Accuracy Evaluation Internet-Based GNSS for Kinematic Surveying the Case Study in Thailand Kritsada Anantakarn 1 1 Faculty of Engineering and Architectural : Uthenthawai campus. Rajamongala University of Technology Tawan-ok. ABSTRACT: This study evaluates the use of the Internet as the data transmission between the Internet Continuous Operation Reference Station (ICORS) and Global Navigation Satellite System (GNSS) rovers by using an Internet-based Real-Time Kinematic (RTK) system for GPS - GLONASS L1& L2 receivers in different vehicle speeds. An Internet-based RTK system based on the NTRIP provides a positioning coordinates that is essentially required for vehicle mobile mapping, automatic construction controller, aerial photogrammetry mapping and UAV land surveying. To evaluate accuracy of GNSS receiver positioning measurement, equipment and systems were integrated and tested in RTK survey mode with different velocities, and position accuracy will be compared with Total Station measurement technique by using measured polygon center coordinate, areas and perimeters. To maintain the same distance and route for comparing different positioning measurement of alternative vehicle velocities, a runway round of the sport stadium is selected for polygon measurement. The test results for all speed (10 55 km/h) show that horizontal error is less than 16 cm in comparing with polygon center, accuracy more than 98 % for area and 99% for polygon perimeter measurement. The system performance as the behavior of the GPRS wireless Internet connection to GNSS Virtual Reference Station (VRS) networks of Department of Land of Thailand in Bangkok. Keyword: GPS; GNSS; DGPS; Static; Kinematic; post-processing; NTRIP; Internet-based; Total Station; navigation; positioning; baseline; base-station; rover GNSS receiver.
1. INTRODUCTION Mobile mapping is the process of collecting geospatial data from a mobile vehicle, typically fitted with a range of photographic, radar, laser, LiDAR or any number of remote sensing systems. Such systems are composed of an integrated array of time synchronised navigation sensors and imaging sensors mounted on a mobile platform. The primary output from such systems include GIS data, digital maps, and georeferenced images and video. Navigation sensors or Global Positioning System (GPS) receivers have been used colleting accurate positions in real time at various travel speeds. This study is to evaluate the accuracy of typical Internet-based Real-Time Kinematic (RTK) GPS equipment by using GPRS internet connection in Bangkok. GNSS (Global Navigation Satellite System) is a satellite system that is used to pinpoint the geographic location of a user's receiver anywhere in the world. Two GNSS systems are currently in operation: the United States' GPS and the Russian Federation's Global Orbiting Navigation Satellite System (GLONASS). Europe's Galileo satellites have launched in 2011 and 2012 to reach full operational capacity. Each of the GNSS systems employs a constellation of orbiting satellites working in conjunction with a network of ground stations. Satellite-based navigation systems use a version of triangulation to locate the user, through calculations involving information from a number of satellites. Each satellite transmits coded signals at precise intervals. The receiver converts signal information into position, velocity, and time estimates. Using this information, any receiver on or near the earth's surface can calculate the exact position of the transmitting satellite and the distance (from the transmission time delay) between it and the receiver. Coordinating current signal data from four or more satellites enables the receiver to determine its position. 1.1 Real Time Kinematics (RTK) 2
