Japan Aerospace Exploration AgencyK.Kawate, M. Miyoshi, S. Nakamura and S. Kogure

H.Soga and Y.Hirahara @NECA.Yasuda and T.Takasu@Tokyo University of Marine Science and Technology

The development result of the ground infrastructure

for Real time PPP experiment by using QZSS

PPP WORKSHOP 2013

Outline

Real-time PPP Service via QZSS

Development Status of the Ground Infrastructure for Real-Time PPP Service

- MGM-net (monitoring network)

- MADOCA (Multi-GNSS offline & real-time estimator)

Evaluate Result

- Estimate accuracy of orbit and clock by MADOCA - PPP accuracy with MADOCA products

+ Announcement

PPP WORKSHOP 2013

IntroductionBackground

- Progression of “Multi-GNSS” by increase of positioning satellites

Prediction of visible satellites in 2020

- Expansion of GNSS utilization field

Not only Positioning, Navigation and Timing , But also Applied researches

Real-time PPP service with cm-level accuracy is required!

Today’s Topic“Development of Real-time PPP service using Multi-GNSS via QZSS by JAXA”

- Multi-GNSS monitoring network “MGM-net” - Precise Multi-GNSS orbit and clock estimator “MADOCA” - MADOCA-LEX signal

10 　　 15 　　 20 25 　 30 35

# of sats

PPP WORKSHOP 2013

Real-time PPP Service via QZSS

QZSS (Quasi-Zenith Satellite System)

PPP WORKSHOP 2013

What’s QZSS

- Sep. 11, 2010 Launch by H-IIA 18th

- June. 22, 2011 Start of public service (L1C/A, L2C)

First Quasi-Zenith Satellite “Michibiki”

Role of “Michibiki” 1)”GPS Availability Enhancement” (L1C/A, L2C, L1C, L5 signal)2) “GPS Performance Enhancement“(L1-SAIF, LEX signal)

Form 6.2m×3.1m×2.9m (Launch)Panel width: 25.3m

Wight App. 4000kg (Launch)

Power App. 5 kW

Orbit Altitude(initial orbit) 　

Apogee: App. 39000kmPerigee: App. 33000km

Design Life over 10 years

Service via QZSS ( 1 / 2 )

- Regional Positioning system which can stay near zenith over Japan for many hours - Service area : all over Asia and Oceania region

PPP WORKSHOP 2013

Service via QZSS

Weather ForecastLEO satellite

Car/Human Navigation

Effective field of real-time PPP service via QZSS

Crustal deformation monitoring

Tsunami detectionPrecise Agriculture

Service via QZSS ( 2 / 2 )

- Broadcast of orbit and clock correction message using LEX signal

LEX signal- Center frequency ： 1278.75MHz- Transfer rate ： 2 kbps- Massage : Some messages broadcasted by time sharing　　　　　 　　 (JAXA 、 SPAC 、 NICT 、 GSI)

PPP WORKSHOP 2013

Development status of the Ground Infrastructure for Real-Time PPP Service

MGM-net etc.MGM-net etc.

MADOCA

Target accuracy < 10cm (H/V RMS)

PPP users

Development of ground infrastructure for providing real-time PPP service - Target PPP Accuracy in this system is less than 10 cm(H/V RMS)

8

GLONASS Galileo QZSS

・・・

LEX message

LEX message

PPP users

LEX signal

Tracking&Control Station

RTCMSSR

orbit & clockestimator

LEX messagegenerator

RTCM, Raw, BINEX…

NTRIP Caster(provided by BKG)

Data interface

LEXmessage

Master Control Station(MCS)

@Okinawa

@Tsukuba

navigation signal

PPP WORKSHOP 2013

GPS

MADOCA

Development status of the ground infrastructure ( 1 / 7 )

System of Real-time PPP Service

★ 　 JAXA’s (9)● 　 MGM-net(Hosting) on running (11)● 　 MGM-net(Hosting) under construction (13)

■ MGM-net(Sharing) (7)▲ MGM-net(Sharing based on agreement) (40)

MGM-net (Multi-GNSS Monitoring network)

Aim of MGM-Net 　　 - Improvement of Multi-GNSS orbit and clock estimate accuracy - Promotion of Multi-GNSS experiment including QZSS ■Please visit 　“ MGA” website for detailed → www.multignss.asia

→ 　 Call for Application of JAXA’s Rx hosting sites from 2011

Call for Application continuously untilarranged 60 sites!!

