Editing Global Positioning System (section)

=== Development ===
With these parallel developments in the 1960s, it was realized that 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 [[Refraction|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.<ref>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.</ref>

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.''<ref>{{cite web |url=http://www.au.af.mil/au/cadre/aspj/airchronicles/aureview/1981/may-jun/garwin.htm |title=MX Deployment Reconsidered |website=au.af.mil |archive-url=https://web.archive.org/web/20170625123356/http://www.airuniversity.af.mil/ |archive-date=June 25, 2017 |access-date=June 7, 2013}}</ref> Navstar is often erroneously considered an acronym for "NAVigation System using Timing And Ranging" but was never considered as such by the GPS Joint Program Office (TRW may have once advocated for a different navigational system that used that acronym).<ref>{{Cite book|url=https://history.nasa.gov/sp4801-chapter17.pdf|title=Societal Impact of Spaceflight|last1=Dick|first1=Steven|last2=Launius|first2=Roger|publisher=US Government Printing Office|year=2007|isbn=978-0-16-080190-7|location=Washington, DC|page=331|access-date=July 20, 2019|archive-url=https://web.archive.org/web/20130303214202/http://history.nasa.gov/sp4801-chapter17.pdf|archive-date=March 3, 2013|url-status=live}}</ref> 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''.<ref>{{cite book |author1=Rip |first=Michael Russell |url={{google books|plainurl=y|id=mB9W3H90KDUC}} |title=The Precision Revolution: GPS and the Future of Aerial Warfare |author2=James M. Hasik |publisher=Naval Institute Press |year=2002 |isbn=978-1-55750-973-4 |page=65 |access-date=January 14, 2010}}</ref> Ten "[[GPS Block I|Block I]]" prototype satellites were launched between 1978 and 1985 (an additional unit was destroyed in a launch failure).<ref name="ieee2008">{{cite journal | title = Evolution of the Global Navigation SatelliteSystem (GNSS) | first1 = Christopher J. | last1 = Hegarty | first2 = Eric | last2 = Chatre | journal = Proceedings of the IEEE | date = December 2008 | pages = 1902–1917 | doi = 10.1109/JPROC.2008.2006090 | volume=96| issue = 12 | s2cid = 838848 |issn = 0018-9219 }}</ref>

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 [[ionosphere|ionospheric]] corrections to GPS location.<ref>{{cite web |title=ION Fellow – Mr. John A. Klobuchar |url=https://www.ion.org/awards/2003-ionfellow-Klobuchar.cfm |url-status=live |archive-url=https://web.archive.org/web/20171004140058/https://www.ion.org/awards/2003-ionfellow-Klobuchar.cfm |archive-date=October 4, 2017 |access-date=June 17, 2017 |website=www.ion.org}}</ref> 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.<ref>{{cite web |url=http://harveycohen.net/crcss |title=GPS Signal Science |website=harveycohen.net |archive-url=https://web.archive.org/web/20170529200107/http://harveycohen.net/crcss/ |archive-date=May 29, 2017}}</ref>

After [[Korean Air Lines Flight 007]], a [[Boeing 747]] carrying 269 people, was shot down by a Soviet [[interceptor aircraft]] after straying in [[prohibited airspace]] because of navigational errors,<ref>{{cite web|url=http://www.icao.int/cgi/goto_m.pl?icao/en/trivia/kal_flight_007.htm |title=ICAO Completes Fact-Finding Investigation |publisher=International Civil Aviation Organization |access-date=September 15, 2008 |archive-url=https://web.archive.org/web/20080517005421/http://www.icao.int/cgi/goto_m.pl?icao%2Fen%2Ftrivia%2Fkal_flight_007.htm |archive-date=May 17, 2008 }}</ref> in the vicinity of [[Sakhalin]] and [[Moneron Island]]s, President [[Ronald Reagan]] issued a directive making GPS freely available for civilian use, once it was sufficiently developed, as a common good.<ref name="KAL007">{{cite news|url=http://iipdigital.usembassy.gov/st/english/article/2006/02/20060203125928lcnirellep0.5061609.html|archive-url=https://web.archive.org/web/20131009161500/http://iipdigital.usembassy.gov/st/english/article/2006/02/20060203125928lcnirellep0.5061609.html|archive-date=October 9, 2013|access-date=June 17, 2019|title=United States Updates Global Positioning System Technology|publisher=America.gov|date=February 3, 2006}}</ref> The first Block II satellite was launched on February 14, 1989,<ref>{{cite book|last1=Rumerman|first1=Judy A.|title=NASA Historical Data Book, Volume VII|date=2009|publisher=NASA|page=136|url=https://history.nasa.gov/SP-4012v7ch2.pdf|access-date=July 12, 2017|archive-url=https://web.archive.org/web/20171225230629/https://history.nasa.gov/SP-4012v7ch2.pdf|archive-date=December 25, 2017|url-status=live}}</ref> and the 24th&nbsp;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&nbsp;billion (equivalent to ${{Inflation|US|5|1994|fmt=c}} billion in {{Inflation/year|US}}).<ref>Scott Pace, Gerald P. Frost, Irving Lachow, David R. Frelinger, Donna Fossum, Don Wassem, Monica M. Pinto. The Global Positioning System Assessing National Policies, Rand Corporation, 1995, [https://www.rand.org/content/dam/rand/pubs/monograph_reports/MR614/MR614.appb.pdf Appendix B]. {{Webarchive|url=https://web.archive.org/web/20160304094441/https://www.rand.org/content/dam/rand/pubs/monograph_reports/MR614/MR614.appb.pdf|date=March 4, 2016}}, GPS History, Chronology, and Budgets.</ref>

