NAVSTAR GLOBAL POSITIONING SYSTEM

INTERFACE SPECIFICATION

IS-GPS-200

Revision D

IRN-200D-001

7 March 2006

Navstar GPS Space Segment/Navigation User Interfaces

Deputy System Program Director

GPS JOINT PROGRAM OFFICE

Headquarters

Space and Missile Systems Center (SMC)

Navstar GPS Joint Program Office (SMC/GP)

2420 Vela Way, Suite 1866

El Segundo, CA 90245-4659

U.S.A.

ARINC Engineering Services, LLC

2250 E. Imperial Highway, Suite 450

El Segundo, CA 90245

U.S.A.

Cage Code: 0VYX1

DISTRIBUTION STATEMENT A. APPROVED FOR PUBLIC RELEASE; DISTRIBUTION IS UNLIMITED

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REVISION RECORD

REV DESCRIPTION

DOCUMENT

DATE

APPROVED

Initial Release

25 Jan 1983

Incorporates IRN-200NC-001, IRN-200NC-002, and IRN-

200NC-003

25 Sep 1984

Incorporates IRN-200A-001A

30 Nov 1987

C Incorporates IRN-200B-001 thru IRN-200B-007 10 Oct 1993

C Re-formatted in Microsoft Word 6.0 in GEMS compatible format 10 Oct 1993 12 Jan 1996

C Changed distribution status to Public Release 25 Sep 1997 20 Oct 1997

Incorporates IRN-200C-001 thru IRN-200C-005R1, change ICD-

GPS-200 to IS-GPS-200, introduce and specify the requirements of

Improved Clock and Ephemeris (ICE) message for L2 C signal, and

other additional updates

7 Dec 2004

23 Nov 2004

IRN-200D-001 Adds additional PRN sequences to Section 6 7 Mar 2006 9 Mar 2006

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Page Revision Record

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Revision Pages Revision

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TABLE OF CONTENTS

1. SCOPE.....................................................................................................................................................................1

1.1 Scope ...............................................................................................................................................................1

1.2 IS Approval and Changes................................................................................................................................1

2. APPLICABLE DOCUMENTS..............................................................................................................................3

2.1 Government Documents..................................................................................................................................3

2.2 Non-Government Documents..........................................................................................................................3

3. REQUIREMENTS .................................................................................................................................................5

3.1 Interface Definition .........................................................................................................................................5

3.2 Interface Identification ....................................................................................................................................5

3.2.1 Ranging Codes ......................................................................................................................................5

3.2.1.1 P-Code.........................................................................................................................................6

3.2.1.2 Y-Code ........................................................................................................................................6

3.2.1.3 C/A-Code ....................................................................................................................................6

3.2.1.4 L2 CM-Code (IIR-M, IIF, and subsequent blocks).....................................................................6

3.2.1.5 L2 CL-Code (IIR-M, IIF, and subsequent blocks) ......................................................................6

3.2.1.6 Non-Standard Codes .................................................................................................................11

3.2.2 NAV Data............................................................................................................................................11

3.2.3 L1/L2 Signal Structure ........................................................................................................................12

3.3 Interface Criteria............................................................................................................................................14

3.3.1 Composite Signal ................................................................................................................................14

3.3.1.1 Frequency Plan..........................................................................................................................14

3.3.1.2 Correlation Loss ........................................................................................................................14

3.3.1.3 Carrier Phase Noise...................................................................................................................14

3.3.1.4 Spurious Transmissions.............................................................................................................14

3.3.1.5 Phase Quadrature.......................................................................................................................15

3.3.1.6 User-Received Signal Levels ....................................................................................................15

3.3.1.7 Equipment Group Delay............................................................................................................17

3.3.1.7.1 Group Delay Uncertainty ................................................................................................17

3.3.1.7.2 Group Delay Differential ................................................................................................17

3.3.1.8 Signal Coherence.......................................................................................................................17

3.3.1.9 Signal Polarization ....................................................................................................................17

3.3.2 PRN Code Characteristics ...................................................................................................................18

3.3.2.1 Code Structure...........................................................................................................................18

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3.3.2.2 P-Code Generation ....................................................................................................................20

3.3.2.3 C/A-Code Generation................................................................................................................30

3.3.2.4 L2 CM-/L2 CL-Code Generation..............................................................................................35

3.3.3 Navigation Data...................................................................................................................................38

3.3.3.1 Navigation Data Modulation (L2 CM)......................................................................................38

3.3.3.1.1 Forward Error Correction................................................................................................38

3.3.4 GPS Time and SV Z-Count.................................................................................................................40

4. NOT APPLICABLE.............................................................................................................................................43

5. NOT APPLICABLE.............................................................................................................................................45

6. NOTES...................................................................................................................................................................47

6.1 Acronyms ......................................................................................................................................................47

6.2 Definitions.....................................................................................................................................................51

6.2.1 User Range Accuracy..........................................................................................................................51

6.2.2 SV Block Definitions ..........................................................................................................................51

6.2.2.1 Developmental SVs...................................................................................................................51

6.2.2.2 Operational SVs ........................................................................................................................51

6.2.2.2.1 Block II SVs....................................................................................................................51

6.2.2.2.2 Block IIA SVs.................................................................................................................51

6.2.2.2.3 Block IIR SVs .................................................................................................................52

6.2.2.2.4 Block IIR-M SVs ............................................................................................................52

6.2.2.2.5 Block IIF SVs..................................................................................................................52

6.2.3 Operational Interval Definitions..........................................................................................................52

6.2.3.1 Normal Operations ....................................................................................................................52

6.2.3.2 Short-term Extended Operations ...............................................................................................52

6.2.3.3 Long-term Extended Operations ...............................................................................................52

6.2.4 GPS Week Number .............................................................................................................................53

6.2.5 L5 Civil Signal ....................................................................................................................................53

6.3 Supporting Material.......................................................................................................................................53

6.3.1 Received Signals .................................................................................................................................53

6.3.2 Extended Navigation Mode (Block II/IIA)..........................................................................................55

6.3.3 Block IIA Mode (Block IIR/IIR-M)....................................................................................................56

6.3.4 Autonomous Navigation Mode ...........................................................................................................56

6.3.5 PRN Code sequences expansion ....................................................................................................... 56a

6.3.5.1 Additional C/A-code PRN sequences ..................................................................................... 56a

6.3.5.2 Additional P-Code PRN sequences.........................................................................................56b

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6.3.5.2.1 Additional P-code Generation.......................................................................................56b

6.3.5.3 Additional L2 CM-/L2 CL-Code PRN sequences....................................................................56i

10. APPENDIX I. LETTERS OF EXCEPTION...................................................................................................57

10.1 Scope ...........................................................................................................................................................57

10.2 Applicable Documents ................................................................................................................................57

10.3 Letters of Exception ....................................................................................................................................57

20. APPENDIX II. GPS NAVIGATION DATA STRUCTURE FOR DATA, D(t) ...........................................65

20.1 Scope ...........................................................................................................................................................65

20.2 Applicable Documents. ...............................................................................................................................65

20.2.1 Government Documents....................................................................................................................65

20.2.2 Non-Government Documents............................................................................................................65

20.3 Requirements...............................................................................................................................................67

20.3.1 Data Characteristics...........................................................................................................................67

20.3.2 Message Structure .............................................................................................................................67

20.3.3 Message Content ...............................................................................................................................81

20.3.3.1 Telemetry Word ......................................................................................................................81

20.3.3.2 Handover Word (HOW)..........................................................................................................81

20.3.3.3 Subframe 1 ..............................................................................................................................83

20.3.3.3.1 Subframe 1 Content.......................................................................................................83

20.3.3.3.2 Subframe 1 Parameter Characteristics ..........................................................................86

20.3.3.3.3 User Algorithms for Subframe 1 Data ..........................................................................86

20.3.3.4 Subframes 2 and 3...................................................................................................................93

20.3.3.4.1 Content of Subframes 2 and 3.......................................................................................93

20.3.3.4.2 Subframe 2 and 3 Parameter Characteristics.................................................................95

20.3.3.4.3 User Algorithm for Ephemeris Determination..............................................................95

20.3.3.4.4 NMCT Validity Time..................................................................................................101

20.3.3.5 Subframes 4 and 5.................................................................................................................102

20.3.3.5.1 Content of Subframes 4 and 5.....................................................................................102

20.3.3.5.2 Algorithms Related to Subframe 4 and 5 Data............................................................117

20.3.4 Timing Relationships ......................................................................................................................126

20.3.4.1 Paging and Cutovers..............................................................................................................126

20.3.4.2 SV Time vs. GPS Time .........................................................................................................126

20.3.4.3 Speed of Light .......................................................................................................................126

20.3.4.4 Data Sets................................................................................................................................127

20.3.4.5 Reference Times....................................................................................................................130

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20.3.5 Data Frame Parity............................................................................................................................133

20.3.5.1 SV/CS Parity Algorithm........................................................................................................133

20.3.5.2 User Parity Algorithm ...........................................................................................................133

30. APPENDIX III. GPS NAVIGATION DATA STRUCTURE FOR CNAV DATA, D

(t)..........................137

30.1 Scope .........................................................................................................................................................137

30.2 Applicable Documents. .............................................................................................................................137

30.2.1 Government Documents..................................................................................................................137

30.2.2 Non-Government Documents..........................................................................................................137

30.3 Requirements.............................................................................................................................................139

30.3.1 Data Characteristics.........................................................................................................................139

30.3.2 Message Structure ...........................................................................................................................139

30.3.3 Message Content .............................................................................................................................139

30.3.3.1 Message Type 10 and 11 Ephemeris and Health Parameters ...............................................155

30.3.3.1.1 Message Type 10 and 11 Ephemeris and Health Parameter Content.........................155

30.3.3.1.2 Message Type 10 and 11 Ephemeris Parameter Characteristics .................................158

30.3.3.1.3 User Algorithm for Determination of SV Position......................................................158

30.3.3.2 Message Types 30 Through 37 SV Clock Correction Parameters. .......................................163

30.3.3.2.1 Message Type 30 Through 37 SV Clock Correction Parameter Content....................163

30.3.3.2.2 Clock Parameter Characteristics .................................................................................163

30.3.3.2.3 User Algorithms for SV Clock Correction Data .........................................................163

30.3.3.2.4 SV Clock Accuracy Estimates ....................................................................................165

30.3.3.3 Message Type 30 Ionospheric and Group Delay Correction Parameters ..............................168

30.3.3.3.1 Message Type 30 Ionospheric and Group Delay Correction Parameter Content........168

30.3.3.4 Message Types 31, 12, and 37 Almanac Parameters.............................................................171

30.3.3.4.1 Almanac Reference Week...........................................................................................171

30.3.3.4.2 Almanac Reference Time............................................................................................171

30.3.3.4.3 SV PRN Number.........................................................................................................171

30.3.3.4.4 Signal Health (L1/L2/L5)............................................................................................171

30.3.3.4.5 Midi Almanac Parameter Content...............................................................................172

30.3.3.4.6 Reduced Almanac Parameter Content.........................................................................172

30.3.3.5 Message Type 32 Earth Orientation Parameters (EOP) ........................................................175

30.3.3.5.1 EOP Content ...............................................................................................................175

30.3.3.6 Message Type 33 Coordinated Universal Time (UTC) Parameters ......................................179

30.3.3.6.1 UTC Parameter Content..............................................................................................179

30.3.3.6.2 UTC and GPS Time ....................................................................................................179

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30.3.3.7 Message Types 34, 13, and 14 Differential Correction Parameters ......................................181

30.3.3.7.1 Differential Correction Parameters Content................................................................181

30.3.3.7.2 DC Data Packet...........................................................................................................181

30.3.3.7.3 Application of Clock-Related DC Data.......................................................................184

30.3.3.7.4 Application of Orbit-Related DC Data........................................................................184

30.3.3.7.5 SV Differential Range Accuracy Estimates ................................................................186

30.3.3.8 Message Type 35 GPS/GNSS Time Offset...........................................................................187

30.3.3.8.1 GPS/GNSS Time Offset Parameter Content ...............................................................187

30.3.3.8.2 GPS and GNSS Time ..................................................................................................187

30.3.3.9 Message Types 36 and 15 Text Messages.............................................................................188

30.3.4 Timing Relationships ......................................................................................................................189

30.3.4.1 Paging and Cutovers..............................................................................................................189

30.3.4.2 SV Time vs. GPS Time .........................................................................................................190

30.3.4.3 Speed of Light .......................................................................................................................190

30.3.5 Data Frame Parity............................................................................................................................191

30.3.5.1 Parity Algorithm....................................................................................................................191

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LIST OF FIGURES

Figure 3-1.

Generation of P-, C/A-Codes and Modulating Signals ...................................................................19

Figure 3-2. X1A Shift Register Generator Configuration..................................................................................21

Figure 3-3. X1B Shift Register Generator Configuration..................................................................................22

Figure 3-4. X2A Shift Register Generator Configuration..................................................................................23

Figure 3-5. X2B Shift Register Generator Configuration..................................................................................24

Figure 3-6. P-Code Generation..........................................................................................................................26

Figure 3-7. P-Code Signal Component Timing .................................................................................................27

Figure 3-8. G1 Shift Register Generator Configuration ....................................................................................31

Figure 3-9. G2 Shift Register Generator Configuration ....................................................................................32

Figure 3-10. Example C/A-Code Generation ......................................................................................................33

Figure 3-11. C/A-Code Timing Relationships.....................................................................................................34

Figure 3-12. L2 CM-/L2 CL-Code Timing Relationships...................................................................................36

Figure 3-13. L2 CM/L2 CL Shift Register Generator Configuration ..................................................................37

Figure 3-14. Convolutional Encoder ...................................................................................................................39

Figure 3-15. Convolutional Transmit/Decoding Timing Relationships...............................................................39

Figure 3-16. Time Line Relationship of HOW Message.....................................................................................42

Figure 6-1. User Received Minimum Signal Level Variations (Example, Block II/IIA/IIR)............................54

Figure 10-1. Letters of Exception. .......................................................................................................................59

Figure 20-1. Data Format ....................................................................................................................................69

Figure 20-2. TLM and HOW Formats.................................................................................................................82

Figure 20-3. Sample Application of Correction Parameters................................................................................92

Figure 20-4. Ionospheric Model ........................................................................................................................123

Figure 20-5. Example Flow Chart for User Implementation of Parity Algorithm.............................................135

Figure 30-1. Message Type 10 - Ephemeris 1 ...................................................................................................141

Figure 30-2. Message Type 11 - Ephemeris 2 ...................................................................................................142

Figure 30-3. Message Type 30 - Clock, IONO & Group Delay........................................................................143

Figure 30-4. Message Type 31 - Clock & Reduced Almanac ...........................................................................144

Figure 30-5. Message Type 32 - Clock & EOP.................................................................................................145

Figure 30-6. Message Type 33 - Clock & UTC.................................................................................................146

Figure 30-7. Message Type 34 - Clock & Differential Correction....................................................................147

Figure 30-8. Message Type 35 - Clock & GGTO .............................................................................................148

Figure 30-9. Message Type 36 - Clock & Text .................................................................................................149

Figure 30-10. Message Type 37 - Clock & Midi Almanac .................................................................................150

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Figure 30-11.

Message Type 12 - Reduced Almanac..........................................................................................151

Figure 30-12. Message Type 13 – Clock Differential Correction .......................................................................152

Figure 30-13. Message Type 14 – Ephemeris Differential Correction................................................................153

Figure 30-14. Message Type 15 - Text................................................................................................................154

Figure 30-15. Reduced Almanac Packet Content ................................................................................................174

Figure 30-16. Differential Correction Data Packet..............................................................................................182

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LIST OF TABLES

Table 3-I.

Code Phase Assignments ..................................................................................................................7

Table 3-II. Code Phase Assignments (IIR-M, IIF, and subsequent blocks only)................................................9

Table 3-III. Signal Configuration.......................................................................................................................13

Table 3-IV. Composite L1 Transmitted Signal Phase ........................................................................................16

Table 3-V. Received Minimum RF Signal Strength .........................................................................................16

Table 3-VI. P-Code Reset Timing......................................................................................................................28

Table 3-VII. Final Code Vector States.................................................................................................................29

Table 6-I Additional C/A-/P-Code Phase Assignments................................................................................ 56c

Table 6-II. Additional L2 CM-/L2 CL-Code Phase Assignments ...................................................................56i

Table 20-I. Subframe 1 Parameters ...................................................................................................................87

Table 20-II. Ephemeris Data Definitions ............................................................................................................94

Table 20-III. Ephemeris Parameters.....................................................................................................................96

Table 20-IV. Elements of Coordinate Systems ....................................................................................................97

Table 20-V. Data IDs and SV IDs in Subframes 4 and 5..................................................................................105

Table 20-VI. Almanac Parameters .....................................................................................................................107

Table 20-VII. NAV Data Health Indications .......................................................................................................109

Table 20-VIII. Codes for Health of SV Signal Components.................................................................................110

Table 20-IX. UTC Parameters............................................................................................................................113

Table 20-X. Ionospheric Parameters .................................................................................................................114

Table 20-XI. IODC Values and Data Set Lengths (Block II/IIA) .....................................................................128

Table 20-XII. IODC Values and Data Set Lengths (Block IIR/IIR-M/IIF)........................................................129

Table 20-XIII. Reference Times ...........................................................................................................................132

Table 20-XIV. Parity Encoding Equations............................................................................................................134

Table 30-I. Message Types 10 and 11 Parameters...........................................................................................159

Table 30-II. Elements of Coordinate System ....................................................................................................161

Table 30-III. Clock Correction and Accuracy Parameters .................................................................................164

Table 30-IV. Group Delay Differential Parameters............................................................................................168

Table 30-V. Midi Almanac Parameters.............................................................................................................173

Table 30-VI. Reduced Almanac Parameters.......................................................................................................174

Table 30-VII. Earth Orientation Parameters .........................................................................................................176

Table 30-VIII. Application of EOP Parameters .....................................................................................................177

Table 30-IX. UTC Parameters............................................................................................................................180

Table 30-X. Differential Correction Parameters.................................................................................................183

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Table 30-XI.

GPS/GNSS Time Offset Parameters.............................................................................................188

Table 30-XII. Message Broadcast Intervals.........................................................................................................189

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1. SCOPE

1.1 Scope

. This Interface Specification (IS) defines the requirements related to the interface between the Space

Segment (SS) of the Global Positioning System (GPS) and the navigation User Segment (US) of the GPS for radio

frequency (RF) link 1 (L1) and link 2 (L2).

1.2 IS Approval and Changes

. ARINC Engineering Services, LLC has been designated the Interface Control

Contractor (ICC), and is responsible for the basic preparation, approval, distribution, retention, and Interface Control

Working Group (ICWG) coordination of the IS in accordance with GP-03-001. The Navstar GPS Joint Program

Office is the necessary authority to make this IS effective. The Joint Program Office (JPO) administers approvals

under the auspices of the Configuration Control Board (CCB), which is governed by the appropriate JPO Operating

Instruction (OI). Military organizations and contractors are represented at the CCB by their respective segment

member. All civil organizations and public interest are represented by the Department of Transportation

representative of the GPS JPO.

A proposal to change the approved version of this IS can be submitted by any ICWG participating organization to

the GPS JPO and/or the ICC. The ICC is responsible for the preparation of the change paper and change

coordination, in accordance with GP-03-001. The ICC prepares the change paper as a Proposed Interface Revision

Notice (PIRN) and is responsible for coordination of PIRNs with the ICWG. The ICWG coordinated PIRN must be

submitted to the GPS JPO CCB for review and approval.

The ICWG review period for all Proposed Interface Revisions Notices (PIRNs) is 45 days after receipt by individual

addressees. A written request to extend the review period may be submitted to the ICC for consideration.

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2. APPLICABLE DOCUMENTS

2.1 Government Documents

. The following documents of the issue specified contribute to the definition of the

interfaces between the GPS Space Segment and the GPS navigation User Segment, and form a part of this IS to the

extent specified herein.

Specifications

Federal

None

Military

None

Other Government Activity

None

Standards

Federal

None

Military

None

Other Publications

GP-03-001

14 Nov 2003

GPS Interface Control Working Group Charter

2.2 Non-Government Documents

. The following documents of the issue specified contribute to the definition of

the interfaces between the GPS Space Segment and the GPS Navigation User Segment and form a part of this IS to

the extent specified herein.

Specifications

None

Other Publications

None

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3. REQUIREMENTS

3.1 Interface Definition

. The interface between the GPS Space Segment (SS) and the GPS navigation User

Segment (US) includes two RF links, L1 and L2. Utilizing these links, the space vehicles (SVs) of the SS shall

provide continuous earth coverage signals that provide to the US the ranging codes and the system data needed to

accomplish the GPS navigation (NAV) mission. These signals shall be available to a suitably equipped user with

RF visibility to an SV.

3.2 Interface Identification

. The carriers of L1 and L2 are typically modulated by one or more bit trains, each of

which normally is a composite generated by the modulo-2 addition of a pseudo-random noise (PRN) ranging code

and the downlink system data (referred to as NAV data).

3.2.1 Ranging Codes

. Three PRN ranging codes are transmitted: the precision (P) code which is the principal

NAV ranging code; the Y-code, used in place of the P-code whenever the anti-spoofing (A-S) mode of operation is

activated; and the coarse/acquisition (C/A) code which is used for acquisition of the P (or Y) code (denoted as P(Y))

and as a civil ranging signal. Code-division-multiple-access techniques allow differentiating between the SVs even

though they may transmit at the same frequencies. The SVs will transmit intentionally "incorrect" versions of the

C/A and the P(Y) codes where needed to protect the users from receiving and utilizing anomalous NAV signals as

a result of a malfunction in the SV's reference frequency generation system. These two "incorrect" codes are termed

non-standard C/A (NSC) and non-standard Y (NSY) codes.

For Block IIR-M, IIF, and subsequent blocks of SVs, two additional PRN ranging codes are transmitted. They are

the L2 civil-moderate (L2 CM) code and the L2 civil-long (L2 CL) code. The SVs will transmit intentionally

"incorrect" versions of the L2 CM and L2 CL codes where needed to protect the users from receiving and utilizing

anomalous NAV signals as a result of a malfunction in the SV's reference frequency generation system. These

"incorrect" codes are termed non-standard L2 CM (NSCM) and non-standard L2 CL (NSCL) codes. The SVs shall

also be capable of initiating and terminating the broadcast of NSCM and/or NSCL code(s) independently of each

other, in response to CS command.

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3.2.1.1 P-Code

. The PRN P-code for SV ID number i is a ranging code, P

(t), of 7 days in length at a chipping

rate of 10.23 Mbps. The 7 day sequence is the modulo-2 sum of two sub-sequences referred to as X1 and X2

; their

lengths are 15,345,000 chips and 15,345,037 chips, respectively. The X2

sequence is an X2 sequence selectively

delayed by 1 to 37 chips thereby allowing the basic code generation technique to produce a set of 37 mutually

exclusive P-code sequences of 7 days in length. Of these, 32 are designated for use by SVs and 5 are reserved for

other purposes (e.g. ground transmitters, etc.). Assignment of these code phase segments by SV-ID number (or

other use) is given in Table 3-I. Additional PRN P-code sequences with assigned PRN numbers are provided in

Section 6.3.5.2, Table 6-I

3.2.1.2 Y-Code

. The PRN Y-code is used in place of the P-code when the A-S mode of operation is activated.

3.2.1.3 C/A-Code

. The PRN C/A-Code for SV ID number i is a Gold code, G

(t), of 1 millisecond in length at a

chipping rate of 1023 Kbps. The G

(t) sequence is a linear pattern generated by the modulo-2 addition of two sub-

sequences, G1 and G2

, each of which is a 1023 chip long linear pattern. The epochs of the Gold code are

synchronized with the X1 epochs of the P-code. As shown in Table 3-I, the G2

sequence is a G2 sequence

selectively delayed by pre-assigned number of chips, thereby generating a set of different C/A-codes. Assignment

of these by GPS PRN signal number is given in Table 3-I. Additional PRN C/A-code sequences with assigned PRN

numbers are provided in Section 6.3.5.1, Table 6-I

3.2.1.4 L2 CM-Code (IIR-M, IIF, and subsequent blocks)

. The PRN L2 CM-code for SV ID number i is a ranging

code, C

M,i

(t), which is 20 milliseconds in length at a chipping rate of 511.5 Kbps. The epochs of the L2 CM-code

are synchronized with the X1 epochs of the P-code. The C

M,i

(t) sequence is a linear pattern which is short cycled

every count of 10230 chips by resetting with a specified initial state. Assignment of initial states by GPS PRN

signal number is given in Table 3-II. Additional PRN L2 CM-code sequence pairs are provided in Section 6.3.5.3,

Table 6-II

3.2.1.5 L2 CL-Code (IIR-M, IIF, and subsequent blocks)

. The PRN L2 CL-code for SV ID number i is a ranging

code, C

L,i

(t), which is 1.5 seconds in length at a chipping rate of 511.5 Kbps. The epochs of the L2 CL-code are

synchronized with the X1 epochs of the P-code. The C

L,i

(t) sequence is a linear pattern which is generated using the

same code generator polynomial as the one used for C

M,i

(t). However, the C

L,i

(t) sequence is short cycled by

resetting with a specified initial state every code count of 767250 chips. Assignment of initial states by GPS PRN

signal number is given in Table 3-II. Additional PRN L2 CL-code sequence pairs are provided in Section 6.3.5.3,

Table 6-II

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Table 3-I. Code Phase Assignments (sheet 1 of 2)

Code Phase Selection

Code Delay

Chips

No.

GPS PRN

Signal

No.

C/A(G2

)**** (X2

) C/A P

First

10 Chips

Octal*

C/A

First

12 Chips

Octal

2 ⊕ 6

3 ⊕ 7

4 ⊕ 8

5 ⊕ 9

1 ⊕ 9

2 ⊕ 10

1 ⊕ 8

2 ⊕ 9

3 ⊕ 10

2 ⊕ 3

3 ⊕ 4

5 ⊕ 6

6 ⊕ 7

7 ⊕ 8

8 ⊕ 9

9 ⊕ 10

1 ⊕ 4

2 ⊕ 5

3 ⊕ 6

139

140

141

251

252

254

255

256

257

258

469

470

471

1440

1620

1710

1744

1133

1455

1131

1454

1626

1504

1642

1750

1764

1772

1775

1776

1156

1467

1633

4444

4000

4222

4333

4377

4355

4344

4340

4342

4343

⏐

4343

* In the octal notation for the first 10 chips of the C/A code as shown in this column, the first

digit (1) represents a "1" for the first chip and the last three digits are the conventional octal

representation of the remaining 9 chips. (For example, the first 10 chips of the C/A code for

PRN Signal Assembly No. 1 are: 1100100000).

** C/A codes 34 and 37 are common.

*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).

**** The two-tap coder utilized here is only an example implementation that generates a limited set

of valid C/A codes.

⊕ = "exclusive or"

NOTE: The code phase assignments constitute inseparable pairs, each consisting of a specific C/A

and a specific P code phase, as shown above.

IS-GPS-200D

7 Dec 2004

Table 3-I. Code Phase Assignments (sheet 2 of 2)

Code Phase Selection

Code Delay

Chips

No.

GPS PRN

Signal

No.

C/A(G2

)**** (X2

) C/A P

First

10 Chips

Octal*

C/A

First

12 Chips

Octal

***

34**

37**

4 ⊕ 7

5 ⊕ 8

6 ⊕ 9

1 ⊕ 3

4 ⊕ 6

5 ⊕ 7

6 ⊕ 8

7 ⊕ 9

8 ⊕ 10

1 ⊕ 6

2 ⊕ 7

3 ⊕ 8

4 ⊕ 9

5 ⊕ 10

4 ⊕ 10

1 ⊕ 7

2 ⊕ 8

4 ⊕ 10

472

473

474

509

512

513

514

515

516

859

860

861

862

863

950

947

948

950

1715

1746

1763

1063

1706

1743

1761

1770

1774

1127

1453

1625

1712

1745

1713

1134

1456

1713

4343

⏐

4343

* In the octal notation for the first 10 chips of the C/A code as shown in this column, the first

digit (1) represents a "1" for the first chip and the last three digits are the conventional

octal representation of the remaining 9 chips. (For example, the first 10 chips of the C/A

code for PRN Signal Assembly No. 1 are: 1100100000).

** C/A codes 34 and 37 are common.

*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).

**** The two-tap coder utilized here is only an example implementation that generates a limited

set of valid C/A codes.

⊕ = "exclusive or"

NOTE: The code phase assignments constitute inseparable pairs, each consisting of a specific C/A

and a specific P code phase, as shown above.

IS-GPS-200D

7 Dec 2004

Table 3-II. Code Phase Assignments (IIR-M, IIF, and subsequent blocks only) (sheet 1 of 2)

Initial Shift Register State (Octal) End Shift Register State (Octal)

No.

GPS PRN

Signal

No.

L2 CM L2 CL L2 CM * L2 CL **

742417664

756014035

002747144

066265724

601403471

703232733

124510070

617316361

047541621

733031046

713512145

024437606

021264003

230655351

001314400

222021506

540264026

205521705

064022144

624145772

506610362

220360016

710406104

001143345

053023326

652521276

206124777

015563374

561522076

023163525

117776450

606516355

003037343

046515565

671511621

605402220

002576207

525163451

552566002

034445034

723443711

511222013

463055213

667044524

652322653

505703344

520302775

244205506

236174002

654305531

435070571

630431251

234043417

535540745

043056734

731304103

412120105

267724236

167516066

771756405

047202624

052770433

761743665

133015726

610611511

352150323

051266046

305611373

504676773

272572634

731320771

631326563

231516360

030367366

713543613

232674654

* Short cycled period = 10230

** Short cycled period = 767250

*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).

NOTE: There are many other available initial register states which can be used for other signal

transmitters including any additional SVs in future.

IS-GPS-200D

7 Dec 2004

Table 3-II. Code Phase Assignments (IIR-M, IIF, and subsequent blocks only) (sheet 2 of 2)

Initial Shift Register State (Octal) End Shift Register State (Octal)

No.

GPS PRN

Signal

No.

L2 CM L2 CL L2 CM * L2 CL **

***

120161274

044023533

724744327

045743577

741201660

700274134

010247261

713433445

737324162

311627434

710452007

722462133

050172213

500653703

755077436

136717361

756675453

435506112

266527765

006760703

501474556

743747443

615534726

763621420

720727474

700521043

222567263

132765304

746332245

102300466

255231716

437661701

717047302

222614207

561123307

240713073

365636111

143324657

110766462

602405203

177735650

630177560

653467107

406576630

221777100

773266673

100010710

431037132

624127475

154624012

275636742

644341556

514260662

133501670

641733155

730125345

000316074

171313614

001523662

023457250

330733254

625055726

476524061

602066031

012412526

705144501

615373171

041637664

100107264

634251723

257012032

703702423

* Short cycled period = 10230

** Short cycled period = 767250

*** PRN sequences 33 through 37 are reserved for other uses (e.g. ground transmitters).

NOTE: There are many other available initial register states which can be used for other signal

transmitters including any additional SVs in future.

