# Presentation: 936341

## U.S. Programs & Policy

- Ken AlexanderSenior Advisor, National Coordination Office
- CNS/ATM 2008
- Armed Forces Communications and Electronics Association
- and 853d Electronic Systems Group
- Tampa, FloridaJune 26, 2008

## Overview

- Introduction
- Global Positioning System
- GPS Augmentations/Backups
- U.S. Policy
- International Cooperation

## ENC-GNSS 04/23/08

## New Applications Evolving Every Day

- Environmental Monitoring
- Excavation/Open pit mining
- Automatic snowplow guidance
- Child/Pet tracking
- Spacecraft control
- Wireless/Mobile           applications

## GNSS is Key to Scientific Monitoringof the Earth

- GNSS is Key to Scientific Monitoringof the Earth

- To better understand the changes and complex dynamic processes of our home planet

## Keys to the Global Success of GPS

- Program Stability and Performance
- Civil service performance commitment met continuously since December 1993
- Continuity of constellation and signals ensured through Air Force operation and acquisition
- Continuous improvements in accuracy, availability, etc.
- Funding through U.S. taxpayers
- Policy Stability and Transparency
- Open access to civil GPS signals, free of direct user fees
- Open, free, and stable technical documentation
- Market-based competition worldwide
- Liberal export controls on GPS user equipment
- National-level policy coordination including civil and military leaders
- Commercial Entrepreneurship and Investment

## Overview

- Introduction
- Global Positioning System
- GPS Augmentations/Backups
- U.S. Policy
- International Cooperation

## The Global Positioning System

- Baseline 24 satellite constellation in medium earth orbit
- Global coverage, 24 hours a day, all weather conditions
- Satellites broadcast precise time and orbit information on L-band radio frequencies
- Two types of signals:
- Standard (free of direct user fees)
- Precise (U.S. and Allied military)
- Three segments:
- Space
- Ground control
- User equipment

## GPS Constellation Status

- 13 Block IIA
- 12 Block IIR
- 6 Block IIR-M
- Transmitting new second civil signal
- Continuously assessing constellation health to determine launch need
- 2 Block IIR-M’s remaining
- Next launch: September 2008

- 31 Operational SatellitesAs of June 1, 2008 (Baseline Constellation: 24)

- GPS is moving into its 4th Decade of Service
- First Launch 22 Feb 1978

## Continuous Performance Improvement

**Decreasing range error**

**Year**

- Key measures of effectiveness to evaluate GPS services
*Accuracy*
*Bounded inaccuracy*
*Integrity*
*Assured availability*
*Resistance to RF interference/jamming*

- Performance Standard

## USG Commitment to GPS

- Based on a constellation with  24 Nominal Plane/Slot Positions
- 24 Operational Satellites 95% (averaged over any day)
- – All 24 may not be operating
- Not All SVs may be located in Primary Orbit Slots
- 21 of 24 Plane/Slot Positions must be set healthy and transmitting a navigation signal with 98% probability (averaged yearly)
- 6 meter User Range Error (URE)

## GPS Constellation StatusSatellite Age as of March 2008

**2**

**4**

**6**

**8**

**10**

**Years**

**Satellite**

**39**

**35**

**34**

**36**

**33**

**40**

**30**

**38**

**43**

**46**

**51**

**44**

**12**

**41**

**54**

**56**

**14**

**45**

**16**

**47**

**59**

**60**

**61**

**53**

**25**

**26**

**27**

**32**

**37**

**52**

**58**

- GPS Constellation StatusSatellite Age as of March 2008

**24**

**23**

**55**

**57**

- BLOCK IIA

- BLOCK IIR

- BLOCK IIR-M

## Recent GPS Improvements

- Expanded GPS ground network to triple amount of monitor data sent to control station
- 10-15% improvement in accuracy of GPS data broadcast
- Launched 3 modernized satellites in past 8 months
- Largest GPS constellation size ever
- Retiring old satellites improves overall GPS accuracy
- Transitioned to entirely new, modernized master control station
- Improved operational flexibility and responsiveness
- Added backup control station

**Notes:**
What has happened in 2007/2008?
Launches of 3 IIRM Satellites
New Ground Control System, Architectural Evolution Plan, operational on Sept 14, 2007	

