GLONASS
GLONASS (, ; , Global Navigation Satellite System) is a Russian space-based satellite navigation system operating as part of a radionavigation-satellite service. It provides an alternative to Global Positioning System (GPS) and is the second navigational system in operation with global coverage and of comparable precision. Manufacturers of satellite navigation devices say that adding GLONASS made more satellites available to them, meaning positions can be fixed more quickly and accurately, especially in built-up areas where buildings may obscure the view to some GPS satellites. GLONASS supplementation of GPS systems also improves positioning in high latitudes (north or south). Development  of GLONASS began in the Soviet Union in 1976. Beginning on 12 October 1982, numerous rocket launches added satellites to the system, until the completion of the constellation in 1995. After a decline in capacity during the late 1990s, in 2001, the restoration of the system was made a government priority and funding increased substantially. GLONASS is the most expensive program of the Roscosmos, consuming a third of its budget in 2010. By 2010, GLONASS had achieved full coverage of Russia's territory and in October 2011 the full orbital constellation of 24 satellites was restored, enabling full global coverage . The GLONASS satellites' designs have undergone several upgrades, with the 2020 latest version, GLONASS-K2, scheduled to enter service in 2022. An announcement predicts the deployment of a group of communications and navigational satellites by 2040. The task also includes the delivery to the Moon of a series of spacecraft for orbital research and the establishment of a lunar communications and positioning system. System description. GLONASS is a global navigation satellite system, providing real time position and velocity determination for military and civilian users. The satellites are located in middle circular orbit at altitude with a 64.8° inclination and  a period of 11 hours and 15 minutes. GLONASS's orbit makes it especially suited for usage in high latitudes (north or south), where getting a GPS signal can be problematic. The constellation operates in three orbital planes, with eight evenly spaced satellites on each. A fully operational constellation with global coverage consists of 24 satellites, while 18 satellites are necessary for covering the territory of Russia. To get a position fix the receiver must be in the range of at least four satellites. Signal. FDMA. GLONASS satellites transmit two types of signal: open standard-precision signal L1OF/L2OF, and  obfuscated high-precision signal L1SF/L2SF. The signals use similar DSSS encoding and binary phase-shift keying (BPSK) modulation as in GPS signals. All GLONASS satellites transmit the same code as their standard-precision signal; however each transmits on a different frequency using a 15-channel frequency-division multiple access (FDMA) technique spanning either side from 1602.0 MHz, known as the L1 band. The center frequency is 1602 MHz + "n" × 0.5625 MHz, where "n" is a satellite's frequency channel number ("n"=−6...,0...,6, previously "n"=0...,13). Signals are transmitted in a 38° cone, using right-hand  circular polarization, at an EIRP between 25 and 27 dBW (316 to 500 watts). Note that the 24-satellite constellation is accommodated with only 15 channels by using identical frequency channels to support antipodal (opposite side of planet in orbit) satellite pairs, as these satellites are never both in view of an Earth-based user at the same time. The L2 band signals use the same FDMA as the L1 band signals, but transmit straddling 1246 MHz with the center frequency 1246 MHz + "n" × 0.4375 MHz, where "n" spans the same range as for L1. In the original  GLONASS design, only obfuscated high-precision signal was broadcast in the L2 band, but starting with GLONASS-M, an additional civil reference signal L2OF is broadcast with an identical standard-precision code to the L1OF signal. The open standard-precision signal is generated with modulo-2 addition (XOR) of 511 kbit/s pseudo-random ranging code, 50 bit/s navigation message, and an auxiliary 100 Hz meander sequence (Manchester code), all generated using a single time/frequency oscillator. The pseudo-random code is generated with a 9-stage shift register operating with a period of 1 milliseconds. The navigational message is  modulated at 50 bits per second. The superframe of the open signal is 7500 bits long and consists of 5 frames of 30 seconds, taking 150 seconds (2.5 minutes) to transmit the continuous message. Each frame is 1500 bits long and consists of 15 strings of 100 bits (2 seconds for each string), with 85 bits (1.7 seconds) for data and check-sum bits, and 15 bits (0.3 seconds) for time mark. Strings 1-4 provide immediate data for the transmitting satellite, and are