File 01 - GNSS - Intro

Introduction to
Global Navigation Satellite System (GNSS)

Module: 1
Dinesh Manandhar
Center for Spatial Information Science
The University of Tokyo
Contact Information: dinesh@csis.u-tokyo.ac.jp
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Slide : 1
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp
Module 1: Course Contents
• Introduction
• How GNSS Works?
• GPS Signal Structure
• GNSS Systems
• GPS
• GLONASS
• GALILEO
• BEIDOU
• QZSS
• IRNSS
• Multi-GNSS
Slide : 2
Fundamental Problem Where am I
on the Earth?
350 40’ 41”
• How to know my location precisely ? 1390 39’ 40”
• In any condition
• At any time
• Everywhere on earth (at least outdoors!)
• How to navigate to the destination?
• Guidance or Navigation
• How to synchronize time globally?
• Mobile phones
• Financial Institutes
How far ?
Which Route ?
Slide : 3
Navigation Types
• Landmark-based Navigation • Radio-based Navigation

• Stones, Trees, Monuments • LORAN, OMEGA
• Limited Local use • Subject to Radio Interference, Jamming,
Limited Coverage
• Celestial-based Navigation
• Stars, Moon • Satellite-based Navigation or GNSS
• Complicated, Works only at Clear Night • TRANSIT, GPS, GLONASS, GALILEO, QZSS,
BEIDOU (COMPASS), IRNSS
• Global, Difficult to Interfere or Jam, High
• Sensors-based Navigation Accuracy & Reliability
• Dead Reckoning
• Gyroscope, Accelerometer, Compass,
Odometer
• Complicated, Errors accumulate quickly
Slide : 4
What is GNSS?
Global Navigation Satellite System (GNSS) is the standard generic term for all
navigation satellites systems like GPS, GLONASS, GALILEO, BeiDou, QZSS, NAVIC.
• Global Constellation • Regional Constellation

• GPS USA • QZSS, Japan
• GLONASS, Russia • NAVIC (IRNSS), India
• Galileo, Europe
• BeiDou (COMPASS) / BDS, China
Slide : 5
Satellite Based Augmentation System (SBAS)
• Satellite Based Augmentation System (SBAS) are used to augment GNSS
Data
• Provide Higher Accuracy and Integrity
• Some correction data like satellite orbit, satellite clock and atmospheric data are
broadcasted from communication satellites
• Used by ICAO for Aviation
• SBAS Service Providers
• WAAS, USA
• MSAS, Japan
• EGNOS, Europe
• GAGAN, India
• SDCM, Russia
• Nigeria
• Korea (Also navigation system)
• Australia
Slide : 6
Determine the Distance using Radio Wave
0ms
Satellite Transmits Signal at 0ms.
Receiver Receives
25ms the Same Signal
after 67ms.
0ms
50ms
Satellite with a known position
75ms 25ms
transmit a regular time signal.
Speed of Light
50ms
300,000 km/s
Distance = (Transmission time – Reception time)

× Speed of light
Slide : 7
Principle of Satellite-based Navigation
(xk,yk,zk)
(x,y,z)
 
k
x k
 x    y  y   z  z   b
2 k 2 k 2
If k ≥ 4, solve for x, y, z and clock bias, b ∆t Correlation between Incoming Signal and
Receiver Generated Signal
Slide : 8
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 an
apparent random sequence, PRN Code
• 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 division
multiple 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 Ephemeris
Slide : 9
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
• BPSK CDMA: Code Division Multiple Access
FDMA: Frequency Division Multiple Access
• Various versions of BOC BPSK : Binary Phase Shift Keying
BOC: Binary Offset Carrier
Slide : 10
GPS L1C/A Signal Structure
900 Phase Reverse
x154
L1 Carrier, 1575.42Mhz
Carrier Signal
∑
X1, Clock x1/10

