Week08 Gps

Week 08
Prepared by
Assist. Prof. Dr. Himmet KARAMAN
Contents GPS Mathematical Models &
Observation Techniques
ISTANBUL TECHNICAL UNIVERSITY - DEPARTMENT OF GEOMATICS ENGINEERING
2
Point positioning with code ranges
Point positioning with carrier phases
Point positioning with doppler data
Precise point positioning
Differential positioning
Relative positioning
Phase differences
GPS surveying techniques
Initialization methods
Point Positioning with Code Ranges
3
The code range at epoch t can be modeled as
The desired coordinates of the receiver site are
implicit in the distance
r
s
(t) and can be calculated
as;
Where X
s
(t), Y
s
(t), Z
s
(t) are the components of the
geocentric position vector of the satellite at epoch t
and X
r
, Y
r
, Z
r
are the three earth-centered, earth-
fixed (ECEF) coordinates of the observing receiver
site.
) ( ) ( ) ( t c t t R
s
r
s
r
s
r
o A + =
( ) ( ) ( )
2 2 2
) ( ) ( ) ( ) (
r
s
r
s
r
s s
r
Z t Z Y t Y X t X t + + =
Point Positioning with Carrier Phases
4
Pseudoranges can also be obtained from carrier
phase measurements. The mathematical model for
these measurements is;
Where
r
s
(t) is the measured carrier phase
expressed in cycles.
) ( ) (
1
) ( ) ( t f N t t f t
r
s s
r
s
r
s
s s s
r
o
o + + = + u
Point Positioning with Doppler Data
5
The mathematical model for Doppler data is;
And can be denoted as the observed Doppler shift
scaled to range rate.
is the instantaneous radial velocity between the
satellite and the receiver.
is the time derivative of the combined clock
bias term.
) ( ) ( ) ( t c t t D
s
r
s
r
s
r
o

A + =
) (t
s
r
) (t
s
r
o
A
Precise Point Positioning
Desired ionosphere-free combinations of code
pseudoranges and carrier phases for PPP are;
The unknown parameters to be determined are;
The point position contained in
The receiver clock error contained in
The tropospheric delay
Trop
and
Ambiguities
Based on this model, PPP may be applied either in static
or in kinematic mode.
2
2
2
1
2
2 2 2
2
2
2
1
2
1 1 1
2
2
2
1
2
2 2 2
2
2
2
1
2
1 1 1
2
2
2
1
2
2 2
2
2
2
1
2
1 1
,
f f
f N
f f
f N
c
f f
f
f f
f
c
f f
f R
f f
f R
Trop
Trop
+ A + A + =
u
A + A + =

o

o
6
Differential Positioning
7
Differential positioning with GPS abbreviated by DGPS, is
real-time positioning technique where two or more receivers
are used.
One receiver, usually at rest, is located at the reference or
base station with known or assumed coordinates and
Remote receivers are fixed or roving and their coordinates
are to be determined.
The reference station commonly calculates pseudorange
corrections (PRC) and range rate corrections (RRC) which
are transmitted to the remote receiver in real time.
The remote receiver applies the corrections to the
measured pseudoranges and performs point positioning
with the corrected pseudoranges.
Basic Concept of Differential Positioning
8
reference rover
corrections
j
k l
m
satellites
A B
j
A
j
B
DGPS wit Code Ranges

