Development of Multi-GNSS Orbit and Clock Determination Software "MADOCA"

Transcription

1 The 5th Asia Oceania Regional Workshop on GNSS Development of Multi-GNSS Orbit and Clock Determination Software "MADOCA" Tokyo Univ. of Marine Science and Technology Tomoji TAKASU December 1-3, Univ. of Science and Technology

2 Contents Overview of MADOCA Models and Algorithms Test and Evaluation Status and Future Plan 2

3 Overview of MADOCA 3

4 MADOCA Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis For real-time PPP via QZSS LEX Many promising applications over global area by PPP Precise orbit/clock for GPS, GLONASS, QZSS and Galileo Key-technology for sub-dm to cm PPP 2-years project in cooperation with and Brand-new codes implemented from scratch Multi-threading optimized for recent CPUs Modular design for future model improvement 4

5 PPP Applications Automated Farming Tsunami Warning Mining Machine Control Offshore Construction Autonomous Driving Weather Forecast 5

6 Real-Time PPP via QZSS LEX GPS GLONASS Galileo QZSS Reference Stations LEX Signal ~ 1.7 Kbit/s MADOCA MGM-Net Precise Orbit/Clock Estimation PPP Users 6

7 MADOCA Architecture MGM -Net RTCM, BINEX, Javad IGS etc RINEX, SP3, ERP Data Interfaces RDS Offline DL MGPLOT Parameter Estimator Data Interfaces MGRTE LMG EKF MGEST LSQ MADOCA API QZSS MCS LEX MT 12 7

8 Models and Algorithms 8

9 Models Satellite Orbit Models EGM 2008+solid earth tide+fes2004 Sun, Moon, Venus and Jupiter with JPL DE421 Empirical SRP model,... Measurement Models ZD Iono-free phase+ pseudorange, 2nd-order-iono ZTD+gradient estimation with GPT+GMF/VMF1 IERS DEHANTIDEINEL+FES2004 OTL+pole tide+cmc ECI-ECEF Coordinates Transformation IAU 2000A/2006 by IAU SOFA 9

10 Empirical SRP Model orbit plane midnight f beta satellite a srp = S ((D 0 + D C cos f + D S sin f) e D + (B 0 + B C cos f + B S sin f) e B noon Y X e Y e D Z e B + (Y 0 + Y C cos f + Y S sin f) e Y ) x 10-9 (m/s 2 ) GPS Block IIR GLONASS QZSS Ys Ec Ys 10

11 Parameter Adjustment Offline Real-Time Algorithm Iterated Weighted LSQ Dual-Cycle-EKF Estimated Parameters Measurements Orbit, SRP/Emp-Acc, Clock, Position, ZTD/Grad, Ambiguity, Bias, EOP ZD Carrier-Phase and Peudorange Numerical Solver Clock Estimation Integer Ambiguity Resolution NEQ by Cholesky Factorization Parameter Elimination in NEQ Network AR (Ge., 2005) Numerical Stable EKF State as White-Noise or Random-Walk Real-Time Network AR 11

12 Iterated LSQ for Offline Initial Parameters x 0 Orbit Generation r( t) r( t0) f ( t, r, v, p) dt OBS Data... y, y, Measurement Eq. Stack NEQ T N N H WH T b b H W ( y h( x )) j i Epoch NEQ Scratch Solve NEQ by Cholesky Update Parameters 1 x N b x x x i 1 i Constraint to Fixed Ambiguity Network AR Generate Products SP3, EOP, RINEX CLK,... 12

13 Network AR Dynamic baseline selection to convert ZD to DD WL and NL DD ambiguities by rounding Validation by confidence function and FCB For GPS, QZSS and Galileo (not for GLONASS) AR-OFF AR-ON GPS 3D-RMS: 5.63 cm GPS 3D-RMS: 2.59 cm 13

14 Dual-Cycle-EKF for Real-Time Epoch Parameters Common Parameters Time Update xˆ x e, k e,0 2 2 Pe diag(,,...) xˆ f ( t xˆ ) c k, c P ΦP Φ Q c c OBS Data y v y h( xˆ, xˆ ), H ( H, H ), R e c e c T T e e e c c c S H P H H P H R Meas. Update T e e e K P H S 1 T c c c K P H S 1 xˆ xˆ K v e e e xˆ xˆ K v c c c P ( I K H ) P e e e e P ( I K H ) P c c c c Epoch cycle (1Hz) Common cycle (30 s) 14

