2025-1 Fundamentals of Autonomous Ships
5. An Introduction to GNSS
- 5th week lecture note -
유 영 준
(YOU, YOUNGJUN)
2024. 04. 07.
Assistant Professor
School of Naval Architecture and Ocean Engineering, University of Ulsan
Goals of 5th Lecture
Goals (in 5th lecture)
Understanding “GNSS Satellite System”
Understanding “GNSS Error Sources”
Understanding “Resolving Errors”
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5.1 Ch.3 GNSS Satellite Systems
GNSS Satellite Systems
GNSS Satellite Systems
Summarizing GNSS satellite status per constellation (updated Feb. 23rd, 2024 / Novatel 보조자료와
다름)
United States
Russia
European Union
China
Japan
India
<GNSS satellite status per constellation updated at Feb. 23 rd 2024>
3/42
GPS (Global Positioning System)
GPS (United States)
Being launched in the late 1970s and early 1980s for US Department of Defense
Being available only for military use. But, in 1983, being open for civilian use
Operating multi-band frequencies including L1, L2 and L5.
<GPS signal characteristics (after modernization)>
<GPS satellite orbit>
4/42
GPS (Global Positioning System)
Space Segment
Being the orbit period of each satellite of approximately 12 hours
Receiving at least six satellites in view from any point on Earth (under open-sky condition)
Control Segment
Consisting of a master control station, monitor station, ground antennas and remote tracking
stations (incl. data uploading station)
<GPS control segment>
5/42
GPS (Global Positioning System)
GPS Modernization
Reaching Fully Operational Capability (FOC)* in 1995
Definition of FOC : Operational status of a GNSS or other radio-navigation system declared by the
providing authority when commissioning and validation are considered to have been completed
satisfactorily.
Conducting space segment modernization including 1) new signals, 2) improvements in atomic
clock accuracy, 3) satellite signal strength and reliability, 4) ionospheric and tropospheric
modelling, 5) in-orbit accuracy and 6) additional monitor stations.
<GPS control segment>
6/42
GLONASS (GLObal NAvigation Satellite System)
GLONASS (Russia) and Space Segment
Being developed by the Soviet Union during 1970s
Launching the first GLONASS satellite in 1982
Declaring fully operational capability in 1993
Allowing the minimum four satellite in view of GLONASS receiver
Operating antipodal (대척점의) satellites in the same orbital plane but by 180 degrees
<GLONASS signal characteristics (before modernization)>
<GLONASS antipodal satellites>
7/42
GLONASS (GLObal NAvigation Satellite System)
GLONASS Modernization
Executing GLONASS modernization considering the service life (GLONASS (1982): 3-year,
GLONASS-M(2003) : 7-year, GLONASS-K (2011) : 10-year, GLONASS-K2 (2014) : 10-year)
<GLONASS modernization from 1982 to 2020s>
8/42
BeiDou
BeiDou (China)
Being implemented in two phase: the initial phase provides regional coverage, while the second
phase will provide global coverage
Becoming operational in Dec. 2012 for the initial phase
Completing the second phase by the end of 2020
<BeiDou signal characteristics>
9/42
Galileo
Galileo (European Union)
Planning global navigation satellite system by collaborating the United States and Europe since
2004
Launching the first satellite in Galileo satellite in Dec. 2005
Achieving the first FOC (Full Operational Capability) in 2014
Guaranteeing availability of service all but the most extreme circumstances (but, it will inform
users, within seconds, of a failure of any satellite)
<Galileo signal characteristics> <Galileo services>
10/42
IRNSS and QZSS
IRNSS (Indian Regional Navigation Satellite System) - India
In process of launching its own regional navigation satellite system to provide coverage for India
and the surrounding regions
Consisting of SPS (Standard Positioning Service) and RS (Restricted Service)
<IRNSS signal characteristics>
QZSS (Quasi-Zenith Satellite System) - Japan
Being launched in 2010
Providing limited accuracy in standalone mode (as a kind of GPS augmentation service)
11/42
GNSS Satellite Systems
GNSS Satellite Systems
Marking signals of four global GNSS constellations in the following figure
<GNSS signals>
12/42
5.2 Ch.4 GNSS ERROR SOURCES
GNSS Satellite Systems
Types of System Errors
Summarizing system errors in order : 1) Ionospheric delays, 2) Orbit errors, 3) Satellite clocks, 4)
Multipath, 5) Tropospheric, 6) Receiver noise
1) Satellite Clocks
Resulting in a significant error in the position calculated by the receiver although atomic clock in
the GNSS satellite are very accurate
Compensating the clock error from SBAS (Satellite Based Augmentation System) and PPP (Precise
Point Positioning)
Considering DGNSS (differential GNSS) and RTK (Real-Time Kinematic) as another way
<GNSS system errors>
14/42
GNSS Satellite Systems
2) Orbit Errors
Compensating the satellite orbit error from SBAS (Satellite Based Augmentation System) and PPP