repeated every frame; the data include ephemeris, clock and frequency offsets, and satellite status. Strings 5 -15 provide non-immediate data (i.e. almanac) for each satellite in the constellation, with frames I-IV each describing five satellites, and frame V describing remaining four satellites. The ephemerides are updated every 30 minutes using data from the Ground Control segment; they use Earth Centred Earth Fixed (ECEF) Cartesian coordinates in position and velocity, and include lunisolar acceleration parameters. The almanac uses modified orbital elements (Keplerian elements) and is updated daily. The more accurate high-precision signal is available for authorized users, such as the Russian military, yet unlike the United States P(Y) code, which is modulated by an  encrypting W code, the GLONASS restricted-use codes are broadcast in the clear using only "security through obscurity". The details of the high-precision signal have not been disclosed. The modulation (and therefore the tracking strategy) of the data bits on the L2SF code has recently changed from unmodulated to 250 bit/s burst at random intervals. The L1SF code is modulated by the navigation data at 50 bit/s without a Manchester meander code. The high-precision signal is broadcast in phase quadrature with the standard-precision signal, effectively sharing the same carrier wave, but with a ten-times -higher bandwidth than the open signal. The message format of the high-precision signal remains unpublished, although attempts at reverse-engineering indicate that the superframe is composed of 72 frames, each containing 5 strings of 100 bits and taking 10 seconds to transmit, with total length of 36 000 bits or 720 seconds (12 minutes) for the whole navigational message. The additional data are seemingly allocated to critical Lunisolar acceleration parameters and clock correction terms. Accuracy. At peak efficiency, the standard-precision signal offers horizontal positioning accuracy within 5–10 metres, vertical positioning within , a velocity vector measuring within , and timing  within 200 nanoseconds, all based on measurements from four first-generation satellites simultaneously; newer satellites such as GLONASS-M improve on this. GLONASS uses a coordinate datum named "PZ-90" (Earth Parameters 1990 – Parametry Zemli 1990), in which the precise location of the North Pole is given as an average of its position from 1990 to 1995. This is in contrast to the GPS's coordinate datum, WGS 84, which uses the location of the North Pole in 1984. As of 17 September 2007, the PZ-90 datum has been updated to version PZ-90.02 which differ from WGS 84 by less than  in any given direction. Since 31 December 2013, version PZ-90.11 is being broadcast, which is aligned to the International Terrestrial Reference System and Frame at epoch 2011.0 at the centimetre level. CDMA. Since 2008, new CDMA signals are being researched for use with GLONASS. The interface control documents for GLONASS CDMA signals was published in August 2016. According to GLONASS developers, there will be three open and two restricted CDMA signals. The open signal L3OC is centered at 1202.025 MHz and uses BPSK(10) modulation for both data and pilot channels; the ranging code transmits at 10.23 million chips per second , modulated onto the carrier frequency using QPSK with in-phase data and quadrature pilot. The data is error-coded with 5-bit Barker code and the pilot with 10-bit Neuman-Hoffman code. Open L1OC and restricted L1SC signals are centered at 1600.995 MHz, and open L2OC and restricted L2SC signals are centered at 1248.06 MHz, overlapping with GLONASS FDMA signals. Open signals L1OC and L2OC use time-division multiplexing to transmit pilot and data signals, with BPSK(1) modulation for data and BOC(1,1) modulation for pilot; wide-band restricted signals L1SC and L2SC use BOC (5, 2.5) modulation for both  data and pilot, transmitted in quadrature phase to the open signals; this places peak signal strength away from the center frequency of narrow-band open signals. Binary phase-shift keying (BPSK) is used by standard GPS and GLONASS signals. Binary offset carrier (BOC) is the modulation used by Galileo, modernized GPS, and BeiDou-2. The navigational message of CDMA signals is transmitted as a sequence of text strings. The message has variable size - each pseudo-frame usually includes six strings and contains ephemerides for the current satellite (string types 10, 11, and 12 in a sequence) and part of the almanac  for three satellites (three strings of type 20). To transmit the full almanac for all current 24 satellites, a superframe of 8 pseudo-frames is required. In the future, the superframe will be expanded to 10 pseudo-frames of data to cover full 30 satellites. The message can also contain Earth's rotation parameters, ionosphere models, long-term orbit parameters