Tag: GNSS constellations

  • Tracking the Whirlwind: Mapping tornadoes using GIS

    Tracking the Whirlwind: Mapping tornadoes using GIS

    3:13 a.m. Pulsing alarms. NOAA weather alert: TORNADO WARNING! TAKE IMMEDIATE SHELTER!

    Without hesitation, the family awakened from their sleep, grabbed wallets, smartphones, car keys and hurriedly descended the stairs into the shelter. Doors sealed, the children crawled into their shelter beds.

    The mother and father, listening to the weather radio, heard their county’s name in the emergency broadcast. They looked at the smartphone’s weather map blinking with the text alert. A large swath of rain covered the area, painting yellows and reds inside a field of green. At the trailing edge of the storm, where skies were beginning to clear, the storm’s red tail began curling into a ball, moving directly toward them. Inside the ball, a dark red deepened into a growing magenta core. White pixels appeared within the magenta tail. Its path was unchanged and it was closing.

    The man and woman huddled together watching the storm radar app on his mobile device not thinking about how their situational awareness is a confluence of spatial wizardry and atmospheric thermodynamics. The WSR-88D NEXRAD (Level III) radar scans a 143-mile radius, sweeping 14 elevation angles every five minutes to create a composite view of the surrounding weather. Colors correspond to the intensity of reflected hydrometeors (forms of precipitation) ranging from 0 dBZ, light rain in blue and green, to 75 dBZ, hail in magenta, and at 95 dBZ, it is physical debris carried aloft showing as white. Assembling the radars from across the country creates a seamless national weather mosaic (weather.gov/Radar). The dot on the smartphone’s weather app marking their own position is GNSS, orbiting far above.

    In his hand both the NEXRAD and GNSS are blended in real-time as he watches the Tornado Vortex Signature (TVS) move toward his family and his house. Beyond the closed shelter doors, tornado sirens wail, mixed with peals of thunder. The warnings are no longer county names but names of towns. There are people for whom such a moment is not hypothetical. Scott Bagenzie knows exactly what comes next, not from imagination but from experience.

    On Monday, May 20, 2013, at 2:56 p.m. Central Time, an EF5 tornado touched down northwest of Newcastle, Oklahoma, rapidly intensifying as it carved a path to Moore. The tornado lasted 36 minutes and covered 17 miles (FIGURE 1). Scott was caught by it, and I had the privilege of hearing him tell me what it is actually like to be inside those moments of sheer terror the rest of us only read about. He left work at 2:15 p.m. despite National Weather Service warnings for the counties flanking Oklahoma City. As he closed his car door, the sirens at the Mike Monroney Aeronautical Center went off. Security tried stopping him. He drove anyway.

    “I was dodging cars left and right as people were taking pictures out to the southwest. I called Mari and said, hey, I’m running to the house to make sure the pets are taken care of. And she said, You crazy ***, take care of yourself.”

    He pulled into his driveway, secured two cats in the closet and the dogs in the front bathroom, then stepped outside to see where the tornado was. His neighbor, who had an underground shelter in his garage, called out from next door: Get in over here! Scott went. As soon as the latch clicked behind them, debris began hitting the house above.

    Weather as GIS

    Weather is the most common topic of greetings. It is often the front page on newspapers. Television news is incomplete without a weather report, and weather is among the most downloaded apps on smartphones.

    In many ways, the first GIS was weather, starting in the mid-1800s, long before computers, GNSS and GPS, hand-plotting data points, and then hand-drawing lines of equal pressure, temperature, humidity and winds on charts.

    In the 1990s as a U.S. Navy weather specialist, I drew these charts by hand, plus four upper air charts learning how 3D spatial volumes interact. That was manual GIS. Now, in 2026, weather continues leading geospatial innovation via phased array radars, dual-pole radars (horizontal and vertical scans), acoustic atmospheric sensors, and predictive modeling for weather and climate, all of them layering atmospheric data using complex algorithms to forecast a dynamic fluid medium moving over an irregular spinning sphere that is unevenly heated. It is remarkably accurate, pushing the edges of geospatial predictive modeling.

    The architecture of violence

    The primary driver of powerful tornadoes is atmospheric thermodynamics unique to North America. Dry air crossing over the Rockies, cold arctic air pulled south by the jet stream, and warm moist air drawn north from the Gulf of America converge in a cauldron that can boil a normal convective storm into a sustained mesoscale supercell producing EF-5 tornadoes, the most powerful on record. Even though they make up less than one percent of all tornadoes, it is rare for EF5 tornados to occur anywhere else on Earth.

    The Enhanced Fujita (EF) scale for measuring them was developed in 1971 by Theodore Fujita, a Japanese engineer whose forensic study of atomic bomb blast damage at Nagasaki and Hiroshima led to his damage-based framework for measuring tornado intensity.