## GPS Operational Control Segment (OCS)

** ****Ground**
**Antenna**

**Master Control Station (Schriever AFB)**

- Ascension

- Diego Garcia

- Cape Canaveral

- Hawaii

- Kwajalein

- Schriever AFB Colorado

- S Korea

- Australia

- Bahrain

- S Africa

- England

- Argentina

- Ecuador

- Tahiti

- USNO

- Alaska

**Monitor**
**Station**

- New
- Zealand

- Vandenberg AFB     California

- NGA Monitor Station

- OCS Monitor Station

- Ground Antenna

- Future Monitor Station

- Master Control Station

- Backup Master Control Station

## All Segment – GPS Modernization

**Increased accuracy **
**Increased signal strength**
**Signal integrity**
**Search and Rescue**
**Common Galileo****OS/GPS (L1C)**

_**Legacy**__** (Block IIA/IIR)**_
**Basic GPS**
**C/A civil signal (L1C/A)**
**Std Pos. Service**
**Precise Pos. Service**
**L1 & L2 P(Y) nav**

_**Modernized**__** (Block IIR-M**_**)**
**2nd civil signal (L2C)**
**M-Code signals (L1M, L2M)**

**Satellites**

_**Modernized**__** (Block IIF**_**)  **
** ****3rd civil signal (L5)**

_**Upgraded**__** (AEP)**_
**IIR-M IIF TT&C**
**WAGE, AII, LADO**
**New MCS/AMCS**

_**Legacy**_
**TT&C**
**L1 & L2 monitoring**

**Control Systems**

**User Equipment**

_**Legacy**_
**Man Pack**
**MAGR, PLGR**
**RCVR-3A, 3S **
**OH, UH**
**FRPA, CRPA**

_**Upgraded**_
**DAGR**
**CSEL**

**GAS-1**
**MAGR2K**
**GB-GRAM**

_**Modernized**_
**MUE**
**MSR**

_**OCX Block 2**_
**L1C**

_**OCX Block 1**__** **__**(**__**Modernized**__**)**_
**New Architecture**
**L2C, L5, M-Code**
**Flex Power**

_**OCX Block 3/4)**_
**Spot Beam **
**Mission Planning**
**Near-real Time Command and Control**

## Benefits of GPS Modernization

- System-wide improvements in accuracy, availability, integrity, and reliability to:
- Meet increasing civil, commercial and military demands
- Remain the pre-eminent space-based military PNT system
- Higher standalone accuracy
- More robust against interference
- Provides separate more secure Military signal
- Capability for second (L2C) and third (L5) civil signals
- Delivers L1C for interoperability with other GNSS
- Improved indoor, mobile, and urban use

## Third Civil Signal (L5)

- Increasing interoperability
- Galileo E5a, GLONASS, Compass, QZSS, WAAS & other SBAS
- Demonstration signal in 2008
- 24 satellites by 2018

- Designed to meet demanding requirements for aviation safety
- Uses highly protected Aeronautical Radionavigation Service (ARNS) band
- Wider bandwidth improves resistance to interference
- Signal Structure for enhanced performance
- Higher power than other GPS signals

## GPS II and GPS IIIA 

*USER SEGMENT*

*CONTROL SEGMENT*

*SPACE SEGMENT*

*GPS SIS*
*INTERFACE*

- SIS Integrity: 1e-5/SV/hr
-    10 SVs Visible: 1e-4/hr

- Augmentation
- • RAIM
- • DGPS

- Accuracy: 1.0 – 4.0 m rms

**Notes:**
The Threshold PMSI level for GPS III Increment A and Increment B is specified at a level equivalent to the performance of the Block II GPS
Typical safety-of-life applications would require integrity augmentation. Not meeting the Threshold value could put lives at risk, (both military and civil aircraft) in civil-controlled airspace using GPS, as stated in the 2001 Federal Radionavigation Systems document.

## GPS Critical to Safety-of-Life Applications 

- Positioning Signal Integrity and Continuity Assurance (PSICA) is needed to ensure GPS IIIC meets stringent requirements for safety-of-life (e.g., aviation) application

**Notes:**
Description/Rationale:  Integrity is a measure of the trust that can be placed on the correctness of the information supplied by the total system. Integrity includes the ability of a system to provide timely and valid warnings to the user (alerts) when the system must not be used for the intended operation. 
MSI is a measure of GPS integrity from the Space Segment and Control Segment. The term MSI is defined to isolate the potential contribution to Hazardously Misleading Information (HMI) made by the Space Segment and Control Segment. MSI is the condition that occurs when properly functioning GPS UE processes GPS broadcast information and determines a pseudo-range in excess of the broadcast error bounds without an accompanying alert. 
The Threshold PMSI level is specified at a level equivalent to the performance of the Block II GPS; typical safety-of-life applications would require integrity augmentation. Not meeting the Threshold value could put lives at risk, as it is an FAA requirement for flight (both military and civil aircraft) in civil-controlled airspace using GPS, as stated in the 2001 Federal Radionavigation Systems document

