felaxaton softwares no lon SLERMRNES fir nna apd sine prec ital information “Today, » huge nam sa le PDA tie wt oma sate ‘Chap The fret GPS surveys performed i lt om orbital feoemean 1982 sing Macrometere depended racking network. Later the broadest pplement this private tracking data, ‘The TL om broadcat bythe stale vo that ‘phemerid NSWC originally proceed the-mibixry shenonee bostprocssed ephemeris ‘obtaining “proce” ‘hich were turned overt the NGS for bated ae # i Hu HT HE il HF u ecnveerapreeremeen innocent 2 Overview of GPS / 2.1 Basic concept “The Global Pouitonng System ie the responsibilty of the Joint Program Offs (PO), a component cf the Spact and Mins Center at El Segundo, Caiorsin. In 1973, the JPO was directed hy the US. Department of De- fears (DoD) to estabeh, deveop, tert, acquire, and: deploy a epuctborae postoning rystem. The provent Nevignion Sytem with Ting and Rang. Ing (WAVSTAR) Global Postoning System (GPS) ie Uh revultof this inital Sirectve “The Global Positioning Sytem was conceived at ranging system frm known positions of aatelits in space to urknown portions on leads at ven, In av and space. PWfecively, the satelite sgaal i continually racked with 4s (own) trtsaminon Une so that when received the ignal rant perod ‘an be meusured with = syechronaed reset. ‘The oniginal objective of {GPS were the instantaneous determination of position and velocity (Le, ‘avigaion), and the precoe coordination of time (Ge, time traf). A Aealed defsition given by W. Wooden in 1988 rend! “The Navetar Global Positioning System (GPS) le wn all-weather, pace- ‘bused navigation stem under development by the Department of Defense (DoD) to satiny the sequiemente for the itary forces to accurately de termine thr position, velocity, and time in a common reference sytem, anywhere on or near the Barth of « continoas basis” Since the DoD isthe ator of GPS, the primary goals were military ‘ones. But the U.S. Congres, with guidance from the President, directed DoD to promote its civil use. This war greatly arrlerated by employing ‘he Macrometer for geodetic surveying. This Instrument was in commetelal sue at the time the mltary was still testing navigation recsivere wo thatthe fee productive appation cf GPS nano stabn Hghacaey godt ‘As previously stated, GPS utes peeudoranges derived from the brosdcast satelite signal. The pseudorenge is derived ither from measuring the travel, time of the (coded) signal and multiplying it by ite velocity ot by measuring the phase of the signal In both case, the cocks of the resver and the satelite aze employed. Since these clocks are never perfectly synchronized, instead of true ranges *proudoranges™ are obtained where the eynchroniva om tor Seoted ut hock ea) then nt acne cf B12). Con fequently, exch equation of this ype comprises four unksowas: the tht2 Overview of GPS. — rte set te mee te no, |e yea ea pi fh i te Rustico | con eet Smeuticwcoramemyeiees | Tae raetw svamiekcnoeae ‘earth 24 hours a day. The. solution becomes more complicated when using, ae a © oe | TS Saas tttaite for arttenry instants {tevrmine thet potion signal wavelength to that the model for phase pcnoranges snganested ‘The sunny equipment, ven thw eapabiie yor ase able to ‘by an inital bla, aio alld lntege abigaity "Se or bows the earth by rection (Fig 13). ‘Sek satelite, among others, consists of solar ns for power eupply and = propelaion system for obit adjustments and sagt Siwesther ota yc managed hy the 3F0 canta of thee we “a “The rials hare vasowseyteme of Wetiicaion: tach sqoence he wae sument ecesft. "Today, nome ofthe orginal Block I wataliter rin operation. Co 1 ‘desing the 4iryenr design ie of these eaten, owefe, if rmarla allation consis of 24 opecstional saalites, {hat rome of he Block Iratelivee were operational for wore than 0 yea deployed in six evenly spaced planes (A to F) with an inclination of 8" and "The Block If constaation ie aight diferent from the Blotk 1 const with four satelies per plane. Furthermore, upto fous active pase stallter ‘usin since the intination of thei ort planes ie 85° compared to for replenishment will be operational (Cravss 1992), former 63" inclination. Apart frm orbital incintion, there ina sven With the fall constellation, the space segment provides global coverage with four to eight simultaneously obeereable