the canada-wide differential gps service: initial test...
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Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
The Canada-wide Differential GPSService: Initial Test Results
Richard B. Langley, Hyunho RhoDepartment of Geodesy and Geomatics Engineering
University of New Brunswick
Fredericton, N.B.
Amin KassamBase Mapping and Geomatic Services Branch
Ministry of Sustainable Resource Management
Victoria, British Columbia
Session G01 • IUGG 2003 • Sapporo, Japan. • 3 July 2003
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
Introduction
Purpose:Evaluation of the CDGPS Performance in Canada
Data:2003 June 7- June 21.24 hours RINEX data used from six IGS stations - To see theoverall accuracy.CDGPS NMEA output data and UNB1 Javad RINEX data -To evaluate the CDGPS receiver performance.CDGPS and WAAS Correction Messages - To analyze theerrors by UNB RTCA/MRTCA Correction Software.CHUR RINEX Data – To compare WAAS and CDGPSpositioning results
Analysis for ionospheric correction:2003 June 9 and 2003 June 18.
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
A Canadian Federal/Provincial/Territorial collaborative program to provide:
• Public infrastructure of real-time GPS Corrections(“GPS••C”) via L-band geostationary communicationssatellite (initially).
• Develop an initial user radio/receiver.
• Create enabling environment for private sectoradoption of the infrastructure
What is CDGPS?
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Key Team Members
• Amin Kassam (Project Manager), Brad Hlasny,& Vern Vogt (British Columbia government)
• Kim Lochhead (Canadian government)
• Gyles Panther (WiSys, Inc.;Mobile KnowledgeInc.)
• Michael Carter (M.A. Carter & Associates)
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Background
•• National proposal at CCOG (Sept ‘99) by BritishNational proposal at CCOG (Sept ‘99) by BritishColumbia and Ontario.Columbia and Ontario.
•• Program sponsors: Federal, Provincial, TerritorialProgram sponsors: Federal, Provincial, TerritorialGovernments ($3.6 million over 5 years)Governments ($3.6 million over 5 years)
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Context
•• Provides an infrastructure to enhance delivery of the CanadianProvides an infrastructure to enhance delivery of the CanadianSpatial Reference System (CSRS) to all CanadiansSpatial Reference System (CSRS) to all Canadians
fifi Complements Coast Guard and WAASComplements Coast Guard and WAAS
infrastructuresinfrastructures
fifi Dual frequency benefits Dual frequency benefitsGPS
CDGPS
Coast
Guard
U.S.WAAS
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS System Architecture
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
End User Open Interface
GPS ConstellationGPS Constellation
MSAT-1 & -2MSAT-1 & -2CommunicationsCommunications
SatellitesSatellites
UserUserGPSGPS
Mobile GISMobile GISApplicationsApplications
CDGPS CDGPS ReceiverReceiver
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Receiver (antenna not shown)
Size and Mass14 x 11 x3.5 cm. (500 g)(5.5” x 4.5” x 1.5” 1 lb)
Output3 options:• NMEA• RTCM• MRTCA(GPS•C)
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
MSAT-1 and -2 Coverage
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Effective Coverage
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Ionospheric Modeling Availability
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Launch Status
• Alpha trials October 2002
• Beta trials June 2003
• Service launch July 2003
• 1000 radios to be manufactured in 2002/03.
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
Performance Evaluation
• Used Software:
– UNB RTCA/MRTCA Correction Software
• Used IGS Stations– ALBH- South West Side of CDGPS Coverage.– WHIT- North West Side of CDGPS Coverage.– CHUR –Northern Middle Side of CDGPS Coverage.– DUBO –Southern Middle Side of CDGPS Coverage.– SCH2 – North East Side of CDGPS Coverage.– UNB1 – South East Side of CDGPS Coverage.
