GPS Basics

Hugo Fruehauf
Zyfer Inc.
February 2002
hxf@zyfer.com

The Historical Development Of Accurate Clocks

100,000
ATOMIC
CLOCKS

10,000

100

100,000 YEARS
TO LOSE
1 SECOND

= 30 FEET *

1
VARIATIONS IN THE EARTHS ROTATION

0.01

QUARTZ
CRYSTALS

ELECTRONIC
WRIST
WATCH
MECHANICAL
WRIST
WATCH

2 YEARS
TO LOSE
1 SECOND
NAVIGATION ACCURACY
= 250 MILES *

YEARS TO LOSE 1 SECOND

NAVIGATION ACCURACY

1400
1600
YEAR
A

1200

1800

2000
MARINE
CHRONOMETERS

1000

MECHANICAL
CLOCKS

LOSE
3 MINUTES
PER DAY

LOSE
15 MINUTES
PER DAY

NAVIGATION ACCURACY

= 170,000,000 MILES *

= 34,000,000 MILES *

NAVIGATION ACCURACY

NAVIGATION
ACCURACY
= 186,000 MILES *

* For 24-Hours of Navigation

O

CANDLE CLOCKS
& WATER CLOCKS

LOSE
1 SECOND
PER DAY

Active and Passive RadioRadio-Navigation Systems

ACTIVE RADIO-NAVIGATION
t1

SIGNAL TRAVELS
TWO WAYS

t2

t
DISTANCE = C x 2
PASSIVE RADIO-NAVIGATION

SIGNAL TRAVELS
ONE WAY
DISTANCE = C x t

t1

1-Way 2D Electronic Ranging System

The time is . . .
Transmitter
1

The time is . . .
Transmitter
2

2-D Navigation:
Perfect Clocks

D 1 = C*D

T1

=C
2

*DT 2

Space Borne 11-Way 3D Ranging System

...The time is
My position is...

The Realistic GPS System

RCVR
Codes

1 1

0 1

1 1

0 1 0

0 1

1 0

0 1 1

1 1

0 1 0

0 1

1 1

1 0

1 1

0 1 0

0 1

1 1

0 0 1

1 1

1 1 0

0 1

0 1 1

1 1

0 0

SV1

t1

1 0

t3

t4

0 1 1

1 1

0 1 0

0 1

R2 = C(
t2 + T- 2)
1 1

1 0

0 0

1 1

0 1 0

0 1

R3 = C(
t3 + T - 3)

3
1 1

SV4

0 1

R1 = C(
t1 + T - 1)

t2

SV3

1
1 0

SV2

0 1 0

0 0 1

1 1

1 1 0

0 1

R4 = C(
t4 + T - 4)

4 Equations 4 Unknowns

RCVR Clock Error

Signal Travel Time
SV Clock Error
SV C/A Gold Code

What is GPS?

A space-based satellite navigation system developed by the DoD in the mid

70s for military use, managed by a Joint Program Office (JPO) consisting of
the USAF and Navy, located near the Los Angeles Airport.

A highly accurate 3-D navigation, positioning and timing system available 24

hours a day, 7 days a week, anywhere in the world.

Has a clear (or coarse) acquisition signal C/A-code to aid in the acquisition
of the P-code. It is also available to commercial users for SPS (Standard
Positioning Service), ~10m, 1, SEP.

Has a more accurate (precision) signal P-Code available only to authorized

cryptography key users. When the P-Code is encrypted it becomes the YCode. This is referred to as PPS (Precise Positioning Service), ~1m, 1 ,
SEP.

The SPS and PPS Service also provides an UTC (Universal Coordinated
Time) systems time reference, accurate to 100 ns of USNO - Master Clock
slaved to UTC.

The Satellite Constellation is controlled and maintained by the USAF from

the Master Control Station (MCS) at Falcon AFB near Colorado Springs. The
MCS is part of the Consolidated Space Operations Center (CSOC).

GPS Satellite Signals

20,162.61 Km
(~12,531 mi.)