eaelites above 15" Aiforence Between Block Tad Block I wateliter related to US. nti bentna tt tecuty. Block 1 satelite signals were fly available to din wees,» any time of day. Ifthe elevation mask fs reduced to 10%, occasionally up 80 10 eatellites will be visi ‘one Block Ul estelitesigaale are restieted. lx and ifthe elevation mask i further wedced to ‘5, occasionally 12 satelite will be visible, "The fet Block I stallte,conting approximately $ Smilin and lag more than 1 500k, Was launched on February 14, 1989 from the Kes s ‘Space Center, Cape Canaveral AFB in Feria, asin a Delta It Rocket ty 3: ‘sgn fe ofthe Block Il eatlites is 7.5 year. Individalextelites, ho 3.2 Satellites re atl “ remained operational more than 10 years. © “aGtenerat remarks saike GPS satellites, essentially, provide a platform for "The Block ILA satelite ("AY denoss advanced) are equipped wi dio transceivers ‘ual communication capability. Some of them carry reroreeclrs Hatbmic clocks, computers, and various ancillary equipment used to operate ‘ve tracked by Larer ranging, ‘The fest Block TIA satelite was lauOre oA tm 5 | 2 Overview of GPS Seay, cio mde betwen Bk a ‘Block IIA satellites, a The Be I aie 89 deo . ests reat o pean oth nan ati ad the Hin om a ae et) forthe Boe I. The fre He we sree ee 2p 21907 and 1 or anh we apd a ‘ill also transmit additional signal ‘The Block IF satelite (#P" 2000 Kg and wil be launched componente, esos flow os) will weigh more than from 2007 onwards. These ttelites will have Presently, the DoD undert ‘satelite, called Block Isat takes studies for the next generation of GPS elites. These catelite ate expected 1 ea GPS into 2030 and beyond. if ‘spectram technique is commonly ued today by euch diverse cquipmeet at hydrographic positioning ranging eysteme and wireess local aret network eytteme. The key tothe system's acorn isthe fact that al signal component 2 carey at ponent ssp sated by soi doce. Te Bint itorkee oe ‘roard time standard, tno rbidum and two cen dace Tae hon frequency abity of thee doc aches slew pane We aed I0-¥ denon day. The future yop maurs wil Laas es taht ‘ably of 10° 9 10°" over one day. Thee highly scaurte Heise standards Being the heart of GPS satelite produce the fundamental L- ‘ant frequency of 10234: Cobweaty teed toe nn eeny ae (proaa) fro gn te Li ade L2cate sone sted by maliplying the fundamental freeeney by Tot sod 100 eee ielding ‘These dual frequencies are exsential for eliminating the major source of error i.e, the ionospheric refraction (Sect. 6.3.2). 22 Space segment @ ‘The poeudoranges that are derived from measured travel ines ofthe ‘ical from each satelite to the receiver use two peeudorandom noise (PRN) {odes that are modulated (superimposed) onto the two base carer, ‘The frat codeis the C/A-code (Coatse/Acquititon-code) whichis avi ‘thle for civilian use. The C/A-code, designated asthe Standard Positioning vice (SPS), has an effective wavelength of approximately 300m. The /Acode is preseatly modelated upon L1 only and is purpossy omitted {tora L2. This omission allows the JPO to contra the information broadcast ty the satelite and thes, denies full system accuracy to nonmilitary wry, ‘The second code isthe P-code (Precision code) which has been reserved ~ for US. military and other authorized wsers. The P-code, designated as the Pc Pet Se PPS, eee wale ef boi 9m. The Pen ofa th er Ei ad 1 Ute ac othe Fe ws permed sil he rom va eae onan 1 Tint tn PR code a dt mages made ot he caren of ate ion, vedo Ua el te, ‘Phunk Se ul ein sea Se eis worth moting thatthe present sigialetruture will be improved in ‘he near foture (Set, 13.2) 2.2.8 Operational capabilities ‘There are two operational capabilities: (1) Initial Operational Capability (1OC) and (2) Full Operational Capability (POC), YOC was’ attained in July 1963 when 24 (Block 1/11/IIA) GPS satel ies were operating and were available for navigntion, Officially, IOC was dedated by the DoD on December 8, 1993, FOC was achieved when 24 Block I/IA satelites were operational in ‘heir assigned orbits andthe constellation was tested for operational military performance. Even though 24 Block IL and Block ITA saielits were avalable since March 1994, FOC was not declared before July 17, 195, 2.24 Denial of accuracy and access ‘Two techniques ate known for denying