Gps Positioning and Surveying

GPS Positioning and Surveying
Hasanuddin Z. Abidin
Geodesy Research Division

Institute of Technology Bandung
Jl. Ganesha 10, Bandung, Indonesia
E-mail : hzabidin@gd.itb.ac.id
Research Center for Seismology, Volcanology and Disaster Mitigation
Graduate School of Environmental Studies

Nagoya University, 5 February 2007
Positioning with GPS
Position is given in 3-D, i.e. (X,Y,Z) or (L,B,h).

Height (h) given by GPS is an ellipsoidal height.
Positioning datum is WGS (World Geodetic System) 1984
which uses reference ellipsoid : WGS84.
Point to be positioned could be stationary or moving.
Positioning could be done relative to the Earths center or
relative to the other known point.
Positioning could be done using several methods : absolute
positioning, differential positioning, static surveying, rapid
static, pseudo-kinematic and kinematic positioning.
Positioning accuracy : mm to several of m level.
Positioning accuracy would depend on several factors :
positioning method, satellite geometry, data quality, and
data processing strategy.
Hasanuddin Z. Abidin, 2006
Basic Principle of Positioning with GPS

GPS
_
(required)
Observer
_
r (known)
_
Geocentric position of satellite ( r )
is known.
If the topocentric
vector position of
_
satellite ( ) can be measured, then
the geocentric position vector of
the observer can be determined as :
_
R (sought)
_
_ _
R = r -
Earths center
However, with GPS we can only measure

the distances, not the position vectors.
GPS overcome this positioning problem by
simultaneously measuring distances
to several GPS satellites.
d1
d2
d3
d4
d5
The Principle is Not New !!

The basic principle of GPS positioning
is actually not a new one.
It is actually the same as
traditional terrestrial principle
of resection by distances
to the known control points.
known
(X,Y,Z)1
(X,Y,Z)2
d1
measured
d2
(X,Y,Z)3 (X,Y,Z)
4
d3
d4
(X,Y,Z)5
d5
(X,Y,Z)
sought
(x,y)2 known
(x,y)1
d1
d2
(x,y)3
d3 measured
(x,y) = ?? sought
In case of GPS, the known

points are lift up to the sky
as the satellites,
the satellites can be seen
as the rotating 3D-known
control points
Satellites coordinates
are computed based
on Navigation Message
GPS Navigation Message

Besides containing the ranging codes, GPS signals also are
modulated by the 'navigation message'.
This message contains information such as :
- the satellite's orbital data (the so-called broadcast ephemeris),
- satellite almanac data,
- satellite clock correction parameters,
- satellite health and constellation status,
- ionospheric model parameters for single-frequency users, and
- the offset between the GPS and UTC
(Universal Time Coordinated) time systems.
The content of the navigation message is
determined by the GPS Control Segment and
broadcast to the users by the GPS satellites.
Structure of GPS Navigation Message

Dataframe (30 sec)
1
Subframes
Subframe (6 sec)
0
TLM
Block I Data
(Clock Parameters)
2,3
Block II Data
(Broadcast Ephemeris)
HOW
Information/Control
24 bits
4,5 Block III Data

(Almanac, UTC,
Ion. cor. parameters,
Special information)
6 bits
Content of GPS Broadcast Ephemeris
toe
toc
ao, a1, a2
IOD
a
e
io
o
Mo
Cis and C ic
Crs and C rc
idot
Cus and Cuc
Time Parameters
Reference time for the ephemeris parameters (s)
Reference time for the clock parameters (s)
Polynomial coefficients for satellite clock correction, i.e. representing the
bias (s), drift (s/s), and drift-rate (s/s2) components.
Issue of Data (arbitrary identification number)
Satellite Orbit Parameters
Square root of the semi-major axis (m 1/2)
Eccentricity of the orbit (dimensionless)
Inclination of the orbit at toe (semicircles)
Longitude of the ascending node at toe (semicircles)
Argument of perigee (semicircles)
Mean anomaly at toe (semicircles)
Orbital Perturbation Parameters
Mean motion difference from computed value (semicircles/s)
Rate of change of right ascension (semicircles/s)
Rate of change of inclination (semicircles/s)
Amplitude of the sine and cosine harmonic correction terms to the
argument of latitude (rad)
Amplitude of the sine and cosine harmonic correction terms to the
inclination angle (m)
Amplitude of the sine and cosine harmonic correction terms to the orbit
radius (m)
Geometric Visualization
of the GPS Broadcast
Ephemeris Parameters
Cuc, Cus
Crc, Crs
Satellite
Cic, Cis
ZT
In BROADCAST EPHEMERIS :
Coordinates of GPS
satellites are not given
directly in (X,Y,Z).
Instead the Keplerian
elements of the orbit
are given.
Reference epoch
n
Perigee
Mo
a,e
Geocenter
Vernal
equinox
YT
idot
io
Equator
Ascending node
XT
Other GPS Orbit Information

