Introduction To Global Navigation Satellite System (GNSS) Module: 1
Introduction toGlobal Navigation Satellite System (GNSS)Module: 1Dinesh ManandharCenter for Spatial Information ScienceThe University of TokyoContact Information: dinesh@iis.u-tokyo.ac.jpTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 1
Module 1: Course Contents IntroductionHow GPS Works?GPS Signal StructureGNSS Systems GPSGLONASSGALILEOBEIDOUQZSSIRNSS SBAS Multi-GNSSTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 2
Fundamental Problem How to know my location precisely ? In any condition At any time Everywhere on earth (at least outdoors!)Where am Ion the Earth?350 40’ 41”1390 39’ 40” How to navigate to the destination? ? Guidance or NavigationHow far ?Which Route ?Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 3
Navigation Types Landmark-based Navigation Stones, Trees, Monuments Limited Local use Radio-based Navigation LORAN, OMEGA Subject to Radio Interference, Jamming,Limited Coverage Celestial-based Navigation Stars, Moon Complicated, Works only at Clear Night Sensors-based Navigation Dead Reckoning Satellite-based Navigation or GNSS TRANSIT, GPS, GLONASS, GALILEO, QZSS,BEIDOU (COMPASS), IRNSS Global, Difficult to Interfere or Jam, HighAccuracy & Reliability Gyroscope, Accelerometer, Compass,Odometer Complicated, Errors accumulate quicklyTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 4
What is GNSS?Global Navigation Satellite System (GNSS) is the standard generic term for allnavigation satellites systems like GPS, GLONASS, GALILEO, BeiDou, QZSS, NAVIC. Global Constellation Regional ConstellationGPS USAGLONASS, RussiaGalileo, EuropeBeiDou (COMPASS), China QZSS, Japan NAVIC (IRNSS), IndiaTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 5
Satellite Based Augmentation System (SBAS) Satellite Based Augmentation System (SBAS) are used to augmentGNSS Data Provide Higher Accuracy, Integrity, Continuity and Availability Some correction data like satellite orbit, satellite clock and atmospheric dataare broadcasted from communication satellites Used by ICAO for Aviation Different Types of SBAS WAAS, USAMSAS, JapanEGNOS, EuropeGAGAN, IndiaSDCM, RussiaTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 6
Determine the Distance using Radio Wave0msSatellite Transmits Signal at 0ms.Receiver Receivesthe Same Signalafter 67ms.25ms0ms50msSatellite with a known positiontransmit a regular time signal.75msSpeed of Light300,000 km/s25ms50msDistance (Transmission time – Reception time) Speed of lightTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 7
GNSS Requirements GNSS needs a common time system. Each GNSS satellite has atomic clocks. How about user receivers? The signal transmission time has to be measurable. Each GNSS satellite transmits a unique digital signature, which consists anapparent random sequence A Time Reference is transmitted using the Navigation Message Each signal source has to be distinguishable. GNSS utilizes code division multiple access (CDMA) or frequency divisionmultiple access (FDMA). The position of each signal source must be known. Each satellite sends its orbit data using the Navigation Message Orbit Data: Almanac and EphemerisTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 8
Characteristics of GNSS Signals GNSS Signals have basically three types of signals Carrier Signal PRN Code (C/A Code) Navigation Data All GNSS Signals except GLONASS are based on CDMA Only GLONASS use FDMA Future Signals of GLONASS will also use CDMA The modulation scheme of GNSS signals are BPSK andvarious versions of BOCCDMA: Code Division Multiple AccessFDMA: Frequency Division Multiple AccessBPSK : Binary Phase Shift KeyingBOC: Binary Offset CarrierTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 9
GPS Signal Structure900 Phase Reversex154L1 Carrier, 1575.42Mhz x1/10X1, Clock10.23MhzC / A Code, 1.023Mhzx1/204600Navigation Data, 50HzL1 Band GPS SignalP Code, 10.23MhzTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 10
Characteristics of PRN CodeAuto-correlation: Only four values:1023, 1, 63 or 65 (Ideal case) PRN codes are very uniquely designed. GPS and other GNSS use CDMA One PRN code is assigned to one satellite. In case of GPS, PRN code is 1023 bits long. GLONASS is different. It uses FDMA. The same code for allsatellites but different frequencies. Some new signals of GLONASS also uses CDMA signalsCross-correlation: Only three values:1, 63 or 65 (Ideal Case) Maximum Cross-correlation Value is -23dB. If any signal above this power enters a GPS receiver, itwill totally block all GPS signals. If longer PRN code is used, receiver becomes moreresistive to Jamming signal But, signal processing is more complexTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 11