civilian user ull use of the ystems, ‘The frst is Selective Availabilty (SA) and the second is Ant-spoofing (AS) Selective euilebiiy : “Original te aretrcy expected from C/A-code pedorange pina vas in the range of come 400m, Field tests achieved the surprising eve of navigation accuracy of 15-40 for positioning and fraction of © met6 2 Overview of GPS PRN Te De Wl Fig. 2.1. Satelite dock behavior of PRN 13 (without SA) and of PRN 14 (with SA) on day 177 of 192 after Brewer et al (1998), per second for wlocity. The goal of SA was to deay tht navigation accu- racy to potential adverties by dithering the satelite clock (8 proces) and ‘manipulating the ephemerides (epoces). ‘The é process it achieved by cithering the fendameatalfequency ofthe satelite dock. The satelite clock bias has a direct impact on the poe orange which i derived ftom a comparison of the satelite clock aad the reedver clock. Since the fundamental frequency i dithered, code and cartier pseudoranges are afeced in the sme way. In Fig. 1, the diferéat behavior of satellite docks with and without SA is shows. With SA activated, there arc variations ofthe peeudoranges with amplitudes of some 80m and with Periods of some minutes. When presdoranges are diflerenced between two receivers, the dithering fet i eliminated. ‘The e-proces isthe truncation of the obits formation in the taas- mitted navigatca message so thatthe coordinates of the stelites cannot accurately be compuied. ‘The eror in satelite position roughly rarslates to a like positon exor of stand-alone receivers. For baselines, the relative satelite postion errors ate (approximately) eqsal to the eatve baseline errors. In Fig. 22, the behavior of the radial orbit error with and without SA is shown. In the eave of SA, there are variations with amplitude be tween 60m and 150m and with periods of rome hours. ‘The otbitl errors ‘cause pseudorange errors with similar characteristics, Thu, these errors are highly reduced when peeudoranges are dflerenced between two receives, ‘SA has been in force since Match 25, 190. According to the speci cations of the DoD, the accuracy for stand-alone cecevers was degraded to 100m for horizontal position and to 156m for eight These specifications also incpied a velocity eror of 0.3me" and an eror in time of 0m. All numbers are given at the 95% probability. level. At the 99.9% probability bw eB Fig. 22. Radial orbit error of PRN 21 on day 177 of 1992 with SA ‘on and on day 184 of 1902 with SA off after Brever et al. (1999) level, the predictable accuracy decreased to 300m fr horizontal positon and 4 600m for height (Department of Defense 1995). ‘sadermined military effectiveness of SA by apply die ‘atial techniques, a joint recommendation ofthe U.S. National Academy of Public Administration and a committee of the National Research Council lis proposed that SA should immediately be turned to zero and deactivated ‘ter tome years (CGSIC 1996). ‘The oficial answer to this proposal was feleted on March 22, 1996 in form of the Presidential Decision Directive (PDD) on GPS. The PDD expressed the intention to discontinue the we of SA within & decade in a manner that allows adequate time and resources for ‘he military Toes to prepare fly for operations without SA. In addition, the petmanent Interagency GPS Executive Board (IGEB) was established. ‘This board is commonly chaired by the DoD and the Department of Trnt- portation (Do) to balance military and civil interests. The fulltext of the ‘public release statement on the PDD is published, eg. in GPS World 196, 118), page 50 Somehow surprisingly, SA was turned off on May 2, 2000 at about 4:00, Usivereal Time (UT) after an announcement ofthe White Howe one day before. The benefits for civilian users are discussed in a factsheet released by the U.S. Department of Commerce (2000). A prediction of the word after SA is ven in Conley and Lavrakas (1999) and fist experiences with SA off are diecursed in Conley (2000), Jong (2000). One impressive result is presented in Fig. 22. Although the acuracy for stand-alone recsives is improved by a factor often it mast be kept in mind that despite t ‘ff SA mltary advantages are ensured by new deveopmes's. One oft ‘developments is Selective Denial (SD) which wil deny access to the signal for unauthorized user in regions of interest