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TianjinTianjin VRS NetworkVRS Network

First Crust Monitoring and Application Center ofFirst Crust Monitoring and Application Center ofChina Earthquake AdministrationChina Earthquake Administration

Huang Li Ren

Participating OrganizationsParticipating Organizations

1. Institute of Geological Survey of 1. Institute of Geological Survey of TianjinTianjin2. 2. TianjinTianjin Control Land Subsidence OfficeControl Land Subsidence Office3. Institute of Geological Survey of 3. Institute of Geological Survey of TianjinTianjin4. First Crust Monitoring and Application Center of4. First Crust Monitoring and Application Center of

China Earthquake AdministrationChina Earthquake Administration5. Meteorological Bureau of 5. Meteorological Bureau of TianjinTianjin6. National Earthquake Infrastructure Service 6. National Earthquake Infrastructure Service 7. Administration and Survey Center of Hydrology7. Administration and Survey Center of Hydrology

and Water Resources of and Water Resources of TianjinTianjin8. Earthquake Administration of 8. Earthquake Administration of TianjinTianjin

ObjectiveObjective: : Multifunctional Multifunctional comprehensive service network.comprehensive service network.

ApplicationApplication：：

•• Dynamic maintenance of surveying Dynamic maintenance of surveying datumdatum; ;

•• Seismic and geological disasters Seismic and geological disasters monitoring, modernization of land monitoring, modernization of land subsidence controlsubsidence control;;

•• GPS meteorological forecast, realGPS meteorological forecast, real--time RTK servicetime RTK service

GPS continuous observation station GPS continuous observation station network of network of TianjinTianjin

Accuracy requirements:Accuracy requirements:●● Fast or realFast or real--time positioningtime positioning：：

Horizontal Horizontal ＜＜3cm; Vertical3cm; Vertical＜＜5cm5cm●● PostPost--event relative precision positioning and event relative precision positioning and

deformation monitoringdeformation monitoring：：HorizontalHorizontal≤≤3mm ; Vertical3mm ; Vertical≤≤5mm5mm

●● Navigation: horizontal Navigation: horizontal ≤≤2m; vertical2m; vertical≤≤3m3m●● Timing: accuracy for single setTiming: accuracy for single set≤≤100ns;100ns;

for multifor multi--sets synchronouslysets synchronously≤≤10ns10nsReliability and perfectibility:Reliability and perfectibility:●● Annual operation reliability Annual operation reliability ≥≥95%; 95%; ●● Alarming time Alarming time ＜＜6s; 6s; mismis--alarming probability alarming probability ＜＜0.30.3％％

GPS continuous observation station GPS continuous observation station network of network of TianjinTianjin

Reference Station Reference Station Hardware：Trimble NetRS

Communication：Leased Line (SDH), Router

Control Center Control Center

Network Network

Testing Sites Testing Sites Layout for VRS Layout for VRS positioning positioning AccuracyAccuracy((199 GPS A199 GPS A--, , BB--, C, C--Level Level network sites )network sites )

VRSVRS’’s RTK testing programs RTK testing program

VRSVRS’’s RTK measurements RTK measurementThe observation time in this RTK The observation time in this RTK

positioning accuracy testing is taken as positioning accuracy testing is taken as 1s, 3s, 5s, 10s, 30s, 1min, and 3 min, 1s, 3s, 5s, 10s, 30s, 1min, and 3 min, respectively. And 3 sets of effective data respectively. And 3 sets of effective data are recorded in each condition. are recorded in each condition.

VRS RTK Testing Plan VRS RTK Testing Plan ●● RTK measurementRTK measurement●● Different Surveying PeriodDifferent Surveying Period

Observation time is 1s, 3s, 5s, 10s, 30s, 1min, and 3 Observation time is 1s, 3s, 5s, 10s, 30s, 1min, and 3 min, respectively. And 3 sets of effective data are min, respectively. And 3 sets of effective data are recorded in each condition.recorded in each condition.

