brzezinska - surveying and mapping

7/30/2019 Brzezinska - Surveying and Mapping

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Satellite Navigation Science and

Technology for Africa:

Mapping and SurveyingDorota A. Grejner-Brzezinska

Satellite Positioning and Inertial Navigation (SPIN) Laboratory

The Ohio State [email protected]

Satellite Navigation Science andSatellite Navigation Science and

Technology for Africa:Technology for Africa:

Mapping and SurveyingMapping and SurveyingDorota A.Dorota A. GrejnerGrejner--BrzezinskaBrzezinska

Satellite Positioning and Inertial Navigation (SPIN) LaboratorySatellite Positioning and Inertial Navigation (SPIN) Laboratory

The Ohio State UniversityThe Ohio State [email protected]@osu.edu

Abdus Salam International Centre for Theoretical Physics, March 31, 2009


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AcknowledgementAcknowledgement

Contributions from Mr. BobContributions from Mr. Bob MergelMergel ofof

the Columbus State Communitythe Columbus State CommunityCollegeCollege

and Mr. Steve Kenyonand Mr. Steve Kenyonof the National Geospatialof the National Geospatial--IntelligenceIntelligence

Agency (NGA)Agency (NGA)

are gratefully acknowledgedare gratefully acknowledged


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Newest GPS satellite launchNewest GPS satellite launch

The L1/L2 transmitters ofThe L1/L2 transmitters ofSVN49/PRN01,SVN49/PRN01, launched onlaunched on24 March24 March, were, were activated onactivated on28 March28 March..

Several stations in theSeveral stations in theInternational GNSS ServiceInternational GNSS Serviceare now tracking the satellite.are now tracking the satellite.

However, the satellite has notHowever, the satellite has notyet been declared healthy andyet been declared healthy andis not yet included inis not yet included inalmanacs.almanacs.

The L5 transmitter appearsThe L5 transmitter appearsnot to have been activatednot to have been activatedyet. This is expected in earlyyet. This is expected in earlyApril.April.

CurrentCurrent GPS constellationGPS constellation

consists of 32 Blockconsists of 32 BlockII/IIA/IIR/IIRII/IIA/IIR/IIR--M satellitesM satellites


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Presentation overviewPresentation overview

What is surveying?What is surveying?

Primary objectives of surveyingPrimary objectives of surveying

GPS techniques used in surveyingGPS techniques used in surveying

Example applicationsExample applications Static surveyingStatic surveying

Kinematic surveyingKinematic surveying

NetworkNetwork--based GPSbased GPS

Precise Point Positioning (PPP)Precise Point Positioning (PPP)

Example performance analysisExample performance analysis Newest trends in GPS techniquesNewest trends in GPS techniques

Trimble Geomatics Office (Lab)Trimble Geomatics Office (Lab) Mission planningMission planning

Example data processing demoExample data processing demo


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DefinitionsDefinitionsDefinitions

SURVEYING: The

art, technology andscience of locating

points on, under or

near the earth'ssurface.

SURVEYOR: Expert

in the art and science

of performing

measurements.

SURVEYINGSURVEYING: The: The

art, technology andart, technology andscience of locatingscience of locating

points on, under orpoints on, under or

near the earth'snear the earth'ssurface.surface.

SURVEYOR: ExpertSURVEYOR: Expert

in the art and sciencein the art and science

of performingof performing

measurementsmeasurements..


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DefinitionsDefinitionsDefinitions

GEOMATICS: Geomaticsand Surveying are used

interchangeably. However,both include all methods forgathering & processinginformation about the

physical earth &environment processinformation disseminateproducts

Conventional ground systemssurveys

Aerial surveying methods Satellite surveying methods

GEOMATICSGEOMATICS: Geomatics: Geomaticsand Surveying are usedand Surveying are used

interchangeably. However,interchangeably. However,both include all methods forboth include all methods forgathering & processinggathering & processinginformation about theinformation about the

physical earth &physical earth &environmentenvironmentprocessprocessinformationinformationdisseminatedisseminateproductsproducts

Conventional ground systemsConventional ground systemssurveyssurveys Aerial surveying methodsAerial surveying methods Satellite surveying methodsSatellite surveying methods


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History of SurveyingHistory of SurveyingHistory of Surveying

Oldest & most important of

the arts/sciences. Egypt ~ 1400 B.C.

Rope Stretchers

Measure and

Map the Land

Tax the

Occupants

Greece: Science of Geometryand Early Surveying

Instruments (Diopter)

Oldest & most important ofOldest & most important of

the arts/sciences.the arts/sciences. Egypt ~ 1400 B.C.Egypt ~ 1400 B.C.

Rope StretchersRope Stretchers

Measure andMeasure and

Map the LandMap the Land Tax theTax theOccupantsOccupants Greece: Science of GeometryGreece: Science of Geometry

and Early Surveyingand Early Surveying

Instruments (Instruments (DiopterDiopter))


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Romans: Groma for

sighting and the libella forleveling. Extensive

Architectural and

Engineering Works

Middle Ages: Greek &

Roman Techniques kept

alive by Arabs.

Romans:Romans: GromaGroma forfor

sighting and thesighting and the libellalibella forforleveling. Extensiveleveling. Extensive

Architectural andArchitectural and

Engineering WorksEngineering Works Middle Ages: Greek &Middle Ages: Greek &

Roman Techniques keptRoman Techniques kept

alive by Arabs.alive by Arabs.


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18th & 19th Century England & France

Need to Establish National Boundariesand for Exploration

U.S. Public Land Survey System - Land

Act of 1796:

The Office of Surveyor General was createdand provisions made for deputy surveyors to

serve him

Edward Tiffin was the fourth and lastSurveyor General. In 1815 he prepared a

manual on surveying public lands

1818thth & 19& 19thth CenturyCenturyEngland & FranceEngland & France

Need to Establish National BoundariesNeed to Establish National Boundaries

and for Explorationand for Exploration

U.S.U.S.Public Land Survey SystemPublic Land Survey System -- LandLand

Act of 1796:Act of 1796:

The Office of Surveyor General was createdThe Office of Surveyor General was createdand provisions made for deputy surveyors toand provisions made for deputy surveyors to

serve himserve him

Edward Tiffin was the fourth and lastEdward Tiffin was the fourth and lastSurveyor General. In 1815 he prepared aSurveyor General. In 1815 he prepared a

manual on surveying public landsmanual on surveying public lands


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PurposePurposePurpose

Surveys involve

measurement ofhorizontal and vertical

distances and

horizontal and verticalangles for two (2)

major purposes:

Data Gathering

Construction Layout

Surveys involveSurveys involve

measurement ofmeasurement ofhorizontal and verticalhorizontal and vertical

distances anddistances and

horizontal and verticalhorizontal and verticalangles for two (2)angles for two (2)

major purposes:major purposes:

Data GatheringData Gathering

Construction LayoutConstruction Layout


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Purposeurposeurpose DATA GATHERING

Determine the horizontallocation of points on the

earths surface.

Determine the elevations ofpoints above or below a

reference surface, usually

mean sea level (MSL).

Determine the lengths anddirections of lines.

DATA GATHERINGDATA GATHERING

Determine the horizontalDetermine the horizontallocation of points on thelocation of points on the

earthearths surface.s surface.

Determine the elevations ofDetermine the elevations ofpoints above or below apoints above or below areference surface, usuallyreference surface, usually

mean sea level (MSL).mean sea level (MSL).

Determine the lengths andDetermine the lengths and

directions of lines.directions of lines.


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DATA GATHERING

continued Determine the

configuration of the

ground. Determine evidence ofboundary lines.

Determine the areas oftracts of land bounded

by given lines.

DATA GATHERINGDATA GATHERING

continuedcontinued Determine theDetermine the

configuration of theconfiguration of the

ground.ground. Determine evidence ofDetermine evidence of

boundary lines.boundary lines.

Determine the areas ofDetermine the areas oftracts of land boundedtracts of land bounded

by given lines.by given lines.


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CONSTRUCTION LAYOUT Lay off (measure)distances, angles and grade lines for the purposeof locating construction lines for buildings,landscapes, transportation systems, bridges,tunnels, utilities, or other architectural/engineeringworks.

CONSTRUCTION LAYOUT Lay off (measure)CONSTRUCTION LAYOUT Lay off (measure)distances, angles and grade lines for the purposedistances, angles and grade lines for the purpose

of locating construction lines for buildings,of locating construction lines for buildings,landscapes, transportation systems, bridges,landscapes, transportation systems, bridges,tunnels, utilities, or other architectural/engineeringtunnels, utilities, or other architectural/engineering

works.works.


