Precise Point Positioning (PPP) using

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1 Precise Point Positioning (PPP) using Product Technical Notes // May 2009 OnPOZ is a product line of Effigis. EZSurv is a registered trademark of Effigis. All other trademarks are registered or recognized by their respective owners Effigis. All rights reserved

2 Precise Point Positioning (PPP) using EZSurv Introduction OnPOZ Precision Positioning is a division of Effigis, specializing in GNSS satellite signal processing. OnPOZ has a variety of tools for collecting GNSS raw data as well as for post-processing them. EZSurv is a receiver-independent type of GNSS post-processing software that provides the best accuracy from any GNSS receiver. This paper describes results obtained using the new Precise Point Positioning (PPP) feature in EZSurv. PPP is a processing method that can provide sub-meter to centimeter positioning accuracy without the use of a base station. The PPP processing mode is available in EZSurv in version 2.55 or later. The focus of this paper is to demonstrate the accuracy of EZSurv s PPP with field data recorded using single and dual frequency receivers from various manufacturers, in both static and kinematic mode. Background Precise Point Positioning (PPP) is a processing method that can provide sub-meter to centimeter positioning accuracy without the use of a base station. EZSurv s PPP takes advantage of high-resolution carrier phase observations in addition to pseudorange observations in processing algorithms. In addition, it uses precise satellite orbits and clocks instead of using broadcast ephemeris information. EZSurv also applies a set of processing algorithm corrections to model systematic effects, mainly satellite attitude and site displacement effects (such as Earth tides). In remote areas where reference networks are not available, PPP is an alternative solution to tie into the world geodetic datum. It is also useful for avoiding the costs related to the operation of a local base station. PPP is the post-process equivalent of real time systems like Omnistar, StarFire (from John Deere), CDGPS (from Natural Resources Canada), or all those systems known as SBAS (Satellite Based Augmentation System). PPP has the benefit of using the most accurate post-mission orbital information as published by organizations such as IGS (International GNSS Service) and Natural Resources Canada. Real time systems use predicted orbits and therefore are not as accurate as PPP. EZSurv enables PPP processing with single and dual frequency receivers. Surveys can be done in static, kinematic, or stop and go mode. The expected horizontal accuracies are typically the following: Single frequency receiver (L1 only): sub-meter accuracy Dual frequency receiver (L1/L2): centimeter to decimeter accuracy 02 effigis.com // May 2009

3 Analysis We evaluated the following performance in our analysis: Static PPP using single and dual frequency receivers; Kinematic PPP using single and dual frequency receivers. All data used in this analysis were recorded on our rooftop as well as in an open field area close to the office. Our reference coordinates on these two sites were established in the past using many hours of static data. They are at the sub-centimeter accuracy level. Kinematic PPP surveys were compared with centimeter OTF post-processing using nearby government base stations. Two base stations located 5.8 and 22 km from the test site were used to confirm the quality of the reference OTF solution. Open test site to evaluate static and kinematic PPP post-processing Since EZSurv PPP processing uses carrier phase observations in its algorithms, special care must be taken during field surveys: Data collection must be done in a relatively clear sky environment (marine environment, agriculture field, etc.); major obstructions must be avoided as much as possible. This is an important requirement to keep the best possible accuracy. A survey/geodetic type of antenna must be used in these surveys and is highly recommended, even with single frequency receivers. This warning is important to ensure the data quality. The single frequency receivers used for these surveys recorded carrier phase observations. This is the foremost requirement for ensuring accuracy. L1 receivers like Crescent from Hemisphere GPS, OEMV-L1 from NovAtel and LEA-4T from Ublox are all good receivers for PPP. In other words, a good quality receiver must be used to achieve the abovementioned L1 accuracy. To achieve PPP mode in EZSurv, a minimum of 20 minutes of continuous carrier phase tracking is required. Of course, a better accuracy will be reached with a longer observation period. 03 effigis.com // May 2009

