Global Navigation Satellite Systems (GNSS) are seeing many new developments…

Next Generation Global Navigation Satellite Systems

• USA’s GPS Modernisation and ultimately GPS-III • Russia’s GLONASS Re-vitalisation • Japan’s MSAS and QZSS • India’s GAGAN • China’s Beidou • A very significant new development is the EU’s Galileo…

Matt Higgins Principal Survey Advisor, Department of Natural Resources, Mines and Water Chair Commission 5 on Positioning and Measurement, International Federation of Surveyors (FIG)

Co-Authors: Chris Rizos and Steven Hewitson University of New South Wales 5th FIG Regional Conference - Accra Ghana

1

Outline of the Presentation

2

Benefits of Next Generation GNSS • GPS and GLONASS combined have already demonstrated the benefits of extra satellites; • Galileo brings all that and more; • The benefits of the extra satellites and their signals:

• Next Generation GNSS – GPS Modernization and GPS-III – GLONASS – Galileo

– – – –

• Growing Number of Centimetre Accuracy Applications of GNSS; • Multi-GNSS Receiver Options/Implications; • Some Issues for Surveyors and Reference Station Service Providers; • Some Institutional Arrangements; • Concluding Remarks. 5th FIG Regional Conference - Accra Ghana

5th FIG Regional Conference - Accra Ghana

Continuity (3 sub-systems are better than 1); Accuracy (eg Galileo Commercial Service 0.1m in handset); Efficiency (centimetre accuracy with shorter initialisation times); Availability (60+ Satellites by 2010, 10 available will be common place,

working in Urban Canyons, under Tree Canopies, in Open Cut Mines) and; – Reliability (more reliable signal tracking, also designed for Safety-of-Life).

• Coded signals brings cheaper receivers for centimetre applications. 3

5th FIG Regional Conference - Accra Ghana

4

GPS Satellite Status (as at October 2005) _________________________________________________________ SVN PRN Launch Date Orbit Plane Useable __________________________________________________________________________________________________

1 2 3 4 5 6 7 8 9 10 11

GPS Modernisation and GPS-III

14 13 16 19 17 18 20 21

15 23

Block I 4 7 6 8 5 9 11 13 12 3 Block II 14 2 16 19 17 18 20 21

15 Block IIA 23

22-02-78 13-05-78 6-10-78 10-12-78 9-02-80 26-04-80 launch failure 14-07-83 13-06-84 8-09-84 9-10-85

no no no no no no no no no no

14-02-89 10-06-89 18-08-89 21-10-89 11-12-89 24-01-90 26-03-90 2-08-90

no no no no no no no no

32 29

1 29

22-11-92 18-12-92

22 31

22 31

3-02-93 30-03-93

37 39 35 34 36 33 40 30 38

7 9 5 4 6 3 10 30 8

13-05-93 26-06-93 30-08-93 26-10-93 10-03-94 28-03-96 16-07-96 12-09-96 6-11-97

F6 F5

11-12-92 5-01-93

C4 A1 B4 D4 C1 C2 E3 B2 A3

12-06-93 20-07-93 28-09-93 22-11-93 28-03-94 9-04-96 15-08-96 1-10-96 18-12-97

no no

Block IIR

1-10-90

D5

15-10-90

D1 A2

30-08-91 24-03-92

F2 A4

23-07-92 30-09-92

26-11-90

24 25

24 25

4-07-91 23-02-92

28

28

10-04-92

26 27

26 27

7-07-92 9-09-92

no

no

42

launch failure

43 13 23-07-97 F3 31-01-98 46 11 6-10-99 D2 3-01-00 51 20 11-05-00 E1 1-06-00 44 28 16-07-00 B3 17-08-00 41 14 10-11-00 F1 10-12-00 54 18 30-01-01 E4 15-02-01 56 16 29-01-03 B1 18-02-03 45 21 31-03-03 D3 12-04-03 47 22 21-12-03 E2 12-01-04 59 19 4-03-04 C3 5-04-04 60 23 23-06-04 F4 9-07-04 61 2 6-11-04 D7 30-11-04 ________________________________________________________

12 satellites currently older than 10yrs! (Design life is 7.5yrs). 5th FIG Regional Conference - Accra Ghana

