International collaboration on open source scientific software: latest developments in goGPS positioning engine
FOSS4G 2013 Osaka7 November 2013
Eugenio Realini RISH, Kyoto UniversityDaisuke Yoshida GSCC, Osaka City UniversityHirofumi Hayashi Applied Technology Co.,LtdVenkatesh Raghavan GSCC, Osaka City University
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GPS “raw data”(observations, orbits, …)
If we have:- satellite positions- satellite-receiver distances- precise time
we can estimate:- receiver position/velocity- atmospheric parameters- …
and we can do research:- positioning accuracy improvement- deformation monitoring- atmospheric water vapor retrieval- …
From GPS to GNSS
GNSS Global Navigation Satellite System
GPS is not the only positioning system available
Other countries apart from US are building global (or regional) satellite systems
Russia China Europe Japan IndiaGLONASS BeiDou Galileo QZSS IRNSS
Global Regional
Standard consumer grade (low-cost) receiver: - GNSS observations are processed within the receiver - User can access only the processing result (e.g. coordinates)
GNSS observations Coordinatesand ancillary data Only visualization!
GNSS “raw data”(observations, orbits, …)
By accessing raw data, we can perform advanced analyses, e.g. - improving the positioning accuracy by relative positioning
- study and monitor the atmosphere - …
Rawdata
GNSS “raw data”(observations, orbits, …)
Receivers providing “raw data”GNSS receivers generally provide raw data formatted according to proprietary binary protocols.
Often these protocols are available to customers (or even public).
Almost all geodetic(survey grade) receivers
(dual-frequency orsingle-frequency)
A few low-cost(consumer grade) receivers
(single-frequency)
~ $3,000 – $30,000
~ $100 – $500
Low-cost raw data logger prototypeLow-cost raw data logger prototypeENVLoggerRPi
- developed at Osaka City University- u-blox LEA-6T module (GPS raw data)- environmental sensors (T, P, RH, CO2)- logging data on microSD card- Raspberry Pi (credit card-sized Linux computer)- Power-over-Ethernet- Configurable (text file on SD card)- open source firmware
GNSS processing softwareCommercial Academic
Free and Open Source Software(FOSS)
GAMIT/GLOBK
GIPSY/OASIS II
RTKLIB/GpsTools
goGPS
BerneseTGO/TTC (Trimble)
LGO (Leica)
RTNet(GPS Solutions)
Justin (JAVAD)
Topcon Tools (Topcon)
Bold = source code provided
gLAB
MATLABJava
- developed in MATLAB 7.6+
- GUIs available
- Real-time and post-processing
- works on both Windows and UNIX
- single-frequency (L1) positioning
goGPS MATLAB
goGPS MATLAB downloads (Apr 2009 – Oct 2013)
Collaborative environmentCollaborative environmenthttp://www.gogps-project.org/
http://sourceforge.net/projects/gogps/ http://code.google.com/p/gogps/
MATLAB Java
Version control systems: SVN Mercurial
goGPS international networkgoGPS international network(2012) (2012)
Polytechnic of MilanPolytechnic of Milanhttp://www.polimi.ithttp://www.polimi.it
Osaka City UniversityOsaka City Universityhttp://www.osaka-cu.ac.jphttp://www.osaka-cu.ac.jp
OSGEO JPOSGEO JPhttp://www.osgeo.jphttp://www.osgeo.jp
CrymsCrymshttp://www.cryms.comhttp://www.cryms.com
goGPSApplied TechnologyApplied Technology
http://www.apptec.co.jphttp://www.apptec.co.jp
Galileian PlusGalileian Plushttp://www.galileianplus.ithttp://www.galileianplus.it Kyoto University (RISH)Kyoto University (RISH)
http://www.rish.kyoto-u.ac.jphttp://www.rish.kyoto-u.ac.jp
GReDGReDhttp://www.g-red.eu/http://www.g-red.eu/
Volunteers(open source)
Universidad de JaénUniversidad de Jaénhttp://www.ujaen.eshttp://www.ujaen.es
Note: institution/company names are only indicative of goGPS contributors’ affiliations, NOT official endorsements of the project
Latest developments Latest developments (during 2013)(during 2013)
• EGNOS (SBAS) support
code contributed by:Giuliano Sironi, Politecnico di Milano, ItalyAntonio Herrera Olmo, Universidad de Jaén, Spain
• Integer phase ambiguity resolution by LAMBDA method
code contributed by:Hendy F. Suhandri, Universität Stuttgart, GermanyAndrea Nardo, Curtin University, Australia
• Multi-GNSS support (also by using low-cost receivers by NVS)
GPS, GLONASS, Galileo, BeiDou, QZSS
code contributed by:(myself), Kyoto University, Japan (with knowledge support from Andrea Nardo)
Daisuke Yoshida, Osaka City University, Japan
EGNOS (SBAS) supportEGNOS (SBAS) support
Accuracy improved to < 1 m in stand-alone mode (i.e. without a base station)
SBAS: Satellite-Based Augmentation System
(geostationary systems)
Integer ambiguity resolution by Integer ambiguity resolution by LAMBDA methodLAMBDA method
Static test results:
•u-blox AEK-4T receiver (low-cost)•geodetic base station (~60 m baseline)
Accuracy:< 1 cm
Example application: deformation monitoring with multiple low-cost receivers
increased number of availablesatellites
improved positioning capabilities,esp. in urban environments
source: http://www.multignss.asia/campaign.html
source: goGPS plot
Multi-GNSS supportMulti-GNSS support
http://www.gogps-project.org