## GPS IIIC

*USER SEGMENT*

*CONTROL SEGMENT*

*SPACE SEGMENT*

*GPS SIS*
*INTERFACE*

- Augmentation
- • RAIM
- • DGPS

- SIS Integrity: 1e-8/SV/hr
-    10 SVs Visible: 1e-7/hr

- SIS Accuracy: 0.25 m rms

**Notes:**
The Increment C PMSI would not require integrity augmentation to provide performance associated with typical safety-of-life applications. 
Increment C GPS III must not transmit Misleading SIS Information (MSI) to the user with a probability greater than 10-7 per hour

## Goal of Global Navigation Satellite System Civil Interoperability

- Interoperability allows navigation with signals from four different systems with minimum additional receiver cost or complexity

*Interoperable = Better Together than Separate*

## GPS Summary

- Success in GPS sustainment & modernization
- New capabilities delivering enhanced performance
- Developments on track to enhance space and control and user segments
- GPS is an excellent global navigation utility
- Excellent cooperation with augmentation service providers
- U.S. looks forward to working with all to ensure GNSS civil systems are interoperable for the benefit of all users
- U.S. is continuing to modernize and improve GPS
- To remain the pre-eminent space-based PNT service
- To lead the future GNSS system-of-systems

**Notes:**
Award of next generation ground control system (OCX) contracts, Nov 2007
GPS III contract Award May 2008
September 2007, Presidential decision to eliminate Selective Availability feature from GPS III satellites
Next year will bring a new civil signal, L-5 
This Year will bring last launch of a GPS-IIRM satellite Next 10 Years will bring 2 new families of GPS satellites 
A new control system
GPS IIF and GPS III
OCX

## Overview

- Introduction
- Global Positioning System
- GPS Augmentations/Backups
- U.S. Policy
- International Cooperation

## Augmentations Improve GPS Performance

- _Enhanced accuracy_
- <1.5 m WAAS vertical accuracy for aviation
- 2-5 cm for real-time positioning, surveying, etc.
- <1 cm for geodesy, geology, etc.

- _Integrity monitoring_
- 6 sec time to alarm for aviation

## U.S. Augmentations

**Notes:**
Wide Area Augmentation System commissioned in 2003
– Two GEO satellites launched in 2005
•Provides dual satellite coverage over the U.S.
– Service expanded into Canada and Mexico – operational Sep 07
•New reference stations (5 Mexico and 4 Canada)
LPV-200 provides approaches to a Cat I-like Decision Altitude
Over 1028 LPV procedures; will exceed the number of ILS procedures in Sept of this year
WAAS procedures to be published to all Instrument RW ends in the NAS by 2018

## International Augmentations

## Wide Area Augmentation System

- Two replacement satellites launched in 2005
- Dual coverage over United States
- Ranging improves availability
- Integrity corrections for clock, ephemeris, and ionosphere
- Service expanded into Canada and Mexico
- Reference stations in Mexico (5) and Canada (4) support operations since 2007

## Enhanced Loran as National Backup to GPS

- Enhanced Loran (eLoran) announced as national backup to GPS for PNT in Feb 2008
- As recommended by Independent Assessment Team and National Executive Committee
- Funded through Department of Homeland Security
- Will replace legacy Loran-C system

## Overview

- Introduction
- Global Positioning System
- GPS Augmentations/Backups
- U.S. Policy
- International Cooperation

## U.S. Policy History

- 1978: First GPS satellite launched
- 1983: President offered free civilian GPS access to GPS
- 1996: Established joint civil/military GPS management

- 1997: Congress passes law providing civil GPS access free of direct user fees
- 2000: President set Selective Availability to “Zero”
- 2004: President issues U.S. Policy on Space-Based PNT
- 2007: President announces Selective Availability eliminated from future GPS III satellites