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Field SurveyingField Surveying

Reference SystemsReference Systems

Use of Global Positioning Systems (GPS)

to Establish Primary Control


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Now, where inthe world am I?


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Reference SystemsReference Systems

Earth

Geographic Coordinate SystemSpherical Model

Latitude, Longitude

Geodetic System

Ellipsoidal Model

ECEF -

GRS 80, WGS84, ITRF

State Plane Coordinates

Geographic Datum

Ground Control Points

Geography Geodesy


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Branches of SurveyingBranches of SurveyingBranches of Surveying

Plane surveying

techniques assumes thatall plumb lines are parallel

and all horizontal

distances and angles are

projected onto one

horizontal plane. The

distances involved are

short enough that errorresulting from the earths

curvature is negligible.

Plane surveyingPlane surveying

techniques assumes thattechniques assumes that

all plumb lines are parallelall plumb lines are parallel

and all horizontaland all horizontal

distances and angles aredistances and angles are

projected onto oneprojected onto onehorizontal plane. Thehorizontal plane. The

distances involved aredistances involved are

short enough that errorshort enough that errorresulting from the earthresulting from the earthss

curvature is negligible.curvature is negligible.


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Plane Surveying

Flat horizontal surface ofearth.

Perform computations on aplane. Simplifies computations &techniques.

Plane SurveyingPlane Surveying

Flat horizontal surface ofFlat horizontal surface ofearth.earth.

Perform computations on aPerform computations on a

plane.plane. Simplifies computations &Simplifies computations &

techniques.techniques.


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Geodetic surveyingtechniques take into

account the curvature of theearth wherein all distancesand horizontal angles areprojected onto the surface

of the reference ellipsoidthat closely approximatesthe earth.

The geoid is thatequipotential surface whichwould coincide with themean ocean surface of theEarth, if the oceans were inequilibrium

Geodetic surveyingGeodetic surveyingtechniques take intotechniques take into

account the curvature of theaccount the curvature of theearth wherein all distancesearth wherein all distancesand horizontal angles areand horizontal angles areprojected onto the surfaceprojected onto the surface

of the reference ellipsoidof the reference ellipsoidthat closely approximatesthat closely approximatesthe earth.the earth.

TheThe geoidgeoid is thatis that

equipotentialequipotential surface whichsurface whichwould coincide with thewould coincide with themean ocean surface of themean ocean surface of theEarth, if the oceans were inEarth, if the oceans were in

equilibriumequilibrium

Geoid

Reference

Ellipsoid


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ECEF Coordinate SystemECEF Coordinate System

+Z

-Y

+X

X

YZ

ECEF

X = -2691542.5437 m

Y = -4301026.4260 m

Z = 3851926.3688 m


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Reference EllipsoidReference Ellipsoid

a

b

a = semi-major axisb = semi-minor axis

Flattening f(a b)

a=

b

a

H

latitude

longitude

H ellipsoidal height

WGS-84 Ellipsoida = 6378137.000000 m

b = 6356752.314245 m

1/f = 298.2572235630


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Cartesian and Geodetic CoordinatesCartesian and Geodetic Coordinates

+Z

-Y

+X

Cartesian

X = -2691542.5437 m

Y = -4301026.4260 m

Z = 3851926.3688 m

X

YZ

b

a

H

Geodetic

= 37o 23 26.38035 N = 122o 02 16.62574 W

H = -5.4083 m


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OrthometricOrthometric vsvs Ellipsoidal HeightEllipsoidal Height

(Orthometric height)(computed from ageoid model)


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Schematic diagram showing some of the"level surfaces" of the Earth, including thegeoid, and their relation to the Earth's crust

and local mean sea level

http://www.ngs.noaa.gov/GEOID/geoid_def.html


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Schematic diagram showing the relationship between the geoid, orthometric heights and ellipsoid. Note thatthe ellipsoid is drawn above the geoid. This is the actual case for all points in the conterminous United States.Also note that the ellipsoid does not coincide with any level surface, but rather cuts across them. This isbecause the ellipsoid is a geometric invention, and not defined by the actual gravity field of the Earth itself.


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Initial WGS 84 Earth Gravity Model (1987)180 model (4 6 m) - 1 degree resolution

Earth Gravity Model 1996 (EGM96)

360 model (.5 - 1 m) - 30 resolution

Geoid Accuracy (vertical)

WGS 84 Earth Gravity ModelsWGS 84 Earth Gravity Models

NEXT


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NGA EGM DevelopmentsNGA EGM Developments

EGM 9 6

30x30 resolution

Global 50 cm RMS accuracy

40+ satellites used for long s GEOSAT

130 K coefficients

EGM 0 8

5x5 resolution

Global 10 cm RMS accuracy

GRACE used for longs

ERS-1, ERS-2, GEOSAT, TOPEX,etc.

SRTM, ICESAT

4.7 M coefficients


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Geoid Height Estimation FromGeoid Height Estimation From

GPS/Leveling DataGPS/Leveling Data

NDatum = hGPS - HDatum

N geoid undulation


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GPS/Leveling Comparisons GloballyGPS/Leveling Comparisons Globally

Thinned set consisting of 12387 points. 2 m edit applied.Conversion of Height Anomalies to Geoid Undulations applied in EGMs usingDTM2006.0 elevation coefficients to commensurate Nmax.

Bias Removed Linear Trend Removed

Model (Nmax) NumberPassed

Edit

WeightedStd. Dev.

(cm)

NumberPassed

Edit

WeightedStd. Dev.

(cm)

EGM96 (360) 12220 30.3 12173 27.0

GGM02C_EGM96 (360) 12305 25.6 12258 23.2

EIGEN-GL04C (360) 12299 26.2 12252 23.5EGM2008 (360) 12329 23.0 12283 20.9

EGM2008 (2190) 12352 13.0 12305 10.3


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Gravity Affects Inertial Navigation

Gravity deflection is one of the largest uncompensated errors in INS

acceleration erroracceleration error no acceleration error

Uncompensated INS integratesindicated

accelerometer output

and yields erroneous

velocity

and position.

accelerometer accelerometer

Note: Accelerometer doesNOT

sense

mountain because mountain attracts

accelerometer proof mass,

accelerometer housing, and aircraft,

all with the same gravitational

acceleration.

normal

gravity

deflected

gravity

true

acceleration

indicated

acceleration

true

acceleration

indicated

acceleration

true

acceleration

indicated

acceleration

Mountain

D t i di ti f it t bl i i i ti l


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ellipsoid

geoid

200 m per hour

indicated trajectory

true trajectory

true gravity vector

modeled gravity vector

deflectionof the

vertical

Determine direction of gravity to enable precision inertial

navigation

D fl ti f th V ti l


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Deflection of the Vertical

P

n

g

g

g

g

g = g

gravity disturbance

= north deflection

= east deflection

linear approximation

g = g

Deflection of the

vertical atP

East

North

Down

ellipsoid

Gravity vector

atP

|g|

|g|

g


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Types of SurveysTypes of SurveysTypes of Surveys

BOUNDARY:

Sometimes referred toas cadastral surveying.

This survey for the

purpose ofdetermining evidence

of boundary or

property lines.

BOUNDARY:BOUNDARY:

Sometimes referred toSometimes referred toas cadastral surveying.as cadastral surveying.

This survey for theThis survey for the

purpose ofpurpose ofdetermining evidencedetermining evidence

of boundary orof boundary or

property lines.property lines.


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Example types of SurveysExample types of Surveys Everything is based on positionEverything is based on position

coordinate estimationcoordinate estimation Conventional methods (pointConventional methods (point--basedbasedsurveying)surveying)

Remote sensing: position/Remote sensing: position/georeferencegeoreferencethe sensor to recover information fromthe sensor to recover information fromthe image (imagery,the image (imagery, LiDARLiDAR (light(light

detection and ranging)detection and ranging) Increasing importance of GPSIncreasing importance of GPS


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TOPOGRAPHIC:Survey for the

purpose of locating theposition of physicalfeatures on, under or

near the groundsurface. Determiningground configuration(contours or

elevations) - aerial orphotogrammetricsurveys may be usedfor this purpose.

