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86-696: The river rises in the Zagros Mountains , and passes west of Shush (ancient Susa ), eventually falling in ancient times into the Tigris just below its confluence with the Euphrates very near to the Iran- Iraq border. In modern times, after approaching within 16 kilometres (10 mi) of the Dez River , it turns to the southwest and then, northwest of Ahvaz , turns northwest and is absorbed by

172-513: A Lur tribe from Iran , primarily inhabiting the Central and South Zagros. Major cities inhabited by Bakhtiaris include Masjed Soleyman , Izeh and Shahr-e Kord . A significant number of Bakhtiari still practice nomadic pastoralism. Kurds are another Iranic group found in the northwestern and the eastern Zagros Taurus mountain ranges , which spans southeastern Turkey, northwestern Iran, northern Iraq, and northern Syria. The high altitude of

258-408: A moving map display , or recorded or used by some other system, such as a vehicle guidance system. Although usually not formed explicitly in the receiver processing, the conceptual time differences of arrival (TDOAs) define the measurement geometry. Each TDOA corresponds to a hyperboloid of revolution (see Multilateration ). The line connecting the two satellites involved (and its extensions) forms

344-674: A common feature of the Zagros Mountains. Salt domes are an important target for petroleum exploration , as the impermeable salt frequently traps petroleum beneath other rock layers. There is also much water-soluble gypsum in the region. The mountains are completely of sedimentary origin and are made primarily of limestone . In the Elevated Zagros or the Higher Zagros, the Paleozoic rocks can be found mainly in

430-705: A deliberate error introduced into the GPS data that military receivers could correct for. 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

516-450: 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 $ 10 billion in 2023). Initially,

602-517: A full complement of 24 satellites in 2027. 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

688-429: 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". USA-203 from Block IIR-M

774-563: A manageable level to permit accurate navigation. 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. Navstar is often erroneously considered an acronym for "NAVigation System using Timing And Ranging" but

860-461: A minimum, four satellites must be in view of the receiver for it to compute four unknown quantities (three position coordinates and the deviation of its own clock from satellite time). Each GPS satellite continually broadcasts a signal ( carrier wave with modulation ) that includes: Conceptually, the receiver measures the TOAs (according to its own clock) of four satellite signals. From the TOAs and

946-431: A receiver start-up situation. Most receivers have a track algorithm , sometimes called a tracker , that combines sets of satellite measurements collected at different times—in effect, taking advantage of the fact that successive receiver positions are usually close to each other. After a set of measurements are processed, the tracker predicts the receiver location corresponding to the next set of satellite measurements. When

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1032-650: Is a satellite-based radio 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 there is an unobstructed line of sight to four or more GPS satellites. It does not require the user to transmit any data, and operates independently of any telephone or Internet reception, though these technologies can enhance

1118-701: Is also home to populations of Assyrians , Turkic peoples and Farsi speaking Iranians . The mountains contain several ecosystems . Prominent among them are the forest and forest steppe areas with a semi-arid climate . As defined by the World Wildlife Fund and used in their Wildfinder, the particular terrestrial ecoregion of the mid to high mountain area is Zagros Mountains forest steppe (PA0446). The annual precipitation ranges from 400–800 mm (16–31 in) and falls mostly in winter and spring. Winters are severe, with low temperatures often below −25 °C (−13 °F). The region exemplifies

1204-527: 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

1290-567: Is still active and the resulting deformation is distributed non-uniformly in the country, mainly taken up in the major mountain belts like Alborz and Zagros. A relatively dense GPS network which covered the Iranian Zagros also proves a high rate of deformation within the Zagros. The GPS results show that the current rate of shortening in the southeast Zagros is ~10 mm/a (0.39 in/year), dropping to ~5 mm/a (0.20 in/year) in

1376-580: Is that while the Karkheh flows a kilometre or two west of Susa, another major watercourse flows parallel to the Karkheh within a few kilometres east of Susa. When these rivers are in flood stage, the entire area south of Susa can be flooded, as the waters of the two watercourses mingle. The watercourse a kilometre or two east of Susa, now called the Shaur, flows east between the Haft Tepe and Shaur ridges into