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
The Six IGS Stations(Overall accuracy for CDGPS)
SCH2
UNB1
WHIT
ALBH
CHUR
DUBO
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
UNB RTCA/MRTCA Correction Software
RINEX DATA ( Nav, Obs)
Corrections:
Satellite Ephemeris/Clock:
Ionospheric Correction:
Tropospheric Correction:
Weighting Scheme:(Reduce Noise)
Carrier Phase Smoothing:
SPP Program WAAS Program CDGPS Program
No WAAS CDGPS(NAD83(CSRS))
Klobuchar WAAS/Klobuchar CDGPS/Klobuchar
UNB3/Niell UNB3/Niell UNB3/Neill
Elevation angles WAAS Eph. Sigma+ CDGPS Eph. Sigma+ WAAS Iono. UIVEs+ CDGPS Iono. UIVEs+ Elevation angles Elevation angles
Yes (Optional) Yes (Optional) Yes (Optional)
Point Positioning Results (N, E, H)
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
-2.000
-1.000
0.000
1.000
2.000
3.000
4.000
5.000
SPSHoriz
WAASHoriz
CDGPSHoriz
SPS Ht WAASHt
CDGPSHt
07-Jun-03
08-Jun-03
09-Jun-03
10-Jun-03
18-Jun-03
Comparison SPS, CDGPS and WAAS PositioningResults at CHUR
Unit: Metres
Horizontal Errors: 95% Probability ErrorsVertical Errors:Mean Bias
Err
ors
[met
res]
SPS Horiz WAAS Horiz CDGPS Horiz SPS Ht WAAS Ht CDGPS Ht07-Jun-03 4.006 1.502 1.389 -0.708 0.457 -0.09508-Jun-03 3.578 1.535 1.283 -0.523 0.372 -0.08509-Jun-03 3.463 1.750 1.132 0.051 0.543 -0.10910-Jun-03 4.360 1.605 0.996 -1.140 0.336 -0.57518-Jun-03 3.544 1.886 1.109 -1.402 0.662 -0.467
Mean 3.790 1.656 1.182 -0.744 0.474 -0.266
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
0.000
1.000
2.000
3.000
4.000
5.000
6.000
7.000
8.000
158
159
160
161
163
164
165
167
168
169
171
Day of Year (2003)
Javad Horiz
CDGPS Horiz
Javad Ht
CDGPS Ht
Comparison of CDGPS Receiver and UNB1Javad Receiver Results at UNB
Err
ors
[met
res]
Horizontal Errors: 95% Probability ErrorsVertical Errors:2 d. r.m.s
Unit: Metres
Used Data: June 7 – 20 2003
Javad Horiz CDGPS Horiz Javd Ht CDGPS HtMEAN 1.875 3.056 2.800 6.063
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
0.0000.5001.0001.5002.0002.5003.0003.5004.0004.5005.000
Erro
rs [m
]
ALBH WHIT DUBO CHUR UNB1 SCH2
IGS Stations
Horiz. 95%
Horiz. 2 d.r.m.s
Vert. 2-sigma
CDGPS Accuracy - Six IGS Stations[High Quality Receiver – 13 day mean]
WESTCanada
EASTCanada
Unit: Metres
Used Data: June 7 – 20 2003 (No correction data – June 11)
ALBH WHIT DUBO CHUR UNB1 SCH2Horiz. 95% 1.595 1.599 1.635 1.210 1.886 1.547Horiz. 2 d.r.m.s 2.021 1.720 1.738 1.499 2.550 2.335Vert. 2-sigma 3.629 2.489 2.590 2.457 3.180 4.530
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Ionospheric Grid Delays(2003 June 9)
−100 −95 −90 −85 −80 −75 −70 −65 −60 −55 −5020
25
30
35
40
45
50
55
60
65
70CDGPS Ionospheric Grid Delays − East (09−Jun−2003) @UNB−WAASLAB
Longitude (Deg)
Latit
ude
(Deg
)
0 6 12 18 240
5
10
15
met
res
UTC(hours)
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Ionospheric Grid Delays(2003 June 18)
−100 −95 −90 −85 −80 −75 −70 −65 −60 −55 −5020
25
30
35
40
45
50
55
60
65
70CDGPS Ionospheric Grid Delays − East (18−Jun−2003) @UNB−WAASLAB
Longitude (Deg)
Latit
ude
(Deg
)
0 6 12 18 240
5
10
15
met
res
UTC(hours)
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
met
res
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
0 6 12 18 240
5
10
15
0 6 12 18 240
5
10
15
UTC(hours)
0 6 12 18 240
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
150 6 12 18 24
0
5
10
15
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Grid Ionospehric Vertical Errors(2003 June 9)
−100 −95 −90 −85 −80 −75 −70 −65 −60 −55 −5020
25
30
35
40
45
50
55
60
65
70CDGPS GIVEs − East (09−Jun−2003) @UNB−WAASLAB
Longitude (Deg)
Latit
ude
(Deg
)
0 6 12 18 240
1
2
met
res
UTC(hours)
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Grid Ionospehric Vertical Errors(2003 June 18)
−100 −95 −90 −85 −80 −75 −70 −65 −60 −55 −5020
25
30
35
40
45
50
55
60
65
70CDGPS GIVEs − East (18−Jun−2003) @UNB−WAASLAB
Longitude (Deg)
Latit
ude
(Deg
)
0 6 12 18 240
1
2
met
res
UTC(hours)
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
met
res
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
0 6 12 18 240
1
2
0 6 12 18 240
1
2
UTC(hours)
0 6 12 18 240
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
20 6 12 18 24
0
1
2
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
0 6 12 18 240
0.5
1
1.5
2
2.5
3
3.5
Comparison Iono. Vertical Delays at −chur030609ion.txt
GPS Time (Hours)
Vert.
