Wells D.E., Beck N., et al. Guide to GPS Positioning

Lecture Notes. — Department of Geodesy and Geomatics Engineering, University of New Brunswick, 1999. — 601 p.This lecture note is a reproduction of the previously available, independently published book. The original publishers of the Guide to GPS Positioning, Canadian GPS Associates, recently decided to stop printing the book due to reduced sales volumes. But many newcomers to GPS continue to express an interest in obtaining copies of this classic GPS text, which was a Canadian technical "best seller" with over 12 000 copies sold. It is true that there have been many advances in GPS positioning during the almost 15 years since the book was originally published, particularly in receiver design and operation. The basic concepts of GPS have not changed, however, and much of the material in the book is still relevant. So to meet the continuing demand, it has been reprinted in a cost-effective format as a UNB Department of Geodesy and Geomatics Engineering lecture note. Please note that nothing in the book has been changed and no updating has taken place.Introduction
Notation

Concepts of positioning from space
Concepts of positioning from space
Point positioning
Relative positioning
Network of points
Confidence regions and relative errors
Horizontal and vertical datums
Astronomical positioning
Basic concept of satellite point positioning
Ranging and directions to satellites
Ranging to satellites
Relative satellite positioning
Applications of positioning from space
Applications of positioning from space
Land applications in surveying and mapping
Land applications in transportation and communication
Marine applications in surveying and mapping
Marine applications in transportation and marine sciences
Airborne applications in surveying and mapping
Airborne applications in transportation
Space applications
Recreational applications
Military applications
Extraterrestrial positioning systems
Extraterrestrial positioning systems
Techniques used in extraterrestrial positioning
Optical systems
Early radio ranging and direction finding systems
Transit satellite positioning
Principle of Doppler positioning
Transit Doppler measurements
Argos
Global Positioning System
Satellite laser ranging
Very long baseline interferometry
New technologies accuracy vs. distance
GPS and other systems
GEOSTAR
NAVSAT
The future of satellite positioning
Global Positioning System basic concepts
GPS basic concepts
GPS satellite
GPS prototype satellite status
Prototype satellite orbits
GPS satellite launch schedule
GPS constellation in 1990
Deployment of 21-satellite constellation
Satellite ground tracks
Satellite polar plots
GPS control stations
GPS signal structure
Propagation of electromagnetic waves
Two-way and one-way ranging
Pulsed and continuous wave ranging
Pseudo-range measurements
Carrier beat phase measurements
GPS user equipment components
Generic GPS receiver
Static and kinematic positioning
Relative positioning
Multi-receiver positioning
Relative kinematic positioning
GPS geometry and accuracy
Dilution of precision
Constrained solutions
U.S. Government Federal Radionavigation Plan
Impact of GPS on existing positioning techniques
How many users will there be?
Main features of GPS
Present and future characteristics of GPS
Orbit description, determination, and dissemination
Orbit description, determination, and dissemination
Requirements for accurate orbital information
Requirements for approximate orbital information
Satellite selection
Motion of satellites around an ideal earth
Getting a satellite launched and into orbit
Coordinate systems
Forces acting on satellites
Kepler's First Law
Kepler's Second Law
Kepler's Third Law
Keplerian orbital elements
Satellite position and velocity in time
Topocentric range and range-rate
Effect of non-central earth's gravity
Third body effects and tides
Solar radiation pressure and atmospheric drag
Ephemeris prediction
Postcomputed ephemexides
Active control system
Broadcast ephemeris message parameters
Longitude of ascending node
GPS orbit description
Satellite coordinate computation
Signal structure
Signal structure
Why is the GPS signal so complicated?
Definitions
Code modulation technique
Code generation
GPS message format
GPS message content
What leaves the satellite antenna?