1462-808: Is unhealthy For a more complete list, see List of GPS satellites On February 10, 1993, the National Aeronautic Association selected the GPS Team as winners of the 1992 Robert J. Collier Trophy , the US's most prestigious aviation award. This team combines researchers from the Naval Research Laboratory, the U.S. Air Force, the Aerospace Corporation , Rockwell International Corporation, and IBM Federal Systems Company. The citation honors them "for

1548-695: The Arabian Plate . This collision mainly happened during the Miocene (about 25–5 mya or million years ago ) and folded the entirety of the rocks that had been deposited from the Paleozoic (541–242 mya) to the Cenozoic (66 mya – present) in the passive continental margin on the Arabian Plate. However, the obduction of Neotethys oceanic crust during the Cretaceous (145–66 mya), and

1634-503: 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,

1720-766: The Fars Province have somewhat lower summits, reaching 4,000 metres (13,000 feet). They contain some limestone rocks showing abundant marine fossils. The peaks that are at least 3800 meters high and have a topographic prominence of at least 300 meters: The Zagros Mountains have significant ancient history. They were occupied by early humans since the Lower Paleolithic Period. The earliest human fossils discovered in Zagros belongs to Neanderthals and come from Shanidar Cave , Bisitun Cave , and Wezmeh Cave. The remains of ten Neanderthals , dating from around 65,000–35,000 years ago, have been found in

1806-629: The Hawizeh Marshes that straddle the Iran–Iraq border. Its peculiarly sweet water was sacred to the use of the Persian kings. Ancient names for the Karkheh should be treated as conjectural because the bed of the river has changed in historic times, and because a nearby watercourse between the Karkheh and the Dez River, the Shaur, confuses the identification. The problem with the ancient names

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1892-811: The Indus . The river is currently the location of the Karkheh Dam and hydro-power plant in Iran. 33°05′46″N 47°31′34″E  /  33.09611°N 47.52611°E  / 33.09611; 47.52611 Zagros Mountains The Zagros Mountains are a long mountain range in Iran , northern Iraq , and southeastern Turkey . The mountain range has a total length of 1,600 km (990 miles). The Zagros range begins in northwestern Iran and roughly follows Iran's western border while covering much of southeastern Turkey and northeastern Iraq. From this border region,

1978-562: The Neolithic period . The DNA from this bone fragment shows that it is from a distinct genetic group, which was not known to scientists before. He belongs to the Y-DNA haplogroup G2b, specifically its branch G-Y37100 , and mitochondrial haplogroup J1d6. He had brown eyes, relatively dark skin, and black hair, although Neolithic pre Indo-European Iranians carried reduced pigmentation-associated alleles in several genes and derived alleles at 7 of

2064-689: The Paleogene (66–23 mya) rocks south of the Cretaceous rocks and then the Neogene (23–2.6 mya) rocks south of the Paleogene rocks. The mountains are divided into many parallel sub-ranges (up to 10 or 250 km (6.2 or 155.3 miles) wide), and orogenically have the same age as the Alps . Iran's main oilfields lie in the western central foothills of the Zagros mountain range. The southern ranges of

2150-643: The Sumerian , Akkadian and Assyrian cities of Mesopotamia . The mountains create a geographic barrier between the Mesopotamian Plain, which is in modern Iraq , and the Iranian plateau . A small archive of clay tablets detailing the complex interactions of these groups in the early second millennium BC has been found at Tell Shemshara along the Little Zab . Tell Bazmusian , near Shemshara,

2236-519: The Zagros Mountains mouse-like hamster ( Calomyscus bailwardi ), the Basra reed-warbler ( Acrocephalus griseldis ) and the striped hyena ( Hyena hyena ). The Persian fallow deer ( Dama dama mesopotamica ), an ancient domesticate once thought extinct, was rediscovered in the late 20th century in Khuzestan Province, in the southern Zagros. Also, wild goats can be found almost all over