Initially, the highest-quality signal was reserved for military use, and the signal available for civilian use was intentionally degraded, in a policy known as [[Selective Availability]]. This changed on May 1, 2000, with U.S. President [[Bill Clinton]] signing a policy directive to turn off Selective Availability to provide the same accuracy to civilians that was afforded to the military. The directive was proposed by the U.S. Secretary of Defense, [[William J. Perry|William Perry]], in view of the widespread growth of [[differential GPS]] services by private industry to improve civilian accuracy. Moreover, the U.S. military was developing technologies to deny GPS service to potential adversaries on a regional basis.<ref>{{cite web|url=http://ngs.woc.noaa.gov/FGCS/info/sans_SA/docs/GPS_SA_Event_QAs.pdf |title=GPS & Selective Availability Q&A |publisher=NOAA |access-date=May 28, 2010 |archive-url=https://web.archive.org/web/20050921115614/http://ngs.woc.noaa.gov/FGCS/info/sans_SA/docs/GPS_SA_Event_QAs.pdf |archive-date=September 21, 2005 }}</ref> Selective Availability was removed from the GPS architecture beginning with GPS-III.

Since its deployment, the U.S. has implemented several improvements to the GPS service, including new signals for civil use and increased accuracy and integrity for all users, all the while maintaining compatibility with existing GPS equipment. Modernization of the satellite system has been an ongoing initiative by the U.S. Department of Defense through a series of [[GPS Block IIIA|satellite acquisitions]] to meet the growing needs of the military, civilians, and the commercial market. As of early 2015, high-quality Standard Positioning Service (SPS) GPS receivers provided horizontal accuracy of better than {{convert|3.5|m|sp=us||}},<ref name="gpsgovaccurary" /> although many factors such as receiver and antenna quality and atmospheric issues can affect this accuracy.

GPS is owned and operated by the United States government as a national resource. The Department of Defense is the steward of GPS. The ''Interagency GPS Executive Board (IGEB)'' oversaw GPS policy matters from 1996 to 2004. After that, the National Space-Based Positioning, Navigation and Timing Executive Committee was established by presidential directive in 2004 to advise and coordinate federal departments and agencies on matters concerning the GPS and related systems.<ref>{{cite web|last=Steitz|first=David E.|title=National Positioning, Navigation and Timing Advisory Board Named|url=http://www.nasa.gov/home/hqnews/2007/mar/HQ_07071_National_PNT_Advisory_Board.txt|access-date=March 22, 2007|archive-url=https://web.archive.org/web/20100113234255/http://www.nasa.gov/home/hqnews/2007/mar/HQ_07071_National_PNT_Advisory_Board.txt|archive-date=January 13, 2010|url-status=live}}</ref> The executive committee is chaired jointly by the Deputy Secretaries of Defense and Transportation. Its membership includes equivalent-level officials from the Departments of State, Commerce, and Homeland Security, the [[Joint Chiefs of Staff]] and [[NASA]]. Components of the executive office of the president participate as observers to the executive committee, and the FCC chairman participates as a liaison.

The U.S. Department of Defense is required by law to "maintain a Standard Positioning Service (as defined in the federal radio navigation plan and the standard positioning service signal specification) that will be available on a continuous, worldwide basis" and "develop measures to prevent hostile use of GPS and its augmentations without unduly disrupting or degrading civilian uses".