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FIG/IAG/UN-GGIM-AP/ICG/GSI/JFS Technical Seminar Reference Frame in Practice Kobe, Japan
29-30 July 2017
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Reference Frame in Practice Kobe, Japan, 29-30 July 2017
FIG/IAG/UN-GGIM-AP/ICG/GSI/JFS Technical Seminar
Sponsors:
GNSS analysis software “GSILIB” for utilizing Multi-
GNSS data *Satoshi Kawamoto, Naofumi Takamatsu
Geospatial Information Authority of Japan
Geospatial Information Authority of Japan
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Contents
• Benefits of Multi-GNSS constellation
• Biases in Multi GNSS observations
• What is GSILIB?
• Demonstration of GSILIB
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Reference Frame in Practice Kobe, Japan, 29-30 July 2017
FIG/IAG/UN-GGIM-AP/ICG/GSI/JFS Technical Seminar
Sponsors:
Benefits of Multi-GNSS constellation
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Benefits of Multi-GNSS
2014/08/09 12:00:00 <GPST> Tokyo Japan
Elevation mask is 15deg
Plotted by GSIPLOT
#of SVs 10
PDOP 2.1
#of SVs 20
PDOP 1.3
GPS GPS+GLO+GAL+QZS
• Significant improvement of number of visible satellites, accuracy, convergence time
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Improvement of satellite visibility
• GPS only: • 3 satellites
• positioning impossible
• Multi-GNSS: • 8-9 satellites
• enables positioning in urban areas
Nov. 13, 2013 at Ginza, Tokyo
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4cm 4m
Fix rate 36.4% Fix rate 99.9%
●Fix ●Float ●Single
Skyview
●Fix ●Float ●Single
GPS GPS+GLONASS+QZSS+Galileo
Reference Rover
• Positions with GPS only largely degraded in urban area
• Multi-GNSS observation dramatically improved the performance to the cm-level accuracy
Improvement of accuracy in urban area
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Fast convergence using Multiple frequencies
• Dual frequency
(L1 + L2)
• Triple, Quadruple frequencies (L1+L2+L5+E6)
• Enables fast convergence because of increased number of observables
1575.42MHz
Open signals structure
GLONASS
Galileo
QZSS
GPS
1176.45MHz
1227.60MHz
1278.75MHz
L5 L1 L2
L5 L1
E5 L1
L5 L1 L2
E6
: Current :Modernized signals
L2
L3
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Positioning with triple frequencies
L1+L2 (Convergence: 82 min.)
L1+L2+L5 (Convergence: 49 min.)
Jan. 1, 2013 0:00~2:00 (UTC) mode: Static baseline:126.3km
●Fix ●Float ●Fix ●Float
FIX FIX
• Triple frequency (L1+L2+L5) accelerate the convergence time (TTF: Time to fix)
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Benefits of Multi-GNSS
• Increased visible satellites
• Improvement of: 1. Availability
2. positioning accuracy
3. convergence time
• Efficient, accurate, reliable positionings
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Reference Frame in Practice Kobe, Japan, 29-30 July 2017
FIG/IAG/UN-GGIM-AP/ICG/GSI/JFS Technical Seminar
Sponsors:
Biases in Multi-GNSS positioning
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Biases in Multi-GNSS positioning
• Small delays between the signal transmission and reception of the signal in the GNSS receiver
• Major biases:
1. Inter-System Bias (ISB)
2. Inter-Frequency Bias (IFB)
3. Quarter cycle shift between L2P(Y) and L2C signals
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Hardware-induced biases: ISB and IFB
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GLONASS
GPS QZSS
Galileo
BeiDou ISB (Inter-System Bias)
IFB (Inter-Frequency Bias)
• Inter-System Bias (ISB) Inter-system delay due to receiver and satellite hardwares
• Inter-Frequency Bias (IFB) caused by carrier frequency differences, especially due to FDMA of GLONASS
length
Correction is required for relative positioning using different types of receivers
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Inter-System Bias (ISB)
• Found in GPS vs GLONASS vs Galileo data
• Depends on the types of receiver
Code ISB Phase ISB
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Inter-System Bias (ISB)
GPS + Galileo ●Fix ●Float
mode: kinematic, baseline: 0m, 3hrs
±3cm
±3cm
GPS + Galileo (with ISB correction)
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Inter-Frequency Bias (IFB)
• IFB is frequency dependent hardware-induced bias, especially for the FDMA of GLONASS signals.
