Understanding GPS Principles and Applications : Principles and Applications

This thoroughly updated second edition of an Artech House bestseller brings together a team of leading experts who provide a current and comprehensive treatment of the Global Positioning System (GPS). The book covers all the latest advances in technology, applications, and systems. The second edition includes new chapters that explore the integration of GPS with vehicles and cellular telephones, new classes of satellite broadcast signals, the emerging GALILEO system, and new developments in the GPS marketplace. This single-source reference provides a quick overview of GPS essentials, an in-depth examination of advanced technical topics, and a review of emerging trends in the GPS industry. Engineers can use this book to build GPS receivers and integrate them into navigational and communications equipment. Executives can turn to this book to determine how technology is affecting markets and how best to invest their companies’ resources. The book also serves as a handy resource for electrical engineering students looking to advance their studies and careers in GPS. Global Positioning System Kaplan, Elliott D. Hegarty, C. (Christopher J.) Contents 6 Preface xv 14 Acknowledgments xvii 16 1 Introduction 1 17 1.1 Introduction 1 17 1.2 Condensed GPS Program History 2 18 1.3 GPS Overview 3 19 1.3.1 PPS 4 20 1.3.2 SPS 4 20 1.4 GPS Modernization Program 5 21 1.5 GALILEO Satellite System 6 21 1.6 Russian GLONASS System 7 24 1.7 Chinese BeiDou System 8 25 1.8 Augmentations 10 26 1.9 Markets and Applications 10 26 1.9.1 Land 11 27 1.9.2 Aviation 12 28 1.9.3 Space Guidance 13 29 1.9.4 Maritime 14 30 1.10 Organization of the Book 14 30 References 19 35 2 Fundamentals of Satellite Navigation 21 37 2.1 Concept of Ranging Using TOA Measurements 21 37 2.1.1 Two-Dimensional Position Determination 21 37 2.1.2 Principle of Position Determination Via Satellite-Generated Ranging Signals 24 40 2.2 Reference Coordinate Systems 26 42 2.2.1 Earth-Centered Inertial Coordinate System 27 43 2.2.2 Earth-Centered Earth-Fixed Coordinate System 28 44 2.2.3 World Geodetic System 29 45 2.2.4 Height Coordinates and the Geoid 32 48 2.3 Fundamentals of Satellite Orbits 34 50 2.3.1 Orbital Mechanics 34 50 2.3.2 Constellation Design 43 59 2.4 Position Determination Using PRN Codes 50 66 2.4.1 Determining Satellite-to-User Range 51 67 2.4.2 Calculation of User Position 54 70 2.5 Obtaining User Velocity 58 74 2.6 Time and GPS 61 77 2.6.1 UTC Generation 61 77 2.6.2 GPS System Time 62 78 2.6.3 Receiver Computation of UTC (USNO) 62 78 References 63 79 3 GPS System Segments 67 83 3.1 Overview of the GPS System 67 83 3.1.1 Space Segment Overview 67 83 3.1.2 Control Segment (CS) Overview 68 84 3.1.3 User Segment Overview 68 84 3.2 Space Segment Description 68 84 3.2.1 GPS Satellite Constellation Description 69 85 3.2.2 Constellation Design Guidelines 71 87 3.2.3 Space Segment Phased Development 71 87 3.3 Control Segment 87 103 3.3.1 Current Configuration 88 104 3.3.2 CS Planned Upgrades 100 116 3.4 User Segment 103 119 3.4.1 GPS Set Characteristics 103 119 3.4.2 GPS Receiver Selection 109 125 References 110 126 4 GPS Satellite Signal Characteristics 113 129 4.1 Overview 113 129 4.2 Modulations for Satellite Navigation 113 129 4.2.1 Modulation Types 113 129 4.2.2 Multiplexing Techniques 115 131 4.2.3 Signal Models and Characteristics 116 132 4.3 Legacy GPS Signals 123 139 4.3.1 Frequencies and Modulation Format 123 139 4.3.2 Power Levels 133 149 4.3.3 Autocorrelation Functions and Power Spectral Densities 135 151 4.3.4 Cross-Correlation Functions and CDMA Performance 140 156 4.4 Navigation Message Format 142 158 4.5 Modernized GPS Signals 145 161 4.5.1 L2 Civil Signal 