The Global Positioning System (GPS) is a satellite-based hyperbolic navigation system owned by the United States Space Force and operated by Mission Delta 31. It is one of the global navigation satellite systems (GNSS) that provide geolocation and time information to a GPS receiver anywhere on or near the Earth where signal quality permits. It does not require the user to transmit any data, and operates independently of any telephone or Internet reception, though these technologies can enhance the usefulness of the GPS positioning information. It provides critical positioning capabilities to military, civil, and commercial users around the world. Although the United States government created, controls, and maintains GPS, it is freely accessible to anyone with a GPS receiver.
Overview The GPS project was started by the U.S. Department of Defense in 1973. The prototype spacecraft was launched in 1978 and the full constellation of 24 satellites became operational in 1993. After Korean Air Lines Flight 007 was shot down when it mistakenly entered Soviet airspace, President Ronald Reagan determined that the GPS system would be made available for civilian use as of 1988; however, initially this civilian use was limited to an average accuracy of by use of Selective Availability (SA), a deliberate error introduced into the GPS data for which military receivers could correct.
As civilian GPS usage grew, there was increasing pressure to remove this error. The SA system was temporarily disabled during the Gulf War, as a shortage of military GPS units meant that many US soldiers were using civilian GPS units sent from home. In the 1990s, differential GPS systems from the US Coast Guard, Federal Aviation Administration, and similar agencies in other countries began to broadcast local GPS corrections, reducing the effect of both SA degradation and atmospheric effects (that military receivers also corrected for). The U.S. military had also developed methods to perform local GPS jamming, meaning that the ability to globally degrade the system was no longer necessary. As a result, United States president Bill Clinton signed a bill ordering that Selective Availability be disabled on May 1, 2000; and, in 2007, the US government announced that the next generation of GPS satellites would not include the feature.
Advances in technology and new demands on the existing system have led to efforts to modernize GPS and implement the next generation of GPS Block III satellites and Next Generation Operational Control System (OCX) which was authorized by the U.S. Congress in 2000. OCX was then canceled in April of 2026. When Selective Availability was discontinued, GPS was accurate to about . GPS receivers that use the L5 band have much higher accuracy of , while those for high-end applications such as engineering and land surveying are accurate to within and can even provide sub-millimeter accuracy with long-term measurements. Consumer devices such as smartphones can be accurate to or better when used with assistive services like Wi-Fi positioning.
, 21 GPS satellites broadcast L5 signals, which are considered pre-operational prior to being broadcast by a full complement of 24 satellites in 2027.
History The GPS project was launched in the United States in 1973 to overcome the limitations of previous navigation systems, combining ideas from several predecessors, including classified engineering design studies from the 1960s. The U.S. Department of Defense developed the system, which originally used 24 satellites, for use by the United States military, and became fully operational in 1993. Civilian use was allowed from the 1980s. Roger L. Easton of the Naval Research Laboratory, Ivan A. Getting of The Aerospace Corporation, and Bradford Parkinson of the Applied Physics Laboratory are credited with inventing it. The work of Gladys West of the Ballistic Sciences Branch at Dahlgren Naval Proving Ground on the creation of the mathematical geodetic Earth model is credited as instrumental in the development of computational techniques for detecting satellite positions with the precision needed for GPS.
The design of GPS is based partly on similar ground-based radio-navigation systems, such as LORAN and the Decca Navigator System, developed in the early 1940s. In 1955, Friedwardt Winterberg proposed a test of general relativity—detecting time slowing in a strong gravitational field using accurate atomic clocks placed in orbit inside artificial satellites. Special and general relativity predicted that the clocks on GPS satellites, as observed by those on Earth, run 38 microseconds faster per day than those on the Earth. The design of GPS corrects for this difference.
Predecessors
When the Soviet Union launched its first artificial satellite (Sputnik 1) in 1957, two American physicists, William Guier and George Weiffenbach, at Johns Hopkins University's Applied Physics Laboratory (APL) monitored its radio transmissions. Within hours they realized that, because of the Doppler effect, they could pinpoint where the satellite was along its orbit. The Director of the APL gave them access to their UNIVAC I computer to perform the heavy calculations required.
Early the next year, Frank McClure, the deputy director of the APL, asked Guier and Weiffenbach to investigate the inverse problem: pinpointing the user's location, given the satellite's. (At the time, the Navy was developing the submarine-launched Polaris missile, which required them to know the submarine's location.) This led them and APL to develop the TRANSIT system. In 1959, ARPA (renamed DARPA in 1972) also played a role in TRANSIT.
TRANSIT was first successfully tested in 1960. It used a constellation of five satellites and could provide a navigational fix approximately once per hour. In 1967, the U.S. Navy developed the Timation satellite, which proved the feasibility of placing accurate clocks in space, a technology required for GPS.