IS-GPS-200D

7 Dec 2004

3.2.1.6 Non-Standard Codes

. The NSC, NSCM, NSCL, and NSY codes, used to protect the user from a

malfunction in the SV's reference frequency system (reference paragraph 3.2.1), are not for utilization by the user

and, therefore, are not defined in this document.

3.2.2 NAV Data

. The NAV data, D(t), includes SV ephemerides, system time, SV clock behavior data, status

messages and C/A to P (or Y) code handover information, etc. The 50 bps data is modulo-2 added to the P(Y)-

and C/A- codes; the resultant bit-trains are used to modulate the L1 and L2 carriers. For a given SV, the data train

D(t), if present, is common to the P(Y)- and C/A- codes on both the L1 and L2 channels. The content and

characteristics of the NAV data, D(t), are given in Appendix II of this document.

For Block IIR-M, Block IIF, and subsequent blocks of SVs, civil navigation (CNAV) data, D

(t), also includes SV

ephemerides, system time, SV clock behavior, status messages, etc. The D

(t) is a 25 bps data stream which is

coded by a rate ½ convolutional coder. When selected by ground command, the resulting 50 sps symbol stream is

modulo-2 added to the L2 CM-code; the resultant bit-train is combined with L2 CL-code using chip by chip time-

division multiplexing method (i.e. alternating between L2 CM ⊕ data and L2 CL chips); the multiplexed bit-train is

used to modulate the L2 carrier. The content and characteristics of the CNAV data, D

(t), are given in Appendix III

of this document.

During the initial period of Block IIR-M SVs operation, prior to Initial Operational Capability of L2 C signal, Block

IIR-M may modulo-2 add the NAV data, D(t), to the L2 CM-code instead of CNAV data, D

(t). Moreover, the

NAV data, D(t), can be used in one of two different data rates which are selectable by ground command. D(t) with a

data rate of 50 bps can be commanded to be modulo-2 added to the L2 CM-code, or D(t) with a symbol rate of 50

symbols per second (sps) (rate ½ convolutional encode of a 25 bps NAV data) can be commanded to be modulo-2

added to the L2 CM-code. The resultant bit-train is combined with L2 CL-code using chip by chip time-division

multiplexing method (i.e. alternating between L2 CM ⊕ data and L2 CL chips). This multiplexed bit-train is used to

modulate the L2 carrier.

IS-GPS-200D

7 Dec 2004

3.2.3 L1/L2 Signal Structure

. The L1 consists of two carrier components which are in phase quadrature with each

other. Each carrier component is bi-phase shift key (BPSK) modulated by a separate bit train. One bit train is the

modulo-2 sum of the P(Y)-code and NAV data, D(t), while the other is the modulo-2 sum of the C/A-code and the

NAV data, D(t). For Block II/IIA and IIR, the L2 is BPSK modulated by only one of those two bit trains; the bit

train to be used for L2 modulation is selected by ground command. A third modulation mode is also selectable on

the L2 channel by ground command: it utilizes the P(Y)-code without the NAV data as the modulating signal. For

a particular SV, all transmitted signal elements (carriers, codes and data) are coherently derived from the same on-

board frequency source.

For Block IIR-M, Block IIF, and subsequent blocks of SVs, the L2 consists of two carrier components. One carrier

component is BPSK modulated by the bit train which is the modulo-2 sum of the P(Y)-code with or without NAV

data D(t), while the other is BPSK modulated by any one of three other bit trains which are selectable by ground

command. The three possible bit trains are: (1) the modulo-2 sum of the C/A-code and D(t); (2) the C/A-code with

no data and; (3) a chip-by-chip time multiplex combination of bit trains consisting of the L2 CM-code with D

(t)

and the L2 CL-code with no data. The L2 CM-code with the 50 sps symbol stream of D

(t) is time-multiplexed

with L2 CL-code at a 1023 kHz rate as described in paragraph 3.2.2. The first L2 CM-code chip starts

synchronously with the end/start of week epoch.

During the initial period of Block IIR-M SVs operation, prior to Initial Operational Capability of L2 C signal, Block

IIR-M may modulo-2 add the NAV data, D(t), to the L2 CM-code instead of CNAV data, D

(t). In such

configuration, the data rate of D(t) may be 50 bps (i.e. without convolution encoding) or it may be 25 bps. The D(t)

of 25 bps shall be convolutionally encoded resulting in 50 sps.

The different configuration and combination of codes/signals specified in this section are shown in Table 3-III.

IS-GPS-200D

7 Dec 2004

Table 3-III. Signal Configuration

L1 L2**

SV Blocks

In-Phase* Quadrature-Phase* In-Phase* Quadrature-Phase*

Block II/IIA/IIR

P(Y) ⊕ D(t) C/A ⊕ D(t)

P(Y) ⊕ D(t)

P(Y)

C/A ⊕ D(t)

Not Applicable

Block IIR-M***

P(Y) ⊕ D(t) C/A ⊕ D(t)

P(Y) ⊕ D(t)

P(Y)

L2 CM ⊕ D(t) with L2 CL

L2 CM ⊕ D′(t) with L2 CL

C/A ⊕ D(t)

C/A

Block IIR-M/IIF

P(Y) ⊕ D(t) C/A ⊕ D(t)

P(Y) ⊕ D(t)

P(Y)

L2 CM ⊕ D

(t) with L2 CL

C/A ⊕ D(t)

C/A

Notes: 1) The configuration identified in this table reflects only the content of Section 3.2.3 and does not

show all available codes/signals on L1/L2.

2) It should be noted that there are no flags or bits in the navigation message to directly indicate

which signal option is broadcast for L2 Civil (L2 C) signal.

⊕ = “exclusive-or” (modulo-2 addition)

D(t) = NAV data at 50 bps

D′(t) = NAV data at 25 bps with FEC encoding resulting in 50 sps

(t) = CNAV data at 25 bps with FEC encoding resulting in 50 sps

* Terminology of “in-phase” and “quadrature-phase” is used only to identify the relative phase

quadrature relationship of the carrier components (i.e. 90 degrees offset of each other).

** The two carrier components on L2 may not have the phase quadrature relationship. They may be

broadcast on same phase (ref. Section 3.3.1.5).

*** Possible signal configuration for Block IIR-M only during the initial period of Block IIR-M SVs

operation, prior to Initial Operational Capability of L2 C signal. See paragraph 3.2.2.

IS-GPS-200D

7 Dec 2004

3.3 Interface Criteria

. The criteria specified in the following define the requisite characteristics of the SS/US

interface for the L1 and L2.

3.3.1 Composite Signal

. The following criteria define the characteristics of the composite signals.

3.3.1.1 Frequency Plan

. The signals shall be contained within two 20.46-MHz bands centered about L1 and L2.

The carrier frequencies for the L1 and L2 signals shall be coherently derived from a common frequency source

within the SV. The nominal frequency of this source -- as it appears to an observer on the ground -- is 10.23 MHz.

The SV carrier frequency and clock rates -- as they would appear to an observer located in the SV -- are offset to

compensate for relativistic effects. The clock rates are offset by

∆

f/f = -4.4647E-10, equivalent to a change in the

P-code chipping rate of 10.23 MHz offset by a

∆

f = -4.5674E-3 Hz. This is equal to 10.22999999543 MHz. The

nominal carrier frequencies (f

) shall be 1575.42 MHz, and 1227.6 MHz for L1 and L2, respectively.

3.3.1.2 Correlation Loss

. Correlation loss is defined as the difference between the SV power received in a 20.46

MHz bandwidth and the signal power recovered in an ideal correlation receiver of the same bandwidth. On the L1

and L2 channels, the worst case correlation loss occurs when the carrier is modulated by the sum of the P(Y) code

and the NAV data stream. For this case, the correlation loss apportionment shall be as follows:

1. SV modulation imperfections 0.6 dB

2. Ideal UE receiver waveform distortion 0.4 dB

(due to 20.46 MHz filter)

3.3.1.3 Carrier Phase Noise

. The phase noise spectral density of the unmodulated carrier shall be such that a phase

locked loop of 10 Hz one-sided noise bandwidth shall be able to track the carrier to an accuracy of 0.1 radians rms.

3.3.1.4 Spurious Transmissions

. In-band spurious transmissions shall be at least 40 dB below the unmodulated L1

and L2 carriers over the allocated 20.46 MHz channel bandwidth.

IS-GPS-200D

7 Dec 2004

3.3.1.5 Phase Quadrature

. The two L1 carrier components modulated by the two separate bit trains (C/A-code plus

data and P(Y)-code plus data) shall be in phase quadrature (within ±100 milliradians) with the C/A signal carrier

lagging the P signal by 90 degrees. Referring to the phase of the P carrier when P

(t) equals zero as the "zero phase

angle", the P(Y)- and C/A-code generator output shall control the respective signal phases in the following manner:

when P

(t) equals one, a 180-degree phase reversal of the P-carrier occurs; when G

(t) equals one, the C/A carrier

advances 90 degrees; when the G

(t) equals zero, the C/A carrier shall be retarded 90 degrees (such that when G

(t)

changes state, a 180-degree phase reversal of the C/A carrier occurs). The resultant nominal composite transmitted

signal phases as a function of the binary state of only the two modulating signals are as shown in Table 3-IV.

For Block IIR-M, IIF, and subsequent blocks of SVs, phase quadrature relationship between the two L2 carrier

components can be the same as for the two L1 carrier components as described above. However, for the L2 case,

the civil signal carrier component is modulated by any one of three (IIF) or four (IIR-M) different bit trains as

described in paragraph 3.2.3. Moreover, the two L2 carrier components can be in same phase. The resultant

composite transmitted signal phases will vary as a function of the binary state of the modulating signals as well as

the signal power ratio and phase quadrature relationship. Beyond these considerations, additional carrier

components in Block IIR-M, IIF, and subsequent blocks of SVs will result in composite transmitted signal phase

relationships other than the nominal special case of Table 3-IV.

For Block IIF, the crosstalk between the C/A, when selected, and P(Y) signals shall not exceed –20 dB in the L1 and

L2. The crosstalk is the relative power level of the undesired signal to the desired reference signal.

3.3.1.6 User-Received Signal Levels

. The SV shall provide L1 and L2 navigation signal strength at end-of-life

(EOL), worst-case, in order to meet the minimum levels specified in Table 3-V. The minimum received power is

measured at the output of a 3 dB

linearly polarized user receiving antenna (located near ground) at worst normal

orientation, when the SV is above a 5-degree elevation angle. The received signal levels are observed within the in-

band allocation defined in para. 3.3.1.1.

The Block IIF SV shall provide L1 and L2 signals with the following characteristic: the L1 off-axis power gain

shall not decrease by more than 2 dB from the Edge-of-Earth (EOE) to nadir, nor more than 10 dB from EOE to 20

degrees off nadir, and no more than 18 dB from EOE to 23 degrees off nadir; the L2 off-axis power gain shall not

decrease by more than 2 dB from EOE to nadir, and no more than 10 dB from EOE to 23 degrees off nadir; the

power drop off between EOE and ±23 degrees shall be in a monotonically decreasing fashion.

Additional related data is provided as supporting material in paragraph 6.3.1.

IS-GPS-200D

7 Dec 2004

Table 3-IV. Composite L1 Transmitted Signal Phase ** (Block II/IIA and IIR SVs Only)

Code State

Nominal Composite L1

Signal Phase*

P C/A

0°

-70.5°

+109.5°

180°

* Relative to 0, 0 code state with positive angles leading and negative angles lagging.

** Based on the composite of two L1 carrier components with 3 dB difference in the power levels of the two.

Table 3-V. Received Minimum RF Signal Strength

Signal

SV Blocks Channel

P(Y) C/A or L2 C

L1 -161.5 dBW -158.5 dBW

II/IIA/IIR

L2 -164.5 dBW -164.5 dBW

L1 -161.5 dBW -158.5 dBW

IIR-M/IIF

L2 -161.5 dBW -160.0 dBW

IS-GPS-200D

7 Dec 2004

3.3.1.7 Equipment Group Delay

. Equipment group delay is defined as the delay between the signal radiated output

of a specific SV (measured at the antenna phase center) and the output of that SV's on-board frequency source; the

delay consists of a bias term and an uncertainty. The bias term is of no concern to the US since it is included in the

clock correction parameters relayed in the NAV data, and is therefore accounted for by the user computations of

system time (reference paragraphs 20.3.3.3.3.1, 30.3.3.2.3). The uncertainty (variation) of this delay as well as the

group delay differential between the signals of L1 and L2 are defined in the following.

3.3.1.7.1 Group Delay Uncertainty

. The effective uncertainty of the group delay shall not exceed 3.0 nanoseconds

(two sigma).

3.3.1.7.2 Group Delay Differential

. The group delay differential between the radiated L1 and L2 signals (i.e. L1

P(Y) and L2 P(Y), L1 P(Y) and L2 C) is specified as consisting of random plus bias components. The mean

differential is defined as the bias component and will be either positive or negative. For a given navigation payload

redundancy configuration, the absolute value of the mean differential delay shall not exceed 15.0 nanoseconds.

The random variations about the mean shall not exceed 3.0 nanoseconds (two sigma). Corrections for the bias

components of the group delay differential are provided to the US in the Nav message using parameters designated

as T

(reference paragraph 20.3.3.3.3.2) and Inter-Signal Correction (ISC) (reference paragraph 30.3.3.3.1.1).

3.3.1.8 Signal Coherence

. All transmitted signals for a particular SV shall be coherently derived from the same

on-board frequency standard; all digital signals shall be clocked in coincidence with the PRN transitions for the P-

signal and occur at the P-signal transition speed. On the L1 channel the data transitions of the two modulating

signals (i.e., that containing the P(Y)-code and that containing the C/A-code), L1 P(Y) and L1 C/A, shall be such

that the average time difference between the transitions does not exceed 10 nanoseconds (two sigma).

3.3.1.9 Signal Polarization

. The transmitted signal shall be right-hand circularly polarized (RHCP). For the

angular range of ±14.3 degrees from boresight, L1 ellipticity shall be no worse than 1.2 dB for Block II/IIA and

shall be no worse than 1.8 dB for Block IIR/IIR-M/IIF SVs. L2 ellipticity shall be no worse than 3.2 dB for Block

II/IIA SVs and shall be no worse than 2.2 dB for Block IIR/IIR-M/IIF over the angular range of ±14.3 degrees from

boresight.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

3.3.2 PRN Code Characteristics

. The characteristics of the P-, L2 CM-, L2 CL-, and the C/A-codes are defined

below in terms of their structure and the basic method used for generating them. Figure 3-1 depicts a simplified

block diagram of the scheme for generating the 10.23 Mbps P

(t) and the 1.023 Mbps G

(t) patterns (referred to as P-

and C/A-codes respectively), and for modulo-2 summing these patterns with the NAV bit train, D(t), which is

clocked at 50 bps. The resultant composite bit trains are then used to modulate the signal carriers.

3.3.2.1 Code Structure

. The P

(t) pattern (P-code) is generated by the modulo-2 summation of two PRN codes,

X1(t) and X2(t - iT), where T is the period of one P-code chip and equals (1.023 x 10

)

-1

seconds, while i is an

integer from 1 through 37. This allows the generation of 37 unique P(t) code phases (identified in Table 3-I) using

the same basic code generator.

The linear G

(t) pattern (C/A-code) is the modulo-2 sum of two 1023-bit linear patterns, G1 and G2

. The latter

sequence is selectively delayed by an integer number of chips to produce many different G(t) patterns (defined in

Table 3-I).

The C

M,i

(t) pattern (L2 CM-code) is a linear pattern which is reset with a specified initial state every code count of

10230 chips. Different initial states are used to generate different C

M,i

(t) patterns (defined in Table 3-II).

The C

L,i

(t) pattern (L2 CL-code) is also a linear pattern but with a longer reset period of 767250 chips. Different

initial states are used to generate different C

L,i

(t) patterns (defined in Table 3-II).

For a given SV-ID, two different initial states are used to generate different C

L,i

(t) and C

M,i

(t) patterns.

Section 6.3.5 provides a selected subset of additional P-, L2 CM-, L2 CL-, and the C/A-code sequences with

assigned PRN numbers.

IS-GPS-200D

7 Dec 2004

Figure 3-1. Generation of P-, C/A-Codes and Modulating Signals

Z-

COUNTER

RESET

COMMAND

GENERATOR

X1 CODE

GENERATOR

CODE

SELECT

DEVICE

X2 CODE

GENERATOR

RECLOCKING

DEVICE

10.23 MHz

FREQUENCY

SOURCE

GOLD CODE

GENERATOR

EPOCH

RESET

EPOCH

DETECT

EPOCH

RESET

EPOCH

DETECT

X1 EPOCH

DATA

ENCODER

D(t)

(t) D(t)

(t)

FORMATTED

DATA

(t)

X1(t)

(t)

REMOTE

COMMAND

Z-COUNT

1.023

MHz

1 KHz

50 Hz

(t) D(t)

IS-GPS-200D

7 Dec 2004

3.3.2.2 P-Code Generation

. Each P

(t) pattern is the modulo-2 sum of two extended patterns clocked at 10.23 Mbps

(X1 and X2

). X1 itself is generated by the modulo-2 sum of the output of two 12-stage registers (X1A and X1B)

short cycled to 4092 and 4093 chips respectively. When the X1A short cycles are counted to 3750, the X1 epoch is

generated. The X1 epoch occurs every 1.5 seconds after 15,345,000 chips of the X1 pattern have been generated.

The polynomials for X1A and X1B, as referenced to the shift register input, are:

X1A: 1 + X

+ X

, and

X1B: 1 + X

+ X

Samples of the relationship between shift register taps and the exponents of the corresponding polynomial,

referenced to the shift register input, are as shown in Figures 3-2, 3-3, 3-4 and 3-5.

The state of each generator can be expressed as a code vector word which specifies the binary sequence constant of

each register as follows: (a) the vector consists of the binary state of each stage of the register, (b) the stage 12

value appears at the left followed by the values of the remaining states in order of descending stage numbers, and

vector convention represents the present output and 11 future outputs in sequence. Using this convention, at each

X1 epoch, the X1A shift register is initialized to code vector 001001001000 and the X1B shift register is initialized

to code vector 010101010100. The first chip of the X1A sequence and the first chip of the X1B sequence occur

simultaneously in the first chip interval of any X1 period.

The natural 4095 chip cycles of these generating sequences are shortened to cause precession of the X1B sequence

with respect to the X1A sequence during subsequent cycles of the X1A sequence in the X1 period. Re-

initialization of the X1A shift register produces a 4092 chip sequence by omitting the last 3 chips (001) of the

natural 4095 chip X1A sequence. Re-initialization of the X1B shift register produces a 4093 chip sequence by

omitting the last 2 chips (01) of the natural 4095 chip X1B sequence. This results in the phase of the X1B

sequence lagging by one chip for each X1A cycle in the X1 period.

The X1 period is defined as the 3750 X1A cycles (15,345,000 chips) which is not an integer number of X1B

cycles. To accommodate this situation, the X1B shift register is held in the final state (chip 4093) of its 3749th

cycle. It remains in this state until the X1A shift register completes its 3750th cycle (343 additional chips). The

completion of the 3750th X1A cycle establishes the next X1 epoch which re-initializes both the X1A and X1B shift

registers starting a new X1 cycle.

IS-GPS-200D

7 Dec 2004

Figure 3-2. X1A Shift Register Generator Configuration

STAGE

NUMBERS

INITIAL

CONDITIONS

SHIFT DIRECTION

0 1 2 3 4 5 6 7 8 9

10 11 12

OUTPUT

TAP

NUMBERS

POLYNOMIAL X1A:

1 + X

+ X

IS-GPS-200D

7 Dec 2004

Figure 3-3. X1B Shift Register Generator Configuration

STAGE

NUMBERS

INITIAL

CONDITIONS

SHIFT DIRECTION

0 1 2 3 4 5 6 7 8 9

11 12

OUTPUT

TAP

NUMBERS

POLYNOMIAL X1B:

1 + X

+ X

IS-GPS-200D

7 Dec 2004

Figure 3-4. X2A Shift Register Generator Configuration

STAGE

NUMBERS

INITIAL

CONDITIONS

SHIFT DIRECTION

0 1 2 3 4 5 6 7 8 9

11 12

OUTPUT

TAP

NUMBERS

POLYNOMIAL X2A:

1 + X

+ X

IS-GPS-200D

7 Dec 2004

Figure 3-5. X2B Shift Register Generator Configuration

STAGE

NUMBERS

INITIAL

CONDITIONS

SHIFT DIRECTION

0 1 2 3 4 5 6 7 8 9

11 12

OUTPUT

TAP

NUMBERS

POLYNOMIAL X2B:

1 + X

+ X

IS-GPS-200D

7 Dec 2004

The X2

sequences are generated by first producing an X2 sequence and then delaying it by a selected integer

number of chips, i, ranging from 1 to 37. Each of the X2

sequences is then modulo-2 added to the X1 sequence

thereby producing up to 37 unique P(t) sequences.

The X2A and X2B shift registers, used to generate X2, operate in a similar manner to the X1A and X1B shift

registers. They are short-cycled, X2A to 4092 and X2B to 4093, so that they have the same relative precession rate

as the X1 shift registers. X2A epochs are counted to include 3750 cycles and X2B is held in the last state at 3749

cycle until X2A completes its 3750th cycle. The polynomials for X2A and X2B, as referenced to the shift register

input, are:

X2A: 1 + X

+ X

, and

X2B: 1 + X

+ X

(The initialization vector for X2A is 100100100101 and for X2B is 010101010100).

The X2A and X2B epochs are made to precess with respect to the X1A and X1B epochs by causing the X2 period

to be 37 chips longer than the X1 period. When the X2A is in the last state of its 3750th cycle and X2B is in the

last state of its 3749th cycle, their transitions to their respective initial states are delayed by 37 chip time durations.

At the beginning of the GPS week, X1A, X1B, X2A and X2B shift registers are initialized to produce the first chip

of the week. The precession of the shift registers with respect to X1A continues until the last X1A period of the

GPS week interval. During this particular X1A period, X1B, X2A and X2B are held when reaching the last state

of their respective cycles until that X1A cycle is completed (see Table 3-VI). At this point, all four shift registers

are initialized and provide the first chip of the new week.

Figure 3-6 shows a functional P-code mechanization. Signal component timing is shown in Figure 3-7, while the

end-of-week reset timing and the final code vector states are given in Tables 3-VI and 3-VII, respectively.

IS-GPS-200D

7 Dec 2004

Figure 3-6. P-Code Generation

X1A

1 6

4093

DECODE

4092

DECODE

4092

DECODE

4093

DECODE

CLOCK

CONTROL

3750

Z-COUNTER

403,200

X1B

X2A

X2B

1 2

7 DAY

RESET

SHIFT

1, 2, 5, 8,

9, 10, 11, 12

1, 3, 4, 5, 7,

8, 9, 10, 11, 12

2, 3, 4,

8, 9, 12

6, 8, 11, 12

CLOCK

CONTROL

3749

3750

3749

CLOCK

CONTROL

10.23 MHz

C -

CLOCK

I - INPUT

R -

RESET TO

INITIAL

CONDITIONS

ON NEXT

CLOCK

INPUTS

EPOCH

SET X1A EPOCH

RESUME

HALT

SET X1B

EPOCH

END/WEEK

HALT

START/WEEK

ENABLE

EPOCH

RESUME

HALT

END/WEEK

SET X2B

EPOCH

SET X2A

EPOCH

IS-GPS-200D

7 Dec 2004

Figure 3-7. P-Code Signal Component Timing

0 1 2 3 0 1 2 3 0

X1 EPOCHS

X2 EPOCHS *

TIME

37 Chips 74 Chips

P Epoch

1.5 sec 3.0 sec 4.5 sec 7 days 14 days

* Does not include any offset due to PRN delay.

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7 Dec 2004

Table 3-VI. P-Code Reset Timing

(Last 400 µsec of 7-day period) **

Code Chip

X1A-Code X1B-Code X2A-Code X2B-Code

1 345 1070 967

• • • •

3023 3367

4092

3989

• • • •

3127 3471 4092

4093

• • • •

3749

4093

4092 4093

• • • •

4092*

4093 4092 4093

* Last Chip of Week.

** Does not include any X2 offset due to PRN delay.

IS-GPS-200D

7 Dec 2004

Table 3-VII. Final Code Vector States

Code Chip Number Vector State

Vector State for 1st Chip

following Epoch

4091 100010010010

X1A

4092 000100100100

001001001000

4092 100101010101

X1B

4093 001010101010

010101010100

4091 111001001001

X2A

4092 110010010010

100100100101

4092 000101010101

X2B

4093 001010101010

010101010100

NOTE: First Chip in each sequence is output bit whose leading edge occurs simultaneously with the epoch.

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7 Dec 2004

3.3.2.3 C/A-Code Generation

. Each G

(t) sequence is a 1023-bit Gold-code which is itself the modulo-2 sum of two

1023-bit linear patterns, G1 and G2

. The G2

sequence is formed by effectively delaying the G2 sequence by an

integer number of chips. The G1 and G2 sequences are generated by 10-stage shift registers having the following

polynomials as referred to in the shift register input (see Figures 3-8 and 3-9).

G1 = X

+ X

+ 1, and

G2 = X

+ X

+ 1.

The initialization vector for the G1 and G2 sequences is 1111111111. The G1 and G2 shift registers are initialized

at the P-coder X1 epoch. The G1 and G2 registers are clocked at 1.023 MHz derived from the 10.23 MHz P-coder

clock. The initialization by the X1 epoch phases the 1.023 MHz clock to insure that the first chip of the C/A code

begins at the same time as the first chip of the P-code.

The effective delay of the G2 sequence to form the G2

sequence may be accomplished by combining the output of

two stages of the G2 shift register by modulo-2 addition (see Figure 3-10). However, this two-tap coder

implementation generates only a limited set of valid C/A codes. Table 3-I contains a tabulation of the G2 shift

and PRN signal numbers together with the first several

chips of each resultant PRN code. Timing relationships related to the C/A code are shown in Figure 3-11.

IS-GPS-200D

7 Dec 2004

Figure 3-8. G1 Shift Register Generator Configuration

STAGE

NUMBERS

INITIAL

CONDITIONS

SHIFT DIRECTION

0 1 2 3 4 5 6 7 8 9

OUTPUT

TAP

NUMBERS

POLYNOMIAL G1:

1 + X

+ X

INPUT

IS-GPS-200D

7 Dec 2004

Figure 3-9. G2 Shift Register Generator Configuration

STAGE

NUMBERS

INITIAL

CONDITIONS

SHIFT DIRECTION

0 1 2 3 4 5 6 7 8 9

OUTPUT

TAP

NUMBERS

POLYNOMIAL G2:

1 + X

+ X

INPUT

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7 Dec 2004

Figure 3-10. Example C/A-Code Generation

2 3 6 8 9 10

10.23 MHz

SYNCH

X1 EPOCH

SYNCH

G EPOCH

1 Kbps

1023

DECODE

50 bps TO DATA ENCODER

PHASE SELECT

LOGIC

C - CLOCK

I - INPUT

S - SET ALL ONES

IS-GPS-200D

7 Dec 2004

Figure 3-11. C/A-Code Timing Relationships

1023

etc.

X1 Epoch @ 2/3 bps

0 1 2 18 19 0

1 msec

1023 BIT Gold Code @ 1023 Kbps

1023

1023 1023 1023

Gold Code Epochs @ 1000/sec

Data @ 50 cps

20 msec

IS-GPS-200D

7 Dec 2004

3.3.2.4 L2 CM-/L2 CL-Code Generation

. Each C

M,i

(t) pattern (L2 CM-code) and C

L,i

(t) pattern (L2 CL-code) are

generated using the same code generator polynomial each clocked at 511.5 Kbps. Each pattern is initiated and

reset with a specified initial state (defined in Table 3-II). C

M,i

(t) pattern is reset after 10230 chips resulting in a

code period of 20 milliseconds, and C

L,i

(t) pattern is reset after 767250 chips resulting in a code period of 1.5

seconds. The L2 CM and L2 CL shift registers are initialized at the P-coder X1 epoch. The first L2 CM-code

chip starts synchronously with the end/start of week epoch. Timing relationships related to the L2 CM-/L2 CL-

codes are shown in Figure 3-12.

The maximal polynomial used for L2 CM- and L2 CL-codes is 1112225171 (octal) of degree 27. The L2 CM and

L2 CL code generator is conceptually described in Figure 3-13 using modular-type shift register generator.

IS-GPS-200D

7 Dec 2004

Figure 3-12. L2 CM-/L2 CL-Code Timing Relationships

End/start of week

X1 Epoch @ 2/3 bps

1.5 second

767250 Chips

767250 BIT L2 CL-Code @ 511.5 Kbps

10230

10230 BIT L2 CM-Code @ 511.5 Kbps

10230 10230 10230 10230 10230 10230

1 2

etc.

20 msec

Data @ 50 cps

L2 CM @ 511.5 Kbps

L2 C @ 1023 Kbps

L2 CL @ 511.5 Kbps

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7 Dec 2004

DELAY

NUMBERS

SHIFT DIRECTION

OUTPU

INITIAL CONDITIONS ARE A FUNCTION OF PRN AND CODE PERIOD (MODERATE/LONG)

1 3 1 1 3 3

2 3

3 2 2 3

POLYNOMIAL:

1 + X

+ X

Figure 3-13. L2 CM/L2 CL Shift Register Generator Configuration

IS-GPS-200D

7 Dec 2004

3.3.3 Navigation Data

. The content and format of the NAV data, D(t), and the CNAV data, D

(t), are given in

Appendices II and III, respectively, of this document.

3.3.3.1 Navigation Data Modulation (L2 CM)

. For Block IIR-M, Block IIF, and subsequent blocks of SVs, the

CNAV bit train, D

(t), is rate ½ encoded and, thus, clocked at 50 sps. The resultant symbol sequence is then

modulo-2 added to the L2 CM-code. During the initial period of Block IIR-M SVs operation, prior to Initial

Operational Capability of L2 C signal, and upon ground command, the NAV bit train, D(t), at one of two data rates,

may be modulo-2 added to the L2 CM-code instead of CNAV data, D

(t), as further described in Section 3.2.2.

3.3.3.1.1 Forward Error Correction

. The CNAV bit train, D

(t), will always be Forward Error Correction (FEC)

encoded by a rate 1/2 convolutional code. For Block IIR-M, the NAV bit train, D(t), can be selected to be

convolutionally encoded. The resulting symbol rate is 50 sps. The convolutional coding will be constraint length 7,

with a convolutional encoder logic arrangement as illustrated in Figure 3-14. The G1 symbol is selected on the

output as the first half of a 40-millisecond data bit period.

Twelve-second navigation messages broadcast by the SV are synchronized with every eighth of the SV's P(Y)-code

X1 epochs. However, the navigation message is FEC encoded in a continuous process independent of message

boundaries (i.e. at the beginning of each new message, the encoder registers illustrated in Figure 3-14 contains the

last six bits of the previous message).