12-hr Orbit

21.3o
L1

Ionosphere
75 to 400 Km

13.9o

A
t
f2

L1 1575.42 MHz
C/A-Code 1.023 Mcps,
P-Code 10.23 Mcps
Data 50 bps
Free Electrons
Charged Particles
2 to 50 ns delay

L1
L2

L2 1227.6 MHz
P-Code 10.23 Mcps
Data 50 bps
Four Satellites needed for
3-D navigation

5o Mask
Angle

Earth

Maximum Doppler Shift

between Satellites
~ 6KHz

Earth Coverage GPS Antenna Pattern

GPS Antenna:
12 Element
L-Band Helical
Phased Array
(On-axis view)

Antenna
Pattern

Zenith

Horizon
Received Power vs. S/C Elevation Angle

80 90
60
40
20
5
0

Received Power at 3dBi

Linearly Polarized Ant. (dBw)

-158
L1-C/A

-159
-160
-161

L1-P

-162
-163
-164

L2-P

-165
-166
5

20
40
60
User Elevation Angle (deg)

80

90

GPS Satellite OnOn-Board Navigation Package

Data
PRN-Gen (A)
C/A
Code

10

1.023 MCPS

20

Uplink
Control

Uplink
Control

Data

50 BPS

Carrier
Synth.

(L1) 1575.42 MHz

Mult.

Atomic
Osc.
Rb or Cs
10.23 Hz

S.A.
Dither
Synth

HPA

(L2) 1227.6 MHz

Mult.

HPA

(L1)

(L2)

12Helix
Array
Ant.

Mult.

PRN-Gen
(B)
10.23
P
Code
MCPS

(L3)

A.S.
Encrypn
Device

Y-Code

(A) C/A-CodeGold Code, different for each satellite

(B) P-Code7-day rep. rate, same for each satellite

HPA

Nudet Pkg

(L3)

90

Nudet Sensor
Uplink Control

Satellite Constellation
7
2

18

10

12

24

13
19

21

16

20
22
11
14
8

Ar
gu
me
nt
of
La
titu
de
(de
g)

Orbit Plane

15

17

160
120

80
40

Equator
320

1
24

280

240

200
17

All near perfect circular orbits

~24 Satellites, including spares in space

77

137

197

257

Right Ascension of the

Ascending Node (deg)

317

GPS Satellite (Block IIA) - Boeing (Rockwell)

Major Characteristics
Launch mass

3,675lb.

On-Orbit mass

1,862lb.

Solar Array

1,000 Watts

Design Life

7.5 years

Consumables

10 years

Clocks

(2) Rb, (2) Cs

All Have Been Launched

GPS Satellite (Block IIR) LockheedLockheed-Martin

W-SENSOR
HIGH BAND ANTENNA
(UHF - EMP DETECTOR)
L-BAND ANTENNA
ELEMENT

UHF RECEIVE
ELEMENTS (9)

UHF TRANSMIT
ELEMENT (1)

Major Characteristics
Launch mass

4,480lb.

On-Orbit

2,210lb.

mass

Solar Array

1,100 Watts

Design Life

7.5 years

Consumables

10 years

Clocks

(3)Rb,
later (2)Rb
and (1) Cs

In Launching Phase
W-SENSOR
LOW BAND ANTENNA
(UHF - EMP DETECTOR)

Comparison of GPS and GLONASS

Parameter

GPS
Interpolation coefficients of
satellite orbits

Referencing of the ranging signal

phases
System time corrections relative
to the Universal Coordinated
Time (UTC)
Duration of the almanac
transmission
Number of satellites in the full
operational system
Number of orbital planes

To the timer of GLONASS

system
UTC (SU)

To the timer of GPS system

UTC ( USNO)

2.5 min

12.5 min

21 + 3 spares

21 + 3 spares

Inclination

64.8

55

Orbit altitude

19.100 km

20.180 km

Orbital period

11 h 15 min

12 h

Satellite signal division method

Frequency Division

Code Division

Frequency band allocated (L1)

1602.5625-1615.5
0.5 MHz

1575.42 1MHz

Type of ranging code

PRN-sequence of maximal length

Gold Code

Number of code elements

511

1023

Timing frequency of code (C/A)

0.511 MHz

1.023 MHz

Crosstalk level between two

neighboring channels
Synchrocode repetition period

-48 dB

-21.6 dB

2 sec

6 sec

Symbol number in the

synchrocode

30

Geodesic coordinate system

GLONASS

GLONASS
9 parameters of s/c motion in the
geocentric rectangular rotated
coordinate system
SGS 85

