ESA GNSS Education. GNSS-Lab tool Software User Manual

Transcription

1 Research grup f Astrnmy & Gematics Technical University f Catalnia C/ Jrdi Girna, 1-3 Md. C3, Campus Nrd, UPC Barcelna, Spain Tel: ESA GNSS Educatin GNSS-Lab tl Sftware User Manual Name Signature Date Updated A. Rvira-Garcia Originally created P. Rams-Bsch Checked D.Ibañez Accepted J.M. Juan Authrized J. Sanz File: Sftware User Manual Page 1 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

2 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Distributin List Internal Cpies External Cpies Cntrl 1 ESA 1 Dcument Change Lg Iss./Rev Date Sectin / Page Change Descriptin /09/2009 All First versin f the dcument /10/2009 All Included RIDS cmments frm ESA and new screenshts frm glab v /01/2010 All General revisin with new glab v /07/2010 Sectin 4-6 Revisin and update with new glab v /07/ /08/2010 Sectin 4.1 Sectin 6.4 Sectin Sectin Sectin Descriptin f Auxiliary files. Inclusin f preferences and abut snapsht Remved limitatin f cmbinatin measurements and t save current cnfiguratin t a file. Maximum number f filter iteratins added. Satellite elevatin and azimuth additin in the Mdel message. Update accrding t the new DCB management Sftware User Manual Page 2 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

3 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Iss./Rev Date Sectin / Page Change Descriptin /09/2010 All 1.7 1/07/2011 All Update accrding t the final DCB management and new glab v Revisin and update with new glab v2.0.0 SATSEL message included in the utput. Trpsheric mdel spitted int nminal and mapping. 27/06/2017 All Revisin and update with new glab v5.0.0 Sftware User Manual Page 3 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

4 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Cntents Cntents 1 INTRODUCTION DOCUMENT SCOPE AND PURPOSES DOCUMENT OVERVIEW AND STRUCTURE APPLICABLE AND REFERENCE DOCUMENTS Applicable dcuments Reference Dcuments Acrnyms and Terms GLAB SOFTWARE TOOL Sftware package features Identified limitatins Minimum hardware requirements Minimum sftware requirements INSTALLATION PROCEDURE WINDOWS Manual binary generatin LINUX DIRECTORY STRUCTURE GLAB GRAPHIC USER INTERFACE (GUI) THE BASICS POSITIONING (DPC INTERFACE) Input Preprcess Mdeling Filter Output ANALYSIS (DAT INTERFACE) GUI LIMITATIONS PROCESSING EXAMPLE GLAB DATA PROCESSING CORE (DPC) PROCESSING EXAMPLE GLAB DATA ANALYSIS TOOL (DAT) SETTING THE CONDITIONS PROCESSING EXAMPLE Sftware User Manual Page 4 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

5 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin List f Figures FIGURE 4-1: INITIAL SCREEN OF THE GLAB GRAPHIC USER INTERFACE...19 FIGURE 4-2: MODE DROP-DOWN MENU...20 FIGURE 4-3: TEMPLATES DROP-DOWN MENU...20 FIGURE 4-4: CONFIGURATION DROP-DOWN MENU...21 FIGURE 4-5: PREFERENCES DROP-DOWN MENU...21 FIGURE 4-6: HELP DROP-DOWN MENU...21 FIGURE 4-7: SCREENSHOT OF THE INPUT SECTION...23 FIGURE 4-8: PREPROCESS SECTION SCREENSHOT FIGURE 4-9: MODELING SECTION SCREENSHOT...32 FIGURE 4-10: FILTER SECTION SCREENSHOT...37 FIGURE 4-11: OUTPUT SECTION SCREENSHOT...43 FIGURE 4-12: ANALYSIS SCREENSHOT...55 FIGURE 4-13: GUI SPLASH SCREEN...59 FIGURE 4-14: INPUT SECTION...59 FIGURE 4-15: FILE OPEN DIALOG (1/3)...59 FIGURE 4-16: FILE OPEN DIALOG (2/3)...59 FIGURE 4-17: FILE OPEN DIALOG (3/3)...60 FIGURE 4-18: UPDATED INPUT SECTION...60 FIGURE 4-19: ALL INPUT FILES ARE SELECTED...61 FIGURE 4-20: FILTER SECTION...61 FIGURE 4-21: OUTPUT SECTION...61 FIGURE 4-22: FILE OPEN DIALOG FOR SELECTING THE OUTPUT FILE...61 FIGURE 4-23: OUTPUT SELECTED...62 FIGURE 4-24: DPC HAS BEEN EXECUTED...62 FIGURE 4-25: ANALYSIS TAB...62 FIGURE 4-26: RECEIVER NEU POSITION ERROR CONFIGURATION...62 FIGURE 4-27: PLOT SAMPLE...63 FIGURE 4-28: PLOT SAMPLE (ZOOM)...63 FIGURE 5-1: COMMAND LINE SCREENSHOT...89 FIGURE 6-1: DAT SCREENSHOT. IT CAN BE SEEN THE POSITION ERROR FOR A PPP KINEMATIC POSITIONING FOR A SINGLE-FREQUENCY RECEIVER Sftware User Manual Page 5 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

6 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 1 INTRODUCTION The GNSS-Lab Tl suite (glab) is an interactive educatinal multipurpse package t prcess and analyse GNSS data. The first release f this sftware package allwed prcessing nly GPS data. The current release has been expanded t SBAS and differential prcessing (DGNSS). It is prepared t incrprate future mdule updates, such as an expansin t Galile and GLONASS systems. This sftware package is targeting the fllwing grups f users: Educatin prfessinals aiming t teach GNSS frm bth a theretical and practical pints f view. Standalne students and prfessinals with basic knwledge n GNSS as a selflearning tl. Prfessinals with mre in deep knwledge n GNSS wh want an easy and userfriendly tl with precise psitining capability. Frm an perative pint view, this tl is cnceived as a sftware package t supprt a practical GNSS curse, where the fundamentals intrduced in the thery are experimented thrugh guided exercises. In this way, the tl is cnceived fr being used: as part f a GNSS curse with practical exercises integrated fllwing a manual, r experimenting arund with cntextual help with hyperlinks fr mre infrmatin, r t prcess RINEX data and btain a standalne r differential psitining The glab tl is distributed within a learning material package cntaining the fllwing cmpnents: Sftware: A binary which will be able t read RINEX data, prcess it and shw the results in the frm f data files and graphics. The prcessing ptins will be fully parametrizable thrugh a GUI that will ease t understand the tl and its different ptins. The sftware is able t wrk bth in Windws and Linux Operating Systems. Tutrial: A bk RD-15 cntaining the GNSS fundamentals and several practical exercises cvering frm the basics f data prcessing, such as reading standard RINEX frmat t mre cmplex prcesses, as psitining a rver and analysing the results. Data: The data sets files used in the exercises. 1.1 DOCUMENT SCOPE AND PURPOSES This dcument cntains the infrmatin related t the use f the glab sftware package cmpnent f the glab suite, and its purpse is t prvide an verall verview t the end user f the sftware. In particular, hw t install it and use it, with different ptins that the sftware has. Sftware User Manual Page 6 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

7 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 1.2 DOCUMENT OVERVIEW AND STRUCTURE This dcument is split in sectins, which describe: A generic descriptin n the different sftware mdules included in the package (Sectin 2). A detailed descriptin f the installatin prcedure (Sectin 3). Hw t use the Graphic User Interface (GUI) cmpnent (Sectin 4). Hw t use the Data Prcessing Cre (DPC) cmpnent (Sectin 5). Hw t use the Data Analysis Tl (DAT) cmpnent (Sectin 6). 1.3 APPLICABLE AND REFERENCE DOCUMENTS Applicable dcuments The fllwing dcuments refer t the applicable dcuments fr the prject. AD-01 RINEX-2.10 frmat: AD-02 RINEX-3.00 frmat: ftp://epncb.ma.be/pub/data/frmat/rinex300.pdf AD-03 IONEX frmat: AD-04 SP3 frmat: AD-05 RINEX clck frmat: AD-06 ANTEX frmat: ftp://igscb.jpl.nasa.gv/igscb/statin/general/antex13.txt AD-07 RTCA-MOPS, December AD-08 PEGASUS Interface Cntrl Dcument. PEG-ICD-02 RD-1 RD-2 RD Reference Dcuments Pythn Prgramming Language, Guide t Applying the ESA Sftware Engineering Standards t small Sftware Prjects Dc.-N. ESA BSSC (96)2 Issue 1, 199. Gnuplt: RD-4 Architecture Design Dcument fr glab, RD-5 ANTEX file: Sftware User Manual Page 7 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

8 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin RD-6 SP3 files: RD-7 GIPSY OASIS-II, Mathematical descriptin, 1986 RD-8 RD-9 RD-10 RD-11 RD-12 RD-13 RD-14 RD-15 A. E. Niell, Glbal mapping functins fr the atmsphere delay at radi wavelengths, Jurnal f Gephysical Research, Vl. 101, N. B2, p , RTCA, Minimum Operatinal Perfrmance Standards Fr Glbal Psitining Sysmte/Wide Area Augmentatin System Airbrne Equipment. RTCA/DO-229C. Prepared by SC-159. Nvember 28, Supersedes DO-229B. Available at pp f 586 in PDF. D. McCarthy and G. Petit, IERS Cnventins, Internatinal Earth Rtatin and Reference Systems Service (IERS), 2003 S. Malsys, M. Larezs, S. Gttschalk, S. Mbbs, B. Winn, W. Feess, M. Menn, E. Swift, E. Merrigan and W. Mathn, The GPS accuracy imprvement initiative, ION GNSS 1997, Kansas City, USA, pp , GPSCnstellatinStatus.txt file, available at: ICD-GPS-200, Navstar GPS Space Segment / Navigatin User Interfaces, Glbal Psitining System Standard Psitining Service Signal Specificatin. U.S. Department f Defense, DOD /SPSSP V3, 3rd Editin, August 1, J. Sanz Subirana, J.M. Juan Zrnza and M. Hernández-Pajares, GNSS Data Prcessing Vl. 1: Fundamentals and Algrithms and Vl. 2: Labratry exercises. ESA Cmmunicatins. Nrdwijk, the Netherlands. ISSN , ISBN (tw vlumes plus CD) Sftware User Manual Page 8 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

9 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Acrnyms and Terms AD AWGN CRC DAT DY DPC EGNOS EMS ESA FTP gage glab GDOP GEO GLONASS GNSS GUI GPS HE HPE HMI HPL HWIR ICD IGS IGP IOD IODE IODF IODI IODP IODS IONEX IPP LTC MI MT MOPS NPA OS PA PL Applicable Dcument Additive White Gaussian Nise Cyclic Redundancy Check Data Analysis Tl Day f Year Data Prcessing Cre Eurpean Gestatinary Navigatin Overlay Service EGNOS Message Server Eurpean Space Agency File Transfer Prtcl Research Grup f Astrnmy and Gematics GNSS-Lab tl Gemetric Dilutin f Precisin GEOstatinary GLObal NAvigatin Satellite System Glbal Navigatin Satellite System Graphic User interface Glbal Psitining System Hrizntal Errr Hrizntal Psitining Errr Hazardus Misleading Infrmatin Hrizntal Prtectin Level Hrizntal Wrst Integrity Rati Interface Cntrl Dcument Internatinal GNSS Service Inspheric Grid Pint Issue f Data Issue f Data Ephemeris Issue f Data Fast Crrectin Issue f Data Inspheric Issue f Data PRN mask Service Issue f Data IONsphere map Exchange frmat Inspheric Pierce Pint Lng Term Crrectins Misleading Infrmatin Message Type Minimum Operatinal Perfrmance Standards Nn Precisin Apprach Operative System Precisin Apprach Prtectin Level Sftware User Manual Page 9 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

10 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin PEGASUS PPP PRC PRN RD RINEX-B RRC RSS SAPPHIRE SBAS SIS SNR SOW S/W TBC TBD TBW TGD TOW UD UDRE UDREI UIVE UPC URA URL VE VPE VPL VWIR WIR Prttype EGNOS and GBAS Analysis System Using SAPPHIRE Precise Pint Psitining Pseud Range Crrectin PseudRandm Nise Reference Dcument Receiver Independent EXchange frmat Binary Range Rate crrectin Rt Sum Square Satellite and Aircraft Data Base fr System Integrity Research Satellite Based Augmentatin System Signal In Space Signal t Nise Rati Statement Of Wrk Sftware T Be Cnfirmed T Be Determined T Be Written Ttal Grup Delay Time f Week User Dmain User Differential Range Errr User Differential Range Errr Indicatr User Inspheric Vertical Errr Technical University f Catalnia User Range Accuracy Unifrm Resurce Lcatr Vertical Errr Vertical Psitining Errr Vertical Prtectin Level Vertical Wrst Integrity Rati Wrst Integrity Rati Sftware User Manual Page 10 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

11 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 2 glab SOFTWARE TOOL The glab sftware tl is able t run under Linux and Windws perating systems (OS). It is prgrammed in ANSI C, Pythn and Qt languages and cntains three main sftware mdules: Data Prcessing Cre (DPC) [glab.exe in Windws, glab_linux fr Linux] Graphic User Interface (GUI) and [glab_gui.exe in Windws, glab_gui in Linux] Data Analysis Tl (DAT) [graph.exe in Windws, graph.py in Linux]. The DPC implements all the data prcessing algrithms and can be executed either, in cmmand line r with the GUI. The GUI cnsists in different graphic panels fr a user friendly managing f the SW and the tl cnfiguratin. They prvide all the ptins t cnfigure the mdel and navigatin. The Data Analysis Tl prvides a user friendly envirnment fr the data analysis and results visualizing. The tl cntains a precise mdelling f the GNSS bservables (cde and phase) at the centimetre level, allwing bth standalne psitining and PPP. The current release has been expanded t SBAS and differential prcessing (DGNSS). The sftware is ready t incrprate future updates t Galile r GLONASS systems Sftware package features Graphic User Interface (GUI) t ease the utilisatin f the tl with mst f the capabilities f the DPC. The GUI allws a high custmisatin interface t prcess a wide range f ptins. Tltips in the GUI, which allw understanding and using the different ptins. Capable t read: Statin measurements frm Observatin RINEX standard versin 2.11 and Bradcast message frm Navigatin RINEX standard versin 2.11 and Satellite clcks frm Clcks RINEX standard. Satellite rbits and clcks frm SP3 standard. Inspheric maps frm IONEX standard. Cnstellatin status (with infrmatin between Satellite Vehicle Number (SVN) and PRN) f the satellite. Antenna Phase Center infrmatin frm ANTEX standard. Differential Cde Biases frm precise.dcb files. Receiver type infrmatin frm GPS Receiver File Types, Sftware User Manual Page 11 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

12 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin The DPC is able t wrk bth with cmmand-line parameters and a cnfiguratin file. Autmatically detects if the frmat is RINEX 2.11 r Fully capable t read Galile (and ther cnstellatins) frm RINEX. Able t prcess bth pseudrange and carrier phase. Detectin f cycle-slips in carrier phase measurements fr GPS with three different methds: Gemetric-free carrier phase cmbinatin. Melburne-Wübbena cmbinatin. Cde-Phase difference (fr single-frequency receivers), Time handling rutines (The native time frmat f the sftware is Mdified Julian Day and secnds f day). Prealignment f carrier phase t pseudrange measurements. This is dne t avid large differences between bth kinds f measurements, and allw a mre direct cmparisn. The alignment is dne keeping the integer part f the carrier phase. Pseudrange jump checking. Sme receivers have an incnsistent set f pseudrange and carrier phase measurements when they adjust their wn clck (ding ne r mre leap milisecnds). Their pseudrange measurements are cnsistent with this change in clck, but carrier phases d nt shw it. This creates an incnsistency and a general cycle-slip fr all satellites if nt handled prperly. glab detects and crrects this prblem. Decimatin capabilities. glab can decimate the input RINEX t increase cmputatin speed if a high sampling rate is nt needed. The decimatin cmes after the cycleslip detectin t take full prfit f the input data rate. Able t individually select/deselect each satellite fr prcessing. Able t set an elevatin mask t ignre lw satellites fr prcessing. Able t specifically mark which frequencies are available (t simulate singlefrequency receivers frm dual-frequency RINEX data). Pseudrange smthing ptin. Orbit interplatin f SP3 data. Bradcast message supprt (rbit estimatin, clck crrectin, TGD crrectin). Orbit/Clck cmparisn mde (it can cmpare the rbit and clcks frm 2 different surces, i.e. bradcast, SP3 and clcks files). Sun apprximate psitining (fr satellite rientatin). Mdels implemented (all f them can be enabled r disabled): Satellite clck errr crrectin. Transmissin time cmputatin. Earth rtatin in flight time f the signal. Sftware User Manual Page 12 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

13 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Satellite phase center crrectin. Receiver phase center crrectin. Receiver Antenna Reference Pint (ARP) crrectin. Relativistic crrectin. Inspheric crrectin: Klbuchar, SBAS r IONEX. Trpspheric crrectin [ne simple mdel and the mre refined Niell mapping mdel] P1 P2 Differential Cde Bias (DCB) crrectin. P1 C1 Differential Cde Bias (DCB) crrectin. Wind up effect. Slid tides crrectin. Gravitatinal delay crrectin [an effect f general relativity due t the gravity field gradient between receiver and transmitter]. Able t chse different measurements (1 r mre) fr the filter estimatin (bth carrier phase and pseudrange). It culd even wrk with a set f different pseudrange measurements frm different signals. This can be useful in the future Galile scenari, where sme prcessing with different measurements can be desired. Able t assign different weights fr different measurements. Able t assign elevatin dependant weights. Able t translate frm cartesian (native f the sftware) t gedetic crdinates. Orientatin estimatin f bth the satellites and the receiver (and thence the azimuth/elevatin f the receiver-satellite pair). Standalne prcessing using bradcast and C/A cde (fully cnfigurable t be able t used als carrier phase if required). Precise Pint Psitining (PPP) with precise rbit and clcks, precise mdels and Pc/Lc measurements (inspheric-free cmbinatins). It is als fully cnfigurable. Able t create different plts t visualise the data prcessed. Detectin and warning f cnvergence prblems Identified limitatins The current versin glab nly implements full prcessing capabilities fr GPS data. Nevertheless, the reading f RINEX-3.00 Galile and GLONASS data functinality is als included, allwing perfrming sme exercises n data analysis with real r simulated Galile and GLONASS measurements. Sftware User Manual Page 13 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

