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2 GPS concepts   By Mahmoud El Mewafi Mmewafi1@ excite.com Professor of Surveying and Geodesy, Public Works Dept., Faculty of Engineering, Mansoura University, Egypt. Tel 002 0127440767
Current Satellite Navigation Systems ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Future Satellite Navigation Systems ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
GPS  (Global Positioning System)
Three Segments of the GPS Control Segment Space Segment User Segment Monitor Stations Ground Antennas Master Station
Control Segment Kwajalein Atoll US Space Command Hawaii Ascension Is. Diego Garcia Cape Canaveral Ground Antenna Master Control Station Monitor Station
Satellites  (space segment) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Space Segment of GPS ,[object Object],[object Object],[object Object]
GPS – User Segment (Receivers) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
GPS – User Segment (Receivers)
[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],How It Works
Position is Based on Time T + 3 Distance between satellite and receiver = “3 times the speed of light” T Signal leaves satellite at time “T” Signal is picked up by  the receiver at time “T + 3”
GPS theory
XYZT
Signal From One Satellite The receiver is somewhere on this sphere.
Signals From Two Satellites
Signals From Two Satellites X? 5 Sec 3 Sec
Three Satellites (2D Positioning)
2D-3 Satellites 5 Sec 3 Sec X 4 Sec
Three Dimensional (3D) Positioning
GPS theory ,[object Object],[object Object],[object Object],[object Object],[object Object]
GPS signal structure   ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Characteristics of GPS Signal ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Generation of L1 Band Signal
Error Sources ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Sources of GPS Error ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Atmospheric Delays   ,[object Object]
Multipath   Sources of Signal Interference Earth’s Atmosphere Solid Structures Metal Electro-magnetic Fields
Receiver Errors are Cumulative! User error = +- 1 km System and other flaws = < 9 meters
DOP is the Geometric Orientation of Satellites with respect to the Antenna
GPS Satellite Geometry ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Ideal Satellite Geometry N S W E
Good Satellite Geometry
Good Satellite Geometry
Poor  Satellite Geometry N S W E
Poor Satellite Geometry
Poor Satellite Geometry
GPS Navigation: On the Ground Active GOTO Waypoint Location Where GOTO Was Executed Bearing =  Course Over Ground (COG) = Cross Track Error (XTE) = Bearing = 65 0  COG = 5 0  XTE = 1/2 mi. Bearing = 78 0  COG = 350 0   XTE = 1/3 mi. Bearing = 40 0  COG = 104 0   XTE = 1/4 mi. Active Leg N
Position Fix ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Waypoint ,[object Object],[object Object],[object Object],[object Object],[object Object]
Planning a Navigation Route Start = Waypoint
How A Receiver Sees Your Route
GPS Waypoint Circle of Error X
GPS Survey Observation ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Single GPS Survey Observation ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Differential GPS (DGPS) Survey Observation ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
GPS - Differential Correction ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Real Time Differential GPS True coordinates =  x +0,  y +0  Correction =  x -5,  y +3 DGPS correction =  x +(30-5) and  y +(60+3) True coordinates =  x +25,  y +63 DGPS Site x +30,  y +60 x +5,  y -3 x -5,  y +3 DGPS Receiver Receiver
Differential Correction 2 10m 10m Base Station (w/known coordinates) Receiver (unknown Location) GPS Receiver Estimated Location Differentially Corrected  Estimated Position GPS Estimated Location Actual (Known) Position
Differential GPS (DGPS) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Rover Station ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Advantage of GPS surveys ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
[object Object],[object Object],[object Object],[object Object],[object Object]
Wide Area Augmentation System Geostationary WAAS satellites GPS Constellation WAAS Control Station (West Coast) Local Area System (LAAS) WAAS Control Station (East Coast)
How good is WAAS? With Selective Availability set to zero, and under ideal conditions, a GPS receiver without WAAS can achieve fifteen meter accuracy most of the time.* Under ideal conditions a WAAS equipped GPS receiver can achieve three meter accuracy 95% of the time.* * Precision depends on good satellite geometry, open sky view, and no user induced errors. + - 3 meters +-15 meters
QUESTIONS ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
The End
GPS Applications ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Validation ,[object Object],[object Object],[object Object],[object Object],[object Object]
GPS Applications ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Computers In Law Enforcement ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Challenges and Problems ,[object Object],[object Object],[object Object],[object Object]
ALPR Mobile Vehicle Solution ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Applications – Amber Alert Tracking ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Case Study Pennsylvania State Police Pilot -  Background ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Case Study Pennsylvania State Police Pilot -  Results ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Tracking Evidence ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Storing Criminal Records ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Online Criminal Database
Enforcing Traffic Laws ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Tracking Stolen Vehicles ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Finding Missing Children ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
 
