on
the satellites orbit and velocity.
e) The internal GPS receiver software calculates its position through a
process of resection.

10
Figure 5 :- Simplified GPS Receiver Block Diagram.

11
Figure 6:- The Global Positioning System

12
Figure 7: - GPS Control.
Figure 8 :- GPS Navigation.

13
CHAPTER 3
3.1. GPS Surveying Techniques:-

 Static.
 Fast Static.
 Post-processed Kinematic.
 RTK
3.1.1. Static GPS Control Surveying

Static GPS surveying has been used on control surveys from local
to statewide extent, and will probably continue to be the preferred
technique in that category. If a static GPS control survey is carefully
planned, it usually progresses smoothly. The technology has virtually
conquered two stumbling blocks that have defeated the plans of
conventional surveyors for generations. Inclement weather does not
disrupt GPS observations, and a lack of inter visibility between stations
is of no concern whatsoever, at least in post processed GPS. Still, GPS is
far from so independent of conditions in the sky and on the ground that
the process of designing a survey can now be reduced to points-per-day
formulas, as some would like. Even with falling costs, the initial
investment in GPS remains large by most surveyors’ standards.
However, there is seldom anything more expensive in a GPS project
than a surprise.
In static GPS surveying the receivers is motionless for a time,
usually a relatively long occupation. If it's planned correctly, a GPS
static survey can be independent of some of the things that have plagued
such work in the past. However, there are some things that need to be
considered—overhead obstructions, access between points, and so on

14
Figure 9:- Static GPS survey.

15
3.1.2. Rapid Static GPS Surveying :-

This is also referred to as fast-static or quick-static. The following
characteristics distinguish rapid-static techniques from other methods of
static GPS surveying:
1. Observational time requirements: these are significantly shorter
than the conventional static GPS surveying, and are a function of
baseline length, whether dual frequency instruments are used,
number of satellites being tracked and satellite geometry.
Typically the receivers need only occupy a baseline for a period of
10-30 minutes (the lower value corresponding to baseline <5 Km
and tracking six or more satellite, the upper value being for longer
baseline up to 20 Km and / or tracking is to only four satellites).
2. Hardware requirements: in most systems only dual-frequency
phase measurements are sufficient; while in other configurations
dual frequency pseudo range measurements are also required. It is
rare to mix different brands of receivers and software, compared to
static GPS surveying techniques.
3. Specialized software: the basis of this technique is the ability of
the soft ware to resolve the ambiguities using a very short
observation period. There is a variety of software, with different
characteristics and levels of sophistication’s, but the fundamental
requirement is a fast ambiguity resolution (AR) capability. Dual
frequency data is essential for fast AR.

16
Figure 10: Rapid Static GPS Survey Technique

The field procedures are much like those for conventional static GPS
surveying except:
(a) The station occupation times are shorter
(b) Baseline should be comparatively short
(c) The satellite geometry favorable
(d) Signal disturbances such as multi path should be minimum.
It is not possible to define exactly how much data needs to be
collected in order to produce quality baselines every time, that is
ambiguity fixed solutions. Equipment user manuals typically give guide
lines in this regard.
The rapid-static technique is well suited, for short range
applications such as control densification and engineering surveys or
any job where many points need to be surveyed. Unlike kinematic and
stop-and-go techniques there is no need to maintain lock on satellites
when moving from one point to another.

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3.1.3. Post Processing :-

Post-processing is used in Differential GPS to obtain precise
positions of unknown points by relating them to known points such
as survey markers. The GPS measurements are usually stored
in computer memory in the GPS receivers, and are subsequently
transferred to a computer running the GPS post-processing software.
The software computes baselines using simultaneous measurement data
from two or more GPS receivers.
The baselines represent a three-dimensional line drawn between
the two points occupied by each pair of GPS antennas. The post-
processed measurements allow more precise positioning, because most
GPS errors affect each receiver nearly equally, and therefore can be
cancelled out in the calculations. Differential GPS measurements can
also be computed in real time by some GPS receivers if they receive a
correction signal using a separate radio receiver, for example in Real
Time Kinematic (RTK) surveying or navigation.
The improvement of GPS positioning doesn't require simultaneous
measurements of two or more receivers in any case, but can also be done
by special use of a single device. In the 1990s when even handheld
receivers were quite expensive, some methods of quasi–differential GPS
were developed, using the receiver by quick turns of positions or loops
of 3-10 survey points.