TOPOGRAPHIC:TOPOGRAPHIC:Survey for theSurvey for the

purpose of locating thepurpose of locating theposition of physicalposition of physical

features on, under orfeatures on, under ornear the groundnear the groundsurface. Determiningsurface. Determiningground configurationground configuration

(contours or(contours or

elevations)elevations) -- aerial oraerial orphotogrammetricphotogrammetricsurveys may be usedsurveys may be used

for this purpose.for this purpose.


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CONTROL: Survey for

the purpose of establishing

a network of points

(horizontal and vertical

position) to be used as a

set of references for othersurveys and mapping.

This may for the basis for

a boundary ortopographic survey or for

a right of way (route

design) project.

CONTROL: Survey forCONTROL: Survey for

the purpose of establishingthe purpose of establishing

a network of pointsa network of points

(horizontal and vertical(horizontal and vertical

position) to be used as aposition) to be used as a

set of references for otherset of references for othersurveys and mapping.surveys and mapping.

This may for the basis forThis may for the basis for

a boundary ora boundary ortopographic survey or fortopographic survey or for

a right of way (routea right of way (route

design) project.design) project.



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SITE PLAN: This is a

combination of boundary,

site and sometimes control

surveying to produce a

complete site plan to be

used as a basis for a futureimprovement such as an

engineering, architectural,

environmental orlandscaping project.

SITE PLAN: This is aSITE PLAN: This is a

combination of boundary,combination of boundary,

site and sometimes controlsite and sometimes control

surveying to produce asurveying to produce a

complete site plan to becomplete site plan to be

used as a basis for a futureused as a basis for a futureimprovement such as animprovement such as an

engineering, architectural,engineering, architectural,

environmental orenvironmental orlandscaping project.landscaping project.



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CONSTRUCTION:

Survey for the purpose ofestablishing points for the

construction of engineering,

landscape or architecturalprojects.

Mine and tunneling surveys.

CONSTRUCTION:CONSTRUCTION:

Survey for the purpose ofSurvey for the purpose ofestablishing points for theestablishing points for theconstruction of engineering,construction of engineering,

landscape or architecturallandscape or architectural

projects.projects.

Mine and tunneling surveys.Mine and tunneling surveys.



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CONSTRUCTION

(continued): Industrial surveys

optical tooling and/oralignment As-built

surveys for

documenting

conformance toacceptable dimensional

tolerances.

CONSTRUCTIONCONSTRUCTION

(continued):(continued): Industrial surveysIndustrial surveys

optical tooling and/oroptical tooling and/oralignmentalignment

AsAs--builtbuilt

surveys forsurveys for

documentingdocumenting

conformance toconformance to

acceptable dimensionalacceptable dimensional

tolerances.tolerances.



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FORENSIC SURVEYING: Measurements taken

for the purpose of re-construction of a crimescene.

FORENSIC SURVEYING: Measurements takenFORENSIC SURVEYING: Measurements takenfor the purpose of refor the purpose of re--construction of a crimeconstruction of a crimescene.scene.



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Route Surveying:

Combines both Data

Collection and Construction

Layout

Involves Boundary, Site,Control Surveys

Route Surveying:Route Surveying:

Combines both DataCombines both Data

Collection and ConstructionCollection and Construction

LayoutLayout

Involves Boundary, Site,Involves Boundary, Site,

Control SurveysControl Surveys



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New and Emerging TechnologiesNew and Emerging TechnologiesNew and Emerging Technologies

Total Stations

Electronic DistanceMeasurement

Total StationsTotal Stations

Electronic DistanceElectronic DistanceMeasurementMeasurement


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New and Emerging TechnologiesNew and Emerging Technologies

Global Positioning Systems

(GPS) Applications Survey & Mapping~54%

Navigation~ 20%

Tracking & Comm~18% Military~ 6%

Car Navigation~ 2%

Global Positioning Systems

(GPS) Applications Survey & Mapping~54%

Navigation~ 20%

Tracking & Comm~18% Military~ 6%

Car Navigation~ 2%


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Your location is:

37o 23.323 N

122o 02.162 W


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Laser ScanningLaser Scanning

Close in Remote SensingClose in Remote Sensing


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TO GO WHERE NO ONE WANTS TO GO!

Laser ScanningLaser Scanning

Close in Remote SensingClose in Remote Sensing


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AERIALAERIALSURVEYING/MAPPINGSURVEYING/MAPPING


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2 4 6 8 10 12 14 16 18

44

46

48

50

52

54

2 4 6 8 10 12 14 16 18

44

46

48

50

52

54

2 4 6 8 10 12 14 16 18

44

46

48

50

52

54

0

2

4

6

8

10

12

14

16

18

20

22

24

26

28

30

32

34

Kriging

Multiquadratic

IGS GIM

Local Time [hours]

GeomagneticLatitude

TECU

Vehicle 1


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Light Detection and Ranging (LIDAR) DataLight Detection and Ranging (LIDAR) DataGPS and Inertial Measurement Unit (IMU) are necessary toGPS and Inertial Measurement Unit (IMU) are necessary to georegistergeoregisterLiDARLiDAR datadata


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Mobile Mapping System (MMS)Mobile Mapping System (MMS)

19961996


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Utility Pole InventoryUtility Pole InventoryUtility Pole Inventory

type of poletype of pole

height of conductorsheight of conductors

offset between cablesoffset between cables

coordinate locationscoordinate locations

image of featureimage of feature


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Street MapStreet Map

Facility RecordsFacility Records Digital ImagesDigital Images

Visual Management of AssetsVisual Management of AssetsVisual Management of Assets

utility poleutility pole

cable location


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Asset Location & InventoryAsset Location & InventoryAsset Location & Inventory

TM


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Stereo-MeasurementStereo-Measurement

STESTEreoreo PPositioningositioning SSystemystemTMTM


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Newest MMS for ODOT: centerline mappingNewest MMS for ODOT: centerline mapping

20042004


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Designed for a high-accuracy near real-time mapping ofhighway centre and edge-lines, for ODOT

Single down-looking camera9 color digital, Pulnix TMC-6700, based on 644 by 482

CCD, with an image acquisition rate of up to 30 Hz (10

Hz currently used)9 Consecutive time-offset images form a stereo pair

Near real-time image processing supported by navigation

data (under implementation)

Post processing of GPS/INS data to refine the imageorientation data

MMS for Mapping the Highway Linear Features


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GPS Antenna

Digital Camera

H

-ZINS

-YINS

INS

d

Sensor Configuration

I SI S


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Image SequenceImage Sequence


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Digital camera

GPS antenna

INS system

H

XINS

YINS

xy

GPS antenna installedon the top of the INSsystem

Digital camera

Imaged area


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Centerline ExtractionCenterline Extraction

Airborne Integrated Mapping SystemAirborne Integrated Mapping System


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g pp g yg pp g y

AIMSAIMSAIMSAIMS CharacteristicsCharacteristics Fully digital airborne data acquisition system

Single high-resolution imaging sensor

Direct platform orientation by tightly coupled GPS/INS

Typical fit to ground truth 2-30 cm for flying height of ~ 300m

New capabili tiesNew capabil ities Near real-time processing power

High quality direct georeferencing and timing

Better and faster sensors

New sensors (LiDAR)

Multi-sensor fusion

New applications

AIMSAIMS Appl icationsApplicat ions

Large-scale topographic mapping

Corridor surveys of the transportation infrastructures

Military reconnaissance

Potential for real-time applications

GPS BaseStation


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Digital ColorImagery

LIDAR Datafor Highway

DEM

GPS/INSPosition,Attitude

and Time

HighwayOrthophoto

Enabling technological developmentsEnabling technological developments


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Enabling technological developmentsEnabling technological developments

GPS/INS-based direct georeferencing

Digital sensor/camera developments

Improved LIDAR electronics

Real-time processing capability

Sensor integration/Data fusion

Affordable mapping technology

Higher flying height

Increased data rate

All-digital system design

Vehicle Motion Between the ImagesVehicle Motion Between the Images


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LIDAR: Light Detection and RangingLIDAR: Light Detection and Ranging


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LIDAR: Light Detection and RangingLIDAR: Light Detection and Ranging

9 Scanning system, using a laser ranging

device to measure a range to a target with

the accuracy better than 5 cm

9 The airborne laser data form 3D point

clusters or lines, where the elevation has

a unique value as a function of thehorizontal location

9 Requires direct orientation by GPS/INS

9Experimental applications of Airborne LaserRanging (ALR) date back to the 1970s and 1980s

9 First introduced to the mapping community - about a

decade ago


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LIDAR DEMLIDAR DEM

Courtesy of EathData Technologies

DEM Digital Elevation Model


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Multiple returnsMultiple returns

-

multiple returns

LIDAR spots and imageLIDAR spots and image


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p gp gbackgroundbackground

Sample LiDAR data transportationSample LiDAR data: transportation


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Sample LiDAR data: transportationSample LiDAR data: transportation


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Planning

Date Time Scale

etc.