## U.S. Policy Promotes Global Use of GPS Technology

- No direct user fees for civil GPS services
- Provided on a continuous, worldwide basis
- Open, public signal structures for all civil services
- Promotes equal access for user equipment manufacturing, applications development, and value-added services
- Encourages open, market-driven competition
- Improve performance of civil GPS and augmentations to meet or exceed that of international systems
- Encourage international development of PNT systems based on GPS
- Global compatibility and interoperability with GPS
- Protection of radionavigation spectrum from disruption and interference
- Address mutual security concerns with international providers to prevent hostile use

**Notes:**
• Demonstrates U.S. Government commitment to space-based
PNT for all stakeholders
• Provides framework for public/private decision makers
• Improves ability to coordinate efforts across the various
agencies of the U.S. Government
• Creates basis for meaningful dialogue between service
providers and end users
• Promotes common standards for worldwide interoperability

## U.S. Space-Based PNT Organization Structure

- WHITE HOUSE

- Ad HocWorking Groups

**Notes:**
• National Executive Committee for Space-Based PNT
– Chaired by Deputy Secretaries of Defense and Transportation
– Membership includes: State, Interior, Agriculture, Commerce,
Homeland Security, Joint Chiefs of Staff and NASA
• Established National Coordination Office (NCO) with
staff from each member agency
- Facilitates information sharing, coordination, and issue
resolution regarding space-based PNT programs, requirements,
budgets, and policies across all U.S. Agencies
• Facilitates coordination among Agencies regarding plans to
modernize U.S. space-based PNT infrastructure
• Conducts or oversees space-based PNT studies, analyses and
projects with a U.S. National benefit
• Informs state, local and international GNSS users and
participants of National Executive Committee activities
The Federal Advisory Board makes recommendations to the Executive Committee in support of National foals and objectives; 24 members; 6 int’l

## Executive Committee Activities

- Program Coordination
- Five-Year National Plan
- National PNT Architecture
- GPS Modernization
- Civil GPS Funding
- Nationwide Differential GPS
- Enhanced LORAN
- Distress Alerting Satellite System
- International Cooperation
- Bilateral
- Multilateral

- Spectrum Management
- Interference Detection and Mitigation Plan
- Spectrum Protection Plan
- Outreach
- Publications, websites
- Educational exhibit
- Conferences, workshops, other venues
- Coordination of U.S. message

**Notes:**
Eight meetings since 2006
Five-Year National Space-Based PNT Plan
Summarizes EXCOM agency planning for development, acquisition, sustainment and modernization of U.S. space-based PNT systems 
Interference Detection and Mitigation Plan
Department of Homeland Security coordinating U.S. capabilities to detect and mitigate sources of interference to GPS and its augmentations
National PNT Architecture
Provides national PNT framework/investment strategy to help guide future PNT system-of-systems investment – 2025 timeframe
International Cooperation and Consultation
Compatibility and interoperability with other foreign systems

## Overview

- Introduction
- Global Positioning System
- GPS Augmentations/Backups
- U.S. Policy
- International Cooperation

## International Cooperation

- Cooperative relationships established with Europe, Japan, Russia, India, Australia
- U.S. goals:
- Compatibility and interoperability
- National security
- Level playing field in global markets
- Multilateral cooperation
- International Committee on GNSS
- ICAO, IMO, NATO

## Planned GNSS

- Global Constellations
- GPS (US)
- GLONASS (Russia)
- Galileo (EU)
- Compass (China)
- Regional Constellations
- QZSS (Japan)
- IRNSS (India)

- Satellite-Based Augmentations
- WAAS (US)
- MSAS (Japan)
- EGNOS (EU)
- GAGAN (India)

## Compatibility/Interoperability Objectives

- Ensure compatibility** ****― **ability of U.S. and non-U.S. space based PNT services operating separately or together without interfering with each individual service or signal
- Radio frequency compatibility
- Spectral separation between M code and other signals
- Achieve interoperability – ability of civil U.S. and non-U.S. space-based PNT services operating together to provide  better user capabilities than by relying on one service or signal
- Primary focus on the common L1C and L5 signals

- Pursue through Bi-lateral and Multi-lateral Cooperation

## International Committee on GNSS

- Promotes GNSS use and integration into infrastructures, particularly in developing countries
- Encourages system compatibility, interoperability
- Membership: GNSS providers, international organizations and associations
- Providers Forum
- United States, Europe, Russia, China, India, Japan
- Focused discussions on compatibility, interoperability
- Next plenary in Pasadena, Dec 2008