5

5th FIG Regional Conference - Accra Ghana

6

1

GPS Modernization Schedule (1)

GPS Signal Modernization

GPS Capabilities

http://www.navcen.uscg.gov/

L2

L1

FY

03

04

05

06

07

08

Test

2nd Civil Signal From 2005 and M-code

Control Segment

L5 Block IIF + Block III

User Equipment

3rd Civil Signal

Concept

5th FIG Regional Conference - Accra Ghana

03

04

05

06

07

08

Test

SAASM M-Code

+ GPS-IIA &Flex-Power IIR, with >10yr L2C lifetimes L5

09

10

11

12

IIR-M

Enhanced T&M


10 GPS-IIF

IOC

FOC

IOC

FOC

IOC

Control Segment User Equipment Concept

Block II

17

19

IOC

FOC PVT/C2

IOC (Protect)

FOC

IIF-4

1st IIF

IIF-10

Concept

III-2

4 8

12

SAASM

IIF

Flex / Civil

MUE Development

DAGR FRP Contract Award

TT&C

NAV

Control Segment

Final

Dev

Bombers / Strikers RCVR Card Ready for Prod

Mobility / Tankers / Munitions LRU I&T

IOT&E Comp

Bombers / Strikers / C4ISR

Mobility / Tankers

User Equipment

Dev

Production Platforms / Fielding

Flex / Civil

SAASM

Baseline Milestone

2010 Milestone Slip

Test Enhanced T&M

5th FIG Regional Conference - Accra Ghana

Initial PVT (IOC) Full PVT (FOC)

9

4 8

III-2

12

30

18

DAGR FRP

TT&C

NAV

Final

Dev

Mobility / Tankers / Munitions

Bombers / Strikers

Contract Award

RCVR Card Ready for Prod

Bombers / Strikers / C4ISR

IOT&E Comp

LRU I&T

Mobility / Tankers

Dev

Production

Baseline Milestone

Test

Platforms / Fielding

Milestone Slip

Enhanced T&M

Initial PVT (IOC) Full PVT (FOC)

8

FY

03

04

05

06

07

08

Test

09

10

11

12

IIR-M

Concept

15

Test


8 GPS-IIRM

Test

Enhanced T&M

Enhanced T&M


16 GPS-IIF
12 GPS-III

FOC

IOC

FOC

IOC

1st IIRM

17

18

19

Updated as of: 25 Oct 04

FOC

Enhanced T&M

Test

16

Based on FY05 PB

IOC

IOC

FOC PVT/C2

IOC (Protect)

FOC

IIRM-8

Dev

IIF-4

1st IIF

IIF-10

IIF-12 IIF-16

Dev

ATP

1st GPS III

KDP B Concept

III-2

4 8

12

30

18

Dev

SAASM

IIF

IIRM

Flex / Civil

M-Code

Dev

ATP

GPS III SAASM

14

JPO Approved Baseline Enhanced T&M

Test

IIF

Block II

13

IOC / FOC

Test

Concept

SAASM UE Vendors

MUE Development

DAGR FRP Contract Award

TT&C

NAV

Final

Dev

Bombers / Strikers RCVR Card Ready for Prod

Mobility / Tankers / Munitions LRU I&T

IOT&E Comp

Bombers / Strikers / C4ISR

Mobility / Tankers

Dev

Production

Baseline Milestone

Test

Platforms / Fielding

Milestone Slip

Enhanced T&M

2015

5th FIG Regional Conference - Accra Ghana

Initial PVT (IOC) Full PVT (FOC)

10

GLONASS

GPS … the old & the new • True Next (2nd) Generation GPS is GPS-III. • For the next decade there will be 3 generations of GPS signals … • GPS-IIR: L1 C/A code, L2 codeless • GPS-IIRM: L1 C/A code, L2C code • GPS-IIF: L1 C/A code, L2C code, L5 code/codeless • GPS-III: L1C code, L2C code, L5 code/codeless • Receiver costs should drop for some signal combinations, but complexity will rise (in antennas, hardware, software). • What will NOT change is tight U.S. military control over GPS space & ground segments. • No plans for introduction of user charges.

