(sky-tel) re existing & planned n-rtk networks us & worldwide

Skybr idge Spectrum Foundat ion & Te lesaurus LLCs - Sky-Te l - Berkeley Cal i fornia USA

December 2009

This following is a compilation of articles on some (among others) of the Existing and

Planned N-RTK (Network RTK) Networks Worldwide. Some are nationwide in scope and

some are Statewide or regional. (Not in order of network size and breath:)

See first: Google: “Scribd Sky-Tel N-RTK Global Amenity.”

Page

3 New Zealand -- nationwide plans, good ppt assessment of tech, benefits, public-

private participation, etc.

74 England – nationwide, and good N-RTK testbed

92 Switzerland -- nationwide

94 Japan – nationwide (first and apparently largest to date)

99 Oregon -- statewide (all major-use areas covered)

111 Iowa -- statewide (working towards)

115 California -- Northern, Orange County, and Statewide plans

172 Texas -- six regions, expanding

173 Ohio-Michigan-Indiana -- private system

178 “Wall to Wall Corn Belt” -- article on agriculture-centric N-RTK in Indiana, Illiniois,

Iowa, Ohio, Michigan, Minnesota, Missouri, Wisconsin, Nebraska, etc.

183 US Agriculture – generally: “explosive” “wild west” growth reported

186 Dubai -- for one of the World’s largest construction projects

195 European Union -- toward EU-wide N-RTK in networked car - Intelligent Transport

Note: Some material from original articles in this compilation are removed to shorten this for its

purpose: to show the dramatic growth, importance, practicality, and breadth of applications, of N-

RTK around the World. In each article, the original sources are cited or easy to find.

Sky-Tel holds 200 and 900 MHz FCC licenses (CMRS and PMRS) nationwide in the US for

C-HALO (Cooperative High Accuracy Location) and tightly integrated communications for

Smart Transport, Energy, and Environment Radio (STEER) systems. C-HALO core

wireless location and communication services for public safety, traffic flow, and

environmental monitoring and protection, and related smart energy, will be at no cost to

end users, like GPS. C-HALO employs various methods of advanced Position, Navigation

and Timing (PNT).

Sky-Tel C-HALO will commence with use of GPS-GNSS with N-RTK, and in a second

phase, multilateration (whose transmitters are sometimes called pseudolites), INS, and

other mobile location techniques.

GNSS (GPS and other GNSS combined) with Network RTK (N-RTK) will form the foun-

dation for C-HALO for intelligent transportation systems (ITS) and the broader STEER.

2

This will need further augmentation in urban and rural “canyons” due to the blockage

of GNSS satellites and RF multipath created in those environments that cause GNSS even

with N-RTK to be insufficiently accurate and reliable. Even heavy traffic in multiple lanes,

given large trucks and busses passing by, can cause blockage and multipath.

This further augmentation will be provided by multilateration pseudolites, INS, CSAC

(Chip Scale Atomic Clocks, when commercially feasible), radio and/or laser AoA from

nearby ITS roadside communication sites, multi-vehicle positioning coordination (MVPC:

at a given time, one or more vehicles in proximity will not be subject to blockage and

multipath, and can inform others, to resolve multipath and blockage), RFID, and other

methods.

Multiple location techniques are also essential in mission-critical ITS and STEER for

redundancy and higher consistency for the same reasons that is essential for aircraft as

described in a Sky-Tel compilation on aircraft and airport multilateration also published

on Scribd.

The Role of the Private and Public Sectors in the Development of a National CORS

Network for New Zealand:

Graeme Blick – LINZ Dave Collett – LINZ

Ken Gledhill - GNS Science Hugh Cowan - EQC

Bruce Robinson - Global Survey Martin Hewitt – GeoSystems

Malcolm Archbold - Beca

New Zealand Institute of Surveys 16 October 2009

Sky-Tel 12/28/2009 3 of 214

Warren

[Margin notes by Sky-Tel] [Some pages delted: See cover memo.]

Warren

Note>>

Warren

[Based on N-RTK]

Warren

[This mentions also CORS / N-RTK in Germany, Hong Kong, Japan, England, etc.]

Overview

From GPS to GNSS Positioning Infrastructure - CORS Networks

GNSS Benefits LINZ PositioNZ Network

EQC GNS Science - GeoNet

GeoSystems Global Survey

Beca The Role of Govt and the Private Sectors

Sky-Tel 12/28/2009 4 of 214

• Positioning Infrastructure is based on Global Navigation Satellite Systems (GNSS);

• Next 5 years moving from 1 to 4 Global systems:• USA: Global Positioning System (GPS) -

Now;• Russian Federation: GLONASS – by 2010;• European Satellite Navigation System

(Galileo) – by 2013;• China: Compass – by 2013;

• Plus at least 2 Regional Systems• India: Indian Regional Navigation Satellite

System (IRNSS);• Japan: Quasi-Zenith Satellite System

(QZSS).

From GPS to GNSS

Sky-Tel 12/28/2009 5 of 214

Multi-GNSS Visibility

Constellations GPS, Galileo, Glonass, Compass, QZSS, WAAS, EGNOS, MSAS, GAGAN, IRNSS

Sky-Tel 12/28/2009 6 of 214

• Cm-accuracy over longer distances, dm-accuracy over 100s km

• Faster operations… instantaneous Point Positioning

• More reliable results… good satellite availability

• Low-cost dual-frequency receivers… wide variety of Point Positioning Rxs

• Low-cost (or free?) RTK services… offered by Location Based Services & other service providers?

• How will RTK service providers react?… support highest demand markets? Highest user requirements? Niche applications? What is the role of government (services)?

GNSS interoperability

The power of GNSS interoperability - so many EXTRA satellites & signals

Sky-Tel 12/28/2009 7 of 214

Warren

[In US, Sky-Tel plans free RTK as part of C-HALO as part of STEER.]

GNSS Applications and Accuracy

Single Point Positioning (few metre accuracy) • General navigation and fleet management (cars, trains, boats and planes), locating points of interest (eg pest infestation), Location Based Services (integration with mobile phones)

Differential Positioning (sub-metre accuracy)• Applications needing increased certainty, Mapping, Asset Management, Precision Navigation etc

Accurate Positioning (centimeter accuracy)• Surveying (land, sea and air), Machine Guidance in Agriculture, Construction and Mining.

Precision Positioning (millimetre accuracy)• Datum Monitoring, Deformation Monitoring, Precise Engineering Set- out.

Above is based on Accuracy but other major issues are Availability, Continuity, Efficiency and Reliability

Sky-Tel 12/28/2009 8 of 214

Warren

[The authors mean here "accuracy" not considering satelite blockage and RF multipath, or lesser quality receivers, etc.]

Positioning Infrastructure - CORS Networks

Sky-Tel 12/28/2009 9 of 214

Range of GPS/GNSS Accuracy

CORS RTK ApplicationsSky-Tel 12/28/2009 10 of 214

From Rizos - CRC SI Annual Conference 2008

9

ReferenceReferenceStation Station ReceiverReceiver

Remote ReceiverRemote Receiver

Real TimeCentimetre Accuracy with GNSS

Broadcast Broadcast CorrectionCorrection

If User has access to GNSS Reference Receiver(s) and Communications…“Real Time Centimetre Positioning”

New applications for centimetre accuracy, especially in “Machine Guidance” for Agriculture, Construction and Mining;

Sky-Tel 12/28/2009 11 of 214

ReferenceReferenceStation 1Station 1 UserUser’’ss

ReceiverReceiver

ReferenceReferenceStation 2Station 2

ReferenceReferenceStation 3Station 3

Positioning Infrastructure is based on the Global Navigation Satellite Systems…

… and… a Network of Continuously Operating

Reference Stations (CORS)

Positioning Infrastructure

From Rizos - CRC SI Annual Conference 2008Sky-Tel 12/28/2009 12 of 214

11

Advantage of Networked Reference Stations

• Networked reference stations approach can cover a 70km triangle with only 3 stations;

• Models of the ionosphere, troposphere and orbits are based on the surrounding stations;

• Models are then interpolated rather than extrapolating from a single station;

• The reference stations, communications and data processing can be separate components of the overall infrastructure;

• Better reference station coverage and reliable communications improve productivity;

From Rizos - CRC SI Annual Conference 2008Sky-Tel 12/28/2009 13 of 214

• Essential component of a modern Geodetic System

• Traditionally supports

– geodesy and other geo-scientific applications

– at the global and regional level

• Now also meets requirement for other areas - mapping, surveying and navigation

• Government agencies have traditionally been CORS operators…but private sector operators are increasing

• Special role of government agencies … datum maintenance, QC, fundamental (free) services, etc.

• Trend to real-time data & services – provide cm real time positioning

• New value-added RTK-based services - innovation from CORS

• Variety of service/business models possible - even within one country

• How to maintain high quality RTK service provision… subsidised CORS infrastructure? Fully commercial ops?

Continuously Operating Reference Station (CORS) Networks

Sky-Tel 12/28/2009 14 of 214

Warren

[NOTE ^^]

Warren

[N-RTK should be free like GPS]

Administrative Models for CORS

Various models for implementing and operating CORS networks with real time services

Government network adequate, Govt offers commercial service - Germany’s “SAPOS”.

Government network adequate, Govt offers free service – Hong Kong

Government network adequate, -outsources service - Japan’s “GEONET”

Government network not adequate and sells data to third party – needs supplemental stations provided by third party- England’s “OSNet”

No Government input -100% private sector CORS

Sky-Tel 12/28/2009 15 of 214

Warren

[Most of these involve N-RTK or moving to it.]

Warren

^^ Note

Warren

^^Note

Warren

^^Note

Warren

^^Note

Obvious Trends

• From post-process mode to Real-Time… RTK

• CORS infrastructure is becoming private co-investment with traditional providers to address Precise Position markets

• Many more CORS networks will be established… variety of scales, operators, service models, etc.

• New GNSS signals are the catalyst for a new beginning…

• Increasing variety of RTK techniques & value added services… markets will encourage innovation

• RTK will be implemented for low cost single frequency, dual frequency & multi frequency Rxs

• Non-positioning CORS-based applications will grow

Sky-Tel 12/28/2009 16 of 214

Warren

^^ NOTE ^^

• The majority of RTK users may NOT be using “top-of-the- line” multi-GNSS Rxs… e.g. cost-sensitive markets

• RTK services must not be “over-priced”, otherwise new market growth will be stifled

• With the right market, technological & infrastructure conditions, Precise Positioning will become much more widespread than at present - e.g. addressing Location Based Services applications

• The role of government internationally is still unclear - competing with private sector? Or having a special role?

Less Obvious Trends …

Sky-Tel 12/28/2009 17 of 214

Warren

^^ NOTE^^

Warren

Sky-Tel plans no cost N-RTK and other C-HALO in the US - no cost like GPS.

Warren

Of course - understatement.

CORS Infrastructure Functional Roles

Specify Stations Network Process Deliver

Specify System

• Target density, coverage, accuracy, reliability and availability

• Site quality

• Equipment quality

• Geodetic reference frame (eg NZGD2000)

• Data services description

• Data access policy

Own Stations

• Site selection

• Site construction

• Equipment purchasing

• Communications

• Site maintenance

• Updating equipment

Network the Data

• Data comms from network stations

• Control centre

• QA of raw data

• Archival of data

Process Network

• Data processing

• Production of data streams

• Distribution of data streams

• Data wholesaling

• Retailer support

Deliver Service

• Retail sale of data products

• Marketing

• Rover equipment support

• End user support

• Liaison with user communications providers

Governance

Sky-Tel 12/28/2009 18 of 214

GNSS Benefits

Sky-Tel 12/28/2009 19 of 214

GNSS Precise Positioning Benefits - Australia

• Recent study1 found productivity gains with potential cumulative benefit AUD$73B to $134B over next 20 years - in agriculture, construction and mining alone using RTK techniques.

• $300M investment in ground based stations can generate $32B in productivity gains over next 20 years in Mining, Agriculture and Construction Industry – cost benefit ratio of 40 (Allen report)

• Also, significant environmental benefits, such as reduced carbon footprint through greatly improved fuel efficiency.

1 “Economic benefits of high resolution positioning services”, Allens Consulting Group, for CRC-SI & Vic. DSE, Nov 2008Sky-Tel 12/28/2009 20 of 214

Warren

^^ NOTE

Warren

^^ NOTE- in Autralia^^

Warren

GNSS Precise Positioning Benefits - USA

• Recent study2 found CORS benefits for users approx. US$750M pa, or US$18B over 15 years (assuming 15% growth).

• This is for traditional users such as surveying, engineering, geo-referencing, geodesy - i.e. not real-time (RTK) users.

• Also infrastructure protection with improved elevation survey capability, e.g. levees, coastal structures, etc.

2 “Socio-economic benefits study: Scoping the value of CORS & GRAV-D”, I. Leveson, for NGS, Jan 2009Sky-Tel 12/28/2009 21 of 214

GNSS Precise Positioning Benefits - New Zealand

• Recent analysis3 indicates upgraded PositioNZ CORS to provision of real time data suggests a cost benefit ratio of 20 – excluding benefits to LINZ itself. (benefits of roading projects are expected to normally be 2-4)

• Analysis also recommends public good is so great data should be provided free of charge

3 LINZ McKenzie Podmore report 2009Sky-Tel 12/28/2009 22 of 214

Total Value of GNSS Precise Positioning Technology

“The value of GNSS precise positioning hardware, software & services is expected to rise (conservatively) to US$6-8B pa by 2013…”

“Precise market to reach $8B by 2012”, E. Gakstatter, GPS World, Nov 2008

Sky-Tel 12/28/2009 23 of 214

What is the Role of the Private and Public Sectors in the Development of a National CORS

Network in New Zealand?

Sky-Tel 12/28/2009 24 of 214

Dave Collett

LINZ PositioNZ Network

Sky-Tel 12/28/2009 25 of 214

Current LINZ PositioNZ Network

Primary Objective -Deformation/Datum Monitoring

Secondary ObjectiveSupport provision of traditional geodetic controlProvision of data for other users to obtain consistent positions

e.g. post processed and real-time GPS data

Current Situation33 sites in NZ, 1 on Chatham’s, 3 in Antarctica and 2 in

construction30sec RINEX files (accessed via website)

19 sites streaming real time 1” data

Network managed by GNS Science and GeoNet

Sky-Tel 12/28/2009 26 of 214

Streaming 1” real-time data from PositioNZ

Currently streaming 1” real-time data over the internet

Limited-trial basis for the last couple of years

19 PositioNZ sites streaming to varying quality

Streams in industry standard RTCM 3.1 format using NTRIP

Sky-Tel 12/28/2009 27 of 214

PositioNZ Network Communications Upgrades

Undertaking upgrades on 9 sites this financial year- resulting in 24 streaming sites overall

Improving streaming quality at some sites, making streaming possible at others

Whole network streaming in 18-24 months

Data freely available via internet

Sky-Tel 12/28/2009 28 of 214

PositioNZ and Network RTK

General inter-station spacing of 100-150km

Industry standard for consistent Network RTK coverage requires ~70km spacing

Private in-fill required for provision of NRTK service

NRTK not seen as the role of LINZ

Upgrading to GNSS in next 2-3 years

Sky-Tel 12/28/2009 29 of 214

LINZ Accreditation of Private CORS

Benefits to Geodetic users from having private CORS sites in Landonline and Geodetic Database

Official NZGD2000 coordinate and geodetic code assigned to mark

Survey required to connect to local control

Requirements around monumentation to ensure stability.

Sky-Tel 12/28/2009 30 of 214

International Connections

IGS Tracking Network- AUCK- WGTN- MQZG- DUND- CHTI

VLBI

- WARK

Sky-Tel 12/28/2009 31 of 214

LINZ and a Coordinated National CORS Network

PositioNZ as the underlying national infrastructure

3rd Parties to infill and provide NRTK services if viable

Accreditation of Private CORS sites

Coordination of CORS networks

Potential to infill stations if economic viability is marginal

Sky-Tel 12/28/2009 32 of 214

Hugh Cowan

Earthquake Commission

Sky-Tel 12/28/2009 33 of 214

Earthquake Commission

• Independent Crown entity: statutory responsibilities under the Earthquake Commission Act 1993

• Help New Zealand recover from natural disaster by providing insurance for residential property

• Administer and protect the Natural Disaster Fund

• Facilitate research and public education

• GeoNet investment ~$8 million per annum

• Other research and sponsorship ~$2 million per annum

• ~10% of annual premium income

• GNS stewardship of GeoNet, non-profit, open data

Sky-Tel 12/28/2009 34 of 214

Towards Resilient Communities

ResearchResearch

To understand andreduce

vulnerability to geological

hazards

Public EducationPublic Education

Encourage steps to reduce the

effects of geological disasters

Natural Natural Disaster Disaster

InsuranceInsuranceMitigate the financial

impact of geological disasters

on home owners

EQCEQC

Sky-Tel 12/28/2009 35 of 214

Learning from Earthquakes

Post-Disaster Investigation:Northridge, California, 1994

Postgraduate Student ResearchUniversity of Canterbury

Sky-Tel 12/28/2009 36 of 214

Design Standards Revision

Sky-Tel 12/28/2009 37 of 214

TransformationTransformation

Resilient Community

Sky-Tel 12/28/2009 38 of 214

Friends of the Network

Sky-Tel 12/28/2009 39 of 214

Ken Gledhill

GNS Science

Sky-Tel 12/28/2009 40 of 214

What Does GeoNet Do?

• Runs a national system to monitor and collect data for research of geological hazards in New Zealand

• It performs:– Earthquake detection and analysis – Volcano surveillance– Landslide response– Tsunami detection network around NZ.

• Deliver information and data to monitoring staff, responding agencies, lifeline utilities, the research community and the general public.

Sky-Tel 12/28/2009 41 of 214

GEONET CORS Network

Sky-Tel 12/28/2009 42 of 214

GeoNet CORS Infrastructure

VSAT CDMA

Freewave radio

Sky-Tel 12/28/2009 43 of 214

GeoNet uses CORS data to…

• Look at long term trends

– Time series analysis and ground deformation parameters

– Velocity maps / plate boundary deformation

– Regional slow slip events

• Gisborne

• Analyse short term displacements

– Dusky Sound earthquake M7.6 July 2009

Pacific Plate

Australian Plate

Sky-Tel 12/28/2009 44 of 214

• Volcano Geodesy– Can be up to 1-2 cm/hr; not linear, but low accelerations.