    FIGURE 2 This NOAA chart shows a height of 250 millibars (mb) of pressure over Tornado Alley
in the U.S.  (Credit: William Tewelow | Chart from NOAA NWS)
    FIGURE 2 This NOAA chart shows a height of 250 millibars (mb) of pressure over Tornado Alley in the U.S. (Credit: William Tewelow | Chart from NOAA NWS)

    The jet stream, a river of air riding a thermal pressure gradient in the upper atmosphere, creates vorticity as cold dense arctic air plummets south, wedging beneath the warmer Gulf air and forcing it upward along the frontal boundary, before the jet stream curves back north. FIGURE 2, the 300 mb (mb stands for millibars of pressure) chart, shows this process has caused a low pressure over Texas sitting in a 1,200-foot-deep ravine. A jet streak will form as air rushes into the ravine increasing the jet stream’s speed, which draws in rising convection currents that can spawn mesoscale storm cells and set up the potential genesis of severe tornadoes.

    When a funnel cloud forms, it is the visible physics of pressure dropping the temperature to the dew point causing condensation. The dropping pressure forms a bowl shape. Air flows into the dropping pressure, and the base of the cloud rotates cyclonically. As the rotation increases, centrifugal force of the colder dense rotating air pushes out the warmer higher-pressure air, further lowering the pressure at the core and deepening the bowl. That continues as the base descends into higher pressures at the surface, tightening the bowl into a cone. The difference in pressure between air outside the cone and what’s inside the vortex core can be 100 mb. That is basically a hole and wind rushes in to fill that void, but centrifugal force acts against the air. A tornado is born.

    Wraiths of destruction

    On May 31, 2013, 11 days after Moore, a multiple-vortex tornado formed near El Reno, Oklahoma. Along its periphery, small vortices spun around the rotating edge, circling, combining, breaking apart, vanishing and reforming, like wraiths of destruction dancing in a ring. The column darkened, descended and enveloped its own micro-vortices, forming the largest tornado ever recorded: 2.6 miles wide at its base.

    It grew so rapidly that experienced TWISTEX storm chasers attempting to place instrument disks behind it were consumed as it expanded from 1.6 miles to 2.6 miles wide. A father, his son, and a colleague were killed; their car was found eight miles away.

    Storm chasers are not thrill-seekers. WSR-88D NEXRAD, even at its lowest scan angle, already sits at 14,000 ft at its range limit because of the Earth’s curvature; spotters provide the ground truth radar cannot. Instruments such as Ground-based Local Infrasound Data Acquisition (GLINDA) extend that capability further: Tornadoes produce infrasound as low as 0.5 Hz, with a correlation between tornado size and frequency that may one day provide an early warning radar cannot.

    I asked Scott whether he felt the tornado before he heard it.

    “I couldn’t feel it,” he said, “but I could hear the sound of the train coming.”

    I pressed him to describe it beyond the cliché. He thought for a moment, then said, “It’s not a cliché. That is what it sounds like. It sounds like a freight train, and the sound of the house being torn apart.”

    The roar grows

    Back in the shelter, the physics unfolded exactly as Scott described. Unaware of the sensation, a deep groaning sound resonates miles ahead of the tornado. A low constant roar grows louder as it approaches. Explosions pop as transformers blow. The shelter is pitch black except for the phone screen, that small glowing window showing a white ball of catastrophe moving toward them. The roar grows louder. Ears pop. Temperature drops. The house shakes. The roar of the freight train is so loud the screams inside the shelter cannot be heard. The doors rattle. The whirlwind is trying to break in. Then the roar fades, almost to silence, an eerie quiet.

    In Scott’s shelter, the sequence was identical. His ears popped suddenly and painfully; they hurt for a full day afterward. In an EF5 tornado, pressure drops from roughly 950 mb in the surrounding air to 850 mb at the vortex core. The 100 mb passing over him was equal to a 3,000-ft pressure drop. It is the equivalent of instantly ascending two Empire State buildings stacked on top of each other, like falling straight up into the sky. Fighting against that force, Scott and his neighbor held shut the shelter latch as the doors bounced on their hinges.

    “I don’t know how well those are constructed. I didn’t take any chances.”

    Nearby, employees sheltering in a bank vault were physically holding the vault door closed as the tornado passed a thousand feet away. The vault’s timed lock could not engage. Five or six people leaned against a door designed to stop a robbery, fighting powerful thermodynamic forces.

    Then Scott no longer had to hold the latch. The truck on the other side of the garage wall had been pushed against the hatch from outside, pinning them in. When they finally forced it open and stepped out. There was nothing.

    “She just started screaming. She said, ‘No way, it didn’t do that.’ I told her, yeah, there’s nothing left.”

    The entire event, from first debris strike to silence, lasted roughly one minute. At 28 miles per hour, a tornado traverses one mile in two minutes, plowing through a neighborhood in seconds.

    Mapping the aftermath

    The question the rest of us ask from a safer distance is: What is the true pattern of destruction across time and geography? To answer it, I built a Tornado Severity Index (TSI) using National Weather Service tornado data. On average, there are 970 tornadoes per year, 81% are EF0 and EF1; 18% are EF2 and EF3; and the catastrophic EF4 and EF5 make up 1%.

    The NWS database reports the start and end coordinates, path width, magnitude, fatalities, injuries, and damages to property and crops. Working with the coordinate pairs, I calculated the distance and radial bearing of each path. But the EF scale alone tells only part of the story: A powerful tornado crossing an empty field and a moderate tornado crossing a dense neighborhood are not equivalent human events.