GPS Orbit
Information:
Almanac
Keplerian elements
Broadcast Ephemeris
IGS Ultra Rapid Ephemeris
Position and
velocity of
IGS Rapid Ephemeris
satellites
IGS Final (Precise) Ephemeris
Accuracy
Broadcast
Latency
Updates
Sample Interval
--
daily
~160 cm
real time
Ultra-Rapid (ph)
~10 cm
real time
4 times daily
15 min
Ultra-Rapid (oh)
<5 cm
3 hours
4 times daily
15 min
Rapid
<5 cm
17 hours
daily
15 min
Final
<5 cm
~13 days
weekly
15 min
ph = predicted half; oh = observed half

http://igscb.jpl.nasa.gov/components/prods.html
Distances to GPS Satellites

PSEUDORANGES
based on the travel time of the signal

derived using code measurements
PHASE RANGES
based on the phase of the signal

derived using carrier phase
measurements
4
GPS PRN-Codes
There are two pseudo-random

noise (PRN) codes which are
transmitted by a GPS satellite: the P(Y)-code and the C/A-code.
The two main roles of these codes are
- to provide time delay measurements so the user can obtain
the distance to the observed satellite , and
- to help the receiver in differentiating the incoming signals
from different satellites.
These codes are sequences of binary values (zeros and ones, or +1 and -1),
and although the sequence appears to be random, each code has its unique
structure generated by a mathematical algorithm.
1 chips
C/A-code
= 11sec
sec 293 m
P(Y)-code
= 0.1
0.1sec
sec 29.3 m
GPS codes
DETERMINING PSEUDORANGE USING CODE

The basic principle for obtaining this range is the so-called 'code-correlation'
technique whereby the incoming code from the satellite is correlated with a
replica of the corresponding code generated inside the receiver (see the Figure).
Both codes are generated using the same mathematical algorithm.
The time shift (dt) required to align the two codes is, in principle, the time
required by the signal carrying the code to travel from the satellite to the receiver.
Multiplying dt with the speed of light, one can obtain an estimate
of the range to the satellite.
This range is usually termed pseudorange, since it is still biased by the time
offset between the satellite and receiver clocks used to measured the time delay dt.
Satellite
Code coming from GPS satellite
dt
Code replica generated

inside GPS receiver
Observer
Distance from observer to satellite = c . dt

GPS Carrier Waves

The main function of the GPS carrier waves, L1 and L2, is to
'carry' the codes and navigation messages to the receiver.
The codes and navigation messages are modulated onto the
carrier waves using the bi-phase shift key modulation technique.
The phase measurements made on the carrier waves can also be
used to derive very precise range measurements to the satellites,
which are often referred to as 'phase ranges' or 'carrier ranges',
carrier wave
+1
-1
data (code and