2322-516: The continental arc collision in the Eocene (56–34 mya) both had major effects on uplifts in the northeastern parts of the belt. The process of collision continues to the present, and as the Arabian Plate is being pushed against the Eurasian Plate, the Zagros Mountains and the Iranian plateau are getting higher and higher. Recent GPS measurements in Iran have shown that this collision

2408-504: The navigation equations gives the position of the receiver along with the difference between the time kept by the receiver's on-board clock and the true time-of-day, thereby eliminating the need for a more precise and possibly impractical receiver based clock. Applications for GPS such as time transfer , traffic signal timing, and synchronization of cell phone base stations , make use of this cheap and highly accurate timing. Some GPS applications use this time for display, or, other than for

2494-500: The pet trade and habitat destruction . Climate change is predicted to strongly impact this species. The entrance to the ancient Mesopotamian underworld was believed to be located in the Zagros Mountains in the far east. A staircase led down to the gates of the underworld. The underworld itself is usually located even deeper below ground than the Abzu , the body of freshwater which the ancient Mesopotamians believed lay deep beneath

2580-550: The 12 loci, showing the strongest signatures of selection in ancient Eurasians. He did not contribute to the genetic makeup of early European farmers or modern Europeans . Instead, he was the most genetically similar to modern Iranian Zoroastrians , followed by Fars , Balochi , Brahui , Kalash and Georgians . Gallego-Llorente et al. (2016) believes that the Zagros Mountain was a plausible source of Eurasian ancestry in Central and South Asia, along with Kotias , which

2666-646: The Dez River, north of where the Dez and Karun rivers merge. At some previous time, the Karkheh may have joined the eastern end of the Shaur. The timing of these changes is not known with any certainty. The ancient name of the Shaur may have been the Choaspes. The river is mentioned in the Bible, Book of Daniel 8 :2,16, and should not be confused with the Choaspes River in modern-day Afghanistan , which flows into

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2752-524: The Earth's center) and the offset of the receiver clock relative to the GPS time are computed simultaneously, using the navigation equations to process the TOFs. The receiver's Earth-centered solution location is usually converted to latitude , longitude and height relative to an ellipsoidal Earth model. The height may then be further converted to height relative to the geoid , which is essentially mean sea level. These coordinates may be displayed, such as on

2838-664: The GPS and related systems. 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

2924-668: 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 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 3.5 meters (11 ft), although many factors such as receiver and antenna quality and atmospheric issues can affect this accuracy. GPS

3010-740: The Global Positioning System (GPS) its 60th Anniversary Award, nominated by IAF member, the American Institute for Aeronautics and Astronautics (AIAA). The IAF Honors and Awards Committee recognized the uniqueness of the GPS program and the exemplary role it has played in building international collaboration for the benefit of humanity. On December 6, 2018, Gladys West was inducted into the Air Force Space and Missile Pioneers Hall of Fame in recognition of her work on an extremely accurate geodetic Earth model, which

3096-650: The Last Glacial Period they had been glaciated to a depth in excess of 1,900 metres (1.2 miles), and during the Last Glacial Period to a depth in excess of 2,160 metres (7,090 feet). Evidence exists of a 20 km (12 miles) wide glacier fed along a 17 km (11 miles) long valley dropping approximately 1,600 m (5,200 ft) along its length on the north side of Kuh-i-Jupar with a thickness of 350–550 m (1,150–1,800 ft). Under conditions of precipitation comparable to current climatic record-keeping, this size of glacier could be expected to form where

3182-480: 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

3268-582: 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,

3354-569: The SE Zagros is deforming above a layer of rock salt (acting as a ductile decollement with a low basal friction ), whereas in the NW Zagros the salt layer is missing or is very thin. This different basal friction is partly responsible for the different topographies on either side of the Kazerun fault. Higher topography and narrower zone of deformation in the NW Zagros is observed whereas in

3440-507: The SE, deformation was spread more and a wider zone of deformation with lower topography was formed. Stresses induced in the Earth's crust by the collision caused extensive folding of the preexisting layered sedimentary rocks . Subsequent erosion removed softer rocks, such as mudstone (rock formed by consolidated mud) and siltstone (a slightly coarser-grained mudstone) while leaving harder rocks, such as limestone (calcium-rich rock consisting of

