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MADOCAにおけるPPP-AR機能の拡張と評価
2015-10-7 ~ 9 @かごしま県民交流センター
LHTC/東京海洋大学 ○高須知二LHTC 遠藤邦治富士通 中野将弥
JAXA 三吉基之 河手香織 小暮聡
第59回宇宙科学技術連合講演会
2H13
Contents
• MADOCA Overview
• PPP-AR
• FCB Estimation by MADOCA
• User-PPP Client
• Performance Evaluation
• Future Plan
2
MADOCAOverview
3
MADOCA
• For real-time PPP service via QZSS LEX– Many (potential) applications over global area
• Precise orbit/clock for multi-GNSS constellation– Key-technology for future cm-class positioning
• Brand-new codes developed from scratch– Optimized multi-threading design for recent CPU
– As basis of future model improvements
4
Multi-GNSS Advanced Demonstration toolfor Orbit and Clock Analysis
MADOCA Architecture
5
MGM-Net EKF
STRMON
Parameter Estimator
IGSetc
QZSSMCS
LSQ
MGPLOT MADOCA API
MGRTE
MGEST
RTCM,BINEX, Javad
LEXMT 12
RINEX,SP3, ERP
Data Interfaces Data Interfaces
LMG
MGGET
PPP-AR
6
PPP-AR: References
7
• M. Ge et al., Resolution of GPS carrier-phase ambiguities in Precise Point Positioning (PPP) with daily observation, J Geod., 2008
• P. Collins et al., Precise Point Positioning with Ambiguity Resolution using the Decoupled Clock Model, ION ITM 2008
• D. Laurichesse et al., Real time-difference ambiguities fixing and absolute RTK, ION NTM 2008
• W. Bertiger et al., Single receiver phase ambiguity resolution with GPS data, J Geod., 2010
Techniques for PPP-AR
8
• FCB (Fractional cycle bias) or UPD -based– M. Ge et al., (2008) : WL/NL UPD estimation
• IRC (Integer recovery clock) -based– D.Laurichesse et al., (2008): WL FCB + NL FCB in clock
estimation
– P. Collins et al., (2008) : Decoupled clock model (estimation of carrier-phase clock)
• Real-time PPP-AR– D. Laurichesse et al., (2010) Real-time PPP with
undifferenced integer ambiguity resolution (PPP-WIZARD)
Real-time Implementation
9
J. Geng et al., Towards PPP-RTK: Ambiguity resolution in real-time precise point positioning, Advances in Space Research, 2010
Ambiguity-Float
Position
Ambiguity-Fixed
Position
FCB Estimationby MADOCA
10
FCB Estimation Flow (1)
11
MGESTRINEX OBS
RINEX NAV
EOP
ANTEX
SINEX
SRP Par
Options
SP3
RINEX CLK
EOP
SINEX
SINEX TROP
Orbit Par
Ambiguity
FCB
GENFCB
Offline (Batch)
Orbit/Clock Estimator
FCB Estimation Flow (2)
12
EWL-FCBEstimation
WL-FCBEstimation
LC/WL/EWL Ambiguity
Separate Batches
SD-NL-FCB Filter
NL-FCB ZD-Decomp
NL-FCB Validation
NL/WL/EWL->L1/L2/L5
Output L1/L2/L5 FCB
Generate SD-Ambiguity
SD-EWL-FCB Filter
EWL-FCB ZD-Decomp
EWL-FCB Validation
SD-WL-FCB Filter
WL-FCB ZD-Decomp
WL-FCB Validation
NL-FCBEstimation
Input Ambiguity
L1/L2/L5 FCB
GENFCB
MADOCA FCB Product
## FRACTIONAL CYCLE BIAS BY GENFCB v.1.3
#s 3 L1 L2 L5
#
# UNIT: CYCLE
# ARC-START ARC-END SAT L1-FCB L1-STD L2-FCB L2-STD L5-FCB L5-STD
2014/10/07 00:00:00 2014/10/07 00:05:00 G01 0.20367 0.10219 0.20551 0.13064 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G02 -0.59485 0.11444 -0.71000 0.13594 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G04 -1.38683 0.09203 -1.65885 0.11767 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G05 1.62260 0.09611 2.03821 0.12201 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G06 0.60561 0.12469 0.72626 0.14952 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G07 -0.17487 0.09220 -0.16464 0.11795 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G08 -1.26310 0.09242 -1.74532 0.11818 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G09 -1.30650 0.10005 -1.90609 0.12712 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G10 0.35956 0.11857 0.53682 0.14065 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G11 -1.19034 0.10116 -1.59458 0.12948 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G12 -1.63534 0.11846 -2.04824 0.14092 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G13 0.78335 0.09871 0.90689 0.12562 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G14 -0.31354 0.11955 -0.40365 0.14133 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G15 -1.25226 0.09473 -1.53965 0.12077 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G16 -0.53209 0.11189 -0.69963 0.13353 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G17 -0.70799 0.09507 -0.93581 0.12082 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G18 2.83625 0.10039 3.34118 0.12745 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G19 -0.36605 0.09612 -0.55828 0.12218 0.00000 0.00000
2014/10/07 00:00:00 2014/10/07 00:05:00 G20 -2.90687 0.11546 -3.70499 0.13877 0.00000 0.00000
...
