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As one of its activities as an Analysis Center in the International GPS Service (IGS), the Jet Propulsion Laboratory (JPL) uses data from a globally distributed network of geodetic-quality GPS receivers to estimate precise clock solutions, relative to a chosen reference, for both the GPS satellites and GPS receiver internal clocks, everyday.
In this paper, we describe some recent advances in GPS-based precise orbit determination for low-Earth orbiting satellites.
The Global Positioning System (GPS) has revolutionized the process of getting from point A to point Band so much more. A large fraction of the worlds population relies on GPS (and its counterparts from other nations) for precision timing, location, and navigation. Most GPS users are unaware that the spacecraft providing the signals they rely on are operating in a very harsh space environment the radiation belts where energetic particles trapped in Earths magnetic field dash about at nearly the speed of light. These subatomic particles relentlessly pummel GPS satellites. So by design, every GPS satellite and its sensors are radiation hardened. Each spacecraft carries particle detectors that provide health and status data to system operators. Although these data reveal much about the state of the space radiation environment, heretofore they have been available only to system operators and supporting scientists. Research scientists have long sought a policy shift to allow more general access. With the release of the National Space Weather Strategy and Action Plan organized by the White House Office of Science Technology Policy (OSTP) a sample of these data have been made available to space weather researchers. Los Alamos National Laboratory (LANL) and the National Center for Environmental Information released a months worth of GPS energetic particle data from an interval of heightened space weather activity in early 2014 with the hope of stimulating integration of these data sets into the research arena. Even before the public data release GPS support scientists from LANL showed the extraordinary promise of these data.
Proper modeling of the Global Positioning System (GPS) satellite yaw attitude is important in high-precision applications. A new model for the GPS satellite yaw attitude is introduced that constitutes a significant improvement over the previously available model in terms of efficiency, flexibility, and portability. The model is described in detail, and implementation issues, including the proper estimation strategy, are addressed. The performance of the new model is analyzed, and an error budget is presented. This is the first self-contained description of the GPS yaw attitude model.
NASA is developing a Global Positioning System (GPS) based measurement system to provide precise determination of earth satellite orbits, geodetic baselines, ionospheric electron content, and clock offsets between worldwide tracking sites. The system will employ variations on the differential GPS observing technique and will use a network of nine fixed ground terminals. Satellite applications will require either a GPS flight receiver or an on-board GPS beacon. Operation of the system for all but satellite tracking will begin by 1988. The first major satellite application will be a demonstration of decimeter accuracy in determining the altitude of TOPEX in the early 1990's. By then the system is expected to yield long-baseline accuracies of a few centimeters and instantaneous time synchronization to 1 ns.
The proposed use of a Cargo Transport Vehicle (CTV) to carry hardware to the Space Station Freedom (SSF) during the construction phase of the SSF project requires remote maneuvering of the CTV. The CTV is not a manned vehicle. Obtaining the relative positions of the CTV and SSF for remote auto-rendezvous and capture (AR&C) scenarios will rely heavily on the Global Positioning System (GPS). The GPS system is expected to guide the CTV up to a distance of 100 to 300 meters from the SSF. At some point within this range, an optical docking system will take over the remote guidance for capture. During any remote guidance by GPS it is possible that significant multipath signals may be caused by large objects in the vicinity of the module being remotely guided. This could alter the position obtained by the GPS system from the actual position. Due to the nature of the GPS signals, it has been estimated that if the difference in distance between the Line of Sight (LOS) path and the multipath is greater than 300 meters, the GPS system is capable of discriminating between the direct signal and the reflected (or multipath) signal. However, if the path difference is less than 300 meters, one must be concerned. This report details the work accomplished by the Electromagnetic Simulations Laboratory at Marquette University over the period December 1993 to May 1995. This work is an investigation of the strength and phase of a multipath signal arriving at the CTV relative to the direct or line of sight (LOS) signal. The signal originates at a GPS satellite in half geo-stationary orbit and takes two paths to the CTV: (1) the direct or LOS path from the GPS satellite to the CTV; and (2) a scattered path from the GPS satellite to the SSF module and then to the CTV. The scattering from a cylinder has been computed using the physical optics approximation for the current. No other approximations or assumptions have been made including no assumptions regarding the far field or Fresnel field approximations. The integrations required to obtain the scattered field have been computed numerically using an N dimensional Romberg integration. The total scattered electric field is then projected onto the RCP component in the direction of propagation only. The direct or line of sight signal is then used to compute the relative strength and phase of the scattered field. The trajectory of the CTV has been parameterized into 4,214 points that are calculated for each of the geometries investigated. The motion of the CTV between points is small enough for the magnitude data (dB down from direct signal) to appear very smooth; however, because of the distances and wavelengths involved, the phase of the scattered field relative to the direct signal varies very rapidly.