●● Repeat Surveying in different timeRepeat Surveying in different time●● 13 sites are selected from the triangle network of 13 sites are selected from the triangle network of

topological structure for the longtopological structure for the long--time RTK measurement, time RTK measurement, in which in which ““continuous terraincontinuous terrain”” is selected, observation time is selected, observation time is from 8:00 to 20:00, and initialization is made every onis from 8:00 to 20:00, and initialization is made every one e hour, so as to test how to affect RTK positioning accuracy hour, so as to test how to affect RTK positioning accuracy under different observation time periods, different satelliunder different observation time periods, different satellite te combinations and different initialized results.combinations and different initialized results.

2

1

( )

1

l

ij ij

i

a am

l=

−=

−

∑

2

1

n

ii

mm

n==∑

VRSVRS’’s RTK s RTK accuracy testing result accuracy testing result

Average internal Average internal coincidence accuracy:coincidence accuracy:

Average internal Average internal coincidence accuracy of each testing sitecoincidence accuracy of each testing site

Average internal Average internal coincidence accuracy of all testing sitescoincidence accuracy of all testing sites

0.01220.00610.01060.00370.0049r.m .s. error of all sites

0.03620.01500.03390.00920.0140M axim um value

0.01130.00580.00940.00350.0045A verage value

3-DPlaneH eightLongitudeLatitude

0.01220.00610.01060.00370.0049r.m .s. error of all sites

0.03620.01500.03390.00920.0140M axim um value

0.01130.00580.00940.00350.0045A verage value

3-DPlaneH eightLongitudeLatitude

-0.03 -0.02 -0.01 0.00 0.01 0.02 0.030

200

400

600

800

1000

1200

1400

1600

1800

差值区间内个数

差值区间(米)

-0.02 -0.01 0.00 0.01 0.02 0.030

500

1000

1500

2000


差值区间(米)

-0.08 -0.06 -0.04 -0.02 0.00 0.02 0.04 0.06 0.080

500

1000

1500

2000

差值区

间内个

数

差值区间(米)

Latitude directionLatitude direction

Longitude directionLongitude direction

Height directionHeight direction

Average external coincidence accuracy Average external coincidence accuracy of all testing sitesof all testing sites

VRSVRS’’s RTK s RTK accuracy testing resultaccuracy testing result

0.02210.01010.01970.00600.0081r.m.s. error of all sites

0.05490.02400.05340.01640.0216Maximum value

0.02070.00930.01780.00540.0073Average value

3-DPlaneHeightLongitudeLatitude

-0.02 -0.01 0.00 0.01 0.02 0.03 0.04 0.050

200

400

600

800

1000

1200

1400

差值区

间内个数

差值区间(米)

-0.02 -0.01 0.00 0.01 0.02 0.030

100

200

300

400

500

600


差值区间(米)

-0.08 -0.06 -0.04 -0.02 0.00 0.02 0.04 0.06 0.08 0.100

200

400

600

800

1000

1200


差值区间(米)




Current effectivenessCurrent effectiveness一般RTK测量服务时效性统计图

1.0% 14.9%

22.8%

17.3%11.4%

6.4%

8.4%

3.5%

2.0%

11.4% 0～20秒

20～30秒

30～40秒

40～50秒

50～60秒

60～70秒

70～80秒

80～90秒

90～100秒

>100秒

Statistics of current service effectiveness for general RTK measurement

ssd

0 50 100 150 200 250 300 3500

20

40

60

80

100

时间

区间

内个

数

初始化时间区间(秒)Time interval of initialization (s)

60.55Average value15Minimum value325Maximum value

Time (s)Time needed to obtain fixed solution

Num

bers of observed data in the difference interval

Effect of observation time Effect of observation time on accuracy of RTKon accuracy of RTK


0.01440.00730.01240.00420.0060180s0.01280.00640.01110.00420.004860s0.01130.00590.00960.00370.004530s0.01060.00520.00920.00320.004210s0.01050.00530.00900.00340.00415s0.01180.00570.01030.00320.00473s0.01390.00690.01210.00400.00561s

r.m.s. error of internal coincidence Type of data

Effect of observation time Effect of observation time on accuracy of RTKon accuracy of RTK