Ephemeris information
presentation method

WGS 84

The GPS Signal

Structure

The GPS Carrier Modulation Signals

Carriers (L1/L2)
1540 Cycles per C/A-Chip
Phase Shift Keying
(PSK) Modulation

50 BPS

Data (L1/L2)
1.023 MCPS

C/A - Code (L1)

P- Code (L1/L2)

10.23 MCPS

(AS) Encryption
on P-Code (Y)
C/A Code

Y-Code

Transmitted in
Phase Quadrature
(90 Out of Phase)

P Code

(SA) Degrad.
Now Turned
Off

Random Frequency Dither

(On All Above Signals)

L1 Signal structure
C/A
1.023 MHz

1.023 MHz

10.23 MHz

10.23 MHz

1563.42 MHz

1587.42 MHz

1575.42 MHz

P(Y)

L2 Signal structure

10.23 MHz

10.23 MHz

1215.6 MHz

1239.6 MHz

1227.6 MHz

P(Y)

GPS Signal Structure Overview

CarrierFrequency

C/A Code
1.023 MHz
Chipping Rate
Code Period
1023 Chips

L1
1575.42 MHz

Code Repeats
Every 1 ms
~1microsec Time
Per Chip
Different Gold
Code I.D.s Each
Sat
Spatial Length
per bit:
290 m, 960 ft.

P-Code
(+) Encryption
10.23 MHz
NSA/JPO
Chipping Rate Crypto Keys
For Authorized
Code Period 14 Users Only
2.35469 x 10
Chips
(~38 weeks)
Code is Reset
Every Week

Data
50 BPS
1500 Bit Frame, 5
subframes (30S);
Each Subframe 300
Bits (6S); 30 Bits
Word, 24 Bearer
Bits, 6 Bits Parity;
Total 12.5 Minutes

6.19658 x 1012
Chips/Week

How Word
For P-Code Acq.
(Each Subframe)

~0.1microsec
Time Per Chip

Clock and UTC

Correction

Same Code for

Each Sat, But
Different 7-day
Section

User Range Accur.

(URA)

37, 7-day
Sections
Available

Sat Configuration

(S/A)
Degradation
Selective
Availability
of C/A Signal
Dither at Output
of Sat Clocks
Degradation
Level of C/A
Selectable by
Grd. Comd.
NOW Turned Off

Sat Health

Ionospheric
Correction Model

Spatial Length
per bit:
29 m, 96 ft.

Ephemeris
Coordinate Sys.
Almanac

L2
1227.6 MHz

No-C/A

P-Only

Yes

Yes

Yes

The GPS Data Message - 50 Bits Per Second Data Rate

Bit No.

Subframe

30
Telemetry
Words

300

Subframe

Telemetry
Words

900

Subframe

1200

Subframe

Telemetry
Words

600
Ephemeris

12 Sec

900

660
Ephemeris

(Multiplex)

Message (Changes Through 25 Frames)

1260

Handover
Words

18 Sec

1200

960

Handover
Words

1230

6 Sec

360

Handover
Words

930
Telemetry
Words

Clock Correction

Handover
Words

630
Telemetry
Words

300

Handover
Words

330

600

Subframe

60

24 Sec

1500
(Multiplex)

Almanac/Health Status
(Changes Through 25 Frames, Then Repeats)*

* Format of frame twenty-five changes

** 12.5 minutes before the entire message repeats

30 Sec**

The GPS Data Message Format

Basic message unit is one frame (1500 bits long)
30 Sec

1 frame = 5 subframes

3
4

1 subframe = 10 words

6 Sec
1

10

1 word = 30 bits
0.02 Sec
0.6 Sec
One MASTER FRAME includes all 25 pages of subframes
4 and 5 = 37,500 bits taking 12.5 minutes to transmit

Subframes 4 and 5
have 25 pages

Basic Spread Spectrum Concept

Conventional
Digital
Data
Digital
MOD

Signal
Data
20 KHz

20 KHz
L-Band
Carrier
Generator

RF
Sec

A
Oscillator

Spread Spectrum
Digital
Data
Digital
MOD
Code
Generator

Remove
Carrier

Ambient Noise

(Poor
Osc
OK)

Oscillator

Spectral Density in
20 KHz

(Poor
Osc
OK)

20 KHz

Remove Carrier
Remove PN-MOD

L-Band
Carrier
Generator

Oscillator
10 MHz

(Need
Prec.
Osc.)

