qzss observation data available to the public qzss observation data available to the public 3 rd...

QZSS Observation DataAvailable to the Public

QZSS Observation DataAvailable to the Public

33rdrd Asia-Oceania Regional Workshop on GNSS Asia-Oceania Regional Workshop on GNSSNov. 1, 2011 @Jeju Island, South KoreaNov. 1, 2011 @Jeju Island, South Korea

Takeyasu SAKAIElectronic Navigation Research Institute, Japan

Takeyasu SAKAIElectronic Navigation Research Institute, Japan

Nov. 2011Nov. 2011 - Slide - Slide 22

IntroductionIntroduction• QZSS (Quasi-Zenith Satellite System) programQZSS (Quasi-Zenith Satellite System) program::

– Regional navigation service broadcast from high-elevation angle by three or Regional navigation service broadcast from high-elevation angle by three or more satellites on the inclined geosynchronous (quasi-zenith) orbit;more satellites on the inclined geosynchronous (quasi-zenith) orbit;

– Broadcast GPS-like supplement signals on three frequencies and two Broadcast GPS-like supplement signals on three frequencies and two augmentation signals, L1-SAIF and LEX; ENRI is working for L1-SAIF;augmentation signals, L1-SAIF and LEX; ENRI is working for L1-SAIF;

– The first QZS satellite successfully launched on Sept. 11, 2010;The first QZS satellite successfully launched on Sept. 11, 2010;– Technical verification is ongoing by some research organizations.Technical verification is ongoing by some research organizations.

• Broadcasting ranging signals constantlyBroadcasting ranging signals constantly::– Ranging signals are broadcast constantly and stable; Now no alert flag;Ranging signals are broadcast constantly and stable; Now no alert flag;– QZS-1 is in the operational phase while technical verification is ongoing;QZS-1 is in the operational phase while technical verification is ongoing;– Now need to promote rapid spread of QZSS capability to consumer equipment.Now need to promote rapid spread of QZSS capability to consumer equipment.

• ENRI just began continuous observation of QZSSENRI just began continuous observation of QZSS::– Measures all signals on triple frequencies except LEX;Measures all signals on triple frequencies except LEX;– We have decided to make observations open to the public for promotion of We have decided to make observations open to the public for promotion of

R&D on QZSS applications;R&D on QZSS applications;– Daily RINEX files are publicly available for free of charge on the web.Daily RINEX files are publicly available for free of charge on the web.


QZSS SignalsQZSS SignalsSignal Center Freq. Bandwidth Min. Rcv Power

QZS-L1CL1CD

1575.42 MHz

24 MHz –163.0 dBW

L1CP 24 MHz – 158.25 dBW

QZS-L1-C/A 24 MHz – 158.5 dBW

QZS-L1-SAIF 24 MHz – 161.0 dBW

QZS-L2C 1227.6 MHz 24 MHz – 160.0 dBW

QZS-L5L5I

1176.45 MHz25 MHz – 157.9 dBW

L5Q 25 MHz – 157.9 dBW

QZS-LEX 1278.75 MHz 42 MHz – 155.7 dBW

• Supplement Signals: L1C/A, L2C, and L5 are GPS-like (PRN193);Supplement Signals: L1C/A, L2C, and L5 are GPS-like (PRN193);• Augmentation Signals: L1-SAIF is SBAS-like (PRN183); LEX is original signal; Augmentation Signals: L1-SAIF is SBAS-like (PRN183); LEX is original signal; • For detail, see IS-QZSS. URL: For detail, see IS-QZSS. URL: http://qz-vision.jaxa.jp/USE/is-qzss/index_e.htmlhttp://qz-vision.jaxa.jp/USE/is-qzss/index_e.html

SupplementSupplementSignalsSignals(JAXA)(JAXA)

AugmentationAugmentation(ENRI)(ENRI)

AugmentationAugmentation(JAXA/GSI)(JAXA/GSI)


Continuous ObservationContinuous Observation• Observation conditions:Observation conditions:

– ENRI just began continuous observation of L1-SAIF signal for technical verificaENRI just began continuous observation of L1-SAIF signal for technical verification in October 2011; Also observes other supplement signals;tion in October 2011; Also observes other supplement signals;

– Observation is available on the web: URL Observation is available on the web: URL http://www.enri.go.jp/sat/qzss_e.htmhttp://www.enri.go.jp/sat/qzss_e.htm– Range measurements are converted into RINEX format and navigation messaRange measurements are converted into RINEX format and navigation messa

ge is formatted in EMS file; Both are slightly extended for QZSS;ge is formatted in EMS file; Both are slightly extended for QZSS;– Data files are stored on daily basis.Data files are stored on daily basis.

