INTEGRITY MONITORING SYSTEM FOR SPACE-BASED NAVIGATION AND POSITIONING IN MALAYSIA Ooi Wei Han 1, Moslin S.I 1., Ahmad N. 1, Subari M.D. 1, Musa T.A. 2,

INTEGRITY MONITORING INTEGRITY MONITORING SYSTEM FOR SPACE-BASED SYSTEM FOR SPACE-BASED

NAVIGATION AND POSITIONING NAVIGATION AND POSITIONING IN MALAYSIAIN MALAYSIA

Ooi Wei Han1, Moslin S.I1., Ahmad N.1, Subari M.D.1,

Musa T.A.2, Othman R.2, Omar A.H.2, Musliman I.A.2

1National Space Agency (ANGKASA) Space Application and Technology Development Unit

2Universiti Teknologi Malaysia GNSS and Geodynamics Research Group

 Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam

Contents

• Introduction• Project Aims, Objectives & Scope of Work• The GNSS CORS & Collaboration• Design & Architecture of GNSS Integrity Monitoring System• Infrastructure Setup • Preliminary Output• Concluding Remarks

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Introduction

• In Malaysia, navigation technology has become an essential tool in various applications for positioning in military and civilian sectors.

• With the full operational constellation and modernization of the GNSS such as GPS and GLONASS, the accuracy of positioning has definitely improved.

GPS, GLONASS, GALILEO, COMPASS, QZSS

Malaysia

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• GNSS signals are weak and easily be interrupted.• Affected by variety types of errors at various stages • Such as:

- satellite clock and orbit errors;- ionospheric and tropospheric delays;- receiver clock error;- possible cycle slips;- multipath;- and etc.

• Several incidents indicated signals in failure mode and resulted significant position errors.

The Signal Integrity

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L.Heng et. al., 2010

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Aims & Objectives

The National Space Agency (ANGKASA) in collaboration with universities, government and industries sectors is currently in the midst of developing an integrity monitoring system for space-based positioning in Malaysia.

The aim of this project is to provide an integrity monitoring system for space-based navigation and positioning in Malaysia. This aim embarks three objectives:•To establish GPS/GNSS CORS network over Peninsular Malaysia•To determine on integrity and reliability of GNSS and DGPS signals over country •To provide a warning of any signal anomalies at all time.

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Scope of Work

• Set-up GNSS ground stations with real-time data streaming.

• Set-up control centre at ANGKASA & processing centre at UTM.

• Set-up database for GNSS & DGPS integrity monitoring system.

• Set-up web-based service for GNSS & DGPS integrity monitoring system.

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Peninsular MalaysiaLangkawi National Observatory (ANGKASA)

Kota BharuMalaysian Metrological Department

(ANGKASA/MMD)

KuantanSistem Perlayaran Satelit

(SISPELSAT, JLM)

Main Processing CentreISKANDAR Malaysia

UTM, MPKU, PTP, KKPG

Bagan DatohSistem Pelayaran Satelit (SISPELSAT, JLM)

National Space Centre (ANGKASA), Selangor

COMING SOONPontian, JohorMARDI, Malaysia)

Kepong, Kuala Lumpur(Enviro Land Service)

Shah Alam, Selangor(UiTM)

MelakaSistem Pelayaran Satelit (SISPELSAT, JLM)

COMING SOONPenang(MARDI, Malaysia)

The GNSS CORS

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CORS Collaboration:Government Agencies, Universities, & Industry

Collaboration!Data Sharing & Combine Expertise!

Opportunities!

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System Design & Architecture of Integrity Monitoring System

GNSS CORS

CORS2CORS1

ANGKASA Web-Based

GPS + GLONASS Satellite

SISPELSAT

SISP4SISP3SISP2SISP1

GPS + GLONASS Satellite

U T M PROCESSING CENTRE

Data Storage

(TEQC Processor) (NANU Processor)

(DGPS Processor)

ANGKASA GNSS/DGPS INTEGRITY MONITORINGCENTRE

MULTI USER

• SYSTEM LEVEL MONITORING

(NANUs for GPS & GLONASS)

• GROUND LEVEL MONITORING (signal availability, range monitoring ionosphere, cycle slip, missing observation, etc.)

