AOGS2006Singapore, Jul 10-14, 2006
Development of Advanced Development of Advanced Precise Positioning System Precise Positioning System
(APPS) for Automated (APPS) for Automated Geodetic GPS Processing Geodetic GPS Processing
ICHIKAWA Ryuichi and KOYAMA YasuhiroICHIKAWA Ryuichi and KOYAMA YasuhiroKashima Space Research Center, NICTKashima Space Research Center, NICT
Xiong MIN and KANZAKI MasayukiXiong MIN and KANZAKI MasayukiNippon GPS Solution CorporationNippon GPS Solution Corporation
OverviewOverview
MotivationMotivation APPS System DescriptionAPPS System Description APPS Processing ProcedureAPPS Processing Procedure Examples of Processing ResultsExamples of Processing Results Concluding RemarksConcluding Remarks
MotivationMotivation millimeter positioning using GPS [Rocken and millimeter positioning using GPS [Rocken and
Johnson, 1999]Johnson, 1999]• only geodetic specialistonly geodetic specialist• multi-hour static data setsmulti-hour static data sets• dual-frequency GPS receiverdual-frequency GPS receiver• high quality GPS orbithigh quality GPS orbit• earth’s physical modelearth’s physical model
earth rotation parametersearth rotation parameters atmospheric mapping functionatmospheric mapping function earth tide (solid, ocean, and atmosphere)earth tide (solid, ocean, and atmosphere)
• highly sophisticated softwarehighly sophisticated software• high level of data processing expertisehigh level of data processing expertise
Easy to Use!!Easy to Use!!• Our purpose -> User can get highly accurate Our purpose -> User can get highly accurate
relative positions using just one GPS receiver relative positions using just one GPS receiver without any geodetic understandings.without any geodetic understandings.
Similar Online GPS Processing Similar Online GPS Processing ServicesServices
AUSPOSAUSPOS• the Australian Surveying and Land Information the Australian Surveying and Land Information
Group (AUSLIG) Online GPS Processing System, Group (AUSLIG) Online GPS Processing System, AustraliaAustralia
• http://www.ga.gov.au/geodesy/sgc/wwwgps/http://www.ga.gov.au/geodesy/sgc/wwwgps/ OPUSOPUS
• the On-line Positioning User Service provided the On-line Positioning User Service provided by the National Geodetic Survey (NGS), USAby the National Geodetic Survey (NGS), USA
• http://www.ngs.noaa.gov/OPUS/http://www.ngs.noaa.gov/OPUS/
Comparison with other servicesComparison with other services
AUSPOSAUSPOS OPUSOPUS APPSAPPS
User locationUser location Anywhere on Anywhere on EarthEarth
North and North and central Americacentral America
Anywhere on Anywhere on EarthEarth
FTP optionFTP option YESYES NONO YESYES
Mail serviceMail service NONO NONO YESYES
Web serviceWeb service YESYES YESYES Under Under developmentdevelopment
Orbit Orbit selectionselection NONO NONO YESYES
Tropospheric Tropospheric delay delay
estimationestimationNONO NONO YESYES
System DescriptionsSystem Descriptions
APPS works with data collected APPS works with data collected anywhere on Earth anywhere on Earth
Server systemServer system• PC specificationPC specification
Dual Xeon CPU (2.8GHz, 1MB L2 cache, Dual Xeon CPU (2.8GHz, 1MB L2 cache, 800MHz FSB) with 2GB DDR Memory800MHz FSB) with 2GB DDR Memory
• OSOS Red Hat Enterprise LinuxRed Hat Enterprise Linux
• GPS data processing softwareGPS data processing software Bernese Ver.4.2 Bernese Ver.4.2 [Hugentobler et al., 2001][Hugentobler et al., 2001]
Reference stations for user data Reference stations for user data processing using APPSprocessing using APPS
International GNSS Service (IGS) tracking International GNSS Service (IGS) tracking station: more than 340 stationsstation: more than 340 stations
Reference stations for user data Reference stations for user data processing using APPS (contd.)processing using APPS (contd.)
GEONET• The Geographical
Survey Institute (GSI) of Japan is operating the GPS earth observation network ( (GEONET) consisting of more than 1200 continuous GPS stations in Japan.