145 161 4.5.2 L5 147 163 4.5.3 M Code 148 164 4.5.4 L1 Civil Signal 150 166 4.6 Summary 150 166 References 150 166 5 Satellite Signal Acquisition, Tracking, and Data Demodulation 153 169 5.1 Overview 153 169 5.2 GPS Receiver Code and Carrier Tracking 155 171 5.2.1 Predetection Integration 158 174 5.2.2 Baseband Signal Processing 159 175 5.2.3 Digital Frequency Synthesis 161 177 5.2.4 Carrier Aiding of Code Loop 162 178 5.2.5 External Aiding 164 180 5.3 Carrier Tracking Loops 164 180 5.3.1 Phase Lock Loops 165 181 5.3.2 Costas Loops 166 182 5.3.3 Frequency Lock Loops 170 186 5.4 Code Tracking Loops 173 189 5.5 Loop Filters 179 195 5.6 Measurement Errors and Tracking Thresholds 183 199 5.6.1 PLL Tracking Loop Measurement Errors 184 200 5.6.2 FLL Tracking Loop Measurement Errors 192 208 5.6.3 C/A and P(Y) Code Tracking Loop Measurement Errors 194 210 5.6.4 Modernized GPS M Code Tracking Loop Measurement Errors 199 215 5.7 Formation of Pseudorange, Delta Pseudorange, and Integrated Doppler 200 216 5.7.1 Pseudorange 201 217 5.7.2 Delta Pseudorange 216 232 5.7.3 Integrated Doppler 218 234 5.8 Signal Acquisition 219 235 5.8.1 Tong Search Detector 223 239 5.8.2 M of N Search Detector 227 243 5.8.3 Direct Acquisition of GPS Military Signals 229 245 5.9 Sequence of Initial Receiver Operations 231 247 5.10 Data Demodulation 232 248 5.11 Special Baseband Functions 233 249 5.11.1 Signal-to-Noise Power Ratio Meter 233 249 5.11.2 Phase Lock Detector with Optimistic and Pessimistic Decisions 233 249 5.11.3 False Frequency Lock and False Phase Lock Detector 235 251 5.12 Use of Digital Processing 235 251 5.13 Considerations for Indoor Applications 237 253 5.14 Codeless and Semicodeless Processing 239 255 References 240 256 6 Interference, Multipath, and Scintillation 243 259 6.1 Overview 243 259 6.2 Radio Frequency Interference 243 259 6.2.1 Types and Sources of RF Interference 244 260 6.2.2 Effects of RF Interference on Receiver Performance 247 263 6.2.3 Interference Mitigation 278 294 6.3 Multipath 279 295 6.3.1 Multipath Characteristics and Models 281 297 6.3.2 Effects of Multipath on Receiver Performance 285 301 6.3.3 Multipath Mitigation 292 308 6.4 Ionospheric Scintillation 295 311 References 297 313 7 Performance of Stand-Alone GPS 301 317 7.1 Introduction 301 317 7.2 Measurement Errors 302 318 7.2.1 Satellite Clock Error 304 320 7.2.2 Ephemeris Error 305 321 7.2.3 Relativistic Effects 306 322 7.2.4 Atmospheric Effects 308 324 7.2.5 Receiver Noise and Resolution 319 335 7.2.6 Multipath and Shadowing Effects 319 335 7.2.7 Hardware Bias Errors 320 336 7.2.8 Pseudorange Error Budgets 321 337 7.3 PVT Estimation Concepts 322 338 7.3.1 Satellite Geometry and Dilution of Precision in GPS 322 338 7.3.2 Accuracy Metrics 328 344 7.3.3 Weighted Least Squares (WLS) 332 348 7.3.4 Additional State Variables 333 349 7.3.5 Kalman Filtering 334 350 7.4 GPS Availability 334 350 7.4.1 Predicted GPS Availability Using the Nominal 24-Satellite GPS Constellation 335 351 7.4.2 Effects of Satellite Outages on GPS Availability 337 353 7.5 GPS Integrity 343 359 7.5.1 Discussion of Criticality 345 361 7.5.2 Sources of Integrity Anomalies 345 361 7.5.3 Integrity Enhancement Techniques 346 362 7.6 Continuity 360 376 7.7 Measured Performance 361 377 References 375 391 8 Differential GPS 379 395 8.2 Spatial and Time Correlation Characteristics of GPS Errors 381 397 8.2.1 Satellite Clock Errors 381 397 8.2.2 Ephemeris Errors 382 398 8.2.3 Tropospheric Errors 384 400 8.2.4 Ionospheric Errors 387 403 8.2.5 Receiver Noise and Multipath 390 406 8.3 Code-Based Techniques 391 407 8.3.1 Local-Area DGPS 391 407 8.3.2 Regional-Area DGPS 394 410 8.3.3 Wide-Area DGPS 395 411 8.4 Carrier-Based Techniques 397 413 8.4.1 Precise Baseline Determination