Skybridge Spectrum Foundation & Telesaurus LLCs - Sky-Tel - Berkeley California 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.
 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.

2
[Margin notes by Sky-Tel]
[Some pages delted: See cover memo.]

The Role of the Private and Public Sectors

in the Development of a National CORS [Based on N-RTK]
Network for New Zealand:
[This mentions also CORS / N-RTK in Germany, Hong Kong, Japan, England, etc.]

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

Note>> 16 October 2009

Sky-Tel 12/28/2009 3 of 214

 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

 From GPS to GNSS

• 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
Sky-Tel 12/28/2009 (QZSS). 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
 GNSS interoperability

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

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

• 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)?

Sky-Tel 12/28/2009 7 of 214

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

Above is based on Accuracy but other major issues are

Availability, Continuity, Efficiency and Reliability
Sky-Tel 12/28/2009 8 of 214
 Positioning Infrastructure - CORS Networks

Sky-Tel 12/28/2009 9 of 214

 Range of GPS/GNSS Accuracy

CORS RTK Applications

Sky-Tel 12/28/2009 10 of 214
 Real TimeCentimetre Accuracy with
GNSS

Reference
Station
Broadcast
Receiver
Correction Remote Receiver

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;

9
Sky-Tel
From Rizos12/28/2009
- CRC SI Annual Conference 2008 11 of 214
 Positioning Infrastructure

Positioning Infrastructure is based on the

Global Navigation Satellite Systems…

Reference
Station 2

Reference
Station 1 User’s
Receiver

… and… a Network of
Continuously Operating
Reference Reference Stations (CORS)
Station 3

Sky-Tel
From Rizos12/28/2009
- CRC SI Annual Conference 2008 12 of 214
 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;

11
Sky-Tel
From Rizos12/28/2009
- CRC SI Annual Conference 2008 13 of 214
 Continuously Operating Reference
Station (CORS) Networks

• 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 [NOTE ^^]

• Variety of service/business models possible - even

within one country
[N-RTK should be free like GPS]

• How to maintain high quality RTK service provision…

subsidised CORS infrastructure? Fully commercial ops?

Sky-Tel 12/28/2009 14 of 214

 Administrative Models for CORS
[Most of these involve N-RTK or moving to it.]

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

Government network adequate, Govt offers

commercial service - Germany’s “SAPOS”.
^^ Note

Government network adequate, Govt offers

free service – Hong Kong
^^Note

Government network adequate, -

outsources service - Japan’s “GEONET”
^^Note

Government network not adequate and sells

data to third party – needs supplemental
stations provided by third party- England’s
^^Note
“OSNet”

No Government input -100% private sector

CORS

Sky-Tel 12/28/2009 15 of 214

 Obvious Trends

• From post-process mode to Real-Time…

^^ NOTE ^^
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

 Less Obvious Trends …

• The majority of RTK users may NOT be using “top-of-the-

line” multi-GNSS Rxs… e.g. cost-sensitive markets
^^ NOTE^^

• RTK services must not be “over-priced”, otherwise new

market growth will be stifled
Sky-Tel plans no cost N-RTK and other C-HALO in
the US - no cost like GPS.

• With the right market, technological & infrastructure

conditions, Precise Positioning will become much more
widespread than at present - e.g. addressing Location
Based Services applications Of course - understatement.
• The role of government internationally is still unclear -
competing with private sector? Or having a special role?

Sky-Tel 12/28/2009 17 of 214

 CORS Infrastructure Functional
Roles

Specify Stations Network Process Deliver

Specify System Own Stations Network the Data Process Network Deliver Service

• Target density, • Site selection • Data comms from • Data processing • Retail sale of data
coverage, accuracy, network stations products
• Site construction • Production of data
reliability and
• Control centre streams • Marketing
availability • Equipment
purchasing • QA of raw data • Distribution of • Rover equipment
• Site quality
data streams support
• Communications • Archival of data
• Equipment quality
• Data wholesaling • End user support
• Site maintenance
• Geodetic reference
• Retailer support • Liaison with user
frame (eg NZGD2000) • Updating
communications
equipment
• Data services providers
description
• Data access policy

Governance

Sky-Tel 12/28/2009 18 of 214

 GNSS Benefits

Sky-Tel 12/28/2009 19 of 214

 GNSS Precise Positioning Benefits
- Australia ^^ NOTE

• Recent study1 found productivity gains with

potential cumulative benefit AUD$73B to $134B
over next 20 years - in agriculture,
^^ NOTE- in Autralia^^