10.23Mhz
C / A Code, 1.023Mhz
PRN Code
L1 Band GPS Signal

x1/204600
Navigation Data, 50Hz

Navigation Data
Slide : 11
GPS L1C/A Signal Structure
• Carrier Signal
• It defines the frequency of the signal
• For example:
• GPS L1 is 1575.42MHz, L2 is 1227.60MHz and L5 is 1176.45MHz
• PRN Code
• Used to identify satellite ID in CDMA
• Requires to modulate the data
• Should have good auto-correlation and cross-correlation properties
• Navigation Data
• Includes satellite orbit related data (ephemeris data)
• Includes satellite clock related information (clock errors etc)
Slide : 12
GPS L1C/A PRN Code Generator
G1 Polynomial: [3,10]
1 2 3 4 5 6 7 8 9 10
Output
1 2 3 4 5 6 7 8 9 10
G2 Polynomial: [2,3,6,8,9,10]
Slide : 13
Characteristics of PRN Code
Auto-correlation: Only four values: Cross-correlation: Only three values:

1023, 1, 63 or 65 (Ideal case) 1, 63 or 65 (Ideal Case)
• PRN codes are very uniquely designed.
• Maximum Cross-correlation Value is -23dB.
• GPS and other GNSS use CDMA
• One PRN code is assigned to one satellite. • If any signal above this power enters a GPS receiver, it
• In case of GPS, PRN code is 1023 bits long. will totally block all GPS signals.
• GLONASS is different. It uses FDMA. The same code for all • If longer PRN code is used, receiver becomes more
satellites but different frequencies. resistive to Jamming signal
• Some new signals of GLONASS also uses CDMA signals • But, signal processing is more complex
Slide : 14
PRN (Pseudo Random Noise) Code
• PRN Code is a sequence of randomly distributed zeros and ones that is one millisecond
long.
• 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 / 1023
0 1 0 1 0 0 11 0 1 0 0
1ms
Slide : 15
Modulation
Modulation is the process of conveying a message signal, for example a digital bit
stream, into a radio frequency signal that can be physically transmitted.
1 1 0 0 1 0 1 1 You want to transmit

this binary code
Amplitude Shift Keying
Frequency Shift Keying
Slide : 16
BPSK (Binary Phase Shift Keying)
Phase shift keying is a digital modulation scheme that conveys
data by changing, or modulating, the phase of the carrier
wave. BPSK uses two phases which are separated by a half
cycle.
Carrier Wave
+1
1 1 0 0 1 0 1 1 Digital Bit Stream
-1
Binary Phase Shift Keying
Slide : 17
CDMA vs. FDMA
CDMA FDMA
[GPS, QZSS, Galileo, BeiDou, [GLONASS]
IRNSS, Future GLONASS
Satellites]
Different PRN Code for each
One PRN Code for all satellites
satellite
PRN Code Satellites are identified by center
Satellites are identified by PRN
frequency
Code
Different frequency for each
Frequency One Frequency for all satellites
satellite
Receiver design is simpler Receiver design is complex
Merits &
No Inter-Channel Bias Inter-channel bias problem
Demerits
More susceptible to Jamming Less susceptible to Jamming
Slide : 18
Navigation Data
• Navigation Data or Message is a continuous stream of digital
data transmitted at 50 bit per second. Each satellite
broadcasts 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.
Slide : 19
GPS L1C/A Signal NAV MSG
Slide : 20
Principle of Satellite-based Navigation
(xk, yk, zk)
(x, y, z)
 
k
x k
 x    y  y   z  z   b
2 k 2 k 2
If k ≥ 4, solve for x, y, z and clock bias, b

∆t Correlation between Incoming Signal and
Receiver Generated Signal
Slide : 21
Pseudorange (1/2)
Transmission Pseudorange = (Transmission time – Reception time)
Time × Speed of light
Signal propagation at the speed of light
Reception
20,200 km Time
Transit time
A GPS receiver measures the signal transmission time

from the code phase at signal reception time.
Slide : 22
Pseudorange (2/2)
• Essential GNSS observable
• Full distance between the satellite and the receiver
• Provides a position accuracy of approximately a few meters
2m
20,200 km
Slide : 23
Carrier phase (1/2)
• PRN repeats every 1ms, which corresponds 300 km in distance at the
speed of light, but pseudorange accuracy is about 1 m.
• Carrier phase provides millimeter range accuracy, but repeats every
cycle, which correspond 19 cm in distance at a GPS signal carrier
frequency of 1575.42 MHz.
Pseudo random number
Carrier wave
Slide : 24
Carrier phase (2/2)
• Fractional carrier phase of the received signal
• Therefore there is an unknown integer number of full carrier
cycles between the satellite and the receiver
• Provide “survey-grade” accuracy of 1-2 cm once the
unknown number of full carrier cycles are resolved
19 cm 1 cm
Slide : 25
GNSS Architecture
Space Segment GPS
GPS
GNSS Satellites
User Segment
Control Segment GNSS Receivers
Applications that use GNSS
Monitor Satellite Health, Orbit, Clock etc
Upload Navigation Data to Satellites GNSS
Receiver
Finance
Marine / AIS
Safety
Security
Aviation / WAAS Mobile Phone
Railway ITS / ADAS
Slide : 26
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 is
reduced 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 noise
10-16 Watt
Slide : 27
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 = -156dBm
Slide : 28
GPS Signal Power
Noise Power
Any Signal below this
noise level can’t be
measured in a
Spectrum Analyzer
GPS Signal Power at