• GPS seismology– GPS and seismic data highly complimentary

– GPS gives a direct link between co-seismic and post- seismic.

– GeoNet has a dense coverage on the North Island near subduction zone

– This allows rapid earthquake magnitude estimation

• Potential role in rapid earthquake and tsunami response

Future Uses of RT CORS Data Within GeoNet

Sky-Tel 12/28/2009 45 of 214

Emore et al 2007, Bulletin of the Seismological Society of America

Future Uses of CORS Data Within RT GeoNet

Sky-Tel 12/28/2009 46 of 214

• Landslide monitoring

• RTK mapping

• Meteorology and Numerical Weather Prediction– Assimilation of GPS Data for Short-Range Precipitation

Forecast

• Increasing use from other disciplines looking at the geodetic “noise”– Ionosphere electron counts

– Soil moisture

Other Scientific Users of RT CORS Data

Sky-Tel 12/28/2009 47 of 214

The Future of GeoNet CORS

• 33 new GeoNet are planned to be built by the end of the next financial year (Mid 2011)

• A future GeoNet work plan will likely expand more in the South Island

• As the communication structure improves more stations will stream in real time

• Gradual transfer of GeoNet sites to GNSS capable receivers anticipated over the next decade.

Sky-Tel 12/28/2009 48 of 214

Martin Hewitt

GeoSystems

Sky-Tel 12/28/2009 49 of 214

iBASE Network

Slide contentiBASE Overview

Established in 2007, with go live in August 2007

Based on Trimble’s Infrastructure suite:GPSNet, GPServer, GPSWeb, Trimble NTRIP Caster, Integrity Manager

Focus on providing real-time GNSS data for Survey, Construction, and Mapping clients

Base stations in or near major urban centres

A hosted solution using third-party data centre with redundant back-bone links

Utilises LINZ bases when required

Over 150 current licencesSky-Tel 12/28/2009 50 of 214

iBASE Network

Slide contentiBASE Standards

Use GNSS receivers (NetR3 / NetR5 / NetR8)

Adherence to NOAA’s 2006 Monument and Equipment Guidelines

Network latency (base to server) < 0.3s at all hosted base stations

99.9% Uptime for RTK Uptime for hosted base stations

99.9% Availability of 1Hz Post-Process Data (RINEX) within 15 minutes of end of hour for hosted base stations

Sky-Tel 12/28/2009 51 of 214

iBASE Network

Slide contentiBASE Future Plans and Goals

Authorisation of base stations for inclusion on Landonline

Continued efforts in education of survey and related industries to the value of CORS networks

Commitment to PPPs to expand and enhance nationwide network for commercial and scientific users

Establishment of a full VRS network by utilising new stations and LINZ GNSS stations as they are upgraded

In partnership with other entities, to ensure New Zealand remains a competitive economy through the use of GNSS technologies

Sky-Tel 12/28/2009 52 of 214

Bruce Robinson

Global Survey

Sky-Tel 12/28/2009 53 of 214

Stations

Slide content

Sky-Tel 12/28/2009 54 of 214

Network RTK

Accuracy 50km base

Network

XY = 0.018m Z = 0.027

Single (1ppm)

XY = 0.05, Z = 0.10

Sky-Tel 12/28/2009 55 of 214

No Coverage?

RTK Bridge

Static

Sky-Tel 12/28/2009 56 of 214

Traceability

LOGGED

REALTIME

Sky-Tel 12/28/2009 57 of 214

Traceability Reliability

Reported & Relative accuracy performance

“At least 90% of measurements are within 20mm”

“Simple to use and significantly increased productivity of our field

teams”

Sky-Tel 12/28/2009 58 of 214

Malcolm Archbold

BECA

Sky-Tel 12/28/2009 59 of 214

Private Sector Experience

Continuous Real Time Position Data

• Differential Navigation Beacon, Whangaparoa Peninsula.

• Americas Cup 2002

• Low frequency radio – 100km range.

• Sub metre positioning (horiz) and free!

• Map data collection “heaven”

• “Beacon on the belt”

• Out of Service since 2006 following lighting strike

Sky-Tel 12/28/2009 60 of 214


LINZ CORS (PositioNZ) stations

• Used for the past 5 years for:

– Differential Navigation (sub metre)

– Surveying (sub decimetre).

• Used primarily for infrastructure survey projects.

• Download RINEX files and post process in any GPS software

• Benefits:

– Availability of data (within 24 hrs, internet, free!)

– Reliability of data (LINZ authority)

– Redundancy (multiple PositioNZ stations)

– Accuracy (± 30mm within 50km of PositioNZ site, (± 50mm > 50km of PositioNZ site)

– Confidence

• Why use the PositioNZ CORS service?

– Overcomes the lack of existing D2000 control

– Supplements existing control

– Quality assurance

Sky-Tel 12/28/2009 61 of 214


Case Study: D2000 5th order survey, Coromandel Peninsula

AAJ1

DHJ7

EEBW

EEBV

Sky-Tel 12/28/2009 62 of 214


Incorporating PositioNZ stations

AUCK

HAMT TRNG

AAJ1

DHJ7EEBV

EEBW

SNAP SOLUTION SUMMARY

============================================

Solution type: 3d coordinate adjustment

Number of observations: 201Number of parameters: 15

Degrees of freedom: 186Sum of squared residuals: 32.90084Standard error of unit weight: 0.42058

You may have over-estimated the errors of the data.

============================================

ACCURACY SPECIFICATION TESTS

============================================

Testing order specifications: ORDER_5

Based on 95.00 apriori confidence limitsHorizontal accuracy: (error multiplier: 2.45)

Absolute: 50.0 mmRelative: 10.0 mm 30.000 ppm

Vertical accuracy: (error multiplier: 1.96)Absolute: 150.0 mmRelative: 10.0 mm 100.000 ppm

Sky-Tel 12/28/2009 63 of 214


Continuous RTK Service through iBase and SmartFix (CORS) services

• Surveying “heaven”

• Survey accuracy within the “coverage” areas

• Accuracies obtained ±30mm horizontal and vertical within 20km of “base”

• Advantages:

– Available 24/7

– Authoritive (Geodetic database)

– Increase in productivity

• No local RTK base required

• Lower capital investment cost

• Less risk and personnel

• Accuracy reliability

• “Switch on and go”

• Fully operational and an excellent return on investment

Sky-Tel 12/28/2009 64 of 214


Future Opportunities and Development• Opportunity for greater Public Private Cooperation and increased investment in infrastructure

• Encourage the private sector to use core data and continue to provide added value services

• Good examples of this in other sectors: - e.g. NZTA Auckland Traffic Website

• LINZ, DOC and the MED recently commissioned a report to uncover the contribution spatial information makes to the economy. Findings:

– Spatial information added at least $1.2 billion to the economy last year through productivity gains.

– Removal of the barriers to spatial information could lead to even greater productivity

• LINZ should be congratulated for the CORS developments to date.

• Greater investment of CORS infrastructure in priority areas (e.g. tourism and transportation) will directly result in increased economic productivity.

Sky-Tel 12/28/2009 65 of 214

Conclusions

Graeme Blick

Sky-Tel 12/28/2009 66 of 214

What is the Role of the Private and Public Sectors in the Development of a National CORS

Network in New Zealand?

• How can we leverage off Government funded CORS (PositioNZ and GeoNet) to ensure broader needs of geo-spatial industry are met?

• Can we enable increased public value from these networks?

• Can we collect GNSS data once and use many times?

Sky-Tel 12/28/2009 67 of 214

CORS Functional Roles


Specify System

• Target density, coverage, accuracy, reliability and availability

• Site quality

• Equipment quality

• Geodetic reference frame (eg NZGD2000)

• Data services description

• Data access policy

Own Stations

• Site selection

• Site construction

• Equipment purchasing

• Communications

• Site maintenance

• Updating equipment

Network the Data

• Data comms from network stations

• Control centre

• QA of raw data

• Archival of data

Process Network

• Data processing

• Production of data streams

• Distribution of data streams

• Data wholesaling

• Retailer support

Deliver Service

• Retail sale of data products

• Marketing

• Rover equipment support

• End user support

• Liaison with user communications providers

Governance

Sky-Tel 12/28/2009 68 of 214

New Zealand Model?


Governance – Joint ventures overseen by LINZ?

Land InformationNew Zealand

(LINZ)

LINZ PositioNZstations

Third party stations

Eg Trimble and Leica

GNS GeoNetStations

Network managed

by LINZ andGNS Science

Third parties network their stations and LINZ/GNS stations,

then process the combined network

LINZ process for its own purposes and

delivery of post-processed services

Delivery of post-processed

services(e.g. RINEX)

Delivery of real time services

for scienceGNS ScienceGNS process

for its own purposes

Delivery of real time services andother services to

subscribers

Real time d

ata

Real time data

Post-processed data

Sky-Tel 12/28/2009 69 of 214

Putting it all Together

PositioNZ stations

plus existing GEONET stations

plus possible future GEONET stations

plus existing Private Sector stations

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• Maintains the datum - monitor stability of CORS, unify different CORS networks (accreditation)

• Provide standards and specifications

• Provide a leadership and a coordinating role for development of a shared and partnered National CORS Network

• Provides geo-hazard information and science outputs

• Offer free static GNSS data and services – hourly RINEX files, PositioNZpp

• Provide free raw GNSS real time data streams (bulk data)

• Encourage “industry development” through Precise Positioning applications, services & products

• Stay out of service market

Role of Public Sector

Sky-Tel 12/28/2009 71 of 214

Role of Private Sectors

• Use public funded GNS data and add value to it

• Provide network and real time services to clients

• Provide training

• Provide ‘near’ real time and static data to Government for hazard recovery, research and datum monitoring

Sky-Tel 12/28/2009 72 of 214

Panel Questions

Graeme Blick – LINZ Dave Collett – LINZ

Ken Gledhill - GNS Science Hugh Cowan - EQC

Martin Hewitt – GeoSystems Bruce Robinson - Global Survey

Malcolm Archbold - Beca

Sky-Tel 12/28/2009 73 of 214

GNSS NETWORK RTK

Comparison Study on Network RTK and Precise Point GNSS Positioning

X Meng, J Aponte, J Geng, W Tang, F N Teferle, A H Dodson, T Moore and C Hill

IESSG, The University of Nottingham, UK

Sky-Tel 12/28/2009 74 of 214

Contents

• Network RTK GNSS Positioning

• Sparse Network RTK GNSS Positioning

• Precise Point GNSS Positioning

• Comparison

• Conclusions and Discussion

Sky-Tel 12/28/2009 75 of 214

Conventional RTK GNSS Positioning

Spatial correlated errors can be effectively cancelled out only when the baseline length is not greater than about 20 km – error de-correlation effect

Error sources:• Satellite clock error δsat_clock• Satellite orbit error δorbit• Ionosphere δiono• Troposphere δtropo• Multipath δmpath• Antenna PCV δPCV• Receiver clock error δrec_clock• Receiver Bias δbiases

As baseline length increases δiono and δtropo decorrelate

causing a decrease in accuracy, reliability and availability.

Sky-Tel 12/28/2009 76 of 214

Network RTK GNSS Positioning

• Precisely model distance dependent errors of a region

• Reduce the number of RSs needed (inter-RS distances > 100 km)

• Expand rover-to-nearest-RS baseline > 50 km

• GSM/GPRS link

Reference Stations

Rover

Distance between RSs (up to 100 km or more)Baseline length (up to 50 km or more)

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Advantages of Network RTK

• Modelling GPS errors over the entire network area• Increased positioning robustness against failures• Increased mobility and efficiency

– no need for temporary stations– one person surveys!

• Quicker initialisation times for rovers• Extended surveying range• No restriction in network size (regional, national, international)• Capable of supporting multiple users and applications• Continuous operation 365/24/7• Provide data & corrections in a consistent datum• Apart from RTK GPS corrections, other services provided include:

– RINEX datasets for post-processing– GPS corrections for DGPS– Wide exploitation for geospatial, environmental, transport and

engineering applications• Allow central control and monitoring of all stations/high integrity

monitoring scheme

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SmartNet NRTK: Reference Stations

For covering whole country in the United Kingdom more than 150 geodetic grade RSs are installed to deliver quality correction services

These RSs are equipped with dual frequency network enabled geodetic receivers and Choke-ring antennas

Since late 2008 most of them have been upgraded to be truly GNSS capable

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NRTK Quality Assessment

Approach: real-time NRTK positioning vs pp GPS/INS “ground truth” solutions

NRTK epochs DGPS epochs IMU/GPS epochsSky-Tel 12/28/2009 80 of 214

Static Performance of NRTK

• Availability: percentage of coordinates in which a NRTK solution (integer ambiguities resolved) was achieved.

0%10%20%30%40%50%60%70%80%90%

100%

i-Max

1

Max

1

VRS

1

i-Max

2

Max

2

i-Max

3

Max

3

SB S

hort

SB L

ong

ΔE (%) ΔN(%) ΔH(%) ΔE (%) ΔN(%) ΔH(%)

Better than 5 cm Better than 1 cm

Test Availability (%)

i-Max 1 99.00

Max 1 99.23

VRS 1 99.95

i-Max 2 98.54

Max 2 97.74

i-Max 3 91.53

Max 3 95.47

SB Short 99.80

SB Long 99.83

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Kinematic Performance of NRTK

Te st Track Lost Lock

Standalone DGPS Availability

1 16.41 0.48 37.83 45.292 9.58 0.00 39.60 50.823 29.86 20.86 15.57 33.714 12.34 0.00 36.76 50.90

T2 - 7.44 0.00 52.80 39.77

T1

NRTK epochs DGPS epochs IMU/GPS epochs

Test Track Lost Lock

Stand-Alone

DGPS NRTK

T1 1 16.41 0.48 37.83 45.29

2 9.58 0.00 39.60 50.82

3 29.86 20.86 15.57 33.71

4 12.34 0.00 36.76 50.90

T2 - 7.44 0.00 52.80 39.77

Availability (%)

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Sparse Network RTK Positioning

153 RSs 10 RSs

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Name Receiver Session Init. Time (S) N (m) E (m) U (m)

1 CHUH SR530 1 8 0.0152 0.0117 0.04412 13 0.0077 0.0080 0.0235

2 INVE SR530 1 4 0.0122 0.0172 0.06522 4 0.0095 0.0061 0.0294

3 STOR SR530 1 9 0.0127 0.0150 0.05542 12 0.0061 0.0069 0.0277

4 ABBS SR530 1 6 0.0129 0.0080 0.05762 11 0.0105 0.0150 0.0234

5 SWAN SR530 1 5 0.0106 0.0132 0.02682 8 0.0084 0.0098 0.0458

6 DUNG SR530 1 18 0.0174 0.0124 0.04252 15 0.0219 0.0359 0.0403

7 PORT SR530 1 35 0.0250 0.0146 0.03992 6 0.0111 0.0067 0.0177

8 HORT SR530 1 23 0.0249 0.0153 0.02322 19 0.0181 0.0126 0.0236

9 IOMS SR530 1 14 0.0111 0.0063 0.03302 13 0.0117 0.0129 0.0110

Average 12.39 0.0137 0.0126 0.0350

Sparse Network RTK PositioningSimulated results from other 9 RSs

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Precise Point Positioning (PPP)

• Precise positioning at only a single station when precise satellite orbits and clocks are provided– Absolute positioning based on a sparse (IGS) network– Homogeneous positioning accuracy on a global scale

• Current applications– Crustal deformation monitoring– Photogrammetry– Meteorology– Orbit determination of low Earth orbiters– Engineering surveying– Environmental applications

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Real-Time PPPThrough Ambiguity Resolution

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A Prototype Real-Time PPP System

Comms links

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Real-Time Orbit and Clock ProductsCompared with Final IGS Products

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Floating vs AMB Fixed Solution (static)

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Floating vs AMB Fixed Solution (kinematic)

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Conclusions and Discussion

• Over traditional RTK GNSS positioning NRTK has many advantages in terms of improvements in positioning accuracy, system reliability and production efficiency. However, there exist many issues in– Sustaining reliable communications links– Proper correction models– High infrastructure construction cost and services

subscription fees• Sparse NRTK can significantly reduce the number of

reference stations but need to further investigate effective correction models

• PPP has many potentials for geoscience and engineering applications but long convergence time and low positioning accuracy are impeding factors

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Switzerland Upgrades Its Nationwide Positioning Network With Trimble GNSS Infrastructure Technology

Trimble GNSS Solution Optimizes Positioning Performance

SUNNYVALE, Calif., April 17, 2007 /PRNewswire-FirstCall via COMTEX News Network/ -- Trimble (Nasdaq: TRMB) announced today it has supplied 31 Trimble NetR5(TM) GNSS reference stations and Trimble Zephyr Geodetic(TM) 2 antennas to Switzerland's Federal Office for Topography (swisstopo) to upgrade its nationwide positioning network with Global Satellite Navigation System (GNSS) capabilities. The permanent geospatial infrastructure will support satellite signals from GPS and GLONASS, significantly optimizing real-time kinematic (RTK) positioning performance for surveying, engineering and Geographic Information System (GIS) professionals.

Known as AGNES (Automated GPS Network for Switzerland), the Swiss infrastructure enables swisstopo to provide the Swiss Positioning Service (swipos), which supplies RTK GPS and Differential Global Positioning System (DGPS) corrections to users of the network. By implementing Trimble NetR5 GNSS reference stations, which support the modernized GPS L2C and L5 signals as well as GLONASS L1/L2 signals, the network will be upgraded and called AGNES II. In addition, the selection of the new Trimble Zephyr Geodetic 2 antennas provides AGNES II compatibility with future planned constellations and frequencies.

Originally built in 1999 with Trimble GPS receivers, the network covers the entire 41,000 square kilometers (25, 476 square miles) of Switzerland, which is known for its extreme topography ranging from mountains over 4,000 meters (13,123 feet) high to its lowest lake at 193 meters (633 feet). Users of AGNES II will be able to optimize positioning performance particularly in reception-critical areas, such as areas with interrupted reception and zones with extreme topographic features.