GPS Dual frequency system requires post-processing when operating in static or "fast static" mode. In Real Time Kinematics (RTK) GPS, the positional data are displayed and recorded immediately. Sub-centimeters to millimeter level accuracies (both horizontal and vertical) are obtainable with both single and dual frequency technologies (Rizos and Satirapod, 2011). To obtain latitude, longitude, and elevation for new point, both systems need to occupy a number of existing established points. Considerable skill, training, and expertise are required to operate either type of system effectively. RTK is now widely used for surveying and other precise positioning applications. The classical RTK technique requires that GPS data be transmitted from a single reference receiver to one or more roving units. Algorithms in the mobile unit combine the reference station data with measurements from the roving receiver to resolve the integer ambiguity required to calculate precise ranges from the GPS carrier phase measurements. The process of ambiguity resolution is often referred to as "initialization". RTK can provide centimeter position accuracy, but the accuracy and reliability of the standard RTK solution decreases with increasing distance from the reference station. This limitation on the distance between the roving GPS receiver and the RTK base station is due to the systematic effects of ephemeris, tropospheric and ionospheric errors (Wübbena, et al.,1996). These systematic errors result in reduced accuracy and increasing initialization time as the distance between base and rover increases. This phenomenon is becoming increasingly evident as we approach a maximum in the cycle of solar activity. 1.2 GNSS Network The concept of GNSS Network Reference Stations allows us to eliminate/reduce systematic errors in reference station data, i.e. allows to increase the distance to the reference station for RTK positioning while increasing the reliability of the system and reducing the initialization time (Raquet and Lachapelle, 2001). The GPS Network Reference Stations requires continuous modem line connections between the control center and all reference stations. Data is transmitted continuously to the center. The center will calculate and transmit optimized Radio Technical Commission for Maritime Services (RTCM) correction messages and transmits it to the users. Permanent GPS reference stations making it possible to receive RTK (Real Time Kinematics) correctional data everywhere. This means centimeter precise measurements in real time. By establishing an adequate 3
number of GPS stations and allocating data access to the reference stations via mobile phone using Global System for Mobile phones (GSM) data modems, they can offer correction data throughout the region of interest. All the GPS reference stations in a network send "on-line" raw GPS data via permanent connections to a super-computer housed in a secure Control Center. In this way all GPS observations can be gathered and weighted to the user's advantage. This solution gives the following advantages: - Uniform precision of the entire network, or in other words, no additional constants due to increased distance from the individual reference stations (a well-known problem in traditional GPS RTK surveying). - Single correction data from the entire network. - Safety and reliability to enhance the quality of GPS measurements. The Control Center of super computer takes care of the following numerous tasks: - Import of raw data and quality assurance routines - Storing of RINEX data - Correction of antenna phase center wandering - Modeling and estimation of systematic errors - Calculation of correction data in RTCM format for the users - Transmission of data to users in the field There exist many Networking approaches where GPS signals corrections can be send to mobile rover in the field for Real Time Positioning. 