Providing Wireless 911 ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
VeriChip ,[object Object],[object Object],[object Object]
Garmin’s cheapest receivers Garmin’s iQue 3600 PDA: http://www.garmin.com/products/iQue3600/ Garmin’s Forerunner 201: A watch that uses GPS to determine current speed, average speed, exact distance traveled, etc.  (  )  Basic features also available in the Forerunner 101 ($115). http://www.garmin.com/products/forerunner201/
Garmin GPSmap60-C Main Screens Time & Date
Garmin GPSmap60-C Satellite Page Location Satellite Strength Accuracy Estimate Skyplot
Garmin GPSmap60-C Mark Waypoint Name Symbol Average
Garmin GPSmap60-C Main Screens Setup By default, the GPSmap60 will record a Track (line feature)  whenever the unit is turned on. Map (GoTo) Profiles
Bluetooth GPS Receivers Teletype’s Mini-bluetooth GPS receiver ($175) http://www.mightygps.com/Manufacturer/minibluetooth.htm Teletype’s USB GPS receiver for Laptops ($170) http://www.teletype.com/Merchant2/merchant.mvc?Screen=PROD&Product_Code=1250&Category_Code=
HP’s Ipaqs and other PDAs with GPS software Hewlett-Packard’s new iPAQ h1945 PDA Now comes equipped with a hp GPS receiver and navigation system ($500) http://www.shopping.hp.com/cgi-bin/hpdirect/shopping/scripts/product_detail/product_detail_view.jsp?BV_SessionID=@@@@0280349227.1102102313@@@@&BV_EngineID=ccckadddfdjlkdgcfngcfkmdflldfgg.0&landing=null&category=handhelds&subcat1=classic_performance&product_code=PF527A%23ABA&catLevel=3 Garmin’s iQue 3600 PDA: http://www.garmin.com/products/iQue3600/
The End
GPS – Ellipsoid - Datum GPS uses the WGS84 (World Geodetic System of 1984) as mathematical surface (model) of the earth Elevations are referenced to Height Above Ellipsoid (HAE)
Navigation Review ,[object Object],[object Object],[object Object],o o o o 70 50 30 0
Navigation Review ,[object Object],[object Object],Greenwich W E
Lat: 40 N  Lo:  20 W  60 N 40 N 20 N 20 S 40 S 60 S Equator Prime Meridian 20 W 20 E Lat:  40  00’.00N  Lo: 020 00’.00W Lat:  40 00’.00S Lo: 020 00’.00W Every place on earth has a unique location   180  Lo approx. International Date Line o o o O   o o o o o o o o o o o
60  04’ .20” N 149  26’.10” W o o 60 o 05’ 149  30’W o 20’
Navigation Review ,[object Object],[object Object],[object Object],[object Object]
By Mahmoud El Mewafi Mmewafi1@ excite.com Professor of surveting and Geodesy, Public Works Dept., Faculty of Engineering, Mansoura University, Egypt 6 Datum Transformations
سطوح المقارنة لكل من الكرة الأرضية ونظام الجي بي اس وعملية تحويل القياسات بينهما   Sat. 2 Receiver X Z Y (0, 0, 0) WGS-84 Local Sat. 3 Sat. 1 Sat. 4
Datum Transformations   ,[object Object],[object Object],[object Object],[object Object]
Helmert Transformations ,[object Object],[object Object],[object Object],[object Object]
[object Object],[object Object]
The End