The free electrons in the earth's ionosphere can retard the time of reception of GPS signals received at a ground station, compared to their time in free space, by many tens of nanoseconds, thus limiting the accuracy of time transfer by GPS. The amount of the ionospheric time delay is proportional to the total number of electrons encountered by the wave on its path from each GPS satellite to a receiver. This integrated number of electrons is called Total Electron Content, or TEC. Dual frequency GPS receivers designed by Allen Osborne Associates, Inc. (AOA) directly measure both the ionospheric differential group delay and the differential carrier phase advance for the two GPS frequencies and derive from this the TEC between the receiver and each GPS satellite in track. The group delay information is mainly used to provide an absolute calibration to the relative differential carrier phase, which is an extremely precise measure of relative TEC. The AOA Mini-Rogue ICS-4Z and the AOA TurboRogue ICS-4000Z receivers normally operate using the GPS P code, when available, and switch to cross-correlation signal processing when the GPS satellites are in the Anti-Spoofing (A-S) mode and the P code is encrypted. An AOA ICS-Z receiver has been operated continuously for over a year at Hanscom AFB, MA to determine the statistics of the variability of the TEC parameter using signals from up to four different directions simultaneously. The 4-channel ICS-4Z and the 8-channel ICS-4000Z, have proven capabilities to make precise, well calibrated, measurements of the ionosphere in several directions simultaneously. In addition to providing ionospheric corrections for precise time transfer via satellite, this dual frequency design allows full code and automatic codeless operation of both the differential group delay and differential carrier phase for numerous ionospheric experiments being conducted. Statistical results of the data collected from the ICS-4Z during the initial year of ionospheric time delay in the northeastern U.S., and initial results with the ICS-4000Z, will be presented.
GPS signals that have reflected off of the ocean's surface have shown potential for use in oceanographic and atmospheric studies. The research described here investigates the possible deployment of a GPS reflection receiver onboard a remote sensing satellite in low Earth orbit (LEO). The coverage and resolution characteristics of this receiver are calculated and estimated. This mission analysis examines using reflected GPS signals for several remote sensing missions. These include measurement of the total electron content in the ionosphere, sea surface height, and ocean wind speed and direction. Also discussed is the potential test deployment of such a GPS receiver on the space shuttle. Constellations of satellites are proposed to provide adequate spatial and temporal resolution for the aforementioned remote sensing missions. These results provide a starting point for research into the feasibility of augmenting or replacing existing remote sensing satellites with spaceborne GPS reflection-detecting receivers.
This paper is an update of the on-orbit operational performance of the frequency standards on the last Block 1 Navstar satellite (GPS-10), the complete Block 2 Navstar satellites (GPS-13 to 21) and the Block 2A Navstar (GPS-22 to 40) satellites. Since the status of the GPS constellation is now at full operational capability (FOC), a minimum of twenty-four satellites are in position with all the necessary tests successfully completed. The evolution of frequency standards on board the GPS vehicles will be presented with corresponding results. Various methods and techniques will be presented to show on-orbit life time, down time, state of health telemetry, on-orbit trending and characterization of all the frequency standards. Other topics such as reliability, stability, clock quirks and idiosyncrasies of each vehicle will be covered.
High precision orbit determination of Global Positioning System (GPS) satellites is a key requirement for GPS-based precise geodetic measurements and precise low-earth orbiter tracking, currently under study at JPL. Different strategies for orbit determination have been explored at JPL with data from a 1985 GPS field experiment. The most successful strategy uses multi-day arcs for orbit determination and includes fine tuning of spacecraft solar pressure coefficients and station zenith tropospheric delays using the GPS data. Average rms orbit repeatability values for 5 of the GPS satellites are 1.0, 1.2, and 1.7 m in altitude, cross-track, and down-track componenets when two independent 5-day fits are compared. Orbit predictions up to 24 hours outside the multi-day arcs agree within 4 m of independent solutions obtained with well tracked satellites in the prediction interval. Baseline repeatability improves with multi-day as compared to single-day arc orbit solutions. When tropospheric delay fluctuations are modeled with process noise, significant additional improvement in baseline repeatability is achieved. For a 246-km baseline, with 6-day arc solutions for GPS orbits, baseline repeatability is 2 parts in 100 million (0.4-0.6 cm) for east, north, and length components and 8 parts in 100 million for the vertical component. For 1314 and 1509 km baselines with the same orbits, baseline repeatability is 2 parts in 100 million for the north components (2-3 cm) and 4 parts in 100 million or better for east, length, and vertical components.
