El-Rabbany A. Introduction to GPS
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Introduction to GPS
The Global Positioning System
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Introduction to GPS
The Global Positioning System
Ahmed El-Rabbany
Artech House
Boston London
www.artechhouse.com
Library of Congress Cataloging-in-Publication Data
El-Rabbany, Ahmed.
Introduction to GPS: the Global Positioning System/Ahmed El-Rabbany.
p. cm.(Artech House mobile communications series)
Includes bibliographical references and index.
ISBN 1-58053-183-1 (alk. paper)
1. Global Postioning System. I. Title. II. Series.
G109.5E6 2002
910'.285dc21 2001055249
British Library Cataloguing in Publication Data
El-Rabbany, Ahmed
Introduction to GPS: the global positioning system/Ahmed El-Rabbany.
(Artech House mobile communications series)
1. Global Positioning System
I. Title
629'.045
ISBN 1-58053-183-0
Cover design by Yekatarina Ratner
© 2002 ARTECH HOUSE, INC.
685 Canton Street
Norwood, MA 02062
All rights reserved. Printed and bound in the United States of America. No part of this
book may be reproduced or utilized in any form or by any means, electronic or mechani-
cal, including photocopying, recording, or by any information storage and retrieval sys-
tem, without permission in writing from the publisher.
All terms mentioned in this book that are known to be trademarks or service marks
have been appropriately capitalized. Artech House cannot attest to the accuracy of this
information. Use of a term in this book should not be regarded as affecting the validity of
any trademark or service mark.
International Standard Book Number: 1-58053-183-0
Library of Congress Catalog Card Number: 2001055249
10987654321
To the people who made significant contributions to my life
My parents, my wife, and my children
Contents
Preface ..........................xiii
Acknowledgments .....................xv
1 Introduction to GPS ...................1
1.1 OverviewofGPS......................1
1.2 GPSsegments.......................2
1.3 GPS satellite generations ..................4
1.4 Current GPS satellite constellation ..............5
1.5 Control sites .......................6
1.6 GPS:Thebasicidea ....................8
1.7 GPS positioning service ...................9
1.8 WhyuseGPS?......................10
References ························11
vii
2 GPS Details.......................13
2.1 GPS signal structure....................13
2.2 GPS modernization ....................15
2.3 Types of GPS receivers ..................16
2.4 Timesystems.......................18
2.5 Pseudorange measurements ................19
2.6 Carrier-phase measurements ................21
2.7 Cycle slips ........................22
2.8 Linear combinations of GPS observables ...........23
References ························25
3 GPS Errors and Biases .................27
3.1 GPS ephemeris errors ...................28
3.2 Selective availability ....................29
3.3 Satellite and receiver clock errors ..............31
3.4 Multipatherror......................32
3.5 Antenna-phase-center variation ...............34
3.6 Receiver measurement noise ................35
3.7 Ionospheric delay .....................36
3.8 Tropospheric delay ....................38
3.9 Satellite geometry measures ................39
3.10 GPS mission planning ..................42
3.11 User equivalent range error ................44
References ·······················44
4 Datums, Coordinate Systems, and Map Projections . . 47
4.1 Whatisadatum?.....................48
4.2 Geodetic coordinate system ................49
4.2.1 Conventional Terrestrial Reference System .........50
4.2.2 TheWGS84andNAD83systems............52
4.3 What coordinates are obtained with GPS? ..........53
4.4 Datumtransformations..................53
4.5 Mapprojections.....................55
4.5.1 Transverse Mercator projection .............56
viii Introduction to GPS