3526-604: 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

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3612-652: The Shanidar Cave. The cave also contains two later " proto-Neolithic " cemeteries, one of which dates back about 10,600 years and contains 35 individuals. Evidence from later Upper Paleolithic and Epipaleolithic occupations come from Yafteh Cave, Kaldar Cave near Khoramabad , and Warwasi , Malaverd near Kermanshah , Kenacheh Cave in Kurdistan, Boof Cave in Fars and a number of other caves and rock shelters. Signs of early agriculture date back as far as 9000 BC in

3698-524: The TOTs, the receiver forms four time of flight (TOF) values, which are (given the speed of light) approximately equivalent to receiver-satellite ranges plus time difference between the receiver and GPS satellites multiplied by speed of light, which are called pseudo-ranges. The receiver then computes its three-dimensional position and clock deviation from the four TOFs. In practice the receiver position (in three dimensional Cartesian coordinates with origin at

3784-607: 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

3870-442: The U.S. Secretary of Defense, 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. Selective Availability was removed from the GPS architecture beginning with GPS-III. Since its deployment, the U.S. has implemented several improvements to

3956-416: The US government announced that the next generation of GPS satellites would not include the feature at all. Advances in technology and new demands on the existing system have now led to efforts to modernize the 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. When Selective Availability

4042-512: 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

4128-494: The Zagros mountain range. In the late 19th century, the Asiatic lion ( Panthera leo persica ) inhabited the southwestern part of the mountains. It is now extinct in this region. The Luristan newt ( Neurergus kaiseri ) is a salamander endemic to a small section of the central Zagros Mountains in Iran. It lives in highland streams and is primarily aquatic. This newt is considered vulnerable to extinction due to poaching for

4214-530: The Zagros mountains produces a series of choke points and valleys perfect for agriculture and human development. It has also long defended the Kurds in times of war by acting as a natural barrier . Qashqai people are a tribal confederation in Iran mostly of Turkic origin. Significant populations can be found in Central and South Zagros, especially around the city of Shiraz in the Fars province . The Zagros

4300-454: The annual average temperature was between 10.5 and 11.2 °C (50.9 and 52.2 °F), but since conditions are expected to have been dryer during the period in which this glacier was formed, the temperature must have been lower. Although currently degraded through overgrazing and deforestation , the Zagros region is home to a rich and complex flora. Remnants of the originally widespread oak -dominated woodland can still be found, as can

4386-451: The axis of the hyperboloid. The receiver is located at the point where three hyperboloids intersect. It is sometimes incorrectly said that the user location is at the intersection of three spheres. While simpler to visualize, this is the case only if the receiver has a clock synchronized with the satellite clocks (i.e., the receiver measures true ranges to the satellites rather than range differences). There are marked performance benefits to

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4472-648: 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; because without doing so, GPS calculated positions would accumulate errors of up to 10 kilometers per day (6 mi/d). 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

4558-615: The continental variation of the Mediterranean climate pattern, with a snowy winter and mild, rainy spring, followed by a dry summer and autumn. The mountains of the East-Zagros, the Kuh-i-Jupar (4,135 m (13,566 ft)), Kuh-i-Lalezar (4,374 m (14,350 ft)) and Kuh-i-Hezar (4,469 m (14,662 ft)) do not currently have glaciers. Only at Zard Kuh and Dena some glaciers still survive. However, before

4644-496: The distance from the satellite to the ground station. With the distance information collected from multiple ground stations, the location coordinates of any satellite at any time can be calculated with great precision. Each GPS satellite carries an accurate record of its own position and time, and broadcasts that data continuously. Based on data received from multiple GPS satellites , an end user's GPS receiver can calculate its own four-dimensional position in spacetime ; However, at

4730-451: The distance traveled between two position measurements drops below or near the random error of position measurement. GPS units can use measurements of the Doppler shift of the signals received to compute velocity accurately. More advanced navigation systems use additional sensors like a compass or an inertial navigation system to complement GPS. GPS requires four or more satellites to be visible for accurate navigation. The solution of