In addition, the use of Trimble RTKNet(TM) software provides AGNES II with Trimble VRS(TM) (Virtual Reference Station) functionality, which computes a virtual reference station for the user in the field, increasing system reliability and allowing significantly greater distances between reference stations. The VRS network will provide a highly reliable, cost-effective means for surveyors and other professionals to work faster and achieve more accurate GNSS results.

The AGNES II network is designed to cover the needs of swisstopo into the future and will enable accurate and reliable centimeter-level surveying measurements to be taken faster and more cost-effectively throughout Switzerland. AGNES II is expected to be fully operational by summer of 2007.

The nationwide Swiss VRS network follows more than 80 Trimble infrastructure installations networks throughout the world including: Australia, Austria, Belgium, Canada, Czech Republic, China, Denmark, Finland, France, Germany, Greece, Italy, Japan, Kingdom of Saudi Arabia, Lithuania, Malaysia, Netherlands, New Caledonia, Norway, Poland, Portugal, Republic of South Africa, Serbia, Singapore, Slovenia, Slovakia, South Korea, Spain, Sweden, Switzerland, Taiwan, United Kingdom and U.S. For a partial reference list of Trimble VRS installations visit: http://www.trimble.com/vrsinstallations.shtml.

About swisstopo

Established in 1893, Switzerland's Federal Office of Topography (swisstopo) is responsible for all geographical reference data and products. Swisstopo creates and maintains the geodetic, topographic and geological data for Switzerland including publishing the national map series at a variety of scales and keeping them current. Swisstopo's Federal Directorate of Cadastral Surveying division oversees the official cadastral survey, providing the measurement and mapping for the national land register. Swisstopo forms part of the armasuisse group within the Federal Department of Defense, Civil Protection and Sport (DDPS). For more information, visit: http://www.swisstopo.ch/en

About Trimble VRS Technology

Trimble VRS technology uses the RTK solutions from Trimble RTKNet software and provides high-accuracy, RTK GNSS positioning for wider areas. The VRS network is available at any time without the need for field base stations and provides common control anywhere in the network.

Because Trimble RTKNet software is able to process the entire network simultaneously, Trimble VRS networks offer greater quality control and higher data accuracy at longer distances. In the field, the farther users get from a reference station using conventional RTK, the more susceptible they become to reduced accuracy and performance due to systematic errors such as ionospheric and tropospheric effects. In a Trimble VRS network, RTKNet software provides a fully modeled solution that factor

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http://www.trimble.com/vrsinstallations.shtml

http://www.swisstopo.ch/en

in potential systematic errors. Users connect into the system using a wireless connection; the software acknowledges the users' field positions and allows them to operate as though there is a reference station-a virtual reference station-right next to their rover. As a result, the PPM error is eliminated or significantly reduced, allowing surveyors to achieve RTK precision over much greater distances with fewer reference stations. Users can also retrieve stored GNSS and modeled data from the control center via the Internet for post-processing.

About Trimble's Engineering and Construction Business

Trimble, a world leader in GPS, construction lasers, robotic total stations and machine control solutions, is creating a broad range of innovative solutions that change the way construction work is done. The Engineering and Construction business of Trimble is focusing on the development of technology and solutions in the core areas of surveying, construction and infrastructure. From concept to completion, Trimble's integrated systems streamline jobs and improve productivity.

About Trimble

Trimble applies technology to make field and mobile workers in businesses and government significantly more productive. Solutions are focused on applications requiring position or location-including surveying, construction, agriculture, fleet and asset management, public safety and mapping. In addition to utilizing positioning technologies, such as GPS, lasers and optics, Trimble solutions may include software content specific to the needs of the user. Wireless technologies are utilized to deliver the solution to the user and to ensure a tight coupling of the field and the back office. Founded in 1978 and headquartered in Sunnyvale, Calif., Trimble has a worldwide presence with more than 3,400 employees in over 18 countries.

For more information Trimble's Web site at www.trimble.com.

Certain statements made in this press release are forward-looking statements within the meaning of Section 27A of the Securities Act of 1933 and Section 21E of the Securities Exchange Act of 1934, and are made pursuant to the safe harbor provisions of the Securities Litigation Reform Act of 1995. These statements involve risks and uncertainties, and actual events and results may differ materially from those described in this press release. Factors that could cause or contribute to such differences include, but are not limited to: the reception, cost-effectiveness and performance of the AGNES II network; the future compatibility of the network with changing technologies and ability of the network to meet the future needs of swisstopo and its professional end-users; the operational launch date of the network; and the impact of competing networks and technologies. More information about potential factors which could affect Trimble's business and financial results is set forth in reports filed with the SEC, including Trimble's quarterly reports on Form 10-Q and its annual report on Form 10-K. All forward-looking statements are based on information available to Trimble as of the date hereof, and Trimble assumes no obligation to update such statements.

GTRMB

SOURCE Trimble

investors, Willa McManmon, +1-408-481-7838, or [email protected], or media, Lea Ann McNabb, +1-408-481-7808, or [email protected], both of Trimble

http://www.trimble.com/

Copyright (C) 2007 PR Newswire. All rights reserved

News Provided by COMTEX

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Nation Wide Network RTK System In Japan

Masayuki Kanzaki, Yoshikatsu Iotake and Minoru Hayashi Nippon GPS Solutions Corporation, Tokyo, Japan

Christian Rocken, James Johnson and Kevin Key

GPS Solutions Inc., Boulder, CO, U.S.A. ABSTRACT We have established brand new Application Service Providers (ASP) for RTK positioning with new RTK-GPS technology using Japanese nation wide GPS network named GEONET that established by GSI (Geographical Survey Institute). This service realized to provide centimeter accuracy RTK positioning using Virtual Reference Station (VRS) and our network based GPS receiver unit (NetSurv), and it realizes easy to use RTK for Surveyor in all over Japan. This paper describes the concept of our Server based RTK platform and specialized GPS receiver unit, then explain Japanese Real Time GPS data streaming infrastructure which established by GSI and operate by JAS, then finally explain our unique ASP based RTK processing system by using all of techniques and infrastructure which explained the above. INTRODUCTION Nippon GPS Solutions Corporation (so called NGS) is a brand new company founded for systems integration and provide based on high accuracy positioning using GPS and other technologies by Hitachi Zosen Corporation and Hitachi Zosen Information Systems Corporation in 2002. Hitachi Zosen Information Systems has developed their own Continuous Observation Reference System (CORS) purposed for mainly crustal deformation monitoring and installed to over 20 universities and government agencies. Moreover, they are charging on development and support GEONET for over 10 years, they installed center control system using high accuracy GPS processing software (Bernese, GAMIT and GIPSY), Real Time GPS data streaming system using Virtual Private Network (VPN) and observation monuments with dual frequency receiver that produced by Trimble.

GPS Solutions Inc. (so called GPSS) is strategic partner for NGS to provide consultant, research and development, they are working together for GEONET to improve GPS network processing system also provide core modules for real time applications to use deformation monitoring and RTK processing. CONCEPT OF SERVER BASED RTK PLATFORM There are many GPS positioning methods were developed to perform precise positioning for dynamic applications and these are chosen by purpose to be used. Most popular method is Differential technique (DGPS). There are many applications that using this method such as navigation, resource management and mapping. It can be use simple receiver where the correction messages are broadcasted by beacon etc., but accuracy is around 1 meter when using ordinary GPS receiver. RTK technique is most accurate real time method today, it can be determinate position within few centimeters at a moment, so this method are used for many applications such as survey, structure monitoring and machine guidance etc., In order to perform the RTK processing, it is necessary to setup a GPS receiver at the reference point where already known precise coordinates, and necessary to transmit its observation data to mobile GPS receiver (so called Rover). Moreover, RTK calculation is usually performed at the rover site receiver by using transmitted observation data that observed at reference point. We have released server based RTK processing platform named “SurvStation” to share RTK function for all rovers, it can process many of GPS data with single personal computer. And we have also released specialized dual frequency GPS receiver unit named “NetSurv” without RTK processing firmware to reduce receiver cost in order to demonstrate the advantages of our concept “Network GPS Survey”.

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SOFTWARE DESCRIPTION There are many inversed RTK processing software in the world, but almost they only process RTK analysis with observation data by using ordinary GPS receivers. SurvStation is differing from such software and able to perform very efficient investment, because we are using specialized receiver unit without RTK function, and they are connected and can be control from server software. The most important function in SurvStation is the portion of RTK analysis. We performed operation 365-day 24 hours on actual application such as “Tsunami Detection Buoy System” which conducted by Earthquake Research Institute in University of Tokyo, HZ, and HZS to have applied about two years to proven the accuracy and the stability in long-term operation, and its successfully ended. The following Figure 1 is result of our RTK that using SurvStation at the experiment on Tsunami detection buoy was shown. The influence of the tsunami by the Peru earthquake was detected clearly, and the result was in agreement even compared with the tide gauge on shore.

Figure 1: Tsunami detect record at Ofunato-bay

HARDWARE DESCRIPTION

NetSurv is specialized dual frequency GPS receiver unit that operate under environment of SurvStation. There are three major models such as NetSurv1000, NetSurv2000 and NetSurv3000 are produced to accordance with the several applications. NetSurv1000 is designed to demonstrate the concept. This unit consists of WindowsCE based small computer, dual frequency GPS board and programmable interfaces. We have installed this series unit to several precise vehicle-monitoring applications like as container yard control. NetSurv2000 is designed to purpose mobile uses such as Field Surveyor. This receiver consists of an iTron-based microprocessor, dual frequency GPS board, serial port,

and internal modem to connect mobile phone. Moreover, compact flash memory slot has installed to capture GPS observation data to perform post process static and kinematic survey. NetSurv3000 is a brand new receiver for Field Surveyor. There are three models according to work survey styles as Network RTK, Post process static and kinematic survey and ordinary RTK with wireless communication unit. Also it can be use most of network communication card with PDA to communicate SurvStation server system. Exterior of NetSurv3000 is shown as following (Figure 2).

Figure 2: NetSurv3000 receiver unit.

NetSurv3000 is performing with WindowsCE based PDA style controller named “NS-CTL3000” to execute RTK on the field, data capturing for static and kinematic survey post processing. Control software has various functions to perform field survey (control point, construction etc). Sample screens of controller are shown as Figure 3.

Figure 3: Sample screen of controller Top: Surveying with RTK mode Middle: Satellite Visibility Bottom: Precise navigation to desired point

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JAPANESE NATION WIDE GPS NETWORK Geographical Survey Institute (GSI) has established world largest nation wide GPS network – GEONET is covering all over Japanese islands. GEONET is established for the purpose of crustal deformation monitoring to earthquake disaster management, atmospheric and meteorology study. The name of GEONET adopted from its purpose “GPS Earth Observation Network”. GEONET consists from about 1200 of observation sites, and average distance between neighboring sites are 25-30 kilometers. Most of sites are perform 1Hz observation and it streams to GSI communication data server via VPN. Observation monuments are called “GPS based control point”, each site quipped Dual frequency receiver, Choke-ring antenna with raydome, communication device, power device with battery. The typical monument and inside of monuments are as shown in Figure 4.

Figure 4: Typical monument and its inside

GSI has provided GEONET observation data to scientists for their study from beginning with RINEX (Receiver Independent Exchange) data format. In 2002 GSI decided to provide real time data for public use via JAS in response to the strong request from private sector that develop location business to realize ubiquitous society. At the present, there are three GPS data providers in Japan. Nippon GPS Data Service Corporation (so called NGDS) is biggest GPS data provider that established by HZ, HZS and other nine companies (NTT-ME, Mitsui Co., Asia Air Survey, OMRON, JSAT, Applied Technology, and Aisan Technology). NGDS are providing GPS observation data combined their own data providing server and Trimble’s VRS software (GPSNetTM). At the present, Japanese Surveyor and Location business provider got world largest positioning infrastructure, but it is still not perfect for RTK positioning, because RTK needs observation data that observed at reference point as

stated previously, and reference point is not further than 10 Km because RTK has limited to the distance between reference and rover. GEONET is very dense network but it is not perfect to use ordinary RTK because its spacing are 25-30Km. Network RTK techniques are developed to avoid this limitation. All of GPS data provider in Japan has installed Network RTK system to respond to provide reference data without gaps for all over Japan. The Real Time data streaming from monuments to user are figured in Figure 5 included NGDS data server to understand the position of GPS data providing server (company).

Figure 5: GPS Real time data streaming chart

NGDS are operating eleven VRS processors to provide VRS data with regional blocks as Figure 6. NGDS are using 330 sites from GEONET observation sites with 40-50 Km spacing sites because VRS was introduced to reduce the required density of reference sites. NGDS are also providing 1200 sites (all of GEONET real time data sites) with RRS service (Meant Real Reference Station) by same scheme.

Figure 6: Regional blocks to process VRS in Japan

Japan is largest GPS market and there are many location businesses for consumer and professionals, GEONET are supporting these activities.

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ASP BASED RTK PROCESSING SERVICE We have established and operating brand new Application Service Providers (ASP) for RTK positioning in 2002, its named eSurv to produce high performance RTK works in all over Japan with VRS reference data. To reduce GPS receiver cost to perform RTK survey, we can provide NetSurv receiver unit, but it should be use with SurvStation to process RTK, It is not realistic in the case of small number of rover such as survey, they will not buy server package because expense become larger than just buy ordinary RTK receiver. In order to carry out efficient RTK with small number of rovers (such survey works), we developed the server system that share RTK processing function of SurvStation and serves it with reference data that provided by NGDS. User also can be using their NetSurv3000 to the reference observation site if required. Figure 7 is an overview of eSurv ASP system diagram.

Figure 7: eSurv ASP system diagram

The VRS-RTK solution by using NetSurv and eSurv is realized by performing the following steps. NetSurv3000 and eSurv process almost steps as automatically. Order the RTK process to NetSurv3000 by PDA controller, NetSurv3000 accesses to Remote Access Server (RAS) of eSurv via cell phone network or internet, it inspects whether eSurv can use connected NetSurv3000. The following step will be followed if satisfactory. At the ordering to process RTK, user can be select type of the reference such as VRS, actual monument by indicate monument or search closest one, and other NetSurv3000 that is own by same user as reference. When order to use VRS, NetSurv3000 sends its rough (or indicated) position to generate VRS to eSurv, eSurv order to VRS to generate observation data. Then eSurv get VRS observation data, NetSurv3000 starts streaming observation data to eSurv. Reference and observation data are available eSurv will send both data to SurvStation and get RTK results and conditions (status and error information), then stream out

to NetSurv3000. Then it indicated in PDA controller and performs its application. By using one NetSurv3000 receiver unit and eSurv ASP service, highly precise RTK processing is realized all over Japan. Typical survey styles using NetSurv3000 receiver as shown in Figure 8 and eSurv server machines as shown in Figure 9.

Figure 8: Typical Survey scenery with NetSurv3000

Figure 9: eSurv server machines

There are advantages and disadvantages are in NetSurv and eSurv combination, advantages are cost performance and simple configuration to perform RTK survey. Most of disadvantage is data latency to get RTK solution by PDA because we have to get results from server, it depend on network traffic. So NetSurv3000 is not suitable in order to get quick respond for dynamic application. We perform further improvement to respond this kind of problem, and furthering development. Most important and valuable things is we can service improved RTK solution anytime, this mean that ordinary RTK receiver should upgrade their firmware to improve software, but we do not need change anything to receivers, just change software in the server.

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ACKNOWLEDGMENTS This project was made possible by the support of many dedicated people. Experience from that we were obtained through development of GEONET, we greatly thank GSI that gave the chance to develop this world largest and exciting system. We thank Dr. Teruyuki Kato of Earthquake Research Institute belong to the University of Tokyo and Dr. Yukihiro Terada of Hitachi Zosen corporation to conducted long term experiment of Tsunami Detection buoy at Ofunato bay. Mr. Goro Yamamoto, President of NGDS for providing access VRS data. Mr. Masahiro Goto, Director of Seillac Corporation for many advises to develop and support GEONET system. REFERENCES Vollath, U., A. Deking, H. Landau, Chr. Pagels, B. Wagner (2000): Multi-Base RTK Positioning using Virtual Reference Stations. Proceedings of the ION-GPS 2000, SaltLake City, Utah, USA, September 2000. Landau, H., U. Vollath, X. Chen (2002): Virtual Reference Station Systems. Journal of Global Positioning Systems (2002), Vol. 1, No.2: 137-143. Petrovski, I., S. Kawaguchi, H. Torimoto, B.Townsend, S. Hatsumoto (2002): An Impact of High Ionospheric Activity on MultiRef RTK Network Performance in Japan. Proceedings of the ION-GPS 2002, Portland, Oregon, USA, September 2002. Usui, S., H. Higuchi, J. Kanda, K. Wakimoto, S. Tanaka, F. Satoh (2004): Nation-Wide RTK-GPS based on FKP method and Applications for Human navigation and Location Based Services. Proceedings of the ICME2004, Taipei, Taiwan, June 2004. Imakiire, T., Y. Nakahori (2001): GPS EARTH OBSERVATION NETWORK (GEONET) OF JAPAN. Proceedings of the International Conference FIG Working Week 2001, Seoul, Korea, May 2001. Kanzaki, M., H. Obata, H. Kakimoto, H. Yoshida, S. Takamatsu, T. Saeki (2002): The Development of new RTK-GPS positioning system using network technology. Hitachi Zosen Technical Review (2002), Vol. 63, No. 3: 8-11.

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Sky-Tel: Below is from http://www.theorgn.net/index.html on December 28, 2009.

Some items clipped and repositioned. Underlining added.

Oregon Department of Transportation -

Geometronics

Oregon Real Time GPS NetworkOregon Real Time GPS NetworkOregon Real Time GPS NetworkOregon Real Time GPS Network

OVERVIEW

The Oregon DOT Geometronics Unit is operating and expanding the Oregon Real-time GPS

Network (ORGN), a network of permanently installed, continuously operating GPS reference

stations.

The ODOT Geometronics Unit is responsible for enhancing and maintaining the vertical and

horizontal geodetic control infrastructure across the state of Oregon. The establishment and

operation of the ORGN in Oregon helps us accomplish this mission.