IGS tracking station
GEONET station
•APPS processes the user data with the data at the three most closest stations automatically.•User can choose any IGS and GEONET stations as reference stations manually.
APPS processing procedureAPPS processing procedure
GPS observation by userGPS observation by user To transfer GPS data to APPS serverTo transfer GPS data to APPS server
• by e-mailby e-mail• user’s FTP serveruser’s FTP server• by WEB site (by WEB site (under developmentunder development))
User GPS data is processed by APPS.User GPS data is processed by APPS. To send back processed results to userTo send back processed results to user Processing of multiple data files is Processing of multiple data files is
available.available.
APPS Processing APPS Processing Procedure (contd.)Procedure (contd.)
Subject: FORM for APPS PROCESS Date: Wed, 5 Jul 2006 09:38:14 +0900 (JST) From: APPS <[email protected]> To: ****@XXX.XXX.XX
############################################## Hello, I'm automail service in APPS Thanks to have a contact with me! If you'd like to use this service, please notice the format below ##############################################
##### header part #####To: [email protected]: PROCESS
##### body part ######APPS_BODY_STARTTIME_WIND 00:00:00 23:59:59 0CUT-OFF 15SAMPLING 120PRODUCTS igsFIX_AVEFIXED COMPARE FTP-PATHELEV-DEP COSZMAP_FUNC DRY_NIELLEST_TRP LINEAR 8 1OUT_FORM SNX TRO#APPS_BODY_END
##### attachment file #####rinex file (????????.??o or ????????.??d)
Time Window00:00:00-23:59:59 (default)multi-session is availableex. session 1 00:00UT - 03:00UT session 2 03:00UT - 06:00UT : : session 8 21:00UT - 24:00UT
APPS serverat KSRC of NICT,
Japan
Elevation Cut Off Angle15 degrees (default)
IGS products•Final orbit
•(IGS,COD,EMR,ESA,GFZ,IGS,JPL,MIT,NGS)
•Rapid orbit•(IGR,COR)
•Ultra rapid orbit•(IGU,COP)
low elevation weightingCOSZ or NO
atmospheric mapping functionNMF, Hopfield, and COSZ
tropospheric delay estimation•time interval•With/wo horizontal gradient
RINEXdata
blank mail
reply<User’s reply>> ##### body part #####> #APPS_BODY_START> TIME_WIND 00:00:00 23:59:59 0> CUT-OFF 10> SAMPLING 120> PRODUCTS igs> FIX_AVE> FIXED GUAM> COMPARE 0821 0001 0006 0029> FTP-PATH> ELEV-DEP COSZ> MAP_FUNC DRY_NIELL> EST_TRP NO 24 1> OUT_FORM SNX TRO TRP> #APPS_BODY_END
Result from APPS Result from APPS
APPS serverat KSRC, Japan
Result
within 15 minutesCOORDINATE OUTPUT-----------------SITE: 0053EPOCH: START=06/04/09 00:00:00 END=06/04/16 23:59:59
TIME_WIND Lat. (deg.) Lon. (deg.) Height (m)+-------------------------------------+------------------+------------------+------------------+ 06/04/09 00:00:00 - 06/04/09 23:59:59 37.3823753837000 136.8891647626000 51.3813 06/04/10 00:00:00 - 06/04/10 23:59:59 37.3823754627000 136.8891646849000 51.3646 06/04/11 00:00:00 - 06/04/11 23:59:59 37.3823753016000 136.8891647045000 51.4061 06/04/12 00:00:00 - 06/04/12 23:59:59 37.3823753370000 136.8891646803000 51.3937 06/04/13 00:00:00 - 06/04/13 23:59:59 37.3823752764000 136.8891647522000 51.3967 06/04/14 00:00:00 - 06/04/14 23:59:59 37.3823752845000 136.8891647698000 51.3946 06/04/15 00:00:00 - 06/04/15 23:59:59 37.3823753343000 136.8891647068000 51.3929 06/04/16 00:00:00 - 06/04/16 23:59:59 37.3823752517000 136.8891647584000 51.4249+-------------------------------------+------------------+------------------+------------------+
AVERAGE: 37.3823753289875 136.8891647274375 51.3944RMS: 0.0000008259062 0.0000019073486 0.0163
SITE1: GUAMSITE2: 0001
