8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•

•  RTKLIB 2.4.0

•  PPP imp ementation in RTKLIB 2.4.0

•  Test results of real‐time PPP with IGS RT

orbits/clocks

2

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•   Open source program 

‐

 –  Whole source codes are freely

available

 –  License: GPLv3

 –  5000+ downloads (2.3.0)

•   Portable library +

several APs

 –  ANSI C + socket/pthread …

 –  Portable command‐line APs

3

 –  GUI APs or Win ows

http://gpspp.sakura.ne.jp/rtklib/rtklib.htm

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•  

 –   GPS, GLONASS, SBAS (and Galileo, QZSS)

•   Various ositionin modes:

 –  Single, SBAS, DGPS, RTK, Static, Moving‐base and PPP

•   Su orts man formats rotocols and receivers:

 –  RINEX 2.1, RTCM v2/v3, NTRIP 1.0, NMEA183, SP3, RINEX

CLK, ANTEX …

 –  NovAtel, Hemisphere, u‐blox, SkyTraq …

•   External communication via:

 –  Serial, TCP/IP, NTRIP and file streams

4

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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RTKNAVI: Real

‐time

 AP RTKPOST:

 Post

‐Processing

5RTKCONV: RINEX

 converterRTKPLOT:

 Plotting

 solutions

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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2cm10m

6

mReceiver: NovAtel OEMV

Base Station: VRS (NGDS)

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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‐

•

 –  CPU: Beagle Board

 –    ‐ ‐

 –  Ubuntu 9.04

 –    ‐   , ue oo or

HSDPA

n•   GPS single‐freq

7

•  $400 w/o option

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•  

•  Release in July

 or

 August

•   New Features:

 –  Real

‐time

 and

 Post

‐processing

 PPP

 –  Supports long‐baseline RTK up to 1,000 km

 –  Supports additional formats and models: RINEX 

clock ext.,

 ANTEX,

 earth

 tides,

 satellite

 antenna

 

PCV, phase windup …

 –  Real‐time plot by RTKPLOT

8

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•   ‐

 –  PPP‐Kinematic or PPP

‐Static mode

•  

 –  Only L3‐LC with dual‐freq for Ionosphere

 – 

•   Sold earth tides by IERS 2003 (subset)

 

 –  ANTEX (IGS05.ATX) or NGS

•   ntenna rotat on e ect or p ase

9

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•  

 –  SP3 for

 orbits

 and

 clocks

 –    ‐

•

  Real‐

time: –  Broadcast + RTCM v3 SSR draft  MT 1057, 1058, 

1060, 1062, 1063, 1064, 1066, 1068)

 –   roa cas

 +

 ong

‐ erm as correc ons

 –  QZSS LEX MT 10, 11 (in v.2.4.x)

10

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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‐

Solution   After Convergence forrror   15 min 30 min 60 min

E‐W 26.5 cm 15.4 cm   10.6 cm

‐  . cm . cm   . cm

U‐D 35.2 cm 16.7 cm   12.1 cm

11

, , ,   ‐

www.igs‐ip.net:2101/CLK11 by BKG RTNet, GPS only

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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‐

•

formats•   Needs clear definitions for coordinates of orbit

corrections and polarity of delta‐clocks to avoid user

confusion•   Lack of user algorithms for GLONASS broadcast

ephemeris

•   Not good quality of GLONASS orbits and clocks(outage or out‐of ‐date corrections)

14

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•

•   Supports NTRIP 2.0

•

•   Supports other receivers’ raw formats

•   Supports IONEX Ionosphere corrections

•   Supports RAIM

•   ….

15

8/10/2019 0216 Takasu - Real-time PPP With RTKLIB and IGS Real-time Satellite Orbit and Clock (Newcastle 2010)

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•

•  PPP implementation in RTKLIB 2.4.0

•   Pre iminary test resu ts o rea ‐time PPP wit

IGS RT orbits/clocks

. . . .or

“ ”

16