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For the ranging codes and navigation message to travel from the satellite to the receiver, they must be modulated onto a carrier wave. In the case of the original GPS design, two frequencies are utilized; one at 1575.42 MHz (10.23MHz × 154) called L1; and a second at 1227.60MHz (10.23MHz × 120), called L2. The P-code is a PRN sequence much longer than the C/A code: 6.187104x10 12 chips. Even though the P-code chip rate (10.23 Mchip/s) is ten times that of the C/A code, it repeats only once per week, eliminating range ambiguity. It was assumed that receivers could not directly acquire such a long and fast code so they would first "bootstrap" themselves with the C/A code to acquire the spacecraft ephemerides, produce an approximate time and position fix, and then acquire the P-code to refine the fix. Each frame contains (in subframe 1) the 10 least significant bits of the corresponding GPS week number. [15] Note that each frame is entirely within one GPS week because GPS frames do not cross GPS week boundaries. [16] Since rollover occurs every 1,024 GPS weeks (approximately every 19.6 years; 1,024 is 2 10), a receiver that computes current calendar dates needs to deduce the upper week number bits or obtain them from a different source. One possible method is for the receiver to save its current date in memory when shut down, and when powered on, assume that the newly decoded truncated week number corresponds to the period of 1,024 weeks that starts at the last saved date. This method correctly deduces the full week number if the receiver is never allowed to remain shut down (or without a time and position fix) for more than 1,024 weeks (~19.6 years).

The original GPS design contains two ranging codes: the coarse/acquisition (C/A) code, which is freely available to the public, and the restricted precision (P) code, usually reserved for military applications. In addition to the PRN ranging codes, a receiver needs to know the time and position of each active satellite. GPS encodes this information into the navigation message and modulates it onto both the C/A and P(Y) ranging codes at 50bit/s. The navigation message format described in this section is called LNAV data (for legacy navigation). There are two navigation message types: LNAV-L is used by satellites with PRN numbers 1 to 32 (called lower PRN numbers) and LNAV-U is used by satellites with PRN numbers 33 to 63 (called upper PRN numbers). [9] The 2 types use very similar formats. Subframes 1 to 3 are the same [10] while subframes 4 and 5 are almost the same. Each message type contains almanac data for all satellites using the same navigation message type, but not the other. L1C is a civilian-use signal, to be broadcast on the L1 frequency (1575.42MHz), which contains the C/A signal used by all current GPS users. The L1C signals will be broadcast from GPS III and later satellites, the first of which was launched in December 2018. [1] As of January2021 [update], L1C signals are not yet broadcast, and only four operational satellites are capable of broadcasting them. L1C is expected on 24 GPS satellites in the late 2020s. [1]

The second advancement is to use forward error correction (FEC) coding on the NAV message itself. Due to the relatively slow transmission rate of NAV data (usually 50 bits per second), small interruptions can have potentially large impacts. Therefore, FEC on the NAV message is a significant improvement in overall signal robustness. The GPS satellites (called space vehicles in the GPS interface specification documents) transmit simultaneously several ranging codes and navigation data using binary phase-shift keying (BPSK). An ephemeris is valid for only four hours; an almanac is valid with little dilution of precision for up to two weeks. [7] The receiver uses the almanac to acquire a set of satellites based on stored time and location. As each satellite is acquired, its ephemeris is decoded so the satellite can be used for navigation. In each subframe, each hand-over word (HOW) contains the most significant 17 bits of the TOW count corresponding to the start of the next following subframe. [14] Note that the 2 least significant bits can be safely omitted because one HOW occurs in the navigation message every 6 seconds, which is equal to the resolution of the truncated TOW count thereof. Equivalently, the truncated TOW count is the time duration since the last GPS week start/end to the beginning of the next frame in units of 6 seconds.

Besides redundancy and increased resistance to jamming, a critical benefit of having two frequencies transmitted from one satellite is the ability to measure directly, and therefore remove, the ionospheric delay error for that satellite. Without such a measurement, a GPS receiver must use a generic model or receive ionospheric corrections from another source (such as the Wide Area Augmentation System or WAAS). Advances in the technology used on both the GPS satellites and the GPS receivers has made ionospheric delay the largest remaining source of error in the signal. A receiver capable of performing this measurement can be significantly more accurate and is typically referred to as a dual frequency receiver. GPS signals are broadcast by Global Positioning System satellites to enable satellite navigation. Receivers on or near the Earth's surface can determine location, time, and velocity using this information. The GPS satellite constellation is operated by the 2nd Space Operations Squadron (2SOPS) of Space Delta 8, United States Space Force.The arguments of the functions therein are the number of bits or chips since their epochs, starting at 0. The epoch of the LFSRs is the point at which they are at the initial state; and for the overall C/A codes it is the start of any UTC second plus any integer number of milliseconds. The output of LFSRs at negative arguments is defined consistent with the period which is 1,023 chips (this provision is necessary because B may have a negative argument using the above equation). A major component of the modernization process is a new military signal. Called the Military code, or M-code, it was designed to further improve the anti-jamming and secure access of the military GPS signals. L1C consists of a pilot (called L1C P) and a data (called L1C D) component. [35] These components use carriers with the same phase (within a margin of error of 100 milliradians), instead of carriers in quadrature as with L5. [36] The PRN codes are 10,230 chips long and transmitted at 1.023Mchip/s, thus repeating in 10ms. The pilot component is also modulated by an overlay code called L1C O (a secondary code that has a lower rate than the ranging code and is also predefined, like the ranging code). [35] Of the total L1C signal power, 25% is allocated to the data and 75% to the pilot. The modulation technique used is BOC(1,1) for the data signal and TMBOC for the pilot. The time multiplexed binary offset carrier (TMBOC) is BOC(1,1) for all except 4 of 33 cycles, when it switches to BOC(6,1).

CNAV messages begin and end at start/end of GPS week plus an integer multiple of 12 seconds. [26] Specifically, the beginning of the first bit (with convolution encoding already applied) to contain information about a message matches the aforesaid synchronization. CNAV messages begin with an 8-bit preamble which is a fixed bit pattern and whose purpose is to enable the receiver to detect the beginning of a message. A dataless acquisition aid is an additional signal, called a pilot carrier in some cases, broadcast alongside the data signal. This dataless signal is designed to be easier to acquire than the data encoded and, upon successful acquisition, can be used to acquire the data signal. This technique improves acquisition of the GPS signal and boosts power levels at the correlator. General features [ edit ] A visual example of the GPS constellation in motion with the Earth rotating. Notice how the number of satellites in view from a given point on the Earth's surface, in this example at 45°N, changes with time. GPS signals include ranging signals, used to measure the distance to the satellite, and navigation messages. The navigation messages include ephemeris data, used in trilateration to calculate the position of each satellite in orbit, and information about the time and status of the entire satellite constellation, called the almanac.

The L5 band provides additional robustness in the form of interference mitigation, the band being internationally protected, redundancy with existing bands, geostationary satellite augmentation, and ground-based augmentation. The added robustness of this band also benefits terrestrial applications. [30] The interface to the User Segment ( GPS receivers) is described in the Interface Control Documents (ICD). The format of civilian signals is described in the Interface Specification (IS) which is a subset of the ICD.