in Real Time 398 414 8.4.2 Static Application 418 434 8.4.3 Airborne Application 420 436 8.4.4 Attitude Determination 423 439 8.5 Message Formats 425 441 8.5.1 Version 2.3 425 441 8.5.2 Version 3.0 428 444 8.6 Examples 429 445 8.6.2 Carrier Based 450 466 References 454 470 9 Integration of GPS with Other Sensors and Network Assistance 459 475 9.1 Overview 459 475 9.2 GPS/Inertial Integration 460 476 9.2.1 GPS Receiver Performance Issues 460 476 9.2.2 Inertial Sensor Performance Issues 464 480 9.2.3 The Kalman Filter 466 482 9.2.4 GPSI Integration Methods 470 486 9.2.5 Reliability and Integrity 488 504 9.2.6 Integration with CRPA 489 505 9.3 Sensor Integration in Land Vehicle Systems 491 507 9.3.1 Introduction 491 507 9.3.2 Review of Available Sensor Technology 496 512 9.3.3 Sensor Integration Principles 515 531 9.4 Network Assistance 522 538 9.4.1 Historical Perspective of Assisted GPS 526 542 9.4.2 Requirements of the FCC Mandate 528 544 9.4.3 Total Uncertainty Search Space 535 551 9.4.4 GPS Receiver Integration in Cellular Phones—Assistance Data from Handsets 540 556 9.4.5 Types of Network Assistance 543 559 References 554 570 10 GALILEO 559 575 10.1 GALILEO Program Objectives 559 575 10.2 GALILEO Services and Performance 559 575 10.2.1 Open Service (OS) 560 576 10.2.2 Commercial Service (CS) 562 578 10.2.3 Safety of Life (SOL) Service 562 578 10.2.4 Public Regulated Service (PRS) 562 578 10.2.5 Support to Search and Rescue (SAR) Service 563 579 10.3 GALILEO Frequency Plan and Signal Design 563 579 10.3.1 Frequencies and Signals 563 579 10.3.2 Modulation Schemes 565 581 10.3.3 SAR Signal Plan 576 592 10.4 Interoperability Between GPS and GALILEO 577 593 10.4.1 Signal in Space 577 593 10.4.2 Geodetic Coordinate Reference Frame 578 594 10.4.3 Time Reference Frame 578 594 10.5 System Architecture 579 595 10.5.1 Space Segment 581 597 10.5.2 Ground Segment 585 601 10.6 GALILEO SAR Architecture 591 607 10.7 GALILEO Development Plan 592 608 References 594 610 11 Other Satellite Navigation Systems 595 611 11.1 The Russian GLONASS System 595 611 11.1.1 Introduction 595 611 11.1.2 Program Overview 595 611 11.1.3 Organizational Structure 597 613 11.1.4 Constellation and Orbit 597 613 11.1.5 Spacecraft Description 599 615 11.1.6 Ground Support 602 618 11.1.7 User Equipment 604 620 11.1.8 Reference Systems 605 621 11.1.9 GLONASS Signal Characteristics 606 622 11.1.10 System Accuracy 611 627 11.1.11 Future GLONASS Development 612 628 11.1.12 Other GLONASS Information Sources 614 630 11.2 The Chinese BeiDou Satellite Navigation System 615 631 11.2.1 Introduction 615 631 11.2.3 Program History 616 632 11.2.4 Organization Structure 617 633 11.2.5 Constellation and Orbit 617 633 11.2.6 Spacecraft 617 633 11.2.7 RDSS Service Infrastructure 618 634 11.2.8 RDSS Navigation Services 621 637 11.2.9 RDSS Navigation Signals 622 638 11.2.10 System Coverage and Accuracy 623 639 11.2.11 Future Developments 623 639 11.3 The Japanese QZSS Program 625 641 11.3.1 Introduction 625 641 11.3.2 Program Overview 625 641 11.3.3 Organizational Structure 626 642 11.3.4 Constellation and Orbit 626 642 11.3.5 Spacecraft Development 627 643 11.3.6 Ground Support 628 644 11.3.7 User Equipment 628 644 11.3.8 Reference Systems 628 644 11.3.9 Navigation Services and Signals 628 644 11.3.10 System Coverage and Accuracy 629 645 11.3.11 Future Development 629 645 Acknowledgments 630 646 References 630 646 12 GNSS Markets and Applications 635 651 12.1 GNSS: A Complex Market Based on Enabling Technologies 635 651 12.1.1 Market Scope, Segmentation, and Value 638 654 12.1.2 Unique Aspects of GNSS Market 639 655 12.1.3 Market Limitations, Competitive Systems, and Policy 640 656 12.2 Civil Navigation Applications of GNSS 641 657 12.2.1 Marine