GPS Signal Power: How Strong or How Weak? GPS satellites are about 22,000km away Transmit power is about 30W This power when received at the receiver isreduced by 1016 times.30Watt The power reduces by 1/distance2 This is similar to seeing a 30W bulb 22,000Km far GPS signals in the receiver is about 10-16 Watt,which is below the thermal noise10-16 WattTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 12
GPS Signal Power: How Strong or How Weak? GPS Signal Power at Receiver -130dBm or -160dBW Thermal Noise Power Defined by kTeffB, where K 1.380658e-23JK-1, Boltzman Constant Teff 362.95, for Room temperature in Kelvin at 290 Teff is effective Temperature based on Frii’s formula B 2.046MHz, Signal bandwidth Thermal Noise Power -110dBm for 2MHz bandwidth If Bandwidth is narrow, 50Hz Noise Power -156dBmTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 13
GPS Signal PowerNoise PowerAny Signal below thisnoise level can’t bemeasured in aSpectrum AnalyzerGPS Signal Power atAntenna, -130dBmMobile phone, WiFi,BT etc have powerlevel above -110dBm,much higher than GPSSignal PowerTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 14
Power of GPS Signal vs. Other SignalsSignal TypePower (based on calculations, not measured)Below NoiseAbove NoiseWattMobile PhoneHandset TX Power *RX Power at MobilePhone mal m * Actual power values will differ. These are just for comparison purpose ** GPS Signals are hidden under the noise. Thus, it can’t be measured directlye.g. using a Spectrum AnalyzerTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 15
Method of GPS L1C/A Signal Generation900 Phase Reversex154L1 Carrier, 1575.42Mhz x1/10Clock10.23MhzC / A Code, 1.023Mhzx1/204600Navigation Data, 50HzL1 Band GPS SignalP Code, 10.23Mhzsi (t ) 2 Pi (t ) CA t i (t ) D t i (t ) cos 2 f L f L,i (t ) t i (t ) ni (t )Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 16
GPS signal structureCarrier WaveGPS Signal2 P x t D t sin 2 ft 2 P sin 2 ft PRNNavigation Messagex t D t 1 1-1-11.023Mbps50bpsTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 17
GPS L1C/A PRN Code GeneratorG1 Polynomial: [3,10]12345678910Output12345678910G2 Polynomial: [2,3,6,8,9,10]Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 18
CDMA vs. FDMACDMA[GPS, QZSS, Galileo, BeiDou,IRNSS, Future GLONASSSatellites]FDMA[GLONASS]PRN CodeDifferent PRN Code for eachsatelliteSatellites are identified by PRNCodeOne PRN Code for all satellitesSatellites are identified by centerfrequencyFrequencyOne Frequency for all satellitesDifferent frequency for eachsatelliteMerits &DemeritsReceiver design is simplerNo Inter-Channel BiasMore susceptible to JammingReceiver design is complexInter-channel bias problemLess susceptible to JammingTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 19
PRN (Pseudo Random Noise) Code PRN Code is a sequence of randomly distributed zeros and ones that is one millisecondlong. This random distribution follows a specific code generation pattern called Gold Code. There are 1023 zeros or ones in one millisecond. Each GPS satellite transmits a unique PRN Code. GPS receiver identifies satellites by its unique PRN code or ID. It is continually repeated every millisecond and serves for signal transit time measurement. The receiver can measure where the PRN code terminated or repeated.1ms / 10230 1 0 1 0 0 11 0 1 0 01msTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 20
ModulationModulation is the process of conveying a message signal, for example a digital bitstream, into a radio frequency signal that can be physically transmitted.11001011You want to transmitthis binary codeAmplitude Shift KeyingFrequency Shift KeyingTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 21
BPSK (Binary Phase Shift Keying)Phase shift keying is a digital modulation scheme that conveysdata by changing, or modulating, the phase of the carrierwave. BPSK uses two phases which are separated by a halfcycle.Carrier Wave 111001011 Digital Bit Stream-1Binary Phase Shift KeyingTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 22