14 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Minimum hardware requirements glab requires the fllwing cmputer minimum hardware requirements in rder t be prperly executed: 1GB f RAM memry. CPU with at least 1GHz. 1GB f hard disk free space. Screen reslutin f at least 1024x768 is recmmended, but the prgram windw can be resized at will Minimum sftware requirements The prgram runs under Windws (XP, Vista, 7, 8, 10) and Linux (Ubuntu and abve) Operating systems (in bth 32 and 64 bit systems) Windws N specific sftware is required t execute the prgram in Windws. Fr Windws Vista users, it is necessary t generate new binaries fr glab (as explained is sectin 3.1.1). In this sense, the fllwing prgrams are required: MinGW v5.3.0 ( Pythn(x,y) v ( During its installatin please select as type f install : Full. Pythn Basemap v1.0.7 (pythn 2.6) Pythn Numpy v1.3.0 (pythn 2.6) Linux Fr Linux users, the fllwing prgrams are required: make 3.81 gcc Pythn v2.5.4 Pythn matpltlib v Pythn Tkinter v5.4.0 Pythn Basemap v1.0.7 Sftware User Manual Page 14 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

15 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Pythn Numpy v1.3.0 Sftware User Manual Page 15 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

16 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 3 INSTALLATION PROCEDURE The glab sftware package can be dwnladed frm the fllwing URL: /glab/ In this web page it is pssible t dwnlad the last versin f glab bth in Windws and Linux. 3.1 WINDOWS The installatin f the Windws versin is initiated by executing the installatin prgram. During the installatin prcess yu have several cnfigurable ptins, such as the installatin directry (by default, C:\Prgram Files\gLAB), and the pssibility t create shrtcuts. The installatin will create a glab grup in the start menu with the fllwing elements: glab n the Web, will frward t the webpage f glab. Uninstall glab, t cmpletely remve glab frm the cmputer. glab_gui, the Graphic User Interface f glab. Cmmand line in directry, which will pen a new cmmand line windw in the directry glab was installed. Executing the glab_gui ptin will run the GUI prgram Manual binary generatin All the binaries f the Windws versin f glab have been precmpiled, s n need t cmpile them again wuld be required. Fr the manual binary generatin the fllwing prgrams need t be installed (ther versins may als wrk): MinGW v5.1.4 ( Pythn(x,y) v ( During its installatin please select as type f install : Full. Once these prgrams have been installed, the script createexe.bat can be executed. This script can be fund in the installatin directry f glab, and will cmpile everything and create the prper binaries. Sftware User Manual Page 16 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

17 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 3.2 LINUX glab has been successfully tested under Ubuntu, but shuld wrk in ther Linux distributins. The Linux versin f glab has t be decmpressed t a directry, using the fllwing cmmand: tar xvzf glab_vx.x.tgz This will create a directry called glab with all the prgram structure. Next, it is necessary t cmpile the DPC, fr this: cd glab make This will create the binary fr the DPC f glab (glab_linux). In rder t be able t launch the pythn prgrams (GUI and DAT), it is necessary t have the fllwing packets installed in the system (ther versins may als wrk): Pythn v2.5.4 Pythn matpltlib v Pythn Tkinter v5.4.0 Pythn Basemap v1.0.7 Pythn Numpy v1.3.0 In Ubuntu, this can easily be dne by using the fllwing cmmand: sud apt-get install pythn pythn-matpltlib pythn-tk pythn-mpltlkits.basemap pythnmpltlkits.basemap-data pythn-numpy NOTE: Fr executing graph.py prgram in Pythn3, the fllwing additinal packages have t be installed: sud apt-get install pythn3-matpltlib pythn3-tk pythn3-mpltlkits.basemap pythnmpltlkits.basemap-data pythn3-numpy 3.3 DIRECTORY STRUCTURE glab glab/licenses glab/surce glab/test glab/win Sftware User Manual Page 17 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

18 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin The glab directry cntains all the binaries, pythn prgrams and ther files. The glab/licenses directry cntains the licenses f the glab (Apache, GPL and LGPL). The glab/surce directry cntains the surce cde f the different glab cmpnents (DPC, GUI and pltting tl). The glab/win (nly available in the windws distributin) directry cntains all the required data fr the GUI and DAT binaries. This directry can be fully generated by the Manual binary generatin prcedure set abve. The glab/test directry cntains a set f test files t be used with the glab prgram. Sftware User Manual Page 18 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

19 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 4 glab GRAPHIC USER INTERFACE (GUI) 4.1 THE BASICS The GUI is an interface between the ther tw cmpnents, the DPC and the DAT. It will allw the user changing different parameters, and execute the ther tw prgrams with the prper arguments. The initial screen f the GUI can be seen in Figure 4-1. Figure 4-1: Initial screen f the glab Graphic User Interface The menu in the tp-bar can be fund with different drp-dwn sub-menus. The fllwing sectins will prvide in-deep infrmatin n the different ptins f the GUI. Mst f the infrmatin here can als be fund with the inline tltips. Sftware User Manual Page 19 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

20 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Mde: Selects the different functins f the glab: Psitining: The interface with the DPC, allws selecting all the different prcessing ptins t be perfrmed. Analysis: The interface with the pltting, and allws selecting all the different pltting ptins. Cnverter: The interface t cnvert SBAS and RTCM frmats t RINEX, EMS and Pegasus frmats, see AD-08. Cmpare Orbits & Clcks: Mde t cmpare the rbit and clcks frm 2 different surces, i.e. bradcast, SP3 and clcks files. Shw Orbits & Clcks: Mde t calculate satellite crdinates, velcities and clcks. Figure 4-2: Mde drp-dwn menu Templates: Cnfigure all the ptins f the prgram fr a specific prcessing SPP: t perfrm a Standard Psitining Service (SPS) prcessing. PPP: t perfrm a Precise Pint Psitining (PPP) prcessing fr the cmputatin f precise satellite crdinates. SBAS: t use the differential crrectins frm SBAS. DGNSS: t perfrm a differential prcessing frm a reference statin. Figure 4-3: Templates drp-dwn menu Sftware User Manual Page 20 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

21 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Cnfiguratin: Allws saving and lading the cnfiguratin f the tl. By default it generates the minimum set f instructins t change the defaults f the DPC, but all ptins can be saved if desired. In additin, the cmmand line instructin generated by the GUI t be executed by the DPC can be displayed. Figure 4-4: Cnfiguratin drp-dwn menu Preferences: Allws t select/deselect explanatry tltips (selected by default), and t shw the header f the GUI (selected by default). Figure 4-5: Preferences drp-dwn menu Help: This sectin cntains useful infrmatin abut glab such as the manuals, the release ntes, credits, the pssibility t check fr new updates. It als includes links t ftp sites t dwnlad data and the glab website, amng thers. Figure 4-6: Help drp-dwn menu Sftware User Manual Page 21 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

22 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 4.2 POSITIONING (DPC INTERFACE) The psitining mde is split int 5 different sectins, which crrespnd t 5 different mdules inside the DPC (see the Architecture Design Dcument fr glab RD-4). The different mdules f the DPC are: INPUT mdule: It can be understand as a "driver" between the input data and the rest f the prgram. This mdule implements all the input reading capabilities and stres it in structures defined in the DATAHANDLING mdule. PREPROCESS mdule: This mdule prcess the data befre the MODEL. It checks fr cycle-slips, pseudrange-carrier phase incnsistencies and decimates the data (if required). MODELLING mdule: This mdule has all the functins t fully mdel the receiver measurements. As said, it implements several kind f mdels, which can be activated r deactivated. FILTER mdule: This mdule implements an Extended Kalman Filter (EKF) fully cnfigurable, and btains the estimatins f the required parameters. OUTPUT mdule: This mdule utputs the data btained frm the FILTER. Sftware User Manual Page 22 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

23 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Input This sectin prvides all the cnfiguratin ptins t select the input files fr glab. Figure 4-7: Screensht f the INPUT sectin. Input files: Sectin t include all the files required fr the prper functining f the prgram. RINEX Observatin File: Surce GNSS measurements data file in RINEX frmat (versin 2.11 r 3.00). ANTEX File: Antenna phase center infrmatin fr bth GNSS satellites and receiver antennas 1. 1 The last ANTEX files can be fund in: [RD-5]. The glab suite includes tw different ANTEX files: igs05.atx and igs_pre1400.atx. The first file is directly dwnladed frm [RD-5], and shuld be used fr data sets after GPS week 1400 (5 th f Nvember f 2006). The secnd ne shuld be used befre this date. This is because there was a change in the way that Satellite Phase Centers were btained. Thence using Precise files fr navigatin with the incrrect set f ANTEX file will be translated in higher than expected errrs. Sftware User Manual Page 23 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

24 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Orbit and Clck Surce: Origin f the rbit and clck prducts. The ptin selected here must be cnsistent with the Navigatin Mde in the Filter sectin: Bradcast => Standalne, Precise (1 file) r Precise (2 files) => PPP Bradcast: RINEX navigatin file with the bradcasted message [Standalne ptin must be marked in the Filter sectin]. Precise (1 file): SP3 frmat file with the psitin/clck errrs f GNSS satellites fr a set f specific timestamps [PPP ptin must be marked in the Filter sectin] 2. Precise (2 files): The surce f rbits will be an SP3 frmat file, and the clcks will be a RINEX clck frmat. While rbit data can be interplated withut much data degradatin, clcks cannt be. The RINEX clck frmat allws prviding clcks at a high rate, while reading the rbits at a lwer rate frm the SP3 file [PPP ptin must be marked in the Filter sectin]. Orbits SP3 File: Surce f rbit data. Clcks Rinex File: Surce f clck data. Insphere Surce: Origin f the insphere data when crrecting it (see the 2 SP3 files can be fund at the IGS site: [RD-6]. Sftware User Manual Page 24 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

25 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Mdeling sectin (4.2.3) fr mre infrmatin). Bradcast (same as navigatin): Fr Klbuchar inspheric mdel, use the same bradcasted file as fr the rbits and clcks fr the Klbuchar parameters. Bradcast (specify): Fr Klbuchar inspheric mdel, specify a different bradcasted file t use fr the Klbuchar parameters. This ptin is als useful when using SP3 and crrecting insphere. A priri Receiver Psitin: Initial receiver psitin. This is used t linearize the filter and t btain the values fr the mdels. The OUTPUT message type gives the psitin btained by the filter differenced with this apriri psitin. S if this psitin is accurate enugh, the difference can be used as a direct measure f the errr. Specify: Specify the receiver psitin in XYZ cmpnents (in meters). Use RINEX Psitin: Use the APROX POSITION XYZ field f the RINEX f measurements. Calculate: D nt prvide apriri psitin, glab will calculate it, and adjust it as necessary (useful fr mving receivers, r when the apprximate receiver psitin is unknwn) with three different initial ptins: Earth's surface: glab will autmatically calculate the a priri receiver psitin, starting frm Earth's surface ( ,0,0). RINEX Header: glab will autmatically calculate the a priri receiver psitin, but starting frm the RINEX bservatin header recrd APPROX POSITION XYZ. If these crdinate are (0,0,0), then the Earth's surface ( ,0,0) will be used as initial crdinates. Specify: glab will autmatically calculate the a priri receiver psitin, but starting frm the user crdinates. These crdinates cannt be (0,0,0). Ntice that in the three cases the differential fields f the OUTPUT message will be zer, as n reference is given. Use SINEX File: Match the bservatin RINEX header recrd MARKER NAME with the marker psitin present in the SINEX file. Auxiliary files: User can prvide different auxiliary files: t get infrmatin abut the receiver and t crrect the Differential Cde Biases (DCB) which are the delays due t electrnic, antennas and cables f receiver and transmitter devices which directly affect the measurements with a bias. This effect can be crrected using the infrmatin extracted frm: The RINEX Navigatin file r Precise.DCB files. P1 P2 DCB Surce files: Bradcast (same as navigatin): Use the same RINEX navigatin file fr the DCB cmputatins than the rbit and clck prduct surce. Bradcast (specify): Specify a different RINEX bradcasted file t btain the cdes (P1 P2) digital bias. Sftware User Manual Page 25 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

26 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Precise.DCB file: Specify a.dcb file fr the (P1 P2) biases fr all satellites. P1 C1 DCB Surce files: Receiver Type file: Specify a file with the receiver type infrmatin: Receivers, Antennas, Radmes, and Antenna+Radme manufacturer's name, mdel and cde. Precise.DCB files Specify a.dcb file fr the (P1 C1) biases fr all satellites. Save Cnfig buttn: Stres all the GUI cnfiguratin int a.cfg file, which can afterwards be read by the prcessing cre by means f the -inpu:cfg parameter. In Linux:./gLAB_linux input:cfg glab.cfg In Windws: glab.exe input:cfg glab.cfg RUN buttn: Execute the DPC prgram with all the cnfigured parameters f the Calculus tab. This buttn can be used in all Input, Preprcess, Mdeling, Filter and Output sectins. Shw Output buttn: Opens a text editr f the utput f the last executin f glab. Sftware User Manual Page 26 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

27 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Preprcess This sectin prvides all the cnfiguratin ptins t preprcess the input data. In particular, it allws changing the decimatin rate, the elevatin mask, the cycle-slip detectin, and selecting individual satellites fr the prcessing. Figure 4-8 shws a screensht f the PREPROCESS sectin. Statin Data. Figure 4-8: Preprcess sectin screensht. Data Decimatin [s]: This ptin will decimate the input data at the specified rate [in secnds]. If this ptin is unchecked, every time an epch is fund in the input RINEX bservatin file, all the prcessing takes place. If this ptin is checked, the data is decimated and nt even mdeled. Even in decimated data, all the epchs are used fr cycle slip detectin, and arc length cmputatins, but the prcess is stpped just befre the mdeling. This ptin is meant t be used t reduce cmputatin time. Check fr jumps in cde measurements: Sme receivers d nt utput a set f physically cnsistent measurements, when they adjust their clck, a "jump" shuld appear bth in pseudrange and carrier-phase measurements, but it nly appears in pseudrange. This creates a massive cycle-slip fr all satellites in this epch if it is nt crrected. Sftware User Manual Page 27 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

28 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin If this ptin is enabled, glab will detect and crrect this behaviur, prviding a set f cnsistent bservables. Satellite ptins. Elevatin Mask [Degrees]: The elevatin mask parameter is used t discard all the satellites belw the specified elevatin. Lw elevatin satellites shuld be discarded fr gedetic prcessing as they may cntain increased errrs due t lw signal-t-nise rati and multipath. Align carrier phase measurement with cde: In the first sample f each arc, fr each cuple f cde and carrier phase measurements, cmpute the difference between them. During the same arc, add this cnstant difference t the carrier phase measurement. Therefre, the carrier phase measurement is at the same scale (aligned), and the scale f the ambiguities are reduced. Discard satellites under eclipse cnditin: This ptin allws t activate the discard f satellites if they are under eclipse cnditins: They d nt have direct visibility f the Sun r They have been in the frmer cnditin at sme time f the last 30 minutes. Discard unhealthy satellites (Bradcast nly): This parameter allws discarding satellites based upn the healthy flag f the bradcasted navigatin message. Discard Satellites under this SNR Threshld: This parameter allws t discard satellites belw a SNR (Signal t Nise Rati) threshld, which is included in the measurements f the RINEX bservatin file (in the last character). Cycle-slip Detectin: This sectin prvides all the cnfiguratin ptins fr cycle-slip detectin. This is nly used fr carrier phase measurements, and in the present versin f the sftware fr GPS nly. Each cycle-slip detectin methd can be enabled/disabled individually. Data Gap: This parameter sets the maximum perid f time (in secnds) allwed between tw cnsecutive data samples. Therefre, a larger perid f time between data samples will autmatically declare a cycle-slip. Lss f Lck Indicatr (LLI): The LLI parameter is included in the carrier phase measurements f the RINEX bservatin file (in the penultimate character). When it is dd (i.e. 1, 3, 5 r 7), indicates that the measurement may cntain cycle-slip. N Cnsecutive Samples: When there is a data gap between samples smaller than the maximum allwed, wait until there are N cnsecutive sample t use again data frm this satellite. This is useful fr discarding measurements f satellites which are cnstantly appearing and disappearing (they usually have measurements with large errr). The minimum value fr N cnsecutive is 2 Sftware User Manual Page 28 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

29 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin samples (wait until the secnd cnsecutive sample). Smaller values will disable this ptin. Gemetric-free CP Cmbinatin [F1-F2]: This cycle-slip detectr fr dualfrequency receivers uses nly carrier phase measurements. The detectin is based n fitting a secnd-degree plynmial with the the gemetry-free cmbinatin within a sliding windw f N-sample. Nte that this cmbinatin may be affected by insphere. A cycle-slip is declared when any f the tw fllwing statements (OR) is fulfilled: 1. If the expected value is larger than the measured ne by mre than a specific threshld (Th) AND als larger than 2 times the residual (res) f the Least Square (LS) used t fit the secnd-degree plynmial. The threshld is btained as: Th = maximum threshld / (1 + exp( -Data Gap / Time cnstant )) Therefre, the cnditins t fulfill a cycle-slip are: LIt - LIEstimated > Th LIt - LIEstimated > 2*res 2. The jump between tw cnsecutive gemetry-free cmbinatins (LI) is larger than the maximum jump threshld (MaxJumpTh). That is, LIt - LIt-1 > MaxJumpTh N-sample is the number f epchs used t fit the secnd-dregree plynmial. Ntice that N-sample will be verriden by n, where: n = maximum( N-sample f L1-C1 [if enabled], N-sample f Melburne- Wübbena [if enabled], N-sample f Gemetry-free [if enabled] ) NOTE: When a cycle-slip is detected, the sample will be set as an utlier and ignred. If in the next sample a cycle-slip is als detected, a cycle-slip will be declared. Otherwise, the arc will be maintained. Melburne-Wübbena Cmbinatin [F1-F2]: This cycle-slip detectr fr dualfrequency receivers uses the Melburne-Wübbena cmbinatin (gemetryfree insphere-free). This cmbinatin uses pseudrange measurements, and thence, can be very affected by high nise and multipath effects. This cmbinatin is basically a cnstant with nise and jumps due t the cycleslips. In this sense, the mean, the standard deviatin and a mbile mean ver the sliding windw (last secnds) is cmputed. A cycle-slip is declared when Sftware User Manual Page 29 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