Navigation 642 658 12.2.2 Air Navigation 645 661 12.2.3 Land Navigation 646 662 12.3 GNSS in Surveying, Mapping, and Geographical Information Systems 647 663 12.3.1 Surveying 648 664 12.3.2 Mapping 648 664 12.3.3 GIS 649 665 12.4 Recreational Markets for GNSS-Based Products 650 666 12.5 GNSS Time Transfer 650 666 12.6 Differential Applications and Services 650 666 12.6.1 Precision Approach Aircraft Landing Systems 651 667 12.6.2 Other Differential Systems 651 667 12.6.3 Attitude Determination Systems 652 668 12.7 GNSS and Telematics and LBS 652 668 12.8 Creative Uses for GNSS 654 670 12.9 Government and Military Applications 654 670 12.9.1 Military User Equipment—Aviation, Shipboard, and Land 655 671 12.9.2 Autonomous Receivers—Smart Weapons 656 672 12.9.3 Space Applications 657 673 12.9.4 Other Government Applications 657 673 12.10 User Equipment Needs for Specific Markets 657 673 12.11 Financial Projections for the GNSS Industry 660 676 References 661 677 Appendix A:Least Squares and Weighted Least Squares Estimates 663 679 Reference 664 680 Appendix B:Stability Measures for Frequency Sources 665 681 B.1 Introduction 665 681 B.2 Frequency Standard Stability 665 681 B.3 Measures of Stability 667 683 B.3.1 Allan Variance 667 683 B.3.2 Hadamard Variance 667 683 References 668 684 Appendix C:Free-Space Propagation Loss 669 685 C.1 Introduction 669 685 C.2 Free-Space Propagation Loss 669 685 C.3 Conversion Between PSDs and PFDs 673 689 References 673 689 About the Authors 675 691 Index 683 699 Mobile Communications Library 720 1-58053-894-0 Contents......Page 6 Preface xv......Page 14 Acknowledgments xvii......Page 16 1.1 Introduction 1......Page 17 1.2 Condensed GPS Program History 2......Page 18 1.3 GPS Overview 3......Page 19 1.3.2 SPS 4......Page 20 1.5 GALILEO Satellite System 6......Page 21 1.6 Russian GLONASS System 7......Page 24 1.7 Chinese BeiDou System 8......Page 25 1.9 Markets and Applications 10......Page 26 1.9.1 Land 11......Page 27 1.9.2 Aviation 12......Page 28 1.9.3 Space Guidance 13......Page 29 1.10 Organization of the Book 14......Page 30 References 19......Page 35 2.1.1 Two-Dimensional Position Determination 21......Page 37 2.1.2 Principle of Position Determination Via Satellite-Generated Ranging Signals 24......Page 40 2.2 Reference Coordinate Systems 26......Page 42 2.2.1 Earth-Centered Inertial Coordinate System 27......Page 43 2.2.2 Earth-Centered Earth-Fixed Coordinate System 28......Page 44 2.2.3 World Geodetic System 29......Page 45 2.2.4 Height Coordinates and the Geoid 32......Page 48 2.3.1 Orbital Mechanics 34......Page 50 2.3.2 Constellation Design 43......Page 59 2.4 Position Determination Using PRN Codes 50......Page 66 2.4.1 Determining Satellite-to-User Range 51......Page 67 2.4.2 Calculation of User Position 54......Page 70 2.5 Obtaining User Velocity 58......Page 74 2.6.1 UTC Generation 61......Page 77 2.6.3 Receiver Computation of UTC (USNO) 62......Page 78 References 63......Page 79 3.1.1 Space Segment Overview 67......Page 83 3.2 Space Segment Description 68......Page 84 3.2.1 GPS Satellite Constellation Description 69......Page 85 3.2.3 Space Segment Phased Development 71......Page 87 3.3 Control Segment 87......Page 103 3.3.1 Current Configuration 88......Page 104 3.3.2 CS Planned Upgrades 100......Page 116 3.4.1 GPS Set Characteristics 103......Page 119 3.4.2 GPS Receiver Selection 109......Page 125 References 110......Page 126 4.2.1 Modulation Types 113......Page 129 4.2.2 Multiplexing Techniques 115......Page 131 4.2.3 Signal Models and Characteristics 116......Page 132 4.3.1 Frequencies and Modulation Format 123......Page 139 4.3.2 Power Levels 133......Page 149 4.3.3 Autocorrelation Functions and Power Spectral Densities 135......Page 151 4.3.4 