4 Performance Results The field data files were imported in EZSurv in their native binary format. All data was post-processed in EZSurv using IGS s precise satellite orbits and clocks s final solutions ( components/prods.html). These final solutions are available with a latency of about 13 days and will yield the best possible accuracy. The same files were processed using Natural Resources Canada s PPP Online software ( to show how EZSurv compares to this well accepted PPP standard. This software processes RINEX data files from single and dual frequency receivers in static and kinematic mode. The same antenna information and a 10º elevation mask were used to compare both solutions. Dual Frequency Receivers Static Results To demonstrate EZSurv s PPP capability with dual frequency receivers in static mode, we used seven static data sets. Each data set lasted for about 1.5 and 3 hours with a 1 Hz data rate. They were recorded on different days during winter 2009 with the following receivers: Hemisphere GPS (Eclipse) Altus APS-3 (Septentrio AsteRx2) Navcom (SF-2050) The Altus APS-3 raw data contains GPS and GLONASS observations. However, for the time being, only GPS satellite observations can be processed in PPP with EZSurv. The table below presents, for each data set, the difference between EZSurv s PPP post-processed coordinate and the known coordinate of each site in the East, North, and Height components. The same results are also presented using Natural Resources Canada s (NR- Can) PPP Online post-processing software. PPP static accuracy using dual frequency receivers TRIAL RECEIVER DURATION (MIN.) EZSurv NRCan de (m) dn (m) dh (m) de (m) dn (m) dh (m) 1 Hemisphere Hemisphere Hemisphere Altus-PS Altus-PS Navcom Navcom This table shows the consistency between EZSurv and NRCan s PPP; both are at centimeter level accuracy. According to the state of the art, after 2-3 hours of observation, static accuracy should be around 2-3 cm (1 sigma). This type of rule of thumb can be found in the Natural Resources Canada literature. This is representative of EZSurv s PPP capability. As mentioned previously, with the amazing accuracy of EZSurv s PPP static processing mode, it becomes very easy to establish a link with the reference system when no reference marker is available near your job area. PPP is used quite often in aerial photogrammetry (in remote areas) when photos are georeferenced using a GNSS system. It could also be extensively used in marine applications. 04 effigis.com // May 2009

5 Kinematic Results Two different types of data were used to evaluate EZSurv s PPP in kinematic mode. The first trial presented in the table below used a static data set computed in PPP kinematic mode to obtain one independent position at every epoch. The difference between EZSurv s PPP positions and the known coordinate of this site was computed for every epoch. Then, the RMS of these differences was computed and appears in the next table (trial 1). This type of analysis provides the real accuracy measurement that could be achieved in kinematic mode when processing in PPP. Trials 2 and 3 are data sets recorded while the antenna was fixed on top of a surveying pole and a user walked around a park with this pole. A differential OTF process was first performed with each file to obtain the centimeter accuracy level position of every epoch of the trajectory. Each file was processed with two government base stations located 5.8 and 22 km from the test site to confirm the quality of the reference OTF solution. All kinematic surveys were recorded with a 1 Hz data rate (1 Hz is strongly recommended for kinematic surveys). For each data set, the differences between EZSurv s PPP and the OTF reference positions were computed for each epoch of the trajectory. Then, the RMS of these differences was computed for each data set presented in the table below. Results from Natural Resources Canada s (NRCan) PPP Online postprocessing software are also presented for each of the three trials. PPP kinematic accuracy using dual frequency receivers TRIAL RECEIVER DURATION (MIN.) EZSurv NRCan E (m) N (m) H (m) E (m) N (m) H (m) 1 Hemisphere Hemisphere Altus-PS These results show that kinematic PPP provides results at the centimeter to decimeter accuracy level with dual frequency receivers. Again, EZSurv s PPP gives results of the same quality as NRCan s PPP Online software. Since all errors affecting the signal at the antenna level are similar in OTF and PPP calculations, the horizontal and vertical accuracy measurements represent the real discrepancy between the PPP positions and the OTF ambiguity fix positions. The vertical component is slightly less accurate. Trials 2 and 3 have only 1 hour of observations. A longer data set would provide better results. The first trial, with +/- 3 hours of observations, demonstrates that fact. The graph below presents the differences between EZSurv s PPP and the OTF reference position for each epoch of trial 1 using a Hemisphere GPS Eclipse receiver. Differences are in meters and are shown as a function of GPS time in seconds. The accuracy of these results is pretty amazing. Differences between EZSurv s PPP L1/L2 kinematic positions and centimeter OTF positions (TRIAL 1) 05 effigis.com // May 2009