Receiver JAVAD ALPHA-G3T

Antenna

Location

ENRI, Tokyo - Top of the tower of No. 6 Building

35.679518936N 139.560964491E 109.1971m from ellipsoid

X=-3947737.9910 Y=3364428.7640 Z=3699428.9764

Antenna Trimble Zephyr Geodetic 2 (L1/L2/L5)

Target SV GPS, GLONASS, SBAS, QZSS (incl. L1-SAIF)

Measurements Code Range, Carrier Range, Doppler, C/N0 (L1, L2, L5)

Note - Sometimes there is missing data due to some reason such as power outage.Note - Sometimes there is missing data due to some reason such as power outage.


Equipment SetupEquipment Setup

JAVAD RxJAVAD Rx

LinuxLinuxServerServer

EthernetEthernetConverterConverter

LANLAN

SerialSerialANTANTTrimble Zephyr Geodetic 2Trimble Zephyr Geodetic 2

Realtime Data CollectionRealtime Data Collection


Observation: RINEX FormatObservation: RINEX Format• Extension of existing RINEX format:Extension of existing RINEX format:

– The current RINEX format does not support QZSS; SV identifier is not defined fThe current RINEX format does not support QZSS; SV identifier is not defined for QZSS signals;or QZSS signals;

– Observation is provided in RINEX 2.11 format with an extension;Observation is provided in RINEX 2.11 format with an extension;

– For supplement signals we use “Jnn” regarding other core systems;For supplement signals we use “Jnn” regarding other core systems;

– For L1-SAIF augmentation signal, we use “Snn” like SBAS.For L1-SAIF augmentation signal, we use “Snn” like SBAS.

Status System ID Value of nn

Fixed

GPS Gnn PRN

GLONASS Rnn Slot Number

SBAS Snn PRN-100

Galileo Enn PRN

COMPASS Cnn PRN

Our

Extension

QZSS Jnn PRN-192

L1-SAIF Snn PRN-100

For QZS-1For QZS-1

Supplement: J01Supplement: J01L1-SAIFL1-SAIF ：： S83S83


Example of RINEX ObservationExample of RINEX Observation 2.11 OBSERVATION DATA G (GPS) RINEX VERSION / TYPE2.11 OBSERVATION DATA G (GPS) RINEX VERSION / TYPEdat2rnx 1.00 20111019 01:16:43UTCPGM / RUN BY / DATEdat2rnx 1.00 20111019 01:16:43UTCPGM / RUN BY / DATEdat2rnx 1.00 (Oct 18 2011) COMMENTdat2rnx 1.00 (Oct 18 2011) COMMENTMTKB MARKER NAMEMTKB MARKER NAMEENRI, JAPAN ELECTRONIC NAVIGATION RES INST, JAPAN OBSERVER / AGENCYENRI, JAPAN ELECTRONIC NAVIGATION RES INST, JAPAN OBSERVER / AGENCY1 TR_G3TH_4 3.4.0a3_qzss8 Jun,10REC # / TYPE / VERS1 TR_G3TH_4 3.4.0a3_qzss8 Jun,10REC # / TYPE / VERS1 TRM55971.00 ANT # / TYPE1 TRM55971.00 ANT # / TYPE -3947737.9910 3364428.7640 3699428.9764 APPROX POSITION XYZ-3947737.9910 3364428.7640 3699428.9764 APPROX POSITION XYZ 0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N0.0000 0.0000 0.0000 ANTENNA: DELTA H/E/N 1 1 WAVELENGTH FACT L1/21 1 WAVELENGTH FACT L1/2 14 L1 C1 P1 D1 S1 L2 C2 P2 D2# / TYPES OF OBSERV14 L1 C1 P1 D1 S1 L2 C2 P2 D2# / TYPES OF OBSERV S2 L5 C5 D5 S5 # / TYPES OF OBSERVS2 L5 C5 D5 S5 # / TYPES OF OBSERV 2011 10 18 0 0 0.0000000 GPS TIME OF FIRST OBS2011 10 18 0 0 0.0000000 GPS TIME OF FIRST OBS 2011 10 18 23 59 59.0000000 GPS TIME OF LAST OBS2011 10 18 23 59 59.0000000 GPS TIME OF LAST OBS END OF HEADEREND OF HEADER 11 10 18 0 0 0.0000000 0 21R23R21G07S37G19G13S29G03R12R22G16G3011 10 18 0 0 0.0000000 0 21R23R21G07S37G19G13S29G03R12R22G16G30 G31R10R20G06R11G21G23J01S83G31R10R20G06R11G21G23J01S83 131781550.7370 24635168.7740 24635170.4044 2895.0620 38.0000131781550.7370 24635168.7740 24635170.4044 2895.0620 38.0000 102496754.6854 24635189.4140 24635186.6924 2251.6814 35.7504102496754.6854 24635189.4140 24635186.6924 2251.6814 35.7504 :: :: 133569864.0430 25417497.0210 25417498.3644 2635.4920 38.2500133569864.0430 25417497.0210 25417498.3644 2635.4920 38.2500 104080417.5974 25417501.4880 25417504.3784 2053.3764 19.0004104080417.5974 25417501.4880 25417504.3784 2053.3764 19.0004