Del
ays(
m)
CDGPS IonoWAAS Iono
Comparison Ionospheric Vertical Delays at CHUR [Absolute Mean – 20030609]
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
0 6 12 18 240
0.5
1
1.5
2
2.5
3
3.5
Comparison Iono. Vertical Delays at −chur030618ion.txt
GPS Time (Hours)
Vert.
Del
ays(
m)
CDGPS IonoWAAS IonoKlobuchar Iono
Comparison Ionospheric Vertical Delays at CHUR [Absolute Mean – 20030618]
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
Summary
Overall positioning accuracy for CDGPS is around 1.5metres in horizontal and 3 metres in verticalcomponent.
The accuracy depend on quality of receiver.
In the case of CDGPS receiver, the accuracy is almosttwo times worse than high quality receiver inhorizontal and vertical components
The accuracy of the ionospheric delays depend on thenumbers and locations of reference stations.
There are small differences (around 1.6m in earlymorning) of ionospheric vertical delays betweenCDGPS and WAAS.
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
Conclusions and Future Developments
During the time periods of analysis, there was nostrong ionospheric disturbances.
It is better to further analyze the CDGPSionospheric model in ionospheric stormconditions.
We might get better accuracy by improvingionospheric grid model in CDGPS.
To improve the CDGPS corrections andpositioning overall accuracy, it might be good toconsider to adding a few more reference stations.
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
CDGPS Future Plans
• Improve ionospheric grid modelling
• Add additional reference stations
• Encourage receiver manufacturers to– Utilize MRTCA output from CDGPS Rx
– Directly demodulate MSAT signal
• Dual-frequency capability possible– Expect 20-30 cm (95 %) positioning
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
0 6 12 18 244
6
8
10
12Horizontal and Vertical Errors −chur030609.out
# o
f S
ats
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 240123456789
10
Horiz. E
rrors
(m
etr
es)
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24−10
−5
0
5
10
GPS Time (Hours)
Vert
. E
rrors
(m
etr
es)
Comparison Positioning Results at CHUR20030609
−10 −8 −6 −4 −2 0 2 4 6 8 10−10
−8
−6
−4
−2
0
2
4
6
8
10SCATTER PLOT(2d/95%)− chur030609.out
Metres
Met
res
0 1 2 3 4 5 6 7 8 9 100
10
20
30
40
50
60
70
80
90
100CUMULATIVE DISTRIBUTION ERROR− chur030609.out
Metres
Pro
babi
lite
%
SPSWAASCDGPS
Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick
RBL/IUGG3 July 03
Comparison Positioning Results at CHUR20030618
−10 −8 −6 −4 −2 0 2 4 6 8 10−10
−8
−6
−4
−2
0
2
4
6
8
10SCATTER PLOT(2d/95%)− chur030618.out
Metres
Met
res
0 1 2 3 4 5 6 7 8 9 100
10
20
30
40
50
60
70
80
90
100CUMULATIVE DISTRIBUTION ERROR− chur030618.out
Metres
Pro
babi
lite
%
SPSWAASCDGPS
0 6 12 18 244
6
8
10
12Horizontal and Vertical Errors −chur030618.out
# o
f S
ats
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 240123456789
10
Ho
riz.
Err
ors
(m
etr
es)
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24−10
−5
0
5
10
GPS Time (Hours)
Ve
rt.
Err
ors
(m
etr
es)