OFFICER TRAINIG CENTRE

of
Gdynia Maritime University

DP OPERATOR BASIC COURSE

MODULE 7:
Satellite Navigation Systems:
GPS, GLONASS, DGPS

Copyright © 2008 by Jaroslaw Cydejko

GLOBAL POSITIONING SYSTEM
 GPS
Space Segment Description
• Very high orbit
• 24+ satellites
– 20,200 km
– 6 planes with 55°
1 revolution in
Inclination approx. 12 hrs
– Each plane has 4 or 5 – For accuracy
satellites
– Survivability
– Broadcasting position and
– Coverage
time information on 2
frequencies
– Constellation has Spares
GLONASS Every GLONASS satellite transmits signal
on different frequencies so the user can
recognize the satellite by frequency (all
satellites transmit the same PRN code).

25 channels separated by 0.5625 MHz

intervals in 2 frequency bands:
1602 - 1615 MHz and
1240 - 1260 MHz.

GLONASS

Global'naya Navigatsionnaya Sputnikovaya Sistema

Global Navigation Satellite System
CONSTELLATION DESCRIPTION
Number of Satellites 24 Active
Geometry 3 planes, 8 satellites each
MEO - 19,100 km (10,313
Orbit nmi) circular, 64.8°
inclination
Orbit Period 11 hours 15 minutes
Coverage Global
Initial Operational Capability (IOC) 1993 September 24
Full Operational Capability (FOC)
Coordination Scientific
Operated by: Information Center
(KNITs)
 GLONASS Development Schedule

Principle of operation is the same as GPS. GPS and GLONASS signals may be
combined to deliver the common solution. Joint GPS+GLONASS constellation,
called GNSS (Global Navigation Satellite System) delivers better system availability.
 Satellite Navigtion System Elements
Space Segment
Satellites:
Transmits Nav. Signal The actual Ephemeris
and Data are transmitted to
users

CONTROL SEGMENT:
• Monitor Stations
• Control Stations
Monitor satellite orbits and
system time; updating
satellites ephmeris data END USER:
uses
Control Nav. Signal+ Data
Station to calculate position
 Distance Measuring
The whole system revolves around time!!!
Signal propagation time is meaesured to obtain the
distance to satellite
Distance (Range) = Rate x Time
Rate = 300 000 kilometres per second (Speed of Light)
Time = time it takes signal to travel from the SV to GPS
receiver
The precise time measure requires a very accurate and expensive clocks in
receivers. In fact, having standard clocks in receiver we measure:
„pseudorange” = true range + distance error due to clock bias
 VECTORS:
PSEUDORANGE
|S – U| = |R| GPS Satellite ∆t = t U- t S
Z (XS YS ZS)
t U = tZ - b
R
∆t = t Z- t S-b
S t S- time of transmition
GPS User t U - time of reception (true)
(UX,UY,UZ) t Z – time of reception on
U receiver’s clock
b – receiver clock bias
0
Y

|R| = c x ∆t = c x (t Z- t S-b)
= c x (t Z- t S) - c x b
X
Distance = Pseudorange – c x b

(XS-UX)2+(YS-UY)2+ (ZS-UZ)2=(pseudorange – c x b)2

POSITION ESTIMATION
 Position determination

Satellite 1 Satellite 2

Satellite 3 Satellite 4
 Measuring Travel Time

SV Clocks
• 2 Cesium & 2 Rubidium in each SV
• $100,000-$500,000 each

Receiver Clocks
• Clocks similar to quartz watch
• Always an error between satellite and receiver clocks ( ∆ t)
• 3-dimension (3D) position:
require 4 satellites to solve for Lat, Long, Heigth and ∆ t
• 2-dimension (2D) position:
require 3 satellites to solve for Lat, Long and ∆ t
if heigth above ellipsoid known
 Receiver Clock Bias Adjustment
Clock Bias affects all measurements
made at the same time
by the same amount of error
1 2
4
YY ZZ
X
8 nano seconds
(wrong time)

XX
8 nano seconds 8 nano seconds
(wrong time) 3 (wrong time)
Receiver clock error and position in GPS
 Measuring of Propagation Delay

Transmission Time
The Carrier...
combined with
Satellite
the PRN code...
produces the
modulated carrier signal
which is transmitted...