for GLONASS satellites, and COSPAS-SARSAT messages. The system time marker is transmitted with each string; UTC leap second correction is achieved by shortening or lengthening (zero-padding) the final string of the day by one second, with abnormal strings  being discarded by the receiver. The strings have a version tag to facilitate forward compatibility: future upgrades to the message format will not break older equipment, which will continue to work by ignoring new data (as long as the constellation still transmits old string types), but up-to-date equipment will be able to use additional information from newer satellites. The navigational message of the L3OC signal is transmitted at 100 bit/s, with each string of symbols taking 3 seconds (300 bits). A pseudo-frame of 6 strings takes 18 seconds (1800 bits) to transmit. A superframe of 8  pseudo-frames is 14,400 bits long and takes 144 seconds (2 minutes 24 seconds) to transmit the full almanac. The navigational message of the L1OC signal is transmitted at 100 bit/s. The string is 250 bits long and takes 2.5 seconds to transmit. A pseudo-frame is 1500 bits (15 seconds) long, and a superframe is 12,000 bits or 120 seconds (2 minutes). L2OC signal does not transmit any navigational message, only the pseudo-range codes: Glonass-K1 test satellite launched in 2011 introduced L3OC signal. Glonass-M satellites produced since 2014 (s/n 755+) will also transmit  L3OC signal for testing purposes. Enhanced Glonass-K1 and Glonass-K2 satellites, to be launched from 2022, will feature a full suite of modernized CDMA signals in the existing L1 and L2 bands, which includes L1SC, L1OC, L2SC, and L2OC, as well as the L3OC signal. Glonass-K2 series should gradually replace existing satellites starting from 2022, when Glonass-M launches will cease. Glonass-KM satellites will be launched by 2025. Additional open signals are being studied for these satellites, based on frequencies and formats used by existing GPS, Galileo, and Beidou/COMPASS signals: Such an arrangement will allow easier  and cheaper implementation of multi-standard GNSS receivers. With the introduction of CDMA signals, the constellation will be expanded to 30 active satellites by 2025; this may require eventual deprecation of FDMA signals. The new satellites will be deployed into three additional planes, bringing the total to six planes from the current three—aided by System for Differential Correction and Monitoring (SDCM), which is a GNSS augmentation system based on a network of ground-based control stations and communication satellites Luch 5A and Luch 5B. Six additional Glonass-V satellites, using Tundra orbit in three orbital planes, will be launched  in 2023–2025; this regional high-orbit segment will offer increased regional availability and 25% improvement in precision over Eastern Hemisphere, similar to Japanese QZSS system and Beidou-1. The new satellites will form two ground traces with inclination of 64.8°, eccentricity of 0.072, period of 23.9 hours, and ascending node longitude of 60° and 120°. Glonass-V vehicles are based on Glonass-K platform and will broadcast new CDMA signals only. Previously Molniya orbit, geosynchronous orbit, or inclined orbit were also under consideration for the regional segment. Satellites. The main contractor of the GLONASS program is Joint Stock  Company Information Satellite Systems Reshetnev (ISS Reshetnev, formerly called NPO-PM). The company, located in Zheleznogorsk, is the designer of all GLONASS satellites, in cooperation with the Institute for Space Device Engineering () and the Russian Institute of Radio Navigation and Time. Serial production of the satellites is accomplished by the company Production Corporation Polyot in Omsk. Over the three decades of development, the satellite designs have gone through numerous improvements, and can be divided into three generations: the original GLONASS (since 1982), GLONASS-M (since 2003) and GLONASS-K (since 2011). Each GLONASS satellite has a GRAU designation 11F654, and  each of them also has the military "Cosmos-NNNN" designation. First generation. The true first generation of GLONASS (also called Uragan) satellites were all three-axis stabilized vehicles, generally weighing and were equipped with a modest propulsion system to permit relocation within the constellation. Over time they were upgraded to Block IIa, IIb, and IIv vehicles, with each block containing evolutionary improvements. Six Block IIa satellites were launched in 1985–1986 with improved time and frequency standards over the prototypes, and increased frequency stability. These spacecraft also demonstrated a 16-month average operational lifetime. Block IIb spacecraft, with a two-year  design lifetimes, appeared in 1987, of which a total of 12 were launched, but half were lost in launch vehicle accidents. The six spacecraft that made it