20
KHz
Data

DeMOD

RF
Sec

DeMOD

Oscillator

Code
Generator

Ambient
Noise

20
MHz
Same Spectral
Density
over 20 MHz

(Need
Prec.
Osc.)

20
KHz
Data

C/AC/A-Code with the Data Stream Superimposed

~1Mbit/Sec C/A Code
1 1 0 1 0 0 1 1 0 0

1 1 1 0 0 0 0

1 1 0

0 1 1 1

0 0

1 1 1 1 1 0 0 1 1 0

1 0

1 1

Note: There are

~20,000 C/A Bits
for one Data
Stream Bit
50 bit/Sec Data Stream
0

Modulo-2 Addition
C/A + Data

0+0=0
1+0=1
0+1=1
1+1=0

C/A Code + Data Stream

1 1 0 1 0 0 1 1 0 0

0 0 0

1 1 1 1 0

0 1

1 1 1 0 0 0

1 1 1 1 0

1 1 0 0 1

0 1 0 0

Note: The Data Stream is superimposed on both the ~1Mbit/Sec C/A-Code and the ~10 Mbit/Sec P-Code

GPS Signal
Acquisition

Acquiring the Clear Civil C/A Signal

C/A Sequence from Satellite
1

0 0 0 1

1 0 1 0 0 0 1

Satellite
1

0 0 0 1

1 0 1 0 0 0 1

C/A Sequence from User-Set

*CB ~ 1/100 Sec

for one week of
user-set drift

CB*

0 0 0 1

t1

1 0 1 0 0 0 1

Best Match

Autocorrelation

+1

User-Set

1/1000 Sec
0
1/1,000,000 Sec

Pseudo Ranges:

Position Equations:

t1
R1 = C

(X1 - UX )2 + (Y 1 - UY )2 + Z1 - UZ )2 = (R1 - CB )2

t2
R2 = C

(X2 - UX )2 + (Y 2 - UY )2 + Z2 - UZ )2 = (R2 - CB )2

t3
R3 = C

(X3 - UX )2 + (Y 3 - UY )2 + Z3 - UZ )2 = (R3 - CB )2

t4
R4 = C

(X4 - UX )2 + (Y 4 - UY )2 + Z4 - UZ )2 = (R4 - CB )2

*CB ~ 1/100 Sec

for one week of
user-set drift

Acquiring the Military PP-Code Signal

User-Set Matches the C/A Code
Satellite
C/A Code

0 0 1

0 0 1

1 0 0 0 0 1

Autocorrelation

1
1

1 0 0 0 0 1

t1

t1

User Set
C/A Code

Strips off the Data - How Word Gives Address of P-Code Match

TLM
Word

How
Word

Satellite
P Code

Clock Correction

User Set
P Code

1 0 0 0 0 1

1 0 0 0 0 1

t1

Pseudo Ranges:

0 1

0 1

t1

Position Equations:

t1
R1 = C

(X1 - UX )2 + (Y 1 - UY )2 + Z1 - UZ )2 = (R1 - CB )2

t2
R2 = C

(X2 - UX )2 + (Y 2 - UY )2 + Z2 - UZ )2 = (R2 - CB )2

t3
R3 = C

(X3 - UX )2 + (Y 3 - UY )2 + Z3 - UZ )2 = (R3 - CB )2

t4
R4 = C

(X4 - UX )2 + (Y 4 - UY )2 + Z4 - UZ )2 = (R4 - CB )2

*CB ~ 1/100 Sec

for one week of
user-set drift

Obtaining the Velocity Components

User-Set Locks onto Carrier to Obtain Doppler Shift
Satellite
Carrier
Wave

User Set
Carrier
Wave

Time

Count and
Difference to Get
/

Time

User-Set Performs the Nav Solution for Velocity

Range Rates:

&
R
& 2 = 2 / 2 C
R
& 3 = 3 / 3 C
R
& 4 = 4 / 4 C
R1 = 1 / 1 C

Velocity Equations:

(X1 UX )(X&1 U& X ) + (Y1 UY )(Y&1 U& Y )+ (Z1 UZ )(Z&1 U& Z ) = R1(R&1 +
(X2 UX )(X& 2 U& X ) + (Y2 UY )(Y&2 U& Y) + (Z2 UZ )(Z&2 U& Z ) = R2 (R& 2 +
(X3 UX )(X& 3 U& X ) + (Y3 UY )(Y&3 U& Y) + (Z3 UZ )(Z&3 U& Z ) = R3 (R& 3 +
(X4 UX )(X& 4 U& X ) + (Y4 UY )(Y&4 U& Y )+ (Z4 UZ )(Z& 4 U& Z ) = R4 (R& 4 +
&

Where CB = Frequency Drift in the User-Set Clock

& )
C
&B )
C
&B )
C
&B )
CB

The Autocorrelation Function

1
-1

Satellite

1
-1

-1 -1 -1

-1 -1

1
-1

-1 -1

S
1
User Set

-1 -1

-1

-1 -1

U
The Autocorrelation Function

1
N

In the case above:

X S XU

S =U

1 10
X S X U = ( 1)( 1) + (1)( 1) + ( 1)(1) + ( 1)(1) + ( 1)( 1) + (1)(1) + (1)( 1) + ( 1)( 1) + (1)(1) + ( 1)(1)
10 S =U

1
(+ 1 1 1 1 + 1 + 1 1 + 1 + 1 1) = 0
10
Shifting three places to the right gives:
=

1
Satellite

-1

1
-1

-1 -1 -1
1

User Set

1
-1

-1 -1
1

-1 -1

1
-1 -1

1
-1

-1 -1

1 10
X S X U = ( 1)( 1) + ( 1)( 1) + (1)(1) + (1)(1) + ( 1)( 1) + (1)(1) + ( 1)( 1) + ( 1)( 1) + (1)(1) + (1)(1)
10 S =U

1
(1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1) = 1
10
+1
Autocorrelation
Value

Lock On
0
Cycle
-1

Elements Involved in GPS Acquisition

Time and Position Accuracy

External
Factors

Internal
Factors
(RCVR)

Jamming
Available signal strength (buildings, trees, etc.)
C/A-Code availability
SA level
Number of satellites in view
Position of satellites (DOP)
Motion (position change frequency) of GPS platform
Velocity (Doppler) of GPS platform
Vibration and G-forces
Time to average as many samples as possible

Acquisition sequence with C/A and P-Codes

Sequential vs. parallel satellite processing
Data processing software savvy
Noise level and PPM spec of RCVR oscillator
Age of the Almanac

C/A and PP-Code Compared

C/A-Code
Code Chipping Rate/Sec
Code Length (Period)

1.023 MCPS
0.001 Sec (1 ms)

Number of Chips to Search

for Acquisition
Time to Search (Assume a
Substantial Time and Freq.
Error and 5ms Dwell Time to
detect a Chip)

1023 Chips
~5.0 Sec Only (With How
Word, Leads to P-Code)

P-Code
10.23 MCPS
7 Days
(604,800 Sec)
~6.2 x 1012 Chips

Theoretically 31 x 109 Sec

(~ 983 yrs)

Cant Acquire Stand-Alone

Unless Very Precise Time
is Available and/or Parallel
Correlators are
Implemented

P + AS = (Y)
(Needs Decryption Keys)

Why Is Precision P(Y)-Code Made So Complicated to Acquire?

- Make it Jam Resistant
- Make it Difficult to Spoof
- Make Precision Navigation Unavailable to Unauthorized Users

P-Code Acquisition Process

P-Code is product of two PN Codes X1(t) and X2 (t+niT)

X1 period is 1.5 sec. = 15,345,000 chips

X2 period = 15,345,037 chips

37 chips

Both sequences are reset to begin the week at the same epoch
time clocked in-phase at 10.23 MHz

15,345,000 x 15,345,037 = 2.35469592765E + 14 chips (~38 wks)

P-Code Correlator must be timed to within one P-Code chip

(97.75 ns) for P-Code Correlation

There are four X1 epochs per Data Sub-frame of 6 seconds

50 bit data stream has updated HOW word

HOW x 4 = Z-Count at beginning of next 6 second Sub-frame

This will be where the P-Code will correlate

With AS on, Receiver must be keyed to acquire P(Y)