195451243.8520 37193140.8190 -995.3470 42.7500195451243.8520 37193140.8190 -995.3470 42.7500 :: :: 194779121.9180 37065243.8380 -722.2830 44.7500194779121.9180 37065243.8380 -722.2830 44.7500 151775927.3420 37065245.7170 -562.8480 42.5000151775927.3420 37065245.7170 -562.8480 42.5000 145451928.7700 37065250.8380 -539.3800 48.0000145451928.7700 37065250.8380 -539.3800 48.0000 194779167.9350 37065241.0500 -722.2760 43.7500194779167.9350 37065241.0500 -722.2760 43.7500

GLOGLOSlot 23Slot 23

GPSGPSPRN 07PRN 07

SBASSBASPRN 137PRN 137

QZS-1QZS-1L1 C/AL1 C/A

QZS-1QZS-1L1-SAIFL1-SAIF

Large # of Large # of measurementsmeasurements

21 SVs21 SVs

Epoch TimeEpoch Time QZSSQZSS

CarrierCarrier C/A codeC/A code P/Y codeP/Y code DopplerDoppler C/NC/N00

L5 codeL5 code

L2C codeL2C code


Navigation Message: EMS FileNavigation Message: EMS File

Format PRN YY MM DD HH MM SS TT data…

Parameter

PRN PRN number by which the message is broadcast

YY MM DD Date

HH MM SS Time (Transmission of the first bit of the message)

TT

GPS/QZSS: Subframe ID (1 to 5) 　 300 bits = Every 6s

GLONASS: String ID (1 to 15) 　　　 100 bits = Every 2s

SBAS/SAIF: Message Type (0 to 63) 250 bits = Every 1s

data…Message contents (Hexadecimal; The first bit of the message is stored as MSB of the first char)

• Extension of EMS File Format:Extension of EMS File Format:– Navigation messages broadcast on L1C/A-equivalent ranging signals are decoded Navigation messages broadcast on L1C/A-equivalent ranging signals are decoded

and archived in the extended EMS Format;and archived in the extended EMS Format;

– EMS format is used in EGNOS Data Archive Service (EDAS); Originally contains EMS format is used in EGNOS Data Archive Service (EDAS); Originally contains only EGNOS broadcast messages;only EGNOS broadcast messages;

– Our extension: Including GPS/GLONASS/QZSS navigation messages additionally.Our extension: Including GPS/GLONASS/QZSS navigation messages additionally.