PPP WORKSHOP 2013

Development status of the ground infrastructure ( 2 / 7 )

International Cooperation 　 - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result 　

　　　　 → 　 Plan to participate into IGS M-GEX project

★ 　 JAXA’s (9)● 　 MGM-net(Hosting) on running (11)● 　 MGM-net(Hosting) under construction(13)

■ MGM-net(Sharing) (7)▲ MGM-net(Sharing based on agreement) (40)▲ 　 other partner’s (based on agreement) (4)

MGM-net ～ International cooperation (Multi-GNSS Monitoring network)

PPP WORKSHOP 2013

Development status of the ground infrastructure ( 3 / 7 )

International Cooperation 　 - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result 　

PPP WORKSHOP 2013

(Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)MADOCA

Offline Estimate Function Real-time Estimate FunctionPositioning System GPS GLO QZS Gal GPS GLO QZS GalSchedule 2011 2012Estimate Accuracy

Orbit[cm] 3 7 4 9Clock[ns] 0.1 0.25 0.1 0.25

Aim of MADOCA - Estimation of orbit and clock with high accuracy - Multi-GNSS Support (GPS, GLONASS, QZSS and Galileo)

Development - NEC, Tokyo University of Marine Science and Technology and JAXA

Goal - Estimate accuracy comparable to IGS products for RT positioning with < 10cm accuracy

Table. 1 Development Schedule & Target Accuracy

Development status of the ground infrastructure ( 4 / 7 )

PPP WORKSHOP 2013

MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)

Offline Real-Time

Algorithm Iterated Weighted LSQ Dual-Cycle-EKF

Estimated Parameters

Orbit, SRP/Emp-Acc, Clock, Position, ZTD/Grad, Ambiguity, Bias, EOP

NumericalSolver

NEQ by Cholesky Factorization

Numerical StableEKF

Clock Estimation Parameter Eliminationin NEQ

State as White-Noiseor Random-Walk

Integer Ambiguity Resolution

Network AR(Ge., 2005)

Real-Time Network AR

Parameter Adjustment　 - Precise orbit & clock estimation using latest models - Reduction of processing time - High Stablity of numeric calculation

Table2 Parameter Adjustment

Development status of the ground infrastructure ( 5 / 7 )

PPP WORKSHOP 2013

Format - Definition of MADOCA-LEX format as MT=12 based on RTCM SSR

MADOCA-LEX

Preamble(8)

Reserved(6)

Message Length(10)

Data Message (Variable)

CRC(24)

Preamble(8)

Reserved(6)

Message Length(10)

Data Message (Variable)

CRC(24)

header(49)

TOW WN SSR Packet#1 (Variable)

SSR Packet#2 (Variable)

Reserved Reed-Solomon

(256)

Data Section(1695)LEX message (2000)

・・・

LEX message

(cf)RTCM SSR

・・・RTCM Message #1 RTCM Message #2

SSR Packet Message Number Update Interval

GPS QZSS Gal GLO

Orbit Correction 1057 1246* 1240* 1063 30sec

Satellite Code Bias 1059 1248* 1242* 1065 1day

URA 1061 1250* 1244* 1067 30sec

High rate Clock Correction 1062 1251* 1245* 1068 2sec

RTCM SSR MT using MADOCA-LEX message (* : draft )

(Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)

Development status of the ground infrastructure ( 7 / 7 )

■Please visit QZSS websites “QZ-vision” → http://qz-vision.jaxa.jp/USE/is-qzss/index_e.html

Please check !

PPP WORKSHOP 2013

Evaluate Result

PPP WORKSHOP 2013

Evaluation of offline estimation

2011/01/01 -12/31 (365 days), wrt IGS Final

GPS & GLONASS estimation 　 - Comparable accuracy with IGS ACs GPS

GLONASS

QZSS orbit estimation 　 - <6 cm accuracy on overlap evaluation QZSS

2011/06/04 - 2011/11/03 (153 days), 24 H-overlap

(cf.) Overlap evaluation

48 H 12 H 12 H

Estimation Arc

Overlap Error

Arcs12H 48H 　 12H

Overlap error

R :2.37cm , A :4.47cm , C :3.21cm, 3D :5.99cm

R

A

C

+1m

-1m

ReportedEvaluation result ( 1 / 6 )

Evaluation of offline PPP

PPP WORKSHOP 20132013/01/13 -1/20 (8 days), RTKLIB2.4.1b12, wrt PPP-static using IGS Final

Offline PPP around Asia and Oceania area using MADOCA offline products 　 - Offline PPP accuracy of enough less than 10cm !!

Average 3.8cm (HRMS) 5.6cm (VRMS)

Evaluation result ( 2 / 6 ) Reported

PPP WORKSHOP 2013

RNXSVR MGRTE RTKPOST2.4.2

MGEST

RT DataSimulator

( x 60)

2012/1/31RINEX OBS

RINEX NAV

TCP:RTCMMSM(30 s)

SINEX

2012/2/1~RINEX OBS

RINEX NAV

RINEX OBS/NAV

PPP solutions

RTCM SSR

EXTSYNC: SYNCTINT_CLK: 30 s

TINT: 300 sEST: OBT, CLK, EOP,

AMB, BIASFIX: POS

POS, STAINF

RT-StreamFile

Architecture

Orbit Error (Radial/Along/Cross)

