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GPS
Essentials of
Satellite Navigation
Compendium
Abstract
Theory and Principles of Satellite Navigation.
Overview of GPS/GNSS Systems and Applications.
www.u-blox.com
GPS - Compendium
Document Information
Title
GPS
Essentials of
Satellite Navigation
Subtitle
Document type
Compendium
Document number
GPS-X-02007-D
Document status
Released
This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They
can be downloaded from
www.u-blox.com.
u-blox makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make
changes to specifications and product descriptions at any time without notice.
u-blox reserves all rights to this document and the information contained herein. Reproduction, use or disclosure to third parties without
express permission is strictly prohibited. Copyright © 2009, u-blox AG.
GPS-X-02007-D
Page 2 of 175
GPS - Compendium
Foreword
Where on Earth am I?
The answer to this seemingly simple
question can sometimes be a matter of
life and death. Consider an aviator trying
to find a safe destination to land, or the
crew of a ship in distress seeking
assistance, or a hiker in the mountains
disoriented by poor weather conditions.
Your position on Earth is of vital
importance and can have an immense
variety of implications and applications.
These needn’t be as dramatic as the
circumstances above, but there can be
situations that also have a significant
impact on our daily lives. How do I find
that address that I’ve been searching for,
how can businesses keep track of their
mobile assets, how do governments
implement road-pricing systems, or when
and where should the public transit
vehicle trigger the next traffic light? The
potential applications and uses of position
information are seemingly limitless. Our
position on this blue planet has always
been vitally important to human beings
and today our exact position is something
that we can obtain with astonishing ease.
Among the most stunning technological developments in recent years have been the immense advances in the
realm of satellite navigation or Global Navigation Satellite Systems (GNSS) technologies. In a matter of a few
years, satellite navigation has evolved from the level of science fiction to science fact with a dynamic and rapidly
growing industry providing customers around the world with technology devoted to the rapid, reliable and
readily available determination of their position.
As global leaders in this fascinating and rapidly changing industry, u-blox AG is a team of dedicated satellite
navigation enthusiasts with a tradition of innovation and quality. As part of our commitment to customer
service, u-blox is pleased to be able to provide you with this compendium to help lead you into the remarkable
world of satellite navigation.
The aim of this book is to provide a comprehensive overview of the way in which satellite navigation systems
function and the applications in which they can be used. The current level of development as well as changes
and new advances will be examined. It is written for users who are interested in the technology as well as
specialists involved in satellite navigation applications. The document is structured in such a way that the reader
can graduate from simple facts to more complex concepts. The basic theory of satellite navigation will be
introduced and supplemented by other important facets. This compendium is intended to additionally serve as
an aid in understanding the technology that goes specifically into current satellite navigation receivers, modules
and ICs. Important new developments will be dealt with in separate sections. Acquiring an understanding of the
various current coordinate systems involved in using GNSS equipment can be a difficult task. Therefore, a
separate chapter is devoted to introducing cartography.
We hope that this document will be of assistance to you and that you will be as enthusiastic as we are about the
technology involved in determining position. It is indeed an immensely fascinating world and industry that
answers the question “where on Earth am I?”
Foreword
GPS-X-02007-D
Copyright © 2009 u-blox AG
Page 3 of 175
GPS - Compendium
Author’s preface
In 1990, I was traveling by train from Chur to Brig in the Swiss canton of Valais. In order to pass the time during
the journey, I had brought along a few trade journals with me. While thumbing through an American
publication, I came across a technical article that described a new positioning and navigation system involving
satellites. The new system, known as Global Positioning System or GPS, employed a number of US satellites to
determine one’s position anywhere in the world to within an accuracy of about 100m
1
.
As an avid sportsman and mountain hiker, I had on many occasions ended up in precarious situations due to a
lack of knowledge of the area I was in. Therefore, I was fascinated by the revolutionary prospect of being able to
determine my position even in fog or at night by using a GPS receiver.
I began to intensively occupy myself with GPS, arousing a great deal of enthusiasm for this technology among
students at my university, which resulted in several research semesters and graduate theses on the subject. With
time I felt that I had become a true expert on the subject and wrote technical articles about GPS for various
publications.
Why read this book?
The development of the many new and fascinating potential applications of satellite navigation requires an
appreciation of the way in which these systems function. If you are familiar with the technical background of the
system, it becomes possible to develop and use new positioning and navigation equipment. As well as the
possibilities, this book also looks at some of the limitations of the system in order to protect you from unrealistic
expectations.
How did this book come about?
In 2000 I decided to reduce the amount of time I spent lecturing at my university in order to gain an overview of
the commercial satellite navigation industry. My desire was to work for a company directly involved with satellite
navigation and just such a company was u-blox AG, who received me with open arms. u-blox asked me to
produce a brochure that they could give to their customers, and this compendium is the result and is a
summation of earlier articles and newly compiled chapters.
A heartfelt wish
I wish you every success as you embark on your journey through the wide-ranging world of satellite navigation
and trust that you will successfully navigate your way through this fascinating technical field. Enjoy your read!
For questions or if you find errors in this book please contact us at
GPScompendium@u-blox.com
.
Jean-Marie Zogg
October 2001
July 2006
February 2008
1
That was in 1990, positional data is now accurate to within 5 to 10m!
Author’s preface
GPS-X-02007-D
Copyright © 2009 u-blox AG
Page 4 of 175
GPS - Compendium
Contents
Foreword ............................................................................................................................3
Author’s preface.................................................................................................................4
Contents..............................................................................................................................5
Introduction......................................................................................................................10
1
Satellite navigation made simple..............................................................................12
1.1
The principle of measuring signal transit time..................................................................................... 12
1.1.1
Basic principles of satellite navigation.......................................................................................... 13
1.1.2
Signal travel time......................................................................................................................... 15
1.1.3
Determining position................................................................................................................... 16
1.1.4
The effect and correction of time error........................................................................................ 17
2
Coordinate systems....................................................................................................18
2.1
Introduction........................................................................................................................................ 18
2.2
Geoid ................................................................................................................................................. 18
2.3
Ellipsoid and datum............................................................................................................................ 19
2.3.1
Ellipsoid....................................................................................................................................... 19
2.3.2
Customized local reference ellipsoids and datum......................................................................... 19
2.3.3
National reference systems.......................................................................................................... 21
2.3.4
Worldwide reference ellipsoid WGS-84 ....................................................................................... 21
2.3.5
Transformation from local to worldwide reference ellipsoid......................................................... 22
2.3.6
Converting coordinate systems.................................................................................................... 24
2.4
Planar regional coordinates, projection............................................................................................... 24
2.4.1
Gauss-Krüger projection (Transversal Mercator Projection) .......................................................... 25
2.4.2
UTM projection ........................................................................................................................... 25
2.4.3
Swiss projection system (Conformal Double Projection)............................................................... 27
2.4.4
Worldwide conversion of coordinates.......................................................................................... 28
2.5
Georeferencing of raster maps ........................................................................................................... 29
2.5.1
Introduction ................................................................................................................................ 29
2.5.2
Basics of transformation.............................................................................................................. 30
2.5.3
Determining the transformation coordinate................................................................................. 30
2.5.4
Determining the transformation parameters a, b, c, d, e, f .......................................................... 31
2.5.5
Example (raster map to WGS84).................................................................................................. 33
GPS-X-02007-D
Copyright © 2009 u-blox AG
Contents
Page 5 of 175
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