## Summary

- GPS performance continues to improve
- Augmentations enable even higher performance
- New GPS signals are available now
- Modernization providing unprecedented new capabilities
- U.S. policy encourages worldwide use of civil GPS and augmentations
- International cooperation is a high priority
- Actively engaged in multi-lateral/bi-lateral consultations
- As new GNSS systems and applications emerge, compatibility and interoperability are critical
- The U.S. goal is to maintain GPS as the recognized global “Gold Standard”
- U.S. military PNT pre-eminence is a continuing priority

## For Additional Information...

- _[GPS.gov](http://www.gps.gov/)_

- _[PNT.gov](http://pnt.gov/)_

**Notes:**
PNT.gov established to provide a source for information about U.S. Space Based PNT Program including:
U.S. policy, Executive Committee membership, Advisory Board and frequently asked questions
Announcements about Selective Availability and offer letter to International Civil Aviation Organization 
Recent public presentations
GPS.gov established for public information about GPS applications
Available in English, French, Spanish, Arabic and Chinese
Brochures also available in hardcopy upon request
Links to various other Web sites

## 6822 Herbert C. Hoover BuildingWashington, D.C. 20230United States of America

Tel:	+1 (202) 482-5809Email:	Ken.Alexander@pnt.gov
Presentations and additional information:
www.pnt.gov

- 6822 Herbert C. Hoover BuildingWashington, D.C. 20230United States of America
- Tel:	+1 (202) 482-5809Email:	_[Ken.Alexander@pnt.gov](mailto:Ken.Alexander@pnt.gov)_
- Presentations and additional information:
- www.pnt.gov

## BACKUPS

## GNSS Frequency Bands and Signals

**L5**
**1176.45 MHz**

**E5a**
**1176.45 MHz**

**E5b**
**1207.14 MHz**

**L2**
**1227.6 MHz**

**E6**
**1278.75 MHz**

**L1**
**1575.42 MHz**

**L1**
**1575.42 MHz**

**1242.9375-**
**1248.625 MHz**

**1598.0625-**
**1605.375 MHz**

_**GLONASS**_

_**GALILEO**_

**L5**
**1176.45 MHz**

**L2**
**1227.6 MHz**

**LEX**
**1278.75 MHz**

**L1**
**1575.42 MHz**

_**QZSS**_

**Possible future**
**signal**

**Possible future**
**signal**

**SBAS**

**SBAS**

## Important for Interoperability

- Common Center Frequency
- Like L5 & E5a
- Same Antenna Polarization
- Common Signal Spectrum
- Identical receiver time delay with common spectrum
- Same coherent integration period for acquisition
- Usually related to symbol rate
- Different symbol rates may require separate search correlators for acquiring signals

_**Essential**_** (cost driver)**

_**Desirable**_** (ASIC gate count)**

_**Important**_** (no time bias or filter issues)**

## GNSS integrity Channel (GIC)

**Key Feature**
- Integrity Determination External to User
**Key Enabler**
- Rapid Messaging Rate
- TTA of 6.2 Sec
**Key Benefit**
- Redundant Ranging Signals Not Required
**Key Challenge**
- Meeting TTA

**Notes:**
User Avionics
No RAIM/FDE Required – WAAS/SBAS extension
Dual Frequency (L1/L5) – Ionosphere Delay Estimation
Ground Segment Monitor Network
Externally Monitor and Detect All SV Faults That Affect the User
Requires Monitoring Network Capable of Continuous Monitoring of All GNSS Satellites From At Least Two Locations
Network Latency to Support Time to Alarm of 6 Seconds 
Signal-In-Space
Corrections & Integrity Messages
Data Rate Comparable to SBAS Broadcast of 250 bps
Broadcast Via GEOs Or Other Suitable Means
Space Segment
 Nominal 24 SV Commitment is Included in the SPS PS

## Absolute RAIM

- Key Feature
- Real-Time Integrity Determination by the User (ABAS)
- Key Enabler
- Redundant Ranging Sources
- 30 or More SVs
- Key Benefit
- Latency Relaxed to Hours

**Notes:**
Similar to today’s RAIM, both use smoothed pseudoranges, absolute position fixes, and geometric redundancy
However, ARAIM requires tighter confidences, improved algorithms, and stronger constellations to provide horizontal and vertical guidance
Constellation requirement much more strict than today’s RAIM
Avionics
Receiver Autonomous Integrity Monitoring as the Primary Integrity Solution
Dual Frequency (L1/L5) – Ionosphere Delay Estimation
Ground Segment Monitor Network
Continuous Monitoring of All GPS Satellites From At Least Two Locations
Update error variance and mean for each Satellite
Time to alarm of 1 or more hours is tolerable
Signal-In-Space
Reliability Estimates (a Priori Probability) for Each SV
Broadcast Via GNSS or GEO Messages
Space Segment
Requires 30 or More GNSS SVs (note 24 SV Commitment is Included in the SPS PS)