Navigation Data Navigation Data or Message is a continuous stream of digitaldata transmitted at 50 bit per second. Each satellitebroadcasts the following information to users. Its own highly accurate orbit and clock correction (ephemeris) Approximate orbital correction for all other satellites (almanac) System health, etc.Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 23
GPS L1C/A Signal NAV MSGTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 24
Principle of Satellite-based Navigation(xk,yk,zk)(x,y,z) k xk x y y z z b2k2kIf k 4, solve for x, y, z and clock bias, b2 tCorrelation between Incoming Signal andReceiver Generated SignalTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 25
Pseudorange (1/2)TransmissionTimePseudorange (Transmission time – Reception time) Speed of lightSignal propagation at the speed of light20,200 kmReceptionTimeTransit timeA GPS receiver measures the signal transmission timefrom the code phase at signal reception time.Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 26
Pseudorange (2/2) Essential GNSS observable Full distance between the satellite and the receiver Provides a position accuracy of approximately a few meters2m20,200 kmTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 27
Carrier phase (1/2) PRN repeats every 1ms, which corresponds 300 km in distance at thespeed of light, but pseudorange accuracy is about 1 m. Carrier phase provides millimeter range accuracy, but repeats everycycle, which correspond 19 cm in distance at a GPS signal carrierfrequency of 1575.42 MHz.Pseudo random numberCarrier waveTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 28
Carrier phase (2/2) Fractional carrier phase of the received signal Therefore there is an unknown integer number of full carriercycles between the satellite and the receiver Provide “survey-grade” accuracy of 1-2 cm once theunknown number of full carrier cycles are resolved19 cm1 cmTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 29
GPS(Global Positioning System)USATraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 30
History of GPS (1/2) Originally designed for military applications at the height of the ColdWar in the 1960s, with inspiration coming from the launch of theSoviet spacecraft Sputnik in 1957. Transit was the first satellite system launched by the United Statesand tested by the US Navy in 1960. Just five satellites orbiting the earth allowed ships to fix their position on theseas once every hour. GPS developed quickly for military purposes thereafter with a total of11 “Block” satellites being launched between 1978 and 1985. The Reagan Administration in the us had the incentive to open upGPS for civilian applications in 1983.How to Drop Five Bombs from Different Aircrafts into the Same Hole?(with an accuracy of 10m)Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 31
History of GPS (2/2) Upgrading the GPS was delayed by NASA space shuttleChallenger disaster in 1989 and it was not until 1989 that the firstBlock II satellites were launched. By the summer of 1993, the US launched the 24th GPS satelliteinto orbit, which complete the modern GPS constellation ofsatellites. In 1995, it was declared fully operational. Today’s GPS constellation has around 30 active satellites. GPS is used for dozens of navigation applications. Route finding for driver, map-making, earthquake research, climatestudies, and many other location based services.Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 32
GPS SegmentsSpace SegmentControl SegmentGPSGPSUser SegmentGNSSReceiverMarine / AISAviation / WAASITS / ADASRailwayTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 33
GPS Space Segment: Current & Future ConstellationLegacy SatellitesBlock IIA0 operational L1C/A, L1 P(Y) L2P(Y) Launched in 19901997 Last onedecommissioned in2016Modernized SatellitesBlock IIR12 operational L1C/A, L1P(Y) L2P(Y) Launched in 19972004Block IIR(M)7 operational L1C/A, L1P(Y) L2P(Y) L2C, L2M Launched in 20052009Block IIF12 operational L1C/A, L1P(Y) L2P(Y) L2C, L2M L5 Launched in 20102016GPS IIIIn production L1C/A, L1P(Y) L2P(Y) L2C, L2M L5 L1C Available for launchin ://en.wikipedia.org/wiki/Global Positioning SystemTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 34
GPS 5ModulationTypeData /SymbolRate,bps/spsNotes1.023BPSK50Legacy Signal101.023BOC(1,1)50 / 100From 2014CPilot101.023TMBOCNo DataBOC(1,1) & BOC(6,1)P(Y)7 1Q1SignalTypeCodeLengthmsecChip Rate,MHzC/A1CData10.23BPSKRestricted25 / 50No DataModulated by TDM of(L2CM xor Data) andL2CL50 / 100Provides HigherAccuracyBPSKBPSKNo DataTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 35