0.02000.00900.01780.00530.0073180s0.02090.00950.01860.00570.007660s0.02050.00980.01790.00600.007830s0.02180.00980.01950.00590.007810s0.02280.01040.02030.00620.00835s0.02350.01070.02100.00610.00873s0.02510.01130.02250.00660.00911s

r.m.s. error of external coincidence Type of data

Accuracy distribution


of VR

Sof V

RS ’’ s R

TK

s RT

K


LongitudeLongitude directiondirection



of VR

Sof V

RS ’’ s R

TK

s RT

K




of VR

Sof V

RS ’’ s R

TK

s RT

K

Plane locationPlane location



of VR

Sof V

RS ’’ s R

TK

s RT

K

33--D locationD location



of VR

Sof V

RS ’’ s R

TK

s RT

K

Plane locationPlane location

33--D locationD location

LongLong--time (12 hours) RTK testing (to time (12 hours) RTK testing (to examine the effects of different time intervals, examine the effects of different time intervals, different satellites combinations and different different satellites combinations and different initialization results on RTK positioning initialization results on RTK positioning accuracy).accuracy).

RTK testing is made uniformly on 13 out RTK testing is made uniformly on 13 out of 199 sites. of 199 sites.

Effect of observation time interval Effect of observation time interval on RTK positioning accuracy on RTK positioning accuracy

Average Average internal coincidence accuracyinternal coincidence accuracyof longof long--time testingtime testing

Average Average external coincidence accuracyexternal coincidence accuracyof longof long--time testingtime testing


0.03080.01560.02660.00850.0130Maximum value0.02300.01170.01980.00690.0094Average value

3-DPlaneHeightLongitudeLatituder.m.s. error


0.05490.02400.05340.01640.0216Maximum value0.02070.00930.01780.00540.0073Average value


Consistent Consistent Testing resultTesting result

0

0.01

0.02

0.03

0.04

0.05

0.06

08:0

0:00

08:4

0:00

09:2

0:00

10:0

0:00

10:4

0:00

11:2

0:00

12:0

0:00

12:4

0:00

13:2

0:00

14:0

0:00

14:4

0:00

15:2

0:00

16:0

0:00

16:4

0:00

17:2

0:00

18:0

0:00

18:4

0:00

19:2

0:00

20:0

0:00

0

2

4

6

8

10

12

平均定位精度(米) 平均观测卫星数

0

0.01

0.02

0.03

0.04

0.05

0.06

8:00

:00

8:40

:00

9:20

:00

10:0

0:00

10:4

0:00

11:2

0:00

12:0

0:00

12:4

0:00

13:2

0:00

14:0

0:00

14:4

0:00

15:2

0:00

16:0

0:00

16:4

0:00

17:2

0:00

18:0

0:00

18:4

0:00

19:2

0:00

20:0

0:00

0

2

4

6

8

10

12


0

0.01

0.02

0.03

0.04

0.05

0.0608

:00:

0008

:40:

0009

:20:

0010

:00:

0010

:40:

0011

:20:

0012

:00:

0012

:40:

0013

:20:

0014

:00:

0014

:40:

0015

:20:

0016

:00:

0016

:40:

0017

:20:

0018

:00:

0018

:40:

0019

:20:

0020

:00:

00

0

2

4

6

8

10

12


Latitude direction

Latitude direction

Longitu

de directionLon

gitude direction

Height Direction

RTK positioning accuracy in RTK positioning accuracy in different time periods in testingdifferent time periods in testing

1. Accuracy1. Accuracy•• Latitude<0.011mLatitude<0.011m，，Longitude<0.009mLongitude<0.009m，，

•• Height<0.024mHeight<0.024m。。Horizontal<0.014mHorizontal<0.014m，，33--D<0.028m.D<0.028m.

•• Accuracy is average in whole network region.Accuracy is average in whole network region.

2. Systematic error 2. Systematic error •• vertical is vertical is 0.012m0.012m

3. Compatibility: Good3. Compatibility: Good

Trimble and Trimble and HuaceHuace X60,Zhonghaida HD600 X60,Zhonghaida HD600

( Receivers made in China)( Receivers made in China)

Conclusions Conclusions

4. High Accuracy 4. High Accuracy

5. Navigation5. Navigation

•• Six LinesSix Lines

•• Latitude<0.20mLatitude<0.20m，，

Longitude<0.13mLongitude<0.13m，，

Height<0.73Height<0.73米。米。

•• Horizon<0.23mHorizon<0.23m，，

33--D >0.76m.D >0.76m.

Conclusions Conclusions

ThanksThanks&&

QuestionQuestion

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