by ground-based jgQUEER T TCT ieias Fig. 2.3. Height variation inthe ration Kootwijt (The Netheranés during the SA transition on May 2, 2000 (courtesy K. de Jong, Delt) Aati-sooofinge ‘The design of GPS inclades the ability to esentilly “tar of” the P-code or invoke an encrypted code asa means of denying access tothe Pode to all but authorized were, The rationale for doing thei to borp nvererot ‘rom sending out false rizals with the GPS signatare to create confesion and cause wsers to mieposition themssve, ‘AS accomplished by the modulo? sum of the Pode and an encrypt ing W-code. The resulting code is denoted a the Y-code, Thu, when A-S is active, the P-code on the Li and the 12 carers replacad by the unknown Y-code, Note that A.S ie ether on or off. A variable infuence of AS (a8 war the case with SA) cannot occu For tering perpote, AS was fet tured on ove the weskend of August 1, 1992 and later for several periods. It was expecod that AS would be ‘itched on permanently when FOC had been attained; however, A'S was permanently implemented or Janeary 31 196. In accordance with the DoD Paley, no advance annonncement of the implementation date was made ‘The fatare signal structure wil provide the C/A-code on both the Li and the 12 carrier. Instead of the Yeode, « new miltary split spectrum fignal, denoted as M-code, wil be iatrodaced. This feature wil make A-S superinous. 2.3. Control segment ‘The Operational Control System (OCS) consists of a master contrl station, monitor stations, and ground coatrl stations. The main operational tasks of {he OCS are: tradkng ofthe satelite for the orbit and cock determination ‘and prediction, tne syachyonzation of the eatelites, and upload ofthe dota 12.4. Control segment ry taetage to the stelites. The OCS wat slo rerpontibe for imposing SA om the broadcast signals. The OCS perform masy nonoperational activi, © quch ax procurement and launch activities, that will not be addressed her. ‘Note thatthe control egment wil be improved within the next ten yare during the GPS moderaization proces. 2.3.1 Master control station ‘The location of the master control station was frst at Vandesberg AFB, California, but hasbeen moved tothe Consolidated Space Operations Center (CS0C) at Shriver AFB (lrmely knowa as Falcon AFB), Colorado Springs, CClorado. CSOC calecis the tacking data from the monitor stations and — ‘leas the eae orbit and clock parameters song » Kalan estimator, ‘These rerulte are then parted to one ofthe three ground control stations for © eventual upload to the satelite, The satelite control and system operation In also the responsibility of the master control tation. 2.8.2. Monitor stations “There ae ive mottr ston ete at Hawa, Clorado Springs, Aces tin lsd inte South Aten Ocran, DigoGardnis the nds Oca ‘Kaji n he Worth Pale Oza, Eek of ther tao epee ihre rede tonic Une Vandard and veces which continu me Inte peudorangrtoalletltrin view. Freudorange are mearred v7 TS teomde andy wing the hncypherc and metersogl da, hey at trated fo produe Iba interval deta wich ae, anette taster conto ain. “The trucking network dcbed above the oficial ntwek for dt mining the brosdcat ephanric at wl ts mod the mite oc The data of upto 1 2onal tite opreted by te Nana mage tnd Mapring Agency (NIMA) ar ted tocompte fhe resin epemener Other tracking networks exit. ‘These aetwerks gently hae atin inanaging the yrem, A private tring vetwrk repre by Ge ma tater ofthe Macrometer during the ery 19606 Today mote bly rind tracking network ace operated Moc dts thin bet ar proved i Sock 44 2.8.8 Ground control stations These stations collocated with the monitor stations at Aceon, Die Garcia, and Kwajalsin ate the communication links to TH stellt 0 mainly consist Of the gibund antennas. The eatliteephemerides and cick —V“_—V—V—_—_ oe2 Overview of Ges A ner segment aster control station and received via com. ation user To ian wf GPS oceared evel yas aad of chee aa maser yea steep pn The pay oh it in ean) Be: dy (Remon ok). tf Tatvt theres deopmestwarcsungatin ease, Me esos : mcribed in Chap. 1, the SERIES techaique at JPL and the development ation mestages are avai: atthe Macometr by C. Conadman started the GPS surveying revele accuracy degrades quite gradua ions of positioning service of f° ton. Primary concept of using an interferometric rather