GPS signal tolerances
Speculations on selective availability
Doppler effect on GPS signals
Antennas and receivers
Antennas and receivers
Basic antenna concepts
GPS antenna types
Antenna gain pattern requirements
Let‘s define phase centre
Trends in GPS antenna development
Communication channel concepts
Receiver RF components
Correlation channel
Squaring channel
Code phase channel
Code correlation vs. squaring
Continuous vs. switching receivers
Multiplexing and sequencing channels
Single vs. dual frequency
Frequency standards and clocks
Stability of frequency standards
Oscillator stability and position accuracy
GPS receiver types
GPS receiver costs
Observation equations
Observation equations
Pseudo-range observations
Carrier beat phase observations
Continuous carrier phase
Linear combinations of observations
Between-epoch (Doppler) single differences
Between-receiver single differences
Between-satellite single differences
Receiver-time double differences
Receiver-satellite double differences
Receiver-satellite-time triple difference
Correlation between observations
Biases and errors
Biases and errors
User equivalent range error
Timing (clock) biases
Orbit biases
Orbit bias modelling
Ionospheric dispersion effects
Ionospheric modelling
Tropospheric effects
Carrier beat phase ambiguity
Ambiguity resolution
Cycle slips
Multipath and imaging
Multipath effects on coded signals
Error due to phase centre movement
Observation errors
Station coordinates
Solutions
Solutions
Positioning problems
Main characteristics of static and kinematic positioning
Classification of types of solutions
Point positioning using pseudo-range
Satellite multi-ranging
Least-squares solution for point positioning
Relative positioning using pseudo-ranges
Relative positioning using phase measurements
GPS phase measurement differencing
Network solutions
Network solution and orbit improvement
Weighted short arc solution
Absolute kinematic positioning
Relative kinematic positioning
Combined kinematic point positioning
Postmission smoothing
Constrained solutions
Finding antenna height above the reference ellipsoid
Finding the geoid height: accuracy and difficulty
Typical geoid shape
Static applications and results
Static applications and results
Geographical positioning applications
Impact of GPS on control networks
Height and geoid determination
Geodynamics applications
Movement monitoring
Ottawa test network
Western Canada triangle test
Alberta township corner project
Urban tests in Quebec City
Gimli, Manitoba, array test
Long baseline test
Gaithersberg test, August 12/13 1985
Kinematic applications and results
Kinematic applications
Principle of kinematic positioning
Kinematic positioning models
Comparison of kinematic models
Real-time versus postmission processing
Accuracy and instrumentation
Range of applications
Land vehicle applications
Land vehicle test traverse
Land vehicle positioning results
Land vehicle velocity results
Shipborne applications
Hydrographic survey test area
Hydrographic survey test results
3D seismic surveys
Aircraft applications
Laser bathymetry
Aerotriangulation without ground control
Airborne gravimetry
Helicopter applications
Differential data links
Differential data links
Differential GPS requirements
Communication link requirements
GPS correction message format
Content of words 1 and 2
Type 1 message
Type 2 message
Communication methods
System options
System components
GPS survey design
GPS survey design
Design parameters in GPS survey design
Datum definition
Geometrical design
Selection of observing accuracy
Satellite configuration selection
Stepwise design of a network
Logistic design
Foothold operation
Processing software
Outages
Effect of height constraint
Practical aspects of GPS surveying
Practical aspects of GPS surveying
Planning
Field operation
Data processing
GPS surveying standards
Field procedure standards
Data processing standards
Monumentation
Characteristics of various GPS receivers
Which GPS receiver?
CMA-786 (C-set)
JMR SatTrak
Astrolab II
ISTAC-SERIES GPS Positioner Model 2002
ISTAC-SERIES Marine Position Sensor MPS-1
JLR-4000 GPS navigator
LTN-700
Macrometer^TM V-1000
Macrometer II^TM
T-set
MX 1100 GPS Navigator
MX 4400
Eagle Mini-Ranger
Norstar 1000
PS 8400
Collins Navcore I^TM
TR5S
GTT-2000
SEL GPS receiver
GPS monitor station receiver
PAHRS Model 1
TI-4100 NAVSTAR Navigator
4000A GPS Locator, and 4000S GPS Surveyor
LORAN-GPS 10X
WM101
Other GPS receivers
Glossary of GPS Terminology
GPS Information Sources
Bibliography