GLONASS ( Russian : ГЛОНАСС , IPA: [ɡlɐnas] , Глобальная навигационная спутниковая система ; transliteration Globalnaya navigatsionnaya sputnikovaya sistema ), or “Global Navigation Satellite System”, is a space-based satellite navigation system operating in the radionavigation-satellite service . It provides an alternative to GPS and is the second navigational system in operation with global coverage and comparable accuracy.
Satellites is obscured by buildings. Satellites are obscured by buildings. This is the first version of the GLONASS system. Since 2012, GLONASS was the second most used positioning system in mobile phones after GPS. The system has the advantage that smartphone users receive a more accurate reception within 2 meters. 
Development of GLONASS began in the Soviet Union in 1976. Beginning on 12 October 1982, numerous rocket launches added satellites to the system until the constellation was completed in 1995. After a decline in capacity during the late 1990s, in 2001 under Vladimir Putin ‘ S presidency, the restoration of the system was made a. GLONASS is the most expensive program of the Russian Federal Space Agency , consuming a third of its budget in 2010.
By 2010, GLONASS had achieved 100% coverage of Russia’s territory and in October 2011, the full orbital constellation of 24 satellites was restored, enabling full global coverage. The GLONASS satellites’ designs have undergone several upgrades, with the latest version being GLONASS-K .
GLONASS is a global satellite navigation system, providing real time position and velocity determination for military and civilian users. The satellites are located in middle circular orbit at 19.100 kilometers (11.900 mi) altitude with a 64.8 degree inclination and a period of 11 hours and 15 minutes.   GLONASS ‘orbit makes it especially suited for use in high latitudes (north or south), where a GPS signal can be problematic.   The constellation operates in three orbital planes, with eight evenly spaced satellites on each.  A fully operational constellation with global coverage consists of 24 satellites, while 18 satellites are necessary for covering the territory of Russia. To get a position fix the receiver must be in the range of at least four satellites. 
GLONASS satellites transmit two types of signal: open standard-precision L1OF / L2OF signal, and obfuscated high-precision L1SF / L2SF signal.
The signals use similar DSSS encoding and binary-phase-shift keying (BPSK) modulation as in GPS signals. All GLONASS satellites transmit the same code as their standard-precision signal; However each transmits on a different frequency using a 15-channel frequency division multiple access (FDMA) technique spanning either side from 1602.0 MHz , known as the L1 band. The center frequency is 1602 MHz + n × 0.5625 MHz, where n is a satellite’s frequency channel number ( n = -7, -6, -5, … 0, …, 6, previously n = 0, ., 13). Signals are transmitted in a 38 ° cone, using right-hand circular polarization , At an EIRP between 25 and 27 dBW (316 to 500 watts). Note that the 24-satellite constellation is accommodated with only 15 channels by using identical frequency channels to support antipodal satellite pairs, as these satellites are never both in view of an earth-based user at the same time .
The L2 band signals la même use FDMA as the L1 band signals, transmitted goal straddling 1246 MHz with the center frequency 1246 MHz + n × 0.4375 MHz, Where n spans la même ranks as for L1.  In the original GLONASS design, only obfuscated high-precision signal was broadcast in the L2 band, but starting with GLONASS-M, an additional civil reference signal L2OF is broadcast with an identical standard-precision code to the signal L1OF.
The open standard-precision signal is generated with modulo-2 addition (XOR) of 511 kbit / s pseudo-random ranging code, 50 bit / s navigation message and an auxiliary 100 Hz meander sequence ( Manchester code ), all generated using a Single time / frequency oscillator. The pseudo-random code is generated with a 9-stage shift register operating with a period of 1 ms.
The navigational message is modulated at 50 bits per second. The superframe of the open signal is 7500 bits long and consists of 5 frames of 30 seconds, taking 150 seconds (2.5 minutes) to transmit the continuous message. Each frame is 1500 bits long and consists of 15 strings of 100 bits, with 85 bits (1.7 seconds) for data and check-sum bits, and 15 bits (0.3 seconds) for time mark. Strings 1-4 provide immediate data for the transmitting satellite, and are repeated every frame; The data include ephemeris, clock and frequency offsets, and satellite status. Strings 5-15 provide non-immediate data (ie almanac) for each satellite in the constellation, with frames I-IV each describing five satellites, and frame V describing remaining four satellites.
The ephemerides are updated every 30 minutes using data from the Ground Control segment; They use Earth Centric Earth Fixed (ECEF) Cartesian coordinates in position and velocity, and include lunisolar acceleration parameters. The almanac uses modified Keplerian parameters and is updated daily.
The use of the code is limited by the use of the encrypted code in the encrypted form. Only security through obscurity . The details of the high-precision signal have not been disclosed. The modulation (and therefore the tracking strategy) of the data bits on the L2SF code has recently changed from unmodulated to 250 bit / s burst at random intervals. The L1SF code is modulated by the navigation data at 50 bit / s without a Manchester meander code.
The high-precision signal is broadcast in phase quadrature with the standard-precision signal, effectively sharing the same carrier wave, but with a ten-times-higher bandwidth than the open signal. The message format of the high-precision signal remains unpublished, however, the attempts at reverse-engineering indicate that the superframe is composed of 72 frames, each containing 5 strings of 100 bits and taking 10 seconds to transmit, with total length of 36,000 bits gold 720 seconds (12 minutes) for the whole navigational message. Luni-Solar acceleration parameters and clock correction terms.
The position of the velocity vector within 10 centimeters per second (3.9 in / s), and the timing within 200 ns , All based on measurements from four first-generation satellites simultaneously;  newer satellites GLONASS-M improve on this.
GLONASS uses a coordinate datum named ” PZ-90 ” (Earth Parameters 1990 – Parametry Zemli 1990), in which the precise location of the North Pole is given as an average of its position from 1990 to 1995. DZ-90.02 datasheet, WGS 84 , which uses the location of the North Pole in 1984. As of 17 September 2007 the PZ-90 has been updated to version PZ-90.02 Any given direction. Since 31 December 2013, version PZ-90.11 is being broadcast, which is aligned to the International Terrestrial Reference System at epoch 2011.0 at the centimeter level.  