5th FIG Regional Conference - Accra Ghana

FOC

M-Code

ATP Concept

SAASM UE Vendors

SAASM

M-Code

ATP

IOC (Protect)

Dev

Development

GPS III

Dev

Concept

FOC PVT/C2

IIF-12 IIF-16

1st GPS III

IIF

IIRM

MUE

30

18

Dev

IIRM

IIF-10

GPS III

Space Segment

IIF-12 IIF-16

1st GPS III

IOC

Dev

M-Code

IIRM-8

KDP B

IIF-4

1st IIF

KDP B Concept

Flex-Power Multiple generationsL2Cof GPS for many years! L5

FOC

Dev

SAASM UE Vendors

GPS Capabilities

Updated as of: 25 Oct 04

Dev

ATP

FOC

GPS Modernization Schedule (3) 18

Multiple generations of GPS for many years!

Test

GPS III SAASM

16

FOC Enhanced T&M

Test

1st IIRM

15

19

Dev

ATP

GPS III SAASM

18

IIRM-8

Based on FY05 PB

Enhanced T&M

Test

Test

IOC

5th FIG Regional Conference - Accra Ghana

JPO Approved Baseline

Enhanced T&M

Test

IIF GPS III

14

IOC / FOC


10 GPS-IIR
8 GPS-IIRM

GPS III

Space Segment

13

Block II

17

Dev

7

GPS Modernization Schedule (2) FY

1st IIRM

16

Updated as of: 25 Oct 04

Test

IIF GPS III

8 sats

16 sats + 30 sats

IIR-M

15

Based on FY05 PB

GPS III

Space Segment

14

FOC

Enhanced T&M

Test

L5

Block IIR-M

13

IOC

IOC

L2C

From Sept 2005

12

JPO Approved Baseline

Enhanced T&M

Test

29 sats

GPS Capabilities

11

Enhanced T&M

Test

Flex-Power

Present Signals

10

Enhanced T&M

Test

M-Code

Block IiA/IIR

09

IOC / FOC

SAASM

11

• GNSS similar to GPS, originally developed by the USSR (now Russian Federation). Also military controlled. • GPS is CDMA-based, GLONASS is FDMA. • No direct user charges, as in the case of GPS. • Fully operational in 1996, but now only 14 functioning satellites. • Several new (multiple satellite) launches in the last few years. • Russian president has made commitment to be operational by 2007 (18 sats?). • Open, dual-use system, with civil L2 signal and new L5 signal (2007+), compatible with GPS. • India has signed a MoU with Russia in January 2004. • India’s SBAS (‘GAGAN’) is based on both GPS and GLONASS.

Combined GPS/GLONASS receivers already have market advantage where signal availability difficult, e.g. open cut mines…

http://www.glonass-center.ru/

2

Comparison GPS & GLONASS

GALILEO ◆ Initiative of the EU, supported by ESA. ◆ Tension between EU & USA over issues of “interoperability” & “compatibility”. ◆ ‘Development & Validation’ phase has commenced (naming of Concessionaire). ◆ First test satellite launches in 2005-2006. ◆ 30 MEO satellite constellation, operational by 2008-2010. ◆ Four levels of service: 2 fee-based to guarantee certain level of performance (e.g. integrity for SoL users, accuracy for CS), plus free OS to match GPS’s, & restricted PRS. ◆ ‘Private-Public Partnership’, in contrast to U.S. military control/funding of GPS. ◆ Current Business Models will be challenged. ◆ Galileo is a ‘2G’ system, compared with GPS’s ‘1G’ system.

1999

5th FIG Regional Conference - Accra Ghana

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The GALILEO Arguments …

Technological - Technological lead - Explore synergy of a number of technologies

Economic - Global market shares - Global competitiveness of all segments of the Value Chain - Employment - Efficiency of transport industry 5th FIG Regional Conference - Accra Ghana

14

26 June 2004

Political

Social

5th FIG Regional Conference - Accra Ghana

US-EU Dromoland Castle Agreement

- Independence and sovereignty - Industrial politics

- Better and new services for the citizens - Improved safety of transport systems - Environmental benefits

http://www.galileo-pgm.org/index.htm http://www.genesis-office.org/ http://www.galileoju.com/ http://www.esa.int/navigation/

• Paves way for eventual doubling of satellites that will broadcast a common civil signal worldwide (GPS+GALILEO), tripling if include GLONASS. • Requires non-discrimination and open markets in trade in civil GNSS-related goods and services. • Ensures GALILEO’s signals will not harm NAVWAR capabilities of U.S. and NATO. • Establishes process for U.S. and EU to address individual and mutual security concerns. • GPS-III new L1 signal should be compatible with GALILEO’s.