to orbit worked well, operating for an average of nearly 22 months. Block IIv was the most prolific of the first generation. Used exclusively from 1988 to 2000, and continued to be included in launches through 2005, a total of 56 satellites were launched. The design life was three years, however numerous spacecraft exceeded this, with one late model lasting 68 months, nearly double. Block II satellites were typically launched three at a  time from the Baikonur Cosmodrome using Proton-K Blok-DM2 or Proton-K Briz-M boosters. The only exception was when, on two launches, an Etalon geodetic reflector satellite was substituted for a GLONASS satellite. Second generation. The second generation of satellites, known as Glonass-M, were developed beginning in 1990 and first launched in 2003. These satellites possess a substantially increased lifetime of seven years and weigh slightly more at . They are approximately in diameter and high, with a solar array span of for an electrical power generation capability of 1600 watts at launch. The aft payload structure houses  12 primary antennas for L-band transmissions. Laser corner-cube reflectors are also carried to aid in precise orbit determination and geodetic research. On-board cesium clocks provide the local clock source. Glonass-M includes 31 satellites ranging from satellite index 21 - 92 and with 4 spare active satellites. A total of 41 second generation satellites were launched through the end of 2013. As with the previous generation, the second generation spacecraft were launched three at a time using Proton-K Blok-DM2 or Proton-K Briz-M boosters. Some were launched alone with Soyuz-2-1b/Fregat On 30 July  2015, ISS Reshetnev announced that it had completed the last GLONASS-M (No. 61) spacecraft and it was putting it in storage waiting for launch, along with eight previously built satellites. As on 22 September 2017, GLONASS-M No.52 satellite went into operation and the orbital grouping has again increased to 24 space vehicles. Third generation. GLONASS-K is a substantial improvement of the previous generation: it is the first unpressurised GLONASS satellite with a much reduced mass of versus the of GLONASS-M. It has an operational lifetime of 10 years, compared to the 7-year lifetime of the  second generation GLONASS-M. It will transmit more navigation signals to improve the system's accuracy — including new CDMA signals in the L3 and L5 bands, which will use modulation similar to modernized GPS, Galileo, and BeiDou. Glonass-K consist of 26 satellites having satellite index 65-98 and widely used in Russian Military space. The new satellite's advanced equipment—made solely from Russian components — will allow the doubling of GLONASS' accuracy. As with the previous satellites, these are 3-axis stabilized, nadir pointing with dual solar arrays. The first GLONASS-K satellite was successfully launched on 26 February  2011. Due to their weight reduction, GLONASS-K spacecraft can be launched in pairs from the Plesetsk Cosmodrome launch site using the substantially lower cost Soyuz-2.1b boosters or in six-at-once from the Baikonur Cosmodrome using Proton-K Briz-M launch vehicles. Ground control. The ground control segment of GLONASS is almost entirely located within former Soviet Union territory, except for several in Brazil. The GLONASS ground segment consists of: Receivers. Companies producing GNSS receivers making use of GLONASS: NPO Progress describes a receiver called "GALS-A1", which combines GPS and GLONASS reception. SkyWave Mobile Communications manufactures an Inmarsat -based satellite communications terminal that uses both GLONASS and GPS. , some of the latest receivers in the Garmin eTrex line also support GLONASS (along with GPS). Garmin also produce a standalone Bluetooth receiver, the GLO for Aviation, which combines GPS, WAAS and GLONASS. Various smartphones from 2011 onwards have integrated GLONASS capability in addition to their pre-existing GPS receivers, with the intention of reducing signal acquisition periods by allowing the device to pick up more satellites than with a single-network receiver, including devices from: Status. Availability. , the GLONASS constellation status is: The system requires 18 satellites for continuous  navigation services covering the entire territory of the Russian Federation, and 24 satellites to provide services worldwide. The GLONASS system covers 100% of worldwide territory. On 2 April 2014, the system experienced a technical failure that resulted in practical unavailability of the navigation signal for around 12 hours. On 14–15 April 2014, nine GLONASS satellites experienced a technical failure due to software problems. On 19 February 2016, three GLONASS satellites experienced a technical failure: the batteries of GLONASS-738 exploded, the batteries of GLONASS-737 were depleted, and GLONASS-736 experienced