(Precise Point Positioning)
Considering DGNSS (differential GNSS) and RTK (Real-Time Kinematic) as another way
3) Ionospheric Delay
Varying with solar activity, time of year, season, time of day and location, and radio frequency of
signal passing through the ionosphere
Determining the amount of ionospheric delay by comparing the measurements for L1 to the
measurements for L2
Removing the estimated error from the calculated position
Considering DGNSS (differential GNSS) and RTK (Real-Time Kinematic) as another way because
ionospheric conditions are very similar within a local area
15/42
GNSS Satellite Systems
4) Tropospheric Delay
Varying with the changing humidity, temperature and atmospheric pressure in the troposphere
Considering DGNSS (differential GNSS) and RTK (Real-Time Kinematic) as another way because
ionospheric conditions are very similar within a local area
5) Receiver Noise
Choosing high cost GNSS receiver because high end GNSS receivers tend to have less receiver
noise than lower cost GNSS receivers.
6) Multipath
Being measured when a GNSS signal if reflected off an object
Reducing multipath error is to place the GNSS antenna in a location that is away from the
reflective surface
Handling long delay multipath errors by the GNSS receiver
Handling short delay multipath errors by the GNSS antenna
<Multipath> 16/42
5.3 Ch.5 RESOLVING ERRORS
GNSS System Errors
Types of System Errors
Being trade-off between different methods of removing errors in GNSS signals
Depending on the positioning performance required by the end user application such as 1) level of
accuracy, 2) system complexity, 3) solution availability, 4) reliability, and 5) cost
Ways for Resolving Errors
① ① Multi-Frequency & Multi- Constellation
② GNSS Measurements – Code and Carrier Phase Precision
③ Differential GNSS
④ Aircraft Based Augmentation Systems (ABAS) – only monitoring
⑤ Satellite Based Augmentation Systems (SBAS)
⑥ Ground Based Augmentation Systems (GBAS)
⑦ Real-Time Kinematics (RTK)
⑧ Precise Point Positioning (PPP)
⑨ GNSS Data Post-Processing
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Resolving Errors – 1) Frequency & Constellation
Multi-Frequency
Being the most effective way to remove ionospheric error from the position calculation
Comparing the delays of two GNSS signals of L1 and L2
(In the case of GPS) Providing inherent noise and multipath mitigation capabilities from
modernized wideband named as L5/E5a
Providing more immunity to interference
<The phase difference between direct signal for three different carrier frequencies>
19/42
Resolving Errors – 1) Frequency & Constellation
Multi-Constellation
Indicating that a multi-constellation receiver can access signals from several constellations: GPS,
GLONASS, BeiDou, and Galileo for example
Adding a larger number of satellites in the field of view, which has the following benefits
① Reduced signal acquisition time
② Improved position and time accuracy
③ Reduction of problems caused by obstructions such as building and foliage
④ Improved spatial distribution of visible satellites, resulting in improved dilution of precision
(DOP)
decreasing horizontal error, as
multi-constellation can be accessed
decreasing horizontal error, as
multi-constellation can be accessed
<Horizontal positioning error for different GNSS signal combinations> 20/42
Resolving Errors – 2) GNSS Measurements
GNSS Measurements – Code and Carrier Phase Precision
Using the Pseudo-Random Noise (PRN) codes in RTK (Real-Time Kinematic) and PPP (Precise Point
Positioning)
Summarizing something in common
① Pseudorange (code-based) position estimates
② Mitigation (경감) of positioning errors, either by using relative positioning or correction data
③ Multiple satellite signal observations to find the ambiguity terms that fit best with the
measurement data
<Code vs. carrier phase> 21/42
Resolving Errors – 3) Differential GNSS
Differential GNSS
Being a concept that the position of a fixed GNSS receiver, referred to as a base station, is
determined to a high degree of accuracy
(Base station) Determining ranges to the GNSS satellites using 1) code-based positioning
technique, 2) the location of satellite from the precisely known orbit ephemerides and satellite
time
Sending the differences between surveyed position and calculated position to user (rover in the
following figure)
Securing accuracy with based station-to-rover separations of up to tens of kilometers
(Dependency on relative distance from base station to rover)
<Differential GNSS> 22/42
Resolving Errors – 4), 5), 6) Augmentation System
ABAS, SBAS, and GBAS
<ABAS, GBAS, and SBAS system overview> 23/42
Resolving Errors – 4) ABAS
ABAS (Aircraft Based Augmentation System)
Being achieved by features of the onboard equipment designed to overcome performance
limitations of the GNSS constellations (cooperation with other systems on board aircraft (IRNS,
altimeter, etc.))