15

5th FIG Regional Conference - Accra Ghana

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17

5th FIG Regional Conference - Accra Ghana

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Multi-GNSS Availability

5th FIG Regional Conference - Accra Ghana

3

Galileo Timing…

5th FIG Regional Conference - Accra Ghana

There have been delays since this plan was made –first experimental GALILEO satellite launched in 2005! Two years- Accra behind schedule. 5thDec FIG Regional Conference Ghana

19

GALILEO Frequencies…GPS & GLONASS

GALILEO Bands (Navigation)

10 trackable signals, for various services.

GLONASS Bands (Current & modernized) GPS Bands (Current & modernized)

ARNS Bands

E5B I,Q Ch.: Data+Pilot BPSK mod. Rc=10.23 Mcps Rs=250 sps OS/CS/SOL Services

E6A Channel: BOCcos(10,5) mod. Rc=5.115 Mcps PRS Service

E6BC Channels: Data + Pilot BPSK mod. Rc=5.115 Mcps Rs=1000 sps CS Service

L1A Channel: BOCcos (15,2.5) mod. PRS Service

40x1.023 MHz

L1BC Channels: Data + Pilot BOC(1,1) mod. Rc=1.023 Mcps Rs=250 sps OS/CS/SOL Services

40x1.023 MHz

RNSS Bands

RNSS Bands E6

L2

E5A I,Q Ch.: Data+Pilot BPSK mod. Rc=10.23 Mcps Rs=50 sps OS/CS/SOL Services

90x1.023 MHz

ARNS Bands

E5

Commercial Service – Differential Corrections in the downlink message…

GALILEO Signals

3 frequency bands (but no overlap of E6 with L2)…

20

E2

L1

E1

21

GPS & GALILEO L1 Signal Spectra

“Open Service” signals are L1 & E5 5th FIG Regional Conference - Accra Ghana

5.4 2M

Hz

Frequency (MHz)

1 57

8.75 MH z 1 27

95 M 1 19 1 .7

MH z 1610

MH z

5th FIG Regional Conference - Accra Ghana

1591 MH z

1587

1300 MH z

155 9M Hz 156 3M Hz

MH z

Hz 7M

1260

123

1164

1214 MH z 1215 MH z

MH z

Hz

L5

22

Galileo Management Structure – A PPP

-60

Normalized Power Spectral Density (dBW/Hz)

C/A-code -65

Galileo PRS

Galileo OS and GPS III

M-code

P(Y)-code

-70

-75

-80

A major new player

-85

-90

-95

-100 1555

1560

1565

1570

1575 1580 Frequency (MHz)

1585

5th FIG Regional Conference - Accra Ghana

1590

1595

23

5th FIG Regional Conference - Accra Ghana

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4

GALILEO Concessionaire: consortium of

GALILEO’s System Architecture

• EADS - setup to be Europe’s Boeing - owns Airbus, Ariane, Eurofighter and Eurocopter. In 2004 had revenues of €31.8 billion & employed more than 110,000 people! • Alcatel – 2004 sales of €12.3 billion, in more than 130 countries • Thales – 2004 revenue of €10.3 billion, employs 60,000 people worldwide • Finmeccanica – 2003 turnover €8.6 billion, €1.2 billion on R&D, 51,000 staff • Inmarsat - 2004 revenue was $US480.7 million • Also involves Spain’s AENA and Hispasat • So parent companies of the Concessionaire had 2004 revenues of more than €60 billion! 5th FIG Regional Conference - Accra Ghana

25

From GPS to GNSS for High Accuracy Users…

26

GNSS Applications in Queensland Government

• Assumption: Surveyors and other centimetre accuracy users seek best performance… • Use multi-GNSS receivers, to improve availability. • Use multiple-frequency receivers, to improve accuracy & Time-to-Ambiguity Resolution for Carrier Phase based techniques. • Will still need CORS networks for DGNSS. • Variety of CORS &/or Service Providers, different scales/coverage/markets & business models. 5th FIG Regional Conference - Accra Ghana