GPS Receiver Outputs (1/3)Sky Plot: Visibility of Satellites at Receiver AntennaComputed Position from GPS displayedover Google MapTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 36
GPSGNSSReceiverOutputs(2/3)Signals Received by the ReceiverTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 37
GPSReceiverOutputs(3/3)Position, Velocity, Time (PVT) and Other Observation Related OutputsTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 38
GLONASS(Global Navigation Satellite System)RussiaTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 39
GLONASS Current & Future Constellation1982 First Launch20032011Planned SIONED87 Launched0 Operational81 Retired6 LostUnder Normal Operation45 Launched27 Operational12 Retired6 Lost L1OF, L1SF L2SF L1OF, L1SF L2OF, L2SF L3OCUnder Production /Operation2 Launched2 OperationalFirst launch Dec 2014 L1OF, L1SF L2OF, L2SF L3OCUnder Development3 On OrderFirst Launch Expected 2018 L1OF, L1SF L2OF, L2SF L1OC, L1SC L2OC, L2SC L3OCGLONASS space segment STATUS & MODERNIZATION, Joint - Stock Company «Academician M.F. Reshetnev» Information Satellite Systems»ICG‐7, November 04‐09, 2012 , Beijing, China, https://en.wikipedia.org/wiki/GLONASS-K2Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 40
GLONASS FDMA Signals L1 Band 1598.0625 - 1604.40 MHz 1602 MHz n 0.5625 MHz where n is a satellite's frequency channel number (n 7, 6, 5,.,7). L2 Band 1242.9375 - 1248.63 MHz 1246 MHz n 0.4375 MHzTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 41
Galileo, EuropeTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 42
Galileo Space SegmentTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 43
Galileo SignalsBandE1E6E51191.795MHzFrequency, MHz1575.421278.751176.451207.14ModulationTypeData d41.023CBOC, Weighted125 / 250DataCPilot1001.023combination ofBOC(1,1) & BOC(6,1)No DataPilotA105.115BOC(15,5)?PRSB15.115BPSK(5)500 /1000DataC1005.115No DataPilotA-I2010.2325 / 50DataA-Q10010.23No DataPilotB-I410.23125 / aAltBOC(15,10)B-Q Organized100No DataPilotTraining on GNSS – Course (T141-30),by: GIC/AIT,10.23S4D/CSIS and ICG, held at: GIC/AIT, Thailandfrom 23 – 26JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 44
Galileo SignalsTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 45
Galileo ServicesOpen Service(OS)Freely accessible service forpositioning, navigation and timing formass marketCommercialService (CS)Delivers authentication, high accuracyand guaranteed services for commercialapplicationsPublic RegulatedService (PRS)Encrypted service designed for greaterrobustness in challenging environmentsSearch And RescueService (SAR)Locates distress beacons and confirmsthat message is receivedSafety of LifeService (SoL)The former Safety of Life service is being re-profiledTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 46
BeiDou, ChinaTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 47
BeiDou Space SegmentSource: Update on BeiDou Navigation Satellite System, Chengqi Ran, China Satellite Navigation OfficeTenth Meeting of ICG, NOV 2015Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 48
COMPASS / BEIDOU Signals: Already TransmittedBandFrequencyMHzData /SymbolrateNotes50 / 100OpenB1(Q)NoneAuthorizedB1-2(I)50 / 100Open25 / 50AuthorizedNoneOpen50 / 310.23QPSKQPSKTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 49
QZSS(Quasi-Zenith Satellite System)JapanTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 50
Merits of QZSS QZSS signal is designed in such a way that it isinteroperable with GPS QZSS is visible near zenith; improves visibility &DOP in dense urban area Provides Orbit Data of other GNSS signals Provides Augmentation Data for Sub-meter andCentimeter level position accuracy Provides Messaging System during 04 pnt.htmlTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 51
QZSS Development Plan1st Satellite launched on 11th September 20102nd Satellite launched on 1st June 20173rd Satellite launched on 19th August 2017: QZ Orbit: QZ Orbit: Geostationary OrbitTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 52
QZSS Constellation Status Current Status One Satellite launched on 11th SEP 2010 Total constellation of Seven Satellites Three more satellites were launched by the end of 2017Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 53
QZSS Satellite VisibilitySource: SPAC Animation VideoTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 54