Being designed to resolve integrity deficiencies, although future systems may address other
aspects
Including 1) Receiver Autonomous Integrity Monitoring (RAIM) and 2) Aircraft Autonomous
Integrity Monitor (AAIM).
RAIM
On-board device monitors the integrity of GNSS data from 5-6 satellites directly on
If a signal error is evaluated the on-board device will alert or eliminate the wrong signal from
AAIM
On-board GNSS equipment is extended with additional independent navigation devices on board
an aircraft such as a barometric altimeter, INS or "classic" DME, VOR, ILS.
24/42
Resolving Errors – 4) ABAS
ABAS (Aircraft Based Augmentation System)
Being achieved by features of the onboard equipment designed to overcome performance
limitations of the GNSS constellations
<ABAS system overview> 25/42
Resolving Errors –5) SBAS
Satellite Based Augmentation Systems (SBAS)
Being geosynchronous satellite systems that provide services for improving the accuracy,
integrity and availability of basic GNSS signals.
For applications where the cost of a differential GNSS system is not justified, or if the rover
stations are spread over too large an area, a Satellite Based Augmentation System (SBAS) may be
more appropriate for enhancing position accuracy (in comparison to up to 10 km of DGNSS) ▶ No
spatial restriction in a SBAS satellite
<SBAS system overview> 26/42
Resolving Errors – 5) SBAS
Benefits of SBAS
① Enhancing accuracy through the transmission of wide-area corrections for GNSS range errors
② Enhancing Integrity by the SBAS network quickly detecting satellite signal errors and sending
alerts to receivers that they should not track the failed satellite.
③ Improving signal availability if the SBAS transmits ranging signals from its satellites.
<SBAS system overview> 27/42
Resolving Errors – 5) SBAS
Roles of Stations
(Reference station) : 1) Being geographically distributed throughout the SBAS service area, 2)
Receiving GNSS signals and forward them to the master station
(Master station/Uplink station) : 1) Calculating wide-area corrections, accurately, 2) Uplinking
corrections to the SBAS satellite
(SBAS satellite) : Broadcasting uplinked corrections to GNSS receivers throughout the SBAS
coverage area
<SBAS system overview> 28/42
Resolving Errors – 5) SBAS
Examples of SBAS
① Wide Area Augmentation System (WAAS) : Being operated by the US Federal Aviation
Administration
② European Geostationary Navigation Overlay Service (EGNOS) : Being operated by the European
Space Agency
③ MTSAT Satellite Based Augmentation System (MSAS) : Being operated by Japan
④ GPS-Aided GEO Augmented Navigation system (GAGAN) : Being operated by India
⑤ System for Differential Corrections and Monitoring (SDCM) : Being operated by the Russian
Federation
⑥ SNAS (Satellite Navigation Augmentation System) : by China (In preparation)
<SBAS systems> 29/42
Resolving Errors – 6) GBAS
GBAS
Using ground network of correctional stations to enhance GNSS precision approach landing
system – SCAT I (CAT I)
Consisting of 3-4 reference stations that evaluate the integrity and accuracy of the GNSS data
and the datalink that sends data on board the aircraft.
