Each GPS satellite continuously broadcasts a Navigation Message at 50 bit/s giving the time-of-day, GPS week number and satellite health information, an ephemeris and an almanac. The messages are sent in frames, each taking 30 seconds to transmit 1500 bits.
The first 6 seconds of every frame contains data describing the satellite clock and its relationship to GPS system time. The next 12 seconds contain the ephemeris data, giving the satellite's own precise orbit. The ephemeris is updated every 2 hours and is generally valid for 4 hours, with provisions for updates every 6 hours or longer in non-nominal conditions. The time needed to acquire the ephemeris is becoming a significant element of the delay to first position fix, because, as the hardware becomes more capable, the time to lock onto the satellite signals shrinks, but the ephemeris data requires 30 seconds before it is received, due to the low data transmission rate.
The almanac consists of coarse orbit and status information for each satellite in the constellation, and information to relate GPS derived time to Coordinated Universal Time (UTC). A new part of the almanac is received for the last 12 seconds in each 30 second frame. Each frame contains 1/25th of the almanac, so 12.5 minutes are required to receive the entire almanac from a single satellite. Advances in hardware have made the acquisition process much faster thus reducing need for almanac. The corrections are not as accurate as augmentation systems like WAAS or dual frequency receivers. However it is often better than no correction since ionospheric error is the largest error source for a single frequency GPS receiver. An important thing to note about navigation data is that each satellite transmits only its own ephemeris, but transmits an almanac for all satellites.
Each satellite transmits its navigation message with at least two distinct spread spectrum codes: the Coarse / Acquisition (C/A) code, which is freely available to the public, and the Precise (P) code, which is usually encrypted and reserved for military applications. The C/A code is a 1,023 chip pseudo-random (PRN) code at 1.023 million chips/sec so that it repeats every millisecond. Each satellite has its own C/A code so that it can be uniquely identified and received separately from the other satellites transmitting on the same frequency. The P-code is a 10.23 megachip/sec PRN code that repeats only every week. When the "anti-spoofing" mode is on, as it is in normal operation, the P code is encrypted by the Y-code to produce the P(Y) code, which can only be decrypted by units with a valid decryption key. Both the C/A and P(Y) codes impart the precise time-of-day to the user.
Frequencies used by GPS include
- L1 (1575.42 MHz): Mix of Navigation Message, coarse-acquisition (C/A) code and encrypted precision P(Y) code, plus the new L1C on future Block III satellites.
- L2 (1227.60 MHz): P(Y) code, plus the new L2C code on the Block IIR-M and newer satellites.
- L3 (1381.05 MHz): Used by the Nuclear Detonation (NUDET) Detection System Payload (NDS) to signal detection of nuclear detonations and other high-energy infrared events. Used to enforce nuclear test ban treaties.
- L4 (1379.913 MHz): Being studied for additional ionospheric correction.
- L5 (1176.45 MHz): Proposed for use as a civilian safety-of-life (SoL) signal (see GPS modernization). This frequency falls into an internationally protected range for aeronautical navigation, promising little or no interference under all circumstances. The first Block IIF satellite that would provide this signal is set to be launched in 2008.