Since 2008, new CDMA signals are being researched for use with GLONASS.         
The interface control documents for GLONASS CDMA signals was published in August 2016. 
According to GLONASS developers, there will be three open and two restricted CDMA signals. The open signal L3OC is centered at 1202.025 MHz and uses BPSK (10) modulation for both data and pilot channels; The ranging code transmits at 10.23 million chips per second, modulated onto the carrier frequency using QPSK with in-phase data and quadrature pilot. The data is error-coded with 5-bit Barker code and the driver with 10-bit Neuman-Hoffman code .  
Open L1OC and restricted L1SC signals are centered at 1600.995 MHz, and open L2OC and restricted L2SC signals are centered at 1248.06 MHz, overlapping with GLONASS FDMA signals. Open Signal L1OC L2OC and uses time-division multiplexing to transmitted pilot and data signals, with BPSK (1) modulation for data and BOC (1,1) modulation for pilot; Wide-band restricted signals L1SC and L2SC use BOC (5, 2.5) modulation for both data and pilot, transmitted in quadrature phase to the open signals; This places peak signal strength away from the center frequency of narrow-band open signals.  
Binary phase-shift keying (BPSK) is used by standard GPS and GLONASS signals, HOWEVER Both BPSK and quadrature phase-shift keying (QPSK) can be regarded as variations of quadrature amplitude modulation (QAM), SPECIFICALLY QAM-2 and 4-QAM . Binary offset carrier (BOC) is the modulation used by Galileo , modernized GPS , and COMPASS .
The CMDA signals are transmitted as a sequence of text strings. The message has variable size – each pseudo-frame usually includes six strings and contains ephemerides for the current satellite (string types 10, 11, and 12 in a sequence) and part of the almanac for three satellites (three strings of type 20). To transmit the full almanac for all current 24 satellites, a superframe of 8 pseudo-frames is required. In the future, the superframe will be expanded to 10 pseudo-frames of data to cover full 30 satellites. GLONASS satellites, and COSPAS-SARSAT messages. The system time marker is transmitted with each string; UTC leap second correction is achieved by shortening or lengthening (zero-padding) the final string of the day by one second, with abnormal strings being discarded by the receiver.  The strings have a version tag to facilitate forward compatibility : future upgrades to the message format will not break old equipment, which will continue to work by ignoring new data (as long as the constellation still transmits old string types) -to-date equipment will be able to use additional information from newer satellites.  Future upgrades to the message format will not break older equipment, which will continue to work by ignoring new data (as long as the constellation still transmits old string types), but up-to-date satellites.  Future upgrades to the message format will not break older equipment, which will continue to work by ignoring new data (as long as the constellation still transmits old string types), but up-to-date satellites. 
The L3OC signal is transmitted at 100 bit / s, with each string of symbols taking 3 seconds (300 bits). A pseudo-frame of 6 strings takes 18 seconds (1800 bits) to transmit. A superframe of 8 pseudo-frames is 14400 bits long and takes 144 seconds (2 minutes 24 seconds) to transmit the full almanac.
The L1OC signal is transmitted at 100 bit / s. The string is 250 bits long and takes 2.5 seconds to transmit. A pseudo-frame is 1500 bits (15 seconds) long, and a superframe is 12000 bits or 120 seconds (2 minutes).
L2OC signal does not transmit any pseudo-range codes.
|Satellite series||Launch||Current status||Clock error||FDMA signals||CDMA signals||Interoperability CDMA signals|
|1602 + n × 0.5625 MHz||1246 + n × 0.4375 MHz||1600.995 MHz||1248.06 MHz||1202.025 MHz||1575.42 MHz||1207.14 MHz||1176.45 MHz|
|GLONASS||1982-2005||Out of service||5 × 10 -13||L1OF, L1SF||L2SF|
|GLONASS-M||2003-2018||In service||1 × 10 -13||L1OF, L1SF||L2OF, L2SF||L3OС ‡|
|GLONASS-K1||2011, 2014||In service||5 × 10 -14 … 1 × 10 -13||L1OF, L1SF||L2OF, L2SF||L3OС|
|GLONASS-K2||2018-2024||Design phase||5 × 10 – 15 … 5 × 10 -14||L1OF, L1SF||L2OF, L2SF||L1OC, L1SC||L2OC, L2SC||L3OC|
|GLONASS-KМ||2025-||Research phase||L1OF, L1SF||L2OF, L2SF||L1OC, L1SC||L2OC, L2SC||L3OC, L3SC||L1OCM||L3OCM||L5OCM|
|“O”: open signal (standard precision), “S”: obfuscated signal (high precision); “F”: FDMA , “С”: CDMA ; n = -7, -6, -5, …, 6
‡ Glonass-M spacecraft produced since 2014 include L3OC signal
Glonass-K1 satellite test launched in 2011 introduced L3OC signal. Glonass-M satellites produced since 2014 (s / n 755+) will also transmit L3OC signal for testing purposes.
Enhanced Glonass-K1 and Glonass-K2 satellites, to be launched from 2018, will feature a full suite of modernized CDMA signals in the existing L1 and L2 bands, which includes L1SC, L1OC, L2SC, and L2OC, . Glonass-K series should gradually replace existing satellites starting from 2018, when Glonass-M launches will cease.  
Glonass-KM satellites will be launched by 2025. Galileo / COMPASS signals E1, E5a and E5b. These signals include:
- The open signal L1OCM will use BOC (1,1) modulation centered at 1575.42 MHz, similar to modernized GPS signal L1C and Galileo / COMPASS signal E1;
- The open signal L5OCM will use BPSK (10) modulation centered at 1176.45 MHz, similar to the GPS “Safety of Life” (L5) and Galileo / COMPASS signal E5a; 
- The open signal L3OCM will use BPSK (10) modulation centered at 1207.14 MHz, similar to Galileo / COMPASS signal E5b. 
GNSS receivers. GNSS receivers.
