armasuisse Swiss Federal Office of Topography swisstopo GNSS Tracking Issues Stefan C. Schaer
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1 armasuisse GNSS Tracking Issues Stefan C. Schaer
2 Outline Current GNSS satellite constellation GLONASS negative frequency channels Improved IGS GNSS receiver coverage Survey of employed IGS GNSS receiver and antenna/ radome models Quarter-cycle issue (RINEX/RTCM) 2
3 GNSS Satellite Constellation 3
4 GPS Constellation: 31 Satellites 4
5 GPS PRN32 Tracking (1/2) ftp://ftp.unibe.ch/aiub/igsdata/tracking_prn32_sum.txt: AOA BENCHMARK ACT : 100% ( 19 of 19) AOA SNR-12 ACT : 100% ( 3 of 3) AOA SNR-8000 ACT : 100% ( 4 of 4) AOA SNR-8100 ACT : 100% ( 1 of 1) ASHTECH UZ-12 : 100% ( 51 of 51) ASHTECH Z-X : 100% ( 1 of 1) ASHTECH Z-XII3 : 100% ( 56 of 56) ASHTECH Z-XII3T : 100% ( 14 of 14) ASHTECH Z18 : 50% ( 2 of 4) BLACKJACK : 100% ( 2 of 2) JPS EGGDT : 100% ( 5 of 5) JPS EUROCARD : 100% ( 1 of 1) JPS E_GGD : 100% ( 7 of 7) JPS LEGACY : 100% ( 22 of 22) LEICA CRS1000 : 100% ( 2 of 2) LEICA GRX1200 : 100% ( 2 of 2) LEICA GRX1200GGPRO : 100% ( 32 of 32) LEICA GRX1200PRO : 100% ( 3 of 3) LEICA RS500 : 100% ( 1 of 1) NOV EURO : 100% ( 1 of 1) NOV OEMV3 : 100% ( 2 of 2) ROGUE SNR-8000 : 100% ( 5 of 5) SEPT POLARX2 : 100% ( 6 of 6) TPS EGGDT : 100% ( 1 of 1) TPS EUROCARD : 100% ( 1 of 1) TPS E_GGD : 100% ( 12 of 12) TPS GB-1000 : 100% ( 4 of 4) TPS LEGACY : 100% ( 3 of 3) TPS NET-G3 : 100% ( 1 of 1) TPS NETG3 : 100% ( 4 of 4) TPS ODYSSEY_E : 100% ( 4 of 4) TRIMBLE 4000SSE : 100% ( 2 of 2) TRIMBLE 4000SSI : 100% ( 9 of 9) TRIMBLE 4700 : 100% ( 2 of 2) TRIMBLE 5700 : 100% ( 2 of 2) TRIMBLE NETR5 : 100% ( 22 of 22) TRIMBLE NETRS : 80% ( 17 of 21) TOTAL : 98% (326 of 332) 5
6 GPS PRN32 Tracking (2/2) ftp://ftp.unibe.ch/aiub/igsdata/tracking_prn32_not_ready.txt: ASHTECH Z : gope ASHTECH Z ZT16 : mtka TRIMBLE NETRS G27 OCT 2005 : pgc5 TRIMBLE NETRS : amu2 TRIMBLE NETRS NP 1.13 / SP 0.00 : ssia TRIMBLE NETRS NP 1.15 / SP 0.00 : kgni 6
7 GLONASS Constellation: 13+3(+1) 7
8 CODE GNSS Monitoring 8
9 Number of GNSS Stations Tracking a Specific GPS/GLONASS Satellite (for April 2008) 9
10 Number of GNSS Stations Tracking a Specific GPS/GLONASS Satellite (for April 2008) 10
11 GLONASS Negative Frequency Channels ftp://ftp.unibe.ch/aiub/igsdata/tracking_glo_neg_freq_not_ready.txt: bako: R11 R15 LEICA GRX1200GGPRO 5.00/3.013 cagz: TPS E_GGD 3.1 MAR,13,2007 P2 crar: TPS ODYSSEY_E 2.5 JUN,22,2005 P1 ctwn: R11 R13 R15 R17 TRIMBLE NETR5 N/A ilha: R11 R15 LEICA GRX1200GGPRO 5.10 mobj: TPS LEGACY 2.3 APR,28,2004 P4 mtbg: R11 R15 TPS GB-1000 mtka: ASHTECH Z ZT16 park: JPS E_GGD 2.5 pous: TPS GB APR,07,2005 P1B1 snec: TPS GB JUN,22,2005 P1 sydn: JPS E_GGD 2.3P3 tixj: TPS ODYSSEY_E 2.5 JUN,22,2005 P1 tsea: R11 R15 LEICA GRX1200GGPRO 4.10 unpg: TPS ODYSSEY_E 3.1 JUN,28,2007 P3 ven1: ASHTECH Z ZT16 vesl: R13 TPS GB JUN,28,2007 P3 11
12 GNSS Receiver Network as Used in CODE s Final Analysis (for GPS Weeks ) 227 GNSS stations:158 GPS-only (70%) + 69 GPS/GLONASS (30%) 12
13 GNSS Receiver Network as Used in CODE s Final Analysis (for GPS Weeks ) 250 GNSS stations:160 GPS-only (64%) + 90 GPS/GLONASS (36%) 13
14 Validation of CODE s GLONASS 1-Day Final Orbit Consistency CODE GLONASS 1-Day Final Orbit Consistency Median of 3-Day Orbit Fit RMS (cm) Day of Year
15 IGLOS Final Orbit Combination 15
16 GNSS Receiver Models JPS (35) LEICA GRX1200GGPRO (32) TPS (30) TRIMBLE NETR5 (22) ASHTECH Z18 (4) NOV (3) 16