Antenna, -130dBm
Mobile phone, WiFi,

BT etc have power
level above -110dBm,
much higher than GPS
Signal Power
Slide : 29
Power of GPS Signal vs. Other Signals
Signal Type Power (based on calculations, not measured)

Watt dBW dBm
Mobile Phone
1W 0dBW 30dBm
Handset TX Power *
Above Noise
RX Power at Mobile
100e-6W -40dBW -70dBm
Phone Handset*
ZigBee 316e-16W -115dBW -85dBm
VHF 200e-16W -137dBW -107dBm
Thermal Noise 79e-16W -141dBW -111dBm

Below Noise
GPS** 1e-16W -160dBW -130dBm
• * Actual power values will differ. These are just for comparison purpose
• ** GPS Signals are hidden under the noise. Thus, it can’t be measured directly
e.g. using a Spectrum Analyzer
Slide : 30
GPS, USA
(Global Positioning System)
Slide : 31
History of GPS (1/2)
• Originally designed for military applications at the height of the Cold
War in the 1960s, with inspiration coming from the launch of the
Soviet spacecraft Sputnik in 1957.
• Transit was the first satellite system launched by the United States
and tested by the US Navy in 1960.
• Just five satellites orbiting the earth allowed ships to fix their position on the
seas once every hour.
• GPS developed quickly for military purposes thereafter with a total of
11 “Block” satellites being launched between 1978 and 1985.
• The Reagan Administration in the US had the incentive to open up
GPS for civilian applications in 1983.
How to Drop Five Bombs from Different Aircrafts into the Same Hole?
(with an accuracy of 10m)
Slide : 32
History of GPS (2/2)
• Upgrading the GPS was delayed by NASA space shuttle
Challenger disaster in 1989 and it was not until 1989 that the
first Block II satellites were launched.
• By the summer of 1993, the US launched the 24th GPS
satellite into orbit, which completed the modern GPS
constellation of satellites.
• In 1995, it was declared fully operational.
• Today’s GPS constellation has 31 active satellites.
• GPS is used for applications that require position and time
data.
Slide : 33
GPS Space Segment: Current & Future Constellation
Legacy Satellites Modernized Satellites
Block IIA Block IIR Block IIR(M) Block IIF GPS III
0 operational 12 operational 7 operational 12 operational In production
•L1C/A, L1 P(Y) •L1C/A, L1P(Y)

•L1C/A, L1P(Y)
•L2P(Y) •L1C/A, L1P(Y) •L2P(Y)
•L1C/A, L1P(Y) •L2P(Y)
•Launched in 1990- •L2P(Y) •L2C, L2M
•L2P(Y) •L2C, L2M
1997 •L2C, L2M •L5
•Launched in 1997- •L5
•Last one •Launched in 2005- •L1C
2004 •Launched in 2010-
decommissioned in 2009 •Available for launch
2016
2016 in 2016
See File 02_GPS_ICG_2019.pdf
Information (number of satellites) in this slide are not updated
for latest information as per DEC 2019 Please check the following site for the latest updates:
http://www.gps.gov/systems/gps/space/#IIF
https://en.wikipedia.org/wiki/Global_Positioning_System https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Slide : 34
GPS Signals
Data /
Code
Frequency, Signal Chip Rate, Modulation Symbol
Band Length Notes
MHz Type MHz Type Rate,
msec
bps/sps
C/A 1 1.023 BPSK 50 Legacy Signal
CData 10 1.023 BOC(1,1) 50 / 100 From 2014