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 2008
Sky-Tel 12/28/2009 20 of 214
 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 2009
Sky-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 2009

Sky-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 Objective
Support provision of traditional geodetic control
Provision of data for other users to obtain consistent positions
e.g. post processed and real-time GPS data

Current Situation
33 sites in NZ, 1 on Chatham’s, 3 in Antarctica and 2 in
construction
30sec 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

Research Public Education

To understand and Encourage steps
reduce to reduce the
vulnerability to effects of geological
geological disasters

EQC
hazards

Natural
Disaster
Insurance
Mitigate the financial
impact of
geological disasters
on home owners

Sky-Tel 12/28/2009 35 of 214

 Learning from Earthquakes

Post-Disaster Investigation:
Northridge, California, 1994

Postgraduate Student Research

University of Canterbury

Sky-Tel 12/28/2009 36 of 214

 Design Standards Revision

Sky-Tel 12/28/2009 37 of 214

 Resilient Community

Transformation

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
Australian Plate
– Velocity maps / plate boundary
deformation
– Regional slow slip events
• Gisborne

• Analyse short term

Pacific Plate
displacements
– Dusky Sound earthquake M7.6
July 2009

Sky-Tel 12/28/2009 44 of 214

 Future Uses of RT CORS Data Within GeoNet

• 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

Sky-Tel 12/28/2009 45 of 214

 Future Uses of CORS Data Within RT GeoNet

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

Sky-Tel 12/28/2009 46 of 214
 Other Scientific Users of RT CORS Data

• 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

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

iBASE Overview
Slide content
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 licences

Sky-Tel 12/28/2009 50 of 214
 iBASE Network

iBASE Standards
Slide content
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

iBASE Future Plans and Goals

Slide content
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

“At least 90% of measurements

are within 20mm”

Reported & Relative

accuracy performance

“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

 Private Sector Experience

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

 Private Sector Experience

Case Study: D2000 5th order survey, Coromandel Peninsula

DHJ7

EEBV
AAJ1

EEBW

Sky-Tel 12/28/2009 62 of 214

 Private Sector Experience

Incorporating PositioNZ stations

SNAP SOLUTION SUMMARY

AUCK ============================================

Solution type: 3d coordinate adjustment

DHJ7
EEBV
AAJ1 Number of observations: 201
Number of parameters: 15
EEBW
Degrees of freedom: 186
Sum of squared residuals: 32.90084
Standard 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 limits

Horizontal accuracy: (error multiplier: 2.45)
Absolute: 50.0 mm
Relative: 10.0 mm 30.000 ppm
Vertical accuracy: (error multiplier: 1.96)
Absolute: 150.0 mm
Relative: 10.0 mm 100.000 ppm
TRNG
HAMT

Sky-Tel 12/28/2009 63 of 214

 Private Sector Experience

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

 Private Sector Experience

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 Stations Network Process Deliver

Specify System Own Stations Network the Data Process Network Deliver Service

• Target density, • Site selection • Data comms from • Data processing • Retail sale of data
coverage, accuracy, network stations products
• Site construction • Production of data
reliability and
• Control centre streams • Marketing
availability • Equipment
purchasing • QA of raw data • Distribution of • Rover equipment
• Site quality
data streams support
• Communications • Archival of data
• Equipment quality
• Data wholesaling • End user support
• Site maintenance
• Geodetic reference
• Retailer support • Liaison with user
frame (eg NZGD2000) • Updating
communications
equipment
• Data services providers
description
• Data access policy

Governance

Sky-Tel 12/28/2009 68 of 214

 New Zealand Model?

Specify Stations Network Process Deliver

Third party Third parties

network their stations Delivery of real
stations time services and
Real time data and LINZ/GNS stations,
Eg Trimble and then process the
other services to
Leica subscribers
Po combined network
st
-p
ro ta
ce
ss da
ed e
im
da
t a lt
a
Re
LINZ process Delivery of
Land Information for its own purposes and post-processed
LINZ PositioNZ
New Zealand delivery of post-processed services
stations services
(LINZ) (e.g. RINEX)
Network
managed
by LINZ and
GNS Science

Delivery of real
GNS GeoNet GNS process time services
GNS Science for its own purposes
Stations for science

Governance – Joint ventures overseen by LINZ?