18
3.1.4. The RTK-GPS Technique:-

The RTK-GPS is an attractive technique for many survey
applications as there is no post processing of the carrier phase data. The
standard scenario requires the surveyor to operate two GPS receivers
(one reference receiver and other `roving receiver’), as well as the data
link. Once set up, the reference receiver will continuously transmit its
carrier phase measurements to the roving receiver. The software within
roving’ receiver’s microprocessor then tries to resolve the ambiguities in
shortest time possible (using OTF-AR algorithm), and resulting carrier-
range’ data is used to derive cm-level accuracy baseline results. These
results may be stored (for later down loading) displayed and used for
surveying applications or processed by a computer to guide control
machinery such as excavators etc.
Figure 11: RTK – GPS Surveying Technique.

19
Successful operation of RTK system is usually limited to baseline

lengths of 5-10Km because this is typically the inter receiver distance
over which very rapid OTF-AR algorithm work reliably. As with the
post-processed modes of carrier phase-based positioning, when signals
are obstructed then the OTF-AR algorithm has to be started again in
order to resolve the (new) ambiguities. As this may take several tens of
seconds, and if signal interruptions occur frequently, then this `dead
time’ can result in RTK being a grossly inefficient precise positioning
technique. Note that RTK need not only be used for purely kinematic
applications. RTK equipment can be used in the stop-and-go or rapid-
static mode of surveying as well, the crucial difference (and perhaps
important advantage) being that the results are available immediately
after data collection is completed.
RTK is especially vulnerable to poor satellite visibility, multi path
and unreliable data link from reference station. This link is invariably a
VHF or UHF wireless connection between reference and rover
receivers. Unfortunately the data link tends to be less robust than, for
example, data links to commercial DGPS procedures. The reasons
typically are low power of signal, interference by other transmissions,
and signal obstructions. Although proprietary data transmission formats
are the norm for RTK operations, the RTCM format does provide
message type that can be used for RTK.

20
CHAPTER 4
4.1. GPS Errors:-

 Noise.
 Biases.
 Blunder.
 Clock.
4.1.1 Noise:-
Noise errors are the combined effect of code Noise errors are the
combined effect of code noise (around 1 meter) and noise within the
noise (around 1 meter) and noise within the receiver (around 1 meter).
4.1.2. Biases Error:-

1.Selective Availability (SA):-
SA is the intentional degradation of the SPS signals by a time
varying bias. SA is controlled by the DOD to limit accuracy for non the
DOD to limit accuracy for non- U. S. military and government users.
Selective availability is turned off.
2. Ephemeris data errors: 1 meter
Satellite orbits are constantly changing. Any error in satellite
position will result in an error for the receiver position. SV clock errors
uncorrected by Control can result in one meter error. 3.Tropospheric
delays: 1 meter.
The troposphere is the lower part (ground level to from 8 to 13
km) of the atmosphere that experiences the changes in temperature,
pressure, and humidity associated with weather changes. Complex
models of tropospheric delay require estimates or measurements of these
parameters.
21
4.Unmodeled ionosphere delays: 10 meters.

The ionosphere is the layer of the atmosphere from 50 to 500 km that
consists of ionized air. The transmitted model can only remove about
half of the possible 70 ns of delay leaving a ten meter unmodeled
residual.
5.Multipath: 0.5 meters.
Multipath is caused by reflected signals from surfaces near the
receiver that can either interfere with or be mistaken for the signal that
follows the straight line path from the satellite.
4.1.3 Blunders :-
Blunders can result in errors of hundreds of kilometers. Control
segment mistakes due to computer or human error can cause errors from
one meter to hundreds of kilometers. User mistakes, including incorrect
geodetic User mistakes, including incorrect geodetic datum selection,
can cause errors from 1 to hundreds of meters. Receiver errors from
software or hardware failures can cause blunder errors of any size.
4.1.Errors addressed by DGPS:-