• IFB (cm/channel) are consistent between same receiver types.
receiver A
(S/N2)
receiver B
(S/N1)
receiver B
(S/N2) receiver C receive D
L1 0.03 -0.72 -0.74 -0.50 2.98
L2 -0.04 -1.04 -1.02 -0.49 2.93
Estimated IFB with respect to receiver A(S/N1)(cm/channel)
𝐼𝐹𝐵 = 𝐴 ∗ 𝑘
𝑘: 𝑠𝑙𝑜𝑡 𝑛𝑢𝑚𝑏𝑒𝑟
𝑓𝐿1,𝑘 = 𝑓0,𝐿1 + 𝑘 ∗ 𝑑𝑓𝐿1
𝑓𝐿2,𝑘 = 𝑓0,𝐿2 + 𝑘 ∗ 𝑑𝑓𝐿2
IFB model
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Inter-Frequency Bias (IFB)
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GPS + GLONASS ●Fix ●Float
±3cm
±3cm
GPS + GLONASS (with IFB correction)
mode: kinematic, baseline: 1m, 24hrs
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Quarter-cycle shift for L2C signal
• The difference in the alignment of L2C signal vs L2P(Y)
• Bias arises in the double-differenced observable between L2C and L2P(Y) using different types of receivers
+90 deg.
L2P(Y)
L2C GPS L2C QZS
Receiver A Receiver B Receiver C
GPS L2C L2P(Y) + 1/4 cycle 0 (aligned by receiver)
L2P(Y) - 1/4 cycle
QZSS L2C L2P(Y) + 1/4 cycle 0 (aligned by receiver)
L2P(Y) - 1/4 cycle
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Quarter-cycle shift for L2C signals of GPS and QZSS
GPS + QZSS
±10cm
±10cm
GPS + QZSS (with quarter-cycle correction)
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Reference Frame in Practice Kobe, Japan, 29-30 July 2017
FIG/IAG/UN-GGIM-AP/ICG/GSI/JFS Technical Seminar
Sponsors:
GSILIB (GNSS Survey Implementation
Library)
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What’s GSILIB?
• Open source software package for GNSS positioning developed by GSI
• Fork of the RTKLIB software (by T. Takasu) with handling of multi-GNSS-related biases
GSILIB: GNSS Surveying Implementation
Library (http://datahouse1.gsi.go.jp/gsilib/gsilib_download_eng.html)
・GNSS analysis software "GSILIB" has been released http://www.gsi.go.jp/ENGLISH/eiseisokuchi-e30001.html ・Download Multi-GNSS analysis software GSILIB http://www.gsi.go.jp/ENGLISH/eiseisokuchi-e30001.html
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GSILIB Features
• Corrections of biases in multi-GNSS data • Quarter-cycle biases
• Inter frequency bias (IFB)
• Inter system bias (ISB)
• Inherit all the functions of RTKLIB • Multi-GNSS data support: GPS, GLONASS,
QZSS, Galileo, SBAS
• Various positioning modes: RTK, Static, PPP, etc.