• USER LEVEL MONITORING

(DGPS correction – satellite by

satellite, SISPELSAT)

INTERNET

INTERNET

Data Storage / Web Server

INTERNET

Model-based Design

Web Server

Real Time User

NTRIP CASTER

MainDatabase

System Architecture

DGPS Processor

GPS/GNSS Data Quality Processor

Network-RTK (VRS) Processor

DGPS Processor

IOMOS Processor

GPS Seismic Processor

INTERNET

INTERNET

Collaborators

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Infrastructure Setup

Site Reconnaissance & CORS InstallationMalaysia Meteorological Dept. Kota Bharu

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SISPELSAT CORS at Malaysia Marine Department, Melaka

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Infrastructure Setup: The Control Centre

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The Integrity Monitoring System utilizes Internet and NTRIP technology

Infrastructure Setup: Communication

USER APPLICATION

UserReal Time

User

Post-Process User(RINEX File Download)

Post-Process User(RTCM File Download)

Control Centre

Processor Server NTRIP Caster Main Database Web Server

E-Mail/SMS/Social Network

TCP/IP

Control Centre

NTRIP ServerNANU

NTRIP ServerJLM

NTRIP ServerISKANDARnet

NTRIP ServerANGKASA

TCP/IP

Infrastructure Setup: Database System

• Uses MySQL as the database management system.

• Data for every second will be stored - need a huge data storage to keep the large data size.

• Database system should be robust and flexible to handle various emergencies and does not crash when error occurs.

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Preliminary Output

sign up sign up sign in

> AGENSI ANGKASA NEGARA > ABOUT US

main page news serviceservice

SYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING

USER LEVEL MONITORING

Today Monitoring

Today Discussion

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AGENSI ANGKASA NEGARA ABOUT US

Please click the station for the information

main page news serviceservice

SYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING

USER LEVEL MONITORING

Today Monitoring

Today Discussion

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AGENSI ANGKASA NEGARA ABOUT US

Station Information

main page news serviceservice

SYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING

USER LEVEL MONITORING

Today Monitoring

Today Discussion

ISKANDARnet 1Operated & maintained by UTM-GNSS & Geodynamics Research Group

Station ID ISK1

LocationBlock C02, FKSG, Universiti Teknologi Malaysia (UTM)

ITRF 2008

Latitude 1° 33’ 36.39495” N

Longitude 103° 38’ 08.89223” E

Ellipsoidal Height 61.551 m

RSO Geocentric

Easting 626585.075 m

Northing 172530.806 m

IGS Convention

GPS Receiver Trimble 4700

GPS AntennaTrimble L1/L2 Micro-centred with Ground PlaneTRM33429.20+GP

ComRadio-link RTCM 2.0 channel 01

NTRIP IP: XXXXX.XXX.XXX

More ….

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AGENSI ANGKASA NEGARA ABOUT US

main page news serviceservice

SYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING

USER LEVEL MONITORING

Today Monitoring

Today Discussion

Reliability of satellite for DGPS correction

DGPS correction latency

Variation of fine PRC

ISKANDARnet1

Satellite Availability & signal strength GNSS signal quality DGPS Corrections

DGPS corrections from Satellite PRN 31 & 32 are out of range

Alert !

GPS L1

GPS L2

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AGENSI ANGKASA NEGARA ABOUT US

Please click the station

main page news serviceservice

SYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING

USER LEVEL MONITORING

Today Monitoring

Today Discussion

Please click the station

Insert coordinate or

Base station

Rover station

Lat

Long

ddd.mm.ss

ddd.mm.ss

sign up sign up sign in

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AGENSI ANGKASA NEGARA ABOUT US

main page news serviceservice

SYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING

USER LEVEL MONITORING

Today Monitoring

Today DiscussionDistance : 338.33 kmAccuracy : 0.325 m (rms)

Banting

ISKANDARnet2

Insert coordinate or

Base station

Rover station

Lat

Long

ddd.mm.ss

ddd.mm.ss

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User Level Monitoring – DGPS Module

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Concluding Remarks

•Three different services will be make available – to monitor satellite anomalies, signals at CORS, DGPS correction and alert to user.

•The project show excellent collaborations amongst government agencies, universities and industry in developing the integrity monitoring system for space-based navigation and positioning in Malaysia.

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MALAYSIAMALAYSIA

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