4816-409: The earth. The region was influenced by Mesopotamian and Hurrian religion in the Bronze and Iron Ages, and later by Zoroastrianism and Syriac Christianity . Today the vast majority of the population are Iranic and Turkic Muslims , with small numbers of Christians , mainly Assyrians and Armenians also extant. GPS The Global Positioning System ( GPS ), originally Navstar GPS ,

4902-407: 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 ,

4988-506: The foothills of the Zagros mountains, including Sulaymaniyah , Kermanshah , Khorramabad , and Shiraz . The Lurs are an Iranic tribe, primarily inhabiting the Central, Western, and Southern Zagros. Cities inhibited by Lurs include Khorramabad , Borujerd , Malayer , Izeh , Shahr-e Kord , Yasuj . Lurs speak Luri and span across many provinces in Iran including Lorestan , Khuzestan , Chaharmahal and Bakthiari , Ilam , Kohgiluyeh and Boyer-Ahmad , and Hamedan . The Bakhtiaris are

5074-464: The foothills of the mountains. Some settlements later grew into cities, eventually named Anshan and Susa ; Jarmo is one archaeological site in this area. Some of the earliest evidence of wine production has been discovered in the mountains; both the settlements of Hajji Firuz Tepe and Godin Tepe have given evidence of wine storage dating between 3500 and 5400 BC. A human metatarsal bone fragment from Wezmeh Cave has been analyzed and dated to

5160-407: 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

5246-414: The most significant development for safe and efficient navigation and surveillance of air and spacecraft since the introduction of radio navigation 50 years ago". Two GPS developers received the National Academy of Engineering Charles Stark Draper Prize for 2003: GPS developer Roger L. Easton received the National Medal of Technology on February 13, 2006. Francis X. Kane (Col. USAF, ret.)

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5332-448: The mountain range include: Allium iranicum , Astragalus crenophila , Bellevalia kurdistanica , Cousinia carduchorum , Cousinia odontolepis , Echinops rectangularis , Erysimum boissieri , Iris barnumiae , Ornithogalum iraqense , Scrophularia atroglandulosa , Scorzonera kurdistanica , Tragopogon rechingeri , and Tulipa kurdica . The Zagros are home to many threatened and endangered species, including

5418-440: The new measurements are collected, the receiver uses a weighting scheme to combine the new measurements with the tracker prediction. In general, a tracker can (a) improve receiver position and time accuracy, (b) reject bad measurements, and (c) estimate receiver speed and direction. The disadvantage of a tracker is that changes in speed or direction can be computed only with a delay, and that derived direction becomes inaccurate when

5504-449: The northwest Zagros. The north–south Kazerun strike-slip fault divides the Zagros into two distinct zones of deformation. The GPS results also show different shortening directions along the belt, normal shortening in the southeast, and oblique shortening in the northwest Zagros. The Zagros mountains were created around the time of the second ice age, which caused the tectonic collision, leading to its uniqueness. The sedimentary cover in

5590-426: 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

5676-416: The park-like pistachio / almond steppelands. The ancestors of many familiar foods, including wheat, barley , lentil , almond, walnut , pistachio, apricot , plum , pomegranate and grape can be found growing wild throughout the mountains. Quercus brantii (covering more than 50% of the Zagros forest area) is the most important tree species of the Zagros in Iran. Other floral endemics found within

5762-450: 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

5848-422: The range continues southeast to the waters of the Persian Gulf . It spans the southern parts of the Armenian highlands , and the whole length of the western and southwestern Iranian plateau , ending at the Strait of Hormuz . The highest point is Mount Dena , at 4,409 metres (14,465 ft). The Zagros fold and thrust belt was mainly formed by the collision of two tectonic plates , the Eurasian Plate and

5934-583: 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

6020-408: The reference atomic clocks at the ground control stations; any drift of the clocks aboard the satellites from the reference time maintained on the ground stations is corrected regularly. Since the speed of radio waves ( speed of light ) is constant and independent of the satellite speed, the time delay between when the satellite transmits a signal and the ground station receives it is proportional to