Compilation

and Editing

DistributionAerial Photography

Cost

CartographicFinishing

Aerotriangulation Compilation Reproduction

Aerial PhotographyGround Control Film ProcessingPlanning

Date Time Scale

etc.

A Comparison of Mapping Scenarios

Conventional

Direct Orientation

Cost

C

ost


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Geographic Information SystemsGeographic Information SystemsGeographic Information Systems

Computer based system of layers (themes) of

spatially-related information (common geographicreference framework

Applications:

Natural resource management

Facilities siting

& management

Land records modernization

Demographic & market analysis

Emergency response & fleet operations

Regional, national & global environmental monitoring

Computer based system of layers (themes) ofComputer based system of layers (themes) of

spatiallyspatially--related information (common geographicrelated information (common geographic

reference frameworkreference framework

Applications:Applications:

Natural resource managementNatural resource management FacilitiesFacilities sitingsiting

& management& management

Land records modernizationLand records modernization

Demographic & market analysisDemographic & market analysis

Emergency response & fleet operationsEmergency response & fleet operations

Regional, national & global environmental monitoringRegional, national & global environmental monitoring

G hi I f ti S tGeographic Information SystemsGeographic Information Systems


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Geographic Information SystemsGeographic Information SystemsGeographic Information Systems

Input Management

& Analytical

Modules Output

Data Acquisition- Global Positioning

- Remote Sensing

- Field Observations

Analog Data Conversion

- Scan

- Digitize

Management

- Data Storage

- Data Retrieval, Expand

Edit, and Update

- Query

Analytical Modules

- Data Conversion

- Data Manipulation

- Modeling

Data Output- Visual Presentation

- Analog Map Output

- Reports


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Modern trends in mappingModern trends in mapping

Disaster management: societalDisaster management: societal


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changeschanges DefenseDefense

Increased sensitivity to personnel lifeIncreased sensitivity to personnel life use robots asuse robots as

soldiers (30% within the next decade)soldiers (30% within the next decade)

War theater: training (simulations) or in situWar theater: training (simulations) or in situ UpUp--toto--date spatial data neededdate spatial data needed

Natural disastersNatural disasters Improving prediction models needs upImproving prediction models needs up--toto--date spatialdate spatialdata (sustained data acquisition)data (sustained data acquisition)

If disaster struck, rapid mapping of the affected areas isIf disaster struck, rapid mapping of the affected areas isneeded to support rescue operationsneeded to support rescue operations

Terrorist threat to civiliansTerrorist threat to civilians Increased demand for security requires betterIncreased demand for security requires better

geolocation and tracking capabilitiesgeolocation and tracking capabilities

Growing need for indoor/outdoor map dataGrowing need for indoor/outdoor map data



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changeschangesSupportingSupporting urgenturgent

needsneeds for imaging,for imaging,

mapping, and GISmapping, and GIS

Tornadoes (La Plata)Tornadoes (La Plata)

California WildfiresCalifornia Wildfires

Hurricanes (Charlie)Hurricanes (Charlie)

i dDi t t G d Z


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7777

Disaster management: Ground ZeroDisaster management: Ground Zero

World Trade Center SiteWorld Trade Center SiteSeptember 19, 2001September 19, 2001

B&W Digital and Thermal Imagery over LiDAR TIN



78/214

7878


World Trade Center SiteWorld Trade Center SiteOctober 10, 2001October 10, 2001

B&W Digital and Thermal Imagery over LiDAR TIN

Disaster management: GroundDisaster management: Ground


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7979

Disaster management: GroundDisaster management: Ground

ZeroZero

Towards rapid mappingTowards rapid mapping


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8080

Towards rapid mappingTowards rapid mapping

Time elapsed between dataTime elapsed between dataacquisition and final mapping productacquisition and final mapping product

Analog camera, aerial triangulation, mapAnalog camera, aerial triangulation, map

compilation, cartographic finishing, hardcopycompilation, cartographic finishing, hardcopy Digital camera, LiDAR and GPS/IMUDigital camera, LiDAR and GPS/IMU--basedbased

georeferencing, digital product preparationgeoreferencing, digital product preparation

9/11 Emergency Mapping by9/11 Emergency Mapping by EarthDataEarthData GroupGroup

Demonstration of ARIES (Airborne Rapid ImagingDemonstration of ARIES (Airborne Rapid Imaging

for Emergency Support) by various governmentfor Emergency Support) by various government

agencies andagencies and EarthDataEarthData GroupGroup

Autonomous platformsAutonomous platforms

Airborne systems already existAirborne systems already exist UAVsUAVs (difficult)(difficult)

LandLand--based systemsbased systems Autonomous VehicleAutonomous VehicleNavigation (extremely difficult)Navigation (extremely difficult)

6 months

2-4 weeks

6-12 hours

1-2 hours

Airborne Rapid Imaging for EmergencyAirborne Rapid Imaging for EmergencyS ARIES


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8181

SupportSupport ARIESARIES

1.25 Gb/s wireless link

UHF, VHF, Video (YV) Links

PDA with GPS Tracking Web-based Dissemination

Computer Systems

Data Optical Imagery

Thermal imagery

LiDAR

GPS-IMU data

Products

DEM

Orthos


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8282

GPS Techniques Used inGPS Techniques Used in

Mapping and SurveyingMapping and Surveyingandand

Their Accuracy StandardsTheir Accuracy Standards

GPS DataGPS Data Data File


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8383

Data File range (pseudorange) measurement

C/A code on L1 (and on L2 in Block IIR-M) P(Y) code on L1 and L2

carrier phase on L1 and L2,

range rate (Doppler)

Navigation Message

(broadcast ephemeris) - provides

information about satellite orbits, time, clock errors andionospheric model to remove the ionospheric error frompseudorange observations

Provided in binary-receiver dependent format

Usually converted to RINEX

-

Receiver Independent

Exchange format (ASCII file)

GPS Navigation Message (RINEX)GPS Navigation Message (RINEX)


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8484

2 NAVIGATION DATA RINEX VERSION / TYPE

DAT2RIN 1.00e The Boss 29JUN98 17:59:25 GMT PGM / RUN BY / DATE

COMMENT

.1118D-07 .0000D+00 -.5960D-07 .0000D+00 ION ALPHA

.9011D+05 .0000D+00 -.1966D+06 .0000D+00 ION BETA

-.142108547152D-13 -.372529029846D-08 61440 159 DELTA-UTC: A0,A1,T,W

12 LEAP SECONDS

END OF HEADER

3 97 10 10 18 0 0.0 .605774112046D-04 .352429196937D-11 .000000000000D+00

.760000000000D+02 .494687500000D+02 .448018661776D-08 .220198356145D+00

.264309346676D-05 .244920048863D-02 .842288136482D-05 .515366117668D+04

.496800000000D+06 .335276126862D-07 -.790250226717D+00 -.372529029846D-07

.951777921211D+00 .211531250000D+03 .259765541557D+01 -.819891294621D-08

.160720980388D-10 .100000000000D+01 .926000000000D+03 .000000000000D+00

.700000000000D+01 .000000000000D+00 .139698386192D-08 .588000000000D+03

.490320000000D+06

6 97 10 10 15 59 44.0 -.358093529940D-06 .000000000000D+00 .000000000000D+00

.220000000000D+02 .526250000000D+02 .438268255632D-08 -.281081720890D+00

GPS Observation File Header (RINEX)GPS Observation File Header (RINEX)2 OBSERVATION DATA RINEX VERSION / TYPE


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8585

DAT2RIN 1.00e The Boss 29JUN98 17:59:19 GMT PGM / RUN BY / DATE

Mickey Mouse CFM OBSERVER / AGENCY5137 TRIMBLE 4000SSI Nav 7.25 Sig 3. 7 REC # /TYPE / VERS