    I did not want the TSI to be another version of the EF scale, so the weighting was based entirely on the human toll. The formula is total fatalities (F) at 100% plus injuries (I) at 10%, =F + (I x 0.1) and normalized on a scale of 1 to 100. Economic damage was originally part of the equation, but the data are inconsistent and unreliable across reporting jurisdictions.

    FIGURE 3 The Tornado Severity Index (TSI) takes the human cost into account. (Credit: William Tewelow)
    FIGURE 3 The Tornado Severity Index (TSI) takes the human cost into account. (Credit: William Tewelow)

    The resulting composite doesn’t measure the strength of tornadoes, but rather their human impact (see FIGURE 3). The dataset of tornadoes from 1950 to 2024 is 71,813. Filtering it down to those tornadoes that had a human consequence where the TSI>1 reduced it to 2,362 tornadoes. I reduced it further to 1,625 including only those with one or more fatalities. This was made into a heatmap. The data were further reduced to 301, only filtering out all except where TSI>10. The heatmap color scale was weighted to the TSI Score. It shows where the highest concentration of intense tornadoes occurs.

    The results confirm Tornado Alley from Texas up through Oklahoma, and it also reveals Dixie Alley, an even more destructive corridor of severe tornadoes over Mississippi, Alabama and Tennessee. These areas align with the deep spring meridional jet stream discussed earlier. The northern side of the jet stream enhances cyclonic flow for storms in the area. The peak region of vorticity is where the jet stream turns back north again over Dixie Alley. Additionally, the rising terrain in that area causes orographic lifting and more rain, many times hiding the tornadoes within the pouring rain.

    GIS reveals what the physics predict: a narrow corridor of atmospheric geometry where conditions for catastrophic tornadoes are optimized, running through the same communities, year after year.

    For the sake of context, the Joplin, Missouri tornado on May 22, 2011, that caused 158 fatalities, 1,150 injuries, and damages of $2.8 billion ranks at the top of the TSI. The Moore tornado only scored 16.6 due to far fewer fatalities.

    The dataset reveals the physical signatures of severe tornadoes. On average, they peak in mid-May at 5:30 p.m. with a strength of EF4.2, carve a path 36 miles long and 2,073 feet wide, and each one causes 13 fatalities, 173 injuries, and losses of $71.5 million. Severe tornadoes do not travel west. They do travel a spectrum where most of them fall within a range from 016° to 060° with an average path of travel northeast at 031°. This is why Scott was right to question the reports of the El Reno tornado tracking southeast: What appeared to be southward motion was lateral growth. The tornado was not moving south; it was becoming enormous.

    “Pretty much sucking everything up,” Scott said, with confidence born out of his experience.

    The pattern and the person

    The TSI heatmap is a record of moments like Scott’s, representing a convergence of humans caught up in brutal atmospheric physics, where air becomes violent. The science explains the experience. It cannot prevent the next EF5; the thermodynamics will prevail.

    What GIS adds is pattern, memory and prediction. The TSI with directional analysis gives emergency managers, planners and underwriters insights for understanding where storm physics and humans intersect most acutely, and therefore where shelter codes and warning systems must be most robust.

    The family in their shelter, watching the white dot approach on the glowing screen, is experiencing the culmination of decades of geospatial and meteorological investment: NEXRAD networks, GNSS constellations, real-time data fusion in a consumer app. But as Scott will tell you, the most important instrument was the steel latch on the shelter door, and what mattered most was the neighbor who held it open for him as the tornado approached.

    Tornadoes are Earth’s thermodynamic engines of absolute chaos.

    “I’m not interested in tornadoes,” Scott told me. “Once burnt, you don’t play with the matches anymore.”

    Scott moved out of Oklahoma in 2013. The science is fascinating. People press right up to the edge of it, but the experience when science becomes personal is sheer terror.

    Live tracking tornadoes with GIS census tracts can know in real-time the impact on populations to immediately begin rescue operations, clean-up and recovery.

    GIS cannot capture the whirlwind, but it can track the most violent of them: northeast at 031°, seven football fields wide for 36 miles.

  • BeiDou and GNSS headline ISSN 2023

    BeiDou and GNSS headline ISSN 2023

    The International Symposium on Satellite Navigation 2023: Advances, Opportunities and Challenges (ISSN 2023) will take place Nov. 20-22 in Jiaozuo, Henan, China.

    ISSN 2023 will provide a platform for GNSS scientists and engineers to communicate and exchange theories, methods, technologies, applications and future challenges.

    The event is open to all scientists who may have the latest results and developments in BeiDou (BDS) and GNSS+, including constellations, signals, orbits, receiver design and multi-sensor fusion, as well as positioning, navigation and timing theory, algorithms, models and applications in engineering and Earth science.

    Manuscripts on new advances in multi-GNSS and other regional systems, compatibility, interoperability and new applications are also welcome.