Example of EMS FileExample of EMS File137 11 10 18 00 00 02 25 9A6610581702DFA7FBFF808000...2B00 (64 chars)137 11 10 18 00 00 02 25 9A6610581702DFA7FBFF808000...2B00 (64 chars)129 11 10 18 00 00 02 63 9AFC0000000000000000000000...7700 (64 chars)129 11 10 18 00 00 02 63 9AFC0000000000000000000000...7700 (64 chars)183 11 10 18 00 00 02 50 9ACA06292A06079C2421E79968...4D00 (64 chars)183 11 10 18 00 00 02 50 9ACA06292A06079C2421E79968...4D00 (64 chars) 60 11 10 18 00 00 02 9 480BC1BA68F4C024B5D6992CE060 11 10 18 00 00 02 9 480BC1BA68F4C024B5D6992CE0 58 11 10 18 00 00 02 9 480BC1BA68F4C024B5D6992CF058 11 10 18 00 00 02 9 480BC1BA68F4C024B5D6992CF0 :: 48 11 10 18 00 00 02 9 480BC1BA68F4C024B5D6992C0048 11 10 18 00 00 02 9 480BC1BA68F4C024B5D6992C00137 11 10 18 00 00 03 2 C608DFFC009FFDFFC003FFDFFD...3500 (64 chars)137 11 10 18 00 00 03 2 C608DFFC009FFDFFC003FFDFFD...3500 (64 chars)129 11 10 18 00 00 03 2 C609DFFC011FFDFFC013FD5FFD...D000 (64 chars)129 11 10 18 00 00 03 2 C609DFFC011FFDFFC013FD5FFD...D000 (64 chars)183 11 10 18 00 00 03 51 C6CE03B79FB824827D84B7D020...1AC0 (64 chars)183 11 10 18 00 00 03 51 C6CE03B79FB824827D84B7D020...1AC0 (64 chars)137 11 10 18 00 00 04 3 530CDFFC005FFDFFC00DFFFFF7...7D00 (64 chars)137 11 10 18 00 00 04 3 530CDFFC005FFDFFC00DFFFFF7...7D00 (64 chars)129 11 10 18 00 00 04 3 530EDFFC011FFDFFC011FFC000...7300 (64 chars)129 11 10 18 00 00 04 3 530EDFFC011FFDFFC011FFC000...7300 (64 chars)183 11 10 18 00 00 04 51 53CE8477D878477BFF85D007F8...8180 (64 chars)183 11 10 18 00 00 04 51 53CE8477D878477BFF85D007F8...8180 (64 chars) 60 11 10 18 00 00 04 10 55B8AC6957F0A00C0F7D592CE060 11 10 18 00 00 04 10 55B8AC6957F0A00C0F7D592CE0 58 11 10 18 00 00 04 10 55B8AC6957F0A00C0F7D592CF058 11 10 18 00 00 04 10 55B8AC6957F0A00C0F7D592CF0 :: 48 11 10 18 00 00 04 10 55B8AC6957F0A00C0F7D592C0048 11 10 18 00 00 04 10 55B8AC6957F0A00C0F7D592C00 7 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...8D007 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...8D00 　　 (76 chars)(76 chars) 19 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...F800 (76 chars)19 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...F800 (76 chars) :: 21 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...3CC021 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...3CC0 　　 (76 chars)(76 chars) 23 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...4A0023 11 10 18 00 00 00 1 8B09E8E8E1029C09E90002DEA1...4A00 　　 (76 chars)(76 chars)137 11 10 18 00 00 05 4 9A11DFFDFFFFF7FF1FFFFEBFDD...9C00137 11 10 18 00 00 05 4 9A11DFFDFFFFF7FF1FFFFEBFDD...9C00 　　 (64 chars)(64 chars)129 11 10 18 00 00 05 4 9A12DFFDFFC007FFDFFFFE3FD1...3B00 (64 chars)129 11 10 18 00 00 05 4 9A12DFFDFFC007FFDFFFFE3FD1...3B00 (64 chars)193 11 10 18 00 00 00 1 8B000048E10217C9EA00426000...8800 (76 chars)193 11 10 18 00 00 00 1 8B000048E10217C9EA00426000...8800 (76 chars)183 11 10 18 00 00 05 2 9A081FFDFFC001FFDFFFFF9FFD...B500 (64 chars)183 11 10 18 00 00 05 2 9A081FFDFFC001FFDFFFFF9FFD...B500 (64 chars)137 11 10 18 00 00 06 28 C67308C963CF4080702A827907...FE00 (64 chars)137 11 10 18 00 00 06 28 C67308C963CF4080702A827907...FE00 (64 chars)129 11 10 18 00 00 06 28 C67308CB63EF7080702D027917...BD00 (64 chars)129 11 10 18 00 00 06 28 C67308CB63EF7080702D027917...BD00 (64 chars)183 11 10 18 00 00 06 3 C60C1FFDFFC001FFDFFC005FFC...1180 (64 chars)183 11 10 18 00 00 06 3 C60C1FFDFFC001FFDFFC005FFC...1180 (64 chars)