Because the FEC encoding convolves successive messages, it is necessary to define which transmitted symbol is

synchronized to SV time, as follows. The beginning of the first symbol that contains any

information about the first

bit of a message will be synchronized to every eighth X1 epoch (referenced to end/start of week). The users’

convolutional decoders will introduce a fixed delay that depends on their respective algorithms (usually 5 constraint

lengths, or 35 bits), for which they must compensate to determine system time from the received signal. This

convolutional decoding delay and the various relationships with the start of the data block transmission and SV time

are illustrated in Figure 3-15.

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7 Dec 2004

Figure 3-14. Convolutional Encoder

Figure 3-15. Convolutional Transmit/Decoding Timing Relationships

G1 (171 OCTAL)

G2 (133 OCTAL)

DATA INPUT

(25 BPS)

SYMBOL

CLOCK

OUTPUT SYMBOLS

(50 SPS)

(ALTERNATING G1/G2)

USER’S DECODING DELAY

DOWNLINK DELAY

LATER

ENCODED DATA BLOCK

TRANSMITTED ON L2

EARLY

SV 12 SECOND EPOCHS

ENCODED

DATA BLOCK

RECEIVED

BY USER

DATA BLOCK

DECODED BY

USER

IS-GPS-200D

7 Dec 2004

3.3.4 GPS Time and SV Z-Count

. GPS time is established by the Control Segment and is referenced to

Coordinated Universal Time (UTC) as maintained by the U.S. Naval Observatory (UTC(USNO)) zero time-point

defined as midnight on the night of January 5, 1980/morning of January 6, 1980. The largest unit used in stating

GPS time is one week defined as 604,800 seconds. GPS time may differ from UTC because GPS time shall be a

continuous time scale, while UTC is corrected periodically with an integer number of leap seconds. There also is an

inherent but bounded drift rate between the UTC and GPS time scales. The OCS shall control the GPS time scale to

be within one microsecond of UTC (modulo one second).

The NAV data contains the requisite data for relating GPS time to UTC. The accuracy of this data during the

transmission interval shall be such that it shall relate GPS time (maintained by the MCS of the CS) to UTC

(USNO) within 90 nanoseconds (one sigma). This data is generated by the CS; therefore, the accuracy of this

relationship may degrade if for some reason the CS is unable to upload data to a SV. At this point, it is assumed

that alternate sources of UTC are no longer available, and the relative accuracy of the GPS/UTC relationship will

be sufficient for users. Range error components (e.g. SV clock and position) contribute to the GPS time transfer

error, and under normal operating circumstances (two frequency time transfers from SV(s) whose navigation

message indicates a URA of eight meters or less), this corresponds to a 97 nanosecond (one sigma) apparent

uncertainty at the SV. Propagation delay errors and receiver equipment biases unique to the user add to this time

transfer uncertainty.

IS-GPS-200D

7 Dec 2004

In each SV the X1 epochs of the P-code offer a convenient unit for precisely counting and communicating time.

Time stated in this manner is referred to as Z-count, which is given as a 29-bit binary number consisting of two

parts as follows:

a. The binary number represented by the 19 least significant bits of the Z-count is referred to as the time of

week (TOW) count and is defined as being equal to the number of X1 epochs that have occurred since the

transition from the previous week. The count is short-cycled such that the range of the TOW-count is

from 0 to 403,199 X1 epochs (equaling one week) and is reset to zero at the end of each week. The TOW-

count's zero state is defined as that X1 epoch which is coincident with the start of the present week. This

epoch occurs at (approximately) midnight Saturday night-Sunday morning, where midnight is defined as

0000 hours on the UTC scale which is nominally referenced to the Greenwich Meridian. Over the years the

occurrence of the "zero state epoch" may differ by a few seconds from 0000 hours on the UTC scale since

UTC is periodically corrected with leap seconds while the TOW-count is continuous without such

correction. To aid rapid ground lock-on to the P-code signal, a truncated version of the TOW-count,

consisting of its 17 most significant bits, is contained in the hand-over word (HOW) of the L1 and L2 NAV

data (D(t)) stream; the relationship between the actual TOW-count and its truncated HOW version is

illustrated by Figure 3-16.

b. The ten most significant bits of the Z-count are a modulo 1024 binary representation of the sequential

number assigned to the current GPS week (see paragraph 6.2.4). The range of this count is from 0 to 1023

with its zero state being defined as the GPS week number zero and every integer multiple of 1024 weeks,

thereafter (i.e. 0, 1024, 2048, etc.).

IS-GPS-200D

7 Dec 2004

Figure 3-16. Time Line Relationship of HOW Message

403,192 403,196 403,199

P(Y)-CODE EPOCH

(END/START OF WEEK)

10 2 3 4 5 6 7 8

100,799 10 2 3

X1 EPOCHS 1.5 sec

DECIMAL EQUIVALENTS

OF ACTUAL TOW COUNTS

SUBFRAME EPOCHS

DECIMAL EQUIVALENTS OF HOW-MESSAGE TOW COUNTS

NOTES:

1. TO AID IN RAPID GROUND LOCK-ON THE HAND-OVER WORD (HOW ) OF EACH

SUBFRAME CONTAINS A TRUNCATED TIME-OF-WEEK (TOW) COUNT

THE HOW IS THE SECOND WORD IN EACH SUBFRAME (REFERENCE

PARAGRAPH 20.3.3.2).

THE HOW-MESSAGE TOW COUNT CONSISTS OF THE 17 MSBs OF THE

ACTUAL TOW COUNT AT THE START OF THE NEXT SUBFRAME.

TO CONVERT FROM THE HOW-MESSAGE TOW COUNT TO THE ACTUAL TOW

COUNT AT THE START OF THE NEXT SUBFRAME, MULTIPLY BY FOUR.

THE FIRST SUBFRAME STARTS SYNCHRONOUSLY WITH THE END/START OF

WEEK EPOCH.

6 sec

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4. NOT APPLICABLE

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5. NOT APPLICABLE

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6. NOTES

6.1 Acronyms

AI - Availability Indicator

AODO - Age of Data Offset

A-S - Anti-Spoofing

Autonav - Autonomous Navigation

BPSK - Bi-Phase Shift Key

CDC - Clock Differential Correction

CNAV - Civil Navigation

cps - cycles per second

CRC - Cyclic Redundancy Check

CS - Control Segment

DC - Differential Correction

DN - Day Number

EAROM - Electrically Alterable Read-Only Memory

ECEF - Earth-Centered, Earth-Fixed

ECI - Earth-Centered, Inertial

EDC - Ephemeris Differential Correction

EOE - Edge-of-Earth

EOL - End of Life

ERD - Estimated Range Deviation

FEC - Forward Error Correction

GGTO - GPS/GNSS Time Offset

GNSS - Global Navigation Satellite System

GPS - Global Positioning System

HOW - Hand-Over Word

ICC - Interface Control Contractor

ID - Identification

IERS - International Earth Rotation and Reference Systems Service

IS-GPS-200D

7 Dec 2004

IODC - Issue of Data, Clock

IODE - Issue of Data, Ephemeris

IRM - IERS Reference Meridian

IRP - IERS Reference Pole

IS - Interface Specification

ISC - Inter-Signal Correction

LSB - Least Significant Bit

LSF - Leap Seconds Future

L2 C - L2 Civil Signal

L2 CL - L2 Civil-Long Code

L2 CM - L2 Civil-Moderate Code

MCS - Master Control Station

MSB - Most Significant Bit

NAV - Navigation

NDUS - Nudet Detection User Segment

NMCT - Navigation Message Correction Table

NSC - Non-Standard C/A-Code

NSCL - Non-Standard L2 CL-Code

NSCM - Non-Standard L2 CM-Code

NSY - Non-Standard Y-code

OBCP - On-Board Computer Program

OCS - Operational Control System

PRN - Pseudo-Random Noise

RF - Radio Frequency

RMS - Root Mean Square

SA - Selective Availability

SEP - Spherical Error Probable

sps - symbols per second

IS-GPS-200D

7 Dec 2004

SS - Space Segment

SV - Space Vehicle

SVN - Space Vehicle Number

TBD - To Be Determined

TBS - To Be Supplied

TLM - Telemetry

TOW - Time Of Week

UE - User Equipment

URA - User Range Accuracy

URE - User Range Error

US - User Segment

USNO - U.S. Naval Observatory

UTC - Coordinated Universal Time

WGS 84 - World Geodetic System 1984

WN - Week Number

- Extended Week Number

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6.2 Definitions

6.2.1 User Range Accuracy

. User range accuracy (URA) is a statistical indicator of the ranging accuracies

obtainable with a specific SV. URA is a one-sigma estimate of the user range errors in the navigation data for the

transmitting satellite. It includes all errors for which the Space and Control Segments are responsible. It does not

include any errors introduced in the user set or the transmission media. While the URA may vary over a given

subframe fit interval, the URA index (N) reported in the NAV message corresponds to the maximum value of URA

anticipated over the fit interval.

6.2.2 SV Block Definitions

. The following block definitions are given to facilitate discussion regarding the

capability of the various blocks of GPS satellites to support the SV-to-US interface.

6.2.2.1 Developmental SVs

. The original concept validation satellites developed by Rockwell International and

designated as satellite vehicle numbers (SVNs) 1-11 are termed "Block I" SVs. These SVs were designed to provide

3-4 days of positioning service without contact from the CS. These SVs transmitted a configuration code of 000

(reference paragraph 20.3.3.5.1.4). There are no longer any active Block I SVs in the GPS constellation. The last

Block I SV was decommissioned in 1995.

6.2.2.2 Operational SVs

. The operational satellites are designated Block II, Block IIA, Block IIR, Block IIR-M and

Block IIF SVs. Characteristics of these SVs are provided below. Modes of operation for these SVs and accuracy of

positioning services provided are described in paragraphs 6.3.2 through 6.3.4. These SVs transmit configuration

codes as specified in paragraph 20.3.3.5.1.4. The navigation signal provides no direct indication of the type of the

transmitting SV.

6.2.2.2.1 Block II SVs

. The first block of full scale operational SVs developed by Rockwell International are

designated as SVNs 13-21 and are termed "Block II" SVs. These SVs were designed to provide 14 days of

positioning service without contact from the CS.

6.2.2.2.2 Block IIA SVs

. The second block of full scale operational SVs developed by Rockwell International are

designated as SVNs 22-40 and are termed "Block IIA" SVs. These SVs are capable of providing 60 days of

positioning service without contact from the CS.

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7 Dec 2004

6.2.2.2.3 Block IIR SVs

. The block of operational replenishment SVs developed by Lockheed Martin are

designated as SVNs 41-61 and are termed "Block IIR" SVs. These SVs have the capability of storing at least 60

days of navigation data with current memory margins, while operating in a IIA mode, to provide positioning service

without contact from the CS for that period. (Contractual requirements for these SVs specify transmission of correct

data for only 14 days to support short-term extended operations while in IIA mode.) The IIR SV will provide a

minimum of 60 days of positioning service without contact from the CS when operating in autonomous navigation

(Autonav) mode.

6.2.2.2.4 Block IIR-M SVs

. The subset of operational replenishment SVs developed by Lockheed Martin which

are “Modernized” configuration of “Block IIR” SVs are termed “Block IIR-M”.

6.2.2.2.5 Block IIF SVs

. The block of operational replenishment SVs developed by Boeing are designated as SVNs

62-73 and are termed “Block IIF” SVs. This is the first block of operational SVs that transmit the L5 Civil signal.

These SVs will provide at least 60 days of positioning service without contact from the CS.

6.2.3 Operational Interval Definitions

. The following three operational intervals have been defined. These labels

will be used to refer to differences in the interface definition as time progresses from SV acceptance of the last

navigation data upload.

6.2.3.1 Normal Operations

. The SV is undergoing normal operations whenever the fit interval flag (reference

paragraph 20.3.3.4.3.1) is zero.

6.2.3.2 Short-term Extended Operations

. The SV is undergoing short-term extended operations whenever the fit

interval flag is one and the IODE (reference paragraph 20.3.4.4) is less than 240.

6.2.3.3 Long-term Extended Operations

. The SV is undergoing long-term extended operations whenever the fit

interval flag is one and the IODE is in the range 240-255.

IS-GPS-200D

7 Dec 2004

6.2.4 GPS Week Number

. The GPS week numbering system is established with week number zero (0) being

defined as that week which started with the X1 epoch occurring at midnight UTC(USNO) on the night of January 5,

1980/ morning of January 6, 1980. The GPS week number continuously increments by one (1) at each end/start of

week epoch without ever resetting to zero. Users must recognize that the week number information contained in the

Nav Message may not necessarily reflect the current full GPS week number (see paragraphs 20.3.3.3.1.1,

20.3.3.5.1.5, 20.3.3.5.2.4, and 30.3.3.1.1.1).

6.2.5 L5 Civil Signal

. L5 is the GPS downlink signal at a nominal carrier frequency of 1176.45 MHz. The L5

signal is only available on Block IIF and subsequent blocks of SVs and the signal is specified/described in a separate

and different interface control document.

6.3 Supporting Material

6.3.1 Received Signals

. The guaranteed minimum user-received signal levels are defined in paragraph 3.3.1.6.

As additional supporting material, Figure 6-1 illustrates an example variation in the minimum received power of the

near-ground user-received L1 and L2 signals from Block II/IIA/IIR SVs as a function of SV elevation angle.

Higher received signals levels can be caused by such factors as SV attitude errors, mechanical antenna alignment

errors, transmitter power output variations due to temperature variations, voltage variations and power amplifier

variations, and due to a variability in link atmospheric path loss. For Block II/IIA and IIR SVs, the maximum

received signal levels as a result of these factors is not expected to exceed -155.5 dBW and -153.0 dBW,

respectively, for the P(Y) and C/A components of the L1 channel, nor -158.0 dBW for either signal on the L2

channel. For Block IIR-M and IIF SVs, the maximum received signal levels as a result of these factors is not

expected to exceed -155.5 dBW and -153.0 dBW, respectively, for the P(Y) and C/A components of the L1 channel

and L2 channel. In addition, due to programmable power output capabilities of Block IIR-M and IIF SVs, under

certain operational scenarios, individual signal components of Block IIR-M/IIF SVs may exceed the previously

stated maximum but are not expected to exceed -150 dBW.

IS-GPS-200D

7 Dec 2004

Figure 6-1. User Received Minimum Signal Level Variations (Example, Block II/IIA/IIR)

100

USER ELEVATION ANGLE (DEG)

RECEIVED POWER AT 3dB

LINEARLY POLARIZED ANTENNA (dBW)

C/A - L

P - L

C/A - L

-158.5

-161.5

-164.5

-155.5

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7 Dec 2004

6.3.2 Extended Navigation Mode (Block II/IIA)

. The Block II and IIA SVs are capable of being uploaded by the

CS with a minimum of 60 days of navigation data to support a 60 day positioning service. Due to memory

retention limitations, the Block II SVs may not transmit correct data for the entire 60 days but are guaranteed to

transmit correct data for at least 14 days to support short-term extended operations. Under normal conditions the CS

will provide daily uploads to each SV, which will allow the SV to maintain normal operations as defined in

paragraph 6.2.3.1 and described within this IS. During normal operations, the SVs will have a user range error that

is at or below a level required to support a positioning accuracy of 16 meters spherical error probable (SEP). In

addition, the almanac data, UTC parameters and ionospheric data will be maintained current to meet the accuracy

specified in this IS.

If the CS is unable to upload the SVs (the CS is unavailable or the SV is unable to accept and process the upload),

each SV will individually transition to short-term extended operations and eventually to long-term extended

operations (based on time from each SV's last upload) as defined in paragraphs 6.2.3.2 and 6.2.3.3, and as further

described throughout this IS. As time from upload continues through these three operational intervals, the user

range error of the SV will increase, causing a positioning service accuracy degradation. The rate of accuracy

degradation is slow over the short-term extended operations interval, such that at the end of this interval

(approximately 14 days after upload) the US will be able to achieve a positioning accuracy of 425 meters SEP. The

rate of accuracy degradation increases in the long-term extended interval, such that by the 180th day after the last

upload, the positioning errors will have grown to 10 kilometers SEP. During these intervals the URA will continue

to provide the proper estimate of the user range errors.

During short-term and long-term extended operations (approximately day 2 through day 62 after an upload), the

almanac data, UTC parameters and ionospheric data will not be maintained current and will degrade in accuracy

from the time of last upload.

IS-GPS-200D

7 Dec 2004

6.3.3 Block IIA Mode (Block IIR/IIR-M)

. The Block IIR/IIR-M SVs, when operating in the Block IIA mode, will

perform similarly to the Block IIA SVs and have the capability of storing at least 60 days of navigation data, with

current memory margins, to provide positioning service without contact from the CS for that period (through

short-term and long-term extended operations). (Contractual requirements for these SVs specify transmission of

correct data for only 14 days to support short-term extended operations while in IIA mode.) Under normal

conditions, the CS will provide daily uploads to each SV, which will allow the SV to maintain normal operations as

defined in paragraph 6.2.3.1 and described within this IS.

If the CS is unable to upload the SVs (the CS is unavailable or the SV is unable to accept and process the upload),

each SV will individually transition to short-term extended operations and eventually to long-term extended

operations (based on time from each SV’s last upload) as defined in paragraph 6.2.3.2 and 6.2.3.3, and as further

described throughout this IS. As time from upload continues through these three operational intervals, the user

range error (URE) of the SV will increase, causing a positioning service accuracy degradation.

6.3.4 Autonomous Navigation Mode

. The Block IIR/IIR-M and Block IIF SV, in conjunction with a sufficient

number of other Block IIR/IIR-M or Block IIF SVs, operates in an Autonav mode when commanded by the CS.

Each Block IIR/IIR-M/IIF SV in the constellation determines its own ephemeris and clock correction parameters via

SV-to-SV ranging, communication of data, and on-board data processing which updates data uploaded by the CS.

In the Autonav mode the Block IIR/IIR-M/IIF SV will maintain normal operations as defined in paragraph 6.2.3.1

and as further described within this IS, and will have a URE of no larger than 6 meters, one sigma for Block IIR/IIR-

M. URE of 6 meters, one sigma, is expected to support 16 meter SEP accuracy under a nominal position dilution of

precision. If the CS is unable to upload the SVs, the Block IIR/IIR-M/IIF SVs will maintain normal operations for

period of at least 60 days after the last upload.

In the Autonav mode, the almanac data, UTC parameters and ionospheric data are still calculated and maintained

current by the CS and uploaded to the SV as required. If the CS is unable to upload the SVs, the almanac data,

UTC parameters and ionospheric data will not be maintained current and will degrade in accuracy from the time of

the last upload.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56a

6.3.5 PRN Code sequences expansion

. The additional PRN sequences provided in this section are for information

only. The additional PRN sequences identified in this section are not applicable to Block II/IIA, IIR/IIR-M, IIF

SVs. In addition, the current valid range for GPS PRN signal number for C/A- and P-code is 1 – 37 as specified

in Table 3-I. The PRN sequences provided in this section are for other L1/L2 signal applications, such as Satellite

Based Augmentation System (SBAS) satellite signals, and potential use in the future by GPS.

6.3.5.1 Additional C/A-code PRN sequences. The PRN C/A-code is described in Section 3.2.1.3 and 36 legacy

C/A-code sequences are assigned by SV-ID number in Table 3-I. An additional set of 173 C/A-code PRN

sequences are selected and assigned with PRN numbers in this section as shown in Table 6-I. Among the 173

additional sequences; PRN numbers 38 through 63 are reserved for future GPS SVs; PRN numbers 64 through 119

are reserved for future Ground Based Augmentation System (GBAS) and other augmentation systems; PRN

numbers 120 through 158 are reserved for SBAS; and PRN numbers 159 through 210 are reserved for other Global

Navigation Satellite System (GNSS) applications. For GPS application, the CNAV data, D

(t), will be modulo-2

added to the C/A-code sequences of PRN numbers 38 through 63. Any assignment of a C/A-code PRN number and

its code sequence for any additional SV and/or other L1/L2 signal applications, such as SBAS satellite signals, will

be selected from the sequences of Table 6-I and will be approved, controlled, and managed by the GPS JPO.

It should be noted that, in Table 6-I, the C/A-code sequences are identified by “G2 Delay” and “Initial G2 Setting”

which is not as same as the method used in Table 3-I. The two-tap coder implementation method referenced and

used in Table 3-I is not used in Table 6-I due to its limitation in generating C/A-code sequences. The “G2 Delay”

specified in Table 6-I may be accomplished by using the “Initial G2 Setting” as the initialization vector for the G2

shift register of Figure 3-9.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56b

6.3.5.2 Additional P-Code PRN sequences

. The PRN P-code set of 37 mutually exclusive sequences are described

in Section 3.2.1.1, and assignment of these code segments by SV-ID number is given in Table 3-I. An additional set

of 173 P-code PRN sequences are described in this section. Among the 173 additional sequences; PRN numbers 38

through 63 are reserved for future GPS SVs; PRN numbers 64 through 119 are reserved for future GBAS and other

augmentation systems; and PRN numbers 120 through 210 are reserved for other future applications. For GPS

application, the CNAV data, D

(t), which may include additional future military message types, will be modulo-2

added to the P-code sequences of PRN numbers 38 through 63. The P-code PRN numbers and their code sequences

defined in Table 6-I are not for general use and will be approved, controlled, and managed by the GPS JPO.

6.3.5.2.1 Additional P-code Generation. The generation of 37 mutually exclusive P-code PRN sequences are

described in Section 3.3.2.2. The additional set of 173 P-code PRN sequences are generated by circularly shifting

each of the original 37 sequences (over one week) by an amount corresponding to 1, 2, 3, 4, or 5 days. The

additional sequences are therefore time shifted (i.e. offset) versions of the original 37 sequences. These offset P-

code PRN sequences, P

(t), are described as follows:

(t) = P

i-37x

(t – xT),

where i is an integer from 38 to 210, x is an integer portion of (i-1)/37, and T is defined to equal 24 hours.

As an example, P-code sequence for PRN 38 would be the same sequence as PRN 1 shifted 24 hours into a week

(i.e. 1

chip of PRN 38 at beginning of week is the same chip for PRN 1 at 24 hours after beginning of week). The

complete list of the additional P-code PRN assignment is shown in Table 6-I. Any assignment of a P-code PRN

number and its code sequence for any additional SV and/or other L1/L2 signal applications will be selected from the

sequences of Table 6-I.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56c

Table 6-I Additional C/A-/P-Code Phase Assignments (sheet 1 of 6)

C/A P

PRN

Signal

No. *

G2 Delay

(Chips)

Initial G2

Setting

(Octal)**

First 10 Chips

(Octal)**

X2 Delay

(Chips)

P-code

Relative Delay

(Hours) ***

First 12 Chips

(Octal)

103

679

225

625

946

638

161

1001

554

280

710

709

775

864

558

220

397

898

759

367

299

1018

0017

0541

1714

1151

1651

0103

0543

1506

1065

1564

1365

1541

1327

1716

1635

1002

1015

1666

0177

1353

0426

0227

0506

0336

1333

1745

1760

1236

0063

0626

0126

1674

1234

0271

0712

0213

0412

0236

0450

0061

0142

0775

0762

0111

1600

0424

1351

1550

1271

1441

0444

0032

(t-24)

3373

3757

3545

5440

4402

4023

4233

2337

3375

3754

3544

3440

5402

2423

5033

2637

3135

5674

4514

2064

5210

2726

5171

2656

5105

2660

* PRN sequences 38 through 63 are reserved for GPS.

** In the octal notation for the first 10 chips of the C/A-code or the initial settings as shown in this table,

the first digit (1/0) represents a "1" or “0”, respectively, for the first chip and the last three digits are

the conventional octal representation of the remaining 9 chips. (For example, the first 10 chips of the

C/A code for PRN Signal Assembly No. 38 are: 1111110000).

*** P

(t-N): P-code sequence of PRN number i shifted by N hours. See Section 6.3.5.2.1.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56d

Table 6-I Additional C/A-/P-Code Phase Assignments (sheet 2 of 6)

C/A P

PRN

Signal

No.

G2 Delay

(Chips)

Initial G2

Setting

(Octal)**

First 10 Chips

(Octal)**

X2 Delay

(Chips)

P-code

Relative Delay

(Hours) ***

First 12 Chips

(Octal)

729

695

780

801

788

732

320

327

389

407

525

405

221

761

260

326

955

653

699

422

188

438

959

539

879

677

586

153

792

814

446

0254

1602

1160

1114

1342

0025

1523

1046

0404

1445

1054

0072

0262

0077

0521

1400

1010

1441

0365

0270

0263

0613

0277

1562

1674

1113

1245

0606

0136

0256

1550

1234

1523

0175

0617

0663

0435

1752

0254

0731

1373

0332

0723

1705

1515

1700

1256

0377

0767

0336

1412

1507

1514

1164

1500

0215

0103

0664

0532

1171

1641

1521

0227

0543

(t-24)

(t-48)

5112

4667

2111

5266

4711

4166

2251

5306

4761

2152

5247

5736

2575

3054

3604

3520

5472

4417

2025

3230

5736

4575

2054

3204

3720

5572

4457

4005

2220

3332

3777

3555

** In the octal notation for the first 10 chips of the C/A-code or the initial settings as shown in this table,

the first digit (1/0) represents a "1" or “0”, respectively, for the first chip and the last three digits are

the conventional octal representation of the remaining 9 chips. (For example, the first 10 chips of the

C/A code for PRN Signal Assembly No. 38 are: 1111110000)

*** P

(t-N): P-code sequence of PRN number i shifted by N hours. See Section 6.3.5.2.1.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56e

Table 6-I Additional C/A-/P-Code Phase Assignments (sheet 3 of 6)

C/A P

PRN

Signal

No.

G2 Delay

(Chips)

Initial G2

Setting

(Octal)**

First 10 Chips

(Octal)**

X2 Delay

(Chips)

P-code

Relative Delay

(Hours) ***

First 12 Chips

(Octal)

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

264

1015

278

536

819

156

957

159

712

885

461

248

713

126

807

279

122

197

693

632

771

467

647

203

145

175

237

235

0260

1455

1535

0746

1033

1213

0710

0721

1763

1751

0435

0735

0771

0140

0111

0656

1016

0462

1011

0552

0045

1104

0557

0364

1106

1241

0267

0232

1617

1076

1517

0322

0242

1031

0744

0564

1067

1056

0014

0026

1342

1042

1006

1637

1666

1121

0761

1315

0766

1225

1732

0673

1220

1413

0671

0536

1510

1545

0160

0701

(t-48)

(t-72)

3444

3400

5422

2433

3037

5635

2534

5074

4614

2124

5270

2716

5165

4650

2106

5261

2752

5147

4641

2102

5263

2713

3167

3651

3506

5461

4412

2027

5231

2736

** In the octal notation for the first 10 chips of the C/A-code or the initial settings as shown in this table,

the first digit (1/0) represents a "1" or “0”, respectively, for the first chip and the last three digits are

the conventional octal representation of the remaining 9 chips. (For example, the first 10 chips of the

C/A code for PRN Signal Assembly No. 38 are: 1111110000)

*** P

(t-N): P-code sequence of PRN number i shifted by N hours. See Section 6.3.5.2.1.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56f

Table 6-I Additional C/A-/P-Code Phase Assignments (sheet 4 of 6)

C/A P

PRN

Signal

No.

G2 Delay

(Chips)

Initial G2

Setting

(Octal)**

First 10 Chips

(Octal)**

X2 Delay

(Chips)

P-code

Relative Delay

(Hours) ***

First 12 Chips

(Octal)

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

886

657

634

762

355

1012

176

603

130

359

595

386

797

456

499

883

307

127

211

121

118

163

628

853

484

289

811

202

1021

1764

0717

1532

1250

0341

0551

0520

1731

0706

1216

0740

1007

0450

0305

1653

1411

1644

1312

1060

1560

0035

0355

0335

1254

1041

0142

1641

1504

0751

1774

0013

1060

0245

0527

1436

1226

1257

0046

1071

0561

1037

0770

1327

1472

0124

0366

0133

0465

0717

0217

1742

1422

1442

0523

0736

1635

0136

0273

1026

0003

(t-72)

(t-96)

3175

5654

2504

5060

2612

3127

5671

4516

4065

4210

4326

4371

2356

5345

4740

2142

5243

2703

5163

4653

4107

4261

4312

2525

3070

5616

2525

3070

3616

3525

** In the octal notation for the first 10 chips of the C/A-code or the initial settings as shown in this table,

the first digit (1/0) represents a "1" or “0”, respectively, for the first chip and the last three digits are

the conventional octal representation of the remaining 9 chips. (For example, the first 10 chips of the

C/A code for PRN Signal Assembly No. 38 are: 1111110000)

*** P

(t-N): P-code sequence of PRN number i shifted by N hours. See Section 6.3.5.2.1.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56g

Table 6-I Additional C/A-/P-Code Phase Assignments (sheet 5 of 6)

C/A P

PRN

Signal

No.

G2 Delay

(Chips)

Initial G2

Setting

(Octal)**

First 10 Chips

(Octal)**

X2 Delay

(Chips)

P-code

Relative Delay

(Hours) ***

First 12 Chips

(Octal)

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

463

568

904

670

230

911

684

309

644

932

314

891

212

185

675

503

150

395

345

846

798

992

357

995

877

112

144

476

193

0107

1153

1542

1223

1702

0436

1735

1662

1570

1573

0201

0635

1737

1670

0134

1224

1460

1362

1654

0510

0242

1142

1017

1070

0501

0455

1566

0215

1003

1454

1670

0624

0235

0554

0075

1341

0042

0115

0207

0204

1576

1142

0040

0107

1643

0553

0317

0415

0123

1267

1535

0635

0760

0707

1276

1322

0211

1562

0774

0323

(t-96)

5470

4416

4025

4230

4336

2375

5354

2744

5140

4642

4103

2263

5313

2767

5151

2646

3101

5662

4513

2067

3211

3726

3571

3456

3405

3420

5432

4437

2035

5234

** In the octal notation for the first 10 chips of the C/A-code or the initial settings as shown in this table,

the first digit (1/0) represents a "1" or “0”, respectively, for the first chip and the last three digits are

the conventional octal representation of the remaining 9 chips. (For example, the first 10 chips of the

C/A code for PRN Signal Assembly No. 38 are: 1111110000)

*** P

(t-N): P-code sequence of PRN number i shifted by N hours. See Section 6.3.5.2.1.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56h

Table 6-I Additional C/A-/P-Code Phase Assignments (sheet 6 of 6)

C/A P

PRN

Signal

No.

