Upload
others
View
7
Download
0
Embed Size (px)
Citation preview
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Geodetic Challenges on Precise Positioning
& Navigation using GNSS Raw Data on
Smartphones along the NAVKA-Disy RaD
Project PREGON-X
Hochschule Karlsruhe Technik und Wirtschaft (HSKA) - University Applied Sciences
Laboratory on GNSS & Navigation
http://goca.info/Labor.GNSS.und.Navigation/index.php
RaD
www.dfhbf.de, www.goca.info, www.geozilla.de, www.navka.de
Email: [email protected]
Reiner Jäger
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Introduction
NAVKA (Navigation Technologies Karlsruhe) - Projects
GNSS/MEMS/Optical based State Estimation
Sensors providing Space / Parameter Relation
B.W. ZIM Network High Precise Realtime Navigation
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS / MEMS / MOEMS Algorithms and Software for Out-/Indoor Navigation (People, Vehicles, Goods) and Georeferencing with
distributed Sensors and Platforms
MOEMS
RaD Project
www.navka.de
https://www.youtube.com/watch?v=-k--3GxrQXU
Tbzeb
byeb
bxeb
eeeeeeeeeeee z y xy p r zyxz y xy s||||||,,,
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA-Projects
www.navka.de
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA-Projects www.navka.de www.volocopter.com
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Since April 2018 ZIM-Network High Precise Navigation B.W.
http://navka.de/index.php/en/weit
ere-projekte-3/project-zim-1de
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA – Sensor - Leverarm Consideration
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Accelerometer- Sensorobservation j (Rawdata, on i-th Platform (p) – one-dimensional!)
ipbp ],[ Rt
i
j
j,iss )],(,[ rt
Orientation j-th
Sensor (s)
on i-th Platform (p)
j,i
pij,si
sin
sincos
coscos
r
j,i
i
ijj,i
see
ieeie
eeie
ee
be
i,pb
p
ss
])t( )t(2 )()t([
)y,p,r(a
xΩΩxΩxgx
RRr
i
j,i
i
j,ij,i
p
s
p
ssa ar i,es
be
i,pb
p
s j,i
i
j,i)y,p,r( aRRa
Observation-Equation for Sensor j
on Platform i
Sensors GNSS/MEMS/OPTICAL - Multisensor/Multiplatform
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
][)y,p,r(j,i
ps,p
bp
bp,b
eb
eb
es
i
iiij,itRtRxx
j,i
i
ijj,i
see
ieeie
eeie
ee
be
i,pb
p
ss
])t( )t(2 )()t([
)y,p,r(a
xΩΩxΩxgx
RRr
Referencing : Platform p(i) on Body (b) and Sensor s(i,j) on Platform (i) – „Leverarms“
(1)
(2)
„l(i,j)“
Observation-Equation for Sensor j
on Platform i
Sensors GNSS/MEMS/OPTICAL - Multisensor/Multiplatform
bz,eb
by,eb
bx,eb
bz,eb
by,eb
bx,eb
eeeeeeeeeeee | |z y x||y p r| zyx|z y x)t( y
Tbz,eb
by,eb
bx,eb
eeeeeeeeeeee |z y x||y p r| zyx|z y x)t( y
From 15 to 18
Parameters y(t)
Change in StateTransition
Model and Estimation on y(t)
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA – GNSS and Smartphone Related Developments
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GPS Orbit and GlONASS Orbit
Chinese
COMPASS Orbit
Orbit – Segment Galileo
28 Dec.2005 Giove-A lift off
05:19 UTC Baikonour,
Kazakhstan Galileo Satellite
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone => New Age, in 2017/2018
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
OPPP – E1/E5 and
L1/L5
Phasemeasurements
– 21. Sept. 2017 -
1 cm
OPP-K global
Positioning
• GNSS-Receivers
• Smartphones
GNSS receiver
„BCM47755“
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone => New Age, in 2017/ 2018
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
1.) MEMS-Gyro
Observation l:
nin
pn
pip
pnp )y,p,r( ωRωω
pipω
2.) MEMS-Accelormeters
Observation l: ap
pip
ii )t()()t( aRxgx
New Way SatNav&MIT B.W. Joint RaD Project (NAVKA):
Autonomous MEMS-Sensors + New Algorithms „Deep-Coupling“
2. Autonomous
References: Inertial Space (i) and Gravity Field
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
4.) Magnetic SensorsAuxiliary Sensor
Reference: Earthmagnetic Field MReference: Earth Atmosphere
2. Autonomous
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smatphone – Variants 1.2 and 3
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Camera
Global System Xe, Camera (c) System X‘ and Point Pk
)(),,(
'z
'y
'xO,ek,eTe
c
k
xxR
Central-Projection Camera-System
k
k
k,c
'y
'x
'z
c
cv
cu
y
x
k
kk,c
'z
'y
'x
c
cv
cu
y
x
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKASMART-
Phone Marker
APP (Optical
Markers, LED,
Infrared)
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smatphone – Variants 1.2 and 3
c
c
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
)(tVOv
bVOt
Final Observation Equation in Tight Coupling
1.)