With the introduction of CDMA signals, the constellation will be expanded to 30 active satellites by 2025; This may require eventual deprecation of FDMA signals.  The new satellites will be deployed into three additional planes, bringing the total to six planes from the current three-aided by System for Differential Correction and Monitoring (SDCM), which is a GNSS increase system based on a ground- based control stations and communications satellites Luch 5A and Luch 5B .   Additional satellites may use Molniya orbit , Tundra orbit , geosynchronous orbit , Or incline orbit to offer increased availability, similar to Japanese QZSS system.  
|Timecode||СМВ||12||Constant bit sequence 0101 1111 0001 (5F1h)|
|String type||Тип||6||Type of the navigational message|
|Satellite ID||j||6||System ID number of the satellite (1 to 63; 0 is reserved until FDMA signal switch-off)|
|Satellite state||Г j||1||This satellite is:
0 – healthy,
1 – in error state
|Data reliability||L j||1||Transmitted navigational messages are:
0 – valid,
1 – unreliable
|Ground control callback||П1||4||(Reserved for system use)|
|Fashion orientation||П2||1||Satellite orientiation mode is:
0 – Sun sensor control,
1 – executing predictive thrust or transition mode
|UTC correction||КР||2||On the last day of the current quarter, at 00:00 (24:00), UTC has leap second is:
0 – not expected,
1 – with positive expected value,
2 – unknown,
3 – with negative expected value
|Execute correction||А||1||After the end of the current string, UTC correction is:
0 – not expected,
1 – expected
|Satellite time||ОМВ||16||Onboard time of the day in 2 s intervals (0 to 43199)|
|Information||184||Content of the information field is defined by string type|
|CRC||ЦК||16||Cyclic redundancy code|
|Timecode||СМВ||20||Constant bit sequence 0000 0100 1001 0100 1110 (0494Eh)|
|String type||Тип||6||Type of the navigational message|
|Satellite time||ОМВ||15||Onboard time of the day in 3 s intervals (0 to 28799)|
|Satellite ID||j||6||The same as in L1OC signal|
|Satellite state||Г j||1|
|Data reliability||L j||1|
|Ground control callback||П1||4|
|Information||219||Content of the information field is defined by string type|
|CRC||ЦК||24||Cyclic redundancy code|
Common properties of open CDMA signals
|Type||Content of the information field|
|0||(Reserved for system use)|
|1||Short string for the negative|
|2||Long string for the positive leap second|
|10, 11, 12||Real-time information (ephemerides and time-frequency offsets).
Transmitted as a packet of three strings in sequence
|16||Satellite orientation for the predictive thrust maneuver|
|25||Earth rotation parameters, ionosphere models, and time scale models for the difference between UTC (SU) and TAI|
|31, 32||Parameters of long-term movement model|
|50||Cospas-Sarsat service message – L1OC signal only|
|Field||Size, bits||Weight of the low bit||Description|
|Orbit type||ТО||2||1||0 – curcular orbit with 19100 km altitude [nb 2]|
|Satellite number||N S||6||1||Total number of satellites transmitting CDMA signals (1 to 63) which are referenced to the almanac|
|Almanac age||E A||6||1||Number of full days since the last almanac update|
|Current day||N A||11||1||Day number (1 to 1461) within a four-year interval starting on January 1 of the last leap year [nb 3] according to Moscow decree time|
|Signal status||PC A||5||1||Bit field encoding of CDMA signals transmitted by the satellite.
Three highest bits correspond to signals L1, L2 и L3:
0 – transmitted,
1 – not transmitted
|Satellite type||PC A||3||1||Satellite model and the set of Transmitted CDMA signals:
0 – Glonass-M (L3 signal),
1 – Glonass-K1 (signal L 3)
2 – Glonass-K1 (L2 and L3 signals),
3 – Glonass-K2 (L1, L2, and L3 signals)
|Time correction||Τ A||14||2 -20||Rough correction from onboard time scale to the GLONASS time scale ( ± 7.8 × 10 -3 с)|
|ascent||Λ A||21||2 -20||Longitude of the satellite’s first orbital node (± 1 half-cycles)|
|Ascension time||T λ A||21||2 -5||Time of day when the satellite is crossing its first orbital node (0 to 44100 s)|
|Inclination||Δi A||15||2 -20||Adjustments to nominal inclination (64.8 °) of the satellite orbit at the moment of ascent (± 0.0156 half-cycles)|
|eccentricity||Ε A||15||2 -20||Eccentricity of the satellite orbit at the ascension time (0 to 0.03)|
|Perigee||Ω A||16||2 -15||Argument to satellite’s perigee at the ascension time (± 1 half-cycles)|
|period||ΔT A||19||2−9||Adjustments to the satellite’s nominal draconic orbital period (40544 s) at the moment of ascent (± 512 s)|
|Period change||ΔṪ A||7||2 -14||Speed of change of the draconic orbital period at the moment of rise ( ± 3.9 × 10 -3 s / orbit)|
- Jump up^ Navigational message field j (satellite ID) references the satellite for the transmitted almanac (jA).
- Jump up^ The set of almanac parameters depends on the orbit type. Satellites with geosynchronous, medium-Earth, and high-elliptical orbits could be employed in the future.
- Jump up^ In a departure from the Gregorian calendar, all years exactly divisible by 100 (ie 2100 and so on) are treated as leap years.
The main contractor of the GLONASS program is Joint Stock Company Reshetnev Information Satellite Systems (ISS Reshetnev, formerly called NPO-PM). The company, located On in Zheleznogorsk , is the designer of all GLONASS satellites, in cooperation with the Institute for Space Device Engineering ( ru: РНИИ КП ) and the Russian Institute of Radio Navigation and Time. Serial production of the satellites is accomplished by the company Polyotin Omsk .
GLONASS (since 1982), GLONASS-M (since 2003), and GLONASS-K (since 2011). Each GLONASS satellite has a GRAU designation 11F654, and each of them also has the military “Cosmos-NNNN” designation. 
The true first generation of GLONASS (also called Uragan) satellites were all three-axis stabilized vehicles, generally weighing 1,250 kilograms (2,760 lb) and were equipped with a modest propulsion system to permit relocation within the constellation. Over time they were upgraded to Block IIa, IIb, and IIV vehicles, with each block containing evolutionary improvements.
