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 <apps@ryuu.nict.go.jp> 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: apps@nict.go.jpSubject: 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: richi@nict.go.jprichi@nict.go.jp or or koyama@nict.go.jpkoyama@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