This GPS network consists of GPS Continuously Operating Reference Stations (CORS) that

provide real-time kinematic (RTK) correctors to field GPS users over the internet via cellular

phone networks. GPS users that are properly equipped to take advantage of these correctors can

survey in the field to the one centimeter horizontal accuracy level in real time.

SCOPE OF NETWORK

Currently GPS corrector coverage by the ORGN consists of several sub-networks of stations in

southern Oregon, central Oregon, NW Oregon (including the Willamette Valley north of Eugene

and the Oregon Coast north of Florence), and northern Oregon along the I-84 corridor. Each sub-

network consists of GPS stations spaced at 70 km, more or less.

All of the sub-networks are operated and controlled by specialized GPS network software running

on servers at the Oregon Department of Transportation in Salem. The GPS network software is

used to configure and monitor the quality of data from the reference stations, compute GPS

correctors, and then provide GPS correctors to field GPS users. Correctors will be provided in

real-time via cell phone internet connectivity. GPS data from reference stations will also be

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archived and available on-line for users that need to post-process their field GPS data.

PARTNERSHIPS

ODOT Geometronics has partnered with other state and local government agencies, as well as

educational institutions and private industry, to develop the ORGN. Our partners have contributed

some of the facilities and GPS equipment for the ORGN. In turn, ODOT Geometronics has

purchased and is operating the GPS network software that controls the network of CORS stations

from central computers. The ODOT Geometronics Unit and ODOT regions also have provided

station sites and GPS sensors for the ORGN.

ORGN Maps

The following maps are provided to help customers visualize the location of current and planned

corrector stations, see zone coverage, and link to specific station web pages.

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Products & Services

Real-time GPS Correctors

Oregon Real-time GPS Network (ORGN) partners and subscribers with valid ORGN Rover

Accounts have access to Real Time Kinematic (RTK) correctors computed by Leica Spider

software. These correctors are served over the internet and accessed by the user via a cell modem

connected to a GPS rover in the field.

ORGN Spider provides both Network (multi-base) and Single Reference Station survey accuracy

(dual-frequency) correctors. In addition, single frequency Differential GPS correctors are provided

to users of resource/mapping accuracy GPS receivers.

Network RTK Corrections:

A network-based RTK corrector is based on using several reference stations to compute the

corrector. A network-based corrector resolves distance dependent errors including ionospheric,

tropospheric, and emphemeris errors better than a corrector based upon a single reference station,

thereby allowing the rover user to travel farther from any single reference station than would be

possible when using a single reference station.

A user must be within or only slightly outside the confines of the network for a network-based

corrector to be effective.

ORGN provides a network corrector called MAX, in the non-proprietary RTCM version 3.0 format,

to rovers that are RTCM 3.0-capable. The MAX network correctors take full advantage of the

additional network messages available in the RTCM 3.0 format.

For older GPS rovers that are not version RTCM 3.0-capable, a network corrector called i-MAX is

provided using the non-proprietary RTCM 2.3 format.

For a rover to use either the MAX or i-MAX network corrector, it must be configured by the user to

send the rover position back to the ORGN server using the NMEA GGA format. In other words,

the rover must be set to "send GGA".

Single Reference Station RTK Corrections:

If the user is working very far outside the confines of the RTK network, they will not be able to use

a network-based correction effectively; however, rover users will still be able to receive a corrector

based upon a single reference station up to about 10 Km from the single base they are receiving

correctors from. The same distance dependent errors apply as when using a single base RTK from a

temporary base station, so the users must take the responsibility to ensure they don't travel so far

from a single base that they exceed their error budget on a project. Even though the user of a single

base station solution will not be able to work as far from the reference station as when using a

network-based MAX or i-MAX solution, the user will still realize considerable cost savings by not

having to buy a base station receiver and set it up and monitor it everyday of a project. In addition,

common error sources associated with the use of a portable base station, including incorrect input of

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base coordinates, base antenna not plumbed correctly over station mark, and incorrect height of

base antenna, are avoided by the use of a permanent ORGN reference station.

ORGN provides "nearest site" RTK correctors in the non-proprietary RTCM 2.3 format.

For a rover to use the "nearest site" RTK correctors, it must be configured by the user to send the

rover position back to the ORGN processing center using the NMEA GGA format. In other words,

the rover must be set to "send GGA".

DGPS:

Resource-grade mapping GPS users can access RTCM correctors from the ORGN GPS network via

cell phone modem.

ORGN provides single frequency "nearest site" RTCM correctors for mapping resource GPS

receivers in the non-proprietary RTCM 2.3 format.

For a single frequency GPS receiver to use the "nearest site" RTK correctors, it must be configured

by the user to send the rover position back to the ORGN processing center using the NMEA GGA

format. For example, for the Trimble GeoXT, the RT corrector type should be set to "VRS" under

RT settings/External Port Settings in order to send GGA.

ORGN Rover Accounts: Partner/Subscriber Information

Real-time correction products will be provided to users with valid Rover Accounts.

All rover users will be issued a Rover Account at no direct charge; however, ODOT reserves the

right to charge a nominal Rover Account fee in the future to cover operations and maintenance of

the ORGN only, not to cover development costs of the ORGN. In the event that ODOT must start

charging for Rover Accounts, ORGN partners will continue to receive Rover Accounts at no

charge.

A partner is defined as an individual, agency, or business that contributes substantially to the

infrastructure of the Oregon Real-time GPS Network (ORGN). An individual, agency or business

may qualify as a partner of the ORGN by providing a GPS reference sensor and antenna and/or a

site for a reference station for the ORGN.

In order to access the real-time correctors from ORGN, you will need a GPS rover that is capable of

receiving real-time correctors in RTCM 2.3 or RTCM 3.0 format. Both formats are non-proprietary

as it is the policy of the ORGN not to send out correctors in any manufacturer proprietary format.

Each Rover Account will be issued a log in name and password for authentification which allows

the rover to log onto the ORGN server that streams real time correctors.

It is preferable for your rover to be able to provide NTRIP authentification. NTRIP is an acronym

for "Networked Transport of RTCM via Internet Protocol" and is an application-level protocol for

streaming Global Navigation Satellite System (GNSS) data over the Internet. NTRIP is a generic,

stateless protocol based on the Hypertext Transfer Protocol (HTTP).

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It is also preferable for your rover to be able to send its position back to the ORGN central server by

sending a GGA message via the NMEA protocol.

You must also have a cellular modem or data-capable cell phone that is connected to your rover and

you must purchase a data service plan from a cellular provider. Both CDMA (example: Verizon,

Sprint) and GSM (examples: Cingular, Unicel) cellular formats are capable of accessing the ORGN

server that streams RTK correctors. You should pick a cellular provider based on which provider

provides the best data service coverage in the area where you will be working most.

The rover user will be responsible for purchasing, configuring, and maintaining the appropriate

GPS rover, cell modem, and cellular data service. ORGN_Support will provide general support, but

cannot provide support for configuring and using specific GPS equipment, specific cellular

modems, or data service. Please contact your GPS equipment manufacturer or vendor for GPS

support and your cellular provider for cellular service support. We will post support documents for

specific equipment and FAQ's as they become available.

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ODOT Surveyors Conference Oregon Real-time GPS Network

Oregon Department of Transportation

March, 2006

Geometronics

Page 1 of 7

ODOT’s Statewide GPS Reference Station Network

Ken Bays

March 2006

Conceptual RTK GPS Network

Benefits of a Reference Station Network

Only a rover GPS receiver is needed– Less initial GPS expense

No base station “baby sitter” needed

Consistent known datum and coordinate system.

Benefits of a Reference Station Network

Avoids common errors on temporary base stations:– Operator sets up on wrong station

– Wrong coordinates for base are entered into data recorder

– Wrong height of antenna measurement

– Wrong antenna type picked during processing

– Antenna not plumb over point

– Subject to tripod movement or disturbance (wind, bumped, etc.)

– Subject to interference with GPS signal (trucks passing, etc.)

Single Baseline RTK Solution

Normal RTK Accuracy = 10mm + 1ppm30km: 10mm + 30mm = 40mm

Network RTK Solution

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March, 2006

Geometronics

Page 2 of 7

Network RTK Solution

Distance Dependent Errors can be modeled with reasonable success, almost negating the ppm component.30km: may achieve near 10mm

Benefits of a Network RTK Solution

Distance dependent errors modeled better– Ionosphere delay

– Troposphere delay

– Satellite orbits

Better accuracy of solution

Longer distance RTK range possible– 60 Km spacing of base stations

Corrector Delivery Methods

Radio

Internet– Cell Modem

– WIFI (?)

Web Site– RINEX Data for Post Processing

Oregon Real-time GPS Network (ORGN):Initial Plans

ORGN: Overall Plan for 05-07 & 07-09 Bienniums

2007-2009

2005-2007

Ethernet

GPS SpiderNET – Architecture Overview

Site Server

user2

Remote Control

FTP Data push

RC

FTP

FD File & Raw Data

Data Archive

RC

FD

Site Server

user2

RC

FD

Cluster Server(Network Processing)

Cluster Server2(Network Processing)

Network Server

RTK Proxy ServerRTK Data distribuiton

Remote GUIGraphical

User Interface

P WR

OK

WIC 0A C T/C H0

A C T/C H 1

W IC 0AC T /C H 0

AC T /C H 1

E THA CT

C OL

Access Router

RTCM V2.3 DGPSNearest Site

MAXAuto-Cell

i-MAXRTCM

NTRIPi-MAX - RTCM

Ntrip / CMR+SingleSite

TCP/IPMAX Auto-Cell

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March, 2006

Geometronics

Page 3 of 7

Network Users

Administrator

Partners

Subscribers

Anonymous Users

Administrator


Geometronics Unit

Management – Ron Singh

Technical Administration – Ken Bays

Administrator Responsibilities

Network quality control

Network software operation

Network software maintenance and upgrades

Network listserv and maintenance

User support

Partners

Partners will provide sites, GPS equipment, and other infrastructure to the network.

– Government agenciesInter-Governmental Agreements

– Private entities (once network is operational)Public-Private Partnerships

Some, but not all, of our Interested Partners

Oregon Division of Aviation

Multnomah County

Lincoln County

David Evans & Associates

Linn County

City of Bend

Washington DOT

Curry County

City of Springfield

Washington County

City of Newberg

City of Beaverton

EWEB

Deschutes County

Polk County

OBEC Consulting Engineers

Oregon Parks and Recreation Department

Benton County

Portland Water Bureau

Douglas County

Clatsop County

City of Wilsonville

Oregon State University

Port of Portland

Tualatin Valley Water District

Lane County

Jackson County

Marion County OR

Clackamas County

City of Salem

Yamhill County

Subscribers

Anyone who is not a partner wanting access to the RTK corrector data that is delivered via cell modem

Must have account set up

Will pay a subscription fee

Fee will be minimum – Cost recovery for maintenance of network

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March, 2006

Geometronics

Page 4 of 7

Anonymous Users

Anyone wanting access to:– Static data for post processing

– Radio broadcast RTK data – only in certain areas

No subscription fee

No account set up

Benefits of Partnering w/ODOT

Using taxpayer money wisely

Extend range and accuracy of existing stations

Consistent coordinate system and datum for Oregon

ODOT quality control & network monitoring

ODOT purchase/operation of network software

Benefits of Partnering w/ODOT

ODOT maintenance/upgrades of network software

ODOT list serve and webpage for network

ODOT support for network users

– Training

– Technology transfer

– User support

Other

Timeline

Start up: March 2006ODOT internal testing: March - July 2006Open to users in test mode: July 2006

– No cost– No service level warranty– Use at own risk

Complete partner agreements: July 2006Fully operational: January 2007

Network Standards

Site Selection– Satellite visibility: clear view of sky– Continuous power w/ backup– Station location/spacing– Vandal resistance– Access: ease of maintenance– Internet connectivity– Lightning protection – Monument stability

Network Standards

Antenna mounts and photos

Receiver type: L1/L2 with internet port

Data recording intervals

Antenna types: choke ring?

Network security: authentication and authorization

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March, 2006

Geometronics

Page 5 of 7

ORGN Recon Packet

GPS sky obstruction diagram

Monument info

Electricity availability

Internet/data comm availability

Site ownership/access info

Site photos

Packet available on-line at the ORGN website

Prototype Webpage for Oregon Nethttp://www.odot.state.or.us/ffp/hwy/gps/index.html

Your comments and suggestions are encouraged.

ORGN Station Installation:The Pieces of the Puzzle SCIGN GPS Antenna Mount

Installing GPS Antenna Mast Leveling SCIGN GPS Antenna Mount

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March, 2006

Geometronics

Page 6 of 7

Mounting GPS Antenna Hooking up GPS Antenna Cable

Photos Required in all Directions Typical ORGN GPS Sensor Cabinet

ORGNGPS

Internet cable

Power supply

GPS Antenna Cable

Typical ORGN GPS Sensor Cabinet

BatteryLightning Protector

GPS SensorBattery Charger

GPS Antenna Cable

Internet Cable

Leica Spider Remote Client

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March, 2006

Geometronics

Page 7 of 7

Contact - ODOT Geometronics Unit

http://www.odot.state.or.us/ffp/hwy/gps/index.html

Ron Singh, Chief of Surveys, 503-986-3033

– [email protected]

Ken Bays, Geodetic Control Specialist, 503-986-3543


Scott Branco, Office Coordinator, 503-986-3541


Randy Oberg, Survey Support Technician, 503-986-3041


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Sky-Tel: Below is from: http://www.iowadot.gov/rtn/index.html on December 28, 2009.


Sky-Tel 12/28/2009 111 of 214

Iowa Real-Time Network

IaRTN Development Timeline

• January 2007 - Business model completed

• September 2007 - Proposals submitted

• October through November 2008 - Vendor network demonstrations

• December 2007 - Leica Geosytems issued “Intent to Award”

• January 2008 - Contracts executed

• January through June 2008 - Preliminary engineering

• July through October 2008 - Installation

• November through December 2008 - Acceptance testing

• January 2009 - Network training

• Feb. 2, 2009 - Network operational

The Iowa DOT plans to deploy a statewide RTK (Real Time Kinematic) -GPS network using

existing DOT facilities and wide area network (WAN) communications infrastructure. In 2006, the

Iowa DOT conducted a business model study to examine the potential models for a RTK-GPS

network deployment and operations.

The study results helped the Iowa DOT develop a business model that best suits the needs of the

department. Under the model, the Iowa DOT owns the system, but contracts out the system

administration and management. The RTK-GPS network will be used for Iowa DOT applications,

and is available for other governmental agencies and private sector users.

After a thorough evaluation process, including a written proposal and installation of demonstration

networks by competing firms, Leica Geosystems was selected to install, integrate and maintain the

IaRTN. Leica is currently in the preliminary engineering stage of the project, which will be

followed by installation and testing of the network. Leica's schedule is to have the network

completed, tested and accepted by the Iowa DOT by Feb. 2, 2009. The project schedule is subject to

change.

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Frequently Asked Questions

Click on the question to see the answer.

When is the network going to be operational?

The target date for acceptance of the network is Feb. 1, 2009. The Iowa DOT will periodically

update the network schedule on this Web site.

What does it cost to use the network?

There are no current plans to charge users, whether from the public or private sector, to access the

network.

Is there an access charge for RTK usage?

There are no current plans to charge RTK users, whether from the public or private sector, to access

the network.

Do I need to register to use the network for RTK surveying?

All RTK users of the network are required to register with the Iowa DOT. Additional details on the

process for registration will be provided at a later date.

What type of communication equipment is needed for RTK access?

An internal or external rover cell modem or a data-capable cell phone with the ability to

communicate with your rover and the Internet are needed to access the network corrections.

What type of cellular service do we need for RTK access?

Any GSM (Global System for Mobile Communications) or CDMA (Code division multiple access)

data-cellular service will work with the network. An unlimited data plan is highly recommended.

What cellular service provider do we need to use?

We can’t recommend any particular cellular provider. Cellular-data coverage at the location where

you will be surveying is the most important consideration in choosing your cellular provider.

What brand of GPS rover is needed for RTK surveying?

Any brand of GPS rover of recent manufacture capable of receiving RCTM 2.3, 3.0, 3.1, CMR, or

CMR+ messages is required. In addition, current firmware allowing connection to cellular

communications, and a cellular modem or data-capable cell phone, are required. Consult with your

rover’s local distributor for questions specific to your equipment.

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Will the data from individual stations be available online?

RINEX data from individual stations will be available online for post-processing. The Iowa DOT

plans on providing the user with RINEX data sets in user selectable time frames from one hour to

24 hours, with user-selectable sampling rates of 1, 2, 3, 4, 5, 6, 10, 12, 15, 20, 30 and 60 seconds.

Specific information regarding sample rates, and length of time data will be available online.

Procedures for requesting and downloading data will be available prior to the network coming

online.

Can smaller sampling rates be provided for specific projects?

Yes, upon prior request to the Iowa DOT, data is available with a sampling rate as small as 0.1

seconds. If we are aware of your needs before hand, a project-specific file can be created with a

sample rate to meet your needs. Details on how to request this data will be made available when you

register as a user of the network.

Can only dual-frequency, survey-grade rovers receive real-time correctors?

No, the network also provides single - frequency correctors suitable for use by professional quality

mapping/GIS grade, single-frequency GPS receivers capable of using a cellular data modem or a

data-capable phone to receive RTCM (Radio Technical Commission for Maritime Services)

messages.

Policies and Statements | Applets and Plug-ins

Iowa Department of Transportation - 800 Lincoln Way - Ames, IA 50010

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Living Document

Proposal for a Statewide California Real Time Network

Version 5.0

California Spatial Reference Center Scripps Institution of Oceanography, La Jolla, CA

October 16, 2008

Prepared by

Yehuda Bock, CSRC Director

Maria Turingan, CSRC Coordinator CRTN Review Committee:

Art Andrew (Chair) Gigi Cardoza Ross Carlson Chris Walls

Cecilia Whitaker

Please send comments to

[email protected] & [email protected]

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mailto:[email protected]

mailto:[email protected]

CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008

2

Table of Contents Introduction........................................................................................................................ 3

Elements of a Proposed Statewide CRTN Infrastructure................................................. 5

67

Current Situation ............................................................................................................... 6

Description of CRTN and Its Components ....................................................................... The CRTN User......................................................................................................................... The Network .............................................................................................................................. 7

8

9

10

11

12

The CRTN Server ..................................................................................................................... The Models.................................................................................................................................

