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Global Positioning System: The GPS consists of 24 satellites that circle the earth in six, 12- hour orbits. These satellites, known as NAVSTAR (NAVigation by Satellite Timing
And Ranging), have been launched and maintained by the department of defense (DOD)
to provide all weather ranging 24 hours a day anywhere on the surface of the earth. Each
orbit is at an altitude of 20,200 km (12,500 miles) and contains four satellites. These
satellites are equipped with four atomic clocks each to provide accurate timing. They
transmit two radio frequencies on two separate L-bands (L1 = 1575.42 MHz and
L2=1227.60 MHz). The L1 signal consists of a Course/Acquisition (C/A) and a
Precision (P) code. The L2 signal contains only the P-code. Only the C/A code of the L1
signal, known as the standard positioning service (SPS), is available for civilian use. The
L1 and L2 signals are available for military and other authorized users and provide a precise positioning service (PPS). The part of the GPS that consists of satellites is known as the space segment. The GPS satellites are continuously monitored by four ground-based stations located at
Ascension island, Diego Garcia, Hawaii, and Kwajalein. The master control station
located at Colorado Springs, CO receives the information on the health of the satellites
and their exact locations from monitoring stations and uploads necessary corrections to
the satellites. These ground-based stations form the control segment of the GPS.
The GPS receivers that receive information from the GPS satellites form the user
segment of the GPS. The receiver computes the time required for the radio signal to
reach the receiver from each of the satellites that is “visible.” From these timing signals,
the receiver calculates its distance from each of the “visible” satellite by multiplying the
time by the speed of radio signal (300,000 km/s or 186,300 miles/s). This process is
known as ranging. If the distances of the receiver from at least three satellites are
available, the location of the receiver on the surface of the earth can be calculated.
However, the timing measurements are never completely accurate because the receiver
clock is not as accurate as the atomic clocks in the satellites. The GPS receivers try to
minimize timing errors using information from an additional (fourth) satellite. The
distance of the receiver from each of the “visible” satellite is called “pseudo range” since
this range is not accurate due to clock error. Note that pseudo ranges from at least four
satellites are necessary to obtain accurate estimation of receiver location (figure 2).