Six Block IIa satellites were launched in 1985-1986 with improved and stable standards over the prototypes, and increased frequency stability. These spacecraft also demonstrated a 16-month average operational lifetime. Block IIb spacecraft, with a two-year design lifetimes, appeared in 1987, of which a total of 12 were launched, but were lost in launch vehicle accidents. The six spacecraft that made it to orbit worked well, operating for an average of nearly 22 months.
Block IIv was the most prolific of the first generation. Used exclusively from 1988 to 2000, a total of 25 satellites were launched. The design life was three years, but many years later, with a late model lasting 68 months, nearly double. 
Block II satellites were typically launched three at a time from the Baikonur Cosmodrome using Proton-K Blok-DM-2 or Proton-K Briz-M boosters. The only exception When Was it two launches, an Etalon geodetic reflector satellite Was Substituted for a GLONASS satellite.
The second generation of satellites, known as Glonass-M, were originally launched in 1990 and first in 2003. These satellites possess a lifetime increase of seven years and weigh slightly more at 1,480 kilograms (3.260 lbs). They are approximately 2.4 m (7 ft 10 in) in diameter and 3.7 m (12 ft) high, with a solar array span of 7.2 m (24 ft) for an electrical power generation capability of 1600 watts at launch. The aft payload structure houses 12 primary antennas for L-band transmissions. Laser corner-cube reflectors are also carried out in a precise orbit determination and geodetic research. On-board cesium clocks provide the local clock source. Glonass-M consists of 31 satellites ranging from satellite index 21 – 92 and with 4 spare active satellites.
A total of 41 second generation satellites were launched through the end of 2013. As with the previous generation, the second generation spacecraft were launched in triplets using Proton-K Blok-DM-2 or Proton-K Briz-M boosters. Somewhere with Soyuz-2-1b / Fregat
On July 30, 2015, ISS Reshetnev announced that it had completed the last GLONASS-M (N ° 61) spacecraft and it was putting it in storage waiting for launch, along an additional eight already built satellites.  
GLONASS-K is a major improvement in the previous generation: it is the first unpressurized GLONASS satellite with a much reduced mass (750 kilograms (1,650 lb) versus 1,450 kilograms (3,200 lb) of GLONASS-M. It has an operational lifetime of 10 years, compared to the 7-year lifetime of the second generation GLONASS-M. It will transmit signals to improve the system’s accuracy-including new CDMA signals in the L3 and L5 bands, which will use modulation similar to GPS, Galileo, and Compass. Glonass-K consist of 26 satellites having satellite index 65-98 and widely used in Russian Military space.    The new satellite’s advanced equipment-made solely from Russian components-will allow the doubling of GLONASS ‘accuracy.  As with the previous satellites, these are 3-axis stabilized, nadir pointing with dual solar arrays. [ Citation needed ] The first GLONASS-K satellite was successfully launched on 26 February 2011.  
Due to Their weight reduction, GLONASS-K spacecraft can be lancé in pairs from the Plesetsk Cosmodrome launch the website using Substantially lower cost Soyuz-2.1b boosters or in six-at-once from the Baikonur Cosmodromeusing Proton-K Briz-M launch vehicles.  
The ground control segment of GLONASS is almost entirely within Soviet Union territory, except for several in Brazil. 
The GLONASS ground segment consists of: 
- A system control center;
- Five Telemetry, Tracking and Command centers;
- Two Laser Ranging Stations;  and
- Ten Monitoring and Measuring Stations. 
|leasing||System control||Telemetry, Tracking and Command||Central clock||Upload stations||Laser Ranging||Monitoring and Measuring|
Septentrio , Topcon , C-Nav, JAVAD, Magellan Navigation , Novatel, Leica Geosystems , Hemisphere GNSS and Trimble Inc produce GNSS receivers making use of GLONASS. NPO Progress describes a receiver called GALS-A1 , which combines GPS and GLONASS reception. SkyWave Mobile Communications manufactures an Inmarsat-based satellite communications terminal that uses both GLONASS and GPS.  As of 2011 , some of the latest receivers in the Garmin eTrex also support GLONASS (along with GPS).  Garmin also produce a standalone Bluetooth receiver, the GLO for Aviation, which combines GPS, WAAS and GLONASS.  Various smartphones from 2011 onwards-have integrated GLONASS capability, Including devices from Xiaomi Tech Company ( Xiaomi Phone 2 ), Sony Ericsson ,  ZTE , Huawei ,  Samsung ( Galaxy Note , Galaxy Note II , Galaxy S3 , Galaxy S4 ), Apple ( iPhone 4S , iPhone 5 , iPhone 5C , iPhone 5S , iPhone 6 and iPhone 6 Plus ,  LG ,  Motorola  and Nokia . 
As of 18 March 2017 , the GLONASS constellation status is:
|Operational||24 SC (Glonass-M / K)|
|In commissioning||0 SC|
|In maintenance||0 SC|
|Prime Contractor||1 SC|
|Spares||1 SC (Glonass-M)|
|In flight tests phase||1 SC (Glonass-K)|
The system requires 18 satellites for continuous navigation services covering the Entire territory of the Russian Federation, and 24 satellites to Provide services worldwide.  The GLONASS system covers 100% of worldwide territory.
On 2 April 2014 the system has Experienced technical failure That resulted in practical unavailability of the navigation signal for around 12 hours. 
On 14–15 April 2014 nine GLONASS satellites experienced a technical failure due to software problems.
On February 19, 2016 three GLONASS satellites experienced a technical failure: the batteries of GLONASS-738 exploded, the batteries of GLONASS-737 were depleted, and GLONASS-736 experienced a stationkeeping failure due to human error during maneuvering. GLONASS-737 and GLONASS-736 to replace GLONASS-738 is expected to complete the commissioning in early March. The full capacity of the satellite group is expected to be restored in the middle of March.  After the launching of two new satellites and maintenance of two others, the satellite was restored.