SBAS/L1-SAIFSBAS/L1-SAIF

GLONASSGLONASS


GLONASSGLONASS

GPSGPS



QZSS L1C/AQZSS L1C/A

Ord

er o

f com

plet

ion

of m

essa

ge d

ecod

ing

Ord

er o

f com

plet

ion

of m

essa

ge d

ecod

ing

Epoch TimeEpoch TimePRNPRN Msg IDMsg ID DataData


DiscussionDiscussion• Is RINEX appropriate for data publication?Is RINEX appropriate for data publication?

– So far, RINEX seems most commonly used data exchange format;So far, RINEX seems most commonly used data exchange format;– Option: BINEX and RTCM 3.0 could be used (also for realtime?).Option: BINEX and RTCM 3.0 could be used (also for realtime?).

• Some applications are not capable of large # of measurements:Some applications are not capable of large # of measurements:– Need degraded version of observation, for example, 2-frequency version?Need degraded version of observation, for example, 2-frequency version?

• Is RINEX navigation message file necessary? (Is EMS file enough?)Is RINEX navigation message file necessary? (Is EMS file enough?)– RINEX navigation file (*.YYn) is easily applicable to QZSS L1-C/A;RINEX navigation file (*.YYn) is easily applicable to QZSS L1-C/A;– L1-SAIF message: Ephemeris message may be stored in RINEX file (*.YYh); But othL1-SAIF message: Ephemeris message may be stored in RINEX file (*.YYh); But oth

er messages have little option other than EMS (or similar) format;er messages have little option other than EMS (or similar) format;– An idea: Store L1-SAIF messages in RINEX observation file using comment record.An idea: Store L1-SAIF messages in RINEX observation file using comment record.

• Does anyone need realtime distribution?Does anyone need realtime distribution?– ENRI is ready for realtime distribution;ENRI is ready for realtime distribution;

Data collection is performed in a realtime manner;Data collection is performed in a realtime manner; Communication line available for realtime distribution may be less capacity.Communication line available for realtime distribution may be less capacity.

– ENRI is also collecting data at some locations inside Japan.ENRI is also collecting data at some locations inside Japan.


ConclusionConclusion• QZSS needs promotionQZSS needs promotion::

– QZS-1 is in the operational phase while technical verification is ongoing;QZS-1 is in the operational phase while technical verification is ongoing;– Need promotion for rapid spread of QZSS capability to consumer equipment.Need promotion for rapid spread of QZSS capability to consumer equipment.

• ENRI’s contributionENRI’s contribution::– Began continuous observation of QZSS and data publication;Began continuous observation of QZSS and data publication;– Measures all signals on triple frequencies except LEX;Measures all signals on triple frequencies except LEX;– Daily RINEX files are publicly available for free of charge on the web.Daily RINEX files are publicly available for free of charge on the web.

URL URL http://www.enri.go.jp/sat/qzss_e.htmhttp://www.enri.go.jp/sat/qzss_e.htm

• Proposal:Proposal:– SV identifier for RINEX observation:SV identifier for RINEX observation:

For supplement signals, use “Jnn” (J01 for QZS-1) regarding other core syFor supplement signals, use “Jnn” (J01 for QZS-1) regarding other core systems;stems;

For L1-SAIF augmentation signal, use “Snn” (S83 for QZS-1) like SBAS.For L1-SAIF augmentation signal, use “Snn” (S83 for QZS-1) like SBAS.

• Feedback your comments to: [email protected] your comments to: [email protected]

qzss observation data available to the public qzss observation data available to the public 3 rd...

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