TIME_WIND Slope (m) RES +-------------------------------------+---------------+-------- 06/04/09 00:00:00 - 06/04/09 23:59:59 3493567.1618 0.0030 06/04/10 00:00:00 - 06/04/10 23:59:59 3493567.1697 0.0109 06/04/11 00:00:00 - 06/04/11 23:59:59 3493567.1593 0.0005 06/04/12 00:00:00 - 06/04/12 23:59:59 3493567.1616 0.0028 06/04/13 00:00:00 - 06/04/13 23:59:59 3493567.1540 -0.0048 06/04/14 00:00:00 - 06/04/14 23:59:59 3493567.1549 -0.0040 06/04/15 00:00:00 - 06/04/15 23:59:59 3493567.1581 -0.0008 06/04/16 00:00:00 - 06/04/16 23:59:59 3493567.1513 -0.0076+-------------------------------------+---------------+--------AVERAGE: 3493567.1588 RMS: 0.0054
Example of Processing ResultExample of Processing Resultusing APPS using APPS
Reference Reference stationstation• GUAM, TSKB, GUAM, TSKB,
USUDUSUD Baseline LengthBaseline Length
• Ranging 50 - Ranging 50 - 3500km3500km
8 days data8 days data• Apr. 9 – Apr. 16, Apr. 9 – Apr. 16,
20062006
TSKBUSUD
GUAM
User location
Example of Processing ResultsExample of Processing Resultsusing APPS (contd.) using APPS (contd.)
TSKB - Mt. Fuji
USUD - Mt. Fuji
Example of Processing ResultsExample of Processing Resultsusing APPS (contd.)using APPS (contd.)
Example of Processing ResultsExample of Processing Resultsusing APPS (contd.) using APPS (contd.)
Wajima
Wakkanai
GUAM
Hamamatsu
Concluding RemarksConcluding Remarks We have developed the APPS.We have developed the APPS. The prototype of the APPS is in beta test, meaning it is gThe prototype of the APPS is in beta test, meaning it is g
enerally available to the researchers.enerally available to the researchers.• Please contact: Please contact: [email protected]@nict.go.jp or or [email protected]@nict.go.jp
RepeatabilityRepeatability• 1-12mm RMS in baseline length1-12mm RMS in baseline length• 1-8mm RMS in horizontal1-8mm RMS in horizontal• 1-25mm RMS in vertical1-25mm RMS in vertical
Estimation of Tropospheric parameters is available.Estimation of Tropospheric parameters is available.
Acknowledgement: Acknowledgement: We thank the RINEX GPS data used in thiWe thank the RINEX GPS data used in this study are supplied by IGS and GEONET of GSI, Japan.s study are supplied by IGS and GEONET of GSI, Japan.
OutlookOutlook Processing software upgradeProcessing software upgrade
• Bernese Ver.4.2 -> Ver.5.0Bernese Ver.4.2 -> Ver.5.0• Precise Point Positioning (PPP)Precise Point Positioning (PPP)
Additional model implementationAdditional model implementation• Ocean TideOcean Tide
NAO99b NAO99b [Matsumoto et al., 2000][Matsumoto et al., 2000]
• Atmospheric Mapping Function based on the numerical Atmospheric Mapping Function based on the numerical weather modelweather model
ex. IMF ex. IMF [Niell, 2001][Niell, 2001], VMF , VMF [Boehm and Schuh, 2004][Boehm and Schuh, 2004]
Additional OutputAdditional Output• Ionosphere informationIonosphere information
total electron content (TEC)total electron content (TEC) Experiment using Satellite Internet link (under Experiment using Satellite Internet link (under
consideration)consideration)
Communication Satellites for Asia-Communication Satellites for Asia-Pacific regionsPacific regions
Engineering Test Engineering Test Satellite VIII (ETS-VIII)Satellite VIII (ETS-VIII)• to be launched in 2006to be launched in 2006• Mobile communications Mobile communications
Wideband Wideband Internetworking Internetworking Engineering Test and Engineering Test and Demonstration Demonstration Satellite (WINDS)Satellite (WINDS)• to be launched in 2007to be launched in 2007• 1.2 Gbps 1.2 Gbps
communication communication
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