According to GLONASS navigation definitions (for p = 0.95) for latitude and longitude were 4.46-7.38 meters (14.6-24.2 ft) with mean number of navigation space vehicles (NSV ) Equals 7-8 (depending on station). In comparison, the same time accuracy of GPS navigation definitions was 2.00-8.76 meters (6 ft 7 in-28 ft 9 in) with mean number of NSV equals 6-11 (depending on station). [ Citation needed ] Civilian GLONASS used alone is very much less accurate than GPS . On high latitudes (north or south), GLONASS ‘accuracy is better than that of GPS due to the orbital position of the satellites. 
Some modern receivers are able to use both satellites together, providing greatly improved coverage in urban canyons and giving a very fast time to fix 50 satellites being available. In indoor, urban canyon or mountainous areas, accuracy can be greatly improved using GPS alone. GPS navigation definitions were 2.37-4.65 meters (7 ft 9 in-15 ft 3 in) with mean number of NSV equals 14-19 (depends on station).
In May 2009, Anatoly Perminov , then director of the Russian Federal Space Agency , declared that GLONASS’s constellation and to improve the navigation segment of GLONASS to an accuracy of 2.8 meters (9 ft 2 in) By 2011.  In particular, the latest satellite design, GLONASS-K has the ability to double the system’s accuracy once introduced. The system is ground segment is also to undergo improvements. As of early 2012, sixteen positioning ground stations are under construction in Russia and in the Antarctic at the Bellingshausen and Novolazarevskaya bases. New resorts will be built around the southern hemisphere from Brazil to Indonesia. Together, these improvements are expected to bring GLONASS ‘accuracy to 0.6 m or better by 2020. 
Inception and design
The first satellite-based radio navigation system developed in the Soviet Union was Tsiklon , which had a ballistic missile submarines method for accurate positioning. 31 Tsiklon satellites were launched between 1967 and 1978. The main problem with the system was that, which was very accurate for stationary or slow-moving ships, it required several hours of observation by the receiving station to fix a position, making it unusable for many Navigation purposes and for the guidance of the new generation of ballistic missiles.  In 1968-1969, a new navigation system, which would not only support the navy, but also the air, land and space forces, was conceived. Formal requirements were completed in 1970; In 1976, The Unified Space Navigation System (GLONASS). 
The task of designing GLONASS was given to a group of young specialists at NPO PM in the city of Krasnoyarsk-26 (today called Zheleznogorsk ). Under the leadership of Vladimir Cheremisin , Grigory Chernyavsky selected the final one. The work was completed in the late 1970s; The system consists of 24 satellites operating at an altitude of 20,000 kilometers (12,000 mi) in medium circular orbit. It would be able to promptly fix the receiving station’s position based on signals from four satellites, and also reveal the object’s speed and direction. The satellites would be launched at a time on the heavy-lift Proton rocket. Due to the wide number of satellites needed for the program, NPO PM Delegated the manufacturing of the satellites to PO Polyot in Omsk , qui had better output capabilities.  
Originally, GLONASS was designed to have an accuracy of 65 metres (213 ft), but in reality it had an accuracy of 20 metres (66 ft) in the civilian signal and 10 metres (33 ft) in the military signal. The first generation GLONASS satellites were 7.8 metres (26 ft) tall, had a width of 7.2 metres (24 ft), measured across their solar panels, and a mass of 1,260 kilograms (2,780 lb).
Achieving full orbital constellation
In the early 1980s, NPO PM received the first prototype satellites from PO Polyot for ground tests. NPO PM engineers had to perform substantial redesigning, leading to a delay.  On 12 October 1982, three satellites, designated Kosmos-1413 , Kosmos-1414 , and Kosmos-1415 were launched aboard a Proton rocket . As only one GLONASS satellite was ready in time for the launch instead of the expected three, it was decided to launch it along with two mock-ups. The United States of America and the United States of America For a long time, the USA could not find out the nature of those “objects”. The Soviet Union (TASS), the Soviet Union (TASS), is a non-profit-making Soviet Union. 
From 1982 to April 1991, the Soviet Union successfully launched a total of 43 GLONASS-related satellites plus five satellite test. When the Soviet Union disintegrated in 1991, twelve GLONASS satellites in two planes were operational; The Russian Federation has taken over the constellation and continued its development.  In 1993, the system, now consisting of 12 satellites, was formally declared operational  and in December 1995 it was brought to a fully operational constellation of 24 satellites. This was the first time we had a GPS system.
Since the first generation satellites have been operated for three years, the satellite network has been fully operational. However, in the financial year 1989-1999, the space program was funded by 80% and Russia. After a full complement was achieved in December 1995, there were no further launches until December 1999. As a result, the constellation reached its lowest point of just six operational satellites in 2001. As a prelude to demilitarization, responsibility for the program was transferred from The Ministry of Defense to Russia’s civilian space agency Roscosmos . 
Renewed efforts and modernization
In the 2000s, during Vladimir Putin ‘s presidency, the Russian economy recovered and state finances improved considerably. Putin himself took special interest in GLONASS  and the system’s restoration was one of the government’s top priorities.  For this purpose, on August 2001, the Federal Targeted Program “Global Navigation System” 2002-2011 (Government Decision No. 587) was launched. The program was given a budget of $ 420 million  and aimed at restoring the full constellation by 2009.
On 10 December 2003, the second generation satellite design, GLONASS-M , was launched for the first time. GLONASS, standing at 1,415 kilograms (3,120 lb), but it had seven years lifetime, four years longer than the lifetime of the original GLONASS satellite, decreasing the required replacement rate. The new satellite also had two different civilian signals.
In 2006, Defense Minister Sergey Ivanov ordered one of the signals (with an accuracy of 30 meters (98 ft)) to be made available to civilian users. Putin, however, was not satisfied with this, and demanded that the whole system should be made fully available to everyone. Consequently, on 18 May 2007, all restrictions were lifted.   The accurate, formally military-only signal with a precision of 10 meters (33 ft), has since then been freely available to civilian users.
