Zero Base-length Data Processing - 東京大学dinesh/GNSS_Train_files...Zero Base-Length = Distance...

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp1

Zero Base-length Data ProcessingPost-Processing Kinematic (PPK) for

High-Accuracy Position Data

Dinesh ManandharCSIS, The University of Tokyo, Japan

dinesh@csis.u-tokyo.ac.jpJAN 2020

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp2

Observation Data

• Base Station Data• Receiver : Trimble NetR9

Multi-frequency, Multi System• Data Format : T02 Trimble format• Data Conversion : Convert to RINEX Format• Antenna : Zephyr 2

• Rover Data • Receiver : U-Blox M8T• Data Format : UBX• Data Conversion : Convert to RINEX Format using RTKLIB

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp3

Zero Base-Length PPK

GNSS, ReceiverBase-Station

GNSS Antenna

GNSS, ReceiverROVER

X0Y0Z0

XbYbZb

XrYrZr

Zero Base-Length = Distance between Base and Rove is ZeroBoth receivers are sharing the same antenna with a splitterThus, {X0}, {Xb} and {Xr} must be the same. However, due to various errors and signal processing techniques inside the receivers, the position data fro {Xb} and {Xr} might be different.A good test to see receiver performance PPK RTK in Post-Processing Mode

NETR9

M8T

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp4

Zero Base-Length PPK Results

X0Y0Z0

XbYbZb

XrYrZr

Check the results of

X0, Xb and Xr

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp5

Compute Base Station Antenna Coordinate

• Observer Data for 24 hour

• Convert to RINEX 2.12 Format

• Use Online PPP Service

• Use Software provided by maker (If available) for PPP

• Use RTKLIB for PPP

• Use RTK Processing with the nearest base-station

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp6

Post-processing using RTKLIB

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp7

RTKLIB

Select Rover and Base Files

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp8

RTKLIB

Setting 1 Menu

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp9

RTKLIB

Setting 1 MenuProcessing Options

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp10

RTKLIB

Setting 2 Menu

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp11

RTKLIB

Output Menu

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp12

RTKLIB

Positions Menu

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp13

RTKLIB

Processing Running

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp14

SPP : NetR9 (High-End Receiver)

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp15

SPP : NetR9 (High-End Receiver)

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp16

SPP : U-blox (Low-Cost Receiver)

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp17

SPP : U-blox (Low-Cost Receiver)

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp18

SPP OutputRed: u-blox (Low-Cost)Violet: NetR9 (High-End)

SPP : u-blox vs NetR9

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp19

DGPS

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp20

DGPS

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp21

RTK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp22

RTK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp23

RTK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp24

SPP vs RTK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp25

SPP vs RTK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp26

SPP vs RTK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp27

Output Data from SPP and PPK

• Compute CEP for SPP

• Compute CEP for PPK

Dinesh Manandhar, The University of Tokyo, Japan, dinesh@csis.u-tokyo.ac.jp28

RTK Exercise

GNSS, ReceiverBase-Station

GNSS Base-Station Antenna

GNSS, ReceiverROVER

X0Y0Z0

XbYbZb

XrYrZr

x x x

y

y

GNSS Rover Antenna

Question: If we move antenna exactly by x-cm and/or y-cm, do we also get the same shift in GPS data for x and y? Example: We move the antenna by 10cm in x direction, do we see a change in 10cm in GPS data?d1 d2

d3

Is vector d2 = vector (d1 + x)?Is vector d3 = vector (d2 + x)?