INTEGRITY MONITORING SYSTEM FOR SPACE-BASED NAVIGATION AND POSITIONING IN MALAYSIAOoi Wei Han1, Moslin S.I1., Ahmad N.1, Subari M.D.1, Musa T.A.2, Othman R.2, Omar A.H.2, Musliman I.A.2

1National Space Agency (ANGKASA)Space Application and Technology Development Unit

2Universiti Teknologi Malaysia GNSS and Geodynamics Research Group

Contents Introduction Project Aims, Objectives & Scope of Work The GNSS CORS & Collaboration Design & Architecture of GNSS Integrity Monitoring System Infrastructure Setup Preliminary Output Concluding Remarks

IntroductionIn Malaysia, navigation technology has become an essential tool in various applications for positioning in military and civilian sectors. With the full operational constellation and modernization of the GNSS such as GPS and GLONASS, the accuracy of positioning has definitely improved. GPS, GLONASS, GALILEO, COMPASS, QZSSMalaysia

GNSS signals are weak and easily be interrupted.Affected by variety types of errors at various stages Such as: - satellite clock and orbit errors;- ionospheric and tropospheric delays;- receiver clock error;- possible cycle slips;- multipath;- and etc. Several incidents indicated signals in failure mode and resulted significant position errors.

The Signal Integrity

L.Heng et. al., 2010

Aims & ObjectivesThe National Space Agency (ANGKASA) in collaboration with universities, government and industries sectors is currently in the midst of developing an integrity monitoring system for space-based positioning in Malaysia.

The aim of this project is to provide an integrity monitoring system for space-based navigation and positioning in Malaysia. This aim embarks three objectives:To establish GPS/GNSS CORS network over Peninsular MalaysiaTo determine on integrity and reliability of GNSS and DGPS signals over country To provide a warning of any signal anomalies at all time.

Scope of WorkSet-up GNSS ground stations with real-time data streaming.Set-up control centre at ANGKASA & processing centre at UTM.Set-up database for GNSS & DGPS integrity monitoring system.Set-up web-based service for GNSS & DGPS integrity monitoring system.

Peninsular MalaysiaLangkawi National Observatory (ANGKASA)Kota BharuMalaysian Metrological Department(ANGKASA/MMD)KuantanSistem Perlayaran Satelit (SISPELSAT, JLM)Main Processing CentreISKANDAR MalaysiaUTM, MPKU, PTP, KKPGBagan DatohSistem Pelayaran Satelit (SISPELSAT, JLM)National Space Centre (ANGKASA), SelangorCOMING SOONPontian, JohorMARDI, Malaysia)Kepong, Kuala Lumpur(Enviro Land Service)Shah Alam, Selangor(UiTM)MelakaSistem Pelayaran Satelit (SISPELSAT, JLM)COMING SOONPenang(MARDI, Malaysia)The GNSS CORS

CORS Collaboration:Government Agencies, Universities, & Industry Collaboration!Data Sharing & Combine Expertise!Opportunities!

System Design & Architecture of Integrity Monitoring System

GNSS CORSCORS2CORS1ANGKASA Web-BasedGPS + GLONASS SatelliteGPS + GLONASS SatelliteANGKASA GNSS/DGPS INTEGRITY MONITORINGCENTREMULTI USERSYSTEM LEVEL MONITORING (NANUs for GPS & GLONASS)

GROUND LEVEL MONITORING (signal availability, range monitoring ionosphere, cycle slip, missing observation, etc.)USER LEVEL MONITORING (DGPS correction satellite by satellite, SISPELSAT)

Data Storage / Web ServerModel-based Design

Web ServerReal Time UserNTRIP CASTERMainDatabaseSystem ArchitectureDGPS ProcessorGPS/GNSS Data Quality ProcessorNetwork-RTK (VRS) ProcessorDGPS ProcessorIOMOS ProcessorGPS Seismic ProcessorCollaborators

Infrastructure Setup

Site Reconnaissance & CORS InstallationMalaysia Meteorological Dept. Kota Bharu

SISPELSAT CORS at Malaysia Marine Department, Melaka

Infrastructure Setup: The Control Centre

The Integrity Monitoring System utilizes Internet and NTRIP technology Infrastructure Setup: CommunicationTCP/IP

Infrastructure Setup: Database SystemUses MySQL as the database management system.Data for every second will be stored - need a huge data storage to keep the large data size.Database system should be robust and flexible to handle various emergencies and does not crash when error occurs.

Preliminary Output

sign up sign in> AGENSI ANGKASA NEGARA> ABOUT USmain pagenewsserviceSYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING USER LEVEL MONITORING

Today MonitoringToday Discussion

sign up sign inAGENSI ANGKASA NEGARAABOUT USPlease click the station for the information main pagenewsserviceSYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING USER LEVEL MONITORING

Today MonitoringToday Discussion

sign up sign inAGENSI ANGKASA NEGARAABOUT USStation Informationmain pagenewsserviceSYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING USER LEVEL MONITORING

Today MonitoringToday DiscussionISKANDARnet 1Operated & maintained by UTM-GNSS & Geodynamics Research Group

More .

Station IDISK1LocationBlock C02, FKSG, Universiti Teknologi Malaysia (UTM)ITRF 2008Latitude1 33 36.39495 NLongitude103 38 08.89223 EEllipsoidal Height61.551mRSO GeocentricEasting626585.075mNorthing172530.806mIGS ConventionGPS ReceiverTrimble 4700GPS AntennaTrimbleL1/L2Micro-centred with Ground PlaneTRM33429.20+GPComRadio-linkRTCM 2.0 channel 01NTRIPIP: XXXXX.XXX.XXX

sign up sign inAGENSI ANGKASA NEGARAABOUT USmain pagenewsserviceSYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING USER LEVEL MONITORING

Today MonitoringToday DiscussionReliability of satellite for DGPS correction

DGPS correction latency

Variation of fine PRC

ISKANDARnet1

Satellite Availability & signal strength GNSS signal qualityDGPS CorrectionsDGPS corrections from Satellite PRN 31 & 32 are out of rangeAlert !GPS L1

GPS L2

AGENSI ANGKASA NEGARAABOUT USPlease click the stationmain pagenewsserviceSYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING USER LEVEL MONITORING

Today MonitoringToday DiscussionInsert coordinate orBase stationRover stationLatLongddd.mm.ss ddd.mm.ss sign up sign in

sign up sign inAGENSI ANGKASA NEGARAABOUT USmain pagenewsserviceSYSTEM LEVEL MONITORING

GROUND LEVEL MONITORING USER LEVEL MONITORING

Today MonitoringToday DiscussionDistance : 338.33 kmAccuracy : 0.325 m (rms)

BantingInsert coordinate orBase stationRover stationLatLongddd.mm.ss ddd.mm.ss

User Level Monitoring DGPS Module

Concluding RemarksThree different services will be make available to monitor satellite anomalies, signals at CORS, DGPS correction and alert to user.

The project show excellent collaborations amongst government agencies, universities and industry in developing the integrity monitoring system for space-based navigation and positioning in Malaysia.

MALAYSIAendMaleisi

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