QZSS Satellites & Signal TypesSignalNameL1C/AL1CL1SAIFL1SQZS-1QZS-2 to QZS-4CenterBlock IQ Block IIQ Block IIGTransmission serviceFrequency(QZO) (QZO)(GEO)MHz121Satellite positioning service Satellite positioning service Sub-meter Level Augmentation Service1575.42(SLAS)/DisasterandCrisisManagement L1Sb-- SBAS Transmission Servicefrom around 2020L2CL5 Satellite positioning serviceL5S-LEX L6S-band- - Satellite positioning servicePositioning Technology VerificationServiceMADOCACentimeter Level Augmentation Service(CLAS)QZSS Safety Service / SAR1227.601176.451278.752GHzTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 55
QZSS New ApplicationsTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 56
QZSS New Applications Short Message Broadcast during Emergencies and Disasters L1SAIF / L1S Signals Sub-meter Level Augmentation Service (SLAS) L1SAIF / L1S / L1Sb Signals Centimeter Level Augmentation Service (CLAS) L6 Signal PPP-RTK LEX Signal : MADOCA Service PPPTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 57
Short Message Broadcast during DisasterTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 58
Sub-meter Level Augmentation Service (SLAS)SLAS : Sub-meter Level Augmentation ServiceSignal Used: L1SAIF / L1STraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 59
Centimeter Level Augmentation Service (CLAS)CLAS : Centimeter Level Augmentation ServiceSignal Used: LEX: MADOCA & L6Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 60
NAVIC, India(Indian Regional NavigationSatellite System)Training on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 61
IRNSS Signal MHzS2492.028MHz16.5MHzTraining on GNSS – Course (T141-30), Organized by: GIC/AIT, S4D/CSIS and ICG, held at: GIC/AIT, Thailand from 23 – 26 JAN 2018Dinesh Manandhar, CSIS, The University of Tokyo, di
Global Navigation Satellite System (GNSS) is the standard generic term for all navigation satellites systems like GPS, GLONASS, GALILEO, BeiDou, QZSS, NAVIC. Regional Constellation . PRN Navigation Message GPS Signal 2P x t D t sin 2Sft x t D t 1.023Mbps 50bps 1-1 1-1.
2.2 Fundamentals of Inertial Navigation, 19 2.2.1 Basic Concepts, 19 2.2.2 Inertial Navigation Systems, 21 2.2.3 Sensor Signal Processing, 28 2.2.4 Standalone INS Performance, 32 2.3 Satellite Navigation, 34 2.3.1 Satellite Orbits, 34 2.3.2 Navigation Solution (Two-Dimensional Example), 34 2.3.3 Satellite Selection and Dilution of Precision, 39
Navigation Systems 13.1 Introduction 13.2 Coordinate Frames 13.3 Categories of Navigation 13.4 Dead Reckoning 13.5 Radio Navigation 13.6 Celestial Navigation 13.7 Map-Matching Navigation 13.8 Navigation Software 13.9 Design Trade-Offs 13.1 Introduction Navigation is the determination of the position and velocity of the mass center of a moving .
the satellite output power to the maximum level, additional noise is introduced into the link from satellite to hub. Therefore, an accurate calculation of the SNR for the entire RTN link must consider: 1. the SNR of the terminal-to-satellite link 2. the SNR of the satellite-to-hub link When the output power of the satellite is at a maximum, SNR .
c. Satellite: Internet access provided through satellites orbiting the Earth. Satellite service requires a satellite Internet subscription from an Internet satellite service provider and a satellite dish. Carriers that provide satellite Internet service are DIRECTV, Dish Network, HughesNet, and Wildblue. d.
GLONASS satellite system (ГЛОНАСС; GLObal NAvigation Satellite System) is an alternative to US's GPS and EU's Galileo. 2.3 BeiDou. The Teseo-VIC3D modules can receive and process BeiDou concurrently with GPS and Galileo. B1 signals provided at 1561.098 MHz by the BeiDou Navigation Satellite System can be tracked by Teseo-VIC3D .
Navigation User Manual . 1.Home Menu. First Page . Second Page Third Page . 2. How to use Navigation. Enter the second menu. Click icon “Navigation”,access into Navigation function. Please refer to the instruction manual for navigation software . 1 2 . Common apps Car info . Home. Menu . 1.Player .
Buick LaCrosse Navigation System - 2012 Black plate (4,1) 4 Infotainment System Overview Read this manual thoroughly to become familiar with how the navigation system operates. The navigation system includes navigation and audio functions. Keeping your eyes on the road and your mind on the drive is important for safe driving. The navigation
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