TianjinTianjin VRS NetworkVRS Network
First Crust Monitoring and Application Center ofFirst Crust Monitoring and Application Center ofChina Earthquake AdministrationChina Earthquake Administration
Huang Li Ren
Participating OrganizationsParticipating Organizations
1. Institute of Geological Survey of 1. Institute of Geological Survey of TianjinTianjin2. 2. TianjinTianjin Control Land Subsidence OfficeControl Land Subsidence Office3. Institute of Geological Survey of 3. Institute of Geological Survey of TianjinTianjin4. First Crust Monitoring and Application Center of4. First Crust Monitoring and Application Center of
China Earthquake AdministrationChina Earthquake Administration5. Meteorological Bureau of 5. Meteorological Bureau of TianjinTianjin6. National Earthquake Infrastructure Service 6. National Earthquake Infrastructure Service 7. Administration and Survey Center of Hydrology7. Administration and Survey Center of Hydrology
and Water Resources of and Water Resources of TianjinTianjin8. Earthquake Administration of 8. Earthquake Administration of TianjinTianjin
ObjectiveObjective: : Multifunctional Multifunctional comprehensive service network.comprehensive service network.
ApplicationApplication::
•• Dynamic maintenance of surveying Dynamic maintenance of surveying datumdatum; ;
•• Seismic and geological disasters Seismic and geological disasters monitoring, modernization of land monitoring, modernization of land subsidence controlsubsidence control;;
•• GPS meteorological forecast, realGPS meteorological forecast, real--time RTK servicetime RTK service
GPS continuous observation station GPS continuous observation station network of network of TianjinTianjin
Accuracy requirements:Accuracy requirements:●● Fast or realFast or real--time positioningtime positioning::
Horizontal Horizontal <<3cm; Vertical3cm; Vertical<<5cm5cm●● PostPost--event relative precision positioning and event relative precision positioning and
deformation monitoringdeformation monitoring::HorizontalHorizontal≤≤3mm ; Vertical3mm ; Vertical≤≤5mm5mm
●● Navigation: horizontal Navigation: horizontal ≤≤2m; vertical2m; vertical≤≤3m3m●● Timing: accuracy for single setTiming: accuracy for single set≤≤100ns;100ns;
for multifor multi--sets synchronouslysets synchronously≤≤10ns10nsReliability and perfectibility:Reliability and perfectibility:●● Annual operation reliability Annual operation reliability ≥≥95%; 95%; ●● Alarming time Alarming time <<6s; 6s; mismis--alarming probability alarming probability <<0.30.3%%
GPS continuous observation station GPS continuous observation station network of network of TianjinTianjin
Reference Station Reference Station Hardware:Trimble NetRS
Communication:Leased Line (SDH), Router
Control Center Control Center
Network Network
Testing Sites Testing Sites Layout for VRS Layout for VRS positioning positioning AccuracyAccuracy((199 GPS A199 GPS A--, , BB--, C, C--Level Level network sites )network sites )
VRSVRS’’s RTK testing programs RTK testing program
VRSVRS’’s RTK measurements RTK measurementThe observation time in this RTK The observation time in this RTK
positioning accuracy testing is taken as positioning accuracy testing is taken as 1s, 3s, 5s, 10s, 30s, 1min, and 3 min, 1s, 3s, 5s, 10s, 30s, 1min, and 3 min, respectively. And 3 sets of effective data respectively. And 3 sets of effective data are recorded in each condition. are recorded in each condition.
VRS RTK Testing Plan VRS RTK Testing Plan ●● RTK measurementRTK measurement●● Different Surveying PeriodDifferent Surveying Period
Observation time is 1s, 3s, 5s, 10s, 30s, 1min, and 3 Observation time is 1s, 3s, 5s, 10s, 30s, 1min, and 3 min, respectively. And 3 sets of effective data are min, respectively. And 3 sets of effective data are recorded in each condition.recorded in each condition.
●● Repeat Surveying in different timeRepeat Surveying in different time●● 13 sites are selected from the triangle network of 13 sites are selected from the triangle network of
topological structure for the longtopological structure for the long--time RTK measurement, time RTK measurement, in which in which ““continuous terraincontinuous terrain”” is selected, observation time is selected, observation time is from 8:00 to 20:00, and initialization is made every onis from 8:00 to 20:00, and initialization is made every one e hour, so as to test how to affect RTK positioning accuracy hour, so as to test how to affect RTK positioning accuracy under different observation time periods, different satelliunder different observation time periods, different satellite te combinations and different initialized results.combinations and different initialized results.