    ISSN 2023 is jointly sponsored by Henan Polytechnic University and the Editorial Office of Satellite Navigation. Main topics and sessions include:

    • Session 1: “Navigation System and Signals”
    • Session 2: “Space and Ground Augmentation”
    • Session 3: “GNSS Receiver and Anti-Spoofing”
    • Session 4: “GNSS Orbiting Determination& Modeling”
    • Session 5: “Integrated PNT and Location-Based Services”
    • Session 6: “GNSS Positioning Algorithms and Models”
    • Session 7: “Integrated Navigation and Smart Applications”
    • Session 8: “GNSS PPP and Applications”
    • Session 9: “Time and Coordinate Reference System”
    • Session 10: “GNSS Atmospheric Sensing & Meteorology”
    • Session 11: “GNSS Ionosphere and Space Weather”
    • Session 12: “GNSS/InSAR Surveying and Geodesy”

    Those interested can learn more about the event and register on the ISSN 2023 website.

  • Furuno’s most advanced global timing module, supporting L1 and L5 GNSS signals

    Furuno’s most advanced global timing module, supporting L1 and L5 GNSS signals

    Image: Furuno Electric
    Image: Furuno Electric

    Furuno Electric has announced a new global timing solution, GT-100, compatible with all GNSS constellations. The GT-100 realizes the world’s highest robustness and standard of time accuracy and stability. Interruption of GNSS satellite signals is a major concern for critical infrastructure systems. The GT-100 features advanced multipath mitigation, anti-jamming and anti-spoofing as well as short-term holdover, ensuring superior performance even if only L1 or only L5 are jammed. 

    The module delivers best-in-class nanosecond precision for 5G wireless systems, radio communications systems, smart power grids and grand master clocks. 

    Along with the GT-100, our GT-9001 and GT-90 achieve a level of time stability of 4.5ns (1σ) and offer superior features and performance.

    Image: Furuno Electric
    Image: Furuno Electric

    Image: Furuno Electric
    Image: Furuno Electric

  • Space weather matters

    Space weather matters

    Matteo Luccio

    The largest source of error in GNSS positioning is the delay suffered by the signals as they pass through the ionosphere traveling from the satellites in orbit to receivers on or near Earth’s surface. That is because the ionosphere is full of free electrons stripped from atoms and molecules by ionization and this plasma refracts the signals, changing their speed. Normally, models compensate for this. However, geomagnetic storms wreak havoc on the free electrons in the ionosphere, making it difficult to accurately determine the signal delay.

    That is why space weather matters for GNSS and for the myriad human activities that have come to depend on it.

    So, here’s the good news. “On a scale of one to five, the geomagnetic storm on April 14 was a three,” Bill Murtagh told me. Murtagh is the Program Coordinator and Space Weather Forecaster at the Space Weather Prediction Center (SWPC) of the National Oceanic and Atmospheric Administration (NOAA). He was referring to the third rung of NOAA’s space weather scales, which were introduced to communicate to the public the current and future space weather conditions and their possible effects on people and systems.

    NOAA has three space weather scales, one each for geomagnetic storms (G scale), solar radiation storms (S scale), and radio blackouts (R scale). The steps on the scales, ranging from “minor” to “extreme,” are analogous to those NOAA uses to classify hurricanes, tornadoes and earthquakes. They describe the environmental disturbances for each of these events and list their possible effects at each level.

    Solar activity runs in 11-year cycles. A G5 event happens two or three times per cycle, and the last one was in October 2003, Murtagh told me. “I can only remember a handful of occasions over the past 20 years when ionospheric activity has significantly impacted users,” told me Gavin Schrock, PLS, manager of the Washington State Reference Network, a regional cooperative of GPS reference stations and data. According to Rick Hamilton, the GPS Information Analysis Team Lead at the U.S. Coast Guard Navigation Center, it “did not receive any reports of interference related to the geostorm” and “there was no significant increase in reports that we might attribute to geomagnetic activity.”

    Now, the bad news. We are heading for a maximum in solar activity, expected to occur in 2025. The Sun is “already quite active,” Murtagh pointed out, and recently there has been an increase in the number of R1 and R2 storms. Solar coronal mass ejections (CMEs), which launch plasma and magnetic fields into space, also have become more frequent. When a CME hits the Earth, its collision with the Earth’s magnetic field causes a geomagnetic storm.

    So, the GNSS constellations and the GNSS industry should be preparing now. Fortunately, improvements in GNSS software and receiver technology, plus corrections and integrity information and the much larger number of satellites, make us better prepared than we were during the last cycle. On the other hand, the stakes also are much larger, due to our ever-greater reliance on GNSS.

    As a sailor, I rely on NOAA nautical charts and marine weather forecasts. GNSS users can thank NOAA for its space weather forecasts.

  • Hexagon | Novatel keeps rows straight despite the weather

    Hexagon | Novatel keeps rows straight despite the weather

    Farmers rely on their GNSS receivers to keep their machines on track, their maps accurate, and their rows straight in demanding environments. GNSS receivers on agricultural equipment need to continue to perform at a high level when faced with extreme weather, temperature and vibration while navigating varying terrain. In addition, farmers rely on the correction services that provide them with the high accuracy needed to keep them operating. Still, they face challenges with outages and interruptions from obstacles blocking satellite signals.

    Hexagon | NovAtel’s SMART7 GNSS receiver and TerraStar Correction Services together create an accurate, robust and reliable solution for farmers. These products undergo extensive testing to ensure a high-performing and dependable solution. The SMART7 accesses all four GNSS constellations (GPS, GLONASS, BeiDou and Galileo), providing the best availability in variable terrain and environmental conditions. To compensate for the pitch and roll in the field, the receiver includes terrain compensation — keeping farmers at centimeter-level accuracy when using TerraStar-C PRO, TerraStar-X or RTK corrections.