...demodulated Receiver
producing the same
code at the user, but
delayed...
GPS SIGNAL STRUCTURE
GPS SIGNAL STRUCTURE (2)

Code C/A – 1,023 MHz – 293 m

Code P - 10,23 MHz – 29,3 m
Carrier L1- 1575,42 MHz – 19 cm
Carrier L2- 1227,60 MHz – 24 cm
 Code Division Multiple Access - CDMA
Every GPS satellite transmits diffrent PRN Code which allows identification

32 individual Pseudo Rando Noise (PRN) codes for 32 potential satellites

 GPS OBSERVABLES

In satellite navigation the following parametres can measured to

give distance measurement:

Code delay (pseudorange): •no umbiguity

•limited accuracy
ρi = c(tr - tT) = di + c bu + εpi; •basic observable
• umbiguity
Carrier Phase delay: (unknown number of full cycle);
ϕk(t) = ϕs(t) - ϕr(t) + N + noise • high accuracy;
• differental positioning required;

Doppler Shift: • umbiguity;

• used to smooth other measurements;
Di=[(vi-vu)/c] x f • not used directly for positioning;
 Pseudo-Ranging Errors
Pseudorange errors refer to the accuracy of pseudorange measurements and affecting every
single time delay measurement and as such indirectlly the accuracy of the position estimation.
Main error sources are:

• Satellite clock error – inaccuracy of satellite clocks,

transmission synchronization is shifted, information
about „the time of transmission” is inaccurate;
• Ephemeris/orbit – satellite is not in the position as
the one, which is reported to users in Navigaton
Messages;
• Atmospheric delays:
Ionosphere – unknown delay due to
refraction in ionosphere
Troposphere - unknown delay due to
refraction in troposphere
• Receiver computation & noise
• Multipath – indirect signal path due to local
reflections
 Effects of Multipath on the GPS Signal

• Avoid Reflective Surfaces Satellite

• Use A Ground Plane Antenna
• Use Multipath Rejection Receiver

g n al
d Si
f lecte al
R e n

al
ig

gn
t S
rec

Si
D i

d
te
c
fle
GPS

Re
Antenna

Hard Surface
Pseudo Range Error Sources Budget
SPS rms PPS rms
[m] [m]

Error source: bez SA

A. Orbit error 2.1 2.1
B. Satellite clock error 2.0 2.1
C. Ionospheric delay 4.0 1.2
D. Tropospheric delay 0.7 0.7
E. Multipath 1.4 1.4
F. Receiver error 0.5 0.5

UERE (User Equivalent

5.3 3.6
Range Error) rms [m]
 Satellite constellation geometry
as an error source in GPS

On the surface

When the constellation GOOD GEOMETRY POOR GEOMETRY

changes (new satellite
appears or disapears),
geometry changes and In space
position my JUMP!!!
More satellites = geometry
change less radical = position
„jump” minimal.
 Dilution Of Precision
• PDOP = Position Dilution Of Precision (Most Commonly
Used)
• VDOP = Vertical Dilution Of Precision
• GDOP = Geometric Dilution Of Precision
• HDOP = Horizontal Dilution Of Precision
• TDOP = Time Dilution Of Precision

QUALITY DOP
Very Good 1-3
Good 4-5
Fair 6
Suspect >6
Geometrical accuracy factors and GPS position accuracy

σ = User Range Error (URE) – accuracy of pseudorange

measurements

σG = σ x GDOP - total RMS (Root Mean Square) error

(position + time) ;
σP = σ x PDOP - RMS error of 3D position
(Lat, Long, Height);
σH = σ x HDOP - RMS error of 2D position
(Lat, Long, Height);
σh = σ x VDOP - RMS error of height estimation