1.3 GPS base station in Thailand. The DPT GPS base stations consist of 11 stations distributed over Thailand as shown in Figure 1. The DPT GPS base stations project was established in 1996 with 4 stations implemented at the beginning. Presently a total of 11 stations are fully operational. The DPT GPS Base Stations were designed to serve as reference stations for both real-time and post-processed positioning applications. Each station is equipped with a dualfrequency GPS receiver (Leica GRX1200). 4
Figure 1: DPT GPS reference stations (source DPT website http://www.dpt.go.th) In 2005, the Royal Thai Survey Department (RTSD) also installed a new GNSS base station, called RTSD and designed for post-processed positioning applications. The Thai Meteorological Department (TMD) has established five CORS receivers as part of a tsunami and earthquake early warning system in Thailand and the installation was completed in late 2007 (Rizos and Satirapod, 2011) Subsequently, in early 2008, the Department of Lands (DOL) was the first organization in Thailand to provide a Real Time Kinematic (RTK) GNSS service using the Trimble VRS concept. Currently DOL s RTK network consists of 11 CORS receivers covering the Central Thailand as Figure 2. 5
Figure 2: DOL GPS reference stations (source DOL website http://110.164.49.162/) Virtual Reference Station An RTK rover located near the center of several reference stations would be affected by systematic errors if using any one of these reference stations. If, however, measurements from all these reference stations are combined, a model of the geometric and atmospheric errors over the area can be determined and a VRS can be created adjacent to the rover's location, dramatically reducing the systematic errors. - Virtual Reference Station (VRS) Technique A pre-requisite of the virtual reference station (VRS) concept is the need of a duplex communication link between a node of the reference station network and the rover. The rover has to transmit its approximate coordinates to the network, which then interpolates from the state information a reference data stream VRS for the given position. The data relates to the observation space (Wübbena et. al, 1996). When the previous biases are estimated, the easiest and oldest way to broadcast differential corrections is the VRS. The idea is to create a synthetic correction generated as if the reference station is close to the rover as shown in Figure 3. For this reason, the rover communicates its approximate position (e.g. through an NMEA GGA message). Using this position, it is possible to interpolate data following different strategies, e.g. using: plane triangles (Vollath et al., 2000, Landau et al., 2002); 6
an Inverse Distance Weighting (IDW) estimation; least squares method for estimating polynomial coefficients; collocation (Raquet and Lachapelle, 2001). Figure 3: The VRS positioning concept This strategy can also be applied for post-processing positioning, by mean of a virtual data file (usually, in RINEX format). This file contains the observations that a virtual reference station may acquire in a wellknown position selected by the network user. 7
2. METHOD GNSS Static - Post Processing technique and GNSS RTK measurement in different speeds are the compare with measurement by Total Station as the general methodology as presented in Figure 4. GNSS Static Post Processing measurement GNSS RTK measurement in different speeds UTM Coordinate Transformation Total Station measurement Accuracy Assessment Polygon center coordinate Accuracy Assessment Polygon area Accuracy Assessment Polygon perimeter 2.1 Total station measurement Figure 4: General Method A total station is an electronic/optical instrument used in modern surveying. The total station is an electronic theodolite (transit) integrated with an electronic distance meter (EDM) to read slope distances from the instrument to a particular point as shown in Figure 5. Figure 5: Set-up for Total Station measurement 8