Direct P(Y) Acquisition Nightmare

011000101011100100011101010011001100110001101011
1 00 01 11 00 10 10 11 10 11 00 01 01 11 00 10 01 00 10 10 11 01 11 00 11 00 11 10 00 01 11 00 10 11 11 00 00 01 01 10 10 00 01 01 10 11 00 01 1
0 01 100101011100010110111110011000101001111000010001100110110011101011100011000111010100101111000110011111000000001101110010100001101010011000 01 1
011000101011100100011101010011001100110001101011
1 00 1010101100001111011010011001101111001010010100100101110001001000000101111011101010010110110101001010011110101101000100111100011110001001111001100000000101111110101100000001010011001000100 1 1
1 0 0 1 0101011011111001100010100011000001000010111111101010101010001100111101010010111000111001011100100000010111101110000010001001 00 0
1 01 10001010110110000011110
1000101111010100011101101011000 1110000
0 0 1 1 011000101101100111011100001111000001011001011100010010000011010001111111010110010010110100100111100001111101101000010111110000011111001100111010000100000010101111110101100000100101000100011000 01 1
100011
010
1 0100000
0 11 001010101001001011000101101
01 1001 11 11
01 1000
1 0 1 10 1111
1 01 0 00
10 1100011 00
10 0110
00 1 00
10 1 10
1 0 1 0 1 1010011000 01 1
P/A
10101010101010000111000
111
0100101100
0111
100
0001
100110111100001001000011
0010
1111
1100101100100
1101010010011
110
101
1111010000111
1100
00011101
011001101
101
10000011
0111111110001110000000100
00
1
0
0
0
1
0
1
0
1
0
0
1
0
1
0
1
0
0
1
0
0
0
1
0
110
110 00
011
001100001
001
001 10
101
111
001
001011110 11 0001010100100011000 01 1
1 0 0 0 1 11 00
1 10 01 10
0111011
1 00
1
0001011111 10
1101 10100
1
1 10100
0
0100
1
0
1
1
0
1
0
0
1
0
0
1
1
0
1
1
0
0
0
0
0
0
0
1
1
1
0
1
1 0 1110101 1010000101
1
01
1100
101000
000
0100 0
0 10 00 0
1 11
01
1111
011
1001
011
0 10
111
0 00 100
1 01 0111
011
11
0 1100
110
1
1
01
1101011
00
1011000
00
00
01 101
11
00
10
01
11
1110
1110
011
011
01
111
01
10001
00010
0 01 100101000111001
0 10
1001011
01
0100
1100001110000
10111
010111010
001110
10000
01111000011
0010000111
00101111111000
1111001001010100
00110
101011010
111100
01110
01
110101101
011000
10000
10001
000111
0110
111110001110000000100001001 00 0
0
1
1
1
0
0
1
0
0
1
0
0
0
1
0
0
0
0
00
1 1011
1 10
11000001
1
1011101110
11011101100
10
1 1 101100
0101
0
1
11 0 1 00 10 01 01 00 0
11
0 111
1110
11
010
1001
0011
0 00011
1001
010
10
1101
000
0001
0011010
0110
10
0010
11001
00
11
00000
0011
10
0110
0 00 101010110000011
011001
0100100
0111 001011
0100101000
110010
11011011010
1111001
00111
0000
01000011111001
10111000
00010
11111
00001100
1001
1111010001011
100011
10001
0111
0100
1000000110
0101
000011011
11111110100101001000000100 0 0
1
0
0
0
1
1
1
0
0
0
0
1
0
1
1
0
1
0
0
1
1
0
1
0
0
1
1
0
1
1
0
0
0
0
1
1
0
1
1
1
1
1
1
1
0
0
1
0
1
0
1
0
1
1
01
01 1011
001
10001111010
011001
0000
11100001100
1100
1001010
010
111
0110
011
010101
1000
1110
0000
111
1011
0001
1 10 00 11 0011100001
01
010101011101
00
11
01
10
110010
10
110000
11
10
01
11
01
00
10
10011
01111110001
10
000101
0111100
001101
00101000001101111111111010010100000 00 0
00011001
1010
11
0
0
1
1
0
0
1
0
0
1
0
1
0
1
1
0
0
1
0
1
1
1
1
0
0
1
0
1
0
1
0
0
0
1
1
0
0
1
1
0
0
0
1
0
1
1
0
0
1
0
0
0
1
0
1
0
1
1
0
1
0
0
1
1
0
1
0
0
1
1
0
0
0
1
1
0
1
1
1
1
0
0
0
1
1
1
0
0
1
0
1
0101
010
011
01000111010
10111001
0011
1110
100
1111
101
10110
11111
00110
10011
00010101
01000
1110
1011
01110000000
11111
0101
01101001001
00111
00101000001101111111111010010100000 00 0
0 11 01 10 0101001110
10101