During the middle of the first decade of the 21st century, the Russian economy boomed, resulting in substantial increases in the country’s space budget. In 2007, the financing of the GLONASS program was considerably increased; Its budget was more than doubled. While in 2006 the GLONASS had received $ 181 million from the federal budget, in 2007 the amount was increased to $ 380 million. 
In the end, 140.1 billion rubles ($ 4.7 billion) were spent on the program 2001-2011, making it Roscosmos’ largest project and consuming a third of its 2010 budget of 84.5 billion rubles. 
For the period of 2012 to 2020 320 trillion rubles ($ 10 trillion) were allocated to support the system. 
Restoring full capacity
In June 2008, the system consisted of 16 satellites, 12 of which were fully operational at the time. At this point, Roscosmos has a full constellation of 24 satellites in orbit by 2010, one year later than planned. 
In September 2008, Prime Minister Vladimir Putin signed a decree allocating additional 67 billion rubles ($ 2.6 billion) to GLONASS from the federal budget. 
Promoting commercial use
Although the GLONASS constellation has achieved global coverage, its marketing, especially development of the user segment, has been lacking compared to the American GPS. For example, the first commercial Russian-made GLONASS navigation device for cars, Glossy SGK-70 , was introduced in 2007, but it was much larger than GPS receivers.  In late 2010, there were only a handful of GLONASS receivers on the market, and few of them were meant for ordinary consumers. To improve the situation, the Russian government has been actively promoting GLONASS for civilian use. 
To improve development of the user segment, on 11 August 2010, Sergei Ivanov announced a plan to introduce a 25% import duty on all GPS-capable devices, including mobile phones, unless they are compatible with GLONASS. The government also plans to force all car manufacturers in Russia to support GLONASS starting from 2011. This will affect all car makers, including foreign brands like Ford and Toyota , which have car assembly facilities in Russia. 
GPS and phone baseband chips from major vendors Qualcomm , Exynos and Broadcom  all support GLONASS in combination with GPS.
In April 2011, Sweden’s Swepos -a national network of satellite reference stations that provides real-time positioning data with meter accuracy-became the first known foreign company to use GLONASS. 
Smartphone and Tablet aussi saw implementation of GLONASS carrier in 2011 with devices released That year from Xiaomi Tech Company ( Xiaomi Phone 2 ), Sony Ericsson , Samsung ( Galaxy Note , Galaxy Note II , Galaxy SII , Galaxy SIII mini , the Google Nexus 10 in 2012), Asus , Apple ( iPhone 4S and iPad Mini in late 2012) and HTC adding support for the system.   
Finishing the constellation
GLONASS-M satellites failed in 2010 when the launch of the GLONASS-M satellites failed. The Proton-M rocket itself performed flawlessly, but the upper stage Blok D M3 (a new version that was to make its maiden flight) was loaded with too much fuel due to a sensor failure. As a result, the upper stage and the three satellites crashed into the Pacific Ocean. Kommersant estimated that the launch failure cost up to $ 160 million.  Russian President Dmitry Medvedev ordered a full audit of the entire program and an investigation into the failure. 
Following the mishap, Roscosmos activated two reserve satellites and decided to make the first GLONASS-K satellite, to be launched in February 2011, part of the operational constellation instead of mainly for testing as was originally planned. This would bring the total number of satellites to 23, obtaining almost complete worldwide coverage.  The GLONASS-K 2 was originally scheduled to be launched by 2013, however it was not expected to be released until 2015. 
In 2010, President Dmitry Medvedev ordered the government to prepare a new federal targeted program for GLONASS, covering the years 2012-2020. The original 2001 program is scheduled to end in 2011.  On 22 June 2011, Roscosmos revealed that the agency was looking for a funding of 402 billion rubles ($ 14.35 billion) for the program. GLONASS more attractive to users. ” 
On 2 October 2011 the 24th satellite of the system, a GLONASS-M, was successfully launched from Plesetsk Cosmodrome and is now in service. This made the GLONASS constellation fully restored, for the first time since 1996.
On 5 November 2011 the Proton-M booster successfully put three GLONASS-M units in final orbit. 
On Monday 28 November 2011, a Soyuz rocket, launched from the Plesetsk Cosmodrome Space Center , placed a single GLONASS-M satellite into orbit into Plane 3.
On 26 April 2013 a single GLONASS-M satellite was delivered to the orbit by Soyuz rocket from Plesetsk Cosmodrome, restoring the constellation to 24 operational satellites, the minimum to provide global coverage. 
On 2 July 2013 at Proton-M rocket, carrying 3 GLONASS-M satellites, crashed during takeoff from Baikonur Cosmodrome. It veered off the course just after leaving the pad and plunged into the ground nose first. The rocket employed a DM-03 booster, for the first time since the December 2010 launch, when the vehicle had also lost, resulting in a loss of another 3 satellites. 
However, as of 2014, while the system was still operational, the operational mission was still “closed” by the Ministry of Defense. 
On 7 December 2015, the system was officially completed. 
- List of GLONASS satellites
- List of smartphones using GLONASS Navigation
- Global satellite navigation system – a global satellite positioning system
- Multilateration – the mathematical technique used for positioning
- Tsikada – a Russian satellite navigation system
- Aviaconversiya – a Russian satellite navigation firm
- Era-glonass – GLONASS-based system of emergency response
- Jump up^ Orbital periods and speeds are Calculated using the 4π² relationshipsR³ = T²GMandV²R = GM, WhereR= radius of orbit in meters,T= orbital period in seconds,V= orbital speed in m / s ,G= gravitational constant ≈ 6.673×10– 11 Nm² / kg²,M= mass of Earth ≈ 5.98×10 24 kg.
- Jump up^ Approximately 8.6 times when the moon is nearest (363,104 km ÷ 42,164 km) to 9.6 times when the moon is farthest (405,696 km ÷ 42,164 km).
- Jump up^ GLONASS the future for all smartphones?
- ^ Jump up to:a b c d Afanasyev, Igor; Dmitri Vorontsov (26 November 2010). “Glonass nearing completion”. Russia & CIS Observer. Archived from the original on 22 February 2011.