0 4000ST L1/L2 GEOD ANT # / TYPE

____0001 MARKER NAME

____0001 MARKER NUMBER

557180.9687 -4865886.9211 4072508.3413 APPROX POSITIONXYZ

0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N

1 1 0 WAVELENGTH FACT L1/2

4 L1 C1 L2 P2 # / TYPES OF OBSERV

1 INTERVAL

1997 10 10 15 13 5.000000 TIME OF FIRST OBS

1997 10 10 16 38 8.000000 TIME OF LAST OBS

8 # OF SATELLITES

3 1598 1603 1504 1504 PRN / # OF OBS

6 4051 4051 4051 4051 PRN / # OF OBS

9 4208 4212 4150 4150 PRN / # OF OBS (rest of the SV is given here) PRN / # OF OBS

END OF HEADER

GPS Observation File (RINEX)GPS Observation File (RINEX)


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8686

97 10 10 15 13 6.000 0 5 6 10 17 23 26 0.000215178

-331628.90610 21627234.69600 -258412.19950 21627239.86440

-330564.59210 23839375.76600 -264155.63150 23839382.29440

-344922.28510 20838559.61800 -268770.84150 20838564.48140

-344734.12710 22476960.02400 -268624.54850 22476965.59140

-338016.17810 20319996.64100 -263389.71350 20320000.4624097 10 10 15 13 7.000 0 5 6 10 17 23 26 0.000215197

-329205.73500 21627695.91400 -256524.01640 21627700.98840

-327788.16700 23839904.12500 -261992.18640 23839909.89140

-346924.68000 20838178.43000 -270331.14940 20838183.24640-346674.25800 22476590.73400 -270136.33740 22476596.25440

-337719.08000 20320053.10100 -263158.20940 20320056.88740

97 10 10 15 13 8.000 0 5 6 10 17 23 26 0.000215216

-326782.19000 21628157.18700 -254635.54040 21628162.34340

-325011.83600 23840432.60100 -259828.81640 23840438.14440

-348926.80400 20837797.46000 -271891.24440 20837802.31240

-348614.34600 22476221.42900 -271648.09340 22476226.99540

-337421.42500 20320109.74100 -262926.27040 20320113.51540

. continues


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8787

RINEX 2 description:

http://www.ngs.noaa.gov/CORS/Rinex2.html
http://www.ngs.noaa.gov/CORS/Rinex2.htmlhttp://www.ngs.noaa.gov/CORS/Rinex2.html


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8888

GPS Techniques Used in Surveying and Mapping


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8989

Differential Static

Most accurate, centimeter or better

Requires long observation times (several hours)

GPS Techniques Used in Surveying and Mapping


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9090

Differential Kinematic

Sampling rates up to 10HzDifferential Stop & Go

Collection times: 1 to 3 min

Differential Rapid-staticCollection times: 10 to 20 minAchievable accuracies

cm to a few cm

Surveyor on the go using RTK (real time kinematic) procedures

Benchmark Survey SystemBenchmark Survey System


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9191

SubSub--mm GPS only survey systemmm GPS only survey system

< 0.6 mm horizontal< 0.6 mm horizontal

< 1.0 mm vertical< 1.0 mm vertical

Improvements in throughput and resourcesImprovements in throughput and resources Throughput up over 400%Throughput up over 400%

Human resources requirements down over 80%Human resources requirements down over 80%

Benchmark Survey SystemBenchmark Survey System

National GeodeticNational Geodetic


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9292

National Geodetic

Survey (NGS)Survey (NGS)

Gl b l P iti i S tGlobal Positioning Systems


93/214

9393

Global Positioning SystemsGlobal Positioning Systems

Class AA Accuracy is achievable using post-processed

static differential GPS using carrier phase measurements

Gl b l P iti i S tGlobal Positioning Systems


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9494

NGS Blue Book Requirements:NGS Blue Book Requirements:

Long observation (point occupation) timesLong observation (point occupation) times --

usually 5 unusually 5 un--interrupted hours.interrupted hours. Observe two different GPS constellationsObserve two different GPS constellations different day and different time of day.different day and different time of day. Use NGS Software and Processing Procedures.Use NGS Software and Processing Procedures.


Global Positioning S stemsGlobal Positioning Systems


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9595

Class B Accuracy isClass B Accuracy is

achievable using postachievable using post--

processed staticprocessed static

differential postdifferential post

processingprocessingcarrier phasecarrier phaseobservations with 45observations with 45

minute observation times.minute observation times.

Usually two occupationsUsually two occupationsof each point areof each point are

recommended.recommended.




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9696

Static GPS Surveying

leapfrog technique.

Typically 3 units are used.

Used to establish high positional accuracy points.

g yg y



97/214

9797

BASE UNITBASE UNIT

ROVER UNIT

First Order Accuracy is achievable using

Differential Real Time (or post-processed) Kinematic

Technique with Carrier Phase Observations




98/214

9898

REAL TIME KINEMATIC

TOPOGRAPHIC SURVEYS

Global Positioning Systemsg y



99/214

9999

The statistical accuracy required in GPSThe statistical accuracy required in GPSmeasurements is set at the two sigma (95%)measurements is set at the two sigma (95%)

confidence level.confidence level.

g yg y

Accuracy and geometric factorAccuracy and geometric factor


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100100

Accuracy and geometric factorAccuracy and geometric factor

The errors affecting the GPS rangeThe errors affecting the GPS range

measurement were discussed inmeasurement were discussed indetail in the earlier part of thisdetail in the earlier part of this

workshopworkshop

Here, only geometric aspect (dilutionHere, only geometric aspect (dilution

of precision factor) of the positioningof precision factor) of the positioning

accuracy is explainedaccuracy is explained

Dilution of PrecisionDilution of Precision


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101101


The two major factors that reflect theThe two major factors that reflect the

accuracy of GPS areaccuracy of GPS are

(1) error in the range measurement,(1) error in the range measurement,

(2) geometric configuration between the(2) geometric configuration between the

receiver and the satellites.receiver and the satellites.

The two factors combined together defineThe two factors combined together define

the ultimate positioning error as a productthe ultimate positioning error as a product

ofof and geometry factor, PDOP (positionand geometry factor, PDOP (positiondilution of precision), namely,dilution of precision), namely, standardstandard

deviation of 3D positioningdeviation of 3D positioning = PDOP= PDOP ..



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102102


The geometric factor, PDOP, reflects theThe geometric factor, PDOP, reflects theinstantaneous geometry related to a singleinstantaneous geometry related to a single

receiver, and is determined by the position of thereceiver, and is determined by the position of theGPS satellites with respect to the receiver.GPS satellites with respect to the receiver.

PDOP can be interpreted as the reciprocal valuePDOP can be interpreted as the reciprocal valueof the volume of a tetrahedron that is formed byof the volume of a tetrahedron that is formed bythe positions of the satellites and the user.the positions of the satellites and the user.

The best geometry corresponds to a large volumeThe best geometry corresponds to a large volumeand vice versa. Normally, more satellites yieldand vice versa. Normally, more satellites yield

smaller PDOP value, and PDOP of two and lesssmaller PDOP value, and PDOP of two and lessindicates an excellent geometry; PDOP below sixindicates an excellent geometry; PDOP below sixrefers to a good geometry, while PDOP of sevenrefers to a good geometry, while PDOP of sevenand above indicates virtually useless data.and above indicates virtually useless data.

Good PDOP (left) and bad PDOP (right)Good PDOP (left) and bad PDOP (right)


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103103

Good PDOP (left) and bad PDOP (right)Good PDOP (left) and bad PDOP (right)

Accuracy equationAccuracy equation


104/214

104104

y qy q

Good DOP Poor HDOP Poor VDOP

Accuracy = Statistical Conversion * DOP * URE2 + UEE2

~68% (~DRMS)

UEE

Nav

Message

~95% (~2DRMS)

50% (CEP)GA MCS MS

Good Moderate Poor

0 1 2 3 4 5 6

DOP

True

Range

Accuracy: DOP is a big part of the accuracy equation

URE

Relative DOPRelative DOP-- Important in KinematicImportant in Kinematic


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105105

SurveyingSurveying A geometric factor related to a pair ofA geometric factor related to a pair of

receivers working in relative (differential)receivers working in relative (differential)

mode (e.g., a base and a rover) is calledmode (e.g., a base and a rover) is calledRelative DOP (RDOP).Relative DOP (RDOP).