G2 Delay

(Chips)

Initial G2

Setting

(Octal)**

First 10 Chips

(Octal)**

X2 Delay

(Chips)

P-code

Relative Delay

(Hours) ***

First 12 Chips

(Octal)

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

109

445

291

399

292

901

339

208

711

189

263

537

663

942

173

900

500

935

556

373

652

310

1665

0471

1750

0307

0272

0764

1422

1050

1607

1747

1305

0540

1363

0727

0147

1206

1045

0476

0604

1757

1330

0663

1436

0753

0731

0112

1306

0027

1470

1505

1013

0355

0727

0170

0030

0472

1237

0414

1050

1630

0571

0732

1301

1173

0020

0447

1114

0341

1024

1046

(t-120)

5067

2611

5126

4671

4116

2265

5310

2766

5151

2646

3101

3662

5513

4467

4011

4226

4331

4376

2355

5344

4740

2142

5243

2703

5163

** In the octal notation for the first 10 chips of the C/A-code or the initial settings as shown in this table,

the first digit (1/0) represents a "1" or “0”, respectively, for the first chip and the last three digits are

the conventional octal representation of the remaining 9 chips. (For example, the first 10 chips of the

C/A code for PRN Signal Assembly No. 38 are: 1111110000)

*** P

(t-N): P-code sequence of PRN number i shifted by N hours. See Section 6.3.5.2.1.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56i

6.3.5.3 Additional L2 CM-/L2 CL-Code PRN sequences

. The PRN L2 CM-code and L2 CL-code are described in

Sections 3.2.1.4 and 3.2.1.5, respectively, and 37 L2 CM-/L2 CL-code sequence pairs are assigned by SV-ID

number in Table 3-II. An additional set of 80 L2 CM-/L2 CL-code PRN sequence pairs are selected and assigned

with PRN numbers in this section as shown in Table 6-II. Among the 80 additional sequences, PRN numbers 38

through 63 are reserved for future GPS SVs, and PRN numbers 159 through 210 are reserved for other GNSS

applications. PRN allocations do not exist for numbers 64 through 158 for L2 CM-/L2 CL-code. Any assignment

of a L2 CM-/L2 CL-code PRN number and its code sequence pair for any additional SV and/or other L2 signal

applications will be selected from the sequences of Table 6-II and will be approved, controlled, and managed by

the GPS JPO.

Table 6-II. Additional L2 CM-/L2 CL-Code Phase Assignments (sheet 1 of 3)

Initial Shift Register State (Octal) End Shift Register State (Octal)

PRN

Signal

No. ***

L2 CM L2 CL L2 CM * L2 CL **

771353753

226107701

022025110

402466344

752566114

702011164

041216771

047457275

266333164

713167356

060546335

355173035

617201036

157465571

767360553

023127030

431343777

747317317

045706125

002744276

060036467

217744147

603340174

326616775

063240065

111460621

101232630

132525726

315216367

377046065

655351360

435776513

744242321

024346717

562646415

731455342

723352536

000013134

011566642

475432222

463506741

617127534

026050332

733774235

751477772

417631550

052247456

560404163

417751005

004302173

715005045

001154457

453413162

637760505

612775765

136315217

264252240

113027466

774524245

161633757

603442167

213146546

721323277

207073253

130632332

606370621

330610170

744312067

154235152

525024652

535207413

655375733

316666241

525453337

114323414

755234667

526032633

602375063

463624741

673421367

703006075

746566507

444022714

136645570

645752300

656113341

015705106

002757466

100273370

304463615

054341657

333276704

750231416

541445326

316216573

007360406

112114774

042303316

353150521

044511154

244410144

562324657

027501534

521240373

* Short cycled period = 10230

** Short cycled period = 767250

*** PRN sequences 38 through 63 are reserved for GPS.

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56j

Table 6-II. Additional L2 CM-/L2 CL-Code Phase Assignments (sheet 2 of 3)

Initial Shift Register State (Octal) End Shift Register State (Octal)

PRN

Signal

No.

L2 CM L2 CL L2 CM * L2 CL **

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

604055104

157065232

013305707

603552017

230461355

603653437

652346475

743107103

401521277

167335110

014013575

362051132

617753265

216363634

755561123

365304033

625025543

054420334

415473671

662364360

373446602

417564100

000526452

226631300

113752074

706134401

041352546

664630154

276524255

714720530

714051771

044526647

605253024

063314262

066073422

737276117

737243704

067557532

227354537

704765502

044746712

720535263

733541364

270060042

737176640

133776704

005645427

704321074

137740372

056375464

704374004

216320123

011322115

761050112

725304036

721320336

443462103

510466244

745522652

373417061

225526762

047614504

034730440

453073141

425373114

427153064

310366577

623710414

252761705

050174703

050301454

416652040

050301251

744136527

633772375

007131446

142007172

655543571

031272346

203260313

226613112

736560607

011741374

765056120

262725266

013051476

144541215

534125243

250001521

276000566

447447071

000202044

751430577

136741270

257252440

757666513

044547544

707116115

412264037

223755032

403114174

671505575

606261015

223023120

370035547

516101304

044115766

704125517

406332330

506446631

743702511

022623276

704221045

372577721

105175230

760701311

737141001

227627616

245154134

040015760

002154472

301767766

226475246

733673015

602507667

753362551

746265601

036253206

* Short cycled period = 10230

** Short cycled period = 767250

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56k

Table 6-II. Additional L2 CM-/L2 CL-Code Phase Assignments (sheet 3 of 3)

Initial Shift Register State (Octal) End Shift Register State (Octal)

PRN

Signal

No.

L2 CM L2 CL L2 CM * L2 CL **

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

207164322

262120161

204244652

202133131

714351204

657127260

130567507

670517677

607275514

045413633

212645405

613700455

706202440

705056276

020373522

746013617

132720621

434015513

566721727

140633660

533654510

377016461

235525312

507056307

221720061

520470122

603764120

145604016

051237167

033326347

534627074

645230164

000171400

022715417

135471311

137422057

714426456

640724672

501254540

513322453

606512137

734247645

415505547

705146647

006215430

371216176

645502771

455175106

127161032

470332401

252026355

113771472

754447142

627405712

325721745

056714616

706035241

173076740

145721746

465052527

202512772

701234023

722043377

240751052

375674043

166677056

123055362

707017665

437503241

275605155

376333266

467523556

144132537

451024205

722446427

412376261

441570172

063217710

110320656

113765506

* Short cycled period = 10230

** Short cycled period = 767250

IRN-200D-001

IS-GPS-200D

7 Mar 2006

56l

(This page intentionally left blank.)

IS-GPS-200D

7 Dec 2004

10. APPENDIX I. LETTERS OF EXCEPTION

10.1 Scope

. Approval of this document, as well as approval of any subsequent changes to the document, can be

contingent upon a "letter of exception". This appendix depicts such "letters of exception" when authorized by the

GPS JPO.

10.2 Applicable Documents

. The documents listed in Section 2.0 shall be applicable to this appendix.

10.3 Letters of Exception

. Any letter of exception which is in force for the revision of the IS is depicted in Figure

10-1.

IS-GPS-200D

7 Dec 2004

(This page intentionally left blank.)

IS-GPS-200D

7 Dec 2004

Lockheed Martin Space Systems Company

Space & Strategic Missiles

Valley Forge Operations

P.O. Box 8555 Philadelphia, PA 19101

26 May 2003

GPS IIR-CM-MOD-147

SMC/CZK

2420 VELA WAY, SUITE 1467

LOS ANGELES AFB CA 90245-4659

Attention: Mr. David Smith

Subject: GPS Block IIR Modernization Contract F04701-00-C-0006

Review and approval of ICD-GPS-PIRN-200C-007B, dated 08 November 2003, post 9

April 2003 CCB (L2C = -160).

Reference: 1) PCOL# 03-012, dated 22 May 03; F04701-00-C-0006; REQUEST FOR IMPACTS

DUE TO IMPLEMENTING PROPOSED CHANGES TO PIRN-200C-007

REVISION B

Dear Mr. Smith:

Lockheed Martin Space Systems Company has been asked to review and comment on changes made to

ICD-GPS-PIRN-200C-007B at the JPO CCB boarded on or about 09 April 2003. It is our understanding

that the ONLY change made to the 08 November 2002 of the subject ICD is L2C for IIR-M SVs changed

from –161.4 dBW to –160.0 dBW.

Based on that change, Lockheed Martin takes exception to IIR-M L2 C signal power specified in Table 3-

III. Per Lockheed Martin contract requirements as specified in SS-SS-500, Rev. A, dated 14 May 2001,

LMSSC calculates links using:

• 0-dBi circularly polarized user receiving antenna (located) near ground when the SV is above a 5°

elevation angle

• Atmospheric loss of 0.5 dB at edge of earth

• Assumes SV antenna gains are averaged about azimuth

Using the assumptions as specified in paragraph 3.3.1.6 of PIRN-200C-007B, the GPS IIRM SVs provide

a minimum receive signal of -161.4 dBW for L2 C signal. Lockheed Martin therefore takes exception to -

160 dBW for L2C of PIRN-200c-007B. Formal request for cost and schedule impacts should come

through the JPO Contracting Officer.

To change from -161.4 dBW to -160.0 dBW would have to be analyzed and coordinated between

Lockheed Martin and ITT. If such a change were technically possible, there would be impacts to L-Band

level testing, SV level testing, test scripts, Specs, OOH, and various ICDs. These impacts would be in

both cost and schedule.

Figure 10-1. Letters of Exception.

IS-GPS-200D

7 Dec 2004

GPS IIR-CM-MOD-147

Page 2

Currently, there is an ongoing effort between Lockheed Martin, Boeing, Arinc, Aerospace, and the JPO

concerning signal flexibility under the ConOps study. Lockheed Martin recommends, based on the

outcome and direction of this effort, that an impact to the ICD-200 change be included in the resulting

request for ROMs for Flex Power implementation.

Note that if Lockheed Martin has taken earlier exception to a change in any requirements in a previous

revision of this document, Lockheed Martin continues to take exception to that change. A letter explicitly

stating that the exception is no longer valid will accomplish the retraction of an exception.

Should you have any questions, please contact Martin O’Connor at (610) 354-7866 for technical

concerns, or the undersigned at (610) 354-7989 for contractual matters.

Very truly yours,

LOCKHEED MARTIN CORPORATION

Signature on file

Brent B. Achee II

GPS Block IIR Deputy Program Director

xc: Capt. K. Eggehorn

Mary Guyes

Soon Yi, ARINC

J. Windfelder, DCMC

Figure 10-1. Letters of Exception (continued).

IS-GPS-200D

7 Dec 2004

Lockheed Martin Space Systems Company

Space & Strategic Missiles

Valley Forge Operations

P.O. Box 8555 Philadelphia, PA 19101

27 September 2004

GPS IIR-CM-3023, Rev A

ARINC

2250 E. Imperial Highway, Suite 450

El Segundo, CA 90245-3546

Attention: Mr. Soon K. Yi

Subject: Review of IS-GPS-200 Rev D

Reference: 1) Contract F04701-89-C-0073

2) IS-GPS-200D, dated 09 July 2004

Dear Mr. Yi:

Lockheed Martin Space Systems Company has reviewed the subject version of IS-GPS-200D, dated 09

July 2004. It is Lockheed Martin’s understanding that the JPO and ARINC are in the process of

incorporating major changes to ICD-200C, eliminating multiple Letters of Exception, and change the

Interface Control Document to an Interface Specification (IS). With this in mind, Lockheed Martin is

rescinding all previous letters of exception:

1. GPS IIR-CM-1046, dated 17 August 1994

2. GPS IIR-CM-MOD-0097, dated 08 May 2002

3. GPS IIR-CM-2837, dated 26 May 2003

4. GPS IIR-CM-MOD-0177, dated 16 March 2004

Lockheed Martin would like to establish this correspondence for the review of IS-GPS-200 as the

baseline letter of exception. Lockheed Martin is taking exception to:

1. L2CNAV

2. IIR-M L2C Signal Power, as defined in Table 3-V

The original Letter of Exception, dated 09 September 2004 listed IODC as an exception. Lockheed

Martin has been able to verify this exception no longer exists. This revision to the LOE should therefore

be used in it’s place. Specific reasoning for these exceptions are documented in the attached table.

Lockheed Martin is also submitting technical comments identified herein. If this document is approved at

JPO CCB, LMSSC will expect a letter from JPO requesting cost and schedule impacts to implement these

out-of-scope requirements on the IIR and IIR-M contracts.

Per discussions with ARINC, telecons with the JPO, and the IS-200D review directions, it is Lockheed

Martin’s understanding that the once this document is Configuration Controlled by the JPO, ICD-200 will

be removed from Lockheed Martin’s contract with the government and replace with IS-200. The

approved IS-200 will contain this LOE and Lockheed Martin will be notified in writing as to changes that

occurred as part of the CCB process for concurrence to said changes

Figure 10-1. Letters of Exception (continued).

IS-GPS-200D

7 Dec 2004

Should you have any questions, please contact Marty O’Connor at (610) 354-7866 for technical concerns,

or the undersigned at (610) 354-2569 for contractual matters.

Very truly yours,

LOCKHEED MARTIN CORPORATION

Signature on file

Paul E. Ruffo, CPCM

Manager of Contracts

GPS Block IIR, IIR-M, III

xc: Mary Guyes

A. Trader

J. Windfelder, DCMA

Capt. Brian Knight

Figure 10-1. Letters of Exception (continued).

IS-GPS-200D

7 Dec 2004

Figure 10-1. Letters of Exception (continued).

IS-GPS-200D

7 Dec 2004

Figure 10-1. Letters of Exception (continued).

IS-GPS-200D

7 Dec 2004

20. APPENDIX II. GPS NAVIGATION DATA STRUCTURE FOR DATA, D(t)

20.1 Scope

. This appendix describes the specific GPS navigation (NAV) data structure denoted as D(t). When

transmitted as part of the NAV data, D(t), the specific data structure of D(t) shall be denoted by data ID number 2,

represented by the two-bit binary notation as 01.

20.2 Applicable Documents

20.2.1 Government Documents

. In addition to the documents listed in paragraph 2.1, the following documents of

the issue specified contribute to the definition of the NAV data related interfaces and form a part of this Appendix

to the extent specified herein.

Specifications

None

Standards

None

Other Publications

None

20.2.2 Non-Government Documents

. In addition to the documents listed in paragraph 2.2, the following

documents of the issue specified contribute to the definition of the NAV data related interfaces and form a part of

this Appendix to the extent specified herein.

Specifications

None

Other Publications

None

IS-GPS-200D

7 Dec 2004

(This page intentionally left blank.)

IS-GPS-200D

7 Dec 2004

20.3 Requirements

20.3.1 Data Characteristics

. The data stream shall be transmitted by the SV on the L1 and L2 channels at a rate of

50 bps. In addition, upon ground command, the data stream shall be transmitted by the Block IIR-M SV on the

L2 CM channel at a rate of 25 bps using FEC encoding resulting in 50 sps.

20.3.2 Message Structure

. As shown in Figure 20-1, the message structure shall utilize a basic format of a 1500

bit long frame made up of five subframes, each subframe being 300 bits long. Subframes 4 and 5 shall be

subcommutated 25 times each, so that a complete data message shall require the transmission of 25 full frames.

The 25 versions of subframes 4 and 5 shall be referred to herein as pages 1 through 25 of each subframe. Each

subframe shall consist of ten words, each 30 bits long; the MSB of all words shall be transmitted first.

Each subframe and/or page of a subframe shall contain a telemetry (TLM) word and a handover word (HOW), both

generated by the SV, and shall start with the TLM/HOW pair. The TLM word shall be transmitted first,

immediately followed by the HOW. The latter shall be followed by eight data words. Each word in each frame

shall contain parity (reference Section 20.3.5).

Block II and IIA SVs are designed with sufficient memory capacity for storing at least 60 days of uploaded NAV

data. However, the memory retention of these SVs will determine the duration of data transmission. Block IIR SVs

have the capability, with current memory margin, to store at least 60 days of uploaded NAV data in the Block IIA

mode and to store at least 60 days of CS data needed to generate NAV data on-board in the Autonav mode.

Alternating ones and zeros will be transmitted in words 3 through 10 in place of the normal NAV data whenever the

SV cannot locate the requisite valid control or data element in its on-board computer memory. The following

specifics apply to this default action: (a) the parity of the affected words will be invalid, (b) the two trailing bits of

word 10 will be zeros (to allow the parity of subsequent subframes to be valid -- reference paragraph 20.3.5), (c) if

the problem is the lack of a data element, only the directly related subframe(s) will be treated in this manner, (d) if

a control element cannot be located, this default action will be applied to all subframes and all subframes will

indicate ID = 1 (Block II/IIA only) (i.e., an ID-code of 001) in the HOW (reference paragraph 20.3.3.2) (Block

IIR/IIR-M and IIF SVs indicate the proper subframe ID for all subframes). Certain failures of control elements

which may occur in the SV memory or during an upload will cause the SV to transmit in non-standard codes (NSC

and NSY) which would preclude normal use by the US. Normal NAV data transmission will be resumed by the SV

whenever a valid set of elements becomes available.

IS-GPS-200D

7 Dec 2004

Block II/IIA SVs are uploaded with a minimum of 60 days of NAV data. However, the EAROM retentivity for

Block II SVs is designed and guaranteed for only 14 days. Therefore, Block II SV memory is most likely to fail

sometime during long-term extended operations after repeated write operations. In the case of memory failure, the

SV will transmit alternating ones and zeros in word 3-10 as specified in the above paragraph. The EAROM

retentivity for Block IIA SVs is designed and guaranteed for at least 60 days.

The memory retentivity for the Block IIR/IIR-M/IIF SVs is designed and guaranteed for at least 60 days.

Although the data content of the SVs will be temporarily reduced during the upload process, the transmission of

valid NAV data will be continuous. The data capacity of specific operational SVs may be reduced to accommodate

partial memory failures.

IS-GPS-200D

7 Dec 2004

*** RESERVED

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

1 316191121

SUBFRAME

NO.

PAGE

NO.

1N/A

TLM

22 BITS

HOW

22 BITS

BITS

C/A OR P ON L2 - 2 BITS

URA INDEX - 4 BITS

SV HEALTH - 6 BITS

73 77 83

2 MSBs IODC - 10 BITS TOTAL

L2 P DATA FLAG - 1 BIT

23 BITS***

24 BITS***

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

1N/A

24 BITS***

P P P P P16

BITS***

8 BITS

8 LSBs IODC - 10 BITS TOTAL

16 BITS

219197

BITS

16 BITS

22 BITS

Figure 20-1. Data Format (sheet 1 of 11)

IS-GPS-200D

7 Dec 2004

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

1 316191121

SUBFRAME

NO.

PAGE

NO.

2N/A

P P P P P

TLM

22 BITS

HOW

22 BITS

C t

IODE

BITS

16 BITS

10769

∆n

16 BITS

BITS

24 BITS

MSBs LSBs

- 32 BITS TOTAL

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

2N/A

P P P P P

MSBs LSBs

e - 32 BITS TOTAL

16 BITS

BITS

24 BITS

16 BITS

BITS

167 227

MSBs LSBs

- 32 BITS TOTAL

24 BITS

16 BITS

287

FIT INTERVAL FLAG - 1 BIT

AODO - 5 BITS

Figure 20-1. Data Format (sheet 2 of 11)

IS-GPS-200D

7 Dec 2004

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

1 316191121

SUBFRAME

NO.

PAGE

NO.

3N/A

P P P P PC

TLM

22 BITS

HOW

22 BITS

16 BITS

BITS

24 BITS

16 BITS

BITS

137

MSBs LSBs

Ω

- 32 BITS TOTAL

•

Ω

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

3N/A

P P P P P24 BITS

16 BITS

BITS

24 BITS

IODE

BITS

IDOT

BITS

279

LSBs

- 32 BITS TOTAL

MSBs LSBs

ω - 32 BITS TOTAL

Figure 20-1. Data Format (sheet 3 of 11)

IS-GPS-200D

7 Dec 2004

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

NOTE: PAGES 2, 3, 4, 5, 7, 8, 9 & 10 OF SUBFRAME 4 HAVE THE SAME FORMAT AS PAGES 1 THROUGH 24 OF SUBFRAME 5

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

THRU

P P P P PC

TLM

22 BITS

HOW

22 BITS

63 69

16 BITS

BITS

16 BITS

•

Ω

16 BITS

BITS

SV HEALTH

DATA ID - 2 BITS

SV ID - 6 BITS

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

THRU

P P P P P

24 BITS

Ω

24 BITS

279 290

8 MSBs 3 LSBs

- 11 BITS TOTAL

Figure 20-1. Data Format (sheet 4 of 11)

IS-GPS-200D

7 Dec 2004

** RESERVED FOR SYSTEM USE

*** RESERVED

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

525

P P PPP

TLM

22 BITS

HOW

22 BITS

63 69

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

BITS

SV HEALTH

6 BITS/SV

SV HEALTH

6 BITS/SV

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241

271

525

P P P P P

SV HEALTH

6 BITS/SV

SV HEALTH

6 BITS/SV

SV HEALTH

6 BITS/SV

SV HEALTH

6 BITS/SV

6 BITS ***

277

16 BITS **

Figure 20-1. Data Format (sheet 5 of 11)

IS-GPS-200D

7 Dec 2004

** RESERVED FOR SYSTEM USE

*** RESERVED

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

P P P P P

1, 6, 11,

16 & 21

24 BITS*** 24 BITS*** 24 BITS***

249

8***

BITS

BITS***

t22 BITS**

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

1, 6, 11,

16 & 21

P P P P PC

TLM

22 BITS

HOW

22 BITS

63 69

BITS***

24 BITS*** 24 BITS***

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

Figure 20-1. Data Format (sheet 6 of 11)

IS-GPS-200D

7 Dec 2004

** RESERVED FOR SYSTEM USE

*** RESERVED

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

P P P P P

12, 19, 20,

22, 23 & 24

24 BITS*** 24 BITS*** 24 BITS***

249

8***

BITS

16 BITS**

t22 BITS**

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

12, 19, 20,

22, 23 & 24

P P P P PC

TLM

22 BITS

HOW

22 BITS

63 69

BITS***

24 BITS*** 24 BITS***

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

Figure 20-1. Data Format (sheet 7 of 11)

IS-GPS-200D

7 Dec 2004

** RESERVED FOR SYSTEM USE

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

P P P P P

24 BITS 24 BITS

BITS

219 227

∆t

BITS

249 257

∆t

LSF

BITS

279

BITS**

LSF

MSBs LSBs

- 32 BITS TOTAL

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

418

P P P P P

TLM

22 BITS

HOW

22 BITS

63 69 77

BITS

99 107

BITS

129 137

BITS

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

Figure 20-1. Data Format (sheet 8 of 11)

IS-GPS-200D

7 Dec 2004

** RESERVED FOR SYSTEM USE

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

425

P P PPP

TLM

22 BITS

HOW

22 BITS

63 69

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

A-SPOOF &

SV CONFIG

A- SPOOF &

SV CONFIG

A- SPOOF &

SV CONFIG

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

P P P P P

A- SPOOF &

SV CONFIG

A- SPOOF &

SV CONFIG

A-SPOOF &

SV CONFIG

227

229

2 BITS **

SV HEALTH

6 BITS/SV

SV HEALTH

6 BITS/SV

SV HEALTH - 6 BITS

4 BITS **

Figure 20-1. Data Format (sheet 9 of 11)

IS-GPS-200D

7 Dec 2004

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

SUB

FRAME

NO.

PAGE

NO.

131 91121

P P P P PC

TLM

22 BITS

HOW

22 BITS

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

P P P P P

AVAILABILITY INDICATOR - 2 BITS

Figure 20-1. Data Format (sheet 10 of 11)

IS-GPS-200D

7 Dec 2004

** THE INDICATED PORTIONS OF WORDS 3 THROUGH 10 OF PAGES 14 AND 15 ARE RESERVED FOR SYSTEM USE, WHILE

THOSE OF PAGE 17 ARE RESERVED FOR SPECIAL MESSAGES PER PARAGRAPH 20.3.3.5.1.10

P = 6 PARITY BITS

t = 2 NONINFORMATION BEARING BITS USED FOR PARITY COMPUTATION (SEE PARAGRAPH 20.3.5)

C = TLM BITS 23 AND 24 WHICH ARE RESERVED

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 1 WORD 2 WORD 3 WORD 4 WORD 5

131

91 121

SUBFRAME

NO.

PAGE

NO.

14, 15

& 17**

P P P P PC

TLM

22 BITS

HOW

22 BITS

63 69

BITS**

24 BITS** 24 BITS**

DATA ID - 2 BITS

SV (PAGE) ID - 6 BITS

DIRECTION OF DATA FLOW FROM SV MSB FIRST

150 BITS 3 SECONDS

WORD 6 WORD 7 WORD 8 WORD 9 WORD 10

151 181 211 241 271

P P P P P

14, 15

& 17**

24 BITS** 24 BITS** 24 BITS** 24 BITS** 22 BITS** t

Figure 20-1. Data Format (sheet 11 of 11)

IS-GPS-200D

7 Dec 2004

(This page intentionally left blank.)

IS-GPS-200D

7 Dec 2004

20.3.3 Message Content

. The format and contents of the TLM word and the HOW, as well as those of words three

through ten of each subframe/page, are described in the following subparagraphs. The timing of the subframes and

pages is covered in Section 20.3.4.

20.3.3.1 Telemetry Word

. Each TLM word is 30 bits long, occurs every six seconds in the data frame, and is the

first word in each subframe/page. The format shall be as shown in Figure 20-2. Bit 1 is transmitted first. Each

TLM word shall begin with a preamble, followed by the TLM message, two reserved bits, and six parity bits. The

TLM message contains information needed by the authorized user and by the CS, as described in the related SS/CS

interface documentation.

20.3.3.2 Handover Word (HOW)

. The HOW shall be 30 bits long and shall be the second word in each

subframe/page, immediately following the TLM word. A HOW occurs every 6 seconds in the data frame. The

format and content of the HOW shall be as shown in Figure 20-2. The MSB is transmitted first. The HOW begins

with the 17 MSBs of the time-of-week (TOW) count. (The full TOW count consists of the 19 LSBs of the 29-bit Z-

count). These 17 bits correspond to the TOW-count at the X1 epoch which occurs at the start (leading edge) of the

next following subframe (reference paragraph 3.3.4).

Bit 18 is an "alert" flag. When this flag is raised (bit 18 = "1"), it shall indicate to the unauthorized user that the

SV URA may be worse than indicated in subframe 1 and that he shall use that SV at his own risk.

Bit 19 is an anti-spoof (A-S) flag. A "1" in bit-position 19 indicates that the A-S mode is ON in that SV.

Bits 20, 21, and 22 of the HOW provide the ID of the subframe in which that particular HOW is the second word;

the ID code shall be as follows:

Subframe

ID Code

1 001

2 010

3 011

4 100

5 101

IS-GPS-200D

7 Dec 2004

Figure 20-2. TLM and HOW Formats

Preamble

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

1 0 0 0 1 0 1 1

TLM Message

TLM Word

MSB LSB

Parity

= Reserved Bits

1 1

TOW-Count Message

(Truncated)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

Sub-

frame

HOW

MSB LSB

Parity

Solved for bits to preserve

parity check with zeros in

bits 29 and 30

Anti-Spoof Flag

“Alert” Flag

IS-GPS-200D

7 Dec 2004

20.3.3.3 Subframe 1

. The content of words three through ten of subframe 1 are defined below, followed by related

algorithms and material pertinent to use of the data.

20.3.3.3.1 Subframe 1 Content

. The third through tenth words of subframe 1 shall each contain six parity bits as

their LSBs; in addition, two non-information bearing bits shall be provided as bits 23 and 24 of word ten for parity

computation purposes. The remaining 190 bits of words three through ten shall contain the clock parameters and

other data described in the following.

The clock parameters describe the SV time scale during the period of validity. The parameters in a data set shall

be valid during the interval of time in which they are transmitted and shall remain valid for an additional period of

time after transmission of the next data set has started. The timing information for subframes, pages, and data sets

is covered in Section 20.3.4.

20.3.3.3.1.1 Transmission Week Number

. The ten MSBs of word three shall contain the ten MSBs of the 29-bit Z-

count as qualified herein. These ten bits shall be a modulo 1024 binary representation of the current GPS week

number at the start of the data set transmission interval (see paragraph 3.3.4(b)). The GPS week number increments

at each end/start of week epoch. For Block II SVs in long-term extended operations, beginning approximately 28

days after upload, the transmission week number may not correspond to the actual GPS week number due to curve

fit intervals that cross week boundaries.

20.3.3.3.1.2 Code(s) on L2 Channel

. Bits 11 and 12 of word three shall indicate which code(s) is (are) commanded

ON for the L2 channel, as follows:

00 = Reserved,

01 = P code ON,

10 = C/A code ON.

IS-GPS-200D

7 Dec 2004

20.3.3.3.1.3 SV Accuracy

. Bits 13 through 16 of word three shall give the URA index of the SV (reference

paragraph 6.2.1) for the unauthorized user. Except for Block IIR/IIR-M SVs in the Autonav mode, the URA index

(N) is an integer in the range of 0 through 15 and has the following relationship to the URA of the SV:

URA INDEX

URA (meters)

0 0.00 < URA ≤ 2.40

1 2.40 < URA ≤ 3.40

2 3.40 < URA ≤ 4.85

3 4.85 < URA ≤ 6.85

4 6.85 < URA ≤ 9.65

5 9.65 < URA ≤ 13.65

6 13.65 < URA ≤ 24.00

7 24.00 < URA ≤ 48.00

8 48.00 < URA ≤ 96.00

9 96.00 < URA ≤ 192.00

10 192.00 < URA ≤ 384.00

11 384.00 < URA ≤ 768.00

12 768.00 < URA ≤ 1536.00

13 1536.00 < URA ≤ 3072.00

14 3072.00 < URA ≤ 6144.00

15 6144.00 < URA (or no accuracy prediction is available - unauthorized users are

advised to use the SV at their own risk.)

For each URA index (N), users may compute a nominal URA value (X) as given by:

• If the value of N is 6 or less, X = 2

(1 + N/2)

• If the value of N is 6 or more, but less than 15, X = 2

(N - 2)

• N = 15 shall indicate the absence of an accuracy prediction and shall advise the unauthorized

user to use that SV at his own risk.

For N = 1, 3, and 5, X should be rounded to 2.8, 5.7, and 11.3 meters, respectively.

For Block IIR/IIR-M SVs in the Autonav mode, the URA shall be defined to mean “no better than X meters”, with “X”

as defined above for each URA index

IS-GPS-200D

7 Dec 2004

20.3.3.3.1.4 SV Health

. The six-bit health indication given by bits 17 through 22 of word three refers to the

transmitting SV. The MSB shall indicate a summary of the health of the NAV data, where

0 = all NAV data are OK,

1 = some or all NAV data are bad.

The five LSBs shall indicate the health of the signal components in accordance with the codes given in paragraph

20.3.3.5.1.3. The health indication shall be given relative to the "as designed" capabilities of each SV (as

designated by the configuration code - see paragraph 20.3.3.5.1.4). Accordingly, any SV which does not have a

certain capability will be indicated as "healthy" if the lack of this capability is inherent in its design or if it has

been configured into a mode which is normal from a user standpoint and does not require that capability.

Additional SV health data are given in subframes 4 and 5. The data given in subframe 1 may differ from that

shown in subframes 4 and/or 5 of other SVs since the latter may be updated at a different time.

20.3.3.3.1.5 Issue of Data, Clock (IODC)

. Bits 23 and 24 of word three in subframe 1 shall be the two MSBs of the

ten-bit IODC term; bits one through eight of word eight in subframe 1 shall contain the eight LSBs of the IODC.