2.2 GNSS measurement 2.2.1 Setting up RTK Base-station and Rover position Since the RTK base station's position is assumed to be a known point, its accuracy is very important. Having a clear view of the sky, from the top of a building allows the base-station to collect data from a maximum of visible satellites. This approach is highly recommended to perform a successful, accurate and fast survey. A static Internet-based RS and RTK experiment was conducted using Department of Land (DOL) CORS as shown in Figure 6. Figure 6: DOL - GNSS Reference Station (Source: DOL website) A data link was established from the base-station to the rover using wireless Internet. GPRS was used over the wireless link. 2.2.2 Post-processing Post-processing is used in Differential GNSS to obtain precise positions of unknown points by relating them to known points such as reference station. The GNSS measurements are usually stored in computer memory in the GNSS receivers, and are subsequently transferred to a computer running the GNSS post-processing software. The software computes baselines using simultaneous measurement data from two or more GNSS receivers. The baselines represent a three-dimensional line drawn between the two points occupied by each pair of GPS antennas. The post-processed measurements allow more precise positioning, because most GPS errors are corrected. 9
The dual frequency GNSS receiver uses the L1/L2 carrier phase is applied for Static Post Process data collection. The measurement is conducted in 1 second rate of recoding with duration more than one hour. GNSS Rover data GNSS Base data Septentrio Software Convert to RINEX Internet RINEX format files GNSS Solution Software for Post Processing Coordinate report Lat/Long - UTM converter Figure 7: static surveying and post-processing work flow. 10
The Post-Procession result is then used for coordinate transform from Total Station into UTM coordination for comparing with GNSS RTK coordinates. Figure 7 and Figure 8 presents the static surveying and postprocessing technique. Figure 8: static surveying and post-processing technique. 2.2.3 Real-time Kinematic (RTK) rover Dual frequency RTK receiver with GPS and GLONASS L1/L2 carrier phase was used for rover GPS receiver using GPRS connection to the Internet Server for receiving corrected and computing data from the base-station as illustrated in Figure 9. The RTK position is measure at the rate of 1 second automatically. 2.3 Study area Figure 9: GNSS RTK measurement in different speeds 11
The study area is located at Ratchmangla University Thanyaburi Campus, Bangkok Thailand as illustrated in Figure 10. Figure 10: Ratchmangla University Thanyaburi Campus, Bangkok Thailand. (GoogleEarth image) 3. RESULTS AND DISCUSSION 3.1 Measurement by Total Station There are 74 points are measured by Total Station as shown in Blue points in Figure 11. Figure 11: Measurement results from Total Station The polygon center coordinate of the polygon in UTM map projection is extracted as in Table 1. 12
Table1: Measurement results from Total Station Polygon Center coordinate North (m) East (m) Area (sqm) Perimeter (m) Measurement mode Total station R425VN 1551745.819 686430.478 10,200.550 396.195 3.2 Measurement by GNSS Static for Post-Processing There are two points in the Stadium for static measurement in more than one hour of data collection. These two log points named TIA1 and TIA2 were corrected and adjusted by using DOL CORS data as BLAN, PKKT and BPLE as shown in Figure 12. Due to atmospheric problems, AYYA station has no data (Appendix 4) that makes the network not in a good triangle shape. Figure 12: Measurement by GNSS Static for Post-Processing The coordinate and horizontal accuracy at 1 cm of these two log points are shown in Table 2. 13