than Doppler ‘siti sh ot tom bee we per ee slum model meat that GPS could be tied for nt nly lon Une feo fe momar bt ao othe mat exacting hr Ine land ey ‘lle, Foi seve vitteat | r et a Pace contact fom the conte segment ‘ ver oui Wg ted fo oC Fiat conta arveyn, and to prey poston photo-arra ‘the INGGaT of ground control needed for mapping. vor cvan wie of GPS outnumber the survey ees a he major wer of GPS i for feet managemest aad con 1b MOL Seva ces Have equipped emergency weer WHY Teco hod “Computers vith screen tha diy these oud sytem, ‘The ees ig glee emergency whic can be eat toa daatcher by radio lak oer ‘ |} Mevoaton ofthe oar ae known, and wider cre be rretod ota, secraary. Siar stem ae wed 124° User segment " wa ice. Probably, ll alrrat and 24.1 User categories erie. Bl itary user t Strictly speaking, t3e term “user segment” GPSis ale bi Some manafactarers are presently offering & combined system of GPS ced srt wn bo eam Ep Setuisbnetemntass gente gett cian ne ein tt gan Brn dung te Me sem, 7) NTS Glatt Sires ale am ee ee Ao towswaclctt ry BR Deke uutibane » vasa) {i brevow ection re jut ale of hey) “rete ole rte. The dvi ofthe hi matched bythe ey of receives available toda. ‘This section will give an overview ofthe equip wneat marketed today; however, more deaile will be provided In Sec 8.2. "aed on the type of cbservable (Le. code peeudoranges or eater phases) ‘od on the avalaiity of codes (Le, C/Avcoe, Peo, or Y-code), one an classify GPS resivere into four groupe (1) C/A-code peendorange, (2) C/Aveode carrer phase, (8) P-code carrer phase, and (4) Y-code eat ‘The uses of GPS deseibed ites. In fact, maiy CPS retevers were used a sed during, e The TI THD Gulf War under combat conditions. In this war, SA which had been previouay invoked wes turned of 4o that troops could ute more readily available ivan receivers, Heshld (/Accode receivers were particulaey weal in navigating he desert ‘There are vasious other military uses that have been proposed. One ‘example is a geceiver that can be connected to {gut aatenran’ When the antennas are placed in a fixed aay (eg. corners of & squats), the aliinde of the array can be determined in addition to es abl its position. For example, perc eee eee s pe blacng antennas onthe bow, ser, and port and starboard points of ship 4 Panne aGa oul eatin the deteination of pith ol, yom, and poston of NE CY hcodependoroge ries veel With tis ype ofrecer, only code peedorange wing the C/A-ode areee et 2 Overview of GPS Pecasred. The receiver ie gsally 2 handheld device powered by fash Tht butron Types devices ontpat the three imessonal poston either roads, latitede, aad Bright or la some map projection system (5 Urwwoordnates and beght)Recivers with for or more chanast are pred for application where the rciver bi motion eine smsltaseo0s ‘ete ranger can be meaauce to produce more acarate positions, On the ‘Ser baeds single Chanel receiver woud el be adoquate fr applications ihe the receiver io at fixed lcaion and the range measurements a [eSShacnlly deterained. The base mallichansel C/A-code peewdorane PEtntrin the type of eeiver that ie mostly wed by bikers, Boaters, ane i atoms C/Accabe cover receivers ‘Wht thn type of recive, code ranges and carser phases from the L1 car Ter oaly ate obtained because the C/A-code isnot modulated on 12. Tht fueane that no deal Gequency data are aval Most of the recivers for eurveying in the early stage of GPS wed the (cyAccade to acquire ned lock on tothe Li cartier. Mos instruments have 3 ‘Riau of fot independent recive hannes and sme ofthe more eset ‘Gaigne have 12 chanass, ‘Theaereeivers perform all the fwetions of the Srovouly decribed modse and, im aditon, lore the tine tagged code Fisge and earier phase in wome typeof memory. Early models wed lpiop Tetmterr aad magnetic tapes to store the measured deta, Later models ‘ore measurement data in memory chips and PCMIA cards "Tis typeof recver has been augmented to measure the phases of the 12 carrier by the we of some codecs techie. The drawback i that the ‘igual to noe rato (SNR) of the L2 mearuements is considerably lower than the C/A:code meatarement os 1. Normally, the L2 phase is ured in Combination vith the L1 smasarement to reduce the onospheric eet on the Sigel and, thus provide a more accurate vetor determination (especially