Sky-Tel 12/28/2009 69 of 214
 Putting it all Together

PositioNZ stations

plus existing GEONET stations

plus existing Private Sector stations

plus possible future GEONET stations

Sky-Tel 12/28/2009 70 of 214

 Role of Public Sector

• 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
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 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

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 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

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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

GNSS NETWORK RTK

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 Contents

• Network RTK GNSS Positioning

• Sparse Network RTK GNSS Positioning

• Precise Point GNSS Positioning

• Comparison

• Conclusions and Discussion

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 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.

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 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 epochs

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 Static Performance of NRTK

• Availability: percentage of coordinates in which a NRTK solution

(integer ambiguities resolved) was achieved.

Test Availability (%) 100%

90%
80%
i-Max 1 99.00 70%
Max 1 99.23 60%
50%
VRS 1 99.95 40%
i-Max 2 98.54 30%
Max 2 97.74 20%
10%
i-Max 3 91.53
0%
Max 3 95.47
i-Max 1

Max 1

i-Max 2

i-Max 3
Max 2

Max 3

SB Long
VRS 1

SB Short
SB Short 99.80

SB Long 99.83
Better than 5 cm Better than 1 cm
ΔE (%) ΔN(%) ΔH(%) ΔE (%) ΔN(%) ΔH(%)

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 Kinematic Performance of NRTK

Availability (%)
Test Track Lost Stand- DGPS NRTK
Lock Alone

T1 1 16.41 0.48 37.83 45.29

Lost
Te s t Track Standalone DGPS Availability
Lock 2 9.58 0.00 39.60 50.82
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
T1
3 29.86 20.86 15.57 33.71
4 12.34 0.00 36.76 50.90 4 12.34 0.00 36.76 50.90
T2 - 7.44 0.00 52.80 39.77
T2 - 7.44 0.00 52.80 39.77

NRTK epochs DGPS epochs IMU/GPS epochs

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 Sparse Network RTK Positioning

153 RSs 10 RSs

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 Sparse Network RTK Positioning
Simulated results from other 9 RSs

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

1 CHUH SR530 1 8 0.0152 0.0117 0.0441

2 13 0.0077 0.0080 0.0235
2 INVE SR530 1 4 0.0122 0.0172 0.0652
2 4 0.0095 0.0061 0.0294
3 STOR SR530 1 9 0.0127 0.0150 0.0554
2 12 0.0061 0.0069 0.0277
4 ABBS SR530 1 6 0.0129 0.0080 0.0576
2 11 0.0105 0.0150 0.0234
5 SWAN SR530 1 5 0.0106 0.0132 0.0268
2 8 0.0084 0.0098 0.0458
6 DUNG SR530 1 18 0.0174 0.0124 0.0425
2 15 0.0219 0.0359 0.0403
7 PORT SR530 1 35 0.0250 0.0146 0.0399
2 6 0.0111 0.0067 0.0177
8 HORT SR530 1 23 0.0249 0.0153 0.0232
2 19 0.0181 0.0126 0.0236
9 IOMS SR530 1 14 0.0111 0.0063 0.0330
2 13 0.0117 0.0129 0.0110
Average 12.39 0.0137 0.0126 0.0350

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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 PPP
Through Ambiguity Resolution

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 A Prototype Real-Time PPP System

Comms links

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 Real-Time Orbit and Clock Products
Compared 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

Sky-Tel 12/28/2009 91 of 214

 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

Sky-Tel 12/28/2009 92 of 214

 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 willa_mcmanmon@trimble.com, or media,

Lea Ann McNabb, +1-408-481-7808, or leaann_mcnabb@trimble.com, both of Trimble

http://www.trimble.com/

Copyright (C) 2007 PR Newswire. All rights reserved

News Provided by COMTEX

Sky-Tel 12/28/2009 93 of 214

 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.
Sky-Tel 12/28/2009
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”.
94 of 214

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.
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).