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VRSVRS’’s RTK s RTK accuracy testing result accuracy testing result
Average internal Average internal coincidence accuracy:coincidence accuracy:
Average internal Average internal coincidence accuracy of each testing sitecoincidence accuracy of each testing site
Average internal Average internal coincidence accuracy of all testing sitescoincidence accuracy of all testing sites
0.01220.00610.01060.00370.0049r.m .s. error of all sites
0.03620.01500.03390.00920.0140M axim um value
0.01130.00580.00940.00350.0045A verage value
3-DPlaneH eightLongitudeLatitude
0.01220.00610.01060.00370.0049r.m .s. error of all sites
0.03620.01500.03390.00920.0140M axim um value
0.01130.00580.00940.00350.0045A verage value
3-DPlaneH eightLongitudeLatitude
-0.03 -0.02 -0.01 0.00 0.01 0.02 0.030
200
400
600
800
1000
1200
1400
1600
1800
差值区间内个数
差值区间(米)
-0.02 -0.01 0.00 0.01 0.02 0.030
500
1000
1500
2000
差值区间内个数
差值区间(米)
-0.08 -0.06 -0.04 -0.02 0.00 0.02 0.04 0.06 0.080
500
1000
1500
2000
差值区
间内个
数
差值区间(米)
Latitude directionLatitude direction
Longitude directionLongitude direction
Height directionHeight direction
Average external coincidence accuracy Average external coincidence accuracy of all testing sitesof all testing sites
VRSVRS’’s RTK s RTK accuracy testing resultaccuracy testing result
0.02210.01010.01970.00600.0081r.m.s. error of all sites
0.05490.02400.05340.01640.0216Maximum value
0.02070.00930.01780.00540.0073Average value
3-DPlaneHeightLongitudeLatitude
-0.02 -0.01 0.00 0.01 0.02 0.03 0.04 0.050
200
400
600
800
1000
1200
1400
差值区
间内个数
差值区间(米)
-0.02 -0.01 0.00 0.01 0.02 0.030
100
200
300
400
500
600
差值区间内个数
差值区间(米)
-0.08 -0.06 -0.04 -0.02 0.00 0.02 0.04 0.06 0.08 0.100
200
400
600
800
1000
1200
差值区间内个数
差值区间(米)
Latitude directionLatitude direction
Longitude directionLongitude direction
Height directionHeight direction
Current effectivenessCurrent effectiveness一般RTK测量服务时效性统计图
1.0% 14.9%
22.8%
17.3%11.4%
6.4%
8.4%
3.5%
2.0%
11.4% 0~20秒
20~30秒
30~40秒
40~50秒
50~60秒
60~70秒
70~80秒
80~90秒
90~100秒
>100秒
Statistics of current service effectiveness for general RTK measurement
ssd
0 50 100 150 200 250 300 3500
20
40
60
80
100
时间
区间
内个
数
初始化时间区间(秒)Time interval of initialization (s)
60.55Average value15Minimum value325Maximum value
Time (s)Time needed to obtain fixed solution
Num
bers of observed data in the difference interval
Effect of observation time Effect of observation time on accuracy of RTKon accuracy of RTK
3-DPlaneHeightLongitudeLatitude
0.01440.00730.01240.00420.0060180s0.01280.00640.01110.00420.004860s0.01130.00590.00960.00370.004530s0.01060.00520.00920.00320.004210s0.01050.00530.00900.00340.00415s0.01180.00570.01030.00320.00473s0.01390.00690.01210.00400.00561s
r.m.s. error of internal coincidence Type of data
Effect of observation time Effect of observation time on accuracy of RTKon accuracy of RTK
3-DPlaneHeightLongitudeLatitude
0.02000.00900.01780.00530.0073180s0.02090.00950.01860.00570.007660s0.02050.00980.01790.00600.007830s0.02180.00980.01950.00590.007810s0.02280.01040.02030.00620.00835s0.02350.01070.02100.00610.00873s0.02510.01130.02250.00660.00911s
r.m.s. error of external coincidence Type of data
Accuracy distribution
Accuracy distribution
of VR
Sof V
RS ’’ s R
TK
s RT
K
Latitude directionLatitude direction
LongitudeLongitude directiondirection
Accuracy distribution
Accuracy distribution
of VR
Sof V
RS ’’ s R
TK
s RT
K
Height directionHeight direction
Accuracy distribution
Accuracy distribution
of VR
Sof V
RS ’’ s R
TK
s RT
K
Plane locationPlane location
Accuracy distribution
Accuracy distribution
of VR
Sof V
RS ’’ s R
TK
s RT
K
33--D locationD location
Accuracy distribution
Accuracy distribution
of VR
Sof V
RS ’’ s R
TK
s RT
K
Latitude directionLatitude direction
Longitude directionLongitude direction
Height directionHeight direction
Plane locationPlane location
33--D locationD location
LongLong--time (12 hours) RTK testing (to time (12 hours) RTK testing (to examine the effects of different time intervals, examine the effects of different time intervals, different satellites combinations and different different satellites combinations and different initialization results on RTK positioning initialization results on RTK positioning accuracy).accuracy).
