FreeBSD NTP GPS Experiment #2
Using a commercial GPS unit as a NTP time source
This system is no longer running. Check
here for other GPS/NTP systems.
This page monitors an experimental
NTP time server using a
Garmin eTrex GPS receiver as a clock.
The server is a Shuttle system, with a 2 GHz Celeron CPU and 256M of RAM,
running FreeBSD 4.10. This server sits behind a NAT router, attached to
a broadband cable modem in my basement. The eTrex is connected to
com port 2 of the server via a home-brew serial cable, which also
supplies regulated 3VDC power to the GPS. I learned how to make the
http://www.jens-seiler.de/etrex/datacable.html, and here:
http://www.nomad.ee/micros/etrex.shtml. The power supply is a
12VDC 'wall-wart' transformer connected to an automotive variable-
voltage accessory adapter, set to 3VDC.
I'm running the stock ntpd daemon via setting xntpd_enable="YES" in
/etc/rc.conf. In the /etc/ntp.conf file, I've selected both the
generic NMEA and local clock device drivers:
# Local clock, in case GPS fails
fudge 127.127.1.0 stratum 10
# NMEA GPS driver
server 127.127.20.1 prefer
I also made a symbolic link '/dev/gps1', which points to
/dev/ttyd1, the name of the comm 2 port in FreeBSD. The driver expects this
link to tell it where the GPS is attached to the system.
The eTrex has NMEA mode set on its 'system:interface' setting to
output NMEA sentences, which the driver then parses to get the
current GPS time. UTC time is then calculated from this (GPS time
doesn't use leap seconds, UTC does, however the NMEA $GPRMC sentence
that the driver defaults to has the UTC in it, calculated by the
GPS unit itself), and the clock is set.
I've also enabled statistics file generation to track how the receiver
is doing. A collection of shell scripts cull the data from the stats
files and hand them off to Ploticus, which generates the graphs for
the current UTC day's data every 15 minutes.
In the timekeeping world, GPS clocks are known for their jitter.
Their short-term stability is not all that hot, but long-term
stability is very good, since the satellites are kept locked to
national time standards to within about 5 nanoseconds. This being
said, the Garmin eTrex is designed as a position GPS, not a
timing GPS. The difference is that timing GPS units have a 1 pulse per
second (PPS) output which is steered to within 50 nanoseconds
(ideally) of actual GPS time. A computer connected to this would
have this PPS signal fed into a signal line (the DCD pin of the
serial port is the usual place) and use it to discipline the
local clock to very close to the exact time. Since the PPS
signal carries no data as to which second it's indicating, the
serial NMEA string is also used to tell the server what the actual
Non-timing GPS units like the eTrex spit out NMEA sentences about once
every second. The variation is due to the fact that the GPS unit was
designed with low cost, rather than super-accurate timing in mind, and
as such the construction and output of the NMEA sentence is considered
a lower priority by the GPS' CPU. This shows up as rather large jitter
in these GPS units, as you can see in the
It appears that in this case, the time signal can vary +-150ms and
even worse in some cases.
Why build a GPS time server in the first place? After all, there are
time servers that administrators can use to synchronize their
system clocks. The reasons are many, but the primary one in this
case is that the broadband network this system is connected to is
so congested that trying to sync to public time servers was almost
impossible. The ntpd daemon was getting so far off that it was
causing clock resets by more than half a second, and sometimes multiple
seconds, rather than slowly slewing the clock as is normally done.
Other systems on my home LAN that sync to this server were also having
problems because of all this bouncing around of the current time
reading. Some sort of stabilizing influence was needed other than
depending on external network time servers, and I had almost all the
hardware for this experiment at hand. This setup is not ideal, in
that it uses a non-timing GPS receiver, and the receiver is located in a
basement where it has trouble keeping locked on satellite signals
Other possible time sources are various radio clocks, shortwave radio
receivers feeding WWV/WWVH signals into a sound card, WWVB radio
clocks, LORAN-C radio clocks, precision frequency sources fed into
the PPS driver, etc. The
Reference Clock Driver
page has many more options, and makes for some fascinating reading.
Update: January 24, 2005
The system has been running for two days now. The GPS unit loses
satellite lock on a fairly regular basis (indicated by the flat
spots on the 'time offset' graphs), and the ntpd daemon falls back
to the computers local oscillator as a timebase. Locating the GPS
outdoors with a better view of the sky would doubtless overcome
this problem, but I'm in no hurry to do that at this time.
Update: January 28, 2005
It appears that the GPS receiver hasn't received an update for over
24 hours now. The ntp daemon has been running on the local
oscillator, which is about 0.125 sec out of sync with public
ntp servers. I will need to check the receiver and see what's
going on. Since the clockstats file only updates every time the
GPS NMEA sentence is used to adjust the clock, the stats page
still contains data on it, while the peerstats file shows the
local clock with no offset, variance, or jitter. Since peerstats
continues to update, the two files get out of sync and generate
plots that could mislead those not familiar with how ntpd works.
It seems clear now (and further research on the web confirms this)
that GPS receivers not designed for timing applications are not
appropriate by themselves to construct stratum 1 ntp servers. While
the timing of the NMEA sentences will get ntpd within about 1
second of UTC, timing receivers with 1 PPS output lines are
advertised to providing accuracy to about 50ns. The next phase
of this experiment will be acquiring a PPS GPS receiver and
placing it where it can get a good view of the sky.
The eTrex or other non-timing GPS receivers could be used in NMEA
mode to provide second information when an accurate 1 PPS source
is also used (i.e. a WWV/H/B radio clock, or cesium frequency
source), however it would seem false economy to invest in one
of these sources to discipline a cheap GPS receiver. The best
'bang for the buck' looks like getting a timing GPS receiver
in the first place, since it can provide both the NMEA second
information and a PPS signal.
Using a GPS receiver as a NIST traceable frequency standard
NIST GPS data archive
NIST Time and Frequency
NIST Ion Storage