Table 2: The coordinate and accuracy of these two log points Name Coordinate Components Error Status TIA1 East 686430.659 0.010 Adjusted North 1551745.729 0.009 Adjusted Ellips height -28.489 0.026 Adjusted TIA2 East 686471.040 0.010 Adjusted North 1551693.581 0.009 Adjusted Ellips height -28.648 0.026 Adjusted Coordinates of these two points then used for coordinate transformation from 74 points measured by Total Station to UTM coordinate. 3.3 Measurement by GNSS RTK in different speeds In comparing with Total station measurement, center coordinates average accuracy of all speeds in North and East are 5.5 cm and 3.5 cm respectively as illustrate in Figure 13 and Table 3. Figure 13: Horizontal Error for center coordinates in compare with Total Station measurement 14
Table 3: Summary for RTK Dynamic Measurement Polygon Center coordinate North (m) East (m) Area (sqm) Perimeter (m) Error for North (m) Error for East (m) Error for Area (sqm) Error for Perimeter (m) Average 1551745.869 686430.512 10,050.325 393.209 0.055 0.035 150.225 2.986 Standard deviation 0.050 0.020 29.689 0.590 0.040 0.019 29.689 0.590 The highest accuracy for North at 1 mm and East at 6 mm for center coordinates of the polygon can be achieved at the speed of 50 km/h and 45 km /h respectively while the lowest accuracy falls to the speed of 20 km/h for North and 40 km/h for East coordinate as illustrated in Table 4. Table 4: Accuracy assessment for GNSS RTK in different speeds Polygon Center coordinate Error for North (m) Error for East (m) Error for Area (Sqm) Error for Perimeter (m) Measurement mode North (m) East (m) Area (sqm) Perimeter (m) Total station R425VN 1551745.819 686430.478 10,200.550 396.195 0.000 0.000 0.000 0.000 RTK 10 km/h r1 1551745.929 686430.517 10,119.510 394.500 0.039 81.040 1.695 RTK 10 km/h r2 1551745.911 686430.491 10,108.050 394.306 0.092 0.013 92.500 1.889 RTK 15 km/h r1 1551745.855 686430.495 10,090.790 393.862 0.036 0.017 109.760 2.333 RTK 15 km/h r2 1551745.920 686430.512 10,080.140 393.782 0.101 0.034 120.410 2.413 RTK 20 km/h r1 1551745.964 686430.519 10,070.970 393.603 0.145 0.041 129.580 2.592 RTK 20 km/h r2 1551745.904 686430.507 10,061.190 393.394 0.085 0.029 139.360 2.801 RTK 25 km/h r1 1551745.904 686430.525 10,053.970 393.162 0.085 0.047 146.580 3.033 RTK 25 km/h r2 1551745.854 686430.505 10,035.610 393.844 0.035 0.027 164.940 2.351 RTK 30 km/h r1 1551745.862 686430.529 10,029.310 392.697 0.043 0.051 171.240 3.498 RTK 30 km/h r2 1551745.849 686430.512 10,045.240 393.058 0.030 0.034 155.310 3.137 RTK 35 km/h r1 1551745.836 686430.512 10,039.810 392.879 0.017 0.034 160.740 3.316 RTK 35 km/h r2 1551745.932 686430.529 10,043.380 393.055 0.113 0.051 157.170 3.140 RTK 40 km/h r1 1551745.822 686430.500 10,035.170 392.899 0.003 0.022 165.380 3.296 RTK 40 km/h r2 1551745.838 686430.553 10,042.200 393.096 0.019 0.075 158.350 3.099 RTK 45 km/h r1 1551745.898 686430.472 10,043.120 392.944 0.079 0.006 157.430 3.251 RTK 45 km/h r2 1551745.760 686430.508 10,026.510 392.754 0.059 0.030 174.040 3.441 RTK 50 km/h r1 1551745.820 686430.494 10,029.680 392.785 0.001 0.016 170.870 3.410 RTK 50 km/h r2 1551745.856 686430.491 10,021.810 392.578 0.037 0.013 178.740 3.617 RTK 55 km/h r1 1551745.806 686430.531 10,009.800 392.461 0.013 0.053 190.750 3.734 RTK 55 km/h r2 1551745.866 686430.546 10,020.235 392.529 0.047 0.068 180.315 3.666 15