30 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin all these three cnditins are fulfilled: 1. The mean is cmpared with the measured value, and it must be larger than a specified threshld. The threshld depends n the standard deviatin frm the last cycle-slip, and is cmputed as: Th = k-factr stddev 2. The mbile mean ver the windw is cmpared with the measured value, and it must be larger than the wave length f the Melburne-Wübbena cmbinatin (~0.8 m). 3. The standard deviatin must be equal r larger than the minimum stddev (cnfigurable parameter) set as default t the wave length f the Melburne- Wübbena cmbinatin (~0.8 m). N-sample is the number f epchs needed befre the detectin functin is active. Ntice that N-sample will be verriden by n, where: n = maximum( N-sample f L1-C1 [if enabled], N-sample f Melburne- Wübbena [if enabled], N-sample f Gemetry-free [if enabled] ) NOTE: When a cycle-slip is detected, the sample will be set as an utlier and ignred. If in the next sample a cycle-slip is als detected, a cycle-slip will be declared. Otherwise, the arc will be maintained. L1-C1 Difference [F1]: This cycle-slip detectr fr single-frequency receivers uses the difference between L1 and C1 (L1P and C1C). This difference cntains basically nise cming frm C1, sudden jumps cming frm cycleslips, and a inspheric divergence with time, due t the different effects that the insphere causes in carrier phase and pseudrange measurements. This detectr cmputes the mean and standard deviatin f L1-C1 alng the epchs, prving a sliding windw t limit the divergence. The expected mean value is cmpared against the btained ne, and if it is larger than a specific threshld, a cycle-slip is declared. The threshld is btained as: Th = k-factr stddev The sigma is inflated with an initial stddev during the first iteratin and after every cycle-slip t avid nisier r unrealistic sigma estimates. Sftware User Manual Page 30 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

31 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin N-sample is the number f epchs needed befre the detectin functin is active. Being k, initial stddev, windw size and the N-sample cnfigurable parameters. Ntice that N-sample will be verriden by n, where: n = maximum( N-sample f L1-C1 [if enabled], N-sample f Melburne- Wübbena [if enabled], N-sample f Gemetry-free [if enabled] ) GNSS Satellite Selectin: The buttns allw t individually select/deselect each satellite fr prcessing. A deselected satellite shall nt be taken int accunt when prcessing. Green clr marks selected satellites and red deselected satellites. Sftware User Manual Page 31 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

32 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Mdeling This sectin prvides the cnfiguratin ptins t set/unset each individual mdel that is used by glab. Figure 4-9 shws a screensht f the MODEL sectin. Figure 4-9: Mdeling sectin screensht Mdeling Optins: The fllwing ptins allw t enable/disable the different mdels included in the prcessing. Satellite clck ffset crrectin: The satellite clck errrs crrespnd t the clck synchrnism errrs f the satellite clcks in relatin t the GNSS system time scale. These errrs depend heavily n the type f scillatr f the satellite and are quite unpredictable. They can nly be btained by sme kind f estimatin. The typical surce fr estimatins f these errrs are the wn navigatin message, r sme kind f external estimatin, such as SP3 files. The effect f these clck errrs can reach up hundreds f kilmeters. Cnsider satellite mvement during signal flight time: Due t the distance between satellites and receivers (between and Km fr GPS), the signal travel time is nt despicable (abut 70 ms fr GPS). Thence the receiver is btaining the measurement after it has been emitted by the satellite. This fact shuld be taken int cnsideratin, as the psitin f the satellite must be cmputed in the transmissin time, nt in the receptin time. This effect can impact n the measurements up t hundreds f meters. Sftware User Manual Page 32 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

33 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Cnsider Earth rtatin during signal flight time: Besides the satellite mvement during signal flight time, the Earth als mves [rtates]. If this effect is nt taken int cnsideratin, an errr f abut 30 m in the east directin wuld be seen. Satellite mass center t antenna phase center crrectin: Each data surce f satellite rbits (in general the navigatin message r an SP3 file) prvides these rbits in its specific reference. In particular, the SP3 files prvide the psitins f the satellite referred t its mass center (which is different than the antenna phase centers). In rder t prperly crrect the GNSS measurements with the satellite psitin, a crrectin between these tw centers must be dne. Usually these crrectins can be btained frm an ANTEX file. This errr can be up t 1-2 m. The psitins cmputed frm the navigatin message d nt require any additinal crrectins, as they are referred t the antenna phase center. Receiver antenna phase center crrectin: Nrmally the psitins f the statins are given in relatin t the base f the statin. The difference between this pint and the antenna phase center shuld be taken int accunt. This effect depends n the frequency, and can reach up t sme decimetres. Receiver antenna reference pint crrectin: Additinally t the Antenna Phase Center, the psitin f a statin can be given in relatin t a specific pint (such as a gedetically psitined pint in the grund). This crrectin allws t give a specific crrectin t the psitin in Nrth/East/Up cmpnents. Relativistic clck crrectin: The rate f advance f tw identical clcks, ne placed in the satellite and the ther n the terrestrial surface, will differ due t the difference f the gravitatinal ptential (general relativity) and t the relative speed between them (special relativity). The special relativity difference can be brken int (Hfmann-Wellenhf): 1) A cnstant cmpnent that nly depends n the nminal value f the semi-majr axis f the satellite rbit, which is adjusted mdifying the clck scillating frequency f the satellite. 2) A peridical cmpnent due t the rbit eccentricity (that must be adjusted by the user receiver) equal t: rel = 2*(r v)/c This effect can reach up t 13 m. Inspheric crrectin: The insphere is the zne f the terrestrial atmsphere that extends itself frm abut 60 km until mre than 2000 km high. Due t the interactin with free electrns, electrmagnetic signals that g thrugh it suffer a delay/advancement in relatin t the prpagatin in a vacuum. This effect is a dispersive effect (frequency dependent), and can be remved in multi-frequency receivers (with a specific cmbinatin f measurements). The insphere is hard t mdel, and the Klbuchar mdel (the ne defined in the GPS/SPS-SS [RD-14] and available in the navigatin message) can nly reduce its impact between a 50% and a 60%. The insphere effect can reach up t 50 m in turbulent inspheric envirnments. Sftware User Manual Page 33 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

34 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin In the current update, the inspheric crrectin f SBAS and IONEX are implemented. Trpspheric crrectin: At the frequency which the GPS signal is emitted, the trpsphere behaves like a nn dispersive media, being its effect independent f the frequency. The trpspheric delay can be mdelled in an apprximate way (apprximately abut 90%-95%) using the fllwing expressin: T = d dry m dry(elev) + d wet m wet(elev) where d dry crrespnds t the vertical delay due t the dry cmpnent f the trpsphere and d wet crrespnds t the vertical delay assciated with the wet cmpnent (due t the water vapr f the atmsphere). These tw different nminals can ve cmputed as Using a simple nminal described in GIPSY-OASIS [RD-7]: d dry = 2.3 exp ( H) d wet = 0.1 where H is the height ver the ellipsid. Cmputing a nminal frm the receiver s height and estimates f five meterlgical parameters: pressure, temperature, water vapur pressure, temperature lapse rate and water vapur lapse rate. It is adpted by SBAS systems (AD-07). Finally mdry(elev) and mwet(elev) are the slant factrs in rder t prject the vertical delay in the directin f the satellite bservatin fr the dry and wet cmpnents. Tw mdels can be chsen t cmpute these m(elev): A simple mapping mdel (used in SBAS [RD-9]). This mapping nly depends n satellite elevatin and it is cmmn fr wet and dry cmpnents. The mre refined Niell mapping mdel [RD-8]. This mapping cnsiders different bliquity factrs fr the wet and dry cmpnents. The main part f the trpsphere which has nt been prperly mdelled (abut 10%) crrespnds mainly t the wet cmpnent. The ttal effect f trpsphere can range up t 10 m. P1 P2 crrectin: Differential Cde Biases (DCB) are the delays due t electrnic, antennas and cables f receiver and transmitter devices which directly affect the measurements with a bias. This effect depends n the frequency and can be crrected using the infrmatin extracted frm: The RINEX Navigatin file, where the (P2-P1) bias are given as the Ttal Grup Delay (TGD). Precise.DCB files, where the Internatinal GNSS Service (IGS) gives an accurate estimatin f the (P1-P2) bias. This file cntains a mnthly estimatin f this bias fr all Satellites Sftware User Manual Page 34 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

35 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin P1 C1 DCB crrectin: Differential Cde Biases (DCB) are the delays due t electrnic, antennas and cables f receiver and transmitter devices which directly affect the measurements with a bias. Because the cde generatin depends n the Receiver Type, this receiver-related infrmatin has t be given tgether with the crrectins. glab wrks in tw different mdes: Flexible: glab will use whichever C1 r P1 measurement is available in the receiver, withut crrecting DCB. If bth cde measures are available, P1 will be used as default. Used when receiver prvides C1 but P1 is missing (r viceversa). Strict: glab Data Prcessing Cre (DPC) stps if bth files are nt prvided: Receiver Type File: T identify hw cdes are generated in the receiver, and hw t remve these C1-P1 biases. P1-C1 DCB File : Cntaining the P1-C1 DCB crrectins. Wind up crrectin (Carrier phase nly): The wind up nly appears in carrier phase measurements and is due t the rtatin f the Line-f-sight vectr in relatin t the antenna. The wind-up has an accumulative effect, and fr fixed antennas can reach up t half the wave length f the measurement. Slid tides crrectin: The attractin f Sun and Mn and the inelasticity f the Earth's mantle cause variatins t the psitins f grund receivers. This effect can reach up t sme decimetres (the mdel used is described in [RD- 10], and is implemented up t degree 3). Relativistic path range crrectin: As intrduced in the Relativistic clck crrectin sectin, the difference f the gravitatinal ptential (general relativity) affects the measurement. This is a small effect that has elevatin dependence, and has a ttal effect f abut 4 cm. Precise Prducts Data Interplatin: This is the degree f the interplatin plynmial fr the precise rbit and clcks (this ptin has n effect when using bradcasted prducts). Orbit Interplatin Degree: By default, the interplatin is dne with a plynmial f degree 9, but this value can be adjusted with this parameter. Excessively lw values wuld strngly affect the precisin f the psitin btained. Clck Interplatin Degree: By default, n interplatin is dne ("degree" 0), but yu can chse t activate the interplatin by prviding a number different than 0. Due t the unpredictability f clcks, and its nn-smthed nature, the interplatin f lw sampling rate clcks (i.e., t>30 secs) wuld strngly affect the precisin f the clcks btained. Only clcks with sampling rate higher than 1/30s shuld be interplated with a plynmial f degree 1. Receiver Antenna Phase Center: Specify: Specify in Nrth/East/Up cmpnents the receiver antenna phase center. Different values can be specified fr different frequencies. Sftware User Manual Page 35 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

36 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin F1/F2: Frequency selectr. Nrth/East/Up [m]: Each f the cmpnents expressed in meters. Read frm ANTEX: Read the Phase Center data f the receiver frm the ANTEX file specified in the Input sectin. It tries t btain the name f the antenna using the RINEX header recrd ANT # / TYPE, and seeks fr that name in the ANTEX file. Receiver Antenna Reference Pint: Specify: Specify in Nrth/East/Up cmpnents the receiver Antenna Reference Pint. Read frm RINEX: Read the receiver Antenna Reference Pint frm the RINEX file. It seeks fr the ANTENNA: DELTA H/E/N RINEX header recrd. Sftware User Manual Page 36 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

37 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Filter This sectin prvides all the cnfiguratin ptins t specify the behaviur f the Kalman Filter. In particular, the selectin f measurement and the parameters t be estimated can be chsen in this sectin. Figure 4-10 shws a screensht f the FILTER sectin. Figure 4-10: Filter sectin screensht Trpsphere: Activates the estimatin f the trpsphere. This estimatin tries t remve the part f the wet trpsphere delay nt remved by the nminal mdeling (see Sftware User Manual Page 37 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

38 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Mdeling sectin). The estimatin depends n the mdel chsen t cmpute the m wet(elev) functin (Niell mapping shuld be used fr mre realistic results). IMPORTANT: Reliable trpsphere estimatin can nly be btained fllwing ptins: Navigatin Mde: PPP Template Measurements: Pseudrange + Carrier phase Available frequencies: Dual Frequency Outside this specific case, the trpshere estimatin shuld be disabled. Available Frequencies: Select which frequencies are available. Single Frequency: Use this ptin t frce the receiver t be understd as a single-frequency ne. Discarding all the measurements in the F2. Fr cnditins with the rest f the values f this windw, see SPP/PPP Navigatin Mde Templates. Dual Frequency: Use this ptin t have the measurements fr bth frequencies (F1 and F2) available. Fr cnditins with the rest f the values f this windw, see SPP/PPP Navigatin Mde Templates tltips. Receiver Kinematics: Select which is the suppsed mvement f the receiver. Static: Select this ptin t d a prcessing suppsing that the receiver is static. This mdifies the filter parameters Phi (prpagatin) and Q (prcess nise) fr the psitins t: Phi = 1 and Q = 0. Kinematic: Select this ptin t d a prcessing suppsing that the receiver is in mvement. This mdifies the filter parameters Phi (prpagatin) and Q (prcess nise) fr the psitins t: Phi = 0 and Q = inf. Measurement cnfiguratin and nise: Sectin t specify the input measurements used in the filter, and its crrespnding standard deviatin nise (t be used fr the filter weights). Selectin: Pseudrange: Use nly pseudrange measurements fr the prcessing. The ambiguity estimatin in the filter will be discnnected with this ptin set. Fr cnditins with the rest f the values f this windw, see SPP/PPP Navigatin Mde Templates. Pseudrange + Carrier phase: Use bth pseudrange and carrier phase measurements fr the prcessing. Fr cnditins with the rest f the values f this windw, see SPP/PPP Navigatin Mde Templates. Pseudrange smthing [epchs]: Use the Hatch filter t smth the pseudrange measurements with carrier phase ne. This ptin will reduce the nise f the measurements included in the filter. This shuld nly be activated when prcessing with pseudrange nly (n carrier phase), as the carrier phase is better included in the filter in that ther way better than using smthing. The use f smthing allws t enhance the pseudrange withut the cst f the increased Sftware User Manual Page 38 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

39 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin filter cmplexity fr carrier phase amibiguities estimatins. The Hatch filter is defined as: Parameters: P i,smthed = mean(p-l) i+ L i Being the mean() a functin that cmputes the mean f pseudrange and carrier phase measurements. This mean at epch i is btained: mean(p-l) i = ((n-1)*mean(p-l) i-1 + (P-L) i)/n being n the arc length at epch i limited t a maximum value. This limitatin is t reduce the effect f the inspheric divergence between pseudrange and carrier phase measurements. If bth measurements d nt have inspheric divergence (i.e. Pc and Lc), the parameter can be as high as desired. Cnfiguratin. [Grayed ptin]: Selected measurements fr the filter. Fixed stddev [m]: This sets the standard deviatin f the crrespnding measurement t be used as weight in the filter. The weight is cmputed as: W = 1/(stdDev) 2 Elevatin stddev: This sets the standard deviatin f the crrespnding measurement t be used as weight in the filter as a functin f the elevatin. The standard deviatin is cmputed as: stddev = a + b e^(elev/c) Being a, b and c the three parameters, and elev the elevatin in degrees f the satellite. The filter weight is finally cmputed as: W = 1/(stdDev) 2 Phi: Phi sets the prpagatin f parameters between epchs (transitin state matrix). '1' means that the value estimated in the epch i+1 is used as apriri value in the epch i, '0', means that the apriri value is always '0'. Q: The prcess nise parameter (Q) sets the stability f a parameter alng time. The prcess nise is included after the estimatin when prpagating the parameters t the next epch, and is an increase in the cvariance f the parameter. A prcess nise f '0' means that the parameter is a cnstant. P 0: The Kalman filter requires initial values fr all its parameters: Psitin: The Apriri receiver psitin in the Input sectin is used. Clck: A '0' value is assigned due t its high variability. Trpsphere: Due t the fact that abut 90% f the trpsphere is crrected by a prper mdeling, and nly abut a 10% has t be estimated (and is usually arund 10 cm), a '0' value is used fr apriri. Sftware User Manual Page 39 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

40 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Carrier phase ambiguities: As carrier phase is prealigned with cde, the ambiguities are nt far frm '0', thence this value is used as apriri. The parameter P 0 sets the initial uncertainty f these apriri values. Psitin: This cmprises the 3 parameters with the 3D psitin [XYZ] f the receiver. Typical values: Apriri value: Apriri receiver psitin, cnfigured in Input sectin. Phi: '1' [Static psitining], '0' [Kinematic psitining]. Prcess nise: '0' [Static psitining], 'inf' [Kinematic psitining]. Initial cvariance: 'inf' (A smaller value fr the initial cvariance will increase the cnvergence time, but wuld require a gd initial psitin). Receiver Clck: This parameter is the receiver clck synchrnism errr referring t GPS time scale. Typical values: Apriri value: '0'. Phi: '0'. Prcess nise: 'inf'. Initial cvariance: 'inf'. Trpsphere: This parameter estimates part f the trpsphere nt taken int accunt in the nminal mdel (see Mdeling sectin). This 10% is mstly assciated with the wet cmpnent f the trpsphere, which is due t the water vapr f the atmsphere. The mapping m wet(elev) functin described in the Mdeling sectin is used in the trpshere estimatin. Typical values: Apriri value: '0'. Phi: '1'. Prcess nise: '1e-4' in units f [m²/h]. Cntrary t the rest f parameters, trpsphere prcess nise is given as increase f Q per time unit. Initial cvariance: '0.025' (equivalent t 0.5 meters f uncertainty). Phase ambiguities: Carrier phase ambiguities are the parameters which estimates the ambiguities f the carrier phase measurements (r cmbinatins) used in the filter. Each epch, there is ne parameter fr each satellite. Additinally, when a cycle-slip is detected, the carrier phase ambiguity is reset (by prviding a new initial value and cvariance).typical values: Phi: '1' Prcess nise: '0'. Initial cvariance: '400' (equivalent t 20 meters in relatin t the pseudrange measurement used t prealign the carrier phase). Sftware User Manual Page 40 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