Cross-Correlation Functions and CDMA Performance 140......Page 156 4.4 Navigation Message Format 142......Page 158 4.5.1 L2 Civil Signal 145......Page 161 4.5.2 L5 147......Page 163 4.5.3 M Code 148......Page 164 References 150......Page 166 5.1 Overview 153......Page 169 5.2 GPS Receiver Code and Carrier Tracking 155......Page 171 5.2.1 Predetection Integration 158......Page 174 5.2.2 Baseband Signal Processing 159......Page 175 5.2.3 Digital Frequency Synthesis 161......Page 177 5.2.4 Carrier Aiding of Code Loop 162......Page 178 5.3 Carrier Tracking Loops 164......Page 180 5.3.1 Phase Lock Loops 165......Page 181 5.3.2 Costas Loops 166......Page 182 5.3.3 Frequency Lock Loops 170......Page 186 5.4 Code Tracking Loops 173......Page 189 5.5 Loop Filters 179......Page 195 5.6 Measurement Errors and Tracking Thresholds 183......Page 199 5.6.1 PLL Tracking Loop Measurement Errors 184......Page 200 5.6.2 FLL Tracking Loop Measurement Errors 192......Page 208 5.6.3 C/A and P(Y) Code Tracking Loop Measurement Errors 194......Page 210 5.6.4 Modernized GPS M Code Tracking Loop Measurement Errors 199......Page 215 5.7 Formation of Pseudorange, Delta Pseudorange, and Integrated Doppler 200......Page 216 5.7.1 Pseudorange 201......Page 217 5.7.2 Delta Pseudorange 216......Page 232 5.7.3 Integrated Doppler 218......Page 234 5.8 Signal Acquisition 219......Page 235 5.8.1 Tong Search Detector 223......Page 239 5.8.2 M of N Search Detector 227......Page 243 5.8.3 Direct Acquisition of GPS Military Signals 229......Page 245 5.9 Sequence of Initial Receiver Operations 231......Page 247 5.10 Data Demodulation 232......Page 248 5.11.2 Phase Lock Detector with Optimistic and Pessimistic Decisions 233......Page 249 5.12 Use of Digital Processing 235......Page 251 5.13 Considerations for Indoor Applications 237......Page 253 5.14 Codeless and Semicodeless Processing 239......Page 255 References 240......Page 256 6.2 Radio Frequency Interference 243......Page 259 6.2.1 Types and Sources of RF Interference 244......Page 260 6.2.2 Effects of RF Interference on Receiver Performance 247......Page 263 6.2.3 Interference Mitigation 278......Page 294 6.3 Multipath 279......Page 295 6.3.1 Multipath Characteristics and Models 281......Page 297 6.3.2 Effects of Multipath on Receiver Performance 285......Page 301 6.3.3 Multipath Mitigation 292......Page 308 6.4 Ionospheric Scintillation 295......Page 311 References 297......Page 313 7.1 Introduction 301......Page 317 7.2 Measurement Errors 302......Page 318 7.2.1 Satellite Clock Error 304......Page 320 7.2.2 Ephemeris Error 305......Page 321 7.2.3 Relativistic Effects 306......Page 322 7.2.4 Atmospheric Effects 308......Page 324 7.2.6 Multipath and Shadowing Effects 319......Page 335 7.2.7 Hardware Bias Errors 320......Page 336 7.2.8 Pseudorange Error Budgets 321......Page 337 7.3.1 Satellite Geometry and Dilution of Precision in GPS 322......Page 338 7.3.2 Accuracy Metrics 328......Page 344 7.3.3 Weighted Least Squares (WLS) 332......Page 348 7.3.4 Additional State Variables 333......Page 349 7.4 GPS Availability 334......Page 350 7.4.1 Predicted GPS Availability Using the Nominal 24-Satellite GPS Constellation 335......Page 351 7.4.2 Effects of Satellite Outages on GPS Availability 337......Page 353 7.5 GPS Integrity 343......Page 359 7.5.2 Sources of Integrity Anomalies 345......Page 361 7.5.3 Integrity Enhancement Techniques 346......Page 362 7.6 Continuity 360......Page 376 7.7 Measured Performance 361......Page 377 References 375......Page 391 8 Differential GPS 379......Page 395 8.2.1 Satellite Clock Errors 381......Page 397 8.2.2 Ephemeris Errors 382......Page 398 8.2.3 Tropospheric Errors 384......Page 400 8.2.4 Ionospheric Errors 387......Page 403 8.2.5 Receiver Noise