At the speed of 10 km / h, the highest accuracy we can get in area measurement as 99.2% and perimeter measurement as 99.6%. However, the lowest accuracy for area measurement is 98.1% and perimeter measurement is 99.1% for the speed of 55 km/h. 4. CONCLUSION The travel speeds do not affect so much to the horizontal accuracy of GNSS RTK measurements as 5.5 cm when using VRS (DOL CORS) in Bangkok and its vicinity. Since we already get the Fixed RTK measurement status for the setting of every one second data recording, the faster the speed, the fewer measurements we can get for the same polygon. These sources of accuracy measurement for area measurements is 98.1 % and perimeter measurements 99.1% when the speed is increased up to 55 km/h. The results show that an Internet-based RTK system based on the NTRIP provides a positioning coordinates that is essentially required for vehicle mobile mapping, automatic construction controller, aerial photogrammetry mapping and UAV land surveying. 5. REFERENCES Landau H, Vollath U, Chen X (2002) Virtual reference station systems, Journal of Global Positioning Systems 1(2): 137-143 Raquet J. and Lachapelle G. (2001) RTK positioning with multiple reference stations. GPS World, 12(4), 48-53,2001. Rizos C. and Satirapod S. (2011). Contribution of GNSS CORS Infrastructure to the mission of Modern Geodesy and Status of GNSS CORS in Thailand. Engineering Journal: Volume 15 Issue 1 ISSN 0125-8281 Vollath U, Landau H, Chen X, Doucet K, Pagels C (2002) Network RTK versus single base RTK Understanding the error characteristics, Proceedings of ION GPS 2002, Portland, OR, 2774-2781 16
Wübbena, G., A. Bagge, G. Seeber, V. Böder, P. Hankemeier (1996). Reducing Distance Dependant Errors for Realtime Precise DGPS Applications by Establishing Reference Station Networks. Proceedings International Technical Meeting, ION GPS 96, Kansas City, Missouri, 1205 1214. 17
APPENDIX 1: Totoal Station measurement 1000 0 0 0 1000 0 0 0 1001 65.9557 0.0003-0.1943 1002 60.6504 1.621-0.2457 1003 57.7198-1.3159-0.2638 1004 53.2374-4.7863-0.2466 1005 45.7966-10.3243-0.2641 1006 38.3849-15.9012-0.251 1007 31.0558-21.4994-0.2491 1008 23.7159-27.0755-0.2186 1009 17.3241-31.8833-0.2238 1010 9.943-37.4802-0.2404 1011 2.5717-43.0739-0.2774 1012-4.8176-48.605-0.2851 1013-12.1416-54.2153-0.2631 1014-15.7917-56.6528-0.2584 1015-19.3269-58.5169-0.2661 1016-23.3848-60.0304-0.2741 1017-27.7125-61.0799-0.2773 1018-32.1162-61.5529-0.2823 1019-36.5623-61.4836-0.284 1020-40.9797-60.8964-0.2802 1021-45.2475-59.8004-0.2773 1022-49.3416-58.1489-0.2812 1023-53.2436-55.9884-0.2843 1024-56.8287-53.3881-0.3004 1025-61.4964-48.8602-0.3126 1026-64.0833-45.3544-0.312 1027-66.2892-41.4775-0.3229 1028-67.9853-37.4048-0.3242 1029-69.4278-32.0448-0.3289 1030-69.9664-27.6102-0.3207 1031-69.9682-23.1425-0.31 1032-69.3972-18.7414-0.3083 1033-68.3105-14.4209-0.2901 1034-66.7073-10.2653-0.3091 1035-64.5582-6.3594-0.3077 1036-61.9704-2.7472-0.2966 1037-59.0042 0.4213-0.2884 1038-55.6818 3.341-0.2889 1039-48.3442 8.9313-0.297 1040-40.9441 14.4882-0.3463 1041-33.6019 20.0916-0.2875 1042-26.2877 25.7295-0.2749 1043-18.0183 31.9659-0.2671 18
1044-10.674 37.5513-0.265 1045-3.2861 43.141-0.2615 1046 4.0946 48.6997-0.2556 1047 11.4227 54.2409-0.2598 1048 15.1579 56.7149-0.261 1049 18.7815 58.5725-0.268 1050 23.0297 60.1604-0.2715 1051 27.3746 61.1795-0.2751 1052 31.7896 61.6407-0.2687 1053 36.2412 61.5777-0.272 1054 40.6765 60.9624-0.2664 1055 44.9885 59.7924-0.2665 1056 49.156 58.0904-0.2472 1057 52.9722 55.9115-0.256 1058 56.5831 53.2345-0.2607 1059 59.9178 50.2488-0.2711 1060 62.7573 46.6846-0.2873 1061 65.0786 43.1729-0.2652 1062 66.8851 39.4118-0.2463 1063 68.3467 35.2046-0.2402 1064 69.3187 30.8529-0.2412 1065 69.7202 26.4065-0.2482 1066 69.5628 21.9191-0.2486 1067 68.8543 17.5485-0.2474 1068 67.635 13.2642-0.2531 1069 65.9022 9.1405-0.2501 1070 63.6023 5.2725-0.2429 1071 60.7841 1.544-0.2232 1072 51.499-6.3048-0.2417 19