An example of varying geometry andAn example of varying geometry and

partial loss of signal lock on GPSpartial loss of signal lock on GPSpositioning accuracy is shown in the nextpositioning accuracy is shown in the nextslide for differential (relative) positioningslide for differential (relative) positioning

PDOP/RDOP can be estimated using thePDOP/RDOP can be estimated using theapproximated location of the user and theapproximated location of the user and thesatellite broadcast ephemeris included insatellite broadcast ephemeris included inthe satellite navigation message.the satellite navigation message.

RDOP and the number of differential observations (left) andRDOP and the number of differential observations (left) andthe corresponding 3D standard deviation for GPS relativethe corresponding 3D standard deviation for GPS relative


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106106

the corresponding 3D standard deviation for GPS relativethe corresponding 3D standard deviation for GPS relative

positioning with carrier phase observations (right)positioning with carrier phase observations (right)

Number of obs.----- RDOP

DGPS Vector (Baseline vector)DGPS Vector (Baseline vector)


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107107

Measured

Reduc

ed

Baseline or Vector

(sub-cm precision)Azi = 212o 42 49.8244

Dist = 557.05307 m

Ell Ht = 4 .8751 m

X = -408.251 m Y = -84.830 m Z = -369.413 m

OR

Regardless of the accuracy requirement and GPSRegardless of the accuracy requirement and GPS

technique used each GPS mapping projecttechnique used each GPS mapping project


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108108

technique used, each GPS mapping projecttechnique used, each GPS mapping project

consists of five basic stepsconsists of five basic steps Mission PlanningMission Planning: all the initial preparations that: all the initial preparations that

take place before GPS and geophysical sensortake place before GPS and geophysical sensor

data are collecteddata are collected Data CollectionData Collection: collecting GPS and geophysical: collecting GPS and geophysical

sensor data in the fieldsensor data in the field

ManipulationManipulation: all the processing of GPS data that: all the processing of GPS data thatoccurs between the collection period and dataoccurs between the collection period and dataanalysis, such as the downloading, export,analysis, such as the downloading, export,quality control, and processing of GPS dataquality control, and processing of GPS data

AnalysisAnalysis: using GPS data as spatially referenced: using GPS data as spatially referencedinformation in a research problem: hereinformation in a research problem: here geolocationgeolocation of geophysical properties mappedof geophysical properties mapped

ApplicationApplication: applying the results of the analysis: applying the results of the analysis

phase in the real world.phase in the real world.

SummarySummary


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GPS results are in reference to an ECEFGPS results are in reference to an ECEF(earth(earth--centeredcentered--earthearth--fixed) coordinatefixed) coordinatesystem and the WGSsystem and the WGS--84 ellipsoid.84 ellipsoid.

Errors in GPS can be minimized byErrors in GPS can be minimized byplanning and utilizing proper surveyingplanning and utilizing proper surveyingtechniques.techniques.

At least 4 SVs are required to determineAt least 4 SVs are required to determinea position or survey with GPS aftera position or survey with GPS afterambiguities have been fixed to theirambiguities have been fixed to theirinteger valuesinteger values

At least 2 receivers are required toAt least 2 receivers are required tosurvey with GPS in differential (DGPS)survey with GPS in differential (DGPS)mode.mode.


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110110

Differential GPS (DGPS)Differential GPS (DGPS)

in Surveying: How is it done?in Surveying: How is it done?

DGPSDGPS -- BenefitsBenefits


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111111

DGPSDGPS - BenefitsBenefits

Error source Single Difference Double Difference

Ionosphere Reduced, depending on the

baseline length

Reduced, depending on the

baseline length

Troposphere Reduced, depending on the

baseline length


baseline length

Satellite clock Eliminated Eliminated

Receiver clock Present Eliminated

Broadcast ephemeris Reduced, depending on the

baseline length


baseline length

Ambiguity term Present PresentNoise level w.r.t. one-

way observableIncreased by 2 Increased by 2


112/214

Introduction to StaticIntroduction to Static

GPSGPS

Trimble 5800 Receiver

andTSC2 Controller

OVERVIEWOVERVIEW


113/214

113113

OVERVIEWOVERVIEW

The system consists of theThe system consists of the

combination antenna andcombination antenna and

receiver (Trimble 5800)receiver (Trimble 5800)and a controller (TSC2).and a controller (TSC2).

For Static Surveys, theFor Static Surveys, the

5800 Receiver mounts to a5800 Receiver mounts to astandardstandard tribrachtribrach andand

tripod; a bracket istripod; a bracket is

provided to mount theprovided to mount theTSC2 Controller to one ofTSC2 Controller to one of

the tripod legs.the tripod legs.

OVERVIEWOVERVIEW


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114114

OVERVIEWOVERVIEW

The TSC2 ControllerThe TSC2 Controller

can communicate withcan communicate with

the 5800 Receiver bythe 5800 Receiver by

one of two methods:one of two methods:

Cable.Cable. Bluetooth wirelessBluetooth wireless

communication.communication.

Standard Cable isStandard Cable isRecommended forRecommended for

Static SurveysStatic SurveysStandardStandard

CableCableBluetoothBluetooth

OVERVIEWOVERVIEW


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115115

OVERVIEWOVERVIEW

For Static Surveys it is recommended that theFor Static Surveys it is recommended that the

standard nine (9) pin yellow cable (Controllerstandard nine (9) pin yellow cable (ControllerEnd) be used and be connected to Port 1 on theEnd) be used and be connected to Port 1 on the

receiver.receiver.

ControllerController ReceiverReceiver9 Pin Port

Port 1

PROJECT SETUPPROJECT SETUP


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116116

PROJECT SETUPPROJECT SETUP

Press thePress the Green KeyGreen Key

on the lower lefton the lower left

hand corner of thehand corner of the

controller keyboard.controller keyboard.

Use the stylus toUse the stylus to

double click (tap) ondouble click (tap) on

the Surveythe Survey

Controller SelectionController Selectionin the Menu.in the Menu.

Start KeyStart Key

NEW JOBNEW JOB


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117117

NEW JOBNEW JOB

Click on theClick on the Files ICON.Files ICON.

Click onClick on New jobNew job


118/214

118118

Introduction toIntroduction to

Real Time Kinematic GPSReal Time Kinematic GPS

Trimble 5800 Receiver and TSC2 Controller

GPS Field Procedures


119/214

119119

GPS Field ProceduresGPS Field Procedures

Kinematic GPS surveys (Post Processed)Kinematic GPS surveys (Post Processed) 1 receiver remains fixed on a known station while1 receiver remains fixed on a known station while

anotheranother receiver(sreceiver(s) roves from 1 position to another) roves from 1 position to anotherwithout losing lock on the satelliteswithout losing lock on the satellites

RealReal--time kinematic GPS surveys (Processed Realtime kinematic GPS surveys (Processed RealTime)Time)

Base &Radio

Rover

Real Time KinematicReal Time Kinematic


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120120

BASE STATIONBASE STATION

OVER KNOWN POINTOVER KNOWN POINT

ROVERROVER

RANGELIMITED

RANGELIMITED

BYRTFCOMMUNICATION

S

BYRTFCOMMUNICATIO

NS

Centimeter Accuracy

OVERVIEWOVERVIEW -- RTKRTK


121/214

121121

OVERVIEWOVERVIEW RTKRTK

The system consists of a Base StationThe system consists of a Base Station

(Trimble 5800 Receiver and Pacific(Trimble 5800 Receiver and Pacific

Radio Transmitter) and a RoverRadio Transmitter) and a Rover

(Trimble 5800 Receiver & TSC2 Controller).(Trimble 5800 Receiver & TSC2 Controller).

BASE UNITBASE UNIT

ROVER UNIT

OVERVIEWOVERVIEW -- BATTERIESBATTERIES


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122122

The 5800 Base Receiver uses rechargeable

external battery. The Pacific Radio uses a sealed lead/acid battery.

Each battery has its own charger; batteriesshould be recharged immediately after use.Batteries should be fully charged prior to storage.

The 5800 Base Receiver uses rechargeableexternal battery.

The Pacific Radio uses a sealed lead/acid battery.

Each battery has its own charger; batteriesshould be recharged immediately after use.

Batteries should be fully charged prior to storage.

Amber lights

are lit during

charge cycleand will go out

when fully

charged.

Amber lights

are lit during

charge cycleand will go out

when fully

charged.

BATTERIESATTERIES


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123123

The TSC2 ControllerThe TSC2 Controller

batteries arebatteries arecontained within thecontained within the

units and can beunits and can be

recharged by meansrecharged by meansof a one pin plug.of a one pin plug.

