WP 4.4 Real Time poitioning elated iue Kinga Wezka (ESR8) Techniche Univeitat Belin Depatment fo Geodey and Geoinfomation Science Nottingham 20-21. Mach, 2012 Intoduction abolute poitioning elative poitioning Real Time 1
PR = R + δb + ε The obevation equation Φ,f geometic ange = X X andom meauement eo ε R = R + δb,f + ε,f + λ f N,f Ambiguity tem The bia tem compie all clock elated eo and ytematic influence that will be divided fo futhe analyi in ditance dependent eo and mainly tation dependent eo δb =δc + δd +δs R Deciption of eo and biae in the GNSS obevation equation δb =δc + δd +δs Clock coection and hadwae delay (eceive and tanmite) C, = δt + δd, δt δd = C, -C Sytematic eo ange dependent biae δd, = δo + δi, + δt Station dependent eo and biae δs, = δa, + δm, + δe, + δw, + ε, 2
The obevation equation P = R + δt + δd δt δd + R R δo + δi + δt + δa,f + δm + δe,f code phae obevation + δw + ε Φ,f = R + δt + δd,f δt δd + R R δo δi,f + δt,f + δa,f + δm,f + δe,f caie phae obevation + δw,f +λ c N,f + ε,f Ionopheic phae advance and goup delay P = R + I 1,f f2 + I 2 f f3 + I 3 b(lenght) f f4 + d f f Φ = R I 1,f f2 I 2 f 2f3 I 3 b lenght f f4 + d f f - code phae obevation - caie phae obevation Fit Ode ionopheic effect I, = 40.3 n d = 40.3xTEC = 40.3x TEC TEC Second Ode ionopheic effect Thid Ode ionopheic effect I = 2.2566 x10 n B co Θ d I = 2437 n d + 4.74x10 n B 1 + co Θ d Ionopheic iegulaitie SCINTILLATION 3
Signal delay due to the ionophee Numbe of viible Satellite i alo impotant! PDOP Good geometical contellation, high GDOP numbe 4
Abolute Single Point Poitioning Single-fequency code data poceing code and caie phae data poceing model Dual-fequency IONO-FREE combination (fequency combination) fit othe educe Highe ode tem? Tiple-fequency?????? Dual-feguency: Undiffeenced (Zeo-Diffeenced) obevation P 1 = R 1 +δt δt +δi,f +δt +δd,f δd P 2 = R 1 +δt δt +δi,f +δt +δd,f δd Φ,f = R 1 +δt δt δi,f +δt +δd,f δd +λ c N,f Φ,f = R 2 +δt δt δi,f +δt +δd,f δd +λ c N,f The Ionopheic-fee combination eliminate the fit-ode ionopheic delay Hight ode tem needed I = 40.3 Ne dl = 40.3 STEC I = 7527 c B co Θ STEC Challange: Ambiquity fixing and hadwae delay 5
Netwok appoach Obevation Space Repeentation (OSR) ditance dependent tate paamete ae deived and combined with efeence tation obevation; OSR decibe lump um of GNSS eo; Example: Real Time Kinematic (RTK) ove ue obevation of efeence tation() and RTK netwok coection (e.g. VRS, PRS, MAC) State Space Repeentation (SSR) povide all GNSS eo fo diect ue functional and optional tochatic tate deciption SSR decibe each individual GNSS biae Example: obevation of ingle GNSS eceive ove ue tate pace infomation (e.g. IGS poduct) [Wubbena et all, 2005] PPP-RTK State Spece Repeentation global no intege natue of ambiguity, accyacy : dm PPP Obevation Spece Repeentation local/egional intege natue of ambiguity, accyacy : cm RTK State Spece Repeentation local/egional intege natue of ambiguity, accyacy : cm PPP-RTK The popoed PPP-RTK i yntheic of the poitive chaacteitic of both, PPP and RTK netwoking concept [Wubbena et all, 2005] 6
FKP Flächenkoektupaamete (FKP) Linea FKP epeent the tilt angle of a plane which i centeed at a efeence tation. The data of one ingle efeence tation and the FKP ae tanmitted to the ue. The RTK algoithm at the ove ite applie coection deived fom the FKP uing it cuent appoximate poition. The paamete ae tanfomed to a implified paamete model (plane o quadatic uface) epeenting the patial vaiation of ditance dependent tate paamete. [Wubbena, 2001] Mate Auxiliay Concept (MAC) AS AS auxiliay efeence tation (AS) data and mate efeence tation (MS) data The Cental Poceing Facility (CPF) end obevation of Mate Station end coection diffeence between Mate Station and auxiliay tation MS CPF Eule et al [2001] 7
Cuently Opeation of continuou ulta high ate GNSS monitoing efeence tation at TUB Will be ued, fo example fo evaluation of pefomence of the available evice Data teaming in eal-time High-Rate (1 Hz) Vey- and Ulta-High-Rate RT Quality Contol Softwae tet-bed fo evaluation of pefomance of model and poceing appoach in coopeation with ESR7 Implementation of oftwae envionment fo daily poceing of TUB tation GAMIT oftwae Implementation of PPP oftwae fo automatic poceing of TUB data in kinematic mode (off line) TUB Real Time point poitioning oftwae toole (PPP, PPP-RTK) 8
Thank you fo you attention Kinga Wezka (ESR8) Kinga.Wezka@tu-belin.de 9