APPENDIX 2: Static Post-Processing Report Land Survey Overview GNSS Solutions, Copyright (C) 2011 Ashtech. 1/22/2013 3:59:29 PM www.ashtech.com Project Name : Thanyaburi2556Jan13 Spatial Reference System : UTM/WGS 84/UTM zone 47N Time Zone : (GMT+07:00) Bangkok, Hanoi, Jakarta Linear Units : Meters Coordinate System Summary Coordinate system Name : UTM/WGS 84/UTM zone 47N Type : Projected Unit name : Meters Meters per unit : 1 Vertical datum : Ellipsoid Vertical unit : Meters Meters per unit : 1 Datum Name : WGS 84 Ellipsoid Name : WGS 84 Semi-major Axis : 6378137.000 m Inverse Flattening : 298.257223563 DX to WGS84 : 0.0000 m DY to WGS84 : 0.0000 m DY to WGS84 : 0.0000 m RX to WGS84 : 0.000000 " RY to WGS84 : 0.000000 " RZ to WGS84 : 0.000000 " ppm to WGS84 : 0.000000000000 Projection Projection Class : Transverse_Mercator latitude_of_origin 0ฐ 00' 00.00000"N central_meridian 99ฐ 00' 00.00000"E scale_factor 0.999600000000 false_easting 500000.000 m false_northing 0.000 m Control Points 95% Name Components Error Status Control Error BLAN East 625964.375 0.000 FIXED North 1546725.195 0.000 FIXED Ellips height -19.077 0.000 FIXED BPLE East 698226.213 0.000 FIXED North 1503352.046 0.000 FIXED Ellips height -19.591 0.000 FIXED PKKT East 666394.276 0.000 FIXED North 1538584.436 0.000 FIXED Ellips height 12.172 0.000 FIXED 20
Logged Points 95% Name Components Error Status TIA1 East 686430.659 0.010 Adjusted North 1551745.729 0.009 Adjusted Ellips height -28.489 0.026 Adjusted TIA2 East 686471.040 0.010 Adjusted North 1551693.581 0.009 Adjusted Ellips height -28.648 0.026 Adjusted Files Name Start Time Sampling Epochs Size (Kb) Type PKKT019F.13o 13/01/19 12:00:00 5 2160 5534 L1/L2 GPS/GLONASS BPLE019F.13o 13/01/19 12:00:00 5 2160 4228 L1/L2 GPS/GLONASS BLAN019F.13o 13/01/19 12:00:00 5 2160 4101 L1/L2 GPS/GLONASS TIA1_0190.13O 13/01/19 14:14:10 5 274 397 L1/L2 GPS/GLONASS TIA2_0190.13O 13/01/19 12:51:50 5 1024 1489 L1/L2 GPS/GLONASS Occupations Site Start Time Time span Type File PKKT January 19 2013 12:00:00.00 02:59:55.00 Static PKKT019F.13o BPLE January 19 2013 12:00:00.00 02:59:55.00 Static BPLE019F.13o BLAN January 19 2013 12:00:00.00 02:59:55.00 Static BLAN019F.13o TIA1 January 19 2013 14:14:10.00 00:22:45.00 Static TIA1_0190.13O TIA2 January 19 2013 12:51:50.00 01:25:15.00 Static TIA2_0190.13O Processes Reference Reference File Rover Rover File Mode Num BPLE BPLE019F.13o BLAN BLAN019F.13o Static 1 BPLE BPLE019F.13o PKKT PKKT019F.13o Static 2 BPLE BPLE019F.13o TIA1 TIA1_0190.13O Static 3 BPLE BPLE019F.13o TIA2 TIA2_0190.13O Static 4 BLAN BLAN019F.13o PKKT PKKT019F.13o Static 5 BLAN BLAN019F.13o TIA1 TIA1_0190.13O Static 6 BLAN BLAN019F.13o TIA2 TIA2_0190.13O Static 7 PKKT PKKT019F.13o TIA1 TIA1_0190.13O Static 8 PKKT PKKT019F.13o TIA2 TIA2_0190.13O Static 9 TIA2 TIA2_0190.13O TIA1 TIA1_0190.13O Static 10 Processed vectors Vector 95% Vector 95% Vector Identifier Length Error Components Error SV PDOP QA Solution PKKT - TIA2 23977.950 0.116 X -19235.330 0.047 9 1.6 No Fixed 13/01/19 12:51:50.00 Y -6837.984 0.047 +01:25:15.00 Z 12577.207 0.047 PKKT - TIA1 23972.747 0.117 X -19193.697 0.047 10 1.6 No Fixed 13/01/19 14:14:10.00 Y -6842.909 0.048 +00:22:45.00 Z 12628.111 0.047 BPLE - TIA2 49747.062 0.241 X 13358.203 0.098 9 1.6 No Fixed 13/01/19 12:51:50.00 Y -9233.102 0.098 +01:25:15.00 Z 47022.106 0.098 BPLE - TIA1 49807.283 0.242 X 13399.832 0.098 10 1.6 No Fixed 21