navigation message)
data-modulated
carrier wave
PHASE RANGE DETERMINATION

Measured phase (fraction of cycle) at epoch ti
ti
to
Counted number of full cycles, from to to t1
Observer
Phase observation () at epoch t1
Satellite
Unobserved number
of full cycles; called
initial integer
ambiguity (N)
Range from
from observer
to satellite
=wavelength
N)N)
Range
observer
to satellite
= .. ((+ +
GPS phase range is not an 'absolute' range from receiver to the satellite as
in the case of pseudorange, but is an ambiguous range.
There is an unobserved part of the range caused by the initial cycle ambiguity
of the phase (N).
To convert this ambiguous range into an absolute range, N has to be estimated.
If the integer value of N can be correctly estimated, then the carrier range will
become a very precise range measurement (at the few mm precision level),
and can be used for high precision positioning.
The integer cycle ambiguity resolution is not an easy task.
GEOMETRICAL INTERPRETATION OF
CARRIER RANGE AND CYCLE AMBIGUITY
t1
GPS Orbit
i = Fr((ti)) + Int(;to, ti)
t2
t3
2
3
N(to)
N(to)
N(to)
GPS Receiver
Phase observation
at each epoch ti :
(ti) = Fr((ti)) + Int(;to, ti) + N(to)
= N(to) + i
Pseudorange vs Phase Range

PSEUDORANGE
PHASE RANGE
Noise
(1% of )
P(Y)-code : 0.3 m
C/A-code : 3 m
Ambiguity
None
cycle ambiguity
Ionospheric bias
delayed
fasten
Multipath
1 code width (max) :

P(Y)-code : 30 m
C/A-code : 300 m
L1 : 1.9 mm
L2 : 2.4 mm
0.25 (max) :
L1 : 4.8 cm
L2 : 6.1 cm
Factors Influencing
GPS Positioning Accuracy
Satellite
Geometry
Data Quality
Data Processing
Strategy
Positioning
Method
4
Factors Influencing GPS Positioning Accuracy
DATA QUALITY
SATELLITE
GEOMETRY
POSITIONING
METHOD
DATA
PROCESSING
STRATEGY
type of data used (pseudorange or phase)

GPS receiver quality
level of errors and biases
number of satellites
location and distribution of satellites
length of measurement period
absolute & differential positioning
static, rapid static, pseudo-kinematic, stop-and-go, kinematic
one & multi monitor stations
real-time & post processing
strategy for correcting errors and biases
estimation method to be used
baseline processing and network adjustment
quality control mechanism
One-Way Pseudorange
Pi = + d + dtrop + dioni + (dt - dT) + MPi + Pi
Subscript i indicates a certain frequency of signal (i=1,2, or 5)
P
d
dtrop
dion
dt,dT
MP
P
=
=
=
=
=
=
=
=
pseudorange
geometric range between the antenna and satellite
ephemeris (orbital) error
tropospheric bias
ionospheric bias
receiver and satellite clock errors
pseudorange multipath
pseudorange noise
4
One-Way Phase Range

Li = + d + dtrop - dioni + (dt - dT) i.Ni + MCi + Ci
Subscript i indicates a certain frequency of signal (i=1,2, or 5)
L
d
dtrop
dion
dt,dT
N
MC
C
=
=
=
=
=
=
=
=
=
=
phase measurement in range unit

geometric range between the antenna and satellite
ephemeris (orbital) error
tropospheric bias
ionospheric bias
receiver and satellite clock errors
signal wavelength
phase ambiguity (integer)
phase multipath
phase noise
GPS Errors and Biases

Phase Ambiguity
Cycle Slips
Orbital errors
Satellite clock errors
Ionospheric bias
Multipath
Imaging
Tropospheric bias
Receiver clock errors

Antenna errors
Receiver noise
Spectrum of GPS Positioning Accuracy

ABSOLUTE
POSITIONING
SPS with selective availability

50 m
SPS without selective availability

5m
PPS with anti-spoofing
Since
2 May
2000
3m
PPP surveying
10 cm
DIFFERENTIAL
POSITIONING
2m
1m
5 cm
3 mm
differential code
carrier-smoothed code
ambiguity-resolved carrier phase

static survey (carrier phase)
1 mm
1 cm
10 cm
1m
10 m
100 m
SPS = Standard Positioning Service (for civilian).
PPS = Precise Positioning Service (for military and authorized users).
PPP = Precise Point Positioning (using phases)
GPS Positioning Methods

DIFFERENTIAL
ABSOLUTE
(one receiver) (minimal 2 receivers)
STATIC
(point is static, receiver is static)
KINEMATIC
(point is moving, receiver is moving)
RAPID STATIC
(point is static, receiver is static (short period))
PSEUDO-KINEMATIC
(point is static, receiver is static and moving)
STOP AND GO
(point is static, receiver is stopping and moving)
GPS Positioning Methods