- ^ Jump up to:a b c “The Global Navigation System GLONASS: Development and Usage in the 21st Century” (PDF). 34th Annual Precise Time and Time Interval (PTTI) Meeting. 2002.
- ^ Jump up to:a b c d e Harvey, Brian (2007). “Military programs”. The Rebirth of the Russian Space Program (1st ed.). Germany: Springer. ISBN 978-0-387-71354-0.
- ^ Jump up to:a b c Moskvitch, Katia (2010-04-02). “Glonass: Has Russia’s sat-nav system come of age?”. BBC News.
- Jump up^ GLONASS transmitter specs
- Jump up^ “A Review of GLONASS” Miller, 2000
- Jump up^ National Reference Systems of the Russian Federation used in GLONASS. V. Vdovin and M. Vinogradova (TSNIImash), 8th ICG meeting, Dubai, November 2013
- Jump up^ “The transition to using the terrestrial geocentric coordinate system “Parametry Zemli 1990″ (PZ-90.11) in operating the GLObal NAvigation Satellite System (GLONASS) has been implemented”. glonass-iac.ru. Retrieved 2 September 2015.
- Jump up^ “Russia Approves CDMA Signals for GLONASS, Discussing Common Signal Design”. Inside GNSS. Retrieved 2010-12-30.
- Jump up^ GLONASS Status and Progress Archived 14 June 2011 at the Wayback Machine., S.G.Revnivykh, 47th CGSIC Meeting, 2007. “L1CR and L5R CDMA interoperable with GPS and Galileo”
- ^ Jump up to:a b c GLONASS Status and Development, G.Stupak, 5th ICG Meeting
- Jump up^ Russia’s First GLONASS-K In Orbit, CDMA Signals Coming. Inside GNSS (2011-02-26). Retrieved on 2011-10-06.
- Jump up^ GLONASS Status and Modernization. Ekaterina Oleynik, Sergey Revnivykh, 51st CGSIG Meeting, September 2011
- Jump up^ GLONASS Status and Modernization. Sergey Revnivykh. 6th ICG Meeting, September 2011
- ^ Jump up to:a b GLONASS Status and Modernization. Sergey Revnivykh. 7th ICG Meeting, November 2012
- Jump up^ GLONASS Government Policy, Status and Modernization Plans. Tatiana Mirgorodskaya. IGNSS-2013, 16 July 2013
- ^ Jump up to:a b GLONASS Program Update. Ivan Revnivykh, Roscosmos. 11th ICG Meeting, November 2016
- Jump up^ Russian Space Systems JSC – GLONASS Interface Control Documents (in Russian)
- Jump up^ “GLONASS Modernization”. GPS World. Retrieved 2 September2015.
- Jump up^ http://www.insidegnss.com/auto/julyaug11-Dumas.pdf
- Jump up^ GLONASS Modernization Yuri Urlichich, Valery Subbotin, Grigory Stupak, Vyacheslav Dvorkin, Alexander Povalyaev, Sergey Karutin, and Rudolf Bakitko, Russian Space Systems. GPS World, November 2011
- ^ Jump up to:a b GLONASS: Developing Strategies for the Future. Yuri Urlichich, Valeriy Subbotin, Grigory Stupak, Vyacheslav Dvorkin, Alexander Povalyaev, and Sergey Karutin. GPS World, November 2011
- Jump up^ New Structure for GLONASS Nav Message Alexander Povalyaev. GPS World, 2 November 2013
- Jump up^ Testoyedov, Nikolay (2015-05-18). “Space Navigation in Russia: History of Development” (PDF). Retrieved 2016-09-21.
- Jump up^ “Russia to Put 8 CDMA Signals on 4 GLONASS Frequencies”. Inside GNSS. 2010-03-17. Retrieved 2010-12-30.
- Jump up^ “GLONASS Update Delves into Constellation Details”. GPS World. Retrieved 2010-12-30.
- Jump up^ “GLONASS Modernization: Maybe Six Planes, Probably More Satellites”. GPS World. 10 January 2012.
- Jump up^ SDCM status and plans, Grigory Stupak, 7th ICG Meeting, November 2012
- Jump up^ Uragan, Russian Space Web
- Jump up^ GLONASS #787, 68.7 operational months; as reported by RSA “GLONASS constellation status” on 6 April 2007
- Jump up^ “Glonass-M – a chapter in the history of satellite navigation”. JSC Information Satellite Systems. 2015-07-30. Retrieved 2015-08-13.
- Jump up^ “Russia stops manufacturing of Glonass-M navigation satellites”. ITAR-TASS. 2015-07-30. Retrieved 2015-08-20.
- ^ Jump up to:a b “Glonass-K: a prospective satellite of the GLONASS system”(PDF). Reshetnev Information Satellite Systems. 2007. Archived from the original (PDF) on 13 July 2011.
- Jump up^ “Russia to launch Glonass satellite on Feb. 24”. RIA Novosti. 2011-02-09.
- Jump up^ Langley, Richard (2010). “GLONASS forecast bright and plentiful”. GPS World. Archived from the original on 2012-07-11.
- Jump up^ “Russia launches satellite for global navigation system”. BBC News. 2011-02-26.
- Jump up^ “Two More GLONASS stations are to open in the Brazilian states of Pernambuco and Rio Grande do Sull” [Two More GLONASS stations are to open in the Brazilian states of Pernambuco and Rio Grande do Sul]. RIA Novosti. Moscow: sputniknews.com. 2014-07-14. Retrieved 2016-08-20.
- Jump up^ European Space Agency – GLONASS Ground Segment
- Jump up^ Russian Laser Tracking Network
- Jump up^ Current and planned global and regional navigation satellite systems and satellite-based augmentation systems
- Jump up^ “GLONASS added to SkyWave terminals”, Digital Ship, 4 December 2009. Thedigitalship.com Archived 16 July 2011 at the Wayback Machine.
- Jump up^ [Garmin eTrex 20 https://buy.garmin.com/shop/shop.do?cID=145&pID=87771#overviewTab]
- Jump up^ GLO for Aviation | Garmin. Buy.garmin.com. Retrieved on 2013-08-02.