L1 1575.42
CPilot 10 1.023 TMBOC No Data BOC(1,1) & BOC(6,1)
P(Y) 7 days 10.23 BPSK Restricted
CM 20 0.5115 25 / 50 Modulated by TDM of

BPSK (L2CM xor Data) and
L2 1227.60 CL 1500 0.5115 No Data L2CL
P(Y) 7days 10.23 BPSK

Provides Higher
I 1 50 / 100 Accuracy
L5 1176.45 10.23 BPSK
Q 1 No Data
Slide : 35
GPS Receiver Outputs (1/3)
Sky Plot: Visibility of Satellites at Receiver Antenna Computed Position from GPS displayed
over Google Map
Slide : 36
GPSGNSS
Receiver Outputs (2/3)
Signals Received by the Receiver
Slide : 37
GPS Receiver Outputs (3/3)
Position, Velocity, Time (PVT) and Other Observation Related Outputs
Slide : 38
GLONASS, Russia
(Global Navigation Satellite System)
Slide : 39
GLONASS Current & Future Constellation
1982 First Launch 2003 2011 Planned Launch
GLONASS GLONASS-M GLONASS-K1 GLONASS-K2

Under Production /
DECOMMISSIONED Under Normal Operation
Operation
87 Launched 45 Launched Under Development
2 Launched
0 Operational 27 Operational 3 On Order
2 Operational
81 Retired 12 Retired First Launch Expected 2018
First launch Dec 2014
6 Lost 6 Lost
See File 03-GLONASS_ICG_2019.pdf
for latest information as per DEC 2019 •L1OF, L1SF
•L1OF, L1SF
•L1OF, L1SF •L2OF, L2SF
•L1OF, L1SF •L2OF, L2SF
•L2OF, L2SF •L1OC, L1SC
• L2SF Information (Number of Satellites) in this slide are not•L3OC
updated
•L3OC •L2OC, L2SC
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html •L3OC
GLONASS 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-K2
Slide : 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 MHz
Slide : 41
Galileo, Europe
Slide : 42
Galileo Space Segment
See file 04-GALILEO_ICG_2019.pdf

for latest information as per DEC 2019

https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Slide : 43
Galileo Signals
Data /
Code Chip
Frequenc Signal Modulation Symbol
Band Length Rate, Notes
y, MHz Type Type Rate,
msec MHz
bps/sps
A 10 10.23 BOC(15,2.5) ?? Restricted
E1 1575.42 BData 4 1.023 CBOC, Weighted 125 / 250 Data
combination of
CPilot 100 1.023 BOC(1,1) & BOC(6,1) No Data Pilot
A 10 5.115 BOC(15,5) ?? PRS
500 /
E6 1278.75 B 1 5.115 Data
BPSK(5) 1000
C 100 5.115 No Data Pilot
A-I 20 10.23 25 / 50 Data
E5 1176.45
1191 A-Q 100 10.23 No Data Pilot
AltBOC(15,10)
.795 B-I 4 10.23 125 / 250 Data
MHz 1207.14
B-Q Organized
Training on GNSS – Course (T151-40), 100 10.23
by: GIC/AIT, No Data
CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10Pilot
JAN 2020
Slide : 44
Galileo Signals
Slide : 45
Galileo Services
Freely accessible service for
Open Service
positioning, navigation and timing for
(OS)
mass market
Delivers authentication, high accuracy

Commercial
and guaranteed services for commercial
Service (CS)
applications
Public Regulated Encrypted service designed for greater

Service (PRS) robustness in challenging environments
Search And Rescue Locates distress beacons and confirms

Service (SAR) that message is received
Safety of Life
The former Safety of Life service is being re-profiled
Service (SoL)
Slide : 46
BeiDou / BDS, China
Slide : 47
BeiDou Space Segment

Source: Update on BeiDou Navigation Satellite System, Chengqi Ran, China Satellite Navigation Office
Tenth Meeting of ICG, NOV 2015
Slide : 48
COMPASS / BEIDOU Signals: Already Transmitted
Chip Data /
Frequency Signal Modulation
Band Rate Symbol Notes
MHz Type Type
(MHz) rate
B1(I) 50 / 100 Open

1561.098 2.046 QPSK
B1(Q) None Authorized
B1
B1-2(I) 50 / 100 Open
1589.742 2.046 QPSK
B1-2(Q) 25 / 50 Authorized
1207.14 B2(I) 2.046 QPSK None Open