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 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 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.
Figure 3: Sample screen of controller
NetSurv2000 is designed to purpose mobile uses such as Top: Surveying with RTK mode
Field Surveyor. This receiver consists of an iTron-based Middle: Satellite Visibility
microprocessor, dual frequency GPS board, serial port, Bottom: Precise navigation to desired point

Sky-Tel 12/28/2009 95 of 214

 stated previously, and reference point is not further than
JAPANESE NATION WIDE GPS NETWORK 10 Km because RTK has limited to the distance between
reference and rover. GEONET is very dense network but
Geographical Survey Institute (GSI) has established world it is not perfect to use ordinary RTK because its spacing
largest nation wide GPS network – GEONET is covering are 25-30Km. Network RTK techniques are developed to
all over Japanese islands. GEONET is established for the avoid this limitation. All of GPS data provider in Japan
purpose of crustal deformation monitoring to earthquake has installed Network RTK system to respond to provide
disaster management, atmospheric and meteorology study. reference data without gaps for all over Japan. The Real
The name of GEONET adopted from its purpose “GPS Time data streaming from monuments to user are figured
Earth Observation Network”. in Figure 5 included NGDS data server to understand the
GEONET consists from about 1200 of observation sites, position of GPS data providing server (company).
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 5: GPS Real time data streaming chart

NGDS are operating eleven VRS processors to provide

Figure 4: Typical monument and its inside
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.

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).
Figure 6: Regional blocks to process VRS in Japan
At the present, Japanese Surveyor and Location business
provider got world largest positioning infrastructure, but it Japan is largest GPS market and there are many location
is still not perfect for RTK positioning, because RTK businesses for consumer and professionals, GEONET are
needs observation data that observed at reference point as supporting these activities.

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 to NetSurv3000. Then it indicated in PDA controller and
ASP BASED RTK PROCESSING SERVICE performs its application.

We have established and operating brand new Application By using one NetSurv3000 receiver unit and eSurv ASP
Service Providers (ASP) for RTK positioning in 2002, its service, highly precise RTK processing is realized all over
named eSurv to produce high performance RTK works in Japan. Typical survey styles using NetSurv3000 receiver
all over Japan with VRS reference data. as shown in Figure 8 and eSurv server machines as shown
in Figure 9.
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 8: Typical Survey scenery with NetSurv3000

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
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.

Sky-Tel 12/28/2009 97 of 214

 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.

Sky-Tel 12/28/2009 98 of 214

 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 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
ODOT’s Statewide GPS
Reference Station
Network
Ken Bays
March 2006
Benefits of a Reference Station Network
z Only a rover GPS receiver is needed
– Less initial GPS expense
z No base station “baby sitter” needed
z Consistent known datum and coordinate
system.
Single Baseline RTK Solution
Normal RTK Accuracy = 10mm + 1ppm
30km: 10mm + 30mm = 40mm
Oregon Department of Transportation
March, 2006
Sky-Tel 12/28/2009
Oregon Real-time GPS Network
Conceptual RTK GPS Network
Benefits of a Reference Station Network
z 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.)
Network RTK Solution
Geometronics
Page 1 of 7
104 of 214
 ODOT Surveyors Conference Oregon Real-time GPS Network

Network RTK Solution Benefits of a Network RTK Solution

z Distance dependent errors modeled better

– Ionosphere delay
– Troposphere delay
– Satellite orbits
z Better accuracy of solution
z Longer distance RTK range possible
– 60 Km spacing of base stations
Distance Dependent Errors can be modeled with
reasonable success, almost negating the ppm component.
30km: may achieve near 10mm

Oregon Real-time GPS Network (ORGN):

Initial Plans
Corrector Delivery Methods

z Radio
z Internet
– Cell Modem
– WIFI (?)
z Web Site
– RINEX Data for Post Processing

GPS SpiderNET – Architecture Overview

RTCM V2.3 DGPS
Nearest Site
ORGN: Overall Plan for 05-07 & 07-09 Bienniums MAX
Auto-Cell
RC

Remote GUI
Graphical
user2
User Interface

Site Server i-MAX

RTCM
FD
P WR WIC 0 W IC 0 E TH
A C T/C H0 AC T /C H 0 A CT

OK A C T/C H 1 AC T /C H 1 C OL

Access Router

RC Remote Control
Network Server
FTP FTP Data push

FD File & Raw Data

Data Archive
2007-2009 Cluster Server NTRIP
Cluster Server2
(Network Processing) (Network Processing) i-MAX - RTCM
RTK Proxy Server
RTK Data distribuiton