σt = σ x TDOP - RMS error of Time estimation

Other: NDOP, EDOP

 GPS - System Accuracy
Standard Positioning Precise Positioning
Service (SPS) Service (PPS)
• Available to all users • Only available to authorized DoD
users L1 and L2 carrier, P code
• Based on L1 carrier, C/A code only
• Accuracy was degraded by Selective • Decryption device and crypto key are
Availability until 2 May 2000 required to decode A-S and remove
– Horizontal Accuracy: 100 meters 2 SA
drms (40 meters CEP)
• Now – nominal 2drms (95%) - 25
meters • Accurate to 21m 2DRMS (8 m CEP)
- 95% of the time, a receiver's computed
horizontal position will be within 21
• Used by military receivers before meters of its actual location
Y-code lock is established
 GPS Mesurements Categories
and its accuracies

PHASE CODE
PHASE
MESUREMENTS CODE
MESUREMENTS
MESUREMENTS MESUREMENTS

SPS+S/A
SPS+S/A
WORLDWIDE Pomiary
ABSOLUTE
ABSOLUTE
WORLDWIDE
RANGE SPS
RANGE absolutne
MESUREMENTS
MESUREMENTS
PPS

CONTINENTAL Wide Area

CONTINENTAL
RANGE (3000KM) DGPS
RANGE (3000KM)

RANGE 200 KM Local Area DGPS DIFFERENTIAL

RANGE 200 KM Pomiary
DIFFERENTIAL
MESUREMENTS
RANGE różnicowe
MESUREMENTS
RANGE
TO PRECISE
50 TO
KM PRECISE
DIFFERENTIAL
DIFFERENTIAL
50 KM PHASE
PHASE
MESUREMENTS
MESUREMENTS

HORIZONTAL ACCURACY
HORIZONTAL ACCURACY
 DGPS
Differential mesurements definition:
Differential positioning is:
„the metod of positioning based on common usage of
satellite measurements observed simultanously in two or more
system receivers leading to the reduction or elimination the
common and correlated system errors”

Maritime Differential GPS:

„metod of positioning while the user pseudorange
mesurements are corrected by corrections obtained from the
shore, diferential, reference station” (Reference station is located in
known, precisely surveyed, fixed location)
 Principle of Differential GPS
SINGLE BASELINE SOLUTION

Ps
eu
e A
ng

do
ora

ra
ud
Pse

ng
e
B
∆ρ = correction Corrected pseudorange B =
pseudorange B plus correction
∆ρ = pseudorange A
minus
calculated range
 Correcting errors in DGPS
The Ideal Case – zero delay,zero baseline
Errors in ref. Station = Errors in user receiver

Differential method
eliminates (reduces):
• Ephemeris/Orbit errors
• SV Clock errors
• Iono errors
• Tropho errors

MULTIPATH AND RECEIVER ERRORS ARE NOT REDUCED BY DGPS

 Sources of inaccuracy
in differential measurements:
In differential measurements the main source of inaccuracies
are associated with decorrelation of errors identified in
reference station.

There are to types of decorrelation:

• spatial decorrelation
errors identified in reference station are loosing validity together
with spatial seperation (distance) between user and ref. Station
• time decorrelation
errors identified in reference station are loosing validity together
with time delay between the correction calculation (in ref. stat.)
and the correction application (in user receiver)
 Spatial decorrelation
of ionospheric and trophospheric errors

ρ2
∆ρ1≠ ∆ρ2 ρ1 ρ1’ ρ2’

∆ρ1
RS
∆ρ1 = ρ1 - ρ1’ ∆ρ2 = ρ
2 - ρ2 ’
Spatial Decorrelation of Ephemeris Error

GPS Satellite
True position

Broadcasted
position

Ref.
USER Station
 Time Decorrelation

Time decorrelation appears because of delay between:

• time moment (to), when the correction was calculated in Ref.Station
AND
• time moment (t), when the correction was applied in User receiver

METHOD of minimalization of time deccorelation:

DGPS Ref. Station calculates (for every satellite):
∆ρ = ρR - ρM = PRC (pseudorange correction)
and RRC (rate of pseudorange correction)
User interpolates the PRC for actual moment:
PRC(t) = PRC(to) + RRC(to) ⋅ (t - to)
ρcorr= ρmeas + PRC(t)
DGPS Error sources and their decorrelation

ERROR TIME SPATIAL

DECORRELATION DECORRELATION
SOURCE
CLOCK
ERROR YES (BIG) NO

EPHEMERIS
ERROR NO YES (BIG)