 clock errors,
 path errors,
 ephemeris errors
 ionospheric effects

22
CHAPTER 5
5.1.Advantages of GPS :-
 Unlike conventional surveying procedures, there is no need for
intervisibility between stations.
 Independent of weather conditions as a result of using radio
frequencies to transmit the signals.
 Use of same field and data reduction procedures results in position
accuracy which
 independent of network
 shape or geometry and are primarily a function of inter-station
distance.
 GPS surveying provides generally homogeneous accuracy. Hence,
 geodetic network planning in the classical sense is
 longer relevant. The points can be established wherever they are
required
 need not be located at evenly distributed sites
 atop mountains to satisfy intervisibility, or network geometry
criteria.
 GPS surveying is more efficient, more flexible and less time
consuming positioning
 technique than using conventional terrestrial survey technologies.
 GPS can be used to obtain high accuracy three dimensional (3D)
information, anywhere and
 time with relatively little effort on a global datum .
 The GPS instrumentation and the data processing software do not
radically
 even if very high or moderately high accuracies are required (from
1 part in 104 to 1 part in 106 ).

23
CHAPTER 6
6.1.Applications:-
 Natural resources
 Precision farming
 Civil Engineering applications
 Structural deformations
 Open pit mining
 Land and marine seismic surveying
 Airborne mapping
 Seafloor mapping
 Vehicle navigation
 Transit system
 Retail industry
 Cadastral surveying
 Stakeout (waypoint navigation)
 Location based services (LBS)

24
CHAPTER 7
7.1 References
1. "SAPOS-Dienste im Überblick" (in German). Retrieved April

16, 2019.
2. ^ "US Government page on GPS augmentation systems". Gps.gov.

2012-03-14. Retrieved 2013-07-07.
3. ^ Kee, C., Parkinson, B. W., and Axelrad, P. (1991), "Wide area

differential GPS", Navigation, Journal of the Institute of
Navigation, 38, 2 (Summer, 1991),
<https://www.ion.org/publications/abstract.cfm?articleID=100207
4. ^ McNamara, Joel (2008), GPS for Dummies (2nd ed.), ISBN 978-
0-470-15623-0
5. ^ Ho, Angela; Mozdzanowski, Alex; Ng, Christine (2005), GPS

Case (PDF), Open Courseware, MIT, page 11.
6. ^ "USCG DGPS coverage plot via USCG Navigation Center".

Retrieved 2013-07-07.
7. ^ GPS for Dummies, stating that there weren't enough military

GPS receivers, so "Selective Availability was temporarily turned
off in 1990 during the Persian Gulf War" so that Coalition troops
could use civilian GPS receivers

25

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Differential Global Positioning System (DGPS)

1.1 Differential GPS :-

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Figure: 1- Differential GPS/DGPS

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

1.2 Why do Need Differential GPS:-

By using DGPS we can improve our positional accuracy from

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

1.3. Working Principle:-

 The stationary receiver must be located on a known control point.

Figure 2: - Working principle of DGPS.

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

2.1. Design Objectives of GPS:-

 Suitable for different platforms: aircraft, ship, land-based and

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

2.2. The GPS system components :-

Figure 3:- Components of GPS System.

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

2.2.1. Space segment:-

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

3. Control segment III

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

2.2.3. User Segment:-

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Figure 5 :- Simplified GPS Receiver Block Diagram.

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Figure 6:- The Global Positioning System

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Figure 7: - GPS Control.

Figure 8 :- GPS Navigation.

3.1. GPS Surveying Techniques:-

3.1.1. Static GPS Control Surveying

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Figure 9:- Static GPS survey.

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

3.1.2. Rapid Static GPS Surveying :-

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Figure 10: Rapid Static GPS Survey Technique

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

3.1.3. Post Processing :-

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

3.1.4. The RTK-GPS Technique:-

Figure 11: RTK – GPS Surveying Technique.

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

Successful operation of RTK system is usually limited to baseline

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

4.1. GPS Errors:-

4.1.2. Biases Error:-

4.Unmodeled ionosphere delays: 10 meters.

4.1.Errors addressed by DGPS:-

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

1. "SAPOS-Dienste im Überblick" (in German). Retrieved April

2. ^ "US Government page on GPS augmentation systems". Gps.gov.

3. ^ Kee, C., Parkinson, B. W., and Axelrad, P. (1991), "Wide area

5. ^ Ho, Angela; Mozdzanowski, Alex; Ng, Christine (2005), GPS

6. ^ "USCG DGPS coverage plot via USCG Navigation Center".

7. ^ GPS for Dummies, stating that there weren't enough military

GURU GOBIND SINGH POLYTECHNIC, NASHIK-422009

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