13
WL-FCB
14
GPS Block IIR/IIR-M
2014/10/1 - 2015/3/31
EWL-FCB
15152014/10/1 - 2015/3/31
GPS Block IF
NL-FCB
162014/10/1 - 2014/10/31
GPS Block IIR/IIR-M
17
Histogram of FCB Residuals
ALLRMS=0.1289N=51731(100.0%)
ALLRMS=0.1072N=51731(100.0%)
NL-FIXEDRMS=0.0935N=44131(85.3%)
NL-FIXEDRMS=0.0355N=44131(85.3%)
WL-FCB NL-FCB
ALL
AmbFixed
User PPP Client
18
User PPP Client
19
• Based on RTKLIB 2.4.2 p11
– PPP codes are completely re-written
• AR Modes– Conventional WL/NL and rounding
– Explicit STEC estimation and ILR (integer least square)
• Batch and Real-time APs– RNX2RTKP and RTKRCV AP
• TEC and ZTD can be output for local-corrections
Partial Fixing with ILS (1)
SOLUTION ERROR RATIO # OF FIXED AMBIGUITIES (N1,N2,...)
E(m) N(m) U(m)
---------------------------------------------------------------------------------------
0.0024 0.0074 0.0141 1.577 12 (57 72 53 10 39 -78 40 607 -1496 -165 -576 812)
0.0026 0.0084 0.0132 1.484 11 (57 72 53 10 39 -78 40 607 -1496 -165 -576)
-0.0144 0.0301 -0.0198 1.537 10 (57 72 53 10 39 -78 40 607 -1496 -165)
0.0404 0.0129 -0.0962 5.401 9 (57 72 53 10 39 -78 40 607 -1496)
0.0295 0.0151 -0.1035 4.105 8 (57 72 53 10 39 -78 40 607)
-0.2267 0.0351 -0.1898 13.118 7 (57 72 53 10 39 -78 40)
-0.2288 0.0359 -0.1848 13.131 6 (57 72 53 10 39 -78)
-0.2492 0.0396 -0.1930 49.235 5 (57 72 53 10 39)
-0.2505 0.0391 -0.1943 102.132 4 (57 72 53 10)
20
• LAMBDA decorrelation
• MLAMBDA search
• Validation by ratio-test
• Shrink search space
Partial Fixing with ILS (2)
21
FIX RATE= 93.9%
FIX RATE= 64.9%
WithoutPartialFixing
WithPartialFixing
-- FIX -- FLOAT
Local TEC and ZTD by PPP-AR
22
TEC(VTEC)
ZTD(Zenith
Total Delay)
PerformanceEvaluation
23
Kinematic PPP Accuracy
WTZ27 WTZ27
UCAL7 UCAL7
PPP PPP-AR
RMS E: 1.52, N: 0.94, U: 2.39 cm RMS E: 0.73, N: 0.64, U: 1.77 cm
RMS E: 0.91, N: 0.70, U: 1.89 cm RMS E: 0.49, N: 0.70, U: 1.19 cm
(GPS+GLO with MGF)24
Local Corr. with PPP-AR (1)
25
59.3km
59.1km
55.8km
Local Corr. with PPP-AR (2)
26
PPP
PPP-AR
PPP-AR withLocal Corr.
RMS (cm)E: 0.75N: 0.81U: 2.43
RMS (cm)E: 1.28N: 0.96U: 3.31
RMS (cm)E: 1.71N: 1.28U: 4.09
Fix Rate:99.4%
Fix Rate:99.2%
GEONET: 0627, with MGF
Local Corr. with PPP-AR (3)
27
PPP
PPP-AR
PPP-AR withLocal Corr.
Horizontal
Vertical
15 min Solution Convergence
GEONET: 0627, with MGF
Real-Time PPP-AR (1)
28
MGRTE
MADOCA
IGS/MGEX
MGM-Net
QZSS MS
NTRIPCaster
RTCMOBS
IGS RTService
GENFCB
GPS GLO QZS UDIntOrbit : 1057 1063 1246 30sClock : 1058 1064 1247 30sURA : 1061 1067 1244 30sHR-CLK: 1062 1068 1251 1sFCB : 2065 ---- 2068 900s
NTRIPCaster
PPP-ARUsers
RTCM 3
Real-Time PPP-AR (2)
29
PPP PPP-AR
2110
3001
Future Plan
• FCB Product by MADOCA– Offline Products
– Real-Time Products
– Broadcast via QZSS LEX in extended LEX MT12 messages
• PPP-AR-Client– Release with RTKLIB 2.4.3 ?
– The license depends on JAXA
• Enhancement PPP-AR Features– Triple Frequency (L1 - L2 - L5)
– Galileo and BeiDou with Orbit/Clock
30