a stationkeeping failure due to human error during maneuvering. GLONASS-737 and GLONASS-736  are expected to be operational again after maintenance, and one new satellite (GLONASS-751) to replace GLONASS-738 is expected to complete commissioning in early March 2016. The full capacity of the satellite group is expected to be restored in the middle of March 2016. After the launching of two new satellites and maintenance of two others, the full capacity of the satellite group was restored. Accuracy. The GLONASS accuracy is up to 2.8 metres (9.24 ft) – approximately 85% less accurate than GPS using the L5, which has accuracy of within . According to Russian System of Differentional Correction and Monitoring's data , , precision of GLONASS navigation definitions (for p=0.95) for latitude and longitude were with mean number of navigation space vehicles (NSV) equals 7—8 (depending on station). In comparison, the same time precision of GPS navigation definitions were with mean number of NSV equals 6—11 (depending on station). Civilian GLONASS used alone is therefore very slightly less accurate than GPS. On high latitudes (north or south), GLONASS' accuracy is better than that of GPS due to the orbital position of the satellites. Some modern receivers are able to use both GLONASS and GPS satellites together, providing greatly improved coverage in urban canyons  and giving a very fast time to fix due to over 50 satellites being available. In indoor, urban canyon or mountainous areas, accuracy can be greatly improved over using GPS alone. For using both navigation systems simultaneously, precision of GLONASS/GPS navigation definitions were with mean number of NSV equals 14—19 (depends on station). In May 2009, Anatoly Perminov, then director of the Roscosmos, stated that actions were undertaken to expand GLONASS's constellation and to improve the ground segment to increase the navigation definition of GLONASS to an accuracy of by 2011. In particular, the latest satellite design, GLONASS -K has the ability to double the system's accuracy once introduced. The system's ground segment is also to undergo improvements. As of early 2012, sixteen positioning ground stations are under construction in Russia and in the Antarctic at the Bellingshausen and Novolazarevskaya bases. New stations will be built around the southern hemisphere from Brazil to Indonesia. Together, these improvements are expected to bring GLONASS' accuracy to 0.6 m or better by 2020. The setup of a GLONASS receiving station in the Philippines is also now under negotiation. History. Inception and design. The first satellite-based radio navigation system  developed in the Soviet Union was Tsiklon, which had the purpose of providing ballistic missile submarines a method for accurate positioning. 31 Tsiklon satellites were launched between 1967 and 1978. The main problem with the system was that, although highly accurate for stationary or slow-moving ships, it required several hours of observation by the receiving station to fix a position, making it unusable for many navigation purposes and for the guidance of the new generation of ballistic missiles. In 1968–1969, a new navigation system, which would support not only the navy, but also the air, land and space forces , was conceived. Formal requirements were completed in 1970; in 1976, the government made a decision to launch development of the "Unified Space Navigation System GLONASS". The task of designing GLONASS was given to a group of young specialists at NPO PM in the city of Krasnoyarsk-26 (today called Zheleznogorsk). Under the leadership of Vladimir Cheremisin, they developed different proposals, from which the institute's director Grigory Chernyavsky selected the final one. The work was completed in the late 1970s; the system consists of 24 satellites operating at an altitude of in medium circular orbit. It would be able to promptly  fix the receiving station's position based on signals from four satellites, and also reveal the object's speed and direction. The satellites would be launched three at a time on the heavy-lift Proton rocket. Due to the large number of satellites needed for the program, NPO PM delegated the manufacturing of the satellites to PO Polyot in Omsk, which had better production capabilities. Originally, GLONASS was designed to have an accuracy of , but in reality it had an accuracy of in the civilian signal and in the military signal. The first generation GLONASS satellites were tall, had a  width of , measured across their solar panels, and a mass of . Achieving full orbital constellation. In the early 1980s, NPO PM received the first prototype satellites from PO Polyot for ground tests. Many of the produced parts were of low quality and NPO PM engineers had to perform substantial redesigning, leading to a delay. On 12 October 1982, three satellites, designated