IONOSPHERIC
DELAY MINIMAL YES (BIG)

TROPOSPHERIC
DELAY MINIMAL YES (BIG)

MULTIPATH NO NO
 Receiver type and its ability to eliminate
the system errors

Ephemeris Satellite Ionosphere Troposhere Multipath,

orbit Error clock error delay delay Receiver errors
Single

Errors depend on equipment

and installation quality or
freqency
receiver

local conditions of
Dual

measurements
frequency
receiver
☺
Differential
single
frequency
☺ ☺
Differential
dual
frequency
☺ ☺ ☺
Maritime DGPS (IALA DGPS)

• Real Time
• LADGPS
• Code DGPS
• Single-
Baseline
• GBAS
• Kinematic
 Maritime DGPS service
open service, no charge for using service, service supervised by IALA (International
Association of Lighthouse Authorities)
differential corrections are transmitted by reference stations (radiobeacons) located along
coastlines at every continent
Local Area DGPS – 200-300km range
differential corrections are transmitted in frequency band from 283.5 kHz to 325kHz
standarized transmition format - RTCM SC 104 (Radio-Technical Comission of
Maritime Services Special Commitee 104)
transmition rate 50 & 100 & 200 bits/second (baud)
several types of messages are transmitted

Maritime (IALA) DGPS due to limited range, accuracy and dependancy on the single station
can not be the sole position sensor for DP purposes.
Corrections from IALA DGPS can be only supportive and implemented as part of
multisite solutions.
Format RTCM SC 104 is used to send corrections in other applications as well .
 Messages Types in RTCM SC-104 format
and their implementation
DGPS: DGPS Reference Station calculates
•Type 1 – PRC i RRC all satellites „in view” (for every satellite):
• Type 2 – dPRC i dRRC for „old” efemeris (Issue ∆ρ = ρR - ρM = PRC
of Data – not the same in st. Ref. and user (pseudorange correction) and RRC (rate
receiver ) of pseudorange correction)
• Type 3 – coordinates of Ref. Station (for
information only);
Data transmission:
• Type 9 – PRC i RRC - 3 satellites packages
format RTCM SC 104- basic messages
• Type 15 – „iono free” corrections
types:
• Type 16 – ASCII message (text message);
typ 1 (PRC „all in view” satellites)
typ 9 (PRC 3 satellites packages)
DGlonass:
• Type 31 – same as type 1 in DGPS;
• Type 32 – same as type 3 in DGPS; User:
• Type 34 – same as type 9 in DGPS; PRC(t) = PRC(to) + RRC(to) ⋅ (t - to)
• Type 36 – same as typr 16 in DGPS; ρcorr= ρmeas + PRC(t)
 DP and Offshore Surveying Requirements
for Differnetial Measurements
In offshore applications following factors Answer to requirements is achieved by:
has to be considered: • delivering user access to differential
• extended range of the differential system corrections from several station located
aplicability – good accuracy at wide range around area of measurements (Multisite
(spatial decorrelation minimalization); Multibaseline solution);
• using satellite communication links or
• differential corrections has to be delivered
HF to deliver corrections to users;
effectivelly over long distances;
• using specialized network solutions to
• differential system has to be redundant calculate Wide Area corrections where
(differential corrections has to be individual errors sources are
multiplicated – delivered from many descriminated for every satellite (spatial
sources); decorrelation removed);
• system accuracy has to be 1-2 m for DP • implementing dual frequency receivers
and submeter to centimeter for surveying; to deal with iono delay;
• in some applications the relative position • implementing carrier phase
is more wanted than absolute solution measurements to improve accuracy.
(Relative DGPS).
 Differential Measurements Categories for
DP and Offshore Surveying
Multisite (Multi Baseline) DGPS:
• pseudorange corrections from several stations are delivered to user;
• user with special software performs quality checks and blending the received pseudorange
corrections to obtain the final solution (e.g. the weighted average depending on distance to
reference station can be calculated);
• obtained solution helps to minimize the spatial decorrelation over long distances but user is
not able to discriminate the individual error components (orbit error, SV clock error, etc.);
• having access to many stations the differential positioning redundancy is achieved;

Wide Area DGPS (WADGPS):