Velocity - Observation from the differentation of
subsequent VO-based position-differences
General leverarm-situation for Camera
VObzyx rrr ),,(R
)t(ωRxRRvb
eb
e
b
e )y)p,(r,(t)(y)p,(r,(t) b
VO
b
e
VO
b
VO
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone – Variants 1.2 and 3
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
2.) Orientation-rate observation from the subsequent VO-based orientation change
General leverarm-situation for Stereo-Camera
)(, tVOVOeΩ
Final Observation Equation in Tight Coupling
bVOt
VObzyx rrr ),,(R
TVOb
0
bVOb,
bbe,
0
beFrame,Object
VOb
TVOb
bVOFrame,Object
VOb
VOVO,Frame"Object"
)()(t)(t)(t)(
)((t))((t)
RΩΩΩR
RΩRΩ
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone – Variants 1.2 and 3
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA – State Estimation
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Tbz,eb
by,eb
bx,eb
eeeeeeeeeeee |z y x||y p r| zyx|z y x)t( y
....]t)(!2
1tI[)tt()t( 22b
ebbeb
be
be ΩΩRR
Orientation / Attitude
bie
bib
beb )Sensor( ΩΩΩ with
Space Curve of the body (b ) in the e-frame
)tt()t( beb
beb ΩΩ
Rotation Rates of the Body (b ) with respect to the e-frame
State Transition-Equations for the body (b) in the e-frame
Modifcation
of the State
Parameters
and
Equations
by
Considering
Special Conditions
Detected in
Multithreading
Computing
NAVKA Multisensor-Multiplatform Leverarm Design
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA Multisensor-Multiplatform Leverarm Design
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA Multisensor-Multiplatform Leverarm Design
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
0yF )t(( oyFu ))t((
Zero-Updates („ZUPT“) „Indoor-Map-Matching“„Automotive Mode“
Roll
Velocity
General M-Estimation & Additional State InformationRobust Kalmanfiltering using L1-Norm Simplex Algorithms
Parallel Processing Algorithms
Condition Equations Condition In-Equations
3.3) Sensorintegration
Tachometer MOEMS
Laser-
Scanner
SLAM
Markov-Chain
& Bayes -
Approach
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
ZIM Cooperation Project on Mobile GIS
PREGON-X
- Precision GNSS and Georeferencing on Smartphones, Tablets etc. = x –
-
Funded as ZIM (Zentrales Innovationsprogramm Mittelstand) project by the
German Ministry on Economy and Energy ((Bundesministerium für Wirt-
schaft und Energie).
NAVKA-Project IAF/HSKA
www.navka.de
and DISY
(www.disy.net)
PREGON-X
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
ZIM Cooperation Project NAVKA DISY
on “Mobile GIS”
Precise GNSS/Georeferencing On Smartphones
(PREGON-X)
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Variants 1.1, 1.2, 2 and 3
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
2
3
4
TRIMBLE
VRSNOW
4 RTCM Services: 1-3 cm Horizontal and Height
Geodetic Infrastructures for GNSS-Services (GIPS):
www.moldpos.eu
www.geozilla.de
1
SRPOS Siberia
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone => From DGNSS to PPP-K
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
International GNSS-Service (IGS „RTS“: http://rts.igs.org/
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone => From DGNSS to PPP-K
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
August 2017: Joint Venture „Sapcorda Services“ (Bosch, Geo++, Mitsubishi, ublox)
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone => From DGNSS to PPP-K
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Smartphone and Tablets for Mobile GIS and Geo-Referencing
Survey on Existing Solutions
Limitation concerning Direct Object Access
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Variants 1.2 and 3
bz,eb
by,eb
bx,eb
bz,eb
by,eb
bx,eb
eeeeeeeeeeee | |z y x||y p r| zyx|z y x)t( y
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Smartphone and Tablets for Mobile GIS and Geo-Referencing
Survey on existing Solutions. 2.) Contact-free Georeferencing
Not new (using laser-distance unit or optics/camera !)
