Studies on accessibility and reliability of RTK ... on accessibility and reliability of RTK ... St...
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Studies on accessibility and reliability of RTK measurements by Internet Studies on accessibility and reliability of RTK measurements by Internet WARSAW UNIVERSITY OF TECHNOLOGY Inistitute of Geodesy and Geodetic Astronomy 1 Politechniki Sq., 00-661 Wasaw, Poland, ph.+4822 6214248 E-mail: [email protected]; http://joze.gik.pw.edu.pl J.B. Rogowski, L. Kujawa, M. Leszczynski Accessibility and reliability Real time kinematic (RTK) positioning with usage data transmition by the internet and GPRS radio link are presented in this poster. During test measurements two systems were used, first one was EUREF-IP and second one was system designed by ARMIKRO Company with cooperation of Institute of Geodesy and Geodetic Astronomy of Warsaw University of Technology. First experiment was performed to measure capacity of the Internet connection of rover user. On charts below there is presented time of way of packets from rover user to reference station. For this experiment ping test was used. In EUREF-IP system way of data stream consist from two segments, from reference station to broadcaster and from broadcaster to rover user. In IGGA technology there is direct connection between rover user and reference station. INTRODUCTION INTRODUCTION EXPERIMENTAL MEASUREMENTS EXPERIMENTAL MEASUREMENTS EUREF-IP Ntrip Broadcaster Ntrip Server EPN Reference Station INTERNET INTERNET DGPS User Ntrip Client Ntrip Server EPN Reference Station Ntrip Server EPN Reference Station RTK User Ntrip Client UNIX Server DCTSERV software JOZ3 Reference Station Trimble 4000 Cors Station INTERNET GSM Phone with GPRS Modem DCTGUI RTCM Client Windows RTK User Józefoslaw Observatory Rover equipment EUREF-IP Pilot project IGGA-ARMIKRO Technology EUREF-IP System time of way of packets form JOZ2 base station to EUREF-IP broadcaster System Way Average time of packets way Packet loss JOZ E- > EUREF- I P 100 ms 1% EUREF- I P- > GPRS 705 ms 6% EUREF-I P S 805 ms 7% I GGA- ARMI KRO JOZ E- > GPRS 686 ms 5% EUREF-IP System time of way of packets form EUREF-IP broadcaster to rover user with GPRS Internet connection IGGA System time of way of packets form JOZ3base station to to rover user with GPRS Internet connection Delays in data transfer by computer network doesn’t depend on distances, main influence has GPRS transmition. Second experiment was performed to measure time delay of correction in IGGA system, for this test data stream in NMEA GGK format form rover RTK receiver was recorded. In this test as a rover Trimble 4700 receiver was used. Time of correction delay is presented on the chart below. Correction delay Third experiment was performed to test accessibility of RTCM stream though the Internet for RTK measurements. For this test 3 day experiment was performed . RTK positions from rover receiver were recorded every second in this test. In this experiment as rover Trimble 4700 receiver was used and IGGA RTCM data stream dissemination system. Positions were recorded with 1Hz frequency. Day Qty. of breaks Total time without correction Aver age lenght of brea k Correction accessibility 1 – Friday 62 241 s 3,9 s 99,72 % 2 – Saturday 24 104 s 4,3 s 99,88 % 3 – Sunday 10 42 s 4,2 s 99,95 % Aver age 32 129 s 4,1 s 99,85 % Differences of longitude in 3 day experiment Differences of latitude in 3 day experiment Differences of height in 3 day experiment JOZ2 -> EUREF-IP 0 200 400 600 800 1000 1200 1400 1600 1800 1 493 985 1477 1969 2461 2953 3445 3937 4429 4921 5413 5905 6397 6889 7381 7873 8365 8857 9349 9841 10333 10825 Epochs [ ms ] EUREF-IP -> IDEA GPRS 0 200 400 600 800 1000 1200 1400 1600 1800 1 691 1381 2071 2761 3451 4141 4831 5521 6211 6901 7591 8281 8971 9661 10351 11041 11731 12421 13111 13801 14491 15181 Epochs [ ms ] JOZ3 -> ID EA GPR S 0 200 400 600 800 1000 1200 1400 1600 1800 1 693 1385 2077 2769 3461 4153 4845 5537 6229 6921 7613 8305 8997 9689 10381 11073 11765 12457 13149 13841 14533 15225 Epochs [ ms ] 0 1 2 3 4 5 6 1 376 751 1126 1501 1876 2251 2626 3001 3376 3751 4126 4501 4876 5251 5626 Epochs [s] B -0,060 -0,040 -0,020 0,000 0,020 0,040 0,060 0 770 1546 2316 3086 3856 4626 5396 6166 6936 7706 8476 9246 10016 10786 11562 12332 13102 13872 Epochs [m] 1st day 2nd day 3rd day L -0,060 -0,040 -0,020 0,000 0,020 0,040 0,060 0 770 1546 2316 3086 3856 4626 5396 6166 6936 7706 8476 9246 10016 10786 11562 12332 13102 13872 Epochs [m] 1st day 2nd day 3rd day H -0,080 -0,060 -0,040 -0,020 0,000 0,020 