    Photo: Hexagon | Novatel
    Photo: Hexagon | Novatel

    TerraStar Correction Services are based on a global network of advanced and proprietary GNSS control centers to ensure 99.999% signal availability to farmers. By delivering quality satellite corrections without the need for base stations, farmers can get the accuracy needed for their operations in a scalable format that moves with their equipment.

    Jacob Van Den Borne is a potato farmer in the southern region of the Netherlands. He has been working with precision farming for more than 10 years and recently switched his Fendt tractor to NovAtel’s SMART7. Throughout his last season, Jacob noticed a substantial improvement in signal reception while passing along the edges of his heavily treed field. Previously, his GNSS equipment would lose reception, causing his rows to wander. After using a SMART7 for one season and experiencing its high precision and reliability, Van Den Borne plans to switch all receivers on his farm to the SMART7.

    Evolving advanced driver-assistance systems (ADAS) and developing safe perception and positioning systems in the agriculture industry are top priorities for NovAtel. With the challenges faced by farmers, finding new ways to support a sustainable increase in their production and productivity will help ease the pressures of a growing population.

  • Hemisphere GNSS launches Vega board with Lyra II, Aquila chipsets

    Hemisphere GNSS launches Vega board with Lyra II, Aquila chipsets

    Logo: Hemisphere GNSSHemisphere GNSS has announced another Vega heading and positioning OEM board using the Lyra II and Aquila chipsets.

    The Vega 60 GNSS board fits industry-standard 46 x 71 mm form factors with a 60-pin connector. It can be used to replace more expensive and lesser abled 60-pin boards with either single- or dual-antenna capabilities.

    Hemisphere’s Lyra II and Aquila application-specific integrated circuit (ASIC) designs provide the ability to simultaneously track and process more than 1,100 channels from all GNSS constellations and signals including GPS, GLONASS, Galileo, BeiDou, QZSS, NavIC, SBAS and L-band. The ASIC technology offers Vega 60 scalable access to every modern GNSS signal available.

    Cygnus interference mitigation technology is also a standard feature, providing built-in digital filtering capabilities and spectrum analysis. This provides enhanced anti-jamming as well as interference detection and mitigation.

    “We are excited for the opportunity to introduce our Vega 60 board,” said Miles Ware, director of marketing at Hemisphere. “Vega 60 brings our industry-leading heading and position solutions to an OEM board footprint with very few affordable upgrade paths.”

  • Editorial Advisory Board Q&A: Should all GNSS follow NavIC?

    Would it be beneficial for GNSS constellations to transmit signals at higher frequencies, such as in the S-band or the C-band, following the example of the Indian NavIC?

    Jean-Marie Sleewaegen
    Jean-Marie Sleewaegen

    “The S- and C-bands refer to frequency bands centered around 2492 MHz and 5020 MHz. The main advantage compared to L-band is the reduced effect of the ionosphere. However, this comes at the expense of higher propagation losses, increased phase jitter due to the lower wavelength, and extra cost in the receiver and antenna when combined with L-band. The added value for existing GNSS systems already transmitting multiple signals in L-band is probably low. However, because they are less congested than L-band, those bands could be attractive to new space-based PNT services.”
    — Jean-Marie Sleewaegen, Septentrio


    Alison Brown
    Alison Brown

    “The main challenge with adding additional bands to GNSS constellations (other than getting frequency allocations) is that these will not be compatible with any existing GNSS chip sets or fielded antennas. The cost/benefit analysis is unlikely to be attractive for most GNSS chip vendors to develop products with this capability.”
    — Alison Brown, NAVSYS Corporation


    Ellen Hall
    Ellen Hall

    There are benefits that the higher bands can offer in GNSS, however the constellation and system must be designed to take advantage of them, which makes it very difficult for the legacy systems that were designed around L-band only to tap into any of these benefits. Higher bands have lower ionospheric distortion, which enables better single-frequency accuracy and unlocks some interesting multi-frequency capability, while shorter wavelengths can allow for smaller antennas in user equipment. However, the tropo/atmospheric distortion gets worse as well as the spreading losses. Another consideration for the higher bands is spectrum interference, as the S-band area especially is extremely busy.

    — Ellen Hall, Spirent Federal Systems

  • Skytraq Technology modules meet market needs

    Skytraq Technology modules meet market needs

    SkyTraq Technology, a fabless semiconductor company, develops GPS/GNSS chipsets and modules for meter-level accuracy vehicle navigation and tracking applications and for centimeter-level accuracy real-time kinematic (RTK) surveying and precision guidance applications.

    Photo: SkyTraq
    Photo: SkyTraq

    The company’s chipset design is driven by market trends, said Oliver Huang, the company’s general manager. He explained the company has moved from single-frequency to dual-frequency devices.

    SkyTraq’s chipset is designed to be common hardware for different target applications enabled by customized software. Traditionally, in the automotive market, vehicle navigation systems have relied on fusing GNSS receivers with dead-reckoning technology that uses micro-electromechanical (MEMS) inertial measurement units (IMUs) and wheel-tick data.

