Introduction to
Global Navigation Satellite System (GNSS)
Module: 1
Dinesh ManandharCenter 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
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 1

Module 1: Course Contents• Introduction• How GNSS Works?
• GPS Signal Structure• GNSS Systems• GPS• GLONASS• GALILEO• BEIDOU• QZSS• IRNSS• Multi-GNSS
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 2

Fundamental Problem

Where am I
on the Earth?
350 40’ 41”
1390 39’ 40”• How to know my location precisely ?
• 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 ?

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 3

Navigation Types• Landmark-based Navigation• Stones, Trees, Monuments• Limited Local use• Radio-based Navigation• LORAN, OMEGA• Subject to Radio Interference, Jamming,
Limited Coverage• Celestial-based Navigation• Stars, Moon
• Complicated, Works only at Clear Night• Sensors-based Navigation• Dead Reckoning• Satellite-based Navigation or GNSS
• TRANSIT, GPS, GLONASS, GALILEO, QZSS,BEIDOU (COMPASS), IRNSS• Global, Difficult to Interfere or Jam, HighAccuracy & Reliability• Gyroscope, Accelerometer, Compass,
Odometer• Complicated, Errors accumulate quickly
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 4

What is GNSS?
Global Navigation Satellite System (GNSS) is the standard generic term for allnavigation satellites systems like GPS, GLONASS, GALILEO, BeiDou, QZSS, NAVIC.
• Global Constellation• Regional Constellation• GPS USA
• GLONASS, Russia• Galileo, Europe• BeiDou (COMPASS) / BDS, China• QZSS, Japan• NAVIC (IRNSS), India

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 arebroadcasted from communication satellites• Used by ICAO for Aviation• SBAS Service Providers
•
•
•
•
•
•
•
•

WAAS, USA
MSAS, JapanEGNOS, Europe
GAGAN, India
SDCM, Russia
Nigeria
Korea (Also navigation system)
Australia
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 6

Determine the Distance using Radio Wave
0ms

Satellite Transmits Signal at 0ms.

Receiver Receives
the Same Signal
after 67ms.

25ms

0ms

50ms

Satellite with a known positiontransmit a regular time signal.

75ms

Speed of Light
300,000 km/s

25ms
50ms

Distance = (Transmission time – Reception time)× Speed of light
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 7

Principle of Satellite-based Navigation(xk,yk,zk)(x,y,z) kx  x   y  y   z  z   b
k

2

k

2

k

If k ≥ 4, solve for x, y, z and clock bias, b2∆tCorrelation between Incoming Signal andReceiver Generated Signal

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 anapparent 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 divisionmultiple 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
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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• Various versions of BOC

CDMA: Code Division Multiple Access
FDMA: Frequency Division Multiple Access
BPSK : Binary Phase Shift Keying
BOC: Binary Offset Carrier

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 10

GPS L1C/A Signal Structure
900 Phase Reversex154

L1 Carrier, 1575.42Mhz
Carrier Signal

X1, Clock10.23Mhz∑

x1/10

C / A Code, 1.023Mhz
PRN Code

L1 Band GPS Signal

x1/204600

Navigation Data, 50Hz
Navigation Data
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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)
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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]

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 13

Characteristics of PRN CodeAuto-correlation: Only four values:
1023, 1, 63 or 65 (Ideal case)

Cross-correlation: Only three values:
1, 63 or 65 (Ideal Case)• PRN codes are very uniquely designed.
• GPS and other GNSS use CDMA
• One PRN code is assigned to one satellite.
• In case of GPS, PRN code is 1023 bits long.
• GLONASS is different. It uses FDMA. The same code for all
satellites but different frequencies.
• Some new signals of GLONASS also uses CDMA signals• Maximum Cross-correlation Value is -23dB.
• If any signal above this power enters a GPS receiver, it
will totally block all GPS signals.
• If longer PRN code is used, receiver becomes moreresistive to Jamming signal• But, signal processing is more complex

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 14

PRN (Pseudo Random Noise) Code• PRN Code is a sequence of randomly distributed zeros and ones that is one millisecondlong.
• 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
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 halfcycle.
Carrier Wave
+1