and Multipath 390......Page 406 8.3.1 Local-Area DGPS 391......Page 407 8.3.2 Regional-Area DGPS 394......Page 410 8.3.3 Wide-Area DGPS 395......Page 411 8.4 Carrier-Based Techniques 397......Page 413 8.4.1 Precise Baseline Determination in Real Time 398......Page 414 8.4.2 Static Application 418......Page 434 8.4.3 Airborne Application 420......Page 436 8.4.4 Attitude Determination 423......Page 439 8.5.1 Version 2.3 425......Page 441 8.5.2 Version 3.0 428......Page 444 8.6 Examples 429......Page 445 8.6.2 Carrier Based 450......Page 466 References 454......Page 470 9.1 Overview 459......Page 475 9.2.1 GPS Receiver Performance Issues 460......Page 476 9.2.2 Inertial Sensor Performance Issues 464......Page 480 9.2.3 The Kalman Filter 466......Page 482 9.2.4 GPSI Integration Methods 470......Page 486 9.2.5 Reliability and Integrity 488......Page 504 9.2.6 Integration with CRPA 489......Page 505 9.3.1 Introduction 491......Page 507 9.3.2 Review of Available Sensor Technology 496......Page 512 9.3.3 Sensor Integration Principles 515......Page 531 9.4 Network Assistance 522......Page 538 9.4.1 Historical Perspective of Assisted GPS 526......Page 542 9.4.2 Requirements of the FCC Mandate 528......Page 544 9.4.3 Total Uncertainty Search Space 535......Page 551 9.4.4 GPS Receiver Integration in Cellular Phones—Assistance Data from Handsets 540......Page 556 9.4.5 Types of Network Assistance 543......Page 559 References 554......Page 570 10.2 GALILEO Services and Performance 559......Page 575 10.2.1 Open Service (OS) 560......Page 576 10.2.4 Public Regulated Service (PRS) 562......Page 578 10.3.1 Frequencies and Signals 563......Page 579 10.3.2 Modulation Schemes 565......Page 581 10.3.3 SAR Signal Plan 576......Page 592 10.4.1 Signal in Space 577......Page 593 10.4.3 Time Reference Frame 578......Page 594 10.5 System Architecture 579......Page 595 10.5.1 Space Segment 581......Page 597 10.5.2 Ground Segment 585......Page 601 10.6 GALILEO SAR Architecture 591......Page 607 10.7 GALILEO Development Plan 592......Page 608 References 594......Page 610 11.1.2 Program Overview 595......Page 611 11.1.4 Constellation and Orbit 597......Page 613 11.1.5 Spacecraft Description 599......Page 615 11.1.6 Ground Support 602......Page 618 11.1.7 User Equipment 604......Page 620 11.1.8 Reference Systems 605......Page 621 11.1.9 GLONASS Signal Characteristics 606......Page 622 11.1.10 System Accuracy 611......Page 627 11.1.11 Future GLONASS Development 612......Page 628 11.1.12 Other GLONASS Information Sources 614......Page 630 11.2.1 Introduction 615......Page 631 11.2.3 Program History 616......Page 632 11.2.6 Spacecraft 617......Page 633 11.2.7 RDSS Service Infrastructure 618......Page 634 11.2.8 RDSS Navigation Services 621......Page 637 11.2.9 RDSS Navigation Signals 622......Page 638 11.2.11 Future Developments 623......Page 639 11.3.2 Program Overview 625......Page 641 11.3.4 Constellation and Orbit 626......Page 642 11.3.5 Spacecraft Development 627......Page 643 11.3.9 Navigation Services and Signals 628......Page 644 11.3.11 Future Development 629......Page 645 References 630......Page 646 12.1 GNSS: A Complex Market Based on Enabling Technologies 635......Page 651 12.1.1 Market Scope, Segmentation, and Value 638......Page 654 12.1.2 Unique Aspects of GNSS Market 639......Page 655 12.1.3 Market Limitations, Competitive Systems, and Policy 640......Page 656 12.2 Civil Navigation Applications of GNSS 641......Page 657 12.2.1 Marine Navigation 642......Page 658 12.2.2 Air Navigation 645......Page 661 12.2.3 Land Navigation 646......Page 662 12.3 GNSS in Surveying, Mapping, and Geographical Information Systems 647......Page 663 12.3.2 Mapping 648......Page 664 12.3.3 GIS 649......Page 665 12.6 Differential