41 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Other ptins: Backward filtering. This kind f prcessing reverses the input bservatin RINEX file when it reaches the end f the file, and prcesses it backwards. This is als called smthing and it allws t have gd estimatin f the parameters (such as the trpsphere, and the psitin in a kinematic receiver) in the beginning f the file, what wuld be the cnvergence perid. Max. GDOP: Set the maximum value (in metres) fr the GDOP (Gemetry Dilutin f Precisin) factr. The GDOP factr is an apprximate rati factr between the precisin in the measurements due t satellites gemetry (in respect t the user) and the precisin in the psitining. A very high GDOP will mean that the slutin will have a great errr, s it is better t skip the epch. In glab, the GDOP is cmputed befre entering the filter, s if GDOP is greater than the exceeds the maximum value, the fllwing actins will be dne: In SPP r PPP mdes, the epch will be skipped. In SBAS mde, if GEO r SBAS navigatin mde switching are enabled, a GEO r SBAS navigatin mde switching will be dne. If the GDOP after ding the switch is under the maximum, the navigatin slutin is cmputed. Else, the epch is skipped. In DGNSS mde, navigatin mde will be switched t SPP. If GDOP in SPP is under the maximum, the navigatin slutin is cmputed in SPP mde. Else, the epch is skipped. NOTE: If an epch is skipped due t high threshld, an INFO message will be shwn. Prefit Outlier Detectr: Smetimes, fr sme satellites (typically the nes with very lw elevatin r nt a clear line f sight), the pseudrange measurements written in the RINEX bservatin file can be with a great amunt f bias (smetimes f than a hundred metres). This biased measurements can last fr a nticeable amunt f time (mre than 6 minutes), and during this perid f time they are cnsistent (s n cycle-slip is detected), and therefre are elegible t be used in the filter, therefre intrducing an imprtant errr in the navigatin slutin. A methd t detect this cases is cmparing the prefits (the measured pseudrange minus the mdelled pseudrange). The prefits fr all satellites shuld be very similar between them (typically less than 10 metres f difference fr fixed receivers), s if a satellite has a prefit value much mre different than the rest, then that satellite shuld be discarded. Sftware User Manual Page 41 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

42 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin In glab, it is implemented with the fllwing algrithm: 1. Cmpute the median f all prefits. 2. Fr each satellite: 2a. Cmpute the abslute value f the difference between the satellite's prefit and the median. 2b. If the difference is higher than the threshld, unselect the satellite. NOTES: If the number f discarded satellites is mre than half f the initially available satellites, then n satellites will be discarded at all. This last check is t accunt fr receivers in mvement and fr receiver slutin cnvergence time, which in bth cases will prduce satellite prefits very different frm each ther. The prefit utlier detectr threshld nly wrks with pseudrange measurements, as carrier phase measurements will have very different prefit values due t the ambiguities. If the cmputed navigatin slutin errr is very high, enabling this ptin may fix it (this ptin is nt enabled by default due t it wuld interfere with the glab GNSS curses). Sftware User Manual Page 42 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

43 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Output This sectin prvides all the cnfiguratin ptins t select which messages are utput. Figure 4-11 shws a screensht f the OUTPUT sectin. Figure 4-11: Output sectin screensht Output Destinatin: Sets the utput file where all messages will be written. If a right click is dne in the Output File text, a menu appears with an ptin t pen the selected file. KML File: set the utput KML file which will be generated with glab's slutin at the same rate as the Data Decimatin parameter in the PREPROCESS sectin. Optinally, it may include als timestamps. If a right click is dne in the KML File text, a menu appears with an ptin t pen the selected file. KML0 File: Same as KML file, but prjected t the grund (i.e. the height will be 0). The same ptins fr a KML file are applied t the KML0 file. If a right click is dne in the KML0 File text, a menu appears with an ptin t pen the selected file (see figure 4-11). Sftware User Manual Page 43 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

44 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin SP3 File: Set the utput SP3 file which will be generated with glab's slutin. The SP3 will include the cmputed crdinates and receiver clck at the same rate as the Data Decimatin parameter in the PREPROCESS sectin. If a right click is dne in the SP3 File text, a menu appears with an ptin t pen the selected file. Messages: Individually select which messages are printed. Print INFO Messages: INFO messages are shwn at several pints in the prgram and prvide infrmatin n the prgram cnfiguratin, events and prblems it may encunter, which are: At the start f the file, infrmatin abut glab cnfiguratin. An incnsistent clck update n the receiver. In SBAS prcessing, a GEO r mde switch. In DGNSS prcessing, a switch frm DGNSS t SPP slutin mde. N slutin was cmputed, alng with the reasn fr nt being able t cmpute the slutin (nt enugh satellites available, singular gemetry matrix r GDOP t high). In SBAS prcessing, if receiver psitin is fixed, the SBAS summary will be printed. The cntents f the SBAS summary are: Number f epchs prcessed, alng with the number epchs that had a slutin, a slutin under alarm limits and the number f epchs withut slutin. Number f epchs with MIs. The Wrst Integrity Rati (WIR) and the epch were it ccurred. The epchs with highest errrs and prtectin levels and the epchs were it curred. The 95 Percentile (r user defined percentile) f the errrs and prtectin levels). A single line at the end with the previus inf in clumnar frmat. This is line is useful fr ding plts. Print CS (Cycle-Slip) Messages: Cycle-slip message infrmatin. It is shwn when a cycle-slip is fund by any detectr. A line will be printed fr each CS detectr that has fund a CS. The first 6 fields are cmmn, afterwards, there are five pssible different CS messages depending n the cycle-slip detectr activated. Field 1: 'CS' r 'CS_USER' fr Rver Statin (user) Field 1: 'CS_REF' fr Reference Statin Sftware User Manual Page 44 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

45 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier If cycle-slip detectr is Data gap: Field 7: 'DATA_GAP' Field 8: '=' Field 9: Delta time between usable epchs Field 10: 'THRESHOLD' Field 11: '=' Field 12: Data gap threshld Sample CS GPS 32 DATA_GAP = THRESHOLD = Sample: CS If cycle-slip detectr is Lss f Lck Indicatr: Field 7: 'LLI' GPS 32 LLI If cycle-slip detectr is Gemetry-free carrier phase: Field 7: 'LI' Field 8: '=' Field 9: LI value Field 10: 'THRESHOLD' Field 11: '=' Field 12: LI threshld Sample: CS GPS 7 LI = THRESHOLD = If cycle-slip detectr is Melburne-Wubbena: Field 7: 'LI' Field 8: '=' Field 9: Bw value Field 10: 'THRESHOLD' Field 11: '=' Field 12: Bw threshld Sftware User Manual Page 45 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

46 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Sample: CS GPS 7 Bw = THRESHOLD = If cycle-slip detectr is L1-C1 difference: Field 7: 'LI' Field 8: '=' Field 9: L1C1 value Field 10: 'THRESHOLD' Field 11: '=' Field 12: L1C1 threshld Sample: CS GPS 7 L1C1 = THRESHOLD = Print INPUT Messages: Input data message. It is shwn after an epch is read, decimated and added user-defined errr. It cntains the measurements fr each satellite fr this epch 3. Field 1: 'INPUT' Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier Field 7: Arc length (number f undecimated epchs after the last cycle-slip) Fr GPS: Field 8: C1 [C1C] Field 9: P1 [C1P] Field 10: P2 [C2P] Field 11: L1 [L1P] (prealigned, in metres) Field 12: L2 [L2P] (prealigned, in metres) Fr Galile (GAL): Field 8: C1A Field 9: C1B Field 10: C1C 3 These measurements are the nes that are shwn in the INPUT message. Nevertheless all the measurements included in the RINEX are read and stred by glab fr its later use, in case f need, even if they are nt printed in the INPUT message. Sftware User Manual Page 46 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

47 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Field 11: C7Q Field 12: C8Q Field 13: L1A (prealigned, in metres) Field 14: L1B (prealigned, in metres) Field 15: L1C (prealigned, in metres) Field 16: L7Q (prealigned, in metres) Field 17: L8Q (prealigned, in metres) Fr GLONASS (GLO): Fr GEO: Field 8: C1 [C1C] Field 9: C2 [C2C] Field 10: L1 [L1P](prealigned, in metres) Field 11: L2 [L2P](prealigned, in metres) Field 8: C1 [C1C] Sample: INPUT GPS Print MEAS Messages: Infrmatin f the input measurements in a variable frmat, and azimuth/elevatin f the satellite. It is written after mdelling the message. Field 1: 'MEAS' Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier Field 7: Elevatin f the satellite [degrees] Field 8: Azimuth f the satellite [degrees] Field 9: Number f measurements Field 10: List f measurements included Field 11-: Each fllwing clumn is the value f the measurement specified in Field 10 If there is n data available n azimuth and elevatin, the fields 7 and 8 will be fixed t zer. Sample: MEAS GPS C1C:L1C:C1P:L1P:C2P:L2P Sftware User Manual Page 47 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

48 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Print MODEL Messages: Mdel break dwn message. It is shwn when a mdel can be fully cmputed fr each measurement. Field 1: 'MODEL' (if the satellite is used in the cmputatin) r 'MODEL*' (if it is nt) Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier Field 7: Measurement identifier (as string) Field 8: Signal flight time [sec] Field 9: Measured value [m] Field 10: Full mdel value [m] Field 11: Satellite X psitin [m] Field 12: Satellite Y psitin [m] Field 13: Satellite Z psitin [m] Field 14: Satellite X velcity [m] Field 15: Satellite Y velcity [m] Field 16: Satellite Z velcity [m] Field 17: Satellite-receiver gemetric distance [m] Field 18: Satellite clck crrectin [m] Field 19: Satellite phase centre prjectin [m] Field 20: Receiver phase centre prjectin [m] Field 21: Receiver Antenna Reference Pint (ARP) prjectin [m] Field 22: Relativity crrectin [m] Field 23: Wind-up crrectin [m] (fr carrier phase measurements) Field 24: Trpsphere nminal crrectin [m] Field 25: Insphere crrectin [m] Field 26: Gravitatinal delay crrectin [m] Field 27: Ttal Grup Delay (TGD) crrectin [m] Field 28: Slid tides crrectin [m] Field 29: Satellite elevatin [degrees] Field 30: Satellite azimuth [degrees] Field 31: Satellite SNR (Signal t Nise Rati) [dbhz] Sftware User Manual Page 48 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

49 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin The satellite crdinates (fields 11-16) are given in the transmissin epch if the mdel f the signal transmissin time is enabled (if it is disabled, they are given in the receptin time). The crdinates are relative t the antenna phase centre r satellite mass centre, depending n the prducts input: Bradcast: Antenna Phase Centre Precise: Satellite Mass Centre Field 9 is the direct measurement (as in the RINEX file), but scaled t metres fr carrier phase measurements. Field 10 is the mdel cmputed fr this measurement. Field 10 is the direct sum f fields 17 t 28. When the '*' appears in field 1, it is due t smthed cde f the satellite has nt reached steady-state, a SBAS prcessing mde switch r SBAS GEO switch. When a mde r GEO switch ccurs, the SBAS crrectins have t be cmputed again. Sample: MODEL GPS 19 L1P Print EPOCHSAT Messages: Message with the satellites used t cmpute the slutin. It is shwn when the filter is run, and is given fr each measurement. Field 1: 'EPOCHSAT' Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: Measurement identifier (as string) Field 6: Number f satellites used in slutin cmputatin Field 7-: Each fllwing clumn is the identifier f a satellite Sample: EPOCHSAT PC Print SATSEL Messages: Message with debug infrmatin f the reasn why a satellite has been discarded (r selected) fr prcessing. Field 1: 'SATSEL' (if navigatin slutin will be cmputed), 'SATSEL*' (if mdel parameters will be recmputed befre the navigatin slutin, nly in SBAS mde) Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier Sftware User Manual Page 49 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

50 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Field 7: 'selected' if satellite is used r 'discarded:' if satellite is nt used Field 8: Discard reasn if satellite is nt used Sample: SATSEL GPS 7 discarded: Elevatin t lw ( 3.04 ) The pssible values fr field 8 are: - Arc t shrt (<arclength>) - Pre-Check; measurements missing fr CS detectin - Nt enugh cnsecutive samples (current <value>, minimum <value>) - Uncnsistency f measurements - Outlier in LI detectr - Outlier in Bw detectr - Cycle-slip - Measurement unavailable (<meas>) - Deselectin frced - SNR t lw (<value>) - Steady-state peratin nt reached. <value> epchs passed, still <value> epchs t achieve <value> - N cde measurement available - C1C measurement unavailable - Ephemerides unavailable - Satellite phase center crrectins unavailable - DCBs unavailable (strict TGD treatment) - SBAS crrectins unavailable - Elevatin t lw (<value>) - Satellite under eclipse - Satellite was under eclipse <value> secnds ag - Missing IONEX data - Missing FPPP data - SBAS in unavailable - N DGNSS crrectins - N DGNSS crrectins: Time ut - N DGNSS crrectins: Excluded during the smther cnversin in the Reference Statin Sftware User Manual Page 50 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

51 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin large - N DGNSS crrectins: IODE frm BRDC and RTCM d nt match - N DGNSS crrectins: Excluded due t differential crrectin is t - Invalid GNSS System: <system> Print PREFIT Messages: Prefilter values message. It prvides the measurement-mdel values. It is shwn in each filter executin. Field 1: 'PREFIT' (if the satellite is used in the cmputatin) r 'PREFIT*' (if it is nt) Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier Field 7: Measurement identifier (as string) Field 8: Measurement-mdel value (prefit) [m] Field 9: Measurement value [m] Field 10: Mdel value [m] Field 11: X-partial derivative (-X cmpnent f the satellite line-fsight vectr) Field 12: Y-partial derivative (-Y cmpnent f the satellite line-fsight vectr) Field 13: Z-partial derivative (-Z cmpnent f the satellite line-fsight vectr) Field 14: T-partial derivative Field 15: Elevatin f the satellite [degrees] Field 16: Azimuth f the satellite [degrees] Field 17: Standard deviatin f the measurement (fr the filter) [m] Field 18: Trpsphere wet mapping Field 19: Arc number In general Field 8 = Field 9 - Field 10, but this is n lnger true when using smthing, as the Field 9 is the raw measurement withut smthing, but the Field 8 cmputatin takes smthing int accunt. Sample: PREFIT GPS 19 LC Print POSTFIT Messages: Pstfilter values message. It prvides the crrected prefits with the filter estimatin. It is shwn in each filter executin. Sftware User Manual Page 51 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

52 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Field 1: 'POSTFIT' Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: GNSS System (GPS, GAL, GLO r GEO) Field 6: PRN satellite identifier Field 7: Measurement identifier (as string) Field 8: Measurement-crrected mdel value (pstfit) [m] Field 9: Measurement value [m] Field 10: Crrected mdel value with the filter estimatins[m] Field 11: Elevatin f the satellite [degrees] Field 12: Azimuth f the satellite [degrees] Field 13: Only given fr carrier phase measurements. It is the estimated carrier phase ambiguity. [m] As with PREFIT messages, Field 8 is nt necessary Field 9 - Field 10 when using smthing. Sample: POSTFIT GPS 19 LC Print FILTER Messages: Filter slutin message. This message prvides direct infrmatin n the filter estimates. It is shwn in each filter executin. Field 1: 'FILTER' Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5-: Filter estimates. The rder is: 3D estimated psitin, clck, trpsphere and ambiguities The number f fields is variable in this message. With a full filter (trpsphere and ambiguities estimatin), the fields are as fllws: Field 5: Receiver X psitin [m] Field 6: Receiver Y psitin [m] Field 7: Receiver Z psitin [m] Field 8: Receiver clck [m] Field 9: Zenith Trpspheric Delay [m] Field 10: Carrierphase ambiguities [m] Sftware User Manual Page 52 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

53 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Sample: FILTER Print OUTPUT Messages: Receiver slutin message. This message prvides the estimated receiver psitin. It is shwn in each filter executin. Field 1: 'OUTPUT' Field 2: Year Field 3: Dy Field 4: Secnds f day Field 5: Square rt f the sum f the cvariance matrix. This is a measure f the cnvergence f the filter Field 6: Receiver X psitin [m] Field 7: Receiver Y psitin [m] Field 8: Receiver Z psitin [m] Field 9: Receiver X psitin - Nminal a priri X psitin [m] Field 10: Receiver Y psitin - Nminal a priri Y psitin [m] Field 11: Receiver Z psitin - Nminal a priri Z psitin [m] Field 12: Receiver X frmal errr [m] Field 13: Receiver Y frmal errr [m] Field 14: Receiver Z frmal errr [m] Field 15: Receiver latitude [degrees] Field 16: Receiver lngitude [degrees] Field 17: Receiver height [m] Field 18: Receiver Nrth difference in relatin t nminal a priri psitin [m] Field 19: Receiver East difference in relatin t nminal a priri psitin [m] Field 20: Receiver Up difference in relatin t nminal a priri psitin [m] Field 21: Receiver frmal errr in Nrth directin [m] Field 22: Receiver frmal errr in East directin [m] Field 23: Receiver frmal errr in Up directin [m] Field 24: Gemetric Dilutin f Precisin (GDOP) Field 25: Psitining Dilutin f Precisin (PDOP) Field 26: Time Dilutin f Precisin (TDOP) Field 27: Hrizntal Dilutin f Precisin (HDOP) Sftware User Manual Page 53 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

54 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Field 28: Vertical Dilutin f Precisin (VDOP) Field 29: Zenith Trpspheric Delay (including nminal value) [m] Field 30: Zenith Trpspheric Delay (excluding nminal value) [m] Field 31: Zenith Trpspheric Delay frmal errr [m] Field 32: Number f satellites used in the navigatin slutin Field 33: Prcessing mde indicatr The fields 29, 30 and 31 will be zer if trpsphere is nt estimated (nly estimated in PPP mde) Prcessing mde indicatr in field 33 may have the fllwing values: 0 -> SPP 1 -> PPP 2 -> SBAS 3 -> DGNSS The nminal a priri psitin is a prerequisite f the prcessing, and can be specified r read frm the RINEX input file. See the ptin '- pre:setrecps' in the help ('-help') fr mre details. Sample: OUTPUT Prviding a nminal a priri psitin is ptinal fr the prcessing, but if it is given, fields 9, 10, 11, 18, 19 and 20 will be related t this a priri psitin. See the ptin A priri Receiver Psitin in the INPUT sectin. Sftware User Manual Page 54 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