- Jump up^ “Sony Xperia™ support (English)” (PDF). sonyericsson.com. Retrieved 2 September 2015.
- Jump up^ “Sony Ericsson и Huawei готовят смартфоны с ГЛОНАСС”. CNews.ru. Retrieved 2 September 2015.
- Jump up^ “Samsung GALAXY Note – Samsung Mobile”. samsung.com. Retrieved 2 September 2015.
- Jump up^ “iPhone – Compare Models – Apple”. Apple. Retrieved 2 September2015.
- Jump up^ iPad mini – Technical specifications. Apple. Retrieved on 2013-08-02.
- Jump up^ “iPad”. Apple. Retrieved 2 September 2015.
- Jump up^ Windows Phone 8X by HTC Overview – HTC Smartphones. Htc.com. Retrieved on 2013-08-02.
- Jump up^ Google Drive Viewer. Docs.google.com. Retrieved on 2013-08-02.
- Jump up^ “The Official Motorola Blog”. motorola.com. Retrieved 2 September2015.
- Jump up^ “GLONASS gets Nokia backing, aims to rival COMPASS”. Reuters. Retrieved 2 September 2015.
- Jump up^ Russia to set world record with 39 space launches in 2009 RIA Novosti 2008-12-29
- ^ Jump up to:a b “Роскосмос ищет причины сбоя ГЛОНАСС”. Izvestia. 2014.
- Jump up^ “Система ГЛОНАСС вышла из строя втоher=Novaya Gazeta”. 2014.
- Jump up^ http://izvestia.ru/news/604492
- Jump up^ “First Foreign Firm Embraces Glonass”. The Moscow Times. 2011-04-11.
- Jump up^ “Роскосмос обещает повысить точность работы ГЛОНАСС с 10 до 5,5 метров”. РИА Новости. Retrieved 2 September 2015.
- Jump up^ Kramnik, Ilya (2012-02-16). “GLONASS benefits worth the extra expense”. Russia Beyond the Headlines.
- Jump up^ “Tsiklon”. Encyclopedia Astronautica.
- Jump up^ “Glonass”. Encyclopedia Astronautica.
- ^ Jump up to:a b c “Start of GLONASS” (PDF). ISS Reshetnev. 2007. Archived from the original (PDF) on 13 July 2011.
- ^ Jump up to:a b c “Satellite Navigation of the 21st Century” (PDF). ISS Reshetnev. 2009. Archived from the original (PDF) on 21 November 2010.
- ^ Jump up to:a b c “Putin makes Glonass navigation system free for customers – 1”. RIA Novosti. 2007-05-18.
- Jump up^ Glonass still wants to be “the other guy in the sky Archived 13 February 2011 at the Wayback Machine.. RT. 6 December 2010. Retrieved on 2011-10-06.
- Jump up^ “Russia to lift Glonass restrictions for accurate civilian use”. RIA Novosti. 2006-11-13.
- Jump up^ GLONASS hits a snag. Russia Beyond The Headlines. 7 December 2010. Retrieved on 2011-10-06.
- Jump up^ “Работа в интересах развития ГЛОНАСС” [Work for the development of GLONASS] (PDF) (№30(318)). Сибирский спутник [Siberian Satellite]. 14 September 2012. p. 3. Archived from the original(PDF) on 15 May 2013. Retrieved 2013-05-12.
- Jump up^ “Russia’s Glonass satellite system to be fully operational in 2010”. RIA Novosti. 2008-06-07.
- Jump up^ “Putin orders additional $2.6 bln on Glonass development”. RIA Novosti. 2008-09-12.
- Jump up^ “Glonass still wants to be “the other guy in the sky””. Russia Today. 7 December 2010. Archived from the original on 13 February 2011.
- Jump up^ Сотовые и навигаторы без ГЛОНАСС обложат пошлиной в 25%[Non-GLONASS-capable mobiles and satnavs will incur 25% duty] (in Russian). RBC Information Systems. 2010-10-27. Retrieved 2010-10-27.
- Jump up^ Broadcom Upgrades Its A-GPS Data Service and GPS LTO Product/Service with GLONASS Satellite Support. Broadcom.com (2011-02-09). Retrieved on 2011-10-06.
- Jump up^ “Swedish firm starts using Russian satnav”. Reuters. 11 April 2011. Archived from the original on 25 January 2012.
- Jump up^ GLONASS support in our latest Xperia™ phones – Developer WorldArchived 24 January 2012 at the Wayback Machine.. Developer.sonyericsson.com. Retrieved on 2013-08-02.
- Jump up^ Samsung GALAXY Note – Samsung Mobile. Samsung.com. Retrieved on 2013-08-02.
- Jump up^ iPhone 5 – View all the technical specifications. Apple. Retrieved on 2013-08-02.
- ^ Jump up to:a b “GLONASS hits a snag”. Kommersant. 2010-12-07.
- Jump up^ Weir, Fred (6 December 2010). “Russia’s $2 billion project to rival America’s GPS suffers setback”. Christian Science Monitor.
- Jump up^ Perminov, Anatoly (7 December 2010). “Interview of Anatoly Perminov to the Izvestia Newspaper” (in Russian). Roscosmos.
- Jump up^ “GLONASS network”. 2013-07-11. Archived from the original on 3 March 2016. Retrieved 2013-10-24.
- Jump up^ “Glonass Asks for $14.35Bln”. The Moscow Times. 22 June 2011.
- Jump up^ GLONASS finally becomes global NTV. 3 October 2011. (in Russian)
- Jump up^ Russia restores its orbital GLONASS group – official. The Voice of Russia. 3 October 2011. (in Russian)
- Jump up^ “TASS: Archive – 3 GLONASS satellites in final orbit”. TASS. Retrieved 2 September 2015.
- Jump up^ “Third Soyuz launch in a week bolsters Glonass system”. 2013-04-26. Retrieved 2013-07-02.
- Jump up^ “Russia’s Proton crashes with a trio of navigation satellites”. 2 July 2013. Archived from the original on 12 August 2015. Retrieved 2013-07-02.
- Jump up^ https://lenta.ru/news/2015/12/07/glonass/