fet log tne) ‘These recive can be ated forall types of precse surveys including static isematio, and peendotaemati methods. Pad ree ‘hbopectreins we th Pcl and ial ok ono he an 12 tare nde abecnce ct Ahora dred yt coating thengaus witha ep ofthe Pood After senoving te Poe fo hd tn ers ne prrne.Ov ‘hein srr or erveig pont posing sigan she F Siete compel 8 Ts er wa deed more 24 User sogment —_ coe and only miltary-elatet sapeive than» vin Suspect woud ot sacturers of civilian receivers see eaten he ae erg wel en 18100, a a of 8 re ale el Fe cde reser wre demoted 50 aie ee PGCE tests. The first is te capability ‘to meagure long, sar tne rcond adeaage cheng ee (20) F088 A ea tse mines tN st hcimennred poses 1 aed ih AS acted, nth ted sigan he Poe i ela Y the ah AS a el Pete comeation techn nn lope be ape. Howe . eins codon sete reads mode proving cit Phe : cet ote a ct Lntege othe Y-code, The 12 acing 1 cna whch fein tht palace a second wi ft fg cron corrnin, coe corzelation flowed OY sce Sol fruingtthige More dts onthe tachi tbe and in Set 52 Inthat Fo teeuacy of few milmeter echniquee bared on a linear combina a Yecode receivers The typeof reciver provides accets to the P-code with A-S invoked. Thu Tre ranges and phses can be desived from Li and L2 signal by the Presta conreltion technique. The access to the P-code ia acheved by in Halling Ausilary Output Chis (AOC) in each receiver channel which allow the decryption of the Y-code. However, only were authorized by the DoD have acess tothe AOC. 2.4.3. Information services Several governmental and private information services hae been tabbed Ao protde GPS status information and data tothe cian wer. Gene UIs the fformation contains constltion atu reports cheduled ontagsy ‘uu the DoD Notice Adverier to Navtar Utero (NAN). Orbital date are ‘rovided in the form of an almanac suitable for making GPS coverage 80d Mlite vsity predictions, and as peste ephemerder table for making the most preite vector computations. General information elo provided ty ting the various GPS papers and meetings “The offal source for Gvian information is the Novgntion Informs tion Service (NIS), fonmesly the GPS Tformaion Cente This service it tun by the US, Const Guard (USCG) and includes 2éhour operation of & \at 2 Overview of GPS - telephone information cervice. In the U.S., call (703) 313- to enter the ser- vice and dial the extension 5900 for live information, the extension 5907 for GPS status voice recording and the extension 5920 for FAX. Information by the USCG Navigation Center is also disseminated via Internet, The e-mail address reads [email protected] and the Uniform Resource Locator (URL) in the World Wide Web (WWW) is included in Table 2.2. More details can be found in Department of Defense and Department of Transportation (2000). Comprehensive information including precise ephemerides, satellite clock parameters, and other data is provided by the Central Bureau Information System (CBIS) of the International GPS Servicé’ for Geodynamics (IGS) located at the U.S. Jet Propulsion Laboratory (JPL). The CBIS is acces- sible through Internet and offers file transfer capability by anonymous file transfer protocol (FTP). More details on the CBIS can be found in, eg., Gurtner (1998). Outside the U.S., GPS information sources are also available. Among them are: the Australian Surveying and Land Information Group (AUS- LIG), the Canadian Space Geodesy Forum (CANSPACE), the German GPS Information and Observation System (GIBS), and the Russian Interstate Navigation Information Center (INIC) to name a few. The actual coordi- nates of the information services are published regularly, for example, in the monthly magazine GPS World. Some Internet addresses are given in Tar ble 2.2 providing a variety of links to other GPS related sites in the Internet. ‘These include links to manufacturers, associations, governments, and uni- versities. Some of them offer also basic information or tutorials for novice GPS users. A comprehensive overview of such tutorials can be found on the Web site http://www.gpsy.com/gpsinfo. / ei ‘Table 2.2. GPS information services eee Agency Location WWW address AUSLIG Australia http://www .auslig.gov.au cBIs (US. http:/ igscb.jpl.nasa.gov GIBS Germany _http://gibs.leipzig.ifag de NIS US. http://www.navcen.uscg.mil