55 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 4.3 ANALYSIS (DAT INTERFACE) The analysis mde allws cnfiguring all the visualizatin ptins fr the DAT. Figure 4-12 shws a screensht f the Analysis interface. Figure 4-12: Analysis screensht Templates: The templates are a set f precnfigured pltting ptins fr the Graphic Details sectin. Clicking n any buttn will lad the ptins in that sectin, allwing mdifying r pltting them directly. NEU psitin errr: The NEU psitin errr template sets the ptins t print the three cmpnents (Nrth, East and Up) f the errr f the receiver psitining btained by the filter. This errr is cmputed by the difference between the direct filter estimatin and the Apriri Receiver Psitin in the Input sectin f Calculus. Thence t btain a reliable errr estimatin, this apriri psitin shuld be precise. If yu d nt have any precise psitin f the receiver, yu can btain it by ding a PPP prcessing (SP3/Static/Dual frequency/pseudrange+carrier phase). The XYZ psitin (fields 6 t 8 f OUTPUT message) f the last epch shuld have an accuracy in the rder f the centimeter, and can be used as a gd reference psitin. Sftware User Manual Page 55 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

56 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Nrth-East dispersin: The Nrth-East dispersin template sets the ptins t print the Nrth vs East psitin errr cmpnents. This prvides an insight f the hrizntal dispersin and bias f the errrs. Mdel cmpnents: The Mdel cmpnents template sets the ptins t print a cmpnent f the mdel as a functin f time. By default, it selects the Relativity effect, but it can easily be chsen which mdel t print, by selecting it in the Y Clumn ptin. Inspheric cmbinatins: The Inspheric cmbinatins template sets the ptins t print the tw inspheric (gemetric-free) cmbinatins: P I (P2-P1) [pseudrange] and L I (L1-L2) [carrier phase]. Zenith Trpspheric Delay: The Zenith Trpspheric Delay template sets the ptins t print the trpspheric estimatins as a functin f time. It includes the nminal part crrected in the mdelling and the estimated part cmputed in the filter. Pstfit residuals: The Pstfit residuals template sets the ptins t print the filter residuals (pstfits) as a functin f the satellite elevatin. It prints bth pseudrange and carrier phase pstfits. This plt allws bserving the dependence f residuals frm elevatin. In general, carrier phase residuals will be quite independent frm elevatin, and pseudrange residuals can have a large dependence n elevatin. Satellite skyplt: The Satellite skyplt template sets the ptins t print the elevatin/azimuth f the satellites in a skyplt, being the center f the plt the zenith f the satellite, and the extremes, the lwer elevatins. This is a special plt which makes use f sin and cs in the X clumn and Y clumn t btain a plar plt. Carrier phase ambiguities: The Carrier phase ambiguities template sets the ptins t print the estimatin f carrier phase measurements in the filter. This is nly pssible in a prcessing with the Pseudrange + carrier phase measurements (in the Filter sectin). Glbal Graphic Parameters: Specify the different ptins f the graphic. Title: Sets the title f the graphic. X-label: Sets the X label f the graphic. Y-label: Sets the Y label f the graphic. Clear: Clear all the ptins in the Graphic Details sectin. Autmatic Plt Limits: The limits f the graphic axis can be autmatically r user set: Xmin & Xmax Ymin & Ymax Individual Plt(s) Cnfiguratin: Optins fr the different plts that can cntain a graphic (up t fur plts). Sftware User Manual Page 56 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

57 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Plt 1/2/3/4: Selectr fr each plt. The ptins belw this ne are plt-dependent. Surce File: Selects the surce input file fr the plt. Lines/Dt list: Allws changing the style f the plt, using Lines r Dts amng many plt marker styles. Clr Selectin: Allws changing the clr f the plt. Cnditin: The cnditin is a way t insert ne r mre cnditins in rder t select which lines f the surce file will be used in the pltting. This has a space t write the required cnditins and tw cmbbxes, which autmatically sets the cnditin text. The text is the nly that matters and the cmb bxes nly cnfigure the text. T specify a clumn, it shuld be dne as '$x' being x the number f the clumn. Fr example if yu wuld like t specify the cnditin that the sixth clumn must be greater r equal than 10, yu shuld d it as: ($6>=10) Yu can specify a set f cnditins by using AND [&] and OR [ ] peratrs, such as: ($6>=10) &($6<=20) ($8==2) Yu can specify that a clumn matches a specific string by surrunding the string by \", such as: ($1==\"OUTPUT\") Yu can specify mathematical peratins and cnstants, as: math.pi, math.e, math.sin() and math.cs(), as example: ($1==\"POSTFIT\")&(math.cs($11+5)>0.707) Yu can specify a specific character inside a clumn, by using $x[y], being x the clumn and y the character psitin beginning by 0, such as: ($1==\"POSTFIT\")&($7[0]==\"P\") [First character f seventh clumn is 'P'] Yu can als perate between clumns, such as: (($9-$11)<2) X Clumn: This allws specifying the clumn fr the x values fr the selected plt. The cmb bx will be updated by the First cnditin, but the text part is the ne that matters. As in the cnditins, yu can specify several things. In general if it is required t plt a clumn it can be dne by putting its clumn psitin, such as: 4. It can als be used the $4 t plt the frth clumn. As befre, peratins between scalars and clumns can be dne (and even use functins), such as: ($9*2- $11*3-1.5). Y Clumn: This allws specifying the clumn fr the y values fr the selected plt. The frmat is the same as in X Clumn. Label: Sets the label fr the selected plt. Plt buttn: This buttn executes the pltting tl f glab with the specified ptins. Sftware User Manual Page 57 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

58 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 4.4 GUI LIMITATIONS Fr an increased easiness in use, the GUI des nt include all the different ptins that the DPC is able t cpe. In rder t use these GUI-excluded features, the cmmand-line DPC prgram shuld be used instead (see sectin 5 GLAB Data Prcessing Cre (DPC)). In particular, the fllwing cases are nt cvered by the GUI: Besides frm ANTEX, the DPC can als read the GPSCnstellatinStatus.txt file (which can be fund in [RD-12]), cmpiled and updated by Richard B. Langley. This file prvides a dictinary between satellite PRN and SVN, and its crrespnding GPS Blck. This allws crrecting the phase centres f the satellites. The GUI Available Frequencies ptin f Filter sectin, can nly take tw different values: Single r Dual Frequency. With the DPC it is pssible the specify availability f each frequency (fr example setting as available F1 and F5 f GPS) by means f the -pre:availf ptin. In the current versin, SBAS prcessing and Stanfrd/Stanfrd-ESA plts are available in the GUI, but the wrld maps, integrity rati maps and the SBAS availability maps (fr bth prcessing and pltting) are nly available thrugh cmmand line. SNR threshld in the GUI is set fr all satellites, but thrugh cmmand line, a different SNR threshld can be set fr each satellite. Only ne timestamp range in the utput KML file can be set thrugh the GUI, but in cmmand line, any number f timestamp ranges can be set. Sftware User Manual Page 58 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

59 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 4.5 PROCESSING EXAMPLE The next example gives an verview f a simple prcessing using glab, fllwing all the steps frm selecting input files t generating plts t analyse the data. The sample will cver a precise static psitining t btain the precise crdinates f a statin. After pening the glab, the splash screen is shwn (Figure 4-13). Clicking the Input tab will pen the Input sectin (Figure 4-14). Clicking the PPP Template in the drp-dwn men will precnfigure the GUI fr a basic PPP. Clicking the Examine buttn fr the RINEX Observatin File will allw selecting which RINEX bservatin file will be used. Figure 4-13: GUI Splash screen Figure 4-14: Input sectin A file dialg will pen (Figure 4-15), in rder t g t the test directry (where all sample data files are fund), the G Back ne directry buttn shuld be pressed, and afterwards dubleclick in test (Figure 4-16). Figure 4-15: File Open dialg (1/3) Figure 4-16: File Open dialg (2/3) Sftware User Manual Page 59 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

60 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin The directry where all the data is stred will be the ne active (Figure 4-17). Duble clicking n madr will select this file and include it in the Input sectin (Figure 4-18). In rder t include the rest f the required files, it shuld be clicked the Examine f ANTEX File (selecting the file igs_pre1400.atx ), and the Examine f SP3 File (selecting the file igs13843.sp3 ). Figure 4-17: File Open dialg (3/3) Figure 4-18: Updated Input sectin Once input files are selected (Figure 4-19), Filter sectin buttn shuld be clicked in rder t cnfigure all the filter parameters. Once in this screen (Figure 4-20), the fllwing parameters shuld be used (if nt already checked): Navigatin mde: PPP Template Estimate wet trpspheric residual: Yes Available frequencies: Dual frequency Receiver Kinematics: Static Measurement selectin: Pseudrange + Carrier phase All these parameters are the default nes, s n special change shuld be dne if the prgram has just started. After being sure all parameters are prperly selected, the utput file shuld be selected by clicking in the Output sectin. Sftware User Manual Page 60 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

61 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Figure 4-19: All input files are selected Figure 4-20: Filter sectin In the Output sectin (Figure 4-21), the Examine buttn can be clicked t select the utput file, Figure 4-22 shws the File Open dialg that will pen. Writing glab.ut and clicking enter will select this file name as utput fr the prcessing. Figure 4-21: Output sectin Figure 4-22: File pen dialg fr selecting the utput file After selecting the utput (Figure 4-23) the RUN buttn will execute glab DPC with the selected ptins. While the DPC is running, the RUN buttn will be grey in rder t avid multiple clicks. After sme secnds, the prcessing will end. T analyse the results click n the Analysis tab (Figure 4-24). Sftware User Manual Page 61 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

62 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Figure 4-23: Output selected Figure 4-24: DPC has been executed As explained in sectin 4.3 the Analysis mde (Figure 4-25) cntains several templates in rder t ease the generatin f plts, in this sense, t plt the evlutin f the receiver psitin in Nrth/East/Up cmpnents the buttn Receiver NEU psitin errr shuld be clicked. Figure 4-26 shws the cnfiguratin f the Graphic Details with this template. The Surce File is the file selected in the Output sectin f the Calculus tab. Clicking the Plt buttn will generate this plt. While the prgram is prcessing the surce file, the Plt buttn will be kept grey. Figure 4-25: Analysis tab Figure 4-26: Receiver NEU psitin errr cnfiguratin When the prcessing is finished, a windw will pen (Figure 4-27) shwing the generated plt, and the Plt buttn will be again available. Sftware User Manual Page 62 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

63 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Figure 4-27: Plt sample Figure 4-28: Plt sample (zm) The pltting utility allws zming, mving and saving the current plt as a picture. All these functins can be accessed thrugh the tp tlbar. Figure 4-28 shws a zm f the y axis. As wuld be expected fr a PPP prcessing, the final psitin errr is in the rder f 1 cm. Sftware User Manual Page 63 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

64 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 5 glab DATA PROCESSING CORE (DPC) The DPC is the prcessing tl f glab, it has been prgrammed in C with special care fr the fllwing bjectives: Easy t use fr an advanced user. Mdularized, in rder t incrprate future updates. Optimized fr CPU and memry usage. The ptins f the DPC are basically the same as the ptins f the GUI, with the exceptins taken in cnsideratin in sectin 4.4 GUI Limitatins. The DPC can be executed with the argument -help, which will prvide detailed infrmatin f the different arguments that can be used. The fllwing lines are an extract f the -help inline infrmatin: GENERAL OPTIONS: -help -messages -examples -cnfig -usererrrfile -sigmamultipathfile -rtcmv2cnversininf Shws this help Shws the fields f each utput message (see belw, 'VERBOSE OPTIONS') Shws sme examples t call the prgram Shws sme inf n the cnfiguratin file Shws an example f user-defined errr cnfiguratin file Shws an example f user multipath mdel cnfiguratin file Shws detailed infrmatin f the text files generated frm a RTCM v2.x cnversin INPUT OPTIONS -input:cfg <file> Sets the input cnfiguratin file -input:bs <file> Sets the input RINEX bservatin file -input:nav <file> Sets the input RINEX navigatin message file -input:sp3 <file> Sets the input SP3 rbits and clcks file -input:rb <file> Sets the input SP3 rbits -input:clk <file> Sets the input clck file -input:cn <file> Sets the input cnstellatin status file (default GPSCnstellatinStatus.txt) -input:ant <file> Sets the input ANTEX satellite/receiver antenna data file -input:klb <file> Sets the input RINEX navigatin file fr Klbuchar crrectins, if this parameter is avided, it is used the -input:nav file -input:bds <file> Sets the input RINEX navigatin file fr BeiDu crrectins, if this parameter is avided, it is used the -input:nav file -input:inx <file> Sets the input IONEX file fr inspheric crrectins -input:fppp <file> Sets the input FPPP file fr inspheric crrectins -input:neq <file> Sets the input RINEX navigatin file fr NeQuick crrectins, if this parameter is avided, it is used the -input:nav file -input:sbasin <file> Sets the input RINEX-B r EMS SBAS file fr inspheric crrectins Sftware User Manual Page 64 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

65 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -input:dcb <file> Sets the input DCB surce as a.dcb file, a RINEX navigatin file, a IONEX file r a FPPP file. If mre than ne file is given fr the same mdel, the last ne will be used -input:rec <file> Sets the input GPS receiver types file (default GPS_Receiver_Types) fr DCB usage -input:snx <file> Sets the input SINEX file fr receiver psitin -input:sbas <file> Sets the SBAS data file (RINEX-B v2.11 r EMS). Activates SBAS prcessing mde -input:dgnss <file> Sets the input RINEX bservatin file f the Reference Statin fr DGNSS -input:rtcm <file> Sets the input RTCM binary file, glab will autmatically detect the RTCM versin -input:rtcm2 <file> Sets the input RTCM v2.x binary file -input:rtcm3 <file> Sets the input RTCM v3.x binary file -input:rtcm:initdate <date> Sets the date when the recrd f the binary file RTCM began (YYYYMMDD), required nly when prcessing r cnverting RTCM v2.x -input:rtcm:inithur <hur> Sets the hur in GPST, when the recrd f the binary file RTCM began (HH 24-hur frmat), required when prcessing r cnverting RTCM v2.x and RTCM v3.x -input:sigmpath <file> Sets the data file fr user sigma multipath mdel fr SBAS (execute 'glab -sigmamultipathfile' fr details) -input:usererrr <file> Sets the data file fr adding user defined errr signal t raw measurements (execute 'glab -usererrrfile' fr details) The use f '-input:nav' file will precnfigure the parameters t wrk in the Standard Pint Psitining (SPP). The use f '-input:sp3'/'-input:rb'/'-input:clk' will precnfigure the parameters t wrk in the Precise Pint Psitining (PPP) apprach. All the values can be verridden by specifying the parameters. See belw fr mre details n which are the defaults fr each mde. The use f '-input:sbas' will precnfigure the parameters t wrk in SBAS mde. The use f any '-input:rtcm' withut a '-input:bs' will result int cnverting the input RTCM t its crrespnding utput. PREPROCESSING OPTIONS -pre:dec # # = number Decimate input data by # secnds [default 300 fr SPP/PPP, 1 fr SBAS, 0 fr DGNSS] In prduct cmparisn mde (see belw, in 'WORK MODES'), it sets the time step f the cmparisns -pre:sat g# Exclude satellite frm prcessing g = character determining GNSS system (G->GPS) # = PRN number (If #=0, all satellites f the selected GNSS system will be unselected) -pre:geexclude # Exclude GEO satellite frm SBAS. Data frm this GEO will be ignred fr SBAS crrectins Sftware User Manual Page 65 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

66 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin # = PRN number -pre:gesel # Select GEO satellite fr SBAS crrectins # = 0 => Use data frm all GEO (all GEO mixed) [default in NPA if mixing GEO data is enabled] # = 1 => Use GEO frm the first line f SBAS data read [default in PA] # = 2 => Use the GEO with highest elevatin 120 <= # <= 210 => Use the GEO with the given PRN -pre:snr Enable SNR (Signal t Nise Rati) deselectin. The SNR is read frm the bservatin file. [default ff] If n SNR is present in the bservatin file, n deselectin is dne. The default threshld is 30 dbhz -pre:snrsel g# <val> Set a SNR threshld fr a given satellite. If this ptin is given, SNR deselectin will be activated g = character determining GNSS system (G->GPS) # = PRN number. If #=0, then the threshld will be applied t all satellites f the selected GNSS system <val> Value fr SNR threshld in dbhz. This value is cmpared t the SNR btained frm the RINEX file in all cde and carrier phase measurements. If n SNR value is present in the RINEX file, this value will be mitted. -pre:elevatin <val> Elevatin mask. Satellites belw this threshld will be discarded (in degrees) [default 5] -pre:eclipse Discard satellites under Earth eclipse [default: enabled fr PPP, disabled fr SPP] -pre:availf g# Mark frequencies available [default all] g = character determining GNSS system (G->GPS) # = frequencies available Sample: '-pre:availf G12' Frequencies 1 and 2 f GPS available '-pre:availf G1' Frequency 1 f GPS available, 2 unavailable -pre:smth <val> Number f epchs f smthing [default 0 (disabled) fr nn SBAS prcessing, default 100 fr SBAS prcessing] -pre:smthmeas <n> <meas> Smth measurement in filter <n> with measurement type <meas> In general, <n> is a pseudrange and <meas> a carrier phase, see ptin '-filter:select' fr mre infrmatin in the selectin f measurements t be used in the filter type <meas> fr carrier phase smthing are: L1P, L2P, IF (In-free) and DF -pre:smthmin <val> (divergence-free) Number f epchs f cntinuus cde smthing befre steadystate peratin [default 0 fr nn SBAS prcessing, 360 fr SBAS prcessing] Satellites will be excluded until reaching this steady-state -pre:dgnss:excludesmthingcnvergenceuser Exclude satellites during the smthing cnvergence in the User Statin [default ff] --pre:dgnss:excludesmthingcnvergenceuser D nt exclude satellites during the smthing cnvergence in the User Statin Sftware User Manual Page 66 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