• one, central control and processing station is collecting data from the network of reference
stations and calculates the individual components of satellite errors (orbit error, SV clock
error) and estimates propagation conditions (status of ionosphere);
• user receives correction as the vector of values describing error components for every satellite
(satellite shift on orbit, SV clock bias, iono vertical delay for the moment and for the area);
• user corrects their own measurements by estimating how the individual error components
affecting the pseudorange measured to the particular satellite in the actual location (spatial
decorrelation almost removed);
 Architecture and components of Multisite
(Multibase) DGPS
SV-2 SV-3 Communication
SV-1 Satellite

Pseudorange
Corrections Set –
Reference Stn
RTCM Stream

Stacja referencyjna

System
Ref. Station HF transmission Users
(optional)

Satellite
Reference Station Uplink Station
(retransmission only)
 Architecture and elements of
Wide Area DGPS

Master Station

Vector of corrections
in WADGPS contains:
• satellite orbit error expressed
as 3D vector (for each satellite)
• satellite clock error RIMS- Ranging and
(for each satellite) Integrity Monitoring
• ionosphere parametres – Station
vertical delay (GIVD) for defined
grid points
 Multibaseline Services Types
and their providers

FUGRO VERIPOS SERVICE DESCRIPTION

Starfix L1 Veripos Standard multisite solution; single L1 frequency; code
Standard measurements; Corrections transmitted to user via satellite link:
High Power (Spot Beam), Low Power;
Starfix HF Veripos Same as above, but every Ref. Station transmits corrections
Standard HF individually on HF groundwave; range limited to 2000 km
Starfix Plus Veripos Dual frequency code measurements in Ref. Station allows to
Standard Plus calculate ionodelay; „iono” free correction is delivered to users;
Dual freq. L1,L2 receiver required on user side;
Service useful in equatorial region, where iono anomalies appear.
Starfix HP Veripos Ultra Dual frequency, carrier phase measurements, centimeter
accuracy; mainly for surveying purposes
Starfix Veripos Service deliveres differential GLONASS corrections; allows to
GLONASS GLONASS perform integrated DGPS/DGLONASS measurements; with
acccess to more satellites system availabilty improves.
 WideArea DGPS Services Types
NAME SERVICE DESCRIPTION
FUGRO Skyfix XP Commercial service; Orbit and SV clock corrections for all satellites
obtained from NASA JPL and retransmitted to users via all
communication links used by Fugro Starfix services; User need the dual
L1/L2 receiver to retrieve iono delay;
WAAS – Wide Area Open service; Mainly developed for aviation; SBAS (Satellite-Based
Augmentation System Augmentation System): together with WADGPS, the integrity channel
maintained; information delivered to user via INMARSAT satellite on
GPS L1 frequency (GPS anntena pick up this signal and can it use for
extra range measurement); Signal on POR, AOR-W satellite and
applicable over and around USA.
EGNOS – European Open service SBAS - Same as WAAS but over Europe;
Grid Navigational Signal on AOR-E, ESA Artemis, IOR-W (25E);
Overlay System system under development

MSAS Japaneese SBAS

Other regional SBAS GAGAN-India; CanadianWAAS; SNAS –China; WAAS to be extended
over S.America; EGNOS to be extended over Africa
 FUGRO Starfix Services
High Power (Spot Beam) satellites coverage

The selection of the Ref. Stations used for Multisite DGPS solution should be adequate to user
location: 1) all stations <2000 km; 2) stations surounding user location
Veripos Standard Service in NW Europe
Satellite Comm.Links:
LOW POWER:
• require directional antenna
(Inmarsat B)
IMARSAT satellites:
AOR-W; AOR-E; IOR; POR
HIGH POWER (Spot Beam):
• small omnidirectional antenna
Spot Beam Satellites:
AM-SAT; AM-SC; AORW-H;
EA-SAT/AF-SAT; IOR-H;
AP-SAT;OC-SAT

Comm. Satellite are over Equator

so can have low elevation at
high latitudes. South’ly azimutes at
North Hemisph.; North’ly azimuthes
at South Hemisph.
 Multisite DGPS equipment configuration