17 GNSS Antenna/Radome Combinations TPSCR3_GGD CONE (17) TRM NONE (15) LEIAT504GG LEIS (11) LEIAT504GG NONE (10) JPSREGANT_DD_E NONE (10) Others (57) 17
18 GNSS Receiver Antenna Models (1/2) AOAD/M_B DUTD 1 IGS05_1499 ADOPTED from NONE AOAD/M_B OSOD 1 IGS05_1499 ADOPTED from NONE AOAD/M_T AUST 1 IGS05_1499 ADOPTED from NONE AOAD/M_T DOME 1 IGS05_1499 ADOPTED from NONE AOAD/M_T JPLA 1 IGS05_1499 ADOPTED from NONE AOAD/M_T NONE 4 IGS05_1499 ROBOT AOAD/M_T OSOD 5 IGS05_1499 ADOPTED from NONE ASH700936C_M SNOW 1 IGS05_1499 ROBOT ASH700936D_M NONE 1 IGS05_1499 ROBOT ASH NONE 1 IGS05_1499 COPIED ASH SCIS 1 IGS05_1499 ADOPTED from NONE ASH SNOW 1 IGS05_1499 ADOPTED from NONE ASH B NONE 1 IGS05_1499 CONVERTED ASH B SCIT 1 IGS05_1499 ADOPTED from NONE ASH B SNOW 2 IGS05_1499 ADOPTED from NONE ASH701945B_M NONE 1 IGS05_1499 COPIED ASH701945C_M NONE 4 IGS05_1499 COPIED ASH701945C_M OSOD 1 IGS05_1499 ADOPTED from NONE ASH701945C_M SNOW 1 IGS05_1499 ROBOT ASH701945E_M NONE 2 IGS05_1499 COPIED ASH701945G_M AUST 1 IGS05_1499 ADOPTED from NONE ASH NONE 1 IGS05_1499 COPIED JPLD/M_R NONE 1 IGS05_1499 CONVERTED JPSREGANT_DD_E NONE 10 IGS05_1499 ROBOT JPSREGANT_SD_E NONE 5 IGS05_1499 ROBOT LEIAT504 NONE 1 IGS05_1499 ROBOT LEIAT504GG LEIS 11 IGS05_1499 ROBOT LEIAT504GG NONE 10 IGS05_1499 ROBOT LEIAX1202GG NONE 3 IGS05_1499 FIELD NOV702GG NONE 1 IGS05_1499 ROBOT TPSCR.G3 TPSH 1 IGS05_1499 ROBOT TPSCR3_GGD CONE 17 IGS05_1499 FIELD TPSCR3_GGD NONE 3 IGS05_1499 FIELD TPSCR3_GGD PFAN 1 IGS05_1499 ROBOT TPSG3_A1 NONE 1 IGS05_1499 FIELD TRM NONE 4 IGS05_1499 ROBOT TRM TCWD 1 IGS05_1499 ROBOT TRM UNAV 1 IGS05_1499 FIELD TRM NONE 15 IGS05_1499 ROBOT 18
19 GNSS Receiver Antenna Models (2/2) AOAD/M_B DUTD 1 IGS05_1499 ADOPTED from NONE AOAD/M_B OSOD 1 IGS05_1499 ADOPTED from NONE AOAD/M_T AUST 1 IGS05_1499 ADOPTED from NONE AOAD/M_T DOME 1 IGS05_1499 ADOPTED from NONE AOAD/M_T JPLA 1 IGS05_1499 ADOPTED from NONE ASH700936C_M SNOW 1 IGS05_1499 ROBOT ASH700936D_M NONE 1 IGS05_1499 ROBOT ASH NONE 1 IGS05_1499 COPIED ASH SCIS 1 IGS05_1499 ADOPTED from NONE ASH SNOW 1 IGS05_1499 ADOPTED from NONE ASH B NONE 1 IGS05_1499 CONVERTED ASH B SCIT 1 IGS05_1499 ADOPTED from NONE ASH701945B_M NONE 1 IGS05_1499 COPIED ASH701945C_M OSOD 1 IGS05_1499 ADOPTED from NONE ASH701945C_M SNOW 1 IGS05_1499 ROBOT ASH701945G_M AUST 1 IGS05_1499 ADOPTED from NONE ASH NONE 1 IGS05_1499 COPIED JPLD/M_R NONE 1 IGS05_1499 CONVERTED LEIAT504 NONE 1 IGS05_1499 ROBOT NOV702GG NONE 1 IGS05_1499 ROBOT TPSCR.G3 TPSH 1 IGS05_1499 ROBOT TPSCR3_GGD PFAN 1 IGS05_1499 ROBOT TPSG3_A1 NONE 1 IGS05_1499 FIELD TRM TCWD 1 IGS05_1499 ROBOT TRM UNAV 1 IGS05_1499 FIELD ASH B SNOW 2 IGS05_1499 ADOPTED from NONE ASH701945E_M NONE 2 IGS05_1499 COPIED LEIAX1202GG NONE 3 IGS05_1499 FIELD TPSCR3_GGD NONE 3 IGS05_1499 FIELD AOAD/M_T NONE 4 IGS05_1499 ROBOT ASH701945C_M NONE 4 IGS05_1499 COPIED TRM NONE 4 IGS05_1499 ROBOT AOAD/M_T OSOD 5 IGS05_1499 ADOPTED from NONE JPSREGANT_SD_E NONE 5 IGS05_1499 ROBOT JPSREGANT_DD_E NONE 10 IGS05_1499 ROBOT LEIAT504GG NONE 10 IGS05_1499 ROBOT LEIAT504GG LEIS 11 IGS05_1499 ROBOT TRM NONE 15 IGS05_1499 ROBOT TPSCR3_GGD CONE 17 IGS05_1499 FIELD 19
20 Quarter-Cycle Issue: Identified Problems Observation codes cannot distinguish between L2(P) and L2(L2C) Problem because of ¼-cycle phase shift of L2(L2C) w/r to L2(P) - If L2C- and P-code derived L2 phases are combined in an analysis, ambiguity-resolution can be jeopardized, if these phase shifts are not taken into account Need some agreement for version 2.11 how to handle this 20