1

1

0

0

1

0

1

1 Digital Bit Stream-1
Binary Phase Shift Keying

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 17

CDMA vs. FDMA
CDMA
[GPS, QZSS, Galileo, BeiDou,
IRNSS, Future GLONASS
Satellites]

FDMA[GLONASS]PRN Code

Different PRN Code for eachsatellite
Satellites are identified by PRNCodeOne PRN Code for all satellites
Satellites are identified by center
frequency

Frequency

One Frequency for all satellites

Different frequency for eachsatellite

Merits &Demerits

Receiver design is simpler
No Inter-Channel Bias
More susceptible to Jamming

Receiver design is complex
Inter-channel bias problem
Less susceptible to Jamming

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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.

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 19

GPS L1C/A Signal NAV MSG

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 20

Principle of Satellite-based Navigation(xk, yk, zk)(x, y, z) kx  x   y  y   z  z   b
k

2

k

2

k

2

If k ≥ 4, solve for x, y, z and clock bias, b∆tCorrelation between Incoming Signal andReceiver Generated Signal

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 21

Pseudorange (1/2)
Transmission
Time

Pseudorange = (Transmission time – Reception time)× Speed of light

Signal propagation at the speed of light

20,200 km

Reception
Time

Transit time

A GPS receiver measures the signal transmission timefrom the code phase at signal reception time.
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 22

Pseudorange (2/2)• Essential GNSS observable• Full distance between the satellite and the receiver• Provides a position accuracy of approximately a few meters2m
20,200 km
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 theunknown number of full carrier cycles are resolved

19 cm

1 cm

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 25

GNSS ArchitectureSpace Segment
GNSS Satellites

GPS
GPS

User Segment
GNSS Receivers
Applications that use GNSS

Control Segment
Monitor Satellite Health, Orbit, Clock etc
Upload Navigation Data to Satellites

GNSS
ReceiverMarine / AIS

Finance
SafetySecurity

Aviation / WAAS

Railway

Mobile Phone

ITS / ADAS

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 isreduced 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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 28

GPS Signal Power
Noise PowerAny Signal below thisnoise level can’t bemeasured 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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 29

Power of GPS Signal vs. Other Signals
Signal TypePower (based on calculations, not measured)

Below Noise

Above Noise

Watt

Mobile Phone
Handset TX Power *RX Power at Mobile
Phone Handset*

dBW

dBm

1W

0dBW

30dBm

100e-6W-40dBW-70dBmZigBee316e-16W-115dBW-85dBm

VHF

200e-16W-137dBW-107dBm

Thermal Noise79e-16W-141dBW-111dBm

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
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 30

GPS, USA
(Global Positioning System)
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 theSoviet 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 theseas 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)

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 thefirst 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 timedata.
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 33

GPS Space Segment: Current & Future Constellation
Legacy Satellites

Block IIA
0 operational•L1C/A, L1 P(Y)•L2P(Y)•Launched in 19901997•Last onedecommissioned in2016

Modernized Satellites

Block IIR
12 operational•L1C/A, L1P(Y)•L2P(Y)•Launched in 19972004

See File 02_GPS_ICG_2019.pdf
for latest information as per DEC 2019http://www.gps.gov/systems/gps/space/#IIF
https://en.wikipedia.org/wiki/Global_Positioning_System

Block IIR(M)
7 operational

Block IIF
12 operational

GPS IIIIn production•L1C/A, L1P(Y)•L2P(Y)•L2C, L2M
•Launched in 20052009•L1C/A, L1P(Y)•L2P(Y)•L2C, L2M
•L5
•Launched in 20102016•L1C/A, L1P(Y)•L2P(Y)•L2C, L2M
•L5
•L1C
•Available for launch
in 2016

Information (number of satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 34

GPS Signals
Band

L1

L2

L5

Frequency,
MHz1575.421227.60

1176.45

Modulation
Type

Data /
SymbolRate,
bps/sps

Notes

1.023

BPSK

50

Legacy Signal

10

1.023

BOC(1,1)