9
Code range at base station A to satellite s measured
at epoch t
0
may be modeled as;
where, is geometric range an s are the biases.
The pseudorange correction for satellite s at
reference epoch t
0
is;
Adapting to the rover site B and epoch t, the code
pseudorange measured at the rover is modeled as;
) ( ) ( ) ( ) ( ) (
0 0 0 0 0
t t t t t R
A
s s
A
s
A
s
A
A + A + A + =
) (
0
t
s
A
) ( ) ( ) ( ) ( ) ( ) (
0 0 0 0 0 0
t t t t R t t PRC
A
s s
A
s
A
s
A
s
A A A = =
) ( ) ( ) ( ) ( ) ( t t t t t R
B
s s
B
s
B
s
B
A + A + A + =
DGPS with Phase Ranges
10
The phase pseudorange measured at the base station A at
epoch t
0
can be modeled as;
The phase range correction at reference epoch t
0
is;
The formulation of range rate corrections at the base station A
as well as the application of predicted range corrections to the
observed phase ranges at the rover site B is carried out in full
analogy to the previously described code range procedure.
s
A
s
A
s s
A
s
A
s
A
s
N t t t t t + + + A + = u ) ( ) ( ) ( ) ( ) (
0 0 0 0 0
s
A
s
A
s s
A
s
A
s s
A
s
N t t t t t t PRC = u = ) ( ) ( ) ( ) ( ) ( ) (
0 0 0 0 0 0
s
AB
s
AB
s
B corr
s
B
s
N t t t + A + = u ) ( ) ( ) (
Relative Positioning
11
For determining the coordinates of an unknown point
with respect to a known point which, for most
applications, is stationary.
Relative positioning aims at the determination of the
vector between the two points, which is often called
the baseline vector or simply baseline.
Basic Concept of Relative Positioning
12
j
k l
m
satellites
A B
j
A
j
B
baseline
AB
b
The Concept
13
Let A denote the (known) reference point, B the
unknown point, and b
AB
the baseline vector.
The corresponding position vectors X
A
, X
B
;
The components of the baseline vector are;
AB A B
b X X + =
(
(
(
A
A
A
=
(
(
(
=
AB
AB
AB
A B
A B
A B
AB
Z
Y
X
Z Z
Y Y
X X
b
Phase Differences
14
Single-differences;
Two receivers and one satellite are involved.
Double-differences;
Assuming two points A,B, and the two satellites j,k, two
single differences acquired.
Triple-differences;
Phase Observables
15
k
l
m
n
A
errors other t t N t
c
f
t
A
k k
A
k
A
k
A
+ + + = ) ( ) ( ) ( ) ( | | |
Where,
k
A
: geometric range from A to k
k
A
N
: initial unknown integer number of cycles between k & A
k
A
|
: phase measured at A for k at time t
f : frequency of signal
c : speed of light
k
|
: Satellite clock error
A
|
: Receiver clock error
Other errors
= Tropospheric refraction + ionospheric refraction
+ noise & biases + multipathing effects
+ antenna phase center offset & variation + etc..
Single Differences
16
2 receivers & 1 satellite (substitute 2 phase
observable)
A
B
k
Single Difference Equation
17
c
f
t
A
k k
A
k
A
k
A
+ + + = ) ( ) ( ) ( ) ( | | |
Phase equation for station A and satellite k
c
f
t
B
k k
B
k
B
k
B
+ + + = ) ( ) ( ) ( ) ( | | |
Phase equation for station B and satellite k
(1)
(2)
Substituting (1) in (2)
errors other t N t
c
f
t
AB
k
AB
k
AB
k
AB
+ + + = ) ( ) ( ) ( | |
Double Differences
18
2 receivers & 2 satellites (substitute 2 single
differences)
A
B
k m
Double Difference Equation
19
Single Difference for satellite k
errors other t N t
c
f
t
AB
k
AB
k
AB
k
AB
+ + + = ) ( ) ( ) ( | |
Single Difference for satellite m
errors other t N t
c
f
t
AB
m
AB
m
AB
m
AB
+ + + = ) ( ) ( ) ( | |
(3)
(4)
Substituting (3) in (4)
errors other N t
c
f
t
km
AB
km
AB
km
AB
+ + = ) ( ) ( |
Generalized Mathematical Model for Double
Differencing
20
{ }
{ }
{ }
( )
( ) ( )
( ) ( )
2
& variation
km k k m m km
AB A B A B AB
k k m m
A B A B AB
k k m m
A B A B AB
f
t N
c
f
t
c
f
t
c
troposheric refraction
ionospheric refraction
multipathing effects
antenna phase center offset
noise
|