001001110
1000110110
11
01110
1000001
00
1000000000
10
00
10
01
01
0
0
0
1
0
1
0
0
1
1
0
0
1
1
0
1
1
1
0
0
0
1
1
0
1
1
1
1
0
0
0
1
1
1
0
0
1
0
1
01001
00
011
010000
101111
000
110
100
1111
101
100
11111
000
101
000100
01000
1110
11
011100001
110
00
011011
0011
0001000011111111110100010 00 0
10101
0
1100
0
0
01
111
10
01
1
0
00000
0011
010
10
10
10
11
01
11
00
11
01
01001
1001
11
0110
10001
00
1001
10
00
10
01
01
0 00 0111010100101001010
111010
1
0
1
1
0
1
0
0
1
1
0
0
1
1
1
0
1
0
0
1
1
0
1
0
0
1
1
1
0
0
1
1
0
1
0
1
1
0
0
0
1
1
0
1
1
1
1
0
0
0
1
1
1
0
0
1
0
1
1 1 0101 10111 0
0001
000
0111
0100010
1011111
000
110
1000
1011
1101
100
10111
010
101
0001010
01000
1010
101
00111100001
110
000
0011001
0011
0001000011111111010 01 0
0
1100
0
0
01
1101
10
01
1
0
001000
0011
0110
10
10
10
11
01
11
00
11
01
0101
101
11
010
101
00
100
10
00
10
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01
101
1
0
1
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1 00 000101110100110
1 00
0011
0
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11010
1
0
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1
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0
1
1
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0
1
1
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1
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0
1
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0
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1
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1
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0
0
0
1
1
0
1
1
1
1
0
0
0
1
1
1
0
0
1
0
1
0 10 00 1
100100000100
0
1100
0
0
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1101
10011111
0100
1
0
001000000
0011
0110
10101
10011110
1001
11001010
011000010
110111100001
0010
1100
01011001
0101
0
101
111
010
101
001
100
100
000
100
01111
0101110
111
1
11
0
1
0
1
11
0
1
1 00 000101110100110
11000
00111
0
1
1
0
1
1
0
1
0
0
1
1
0
0
1
1
1
0
1
0
0
1
1
0
1
0
1
0
0
0
1
1
1
0
1
0
0
1
1
0
1
0
0
1
1
0
0
0
1
1
0
1
1
1
1
0
0
0
1
1
1
0
0
1
0
0111 10100001000111001111000101000011110 11101010000100 00 00100101010010010111010111010001000100111111000100011001110101011001100001 11 0
1 00 000101110100110
11000
00111
1
0
0
0
1
0
1
0
1
1
1
0
0
1
0
1
0
1
0
0
1
1
1
0
0
1
0
0
1
1
0
0
0
1
0
1
0
0
0
0
1
1
0
1
1
0
1
0
1
0
1
1
0
0
0
0
1
1
1
0
1
0
0
1
1
0
1100111100000010001111011110001010000111101110011100000001001000000010101101100111101111101010000000111111001000110011100011111001100001 11 0
1 00 000101110100110
11000
0011
0011
1001
1010
0101
1000
1101
0110
1100
0000
0011
0100
1011
1110
1011
0101
1011
0000
0110
1101
1110
0011
1000
0101
0000
1000
1101
0101
0011
0000
1000
1101
0010
1101
0100
0100
0111
1011
0010
0110
1100011 10 10 00 1
1 00 0001011101001111000011111011110100000000011110000111110001110010011010011101101101001110000100100000000100110010111010001001101011011000111000100101000110011110010100101000010111010001111 1 0
1 00 000101110001110001111111010000000111000111000110100101011011110001100010100000010110101101001011101011001100100010011011100010101000011010 01 1
20.46 MHz @
1 00 000101110001110001111111010000000111000111000110100101011011110001100010100000010110101101001011101011001100100010011011100010101000011010 01 1
1.57542 GHz
1 00 00 10 11 00 11 00 11 11 01 00 00 11 00 11 00 11 10 10 01 01 11 00 10 01 10 00 01 11 10 10 00 01 10 01 00 10 10 01 01 01 10 01 10 00 01 01 0
100110101100010101110010101001110010011 000101000

