위성항법시스템의 개발 역사를 살펴보면, 1964년 미해군에 의해 개발된 위성기반 항법시스템인 Timation(Time과 Navigation의 결합으로 통칭한 위성기반 항법시스템)과 1973년 미 공군에서 개발한 621B 프로그램이 위성항법시스템의 시초로 볼 수 있다. Timation은 저궤도상에 위성을 발사 배치한 후 매우 정밀한 시계와 결합한 수동 레인징 기법을 사용하여 위도, 경도, 고도를 갖는 위성항법시스템으로 개발한 시스템을GPS 선행모델로 활용하였다. 621B는 3차원 항법시스템으로 의사 랜덤 잡음으로 불려지는 위성 레인징 신호를 사용하였으며 1972년에 뉴 멕시코에서 지상 및 송신기를 이용한 시험에 성공하였다. 미국은 1973년 9월에 상기 두 시스템을 통합하여 NAVSTAR GPS를 탄생시켰다.
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