Positioning with GPS
Navigation
Surveying
PPP
(Precise
Point
Absolute
Poitioning)
Differential
Post-processing
Differential
Absolute
Real-Time
Static
Stop-and-Go
Pseudo-kinematic
Rapid Static
RTK
DGPS
Kinematic
Absolute Positioning
It is also called point positioning

Position is given in WGS-84 system, relative to mass center of the Earth.
Uses only one receiver.
Basic principle : simultaneous distance measurements to several satellites.
Usually based on pseudoranges
The phases could also be used if the initial phase ambiguities have been
previously determined or they are estimated together with the position.
Precise Point Positioning (PPP) is using phases in static mode.
Positioning accuracy
GPS Satellite
GPS Satellite
strongly dependent on
the data quality and
satellite geometry.
It is not intended for
accurate positioning.
Main applications :
navigation and
Static
Kinematic
reconnaissance.
Real-Time Absolute Positioning (1)
Using a single epoch observations.
Usually based on pseudoranges.
Basic positioning mode used by

the navigation-type GPS receiver.
At each epoch, there are 4 parameters

that should be estimated :
- 3 parameters of coordinate (X,Y,Z or ,h)
- 1 parameter of receiver clock errors
In order to estimate the parameters, observations to

minimal of 4 GPS satellites are required.
A single epoch
observation equations
using psudoranges :
Position of GPS receiver

to be estimated : (x,y,z)
Coordinates of satellites
are known.
Psudoranges are measured.
http://www.math.tamu.edu/~dallen/physics/gps/gps.htm
3-5m
Todays typical accuracy of

horizontal position based on
C/A Code on L1
Before May 2000 :

25-100 m
USC-USDC (2002)
Modernization of GPS Signals

C/A
P(Y)
Current signals
(Block II/IIA/IIR)
P(Y)
L2C
C/A
P(Y)
P(Y)
Next Generation
Signals (Block IIR-M)
M
L2C
P(Y)
C/A
P(Y)
Full modernized
Signals (Block IIF)
1176 MHz
(L5)
1227 MHz
(L2)
1575 MHz
(L1)
1-3 m
Better resistance to
interference
Eliminates need for costly
DGPS in many non-safety
applications
Tomorrows typical accuracy of

horizontal position based on
C/A Code on L1
L2C Code on L2
New Code on L5
USC-USDC (2002)
Static Absolute Positioning
Using many epochs of observations (e.g. a few hours or more).
Requires the use of mapping or geodetic-type receiver.
Can based on pseudoranges, phases and phase-smoothed

pseudoranges.
Typical accuracy spectrum :

dm to a few meters
Accuracy will be mainly affected by :

- type of data being used
- data length
Can be used for establishing the initial

(temporary) control station.
Differential Positioning
It is also called
relative positioning.
Required at least 2
STATIC
GPS Satellite
GPS Satellite
receivers, where one of them
is located on the point with
known coordinates
(reference station).
Reference
Monitor
station
Position is determined
station
Observer
relative to the reference
Observer
KINEMATIC
station.
Basic concept: differencing process could eliminate and/or reduce the effects of
some errors and biases, and therefore enhancing the positioning accuracy.
Effectiveness of differencing process would strongly depend on the distance
between the monitor station and the point to be positioned (the shorter the more
effective, and vice versa).
Could use pseudoranges, phases, or phase-smoothed pseudoranges.
Positioning accuracy level ranges from medium to high.
Main applications: survey and mapping, geodetic surveys, and precise
navigation.
Effect of GPS Data Differencing

ERRORS AND BIASES
COULD BE
ELIMINATED
Satellite clock
Receiver clock
COULD BE
REDUCED
Orbit (Ephemeris)
Ionosfir
Troposfir
COULD NOT BE
ELIMINATED
OR REDUCED
Multipath
Noise
The effectiveness of error-and-bias reduction will mainly depend on

the distance between stations (baseline length)
the longer the baseline, reduction will be less effective, and vice-versa.
For high precision applications, the residual errors and biases should
be further modeled and/or estimated.
Data Differencing Modes

