FUNDAMENTALS OF GLOBAL POSITIONING SYSTEM: Signals, Measurements, and Estimation of Position, Velocity, and Time

Build a rigorous understanding of GPS from the signal to the final navigation solution

Fundamentals of Global Positioning System develops the complete engineering chain behind satellite positioning, velocity, and time. It connects transmitted signals, receiver measurements, physical error models, numerical estimation, integrity monitoring, and system validation in one coherent treatment.

Readers begin with ranging geometry, reference frames, time scales, constellation architecture, carrier frequencies, spreading codes, acquisition, and tracking. Later chapters derive pseudorange, carrier phase, and Doppler models; treat ionospheric, tropospheric, multipath, clock, orbit, and antenna effects; and build position solutions using weighted least squares and Kalman filtering.

Inside you will find

• Step-by-step derivations with variables and units defined
• Worked engineering examples that end in numerical answers
• Technical diagrams covering signals, geometry, estimation, receiver design, and resilient PNT
• Practice problems with answers in every chapter
• Coverage of DOP, RAIM, protection levels, differential GNSS, RTK, PPP, multi-constellation processing, SBAS, receiver testing, jamming, spoofing, and performance validation

The book is designed for engineering students, practicing receiver and navigation engineers, survey and geospatial professionals, autonomy teams, and technical readers who want more than a descriptive overview. Its emphasis on governing equations, assumptions, sign conventions, uncertainty, and verification helps readers move from conceptual knowledge to defensible implementation.

By the final chapter, readers can trace an end-to-end PVT design from mission requirements through measurements, corrections, estimation, integrity qualification, and acceptance evidence.