= + + +
+
+ A
+
+
+
+
+
Acronyms
21
m
A
k
A
m
B
k
B
km
AB
| | | | | + =
Phase difference
Rate of change on ranges
AB
t Arithmetic mean of the receiver clock errors at A & B
AB
t A Difference between the two receiver clock errors
m
A
k
A
m
B
k
B
km
AB
N N N N N + = Total integer ambiguity
Triple Differences
22
So far only one epoch t has been considered. To
eliminate the time-independent ambiguities,
differencing double-differences between two epochs
were suggested.
The Triple-difference equation is;
jk
AB
jk
AB
jk
AB
jk
AB
jk
AB
jk
AB
N t t
N t t
+ = u
+ = u
) (
1
) (
) (
1
) (
2 2
1 1
| |
) (
1
) (
form; simplified in
) ( ) (
1
) ( ) (
12 12
1 2 1 2
t t
t t t t
jk
AB
jk
AB
jk
AB
jk
AB
jk
AB
jk
AB
= u
= u u
Static Relative Positioning
23
In a static survey of a single baseline vector between
points A and B, the two receivers must stay
stationary during the entire observation session.
In the following, the single, double, and triple
differencing are investigated with respect to the
number of observation equations and unknowns.
It is assumed that the two sites A and B are able to
observe the same satellites at the same epochs.
The practical problem of satellite blockage is not
considered here.
Kinematic Relative Positioning
24
In kinematic relative positioning, the receiver on the
known point A of the baseline vector remains fixed.
The second receiver moves, and its positions is to
be determined for arbitrary epochs.
The models for single, double and triple difference
implicitly contain the motion in geometric distance.
Pseudokinematic Relative Positioning
25
The pseudokinematic method can be identified as
static surveying with large data gaps.
The mathematical model for double differences
corresponds where generally two sets of phase
ambiguities must be resolved since the point is
occupied at different times.
The time span between two occupations is an
important factor affecting accuracy.
The minimum time span should be one hour.
Virtual Relative Stations
26
When processing a baseline, the effects of orbit
errors, ionospheric and tropospheric refraction are
reduced by forming differences of the observables.
These effects grow with increasing baseline length.
Therefore, it is good practice to use short baselines
requiring a reference station close to the rover.
Real-Time Kinematic Survey is a good example for
this case.
Static survey
Rapid static survey
Stop and go survey
Continuous kinematics survey
Real-time kinematic (RTK) survey
Surveying Techniques
27
Stable platforms or pillars
Long distances (10 km to thousands of kilometres)
Long occupation time (hours to days)
Control surveys
Simultaneous recording at several stations
Observation rates varying from 5 to 30 seconds
Reducing multipath effects
Post-processing required
Static Survey
28
Shorter distances (up to 10 km)
Shorter occupation time (10 minutes)
Densification of control networks
Observation rates varying from a
second to a few seconds
Post-processing required
2 reference receivers required
Reference
receiver 1
Reference
receiver 2
1
2
3
4
Rapid Static Survey
29
Distances less than 1 km
1 minute occupation time
Observation rates of seconds
Initialisation required
Repeat initialisation when less
than 4 satellites are being
tracked
Reference receiver initialisation
Stop-and-Go Survey
30
Initialization required
Non-stop occupation
Observation rates of 1 second
Continuous Kinematic Survey
31
receiver
receiver
radio
radio
antenna
antenna
Real-Time Kinematic Survey
32
Initialization Methods
Static survey
static survey between any two points (usually short baseline) is performed with
sufficient measurements. Specific details are in equipment documentation.
A
B
Known baseline
survey is performed between any two
points whose coordinates are
previously determined. Usually one
epoch is sufficient. Only ambiguities
are estimated with constraining the
position vector.
33
Antenna swap
Step 1: Reference & rover receivers are located over well defined marks,
collecting simultaneous observations for a period of 1 minute (A)
Step 2: Reference & rover receivers are swapped without changing the
tripods, collecting observations for a period of 1 minute (B)
Step 3: Reference & rover receivers are swapped again to return back to
their original locations, for a period of 1 minute (C)
In general, the first two steps are sufficient to resolve the integer ambiguities.
However, the third step is recommended for a further check.
Reference Rover Rover Reference Reference Rover
A B C
34
On the fly
the first three methods require the receivers to be stationary
there are restrictions in some applications, such as aerial
photogrammetry where camera positions are determined with
GPS. It is not possible to stop the aircraft to perform the above
initialisation techniques.
The on the fly method resolves the integer ambiguities while the
receiver is moving.
5 satellites with good geometry are required, 6 or more are preferred.
Dual frequency receivers are required.
Ambiguity resolution in 5 minutes, 2 minutes with 6 or 7 satellites.
Specific details given in the equipment documentation.
35
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Week 08

DGPS wit Code Ranges

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