15 Numerically Stable EKF Standard EKF (1) v = y - h(x), H, R (2) D = P H T (3) S = H D + R (4) U = chol(s) (5) K = (D U -1 ) U -T (6) x = x + K v (7) P = P - K D T Measurement Update of EKF T T 1 K P H ( HP H R) x x K ( y h( x )) P ( I KH ) P (sparse) (sparse) DPOTRF DTRSM DGEMV DGEMM Numerically Stable EKF (1) v = y - h(x), H, R (2) D = P H T (3) S = H D + R (4) U = chol(s) (5) E = D U -1 (6) K = E U -T (7) x = x + K v (8) P = P - E E T (sparse) (sparse) DPOTRF DTRSM DTRSM DGEMV DSYRK 15

16 Test and Evaluation 16

17 Offline GPS/GLONASS Orbit +0.5m GPS (32 sats) R -0.5m A C RMS R: 0.89 cm A: 1.10 cm C: 1.12 cm 3D: 1.81 cm GLONASS (24 sats) R A C RMS R: 1.37 cm A: 3.70 cm C: 2.94 cm 3D: 4.92 cm 2011/01/ /12/31 (365 days), wrt IGS Final 17

18 Offline QZSS Orbit +1m R -1m A C QZSS-1 Michibiki J01 RMS R: 2.37 cm A: 4.47 cm C: 3.21 cm 3D: 5.99 cm 2011/06/ /11/03 (153 days), 24 H-overlap 18

19 +1m R -1m A C R A C Offline Galileo Orbit Galileo E11 Galileo E /11/2-2013/02/27 (117 days), 24H-overlap RMS R: 1.70 cm A: 8.21 cm C: 2.92 cm 3D: 8.88 cm RMS R: 2.65 cm A: 8.72 cm C: 2.92 cm 3D: 9.56 cm 19

20 Galileo Orbit vs. TUM/GRM +1m R -1m A C R A C Galileo E11, E12: MADOCA - TUM Galileo E11, E12: MADOCA - GRM RMS R: 8.32 cm A: cm C: cm 3D: cm RMS R: cm A: cm C: cm 3D: cm 2012/11/ /02/27 (117 days) 20

21 Real-Time PPP Test QZSS MS JAXA NTRIP Caster BINEX JAVAD JPS RTCM MSM RTCM EPH RTCM SSR OBT/CLK/URA 30s HR-CLK 1Hz RT-MADOCA Test Server: Core i7 3930K, RAM 32GB, HDD 5TB/SSD 240GB ubuntu Linux xx.xxx.xx.xxx/ MADOCA_SSR MGM- Net STRMON MGRTE STR2STR NTRIP Caster IGS RT Service RTCM OBS RTCM MSM RTCM EPH RT-MADOCA Test Server RTCM SSR IGS/MGEX mgex.igs-ip.net Javad LEGANT + NovAtel OEM6 (GPS + GLONASS + QZSS + Galileo) RTKLIB PPP Kinematic 21

22 Reference Station Network QZSS-MS (8) MGM-Net (17) IGS/MGEX (21) TOTAL (46) 22

23 * Products for Real-Time PPP Test Mount Point Products RTCM SSR Message Type GPS GLO QZSS Galileo Update Interval Latency Notes Orbit * - APC in ITRF2008 MADOCA _SSR Clock * s Code ~ 5 s - Bias URA * - - HR- Clock * - 1 s - MADOCA _TEST same as above ~ 5 s Test and backup * Based on Draft RTCM 23

24 Real-Time Product Monitor 24

25 Real-Time PPP Test Results + 1 m 0 With GPS Only RMSE E: 4.45 cm N: 2.85 cm U: cm - 1 m + 1 m 0-1 m With GPS + GLONASS + QZSS 1 H E N U 2013/11/26 00:00-23:59 (1Hz, 24 H), First 1H excluded for RMSE RMSE E: 3.84 cm N: 3.50 cm U: 8.54 cm 25

26 PPP Solution Convergence + 1 m With GPS Only 0 Convergence HRMS<20 cm: ~ 20 min - 1 m + 1 m 5 min With GPS + GLONASS + QZSS 0 Convergence HRMS<20 cm: ~ 5 min - 1 m 2013/11/26 00:00-00:59 (1 H) E N U 26

27 Real-Time Experiment via QZSS LEX Schedule LEX Data Format 27

28 LEX MT12 Format 28

29 Status and Future Plan 29

30 Status and Future Plan Status in Dec 2013 All codes are completed both for real-time and offline Long-term test and evaluation are conducted by test servers Real-time PPP experiment via LEX was started in April 2013 Real-time GLONASS orbit/clock added in Nov 2013 Some problems are identified and going to be fixed Future Plan Adding PPP-AR (ambiguity resolution) feature Supporting Chinese BeiDou Local iono- and tropo-products to reduce convergence time PPP-INS Integration for driving vehicle application 30