21 Quarter-Cycle Issue: Controversial Discussion Should all phases be shifted to a common reference, if necessary, before generating RINEX files? or Should all phase observations be stored in the "original" state and leave the task to do the necessary corrections to the user? discussion in "RINEX group" (distribution list of ~45 addresses): 21
22 Quarter-Cycle Issue: Phase Corrections: Pros The receiver knows what it is doing, i.e. it knows its tracking mode. à It can do the corrections to an accepted standard The manufacturer-provided RINEX converter knows what the receiver did store in the proprietory format: The converter can do the corrections The user does not have to deal with these corrections. He can freely mix observables without having to bother with corrections. No changes to many existing programs Keep things simple for the user. Modern GNSS signals will be complicated enough to deal with If the receiver just stores what comes out of its tracking loops: Is it sure that this phase really follows the general assumptions? 22
23 Quarter-Cycle Issue: Phase Corrections: Cons RINEX philosophy till now: No "external" corrections to the data Are we sure that the corrections have been applied correctly? Or applied at all? How to apply a priori corrections if the RINEX converter does not know the tracking mode or the signal-generation mode of the satellite ("flex power")? - à Same problem, of course, holds for the users! - Flex power will not generate phase shifts (statement in recent presentation in Los Angeles) Who is setting the standards? What happens with the existing data? 23
24 Quarter-Cycle Issue: Phase Corrections: Current Status Trimble: - Shifts L2(L2C) by ¼ cycle - Correction procedure for all currently tracked signals available Leica/Novatel - Probably no corrections to L2C for the time being Septentrio - Currently no corrections for RINEX Proposes to correct to standard RTCM: Discussions under way. Probably going for a standard Geo++ - Proposes to store unchanged phases into RINEX 24
25 Quarter-Cycle Issue: Some Facts No corrections are necessary for a specific receiver/station if only one tracking mode per frequency for all satellites It's not important if all phases observed by a receiver in mode A are aligned to mode B or if all phases of mode B are aligned to mode A - Double-difference processing (ambiguity resolution OK) - Zero-difference processing (ambiguity resolution OK, if possible...) - PPP If one decides to apply corrections, do them - either to a commonly accepted, general standard - or to a "receiver-internal standard" in case of mixed modes 25
26 Quarter-Cycle Issue: Decision Should be taken by the RINEX group in the very next future Comments to Hopefully in agreement with RTCM ( ) à Correction for Bernese SW
27 Summary Current GNSS satellite constellation à GLONASS (??) GLONASS negative frequency channels à GNSS receiver firmware updates (and antiquated receiver models) Improved IGS GNSS receiver coverage à significantly improved GLONASS orbit quality Quarter-cycle issue (RINEX/RTCM) à consensus not yet reached 27
28 Baseline Vector Repeatability on the Basis of GPS-Only or GPS/GLONASS ZIM2-HUTT Baseline Vector Repeatability, Computed for Sliding 5-Minute Solutions 16 Standard Deviation (mm) North East Up GPS-only GPS/GLONASS 28
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