GPS Signal Structure Guide
Uploaded by
DheerajKaushalGPS Signal Structure Guide
Uploaded by
DheerajKaushalGPS Signal Structure
Sources:
GPS Satellite Surveying, Leick
Kristine Larson Lecture Notes
[Link]
519/[Link]
GPS Signal Requirements
Method (code) to identify each satellite
The location of the satellite or some
information on how to determine it
Information regarding the amount of time
elapsed since the signal left the satellite
Details on the satellite clock status
Important Issues to Consider
Methods to encode information
Signal power
Frequency allocation
Security
Number and type of codes necessary to
satisfy system requirements
Overview of Satellite
Transmissions
All transmissions derive from a fundamental
frequency of 10.23 Mhz
L1 = 154
L2 = 120
10.23 = 1575.42 Mhz
10.23 = 1227.60 Mhz
All codes initialized once per GPS week at
midnight from Saturday to Sunday
Chipping rate for C/A is 1.023 Mhz
Chipping rate for P(Y) is 10.23 Mhz
Digital Modulation Methods
Amplitude Modulation (AM) also known as
amplitude-shift keying. This method requires
changing the amplitude of the carrier phase
between 0 and 1 to encode the digital signal.
Frequency Modulation (FM) also known as
frequency-shift keying. Must alter the
frequency of the carrier to correspond to 0 or
1.
Phase Modulation (PM) also known as
phase-shift keying. At each phase shift, the
bit is flipped from 0 to 1 or vice versa. This is
the method used in GPS.
Modulo2arithmetic:0+0=0;0+1=1;1+0=1;1+1=0
Bitshiftsaligned
MUSTMOD2ADDRECEIVERGENERATEDCODETORECOVER
Superposition of codes - details
Superposition of two codes is not unique
because the bit transition occurs at the
same epoch; remember that both codes
and phases are multiples of the
fundamental frequency
Need to impose an additional constraint
to arrive at a solution - quadri-phaseshift keying (QPSK), which puts the two
codes 90 (/2)
GeneralExpression:
y(t) y1 (t) y 2 (t) x1 (t)cost x 2 (t)sint
where
y1 (t)isinphase(I)andy12(t)isinquandrature(Q)
Allspectralcomponentsofy1(t)are90outofphase
withthoseofy2(t).Thisallowsthisthetwosignalsto
beseparatedinthereceiver.
S1p (t) A p P p (t)D P (t)cos(2f1t) AcG P (t)D P (t)sin(2f1 t)
where
A p , Ac amplitudes(power)ofP(Y) codeandC / A code
P P (t) pseudorandomP(Y) code
P
G (t) C / A code(Goldcode)
DP (t) navigationdatastream
and
S2p (t) B p P p (t)D P (t)cos(2f2 t)
P (t)D (t)andG (t)D (t)implymodulo 2addition
andtheP(Y) codeisalsoamodulo 2sumoftwo
pseudorandomdatastreams:
P p (t) X 1 (t)X 2 (t pT)
0 p 36
1
10.23Mhz
T
NotethatC/Acodeisbelownoise
level;signalismultipliedinthe
Receiverbytheinternallycalculated
codetoallowtracking.
C/Acodechipis1.023Mhz
Pcodechipis10.23Mhz
Power=P(t)=y2(t)
Bandwidth B
1
T
where
T ischipduration
Thecalculatedpowerspectrum
derivesfromtheFourier
transformofasquarewave
ofwidth2andunitamplitude.
CommonfunctioninDSP
calledthesincfunction.
sin( x)
1
sin c(x)
x
2
e ix
Digital Signal Processing Techniques
Filtering: Allows one to remove some
portion of the frequency spectrum that may
contain unwanted signal.
Low Pass Filter: lets all frequencies below a
cutoff frequency through.
High Pass Filter: lets all frequencies above a
cutoff frequency through.
Band Pass Filter: lets all frequencies within a
specified window pass through. The
window is called the passband
DSP Techniques, cont.
Frequency Translation and Multiplication:
technique to shift frequency spectrum of some
signal to another portion of the frequency
domain.
Up-conversion: translate signal to higher
frequencies.
Down-conversion: translate signal to lower
frequencies. Commonly done in GPS receivers.
Multiply signal by sine function in a mixer. Special
case is signal squaring and may be used to recover
the pure carrier phase from a bi-phase modulated
ranging signal.
DSP Techniques, cont.
Spread Spectrum: broadly defined as a
mechanism by which the bandwidth of the
transmitted code is much greater than the
baseband information signal (e.g. the
navigation message in GPS)
FDMA: Frequency Division Multiple Access. Requires
different carriers. Used by GLONASS.
TDMA: Time Division Multiple Access. Several
channels share transmission link. Used by many
cellular telephone providers and LORAN-C.
CDMA: Code Division Multiple Access. Requires
pseudorandom codes by transmitted and also
generated for correlation within the receiver. Used
by GPS.
DSP Techniques, cont.
Cross-correlation: Used by GPS receivers
to determine what signal is coming from a
specific satellite. Can be generalized to
extracting information from any
multiplexed digital signal.
1
C ij (t)
t 0
t0
t
y i (t)y j (t t)dt 1
T
ift = 0
if | t | T
if | t | > T
wheredenotestheintegrationtimeand
yi (t)andy j (t)arecontinuousfunctions([Link])
CorrelationofreceivergeneratedPRNcode(A)withincomingdata
streamconsistingofmultiple([Link],A,B,C,andD)codes
SinceC/Acodeis1023chipslongandrepeatsevery1/1000s,itisinherently
ambiguousby1msecor~300km.Mustmodulo2addthetransmittedand
receivedcodesaftercorrelationtoincreaseSNRandnarrowbandwidth.
Methods to Cope with Antispoofing
Anti-spoofing: Implemented in 1994 to
make P-code unavailable to non-military
users. Encrypted P-code is referred to as
Y-code.
Squaring: Yields half-wavelength carrier and
greatly reduces SNR. Old technology.
Code-aided squaring: Uses mathematical
similarity of the Y-code to P-code. L1 carrier is
down-converted and multiplied with a local
replica of the P-code, then squared. Results
in less reduction of SNR than simple
squaring.
Anti-spoofing Methods,
Cross-correlation: Takes advantage of the fact that both
cont.
L1 and L2 are modulated with the same P(Y)-code, despite
lack of knowledge of the actual P-code. Yields the
difference in pseudoranges, P1(Y) - P2(Y), and the phase
difference of L1 and L2. Again less SNR loss compared
with squaring. Can be difficult to track at low elevation
angles. Technique employed in Trimble 4000SSi/SSE.
Z-tracking: Takes advantage of the fact that Y-code is the
modulo-2 sum of the P-code with a lower encryption rate.
Yields L1 and L2 Y-code pseudoranges and the full carrier
phases of L1 & L2. This method yields the best SNR.
Multipath performance is better than other methods.
Technique employed in Ashtech Z-12 and micro-Z.
AshtechZ12&Z
Trimble4000SSi
FromAshjaee&Lorenz,1992