50 / 100

From 2014

CPilot

10

1.023

TMBOC

No Data

BOC(1,1) & BOC(6,1)P(Y)

7 days

10.23

BPSK

CM

20

0.5115CL

1500

0.5115

P(Y)

7days

10.23

I

1

Q

1

SignalType

CodeLengthmsec

Chip Rate,
MHz

C/A

1

CData

10.23

BPSK

Restricted

25 / 50
No DataModulated by TDM of(L2CM xor Data) andL2CL

50 / 100

Provides Higher
Accuracy

BPSK
BPSK

No Data

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 35

GPS Receiver Outputs (1/3)

Sky Plot: Visibility of Satellites at Receiver Antenna

Computed Position from GPS displayedover Google Map

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 36

GPSGNSS
ReceiverOutputs(2/3)
Signals Received by the Receiver

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 37

GPS
ReceiverOutputs(3/3)
Position, Velocity, Time (PVT) and Other Observation Related Outputs

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 38

GLONASS, Russia(Global Navigation Satellite System)
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 39

GLONASS Current & Future Constellation
1982 First Launch

2003

2011

Planned Launch

GLONASSGLONASS-M

GLONASS-K1

GLONASS-K2

DECOMMISSIONED
87 Launched
0 Operational
81 Retired
6 LostUnder Normal Operation
45 Launched
27 Operational
12 Retired
6 LostUnder Production /Operation
2 Launched
2 Operational
First launch Dec 2014

See File 03-GLONASS_ICG_2019.pdf
for latest information as per DEC 2019
•L1OF, L1SF
•L1OF, L1SF
•L1OF, L1SF
•L2OF, L2SF
•L2OF, L2SF
• L2SF Information (Number of Satellites) in this slide are not•L3OC
updated•L3OC

Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html

Under Development
3 On OrderFirst Launch Expected 2018

•L1OF, L1SF
•L2OF, L2SF
•L1OC, L1SC
•L2OC, L2SC
•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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 41

Galileo, Europe

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 42

Galileo Space Segment

See file 04-GALILEO_ICG_2019.pdf
for latest information as per DEC 2019

Information (number of satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 43

Galileo Signals
Band

E1

E6

E5
1191
.795
MHz

Frequency, MHz1575.421278.75

1176.451207.14

Modulation
Type

Data /
SymbolRate,
bps/sps

Notes

10.23

BOC(15,2.5)??

Restricted

4

1.023

CBOC, Weighted

125 / 250

Data

CPilot100

1.023

combination of
BOC(1,1) & BOC(6,1)

No Data

Pilot

A

10

5.115

BOC(15,5)

??

PRS

B

1

5.115

BPSK(5)

500 /
1000

Data

C

100

5.115

No Data

Pilot

A-I

20

10.23

25 / 50

Data

A-Q

100

10.23

No Data

Pilot

B-I

4

10.23

125 / 250

Data

SignalType

CodeLength
msec

Chip
Rate,
MHz

A

10

BData

AltBOC(15,10)

B-Q Organized
100
10.23
No Data
Training on GNSS – Course (T151-40),
by: GIC/AIT,
CSIS/UT and ICG, held at: GIC/AIT, Thailand
from 6 – 10Pilot
JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 44

Galileo Signals

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 45

Galileo Services
Open Service(OS)

Freely accessible service forpositioning, navigation and timing formass market

Commercial
Service (CS)

Delivers authentication, high accuracy
and guaranteed services for commercial
applications

Public Regulated
Service (PRS)

Encrypted service designed for greaterrobustness in challenging environments

Search And Rescue
Service (SAR)

Locates distress beacons and confirmsthat message is received

Safety of Life
Service (SoL)

The former Safety of Life service is being re-profiled

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 46

BeiDou / BDS, China

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 47

BeiDou Space Segment

Information (number of satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Source: Update on BeiDou Navigation Satellite System, Chengqi Ran, China Satellite Navigation OfficeTenth Meeting of ICG, NOV 2015
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 48

COMPASS / BEIDOU Signals: Already Transmitted
Band

Frequency
MHz

Data /
Symbolrate

Notes

50 / 100

Open

B1(Q)

None

AuthorizedB1-2(I)

50 / 100Open

25 / 50

Authorized

None

Open

50 / 100

Authorized

500

Authorized

SignalType

Chip
Modulation
Rate
Type
(MHz)

B1(I)
1561.098
B1

2.046

1589.742

2.046

QPSK

QPSK

B1-2(Q)
B2
B31207.141268.52

B2(I)

2.046

B2(Q)

10.23

B3

10.23

QPSK

QPSK

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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 (Betaversion) has been released, and the official version will be
released in 2018.