Management and Governance.........................................................................................

Cost Recovery ...................................................................................................................

Additional Information....................................................................................................

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3

Introduction We propose to develop a statewide real-time data and positioning service, the California Real Time Network (CRTN), which is tied directly to the California Spatial Reference System (CSRS) and the National Spatial Reference System (NSRS). The proposed free public service fulfills the requirements of the California Public Resources Codes for GPS-derived coordinates and orthometric heights. CRTN is a multipurpose network which utilizes well over $100 million dollars of existing geophysical infrastructure in California. It also serves as a test bed for developing early warning systems for geological (earthquakes, tsunamis, volcanos, landslides) and atmospheric (flood control) hazards. This proposal deals with the data and positioning service addressing two related issues:

(1) The lack of an open, uniform and seamless statewide real-time network in California. Our State with its size, population, unique spatial referencing environment, and despite the tremendous resources at its disposal is far behind in providing a real-time infrastructure for precise spatial referencing, a requirement for increased economic productivity and innovation in private and public sectors for a growing number of interrelated applications.

(2) The crisis in federal funding of the California Spatial Reference Center (CSRC) and the absence of State support and funding. The CSRC has essentially met its goals with respect to passive stations as outlined in its Master Plan for a Spatial Reference Network published in 2002 (with the endorsement of NGS in 2003), and is ready to tackle the long-term goals described in the Master Plan, specifically “real-time infrastructure systems1.”

In addition to providing a much needed public utility to our traditional users in the surveying community, a successful effort could benefit such areas as

• GIS/geodetic framework • Monitoring of critical life lines • Disaster preparedness and response • Relief efforts • Flood plain management • Water transportation infrastructure • Precision agriculture • International and offshore boundary mapping • Aircraft landing and safety systems • Intelligent transportation and telematics • Fleet management • Coastal and harbor navigation

Figure 1 shows the proposed statewide network with a maximum spacing of 80 km based on existing stations from geophysical networks. Also shown are stations that are already providing real-time data streams. 1 See http://csrc.ucsd.edu/input/csrc/csrcMasterPlan.pdf (p. 6)

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http://csrc.ucsd.edu/input/csrc/csrcMasterPlan.pdf


4

Figure 1. Map of proposed statewide CRTN with a maximum spacing of 80 km

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5

Elements of a Proposed Statewide CRTN Infrastructure The salient points of the proposed real-time data and positioning service are summarized below and discussed in more detail in later sections of the proposal.

• Builds upon the more than $100 million dollars of existing geophysical infrastructure already invested in California

• Builds upon existing (approximately 80) CRTN stations in southern California, operated since 2003 by SOPAC2, USGS3, PBO4, Orange County5, San Diego County6, and MWD7 (Figure 1)

• Requires a partnership with existing geophysical networks (USGS, SOPAC, PBO, BARD8) to expand real-time infrastructure throughout the State

• Uses only continuous GPS (CGPS) stations that are part of the California Spatial Reference Network (CSRN), and built for high-accuracy, longevity, and geophysical stability

• Leverages existing metadata/archive infrastructure, web services, and software at SOPAC/CSRC including the SECTOR9 velocity model and HTDP10 crustal motion model, to provide seamless real-time epoch-date positioning (kinematic and dynamic) using standard GNSS11 formats

• Is directly tied to the California Spatial Reference System (CSRS) and National Spatial Reference System (NSRS), which fulfills the requirements of the California Public Resources Codes 8856(c)(e), 8857(c), and 8858(b) for GPS-derived geodetic coordinates and orthometric heights.

• Provides on-the-fly orthometric heights through national geoid models supplemented with local corrections

• Is able to recover from large seismic events by near-real-time monitoring of changing site positions, followed by rapid geophysical modeling and updates to SECTOR and HTDP models

• Contributes to and uses national real-time atmospheric propagation models (troposphere and ionosphere)

• Takes advantage of other satellite constellations such as GLONASS12 and the European Galileo system, and new signals available from the GPS satellites13

2 SOPAC – Scripps Orbit and Permanent Array Center 3 USGS – United States Geological Survey (Pasadena Office) 4 PBO – Plate Boundary Observatory, University NAVSTAR Consortium (UNAVCO) EarthScope project 5 Orange County Public Works 6 San Diego County Department of Public Works 7 MWD – Metropolitan Water District of Southern California 8 BARD – Bay Area Regional Deformation Array (operated by UC Berkeley in northern California 9 SECTOR – Scripps Epoch Coordinate Tool and Online Resource tool that calculates epoch (date) specific coordinates 10 HTDP – Horizontal Time Dependent Positioning: NGS software that enables users to predict horizontal displacements and/or horizontal velocities related to crustal motion in the United States and its territories, implemented in a web services environment by SOPAC/CSRC 11 GNSS – Global Navigation Satellite System (e.g., GPS, GLONASS, Galileo) 12 GLONASS – Russian global navigation constellation 13 This will require either receiver or firmware upgrades to existing stations

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6

• Has a 20-80 km spacing, with data streaming 24/7 and latency of 1 second • Provides open access to single-base RTK (real time kinematic) positioning and to

multiple station raw data streams in their streaming format • Requires no user fees and provides unrestricted access to data and positioning

service • Provides redundant backup services at other locations • Is operated by the CSRC operations center at SOPAC with management and

governance provided by the CSRC Executive Committee and CRTN consortium operating through the existing UCSD Support Group

• Is funded by contracts between public agencies and the SOPAC recharge facility, overseen by the CSRC Executive Committee and CRTN consortium

Current Situation CRTN is operational (approximately 80 stations) and provides complete real-time coverage with a latency of less than 1 second for the five southernmost California counties (Imperial, Los Angeles, Orange, Riverside and San Diego) (http://sopac.ucsd.edu/projects/realtime/) (Figure 1). Single-base RTK is fully supported through a variety of open protocols (RTCM14, NTRIP15). Real-time raw data streams are limited to one station per user. PBO has also started to provide real-time data streams in RTCM and BINEX16 formats. Figure 1 shows the current availability of real-time data streams.

Description of CRTN and Its Components In this section we describe the real-time data and positioning service that will be available

14 RTCM – Radio Technical Commission for Maritime Services (protocols for streaming real-time GNSS data)

Figure 2. Components of CRTN Data and Positioning Service

SOPAC/CSRC Database,

Web Services, GNSS Server,

Utilities

Data

Communications

Data

Network

• SECTOR coordinates

• HTDP Crustal Motion Model

• NGS Geoid Model

• Ionosphere Model

• IGS Precise Orbits

• NOAA Troposphere Model

• SOPAC Archive/Metadata

ServerModels

Single-Base RTK User

Single-Base RTK User Positioning

Service UserPositioning

Service User

Raw DataUser

Raw DataUser

raw data streams

NMEA (CSRS)

RTCM (CSRS)

RTCM

GPS Station

15 NTRIP – Networked Transport of RTCM via Internet Protocol 16 BINEX – Binary (Receiver) Independent Exchange Format, developed by UNAVCO

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http://sopac.ucsd.edu/projects/realtime/


7

through the statewide CRTN., The components of CRTN are shown in Figure 2. We describe the salient points of each component. The CRTN User CRTN supports three basic user functions:

(1) Raw data streaming – the user can request multiple raw receiver streams (IP ports) in the native streaming formats received by CRTN (e.g., Ashtech MBEN, Leica LB2, Trimble RT17, UNAVCO BINEX, RTCM).

(2) Single-base RTK – the user can request RTCM (2.2, 2.3, 3.0) data from a station (single IP port or NTRIP) to perform single-base RTK positioning.

(3) Epoch-date positioning – For those familiar with positioning services such as OPUS and SCOUT, CRTN provides the same basic positioning function but in real time and for kinematic, dynamic or rapid static applications. Simply put, the user streams GPS/GNSS data, associated metadata, and a desired epoch date to an IP port, and receives back a stream of epoch-date geodetic coordinates (latitude, longitude, and ellipsoidal height) and orthometric heights, tied to the CSRS/NSRS.

Data and positions flow once a second, with a latency of about 1 second. The Network

Figure 3. Photos of two CRTN stations. Station RAAP was built by San Diego County Dept. of Public Works to SCIGN standards, including a shallow-anchored braced monument. PBO station P494 has a deeply-anchored braced monument.

The reference network consists solely of stations that were built for highest-order geodetic accuracy, longevity, and geological stability. The basic station design consists of a geodetic-quality dual-frequency GPS/GNSS receivers, a GPS antenna (Dorne-Margolin antennas with chokerings are standard throughout the network), and a shallow- or deeply-anchored anchored GPS monuments (Figure 3). The network was built in southern California by SCIGN17 (and its predecessor the Permanent GPS Geodetic Array – PGGA), and later adopted by the PBO for the Western U.S. Thus, CRTN leverages well over $100M invested by the geophysics community since 1991 in GPS monitoring infrastructure in California, specifically existing SCIGN and PBO stations, and other stations built according to the same design. Access to real-time data streams from these stations requires the cooperation and support of the existing geophysical 17 SCIGN – Southern California Integrated GPS Network

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8

networks (i.e., USGS, SOPAC, PBO, BARD), and pertinent discussions are underway with these data providers. This proposal builds upon (approximately 80) existing CRTN stations in southern California (Figure 1), installed and operated beginning in 2003 by SOPAC, USGS (Pasadena office), PBO, Orange County, San Diego County, and Metropolitan Water District. The network includes several types of real-time communications links (spread spectrum radios, microwave, cellular modems). The GPS data are streamed at a 1 Hz rate (once per second) in a variety of formats with latency of 1 second or less. These formats include:

(1) Raw receiver formats, e.g., Ashtech MBEN, Trimble RT17, Leica LB2 (2) BINEX format (receiver-independent binary data developed by UNAVCO) and

the primary streaming format for PBO stations18 (3) RTCM (versions 2.2, 2.3, 3.0) through IP Ports or NTRIP

All existing and proposed CRTN stations are part of the California Spatial Reference Network (CSRN), which is integrally tied to the existing metadata/archive infrastructure at SOPAC/CSRC. Therefore, the stations are directly tied to the California Spatial Reference System (CSRS) and National Spatial Reference System (NSRS) through the SECTOR velocity model provided by SOPAC and the HTDP crustal motion model provided by NGS (and available through web services by SOPAC/CSRC). CRTN is able to recover from large seismic events by near-real-time monitoring of changing site positions, followed by rapid geophysical modeling and updates to the SECTOR and HTDP models. This allows seamless, timely, and accurate epoch-date conversions. Furthermore, using these stations fulfills the requirements of the California Public Resources Codes (8856(c)(e), 8857(c), 8858(b)) for GPS-derived coordinates and orthometric heights, as provided by statutes that became effective on January 1, 2007. The complexities of the reference network are transparent to the CRTN user. It is CRTN’s responsibility to ensure that the data flow reliably and with low latency from the stations or other data servers (e.g., at UNAVCO in Boulder, Colorado) to the CRTN server. The CRTN Server The “CRTN Server” (Figure 2) consists of several integrated components: the SOPAC Oracle database and web services, the SOPAC/CSRC archive, and a real-time GNSS Server (currently Geodetics, Inc. RTD Pro and CommLinkProxy). The real-GNSS Server is the first point of contact with the CRTN data streams and performs multiple functions. These include:

(1) GPS receiver control for stations that are maintained by SOPAC (2) Recording of raw data streams and transfer to the SOPAC archive (3) On-the fly creation and recording of RINEX files and transfer to the SOPAC

archive

18 BINEX format is an attractive streaming format since it is receiver independent, is not expected to change, and contains the full data content produced by the GPS receiver (unlike RTCM formats)

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9

(4) Computation, recording, and transfer to archive of 1 Hz instantaneous true-of-date positions and displacements, using ultra-rapid orbits computed by SOPAC and the NOAATrop real-time tropospheric delay model computed by the National Oceanic and Atmospheric Administration (NOAA).

(5) Transfer of 30-minute RINEX files to NOAA for incorporation into its NOAATrop model for the continental U.S.

(6) Single station data stream in various RTCM formats to CRTN users for single-base RTK

(7) Multiple station raw data streams in their streaming format to CRTN users (8) Recording and storing all real-time transactions with users.

The CRTN Server provides the epoch-date positioning service. The complexities of the different components of the CRTN server are also largely transparent to the user. It is CRTN’s responsibility to ensure that the various data services are reliably available to users with low latency. The Models One of the primary advantages of the CRTN positioning service, is the ability to apply various models at the server, without having to bundle this information to the user. These include: (1) Models to improve the accuracy of GPS network processing, for example the

NOAATrop real-time troposphere delay model available for the continental U.S., ultra-rapid precise orbits computed operationally by SOPAC for the IGS community, and ionosphere models (these may become more important as we move into the peak of ionospheric activity starting in 2012).

(2) Positioning models such as SECTOR coordinates and velocities to assign true-of-date coordinate constraints for the reference stations, and HTDP crustal motion model (currently 3.0) for converting true-of-date geodetic field coordinates to user-specified epoch dates (such as 2007.0);

(3) Geoid models (such as GEOID03) with the possible addition of local geoid corrections).

The CRTN positioning service is directly tied to the latest realizations of ITRF (currently ITRF2005) and NAD83 (currently NSRS2007), the California Spatial Reference System (CSRS) and National Spatial Reference System (NSRS) through the SECTOR velocity model and the HTDP crustal motion model, and provides seamless epoch-date coordinate conversions. It also fulfills the requirements of the California Public Resources Codes for GPS-derived coordinates and orthometric heights. CRTN’s positioning service (Figure 2) leverages existing metadata/archive infrastructure at SOPAC/CSRC, and is fully integrated with SOPAC web services and software applications. The complexities of “The Model” are also transparent to the CRTN user. It is the responsibility of CRTN to keep the models current. Data Availability and GNSS Software All data and position services will be openly and freely available. There have been comments to the effect that the data and positioning service provided by CRTN will compete with the private sector. On the contrary, CRTN will provide free and open

Sky-Tel 12/28/2009 123 of 214


10

access to state-of-the-art real-time infrastructure at nominal 80 km spacing in California leveraging over $100M in Federal investments in geophysical networks. Furthermore, CRTN will provide direct access to the CSRS and NSRS, which is consistent with the CSRC’s mandate and Master Plan, and fulfills the requirements of the California Public Resources Codes for GPS-derived coordinates and orthometric heights. As detailed above the CRTN server is a combination of several integrated components: SOPAC web services and database, SOPAC on-line utilities, and the Geodetics, Inc. RTD Pro software. SOPAC licenses the software from Geodetics. It is used to support NASA- and NOAA-funded research into early warning systems for geological and atmospheric hazards as well as to provide CRTN data services. SOPAC is able to sole source to Geodetics because of the unique and multi-purpose capabilities of the RTD Pro software, which are not currently available from scientific or other commercial GPS network software packages, and the willingness of Geodetics to make software changes to support SOPAC. SOPAC is open to testing other solutions as they become available. In any case, it is transparent to CRTN users and/or partners as to what software runs the positioning service. To neutralize any conflict of interest issues, CRTN funds will not be used to purchase software licenses from any GNSS vendor. GNSS vendors may modify their field data software to take advantage of CRTN’s positioning service. Since all GNSS vendors make ample use of other SOPAC services in some of their proprietary software, it is reasonable to assume that they would make simple modifications to accommodate customer requests for access to the CRTN positioning service. It is also reasonable to assume that they would be willing to become CRTN underwriters, rather than each one having to create their own reference station infrastructure. In any case, raw data streams will be freely available without restrictions so that value-added services can be generated by any user.

Management and Governance For the purpose of management and governance interested parties will fall into three categories;

(1) CRTN Users a. Single Station Users (single-base RTK) b. Multiple Station Users (raw data streams) c. Positioning Service Users (epoch-date positions tied to CSRS/NSRS)

(2) CRTN Underwriters (funding sources) a. Public Agency Underwriters – from public sector such as SGIO19, DWR20,

Caltrans b. Other underwriters who may wish to contribute to CRTN

19 SGIO – Proposed State Geospatial Information Office 20 DWR – California Department of Water Resources

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11

(3) CRTN Providers – partners that support CRTN by providing station data and/or infrastructure; existing CRTN providers include PBO, Orange County, San Diego County, MWD, USGS (Pasadena Office), and SOPAC

The CRTN statewide expansion provides an important spatial referencing utility for California. Therefore, it is important to define an appropriate management and governance structure, with clear lines of authority, responsibility, and delegation. Our proposal is to take advantage of the existing CSRC governing structure and the SOPAC/CRTN and geophysical infrastructure developed over the last decade. It is anticipated that once the system is fully developed and operational, the management and governance of CRTN will evolve to reflect changing circumstances. In the meantime, our proposal is that the governance of CRTN (see Figure 4) will be provided by the CSRC, through its role as a UCSD Support Group. The Support Group umbrella currently includes CSRC Bylaws, the CSRC Coordinating Council (CC), and the CSRC Executive Committee (EC). The CRTN Consortium will be formed with its own set of bylaws but accountable to the CSRC EC. The CRTN consortium will assume the authority and responsibility to manage and govern, and delegate the development of the project to the SOPAC Director. In addition to serving as a Center at SIO, SOPAC serves as a mechanism for service contracts to be entered into by the University. CRTN will operate through service contracts to the SOPAC recharge facility. The CSRC EC or members of the consortium will provide management of CRTN through these contracts. In the consortium model, each entity that enters into a contract with the University will be considered a CRTN Underwriter.

California Spatial Reference CenterExecutive Committee

CRTN ConsortiumBoard Members

SOPAC – SIO/UCSDCRTN Operations and R&D

Figure 4. Governance of CRTN

Cost Recovery It is important that the costs of CRTN be evaluated properly, something that is complicated by the multiple ownership of some of the components. For example, the costs of maintenance of the PBO stations, in particular the real-time component, should be shared by CRTN and the budget should reflect this. Another example is the communications for the existing southern California network, which is currently being supported to a large extent by the NSF-funded HPWREN21 network at UCSD. Currently this capability is available for free; but HPWREN’s continued existence will depend on the renewal of NSF support, something that is never assured.