Satellite Comm.
Corrections WADGPS
downlink CORRECTIONS GPS
Pseudorange
Measurements
Multisite RTCM Stream
corrections

DGPS Position
to DP
 Satellite Downlinks Configuration
and signal demodulators

DEMODULATOR DEMODULATOR
Fugro
demodulator
 Equipment arrangment onboard DP vessel
Usually the DGPS installation
includes two sets of equipment
giving two independent solutions
for DP:
No.1 – using High Power (Spot Beam)
Satellite link
No.2 – using Low Power SatLink

Demodulator
GPS Receiver

Computer with software

executing multisite DGPS solution
SBAS Services:
- R-GEO (GEO Ranging) – GPS-like signal retransmitted via
INMARSAT geostationary satellite which could be additional source of
pseudorange measurements;

- GIC (GNSS Integrity Channel) – additional signal transmitted via

INMARSAT satellite giving users on line information about actual system
performance and integrity;

- WAD (Wide Area Differential) – transmission of wide area differential

corrections calculated from measurements collected from the network of
reference stations.

Wide Area Differential corrections include:

- satellite clock error corrections ( fast corrections);
- satellite orbit error corrections (slow corrections);
- ionosphere signal delay corrections (ionocorrections).
SBAS Services
EGNOS Components (SBAS Example)
GEO Satellites transmiting signal
on GPS L1:
- Inmarsat AOR-E (15,5ºW);
- Inmarsat F5 (IOR–W)(25ºE);
- ESA ARTEMIS (21,5ºE).

Ground Segment:
- 4 MCC (Mission Control
Center);
- 34 RIMS (Range and Integrity
Monitor Station);
- 6 NLES (Navigation Land Earth
Station)

Signal Format:
RTCA DO–229 B/C

PACF – performance assesment check-out facility;

ASQF – application specific qualification facility
 EGNOS Space Segment – GEO Satellites

AOR-E - PRN 120; Artemis – PRN 124; F5 (IOR-W) – PRN 126

Signal in Space Format – RTCA DO-229 B/C MOPS
 GNSS-1 Expansion
NOMINAL

FUTURE

SNAS – Chinese Satellite Nav.

Augment. System;
GAGAN – GPS and GEO Augment.
Navigation;
CWAAS – Canadian WAAS
 Realative DGPS
In Relative DGPS positioning
the goal is to calculate the vector
(range and bearing) between GPS
antennas.

GPS Slave Receiver

„mobile Reference Station” UHF high baudrate link GPS Master Receiver

• GPS Slave sends to GPS Master the full set of measured pseudoranges to all visible satellites
via UHF link.
• Master by differencing pseudoranges observed simultanously in two points for the same
satellites can calculate vector (Distance plus Bearing) between two GPS antennas.
• Additionally, as the erors observed in Master and Slave are correlated, above differences of
pseudoranges will remove the common errors affecting measurements.
• The obtained accuracy is the same as DGPS. Spatial decorrelation is minimal, time
decorrelation will depand on UHF link baudrate which can create delay in data transmission
 Realative DGPS

• differential measurements allow to calculate vector between GPS antennas between Slave and
Master. To obtain DT&BT (Distance to Target & Bearing to Target) described as vector
between shuttle tanker bow and FPSO aft the information about heading and reference point
offsets („offset arms”) has to be taken into calculations.

Elements required for

Realtive DGPS OP The access to any differential
TI corrections is not required to
O NA
perform realtive positioning with
accuracy same as DGPS.
L However in many solutions
relative DGPS equipment is
prepare to deliver absolute DGPS
positioning executing multisite
DGPS solution (Kongsberg
SeatexDARPS – Differential and
Absolute Reference Positioning
System)
 Kongsberg Seatex DARPS
TDMA- Time Division Multiple Access
 Kongsberg Seatex DARPS
Automatic Identification and Logging Procedure
 Satellite Navigation Systems
Operational Problems and Consideretions

DGPS Quality Indicator

(DQI):
The recommended quality
indicator (the DQI) is a single
integer between 0-9
representing figures which
reflect a logical approach of:
• is the DGPS operating
correctly i.e. are corrections
available?
• can reliability be
determined i.e. does the
data allow testing?
• what is the precision and
does it meet the user’s
needs?
 Satellite Navigation Systems
Operational Problems and Consideretions

Satellite Drop Out Through Masking

As line of sight is required, if the GPS antenna is installed low down and without a clear 360°
horizontal view then loss of satellites can be expected with a subsequent change in the satellite
geometry and degraded positioning.