6 Single Frequency Receivers Static Results PPP processing is not reserved for expensive dual frequency receivers. Data from single frequency receivers can also be processed in PPP. Of course, the results achieved are not as accurate as those using dual frequency receivers, but it is typically sub-meter and better than with real-time SBAS (Satellite Based Augmentation System). To demonstrate EZSurv s PPP capability with single frequency receivers in static mode, the same analysis was conducted as with dual frequency receivers. We used seven static data sets, and each data set lasted between 1.5 and 3 hours. They were recorded on different days during winter 2009 with the following receivers: OnPOZ SubX (Ublox TIM-LH with geodetic antenna); Hemisphere GPS (Crescent A100) The table below presents, for each data set, the difference between EZSurv s PPP post-processed coordinate and the known coordinate of each site in the East, North, and Height components. The same result is presented with Natural Resources Canada s (NRCan) PPP Online post-processing software for comparison. PPP static accuracy using single frequency receivers TRIAL RECEIVER DURATION (MIN.) EZSurv NRCan de (m) dn (m) dh (m) de (m) dn (m) dh (m) 1 SubX SubX SubX Hemisphere Hemisphere Hemisphere Hemisphere Once again, this table shows the consistency between EZSurv and NRCan s PPP results. EZSurv s heights are generally more accurate than NRCan s because of the way ionospheric errors are taken into account in each software program s algorithms. Since single frequency PPP processing is based on C/A code observations, the results are obviously not as good as dual frequency data. This limits the solution s convergence. As a matter of fact, the solution s convergence behaves differently with single frequency receivers than with dual frequency receivers. With single frequency receivers, the solution will converge during the first 1-2 hours of observations. A survey longer than 2 hours will likely not provide any better accuracy. Typically, after 1-2 hours of observations, accuracy reaches a level of +/- 20 cm (RMS). Our results are well in step with this rule of thumb. 06 effigis.com // May 2009

7 Kinematic Results To evaluate EZSurv s PPP with single frequency receivers in kinematic mode, the same analysis was conducted as with dual frequency receivers. Therefore, the first trial presented in the table below is a static data set computed in PPP kinematic mode to obtain one independent position at every epoch. The RMS of the differences between EZSurv s PPP position and the known coordinate of this site was computed and is presented in the table below. Trials 2 and 3 presented in the table below are data sets recorded around the same park (test site) as during the dual frequency kinematic analysis. The differential OTF solution was computed and considered as the reference. All kinematic surveys were recorded with a 1 Hz data rate. For each data set, the differences between EZSurv s PPP positions and the OTF reference positions were computed for each epoch of the trajectory. Then, the RMS of these differences was computed for each data set and appears in the table. The same results are presented with Natural Resources Canada s (NRCan) PPP Online post-processing software for each of the three trials. Typical PPP kinematic accuracy using single frequency receivers TRIAL RECEIVER DURATION (MIN.) EZSurv NRCan E (m) N (m) H (m) E (m) N (m) H (m) 1 Hemisphere Hemisphere Hemisphere As can be seen from this table, kinematic PPP processing with single frequency receivers will give decimeter to sub-meter accuracy in the horizontal component. As mentioned before, the vertical component is of lower accuracy and can be up to the order of 1.5 meter. Again, we can see that EZSurv s heights are generally more accurate than NRCan s. As mentioned previously, this is because of the way ionospheric errors are taken into account in each software program s algorithms. The graph below presents the differences between EZSurv s PPP and the OTF reference position for each epoch of trial 3 using a Hemisphere GPS Crescent A100 receiver. Differences are in meters and are shown as a function of GPS time in seconds. This graph illustrates the stability of EZSurv s PPP L1 only kinematic solution through time for each coordinate component. Differences between EZSurv s PPP L1 kinematic positions and centimeter OTF positions (TRIAL 1) Conclusion This paper shows that EZSurv s PPP feature provides consistent accuracy when compared to other well known algorithms in the industry. Two to three centimeter accuracy can be achieved with dual frequency receivers in static mode when proper observation times are respected. These results are achieved using precise satellite orbits and clocks without the use of a base station. The PPP method is not reserved for dual frequency receivers since EZSurv can process both single and dual frequency receiver data. In addition, EZSurv can directly process raw data from various manufacturers without data translation. The processing is done using the same user-friendly post-processing software that can also perform centimeter level differential positioning in static and kinematic mode. In other words, using EZSurv gives you access to a full range of processing capabilities. 07 effigis.com // May 2009

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