Time
C/A hooks for
P(Y) Acquisition,
Nightmare when
not available

Conventional vs. Direct P(Y) GPS Signal Acquisition

PPS ~3m, 50 ns Time, 1

(Precise Positioning Service)

Crypto-Authorized Users Only

SPS ~10m, 100 ns Time, 1

(Std. Positioning Service)

Civilian-User

C/A RCVR
1

50 BPS Data
Stream

L1 Carrier

C/A-Code + SA
5

(If RCVR Has

L2 Capability)

Strip of
HOW
Word

L2 Carrier
4

SPS NAV and

Time Solution

L1 Carrier
L2 Carrier

Insertion of GPS-JPO
Crypto Key

50 BPS Data
Stream
6

8
7

PPS NAV
and Time
Solution

P and Y Code
Generators
P and Y Code
Generators

1A

Direct P(Y)
Process

P(Y) Section

6A

7A

Ionosphere Correction
The Direct P(Y) Acquisition RCVR can achieve
PPS Solutions without first using C/A.

GPS Dilution of
Precision

Satellite Geometry and DOP

p = DOP m
Positioning
Accuracy
(X, Y, Z)

Geometry
(Dilution of
Precision)

Measurement
Accuracy
(UERE)

Error
Ellipsoid
Elongated

Good GDOP
(ideal case)

Poor GDOP
Satellites bunched
together

One satellite overhead

3 on horizon,
120 apart in azimuth

What is Geometric Delusion of Precision (GDOP)?

Two Transmitters Near Side by Side

R1

Two Transmitters Near 180 Apart

e
ng ty
Ra rtain
ce
Un R

R2

R1

Y
X

Two Transmitters 90 Apart

Optimum

R2

R1

R2

X = Y
~ 2 ( X )( R)
Y
X

Range
Uncertainty
R

Range
Uncertainty
R

Geometrical Dilution of Precision, 44-Dimensional Solution

UZ

GDOP: Geometrical Dilution of Precision

Uy

(Vertical)

2 1 / 2

2 + 3 + 2 +
ux
uy
uz
ut

GDOP =
2

UERE

Ux
The Four Coordinates

PDOP: Position Dilution of Precision

2
2 + 2 +
ux
uy
uz

PDOP =
2

UERE

Ux , Uy , Uz , Ut

1/ 2

HDOP: Horizontal Dilution of Precision

2 + 2
uy
ux

HDOP =
UERE2

1/ 2

VDOP: Vertical Dilution of Precision

VDOP = z

UERE

Local
Horizontal

Their Four Covariance Terms

Ux 2 , Uy 2 , Uz 2, Ut 2

TDOP: Time Dilution of Precision

TDOP = ut

UERE

The Future GPS

Signal Structure

Future

With C/A accuracy at full capability, it is imperative that the U.S. and Allies
be equipped with Direct P(Y) PPS Receivers

This will most likely be part of the fielding of the SAASM PPS
Infrastructure

New M-Code (or sometimes referred to as LM) architecture will most likely
be an extension and upgrade to the SAASM receiver technology

L1 Signal Structure Present and Future

LM-Code

C/A

1563.42 MHz

LM-Code

1587.42 MHz

1575.42 MHz

P(Y)

L2 Signal Structure Present and Future

and new L5 addition

New
L5

1164.45
MHz

New
LM

1188.45
MHz

1176.45
MHz

New
L2-C/A

1215.6
MHz

New
LM

1239.6
MHz

1227.6 MHz

P(Y)