Multipath
The reflection of the signal will degrade the direct signal. The effect may only be seen at particular
times of day and may vary in a cyclic fashion over time as the satellite constellations precess.
Most multipath will be due to obstructions within 150 m of the antenna. DGPS multipath algorithms
and elevation mask raising can be used to limit multipath effects.

Loss in Differential Signal

Many problems experienced with DGPS relate to the differential link being lost. Reasons could be:
- poor differential antenna installation;
- HF antenna earthing;
- loss of HF during dawn and dusk periods and extreme atmospheric conditions.
- Inmarsat domes frequently have blind spots affecting differential signal reception.
DGPS SatLink blind spots should be identified and taking into consideration when the
ship’s heading for DP is selected;
 Satellite Navigation Systems (2)
Operational Problems and Consideretions

DGPS Interference
Radio transmission of a frequency too close to that of the correction link causes interference to HF
differential links or its complete loss.
Mobile phone or platform communications frequencies can cause interference problems for DGPS
UHF differential links.

Complete Loss of GPS Position Computation

• bug in the manufacturer’s firmware or, possibly,
• an anomaly in a satellite transmission (e.g. clock failure).
Adequate DGPS monitoring in reference statioons and DGPS QC packages can help to
reject the satellite before this problem occurs.
• the vessel’s location or antenna masking.
• presence of scintillation (ionosphere anomalies) in equatorial regions can lead to rejection
of solution by DGPS QC (local anomalies, big spatial decorrelation) or total GPS satellite
signal fading;
 GPS Signal Obstructions and Reflections
GPS SATELLITE
REFLECTED SIGNALS
MAY COMBINE WITH
DIRECT SIGNAL AND
CAUSE FADING OR
R SIGNAL LOSS
GPS SIGNAL REF ECEPT
I
CAU LECTE ON OF
BLOCKED BY SES
RAN
D SI
GN
OBJECT GE J ALS
UMP
S
 Differential Link Signal Obstructions
INMARSAT SATELLITES
30 DEG. ELEVATION AT SIGNAL BLOCKED
LATITUDE 60N BY OBJECT CAUSE
On the northern hemisphere LOSS OF DIFFLINK
„most” satellites signals INMARSAT DOME
(GEO and GPS) are in
southern azimuths.
Working on the north side of
large platform may cause
problem for DGPS.

EXPLANATION

Communication, geostationary satellites are over Equator, so can be observed in low elevation at high
latitudes. GEO satellites are observed at Southerly azimutes at North Hemisphere and Northely
azimuthes at South Hemisphere. Similarity exists while GPS satellites are considered: more GPS
satellites in southern sectors than northern sectors on N.Hemi etc.
 Satellite Navigation Systems (3) Operational
Problems and Consideretions
Work Near Platforms or Obstructions
Difficulties can be experienced while using DGPS near platforms. When working near a large
obstruction and DGPS should not be planned as the primary reference system.
In the North Sea, for example, there are more problems in receiving GPS signals and
low elevation Inmarsat differential links when working to the north of a large platform
or other obstruction.
Flared gas and platform-mounted communications transmitters can degrade the overall DGPS
performance as well.

Jumps and Drifts in Position (Changes in Satellite Geometry)

Presence and range of DGPS position jumps is dependent on the number of satellites and the
geometry of the constellation. With more than 6 satellites available change in geometry or acquiring
of new satellite will normally show a small change in position.
In the event of very poor geometry a reduction in the GPS mask angle from, say, 10° to 5°
may introduce additional satellites which will improve the geometry. However, lower
elevation satellites are less stable than higher elevations and can degrade the quality of the
position. Additionally with lower elevation mask system is more exposed to multipath.

Drifts in position are usually caused by the decorrelation of differential corrections applied to DGPS
solution. Position may drift during sunrise and sunset periods or if the selected Ref. Stations used in
MultiDGPS are very distant or are not surounding user position.