BATTERIESBATTERIES


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124124

The 5800 Receiver uses a small removableThe 5800 Receiver uses a small removable camcam--

cordercorderbattery.battery. The 5800 Receiver has a detachable battery holder onThe 5800 Receiver has a detachable battery holder onthe bottom of the unit.the bottom of the unit.

Make certain that the battery is properly aligned in theMake certain that the battery is properly aligned in theholder before attaching it to the receiver.holder before attaching it to the receiver.

OVERVIEWOVERVIEW

EQUIPMENT ASSEMBLYEQUIPMENT ASSEMBLY


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125125

The Base Stationconsists of a Trimble5800 Receiver andPacific Radio

transmitter andantenna assembly.

Maintain 7 feet (~2

Meters, minimum)between the Receiverand the

Radio/Transmitter.

The Base StationThe Base Station

consists of a Trimbleconsists of a Trimble

5800 Receiver and5800 Receiver andPacific RadioPacific Radio

transmitter andtransmitter and

antenna assembly.antenna assembly.

Maintain 7 feet (~2Maintain 7 feet (~2

Meters, minimum)Meters, minimum)between the Receiverbetween the Receiver

and theand the

Radio/Transmitter.Radio/Transmitter.

5800

Receiver

Pacific

RadioTransmitter

OVERVIEWOVERVIEW

EQUIPMENT ASSEMBLY


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126126


Antenna Assembly

Be Careful of Threads on the Antenna

OVERVIEWOVERVIEW

EQUIPMENT ASSEMBLY


127/214

127127


Antenna Assembly

With TelescopingExtension; Extend

Until the Black

Button ClicksInto Place.

Extension Mounts

Directly to a TripodWith a Washer Insert

OVERVIEWOVERVIEW

EQUIPMENT ASSEMBLY


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128128


Pacific

Radio Transmitter

Cable & Power Assembly

Antenna

Cable

Power

Cable

Data

Cable

OVERVIEWOVERVIEW



129/214

129129


Unit 4

Trimble

5800 Base Receiver

On 0.25 MeterExtension

5800 Combination

Power and I/O Cable

5800 Battery

OVERVIEWOVERVIEW



130/214

130130

EQUIPMENT ASSEMBLYQ

Trimble

5800 Base ReceiverOn 0.25 Meter

Extension

Cable Hookups

Controller Cable Data Cable to Radio

OVERVIEWOVERVIEW



131/214

131131

QU SSQ

Trimble 5800

Receiver and

TSC 2 Controller

Rover Assembly

Mounted on theRange

Pole and

Bipod

Trimble 5800

Receiver and

TSC 2 Controller

Rover Assembly

Mounted on theRange

Pole and

Bipod

Bluetooth

Wireless

Antenna

On Receiver

Bluetooth

Wireless

Antenna

On Receiver

TSC 2 ControllerHas the Bluetooth

Internal to the

Controller


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132132

DGPS: Basic AlgorithmsDGPS: Basic Algorithms

Differential GPSDifferential GPS


133/214

133133

Selective Availability (SA), if it is on

Satellite clock and orbit errors

Atmospheric effects (for short baselines)

Using data from two receivers observing the samesatellite

simultaneously removes (or significantly

decreases) common errors, including:

Base station withknown location

Unknown position

Single difference

mode

Differential GPS

U i lli i h


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134134

Receiver clock errors Atmospheric effects

(ionosphere, troposphere)

Receiver interchannel bias

Using two satellites in the

differencing process, furtherremoves common errors such as:

Base station withknown location

Unknown position

Double difference

mode

Ik kk

k k k k

Basic GPS ObservablesBasic GPS Observables


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135135

P

I

f T c d t d t b M e

PI

fT c d t d t b M e

i

k

i

k i

i

k

i

k

i i

k

i

k

i

k

i

k i

k

i

k

i

k

i i

k

i

k

, , , ,

, , , ,

( )

( )

1 2 1 1

2 3 2 2

1

2

2

2

= + + + + + +

= + + + + + +

( )

( )k

i

k

ii

k

i

k

i

k

i

k

i

k

ik

i

k

i

k

i

k

ii

kk

i

k

i

k

i

k

ik

i

k

i

mbdtdtcNTf

I

mdtdtcNTf

I

2,2,2,2,021,2,22,

1,1,1,1,011,11,

02

2

02

1

)(

)(

+++++++=

++++++=

( ) ( ) ( )2220, ikikikki ZZYYXXsqrt ++=

The primary unknowns areXi, Yi, Zi coordinates of the user (receiver)

1,2 stand for frequency on L1 and L2, respectively

i denotes the receiver, while k denotes the satellite


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136136

Basic GPS Observables (cont.)Basic GPS Observables (cont.)P P

i

k

i

k

, ,,

1 2pseudoranges measured between station i and satellite k on L1 and L2

ik

i

k

, ,,1 2 phase ranges measured between station i and satellite k on L1 and L2

frequencyfor thestands2,or1nly;respectivereceiver,theandertransmittat thephasesfractionalinitial, ,,0 0 =nik

n

N Nik

i

k

, ,,1 2 ambiguities associated with L and L , respectively1 2

1

19 cm and 2

24 cm are wavelengths of L1 and L2phases

i

k - geometric distance between the satellite k and receiver i,

I

f

I

f

i

k

i

k

1

2

2

2, - ionospheric refraction on L1 and L2, respectively

Ti

k - the tropospheric refraction term


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Basic GPS Observables (cont.)Basic GPS Observables (cont.)

dti - the i-th receiver clock error

dt

k

- the k-th transmitter (satellite) clock errorf1, f2 - carrier frequenciesc - the vacuum speed of light

e ei

k

i

k

i

k

i

k

, , , ,1 2 1 2, , , - measurement noise for pseudoranges and phases on L1 and L2

bi,1, bi,2 , bi,3 - interchannel bias terms for receiveri that represent the

possible time non-synchronization of the four measurements

bi i

k

i

k

, , ,1 1 2- interchannel bias between and

b b P Pi i ik

i

k

i

k

i

k

, , , , , ,,2 3 1 1 1 2biases between and , and

M M m mi

k

i

k

i

k

i

k

, , , ,, , ,

1 2 1 2 multipath on phases and ranges

Consider two stations i and j observing L1Consider two stations i and j observing L1

dpseudorange t th t GPS t llit k d lto the same two GPS satellites k and l:


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pseudorangepseudorange to the same two GPS satellites k and l:to the same two GPS satellites k and l:

l

j

l

jj

l

j

l

j

l

jl

j

l

j

k

j

k

jj

k

j

k

j

kjk

j

k

j

l

i

l

ii

l

i

l

i

l

il

i

l

i

k

i

k

ii

k

i

k

i

k

ik

i

k

i

eMbdtdtcTfIP

eMbdtdtcTf

IP

eMbdtdtcTf

IP

eMbdtdtcTf

IP

1,1,2,1,

1,1,2,1,

1,1,2,1,

1,1,2,1,

)(

)(

)(

)(

2

1

2

1

2

1

2

1

++++++=

++++++=

++++++=

++++++=

Consider two stations i and j observing L1 phaseConsider two stations i and j observing L1 phase

range to the same two GPS satellites k and l:range to the same two GPS satellites k and l:


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( )

( )

( )

( ) ljljjlljljljl

jl

j

l

j

k

j

k

jj

kk

j

k

j

k

j

k

jk

j

k

j

l

i

l

ii

ll

i

l

i

l

i

l

il

i

l

i

k

i

k

ii

kk

i

k

i

k

i

k

ik

i

k

i

mdtdtcNTfI

mdtdtcNTf

I

mdtdtcNTf

I

mdtdtcNT

f

I

1,1,1,1,011,11,

1,1,1,1,011,11,

1,1,1,1,011,11,

1,1,1,1,011,11,

02

1

02

1

02

1

02

1

)(

)(

)(

)(

++++++=

++++++=

++++++=

++++++=

range to the same two GPS satellites k and l:range to the same two GPS satellites k and l:

DGPS in Geodesy and SurveyingDGPS in Geodesy and Surveying


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140140


The singlesingle--differenceddifferenced

measurement is obtained by

differencing two observables of the satellite k, trackedsimultaneously by two stations i andj:

kij

eMij

bij

dtck

ijT

f

kij

Ikij

kij

P

kij

mij

dtck

ijN

kij

Tf

kij

Ikij

kij

k

ji

k

ji

1,2,2

1

1,

1,

*1,2

1

1,

1,

1,1

++++++=

+++++=

)(1,

*1, 1,1, 00 jtit

kij

Nkij

N +=Non-integer ambiguity !