http://www.ikegps.com/spike/
With lase already „done
in 2012“ by NAVKA
http://www.navka.de/ind
ex.php/en/overview
• PPP-K not operable
• In „advance to time“
Current
Master-
Thesis
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
NAVKA
Hardware Developments
in
PREGON-X
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
As the diagram denotes,the data from the GPS receiver ublox M8T is transmitted to the Bluetooth module NINA -B112. The power supply can be provided through the USB port or through the backup power supply through the battery on board.
PREGON-X
Smartphone
for Mobile GIS
and Geo-
Referencing
Variant 1.1
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and
Geo-Referencing - Variant 1.1 – EAGLE Layout
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-
Referencing - Variant 1.1 – GNSS/BT Board
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS and Challenges
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Code- or „Pseudorange“ Observation and Modeling
Pseudorange or Code-Observation
))()(())()(()( ,, jSjiRijjSi
iRObs
jiObsi
ji ttttcttttcct
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Code- or „Pseudorange“ Observation and Modeling
Pseudorange Modeling in ECEF and GNSS-time
))()(())()(()( ,, jSjiRijjSi
iRObs
jiObsi
ji ttttcttttcct
)()( jjSi
iRObs
ji tttt
jSiRjijjSi
iRObsi tctcttcttttct ,,)())()(()(
jSiRj
jiObsi tctcttt ,,),,(~)( o
jSiRj
jjSi
IRObsi tctcttt ,,),(
~)(
~)( oxx
jSiRj
iijSi
IRObsi tctcttt ,,),(
~)(
~)( oxx
jSiRji
jí
ijSi
IRObsi tctc
c
tttt ,,),
)(~(
~)(
~)(
oxx
with
))(~
(~
)(~
)(~
c
tttt i
jí
iSiRi
xxwith
1. Without Atmosphere corrections
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Code- or „Pseudorange“ Observation and Modeling
2. With Atmosphere (Ionosphere and Troposphere)
jTROPi
jIONijSiR
jijí
iSiRObsi tctcc
tttt ,,,,),
)(~(
~)(
~)(
oxx
))(~
(~
)(~
)(~
c
tttt i
jí
iSiRi
xxwith
Pseudorange Modeling in ECEF and GNSS-time
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Positioning and Modeling
3. Geodynamic Corrections
1. 3D-Earth Tide Corrections
3.2. Ocean Loading (IERS Standards, 1996)
3.3. Atmospheric Loading
3.4. Earth Orientation
Pr)( RRRRR NEPei t )t()t()t( ie
ie
xRx
Equation" Time Light" :Iteration - t
jijí
iSiR
ijí
c
ttt
)(~
)),)(~
(~
)(~
oxx
Light Time Equation
- Can be solved iteratively exactly based on GNSS
time t(i), Orbit oj and good position xR(t(i))
- Must be solved in repeated parameter estimation,
if and xR(t(i)) are unknown)(, iiR tt
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Code- or „Pseudorange“ Observation and Modeling
Pseudorange Modeling in ECEF and GNSS-time
with
jTROPi
jIONijSiR
jijí
iSiRObsi tctcc
tttt ,,,,),
)(~(
~)(
~)(
oxx
andc
tiji
i
)(~
)(''''
2
2
c
U
c
v
2
1
m
m
m
mm
f
f
f
ff
x
x
x
xx
t
t
t
tt
c
tt i
ji
i
)(~""
R
1
thR
1
cc
U
EiE22 )(
4.1 Special and General Relativity in general
4.2 GNSS pseudorange-observation scenario
4. Additionally: Relativistic effects (Special and General Relativity)
and
Equation" Time Light" :Iteration - t
jijí
iSiRObsi
ijí
c
tttt
)(~
)),)(~
(~
)(~
)(
oxx
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Code- or „Pseudorange“ Observation and Modeling
Pseudorange Modeling in ECEF and GNSS-time
jTROPi
jIONijSiR
jijí
iSiRObsi tctcc
tttt ,,,,),
)(~(
~)(
~)(
oxx
5. Final Rough Pseudo-Range observation equation
)()()))(sin()((
)(())()(()((
)),)(~
(~
)(~
)()(
,,,
,
)(~
ijTROPii
jIONi
j
i2ijS
iiREi
jSi
iR2iiR
Equation" Time Light" :Iteration - t