Kosmos-1413, Kosmos-1414, and Kosmos-1415 were launched aboard a Proton launch vehicle. As only one GLONASS satellite was ready in time for the launch instead of the expected three, it was decided to launch it along with two mock-ups . The United States media reported the event as a launch of one satellite and "two secret objects". For a long time, the United States could not find out the nature of those "objects". The Telegraph Agency of the Soviet Union (TASS) covered the launch, describing GLONASS as a system "created to determine the positioning of civil aviation aircraft, navy transport and fishing-boats of the Soviet Union". From 1982 to April 1991, the Soviet Union successfully launched a total of 43 GLONASS-related satellites plus five test satellites. When the Soviet Union disintegrated on 25 December 1991, twelve GLONASS satellites  in two planes were operational; enough to allow limited use of the system (to cover the entire territory of the Union, 18 satellites would have been necessary). The Russian Federation took over control of the constellation and continued its development. GLONASS became operational in the year 1993 with 12 satellites in 2 orbits at the height of 19,130 km. The United States GPS system has achieved full operation а year later. In December 1995, the GLONASS constellation was increased to 24 satellites. At present, there are a total of 27 satellites in orbit, and all are operational. Economic crisis. Since  the first generation satellites operated for three years each, to keep the system at full capacity, two launches per year would have been necessary to maintain the full network of 24 satellites. However, in the financially difficult period of 1989–1999, the space program's funding was cut by 80% and Russia consequently found itself unable to afford this launch rate. After the full complement was achieved in December 1995, there were no further launches until December 1999. As a result, the constellation reached its lowest point of just six operational satellites in 2001. As a prelude to demilitarisation, responsibility of  the program was transferred from the Ministry of Defence to Russia's civilian space agency Roscosmos. Renewed efforts and modernization. In the 2000s, the Russian economy recovered and state finances improved considerably. Vladimir Putin took a special interest in GLONASS and the system's restoration was made one of the government's top priorities. For this purpose, in August 2001, the Federal Targeted Program "Global Navigation System" 2002–2011 (Government Decision No.587) was launched. The program was given a budget of US$420 million and aimed at restoring the full constellation by 2009. On 10 December 2003, the second generation satellite  design, GLONASS-M, was launched for the first time. It had a slightly larger mass than the baseline GLONASS, standing at , but it had seven years lifetime, four years longer than the lifetime of the original GLONASS satellite, decreasing the required replacement rate. The new satellite also had better accuracy and ability to broadcast two extra civilian signals. In 2006, Defense Minister Sergei Ivanov ordered one of the signals (with an accuracy of ) to be made available to civilian users. Putin, however, was not satisfied with this, and demanded that the whole system should be made fully available to everyone . Consequently, on 18 May 2007, all restrictions were lifted. The accurate, formerly military-only signal with a precision of , has since then been freely available to civilian users. During the middle of the first decade of the 21st century, the Russian economy boomed, resulting in substantial increases in the country's space budget. In 2007, the financing of the GLONASS program was increased considerably; its budget was more than doubled. While in 2006 the GLONASS had received US$181 million from the federal budget, in 2007 the amount was increased to US$380 million. In the end, 140.1 billion rubles  (US$4.7 billion) were spent on the program 2001–2011, making it Roscosmos' largest project and consuming a third of its 2010 budget of 84.5 billion rubles. For the period of 2012 to 2020 320 billion rubles (US$10 billion) were allocated to support the system. Restoring full capacity. In June 2008, the system consisted of 16 satellites, 12 of which were fully operational at the time. At this point, Roscosmos aimed at having a full constellation of 24 satellites in orbit by 2010, one year later than previously planned. In September 2008, Prime Minister Vladimir Putin signed a decree allocating  additional 67 billion rubles (US$2.6 billion) to GLONASS from the federal budget. Promoting commercial use. Although the GLONASS constellation has reached global coverage, its commercialisation, especially development of the user segment, has been lacking compared to the American GPS. For example, the