DGPS Concept, cont.DGPS Concept, cont.


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141141

By differencing one-way observable from two receivers, i andj,observing two satellites, kandl, or simply by differencing two singledifferences to satellites kandl, one arrives at the double-differenced

(DD)

measurement:

kl

ij

eMkl

ij

T

f

klij

Ikl

ij

kl

ij

P klji

1,211,

1, ++++=

lij

eMij

bij

dtclij

Tf

l

ijI

lij

lij

P

kij

eMij

bij

dtckij

Tf

kij

Ikij

kij

P

lji

k

ji

1,2,21

1,

1,2,21

1,

1,

1,

++++++=

++++++=

In the actual data processing the differential tropospheric, ionosphericand multipath errors are neglected; the only unknowns are the stationcoordinates

Double difference

Two single differences

Differential Carrier Phase ObservationsDifferential Carrier Phase Observations


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1,

*1,2

11,

1,

*1,2

11,

1,1

1,1

lij

mij

dtclij

Nlij

Tf

lijIl

ijlij

kij

mij

dtckij

Nkij

Tf

kij

Ikij

kij

l

ji

k

ji

+++++=

+++++=

1,1,2

11, 1,1

klij

mklij

Nkl

ijT

f

klij

Iklij

klij

kl

ji ++++= Double difference

Two single differences

Single difference ambiguity )(1,

*1, 1,1, 00 jtit

kij

Nkij

N +=



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DGPS in Geodesy and Surveyingy y g

By differencing one-way observable from two receivers, iandj, observing two satellites, kandl, or simply by

differencing two single differences to satellites kandl, onearrives at the doubledouble--differenceddifferenced

measurement:

klij

eMkl

ijT

f

klij

Iklij

klij

P

klij

mklij

Nkl

ijT

f

klij

Iklij

klij

kl

ji

kl

ji

1,21

1,

1,1,2

11,

1,

1,1

++++=

++++=

Differential Phase ObservationsDifferential Phase Observations


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Double differenced (DD)

mode is the most popular for carrier

phase data processing in Surveying applications

In DD the unknowns are station coordinates and the integerambiguities

In DD the differential atmospheric and multipath effects are verysmall and are normally neglected

Atmospheric errors become important for longer baselines

The achievable accuracy is cm-level for short baselines (below 10-15 km); for longer distances, DD ionospheric-free combination

is used Single differencing

is also used, however, the problem there is

non-integer ambiguity term (see previous slide), which does notprovide such strong constraints into the solution as the integerambiguity for DD

Useful linear combinationsUseful linear combinations


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Created usually from double-differenced phaseobservations

Ion-free combinationbased on L1 and L2 observableeliminates ionospheric effects (actually, the first order only)

Ion-only combinationbased on L1 and L2 observable,

(useful for cycle slip tracking) eliminates all effects exceptfor the ionosphere, thus can be used to estimate theionospheric effect

Widelane its long wavelength of 86.2 cm supportsambiguity resolution; based on L1 and L2 observable

IonosphereIonosphere--free combinationfree combination


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ionosphere-free

carrier phase measurement

1 2 1 1 2 2

1 1 1 2 2 2 1 1 2 2

,= +

= + + + + +

T N N

1

1

2

1

2

2

2

22

2

1

2

2

2

=

=

f

f f

ff f

similarly, ionosphere-free pseudorange can be obtained

The conditions applied are that sum of ionospheric effects on bothfrequencies multiplied by constants to be determined must be zero;second condition is for example that sum of the constants is 1, orone constant is set to 1 (verify!)

221

22

12,1 Rf

fRR =

IonosphereIonosphere--free combinationfree combination


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0

1

0

22

22

121

1

21

22

221

1

=+

=+

=+

f

I

f

I

f

I

thus

fI

fI

22

21

2

22

22

21

21

1

22

22

21

21

22

1

:

1:

ff

f

ff

f

finally

fff

ffgsimplifyin

=

=

=

Take the ionospheric terms on L1 and L2 and assume that they meetthe following conditions (where 1 and 2

are the coefficients definingthe iono-free combination:

However, we only considered the

1st

order ionospheric term here!

Other useful linear combinationsOther useful linear combinations


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O e use u ea co b a o s

w i d e l a n ew i d e l a n e where is in cycleswhere is in cycles

the corresponding wavelengththe corresponding wavelength

kl

wij

kl

ij

kl

w

kl

ij

kl

ijkl

ij

kl

wij NNTf

f

f

I

ij ,2,2

1

, 1,21

++++=

( ) w cm= =1 2

2 186 2.

ionosphericionospheric--onlyonly

(geometry-free) combination is obtained by

differencing two phase ranges [m] belonging to the frequencies L1 and L2

w

= 1 2

[meter]

[meter]

kl

onlyionoij

kl

ij

kl

ij

kl

ij

kl

ij

kl

ij

kl

onlyionoij NNff

ffI ++

== ,2,21,12

22

1

22

21

2,1,, )(

Non-integer ambiguity!

WidelaneWidelane Difference between phase observable on L1 and L2 (in cycles)


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( )

( )

( )

( )2

12

1

21,12

12

12

1

22

121

1221

21

12

1221

22

2121

1221

21

12

122

2

2

12121

1221

21

12

22

22

2

212

11

1

1

21

11

11

11

f

f

f

ITNN

f

ITNN

f

ITNN

f

f

f

ITNN

T

f

IN

T

f

IN

ww +++=

=

+

++

=

=

+

++

=

=

+

++

=

=+++=

Difference between phase observable on L1 and L2 (in cycles)

( )

w

cm= =1 2

2 1

86 2.

Widelane in [m]

Widelane wavelength

Kinematic GPS PositioningKinematic GPS Positioning


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150150

What is kinematic GPS?

In kinematic mode the so-called rover receiver ismoving with respect to the base (reference receiver atknown location), or maybe multiple rover receiversare moving with respect to each other and a base (ormultiple base) station

Kinematic positioning is usually associated with real-time operation, however, the data collected inkinematic mode can be processed in the post-missionmode for higher accuracy

Thus, kinematic GPS positioning is performed either

in real-time or post-processing

Real-time kinematic (RTK) GPS can be performed based on DGPS(WADGPS = Wide Area DGPS) services, thus, based on

Kinematic GPS PositioningKinematic GPS Positioning


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pseudoranging, as discussed in earlier sessions at this workshop, or

Can be performed based with respect the users own base station,which usually supports precise, carrier phase-based differential

positioning In real-time mode, the rover must communicate with the base via radio

modem

In any case, the positioning can be performed only after the integerambiguities have been resolved

For very long baselines, kinematic positioning can be performed basedon real-valued ambiguities, if the integers cannot be resolved due to a

high noise level

results in the loss of accuracy ( up to 10 cm per coordinate forbaselines > 20 km, and more for baselines > 100 km)

RealReal--time Precise Kinematic GPS Positioning (RTK)time Precise Kinematic GPS Positioning (RTK)


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Requires real-time data transfer (radio link) thus limited to shorterdistanced, 10-20 km, depending on radio communication ((limitedreliability of data transfer)

Limited also due to the increasing atmospheric effects that preventreliable ambiguity resolution (applies to any long-range GPS)

Requires use of carrier phase measurements (millimeter-level

noise) Exact determination of integer ambiguities is criticalExact determination of integer ambiguities is critical

In the static scenario, the changing satellite geometry allows for

separation of the ambiguities from the constant station geometry

In the kinematic scenario ambiguity resolution is more difficultdue to the motion of the station and the satellites (even more

challenging for real-time)

RealReal--time Precise Kinematic GPStime Precise Kinematic GPS

PositioningPositioning


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It must be done On-The-Fly (OTF)

It must be done fast

Presence of Anti Spoofing (AS) may notallow for instantaneous ambiguity resolutionusing four-measurement filter (i.e. two carrier

phase and two range observations) longerand uninterrupted tracking is required tosmooth the larger noise or some alternative

techniques must be applied

Exact determination of integer ambiguities is criticalExact determination of integer ambiguities is critical

(continued)

Epoch-by-epoch widelane

ambiguityN1

-N2

combination


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AS-free

Under AS

RealReal--time Precise Kinematic GPStime Precise Kinematic GPS

PositioningPositioning

7/30/2019 Brz

brzezinska - surveying and mapping

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