6106-418: The remains of marine organisms) and dolomite (rocks similar to limestone containing calcium and magnesium ). This differential erosion formed the linear ridges of the Zagros Mountains. The depositional environment and tectonic history of the rocks were conducive to the formation and trapping of petroleum, and the Zagros region is an important area for oil production. Salt domes and salt glaciers are

6192-438: The upper and higher sections of the peaks of the Zagros Mountains, along the Zagros main fault. On both sides of this fault, there are Mesozoic rocks, a combination of Triassic (252–201 mya) and Jurassic (201–145 mya) rocks that are surrounded by Cretaceous rocks on both sides. The Folded Zagros (the mountains south of the Elevated Zagros and almost parallel to the main Zagros fault) is formed mainly of Tertiary rocks, with

6278-404: 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 the GPS system, it is freely accessible to anyone with a GPS receiver. The GPS project was started by the U.S. Department of Defense in 1973. The first prototype spacecraft

6364-403: The user carrying a clock synchronized with the satellites. Foremost is that only three satellites are needed to compute a position solution. If it were an essential part of the GPS concept that all users needed to carry a synchronized clock, a smaller number of satellites could be deployed, but the cost and complexity of the user equipment would increase. The description above is representative of

6450-579: 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 on the creation of the mathematical geodetic Earth model is credited as instrumental in the development of computational techniques for detecting satellite positions with

6536-420: Was concerned with the curving of the paths of radio waves ( atmospheric refraction ) traversing the ionosphere from NavSTAR satellites. 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, in the vicinity of Sakhalin and Moneron Islands , President Ronald Reagan issued

6622-490: 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

6708-703: Was discontinued, GPS was accurate to about 5 meters (16 ft). GPS receivers that use the L5 band have much higher accuracy of 30 centimeters (12 in), while those for high-end applications such as engineering and land surveying are accurate to within 2 cm ( 3 ⁄ 4  in) and can even provide sub-millimeter accuracy with long-term measurements. Consumer devices such as smartphones can be accurate to 4.9 m (16 ft) or better when used with assistive services like Wi-Fi positioning . As of July 2023 , 18 GPS satellites broadcast L5 signals, which are considered pre-operational prior to being broadcast by

6794-625: Was inducted into the U.S. Air Force Space and Missile Pioneers Hall of Fame at Lackland A.F.B., San Antonio, Texas, March 2, 2010, for his role in space technology development and the engineering design concept of GPS conducted as part of Project 621B. In 1998, GPS technology was inducted into the Space Foundation Space Technology Hall of Fame . On October 4, 2011, the International Astronautical Federation (IAF) awarded

6880-530: Was inhabited by Caucasus Hunter-Gatherers. He cites archaeological evidence of eastward Neolithic expansions from the Near East. During early ancient times, the Zagros was the home of various Pre Indo-European peoples such as the Hurrians , Guti , Kassites , Elamites , Turukku and Lullubi , (together with Semitic peoples such as Assyrians and Amorites on the western side) who periodically invaded

6966-626: Was launched in 1969. 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 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

7052-453: 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 announced that the GPS system would be made available for civilian use as of September 16, 1983; however, initially this civilian use was limited to an average accuracy of 100 meters (330 ft) by use of Selective Availability (SA),

7138-549: 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). 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

7224-410: Was occupied between 5000 BCE and 800 CE, although not continuously. The Zagros mountains have been inhabited by different groups of pastoralists and farmers for thousands of years. Current Pastoralist groups such as Lurs , Bakhtiari Lurs , Kurds or Qashqais move from their herds from the east slopes in summer ( Yeylāgh ) to the west slopes in winter ( Gheshlāgh ). Some major cities are located on

7310-530: 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

7396-529: Was ultimately used to determine the orbit of the GPS constellation. On February 12, 2019, four founding members of the project were awarded the Queen Elizabeth Prize for Engineering with the chair of the awarding board stating: "Engineering is the foundation of civilisation; ...They've re-written, in a major way, the infrastructure of our world." The GPS satellites carry very stable atomic clocks that are synchronized with one another and with

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