B2
B2(Q) 10.23 50 / 100 Authorized
B3 1268.52 B3 10.23 QPSK 500 Authorized
Slide : 49
Development of BDS
• 5th NOV 2017
• The first Two BDS – 3 MEO satellites were successfully launched.
• The BDS-3 satellites are equipped with two new civil signals,
B1C and B2a, with optimized performance.
• The Interface Control Document for B1C and B2a (Beta
version) has been released, and the official version will be
released in 2018.
Slide : 50
BDS-3 Constellation
• Since 5th NOV 2017, 8 pairs of BDS-3 MEO satellites and 1
BDS GEO satellite have been successfully launched.
See File 05-BEIDOU_ICG_2019.pdf

for the latest information as per DEC 2019
Source: Plenary Session of ICG 2018
Slide : 51
BDS-3 Services
Service Type Satellites

RNSS 3 GEO + 3 IGSO + 24 MEO
SBAS 3 GEO
Regional SMS 3 GEO
Global SMS 14 MEO
International SAR 6 MEO
PPP (Precise Point 3 GEO
Positioning)
Source: Plenary Session of ICG 2018
Slide : 52
QZSS / Michibiki, Japan
(Quasi-Zenith Satellite System)
Slide : 53
Merits of QZSS
• QZSS signal is designed in such a way that it is

interoperable 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 and
Centimeter level position accuracy
• Provides Messaging System during Disasters
http://qzss.go.jp/en/overview/services/sv04_pnt.html
Slide : 54
QZSS Development Plan
See file 06-QZSS_ICG_2019.pdf

1st Satellite launched on 11th September 2010 : QZ Orbit
for the latest information as per DEC 2019
2nd Satellite launched on 1st June 2017 : QZ Orbit
3rd Satellite launched on 19th August 2017 : Geostationary Orbit
Slide : 55
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 2017
Slide : 56
QZSS Satellites & Signal Types
QZS-1 QZS-2 to QZS-4
Block IQ Block IIQ Block IIG Center
Signal
Transmission service Frequency
Name (QZO) (QZO) (GEO)
MHz
1 2 1
L1C/A ◎ ◎ ◎ Satellite positioning service
L1C ◎ ◎ ◎ Satellite positioning service
L1SAIF ◎ Sub-meter Level Augmentation Service
(SLAS) / Disaster and Crisis Management
1575.42
L1S ◎ ◎
SBAS Transmission Service
L1Sb - - ◎ from around 2020
L2C ◎ ◎ ◎ Satellite positioning service 1227.60
L5 ◎ ◎ ◎ Satellite positioning service
Positioning Technology Verification 1176.45
L5S - ◎ ◎ Service
LEX ◎ MADOCA 1278.75
Centimeter Level Augmentation Service
L6 ◎ ◎ (CLAS)
S-band - - ◎ QZSS Safety Service / SAR 2GHz
Slide : 57
QZSS Satellite Visibility
Source: SPAC Animation Video

Slide : 58
QZSS New Applications
Slide : 59
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-D Signal
• PPP-RTK
• Multi-GNSS Advanced Demonstration tool for Orbit and Clock
Analysis (MADOCA)
• L6-E Signal
• PPP / PPP-AR
Slide : 60
Short Message Broadcast during Disaster
Slide : 61
Sub-meter Level Augmentation Service (SLAS)
SLAS : Sub-meter Level Augmentation Service

Signal Used: L1SAIF / L1S
Slide : 62
Centimeter Level Augmentation Service (CLAS)
CLAS : Centimeter Level Augmentation Service

Signal Used: LEX: MADOCA & L6
Slide : 63
NavIC / IRNSS
Navigation with Indian Constellation
Indian Regional Navigation Satellite System
Slide : 64
NavIC Signal Types
Signal Carrier Bandwidth

Frequency
L5 1176.45MHz 24MHz
S 2492.028MHz 16.5MHz

See file 01_NAVIC_ICG_2019.pdf for the latest information as per DEC 2019
Slide : 65
NavIC (Navigation with Indian Constellation)
• Consists of 7 Satellites
• 4 Geo Synchronous Orbit (GSO) satellites
• at 55oE and 111.75oE at an inclination of 27o
• 3 Geo Stationary Satellites (GEO)
• at 32.5oE, 83oE and 129.5o E at an inclination of 5o
• Transmits signals in L5 band (1176.45MHz) and S
band (2492.028MHz)
Slide : 66
NavIC Space Segment
• All Seven Satellites are successfully realized in orbit