21 HPWREN – High-Performance Wireless Research and Education Network

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12

Our goal is that CRTN be funded as a free and open public service, for example through a single state agency such as the Department of Water Resources, Caltrans or the new State Spatial Information Office (SGIO). It will take time to get public funding, and this is something that will be pursued vigorously by the CSRC. In the interim, we will also reach out to partners at local public agencies such as counties and semi-public entities such as water districts. There is a precedent for this. For example, the Riverside County Flood Control and Water Conservation District, the Riverside County Department of Transportation, and Caltrans have contracted in the past with SOPAC for services. We will also set up a mechanism for other underwriters who may wish to contribute to CRTN. SOPAC will develop an annual budget for CRTN, including a justification of costs. The budget and rates will be negotiated by SOPAC and the Consortium on an annual basis. Each contract must conform to University requirements. It should be noted that warranties cannot be stipulated in University contracts. Consortium funds administered through SOPAC could be used to subcontract services to others, such as UNAVCO, for use of real-time data from PBO stations.

Additional Information The following are available:

(1) CSRC Master Plan for a Modern California Geodetic Control Network (http://csrc.ucsd.edu/input/csrc/csrcMasterPlan.pdf).

(2) Presentation by Y. Bock for 2008 CLSA/CSRC RTN seminars (“California Real Time Network: Rationale, Results and Future Plans” – accessible at anonymous ftp://dozer.ucsd.edu/pub/public/CRTN_WhitePaper - filename Bock.ppt.

(3) Presentation by Y. Bock for Sept. 5, 2008 NGS/CSRC/Caltrans meeting at Scripps (“Status of California Real Time Network Proposal” – accessible at anonymous ftp://dozer.ucsd.edu/pub/public/CRTN_WhitePaper - filename CRTN_Status.pdf).

(4) Comments on previous versions of this proposal – accessible at http://csrc.ucsd.edu/input/csrc/proposals/CRTNProposal_version4.0.pdf

Sky-Tel 12/28/2009 126 of 214

ftp://dozer.ucsd.edu/pub/public/CRTN_WhitePaper

ftp://dozer.ucsd.edu/pub/public/CRTN_WhitePaper%20-%20filename%20CRTN_Status.pdf

ftp://dozer.ucsd.edu/pub/public/CRTN_WhitePaper%20-%20filename%20CRTN_Status.pdf

http://csrc.ucsd.edu/input/csrc/proposals/CRTNProposal_version4.0.pdf

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Sky-Tel 12/28/2009 127 of 214

ESC “Cal-Net” Fee Schedule

Network Airtime Usage: “PR - Per Rover”

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Topcon GR-3 Rover (With Controller) ....Daily $350.00

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GR-3 GPS Rover With Internal CDMA Modem+UHF Radio

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Free Initial 12-Month Network Subscription ($3,000 Value)

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Complete GR-3Network RoverPackages From:$24,50000

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Sky-Tel 12/28/2009 128 of 214

Real Time GNSS Reference Network Services

ESC “Cal-Net” Network Benefits:

Rover Only Solution (No Base Station Required).Increased Field Productivity.Centimeter Accuracy without On-Site Base Stations.Affordable Monthly/Weekly/Daily Subscriptions.Network Partner Program (Where Available).RTK Correction data Available 24-Hours/7-Days a Week.GPS/Glonass/Galileo Signals For Enhanced Solutions.FTP Site Access For Static Solutions.ESC In-House Customer Service and Support.

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Sky-Tel 12/28/2009 129 of 214

All operational and future reference stations are broadcasting GPS and Glonass signals.


THE LEADER IN PRECISION POSITIONING SYSTEMS SINCE 1985

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Sky-Tel 12/28/2009 130 of 214

Orange County Real TimeOrange County Real Time NetworkNetwork

OCRTNOCRTNCounty of Orange, CaliforniaCounty of Orange, California

Presented by Arthur R. Andrew IIIPresented by Arthur R. Andrew III

Sky-Tel 12/28/2009 131 of 214

Chronology of OCRTNChronology of OCRTN

�� ConceptConcept –– winter 2000winter 2000�� Design network and order hardwareDesign network and order hardware –– fall 2001fall 2001�� InstallationInstallation –– late spring 2002late spring 2002

�� Start of realStart of real--time streamingtime streaming –– May 7, 2002May 7, 2002

�� RTK testing began in August 2002RTK testing began in August 2002

OCRTNOCRTNwas declared 100% operational at thewas declared 100% operational at the

CSRCCSRC –– OCRTN/BARTN meeting in Orange County onOCRTN/BARTN meeting in Orange County on

February 20February 20thth, 2003., 2003.

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What is OCRTN?What is OCRTN?

�� OCRTN is a realOCRTN is a real--time network of 10 permanenttime network of 10 permanent GPS stations (CORS) that stream 1GPS stations (CORS) that stream 1--second rawsecond raw GPS data to a dedicated server for realGPS data to a dedicated server for real--timetime processing and archivingprocessing and archiving

�� From this data, RTK corrections (RTCM) areFrom this data, RTK corrections (RTCM) are generated and made available to anyone at nogenerated and made available to anyone at no cost via the Internetcost via the Internet

Sky-Tel 12/28/2009 133 of 214

How can we benefit from OCRTN?How can we benefit from OCRTN?�� GPS static postGPS static post--processingprocessing

�� Data is now collected at 1 second epochsData is now collected at 1 second epochs�� Rinex files can be created at any intervalRinex files can be created at any interval

(1, 5, 15, 30, etc, files)(1, 5, 15, 30, etc, files)�� Faster turn around time of RinexFaster turn around time of Rinex

availabilityavailability

�� RTK surveyingRTK surveying�� Local base stations are no longer neededLocal base stations are no longer needed�� RTK rover receives base station data viaRTK rover receives base station data via

InternetInternet�� Only 1 receiver neededOnly 1 receiver needed�� Less personnelLess personnel �� Multiple base stations for enhancedMultiple base stations for enhanced

reliability and range.reliability and range.

Sky-Tel 12/28/2009 134 of 214

Possible UsersPossible Users��

�� GIS SpecialistsGIS Specialists��

��

��

��

��

��

Public and Private SurveyorsPublic and Private Surveyors

Emergency ResponseEmergency ResponsePolice DepartmentPolice DepartmentVehicle TrackingVehicle TrackingAircraft NavigationAircraft NavigationBridge and Dam DeformationBridge and Dam DeformationScientific CommunityScientific Community

Current users

�� Anyone needing realAnyone needing real--time precise positioningtime precise positioning

Sky-Tel 12/28/2009 135 of 214

Types of Surveys

�� Orange County crewsOrange County crews –– 8 rovers8 rovers�� Ashtech, LeicaAshtech, Leica

�� CaltransCaltrans –– 4 rovers4 rovers�� TrimbleTrimble

�� ? Private Survey Firms? Private Survey Firms�� Leica, TrimbleLeica, Trimble

�� GPS Venders/RentalsGPS Venders/Rentals�� Ashtech, Leica, TrimbleAshtech, Leica, Trimble

�� ReconnaissanceReconnaissance�� Aerial Target ControlAerial Target Control�� Landfill QuantitiesLandfill Quantities�� Monument LocationMonument Location

VerificationVerification�� ConstructionConstruction�� GIS InventoryGIS Inventory�� TopographicTopographic

Current OCRTN RTK Users

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SCIGN OCRTNSCIGN OCRTN

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OCRTN Network baselines

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TelemetryTelemetryConnections:Connections:

Data streamed atData streamed at 1 second using1 second using

Spread SpectrumSpread Spectrum radios (900 MHz)radios (900 MHz)

Sky-Tel 12/28/2009 139 of 214

Testing at BLSA:Testing at BLSA:Stream data at 1 secondStream data at 1 second rate using CDMA modemrate using CDMA modem

Telemetry Connections:Telemetry Connections:

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Typical OCRTN SiteTypical OCRTN Site

�� Ashtech ZAshtech Z--XII/MicroXII/Micro--Z receiver w/ Choke Ring antennaZ receiver w/ Choke Ring antenna�� FreeWave Spread Spectrum Radio w/ Yagi antennaFreeWave Spread Spectrum Radio w/ Yagi antenna

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Real TimeReal TimeData Flow:Data Flow:

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Current NetworkCurrent Network

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Current RTK SolutionCurrent RTK Solution�� Single Base Station Mode:Single Base Station Mode:

� RTK rover picks which base station to use by dialing the IP and port address.This method allows rover to compute multiple positions from multiple basestations on a single point.

� Rover must have ability to control wireless modem (choose different portassignments)

�� Nearest Base Station Mode:Nearest Base Station Mode:� Server picks the closest base station to the rover position. Does not have the

ability to pick and choose different base stations.

�� Rover must sends NMEA GGA autonomous position (latitude, longituRover must sends NMEA GGA autonomous position (latitude, longitude, height)de, height) to network software via Internet.to network software via Internet.

�� Server streams RTCM version 2.2, message types 3, 18, 19, and 22Server streams RTCM version 2.2, message types 3, 18, 19, and 22from selected base station to rover.from selected base station to rover.

Sky-Tel 12/28/2009 144 of 214

RTD Server RTCM UsageRTD Server RTCM Usage

OCRTN RTCM Stream - Client Connection Time

0 20 40 60 80

100 120 140

Jan-

04

Feb-

04

Mar

-04

Apr-

04

May

-04

Jun-

04

Jul-0

4

Aug-

04

Sep-

04

Oct

-04

Nov

-04

Dec

-04

Hou

rs:

Sky-Tel 12/28/2009 145 of 214

Current Software Solution:Current Software Solution:

RTD

Sky-Tel 12/28/2009 146 of 214

OCRTNOCRTNNetwork RTKNetwork RTK

How does it work?How does it work?

It works no different than standard RTK. The standard RTK radios that are restricted by line-of-sight are replaced with wireless modems that use the cellular provider’s cell site network.

Sky-Tel 12/28/2009 147 of 214

OCRTN IP Address: 206.194.127.187

The site port assignments are as follows:

8000 – Nearest Base Station 8001 – BLSA 8011 - WHYT 8002 - CAT2 8013 - MJPK 8012 – SACY 8015 - SBCC 8014 – OEOC 8017 – SCMS 8016 – TRAK 8018 – FVPK

8010 - Geodetics Smart RTCM Client

Sky-Tel 12/28/2009 148 of 214

RTK Receivers operating with OCRTNRTK Receivers operating with OCRTN��

�� ZZ--ExtremeExtreme�� ZZ--SurveyorSurveyor

�� LeicaLeica –– System 500System 500�� SR530SR530

��

�� 57005700�� 4700, 48004700, 4800

��

receivers to work.receivers to work.

��

cannot.cannot.

AshtechAshtech –– Ranger (TDS Survey Pro)Ranger (TDS Survey Pro)

TrimbleTrimble –– TSCE & TSC1TSCE & TSC1

Spent considerable time in getting differentSpent considerable time in getting different

Most limitations are do to interface software.Most limitations are do to interface software. Some can control the modem settings, someSome can control the modem settings, some

Sky-Tel 12/28/2009 149 of 214

Wireless Internet ModemsWireless Internet Modemsallows access to Internet data (TCP/IP)allows access to Internet data (TCP/IP)

� CDMA/1XRTT - Code Division Multiple Access Static and Dynamic IP, uses TCP/IPStatic and Dynamic IP, uses TCP/IP

Cost around $200Cost around $200 -- 800 per modem800 per modem

In Orange County,In Orange County, VerizonVerizon and Sprint are the providers.and Sprint are the providers.Service charge is $79.99 per month, unlimited use.Service charge is $79.99 per month, unlimited use.

Operates @ 50Operates @ 50 –– 70 Kbps70 Kbps

� GSM/GPRS – General Packet Radio Service Access

Dynamic IP, uses TCP/IPDynamic IP, uses TCP/IP

Cost around $200Cost around $200 -- 800 per modem800 per modem

In Orange County, AT&T /In Orange County, AT&T / CingularCingular are some of theare some of the thetheproviders. Service charge is $79.99 per month,providers. Service charge is $79.99 per month, unlimited use.unlimited use.

Operates @ 50 KbpsOperates @ 50 Kbps

Sky-Tel 12/28/2009 150 of 214

OCRTNOCRTNNetwork RTKNetwork RTK

HowHow wellwell does it work?does it work?

It works only as good as the GPS receiver you’re using works.

Some receivers may do better on longer lines.

Some receivers may fix the ambiguities (TTF) quicker than others.

Sky-Tel 12/28/2009 151 of 214

RTK Field TestRTK Field Test

�� InstrumentInstrument –– Leica SR530 GPS receiverLeica SR530 GPS receiver

�� Locate two monuments located onLocate two monuments located on County parking garageCounty parking garage

�� Position monuments multiple times fromPosition monuments multiple times from 6 different base stations at different6 different base stations at different baseline lengthsbaseline lengths

�� Compare positions to “truth” positionsCompare positions to “truth” positions

“Truth” = six“Truth” = six -- 4 hour static sessions over a4 hour static sessions over a period of 2 weeksperiod of 2 weeks

Sky-Tel 12/28/2009 152 of 214

90009000#9000

looking east

southwest

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90019001#9001

looking north

west

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Base StationsBase Stations Used:Used:

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SACYSACY BLSABLSA2km/1.2 miles2km/1.2 miles 15km/9.3 miles15km/9.3 miles

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TRAKTRAK SBCCSBCC16km/10 miles16km/10 miles 29km/18 miles29km/18 miles

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SCMSSCMS CAT2CAT241km/26 miles41km/26 miles 64km/40 miles64km/40 miles

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Procedures:Procedures:

Base Station �� Single Base Station RTKSingle Base Station RTK

SACY (2km)observationsobservations�� IntergerInterger Fixed SolutionsFixed Solutions BLSA (15km)

�� Observation = 20 epochsObservation = 20 epochs @ 1 second@ 1 second TRAK (16km)

SBCC (29km)

�� Waited no longer than 3Waited no longer than 3--SCMS (41km)

4 minutes to obtain fix4 minutes to obtain fixCAT2 (64km)

#9000 #9001

7 / 7 9 / 9

7 / 7 7 / 9

7 / 7 9 / 9

7 / 7 7 / 9

2 / 7 5 / 9

0 / 7 5 / 9

Sky-Tel 12/28/2009 159 of 214

0.10

OCRTN - RTK Field Test 2005 - Pt. 9000Horizontal Difference from Static "Truth" Positions

Diff

. in

Nor

thin

g (m

)

0.08

0.06

0.04

0.02

0.00

-0.02

-0.04

-0.06

-0.08

-0.10 -0.10 -0.08 -0.06 -0.04 -0.02 0.00 0.02 0.04 0.06 0.08 0.10

Diff. in Easting (m)

( ) ( ) ( ) ( ) ( ) ( )SACY 2km BLSA 15km TRAK 16km SBCC 29km SCMS 41km CAT2 64km

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OCRTN - RTK Field Test 2005 - Pt. 9001Horizontal Difference from Static "Truth" Positions

0.00

0.02

0.04

0.06

0.08

0.10

(m

)

-0.10

-0.08

-0.06

-0.04

-0.02

Diff

. in

Nor

thin

g

-0.10 -0.08 -0.06 -0.04 -0.02 0.00 0.02 0.04 0.06 0.08 0.10

Diff. in Easting (m)

( ) ( ) ( ) ( ) ( ( )SACY 2km BLSA 15km TRAK 16km SBCC 29km SCMS 41km) CAT2 64km

Sky-Tel 12/28/2009 161 of 214

9000 RTK Heights relative to Published Base Hts.

0.5000.4000.3000.2000.1000.000

-0.100-0.200-0.300-0.400-0.500D

iff f

(m )

-

r o m

S ta

tic H

ts . = Baseline RMS (5mm @ 0.5ppm)

SACY BLSA TRAK SBCC SCMS CAT2(2km) (15km) (16km) (29km) (41km) (64km)

Base Station

Sky-Tel 12/28/2009 162 of 214


0.150

0.100

0.050

0.000

-0.050

-0.100

-0.150D iff

f (m

)

-

r o m

S ta

tic H

ts .

= Baseline RMS (5mm @ 0.5ppm)

SACY BLSA TRAK SBCC SCMS CAT2(2km) (15km) (16km) (29km) (41km) (64km)

Base Station

Sky-Tel 12/28/2009 163 of 214


0.150

0.100

0.050

0.000

-0.050

-0.100

-0.150D i

i( m

)

-

ff fr o

m S

t a t c

H t s

.

= Baseline RMS (5mm @ 0.5ppm)

SACY (2km) BLSA TRAK SBCC SCMS CAT2 (15km) (16km) (29km) (41km) (64km)

Base Station

Sky-Tel 12/28/2009 164 of 214

Issues effecting RTK HeightsIssues effecting RTK Heights

SACY TRAK CCCS

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Base Station CharacteristicsBase Station Characteristics

�� Each Base Station has its ownEach Base Station has its own characteristics related to:characteristics related to:�� GeologyGeology�� Sky VisibilitySky Visibility�� ObstructionsObstructions

Sky-Tel 12/28/2009 166 of 214

May 2002 to January 2005 Time SeriesMay 2002 to January 2005 Time Series

Sky-Tel 12/28/2009 167 of 214

FVPK

SACY

Long-term subsidence area

LBC1

TRAK

CCCS

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May 2002 to January 2005 Time SeriesMay 2002 to January 2005 Time Series

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How to start using OCRTNHow to start using OCRTN

�� Call Art Andrew @ (714) 834Call Art Andrew @ (714) 834--38043804�� Explain what you’ll need to upgrade yourExplain what you’ll need to upgrade your

existing equipment.existing equipment.

�� I’ll meet with you to help setup equipmentI’ll meet with you to help setup equipment and explain how OCRTN works.and explain how OCRTN works.

Sky-Tel 12/28/2009 170 of 214

Thank youThank you

Questions?Questions?

Sky-Tel 12/28/2009 171 of 214

Sky-Tel: Below is from http://www.txrtk.com/map.htm on December 28, 2009.