The IODC indicates the issue number of the data set and thereby provides the user with a convenient means of

detecting any change in the correction parameters. Constraints on the IODC as well as the relationship between the

IODC and the IODE (issue of data, ephemeris) terms are defined in paragraph 20.3.4.4.

Short-term and Long-term Extended Operations

. Whenever the fit interval flag indicates a fit interval greater than

4 hours, the IODC can be used to determine the actual fit interval of the data set (reference section 20.3.4.4).

20.3.3.3.1.6 Data Flag for L2 P-Code

. When bit 1 of word four is a "1", it shall indicate that the NAV data stream

was commanded OFF on the P-code of the L2 channel.

IS-GPS-200D

7 Dec 2004

20.3.3.3.1.7 Estimated Group Delay Differential

. Bits 17 through 24 of word seven contain the L1-L2 correction

term, T

, for the benefit of "L1 only" or "L2 only" users; the related user algorithm is given in paragraph

20.3.3.3.3.

20.3.3.3.1.8 SV Clock Correction

. Bits nine through 24 of word eight, bits one through 24 of word nine, and bits

one through 22 of word ten contain the parameters needed by the users for apparent SV clock correction (t

, a

). The related algorithm is given in paragraph 20.3.3.3.3.

20.3.3.3.2 Subframe 1 Parameter Characteristics

. For those parameters whose characteristics are not fully defined

in Section 20.3.3.3.1, the number of bits, the scale factor of the LSB (which shall be the last bit received), the

range, and the units shall be as specified in Table 20-I.

20.3.3.3.3 User Algorithms for Subframe 1 Data

. The algorithms defined below (a) allow all users to correct the

code phase time received from the SV with respect to both SV code phase offset and relativistic effects, (b) permit

the "single frequency" (L1 or L2) user to compensate for the effects of SV group delay differential (the user who

utilizes both frequencies does not require this correction, since the clock parameters account for the induced

effects), and (c) allow the "two frequency" (L1 and L2) user to correct for the group propagation delay due to

ionospheric effects (the single frequency user may correct for ionospheric effects as described in paragraph

20.3.3.5.2.5).

IS-GPS-200D

7 Dec 2004

Table 20-I. Subframe 1 Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

Code on L2

Week No.

L2 P data flag

SV accuracy

SV health

IODC

16*

22*

-31

-55

-43

-31

604,784

discretes

week

discrete

(see text)

discretes

seconds

(see text)

seconds

sec/sec

seconds

* Parameters so indicated shall be two's complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

IS-GPS-200D

7 Dec 2004

20.3.3.3.3.1 User Algorithm for SV Clock Correction

. The polynomial defined in the following allows the user to

determine the effective SV PRN code phase offset referenced to the phase center of the antennas (∆t

) with respect

to GPS system time (t) at the time of data transmission. The coefficients transmitted in subframe 1 describe the

offset apparent to the two-frequency user for the interval of time in which the parameters are transmitted. This

estimated correction accounts for the deterministic SV clock error characteristics of bias, drift and aging, as well as

for the SV implementation characteristics of group delay bias and mean differential group delay. Since these

coefficients do not include corrections for relativistic effects, the user's equipment must determine the requisite

relativistic correction. Accordingly, the offset given below includes a term to perform this function.

The user shall correct the time received from the SV with the equation (in seconds)

t = t

- ∆t

(1)

where

t = GPS system time (seconds),

= effective SV PRN code phase time at message transmission time (seconds),

∆t

= SV PRN code phase time offset (seconds).

The SV PRN code phase offset is given by

∆t

= a

+ a

(t - t

) + a

(t - t

)

+ ∆t

(2)

where

, a

and a

are the polynomial coefficients given in subframe 1, t

is the clock data reference time in

seconds (reference paragraph 20.3.4.5), and ∆t

is the relativistic correction term (seconds) which is given

∆t

= F e A sin E

The orbit parameters (e,

A , E

) used here are described in discussions of data contained in subframes 2 and 3,

while F is a constant whose value is

F =

2 µ−

= - 4.442807633 (10)

-10

meter

sec

IS-GPS-200D

7 Dec 2004

where

µ = 3.986005 x 10

meters

second

= value of Earth's universal gravitational parameters

c = 2.99792458 x 10

meters

second

= speed of light.

Note that equations (1) and (2), as written, are coupled. While the coefficients a

, a

and a

are generated by

using GPS time as indicated in equation (2), sensitivity of t

to t is negligible. This negligible sensitivity will allow

the user to approximate t by t

in equation (2). The value of t must account for beginning or end of week

crossovers. That is, if the quantity t - t

is greater than 302,400 seconds, subtract 604,800 seconds from t. If the

quantity t - t

is less than -302,400 seconds, add 604,800 seconds to t.

The control segment will utilize the following alternative but equivalent expression for the relativistic effect when

estimating the NAV parameters:

∆t

−

•

→→

where

→

is the instantaneous position vector of the SV,

→

is the instantaneous velocity vector of the SV, and

c is the speed of light. (Reference paragraph 20.3.4.3).

It is immaterial whether the vectors

→

and

→

are expressed in earth-fixed, rotating coordinates or in earth-centered,

inertial coordinates.

IS-GPS-200D

7 Dec 2004

20.3.3.3.3.2 L1 - L2 Correction

. The L1 and L2 correction term, T

, is initially calculated by the CS to account

for the effect of SV group delay differential between L1 P(Y) and L2 P(Y) based on measurements made by the SV

contractor during SV manufacture. The value of T

for each SV may be subsequently updated to reflect the actual

on-orbit group delay differential. This correction term is only for the benefit of "single-frequency" (L1 P(Y) or L2

P(Y)) users; it is necessitated by the fact that the SV clock offset estimates reflected in the a

clock correction

coefficient (see paragraph 20.3.3.3.3.1) are based on the effective PRN code phase as apparent with two frequency

(L1 P(Y) and L2 P(Y)) ionospheric corrections. Thus, the user who utilizes the L1 P(Y) signal only shall modify the

code phase offset in accordance with paragraph 20.3.3.3.3.1 with the equation

(∆t

)

L1P(Y)

= ∆t

- T

where T

is provided to the user as subframe 1 data. For the user who utilizes L2 P(Y) only, the code phase

modification is given by

(∆t

)

L2P(Y)

= ∆t

- γT

where, denoting the nominal center frequencies of L1 and L2 as f

and f

respectively,

γ = (f

)

= (1575.42/1227.6)

= (77/60)

The value of T

is not equal to the mean SV group delay differential, but is a measured value that represents the

mean group delay differential multiplied by 1/(1- γ). That is,

L1P(Y)

- t

L2P(Y)

)

where t

LiP(Y)

is the GPS time the i

frequency P(Y) signal (a specific epoch of the signal) is transmitted from the SV

antenna phase center.

IS-GPS-200D

7 Dec 2004

20.3.3.3.3.3 Ionospheric Correction

. The two frequency (L1 P(Y) and L2 P(Y)) user shall correct for the group

delay due to ionospheric effects by applying the relationship:

- 1

PR - PR

L1P(Y)L2P(Y)

where

PR = pseudorange corrected for ionospheric effects,

= pseudorange measured on the channel indicated by the subscript.

and γ is as defined in paragraph 20.3.3.3.3.2. The clock correction coefficients are based on "two frequency"

measurements and therefore account for the effects of mean differential delay in SV instrumentation.

20.3.3.3.3.4 Example Application of Correction Parameters

. A typical system application of the correction

parameters for a user receiver is shown in Figure 20-3. The ionospheric model referred to in Figure 20-3 is

discussed in paragraph 20.3.3.5.2.5 in conjunction with the related data contained in page 18 of subframe 4. The

ERD

term referred to in Figure 20-3 is discussed in paragraph 20.3.3.5.2.6 in conjunction with the related data

contained in page 13 of subframe 4.

IS-GPS-200D

7 Dec 2004

Figure 20-3. Sample Application of Correction Parameters

CLOCK

CORRECTION

POLYNOMIAL

TROPOSPHERIC

MODEL

IONOSPHERIC

MODEL*

FILTER AND

COORDINATE

CONVERTER

CODE PHASE OFFSET

- TRUE SV CLOCK EFFECTS

- EQUIPMENT GROUP DELAY

DIFFERENTIAL EFFECTS

- RELATIVISTIC EFFECTS

PATH DELAY

- GEOMETRIC

- TROPOSHERIC

- IONOSPHERIC*

PSEUDORANGE

DIVIDED BY THE

SPEED OF LIGHT

- RANGE DATA FROM

OTHER SATELLITES

- CALIBRATION DATA

- AUXILIARY SENSOR

USER POSITION,

VELOCITY, and

TIME (CLOCK BIAS)

ESTIMATE OF SV

TRANSMISSION TIME

, a

, t

USER CLOCK BIAS

GPS TIME

* SINGLE FREQUENCY USER ONLY

** OPTIONAL

∆ t

∆

tropo

iono

ERD

IS-GPS-200D

7 Dec 2004

20.3.3.4 Subframes 2 and 3

. The contents of words three through ten of subframes 2 and 3 are defined below,

followed by material pertinent to the use of the data.

20.3.3.4.1 Content of Subframes 2 and 3

. The third through tenth words of subframes 2 and 3 shall each contain

six parity bits as their LSBs; in addition, two non-information bearing bits shall be provided as bits 23 and 24 of

word ten of each subframe for parity computation purposes. Bits 288 through 292 of subframe 2 shall contain the

Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4

(reference paragraph 20.3.3.5.1.9). The remaining 375 bits of those two subframes shall contain the ephemeris

representation parameters of the transmitting SV.

The ephemeris parameters describe the orbit during the curve fit intervals described in section 20.3.4. Table 20-II

gives the definition of the orbital parameters using terminology typical of Keplerian orbital parameters; it shall be

noted, however, that the transmitted parameter values are such that they provide the best trajectory fit in Earth-

Centered, Earth-Fixed (ECEF) coordinates for each specific fit interval. The user shall not interpret intermediate

coordinate values as pertaining to any conventional coordinate system.

The issue of ephemeris data (IODE) term shall provide the user with a convenient means for detecting any change in

the ephemeris representation parameters. The IODE is provided in both subframes 2 and 3 for the purpose of

comparison with the 8 LSBs of the IODC term in subframe 1. Whenever these three terms do not match, a data set

cutover has occurred and new data must be collected. The timing of the IODE and constraints on the IODC and

IODE are defined in paragraph 20.3.4.4.

Any change in the subframe 2 and 3 data will be accomplished with a simultaneous change in both IODE words.

The CS shall assure that the t

value, for at least the first data set transmitted by an SV after an upload, is different

from that transmitted prior to the cutover (reference paragraph 20.3.4.5).

A "fit interval" flag is provided in subframe 2 to indicate whether the ephemerides are based on a four-hour fit

interval or a fit interval greater than four hours (reference paragraph 20.3.3.4.3.1).

The AODO word is provided in subframe 2 to enable the user to determine the validity time for the NMCT data

provided in subframe 4 of the transmitting SV. The related algorithm is given in paragraph 20.3.3.4.4.

IS-GPS-200D

7 Dec 2004

Table 20-II. Ephemeris Data Definitions

∆n

Ω

•

IDOT

IODE

Mean Anomaly at Reference Time

Mean Motion Difference From Computed Value

Eccentricity

Square Root of the Semi-Major Axis

Longitude of Ascending Node of Orbit Plane at Weekly Epoch

Inclination Angle at Reference Time

Argument of Perigee

Rate of Right Ascension

Rate of Inclination Angle

Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude

Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude

Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius

Amplitude of the Sine Harmonic Correction Term to the Orbit Radius

Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination

Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination

Reference Time Ephemeris (reference paragraph 20.3.4.5)

Issue of Data (Ephemeris)

IS-GPS-200D

7 Dec 2004

20.3.3.4.2 Subframe 2 and 3 Parameter Characteristics. For each ephemeris parameter contained in subframes 2

and 3, the number of bits, the scale factor of the LSB (which shall be the last bit received), the range, and the units

shall be as specified in Table 20-III.

The AODO word (which is not an ephemeris parameter) is a five-bit unsigned term with an LSB scale factor of

900, a range from 0 to 31, and units of seconds.

20.3.3.4.3 User Algorithm for Ephemeris Determination

. The user shall compute the ECEF coordinates of position

for the phase center of the SVs’ antennas utilizing a variation of the equations shown in Table 20-IV. Subframes 2

and 3 parameters are Keplerian in appearance; the values of these parameters, however, are produced by the CS via

a least squares curve fit of the predicted ephemeris of the phase center of the SVs’ antennas (time-position

quadruples; t, x, y, z expressed in ECEF coordinates). Particulars concerning the periods of the curve fit, the

resultant accuracy, and the applicable coordinate system are given in the following subparagraphs.

20.3.3.4.3.1 Curve Fit Intervals

. Bit 17 in word 10 of subframe 2 is a "fit interval" flag which indicates the curve-

fit interval used by the CS in determining the ephemeris parameters, as follows:

0 = 4 hours,

1 = greater than 4 hours.

The relationship of the curve-fit interval to transmission time and the timing of the curve-fit intervals is covered in

section 20.3.4.

IS-GPS-200D

7 Dec 2004

Table 20-III. Ephemeris Parameters

Parameter No. of Bits** Scale Factor (LSB) Effective Range*** Units

IODE

∆n

Ω

•

IDOT

16*

32*

16*

32*

16*

32*

16*

32*

24*

14*

-5

-43

-31

-29

-33

-29

-19

-29

-31

-29

-31

-5

-31

-43

0.03

604,784

(see text)

meters

semi-circles/sec

semi-circles

radians

dimensionless

radians

meters

seconds

radians

semi-circles

radians

semi-circles

meters

semi-circles

semi-circles/sec

* Parameters so indicated shall be two's complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

IS-GPS-200D

7 Dec 2004

Table 20-IV. Elements of Coordinate Systems (sheet 1 of 2)

µ = 3.986005 x 10

meters

/sec

WGS 84 value of the earth's gravitational constant for

GPS user

Ω

•

= 7.2921151467 x 10

-5

rad/sec WGS 84 value of the earth's rotation rate

A =

()

A Semi-major axis

Computed mean motion (rad/sec)

= t - t

* Time from ephemeris reference epoch

n = n

+ ∆n Corrected mean motion

= M

+ nt

Mean anomaly

= E

- e sin E

Kepler's Equation for Eccentric Anomaly (may be solved

by iteration) (radians)

⎭

⎬

⎫

⎩

⎨

⎧

=ν

−

cos

sin

tan

True Anomaly

()

()( )

⎪

⎭

⎪

⎬

⎫

⎪

⎩

⎪

⎨

⎧

−−

−

Ecose1 / eEcos

Ecose1 /Esine1

tan

* t is GPS system time at time of transmission, i.e., GPS time corrected for transit time (range/speed of light).

Furthermore, t

shall be the actual total time difference between the time t and the epoch time t

, and must

account for beginning or end of week crossovers. That is, if t

is greater than 302,400 seconds, subtract

604,800 seconds from t

. If t

is less than -302,400 seconds, add 604,800 seconds to t

IS-GPS-200D

7 Dec 2004

Table 20-IV. Elements of Coordinate Systems (sheet 2 of 2)

⎭

⎬

⎫

⎩

⎨

⎧

ν+

−

cose1

cose

cosE

Eccentric Anomaly

= ν

+ ω Argument of Latitude

δu

= c

sin2Φ

+ c

cos2Φ

Argument of Latitude Correction

δr

= c

sin2Φ

+ c

cos2Φ

Radius Correction

δi

= c

sin2Φ

+ c

cos2Φ

Inclination Correction

= Φ

+ δu

Corrected Argument of Latitude

= A(1 - e cosE

) + δr

Corrected Radius

= i

+ δi

+ (IDOT) t

Corrected Inclination

′ = r

cosu

′ = r

sinu

Ω

= Ω

+ (

Ω

•

Ω

•

) t

Ω

•

Corrected longitude of ascending node.

= x

′cosΩ

- y

′cosi

sinΩ

= x

′sinΩ

+ y

′cosi

cosΩ

= y

′sini

}

Second Harmonic Perturbations

}

Earth-fixed coordinates.

}

Positions in orbital plane.

IS-GPS-200D

7 Dec 2004

20.3.3.4.3.2 Parameter Sensitivity. The sensitivity of the SV's antenna phase center position to small

perturbations in most ephemeris parameters is extreme. The sensitivity of position to the parameters

A , C

and

is about one meter/meter. The sensitivity of position to the angular parameters is on the order of 10

meters/semicircle, and to the angular rate parameters is on the order of 10

meters/semicircle/second. Because of

this extreme sensitivity to angular perturbations, the value of π used in the curve fit is given here. π is a

mathematical constant, the ratio of a circle's circumference to its diameter. Here π is taken as

π = 3.1415926535898.

20.3.3.4.3.3 Coordinate Systems

20.3.3.4.3.3.1 ECEF Coordinate System.

The equations given in Table 20-IV provide the SV's antenna phase

center position in the WGS 84 ECEF coordinate system defined as follows:

Origin* = Earth's center of mass

Z-Axis** = The direction of the IERS (International Earth Rotation and Reference Systems Service)

Reference Pole (IRP)

X-Axis = Intersection of the IERS Reference Meridian (IRM) and the plane passing through the

origin and normal to the Z-axis

Y-Axis = Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system

* Geometric center of the WGS 84 Ellipsoid

** Rotational axis of the WGS 84 Ellipsoid

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20.3.3.4.3.3.2 Earth-Centered, Inertial (ECI) Coordinate System. In an ECI coordinate system, GPS signals

propagate in straight lines at the constant speed c* (reference paragraph 20.3.4.3). A stable ECI coordinate system

of convenience may be defined as being coincident with the ECEF coordinate system at a given time t

. The x, y, z

coordinates in the ECEF coordinate system at some other time t can be transformed to the x′, y′, z′ coordinates in the

selected ECI coordinate system of convenience by the simple** rotation:

x′ = x cos(θ) – y sin(θ)

y′ = x sin(θ) + y cos(θ)

z′ = z

where

θ =

Ω

•

(t – t

)

* The propagation speed c is constant only in a vacuum. The gravitational potential also has a small

effect on the propagation speed, but may be neglected by most users.

** Neglecting effects due to polar motion, nutation, and precession which may be neglected by most users

for small values of (t – t

20.3.3.4.3.4 Geometric Range

. The user shall account for the geometric range (D) from satellite to receiver in an

ECI coordinate system. D may be expressed as,

D = |

→

) -

→

where

and t

are the GPS system times of transmission and reception, respectively,

and where,

→

) = position vector of the GPS satellite in the selected ECI coordinate system at time t

→

) = position vector of the receiver in the selected ECI coordinate system at time t

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20.3.3.4.4 NMCT Validity Time. Users desiring to take advantage of the NMCT data provided in page 13 of

subframe 4 shall first examine the AODO term currently provided in subframe 2 of the NAV data from the

transmitting SV. If the AODO term is 27900 seconds (i.e., binary 11111), then the NMCT currently available

from the transmitting SV is invalid and shall not be used. If the AODO term is less than 27900 seconds, then the

user shall compute the validity time for that NMCT (t

nmct

) using the ephemeris t

parameter and the AODO term

from the current subframe 2 as follows:

OFFSET = t

[modulo 7200]

if OFFSET = 0, then t

nmct

= t

- AODO

if OFFSET > 0, then t

nmct

= t

- OFFSET + 7200 - AODO

Note that the foregoing computation of t

nmct

must account for any beginning or end of week crossovers; for

example,

if t* - t

nmct

> 302,400 then t

nmct

= t

nmct

+ 604,800

if t* - t

nmct

< -302,400 then t

nmct

= t

nmct

- 604,800

* t is GPS system time at time of transmission.

Users are advised that different SVs will transmit NMCTs with different t

nmct

and that the best performance will

generally be obtained by applying data from the NMCT with the latest (largest) t

nmct

. As a result, users should

compute and examine the t

nmct

values for all visible and available SVs in order to find and use the NMCT with the

latest t

nmct

. If the same latest (largest) t

nmct

is provided by two or more visible and available SVs, then the NMCT

from any SV with the latest t

nmct

may be selected and used; however, the estimated range deviation (ERD) value

provided by the selected NMCT for the other SVs with the same t

nmct

shall be set to zero if those SVs are used in

the positioning solution. It should be noted that the intended positioning solution accuracy improvement will not be

obtained if the data from two different NMCTs are applied simultaneously or if the data from a given NMCT is

applied to just a subset of the SVs used in the positioning solution (i.e., mixed mode operation results in potentially

degraded solution accuracy).

It should be noted that the NMCT information shall be supported by the Block IIR SV only when operating in the

IIA like mode of operation including the Autonav Test mode.

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20.3.3.5 Subframes 4 and 5. Both subframe 4 and 5 are subcommutated 25 times each; the 25 versions of these

subframes are referred to as pages 1 through 25 of each subframe. With the possible exception of "reserved for

system use" pages and explicit repeats, each page contains different specific data in words three through ten. As

shown in Figure 20-1, the pages of subframe 4 utilize seven different formats, while those of subframe 5 use two.

The content of words three through ten of each page is described below, followed by algorithms and material

pertinent to the use of the data.

20.3.3.5.1 Content of Subframes 4 and 5

. Words three through ten of each page contain six parity bits as their

LSBs; in addition, two non-information bearing bits are provided as bits 23 and 24 of word ten in each page for

parity computation purposes. The data contained in the remaining bits of words three through ten of the various

pages in subframes 4 and 5 are described in the following subparagraphs.

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A brief summary of the various data contained in each page of subframes 4 and 5 is as follows:

a. Subframe 4:

• Pages 1, 6, 11, 16 and 21: (reserved);

• Pages 2, 3, 4, 5, 7, 8, 9 and 10: almanac data for SV 25 through 32 respectively;

• Pages 12, 19, 20, 22, 23 and 24: (reserved);

• Page 13: NMCT;

• Pages 14 and 15: reserved for system use;

• Page 17: special messages;

• Page 18: ionospheric and UTC data;

• Page 25: A-S flags/SV configurations for 32 SVs, plus SV health for SV 25

through 32.

b. Subframe 5:

• Pages 1 through 24: almanac data for SV 1 through 24;

• Page 25: SV health data for SV 1 through 24, the almanac reference time, the

almanac reference week number.

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20.3.3.5.1.1 Data ID and SV ID. The two MSBs of word three in each page shall contain data ID. Data ID number

two (denoted by binary code 01) denotes the NAV data structure of D(t) which is described in this Appendix.

Future data IDs will be defined as necessary.

As shown in Table 20-V, the data ID is utilized to provide one of two indications: (a) for those pages which are

assigned to contain the almanac data of one specific SV, the data ID defines the data structure utilized by that SV

whose almanac data are contained in that page; and (b) for all other pages, the data ID denotes the data structure of

the transmitting SV.

The SV ID is given by bits three through eight of word three in each page as shown in Table 20-V. Specific IDs

are reserved for each page of subframes 4 and 5. The SV IDs are utilized in two different ways: (a) for those

pages which contain the almanac data of a given SV, the SV ID is the same number that is assigned to the PRN code

phase of that SV (reference Table 3-I), and (b) for all other pages the SV ID assigned in accordance with Table 20-V

serves as the "page ID". IDs 1 through 32 are assigned to those pages which contain the almanac data of specific

SVs (pages 1-24 of subframe 5 and pages 2-5 and 7-10 of subframe 4). The "0" ID (binary all zeros) is assigned to

indicate a dummy SV, while IDs 51 through 63 are utilized for pages containing other than almanac data of a

specific SV. The remaining IDs (33 through 50) are unassigned.

Pages which carry the same SV ID (e.g., in subframe 4, pages 1, 6, 11, 16 and 21 carry an ID of 57, while pages 12

and 24 are designated by an ID of 62) may not be considered to contain identical data. The data in the pages with

the same SV ID can be different.

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Table 20-V. Data IDs and SV IDs in Subframes 4 and 5

Subframe 4 Subframe 5

Page

Data ID SV ID* Data ID SV ID*

Note(2)

Note(1)

Note(2)

Note(1)

Note(2)

58 Note(3)

59 Note(3)

60 Note(3)

61 Note(3)

Note(1)

Note(2)

* Use "0" to indicate "dummy" SV. When using "0" to indicate dummy SV, use the data ID of the transmitting

SV.

Note 1: Data ID of that SV whose SV ID appears in that page.

Note 2: Data ID of transmitting SV.

Note 3: SV ID may vary (except for IIR/IIR-M/IIF SVs).

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20.3.3.5.1.2 Almanac Data. Pages 1 through 24 of subframe 5, as well as pages 2 through 5 and 7 through 10 of

subframe 4 contain the almanac data and a SV health word for up to 32 SVs (the health word is discussed in

paragraph 20.3.3.5.1.3). The almanac data are a reduced-precision subset of the clock and ephemeris parameters.

The data occupy all bits of words three through ten of each page except the eight MSBs of word three (data ID and

SV ID), bits 17 through 24 of word five (SV health), and the 50 bits devoted to parity. The number of bits, the

scale factor (LSB), the range, and the units of the almanac parameters are given in Table 20-VI. The algorithms

and other material related to the use of the almanac data are given in paragraph 20.3.3.5.2.

The almanac message for any dummy SVs shall contain alternating ones and zeros with valid parity.

The almanac parameters shall be updated by the CS at least once every 6 days while the CS is able to upload the

SVs. If the CS is unable to upload the SVs, the accuracy of the almanac parameters transmitted by the SVs will

degrade over time.

For Block II and IIA SVs, three sets of almanac shall be used to span at least 60 days. The first and second sets will

be transmitted for up to six days each; the third set is intended to be transmitted for the remainder of the 60 days

minimum, but the actual duration of transmission will depend on the individual SV's capability to retain data in

memory. All three sets are based on six-day curve fits that correspond to the first six days of the transmission

interval. For Block IIR/IIR-M and IIF SVs, multiple sets of almanac parameters shall be uploaded to span at least

60 days.

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Table 20-VI. Almanac Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

****

Ω

•

Ω

16*

24*

11*

-21

-19

-38

-11

-23

-20

-38

602,112

dimensionless

seconds

semi-circles

semi-circles/sec

meters

semi-circles

seconds

sec/sec

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor;

**** Relative to i

= 0.30 semi-circles.

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20.3.3.5.1.3 SV Health. Subframes 4 and 5 contain two types of SV health data: (a) each of the 32 pages which

contain the clock/ephemeris related almanac data provide an eight-bit SV health status word regarding the SV

whose almanac data they carry, and (b) the 25th page of subframe 4 and of subframe 5 jointly contain six-bit health

status data for up to 32 SVs.

The three MSBs of the eight-bit health words indicate health of the NAV data in accordance with the code given in

Table 20-VII. The six-bit words provide a one-bit summary of the NAV data's health status in the MSB position in

accordance with paragraph 20.3.3.3.1.4. The five LSBs of both the eight-bit and the six-bit words provide the

health status of the SV's signal components in accordance with the code given in Table 20-VIII. A special

meaning is assigned, however, to the "6 ones" combination of the six-bit health words in the 25th page of

subframes 4 and 5: it indicates that "the SV which has that ID is not available and there may be no data regarding

that SV in that page of subframes 4 and 5 that is assigned to normally contain the almanac data of that SV"

(NOTE: this special meaning applies to the 25th page of subframes 4 and 5 only

). The health indication shall be

given relative to the "as designed" capabilities of each SV (as designated by the configuration code -- see paragraph

20.3.3.5.1.4). Accordingly, any SV which does not have a certain capability will be indicated as "healthy" if the

lack of this capability is inherent in its design or it has been configured into a mode which is normal from a user

standpoint and does not require that capability.

Additional SV health data are given in subframe 1. The data given in subframes 1, 4, and 5 of the other SVs may

differ from that shown in subframes 4 and/or 5 since the latter may be updated at a different time.

The eight-bit health status words shall occupy bits 17 through 24 of word five in those 32 pages which contain

almanac data for individual SVs. The six-bit health status words shall occupy the 24 MSBs of words four through

nine in page 25 of subframe 5 plus bits 19 through 24 of word 8, the 24 MSBs of word 9, and the 18 MSBs of word

10 in page 25 of subframe 4.

The predicted health data will be updated at the time of upload when a new almanac has been built by the CS. The

transmitted health data may not correspond to the actual health of the transmitting SV or other SVs in the

constellation.

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Table 20-VII. NAV Data Health Indications

Bit Position in Page

137 138 139

Indication

ALL DATA OK

PARITY FAILURE -- some or all parity bad

TLM/HOW FORMAT PROBLEM -- any departure from standard format (e.g.,

preamble misplaced and/or incorrect, etc.), except for incorrect Z-count, as

reported in HOW

Z-COUNT IN HOW BAD -- any problem with Z-count value not reflecting

actual code phase

SUBFRAMES 1, 2, 3 -- one or more elements in words three through ten of

one or more subframes are bad

SUBFRAMES 4, 5 -- one or more elements in words three through ten of one

or more subframes are bad

ALL UPLOADED DATA BAD -- one or more elements in words three

through ten of any one (or more) subframes are bad

ALL DATA BAD -- TLM word and/or HOW and one or more elements in any

one (or more) subframes are bad

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Table 20-VIII. Codes for Health of SV Signal Components

MSB LSB Definition

0 0 0 0 0

0 0 0 0 1

0 0 0 1 0

0 0 0 1 1

0 0 1 0 0

0 0 1 0 1

0 0 1 1 0

0 0 1 1 1

0 1 0 0 0

0 1 0 0 1

0 1 0 1 0

0 1 0 1 1

0 1 1 0 0

0 1 1 0 1

0 1 1 1 0

0 1 1 1 1

1 0 0 0 0

1 0 0 0 1

1 0 0 1 0

1 0 0 1 1

1 0 1 0 0

1 0 1 0 1

1 0 1 1 0

1 0 1 1 1

1 1 0 0 0

1 1 0 0 1

1 1 0 1 0

1 1 0 1 1

1 1 1 0 0

1 1 1 0 1

1 1 1 1 0

1 1 1 1 1

All Signals OK

All Signals Weak*

All Signals Dead

All Signals Have No Data Modulation

L1 P Signal Weak

L1 P Signal Dead

L1 P Signal Has No Data Modulation

L2 P Signal Weak

L2 P Signal Dead

L2 P Signal Has No Data Modulation

L1 C Signal Weak

L1 C Signal Dead

L1 C Signal Has No Data Modulation

L2 C Signal Weak

L2 C Signal Dead

L2 C Signal Has No Data Modulation

L1 & L2 P Signal Weak

L1 & L2 P Signal Dead

L1 & L2 P Signal Has No Data Modulation

L1 & L2 C Signal Weak

L1 & L2 C Signal Dead

L1 & L2 C Signal Has No Data Modulation

L1 Signal Weak*

L1 Signal Dead

L1 Signal Has No Data Modulation

L2 Signal Weak*

L2 Signal Dead

L2 Signal Has No Data Modulation

SV Is

Temporarily Out (Do not use this SV during current pass)**

SV Will Be

Temporarily Out (Use with caution)**

Spare

More Than One Combination Would Be Required To Describe Anomalies (Not including those

marked with “**”)

* 3 to 6 dB below specified power level due to reduced power output, excess phase noise, SV attitude, etc.