Clock Error

R: 1.52 cm/ A: 2.49 cm/ C: 1.81 cm3D: 3.44 cm

STD: 0.114 ns / RMS:0.184ns

Simulated*1 GPS real-time estimation (1/2) 　 - Achievement of orbit accuracy of < 4 cm and clock accuracy of ~ 0.1 ns

2012/2/1 - 2/14 (14 days), 31 GPS satellites wrt IGS Final(* First 24H and unhealthy G14 excluded)

Evaluation result ( 3 / 6 )

Evaluation of simulated RT estimation

*1 : Evaluation of real-time estimator using simulated real-time data based on RINEX

Simulated GPS real-time estimation (2/2) 　 - Achievement of PPP accuracy of enough less than 10 cm

18

RMS *E: 1.93 cmN: 1.46 cm U: 3.91 cm

RMS *E: 1.80 cm N: 1.42 cm U: 3.25 cm

with Simulated MADOCA Clock/OrbitE

N

U

+0.2m

-0.2m

PPP WORKSHOP 201318

2012/2/2 - 2/14 (13 days), RTKPOST2.4.2, wrt IGS Final POS (* First 1H excluded) @TKSB

with IGS FINALE

N

U

+0.2m

-0.2m

Evaluation result ( 4 / 6 )

Evaluation of simulated RT PPP

JAXA’s (8) Other partner’s (5)

Ground Test of RT estimator (1/2)　 - Ground Test of real-time estimator via NTRIP caster using MGM-net and IGS/MGEX sites

MGM-net (5)

PPP WORKSHOP 2013

IGS/MGEX (21)

Evaluation result ( 5 / 6 )

Evaluation of RT estimation

Sharing (7)

Evaluation of RT PPP

E-W

N-S

U-D

Ground Test of RT estimator (2/2)　 - Achievement of PPP accuracy of < 10 cm using only GPS

PPP WORKSHOP 2013

E-W

N-S

U-D

+0.5m

-0.5m

10cm

10cm

RMSE: 2.51 cmN: 2.20 cmU: 7.57 cm

RMSE: 6.02 cmN: 3.75 cmU: 9.61 cm

2013/5/20 9:00-21:00 (12h), RTKLIB2.4.2,1Hz, wrt IGS Final POS

Evaluation result ( 6/ 6 )

with Real Time IGS

with Ground Test MADOCA

PPP WORKSHOP 2013

Announcement

Experiment Schedule

Please see “Experiment Schedule” on QZ-vision because LEX signal is on test.

Announcement ( 1 / 3 )

PPP WORKSHOP 2013

START of Test BroadcastTest Bradcast

- Start of MADOCA-LEX signal broadcast via “QZSS” on a trail !! 1st April 11 - April 13 2nd April 26 - May 3 3rd May 28 - June 1 On Test June 9 - June 15

■Please visit QZSS websites “QZ-vision” → http://qz-vision.jaxa.jp/USE/en/exp_schedules

Please check here!

START of Test BroadcastAnnouncement ( 2 / 3 )

E-W

N-S

U-D

+0.5m

-0.5m

PPP using MADOCA-LEX　 - Achievement of PPP accuracy of ~ 10 cm using GPS+QZS

PPP WORKSHOP 2013

10cm

RMSE: 3.54cmN: 1.99 cmU: 13.10 cm

2012/5/30 12:00:00-23:59:59(12 hours),RTKLIB2.4.2, 31 GPS+QZS satellites, wrt PPP-static, IGS Final POS @NCKU

MGM-netIGS/MGEX

LEX msg.

MCS

@Okinawa@Tsukuba

MADOCALEX message

generator

JAXA’sLEX receiverSSR

RTCMBINEXRAW

LEX sig.

SSRorbit&clockestimator

with MADOCA-LEX

Architecture

8:30 Ottawa8:30 Tsukuba

QZSS

START of Test BroadcastAnnouncement ( 3 / 3 )

Demonstration of PPP using MADOCA-LEX

PPP WORKSHOP 2013

MGM-netIGS/MGEX

LEX msg.

MCS

@Okinawa@Tsukuba

MADOCALEX message

generator

JAXA’sLEX receiverSSR

RTCMBINEXRAW

LEX sig.

SSRorbit&clockestimator

Architecture

Please see PPP using MADOCA-LEX !

PPP WORKSHOP 2013

SummaryDevelopment status of ground infrastracture real-time PPP service

‐ MGM-net : Expansion of Multi-GNSS Monitoring Network 　 (84 sites) - MADOCA : Development of Multi-GNSS orbit and clock estimator with high accuracy

Achievement of “real-time” PPP service with < 10 cm (H/VRMS) accuracy on ground test

Future Plan - Evaluation of long-term stability of real-time estimator - Function addition for higher accuracy (PPP-AR, BeiDou etc.)　　 →　 We aim to join IGS analysis centers in the future! - Start of regular broadcast of MADOCA-LEX signal

We look forward to providing real-time PPP service via QZSS!!

PPP WORKSHOP 2013

Thank you for your attention!!