first commercial Russian-made GLONASS navigation device for cars, Glospace SGK-70, was introduced in 2007, but it was much bigger and costlier than similar GPS receivers. In late 2010, there were only a handful of GLONASS receivers on the market, and few of them were meant for ordinary consumers. To improve the situation, the Russian government has  been actively promoting GLONASS for civilian use. To improve development of the user segment, on 11 August 2010, Sergei Ivanov announced a plan to introduce a 25% import duty on all GPS-capable devices, including mobile phones, unless they are compatible with GLONASS. The government also planned to force all car manufacturers in Russia to support GLONASS starting from 2011. This would affect all car makers, including foreign brands like Ford and Toyota, which have car assembly facilities in Russia. GPS and phone baseband chips from major vendors Qualcomm, Exynos and Broadcom all support GLONASS in combination with GPS. In  April 2011, Sweden's SWEPOS — a national network of satellite reference stations that provides real-time positioning data with metre accuracy — became the first known foreign company to use GLONASS. Smartphones and tablets also saw implementation of GLONASS support in 2011 with devices released that year from Xiaomi Tech Company (Xiaomi Phone 2), Sony Ericsson, Samsung (Galaxy Note, Samsung Galaxy Note II, Galaxy SII, Galaxy SIII mini, the Google Nexus 10 in late 2012), Asus, Apple (iPhone 4S and iPad Mini in late 2012), HTC and Sony Mobile adding support for the system allowing increased accuracy and lock on speed  in difficult conditions. Finishing the constellation. Russia's aim of finishing the constellation in 2010 suffered a setback when a December 2010 launch of three GLONASS-M satellites failed. The Proton-M rocket itself performed flawlessly, but the upper stage Blok D-M3 (a new version that was to make its maiden flight) was loaded with too much fuel due to a sensor failure. As a result, the upper stage and the three satellites crashed into the Pacific Ocean. Kommersant estimated that the launch failure cost up to US$160 million. Russian President Dmitry Medvedev ordered a full audit of  the entire program and an investigation into the failure. Following the mishap, Roscosmos activated two reserve satellites and decided to make the first improved GLONASS-K satellite, to be launched in February 2011, part of the operational constellation instead of mainly for testing as was originally planned. This would bring the total number of satellites to 23, obtaining almost complete worldwide coverage. The GLONASS-K2 was originally scheduled to be launched by 2013, however by 2012 was not expected to be launched until 2015. In 2010, President Dmitry Medvedev ordered the government to prepare a new federal targeted program for  GLONASS, covering the years 2012–2020; the original 2001 program was scheduled to end in 2011. On 22 June 2011, Roscosmos revealed that the agency was looking for a funding of 402 billion rubles (US$14.35 billion) for the program. The funds would be spent on maintaining the satellite constellation, on developing and maintaining navigational maps as well as on sponsoring supplemental technologies to make GLONASS more attractive to users. On 2 October 2011, the 24th satellite of the system, a GLONASS-M, was successfully launched from Plesetsk Cosmodrome and is now in service. This made the GLONASS constellation fully restored , for the first time since 1995. On 5 November 2011, the Proton-M booster successfully put three GLONASS-M units in final orbit. On 28 November 2011, a Soyuz launch vehicle, launched from the Plesetsk Cosmodrome, placed a single GLONASS-M satellite into orbit into Plane 3. On 26 April 2013, a single GLONASS-M satellite was delivered to the orbit by Soyuz rocket from Plesetsk Cosmodrome, restoring the constellation to 24 operational satellites, the minimum to provide global coverage. On 2 July 2013, a Proton-M rocket, carrying 3 GLONASS-M satellites, crashed during takeoff from Baikonur Cosmodrome. It  veered off the course just after leaving the pad and plunged into the ground nose first. The rocket employed a DM-03 booster, for the first time since the December 2010 launch, when the vehicle had also failed, resulting in a loss of another 3 satellites. However, as of 2014, while the system was completed from technical point of view, the operational side was still not closed by the Ministry of Defense and its formal status was still "in development". On 7 December 2015, the system was officially completed. 2022 boycott. Following the 2022 Russian invasion of Ukraine, a petition to  withdraw international support from GLONASS and boycott the platform has been proposed by Polish engineer Daniel Kucharski from University of Texas at Austin and signed by tens of thousands of individuals.