Concessionaire wants to partner with Service Providers (eg.Conference RTK services)… 5th FIG Regional - Accra Ghana

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eg Queensland Rail…

5th FIG Regional Conference - Accra Ghana

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Improved Shipping Guidance and Clearance

Port of Brisbane: New Port Road and Seawall built using GPS Machine Guidance

Some ports – dredging an extra 0.1m costs over $3 Million 5th FIG Regional Conference - Accra Ghana

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5th FIG Regional Conference - Accra Ghana

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5

Mine Safety

Dragline Automation

5th FIG Regional Conference - Accra Ghana

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My Dept’s SunPOZ RTK Network Service • Centimetre accuracy in real-time using survey quality GPS receiver and mobile phone communications; • Pilot Network since 2001; • Operational Network during 2006; • Coverage for cm accuracy includes 15km buffer around outside of network; • Coverage much larger for submeter corrections; • Ideally suited to become a Galileo Local Element

5th FIG Regional Conference - Accra Ghana

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GPS Surveying Receivers…cm accuracy RT

Galileo Sensor Station Proposal to European Space Agency Decreasing cost

or PP L1

L2 codeles s

L2C

L5

# sats 2010 # sats 2015

Comments

28 36

10 0

18 36

10 28

28/10-DF, 10-TF 36-DF, 28-TF

A Can old Rx track L2C in codeless mode?

28 36

-

18 36

10 28

18/10-DF, 10-TF 36-DF, 28-TF

B

18 36

-

18 36

-

18-DF 36-DF

C

A: Rx tracks all sats, highest availability, highest cost, improvement in DF-only performance over current system, no TF-only positioning until 2015, best hybrid. B: Moderate cost Rx, DF-only performance improved in 2015, no TF-only positioning until 2015, good hybrid positioning. C: Lowest cost Rx, DF-only performance (decreased performance in 2010, but improved in 2015), no TF positioning possible. 5th FIG Regional Conference - Accra Ghana

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5th FIG Regional Conference - Accra Ghana

34

GALILEO1/GPS2 Surveying Receivers… Decreasing cost

L11,2

L2C2

E51/L52

# sats 2010; # sats 2015

Comment

30/28 30 30/36 30

E61

18 36

30/10 30/28

60-DF1,28-DF2; 30-TF1,10-TF2 60-DF1,64-DF2; 30-TF1,28-TF2

A

30/28 30/36 -

18 36

30/10 30/28

30-DF1,28-DF2; 10-TF2 30-DF1,64-DF2; 30-TF1

B

30 30

30 30

-

30 30

60-DF1; 30-TF1 60-DF1; 30-TF1

C

30 30

-

-

30 30

30-DF1 30-DF1

D

GPS+GALILEO

GPS+GALILEO

GALILEO

GALILEO

Multiple GNSS Sub-Systems needs improved Institutional Arrangements for GNSS

A: Top-of-line GNSS Rx tracks all sats, highest availability, highest cost, highest in DF-only & TF-only performance, best hybrid.

B: Moderate cost GNSS Rx tracks all sats, but does not track E6, GPS TF-only positioning available 2015, good price/performance compromise. C: Moderate cost GALILEO-only surveying Rx, TF-only positioning available 2010, unclear if tracking of E6 requires user charges for CS. D: Lowest cost GALILEO-only surveying Rx, DF-only performance (similar to current GPSonly performance in 2010), uses 5th OS FIG signals only. Conference - Accra Ghana Regional 35

5th FIG Regional Conference - Accra Ghana

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6

International Committee on GNSS • In 2004 UN General Assembly Resolution 59/2 (paragraph 11) invited GNSS and augmentation providers to consider establishing an international committee on GNSS in order to maximize the benefits of the use and applications of GNSS to support sustainable development. • In December 2005 at a meeting convened by the UN Office for Outer Space Affairs in Vienna, interested Governments, intergovernmental and nongovernmental organizations present at the meeting agreed to establish the ICG. 5th FIG Regional Conference - Accra Ghana