• IRNSS-1A (1 July 2013) IRNSS-1B (4 Apr 2014)
• IRNSS-1C (10 Nov 2014) IRNSS-1D (28 Mar 2015)
• IRNSS-1E (20 Jan 2016) IRNSS-1F (10 Mar 2016)
• IRNSS-1G (28 Apr 2016) IRNSS-1I (12 Apr 2018)
Slide : 67
Multi GNSS Issues
• In the past we had only GPS & GLONASS, now we have Galileo,
BeiDou, QZSS, IRNSS
• Compatibility
• Lets not hurt each other
• Interference issues
• Interoperable
• I’ll use yours, you can use mine
• Use of the same receiver and antenna to receive different signals
• Interchangeable
• Any four will do
• Can ONE GPS, ONE GLONASS, ONE Galileo and ONE COMPASS provide 3D
Position?
Slide : 68
Multi-GNSS Signals
L5 / E5 L2 L6 / E6 L1 / E1 S
Slide : 69
Multi GNSS Signals: Benefits to Users
• GPS+GLONASS+Galileo+COMPASS+IRNSS+QZSS
• Asia-Oceanic region will see the maximum number of satellites
Slide : 70
Multi GNSS Signals: Benefits to Users
• Increase in usable SVs, signals and frequencies
• Increase in availability and coverage
• More robust and reliable services
• Higher accuracy in bad conditions
• Less expensive high-end services
• Better atmospheric correction
• Emerging new and expanding existing applications are to be
expected
• Atmosphere related applications
• Short Message Broadcasting
• SAR (Search And Rescue Applications)
• Bi-static Remote Sensing
• Compute Soil Moisture, Wind Velocity, Sea Wave Height etc…
Slide : 71

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Introduction to

Global Navigation Satellite System (GNSS)

• Landmark-based Navigation • Radio-based Navigation

• Global Constellation • Regional Constellation

Distance = (Transmission time – Reception time)

X1, Clock x1/10

L1 Band GPS Signal

Navigation Data, 50Hz

Auto-correlation: Only four values: Cross-correlation: Only three values:

1 1 0 0 1 0 1 1 You want to transmit

Amplitude Shift Keying

Frequency Shift Keying

Binary Phase Shift Keying

If k ≥ 4, solve for x, y, z and clock bias, b

Signal propagation at the speed of light

A GPS receiver measures the signal transmission time

Pseudo random number

Aviation / WAAS Mobile Phone

Railway ITS / ADAS

• The power reduces by 1/distance2

GPS Signal Power at

Mobile phone, WiFi,

Signal Type Power (based on calculations, not measured)

VHF 200e-16W -137dBW -107dBm

Thermal Noise 79e-16W -141dBW -111dBm

GPS** 1e-16W -160dBW -130dBm

•L1C/A, L1 P(Y) •L1C/A, L1P(Y)

CData 10 1.023 BOC(1,1) 50 / 100 From 2014

P(Y) 7 days 10.23 BPSK Restricted

CM 20 0.5115 25 / 50 Modulated by TDM of

P(Y) 7days 10.23 BPSK

GLONASS GLONASS-M GLONASS-K1 GLONASS-K2

See file 04-GALILEO_ICG_2019.pdf

Information (number of satellites) in this slide are not updated

Delivers authentication, high accuracy

Public Regulated Encrypted service designed for greater

Search And Rescue Locates distress beacons and confirms

Information (number of satellites) in this slide are not updated

B1(I) 50 / 100 Open

1207.14 B2(I) 2.046 QPSK None Open

B3 1268.52 B3 10.23 QPSK 500 Authorized

See File 05-BEIDOU_ICG_2019.pdf

Service Type Satellites

• QZSS signal is designed in such a way that it is

See file 06-QZSS_ICG_2019.pdf

Source: SPAC Animation Video

SLAS : Sub-meter Level Augmentation Service

CLAS : Centimeter Level Augmentation Service

Signal Carrier Bandwidth

Please check the following site for the latest updates:

• All Seven Satellites are successfully realized in orbit

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