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ABSTRACT: In this paper, we will discuss the effects of special and general relativity on the Global Positioning System (GPS). It
is is based on time and the known position of twenty-four satellites, which carry atomic clocks for precise time measuring. These
extremely accurate clocks are synchronized to each other and also to clocks in the Earth’s surface. This synchronization is achieved
by taking in account the effect of time dilations predicted in Einstein’s theories.
1 𝑣!
𝑡! = 𝑡 . ≈𝑡− 𝑡∙ !
𝛾 2𝑐
𝑡! − 𝑡 𝑣!
=− !
Figure 1: the moving bar thought experiment 𝑡 2𝑐
!"
The relativity of simultaneity is also strongly related we get that the frequency shift, , between the two refer-
!
to the so-called Sagnac effect. Imagine that individuals on ential is equal to
Earth’s equator try to synchronize a net system of clocks
that are placed throughout the equator, by sending a light 𝑑𝑓 1 𝑣!
= − !
wave all the way once across with a system of mirrors. The 𝑓 2𝑐
radius of our planet around the equator is approximately
equal to ℓ = 6378.137 km, therefore the perimeter of the This simple expression tells us that the time measured
equatorial circumference is given by 2𝜋ℓ. To viewers on in the GPS atomic clocks, moving at approximately
the rotating Earth, it seems that it takes
!!ℓ
seconds for the 𝑣 = 4000 𝑚/𝑠, will differ from that measured by a stand-
!
ing observer on Earth, rotating with a radius of ℓ =
light signal to circulate once around. However, for a person
in a local, yet non-rotating frame, the beginning point 6378 𝑘𝑚 and with angular velocity 𝜔 = 7.29 × 10! rad/s,
!!ℓ !!"ℓ!
by
moves a distance 𝜔ℓ ∙ = during that time, where
! !
!!
𝜔 = 7.291151467 × 10 rad/s is the angular velocity of 𝑑𝑓 1 𝑣! 1 𝜔ℓ !
= − !− − ≈ −8.228 ×10!!!
the Earth’s rotation. This implies that the extra time the 𝑓 2𝑐 2 𝑐!
signal takes to finish the course is given by
Multiplying this value by the number of seconds in a
2𝜔𝜋ℓ! day and by 𝑐, we get, approximately, a mind-blowing
𝑡 − 𝑡! =
𝑐! 2.1326 km, which is too big of an error to ever be obtained
in a positioning system.
which makes total sense, according to the previously de-
duced equation (1). This discrepancy is of the uttermost
importance to compare remotely located clocks, such as the
ones present in the GPS.
2
ber like the one obtained in equation (2), we get a deviation
of about 13,7 𝑘𝑚.
7. Net Effect
Taking equations (3) and (4) into account, we can cal- To summarize, it is mandatory to take into account
culate the expected frequency shift Einstein’s theory of relativity when synchronizing the ex-
tremely precise atomic clocks that compose the satellites of
𝑑𝑓 𝜑 𝑡 − 𝜑!" 𝐺𝑀 𝐺𝑀 𝜉 the Global Positioning System with the ones located at
= !
= − !
− − ! ∙ 1+ Earth’s surface.
𝑓 𝑐 𝑟 𝑡 𝑐 ℓ𝑐 2
3
Effect in an accelerated frame of reference, told us that this
system is under a gravitational frequency shift relative to
the Earth, predicted by General Relativity.
REFERENCES
ASHBY, N. 2006. Relativistic Effects in the Global Positio-
ning System. Department of Physics, University of Colorado
Boulder, CO 80309-0390.
ASHBY, N. 2006. Relativistic effects on SV clocks due to
orbit changes, and due to Earth’s oblateness. Department
of Physics, UCB 390 University of Colorado, Boulder, CO
80309-0390
POGGE, R. 2006. Astronomy 162: Introduction to Stars,
Galaxies, & the Universe. Retrieved from
http://www.astronomy.ohio-
state.edu/~pogge/Ast162/Unit5/gps.html
TARANTOLA, A., et. al. 2005. Gravimetry, Relativity,
and the Global Navigation Satellite Systems.