67 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -pre:dgnss:excludesmthingcnvergenceref Exclude satellites during the smthing cnvergence in the Reference Statin, it will be effective if at least ne cycle-slip detectr is activated [default n] --pre:dgnss:excludesmthingcnvergenceref D nt exclude satellites during the smthing cnvergence in the Reference Statin -pre:dgnss:smthmin <val> Number f secnds f cntinuus cde smthing befre steadystate peratin [default 360] -pre:setrecps <val> <val> = RINEX Set the user receiver a priri psitin as the ne specified in the RINEX bservatin file [default] <val> = SINEX Set the user receiver a priri psitin t be read frm a SINEX file (t be specified by the '-input:snx' parameter) <val> = calculate The user receiver a priri psitin will be calculated by the prgram, starting frm ( ,0,0). This is especially useful when prcessing mving receivers (trajectries) r when the apprximate receiver psitin is nt knwn. With this ptin activated, the differential fields f the OUTPUT message will be zer <val> = calculaterinex The user receiver a priri psitin will be calculated by the prgram, but the initial crdinates, instead f being ( ,0,0), it will be the ne read in the RINEX bservatin header. If RINEX crdinates are (0,0,0), then Earth's surface will be used as initial crdinates <val> = calculateuser <x> <y> <z> The user receiver a priri psitin will be calculated by the prgram, but the initial crdinates, instead f being ( ,0,0), it will be the ne given by the user in this parameter (in metres) <val> = <x> <y> <z> Specify the receiver a priri psitin in metres Sample: '-pre:setrecps ' <val> = RTCMbaseline The user receiver a priri psitin will be calculated by the prgram as in ptin 'calculate', but the slutin will be cmpared with the RTCM antenna psitin, (baseline vectr frm user t reference statin), and the reference statin crdinates will be read frm RINEX r RTCM input file. <val> = RTCMRinexRver The user receiver a priri psitin will be calculated by the prgram as in ptin 'calculate', but the slutin will be cmpared with the psitin read frm the bservatin RINEX file <val> = RTCMRverUSER <x> <y> <z> The user receiver a priri psitin will be calculated by the prgram as in ptin 'calculate', but the slutin will be cmpared with the psitin given in this parameter <val> = RTCMUserbaseline <x> <y> <z> The user receiver a priri psitin will be calculated by the prgram as in ptin Sftware User Manual Page 67 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

68 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 'calculate', but the slutin will be cmpared with the reference statin (baseline vectr frm user t reference statin) and the reference statin crdinates will be read frm user input (this mde nly wrks when cmputing DGNSS with a RINEX file) <val> = RTCMUserRinexRver <x> <y> <z> The user receiver a priri psitin will be calculated by the prgram as in ptin 'calculate', but the slutin will be cmpared with the psitin read frm the bservatin RINEX file and the reference statin crdinates will be read frm user input. (this mde nly wrks when cmputing DGNSS with a RINEX file) <val> = RTCMRefRverUSER <RefX> <RefY> <RefZ> <RverX> <RverY> <RverZ> The user receiver a priri psitin will be calculated by the prgram as in ptin 'calculate', but the slutin will be cmpared with the user crdinates, and als the reference statin crdinates will be read frm user input. The first three input values are the XYZ reference crdinates, the last three input values are the XYZ rver psitin (this mde nly wrks when cmputing DGNSS with a RINEX file) -pre:setrectype <val> <val> = gpsrt Set the receiver type as the ne specified in the GPS_Receiver_Types file (prvided by '-input:rec') [default if '- input:rec' prvided] <val> = 0 Set the receiver type as 'Unknwn' [default] <val> = 1 Set the receiver type as 'Crss-crrelated' In this mde, P2 will be crrected with the DCB f P1-C1 <val> = 2 Set the receiver type as 'N P1' In this mde, C1 will be used instead f P1 <val> = 3 Set the receiver type as 'Cnsistent measurements' -pre:prealign Prealign carrier phase measurements with its crrespnding pseudrange [default n] -pre:checkcdejumps Check fr pseudrange jumps and adjust the phase accrdingly. See 'Ntes fr preprcessing' belw [default n] --pre:checkcdejumps -pre:cs:datagap <val> -pre:cs:lli --pre:cs:lli -pre:cs:ncn --pre:cs:ncn -pre:cs:ncn:min <val> D nt check fr pseudrange jumps Data gap. Maximum perid f time, withut measurements, allwed befre declaring cycle-slip (in secnds) [default 40] NOTE: If <val> is shrter than the sampling rate, all measurements will be discarded Use Lss f Lck Indicatr fr cycle-slip detectin [default ff] D nt use Lss f Lck Indicatr fr cycle-slip detectin [default ff] Use N-cnsecutive epchs fr cycle-slip detectin [default n] D nt use N-cnsecutive epchs fr cycle-slip detectin [default ff] After a shrt data gap (i.e., shrter than the value set in '- pre:cs:datagap' with default f 40 secnds) discard the first <val> epchs. NOTE: If sampling interval is greater than 15 secnds, glab will autmatically disable this ptin [default 2] Sftware User Manual Page 68 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

69 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -pre:cs:li Use the carrier phase gemetry-free cmbinatin (LI) fr cycle-slip detectin (2 frequencies) [default in PPP] --pre:cs:li D nt use carrier phase gemetry-free cmbinatin (LI) fr cycleslip detectin (2 frequencies) [default in SPP] Li cmbinatin is a slw varying functin which nly has ambiguity and insphere Each epch and satellite an expected LI value is cmputed and cmpared against the measured ne, if this difference is abve a certain threshld, a cycle-slip is marked. This threshld is (max + (min-max)*exp(-dt/t)), being dt the time between epchs -pre:cs:li:maxjump <val> Maximum jump threshld between tw cnsecutive measured LI values [default 1] -pre:cs:li:max <val> Maximum threshld between estimated and measured LI values [default 0.08] -pre:cs:li:t0 <val> Time cnstant t set the threshld between maximum and minimum [default 60] -pre:cs:li:samples <val> Minimum number f epchs needed t fit the secnd-degree plynmial [default 7] -pre:cs:bw Use Melburne-Wubbena (BW) fr cycle-slip detectin (2 frequencies) [default in PPP] --pre:cs:bw D nt use Melburne-Wubbenna (BW) fr cycle-slip detectin (2 frequencies) [default in SPP] BW cmbinatin is a mixed cmbinatin between carrier phase and pseudranges. This cmbinatin is free f insphere and gemetry, thence cnstant, but has a high nise (due t the pseudrange measurements used). If this nise is lw enugh, it is straightfrward t detect cycle-slips, but in nisy envirnments BW is nt able t detect cycle-slips. The algrithm using BW cmputes the mean and the standard deviatin f the last epchs in rder t btain an estimated value and the nise level f the cmbinatin. The estimated value is cmpared against the measured value, and the nise level is used fr the threshld f this difference. Difference must be lwer than standard deviatin multiplied by a number (k-factr). This threshld has minimum (min) and maximum (max) saturatin -pre:cs:bw:siginit <val> values. Initial standard deviatin (in metres) t use in BW after a cycle-slip [default 2] -pre:cs:bw:sigmin <val> Minimum threshld (in metres) between estimated and measured BW values in relatin t its standard deviatin [default 0.8] -pre:cs:bw:timewindw <val> Number f epchs t cmpute the mbile mean ver the Hatch filter [default 300] -pre:cs:bw:kfactr <val> Relatin between estimated and measured BW values in relatin t its standard deviatin [default 5] Sftware User Manual Page 69 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

70 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -pre:cs:bw:samples <val> Minimum number f epchs needed t stabilize the mean and sigma in the BW cycle-slip detectr [default 2] -pre:cs:l1c1 Use the L1-C1 cmbinatin fr cycle-slip detectin (1 frequency) [default in PPP] --pre:cs:l1c1 D nt use the L1-C1 cmbinatin fr cycle-slip detectin (1 frequency) [default in SPP] -pre:cs:l1c1:uncncheck Use the uncnsistency check in L1-C1 cycle-slip detectin (1 frequency) [default] --pre:cs:l1c1:uncncheck D nt use the uncnsistency check in L1-C1 cycle-slip detectin (1 frequency) -pre:cs:l1c1:uncncheck:th <val> Threshld (in metres) fr the uncnsistency check in L1-C1 cycleslip detectin (1 frequency) [default 20] The L1-C1 averages the difference between carrier phase and pseudrange measurements in F1 fr several epchs. This cycle-slip detectin methd is very useful fr single-frequency receivers, as it nly requires measurements frm ne frequency. As a cunterpart, the inspheric term is different fr C1 and L1 thence, this cmbinatin will tend t diverge. It becmes necessary t set a smthing windw t limit this divergence (- pre:cs:l1c1:timewindw). This makes that this methd becmes a bit limited with data rates t lw. Ideally this methd shuld be used with rates f 1 Hz -pre:cs:l1c1:kfactr <val> Relatin between estimated and measured L1-C1 values in relatin t its standard deviatin [default 5] -pre:cs:l1c1:timewindw <val> Number f epchs t limit the L1-C1 insphere divergence [default 300] -pre:cs:l1c1:samples <val> Minimum number f epchs needed t stabilize the mean and sigma in the L1C1 cycle-slip detectr [default 2] -pre:cs:l1c1:init <val> Initial standard deviatin fr the threshld calculatin in the L1-C1 [default 3] (m) -pre:usererrrafter Add user defined errr after prealigning, checking cycle-slips and smthing [default ff] MODELING OPTIONS (use -mdel:... t activate, --mdel:... t deactivate) -mdel:in <val> <val> = n D nt crrect insphere [default in PPP] (equivalent t '--mdel:in') = Klbuchar Crrect measurements with Klbuchar mdel [default in SPP] = BeiDu Crrect measurements with BeiDu mdel = IONEX Crrect measurements with IONEX file data = FPPP Crrect measurements with FPPP file data = NeQuick Crrect measurements with NeQuick mdel = SBAS Crrect measurements with SBAS in crrectins (but d nt apply any ther SBAS crrectin) If mre than ne in mdel ptin is given, the last ne will be used Sftware User Manual Page 70 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

71 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -mdel:trp Crrect trpsphere delay [default n] --mdel:trp D nt crrect trpsphere delay -mdel:trp:nminal <val> <val> = Simple Cmpute a simple trpspheric nminal depending n receiver's height ver the sea level. [default in PPP] <val> = UNB3 Trpsphere nminals are calculated frm the receiver's height and estimates f five meterlgical parameters: pressure, temperature, water vapur pressure, temperature lapse rate and water vapur lapse rate. It is adpted by SBAS systems (see RTCA-MOPS, 2006). [default in SPP] <val> = TrpGal Use Galile's trpspheric mdel -mdel:trp:mapping <val> <val> = Simple Cmpute the mapping as the bliquity factr described in Black and Eisner, This mapping nly depends n satellite elevatin and it is cmmn fr wet and dry cmpnents. [default in SPP] <val> = Niell Cmpute the mapping described in A.E. Niell, This mapping cnsiders different bliquity factrs fr the wet and dry cmpnents [default in PPP] -mdel:satclcks Crrect the measurements with the satellite clck ffsets estimatins [default n] -mdel:relclck Crrect the measurements with the relativistic clck mdel [default n] -mdel:satmvinflight Cnsider satellite mvement during signal flight time [default n] -mdel:earthrtinflight Cnsider Earth rtatin during signal flight time [default n] -mdel:satphasecenter Crrect satellite phase centre t mass centre crrectins [default n in PPP, ff in SPP] -mdel:satphasevar Crrect satellite phase centre t mass centre crrectins variatins with zenital angle [default ff fr SPP, n fr PPP] -mdel:recphasecenter <val> <val> = n D nt crrect antenna receiver phase centre [default in SPP] <val> = ANTEX Use the ANTEX file t crrect the antenna phase center [default in PPP] <val> = <nfreq> <dn> <de> <du> Set dn, de, du as the antenna phase centre fr the frequency <nfreq> <nfreq> = Frequency number (typical fr GPS, 1 and 2) <dn> = Nrth crrectin [in metres] <de> = East crrectin [in metres] <du> = Up crrectin [in metres] Sample: '-mdel:recphasecenter mdel:recphasecenter ' Typical AOAD/M_T antenna phase centre crrectin, 11 cm and 12.8 cm in the Up cmpnent fr frequencies 1 and 2 -mdel:recphasevar Crrect antenna receiver phase centre variatins [default ff in SPP, n in PPP] -mdel:strictradme When using ANTEX t crrect the receiver phase centre, this ptin will frce a perfect match between the antenna name and Sftware User Manual Page 71 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

72 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin radme reprted in the receiver RINEX file and the nes in the ANTEX file. If this ptin is disabled, and the radme is nt fund, the crrectins will be used cnsidering the radme "NONE" [default ff] -mdel:arp <val> <val> = n D nt apply any Antenna Reference Pint (ARP) crrectin [default in SPP] (equivalent t '--mdel:arp') <val> = RINEX Use as ARP the infrmatin n the RINEX file (field 'ANTENNA: DELTA H/E/N') [default in PPP] <val> = <dn> <de> <du> Set dn, de, du as the ARP <dn> = Nrth crrectin [in metres] <de> = East crrectin [in metres] <du> = Up crrectin [in metres] -mdel:dcb:p1c1 <val> <val> = n D nt crrect Differential Cde Biases between P1 and C1 cdes (equivalent t '--mdel:dcb:p1c1') D nt identify C1 and P1 never <val> = flexible D nt crrect Differential Cde Biases between P1 and C1 cdes [default n] Identify C1 and P1 when ne f them is missing <val> = strict Crrect Differential Cde Biases between P1 and C1 cdes Identify C1 and P1 when applicable (defined by the receiver type) -mdel:dcb:p1p2 <val> <val> = n D nt crrect Differential Cde Biases between cdes P1 and P2 (equivalent t '--mdel:dcb:p1p2') <val> = RINEX Crrect Differential Cde Biases between cdes P1 and P2 using TGDs frm the RINEX navigatin file [default in SPP, ff in PPP] <val> = DCB Crrect Differential Cde Biases between cdes P1 and P2 frm a precise DCB file Identify C1 and P1 when applicable (defined by the receiver type) <val> = IONEX Crrect Differential Cde Biases between cdes P1 and P2 using DCB frm IONEX file <val> = FPPP Crrect Differential Cde Biases between cdes P1 and P2 using DCB frm FPPP file -mdel:windup Crrect the wind up term fr carrier phase measurements [default] -mdel:slidtides Crrect the Earth surface defrmatin due t slid tides [default in PPP, ff in SPP] -mdel:relpath Crrect the path range delay term due t the gravitatinal gradient -mdel:satellitehealth between receiver and transmitter [default n in PPP, ff in SPP] Only valid when using bradcast prducts. Use the healthy flag f the navigatin message [default n] -mdel:brdctranstime Only valid when using bradcast prducts. Check that transmissin time f message is equal r befre the current epch f current time [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -mdel:rbit:deg <val> Precise rbit interplatin degree [default 10] -mdel:clck:deg <val> Precise clck interplatin degree [default 0 - n interplatin] -mdel:rbmaxgaps <val> Set maximum number f gaps between samples used fr precise rbit interplatin [default 8] -mdel:clkmaxgaps <val> Sftware User Manual Page 72 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

73 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Set maximum number f gaps between samples used fr precise clck interplatin [default 2] -mdel:rbttmaxgaps <val> Set the maximum number f gaps between all samples used fr precise rbit interplatin [default 16] -mdel:clkttmaxgaps <val> Set the maximum number f gaps between all samples used fr precise clck interplatin [default 4] -mdel:rbprevsample When a cncatenated SP3 file is read fr rbit data, if the last epch f the previus day is the same as the first epch f the current day, use the last rbit sample f the previus day instead f the first sample f the current day [default ff] This typically ccurs with samples at epch 0h 0m. This ptin will nly have effect if bth repeated samples have valid values. -mdel:clkprevsample When a cncatenated SP3/Clck file is read fr clck data, if the last epch f the previus day is the same as the first epch f the current day, use the last rbit sample f the previus day instead f the first sample f the current day [default ff] This typically ccurs with samples at epch 0h 0m. This ptin will nly have effect if bth repeated samples have valid values. -mdel:sbasmaritime Cnfigure SBAS parameters fr SBAS maritime mde (see ntes n SBAS maritime belw) [default ff] -mdel:alarmmsgtype2 When reading an SBAS message type 0, parse it as type 2 (except if all bits are 0) [default ff] -mdel:ignretype0 Ignre all SBAS messages type 0 [default ff] -mdel:sbasmde <val> Select navigatin mde fr SBAS prcessing: <val> = PA Precisin Apprach [default] <val> = NPA Nn Precisin Apprach -mdel:geswitch Enable GEO switch fr SBAS prcessing. See 'Mde and GEO switch ntes' belw [default ff] -mdel:maintainge If GEO switch fr SBAS is enabled, maintain current GEO while pssible independently if it is the GEO selected by the user r it has been selected due t a GEO switch [default n] -mdel:gefallback If GEO switch fr SBAS is enabled, always try t return t the initial selected GEO [default ff] -mdel:sbasmdeswitch Enable navigatin mde switching fr SBAS prcessing [default ff] -mdel:mixedge Enable the usage f mixed GEO data (messages frm all GEO are treated as if there were frm an unique GEO) [default ff] -mdel:initcrdnpa In SBAS mde, if receiver crdinates are t be calculated withut giving any initial cnditin (parameter -pre:setrecps calculate), cmpute the first epchs using Klbuchar until the receiver crdinates have cnverged. This is useful due t the initial glab crdinate may d that the IPPs (Inspheric Pierce Pint) fall utside the SBAS regin, making all satellites unavailable due t the lack f insphere. This ptin nly has effect if SBAS mde switch is disabled and receiver crdinates are set t 'calculate' [default n] Sftware User Manual Page 73 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