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 51

BDS-3 Services
Service Type
RNSS
SBAS
Regional SMS
Global SMS
International SAR
PPP (Precise Point
Positioning)

Satellites
3 GEO + 3 IGSO + 24 MEO
3 GEO
3 GEO
14 MEO
6 MEO
3 GEO
Source: Plenary Session of ICG 2018

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 52

QZSS / Michibiki, Japan(Quasi-Zenith Satellite System)

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 53

Merits of QZSS• QZSS signal is designed in such a way that it isinteroperable 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 andCentimeter level position accuracy• Provides Messaging System during Disasters
http://qzss.go.jp/en/overview/services/sv04_pnt.html

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 54

QZSS Development Plan

1st Satellite launched on 11th September 2010
2nd Satellite launched on 1st June 2017
3rd Satellite launched on 19th August 2017

See file 06-QZSS_ICG_2019.pdf: QZ Orbit
for the latest information as per DEC 2019
: QZ Orbit: Geostationary Orbit

Information (number of satellites) in this slide are not updated
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 56

QZSS Satellites & Signal Types
Signal
Name
L1C/A
L1C
L1SAIF
L1S

QZS-1
QZS-2 to QZS-4
CenterBlock IQ Block IIQ Block IIG
Transmission service
Frequency(QZO) (QZO)
(GEO)
MHz
1
2
1
Satellite positioning service◎◎◎
Satellite positioning service◎◎◎◎
Sub-meter Level Augmentation Service
1575.42(SLAS)/
DisasterandCrisisManagement
◎
◎

L1Sb

-

-

◎

SBAS Transmission Service
from around 2020

L2C
L5

◎
◎

◎
◎

◎
◎

Satellite positioning service

L5S

-

LEX

◎

L6
S-band

-

◎

◎

◎

◎

-

◎

Satellite positioning service
Positioning Technology Verification
Service
MADOCA
Centimeter Level Augmentation Service(CLAS)QZSS Safety Service / SAR

1227.60
1176.45
1278.75
2GHz

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 57

QZSS Satellite Visibility

Source: SPAC Animation Video

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 58

QZSS New Applications

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 60

Short Message Broadcast during Disaster

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 61

Sub-meter Level Augmentation Service (SLAS)

SLAS : Sub-meter Level Augmentation Service
Signal Used: L1SAIF / L1S
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 62

Centimeter Level Augmentation Service (CLAS)

CLAS : Centimeter Level Augmentation Service
Signal Used: LEX: MADOCA & L6
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 63

NavIC / IRNSS
Navigation with Indian Constellation
Indian Regional Navigation Satellite System

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 64

NavIC Signal Types

SignalCarrierFrequency

Bandwidth

L51176.45MHz

24MHz

S

2492.028MHz

16.5MHz

Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html

See file 01_NAVIC_ICG_2019.pdf for the latest information as per DEC 2019
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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)
Please check the following site for the latest updates:
https://www.unoosa.org/oosa/en/ourwork/icg/annual-meetings.html
Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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)

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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?

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 68

Multi-GNSS Signals
L5 / E5

L2

L6 / E6

L1 / E1

S

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 69

Multi GNSS Signals: Benefits to Users• GPS+GLONASS+Galileo+COMPASS+IRNSS+QZSS• Asia-Oceanic region will see the maximum number of satellites

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

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…

Training on GNSS – Course (T151-40), Organized by: GIC/AIT, CSIS/UT and ICG, held at: GIC/AIT, Thailand from 6 – 10 JAN 2020
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@csis.u-tokyo.ac.jp

Slide : 71