<GBAS systems> 30/42
Resolving Errors – 7) RTK
Real-Time Kinematic (RTK)
Being a technique that uses carrier-based ranging
Providing ranges (and therefore positions) that are orders of magnitude more precise than those
available through code-based positioning
Calculating distance by determining the number of carrier cycles between the satellite and the
rover station, then multiplying this number by the carrier wavelength
<Real-Time Kinematic> 31/42
Resolving Errors – 7) RTK
Real-Time Kinematic (RTK)
Requiring measurements to be transmitted from the base station to the rover station to eliminate
satellite clock and ephemerides and ionospheric and tropospheric delays and to take advantage of
the precision of carrier-based measurements
Requesting a complicated process called “ambiguity resolution” to determine the number of whole
cycles
<Real-Time Kinematic> 32/42
Resolving Errors – 8) PPP
Precise Point Positioning (PPP)
Being a positioning technique that removes or models GNSS system errors to provide a high level
of position accuracy from a single receiver
(PPP) Depending on GNSS satellite clock or orbit corrections generated from a network of global
reference stations
Requiring a period of time to converge to decimeter accuracy in order to resolve any local biases
such as the atmospheric conditions, multipath environment and satellite geometry
<Precise Point Positioning (PPP) system overview> 33/42
Resolving Errors – 8) PPP
The Main Error Sources for PPP (Mitigation (완화))
① Dual-Frequency Operation : Eliminating the first order ionospheric delay using the combinations
of dual-frequency GNSS measurements
② External Error Correction Data : Correcting the satellite orbit and clock
③ Modeling : Correcting tropospheric delay by using a model(However, if the wet part of
tropospheric delay is highly varying, it cannot be modeled with sufficient accuracy)
④ PPP Filter Algorithm : Using an Extended Kalman Filter (EKF) for estimating position, receiver
clock error, tropospheric delay and carrier-phase ambiguities
34/42
Resolving Errors – 9) Post-Processing
GNSS Data Post-Processing
Using base station data from one or more GNSS receivers during post-processing
Helping preserve high accuracy over large project area (after downloading the base station data,
establishing our own base stations)
Offering a great deal of flexibility involving stationary or moving base stations, supporting
integration with customer or third-party software modules
<Post-processing of GNSS data>
35/42
GNSS Application in the South Korea-1
Network Transport of RTCM via Internet Protocol (NTRIP)
Being an application-level protocol that supports streaming GNSS data over the internet
Consisting of four system components including 1) NTRIP source, , 2) NTRIP server, NTRIP caster
and 4) NTRIP client
Being operated by the National Maritime PNT Office (NMPNT, 국립해양측위정보원)
Being operated by the National Geographic Information Institute (NGII, 국토지리정보원)
<Concept of NTRIP> 36/42
GNSS Application in the South Korea-1
Radio Technical Committee for Maritime Service (RTCM)
(RTCM) Being a communication protocol for sending differential GNSS data to a GNSS receiver
from a secondary source like a radio receiver
being a standard which is used internationally for Differential GNSS and electric chart system
<Concept of NTRIP> <RTCM format>
37/42
GNSS Application in the South Korea-1
Governmental Service of NTRIP
Correcting positions by accessing NTRIP service operated by NMPNT or NGII
Being careful about the NTRIP service condition related to number of clients, or malfunction of
base stations (by checking DOP values before and after NTRIP access)
<Base stations for NTRIP operated by NMPNT> <Base stations for NTRIP operated by NGII>
38/42
GNSS Application in the South Korea-1
Base Station
Choosing access point among the nearest base station
Being advantageous for the nearest and newly constructed based station (Ex. RTCM 32)
Allowing 1,000 user access according to a based station
<Detailed information of Base stations at Ulsan>
https://gnssdata.or.kr/cors/getCorsView.do 39/42
GNSS Application in the South Korea-2
MBC RTK (Real Time Kinematic)
Being operated by MBC (Munhwa Broadcasting Corporation)
Constructing a lot of base stations for broadcasting TV signals
Adding roles as RTK base stations
Becoming a commercial service provider
<RTK service operated by MBC>
40/42
GNSS Application in the South Korea-3
LG U+ RTK (Real Time Kinematic)
Being operated by LG U+
Constructing a lot of base stations for communicating internet and mobile phones
Adding roles as RTK base stations
Becoming a commercial service provider
< RTK service operated by LG U+ >
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Thank You
For Your Attention
유영준 (YOU, YOUNGJUN)
Assistant Professor
School of Naval Architecture and Ocean Engineering, University of Ulsan
(44610) 41-214, School of Naval Architecture and Ocean Engineering, 93, Daehak-ro, Nam-gu, Ulsan
Email : [email protected]
M.P. : (+82)-52-259-2154
Homepage: https://sites.google.com/view/mmhcl