74 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -mdel:sbasreceiver # -mdel:geacqtime # -mdel:switchtime # -mdel:sbastmut -mdel:sbastmutpa Set receiver class type fr SBAS (fr cmputing variance f the airbrne receiver) # = 0 User defined receiver mdel (defined with parameters '- mdel:sigmpath', '-mdel:sigdiv', '-mdel:signise' and '- input:sigmpath'). The receiver sigmas nt defined by the user (with the previus parameters) will use the default values fr class 2 receiver # = 1 Class 1 equipment # = 2,3,4 Class 2,3,4 equipment (all equivalent) [default 2] Set the minimum time (in secnds) t cnsider that glab has received enugh SBAS crrectins frm a GEO cunting frm the first message received [default 300] This timer is set t ensure that we have received enugh crrectins frm the GEO we want t switch t. If this timer is set t lw (few secnds), it may happen that we switch t a GEO with nt enugh data (due t we are in initializatin r the GEO has received an alarm message glab will nt switch t any GEO befre this time, except fr when an alarm message is received and there is n ther GEO available Set the minimum time (in secnds) between a GEO r mde switch and the fllwing ne [default 20] This timer is set t avid cntinuus switching in the same epch when all GEO d nt have enugh data. If this timer is set t zer, a maximum f 2 switches per epch (fr bth mde and GEO) will be dne <n> <val> Set time ut value fr SBAS messages (except fr fast and range rate crrectins) in bth mdes, PA and NPA <n> is the message type number <val> is the time ut value (in secnds) <n> <val> Set time ut value fr SBAS messages (except fr fast and range rate crrectins) in PA mde <n> is the message type number <val> is the time ut value (in secnds) -mdel:sbastmutnpa <n> <val> Set time ut value fr SBAS messages (except fr fast and range rate crrectins) in NPA mde <n> is the message type number <val> is the time ut value (in secnds) -mdel:sbastmutfc <val> Set time ut value fr fast crrectins in bth mdes, PA and NPA <val> is the time ut value (in secnds) -mdel:sbastmutfcpa <val> Set time ut value fr fast crrectins in PA mde <val> is the time ut value (in secnds) -mdel:sbastmutfcnpa <val> Set time ut value fr fast crrectins in NPA mde <val> is the time ut value (in secnds) -mdel:sbastmutrrc <val> Sftware User Manual Page 74 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

75 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Set time ut value fr range rate crrectins in bth mdes, PA and NPA <val> is the time ut value (in secnds) -mdel:sbastmutrrcpa <val> Set time ut value fr range rate crrectins in PA mde <val> is the time ut value (in secnds) -mdel:sbastmutrrcnpa <val> Set time ut value fr range rate crrectins in NPA mde <val> is the time ut value (in secnds) -mdel:sigmpath <val1> <val2> Set parameters a,b fr sigma multipath fr SBAS airbrne receiver, being sigma=a+b*e^(-satelevatin/10) and satelevatin in degrees. <val1> a value (in metres) <val1> b value (in metres) -mdel:sigdiv <val> Set a fixed value (in metres) fr sigma divergence fr SBAS airbrne receiver -mdel:signise <val> Set a fixed value (in metres) fr sigma nise fr SBAS airbrne receiver -mdel:nfastcr Set SBAS fast and RRC crrectins values t 0 [default ff] -mdel:nrrccr Set SBAS RRC crrectin value t 0 [default ff] -mdel:nslwcr Set SBAS slw crrectins values t 0 [default ff] -mdel:nincr Set SBAS insphere crrectin value t 0 [default ff] -mdel:nfastsigma Set SBAS fast and RRC sigmas (sigma UDRE and degradatin terms) values t 0 [default ff] -mdel:nfastdeg Set SBAS fast degradatin term value t 0 [default ff] -mdel:nrrcsigma Set SBAS RRC degradatin term value t 0 [default ff] -mdel:nslwsigma Set SBAS slw crrectin degradatin term t 0 [default ff] -mdel:ninsigma Set SBAS insphere sigma t 0 [default ff] -mdel:ntrpsigma Set SBAS trpsphere sigma t 0 [default ff] -mdel:nenrutesigma Set SBAS En Rute Thrugh NPA degradatin term t 0 [default ff] -mdel:ndeltaudre Set SBAS Delta UDRE factr t 1 [default ff] -mdel:nmt10 -mdel:nmt2728 Disable use f message type 10 in all mdes [default ff] Disable use f messages type 27 and 28 in all mdes (this is equivalent t parameter '-mdel:ndeltaudre') [default ff] -mdel:dgnss:sigmainflatin The sigma is inflated during the smther cnvergence (see DGNSS ntes at the end) [default n] --mdel:dgnss:sigmainflatin D nt use the sigma inflatin during the smther cnvergence -mdel:dgnss:maxage <val> Set the maximum age value (in secnds) t stp applying DGNSS crrectins [default 31] -mdel:dgnss:maxcrrval <val> Set the maximum value fr a DGNSS crrectin t be cnsidered valid (in metres) [default 500] NOTE: When setting any fast, slw, insphere crrectin r their sigmas t 0, glab will still check all the cnditins fr the current Sftware User Manual Page 75 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

76 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin FILTERING OPTIONS -filter:sigmain -filter:stepdetectr mde. Fr example, if glab is in PA mde and the '- mdel:nfastcr' parameter is set, then it will search fr a fast crrectin, and if it is available, it will set the value t 0 instead f the ne given in the SBAS message. If there is n SBAS fast crrectin available, the satellite will nt be used. NOTE: The SBAS timeuts given by the user will verride the defaults stated in MOPS-D. Use standard deviatin data frm IONEX r FPPP r SBAS if these in mdels are used [default n] ('--filter:sigmain' t disable it) Check fr jumps in measurements using the prefits residuals (nly fr C1C measurement) [default ff] Use '--filter:stepdetectr' t disable it -filter:prefitutliers:median <val> Check fr utliers in the prefits residuals using the median, with <val> (in metres) as the threshld [default ff] Use '--filter:prefitutliers:median' r '-filter:prefitutliers:median 0' t disable it. See ntes n prefit utlier detectrs belw -filter:prefitutliers:abs <val> Check fr utliers in the prefits residuals cmparing abslute -filter:trp values, with <val> (in metres) as the threshld [default ff] Use '--filter:prefitutliers:abs' r '-filter:prefitutliers:abs 0' t disable it. See ntes n prefit utlier detectrs belw Estimate the trpsphere f the statin [default in PPP with carrier phase] ('--filter:trp' t disable it) -filter:nav <nav> <nav> = static Prcess suppsing a static receiver [default in PPP] = kinematic Prcess suppsing a mving receiver [default in SPP] -filter:meas <meas> <meas> = pseudrange Use nly pseudrange fr psitining = carrierphase Use pseudrange and carrier phase fr psitining [default] -filter:select <num> <meas1> <meas2>... Select the measurements r cmbinatins t include in the filtering <num> = Number f measurements/cmbinatins <measn> = List f measurements/cmbinatins [Defaults]: PPP - Pseudrange => 1 PC [Defaults]: PPP - Carrierphase => 2 PC LC [Defaults]: SPP - Pseudrange => 1 C1C [Defaults]: SPP - Carrierphase => 2 C1C L1P -filter:fixedweight <n> <val> Apply the specified standard deviatin t the measurement 'n', t be used as weight in the filter. <n> = Measurement number <val> = Standard deviatin f the measurement (m) In particular, the filter shall apply as weight = 1/(<val>^2) Sftware User Manual Page 76 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

77 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin Sample: '-filter:fixedweight 1 2' Set 2 metres f standard deviatin t measurement 1 in filter '-filter:fixedweight ' Set 1 centimetre f standard deviatin t measurement 2 in filter Defaults: PPP: Pseudrange->1m Carrierphase->0.01m SPP: Pseudrange->5m Carrierphase->0.10m -filter:elevweight <n> <a> <b> <c> Apply the specified values t cmpute the standard deviatin f the measurement 'n' std = a + b * e^(-elevatin/c) <n> = Measurement number <a> = Minimum standard deviatin f the measurement [weight at elevatin 90 degrees] (m) <b> = Multiplier t e [standard deviatin at elevatin 0 degrees] (m) <c> = Elevatin cnstant (degrees) Again, the filter shall apply as weight = 1/(std^2) Sample: '-filter:elevweight ' Apply the standard deviatin: 0.3+8*e^(-elevatin/10) Nte: '-filter:elevweight 1 x 0 y' equals t '-filter:fixedweight 1 x' -filter:phi:dr <val> Specify the Phi value fr psitin unknwns [defaults static:1 kinematic:0] -filter:phi:clk <val> Specify the Phi value fr clck unknwn [default 0] -filter:phi:trp <val> Specify the Phi value fr trpsphere unknwn [default 1] -filter:phi:amb <val> Specify the Phi value fr ambiguity unknwns [default 1] -filter:q:dr <val> Specify the Q nise value fr psitin unknwns [defaults static:0 kinematic:1e8] (m^2) -filter:q:clk <val> Specify the Q nise value fr clck unknwn [default 9e10] (m^2) -filter:q:trp <val> Specify the Q nise variatin value fr trpsphere unknwn [default 1e-4] (m^2/h) -filter:q:amb <val> Specify the Q nise value fr ambiguity unknwns [default 0] (m^2) -filter:p0:dr <val> Specify the P0 initial value fr psitin unknwns [default 1e8] (m^2) -filter:p0:clk <val> Specify the P0 initial value fr clck unknwn [default 9e10] (m^2) -filter:p0:trp <val> Specify the P0 initial value fr trpsphere unknwn [default 0.5^2] (m^2) -filter:p0:amb <val> Specify the P0 initial value fr ambiguity unknwns (fr prealigned carrier phases) [default 20^2] (m^2) -filter:backward Specify that the filter des a backward prcessing after the frward ne is finished. This meas that it prcess the data backwards. The "turn pint" is defined as the latest pint where rbits and clcks are available r when the bservatin RINEX ends (whatever is first) ('--filter:backward' t disable it) [default disabled] -filter:maxgdp <val> Set the GDOP threshld (in metres) which will make glab d the fllwing when the threshld is exceeded: In SPP: Skip the epch [default disabled] In PPP: Skip the epch [default 30.0] Sftware User Manual Page 77 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

78 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin In SBAS: It will try t switch mde r GEO (if allwed), therwise it will skip the epch [default disabled] In DGNSS: Switch frm DGNSS t SPP [default 30.0] Use '--filter:maxgdp' t disable it -filter:stfdesa Cmpute values fr Stanfrd-ESA plt (nly fr SPP, SBAS and DGNSS) [default disabled] The utput data is written in a separate file (which has t be prcessed with graph.py). See parameter '-utput:stfdesa' -filter:stfdesali If Stanfrd-ESA cmputatin is enabled, write t file all gemetries which prduce an integrity rati equal r higher than the hrizntal r vertical threshlds (any f them). See parameters '- utput:stfdesali' [default enabled] -filter:stfdesa:xmax <val> Set the maximum value fr the hrizntal axis (errr axis, in metres) fr Stanfrd-ESA plt [default 50] -filter:stfdesa:ymax <val> Set the maximum value fr the vertical axis (prtectin level axis, in metres) fr Stanfrd-ESA plt [default 50] -filter:stfdesa:xres <val> Set the hrizntal reslutin (errr axis,in metres) fr Stanfrd- ESA plt [default 0.1] -filter:stfdesa:yres <val> Set the vertical reslutin (prtectin level axis, in metres) fr Stanfrd-ESA plt [default 0.1] -filter:stfdesa:hwir <val> Set the hrizntal integrity rati threshld fr which the gemetry inf will be written t file [default 0.7] See parameters '-filter:stfdesali' and '-utput:stfdesali' fr mre details. -filter:stfdesa:vwir <val> Set the vertical integrity rati threshld fr which the gemetry inf will be written t file [default 0.7] See parameters '-filter:stfdesali' and '-utput:stfdesali' fr mre details. OUTPUT OPTIONS -utput:file <file> Sets the utput file [default stdut] --utput:file Sets the utput t stdut [default] -utput:kml <file> Generate a KML file t be pened with Ggle Earth [default ff] -utput:kml0 <file> Generate a KML file with all height set t 0 (grund prjectin) t be pened with Ggle Earth [default ff] -utput:kml:refsta Add reference statins in KML file (in DGNSS mde nly). Use '-- utput:kml:refsta' t disable it. [default n] -utput:kml:tstamp Add time stamp in KML file [default ff] -utput:kml:tstampdec Decimatin (in secnds) fr time stamps in KML files [default 30] -utput:kml:tstamprange <val1> <val2> Set a time range fr time stamps. Only during this time range KML timestamps will be written [default ff] <val1> Start epch (in secnds f day). If "-" is given, it will be intepreted as the beginning f the file. <val2> Start epch (in secnds f day). If "-" is given, it will be intepreted as the end f the file. If the bservatin file spans fr mre than ne day, add an ffset f secnds t the start r end epch. T set multiple ranges, set this parameters an number f ranges needed. Sftware User Manual Page 78 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

79 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin This parameter is cmbinable with '-utput:kml:tstampdec' ptin -utput:sp3 <file> Generate a SP3 file with the cmputed crdinates [default ff] -utput:sp3:letter Cnstellatin letter t be written in the SP3 [default 'L'] -utput:sp3:prn PRN number t be written in the SP3 [default '9'] -utput:rinex <file> Sets the RINEX utput file name -utput:rinexversin <val> <val> = 2 Generates a RINEX v2.11 frm the binary file RTCM v3.x <val> = 3 Generates a RINEX v3.00 frm the binary file RTCM v3.x [default] -utput:crrectins <file> Sets the ASCII Plain Text utput file name fr the crrectins -utput:antenna <file> Sets the ASCII Plain Text utput file name fr the antenna infrmatin -utput:satvel <val> <val> = inertial Prints the inertial velcity in the messages where satellite velcity is given <val> = ITRF (ECEF) Prints the ECEF velcity in the messages where satellite velcity is given [default] -utput:rinexb -utput:ems -utput:pegasus -utput:pegstrictrinex Generate a RINEX-B file frm the SBAS data (nly fr SBAS) [default ff] Generate a EMS file frm the SBAS data (nly fr SBAS) [default ff] Generate Pegasus file frmat frm the SBAS data (nly fr SBAS). See ntes n Pegasus frmat belw. [default ff] When generating a RINEX-H file fr Pegasus, fllw the RINEX 2.11 rules fr transmissin time, health flag and URA (nly active if -utput:pegasus has been set) [default ff] -utput:pegspace Set the field separatr in Pegasus files t space character (' ') instead f a semicln (';') [default ff] -utput:pegfilealign Print Pegasus files with all clumns aligned [default ff] -utput:sbasdir <name> Set the directry where t write the utput SBAS files ('.' fr current directry) [default "SBAS"] -utput:stfdesa <file> Set the filename where t write the utput data fr Stanfrd-ESA plts [default "bservatinfilename_stdesa.txt"] The utput file is a clumnar text file t be prcessed with graph prgram (with '--sf' parameter) fr generating the Stanfrd-ESA plts The first line f the utput file cntains, in this rder the reslutin in X axis (errr), reslutin in Y axis (prtectin level), maximum value in X axis and maximum value in Y axis. All the values are in metres. Frm the secnd line until then end, each line cntains, in this rder, the X crdinate, Y crdinate (bth in metres), the number f pints in the hrizntal cmpnent in that crdinate and the number f pints in the vertical cmpnent in that crdinate. See an example f the generated figures with graph prgram in the SBAS manual (file glab_sbas_sum.pdf) Setting this ptin enables Stanfrd-ESA cmputatin. Sftware User Manual Page 79 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

80 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -utput:stfdesali <file> Set the filename where t write the gemetries f Stanfrd-ESA whse integrity rati are ver the hrizntal r vertical integrity rati (any f them). [default "bservatinfilename_stdesa_loi.txt"] This ptin sets enables the fllwing parameter autmatically: '- filter:stfdesali'. -nlycnvert Cnvert EMS r RINEX-B file t RINEX-B, EMS r Pegasus and exit withut prcessing any GNSS data [default ff] Incrrect messages frm RINEX-B r EMS files are messages which grant any f these cnditins: CRC mismatch, invalid header, unknwn message type, invalid time f applicability (time is ver secnds) In case f nt setting '-utput:rinex', '-utput:crrectins' and/r '- utput:antenna' glab will set autmatically a name fr the utput file[s]. These previus ptins are effective nly if an RTCM file is cnverted. Therefre, there will be n RTCM cnverted files if the input RTCM file is prcessed NOTE: A KML with a 1 secnd rate data and 1 secnd time stamp rate may be t big fr Ggle Earth VERBOSE OPTIONS (use -print:... t activate, --print:... t deactivate) -print:inf Print INFO messages [default n] -print:cycleslips Print CS messages [default n] -print:cs Equivalent t parameter '-print:cycleslips' -print:input Print INPUT messages [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -print:meas Print MEAS messages [default ff] -print:mdel Print MODEL messages [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -print:satellites Print EPOCHSAT messages [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -print:epchsat Equivalent t parameter '-print:satellites' -print:sat Equivalent t parameter '-print:satellites' -print:prefit Print PREFIT messages [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -print:pstfit Print POSTFIT messages [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -print:filter Print FILTER messages [default n fr nn SBAS prcessing, ff fr SBAS prcessing] -print:utput Print OUTPUT messages [default n] -print:satdiff Print SATDIFF messages in cmparisn mde (see belw) [default n] -print:satstat Print SATSTAT messages in cmparisn mde (see belw) [default n] -print:satstattt Print SATSTATTOT messages in cmparisn mde (see belw) [default n] -print:satpvt Print SATPVT messages in shw prduct mde (see belw) [default n] Sftware User Manual Page 80 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