RTK Network Maps

<> Aust in / San Antonio <> Houston

Corpus Chr ist i <> Rio Grande Val ley

Dal las / Ft . Worth <> Texas

<> El Paso

<> Oklahoma Networks

<> Oklahoma Ci ty <> Tulsa Is land

Sky-Tel 12/28/2009 172 of 214

Sky-Tel: Below is from http://www.tri-statertk.com/ on December 28, 2009.


Welcome to the newly formed Tri-State RTK Network website.

Tri-State is a limited liability company formed by some of

Northwest Ohio's most progressive farmers in order to provide a

economical solution to precision agricultures high accuracy GPS

needs. Currently over 3million acres in and around Henry County,

Ohio is covered by RTK GPS. When the all bases are in place,

nearly all of Northwest Ohio and parts of Indiana & Michigan will

have a RTK GPS correction signal available to farmers.

Our network is locally farmer owned, no big corporations have

sponsored or financed the network. Your subscription fees stay

local.

New April 2007 - Hicksville Base Added!

Our network has grow by leaps and bounds in the past year. We

now cover 75 miles North to South and 75 miles East to West.

The RTK corrected signal is available to compatible receivers that are paid subscribers to the

network. Each base is comprised of MS750™ GPS Receiver antenna and broadcasts the signal

using a SiteNet™ 900 Radio . Are you interested in becoming a subscriber to the network?

Contact Dusty Sonneberg for current rates and coverage. Would you like to learn more about RTK

networks? Feel free to browse our website for further details.

Sky-Tel 12/28/2009 173 of 214

Look for our signs this spring!

Sky-Tel 12/28/2009 174 of 214

Important GPS Accuracy Definitions:

PASS TO PASS accuracy measures the relative accuracy over a 15 minute interval - usually

thought of as guess row error when driving rows, or skip / overlap from one pass to the next when

driving swaths. A Trimble GPS receiver with pass-to-pass accuracy of +/- 4 inches skip or overlap,

95% of the time.

YEAR TO YEAR accuracy is the measure of repeatable accuracy that you can drive the same rows a

day, week, month, or year later. So, a +/- 1 inch year-to-year accuracy means you can drive the

same rows next year within 1 inch of this years rows, 95% of the time.

GPS EXPLAINED

Differential GPS (DGPS) WITH BEACON CORRECTION

The vehicle with a GPS antenna receives GPS

signals from the GPS satellite constellation. The

Beacon receiver, at a known location, receives

GPS signals. The beacon generates an equation

that changes the location of where the GPS

satellites say it is, to where it knows it is, and

then sends the equation known as the 'correction

message' to the GPS antenna on the vehicle—

which then applies the correction.

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DIffERENTIAL GPS (DGPS) WITH WAAS AND OMNISTAR CORRECTION:

The vehicle with a GPS antenna receives GPS

signals from the GPS satellite constellation. The

WAAS and OmniSTAR services have many

GPS receivers at known reference locations that

send the correction messages to control

stations which then uplink the message to a

geostationary satellite (WAAS or OmniSTAR).

The geostationary satellite (WAAS or

OmniSTAR) then sends the correction message

to the GPS antenna on the vehicle, which

applies the correction.

RTK (REAL TIME KINEMATIC)

This is a highly precise technique that results in

one inch year-to-year accuracy. RTK GPS

requires two specialized GPS receivers and two

radios. One GPS receiver is set up as a base

station within radio range of the field you are

working so it can send the correction message

to the roving receiver. Both receivers collect

extra data from the GPS satellites, known as

L2 Band, that enables better precision.

.

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Sky-Tel: Below was downloaded on December 28, 2009 from two articles at: (1) http://www.tri-statertk.com/ (2) http://farmindustrynews.com/farm-equipment/precision-farming/farming_walltowall_corn_belt/ Some items clipped and repositioned. Underlining added.

RTK Network Options

Nov 1, 2009 12:00 PM

DEALER-BASED AG RTK NETWORKS

CONTACT LOCAL agricultural equipment and precision ag dealers to check availability of dedicated ag RTK networks. Individual networks typically are specific to navigation systems from AutoFarm, John Deere or Trimble.

CORS RTK networks

Indiana Department of Transportation (DOT) network

The DOT expects the statewide network to be operating by the spring of 2010. For registration and other information, call the DOT Office of Aerial Engineering at 317/610-7251.

Iowa DOT Real Time Network (RTN)

The statewide Iowa RTN has about 100 registered agricultural users. Visit www.dot.state.ia.us/rtn.

Ohio DOT network

The statewide network has about 40 registered agricultural users, up from a single user a year ago. Visit www.dot.state.oh.us/Divisions/ProdMgt/Aerial/Pages/CORS.aspx. To request access to the system, send an e-mail to [email protected] or call 614/275-1359.

Michigan DOT network

This statewide network has about 50 registered agricultural users, up from a single user a year ago. Visit www.mdotcors.org. Click on “RTK User Agreement” to sign up.

Minnesota DOT network

The total number of agricultural users of the statewide network is estimated at about 100. Visit www.olmweb.dot.state.mn.us/CORS.GPS/cors.html. Go to “CORS/VRS FAQ” for information on how to access the network.

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2

Missouri DOT network

The network has covered southern Missouri and will be expanded to the entire state by late 2009. It has no agricultural users. Visit gpsweb.modot.mo.gov. Go to “GPS User Agreement” for information on how to access the network.

Wisconsin DOT network

This network is being built in stages. By the spring of 2010, services will be available in the eastern half of the state. Coverage from southwestern to north-central Wisconsin will be added during 2010. The west-central and northwestern regions will be added in 2011 if funding is available. Agricultural user numbers are not tracked. Visit wiscors.dot.wi.gov. Click on “Accessing WISCORS” to sign up.

PRIVATE CORS RTK NETWORKS

Southern and central Illinois / east-central Iowa

Trimble introduced its VRS Now network in central Illinois and east-central Iowa in September. The private Midwest RTK Network, which covers much of southern Illinois, reportedly will be added to the VRS Now offering. The fee for a typical unlimited 12-month 1-in.-accuracy RTK service is about $1,500 for Trimble Precision Ag Solutions users. Fees for users with equipment from other manufacturers may be higher. Visit www.trimble.com/infrastructure/services.aspx for sign-up details.

Eastern Nebraska

The Exact RTK/Leica 10-station network, which went live in September, covers a region bounded by U.S. Highway 81 on the west. The companies have not yet set a subscription fee but expect it to be $1,000 to $1,200 annually. For information, contact Ron Sadler at 712/371-3900 or [email protected].

Related Articles

Wall-to-wall Corn Belt RTK

PRECISION RTK correction networks will largely blanket the heart of the Corn Belt by the

2010 planting season. This dramatic increase in RTK coverage...

[This article is on the following pages.]

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3

Wall-to-wall Corn Belt RTK

Nov 1, 2009 12:00 PM, By David Hest

Both public and private RTK networks will provide sub-inch steering system correction to

growers across the Midwest

PRECISION RTK correction networks will largely blanket the heart of the Corn Belt by the 2010 planting season. This dramatic increase in RTK coverage is made possible by new multipurpose networks operated by state transportation departments (DOTs), as well as private operators.

As a result, the cost of adopting sub-inch steering systems will fall for growers whose farmland hasn't been covered by existing agricultural RTK networks. These base station arrays, operated by AutoFarm, John Deere and Trimble dealers, eliminate the need for growers to own their own base stations. They form a patchwork covering tens of millions of acres across the Midwest, but many areas have been without coverage.

The CORS revolution

DOTs across the U.S. began constructing regional and statewide multipurpose RTK networks around 2000. The departments' primary goal was to improve surveying accuracy and efficiency as they managed road and other transportation construction projects.

But the new networks — generally referred to by the acronym CORS, which stands for Continuously Operating Reference Station — also can be used for mobile applications, such as in agriculture. CORS actually refers to the individual base station, but typically the DOT systems are networked using sophisticated software and are sometimes called Real Time Networks, or RTNs.

Currently, in the Midwest, statewide DOT CORS systems are available in Iowa (new in 2009), Ohio, Michigan and Minnesota. In Wisconsin, a CORS system covers the eastern half of the state, but the DOT expects the system will cover the state by 2011.

By the 2010 planting season, new statewide DOT networks also should be up and running in Missouri and Indiana. Privately owned networks covering eastern Nebraska (co-owned by Leica) and southern Illinois and east-central Iowa (operated by Trimble under its VRS Now brand) will fill most of the remaining holes in the central Corn Belt coverage map.

Separate but equal

CORS networks and dedicated ag RTK systems both rely on RTK base stations to gather and relay correction data to provide sub-inch accuracy. In the case of CORS networks, fixed RTK base stations are placed at intervals of 30 to 45 miles, compared to the six-mile grid typical of dedicated agricultural networks.

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4

CORS and traditional ag-only RTK networks differ in several respects, but performance of well-designed, well-run networks of both types is similar.

“Absolutely, they both provide the same level of accuracy,” says Matthew Darr, a precision ag expert at Iowa State University. “I have no hesitation about the quality and accuracy of CORS RTK.”

Two major equipment differences between the network types stand out. First, ag networks use 450-megahertz (MHz) or 900-MHz radios to relay correction signals directly from towers to RTK receivers. CORS networks use the Internet to carry correction signals to a cellular modem, cell phone or data card.

Second, ag networks are brand-specific, but CORS RTK is brand-neutral. So with CORS networks, you are free to use whatever RTK equipment you choose, as long as it's able to use standardized correction data formats provided by the CORS networks. That covers all major manufacturers of agricultural RTK equipment except John Deere, which uses proprietary protocols not available from CORS networks.

The methods used by CORS networks to generate corrections vary depending on whose equipment is used. CORS systems in the Midwest use technology from Trimble or Leica. Topcon and other companies manufacture similar technology used elsewhere in the U.S., as well as other countries.

DOT CORS networks currently don't charge for correction signals, and most have no plans to do so. Exceptions include the Ohio DOT, which expects to institute an annual fee (with the amount to be determined) sometime in 2010. The Indiana DOT also is considering a fee. Fee or no fee, users must pay for a cellular data plan, which can cost up to $800 a year.

Gearing up

As more CORS networks come online, manufacturers are gearing up with offerings that simplify access. New or existing products from Leica, Topcon and Trimble, for example, offer built-in, snap-in or plug-in modems that enable latest-generation receivers to access CORS networks with a minimum of fuss (see photos).

Other manufacturers are making changes to enable third-party CORS solutions to be used with their RTK receivers. AutoFarm, for example, says its RTK receivers, which also are available through Raven, can be reconfigured from a proprietary RTK protocol to a standardized Radio Technical Commission for Maritime Services (RTCM) protocol available on CORS networks. New A220 guidance receivers to be introduced by Outback also will be CORS-capable, according to Jeff Farrar at Outback.

John Deere is monitoring CORS network developments but is noncommittal about whether it will alter its navigation equipment to enable it to accept CORS RTK corrections. “Our current product is not compatible with CORS correction signals, but we will continue to monitor the CORS networks very closely, as we do with any emerging technology,” says Jason Beuligmann, John Deere Ag Management Solutions RTK specialist.

In addition to offering CORS connectivity products, both Trimble and Leica are investing in CORS networks in the Midwest. (They're also the key technology providers for state CORS DOT networks in the Midwest.) In September, Trimble announced its subscription-based VRS Now network,

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5

which covers parts of Illinois and Iowa. Leica is a partner in a CORS network in eastern Nebraska and plans to expand to other areas.

Growing pains

For all the interest that CORS RTK networks are generating among navigation system manufacturers, the list of growers who have used CORS RTK is short. In 2009, the total user base in the Midwest is about 300, up from about 20 in 2008, based on interviews with state CORS system administrators and precision ag consultants.

Much of the user base is concentrated in Iowa and Minnesota, where CORS networks faced technical challenges in 2009 as they were established (in Iowa) and expanded (in Minnesota). Problems in both states, which resulted in RTK correction interruptions at times for some customers, have been ironed out, according to system administrators.

“The Iowa CORS system had a few growing pains in its first year,” says Darr of ISU. “But the network is up and running 99% of the time, and the Iowa DOT has been very responsive in addressing technical problems.”

In Ohio, where ag use of the state CORS system grew from a single user in 2008 to about 40 in 2009, precision ag consultant Tim Norris expects farmers who operate in rougher terrain to benefit from CORS RTK. Norris, part owner of a Trimble-based RTK network in central Ohio, says that CORS RTK has more potential on rough ground because cellular signals don't require line of sight for reception, as do radio signals.

“I think there is a ton of opportunity with CORS RTK,” he says. However, competition from CORS RTK could threaten the expansion of existing ag RTK networks and raise questions about investing in new ones, he adds.

But Chad Pfitzer, an RTK systems specialist at Trimble, disagrees. “Current RTK tower arrays

will remain the gold standard for accuracy and reliability,” he says. “Growers who are successfully using RTK should have little reason to switch to VRS or CORS.”

© 2009 Penton Media, Inc.

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Sky-Tel: Below is from http://www.gpsworld.com/machine-control-ag/precision-ag/news/business-outlook-rtk-crops-up-precision-ag-3630?print=1 on December 28, 2009. Some items clipped and repositioned. Underlining added.

Business Outlook - RTK Crops Up in Precision Ag

May 1, 2008 GPS World

Most precision agriculture users have settled for 1-meter accuracy using GPS, made possible with the reliable and convenient corrections provided by WAAS (Wide Area Augmentation System).

GPS/GNSS is important to key areas in agriculture, including field mapping, yield mapping, and guidance. Companies such as Hemisphere GPS (formerly CSI Wireless) did very well designing single-frequency GPS receivers for the precision ag market. Hemisphere is also a leading designer of radio beacon (Coast Guard) receivers. Radio beacons, in addition to WAAS, are a free source of corrections for 1-meter accuracy.

Trimble was also an early supplier of precision ag GPS receivers and related equipment, offering single-frequency products such as the AG-132.

While the real-time kinematic (RTK) technique has been around since the early ’90s, it didn’t gain wide acceptance in the precision ag industry. The accuracy was great, down to approximately 2 centimeters at the time, but the equipment was clunky. The user had to set up a reference station near the field he was working on. The communication link was complicated, and some types needed Federal Communications Commission (FCC) licensing. Consequently, there were several potential points of failure. Lastly, the cost for a complete RTK system (base, rover, and radios) was upwards of $50,000. It just wasn’t cost-effective.

The term RTK network is ambiguous because it means different things depending on the industry. Essentially, the hardware setup is the same no matter the industry. An RTK network is a series of dual-frequency reference stations spaced optimally within a region to provide RTK corrections to subscribers in that region. The network subscriber is assigned a primary reference station.

RTK networks for agriculture are single-baseline solutions; the subscriber can only use one reference station at a time. There is no “network solution” or redundancy like there is in RTK

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networks used in the surveying and construction industries. Therefore, when a single reference station goes down, the subscribers in that area are down also.

Another major difference between RTK networks for agriculture and RTK networks for surveying and construction is the communication method. The latter primarily use data plans on mobile phones to receive corrections. Either the mobile phone is linked via Bluetooth to the receiver or a cellular modem is built inside the receiver.

RTK networks for agriculture, on the other hand, primarily use spread spectrum radios (900 Mhz

band) to transmit corrections to the receiver. Spread spectrum radios are free to use and don’t require a license from the FCC to operate. They are limited in their broadcast range, however, typically to two to three miles. To solve this problem, radio repeaters are used to extend the distance.

The Wild, Wild West

Bill Henning, real-time specialist with the National Geodetic Survey (NGS), said it best: the

recent explosion of RTK networks is like the wild, wild West. They are proliferating so quickly that it’s hard to keep track of them. One of his tasks is to help develop guidelines for RTK network operators, and I think NGS is making inroads into the survey/construction industry with its initiative. People are looking for guidance with respect to RTK network setup, as well as monitoring for the networks once they become operational.

RTK networks for agriculture seem less structured than in other disciplines, though, and administrators rely more heavily on vendor recommendations. For example, some are based on the ITRF reference frame, while others are based on some version of NAD83. Some networks hire land surveyors to establish their reference station locations, while others do it themselves using NGS’s OPUS program or other methods. Very few, I think, realize the resources available from the NGS, such as the Cooperative CORS program. One would think that ag and survey/construction would consolidate their efforts, since an RTK network can cover the same area for both fields, and the equipment is virtually the same. But a farmer isn’t going to pay the same RTK network subscription rate that a surveyor or construction company will. A farmer is hesitant to pay $4,500 annually when he can select a service such as OmniSTAR and pay $1,500 annually. Some industry folks say that aggressive subscription pricing is the reason RTK networks in the agriculture market have expanded rapidly in the past few years.

The differences between the networks used in agriculture and those in survey/construction are mostly software related. RTK networks for survey/construction offer a true-networked solution, where several reference stations are used to compute a correction, compared to the single-baseline solutions used in ag.

OmniSTAR (HP/XP), John Deere (Starfire), and Novariant (AutoFarm) offer GPS-based solutions for precision ag. They are not pure-play RTK solutions like RTK networks, but they do have RTK capability. True RTK networks are capable of constantly delivering ~2-

centimeter accuracy day in and day out. These companies going after the precision ag market offer primarily decimeter-level services (1 decimeter being the equivalent of 10 centimeters), and then RTK solutions when needed.

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It will be interesting to see how pure-play RTK players respond as RTK networks for agriculture continue to expand — which they most certainly will.

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grains

Sand

TenQuintillion

of

Displayed with permission • The American Surveyor • July/August • Copyright 2006 Cheves Media • www.TheAmericanSurveyor.comSky-Tel 12/28/2009 187 of 214

www.theamericansurveyor.com

ust a few kilometers offshore in the sunny waters of the Arabian Gulf, the giant dredging combine Van Oord NV works on the largest project ever undertaken by a single marine contractor: building “The World.” This massive job, a multi-billion

dollar land reclamation effort, will create a 60-square-kilometer fantasy archipelago of luxury resort islands. One key to making the work cost-effective is high-pre-cision, Real-Time Kinematic (RTK) GPS positioning.