** See definition above for Health Code 11111.

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20.3.3.5.1.4 Anti-Spoof (A-S) Flags and SV Configurations. Page 25 of subframe 4 shall contain a four-bit-long

term for each of up to 32 SVs to indicate the A-S status and the configuration code of each SV. The MSB of each

four-bit term shall be the A-S flag with a "1" indicating that A-S is ON. The three LSBs shall indicate the

configuration of each SV using the following code:

Code

SV Configuration

001 “Block II/IIA/IIR” SV (A-S capability, plus flags for A-S and "alert" in HOW; memory

capacity as described in paragraph 20.3.2).

010 “Block IIR-M” SV

011 “Block IIF” SV

Additional codes will be assigned in the future, should the need arise.

These four-bit terms shall occupy bits 9 through 24 of word three, the 24 MSBs of words four through seven, and

the 16 MSBs of word eight, all in page 25 of subframe 4.

Since the anti-spoof information is updated by the CS at the time of upload, the anti-spoof data may not correspond

to the actual anti-spoof status of the transmitting SV or other SVs in the constellation.

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20.3.3.5.1.5 Almanac Reference Week. Bits 17 through 24 of word three in page 25 of subframe 5 shall indicate

the number of the week (WN

) to which the almanac reference time (t

) is referenced (see paragraphs 20.3.3.5.1.2

and 20.3.3.5.2.2). The WN

term consists of eight bits which shall be a modulo 256 binary representation of the

GPS week number (see paragraph 6.2.4) to which the t

is referenced. Bits 9 through 16 of word three in page 25 of

subframe 5 shall contain the value of t

which is referenced to this WN

20.3.3.5.1.6 Coordinated Universal Time (UTC) Parameters

. The 24 MSBs of words six through nine plus the

eight MSBs of word ten in page 18 of subframe 4 shall contain the parameters related to correlating UTC time with

GPS time. The bit length, scale factors, ranges, and units of these parameters are given in Table 20-IX. The

related algorithms are described in paragraph 20.3.3.5.2.4.

The UTC parameters shall be updated by the CS at least once every six days while the CS is able to upload the

SVs. If the CS is unable to upload the SVs, the accuracy of the UTC parameters transmitted by the SVs will

degrade over time.

20.3.3.5.1.7 Ionospheric Data

. The ionospheric parameters which allow the "L1 only" or "L2 only" user to utilize

the ionospheric model (reference paragraph 20.3.3.5.2.5) for computation of the ionospheric delay are contained in

page 18 of subframe 4. They occupy bits 9 through 24 of word three plus the 24 MSBs of words four and five. The

bit lengths, scale factors, ranges, and units of these parameters are given in Table 20-X.

The ionospheric data shall be updated by the CS at least once every six days while the CS is able to upload the

SVs. If the CS is unable to upload the SVs, the ionospheric data transmitted by the SVs may not be accurate.

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Table 20-IX. UTC Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

∆ t

LSF

∆ t

LSF

32*

24*

8****

-30

-50

602,112

seconds

sec/sec

seconds

weeks

days

seconds

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor;

**** Right justified.

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Table 20-X. Ionospheric Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

-30

-27

-24

seconds

sec/semi-circle

sec/(semi-circle)

seconds

sec/semi-circle

sec/(semi-circle)

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 20-1 for complete bit allocation in subframe;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

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20.3.3.5.1.8 Special Messages. Page 17 of subframe 4 shall be reserved for special messages with the specific

contents at the discretion of the Operating Command. It shall accommodate the transmission of 22 eight-bit ASCII

characters. The requisite 176 bits shall occupy bits 9 through 24 of word three, the 24 MSBs of words four through

nine, plus the 16 MSBs of word ten. The eight MSBs of word three shall contain the data ID and SV ID, while bits

17 through 22 of word ten shall be reserved for system use. The remaining 50 bits of words three through ten are

used for parity (six bits/word) and parity computation (two bits in word ten). The eight-bit ASCII characters shall

be limited to the following set:

Alphanumeric Character

ASCII Character Code (Octal)

A - Z A - Z 101 - 132

0 - 9 0 - 9 060 - 071

+ + 053

- - 055

. (Decimal point) . 056

' (Minute mark) ' 047

° (Degree sign) ° 370

/ / 057

Blank Space 040

: : 072

" (Second mark) " 042

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20.3.3.5.1.9 NMCT. Page 13 of subframe 4 shall contain the NMCT data appropriate to the transmitting SV. Each

NMCT contains a two-bit availability indicator (AI) followed by 30 slots which may contain up to 30 valid six-bit

ERD values. The layout of these 31 data items is as shown in Figure 20-1.

The two-bit AI in bits 9 and 10 of word three of page 13 of subframe 4 provide the user with the following

information.

Navigation Message Correction Table Availability

00 The correction table is unencrypted and is available to both authorized and unauthorized users.

01 The correction table is encrypted and is available only to authorized users (normal mode).

10 No correction table available for either authorized or unauthorized users.

11 Reserved.

Each one of the 30 six-bit ERD slots in bits 11 through 24 of word three, bits 1 through 24 of words four through

nine, and bits 1 through 22 of word ten of page 13 of subframe 4 will correspond to an ERD value for a particular

SV ID. There are 31 possible SV IDs that these ERD slots may correspond to, ranging from SV ID 1 to SV ID 31.

SV ID 32 is not a valid SV ID for any of the slots in an NMCT. The correspondence between the 30 ERD slots

and the 31 possible SV IDs depends on the SV ID of the particular transmitting SV in accordance with the

following two rules: 1) the CS shall ensure via upload that no SV shall transmit an NMCT containing an ERD

value which applies to its own SV ID, and 2) the CS shall ensure via upload that all ERD values shall be

transmitted in ascending numerical slot order of the corresponding SV ID. To illustrate: the SV operating as SV

ID 1 will transmit (in order) ERD values which correspond to SV ID 2 through SV ID 31 in ERD slots 1 through

30 respectively, while the SV operating as SV ID 31 will transmit ERD values which correspond to SV ID 1

through SV ID 30 in ERD slots 1 through 30 respectively.

Each ERD value contained in an NMCT ERD slot shall be represented as a six-bit two’s complement field with the

sign bit occupying the MSB and an LSB of 0.3 meters for an effective range of ±9.3 m. A binary value of

“100000” shall indicate that no valid ERD for the corresponding SV ID is present in that slot.

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20.3.3.5.2 Algorithms Related to Subframe 4 and 5 Data. The following algorithms shall apply when interpreting

Almanac, Coordinated Universal Time, Ionospheric Model, and NMCT data in the NAV message.

20.3.3.5.2.1 Almanac

. The almanac is a subset of the clock and ephemeris data, with reduced precision. The user

algorithm is essentially the same as the user algorithm used for computing the precise ephemeris from the one

subframe 1, 2, and 3 parameters (see Table 20-IV). The almanac content for one SV is given in Table 20-VI. A

close inspection of Table 20-VI will reveal that a nominal inclination angle of 0.30 semicircles is implicit and that

the parameter δ

(correction to inclination) is transmitted, as opposed to the value computed by the user. All other

parameters appearing in the equations of Tables 20-IV, but not included in the content of the almanac, are set to

zero for SV position determination. In these respects, the application of the Table 20-IV equations differs between

the almanac and the ephemeris computations.

The user is cautioned that the sensitivity to small perturbations in the parameters is even greater for the almanac

than for the ephemeris, with the sensitivity of the angular rate terms over the interval of applicability on the order

of 10

meters/(semicircle/second). An indication of the URE provided by a given almanac during each of the

operational intervals is as follows:

Almanac Ephemeris URE

(estimated by analysis)

Operational Interval

1 sigma (meters)

Normal 900

,†

Short-term Extended 900 - 3,600*

Long-term Extended 3600 - 300,000

* URE values generally tend to degrade quadratically over time. Larger errors may be encountered

during eclipse seasons and whenever a propulsive event has occurred.

†

After the CS is unable to upload the SVs, URE values for the SVs operating in the Autonav mode

tend to degrade quadratically such that the URE will approach 300,000 meters 1 sigma at 180

days.

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20.3.3.5.2.2 Almanac Reference Time. Within each upload, the CS shall ensure that all t

values in subframes 4

and 5 shall be the same for a given almanac data set and shall differ for successive data sets which contain changes

in almanac parameters or SV health. In addition, the Block IIR/IIR-M SVs will also ensure that, based on a valid

CS upload, all t

values in subframes 4 and 5 will be the same for a given almanac data set and will differ for

successive data sets which contain changes in almanac parameters.

Note that cutover to a new upload may continue to indicate the same t

values in subframes 4 and 5 as prior to the

cutover but the new almanac data set may contain changes in almanac parameters or SV health. Note also that

cutover to a new upload may occur between the almanac pages of interest and page 25 of subframe 5 (reference

paragraph 20.3.4.1), and thus there may be a temporary inconsistency between t

, in the almanac page of interest,

and in word 3 of page 25 of subframe 5. The t

mismatch signifies that this WN

may not apply to the almanac of

interest and that the user must not apply almanac data until the pages with identical values of t

are obtained.

Normal and Short-term Extended Operations

. The almanac reference time, t

, is some multiple of 2

seconds

occurring approximately 70 hours after the first valid transmission time for this almanac data set (reference

20.3.4.5). The almanac is updated often enough to ensure that GPS time, t, shall differ from t

by less than 3.5

days during the transmission period. The time from epoch t

shall be computed as described in Table 20-IV,

except that t

shall be replaced with t

Long-term Extended Operations

. During long-term extended operations or if the user wishes to extend the use

time of the almanac beyond the time span that it is being transmitted, one must account for crossovers into time

spans where these computations of t

are not valid. This may be accomplished without time ambiguity by

recognizing that the almanac reference time (t

) is referenced to the almanac reference week (WN

), both of which

are given in word three of page 25 of subframe 5 (see paragraph 20.3.3.5.1.5).

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20.3.3.5.2.3 Almanac Time Parameters. The almanac time parameters shall consist of an 11-bit constant term (a

)

and an 11-bit first order term (a

). The applicable first order polynomial, which shall provide time to within 2

microseconds of GPS time (t) during the interval of applicability, is given by

t = t

- ∆t

where

t = GPS system time (seconds),

= effective SV PRN code phase time at message transmission time (seconds),

∆t

= SV PRN code phase time offset (seconds).

The SV PRN code phase offset is given by

∆t

= a

+ a

where the computation of t

is described in paragraph 20.3.3.5.2.2, and the polynomial coefficients a

and a

are

given in the almanac. Since the periodic relativistic effect is less than 25 meters, it need not be included in the

time scale used for almanac evaluation. Over the span of applicability, it is expected that the almanac time

parameters will provide a statistical URE component of less than 135 meters, one sigma. This is partially due to

the fact that the error caused by the truncation of a

and a

may be as large as 150 meters plus 50 meters/day

relative to the t

reference time.

During extended operations (short-term and long-term) the almanac time parameter may not provide the specified

time accuracy or URE component.

20.3.3.5.2.4 Coordinated Universal Time (UTC)

. Page 18 of subframe 4 includes: (1) the parameters needed to

relate GPS time to UTC, and (2) notice to the user regarding the scheduled future or recent past (relative to NAV

message upload) value of the delta time due to leap seconds (∆t

LSF

), together with the week number (WN

LSF

) and

the day number (DN) at the end of which the leap second becomes effective. "Day one" is the first day relative to

the end/start of week and the WN

LSF

value consists of eight bits which shall be a modulo 256 binary representation

of the GPS week number (see paragraph 6.2.4) to which the DN is referenced. The user must account for the

truncated nature of this parameter as well as truncation of WN, WN

, and WN

LSF

due to rollover of full week

number (see paragraph 3.3.4(b)). The CS shall manage these parameters such that, when ∆t

and ∆t

LSF

differ, the

absolute value of the difference between the untruncated WN and WN

LSF

values shall not exceed 127.

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120

Depending upon the relationship of the effectivity date to the user's current GPS time, the following three different

UTC/GPS-time relationships exist:

a. Whenever the effectivity time indicated by the WN

LSF

and the DN values is not in the past (relative to

the user's present time), and

the user's present time does not fall in the time span which starts at six hours prior to

the effectivity time and ends at six hours after the effectivity time, the UTC/GPS-time relationship is given by

UTC

= (t

- ∆t

UTC

) [modulo 86400 seconds]

where t

UTC

is in seconds and

∆t

UTC

= ∆t

+ A

- t

+ 604800 (WN - WN

)), seconds;

= GPS time as estimated by the user after correcting t

for factors

described in paragraph 20.3.3.3.3 as well as for selective availability

(SA) (dither) effects;

∆t

= delta time due to leap seconds;

and A

= constant and first order terms of polynomial;

= reference time for UTC data (reference 20.3.4.5);

WN = current week number (derived from subframe 1);

= UTC reference week number.

The estimated GPS time (t

) shall be in seconds relative to end/start of week. During the normal and short-term

extended operations, the reference time for UTC data, t

, is some multiple of 2

seconds occurring approximately

70 hours after the first valid transmission time for this UTC data set (reference 20.3.4.5). The reference time for

UTC data (t

) shall be referenced to the start of that week whose number (WN

) is given in word eight of page 18 in

subframe 4. The WN

value consists of eight bits which shall be a modulo 256 binary representation of the GPS

week number (see paragraph 6.2.4) to which the t

is referenced. The user must account for the truncated nature of

this parameter as well as truncation of WN, WN

, and WN

LSF

due to rollover of full week number (see paragraph

3.3.4(b)). The CS shall manage these parameters such that the absolute value of the difference between the

untruncated WN and WN

values shall not exceed 127.

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121

b. Whenever the user's current time falls within the time span of six hours prior to the effectivity time to six

hours after the effectivity time, proper accommodation of the leap second event with a possible week number transition

is provided by the following expression for UTC:

UTC

= W[modulo (86400 + ∆t

LSF

- ∆t

)], seconds;

where

W = (t

- ∆t

UTC

- 43200)[modulo 86400] + 43200, seconds;

and the definition of ∆t

UTC

(as given in 20.3.3.5.2.4a above) applies throughout the transition period. Note that

when a leap second is added, unconventional time values of the form 23:59:60.xxx are encountered. Some user

equipment may be designed to approximate UTC by decrementing the running count of time within several

seconds after the event, thereby promptly returning to a proper time indication. Whenever a leap second event is

encountered, the user equipment must consistently implement carries or borrows into any year/week/day counts.

c. Whenever the effectivity time of the leap second event, as indicated by the WN

LSF

and DN values, is in

the "past" (relative to the user's current time), and

the user’s current time does not fall in the time span as given

above in 20.3.3.5.2.4b, the relationship previously given for t

UTC

in 20.3.3.5.2.4a above is valid except that the

value of ∆t

LSF

is substituted for ∆t

. The CS will coordinate the update of UTC parameters at a future upload so as

to maintain a proper continuity of the t

UTC

time scale.

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122

20.3.3.5.2.5 Ionospheric Model. The "two frequency" (L1 and L2) user shall correct the time received from the SV

for ionospheric effect by utilizing the time delay differential between L1 and L2 (reference paragraph 20.3.3.3.3.3).

The "one frequency" user, however, may use the model given in Figure 20-4 to make this correction. It is estimated

that the use of this model will provide at least a 50 percent reduction in the single - frequency user's RMS error due

to ionospheric propagation effects. During extended operations, or for the SVs in the Autonav mode if the CS is

unable to upload the SVs, the use of this model will yield unpredictable results.

20.3.3.5.2.6 NMCT Data

. For each SV, the ERD value in the NMCT is an estimated pseudorange error. Each ERD

value is computed by the CS and represents the radial component of the satellite ephemeris error minus the speed of

light times the satellite clock error. The satellite ephemeris and clock errors are computed by subtracting the

broadcast from current estimates. Therefore, the ERD value may be used as follows to correct the user's measured

pseudorange:

= PR – ERD

where,

= pseudorange corrected with the ERD value from the NMCT

PR = measured pseudorange

Note that as described above, the ERD values are actually error estimates rather than differential corrections and so

are subtracted rather than added in the above equation.

IS-GPS-200D

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The ionospheric correction model is given by

()

⎪

⎭

⎪

⎬

⎫

⎪

⎩

⎪

⎨

⎧

≥∗∗

⎥

⎦

⎤

⎢

⎣

⎡

⎟

⎠

⎞

⎜

⎝

⎛

+−+∗∗

−

57.1 x , 100.5F

57.1x ,

1)AMP(100.5F

iono

(sec)

where

iono

is referred to the L1 frequency; if the user is operating on the L2 frequency, the correction term must

be multiplied by γ (reference paragraph 20.3.3.3.3.2),

⎪

⎭

⎪

⎬

⎫

⎪

⎩

⎪

⎨

⎧

≥φα

∑

0AMP ,0AMP if

0AMP ,

AMP

(sec)

()

PER

50400 -t 2

(radians)

⎪

⎭

⎪

⎬

⎫

⎪

⎩

⎪

⎨

⎧

≥φβ

∑

72,000PER ,000,72PER if

000,72PER ,

PER

(sec)

F = 1.0 + 16.0 [0.53 - E]

and α

and β

are the satellite transmitted data words with n = 0, 1, 2, and 3.

Figure 20-4. Ionospheric Model (Sheet 1 of 3)

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124

Other equations that must be solved are

= φ

+ 0.064cos(λ

- 1.617) (semi-circles)

cos

sinA

(semi-circles)

⎪

⎭

⎪

⎬

⎫

⎪

⎩

⎪

⎨

⎧

−=φ−<φ

+=φ+>φ

≤φψ+φ

=φ

0.416 then ,416.0 if

0.416 cosA,

(semi-circles)

0.022 -

0.11 E

0137.0

=ψ

(semi-circles)

t = 4.32 (10

) λ

+ GPS time (sec)

where

0 ≤ t < 86400: therefore, if t ≥ 86400 seconds, subtract 86400 seconds;

if t < 0 seconds, add 86400 seconds.

Figure 20-4. Ionospheric Model (Sheet 2 of 3)

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125

The terms used in computation of ionospheric delay are as follows:

• Satellite Transmitted Terms

- the coefficients of a cubic equation representing the amplitude of the vertical

delay (4 coefficients - 8 bits each)

- the coefficients of a cubic equation representing the period of the model

(4 coefficients - 8 bits each)

• Receiver Generated Terms

E - elevation angle between the user and satellite (semi-circles)

A - azimuth angle between the user and satellite, measured clockwise positive from

the true North (semi-circles)

- user geodetic latitude (semi-circles) WGS-84

- user geodetic longitude (semi-circles) WGS-84

GPS time - receiver computed system time

• Computed Terms

X - phase (radians)

F - obliquity factor (dimensionless)

t - local time (sec)

- geomagnetic latitude of the earth projection of the ionospheric intersection

point (mean ionospheric height assumed 350 km) (semi-circles)

- geodetic longitude of the earth projection of the ionospheric intersection point

(semi-circles)

- geodetic latitude of the earth projection of the ionospheric intersection point

(semi-circles)

ψ - earth's central angle between the user position and the earth projection of

ionospheric intersection point (semi-circles)

Figure 20-4. Ionospheric Model (Sheet 3 of 3)

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126

20.3.4 Timing Relationships. The following conventions shall apply.

20.3.4.1 Paging and Cutovers

. At end/start of week (a) the cyclic paging of subframes 1 through 5 shall restart

with subframe 1 regardless of which subframe was last transmitted prior to end/start of week, and (b) the cycling of

the 25 pages of subframes 4 and 5 shall restart with page 1 of each of the subframes, regardless of which page was

the last to be transmitted prior to the end/start of week. Cutovers to newly updated data for subframes 1, 2, and 3

occur on frame boundaries (i.e., modulo 30 seconds relative to end/start of week). Newly updated data for

subframes 4 and 5 may start to be transmitted with any of the 25 pages of these subframes.

20.3.4.2 SV Time vs. GPS Time

. In controlling the SVs and uploading of data, the CS shall allow for the

following timing relationships:

a. Each SV operates on its own SV time;

b. All time-related data in the TLM word and the HOW shall be in SV-time;

c. All other data in the NAV message shall be relative to GPS time;

d. The acts of transmitting the NAV message shall be executed by the SV on SV time.

20.3.4.3 Speed of Light

. The speed of light used by the CS for generating the data described in the above

paragraphs is

c = 2.99792458 x 10

meters per second

which is the official WGS-84 speed of light. The user shall use the same value for the speed of light in all

computations.

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20.3.4.4 Data Sets. The IODE is an 8 bit number equal to the 8 LSBs of the 10 bit IODC of the same data set. The

following rules govern the transmission of IODC and IODE values in different data sets: (1) The transmitted

IODC will be different from any value transmitted by the SV during the preceding seven days; (2) The transmitted

IODE will be different from any value transmitted by the SV during the preceding six hours. The range of IODC

will be as given in Table 20-XI for Block II/IIA SVs and Table 20-XII for Block IIR/IIR-M/IIF SVs.

Cutovers to new data sets will occur only on hour boundaries except for the first data set of a new upload. The first

data set may be cut-in (reference paragraph 20.3.4.1) at any time during the hour and therefore may be transmitted

by the SV for less than one hour. During short-term operations, cutover to 4-hour sets and subsequent cutovers to

succeeding 4-hour data sets will always occur modulo 4 hours relative to end/start of week. Cutover from 4-hour

data sets to 6-hour data sets shall occur modulo 12 hours relative to end/start of week. Cutover from 12-hour data

sets to 24-hour data sets shall occur modulo 24 hours relative to end/start of week. Cutover from a data set

transmitted 24 hours or more occurs on a modulo 24-hour boundary relative to end/start of week.

The start of the transmission interval for each data set corresponds to the beginning of the curve fit interval for the

data set. Each data set remains valid for the duration of its curve fit interval.

Normal Operations

. The subframe 1, 2, and 3 data sets are transmitted by the SV for periods of two hours. The

corresponding curve fit interval is four hours. SVs operating in the Autonav mode will deviate. They will transmit

subframe 1, 2, and 3 data sets for periods of one hour. The corresponding curve-fit interval will be four hours.

Short-term and Long-term Extended Operations

. The transmission intervals and curve fit intervals with the

applicable IODC ranges are given in Tables 20-XI and 20-XII.

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Table 20-XI. IODC Values and Data Set Lengths (Block II/IIA)

Days

Spanned

Transmission Interval

(hours)

(Note 4)

Curve Fit

Interval

(hours)

IODC Range

(Note 1)

2-14

15-16

17-20

21-27

28-41

42-59

60-63

(Note 2)

240-247

248-255, 496 (Note 3)

497-503

504-510

511, 752-756

757

Note 1: For transmission intervals of 6 hours or greater, the IODC values shown will be transmitted in

increasing order.

Note 2: IODC values for blocks with 2- or 4-hour transmission intervals (at least the first 14 days after

upload) shall be any numbers in the range 0 to 1023 excluding those values of IODC that

correspond to IODE values in the range 240-255, subject to the constraints on re-transmission

given in paragraph 20.3.4.4.

Note 3: The ninth 12-hour data set may not be transmitted.

Note 4: The first data set of a new upload may be cut-in at any time and therefore the transmission interval

may be less than the specified value.

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Table 20-XII. IODC Values and Data Set Lengths (Block IIR/IIR-M/IIF)

Days

Spanned

Transmission Interval

(hours)

(Note 5)

Curve Fit

Interval

(hours)

IODC Range

2-14

15-16

17-20

21-62

2 (Note 4)

(Note 2)

240-247 (Note 1)

248-255, 496 (Note 1) (Note 3)

497-503, 1021-1023

Note 1: For transmission intervals of 6 and 12 hours, the IODC values shown will be transmitted in

increasing order.

Note 2: IODC values for blocks with 1-, 2- or 4-hour transmission intervals (at least the first 14 days after

upload) shall be any numbers in the range 0 to 1023 excluding those values of IODC that

correspond to IODE values in the range 240-255, subject to the constraints on re-transmission

given in paragraph 20.3.4.4.

Note 3: The ninth 12-hour data set may not be transmitted.

Note 4: SVs operating in the Autonav mode will have transmission intervals of 1 hour per paragraph

20.3.4.4.

Note 5: The first data set of a new upload may be cut-in at any time and therefore the transmission interval

may be less than the specified value.

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130

20.3.4.5 Reference Times. Many of the parameters which describe the SV state vary with true time, and must

therefore be expressed as time functions with coefficients provided by the Navigation Message to be evaluated by

the user equipment. These include the following parameters as functions of GPS time:

a. SV time,

b. Mean anomaly,

c. Longitude of ascending node,

d. UTC,

e. Inclination.

Each of these parameters is formulated as a polynomial in time. The specific time scale of expansion can be

arbitrary. Due to the short data field lengths available in the Navigation Message format, the nominal epoch of the

polynomial is chosen near the midpoint of the expansion range so that quantization error is small. This results in

time epoch values which can be different for each data set. Time epochs contained in the Navigation Message and

the different algorithms which utilize them are related as follows:

Epoch

Application Algorithm Reference

20.3.3.3.3.1

20.3.3.4.3

20.3.3.5.2.2 and 20.3.3.5.2.3

20.3.3.5.2.4

Table 20-XIII describes the nominal selection which will be expressed modulo 604,800 seconds in the Navigation

Message.

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The coefficients of expansion are obviously dependent upon choice of epoch, and thus the epoch time and

expansion coefficients must be treated as an inseparable parameter set. Note that a user applying current

navigation data will normally be working with negative values of (t-t

) and (t-t

) in evaluating the expansions.

The CS shall assure that the t

value, for at least the first data set transmitted by an SV after a new upload, is

different from that transmitted prior to the cutover (see paragraph 20.3.4.4). As such, when a new upload is cutover

for transmission, the CS shall introduce a small deviation in the t

resulting in the t

value that is offset from the

hour boundaries (see Table 20-XIII). This offset t

will be transmitted by an SV in the first data set after a new

upload cutover and the second data set, following the first data set, may also continue to reflect the same offset in

the t

When the t

, immediately prior to a new upload cutover, already reflects a small deviation (i.e. a new upload

cutover has occurred in the recent past), then the CS shall introduce an additional deviation to the t

when a new

upload is cutover for transmission.

A change from the broadcast reference time immediately prior to cutover is used to indicate a change of values in

the data set. The user may use the following example algorithm to detect the occurrence of a new upload cutover:

DEV = t

[modulo 3600]

If DEV ≠ 0, then a new upload cutover has occurred within past 4 hours.

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Table 20-XIII. Reference Times

Hours After First Valid Transmission Time

Fit Interval (hours) Transmission

Interval (hours)

(clock)

(ephemeris)

(almanac)

(UTC)

4 2* 2 2

6 4 3 3

8 6 4 4

14 12 7 7

26 24 13 13

50 48 25 25

74 72 37 37

98 96 49 49

122 120 61 61

146 144 73 73

144 (6 days) 144 70 70

> 144 (6 days) > 144 70 70

* Some SVs will have transmission intervals of 1 hour per paragraph 20.3.4.4.

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20.3.5 Data Frame Parity. The data signal shall contain parity coding according to the following conventions.

20.3.5.1 SV/CS Parity Algorithm

. This algorithm links 30-bit words within and across subframes of ten words

using the (32,26) Hamming Code described in Table 20-XIV.

20.3.5.2 User Parity Algorithm

. As far as the user is concerned, several options are available for performing data

decoding and error detection. Figure 20-5 presents an example flow chart that defines one way of recovering data

) and checking parity. The parity bit D

is used for recovering raw data. The parity bits D

and D

, along

with the recovered raw data (d

) are modulo-2 added in accordance with the equations appearing in Table 20-XIV

for D

. . . D

, which provide parity to compare with transmitted parity D

. . . D

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Table 20-XIV. Parity Encoding Equations

= d

⊕ D



= d

⊕ D



= d

⊕ D



• •

= d

⊕ D



= D



⊕ d

= D



⊕ d

= D



⊕ d

= D



⊕ d

= D



⊕ d

= D



⊕ d

Where

, d

, ..., d

are the source data bits;

the symbol

 is used to identify the last 2 bits of the previous word of the subframe;

, D

, ..., D

are the computed parity bits;

, D

, ..., D

, D

are the bits transmitted by the SV;

⊕ is the "modulo-2" or "exclusive-or" operation.

IS-GPS-200D

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ENTER

IS D

= 1?

COMPLEMENT

. . . D

TO OBTAIN

. . . d

DO NOT

COMPLEMENT

. . . D

TO OBTAIN

. . . d

SUBSTITUTE d

. . . d

& D

INTO

PARITY EQUATIONS

(TABLE 20-XIV)

ARE COMPUTED

. . . D

EQUAL TO CORRESPONDING

RECEIVED

. . . D

PARITY CHECK

FAILS

PARITY CHECK

PASSES

FAIL

EXIT

PASS

EXIT

YES NO

YESNO

Figure 20-5. Example Flow Chart for User Implementation of Parity Algorithm

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30. APPENDIX III. GPS NAVIGATION DATA STRUCTURE FOR CNAV DATA, D

(t)

30.1 Scope

. This appendix describes the specific GPS CNAV data structure denoted as D

(t).

30.2 Applicable Documents

30.2.1 Government Documents

. In addition to the documents listed in paragraph 2.1, the following documents of

the issue specified contribute to the definition of the CNAV data related interfaces and form a part of this Appendix

to the extent specified herein.

Specifications

None

Standards

None

Other Publications

None

30.2.2 Non-Government Documents

. In addition to the documents listed in paragraph 2.2, the following

documents of the issue specified contribute to the definition of the CNAV data related interfaces and form a part of

this Appendix to the extent specified herein.

Specifications

None

Other Publications

None

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30.3 Requirements.

30.3.1 Data Characteristics

. The CNAV data, D

(t), is a higher precision representation and nominally contains

more accurate data than the NAV data, D(t), described in Appendix II. Also, the CNAV data stream uses a different

parity algorithm.

Users are advised that the CNAV data, D

(t), described in this appendix and the NAV data, D(t), described in

Appendix II, should not be mixed in any user algorithms or applications. Each of the two data sets should be treated

as a set and used accordingly.

30.3.2 Message Structure

. As shown in Figures 30-1 through 30-14, the CNAV message structure utilizes a basic

format of twelve-second 300-bit long messages. Each message contains a Cyclic Redundancy Check (CRC) parity

block consisting of 24 bits covering the entire twelve-second message (300 bits) (reference Section 30.3.5).

Message type 0 (zero) is defined to be the default message. In the event of message generation failure, the SV shall

replace each affected message type with the default message type. In the event that a particular message is not

assigned (by the CS) a particular message type for broadcast, the SV shall generate and broadcast the default

message type in that message slot.

Currently undefined and unused message types are reserved for future use.