81 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -print:satsel -print:sbascr -print:sbascrr -print:sbasvar -print:sbasin -print:sbasut -print:sbasunsel -print:sbasunused -print:usererrr -print:dgnss -print:dgnssunused -print:all -print:nne Print satellite selectin infrmatin [default ff fr nn SBAS prcessing, n fr SBAS prcessing] Print SBASCORR messages (nly fr SBAS) [default ff] Equivalent t parameter '-print:sbascr' Print SBASVAR messages (nly fr SBAS) [default ff] Print SBASIONO messages (nly fr SBAS) [default ff] Print SBASOUT messages (nly fr SBAS) [default n] Print SBASUNSEL messages (nly fr SBAS) [default ff] Print messages frm discarded satellites due t SBAS GEO switch (nly fr SBAS) [default ff] The discarded messages are MODEL, SBASCORR, SBASVAR, SBASIONO and SBASUNSEL, but nly the nes selected frm user parameters will be printed. Als, an asterisk '*' will be added at the end f the first field t indicate that it is a discarded measurement Print user added errr t raw measurements [default n] Print DGNSS glbal infrmatin (nly fr DGNSS) [default n] Print messages frm discarded satellites due t GDOP switch (frm DGNSS t SPP) [default ff] An asterisk '*' will be added at the end f the first field t indicate that it is a discarded measurement Print all messages D nt print anything Mre infrmatin n print messages can be seen with the '- messages' ptin SBAS SUMMARY OPTIONS When prcessing with SBAS crrectins, if INFO messages are enabled and receiver psitin is fixed, a statistical summary will be printed at the end f the utput file. See 'NOTES FOR SBAS PROCESSING' belw fr details f the message. The ptins fr generating this summary are: -sbassummary:hal <val> Sets the Hrizntal Alarm Limit (in metres) fr cmputing availability and cntinuity risk [default 40] -sbassummary:val <val> Sets the Vertical Alarm Limit (in metres) fr cmputing availability and cntinuity risk [default 50] -sbassummary:percentile <val> Sets the value fr cmputing the errr and prtectin level percentile [default 95] -sbassummary:windwsize <val> Sets the sliding windw size (in epchs) fr cmputing the cntinuity risk [default 15] -sbassummary:waitfrdaystart If the bservatin file starts at 22 hurs r later, glab will assume that frm the first epch until epch 23 hurs 59 minutes 59 secnds are given just t fill the SBAS message buffer and wait fr the smthing and filter cnverge, and the fllwing epchs frm the next day are the nes f interest. During this cnvergence perid, Stanfrd-ESA values will nt be cmputed and they will nt be taken int accunt fr the SBAS summary. Sftware User Manual Page 81 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

82 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin This ptin is useful t avid false MIs r high errr epch in the summary during the cnvergence time. [default n] This ptin can be disabled with '--sbassummary:waitfrdaystart' NOTE: The cmputatin f the cntinuity risk takes int accunt the sampling rate and data gaps in the bservatin file. NOTE: The last line f the SBAS summary cntains all the values f the previus lines alng with the statin crdinates. This line is useful fr pltting wrld maps with data frm each statin. NOTE: An example f a SBAS summary can be seen executing glab with '-messages' parameter SBAS PLOTS OPTIONS This mde is activated when nly a navigatin file and a SBAS file are given (see descriptin belw in WORK MODES). The fllwing ptins are specific fr this mde: -sbasplts:minlat <val> Sets the minimum latitude (in degrees) fr the SBAS plts. The minimum reslutin is 0.01 [default 25.0] -sbasplts:maxlat <val> Sets the maximum latitude (in degrees) fr the SBAS plts. The minimum reslutin is 0.01 [default 70.0] -sbasplts:minln <val> Sets the minimum lngitude (in degrees) fr the SBAS plts. The minimum reslutin is 0.01 [default -30.0] -sbasplts:maxln <val> Sets the maximum lngitude (in degrees) fr the SBAS plts. The minimum reslutin is 0.01 [default 40.0] -sbasplts:pltarea <minln> <maxln> <minlat> <maxlat> This parameter is a shrter way t prvide the same values as in '- sbasplts:minln' '-sbasplts:maxln', '-sbasplts:minlat' and '- sbasplts:maxlat' parameters. -sbasplts:recheight <val> Sets the receiver height (in metres) [default 0 (at sea level)] -sbasplts:hal <val> -sbasplts:val <val> Sets the Hrizntal Alarm Limit (in metres) fr cmputing the Availability plts [default 40] Sets the Vertical Alarm Limit (in metres) fr cmputing the Availability plts [default 50] -sbasplts:availstep <val> Sets the reslutin (in degrees) fr bth lngitude and latitude fr Availability and Cntinuity Risk maps. The minimum reslutin is 0.01 [default 1.0] -sbasplts:instep <val> Sets the reslutin (in degrees) fr bth lngitude and latitude fr Insphere Crrectins Availability map. The minimum reslutin is 0.01 [default 0.3] -sbasplts:intimestep <val> Sets the time step (in secnds) fr insphere availability plt [default 300] -sbasplts:windwsize <val> Sets the sliding windw size (in secnds) fr cmputing the cntinuity risk [default 15] Sftware User Manual Page 82 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

83 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin -utput:sbasavailplts -utput:sbasriskplts -utput:sbasinplts -utput:sbasriskdisc -sbasplts:hurlymaps -sbasplts:navailplt -sbasplts:nriskplt -sbasplts:ninplt <file> Sets the utput file fr the SBAS Availability plts data. The utput file is a clumnar text file t be prcessed by graph prgram (with '--sbas' parameter) [default "SBASAvailPlts_sbasfilename.txt"] <file> Sets the utput file fr the SBAS Cntinuity Risk plt data. The utput file is a clumnar text file t be prcessed by graph prgram (with '--sbas' parameter) [default "SBASRiskPlts_sbasfilename.txt"] <file> Sets the utput file fr the SBAS Insphere availability plt data. The utput file is a clumnar text file t be prcessed by graph prgram (with '--sbas' parameter) [default "SBASInPlts_sbasfilename.txt"] <file> Sets the utput file fr the list f SBAS slutin discntinuities fund during the cmputatin f SBAS Cntinuity Risk plt. The utput file is a clumnar text file [default "SBASRiskDisc_sbasfilename.txt"] Print the hurly availability maps. The files will have the same name as the daily maps, but with '_HHh' added befre the file extensin (being HH the hur with tw digits) D nt cmpute the SBAS Availability and Cntinuity Risk plts [default ff] D nt cmpute the SBAS Cntinuity Risk plt [default ff] D nt cmpute the SBAS Insphere crrectins availability plt [default ff] -sbasplts:ninmdel D nt use SBAS insphere during the cmputatin f Availability and Cntinuity Risk plt [default ff] This parameter is equivalent t '-mdel:in n' -sbasplts:exclusinarea <minln> <maxln> <minlat> <maxlat> Set a square area where SBAS availability and SBAS in availability will be set t 0 (the area is skipped during cmputatin) This is useful when prcessing large areas (e.g. areas with multiple SBAS and want t exclude the sea between them) The user can set any number f exclusin area by prviding this parameter as many times as necessary The area must be given with these fur values (in this rder): minimum lngitude, maximum lngitude, minimum latitude, maximum latitude. The fur values must be in degrees, with the lngitude between -180 and 180 degrees, and the latitude between -90 and 90 degrees -sbasplts:inclusinarea <minln> <maxln> <minlat> <maxlat> Set a square area where SBAS availability and SBAS in availability will be cmputed (the rest is skipped). This area must be inside the regin defined by parameters '-sbasplts:minln', '- sbasplts:maxln', '-sbasplts:minlat' and '-sbasplts:maxlat'. The user can set any number f inclusin area by prviding this parameter as many times as necessary The area must be given with these fur values (in this rder): minimum lngitude, maximum lngitude, minimum latitude, Sftware User Manual Page 83 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

84 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin maximum latitude. The fur values must be in degrees, with the lngitude between -180 and 180 degrees, and the latitude between -90 and 90 degrees If bth inclusin and exclusin areas are prvided, then an area which is prcessed must be inside f any inclusin area and utside f any exclusin area. The default regin defined in glab crrespnds t EGNOS cverage area. The available utput messages in this mde are INFO [default n], SBASIONO [default ff] and SBASUNSEL [default ff] Mst f the ptins applied fr nrmal SBAS prcessing can als be applied fr this mde, except fr thse which apply t measurement crrectins (due t there are nne in this mde) and the ptin t use Klbuchar while slutin cnverges ('- mdel:initcrdnpa') as we cnsider we are always in strict PA mde. An example f the generated figures with graph prgram is in the SBAS manual (file glab_sbas_sum.pdf) WORK MODES glab can wrk in six different mdes: - Psitining Mde: 'Standard' mde, where all the prcessing is dne, and a slutin fr a receiver is prvided as OUTPUT messages. The minimum parameters required fr this mde are an input bservatin file ('-input:bs') and rbit and clck prducts ('-input:nav', '-input:sp3' r '-input:rb'/'-input:clk'). Using precise prducts will als require the use f an ANTEX file ('-input:ant'). Fr SBAS prcessing, an additinal input SBAS file ('-input:sbas') is needed. Fr DGNSS prcessing, an additinal input file ('-input:dgnss' r '-input:rtcm') is needed - Shw Input Mde: This mde nly reads an input RINEX bservatin file and print its measurements. The parameter required fr this mde is '-input:bs', and specifically, n rbit and clck prducts shuld be prvided (if prvided, glab will switch t Psitining Mde) - Prduct Cmparisn Mde: This mde reads and cmpares tw different surces f rbit and clck prducts. In rder t use this mde, '-input:bs' must be avided, and tw different rbit and clck prducts shuld be prvided. This mde utputs the SATDIFF, SATSTAT and STASTATTOT messages - Shw Prduct Mde: This mde reads a single surce f rbit and clck prducts. Sftware User Manual Page 84 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

85 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin In rder t use this mde, '-input:bs' must be avided, and a single rbit and clck prduct shuld be prvided. This mde utput SAT messages - Cnvert mde: Only fr SBAS. If the parameter '-nlycnvert' is given, glab will just generate a RINEX-B 2.11 r EMS r Pegasus files (depending n the parameters) and it will nt prcess any GNSS data. The minimum parameters fr this mde are an SBAS file ('- input:sbas'), the '-nlycnvert' parameter and an utput file frmat ('-utput:rinexb', '-utput:ems', '- utput:pegasus') - SBAS Plts Mde: This mde is activated when nly a navigatin file and a SBAS file are given. In this mde, three plts are cmputed: SBAS Availability, SBAS Cntinuity Risk and SBAS Insphere Crrectins Availability. The three plts are cmputed in PA mde in the delimited (squared) regin and reslutin during ne day (the Availability and Cntinuity Risk are cmputed at a ne secnd rate, while the Insphere Crrectins Availability is cmputed at a 300 secnds rate by default). Fr the three plts the values are cmputed fr a Fault-Free receiver (n data gaps, n cycle-slips). Fr SBAS Availability plt, an epch at a given latitude and lngitude and height (by default is is sea level -0 metres-) is cnsired t be available when bth the Hrizntal and Vertical Prtectin Levels are belw their respective threshlds. Fr SBAS Cntinuity Risk plt, it is cmputed the prbability f having a discntinuity (i.e. n SBAS PA slutin) during the next 15 secnds (i.e. using a sliding windw f 15 secnds). Fr SBAS Insphere Crrectins Availability plt, each crdinate in the map is cnsidered as a pierce pint at 350 km height, and it is cnsidered as available when a SBAS insphere can be cmputed at the given pierce pint. The minimum parameters t activate this mde are the input navigatin file ('-input:nav') and the input SBAS message file ('- input:sbas'). The utput files have t be prcessed with graph prgram (with '-- sbas' parameter) in rder t generate the plts. The available utput messages in this mde are INFO [default n], SBASIONO [default ff] and SBASUNSEL [default ff]. NOTE: With the default cnfiguratin, the cmputatin time is arund 2 hurs. Increasing reslutin r map size will significantly increase cmputatin time Sftware User Manual Page 85 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

86 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin NOTES FOR PEGASUS OUTPUT FORMAT Pegasus is GNSS data prcessing frm Eurcntrl. Pegasus des nt read the RINEX-B r EMS SBAS files, it cnverts them t clumnar text files and later prcesses with these text files. Each text file cntains ne message type -except fr fast crrectin messages, which are all gruped in the same file; and the GEO navigatin data, which is RINEX 2 frmat-. Each clumnar text file has a header line with the name f each value, and the values are printed in decimal frmat. A full explanatin f the Pegasus frmat can be fund in appendixes I.5-I.16 in their ICD at NOTES FOR PREPROCESSING Pseudrange Jumps: Sme receivers, after updating the clck, they adjust the cde but nt the carrier phase measurement, prducing a jump in the cde but nt in the carrier phase. Therefre, cde and carrier phase are nt cnsistent (the difference between cde and carrier phase is nt cntinuus). If the carrier phase is nt adjusted, it will detected as a cycle-slip. NOTES FOR SBAS PROCESSING When prcessing with SBAS crrectins, glab will use MOPS-D standard values (see AD- 07) and cnfiguratin by default Mst f these parameters and cnfiguratin can be mdified by the user, regardless if these parameters are MOPS cmpliant r nt. The specific SBAS parameters that can be mdified by the user are: Smthing: Can be disabled r changed the number f epchs [default 100 epchs] Steady-state: Can be disabled r changed the number f epchs [default 360 epchs] Insphere: Any insphere mdel available in glab (e.g. IONEX) can be applied instead f the SBAS insphere mdel. Time uts: Time uts fr all crrectins can be user defined Mde switch: Switching frm PA t NPA can be enabled r disabled [default disabled] GEO switch: GEO switching can be enabled r disabled [default disabled]. Furthermre, after a GEO switch, the user can decide if t stay in the new GEO r try t fallback t the initial GEO when pssible. Decimatin: glab can prcess at any data rate. In rder t keep integrity f results with 1Hz SBAS data rate, messages will be read every secnd, and special events will be handled every secnd. The special events are: receive an alarm message r an UDREI>=14, miss 4 cnsecutive messages r receive 4 cnsecutive messages with wrng CRC. Decimatin is useful fr studying slw varying crrectins, such as lng term crrectins r insphere. Navigatin: Bth kinematic and static navigatin mde can be selected. Default is kinematic. Mde and GEO switch ntes: If bth mde and GEO switch are enabled, GEO switch is tried first always, as switching GEO keeps PA mde. Sftware User Manual Page 86 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

87 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin If ptin '-mdel:gefallback' is enabled, glab will try t switch t the first GEO used in prcessing after the time between switches (defined by parameter '-mdel:switchtime') after a GEO switch ccurs. If ptin '-mdel:maintainge' is enabled glab will maintain the current GEO (independently if it was selected by the user r by a GEO switch) during all the prcessing while it can prvide a PA slutin. If bth ptins '-mdel:maintainge' and '-mdel:gefallback' are enabled, '- mdel:gefallback' ptin behaviur will prevail. If bth ptins '-mdel:maintainge' and '-mdel:gefallback' are disabled, after a GEO switch, glab will try t switch t the previus GEO independently if it was the first ne used r nt. If there are nly tw GEOs available (and the use f mixed GEO data is disabled), this behaviur is equivalent as in the '-mdel:gefallback' ptin, due t the previus GEO will be always the first GEO used. SBAS Maritime mde: Maritime mde is a special cnfiguratin fr SBAS. In this cnfiguratin, message type 10 (degradatin parameters), type 27 (service message) and type 28 (clck ephemeris cvariance matrix) are nt used. Therefre, the sigma f fast and lng term crrectins is cmputed with the fllwing frmula: Sigmaflt = SigmaUDRE + 8 [metres] Maritime mde is cnfigured with parameter '-mdel:sbasmaritime', which is a shrtcut fr prviding these parameters: '-mdel:nmt10' and '-mdel:nmt2728'. Furthermre, if the receiver psitin is fixed and INFO messages are enabled, INFO messages at the end will be printed with a statistical summary f the prcessing. Execute 'glab -sbassummaryexample' fr an example f the summary. NOTES FOR PREFIT OUTLIER DETECTION There are tw prefit utlier detectrs in glab: - Prefit utlier detectr cmparing against the median (by default disabled): The prcedure fr this detectr is: Cmpute the median f all prefits Fr each satellite: Cmpute abslute value f the difference between the prefit and the median If the difference is higher than the threshld, unselect the satellite - Prefit utlier detectr cmparing the abslute values (by default disabled): The prcedure fr this detectr is: Fr each satellite available: Cmpute the abslute value f its prefit (ReferencePrefit) Set a range fr all ther satellite prefits defined as: Range=[abs(ReferencePrefit)-threshld,abs(ReferencePrefit)+threshld] Fr each satellite (except the reference ne): Check if prefits are inside the range If half r mre f the satellites are unvalid, then the current satellite is an utlier Else discard the satellites with prefits utside the range. If receiver psitin is fixed, glab will allw the utlier detectr t discard all satellites in the current epch Sftware User Manual Page 87 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

88 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin If receiver psitin is nt fixed, if mre than half f the available satellites are discarded, then, the prefit utlier detectr will nt discard any satellite, as it will assume that the slutin still has t cnverge A recmmended value fr the threshlds f the prefit utlier detectrs is 30 metres NOTES FOR DGNSS PROCESSING Sigma inflatin: During the transient perid until the smther cnverges, the measurement nise sigma is inflated accrding t the next equatin: Sigma_inflat= f(n)/f(nstdy) * sigma n<n f(n)=sqrt(1/n) n>=n f(n)=sqrt(1/(2*n-1)*(1+((n-1)/n)^(2*(n-n)+1))) where: n: number f prcessed samples N: number f samples f the smthing windw Nstdy: number f samples when reaching the steady state: In glab, Nstdy=(int)(3.6*N) Fr instance, with 1 secnd sampling rate and N=100, the statinary state (Nstdy) is assumed t be reached after 360 secnds Sftware User Manual Page 88 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.

89 Research grup f Astrnmy & Gematics Technical University f Catalnia ESA GNSS Educatin 5.1 PROCESSING EXAMPLE The fllwing example gives an verview f a simple prcessing using the glab DPC cmpnent. The sample cvers a precise static psitining t btain the precise crdinates f a statin and prvides exactly the same results as the sample generated in sectin 4.5. Opening a cmmand line windw in the glab directry (in Windws this can be directly dne by the ptin Cmmand line in directry in the prgram grup installed in the Start menu). Using this ptin a cmmand line windw will pen (Figure 5-1) in the prper directry. Figure 5-1: Cmmand line screensht In rder t generate the selected prcessing, the fllwing cmmand shuld be executed: win\glab.exe -input:bs test\madr input:ant test\igs_pre1400.atx -input:sp3 test\igs13843.sp3 -utput glab_dpc.ut After a few secnds the file glab_dpc.ut will be generated with the all the utput details. Sftware User Manual Page 89 f 102 wns the cpyright f this dcument which shall nt be used fr any purpse ther than fr which it is supplied and shall nt be cpied r given t any persn r rganizatin withut written authrizatin frm the wner.