13/01/19 14:14:10.00 Y -9238.026 0.099 +00:22:45.00 Z 47073.016 0.098 BPLE - PKKT 47481.858 0.230 X 32593.541 0.093 10 1.3 No Fixed 13/01/19 12:00:00.00 Y -2395.138 0.093 +02:59:55.00 Z 34444.901 0.093 BPLE - BLAN 84284.297 0.408 X 72692.324 0.165 11 1.6 No Fixed 13/01/19 12:00:00.00 Y 2847.989 0.165 +02:59:55.00 Z 42562.397 0.165 BLAN - TIA2 60715.561 0.294 X -59334.118 0.119 7 2.6 No Fixed 13/01/19 12:51:50.00 Y -12081.092 0.119 +01:25:15.00 Z 4459.704 0.119 BLAN - TIA1 60679.626 0.295 X -59292.496 0.119 7 2.3 No Fixed 13/01/19 14:14:10.00 Y -12085.995 0.120 +00:22:45.00 Z 4510.620 0.119 BLAN - PKKT 41246.774 0.200 X -40098.783 0.081 17 1.2 No Fixed 13/01/19 12:00:00.00 Y -5243.113 0.081 +02:59:55.00 Z -8117.494 0.081 TIA2 - TIA1 65.953 0.004 X 41.636 0.001 8 2.2 Fixed 13/01/19 14:14:10.00 Y -4.895 0.002 +00:02:55.00 Z 50.915 0.001 Adjusted vectors Vector Length Vector Tau Vector Identifier Length Resid. Components Resid. Test QA PKKT - TIA2 23977.953 0.012 X -19235.332-0.002 13/01/19 12:51:50.00 Y -6837.995-0.011 Z 12577.203-0.004 PKKT - TIA1 23972.744 0.021 X -19193.696 0.002 13/01/19 14:14:10.00 Y -6842.890 0.019 Z 12628.118 0.007 BPLE - TIA2 49747.058 0.021 X 13358.200-0.004 13/01/19 12:51:50.00 Y -9233.121-0.020 Z 47022.098-0.008 BPLE - TIA1 49807.279 0.011 X 13399.836 0.004 13/01/19 14:14:10.00 Y -9238.016 0.010 Z 47073.013-0.003 BPLE - PKKT 47481.847 0.016 X 32593.532-0.009 13/01/19 12:00:00.00 Y -2395.126 0.011 Z 34444.895-0.006 BPLE - BLAN 84284.300 0.009 X 72692.328 0.004 13/01/19 12:00:00.00 Y 2847.981-0.008 Z 42562.398 0.001 BLAN - TIA2 60715.572 0.014 X -59334.128-0.010 13/01/19 12:51:50.00 Y -12081.102-0.010 Z 4459.700-0.004 BLAN - TIA1 60679.622 0.006 X -59292.492 0.004 13/01/19 14:14:10.00 Y -12085.997-0.002 Z 4510.615-0.005 BLAN - PKKT 41246.787 0.017 X -40098.796-0.013 13/01/19 12:00:00.00 Y -5243.107 0.006 Z -8117.503-0.009 TIA2 - TIA1 65.953 0.000 X 41.636-0.000 13/01/19 14:14:10.00 Y -4.895-0.000 Z 50.915-0.000 22
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APPENDIX 3: GNSS RTK measurement report Summary for RTK Dynamic Measurement Measurement mode Polygon Center coordinate North (m) East (m) Area (sqm) Perimeter (m) Error for North (m) Error for East (m) Error for Area (Sqm) Error for Perimeter (m) Total station R425VN 1551745.819 686430.478 10,200.550 396.195 0.000 0.000 0.000 0.000 RTK 10 km/h round 1 1551745.929 686430.517 10,119.510 394.500 0.039 81.040 1.695 RTK 10 km/h round 2 1551745.911 686430.491 10,108.050 394.306 0.092 0.013 92.500 1.889 RTK 15 km/h round 1 1551745.855 686430.495 10,090.790 393.862 0.036 0.017 109.760 2.333 RTK 15 km/h round 2 1551745.920 686430.512 10,080.140 393.782 0.101 0.034 120.410 2.413 RTK 20 km/h round 1 1551745.964 686430.519 10,070.970 393.603 0.145 0.041 129.580 2.592 RTK 20 km/h round 2 1551745.904 686430.507 10,061.190 393.394 0.085 0.029 139.360 2.801 RTK 25 km/h round 1 1551745.904 686430.525 10,053.970 393.162 0.085 0.047 146.580 3.033 RTK 25 km/h round 2 1551745.854 686430.505 10,035.610 393.844 0.035 0.027 164.940 2.351 RTK 30 km/h round 1 1551745.862 686430.529 10,029.310 392.697 0.043 0.051 171.240 3.498 RTK 30 km/h round 2 1551745.849 686430.512 10,045.240 393.058 0.030 0.034 155.310 3.137 RTK 35 km/h round 1 1551745.836 686430.512 10,039.810 392.879 0.017 0.034 160.740 3.316 RTK 35 km/h round 2 1551745.932 686430.529 10,043.380 393.055 0.113 0.051 157.170 3.140 RTK 40 km/h round 1 1551745.822 686430.500 10,035.170 392.899 0.003 0.022 165.380 3.296 RTK 40 km/h round 2 1551745.838 686430.553 10,042.200 393.096 0.019 0.075 158.350 3.099 RTK 45 km/h round 1 1551745.898 686430.472 10,043.120 392.944 0.079 0.006 157.430 3.251 RTK 45 km/h round 2 1551745.760 686430.508 10,026.510 392.754 0.059 0.030 174.040 3.441 RTK 50 km/h round 1 1551745.820 686430.494 10,029.680 392.785 0.001 0.016 170.870 3.410 RTK 50 km/h round 2 1551745.856 686430.491 10,021.810 392.578 0.037 0.013 178.740 3.617 RTK 55 km/h round 1 1551745.806 686430.531 10,009.800 392.461 0.013 0.053 190.750 3.734 RTK 55 km/h round 2 1551745.866 686430.546 10,020.235 392.529 0.047 0.068 180.315 3.666 24
APPENDIX 4: DOL CORS lack of Satellites for Post Processing 25