International collaboration on open source scientific software: latest developments in gogps positioning engine. FOSS4G 2013 Osaka 7 November 2013

Transcription

1 International collaboration on open source scientific software: latest developments in gogps positioning engine Eugenio Realini Daisuke Yoshida Hirofumi Hayashi Venkatesh Raghavan RISH, Kyoto University GSCC, Osaka City University Applied Technology Co.,Ltd GSCC, Osaka City University FOSS4G 2013 Osaka 7 November 2013

2 GPS raw data (observations, orbits, ) If we have: - satellite positions - satellite-receiver distances - precise time H e ig h t [ k m ] we can estimate: - receiver position/velocity - atmospheric parameters and we can do research: - positioning accuracy improvement - deformation monitoring - atmospheric water vapor retrieval N o rth [k m ] E a s t [k m ]

3 From GPS to GNSS GPS is not the only positioning system available Other countries apart from US are building global (or regional) satellite systems GNSS Global Navigation Satellite System GLONASS BeiDou Russia China Global Galileo Europe QZSS Japan IRNSS India Regional

4 GNSS raw data (observations, orbits, ) Standard consumer grade (low-cost) receiver: - GNSS observations are processed within the receiver - User can access only the processing result (e.g. coordinates) GNSS observations Coordinates and ancillary data Only visualization!

5 GNSS raw data (observations, orbits, ) By accessing raw data, we can perform advanced analyses, e.g. - improving the positioning accuracy by relative positioning - study and monitor the atmosphere - Raw data

6 Receivers providing raw data GNSS receivers generally provide raw data formatted according to proprietary binary protocols. Often these protocols are available to customers (or even public). Almost all geodetic (survey grade) receivers (dual-frequency or single-frequency) ~ $3,000 $30,000 A few low-cost (consumer grade) receivers (single-frequency) ~ $100 $500

7 Low-cost raw data logger prototype ENVLoggerRPi - developed at Osaka City University u-blox LEA-6T module (GPS raw data) environmental sensors (T, P, RH, CO2) logging data on microsd card Raspberry Pi (credit card-sized Linux computer) Power-over-Ethernet Configurable (text file on SD card) open source firmware

8 GNSS processing software Commercial Academic GAMIT/GLOBK TGO/TTC (Trimble) LGO (Leica) Bernese RTNet Topcon Tools (Topcon) (GPS Solutions) Justin (JAVAD) Bold = source code provided GIPSY/OASIS II Java gogps MATLAB RTKLIB/GpsTools glab Free and Open Source Software (FOSS)

9 gogps MATLAB - Real-time and post-processing - developed in MATLAB works on both Windows and UNIX - GUIs available - single-frequency (L1) positioning

10 gogps MATLAB downloads (Apr 2009 Oct 2013)

11 Collaborative environment MATLAB Java Version control systems: SVN Mercurial

12 gogps international network (2012) Cryms Note: institution/company names are only indicative of gogps contributors affiliations, NOT official endorsements of the project Universidad de Jaén gogps Polytechnic of Milan OSGEO JP GReD Osaka City University Galileian Plus Applied Technology Volunteers (open source) Kyoto University (RISH)

13 Latest developments (during 2013) EGNOS (SBAS) support code contributed by: Giuliano Sironi, Politecnico di Milano, Italy Antonio Herrera Olmo, Universidad de Jaén, Spain Integer phase ambiguity resolution by LAMBDA method code contributed by: Hendy F. Suhandri, Universität Stuttgart, Germany Andrea Nardo, Curtin University, Australia Multi-GNSS support (also by using low-cost receivers by NVS) GPS, GLONASS, Galileo, BeiDou, QZSS code contributed by: (myself), Kyoto University, Japan (with knowledge support from Andrea Nardo) Daisuke Yoshida, Osaka City University, Japan

14 EGNOS (SBAS) support Accuracy improved to < 1 m in stand-alone mode (i.e. without a base station) SBAS: Satellite-Based Augmentation System (geostationary systems)

15 Integer ambiguity resolution by LAMBDA method Static test results: u-blox AEK-4T receiver (low-cost) geodetic base station (~60 m baseline) Accuracy: < 1 cm Example application: deformation monitoring with multiple low-cost receivers

16 Multi-GNSS support increased number of available satellites improved positioning capabilities, esp. in urban environments source: gogps plot source:

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