Satellite # 2,
epoch # 2
BETWEEN
SATELLITES
Satellite # 1,
epoch # 2
BETWEEN
EPOCHS
Satellite # 1,
epoch # 1
BETWEEN
RECEIVERS
Receiver # 1
Receiver # 2
Differencing Types
SD
DD
TD
OW
SD
DD
TD
= OW - OW
= SD - SD
= DD - DD
=
=
=
=
ONE-WAY data
SINGLE-DIFFERENCE data
DOUBLE-DIFFERENCE data
TRIPLE-DIFFERENCE data
Data that are mainly used for

differential GPS positioning are :
Receiver-Satellite Double-Difference
Triple Difference
between-receiver
between-satellite
between-epoch
valid for
pseudoranges,
phase ranges,
or other
data combination
Receiver-Satellite Double-Difference
Eliminates the receiver and
GPS-2
GPS-1
satellite clock errors and biases.
Reduces the effects of orbital,
ionospheric and tropospheric
errors and biases.
Cycle ambiguity still need
to be resolved and fixed.
2 receivers, 2 satellites, 1 epoch
Observation noise
increases by factor of 2.
Data generally used for GPS differential positioning.
P d dtrop dion MP P
L d dtrop dion .N MC C
Triple Difference Observation

Eliminates the receiver and satellite
GPS-1,
clock errors and biases.
GPS-2, epoch-2
epoch-2
Eliminates cycle ambiguity (when
GPS-2,
epoch-1
there is no cycle slips between epochs).
GPS-1,
Reduces the effects of orbital,
epoch-1
ionospheric and tropospheric
errors and biases.
Observation noise
increases by factor of 8.
Generally used for automatic
2 receivers, 2 satellites, 2 epochs
editing of cycle slips.
In GPS differential positioning
is generally used to provide an approximate baseline solution.
P d dtrop dion MP P
L d dtrop dion MC C
DGPS (Differential GPS) system is a term

used to represent a real-time differential
positioning system using pseudorange data.
In order to establish a real time mode,

Reference Station has to send the differential
correction to the user in real-time by using
a certain data communication system.
Two types of differential correction :

- pseudorange correction (RTCM SC-104)
- position correction
Generally used : pseudorange correction
Typical positioning accuracy : 1 - 3 m
It is generally used to position

the moving objects.
Main applications: marine surveys

and medium accuracy navigation.
DGPS System
GPS
Vessel
Reference
Station
Differential
Correction
RTK (Real-Time Kinematic) system is

a term used to represent a real-time
differential positioning system using
phase data.
Could be used to position the stationary

and moving objects.
In order to establish a real

time mode, Reference Station
has to send both phase
and pseudorange data
to the user in real-time
by using a certain data
communication system.
Rover
RTK System
GPS satellites
Phases and
Pseudoranges
Monitor
Station
Typical positioning accuracy : 1 - 5 cm
Main applications : staking out, cadastral survey, mining survey, and

high precision navigation.
RTK Positioning: Today
10 km
2 cm accuracy
Todays typical accuracy of positioning based on

L1 Code and Carrier
L2 Carrier
Data Link
USC-USDC (2002)
RTK Positioning: Tomorrow
Faster recovery
following signal
interruptions
(ex., under bridges)
100+ km
2 cm accuracy
Fewer reference
stations needed
Tomorrows typical accuracy of positioning based on

L1 Code and Carrier
L5 Code and Carrier
L2 Code and Carrier
Data Link
USC-USDC (2002)
GPS Static Surveying
All points to be positioned

are stationary.
Fixed points
Points to be
positioned
observed baseline
vectors
Observations are usually

performed to cover a certain
network of points.
The coordinates are determined relative to

the fixed points with known coordinates.
Observation is usually performed in baseline mode for a few hours or days.
Usually based on differential positioning using phase data.
Achievable positioning accuracy is usually high (mm to cm level).
Applications : control surveys, monitoring surveys, etc..
Other Methods :
- RAPID STATIC
- PSEUDO-KINEMATIC
- STOP AND GO
- KINEMATIC
Network vs. Radial Mode of Surveying