0,040 0,060 0,080 0 770 1546 2316 3086 3856 4626 5396 6166 6936 7706 8476 9246 10016 10786 11562 12332 13102 13872 Epochs [m] 1st day 2nd day 3rd day B - standard deviations 0,006 0,006 0,006 0,000 0,005 0,010 0,015 0,020 0,025 [m] 1st day 2nd day 3rd day L - standard deviations 0,006 0,006 0,006 0,000 0,005 0,010 0,015 0,020 0,025 [m] 1st day 2nd day 3rd day H - standars deviations 0,017 0,015 0,018 0,000 0,005 0,010 0,015 0,020 0,025 [m] 1st day 2nd day 3rd day RTK measurements with usage RTCM data streams via the Internet are accessitable (accessitability 99,85%), breaks without correction are very short (4s). Correction delay in both presented systems is very short and on the same level (2s). This technique ensures accuracy and accessability high enough for majority of survey,geodesy, precise navigation, engineering and agriculture works. The research was supported by the Polish State Committee for Scientific Resaerch (grant 4T12E00227) CONCLUSIONS CONCLUSIONS Breaks with out receiving corrections are very short, maximum break was 6 secounds and depend mostly on the load of Internet network. Differences of RTK positions in 3 day experiment are shown on charts below. 0 1 2 3 4 5 6 7 0 1151 4527 9165 11114 14743 34984 36002 39340 43542 48880 50741 50976 51472 54343 56092 61544 68075 71419 81638 84260 Epochs [ s ] Lenght of break [ s ] 0 1 2 3 4 5 6 7 0 5466 10924 15687 25543 29142 36092 43542 50743 61513 72123 77024 86400 E p o c h s [ s ] Lenght of break [ s ] 0 1 2 3 4 5 6 7 0 845 11067 31507 47200 51947 62173 69940 72395 82615 86400 E p o c h s [ s ] Lenght of break [ s ] Breaks during 1st day friday Breaks during 2nd day saturday Breaks during 3rd day sunday GPRS GPRS Jozefoslaw Observatory DSL DSL GPRS The EUREF 2006 Symposium of the IAG Commission 1-Reference Subcommission 1-3a Europe (EUREF) 14 - 17 June, 2006. Riga, Latvia
Transcript of Studies on accessibility and reliability of RTK ... on accessibility and reliability of RTK ... St...
Studies on accessibility and reliabilityof RTK measurements by InternetStudies on accessibility and reliabilityof RTK measurements by Internet
WARSAW UNIVERSITY OF TECHNOLOGYInistitute of Geodesy and Geodetic Astronomy1 Politechniki Sq., 00-661 Wasaw, Poland, ph.+4822 6214248
E-mail: [email protected]; http://joze.gik.pw.edu.pl
J.B. Rogowski, L. Kujawa, M. Leszczynski
Accessibility and reliability Real time kinematic (RTK) positioning with usage data transmition by the internet and GPRS radio link are presented in this poster. During test measurements two systems were used, first one was EUREF-IP and second one was system designed by ARMIKRO Company with cooperation of Institute of Geodesy and Geodetic Astronomy o f Warsaw Un ive r s i t y o f Techno logy.
First experiment was performed to measure capacity of the Internet connection of rover user. On charts below there is presented time of way of packets from rover user to reference station. For this experiment ping test was used. In EUREF-IP system way of data stream consist from two segments, from reference station to broadcaster and from broadcaster to rover user. In IGGA technology there is direct connection between rover user and reference station.
INTRODUCTIONINTRODUCTION
EXPERIMENTAL MEASUREMENTSEXPERIMENTAL MEASUREMENTS
EUREF-IPNtrip
Broadcaster
NtripServer
EPN Reference Station
INTERNETINTERNET
DGPS User
NtripClient
NtripServer
EPN Reference Station
NtripServer
EPN Reference Station
RTK User
NtripClient
UNIX ServerDCTSERVsoftware
JOZ3 Reference StationTrimble 4000 Cors Station
INTERNET
GSM Phonewith GPRS
Modem DCTGUIRTCM Client
Windows
RTK User
JózefoslawObservatory
Roverequipment
EUREF-IP Pilot project
IGGA-ARMIKRO Technology
EUREF-IP System time of way of packets formJOZ2 base station to EUREF-IP broadcaster
Syst em
W a y
Ave ra ge t ime of packets
w ay
Packet
loss
JOZE-> EUREF- I P 100 ms 1%
EUREF- I P-> GPRS 705 ms 6%
EUREF- I P
S 8 0 5 m s 7 %
I GGA-
ARMI KRO
JOZE-> GPRS
6 8 6 m s
5 %
EUREF-IP System time of way of packets form EUREF-IP broadcaster to rover user with GPRS
Internet connection
IGGA System time of way of packets form JOZ3base station to to rover user with
GPRS Internet connection
Delays in data transfer by computer network doesn’tdepend on distances, main influence has GPRS transmition.
Second experiment was performed to measure time delay of correction in IGGA system, for this test data stream in NMEA GGK format form rover RTK receiver was recorded. In this test as a rover Trimble 4700 receiver was used. Time of correct ion delay i s p r e s e n t e d o n t h e c h a r t b e l o w .