    “We are now seeing more aftermarket vehicle tracking applications that take advantage of superior GNSS/DR performance using untethered dead-reckoning technology that uses sensor fusion of GNSS receiver and MEMS IMUs without the need for wheel-tick data,” Huang said. “GNSS receivers with decimeter or better accuracy, combined with dead-reckoning that uses low drift IMUs, will be important in emerging autonomous vehicle applications.”

    SkyTraq’s PX100 chipset for L1 meter-level accuracy applications and centimeter-level accuracy RTK applications uses L1 and L1/L2 signals from all four major GNSS constellations (GPS, GLONASS, Galileo and BeiDou).

    Because of the trend toward high-precision, which requires good carrier-phase raw measurement data, the biggest challenge in receiver design is with the antenna, Huang explained. “Using an advanced semiconductor process, one can have low power, small size chipsets taking advantage of all the available GNSS signals, yet there is no small antenna capable of producing high-quality carrier phase data for high-precision GNSS applications. So far, we have only seen bulky RTK antennas capable of generating high-precision results.”

  • New developments in GPS

    New developments in GPS

    Matteo Luccio
    Matteo Luccio

    “What’s new with GPS?” people often ask me when I tell them my job. Recently, I have been responding by telling them about the other three GNSS constellations now fully available. However, as reflected every month in these pages, that is but one of many developments that combine to make satellite navigation ever more accurate, reliable and ubiquitous.

    While the GPS program is old by the standards of the digital age, it has never been static. In the 1970s, when GPS was developed, the expected accuracy for civilians was tens of meters, though pioneering commercial users began right away to chip away at the system’s limitations by developing differential GPS (DGPS), carrier-phase positioning, and other techniques. By the end of the next decade, better signal processing and the implementation of DGPS had brought civilian accuracy to about one meter. In the 1990s, phase-ambiguity resolution made real-time centimeter accuracy standard for surveyors.

    As the adoption of cell phones exploded, it became imperative to locate them to preserve the 911 system. Initially, this was done using the time-of-arrival of signals to handsets from towers, because it was assumed that GPS receivers could not be made sufficiently small, cheap, fast, power-efficient and accurate to work in cell phones. The implementation of assisted GPS, now standard in all smartphones, largely solved those problems.

    Precision for civil GPS users increased by an order of magnitude in May 2000, when President Clinton ordered the removal of Selective Availability, and substantially once enough satellites began to broadcast the L2 civil (L2C) code, enabling ionospheric corrections. Later, the modernized signals in the L5 band enabled sub-meter accuracy without augmentations and very long-range operations with augmentations. There are now more than 80 signals in that band, on GPS, Galileo and BeiDou satellites. On the military side, the effort to deploy M-code signals, cards and receivers continues.

    Over the years, in addition to modernized satellites and signals, improvements have included the development of PPP, RTK and hybrid techniques; the proliferation of local, regional and global correction services; improved jamming and spoofing detection; and the increasing integration of GNSS receivers with other RF receivers as well as with inertial, optical, radar, lidar and other sensors.

    Future improvements may include:

    • signal authentication
    • commercial systems in low Earth orbit that would have a signal strength on the surface three orders of magnitude greater than current GNSS, greatly boosting indoor reception and protection from jamming
    • inertially aided extended coherent integration, a.k.a. “supercorrelation,” which makes moving GNSS receivers more sensitive to signals they receive directly than to reflected ones
    • 3D-mapping-aided GNSS, which enhances the positioning algorithms by identifying non-line-of-sight signals; this is being pioneered by Google in nearly 4,000 cities, relying on its 3D city models and machine learning.

    The moment I send this month’s issue to the printer, I will think of more past and future improvements. As soon as you receive it, many of you will think of yet more. What’s new with GPS? A lot.

    Matteo Luccio | Editor-in-Chief
    [email protected]

  • GNSS today: A four-leaf clover

    GNSS today: A four-leaf clover

    Knowing your position is only part of navigation. (Photo: Oliver Montenbruck)
    Knowing your position is only part of navigation. (Photo: Oliver Montenbruck)

    By Oliver Montenbruck and Peter Steigenberger

    A year ago, the U.S. Global Positioning System celebrated its silver jubilee upon completing 25 years in operation. Also, it was more than 20 years ago that President Clinton agreed to switch off Selective Availability, thus offering seamless positioning to the civil community. The 10-bit GPS week count experienced its second rollover, and people worldwide got addicted to a ubiquitous positioning capability in those decades. Be it for finding the nearest restaurant or to track a Sunday afternoon bike ride, positioning-related services building on GPS have become an integral part of our daily life. In fact, GPS has almost become a synonym for navigation itself.

    One cannot underestimate the contribution that GPS has made to society. It is for sure most deserved that the fathers of GPS were ultimately awarded the highly prestigious Queen Elizabeth Prize for Engineering in the year of the above jubilee. As always, success creates followers, and GPS is no longer the sole player. Next to the Russian GLONASS, two new actors — namely the European Galileo and the Chinese BeiDou-3 GNSS — have mounted the stage. So, users are now offered a choice of four independent GNSS.