• UN Office for Outer Space Affairs in Vienna will continue to act as the focal point for the ICG. • I will represent FIG on ICG. 37

5th FIG Regional Conference - Accra Ghana

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By 2010…

Com 5 – Working Groups • WG 5.1 Standards, Quality Assurance and Calibration • WG 5.2 Reference Frame in Practice • WG 5.3 Integrated Positioning, Navigation and Mapping Systems – Sub-Group on Next Generation Global Navigation Satellite Systems

• WG 5.4 Low Cost Technology and Techniques for Developing Countries (Joint with Com 3 and 7) 5th FIG Regional Conference - Accra Ghana

International Committee on GNSS

39

• GPS Modernization – 3 civilian signals for 10 sats (Block IIF), all 8 Block IIR-M sats. • Mixed generations of GPS & GLONASS, can old Rxs track new L2C signal in codeless mode? When will new Rxs stop tracking “old” signals? • Europe’s GALILEO FOC by 2008-2010 • Some SBAS sats, e.g. Japan’s QZSS • No full triple-frequency overlap amongst all GNSSs, have to use combined processing (as in GPS/GLONASS now) • Unclear situation re GALILEO tracking of all frequencies • Getting “inside” GALILEO - partnerships with Regional Elements? • CORS networks, from “Ad-Hoc” to “Infrastructure” • 2010 GNSS should have 50+ satellites giving: – Surveying initialisation for cm accuracy in 1 sec – Urban canyon availability 80% (up from 15%) – Premium GALILEO Commercial Service 0.1m from handheld Rx 5th FIG Regional Conference - Accra Ghana

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NextGen GNSS: Some User Issues…

By 2015… • GPS Modernization – FOC 3 civilian signals for >24 sats. • Triple-freq GPS FOC 5 yrs after GALILEO’s • No more Block IIA/IIR sats. • Half the GPS-III satellites launched • New generation of GLONASS satellites launched • GALILEO upgrade satellites launched • More SBAS sats., e.g. Japan’s QZSS, India’s GAGAN, China’s? • No full triple-frequency overlap amongst all GNSSs, but combined processing possible (as in GPS/GLONASS now) • Mature partnerships with Regional & Local Elements - less dense CORS infrastructures?

5th FIG Regional Conference - Accra Ghana

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• Towards more availability, efficiency and reliability: – L1+L2 Rxs & processing less complicated - cheaper Rx? – L1+L2+L5 will give better accuracy, efficiency & reliability. – GLONASS has demonstrated advantage of extra sats/signals. – GALILEO will add all of this again, and more. • Concerns: – Cost of upgrade to take advantage of new developments. – Mixed generations of GPS/GLONASS for many years. – There are many DF & TF combinations possible, but quality & reliability will be variable unless “pure” TF positioning possible. – What choice of Rxs will there be? How will I choose? – Can standard RTK-DGNSS operate with multi-GNSS Rxs w/o paying for GALILEO’s CS? 5th FIG Regional Conference - Accra Ghana

42

7

NextGen GNSS: Some CORS Issues… • Concerns: – Cost to upgrade CORS networks to handle all GNSS signals. – Mixed generations of GPS/GLONASS for many years, how to support legacy systems? – CORS networks are geodetic infrastructure, but could also support GALILEO “local/regional element”. – Can CORS networks supporting RTK-DGNSS operate without paying for GALILEO’s CS? – How will current Service Providers compete with the Concessionaire & Commercial Service?... Partnering? – What is the appropriate mix of free & fee-based services? – The belief that there will be less need for CORS infrastructure for surveyors may be illusionary, unless all users are forced to triple-frequency-only positioning, but then vulnerable to loss of tracking of one signal! 5th FIG Regional Conference - Accra Ghana

43

Concluding Remarks • GPS is already a great tool, when signal availability & measurement quality is good. • NextGen GNSS, will have more satellites, more frequencies & more signals. • Positioning with NextGen GNSS will be more accurate, more efficient and more reliable, but only if conditions are right (including CORS station spacing). • Many unresolved issues with mixed GNSS Rxs & CORS services, especially wrt GALILEO. • GALILEO’s revolutionary commercial focus may have a greater impact than the evolution of NextGen GNSS. 5th FIG Regional Conference - Accra Ghana

44

8