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The purpose of this chapter is to introduce the Global Positioning System (GPS), model equations, and system characteristics in the notation that will be utilized in the following chapters The chapter presents the essential technical information necessary for the interested reader to understand and utilize GPS in real-time navigation systems This chapter discusses three GPS positioning methods: standard GPS, di erential GPS (DGPS), and carrier phase DGPS For each method, the expected accuracy is discussed Throughout this chapter, GPS solution techniques are presented in the context of realtime point positioning Each time sample is considered independently (ie, no ltering) This presentation approach enables straightforward discussion of GPS position accuracy and solution methods Clear bene ts are obtainable by ltering the GPS data Use of GPS as an aiding signal is discussed in s 9 and 11 This chapter assumes that certain necessary quantities (eg, satellite positions) can be calculated These calculations are described in Appendix C The outline of this chapter is as follows Section 81 provides a highlevel view of the GPS system and an overview of the signal characteristics Section 82 discusses the GPS pseudorange observable, related notation, and a method for determining the receiver antenna location from a set of simultaneous pseudorange measurements Section 83 discusses the basic measurements of a receiver and the formation of the pseudorange, carrier phase, and Doppler observables from the basic measurements Sections 82 83 will have introduced and used notation to describe the various GPS measurement errors The various error sources are characterized in Section 84 The e ect of GPS measurement errors on position estimation accuracy is analyzed in Section 85 The utility of two frequency receivers is discussed in Section 86 Carrier-smoothing of pseudorange observables is discussed in Section 87 Various methods for di erential GPS processing are discussed 263.

GPS is an all weather, worldwide, continuous coverage, satellite-based radio navigation system GPS provides nearly uniform, worldwide accuracy In addition, GPS receivers are available at very reasonable cost

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Now that we have a basic understanding of the options symbol system, let s take a look at some real option quotes on the option chain in Figure 26 In the option chain you will nd the current pricing for each strike price In addition to the most recent trade in the last category, you will nd the daily high, low, bid, and offer/ask prices as well as current volume and open interest This particular chain is in a straddle format and shows call options on one side and put options on the other with the strike price down the middle which is handy for working spreads Figure 26 shows a

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GPS consists of three major segments: space, control, and user The space segment consists of the GPS satellites The satellite vehicles (SVs) orbit Earth in six 12-hour (11 hr 58 minute) orbital planes with (nominally) four satellites in each plane The orbits are nearly circular with inclination angles of 55 degrees and altitude above the Earth surface of approximately 20,200 km The six orbit planes are equally spaced around the equator resulting in 60 degree separation This constellation ensures that (barring obstructions) a user located anywhere on Earth has a direct line-of-sight to at least four satellites at any time Since satellites are not in geosynchronous orbits, the geometric relation between the satellites is constantly changing with respect to a stationary receiver on Earth This changing geometry results in changing, but predictable, position estimation accuracy for positions determined from a xed set of satellites (see Section 85) The SVs emit coded radio signals which a GPS receiver will decode to determine important system parameters The control segment is responsible for monitoring the health and status of the space segment The control segment consists of a system of tracking stations located around the world including six monitor stations, and a master control station The ground monitoring stations measure signals from the SVs which are transmitted to the master control station The master control station determines the orbital model and clock correction parameters for each satellite These parameters (and other data) are transmitted to the satellites which then broadcast them to the user segment The user segment consists of antennas and receivers Traditionally, receivers consist of three major stages The radio frequency (RF) front-end performs three basic tasks on the input signal from the GPS antenna: ampli cation, ltering, and shifting of the GPS signal portion of the frequency spectrum to a lower frequency range The baseband portion of the receiver has several channels that operate in parallel on the signal output by the RF front-end Each channel tracks a signal from one satellite to determine certain basic channel variables and to determine the data bits carried by that signal The basic channel variables determine the transit time and carrier.

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