30.3.3 Message Content

. Each message starts with an 8-bit preamble – 10001011, followed by a 6-bit PRN number

of the transmitting SV, a 6-bit message type ID with a range of 0 (000000) to 63 (111111), and the 17-bit message

time of week (TOW) count. When the value of the message TOW count is multiplied by 6, it represents SV time in

seconds at the start of the next 12-second message. An “alert” flag, when raised (bit 38 = “1”), indicates to the user

that the SV URA and/or the SV User Differential Range Accuracy (UDRA) may be worse than indicated in the

respective message types, and the SV should be used at the user’s own risk. For each default message (Message

Type 0), bits 39 through 276 shall be alternating ones and zeros and the message shall contain a proper CRC parity

block.

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IS-GPS-200D

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8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

L5 HEALTH - 1 BIT

URA

INDEX

150

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

173

25 BITS

206

23 BITS

272

0-n

28 MSBs

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

11 BITS

RESERVED – 5 BITs

239

L2 HEALTH - 1 BIT

L1 HEALTH - 1 BIT

101

17 BITS

201

BITS

•

∆

•

∆

11 BITS

19 MSBs

∆A

133

33 BITS

13BITS

108

0-n

5 LSBs

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

7 LSBs

∆A

Figure 30-1. Message Type 10 - Ephemeris 1

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8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

148

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

164

17 BITS

204

16 BITS

270

rs-n

21 MSBs

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED

7 BITS

228

101

15 BITS

201

∆ Ω

•

0-n

- DOT

is-n

11 BITS

18 MSBs

133

24 BITS

rc-n

15 LSBs

116

rs-n

- 3 LSBs

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

33 BITS

Ω

0-n

16 BITS

ic-n

180

249

21 BITS

us-n

21 BITS

uc-n

Figure 30-2. Message Type 11 - Ephemeris 2

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154 167

10 BITS

209

13 BITS

257

ISC

L5Q5

13 BITS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED

20 BITS

233

101

13 BITS

201

f2-n

ISC

L1C/A

ISC

L2C

128

8 BITS

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

13 BITS

ISC

L5I5

180

249

8BITS

13 BITS

141

193

8 BITs

8 BITS

217 225

8 BITS

241

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

Figure 30-3. Message Type 30 - Clock, IONO & Group Delay

IS-GPS-200D

7 Dec 2004

144

149

10 BITS

31 BITS

273

Reduced Almanac

Packet 2

21 MSBs

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED

BITS

101

8 BITS

201

f2-n

Reduced Almanac

Packet 1

128

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

180

13 BITS

a-n

141

Reduced Almanac Packet 2

10 LSBs

31 BITS

Reduced Almanac

Packet 3

242

31 BITS

Reduced Almanac

Packet 4

211

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

Figure 30-4. Message Type 31 - Clock & Reduced Almanac

IS-GPS-200D

7 Dec 2004

145

165

10 BITS

21 BITS

266

PM-Y

15 BITS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED

11 BITS

101

15 BITS

201

f2-n

PM-X

PM-Y

128

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

144

21 BITS

PM-X

180

31 BITS

∆UT1

247

19 BITS

216

•

∆

UT1

•

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

16 BITS

EOP

Figure 30-5. Message Type 32 - Clock & EOP

IS-GPS-200D

7 Dec 2004

146

144

10 BITS

16 BITS

226

13 BITS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED

51 BITS

101

8 BITS

201

f2-n

∆

128

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

188

16 BITS

0-n

164

13 BITS

LSF

214

8 BITS

∆t

LSF

7BITS

2-n

13 BITS

1-n

172157

218

BITS

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

Figure 30-6. Message Type 33 - Clock & UTC

IS-GPS-200D

7 Dec 2004

147

139

10 BITS

EDC

16 MSBs

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

CDC = Clock Differential Correction

EDC = Ephemeris Differential Correction

101

201

f2-n

128

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

185

11 BITS

op-D

76 LSBs

EDC

34 BITS

CDC

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

150

151

11 BITS

DC DATA TYPE – 1 BIT

Figure 30-7. Message Type 34 - Clock & Differential Correction

IS-GPS-200D

7 Dec 2004

148

142

10 BITS

13 BITS

RESERVED

7BITS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED

76 BITS

101

7 BITS

201

f2-n

2GGTO

1GGTO

128

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

194

14 BITS

0GGTO

187

16 BITS

0GGTO

13 BITS

GGTO

174 155

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

158

GNSS ID – 3 BITS

Figure 30-8. Message Type 35 - Clock & GGTO

IS-GPS-200D

7 Dec 2004

149

10 BITS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

RESERVED – 1 BIT

101

201

f2-n

128

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

71 LSBs

TEXT PAGE

TEXT MESSAGE (18 8-BIT CHAR)

73 MSBs

TEXT MESSAGE

(

18 8-BIT CHAR

)

272

276

BITS

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

Figure 30-9. Message Type 36 - Clock & Text

IS-GPS-200D

7 Dec 2004

150

10 BITS

240

10 MSBs

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

11 BITS

101

11 BITS

201

f2-n

17 LSBs

118

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

f1-n

191

169

16 BITS

Ω

16 BITS

11 BITS

8 BITS

a-n

13 BITS

180

128

224

7 LSBs

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

f1-n

– 3 MSBs

BITS

26 BITS

f0-n

55 58 72

URA

oc2

INDEX - 3 BITS

URA

oc1

INDEX - 3 BITS

URA

INDEX

11 BITS

Ω

•

208

16 BITS

256

267

L5 HEALTH – 1 BIT

L2 HEALTH – 1 BIT

L1 HEALTH – 1 BIT

149

6BITS

PRN

155 158

10 BITS

Figure 30-10. Message Type 37 - Clock & Midi Almanac

IS-GPS-200D

7 Dec 2004

151

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

153

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

31 BITS

215

Reduced Almanac

Packet 5

17 MSBs

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

a-n

101

201

Reduced Almanac

Packet 4

13 BITS

10 MSBs

122

21 LSBs

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

8 BITS

Reduced Almanac

Packet 2

184

31 BITS

Reduced Almanac

Packet 1

31 BITS

Reduced Almanac

Packet 3

31 BITS

Reduced Almanac

Packet 6

246

31 BITS

Reduced Almanac

Packet 7

Reduced Almanac Packet 2

14 LSBs

Reduced Almanac

Packet 5

Figure 30-11. Message Type 12 - Reduced Almanac

IS-GPS-200D

7 Dec 2004

152

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

CDC = Clock Differential Correction

op-D

RESERVED

BITS

101

11 BITS

30 LSBs

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

CDC

34 BITS

CDC

CDC - 4 MSBs

34 BITS

CDC

DC DATA TYPE – 1 BIT

132

131

DC DATA TYPE – 1 BIT

167

166

DC DATA TYPE – 1 BIT

34 BITS

CDC

202

201

DC DATA TYPE – 1 BIT

34 BITS

CDC

237

236

DC DATA TYPE – 1 BIT

34 BITS

CDC

271

Figure 30-12. Message Type 13 – Clock Differential Correction

IS-GPS-200D

7 Dec 2004

153

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

EDC = Ephemeris Differential Correction

op-D

RESERVED

30 BITS

101

201

11 BITS

53 LSBs

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

11 BITS

EDC

39 MSBs

EDC

46 MSBs

46 LSBs

EDC

247

DC DATA TYPE – 1 BIT

155

154

DC DATA TYPE – 1 BIT

Figure 30-13. Message Type 14 – Ephemeris Differential Correction

IS-GPS-200D

7 Dec 2004

154

8 BITS

MESSAGE TYPE ID

BITS

PREAMBLE

PRN

BITS

MESSAGE

TOW COUNT*

17 BITS

"ALERT" FLAG - 1 BIT

15 39

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

CRC

24 BITS

277

* MESSAGE TOW COUNT = 17 MSB OF ACTUAL TOW COUNT AT START OF NEXT 12-SECOND MESSAGE

TEXT MESSAGE (29 8-BIT CHAR)

RESERVED – 2 BITS

101

201

62 MSBs

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

DIRECTION OF DATA FLOW FROM SV

MSB FIRST

100 BITS

4 SECONDS

70 LSBs

TEXT PAGE

TEXT MESSAGE (29 8-BIT CHAR)

BITS 63-162

TEXT MESSAGE

(

29 8-BIT CHAR

)

271

275

BITS

Figure 30-14. Message Type 15 - Text

IS-GPS-200D

7 Dec 2004

155

30.3.3.1 Message Type 10 and 11 Ephemeris and Health Parameters.

30.3.3.1.1 Message Type 10 and 11 Ephemeris and Health Parameter Content

. The contents of the SV health,

ephemeris representation and accuracy parameters in message types 10 and 11 are defined below, followed by

material pertinent to the use of the data. Message type 10 in conjunction with message type 11, provide users with

the requisite data to calculate SV position. The general format of message types 10 and 11 consist of data fields for

reference time tags, a set of gravitational harmonic correction terms, rates and rate corrections to quasi-Keplerian

elements, and an accuracy indicator for ephemeris-related data.

The ephemeris parameters in the message type 10 and type 11 describe the orbit of the transmitting SV during the

curve fit interval of three hours. The nominal transmission interval is two hours, and shall coincide with the first

two hours of the curve fit interval. The period of applicability for ephemeris data coincides with the entire three-

hour curve fit interval. Table 30-I gives the definition of the orbital parameters using terminology typical of

Keplerian orbital parameters; it is noted, however, that the transmitted parameter values are expressed such that

they provide the best trajectory fit in Earth-Centered, Earth-Fixed (ECEF) coordinates for each specific fit interval.

The user shall not interpret intermediate coordinate values as pertaining to any conventional coordinate system.

Any change in the Message Type 10 and 11 ephemeris data will be accomplished with a simultaneous change in the

value. The CS will assure that the t

value, for at least the first data set transmitted by an SV after an upload, is

different from that transmitted prior to the cutover. See Section 20.3.4.5 for additional information regarding t

30.3.3.1.1.1 Transmission Week Number

. Bits 39 through 51 of message type 10 shall contain 13 bits which are a

modulo-8192 binary representation of the current GPS week number at the start of the data set transmission interval

(see paragraph 6.2.4). These 13 bits are comprised of 10 LSBs that represent the ten MSBs of the 29-bit Z-count as

qualified in paragraph 20.3.3.3.1.1, and 3 MSBs which are extra bits that extend the range of transmission week

number from 10 to 13 bits.

IS-GPS-200D

7 Dec 2004

156

30.3.3.1.1.2 Signal Health (L1/L2/L5). The three, one-bit, health indication in bits 52 through 54 of message type

10 refers to the L1, L2, and L5 signals of the transmitting SV. The health of each signal is indicated by:

0 = Signal OK,

1 = Signal bad or unavailable.

The predicted health data will be updated at the time of upload when a new data set has been built by the CS. The

transmitted health data may not correspond to the actual health of the transmitting SV.

Additional SV health data are given in the almanac in messages types 12, 31, and 37. The data given in message

type 10 may differ from that shown in other messages of the transmitting SV and/or other SVs since the latter may

be updated at a different time.

30.3.3.1.1.3 Data Predict Time of Week

. Bits 55 through 65 of message type 10 shall contain the data predict time

of week (t

). The t

term provides the epoch time of week of the state estimate utilized for the prediction of

satellite quasi-Keplerian ephemeris parameters.

IS-GPS-200D

7 Dec 2004

157

30.3.3.1.1.4 SV Accuracy. Bits 66 through 70 of message type 10 shall contain the ephemeris User Range

Accuracy (URA

) index of the SV for the unauthorized (non-Precise Positioning Service) user. URA

index shall

provide the ephemeris-related user range accuracy index of the SV as a function of the current ephemeris message

curve fit interval. While the ephemeris-related URA may vary over the ephemeris message curve fit interval, the

URA

index (N) in message type 10 shall correspond to the maximum URA

expected over the entire curve fit

interval.

The URA

index is a signed, two’s complement integer in the range of +15 to –16 and has the following

relationship to the ephemeris URA:

URA

Index URA

(meters)

15 6144.00 < URA

14 3072.00 < URA

≤ 6144.00

13 1536.00 < URA

≤ 3072.00

12 768.00 < URA

≤ 1536.00

11 384.00 < URA

≤ 768.00

10 192.00 < URA

≤ 384.00

9 96.00 < URA

≤ 192.00

8 48.00 < URA

≤ 96.00

7 24.00 < URA

≤ 48.00

6 13.65 < URA

≤ 24.00

5 9.65 < URA

≤ 13.65

4 6.85 < URA

≤ 9.65

3 4.85 < URA

≤ 6.85

2 3.40 < URA

≤ 4.85

1 2.40 < URA

≤ 3.40

0 1.70 < URA

≤ 2.40

-1 1.20 < URA

≤ 1.70

-2 0.85 < URA

≤ 1.20

-3 0.60 < URA

≤ 0.85

-4 0.43 < URA

≤ 0.60

-5 0.30 < URA

≤ 0.43

-6 0.21 < URA

≤ 0.30

-7 0.15 < URA

≤ 0.21

-8 0.11 < URA

≤ 0.15

-9 0.08 < URA

≤ 0.11

-10 0.06 < URA

≤ 0.08

-11 0.04 < URA

≤ 0.06

-12 0.03 < URA

≤ 0.04

-13 0.02 < URA

≤ 0.03

-14 0.01 < URA

≤ 0.02

-15 URA

≤ 0.01

-16 No accuracy prediction available—use at own risk

IS-GPS-200D

7 Dec 2004

158

30.3.3.1.2 Message Type 10 and 11 Ephemeris Parameter Characteristics. For each ephemeris parameter contained

in message types 10 and 11, the number of bits, the scale factor of the least significant bit (LSB) (which is the last

bit received), the range, and the units are as specified in Table 30-I. See Figures 30-1 and 30-2 for complete bit

allocation in message types 10 and 11.

30.3.3.1.3 User Algorithm for Determination of SV Position

. The user shall compute the ECEF coordinates of

position for the SV’s antenna phase center (APC) utilizing a variation of the equations shown in Table 30-II. The

ephemeris parameters are Keplerian in appearance; however, the values of these parameters are produced by the CS

via a least squares curve fit of the predicted ephemeris of the SV APC (time-position quadruples: t, x, y, z expressed

in ECEF coordinates). Particulars concerning the applicable coordinate system are given in Sections 20.3.3.4.3.3

and 20.3.3.4.3.4.

The sensitivity of the SV’s position to small perturbations in most ephemeris parameters is extreme. The sensitivity of

position to the parameters A, C

rc-n

, and C

rs-n

is about one meter/meter. The sensitivity of position to the angular

parameters is on the order of 10

meters/semi-circle, and to the angular rate parameters is on the order of 10

meters/semi-circle/second. Because of this extreme sensitivity to angular perturbations, the value of π used in the curve

fit is given here. π is a mathematical constant, the ratio of a circle’s circumference to its diameter. Here π is taken as

3.1415926535898.

IS-GPS-200D

7 Dec 2004

159

Table 30-I. Message Types 10 and 11 Parameters (1 of 2)

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

Week No.

SV accuracy

Signal health

(L1/L2/L5)

A ****

∆n

0-n

Data predict time of week

Semi-major axis difference at

reference time

Change rate in semi-major

axis

Mean Motion difference from

computed value at reference

time

Rate of mean motion

difference from computed

value

Mean anomaly at reference

time

Eccentricity

Argument of perigee

26*

25*

17*

23*

33*

300

-9

-21

-44

-57

-32

-34

-32

604,500

0.03

weeks

(see text)

seconds

meters

meters/sec

semi-circles/sec

semi-circles

dimensionless

semi-circles

* Parameters so indicated are two’s complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 30-1 for complete bit allocation in Message Type 10;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

**** Relative to A

REF

= 26,559,710 meters.

•

IS-GPS-200D

7 Dec 2004

160

Table 30-I. Message Types 10 and 11 Parameters (2 of 2)

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

Ω

0-n

****

*****

0-n

–DOT

is-n

ic-n

rs-n

rc-n

us-n

uc-n

Ephemeris data reference time of week

Reference right ascension angle

Rate of right ascension difference

Inclination angle at reference time

Rate of inclination angle

Amplitude of the sine harmonic correction

term to the angle of inclination

Amplitude of the cosine harmonic

correction term to the angle of inclination

Amplitude of the sine correction term to

the orbit radius

Amplitude of the cosine correction term to

the orbit radius

Amplitude of the sine harmonic correction

term to the argument of latitude

Amplitude of the sine harmonic correction

term to the argument of latitude

33*

17*

33*

15*

16*

24*

21*

300

-32

-44

-32

-44

-30

-8

-30

604,500 seconds

semi-circles

semi-circles/sec

semi-circles

semi-circles/sec

radians

meters

radians

* Parameters so indicated are two’s complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 30-1 and Figure 30-2 for complete bit allocation in Message Types 10 and 11;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

**** Ω

0-n

is the right ascension angle at the weekly epoch (Ω

0-w

) propagated to the reference time at the rate

of right ascension {Ω

REF

Table 30-II }.

***** Relative to Ω

REF

= -2.6 x 10

-9

semi-circles/second.

∆ Ω

•

IS-GPS-200D

7 Dec 2004

161

Table 30-II. Elements of Coordinate System (part 1 of 2)

Element/Equation Description

µ = 3.986005 x 10

meters

/sec

Ω

= 7.2921151467 x 10

-5

rad/sec

= A

REF

+ ∆A

= A

+ (A) t

= t – t

∆n

= ∆n

+½ ∆n

= n

+ ∆n

= M

+ n

= E

– e

sin E

= tan

-1

⎭

⎬

⎫

⎩

⎨

⎧

cos

sin

= tan

-1

()

()( )

⎪

⎭

⎪

⎬

⎫

⎪

⎩

⎪

⎨

⎧

−−

knnk

knk

E cos e 1 / e E cos

E cos e 1 / E sin e 1

= cos

-1

⎭

⎬

⎫

⎩

⎨

⎧

ν+

cose1

cose

WGS 84 value of the earth’s gravitational constant for GPS user

WGS 84 value of the earth’s rotation rate

Semi-Major Axis at reference time

Semi-Major Axis

Computed Mean Motion (rad/sec)

Time from ephemeris reference time

Mean motion difference from computed value

Corrected Mean Motion

Mean Anomaly

Kepler’s equation for Eccentric Anomaly (radians)

(may be solved by iteration)

True Anomaly

Eccentric Anomaly

* A

REF

= 26,559,710 meters

t is GPS system time at time of transmission, i.e., GPS time corrected for transit time (range/speed of light).

Furthermore, t

shall be the actual total difference between the time t and the epoch time t

, and must account

for beginning or end of week crossovers. That is if t

is greater than 302,400 seconds, subtract 604,800

seconds from t

. If t

is less than -302,400 seconds, add 604,800 seconds to t

•

IS-GPS-200D

7 Dec 2004

162

Table 30-II. Elements of Coordinate System (part 2 of 2)

Element/Equation *

Description

= ν

+ ω

δu

= C

us-n

sin2Φ

+ C

uc-n

cos2Φ

δr

= C

rs-n

sin2Φ

+ C

rc-n

cos2Φ

δi

= C

is-n

sin2Φ

+ C

ic-n

cos2Φ

= Φ

+ δu

= A

(1 – e

cos E

) + δr

= i

o-n

+ (i

o-n

-DOT)t

+ δi

' = r

cos u

' = r

sin u

Ω = Ω

REF

+ ∆Ω ***

Ω

= Ω

0-n

+ ( Ω − Ω

) t

– Ω

= x

' cos Ω

− y

' cos i

sin Ω

= x

' sin Ω

+ y

' cos i

cos Ω

= y

' sin i

Argument of Latitude

Argument of Latitude Correction

Radial Correction

Inclination Correction

Corrected Argument of Latitude

Corrected Radius

Corrected Inclination

Positions in orbital plane

Rate of Right Ascension

Corrected Longitude of Ascending Node

Earth-fixed coordinates of SV antenna phase center

*** Ω

REF

= −2.6 x 10

-9

semi-circles/second.

Second Harmonic

Perturbations

•

• •

•

IS-GPS-200D

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163

30.3.3.2 Message Types 30 Through 37 SV Clock Correction Parameters.

30.3.3.2.1 Message Type 30 Through 37 SV Clock Correction Parameter Content

. The clock parameters in any one

of message types 30 through 37 describe the SV time scale during the period of validity. The clock parameters in a

data set shall be valid during the interval of time in which they are transmitted and shall remain valid for an

additional period of time after transmission of the next data set has started.

The general format of message types 30 through 37 includes data fields for SV clock correction coefficients. Any

one of message types 30 through 37 in conjunction with message types 10 and 11 provide users with the requisite

data to correct SV time and to calculate SV position precisely. In general, any message type 30’s (i.e. 30-39) will

provide SV clock correction parameters as described in this section.

30.3.3.2.1.1 SV Clock Correction

. Any one of message types 30 through 37, Figure 30-3 through Figure 30-10,

contains the parameters needed by the users for apparent SV clock correction. Bits 61 to 71 contain t

, clock data

reference time of week. Bits 72 to 127 contain SV clock correction coefficients. The related algorithm is given in

paragraph 20.3.3.3.3.1.

30.3.3.2.1.2 Data Predict Time of Week

. Bits 39 through 49 of message types 30 through 37 shall contain the data

predict time of week (t

). The t

term provides the epoch time of week of the state estimate utilized for the

prediction of SV clock correction coefficients.

30.3.3.2.2 Clock Parameter Characteristics

. The number of bits, the scale factor of the LSB (which is the last bit

received), the range, and the units of clock correction parameters shall be as specified in Table 30-III.

30.3.3.2.3 User Algorithms for SV Clock Correction Data

. The algorithms defined in paragraph 20.3.3.3.3.1 allow

all users to correct the code phase time received from the SV with respect to both SV code phase offset and

relativistic effects. However, since the SV clock corrections of equations in paragraph 20.3.3.3.3.1 are estimated by

the CS using dual frequency L1 and L2 P(Y) code measurements, the single-frequency L1 or L2 user and the dual-

frequency L1 C/A – L2 C users must apply additional terms to the SV clock correction equations. These terms are

described in paragraph 30.3.3.3.1.

IS-GPS-200D

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164

Table 30-III. Clock Correction and Accuracy Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

URA

Index

URA

oc1

Index

URA

oc2

Index

f2-n

f1-n

f0-n

Clock Data Reference Time of Week

SV Clock Accuracy Index

SV Clock Accuracy Change Index

SV Clock Accuracy Change Rate Index

SV Clock Drift Rate Correction Coefficient

SV Clock Drift Correction Coefficient

SV Clock Bias Correction Coefficient

10*

20*

26*

300

-60

-48

-35

604,500

seconds

(see text)

sec/sec

seconds

* Parameters so indicated are two’s complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 30-3 through 30-10 for complete bit allocation in Message types 30 to 37;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

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165

30.3.3.2.4 SV Clock Accuracy Estimates. Bits 50 through 54, and 55 through 57, and 58 through 60 of message

types 30 through 37 shall contain the URA

Index,URA

oc1

Index, and URA

oc2

Index, respectively, of the SV

(reference paragraph 6.2.1) for the unauthorized user. The URA

Index together with URA

oc1

Index and URA

oc2

Index shall give the clock-related user range accuracy of the SV as a function of time since the prediction (t

) used

to generate the uploaded clock correction polynomial terms.

The user shall calculate the clock-related URA with the equation (in meters);

URA

= URA

ocb

+ URA

oc1

(t – t

) for t-t

< 93,600 seconds

URA

= URA

ocb

+ URA

oc1

(t – t

) + URA

oc2

(t – t

– 93,600)

for t-t

> 93,600 seconds

where

t = GPS time (must account for beginning or end of week crossovers),

= time of week of the state estimate utilized for the prediction of satellite clock correction parameters.

The CS shall derive URA

ocb

at time t

which, when used together with URA

oc1

and URA

oc2

in the above equations,

results in the minimum URA

that is greater than the predicted URA

during the entire duration up to 14 days after

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166

The user shall use the broadcast URA

Index to derive URA

ocb

. The index is a signed, two’s complement integer in

the range of +15 to –16 and has the following relationship to the clock-related user derived URA

ocb

URA

Index URA

ocb

(meters)

15 6144.00 < URA

ocb

14 3072.00 < URA

ocb

≤ 6144.00

13 1536.00 < URA

ocb

≤ 3072.00

12 768.00 < URA

ocb

≤ 1536.00

11 384.00 < URA

ocb

≤ 768.00

10 192.00 < URA

ocb

≤ 384.00

9 96.00 < URA

ocb

≤ 192.00

8 48.00 < URA

ocb

≤ 96.00

7 24.00 < URA

ocb

≤ 48.00

6 13.65 < URA

ocb

≤ 24.00

5 9.65 < URA

ocb

≤ 13.65

4 6.85 < URA

ocb

≤ 9.65

3 4.85 < URA

ocb

≤ 6.85

2 3.40 < URA

ocb

≤ 4.85

1 2.40 < URA

ocb

≤ 3.40

0 1.70 < URA

ocb

≤ 2.40

-1 1.20 < URA

ocb

≤ 1.70

-2 0.85 < URA

ocb

≤ 1.20

-3 0.60 < URA

ocb

≤ 0.85

-4 0.43 < URA

ocb

≤ 0.60

-5 0.30 < URA

ocb

≤ 0.43

-6 0.21 < URA

ocb

≤ 0.30

-7 0.15 < URA

ocb

≤ 0.21

-8 0.11 < URA

ocb

≤ 0.15

-9 0.08 < URA

ocb

≤ 0.11

-10 0.06 < URA

ocb

≤ 0.08

-11 0.04 < URA

ocb

≤ 0.06

-12 0.03 < URA

ocb

≤ 0.04

-13 0.02 < URA

ocb

≤ 0.03

-14 0.01 < URA

ocb

≤ 0.02

-15 URA

ocb

≤ 0.01

-16 No accuracy prediction available—use at own risk

The user may use the upper bound value in the URA

ocb

range corresponding to the broadcast index, thereby

calculating the maximum URA

that is equal to or greater than the CS predicted URA

, or the user may use the

lower bound value in the range which will provide the minimum URA

that is equal to or less than the CS predicted

URA

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167

The transmitted URA

oc1

Index is an integer value in the range 0 to 7. URA

oc1

Index has the following relationship to

the URA

oc1

URA

oc1

(meters/second)

where

N = 4 + URA

oc1

Index

The transmitted URA

oc2

Index is an integer value in the range 0 to 7. URA

oc2

Index has the following relationship to

the URA

oc2

URA

oc2

(meters/second

)

where

N = 25 + URA

oc2

Index

IS-GPS-200D

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168

30.3.3.3 Message Type 30 Ionospheric and Group Delay Correction Parameters.

30.3.3.3.1 Message Type 30 Ionospheric and Group Delay Correction Parameter Content

. Message type 30

provides SV clock correction parameters (ref. Section 30.3.3.2) and ionospheric and group delay correction

parameters. Bits 128 through 192 of message type 30 provide the group delay differential correction terms for L1,

L2, and L5 signal users. Bits 193 through 256 provide the ionospheric correction parameters for single frequency

user. The following algorithms shall apply when interpreting the correction parameters in the message.

30.3.3.3.1.1 Estimated L1-L2 Group Delay Differential

. The group delay differential correction terms, T

ISC

L1C/A

, ISC

L2C

for the benefit of single frequency L1 P, L1 C/A, L2 P, L2 C users and dual frequency L1/L2 users

are contained in bits 128 through 166 of message type 30 (see Figure 30-3 for complete bit allocation). The bit

length, scale factors, ranges, and units of these parameters are given in Table 30-IV. The bit string of

“1000000000000” shall indicate that the group delay value is not available. The related algorithm is given in

paragraphs 30.3.3.3.1.1.1 and 30.3.3.3.1.1.2.

Table 30-IV. Group Delay Differential Parameters ****

Parameter

No. of

Bits**

Scale Factor

(LSB)

Effective

Range***

Units

ISC

L1C/A

ISC

L2C

13*

-35

seconds

* Parameters so indicated are two’s complement with the sign bit (+ or -) occupying the MSB;

** See Figure 30-3 for complete bit allocation in Message type 30;

*** Effective range is the maximum range attainable with indicated bit allocation and scale factor;

**** The bit string of “1000000000000” will indicate that the group delay value is not available.

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169

30.3.3.3.1.1.1 Inter-Signal Group Delay Differential Correction. The correction terms, T

, ISC

L1C/A

and ISC

L2C

are initially provided by the CS to account for the effect of SV group delay differential between L1 P(Y) and L2

P(Y), L1 P(Y) and L1 C/A, and between L1 P(Y) and L2 C, respectively, based on measurements made by the SV

contractor during SV manufacture. The values of T

and ISCs for each SV may be subsequently updated to reflect

the actual on-orbit group delay differential. For maximum accuracy, the single frequency L1 C/A user must use the

correction terms to make further modifications to the code phase offset in paragraph 20.3.3.3.3.1 with the equation:

(∆t

)

L1C/A

= ∆t

- T

+ ISC

L1C/A

where T

(see paragraph 20.3.3.3.3.2) and ISC

L1C/A

are provided to the user as Message Type 30 data, described in

paragraph 30.3.3.3.1.1. For the single frequency L2 C user, the code phase offset modification is given by:

(∆t

)

L2C

= ∆t

- T

+ ISC

L2C

where, ISC

L2C

is provided to the user as Message Type 30 data.

The values of ISC

L1C/A

and ISC

L2C

are measured values that represent the mean SV group delay differential between

the L1 P(Y)-code and the L1 C/A- or L2 C-codes respectively as follows,

ISC

L1C/A

= t

L1P(Y)

- t

L1C/A

ISC

L2C

= t

L1P(Y)

- t

L2C

where, t

Lix

is the GPS time the i

frequency x signal (a specific epoch of the signal) is transmitted from the SV

antenna phase center.

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170

30.3.3.3.1.1.2 L1 /L2 Ionospheric Correction. The two frequency (L1 C/A and L2 C) user shall correct for the

group delay and ionospheric effects by applying the relationship:

A/C1L12C2LA/C1L12C2L

T c

)ISCISC( c )PRPR(

PR −

γ−

γ−+γ−

where,

PR = pseudorange corrected for ionospheric effects,

= pseudorange measured on the channel indicated by the subscript,

ISC

= inter-signal correction for the channel indicated by the subscript (see paragraph 30.3.3.3.1.1),

= see paragraph 20.3.3.3.3.2,

c = speed of light,

and where, denoting the nominal center frequencies of L1 and L2 as f

and f

respectively,

= (f

)

= (1575.42/1227.6)

= (77/60)

30.3.3.3.1.2 Ionospheric Data

. The ionospheric parameters which allow the “L1 only” or “L2 only” user to utilize

the ionospheric model for computation of the ionospheric delay are contained in Message Type 30. The “one

frequency” user should use the model given in paragraph 20.3.3.5.2.5 to make this correction for the ionospheric

effects. The bit lengths, scale factors, ranges, and units of these parameters are given in Table 20-X.

The ionospheric data shall be updated by the CS at least once every six days while the CS is able to upload the

SVs. If the CS is unable to upload the SVs, the ionospheric data transmitted by the SVs may not be accurate.