• Simple GUI (Windows) and CUI (Windows, Linux) interfaces
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The effect of hardware dependent biases
• DD bias:
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(𝑏𝐴𝑆𝑎𝑡1−𝑏𝐵
𝑆𝑎𝑡1) − (𝑏A𝑆𝑎𝑡2 − 𝑏𝐵
𝑆𝑎𝑡2)
SAT1 SAT2
Receiver A Receiver B
𝑏𝐴1
𝑏𝐴2 𝑏𝐵
2 𝑏𝐵1
ISB IFB L2C 1/4
cycle
Sat Sys Rec Type
1 – 1 A – A
Canceled Canceled –
Sat Sys Rec Type
1 – 1 A – B
Canceled Arise Arise
Sat Sys Rec Type
1 – 2 A – A
Canceled – –
Sat Sys Rec Type
1 – 2 A – B
Arise – Arise
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Strategy for bias corrections in GSILIB
1. Calibration of biases in multi-GNSS data • Inter system bias (ISB) • Inter frequency bias (IFB) • Quarter-cycle shift
2. Save the biases to table files
3. Import pre-determined tables in positioning
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Reference Frame in Practice Kobe, Japan, 29-30 July 2017
FIG/IAG/UN-GGIM-AP/ICG/GSI/JFS Technical Seminar
Sponsors:
Demonstration of GSILIB
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Summary
• Multi-GNSS environment improves availability, accuracy, reliability, convergence of GNSS positioning
• However, some biases have to be considered • IFB, ISB, quarter-cycle shift
• GSILIB is an open-source software, which offers the table-based corrections of IFB, ISB and quarter-cycle shift to utilize multi-GNSS data
http://datahouse1.gsi.go.jp/gsilib/gsilib_download_eng.html
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GSILIB demonstration
1. RTK using GPS (No bias)
2. RTK using GPS + GLONASS (IFB correction)
3. RTK using GPS + QZSS (L2C quarter cycle shift)
4. RTK using GPS + Galileo (ISB correction)
5. RTK using GPS + GLONASS + QZSS + Galileo (all corrections)
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GSILIB Demonstration 1
• RTK using GPS
Antenna : JAV_GRANT-G3T Receiver : JAVAD TRE_G3T DELTA
BL : 500m
Base Station 8
Rover Station 1
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Flow of analysis
1. Configuration of positioning options
2. Setting of input RINEX files, output directory
3. Start processing
4. Show the result
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Launch gsipost_gui.exe
Post Processing tool of GSILIB
gsilib/bin/
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1: Configuration
Configure positioning options
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(1-1) Positioning options: Setting 1
Positioning Mode “Kinematic”
Frequencies “L1+L2”
Satellite types (GPS)
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(1-2) Positioning options: Setting 2
Phase Cycle Shift “OFF”
Inter System Bias “OFF”
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(1-3) Positioning options: Output
Solution Format
Debug Trace
Solution Status
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(1-4) Positioning options: Positions
Position file
Rover: Antenna type Receiver type
Base: Position Antenna type Receiver type
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(1-5) Positioning options: Files
Click
Satellite/Receiver Antenna PCV File
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(2) RINEX file selection
RINEX OBS of rover station (****.yyo)
RINEX OBS of base station (****.yyo)
RINEX NAV (****.yy*)
Solution directory for the solution file (****.pos)
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(3) Processing
Start processing
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(4) Show result
Plot results
Processing is done
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(4-2) Plot options
Show Statistics
Baseline length Fix rate
Satellite System
Average, Standard deviation, RMS
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(4-3) Show residuals
Residuals
Code
Phase
Elevation SNR
Frequency Satellite
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GSILIB Demonstration 2: IFB correction
• RTK using GPS + GLONASS (IFB correction)
Base Station 8
Rover Station 1
Antenna : JAV_GRANT-G3T Receiver : TRIMBLE NetR9
BL : 500m
IFB L1:53.4mm/MHz L2:68.6mm/MHz
GLONASS L1 : 1602 MHz + 0.5625 MHz * k L2 : 1246 MHz + 0.4375 MHz * k (k=-7,-6,…,5,6)
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(1-1) Positioning options: Setting 1
Satellite types (GPS, GLO)
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(1-2) Positioning options: Setting 2
GLONASS Ambiguity Resolution “USE IFB Table”
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(1-3) Positioning options: Setting 3
IFB table file
