single-station ionosphere modelling for precise point positioning paul collins, reza ghoddousi-fard,...
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Single-Station Ionosphere Modelling Single-Station Ionosphere Modelling for Precise Point Positioningfor Precise Point Positioning
Paul CollinsPaul Collins, Reza Ghoddousi-Fard, Simon Banville , Reza Ghoddousi-Fard, Simon Banville FranFranççois Lahayeois Lahaye
Geodetic Survey Division, Natural Resources Canada, Geodetic Survey Division, Natural Resources Canada, Ottawa, Ontario, Canada Ottawa, Ontario, Canada
PPP Workshop: Reaching Full PotentialJune 12-14, 2013, Ottawa, Canada
2
IntroductionIntroduction
A clearer understanding of the role of the ionosphere in high-precision GNSS permits: rapid PPP-AR (under some circumstances), those ‘circumstances’ look suspiciously like RTK…
One goal of this presentation is to retain: a distinction between PPP & RTK techniques.
Motivation: What was the point of GPS in the first place? Why the desire for dense reference networks?
3
PPP/RTK ReviewPPP/RTK Review
Two kinds of RTK: Observation Space Representation (OSR-RTK) State Space Representation (SSR-RTK)
Preferably not PPP-RTK, because…
Differentiator between RTK and PPP: Network Size:
RTK: local/regional. PPP: (wide-area)/global.
Network Dependence: RTK User: No network, no solution. PPP User: What network?
4
-1
-0.5
0
0.5
1
-1 -0.5 0 0.5 1
Ionosphere/Ambiguity RelationshipIonosphere/Ambiguity Relationship
-1
-0.5
0
0.5
1
-1 -0.5 0 0.5 1
Ionosphere-free model
Ionosphere-fixed model
code = 10cm; phase = 1mm
L1 iono bias = 2cm/0.12TECU
5
Four-observable PPP modelFour-observable PPP model
Original three-observable decoupled clock model:
44444464
3413333
3333
)6017()(
)(
AsA
rA
LsL
rL
PsP
rP
NbbAPL
NNdtdtcTL
dtdtcTP
Split widelane-phase/narrowlane-code observable:
)]()[(
)(
)(
34434*
4
4*
444334
6*
444336
sL
sLL
rL
rLL
LLsL
rL
PLsA
rA
sL
rL
bbIbbI
INdtdtcTL
IbbdtdtcTP
Result: phase ionosphere. Biased by datum ambiguities and hardware delays.
6
Slant ionosphere estimatesSlant ionosphere estimates
fixed sigmafloat sigma
7
Applying the ConstraintsApplying the Constraints
Ionospheric Slant delays contain: Integer-biased satellite phase equipment delay.
Common to all stations. Integer-biased station phase equipment delay.
Unique to all stations, can change on solution reset. Use single-differences to eliminate station bias:
Add as pseudo-observations:
i~ iCC ~ 0A
ii~~
Tii CC ~~
,
8
PPP-ICAR MethodologyPPP-ICAR Methodology
LAMBDA
float solution
fixed solutionsAR AR ARAR AR AR
LAMBDA
float/fixed solutions
constrained solutionsion ion ion ion
AV
ARAR AR AR
ion ion
9
PPP-ICAR TestingPPP-ICAR Testing
Local stations around Ottawa. JO2P (30sec); NRC1 (1sec).
Two receivers driven on the Rideau Canal (frozen). 0015, 0019 (1sec). frozen surface should be ‘level’.
S1
S2aS2c
S2b
JO2PNRC1
00150019
8.5km
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Solution 1 JO2P Solution 1 JO2P → NRC1 (2D-Horiz.)→ NRC1 (2D-Horiz.)
67% ~1cm 95% ~2cm
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Solution 1 JO2P Solution 1 JO2P → NRC1 (3D)→ NRC1 (3D)
67% ~3cm
95% ~7cm
12
Solution 2: Height EstimatesSolution 2: Height Estimates
PPP(SMD) HGT = 30.34 ± 0.10 PPP(ICAR) HGT = 30.26 ± 0.05 RTK(NRC1) HGT = 30.25 ± 0.02
29.75
30.00
30.25
30.50
30.75
18 18.5 19 19.5 20Local Time (Hours)
Geo
m. H
gt. (
m)
0.0
2.5
5.0
7.5
10.0
Velocity (km
/hr)
VEL(km/hr)
PPP(STD)
PPP(ICAR)
RTK(NRC1)
13
0019 (JO2P ION)
-0.30
-0.20
-0.10
0.00
0.10
0.20
0.30
18 18.5 19 19.5 20
Local Time (Hours)
Sol
uti
on D
iffe
ren
ce (
m)
DLAT 0.9cm rms
DLON 1.3cm rms
DHGT 3.9cm rms
Solution 2: JO2PSolution 2: JO2P→→00190019→→NRC1NRC1→→00150015
NRC1 (0019 ION)
-0.30
-0.20
-0.10
0.00
0.10
0.20
0.30
18 18.5 19 19.5 20
Local Time (Hours)
Sol
uti
on D
iffe
ren
ce (
m)
DLAT 0.8cm rms
DLON 0.5cm rms
DHGT 2.4cm rms
0019 (kinematic)
NRC1 (stationary)
Ion
Ion
JO2P NRC1
00150019
0015 (NRC1 ION)
-0.30
-0.20
-0.10
0.00
0.10
0.20
0.30
18 18.5 19 19.5 20
Local Time (Hours)
Sol
uti
on D
iffe
ren
ce (
m)
DLAT 1.0cm rms
DLON 1.1cm rms
DHGT 4.8cm rms
0015 (kinematic)
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RTK NetworkRTK Network
Master
User
Ref.
15
PPP Local ‘Network’PPP Local ‘Network’
User
“Ref.”
16
PPP Local AugmentationPPP Local Augmentation
17
Point Positioning ScalabilityPoint Positioning Scalability
STD
PPP
PPP−AR
PPP−ICAR
Broadcast Orbits & Clockspseudoranges
Precise Orbits & Clockscarrier phases
Decoupled Clock Modelequipment delays
Ionosphere Constraintsambiguity constraints
18
ConclusionsConclusions
Key Points: Know the Ionosphere, Know the Ambiguities. Constrain ambiguity resolution, not the observation model.
Using external ionosphere constraints for AR pushes PPP as close to RTK as possible, without being RTK. An RTK solution is still (a little) better!
In principle, Permits a generalised local augmentation concept: Peer-to-Peer in nature,
no centralised solution or coordination required; state space representation of information.
Regular PPP-AR solution possible at all times and all locations.
19
Future WorkFuture Work
Analyse Ionosphere Spatial Gradients
20
AcknowledgementsAcknowledgements
Pierre Héroux and Christian Prévost Rideau Canal dataset
Thank You