Principles of the Global Positioning System

Lecture Notes

LEC #	TOPICS	NOTES, SUPPORTING FILES AND LINKS
1	Overview of the aims of the class (PDF)	Class introduction and content U.S. Coast Guard Navigation Center Website      University NAVSTAR Consortium Website      SCIGN Data Portal Website
2	Coordinate and time systems (PDF)	Introduction to coordinate system definition and realization concentrating on geometric definitions      SCO Web: Control Networks      National Geodetic Survey
3	Potential fields and coordinate systems (PDF)	Potential fields and coordinate systems. We also used some Matlab scripts in this lecture. The two programs are Harmonics.m (M), which plots low order harmonics and Sectorials.m (M), which plots high order sectorial harmonics. Surface harmonic figure and code: SurfaceHarmonic.fig (FIG) and SurfaceHarmonic.m (M)      Legendre Polynomial
4	Coordinate types (PDF - 1.7MB)	Coordinate systems, rotation of the Earth, Geoid, Spherical trigonometry      International Earth Rotation and Reference Systems Service         Computation of Geoid99 Geoid Height      Spherical Trigonometry
5	GPS satellite orbits (PDF)	GPS satellite orbits. The MATLAB program to compute eccentic and true anomalies is truea.m (M)      The GPS interface control document (PDF)
6	GPS observables (PDF)	Start analysis of GPS observables in form of carrier phase
7	Specifics of GPS signal (PDF)	GPS codes on signals
8	Pseudorange measurements (PDF)	Pseudorange and phase measurements. The data file displayed in class is etab.plt.dat (DAT)      TEQC—The Toolkit for GPS/GLONASS/Galileo/SBAS Data      RINEX: The Receiver Independent Exchange Format Version 2 (TXT)
9	Range and phase data (PDF - 1.3MB)	The data files displayed in class are ASCII tab delimited files: etab.02tab (TXT) etab.07tab (TXT) etab.11tab (TXT) etab.26tab (TXT) etab.28tab (TXT)      The following files are based on 2008 homework: data from base station with approximate XYZ coordinates      -2197259.2644 -4811601.7696 3552341.4441 (m)      Each file has a header line with column titles. All range and phase units are meters except as noted where range differences have been converted to L1 cycles      base.02 (TXT) base.04 (TXT) base.05 (TXT) base.09 (TXT) base.12 (TXT) base.17 (TXT) base.28 (TXT) base.29 (TXT)      The site coordinates are in the rinex header shown in Lec #8      Sources of GPS data (main archives)      SOPAC      CDDIS      NGS/CORS      UNAVCO
10	Estimation: introduction (PDF)	Start estimation looking a parametric estimation methods      Data Analysis for Process Modeling      Least Squares Parameter Estimation (Regression Analysis) histograms.m (M) generates histogram plots
11	Statistical approach to estimation (PDF)	Continue estimation now examining it from a statistical point of view
12	Estimation: correlations (PDF)	Statistical description of process noise in parameter values. The MATLAB program fogm.m (M) generates first-order Gauss Markov processes. (Note since the random number generator is not initialized, your results will differ from those in the class notes (Signal processing tool box is needed for the PSD calculation). FlickerNoise.m (M) implements flckernoise model through PSD->Covarinace Matrix->eigenvectors and values
13	Estimation (PDF)	Kalman filter approach to estimation
14	Propagation medium: propagation (PDF - 2.3MB)	Timing in GPS. Examine clock estimation      IGS Clock Products Working Group      IGS Time Scale
15	Propagation medium: neutral atmosphere (PDF)	Tropospheric delay estimation      The Height of the Tropopause      Effects of the Troposheric Mapping Function on Space Geodetic Data (PDF - 1.0MB)      Index of /DELAY
16	Propagation: ionospheric delay (PDF - 1MB)	Ionospheric delays      National Geophysical Data Center
17	Basic antenna operation (PDF - 1.7MB)	Antennas and calibrations      NGS/Antenna Calibrations
18	Mathematical models in GPS (PDF)	Class starts development of mathematical models needed for precise GPS positioning. In this class we look at solid-Earth tides, ocean-tidal loading and other types of loading effects. The following Fortran source code was discussed in the lecture earth_tide.f (F) and gst_jd.f (F)
19	GPS models and processing (PDF - 1.4MB)	Models: Rank deficiencies, ambiguity resolution and differencing methods
20	Processing software (PDF)	Processing software:      GAMIT/GLOBK Web Tutorial (PDF)
21	GPS groups/IGS (PDF)	GPS data availability and site locations      UNAVCO      International GNSS Service      International GNSS Service—All world map (PNG) Networks      SCIGN      UNAVCO      NGS/CORS      Bay Area Regional Deformation Network      Pacific Northwest Geodetic Array Results      Permanent GPS Site Arrays      GPS Time Series      SCIGN Data Portal      GPS Explorer      UNAVCO
22	Kinematic GPS (PDF)	Kinematic GPS processing and results from experiment earlier in semester      Results from MIT survey      track_LC.out (TXT)      track.NEU.rovr.LC (TXT)      track.NEU.rovr.L1+L2 (TXT) Results from the 2010 MIT survey TR02.sum (TXT) TR02.out (TXT) TR02.NEU.rovr.L1+L2 (TXT) TR02.NEU.rovr.LC (TXT)      TR0p.sum (TXT) TR0p.NEU.rovr.P1+P2 (TXT)
23	Applications, High-rate GPS results, and Tools (PDF - 6.4MB)	Applications to tectonic problems      Tools used to generate some of the figures      GAMIT/GLOBK MATLAB Tools