## Relative RAIM: Range Rate Residuals

**Most recent monitored position with****corresponding horizontal protection level (HPL) and vertical protection level (VPL)**

- Propagate the most recent monitored position with carrier phase only

**Growth in HPL and VPL due to RAIM on the carrier phase-based delta position updates**

- VPL

- HPL

*From Prof. van Graas, Ohio University*

- Relative RAIM: _*Range Rate Residuals*_

**Key Feature:**
- Real-Time Integrity Determination By User Using Carrier Phase Approach
**Key Enabler**
- External Monitoring
- Redundant Geometry
**Key Benefit**
- TTA Latency Relaxed to Minutes

**Notes:**
User Avionics
Integrity/Correction Messages Provide Starting Point
Dual Frequency (L1/L5) – Ionosphere Delay Estimation
RRAIM Algorithms Check Residuals Between Carrier Phase Measurements and Estimated Change in Position
Ground Segment Monitor Network
Requires Monitoring Network Capable of Continuous Monitoring of All GPS Satellites From At Least Two Locations
Time to Alarm of Up to 10 Minutes is Tolerable
Signal-In-Space Broadcast
RRAIM Coasting Enables Slow Integrity/Correction Messages  
Suitable for SBAS GEOs, Possibly GNSS Messages or Other Low Data Rate Alternatives
Space Segment 
Viable for Constellation of 27 or More (note 24 SV Commitment is Included in the SPS PS)

## WAAS Approach Procedures

**LPVs:  1051 ****(as of 4/08)**
**LNAV/VNAVs:  1275**

**WAAS Procedures to be Published to All Instrument Runways in the NAS by 2018**

## Vertical Service Coverage

## WAAS RNP Coverage

## WAAS Avionics Status

**Business & Regional Aircraft FMS Avionics**
**Rockwell-Collins:** Challenger (CL-604) STC Approval Expected in FY’08; CRJ-200 STC; Approval in Dec’08
**Canadian Marconi Corporation (CMC):** WAAS Equipped Honeywell Primus 2000 FMS by Dec ‘08
**Universal Navigation Systems (UNS) Avionics: **~500 Dual Thread UNS-1 so far; Single Thread UNS-1 FMS LPV TSO; Approval Expected Sep 2008
**Air Carrier & Cargo Aircraft**
- – **Southwest Airlines: **Equipping 200 Boeing 737 with Rockwell Collins' GPS-4000S for RNP operations
- – **Federal Express (FEDEX): **Has equipped 253 Cessna Caravan aircraft with GNS-530W
- – **Horizon Airlines: **Has contracted to equip 48 Q400s with UNS-1F
**General Aviation**
**Garmin:** Over 33,000 WAAS Avionics Units
**Bendix-King:** & other suppliers bringing products to market this year
**Helicopter Aircraft Implementing WAAS**
**Keystone & PHI **Pursuing S-76/C++ LPV STC w/UNS-1Fwith Augusta-109 LPV STC Approval planned for Mar ‘09

**Notes:**
The GNS-480 was the original WAAS receiver (first picture).  It started out as the UPS/AT CNX-80 and was rebranded once Garmin acquired UPS/AT.
Garmin production is proprietary info:  There are approximately ~8,300 units upgraded & ~ 4,076 new ship production shipped as of 
All of the Garmin 400s/500s (second picture) are panel mount receivers.  Originally, they were GPS receivers that were WAAS upgradeable.  The 400 is a GPS sensor only, the 430 provides comm and additional nav functions.  The 500/530s are essentially upgrades to the 400/430s with bigger displays and some additional features.  The 400/500s are now WAAS capable.  New receivers come with the functionality and upgrades are available for older receivers.

GNS-1000 (bottom picture), complete glass cockpit
Rockwell Collins:  The FAA is paying for TSOs on Multi-mode receiver (MMR) GLNU-955s (already black box delivered) for analog cockpits and a WAAS Sensor (GPS 4000) to be installed in the FMS 4200 Flight Management System.  The FAA is also paying for the STC on Canadair Regional Jets (CRJs) 200/700/900 series as it is similar to the Canadair 604 platform.