RTK testing is made uniformly on 13 out RTK testing is made uniformly on 13 out of 199 sites. of 199 sites.
Effect of observation time interval Effect of observation time interval on RTK positioning accuracy on RTK positioning accuracy
Average Average internal coincidence accuracyinternal coincidence accuracyof longof long--time testingtime testing
Average Average external coincidence accuracyexternal coincidence accuracyof longof long--time testingtime testing
0.02290.01170.01970.00690.0094r.m.s. error of all sites
0.03080.01560.02660.00850.0130Maximum value0.02300.01170.01980.00690.0094Average value
3-DPlaneHeightLongitudeLatituder.m.s. error
0.02210.01010.01970.00600.0081r.m.s. error of all sites
0.05490.02400.05340.01640.0216Maximum value0.02070.00930.01780.00540.0073Average value
3-DPlaneHeightLongitudeLatitude
Consistent Consistent Testing resultTesting result
0
0.01
0.02
0.03
0.04
0.05
0.06
08:0
0:00
08:4
0:00
09:2
0:00
10:0
0:00
10:4
0:00
11:2
0:00
12:0
0:00
12:4
0:00
13:2
0:00
14:0
0:00
14:4
0:00
15:2
0:00
16:0
0:00
16:4
0:00
17:2
0:00
18:0
0:00
18:4
0:00
19:2
0:00
20:0
0:00
0
2
4
6
8
10
12
平均定位精度(米) 平均观测卫星数
0
0.01
0.02
0.03
0.04
0.05
0.06
8:00
:00
8:40
:00
9:20
:00
10:0
0:00
10:4
0:00
11:2
0:00
12:0
0:00
12:4
0:00
13:2
0:00
14:0
0:00
14:4
0:00
15:2
0:00
16:0
0:00
16:4
0:00
17:2
0:00
18:0
0:00
18:4
0:00
19:2
0:00
20:0
0:00
0
2
4
6
8
10
12
平均定位精度(米) 平均观测卫星数
0
0.01
0.02
0.03
0.04
0.05
0.0608
:00:
0008
:40:
0009
:20:
0010
:00:
0010
:40:
0011
:20:
0012
:00:
0012
:40:
0013
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0014
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0014
:40:
0015
:20:
0016
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0016
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0017
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0018
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0018
:40:
0019
:20:
0020
:00:
00
0
2
4
6
8
10
12
平均定位精度(米) 平均观测卫星数
Latitude direction
Latitude direction
Longitu
de directionLon
gitude direction
Height Direction
RTK positioning accuracy in RTK positioning accuracy in different time periods in testingdifferent time periods in testing
1. Accuracy1. Accuracy•• Latitude<0.011mLatitude<0.011m,,Longitude<0.009mLongitude<0.009m,,
•• Height<0.024mHeight<0.024m。。Horizontal<0.014mHorizontal<0.014m,,33--D<0.028m.D<0.028m.
•• Accuracy is average in whole network region.Accuracy is average in whole network region.
2. Systematic error 2. Systematic error •• vertical is vertical is 0.012m0.012m
3. Compatibility: Good3. Compatibility: Good
Trimble and Trimble and HuaceHuace X60,Zhonghaida HD600 X60,Zhonghaida HD600
( Receivers made in China)( Receivers made in China)
Conclusions Conclusions
4. High Accuracy 4. High Accuracy
5. Navigation5. Navigation
•• Six LinesSix Lines
•• Latitude<0.20mLatitude<0.20m,,
Longitude<0.13mLongitude<0.13m,,
Height<0.73Height<0.73米。米。
•• Horizon<0.23mHorizon<0.23m,,
33--D >0.76m.D >0.76m.
Conclusions Conclusions
ThanksThanks&&
QuestionQuestion