jijí
iSiRObsiObsi
tttEeac
2 ttc
)tttc
1ttc
c
ttttt
ijí
xωxx
oxx
Unknowns: )(),(),,( , iiRiR tttzyx
Corrections: Sagnac Ri, Relativity Sj Clock Sj
Further Corrections, Add. rel. clock variations, Add. ModelsION, TROP, Earth Dynamics
Observations:
)( iiR tt and
ObsjiObsi
ji ct )(
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Code- or „Pseudorange“ Observation and Modeling
Pseudorange Modeling in ECEF and GNSS-timejTROPi
jIONijSiR
jijí
iSiRObsi tctcc
tttt ,,,,),
)(~(
~)(
~)(
oxx
Further Clock/Time-Bias
• GNSS differential code biases (DCB)
DCB products
available from
01/2013
IGG – updated
daily (daily
interval)
DLR – updated
quarterly (both
weekly and
daily intervals)
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Phase Modelling in OPPP / PPP-K
“Wind-up
(“Phase wind up”)
)()(~)()( ,,,,jiji
jTROPi
jIONijSiRi
jí
t at ns"Observatio-Phase" as Stored
ObsijiObsi
ji NtctcttDt
Ri,
Uncalibrated phase delays
(UPD) relevant to undifferen-
ted integer fixing for PPP
//
Cm-accurate PPP
1. PPP (float): No ambiguity fixing → Long convergence time (hours)
2. PPP (fixed): Amb.-Fixing without further local information on
ionosphere and troposphere: 15 or more min.
3. PPP- RTK
3.1 Local information (e.g. Trimble Centre-Point-RTX, QZZS-CLAS)
3.2. Lin. Combinations (WL-NL(via L3), Melbourne-Wübbena,
Code-Phase-LK (GALILEO))
3.3 Ambiguity Function Methods (eliminates also Cycle Slips)
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
)dt)ff(int(])cyc['int(Dit
0t
tSRii Cycles Di at Phase-
Measurements. Error: „Cycle-
Slip(s)“
Doppler-Frequency Measurement Types
)(c
ff ff RS
RS
RSt
StR
tS rr
rr
rr
2.) General Measurment for
Positioning and Navigation
1.) Add. Measurement for
Positioning by Phase-Measurements
)(2
2
c
U
c
v
2
1ff
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
RTKLIB - Open Source Software (DGNSS/RTK, GNSS-PPP, Postprocessing
Open Source
DGNSS,
PPP-K
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smartphone => New Age, in 2017/2018
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
• Measurement Modes:I. Single mode.
II. DGNSS (e.g. SAPOS).
III. Kinematic.
IV. PPP-K.
• Raw data/RTCM corrections
• Connection through
Bluetooth, TCP/IP &
NTRIP client.
• Database for Object
management.
• Visualization through a map.
• Geocentric, Geographic &
UTM coordinates.
• (a), (b),(c) &(d) shows the
process of measuring and
visualizing a point in single
mode.
(a) (b)
(c) (d)
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
NAVKA Smartphone-RTK Software and Hardware
Variant 1.1 Pure DGNSS/PPP-K
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
DGNSS
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Variant 1.1 Pure GNSS / DGNSS
DGNSS
OSR-
corrections
1-2 cm for
2 Frequency
Receivers,
1-3 cm for
1-Frequency-
Receivers.
Longer time
for fixing the
ambiguities
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PPP-S/-K
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
• After 15 min: accuracy is within 20 cm
• After 60 min: accuracy is in the sub-cm level
6h measurement:• standard deviation:
• horizontal: 4.0 mm
• vertical: 2.0 mm
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Variant 1.1 Pure GNSS PPP-K with Precise SSR (L1/L2 GPS)
convergence times
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Variant 1.1 Pure GNSS, PPP-K and IGS - RTService
Results
KINEMATIC PPP (REAL
TIME – IGS/RTS
L1/L2 receiver (blue)
With Outliers!