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171

30.3.3.4 Message Types 31, 12, and 37 Almanac Parameters. The almanac parameters are provided in any one of

message types 31, 37, and 12. Message type 37 provides Midi almanac parameters and the reduced almanac

parameters are provided in either message type 31 or type 12. The SV shall broadcast both message types 31

(and/or 12) and 37. However, the reduced almanac parameters (i.e. message types 31 and/or 12) for the complete set

of SVs in the constellation will be broadcast by a SV using shorter duration of time compared to the broadcast of the

complete set of Midi almanac parameters (i.e. message type 37). The parameters are defined below, followed by

material pertinent to the use of the data.

30.3.3.4.1 Almanac Reference Week

. Bits 39 through 51 of message type 12, and bits 128 through 140 of message

types 31 and 37 shall indicate the number of the week (WN

a-n

) to which the almanac reference time (t

) is

referenced (see paragraph 20.3.3.5.2.2). The WN

a-n

term consists of 13 bits which shall be a modulo-8192 binary

representation of the GPS week number (see paragraph 6.2.4) to which the t

is referenced. Bits 52 through 59 of

message type 12, and bits 141 to 148 of message types 31 and 37 shall contain the value of t

, which is referenced

to this WN

a-n

30.3.3.4.2 Almanac Reference Time

. See paragraph 20.3.3.5.2.2.

30.3.3.4.3 SV PRN Number

. Bits 149 through 154 of message type 37 and bits 1 through 6 in each packet of

reduced almanac shall specify PRN number of the SV whose almanac or reduced almanac, respectively, is provided

in the message or in the packet.

30.3.3.4.4 Signal Health (L1/L2/L5)

. The three, one-bit, health indication in bits 155, 156, and 157 of message type

37 and bits 29,30 and 31 of each packet of reduced almanac refers to the L1, L2, and L5 signals of the SV whose

PRN number is specified in the message or in the packet. For each health indicator, a “0” signifies that all

navigation data are okay and “1” signifies that some or all navigation data are bad. The predicted health data will be

updated at the time of upload when a new reduced almanac has been built by the CS. The transmitted health data

may not correspond to the actual health of the transmitting SV or other SVs in the constellation.

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172

30.3.3.4.5 Midi Almanac Parameter Content. Message type 37, Figure 30-10, provides Midi almanac data for a SV

whose PRN number is specified in the message. The number of bits, the scale factor (LSB), the range, and the

units of the almanac parameters are given in Table 30-V. The user algorithm is essentially the same as the user

algorithm used for computing the precise ephemeris as specified in Table 20-IV. Other parameters appearing in the

equations of Table 20-IV, but not provided by the Midi almanac with the reference values, are set to zero for SV

position determination. See paragraph 20.3.3.5.2.3 for almanac time parameters.

30.3.3.4.6 Reduced Almanac Parameter Content

. Message type 31, Figure 30-4, provides SV clock correction

parameters (ref. Section 30.3.3.2) and reduced almanac data packets for 4 SVs. Message type 12, Figure 30-11,

contains reduced almanac data packets for 7 SVs.

30.3.3.4.6.1 Reduced Almanac Data

. Message type 31 or 12 contains reduced almanac data and SV health words

for SVs in the constellation. The reduced almanac data of a SV is broadcast in a packet of 31 bits long, as described

in Figure 30-15. The reduced almanac data are a subset of the almanac data which provide less precise ephemeris.

The reduced almanac data values are provided relative to pre-specified reference values. The number of bits, the

scale factor (LSB), the range, and the units of the reduced almanac parameters are given in Table 30-VI. The

algorithms and other material related to the use of the reduced almanac data are given in Section 30.3.3.4.6.2.

The reduced almanac parameters shall be updated by the CS at least once every 3 days while the CS is able to

upload the SVs. If the CS is unable to upload the SVs, the accuracy of the reduced almanac parameters transmitted

by the SVs will degrade over time.

30.3.3.4.6.2 Reduced Almanac Packet

. The following shall apply when interpreting the data provided in each

packet of reduced almanac (see Figure 30-15).

30.3.3.4.6.2.1 Reduced Almanac

. The reduced almanac data is provided in bits 7 through 28 of each packet. The

data from a packet along with the reference values (see Table 30-VI) provide ephemeris with further reduced

precision. The user algorithm is essentially the same as the user algorithm used for computing the precise ephemeris

from the parameters of the message types 10 and 11 (see paragraph 30.3.3.1.3 and Table 30-II). Other parameters

appearing in the equations of Table 30-II, but not provided by the reduced almanac with the reference values, are set

to zero for SV position determination.

IS-GPS-200D

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173

Table 30-V. Midi Almanac Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

****

Ω

•

Ω

11*

16*

11*

10*

-16

-14

-33

-4

-15

-20

-37

602,112

seconds

dimensionless

semi-circles

semi-circles/sec

meters

semi-circles

seconds

sec/sec

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 30-10 for complete bit allocation in message type 37;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor;

**** Relative to i

= 0.30 semi-circles.

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Figure 30-15. Reduced Almanac Packet Content

Table 30-VI. Reduced Almanac Parameters *****

Parameter No. of Bits Scale Factor (LSB) Effective Range **

Units

***

Ω

****

8 *

7 *

-6

meters

semi-circles

* Parameters so indicated shall be two’s complement with the sign bit (+ or -) occupying the MSB;

** Effective range is the maximum range attainable with indicated bit allocation and scale factor;

*** Relative to A

ref

= 26,559,710 meters;

**** Φ

= Argument of Latitude at Reference Time = M

+ ω;

***** Relative to following reference values:

e = 0

= +0.0056 semi-circles (i = 55 degrees)

Ω = -2.6 x 10

-9

semi-circles/second.

31 BITS

PRN

6 BITS

8 BITS

Ω

7 BITS

L1 HEALTH

L2 HEALTH

L5 HEALTH

1 7 15 22 31 30 29

* See Figures 30-4 and 30-11 for complete bit allocation in the

respective messages.

•

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30.3.3.5 Message Type 32 Earth Orientation Parameters (EOP). The earth orientation parameters are provided in

message type 32. The parameters are defined below, followed by material pertinent to the use of the data.

30.3.3.5.1 EOP Content

. Message type 32, Figure 30-5, provides SV clock correction parameters (ref. Section

30.3.3.2) and earth orientation parameters. The EOP message provides users with parameters to construct the ECEF

and ECI coordinate transformation (a simple transformation method is defined in Section 20.3.3.4.3.3.2). The

number of bits, scale factors (LSBs), the range, and the units of all EOP fields of message type 32 are given in Table

30-VII.

30.3.3.5.1.1 User Algorithm for Application of the EOP

. The EOP fields in the message type 32 contain the EOP

needed to construct the ECEF-to-ECI coordinate transformation. The user computes the ECEF position of the SV

antenna phase center using the equations shown in Table 30-II. The coordinate transformation, for translating to the

corresponding ECI SV antenna phase center position, is derived using the equations shown in Table 30-VIII. The

coordinate systems are defined in Section 20.3.3.4.3.3

An ECI postion,

eci

, is related to an ECEF position, R

ecef

, by a series of rotation matrices as following:

ecef

= [A][B][C][D] R

eci

where the rotation matrices, A, B, C, and D, represent the effects of Polar Motion, Earth Rotation, Nutation and

Precession, respectively. The message type 32 specifies the EOP parameters used in the construction of the Polar

Motion, A, and Earth Rotation, B, matrices.

The rotation matrices, A, B, C and D are specified in terms of elementary rotation matrices, R

(α), where α is a

positive rotation about the i

-axis ordinate, as follows:

() ()

−α

⎡⎤⎡⎤

⎢⎥⎢⎥

α= α α α=

⎢⎥⎢⎥

−α α α α

⎣⎦⎣⎦

1 0 0 cos() 0 sin()

R0cos()sin(),R 010

0 sin() cos() sin() 0 cos()

()

αα

⎡⎤

⎢⎥

α=− α α

⎢⎥

⎣⎦

cos ( ) sin( ) 0

R sin( ) cos( ) 0

001

The user shall compute the Inertial-to-Geodetic rotation matrix, ABCD using the equations shown in Table 30-VIII.

IS-GPS-200D

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176

Table 30-VII. Earth Orientation Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

EOP

PM_X

†

PM_X

PM_Y

††

PM_Y

∆UT1

†††

∆UT1

†††

EOP Data Reference Time

X-Axis Polar Motion Value

at Reference Time.

X-Axis Polar Motion Drift at

Reference Time.

Y-Axis Polar Motion Value

at Reference Time.

Y-Axis Polar Motion Drift at

Reference Time.

UT1-UTC Difference at

Reference Time.

Rate of UT1-UTC

Difference at Reference

Time

21*

15*

21*

15*

31*

19*

-20

-21

-20

-21

-24

-25

604,784

7.8125 x 10

-3

7.8125 x 10

-3

7.8125 x 10

-3

seconds

arc-seconds

arc-seconds/day

arc-seconds

arc-seconds/day

seconds

seconds/day

* Parameters so indicated are two’s complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 30-5 for complete bit allocation in Message type 32;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

†

Represents the predicted angular displacement of instantaneous Celestial Ephemeris Pole with respect to

semi-minor axis of the reference ellipsoid along Greenwich meridian.

††

Represents the predicted angular displacement of instantaneous Celestial Ephemeris Pole with respect to

semi-minor axis of the reference ellipsoid on a line directed 90° west of Greenwich meridian.

†††

With zonal tides restored.

•

IS-GPS-200D

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177

Table 30-VIII. Application of EOP Parameters (Part 1 of 2)

Element/Equation Description

TDT = t +

51 .184

J.E.D. = TDT expressed in days of 86400 sec

−

⎡⎤

°°

⎢⎥

⎣⎦

J.E.D. 2451545

g 357.528 35999.05

180 36525

()

0. 001658sin g 0.0167sin g

J.B.D. J.E.D.

86400s

−

J.B.D. 2451545

36525

′′ ′′ ′′

ζ= + +

2306 .2181 T 0 .30188 T 0 .017998 T

′′ ′′ ′′

=++

z 2306 . 2181 T 1 . 09468 T 0 . 018203 T

′′ ′′ ′′

θ= − −

2004 . 3109 T 0 . 42665 T 0 . 041833 T

()

=−− θ −

DR 90 zR R90

313

′′′ ′′ ′′

ε= − −

′′

23 26 21 . 448 46 . 815 T 0 .00059 T

0 .001813 T

()

=−ε+∆ε −∆ψ εCR ( )R R

131

Compute Terrestrial Dynamical Time relative to GPS

Time t

Compute Julian Ephemeris Date

Compute Mean Anomaly of Earth in its orbit, g

Compute Julian Date in Barycentric Dynamical Time

Compute time from J2000 Julian Epoch in Julian

Centuries

Compute Precession Fundamental Angles at time t

Calculate Precession Matrix at time, t

Compute Mean Obliquity,

, at time t

Compute Nutation Matrix at time, t

IS-GPS-200D

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178

Table 30-VIII. Application of EOP Parameters (Part 2 of 2)

Element/Equation Description

106 5

sin

ijj

aeE

⎛⎞

∆=

⎜⎟

⎝⎠

∑∑

††

64 5

cos

ijj

beE

⎛⎞

∆=

⎜⎟

⎝⎠

∑∑

††

UT1 = UTC + ∆UT1 + ∆UT1 (t – t

EOP

)

−

J.D. 2451545

36525

where J.D. UT1 expressed in days of 86400 sec

⎛⎞

⎜⎟

α= +

⎜⎟

−

⎜⎟

+−×

⎝⎠

hm s

UT1 6 41 50 .54841

8640184.812866T

s2s63

0 .093104T 6 . 2 10 T

α=α+∆

ε+∆εcos( )

()

=αBR

A = R

(-x

) R

(-y

)

where x

= PM_X + PM_X (t – t

EOP

)

= PM_Y + PM_Y (t – t

EOP

)

⎡⎤⎡⎤⎡⎤⎡⎤

⎣⎦⎣⎦⎣⎦⎣⎦

ABCD A B C D

Nutation in Longitude

Nutation in Obliquity

Compute Universal Time at time t

Compute Universal Time from J2000 Julian Epoch

in Julian Centuries

Compute Mean Greenwich Hour Angle

Compute True Greenwich Hour Angle

Compute Rotation Matrix at time, t

Compute Polar Motion Matrix at time, t

Compute Inertial-to-Geodetic Rotation matrix, ABCD

t is GPS system time at time of transmission, i.e., GPS time corrected for transit time (range/speed of light).

††

The Nutation in Longitude and the Nutation in Obliquity are as described in The Astronomical Almanac (1983),

pp. S23-S26, evaluated at time T.

•

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30.3.3.6 Message Type 33 Coordinated Universal Time (UTC) Parameters. Message type 33, Figure 30-6, contains

the UTC parameters. The contents of message type 33 are defined below, followed by material pertinent to the use

of the UTC data.

30.3.3.6.1 UTC Parameter Content

. Message type 33 provides SV clock correction parameters (ref. Section

30.3.3.2) and also, shall contain the parameters related to correlating UTC (USNO) time with GPS Time. The bit

lengths, scale factors, ranges, and units of these parameters are given in Table 30-IX. See Figure 30-6 for complete

bit allocation in message type 33.

The parameters relating GPS time to UTC (USNO) shall be updated by the CS at least once every three days while

the CS is able to upload the SVs. If the CS is unable to upload the SVs, the accuracy of the UTC parameters

transmitted by the SVs will degrade over time.

30.3.3.6.2 UTC and GPS Time

. Message type 33 includes: (1) the parameters needed to relate GPS Time to

UTC(USNO), and (2) notice to the user regarding the scheduled future or recent past (relative to Nav message

upload) value of the delta time due to leap seconds (∆t

LSF

), together with the week number (WN

LSF

) and the day

number (DN) at the end of which the leap second becomes effective. Information required to use these parameters

to calculate t

UTC

is in paragraph 20.3.3.5.2.4 except the following definition of ∆t

UTC

shall be used.

∆t

UTC

= ∆t

+ A

0-n

+ A

1-n

– t

+ 604800 (WN – WN

)) + A

2-n

– t

+ 604800 (WN – WN

))

seconds

IS-GPS-200D

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180

Table 30-IX. UTC Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

0-n

1-n

2-n

∆t

LSF

∆t

LSF

Bias coefficient of GPS time scale

relative to UTC time scale

Drift coefficient of GPS time scale

relative to UTC time scale

Drift rate correction coefficient of

GPS time scale relative to UTC time

scale

Current or past leap second count

Time data reference Time of Week

Time data reference Week Number

Leap second reference Week Number

Leap second reference Day Number

Current or future leap second count

16*

13*

4****

-35

-51

-68

604,784

Seconds

sec/sec

seconds

weeks

days

seconds

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying the MSB;

** See Figure 30-6 for complete bit allocation;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor;

**** Right justified.

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30.3.3.7 Message Types 34, 13, and 14 Differential Correction Parameters. Differential Correction (DC)

parameters are provided either in message types 34 or in types 13 and 14. These parameters provide users with sets

of correction terms that apply to the clock and ephemeris data transmitted by

other SVs. DC parameters are grouped

in packets, as described in the next sections. The availability of these message types is subject to the control and

determination of the CS.

30.3.3.7.1 Differential Correction Parameters Content

. Message type 34 provides SV clock correction parameters

(ref. Section 30.3.3.2) and also, shall contain DC parameters that apply to the clock and ephemeris data transmitted

by another SV. One message type 34, Figure 30-7, shall contain 34 bits of clock differential correction (CDC)

parameters and 92 bits of ephemeris differential correction (EDC) parameters for one SV other than the transmitting

SV. Bit 150 of message type 34 shall be a DC Data Type indicator that indicates the data type for which the DC

parameters apply. Zero (0) signifies that the corrections apply to CNAV data, D

(t), and one (1) signifies that the

corrections apply to NAV data, D(t).

Message types 13 and 14 together also provide DC parameters. Message type 13, Figure 30-12, shall contain CDC

parameters applicable to 6 SVs and message type 14, Figure 30-13, shall contain EDC parameters applicable to 2

SVs. There shall be a DC Data Type indicator preceding each CDC or EDC packet. The content of an individual

data packet is depicted in Figure 30-16. The number of bits, scale factors (LSB), the range, and the units of all fields

in the DC packet are given in Table 30-X.

30.3.3.7.2 DC Data Packet

. Each DC data packet contains: corrections to SV clock polynomial coefficients

provided in any one of the message types 30 to 37 of the corresponding SV; corrections to quasi-Keplerian elements

referenced to t

of the corresponding SV; and User Differential Range Accuracy (UDRA) and UDRA indices that

enable users to estimate the accuracy obtained after corrections are applied. Each DC packet is made up of two

different segments. The first segment contains 34 bits for the CDC parameters and the second segment contains 92

bits of EDC parameters totaling 126 bits. The CDC and EDC parameters form an indivisible pair and users must

utilize CDC and EDC as a pair. Users must utilize CDC and EDC data pair of same t

op-D

and of same t

30.3.3.7.2.1 Differential Correction Data Predict Time of Week

. The DC data predict time of week (t

op-D

) provides

the epoch time of week, in increments of 300 seconds (i.e. five minutes), at which the prediction for the associated

DC data was performed.

•

IS-GPS-200D

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182

30.3.3.7.2.2 Time of Differential Correction Data. The time of DC data, t

, specifies the reference time of week,

in increments of 300 seconds (i.e., five minutes) relative to the GPS week, for the associated CDC and EDC data.

30.3.3.7.2.3 SV PRN Identification

. The PRN ID of both CDC and EDC of Figure 30-16 identifies the satellite to

which the subject 126-bit differential correction packet data applies (by PRN code assignment). A value of all ones

“11111111” in any PRN ID field shall indicate that no DC data is contained in the remainder of the data block. In

this event, the remainder of the data block shall be filler bits, i.e., alternating ones and zeros beginning with one.

Figure 30-16. Differential Correction Data Packet

CDC = Clock Differential Correction

MSB LSB

1 9

EDC = Ephemeris Differential Correction

MSB LSB

1 9

i

12 BITS

PRN ID

8 BITS



14 BITS



14 BITS

UDRA

5 BITS

13 BITS

8 BITS

5 BITS

PRN ID

8 BITS

γ

15 BITS

22 34

MSB

LSB

12 BITS

MSB

LSB

Ω

A

UDRA

•

IS-GPS-200D

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183

Table 30-X. Differential Correction Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

PRN ID

δa

UDRA

∆α

∆β

∆γ

∆i

∆Ω

∆A

UDRA

SV Clock Bias Correction

SV Clock Drift Correction

User Differential Range

Accuracy Index

Alpha Correction to Ephemeris

Parameters

Beta Correction to Ephemeris

Parameters

Gamma Correction to Ephemeris

Parameters

Angle of Inclination Correction

Angle of Right Ascension

Correction

Semi-Major Correction

Change Rate of User Differential

Range Accuracy Index.

13*

14*

15*

12*

-35

-51

-34

-32

-9

see text

seconds

seconds/second

see text

dimensionless

semi-circles

meters

see text

* Parameters so indicated are two’s complement, with the sign bit (+ or -) occupying the MSB;

** See Figure 30-7, 11 and 12 for complete bit allocation in Message types 34, 13 and 14;

*** Unless otherwise indicated in this column, effective range is the maximum range attainable with

indicated bit allocation and scale factor.

•

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184

30.3.3.7.3 Application of Clock-Related DC Data. The SV PRN code phase offset, uncorrected by clock correction

coefficient updates, is given by equation 2 in paragraph 20.3.3.3.3.1 (see para. 30.3.3.2.3). If the matched pair of

DC data for the subject SV is available, the user may apply clock correction coefficient update values by;

∆t

= (a

+ δa

) + (a

+ δa

)(t − t

) + a

(t − t

)

+ ∆t

where δa

and δa

, (see Table 30-X), are given in message types 34 or 13, and all other terms are as stated in

paragraph 20.3.3.3.3.1. Clock-related DC data shall not be applied to any SV transmitting clock correction

parameters message(s) containing a t

value greater than the t

op-D

value of messages types 34 or 13 containing the

clock-related DC data.

30.3.3.7.4 Application of Orbit-Related DC Data

. The DC data packet includes corrections to parameters that

correct the state estimates for ephemeris parameters transmitted in the message types 10 and 11 (broadcast by the

SV to which the DC data packet applies). The user will update the ephemeris parameters utilizing a variation of the

algorithm expressed in the following equations. The user will then incorporate the updated quasi-Keplerian element

set in all further calculations of SV position, as represented by the equations in Table 30-II (see para. 30.3.3.1.3).

Ephemeris-related DC data shall not be applied to any SV transmitting message types 10 and 11 containing a t

value greater than the t

op-D

value of message types 34 or 14 containing the ephemeris-related DC data.

The user will construct a set of initial (uncorrected) elements by:

= A

= e

= i

0-n

Ω

= Ω

0-n

= e

cos(ω

)

= e

sin(ω

)

= M

0-n

+ ω

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185

where A

, e

, i

0-n

, Ω

0-n

, ω

and M

0-n

are obtained from the applicable SV’s message types 10 and 11 data. The terms

, β

, and γ

form a subset of stabilized ephemeris elements which are subsequently corrected by ∆α, ∆β and

∆γ⎯the values of which are supplied in the message types 34 or 14 — as follows:

= α

+ ∆α

= β

+ ∆β

= γ

+ ∆γ

The quasi-Keplerian elements are then corrected by

= A

+ ∆A

= (α

+ β

)

1/2

= i

+ ∆i

Ω

= Ω

+ ∆Ω

= tan

-1

(β

/α

)

0-c

= γ

− ω

+ ∆M

where ∆A, ∆i and ∆Ω are provided in the EDC data packet of the message type 34 or 14 and ∆M

is obtained from

∆M

= −3

[(t

) − (t

)].

The corrected quasi-Keplerian elements above are applied to the user algorithm for determination of antenna phase

center position in Section 30.3.3.1.3, Table 30-II.

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186

30.3.3.7.5 SV Differential Range Accuracy Estimates. The UDRA

op-D

and UDRA shall give the differential user

range accuracy for the SV. It must be noted that the two parameters provide estimated accuracy after both clock and

ephemeris DC are applied. The UDRA and UDRA indices are signed, two’s complement integers in the range of

+15 to –16 and has the following relationship:

Index Value UDRA

op-D

(meters) UDRA (10

-6

m/sec)

15 6144.00 < UDRA

op-D

6144.00

14 3072.00 < UDRA

op-D

≤ 6144.00 3072.00

13 1536.00 < UDRA

op-D

≤ 3072.00 1536.00

12 768.00 < UDRA

op-D

≤ 1536.00 768.00

11 384.00 < UDRA

op-D

≤ 768.00 384.00

10 192.00 < UDRA

op-D

≤ 384.00 192.00

9 96.00 < UDRA

op-D

≤ 192.00 96.00

8 48.00 < UDRA

op-D

≤ 96.00 48.00

7 24.00 < UDRA

op-D

≤ 48.00 24.00

6 13.65 < UDRA

op-D

≤ 24.00 13.65

5 9.65 < UDRA

op-D

≤ 13.65 9.65

4 6.85 < UDRA

op-D

≤ 9.65 6.85

3 4.85 < UDRA

op-D

≤ 6.85 4.85

2 3.40 < UDRA

op-D

≤ 4.85 3.40

1 2.40 < UDRA

op-D

≤ 3.40 2.40

0 1.70 < UDRA

op-D

≤ 2.40 1.70

-1 1.20 < UDRA

op-D

≤ 1.70 1.20

-2 0.85 < UDRA

op-D

≤ 1.20 0.85

-3 0.60 < UDRA

op-D

≤ 0.85 0.60

-4 0.43 < UDRA

op-D

≤ 0.60 0.43

-5 0.30 < UDRA

op-D

≤ 0.43 0.30

-6 0.21 < UDRA

op-D

≤ 0.30 0.21

-7 0.15 < UDRA

op-D

≤ 0.21 0.15

-8 0.11 < UDRA

op-D

≤ 0.15 0.11

-9 0.08 < UDRA

op-D

≤ 0.11 0.08

-10 0.06 < UDRA

op-D

≤ 0.08 0.06

-11 0.04 < UDRA

op-D

≤ 0.06 0.04

-12 0.03 < UDRA

op-D

≤ 0.04 0.03

-13 0.02 < UDRA

op-D

≤ 0.03 0.02

-14 0.01 < UDRA

op-D

≤ 0.02 0.01

-15 UDRA

op-D

≤ 0.01 0.005

-16 No accuracy prediction available—use at own risk

For any time, t

, other than t

op-D

, UDRA is found by,

UDRA = UDRA

op-D

+ UDRA (t

– t

op-D

)

•

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187

30.3.3.8 Message Type 35 GPS/GNSS Time Offset. Message type 35, Figure 30-8, contains the GPS/Global

Navigation Satellite System (GNSS) Time Offset (GGTO) parameters. The contents of message type 35 are defined

below. The validity period of the GGTO shall be 1 day as a minimum.

30.3.3.8.1 GPS/GNSS Time Offset Parameter Content

. Message Type 35 provides SV clock correction parameters

(ref. Section 30.3.3.2) and also, shall contain the parameters related to correlating GPS time with other GNSS time.

Bits 155 through 157 of message type 35 shall identify the other GPS like navigation system to which the offset data

applies. The three bits are defined as follows;

000 = no data available,

001 = Galileo,

010 = GLONASS,

011 through 111 = reserved for other systems.

The number of bits, the scales factor (LSB), the range, and the units of the GGTO parameters are given in Table 30-

XI. See Figure 30-8 for complete bit allocation in message type 35.

30.3.3.8.2 GPS and GNSS Time

. The GPS/GNSS-time relationship is given by,

GNSS

= t

– (A

0GGTO

+ A

1GGTO

– t

otGGTO

+ 604800 (WN – WN

otGGTO

) + A

2GGTO

– t

otGGTO

+ 604800 (WN – WN

otGGTO

))

)

where t

GNSS

is in seconds, t

and WN are as defined in Section 20.3.3.5.2.4, and the remaining parameters are as

defined in Table 30-XI.

IS-GPS-200D

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188

Table 30-XI. GPS/GNSS Time Offset Parameters

Parameter

No. of

Bits**

Scale

Factor

(LSB)

Effective

Range***

Units

0GGTO

1GGTO

2GGTO

otGGTO

GNSS ID

Bias coefficient of GPS time scale

relative to GNSS time scale

Drift coefficient of GPS time scale

relative to GNSS time scale

Drift rate correction coefficient of

GPS time scale relative to GNSS

time scale

Time data reference Time of Week

Time data reference Week Number

GNSS Type ID

16*

13*

-35

-51

-68

604,784

seconds

sec/sec

seconds

weeks

see text

* Parameters so indicated shall be two's complement with the sign bit (+ or -) occupying

the MSB;

** See Figure 30-8 for complete bit allocation;

*** Unless otherwise indicated in this column, effective range is the maximum range

attainable with indicated bit allocation and scale factor.

30.3.3.9 Message Types 36 and 15 Text Messages

. Text messages are provided either in message type 36, Figure

30-9, or type 15, Figure 30-14. The specific contents of text message will be at the discretion of the Operating

Command. Message type 36 can accommodate the transmission of 18 eight-bit ASCII characters. Message type 15

can accommodate the transmission of 29 eight-bit ASCII characters. The requisite bits shall occupy bits 39 through

270 of message type 15 and bits 128 through 275 of message type 36. The eight-bit ASCII characters shall be

limited to the set described in paragraph 20.3.3.5.1.8.

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189

30.3.4 Timing Relationships. The following conventions shall apply.

30.3.4.1 Paging and Cutovers

. Broadcast system of messages is completely arbitrary, but sequenced to provide

optimum user performance. Message types 10 and 11 shall be broadcast at least once every 48 seconds. All other

messages shall be broadcast in-between, not exceeding the maximum broadcast interval in Table 30-XII. Message

type 15 will be broadcast as needed, but will not reduce the maximum broadcast interval of the other messages.

Type 15 messages that are longer than one page will not necessarily be broadcast consecutively.

Table 30-XII. Message Broadcast Intervals

Message Data Message Type Number Maximum Broadcast Intervals

†

Ephemeris 10 & 11 48 sec

Clock Type 30’s 48 sec

ISC, IONO 30 * 288 sec

Reduced Almanac 31* or 12 20 min**

Midi Almanac 37 120 min**

EOP 32* 30 min

UTC 33* 288 sec

Diff Correction 34* or 13 & 14 30 min***

GGTO 35* 288 sec

Text 36* or 15 As needed

* Also contains SV clock correction parameters.

** Complete set of SVs in the constellation.

*** When Differential Corrections are available.

†

The intervals specified are maximum. As such, the broadcast intervals may be shorter than the

specified value.

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190

30.3.4.2 SV Time vs. GPS Time. In controlling the SVs and uploading of data, the CS shall allow for the

following timing relationships:

a. Each SV operates on its own SV time;

b. All time-related data (TOW) in the messages shall be in SV-time;

c. All other data in the Nav message shall be relative to GPS time;

d. The acts of transmitting the Nav messages shall be executed by the SV on SV time.

30.3.4.3 Speed of Light

. The speed of light used by the CS for generating the data described in the above

paragraphs is

c = 2.99792458 x 10

meters per second

which is the official WGS-84 speed of light. The user shall use the same value for the speed of light in all

computations.

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191

30.3.5 Data Frame Parity. The data signal contains parity coding according to the following conventions.

30.3.5.1 Parity Algorithm

. Twenty-four bits of CRC parity will provide protection against burst as well as random

errors with a probability of undetected error ≤ 2

-24

= 5.96×10

-8

for all channel bit error probabilities ≤ 0.5. The

CRC word is calculated in the forward direction on a given message using a seed of 0. The sequence of 24 bits

,...,p

) is generated from the sequence of information bits (m

,...,m

276

) in a given message. This is done by

means of a code that is generated by the polynomial

()

∑

XgXg

where

otherwise 0

24,23,18,17,14,11,10,7,6,5,4,3,1,0ifor 1g

This code is called CRC-24Q. The generator polynomial of this code is in the following form (using binary

polynomial algebra):

()( )()

XpX1Xg +=

where p(X) is the primitive and irreducible polynomial

()

1XXXXXXXXXXXp

357891112131723

++++++++++=

When, by the application of binary polynomial algebra, the above g(X) is divided into m(X)X

, where the

information sequence m(X) is expressed as

()

2k1kk

XmXmXmmXm

−

−−

+⋅⋅⋅+++=

IS-GPS-200D

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192

The result is a quotient and a remainder R(X) of degree < 24. The bit sequence formed by this remainder represents

the parity check sequence. Parity bit p

, for any i from 1 to 24, is the coefficient of X

24-i

in R(X).

This code has the following characteristics:

1) It detects all single bit errors per code word.

2) It detects all double bit error combinations in a codeword because the generator polynomial g(X) has a

factor of at least three terms.

3) It detects any odd number of errors because g(X) contains a factor 1+X.

4) It detects any burst error for which the length of the burst is ≤ 24 bits.

5) It detects most large error bursts with length greater than the parity length r = 24 bits. The fraction of

error bursts of length b > 24 that are undetected is:

a) 2

-24

= 5.96 × 10

-8

, if b > 25 bits.

b) 2

-23

= 1.19 × 10

-7

, if b = 25 bits.

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