The Global Positioning System (GPS) provides users autonomous, real-time navigation capability. A vehicle equipped with GPS user equipment can receive and process signals transmitted by a constellation of GPS satellites and derive from the resulting measurements the vehicle's position and velocity. Specified accuracies range from 16 to 76 meters and 0.1 to 1.0 meters/second for position and velocity, respectively. In a rendezvous and docking scenario, the use of a technique called relative GPS can provide range and range rate accuracies on the order of 1 meter and 0.01 meters/second, respectively. Relative GPS requires both vehicles to be equipped with GPS user equipment and a data communication link for transmission of GPS data and GPS satellite selection coordination information. Through coordinated satellite selection, GPS measurement errors common to both users are cancelled and improved relative position and velocity accuracies are achieved. The background, the design approach, the expected performance and capabilities, the development plan, and the project status are described. In addition, a description of relative GPS, the possible GPS hardware and software configurations, and its application to automated rendezvous and capture are presented.
Yaw bias was implemented on most GPS satellites in 1994, and on all Block II satellites by 1995. It was introduced as a way to model the yaw attitude of the GPS satellites during shadow crossings. A yaw attitude model was written to simulate the new satellite attitude during eclipse seasons. Proper use of this model improves the accuracy of precise positioning with the GPS.
A powerful technique to compute precise GPS satellite orbits for the FAA Wide-Area Augmentation System (WAAS) has been evaluated. This dynamical technique estimates GPS satellite states from a long history of measurements not only yields accurate orbit solutions, but it enables separation of orbit and satellite clock errors and yields orbit accuracies of better than one meter within the service volume, as compared to the JPL precise ephemerides.
Recent advances in high precision differential GPS-based satellite tracking can be usefully applied to the more conventional direct tracking of low earth satellites. To properly evaluate the limiting accuracy of direct GPS-based tracking, it is necessary to take full account of the correlations between the a priori errors in GPS states, Y-bias, and solar pressure parameters. These can be obtained by careful analysis of the GPS orbit determination process. When up-to-date assumptions are used in the analyses of GPS and user orbit solutions, it is found that submeter accuracy can be readily achieved for a user above 1000 km altitude, even when the user solution is obtained with data taken 12 hours after the data used in the GPS orbit solutions.
While navigation systems for the determination of the orbit of the Global Position System (GPS) have proven to be very effective, the current issues involve lowering the error in the GPS satellite ephemerides below their current level. In this document, the results of an orbit determination covariance assessment are provided. The analysis is intended to be the baseline orbit determination study comparing the benefits of adding laser ranging measurements from various numbers of ground stations. Results are shown for two starting longitude assumptions of the satellite location and for nine initial covariance cases for the GPS satellite state vector.
A series of covariance analyses is presented for the Navy's Geosat Follow-On (GFO) altimetric satellite using selective availability/anti-spoof (SA/A-S) qualified (dual frequency) and non-SA/A-S qualified (single frequency) GPS receiver configurations. Data obtained indicate that a SA/A-S qualified GPS receiver is capable of meeting the 10 cm GFO post-processed radial orbit accuracy requirement when using reduced dynamic tracking. The non-SA/A-S qualified receiver is also capable of approaching this 10 cm radial uncertainty level if all systematic errors are removed from the C/A pseudorange and reduced dynamic tracking is used again.
The Goddard Space Flight Center is currently developing advanced spacecraft systems to provide autonomous navigation and control of formation flyers. This paper discusses autonomous relative navigation performance for a formation of four eccentric, medium-altitude Earth-orbiting satellites using Global Positioning System (GPS) Standard Positioning Service (SPS) and "GPS-like " intersatellite measurements. The performance of several candidate relative navigation approaches is evaluated. These analyses indicate that an autonomous relative navigation position accuracy of 1meter root-mean-square can be achieved by differencing high-accuracy filtered solutions if only measurements from common GPS space vehicles are used in the independently estimated solutions.
The paper describes determinations of atmospheric profiles from space-based radio measurements and the retrieval methodology used, with special attention given to the measurement procedure and the characteristics of the soundings. It is speculated that reliable profiles of the terrestrial atmosphere can be obtained by the occultation technique from the surface to a height of about 60 km. With the full complement of 21 the Global Positioning System (GPS) satellites and one GPS receiver in sun synchronous polar orbit, a maximum of 42 soundings could be obtained for each complete orbit or about 670 per day, providing almost uniform global coverage.