Applications and Services 650......Page 666 12.6.2 Other Differential Systems 651......Page 667 12.7 GNSS and Telematics and LBS 652......Page 668 12.9 Government and Military Applications 654......Page 670 12.9.1 Military User Equipment—Aviation, Shipboard, and Land 655......Page 671 12.9.2 Autonomous Receivers—Smart Weapons 656......Page 672 12.10 User Equipment Needs for Specific Markets 657......Page 673 12.11 Financial Projections for the GNSS Industry 660......Page 676 References 661......Page 677 Appendix A:Least Squares and Weighted Least Squares Estimates 663......Page 679 Reference 664......Page 680 B.2 Frequency Standard Stability 665......Page 681 B.3.2 Hadamard Variance 667......Page 683 References 668......Page 684 C.2 Free-Space Propagation Loss 669......Page 685 References 673......Page 689 About the Authors 675......Page 691 Index 683......Page 699 Mobile Communications Library......Page 720 This thoroughly updated second edition of an Artech House bestseller brings together a team of leading experts who provide you with a current and comprehensive treatment of the Global Positioning System (GPS). The book covers all the latest advances in technology, applications, and systems. The second edition includes new chapters that explore the integration of GPS with vehicles and cellular telephones, new classes of satellite broadcast signals, the emerging GALILEO system, and new developments in the GPS marketplace. This single-source reference provides both a quick overview of GPS essentials and an in-depth treatment of advanced topics. The book guides you in developing new applications and shows you how to evaluate their performance. It explains all the differential GPS services available to let you decide which is best for particular applications. You learn how to build GPS receivers and integrate them into navigational and communications equipment. Moreover, this unique volume helps you determine how technology is affecting the marketplace and where best to invest your company's resources. The intent of this book is to provide a complete systems engineering treatment of GPS, both as a student text and reference for the engineering and scientific community. It covers GPS satellite signal characteristics, satellite orbits, signal acquisition, tracking and data demodulation, PRN codes, ranging using TOA measurements, and the integration of GPS with other sensors and network assistance. The book includes information on international variations of GPS, such as the Russian GLONASS, Chinese BeiDou and Japanese QZSS systems. Also included is a chapter on markets and applications for Global Navigation Satellite System (GNSS). Annotation 2006 Book News, Inc., Portland, OR (booknews.com)

the Intent Of This Book Is To Provide A Complete Systems Engineering Treatment Of Gps, Both As A Student Text And Reference For The Engineering And Scientific Community. It Covers Gps Satellite Signal Characteristics, Satellite Orbits, Signal Acquisition, Tracking And Data Demodulation, Prn Codes, Ranging Using Toa Measurements, And The Integration Of Gps With Other Sensors And Network Assistance. The Book Includes Information On International Variations Of Gps, Such As The Russian Glonass, Chinese Beidou And Japanese Qzss Systems. Also Included Is A Chapter On Markets And Applications For Global Navigation Satellite System (gnss). Annotation © 2006 Book News, Inc., Portland, Or

"This thoroughly updated second edition of an Artech House bestseller brings together a team of leading experts who provide a current and comprehensive treatment of the Global Positioning System (GPS) and other emerging satellite navigation systems. The book covers all the latest advances in technology, applications, and systems."--Jacket