Post-processed (green)
At present – replacing
IGS/RTS:
Predicted Orbit and Clock
File - recomputed at 1 Hz
with Bernese Software
In test phase
Realtime Results with L1/L2 GPS
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Smartphone Data and Antenna Problem
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
GNSS Raw Data Available on Smartphones
http://gpsworld.com/innovation-precise-positioning-using-raw-gps-measurements-
from-android-smartphones/
http://gpsworld.com/innovation-theres-an-app-for-that/
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Position estimates using pseudorange, Doppler and carrier-phase data. The plotted
estimates are differences with respect to the mean values in each component
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smatphone – Risks for PREGON-X Variants 2, 3
Ref.:
GPS
World
http://gpsworld.
com/innovation-
precise-
positioning-
using-raw-gps-
measurements-
from-android-
smartphones/
Does it make sense to develop algorithms & software round not appropriate
patch-antennas hardware ?
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Smartphone and Tablets for Mobile GIS and Geo-Referencing
GNSS Raw-Data on Smatphone „Mobile GIS“ Leica Geosystems
L1-based: 40 cm Accuracy ~. 7000.-
EUR
L1/L2 based 5 cm ~ 9000.- EUR
Garmin GPSMAP
64st GPS-
/GLONASS-
Navigationsystem
Turn from the
Patch antenna to a
„Retro“ Helix GNSS
Antenna for PPP-K
…... Just a Matter of
Time ?!
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Georeferencing and Standards
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Seamless Out-/Indoor Georeferencing and
Interoperability based on ITRF/ETRF89
http://inspire-geoportal.ec.europa.eu/
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Transformation Concepts
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
COPAG_DB
DFLBF_DB
1.)
Transforma-
tions-Para-
meters
&
2.) Residuals
Brasil
www.geozilla.de
3D-Datumtranformation Problem - Solution following Molodenski
FEM-Meshes - Regional 7/8 Parametersets. Continuity Conditions)
Genauigkeitsfläche
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Transformation -
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Height-Referencing and Geoid/Quasi-Geoid Computation
PREGON-X Smartphone for Mobile GIS & Geo-Referencing
Latvia 2018
Monoglia 2018
www.dfhbf.de
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
txR 1t,ITRFyy1zyx
1t,zzITRF1 )t(),,()m1()t(x
)tt( )t()t()m( )t()t( 12t.ITRFzz1)j(Pt.ITRFzz1t.ITRFzz1t.ITRFzz2 1112 xRtxRxx
2.7cm/y => 70 cm
(ETRF89 – ITRF)
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Transformation Concepts
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Using Reference Tranformations to compute grids dynamically
„Dynamic Grid“
„Combined Message Generation“
[(B,L,h)ITRF-related]i [(B,L)T , HT or N)]i
[(B,L,h)ITRF-related]i [(B,L,h)GNSS,ITRF]i
Part 1 - Plate Models
Part 2 - Standard Reference Transformations
Virtual Fitting-Points
Virtual Fitting Points
Dynamic Message Set up by local 7PT Gridding
RTCM 3.x Transformationmessages (2D/1D)
RTCM WG: 2004-2007
http://geozilla.de/files/110-2008-SC104-508.pdf
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Transformation Concepts
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Transformation Concepts
- Extension of NTV2 Standard for Transformation form ITRF
to Classical Datum Systems to “NT3D” -
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
PREGON-X Smartphone for Mobile GIS and Geo-Referencing
Transformation Concepts and RTCM-Questions
1.) Use of RTCM Server, e.g. GZTRaS, enabling Dynamic Grid Generation for 2D and 1D
2.) PREGON-X: Extension of NTV2 (2D only) to “NT3D” – 2.1) 2 Steps with
Smartphone Databases for both steps or a Dynamic NT3D-Grid as an Online Service
3.) Who minds RTCM standard further development? Signals ? SSR-Messages?
Time Shedules ?
Geodetic Challenges Reiner Jäger GSA Task Force GNSS-Raw-Data on Smartphones Prague, 30-May-2018
Further Information: www.navka.de
Book on Parameter-Estimation including Navigation 10/2018https://www.amazon.de/Klassische-robuste-Ausgleichungsverfahren-
Ausbildung-Geoinformatikern/dp/3879076154