NETWORK MODE
The adopted mode

will affects :
RADIAN MODE
(from Reference Point)
Achievable Accuracy
Survey Time
Survey Cost
GPS Survey Data Processing
GPS survey data processing is usually performed in

three stages, namely :
1. Baseline processing
2. Network adjustment
3. Datum and coordinate
transformation
Data processing could be done using

either commercial software or
scientific software, depending on
the accuracy level being sought.
Fixed
point
GPS Data Processing Software

Commercial Software
Author
SKIPro
GPSurvey
Pinnacle
Leica
Trimble
Topcon
Scientific Software
Author
BERNESSE
University of Berne, Swiss
DIPOP
University of New Brunswick, Kanada
GAMIT
Massachussets Institute of Technology, USA
GIPSY
Jet Propulsion Laboratory, USA
TOPAS
University of Federal Armed Forces, Jerman
On-line GPS Data Processing Software

It provides users with the facility to submit dual frequency geodetic
quality GPS RINEX data observed in a 'static' mode, to website-based
GPS processing system and the user receive rapid turn-around ITRF
coordinates.
It is a FREE service.
This service takes advantage of both the IGS Stations Network and
the IGS product range, and works with data collected anywhere on Earth.
Examples :
AUSPOS : http://www.ga.gov.au/geodesy/sgc/wwwgps/
CSRS-PPP : http://www.geod.nrcan.gc.ca/ppp_e.php
SCOUT : http://sopac.ucsd.edu/cgi-bin/SCOUT.cgi
AUTO GIPSY : http://milhouse.jpl.nasa.gov/ag/
OPUS : http://www.ngs.noaa.gov/OPUS/
GPS Positioning Precision (1)

100
milimeter
Achievable Precision of
Horizontal Component
10
1
1985
Ref. : UNAVCO (1995)
1986
1987
1988
1989
1990
1991
1992
1993
GPS Positioning Precision (2)

50
Achievable Precision of
Vertical Component
milimeter
40
30
20
10
5
0
1985
Ref. : UNAVCO (1995)
1986
1987
1988
1989
1990
1991
1992
1993
Rapid Static Surveying

Static survey with shorter session length
(5-20 minutes instead of 1-2 hours or more).
Observation procedure is basically the same as
in static survey.
Fixed point
Observation length depends on baseline
length, number of observed satellites and
satellite geometry).
Based on differential positioning using carrier
Points to be
phase data.
positioned
Fundamental requirement : fast cycle
ambiguity resolution
Requires a sophisticated data processing software.
Requires good satellite geometry, minimal residual errors and biases,
multipath-minimal environment.
Dual-frequency GPS data is preferred.
Typical achievable (relative) accuracy : cm level.
Main applications : survey and mapping, network densification, engineering
survey, utility survey, etc.
s
ba
el
in
Rapid Static vs. Static Surveying
Rapid static has a higher productivity than static survey.

Static survey yield a relatively higher accuracy of coordinates.
Compared to static survey, rapid static has a more stringent requirement
on GPS receiver, observation geometry, and data processing software to
be used.
Rapid static survey is more prone toward the effects of errors and biases.
A better utilization scenario is to integrate the two survey methods
according to their characteristics, as shown in the following.
Static survey
Rapid static survey
Fixed point
Points to be positioned
using static survey
Points to be positioned
using rapid static survey
Pseudo-Kinematic Surveying (1)

1st observation
Fixed
Station
2nd observation
after > 1 hour
tion
serva
1st ob
Geometrical
chages
nd
Observer
n
io
t
a
rv
e
s
ob
Also called intermittent static or

reoccupation method.
It is the same as two rapid static surveys

(duration of a few minutes each) separated
with a relatively longer period (more than
an hour).
Fundamental argument : Observations in

two separated sessions can cover required
geometrical changes for successful
ambiguity resolution.
Requires good satellite geometry, minimal

residual errors and biases, multipathminimal environment
GPS
Pseudo-Kinematic Surveying (2)
Based on differential positioning using carrier phase data.