A New WorldNothing but open water existed at the offshore site of “The World” before Van Oord began work in 2003. By the end of 2007 some 300 man-made islands will have risen a few meters above the sea, created from massive volumes of relocated sand – more than 300

RTK GPS Positioning Guides Construction of “The World”

SandQuintillion

of>> By Paul Haase



million cubic meters worth, or about ten quintillion individual grains – and transported rock.

But unlike islands in nature, these islands won’t be scattered here and there. Rather, when viewed from above, the islands of “The World” will have the exact shape and precise positioning to create a pointillist-style map of the seven continents and major islands of the

earth. It’s sure to be an impressive sight even among the Las Vegas-like spectacle of Dubai’s tourist fantasyland. Many individual islands sold even before construction began, at prices up to $35 million apiece.

Reclamation work to build “The World” is a major part of a decades-long program by international developer Nakheel and Van Oord. The ultimate

RTK GPS and CommunicationsReal-Time Kinematic (RTK) GPS technology provides centimeter-level positioning from survey GPS receivers through a highly refined form of differential GPS (DGPS). GPS receivers identify position based on satellite signals, but these signals contain errors that limit accuracy and precision to about 10 meters. DGPS improves accuracy to a meter or two by filtering out the positioning and signal errors of GPS receivers which compare the satellite signals and location among one or more mobile receivers in the field and a fixed reference receiver of known location. The reference receiver monitors the system errors and for-mats correction messages that are transmitted to the other GPS user equipment in the network. For RTK GPS, sophisticated communica-tions equipment enables higher accuracy corrections to improve GPS accuracy and precision to a centimeter or less.

RTK can be highly cost-effec-tive because all it requires is a dedicated GPS receiver to serve as a reference station and a telemetry network to transmit the correction messages among the reference station and mobile GPS receivers at a jobsite. Typically the telemetry is provided wirelessly through a system of inexpensive radio modems, such as the Positioning Data Link (PDL) products pioneered for RTK by Pacific Crest Corporation. But no matter what telemetry system is used, reliability and ease-of-use remain critical: if RTK telemetry at a jobsite isn’t working, accurate high-precision positioning isn’t possible there either-and millions of dollars worth of heavy equipment and crews could be idled. And that’s not what RTK is all about.

14 July/August 2006 The American Surveyor

The long-term plans aim to add more than 1,500 kilometers of new beachfront to the existing 70-kilometer coastline.



object: to create substantial new beach-front real estate for Dubai. Dubai has grown remarkably since the early 1970s, evolving from a small trading post into a thriving metropolis and worldwide travel destination.

“By the 1990s, all the beaches were developed,” said Nakheel’s Hamza Mustafa, General Manager of “The World” project. “So we decided to build more.”

15July/August 2006 The American Surveyor

Giant SizeAs a large developer owned by the Dubai government, Nakheel did not think small. Their long-term land-building program aims to add more than 1500 kilometers of new beachfront to the emirate’s short 70-kilometer coastline. By themselves the beaches of “The World” islands will account for some 200 kilometers.

As such, “The World” represents a huge construction project. Building it will require Van Oord to dredge up hundreds of millions of cubic meters of sand from the bottom of the Arabian Gulf and relocate it into low islands in shallow water 15 to 20 kilometers shoreward. The whole development will be surrounded by a double breakwater formed from 32 million tons of rock to protect the construct from wind and rough waters.

Such volumes dwarf those of the typical construction project, whether on land or sea. Indeed they rank among the largest construction jobs ever undertaken. For example, the gigantic Three Gorges Dam project nearing completion in



July/August 2006 The American Surveyor

China involves excavating some 100 million cubic meters of earth and pouring roughly 30 million cubic meters of concrete, amounts that almost double the records set when the Itaipu Dam was built between Brazil and Paraguay in the 1970s and 1980s.

“It’s enormous,” said Van Oord engineering manager Mark Lindo in a 2004 Popular Science article about “The World” project, which is on a fast track for completion by Nakheel and Dubai. “…it would take 10 years of planning and studies to do something like this [elsewhere].”

Economics of Scale“The World” is not all about construction records or sheer volume of material, however; it’s about economics. Time, after all, is money. Van Oord is a long-established company with almost 140 years of dredging and marine construc-tion experience, including working in the waters of Dubai for the past decade. To control expenditures, Van Oord pursues the most cost-effective operations possible. They expect to conclude dredge-and-fill activities in 2007, after four years of work by a crew of about 800. Although the jobs

“…it would take 10 years of planning and studies to do something like this [elsewhere].”

18 Displayed with permission • The American Surveyor • July/August • Copyright 2006 Cheves Media • www.TheAmericanSurveyor.comSky-Tel 12/28/2009 191 of 214



don’t compare directly, it’s illustrative to consider that the Three Gorges project in China will require at least 15 years and 250,000 workers.

Despite this incredible efficiency, con-trolling construction costs at “The World” requires all of Van Oord’s expertise, and a big key to efficiency for the company has been investing in reliable survey and machine control systems. In particular,

Van Oord relies heavily on RTK GPS technology as a tool to rigorously guide and track progress at all stages of construction. Through advanced GPS techniques, RTK provides accurate, sub-centimeter measurements (see Sidebar: “RTK GPS and Communications”). With such accuracy and precision, differential GPS (DGPS) and RTK help Van Oord guide the movements of a fleet of special-purpose construction vessels working at the jobsite. Among others, these vessels include trailing suction hop-per dredgers, side-stone dumping vessels, multi-purpose pontoons, and massive marine cranes. RTK GPS positioning technology has also been crucial in helping Van Oord track the daily progress of island construction and optimize work to keep this massive reclamation project on budget and on schedule.

“RTK enables sub-centimeter position-ing from autonomous GPS receivers, which otherwise position only to 10 or 15 meters,” says Rick Gosalvez, Product Marketing Manager for Pacific Crest. “By fitting GPS receivers with radio modems and software to communicate with a fixed reference station, you can survey a site or guide the position of equipment down to the centimeter; whether it’s a backpack receiver, a backhoe, or a 100,000 ton ship.”

“It took Van Oord less than $50,000 worth of radio modems and software to make RTK available throughout the jobsite,” says Aldert Kluft, Sales Manager for Pacific Crest. “The savings in time and money that RTK delivers for this giant project are immense.”

Island Building 101At “The World” site, every vessel from crew-tender to jumbo dredger is equipped with Pacific Crest and Trimble positioning technology, ranging from DGPS to RTK GPS. Each unit can then be matched to the required position. Such precise positioning allows for safe navigation through the continuously changing seabed at the site in order to guide, record, and optimize the sand-winning. These technologies also allow Van Oord to confidently control the placing of sand and rocks within the specified accuracies and boundaries.

Likewise, hydraulic cranes operating on barges several kilometers offshore are equipped with Trimble MS860 RTK GPS receivers and Heading systems to guide construction of the protective breakwater around the project. Starting at 7 a.m. each morning, the whole development is patrolled on land and on sea by radio-linked topographic and hydrographic survey teams that carry portable Trimble R7 or Trimble R8 RTK GPS systems to measure the prior day’s progress.

What the survey team monitors is sand, which, after all, is the currency of

Pacific Crest’s machine control product, Sitecom, is installed in Van Oord dredgers to enable high-precision GPS locating and tracking.

“The World” project as visible from space in this May 14, 2006 QuickBird satellite image (courtesy DigitalGlobe).

19Displayed with permission • The American Surveyor • July/August • Copyright 2006 Cheves Media • www.TheAmericanSurveyor.comSky-Tel 12/28/2009 192 of 214



“The World” reclamation effort. Sand forms the luxury beaches – as well as all the surrounding islands – and every granule of it must be gathered and moved from somewhere else.

“Every grain of sand is utilized for beach,” says Nakheel’s Mustafa.

To build the islands, large trailing suction hopper dredgers collect sand by sucking it up from the seafloor at designated borrow areas. Once a dredger is loaded it steams shoreward to the site of a future island, guided by a Trimble DSM 132 DGPS receiver. In the early stages of construction, each ship, after arriving at the exact location, simply dumps its load of sand to the sea bottom from large underwater doors. Once a growing island makes the water too shallow for dredgers to get close enough to dump sand, the sand is sprayed or “rainbowed” onto the nascent island using a huge pivoting nozzle mounted in the bow of certain Van Oord dredgers. As with dumping, DGPS guides the rainbowing process.

Overall, dredging-and-filling continues until each new island reaches about three meters above sea level. And while island-building progresses, large marine cranes work under RTK GPS guidance

to place rocks in a breakwater around the seaward edge of the whole project and around the islands to armor and stabilize them.

Beneath the SurfaceObviously, most of the construction work takes place under the ocean’s surface. Nearly all of the relocated sand and rock – almost 90 percent of it – goes to form the new islands’ undersea foundations, where exact positioning and progress cannot easily be observed directly with conventional technologies. It takes at least 100 shiploads of sand (the vessels vary in size) just to build an island up to sea level and about a dozen

more to complete it. Given that “The World” features more than 300 islands, construction ultimately will require many tens of thousands of trips by Van Oord’s sand-carrying ships.

High accuracy, high precision positioning helps Van Oord guide these trips, not only to ensure that islands are placed to create the complicated design of “The World” but also to optimize construction work. After all, the number of dredger trips needed to complete the project is what drives the economics of the job. As much as possible, Van Oord wants to ensure that no trips are wasted, that no sand is placed where it doesn’t contribute to building an island.

To achieve the required accuracies efficiently, reliable and, above all, repeatable RTK GPS coverage is essential.




“To achieve the required accuracies with the rockwork construction and to optimize the sand-dumping and rainbow-ing activities efficiently, reliable and, above all, repeatable RTK GPS coverage is essential,” says Frans Pijpers, Van Oord Survey Operations Manager.

In particular, vertical measurement represents a primary focus. One dredge-load of sand adds but a few centimeters of height to a growing island. Only RTK technology, with its excellent centimeter-scale performance, can repeatedly and reliably detect such changes (underwater measurements can be made by combining multibeam depth-sounder readings to RTK results of sea level). More than in any other aspect, Van Oord depends on accurate and repeatable vertical RTK GPS readings to monitor and optimize the placement of each rock and load of sand.

Real-World CompetitionIn Dubai, the radio modems that enable RTK positioning at “The World” jobsite play a role out of proportion to their low cost. It’s possible that tens of millions of dollars of heavy equipment could be idled should a problem develop with a radio worth a few thousand dollars. And according to Van Oord, not being able to work because of non-functioning equipment is totally out of the question in the marine construction business.

In order to ensure the maximum RTK GPS reliability for machine

control and surveying at “The World” project, Van Oord turned to Pacific Crest, the company that developed the original radio modem technology for RTK applications. Specifically Van Oord employs a mix of 15 Pacific Crest Positioning Data Link (PDL) Low-Power Base radio modems and PDL Sitecom radio modems mounted on ships, cranes, backpack handsets, and at reference stations on land in Dubai.

Van Oord selected Pacific Crest products based not on catalog specifica-tions or experience with a single vendor, but only after real-world competition. The present company was formed from the recent mergers of three of the largest and oldest Dutch dredging concerns, and these mergers brought a diverse mix of state-of-the-art telemetry equipment into the new Van Oord. In the years following the mergers, Pacific Crest’s radio modems and RTK telemetry solutions, out of the many systems inherited by the merged company, proved themselves superior. Crews recognized them as the most reli-able and flexible products; they valued the rugged all-weather operation and worldwide compliance of Pacific Crest equipment, as well as the company’s easy-to-use turnkey packages that are fully compatible with GPS products from Trimble and other major manu-facturers. Consequently, Van Oord has come to use Pacific Crest radio

modems and Trimble GPS exclusively for its RTK needs at “The World” and elsewhere.

“The Pacific Crest products provide us with the accuracy and reliability and covering range to execute this project,” says Van Oord’s Pijpers. “I’m sure many other solutions are possible, but never change a winning team.”

Beyond “The World”Construction of “The World” now nears completion. Pacific Crest designs its RTK support products to work easily and reliably as part of a system, so that anyone can accomplish a task involving highly-precise positioning without wor-rying about the science of it. As Pacific Crest and other companies develop radio modems and other data communications solutions that are highly reliable and easy to use, RTK technology is coming to serve others beyond the heavy construc-tion and surveying industries. Whether used for agriculture, science, transporta-tion control, surveying, or dredging and building islands, RTK technology and RTK-based radios have been proven in the field to save valuable time and resources for a customer.

Paul Haase is an award-winning sci-ence writer who resides part-time in Seattle, Washington, part-time in San Francisco, California, and writes about a variety of technical subjects.



Geneva, 5-7 March 2008

Monica SchettinoProject & Development Manager

ERTICO

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Warren

[ SKY-TEL: This includes discussion of GNSS augmentation using NETWORK RTK for high accuracy vehicle location. It also discusses the need for medium- and long-range -- not only DSRC short-range -- communications for Intelligent Transport Systems and the "Networked Car." Sky-Tel C-HALO and STEER will provide both. ]

The Fully Networked CarGeneva, 5-7 March 2008

2SISTER - Satcomms in support of transport on European roads

Project Overview

o 10.5M Integrated Project co-funded by DG Enterprise & Industry (6th FP)

o 3 years project, started in Nov. 2006o It promotes the integration of satellite

and terrestrial communications with GALILEO to enable mass-market take-up by road transport applications.

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Project Consortium

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Road Transport Facts

o 215 million cars in the EU25• 38% growth from 1990 – 2004• Growth by one third over next 5 years

o 5 million HGVs, 23 million LGVso 28% of EU25 CO2 emissionso Growing congestion across Europe

• Variety of road tolling initiativeso 42,000 road deaths per year (2005)

• Target to reduce by 50% by 2010

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Intelligent Transport Systems Applications

Professional Market

Applications

Mass Market Applications

Non Safety

Safety

Emergency Calls

Advanced DriverAssistance Systems

Fleet Management

Traffic Managementand Control

Floating Vehicle Data

Electronic Fee Collection

Personal Navigation

Digital Maps

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Why Satellite ?

o Provides back-up communications capability, closing the coverage gaps of terrestrial network

o Very efficient broadcast modeo Satellite technology &

performance improving, with cost reducing

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SISTER High Level Architecture

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Warren

[NETWORK RTK]


8

A comprehensive assessment of the full

range of GALILEO applications and their

communications requirements from both technical and business

operations perspectives. Requirements for

satellite communications services or new satellite

systems will be developed.

SISTER - Satcomms in support of transport on European roads

High Level Project Structure

Analysis Practical Standard

It will produce a prototype integrated satellite / terrestrial / GALILEO transceiver

and will perform demonstrations of

applications to prove and measure the effectiveness of

satellite communications,

building upon previous research and

development projects.

It will work to add a satellite component to

the ISO’s CALM (Continuous Air Interface

for Long and Medium Distance) standard and other relevant standards

identified during the course of the project.

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SISTER Analytical Stream

Satellite Data Broadcasting (SDB) Satellite Narrowband bidirectional data transmission (SND)

Vehicle Navigation Service

Digital Maps Update

Traffic and weather information

POI information update

RTK data

GPS signal authentication

Safety & Security Services

eCall

Theft detection

Remote Vehicle Diagnostic

PAYD insurance

Road User Charging

Commercial Vehicles Services

Fleet Management systems

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Warren

[NETWORK RTK]



Applications Proof Of Concept

Road User Charging

Czech Republic

Integrated ServicesDVGT + eCall + RUC

Antwerp - RotterdamEnhanced GALILEO

Services(RTK + reconfigurable

receiver)

UK – East Midlands

E-Call

Sweden

SISTER Practical Stream

Digital Map Updating

Germany – Austria - Slovenia

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Warren

[SKY-TEL Note: NETWORK RTK



Selected communication networksSISTER Practical Stream

GPRS, Iridium, Thuraya, WorldSpaceDangerous and Valuable Goods

Transport

------

WorldSpace(Enhanced GPS streaming,

authentication, GPS receiver Firmware updat )

Enhanced Galileo Service

------WorldSpace

(Map updates, traffic&weatherconditions, Points of Interest)

Remote Map Updating

GPRS, Iridium, Thuraya------eCall

GPRS, Iridium, Thuraya(polling request&reply, billing)

WorldSpace(tariffs updates, meta data*, polling,

OBU software update )RUC

Bi-directional FWD and RTNBroadcast FWDApplication

*data associated with maps (like virtual gantries, POI, etc.)

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SISTER User TerminalSISTER Practical Stream

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SISTER Standardisation stream

802 Group of Communication StandardsIEEE

Frequency allocationITU

New founded TC-ITSETSI

TC278(Applications, e-Call)

CEN

TC204WG16 (Communications). ISO

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Variable Message Sign

Terrestrial BroadcastRDS, DAB

UMTSWiMAX

Info-Broadcaster

GSM-GPRS

Sat-Comm

BroadcastTransmitter

Vehicle-to-Vehicle (M5, IR, MM)

Hot-Spot(Wireless LAN)

GPS, Galileo

Beacon•CALM-M5•CALM-IR

•CEN-DSRC

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Warren

[See previous: NETWORK RTK used for high accuracy location.]




CALM-Satellite Draft Standard ISO/WD29282

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Special one-day session on satellite communications at the ISO TC204 WG16

“CALM” meeting

Paris, week from 09th to 13th of June

ContactNigel Wall

[email protected]+44 1473 210159 (office)+44 7802 204759 (mobile)

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Warren

Warren


Thank You!

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Back-up Slides

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Satellite Standards Issue

Do we need two standards in CALM?

Peer-peer data

• eCall, Road Toll payment, service booking• Does this include voice? (circuit switched & VOIP ?)Broadcast data

• Map updates, traffic & weather conditions, road use charge data,Galileo Assistance (possibly augmentation)

• Same standard should cover terrestrial broadcast eg DAB Unacknowledged Data ArchitectureLack of confirmation means that information is repeated for a long period (carousel) . This is needed because static vehicles are likely to have their receivers powered down, or parked our of coverage. Ideas to make this more efficient

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SISTER eCall Service

Service Service ProviderProvider

Iridium

GPS

GSM/SMSTest vehicles

IridiumThuraya

Thyraya

InternetInternet

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(sky-tel) re existing & planned n-rtk networks us & worldwide

Documents