    However, do we really need so many systems? Isn’t one enough and all others just a waste of taxpayers’ money? The answer to the last question is certainly a clear “no.” Our society already depends on, to a large extent, the availability of positioning, navigation and timing (PNT) services in much the same way we depend on electricity and telecommunication. While mass-market applications such as the ones mentioned above may appear dispensable, there are “hidden” but much more critical applications of GPS, such as synchronizing power lines, stock trading or the base stations of cellular networks.

    Clearly, there is a well-justified rationale for nations or groups of nations to build their independent, space-based navigation systems. Well beyond possible military considerations, this is a basic strategic interest for protection of the local economy and of critical infrastructure. Along with these interests, various regulatory conditions may apply that only endorse the use of selected systems for specific applications, such as emergency call systems. Overall, however, all GNSS in place today can be received and utilized by all interested users around the globe.

    So, let’s have a closer look at the practical relevance and implications of having four GNSS in parallel for both mass-market and high-end users. The most obvious consequence is certainly an almost four-fold increase in the number of satellites. As of today, the four GNSS comprise more than 100 satellites, out of which 30 to 40 are simultaneously visible and available for positioning at common sites with open-sky conditions. As a rule of thumb, this provides a factor-of-two reduction of statistical errors compared to using only GPS.

    Most importantly, however, the prospects for tracking enough satellites for positioning in obstructed sites is greatly improved. The larger number of visible satellites is particularly appealing for GNSS radio scientists who aim to derive temperature and humidity profiles from subtle variations in GNSS signals passing through diverse atmospheric regions. Multiple GNSS allow for better resolution and ultimately benefit weather forecasts.

    In terms of positioning, the simple statistical benefits of tracking a large number of satellites are probably outweighed by technological advances in GNSS satellites and ground systems, as well as substantial progress in receiver technology. For GPS, the signal-in-space range error (SISRE) that describes the contribution of broadcast orbit and clock errors to the position accuracy has decreased by more than a factor of three (Figure 1).

    FIGURE 1. Evolution of the GPS signal-in-space range error over time. (Image: O. Montenbruck and P. Steigenberger)
    FIGURE 1. Evolution of the GPS signal-in-space range error over time. (Image: O. Montenbruck and P. Steigenberger)

    For GPS, but also Galileo and BeiDou-3, the use of highly stable atomic frequency standards has contributed to a notable reduction of the error budget of broadcast ephemerides. The same applies for fast upload capabilities, as in Galileo, or the use of intersatellite links in BeiDou-3. With SISRE values of 0.1–0.2 m and 0.3–0.4 m, these constellations enable even more accurate positioning today than GPS and GLONASS (Figure 2).

    Figure 2. Signal-in-space ranging errors of the four GNSS. (Image: O. Montenbruck and P. Steigenberger)
    Figure 2. Signal-in-space ranging errors of the four GNSS. (Image: O. Montenbruck and P. Steigenberger)

    However, improvements from new signals and multiple constellations are not only limited to single-point positioning, but likewise apply for precise point positioning (PPP) users. Stable clocks onboard the satellites reduce the update rate and bandwidth for real-time correction users. Digital signal generation units in modernized satellites ensure clean chip shapes in the transmitted ranging signals and reduce the scatter of satellite/receiver biases. Last but not least, the increased number of tracked satellites contributes notably to reducing the convergence time required for successful ambiguity fixing.

    Concurrent progress in receiver technology was certainly a prerequisite for being able to track the multitude of new signals that became available with the new and modernized constellations. Compared to early GPS receivers with a few tens of channels, modern geodetic receivers may (or even must) support in the order of 1,000 channels. For mass-market users, the recent introduction of dual-frequency chipsets for mobile phones and car navigation systems marks the most important step forward. These chipsets support joint tracking of signals from GPS, Galileo and BeiDou-3 at the common L1/E1/B1 and L5/E5a/B2a center frequencies. The signals’ chipping rates, modulations and signal power are designed to offer reduced measurement noise, better multipath protection, and improved weak-signal tracking. At the same time, the use of two signal frequencies allows for rigorous elimination of ionospheric path delays, thus removing the biggest contributor to the error budget of low-cost positioning devices.

    All in all, the availability of four GNSS means better performance, robustness, diversity and flexibility for navigation users. We should not forget, however, that all GNSS use basically the same core technology and share the same vulnerabilities. We must still give due attention to the challenge of toughening, augmenting and complementing GNSS to meet society’s needs for robust and assured PNT.


    Oliver Montenbruck is the head of the GNSS Technology and Navigation Group and Peter Steigenberger is a senior scientist at the German Space Operations Center, German Aerospace Center (DLR).

  • GNSS constellations create four strong winds

    GNSS constellations create four strong winds

    Matteo Luccio
    Matteo Luccio

    First, there was one. In July 1995, the U.S. Air Force declared the Global Positioning System had met all the requirements for full operational capability (FOC). Soon thereafter, there were two. In December of that same year, Russia’s Globalnaya Navigazionnaya Sputnikovaya Sistema (Global Navigation Satellite System, or GLONASS), also achieved FOC. For a quarter century, that was it.