GPS receiver can be turned off during the move between stations.
Coordinates are estimated using data from both sessions.
Not all GPS receivers have operational mode for
pseudo-kinematic surveying.
Requires a sophisticated data processing software.
Ideal for positioning the points along the road.
Static
Rapid Static
Pseudo-kinematic
Stop-and-Go Survey (1)
Characteristic : rover moves and stop

(for several seconds) from point to point.
stop
go
stop Rover
Also called semi-kinematic survey.
stop
Similar to kinematic positioning;
go
go
go
only the receiver stops for a while
at each points.
stop
stop
Base
Cycle ambiguity at the first point
Point
has to be determined prior to
go
go
stop
receiver movement to next points.
go
stop
go
During the movement between points,
stop
receiver has to always lock on to
Receiver movement
GPS signal.
If the receiver loss the signal (cycle slip),
receiver has to stop and re-determine the cycle ambiguity,
and afterward moves on again to other points.
Stop-and-Go
Survey(2)
(2)
Stop-and-Go Survey
Based on differential positioning using

carrier phase data.
Rover
Rover trajectory between points is not
required, although was observed.
Requires a sophisticated
Fixed point
data processing software.
Requires good satellite geometry,
minimal residual errors and biases,
multipath-minimal environment.
Position determination can be performed
Coordinates are determined
in real-time or post-processing mode.
relative to a fixed point
Real-time requires stringent operational
strategy.
Coordinates are determined relative to a fixed point
This method is suitable for surveys in
an open area with points close to each other.
Kinematic Positioning
Points to be positioned are moving.

Besides position, the velocity, acceleration,
GPS
and attitude of the moving object could also
be determined by GPS.
Could be absolute or differential positioning.
Could use pseudorange and/or phase data.
Data processing to obtain position
could be done in real-time or in post-processing.
Monitor
Station
For real-time differential kinematic positioning,
data communication between monitor station
and moving receiver is required.
Precise kinematic positioning required the use of phase data.
The main problem is on-the-fly ambiguity resolution.
Positioning accuracy ranges from low to high level.
Applications : navigation, surveillance, guidance, photogrammetry,
airborne gravimetry, hydrographic survey, etc.
GPS Height
Earths Surface
Geoid
Ellipsoid
Geocentre
Height of point given by GPS (h)

is the height above WGS84 reference
ellipsoid.
This ellipsoidal height (h) is not

the same as an orthometric height
which is generally used for practical
applications and obtained from
levelling measurement.
Orthometric height of a point is its height above geoid measured

along the plumb line on that point.
Ellipsoidal height of a point is its height above ellipsoid measured
along the ellipsoidal normal line on that point.
Ellipsoidal Height to Orthometric Height
Earths Surface
H
Geoid
Ellipsoid
H=h-N
h
Geocentre
h =
H=
N=
=
Approximated formula :
ellipsoidal height
orthometric height
geoid undulation
deflection of vertical
The above formula is accurate enough

for practical applications.
The maximum value of deflection of
vertical () is about 30.
In order to achieve a higher accuracy,
the height determination is done in
relative positioning mode :
dH = dh - dN
Why height component is less accurate ?
GPS
GPS-derived height component is usually

2-3 times less accurate than its horizontal
component.
REASONS :
One-sided geometry :
- only satellites above horizon can be observed.
- geometrically is not an optimal situation.
- no up-and-down reduction scheme of errors
as in the case of horizontal component
(i.e. East-West and North-South schemes)
Effects of the errors and biases on observed

ranges are usually lengthening or shortening
these observed distances.
height component will be mostly affected
Earth
Horizontal
Components
GPS
Accuracy of GPS (Surveying) Height

Reported Accuracy
Researcher
About 1.6 ppm

3 ppm
Up to 3.2 ppm
Engelis & Rapp (1984)

Schwarz & Sideris (1985)
Holloway (1988)
(0.5 mm + 1-2 ppm)

1 - 3 ppm
Zilkoski & Hothem (1988)

Kearsley (1988)
Up to 3.5 ppm
1 - 2.5 ppm
Leal (1989)
Kleusberg (1990)
The above accuracy figures

are derived by basing on the misclosures
of height differences obtained by GPS survey method.
GPS Leveling vs. Leveling