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(1-4) Positioning options: Positions
Rover Receiver Type
Base Receiver Type
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RINEX file selection
RINEX OBS of rover station (****.yyo)
RINEX OBS of base station (****.yyo)
RINEX NAV (****.yy*)
Solution file (****.pos)
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IFB correction result
IFB correction
Fix 95.3%
No IFB correction
Fix 0.0%
GPS + GLONASS
●Fix ●Float
±10cm
E
N
U
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GSILIB Demonstration 3 quarter cycle shift correction
Base Station 8
Rover Station 1
Antenna : JAV_GRANT-G3T
Receiver : JAVAD TRE_G3T DELTA
BL : 500m
1/4 Cycle Shift
Javad : +1/4
Trimble : 0
RTK using GPS+QZSS w/wo L2C quarter cycle bias correction
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(1-1) Positioning options: Setting 1
Satellite types (GPS, QZSS)
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(1-2) Positioning options: Setting 2
Phase Cycle Shift “Table”
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(1-3) Positioning options: Setting 3
Phase Cycle Shift file
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(1-4) Positioning options: Positions
Rover Receiver Type
Base Receiver Type
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RINEX file selection
RINEX OBS of rover station
(****.yyo)
RINEX OBS of base station
(****.yyo)
RINEX NAV
(****.yy*)
Solution file (****.pos)
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Quarter cycle shift correction result
Quarter cycle shift
correction
Fix 96.7%
No correction
Fix 46.1%
GPS + QZSS
●Fix ●Float
±10cm
E
N
U
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GSILIB Demonstration 4: ISB correction
Base Station 8
Rover Station 1
Antenna : JAV_GRANT-G3T
Receiver : JAVAD TRE_G3T DELTA
Antenna : JAV_GRANT-G3T
Receiver : TRIMBLE NetR9
BL : 500m
ISB
Code L1 : -6.015ns
Code L5 : -20.210ns
Phase L1 : 0.141ns
Phase L5 : -0.002ns
RTK using GPS+Galileo
w/wo ISB correction
Speed of Light : 0.29979 m / ns
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(1-1) Positioning options: Setting 1
Satellite types (GPS, Galileo)
Frequencies “L1+L5”
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(1-2) Positioning options: Setting 2
Inter System Bias “Table”
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(1-3) Positioning options: Positions
Rover Receiver Type
Base Receiver Type
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(1-4) Positioning options: Files
ISB Data File
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RINEX file selection
Solution file (****.pos)
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ISB correction result
ISB correction
Fix 95.8%
No correction
Fix 8.6%
GPS + Galileo
●Fix ●Float
±10cm
E
N
U
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GSILIB Demonstration 5: All corrections
Base Station 8
Rover Station 1
Antenna : JAV_GRANT-G3T
Receiver : JAVAD TRE_G3T DELTA
BL : 500m
L2C 1/4 Bias
IFB
ISB
RTK using GPS+GLONASS+QZSS+Galileo with all corrections
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(1-1) Positioning options: Setting 1
Satellite types
(GPS, GLO, GAL, QZS)
Frequencies “L1+L2+L5”
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(1-2) Positioning options: Setting 2
Inter System Bias “Table”
Phase Cycle Shift “Table”
GLONASS Ambiguity
Resolution “Use IFB Table”
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(1-2) Positioning options: Setting 3
Phase Cycle Shift file GLONASS IFB file
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(1-4) Positioning options: Positions
Rover Receiver Type
Base Receiver Type
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(1-5) Positioning options: Files
ISB Data File
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RINEX file selection
Solution file (****.pos)
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Results with all corrections
Fix 88.3%
GPS + GLONASS + QZSS + Galileo
Fix solution RMS E: 4.9mm N: 3.8mm U: 9.4mm
●Fix ●Float
±10cm
E
N
U
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Summary
• Multi-GNSS environment improves availability, accuracy, reliability, convergence of GNSS positioning
• However, some biases have to be considered • IFB, ISB, quarter-cycle shift
• GSILIB is an open-source software, which offers the table-based corrections of IFB, ISB and quarter-cycle shift to utilize multi-GNSS data
http://datahouse1.gsi.go.jp/gsilib/gsilib_download_eng.html