Correction delay
Third experiment was performed to test accessibility of RTCM stream though the Internet for RTK measurements. For this test 3 day experiment was performed . RTK positions from rover receiver were recorded every second in this test. In this experiment as roverTrimble 4700 receiver was used and IGGA RTCM data stream dissemination system. Positions were r e c o r d e d w i t h 1 H z f r e q u e n c y .
Day
Qty.
of breaks
Tota l t ime
without correct ion
Aver age lenght
of brea k
Correction
accessibility
1 – Frid ay
62
241 s
3,9 s
99,72 %
2 – Satur day
24
104 s
4,3 s
99,88 %
3 – Sunday
10
42 s
4,2 s
99,95 %
Aver age
32
129 s
4,1 s
99,85 %
Differences of longitude in 3 day experiment
Differences of latitude in 3 day experiment
Differences of height in 3 day experiment
JOZ2 -> EUREF-IP
0
200
400
600
800
1000
1200
1400
1600
1800
1
493
985
1477
1969
2461
2953
3445
3937
4429
4921
5413
5905
6397
6889
7381
7873
8365
8857
9349
9841
10333
10825
Epochs
[m
s]
EUREF-IP -> IDEA GPRS
0
200
400
600
800
1000
1200
1400
1600
1800
1
691
1381
2071
2761
3451
4141
4831
5521
6211
6901
7591
8281
8971
9661
10351
11041
11731
12421
1311
1
13801
14491
15181
Epochs
[m
s]
JOZ3 -> IDEA GPRS
0
200
400
600
800
1000
1200
1400
1600
1800
1
693
1385
2077
2769
3461
4153
4845
5537
6229
6921
7613
8305
8997
9689
10381
11073
11765
12457
13149
13841
14533
15225
Epochs[
ms
]
0
1
2
3
4
5
6
1
376
751
1126
1501
1876
2251
2626
3001
3376
3751
4126
4501
4876
5251
5626
Epochs
[s
]
B
-0,060
-0,040
-0,020
0,000
0,020
0,040
0,060
0
770
1546
2316
3086
3856
4626
5396
6166
6936
7706
8476
9246
10016
10786
11562
12332
13102
13872
Epochs
[m
] 1st day
2nd day
3rd day
L
-0,060
-0,040
-0,020
0,000
0,020
0,040
0,060
0
770
1546
2316
3086
3856
4626
5396
6166
6936
7706
8476
9246
10016
10786
11562
12332
13102
13872
Epochs
[m
] 1st day
2nd day
3rd day
H
-0,080
-0,060
-0,040
-0,020
0,000
0,020
0,040
0,060
0,0800
770
1546
2316
3086
3856
4626
5396
6166
6936
7706
8476
9246
10016
10786
11562
12332
13102
13872
Epochs
[m
] 1st day
2nd day
3rd day
B - standard deviations
0,006 0,0060,006
0,000
0,005
0,010
0,015
0,020
0,025
[m
] 1st day
2nd day
3rd day
L - standard deviations
0,006 0,006 0,006
0,000
0,005
0,010
0,015
0,020
0,025
[m
] 1st day
2nd day
3rd day
H - standars deviations
0,017
0,015
0,018
0,000
0,005
0,010
0,015
0,020
0,025
[m
] 1st day
2nd day
3rd day
RTK measurements with usage RTCM data streams via the Internet are accessitable (access i tab i l i ty 99 ,85%), breaks w i thout correction are very short (4s). Correction delay in both presented systems is very short and on the same level (2s). This technique ensures accuracy and accessability high enough for majorityof survey,geodesy, precise navigation, engineering a n d a g r i c u l t u r e w o r k s .
The research was supported by the Polish State Committee for Scientific Resaerch (grant 4T12E00227)
CONCLUSIONSCONCLUSIONS
Breaks with out receiving corrections are very short, maximum break was 6 secounds and dependmostly on the load of Internet network. Differences of RTK positions in 3 day experiment a r e s h o w n o n c h a r t s b e l o w .
0
1
2
3
4
5
6
7
0
1151
4527
9165
1111
4
14743
34984
36002
39340
43542
48880
50741
50976
51472
54343
56092
61544
68075
71419
81638
84260
Epochs [ s ]
Len
gh
to
fb
reak
[s
]
0
1
2
3
4
5
6
7
0
5466
10924
15687
25543
29142
36092
43542
50743
61513
72123
77024
86400
E p o c h s [ s ]
Len
gh
to
fb
reak
[s
]
0
1
2
3
4
5
6
7
0
845
11067
31507
47200
51947
62173
69940
72395
82615
86400
E p o c h s [ s ]
Len
gh
to
fb
reak
[s
]
Breaks during 1st day friday
Breaks during 2nd day saturday
Breaks during 3rd day sunday
GPR
S
GPRS
JozefoslawObservatory
DSL
DSL GPRS
The EUREF 2006 Symposium of the IAGCommission 1-Reference Subcommission 1 - 3 a E u r o p e ( E U R E F )14 - 17 June, 2006. Riga, Latvia