320
In this graphic for GPS leveling
it is assumed that relative undulation error
(N) is negligible (about zero).
280
Accuracy (mm)
240
GPS leveling - 3 ppm
200
160
80
Leveling - Orde 3
GPS leveling - 1 ppm
Leveling - Orde 2
40
Leveling - Orde 1
120
20
40
60
Distance (km)
80
100
Velocity and Acceleration

Determination using GPS
Estimation process
Phase Data
EP #1
dt
Position
dt
Estimation process
Frequency (Phase rate)
dt
Differential
operator
Frequency Rate
EP #2
Velocity
dt
Estimation process
EP #3
Acceleration
More Learning Sites on GPS

1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.
http://www.gmat.unsw.edu.au/snap/gps/about_gps.htm
http://www3.sympatico.ca/craymer/geodesy/gps.html
http://igscb.jpl.nasa.gov/
http://www.gpsy.com/gpsinfo/
http://www.ga.gov.au/geodesy/sgc/wwwgps/
http://www.geod.nrcan.gc.ca/ppp_e.php
http://sopac.ucsd.edu/cgi-bin/SCOUT.cgi
http://milhouse.jpl.nasa.gov/ag/
http://www.ngs.noaa.gov/OPUS/
http://sideshow.jpl.nasa.gov/mbh/series.html
http://www.ngs.noaa.gov/gps-toolbox/
http://www.navcen.uscg.gov/gps/modernization/default.htm
http://www.usace.army.mil/publications/eng-manuals/
em1110-1-1003/toc.htm
http://bowie.mit.edu/%7Esimon/gtgk/
http://facility.unavco.org/software/processing/gipsy/gipsy_info.html
http://www.gpsworld.com/gpsworld/
http://www.navtechgps.com/

Gps Positioning and Surveying

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Gps Positioning and Surveying

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GPS Positioning and Surveying

Geodesy Research Division

Research Center for Seismology, Volcanology and Disaster Mitigation

Graduate School of Environmental Studies

Positioning with GPS

Position is given in 3-D, i.e. (X,Y,Z) or (L,B,h).

Basic Principle of Positioning with GPS

However, with GPS we can only measure

Hasanuddin Z. Abidin, 1994

The Principle is Not New !!

In case of GPS, the known

GPS Navigation Message

Structure of GPS Navigation Message

4,5 Block III Data

Content of GPS Broadcast Ephemeris

Hasanuddin Z. Abidin, 2003

Other GPS Orbit Information

ph = predicted half; oh = observed half

Hasanuddin Z. Abidin, 2007

Distances to GPS Satellites

based on the travel time of the signal

based on the phase of the signal

Hasanuddin Z. Abidin, 2007

There are two pseudo-random

DETERMINING PSEUDORANGE USING CODE

Code coming from GPS satellite

Code replica generated

Distance from observer to satellite = c . dt

GPS Carrier Waves

data (code and

PHASE RANGE DETERMINATION

Phase observation () at epoch t1

i = Fr((ti)) + Int(;to, ti)

Pseudorange vs Phase Range

1 code width (max) :

Factors Influencing GPS Positioning Accuracy

type of data used (pseudorange or phase)

Hasanuddin Z. Abidin, 1994

One-Way Phase Range

phase measurement in range unit

GPS Errors and Biases

Hasanuddin Z. Abidin, 2003

Receiver clock errors

Spectrum of GPS Positioning Accuracy

SPS with selective availability

SPS without selective availability

PPS with anti-spoofing

ambiguity-resolved carrier phase

GPS Positioning Methods

GPS Positioning Methods

It is also called point positioning

Real-Time Absolute Positioning (1)

Using a single epoch observations.

Usually based on pseudoranges.

Basic positioning mode used by

At each epoch, there are 4 parameters

In order to estimate the parameters, observations to

Real-Time Absolute Positioning (2)

Position of GPS receiver

Real-Time Absolute Positioning (3)

Todays typical accuracy of

Before May 2000 :

Hasanuddin Z. Abidin, 2006

Modernization of GPS Signals