In the 1970s, the ground-based OMEGA navigation system, based on phase comparison of signal transmission from pairs of stations, became the first worldwide radio navigation system. Limitations of these systems drove the need for a more universal navigation solution with greater accuracy.
Although there were wide needs for accurate navigation in military and civilian sectors, almost none of those was seen as justification for the billions of dollars it would cost in research, development, deployment, and operation of a constellation of navigation satellites. During the Cold War arms race, the nuclear threat to the existence of the United States was the one need that did justify this cost in the view of the United States Congress. This deterrent effect is why GPS was funded. It is also the reason for the ultra-secrecy at that time. The nuclear triad consisted of the United States Navy's submarine-launched ballistic missiles (SLBMs) along with United States Air Force (USAF) strategic bombers and intercontinental ballistic missiles (ICBMs). Considered vital to the nuclear deterrence posture, accurate determination of the SLBM launch position was a force multiplier.
Precise navigation would enable United States ballistic missile submarines to get an accurate fix of their positions before they launched their SLBMs. The USAF, with two-thirds of the nuclear triad, also had requirements for a more accurate and reliable navigation system. The U.S. Navy and U.S. Air Force were developing their own technologies in parallel to solve what was essentially the same problem. To increase the survivability of ICBMs, there was a proposal to use mobile launch platforms (comparable to the Soviet SS-24 and SS-25) and so the need to fix the launch position had similarity to the SLBM situation.
In 1960, the Air Force proposed a radio-navigation system called MOSAIC (Mobile System for Accurate ICBM Control) that was essentially a 3-D LORAN System. A follow-on study, Project 57, was performed in 1963 and it was "in this study that the GPS concept was born". That same year, the concept was pursued as Project 621B, which had "many of the attributes that you now see in GPS" and promised increased accuracy for U.S. Air Force bombers as well as ICBMs.
Updates from the Navy TRANSIT system were too slow for the high speeds of Air Force operation. The Naval Research Laboratory (NRL) continued making advances with their Timation (Time Navigation) satellites, first launched in 1967, second launched in 1969, with the third in 1974 carrying the first atomic clock into orbit and the fourth launched in 1977.
Another important predecessor to GPS came from a different branch of the United States military. In 1964, the United States Army orbited its first Sequential Collation of Range (SECOR) satellite used for geodetic surveying. The SECOR system included three ground-based transmitters at known locations that would send signals to the satellite transponder in orbit. A fourth ground-based station, at an undetermined position, could then use those signals to fix its location precisely. The last SECOR satellite was launched in 1969.
Development With these parallel developments in the 1960s, a superior system could be developed by synthesizing the best technologies from 621B, Transit, Timation, and SECOR in a multi-service program. Satellite orbital position errors, induced by variations in the gravity field and radar refraction among others, had to be resolved. A team led by Harold L. Jury of Pan Am Aerospace Division in Florida from 1970 to 1973, used real-time data assimilation and recursive estimation to do so, reducing systematic and residual errors to a manageable level to permit accurate navigation.Jury, H. L., 1973, Application of Kalman Filter to Real-Time Navigation using Synchronous Satellites, Proceedings of the 10th International Symposium on Space Technology and Science, Tokyo, Japan, pp. 945–952.
During Labor Day weekend in 1973, a meeting of about twelve military officers at the Pentagon discussed the creation of a Defense Navigation Satellite System (DNSS). It was at this meeting that the real synthesis that became GPS was created. Later that year, the DNSS program was named Navstar. The name Navstar was not an acronym, but was chosen simply as a nice-sounding word. With the individual satellites being associated with the name Navstar (as with the predecessors Transit and Timation), a more fully encompassing name was used to identify the constellation of Navstar satellites, Navstar-GPS. Ten "Block I" prototype satellites were launched between 1978 and 1985 (an additional unit was destroyed in a launch failure).
The effect of the ionosphere on radio transmission was investigated in a geophysics laboratory of Air Force Cambridge Research Laboratory, renamed to Air Force Geophysical Research Lab (AFGRL) in 1974. AFGRL developed the Klobuchar model for computing ionospheric corrections to GPS location. Of note is work done by Australian space scientist Elizabeth Essex-Cohen at AFGRL in 1974. She was concerned with the curving of the paths of radio waves (atmospheric refraction) traversing the ionosphere from Navstar satellites.
After a 1983 tragic incident in which Korean Air Lines Flight 007, a Boeing 747 carrying 269 people, was shot down by a Soviet interceptor aircraft after straying into prohibited airspace because of navigational errors, in the vicinity of Sakhalin and Moneron Islands, President Ronald Reagan issued a directive making GPS freely available for civilian use, once it was sufficiently developed, as a common good. The first Block II satellite was launched on February 14, 1989, and the 24th satellite was launched in 1994. The GPS program cost at this point, not including the cost of the user equipment but including the costs of the satellite launches, has been estimated at US$5 billion (equivalent to $ billion in ).