    Then, last year, the number doubled, as both the European Union’s Galileo and China’s BeiDou Navigation Satellite System (BDS, named after the Big Dipper asterism, which is known in Chinese as Beidou) achieved FOC.

    The Indian Regional Navigation Satellite System (IRNSS, aka Navigation Indian Constellation, or NavIC, which means “sailor” or “navigator” in Hindi) and Japan’s Quasi-Zenith Satellite System (QZSS, also known as Michibiki) are not global yet, but plan to become so. Currently, NavIC is an autonomous regional satellite navigation system, and NavIC-based trackers are compulsory on commercial vehicles in India. QZSS currently complements GPS to improve coverage in East Asia and Oceania, but Japan plans to have an operational constellation of seven satellites for autonomous capability by 2023. The Korea Positioning System (KPS) plans to join the party by 2035.

    Who’s next? Will it be another country or a private company? Given that the state-sponsored systems are free to end users, I don’t see what the business model would be for a private GNSS constellation, unless it were to piggyback on one built mainly for another purpose.

    Surveyors who have begun to routinely use three or more constellations are over the moon. One, quoted in this month’s cover story, recalls that “the use of GPS for construction staking was an extremely risky proposition” because its residuals exceeded most construction tolerances. Using multiple GNSS constellations, however, has increased confidence in the accuracy of results to the point that some construction companies are relying on GNSS receivers for staking. Additionally, multi-constellation receivers can now increasingly be used under tree canopies and against structures, whether natural or built.

    Whatever their mix of military, political and commercial motivations for building, deploying and operating their own GNSS constellations in addition to the original two, the European Union, China, India, Japan, Korea and whichever entity may follow are greatly improving satellite-based positioning, navigation and timing (PNT) for all users everywhere — by increasing accuracy, shortening the time to first fix, and making GNSS more impervious to jamming and spoofing.

    In 1978, the year that the U.S. Department of Defense launched the first NAVSTAR GPS satellite (“NAVSTAR” was later dropped from the system’s name), Neil Young sang “Four Strong Winds” (originally written by Ian Tyson and performed by him with his wife Sylvia as the Canadian folk-duo Ian and Sylvia).

    Now, GNSS has “four strong winds,” two lighter ones and several more breezes to follow. As a sailor and a navigator, I welcome them heartily. As this magazine’s editor-in-chief, I don’t mind that, like Jeep, Kleenex, Popsicle and Xerox, GPS probably will stick in popular culture as a generic term for global satellite navigation systems way past its accurate description of what is in the box.

    Matteo Luccio | Editor-in-Chief
    [email protected]

  • Editorial Advisory Board PNT Q&A: GNSS diminishing returns?

    As the number of GNSS constellations and satellites in orbit continues to grow,
    will we reach the point of diminishing returns?

    Ellen Hall
    Ellen Hall

    “More satellites equal more data, and redundant constellation systems — through GNSS interoperability — can give us more robust PNT, as restated in the January Memorandum on Space Policy Directive 7. That said, there are always diminishing returns. Treaties place liability on the launching country if something goes wrong, but with tens of thousands of small satellites expected to be launched over the next decade, it will be getting increasingly crowded. Concerns are growing about the necessity of increased maneuvers to keep these satellites from a chain reaction of collisions, which ultimately could cause debris to fall to inhabited areas of Earth.”
    — Ellen Hall / Spirent Federal Systems

    Jean-Marie Sleewaegen
    Jean-Marie Sleewaegen

    “With already more than 130 GNSS satellites in orbit, the benefit of new satellites decreases while the risk of satellites interfering with each other increases. However, this is only considering GNSS as we know it, in the MEO orbit (altitude about 22,000 km). The future of GNSS may well be closer to Earth, in the LEO orbit (<1,000 km), with well-known benefits in terms of convergence time and resilience to jamming. Sooner than later, we can expect constellations of hundreds or thousands of LEO satellites carrying a GNSS-like payload supporting PNT services. No worries, there is still growth potential!”
    — Jean-Marie Sleewaegen / Septentrio

    Headshot: Stuart Riley
    Stuart Riley

    “With the current four GNSS constellations and a typical survey elevation mask of 10˚in North America, we average around 30 visible satellites. Far more are visible in Asia with the addition of the regional systems. In an area with a clear view of the sky, this provides more than enough satellites for precision centimeter positioning. However, most professional GNSS users do not have the luxury of operating exclusively in open areas with ideal conditions. Accessing many satellites across multiple constellations increases the probability of receiving sufficient satellites that produce high-quality measurements in obstructed areas. As the constellations expand, we observe improvement in precision position availability in these locations. The large number of satellites, coupled with independence across the four systems, improves system integrity and continuity while also helping to reduce the converge time in PPP solutions.”
    — Stuart Riley / Trimble

    Bernard Gruber
    Bernard Gruber

    “In a utopian vision of navigation, data gluttons and like-users of GNSS would say that there will never be enough! If capabilities remained static, then yes, I believe we would reach the point of diminishing returns. I would offer that innovation and competition will continue to drive capability improvements via power, signal quality, coverage, integrity and clock/timing accuracy. These innovations, coupled with user equipment flexibility utilizing signals from space, will drive an ever-maturing market balance and increasing return.”
    — Bernard Gruber / Northrop Grumman