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Gps

  • 1. 2 GPS concepts By Mahmoud El Mewafi Mmewafi1@ excite.com Professor of Surveying and Geodesy, Public Works Dept., Faculty of Engineering, Mansoura University, Egypt. Tel 002 0127440767
  • 2.
  • 3.
  • 4. GPS (Global Positioning System)
  • 5. Three Segments of the GPS Control Segment Space Segment User Segment Monitor Stations Ground Antennas Master Station
  • 6. Control Segment Kwajalein Atoll US Space Command Hawaii Ascension Is. Diego Garcia Cape Canaveral Ground Antenna Master Control Station Monitor Station
  • 7.
  • 8.
  • 9.
  • 10. GPS – User Segment (Receivers)
  • 11.
  • 12. Position is Based on Time T + 3 Distance between satellite and receiver = “3 times the speed of light” T Signal leaves satellite at time “T” Signal is picked up by the receiver at time “T + 3”
  • 14. XYZT
  • 15. Signal From One Satellite The receiver is somewhere on this sphere.
  • 16. Signals From Two Satellites
  • 17. Signals From Two Satellites X? 5 Sec 3 Sec
  • 18. Three Satellites (2D Positioning)
  • 19. 2D-3 Satellites 5 Sec 3 Sec X 4 Sec
  • 20. Three Dimensional (3D) Positioning
  • 21.
  • 22.
  • 23.
  • 24. Generation of L1 Band Signal
  • 25.
  • 26.
  • 27.
  • 28. Multipath Sources of Signal Interference Earth’s Atmosphere Solid Structures Metal Electro-magnetic Fields
  • 29. Receiver Errors are Cumulative! User error = +- 1 km System and other flaws = < 9 meters
  • 30. DOP is the Geometric Orientation of Satellites with respect to the Antenna
  • 31.
  • 35. Poor Satellite Geometry N S W E
  • 38. GPS Navigation: On the Ground Active GOTO Waypoint Location Where GOTO Was Executed Bearing = Course Over Ground (COG) = Cross Track Error (XTE) = Bearing = 65 0 COG = 5 0 XTE = 1/2 mi. Bearing = 78 0 COG = 350 0 XTE = 1/3 mi. Bearing = 40 0 COG = 104 0 XTE = 1/4 mi. Active Leg N
  • 39.
  • 40.
  • 41. Planning a Navigation Route Start = Waypoint
  • 42. How A Receiver Sees Your Route
  • 43. GPS Waypoint Circle of Error X
  • 44.
  • 45.
  • 46.
  • 47.
  • 48. Real Time Differential GPS True coordinates = x +0, y +0 Correction = x -5, y +3 DGPS correction = x +(30-5) and y +(60+3) True coordinates = x +25, y +63 DGPS Site x +30, y +60 x +5, y -3 x -5, y +3 DGPS Receiver Receiver
  • 49. Differential Correction 2 10m 10m Base Station (w/known coordinates) Receiver (unknown Location) GPS Receiver Estimated Location Differentially Corrected Estimated Position GPS Estimated Location Actual (Known) Position
  • 50.
  • 51.
  • 52.
  • 53.
  • 54. Wide Area Augmentation System Geostationary WAAS satellites GPS Constellation WAAS Control Station (West Coast) Local Area System (LAAS) WAAS Control Station (East Coast)
  • 55. How good is WAAS? With Selective Availability set to zero, and under ideal conditions, a GPS receiver without WAAS can achieve fifteen meter accuracy most of the time.* Under ideal conditions a WAAS equipped GPS receiver can achieve three meter accuracy 95% of the time.* * Precision depends on good satellite geometry, open sky view, and no user induced errors. + - 3 meters +-15 meters
  • 56.
  • 58.
  • 59.
  • 60.
  • 61.
  • 62.
  • 63.
  • 64.
  • 65.
  • 66.
  • 67.
  • 68.
  • 70.
  • 71.
  • 72.
  • 73.  
  • 74.
  • 75.
  • 76. Garmin’s cheapest receivers Garmin’s iQue 3600 PDA: http://www.garmin.com/products/iQue3600/ Garmin’s Forerunner 201: A watch that uses GPS to determine current speed, average speed, exact distance traveled, etc. ( ) Basic features also available in the Forerunner 101 ($115). http://www.garmin.com/products/forerunner201/
  • 77. Garmin GPSmap60-C Main Screens Time & Date
  • 78. Garmin GPSmap60-C Satellite Page Location Satellite Strength Accuracy Estimate Skyplot
  • 79. Garmin GPSmap60-C Mark Waypoint Name Symbol Average
  • 80. Garmin GPSmap60-C Main Screens Setup By default, the GPSmap60 will record a Track (line feature) whenever the unit is turned on. Map (GoTo) Profiles
  • 81. Bluetooth GPS Receivers Teletype’s Mini-bluetooth GPS receiver ($175) http://www.mightygps.com/Manufacturer/minibluetooth.htm Teletype’s USB GPS receiver for Laptops ($170) http://www.teletype.com/Merchant2/merchant.mvc?Screen=PROD&Product_Code=1250&Category_Code=
  • 82. HP’s Ipaqs and other PDAs with GPS software Hewlett-Packard’s new iPAQ h1945 PDA Now comes equipped with a hp GPS receiver and navigation system ($500) http://www.shopping.hp.com/cgi-bin/hpdirect/shopping/scripts/product_detail/product_detail_view.jsp?BV_SessionID=@@@@0280349227.1102102313@@@@&BV_EngineID=ccckadddfdjlkdgcfngcfkmdflldfgg.0&landing=null&category=handhelds&subcat1=classic_performance&product_code=PF527A%23ABA&catLevel=3 Garmin’s iQue 3600 PDA: http://www.garmin.com/products/iQue3600/
  • 84. GPS – Ellipsoid - Datum GPS uses the WGS84 (World Geodetic System of 1984) as mathematical surface (model) of the earth Elevations are referenced to Height Above Ellipsoid (HAE)
  • 85.
  • 86.
  • 87. Lat: 40 N Lo: 20 W 60 N 40 N 20 N 20 S 40 S 60 S Equator Prime Meridian 20 W 20 E Lat: 40 00’.00N Lo: 020 00’.00W Lat: 40 00’.00S Lo: 020 00’.00W Every place on earth has a unique location 180 Lo approx. International Date Line o o o O o o o o o o o o o o o
  • 88. 60 04’ .20” N 149 26’.10” W o o 60 o 05’ 149 30’W o 20’
  • 89.
  • 90. By Mahmoud El Mewafi Mmewafi1@ excite.com Professor of surveting and Geodesy, Public Works Dept., Faculty of Engineering, Mansoura University, Egypt 6 Datum Transformations
  • 91. سطوح المقارنة لكل من الكرة الأرضية ونظام الجي بي اس وعملية تحويل القياسات بينهما Sat. 2 Receiver X Z Y (0, 0, 0) WGS-84 Local Sat. 3 Sat. 1 Sat. 4
  • 92.
  • 93.
  • 94.

Editor's Notes

  1. Lo 180 is approximately the International Date Line. Except where it is drawn to exclude or include bodies of land. It is drawn west of Alaska so all of Alaska has the same calendar date