Ethernet
RC

user2

Ntrip / CMR+
2005-2007 SingleSite
Site Server TCP/IP
MAX Auto-Cell
FD

Oregon Department of Transportation Geometronics

March, 2006 Page 2 of 7
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 ODOT Surveyors Conference Oregon Real-time GPS Network

Network Users Administrator

z Administrator z Oregon Department of Transportation

z Partners z Geometronics Unit
z Subscribers z Management – Ron Singh
z Anonymous Users z Technical Administration – Ken Bays

Administrator Responsibilities Partners

z Network quality control z Partners will provide sites, GPS equipment,

z Network software operation and other infrastructure to the network.
z Network software maintenance and upgrades – Government agencies
z Inter-Governmental Agreements
z Network listserv and maintenance – Private entities (once network is operational)
z User support z Public-Private Partnerships

Some, but not all, of our Interested

Partners Subscribers

Anyone who is not a partner wanting access

OBEC Consulting Engineers
Polk County
Deschutes County
EWEB
City of Beaverton
City of Newberg
Washington County
City of Springfield
Curry County
Washington DOT
City of Bend
Linn County
David Evans & Associates
Lincoln County
Multnomah County
Oregon Division of Aviation
Yamhill County
City of Salem
z
Clackamas County to the RTK corrector data that is delivered via
Marion County OR
Jackson County cell modem
Must have account set up
Lane County
Tualatin Valley Water District z
Port of Portland
Oregon State University
z Will pay a subscription fee
City of Wilsonville
Clatsop County
z Fee will be minimum – Cost recovery for
Douglas County maintenance of network
Portland Water Bureau
Benton County
Oregon Parks and Recreation Department

Oregon Department of Transportation Geometronics

March, 2006 Page 3 of 7
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 ODOT Surveyors Conference Oregon Real-time GPS Network

Anonymous Users Benefits of Partnering w/ODOT

z Anyone wanting access to: z Using taxpayer money wisely

– Static data for post processing z Extend range and accuracy of existing
– Radio broadcast RTK data – only in certain areas stations
z No subscription fee z Consistent coordinate system and datum for
z No account set up Oregon
z ODOT quality control & network monitoring
z ODOT purchase/operation of network
software

Benefits of Partnering w/ODOT Timeline

z ODOT maintenance/upgrades of network z Start up: March 2006

software z ODOT internal testing: March - July 2006
z ODOT list serve and webpage for network z Open to users in test mode: July 2006
z ODOT support for network users – No cost
– No service level warranty
– Training
– Use at own risk
– Technology transfer z Complete partner agreements: July 2006
– User support z Fully operational: January 2007
z Other

Network Standards Network Standards

z Site Selection z Antenna mounts and photos

– Satellite visibility: clear view of sky
z Receiver type: L1/L2 with internet port
– Continuous power w/ backup
– Station location/spacing z Data recording intervals
– Vandal resistance z Antenna types: choke ring?
– Access: ease of maintenance
z Network security: authentication and
– Internet connectivity
authorization
– Lightning protection
– Monument stability

Oregon Department of Transportation Geometronics

March, 2006 Page 4 of 7
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 ODOT Surveyors Conference Oregon Real-time GPS Network

Prototype Webpage for Oregon Net

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

z GPS sky obstruction diagram

z Monument info
z Electricity availability
z Internet/data comm availability
z Site ownership/access info
z Site photos
z Packet available on-line at the ORGN website
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

Oregon Department of Transportation Geometronics

March, 2006 Page 5 of 7
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 ODOT Surveyors Conference Oregon Real-time GPS Network

Mounting GPS Antenna Hooking up GPS Antenna Cable

Photos Required in all Directions Typical ORGN GPS Sensor Cabinet

Internet cable

ORGN
GPS

Power supply

GPS Antenna Cable

Leica Spider Remote Client

Typical ORGN GPS Sensor Cabinet

Battery Charger GPS Sensor

Internet Cable

Lightning Protector
Battery
GPS Antenna Cable

Oregon Department of Transportation Geometronics

March, 2006 Page 6 of 7
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 ODOT Surveyors Conference Oregon Real-time GPS Network

Contact - ODOT Geometronics Unit

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

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

– ranvir.singh@odot.state.or.us
z Ken Bays, Geodetic Control Specialist, 503-986-3543
– kenneth.bays@odot.state.or.us
z Scott Branco, Office Coordinator, 503-986-3541
– anthony.s.branco@odot.state.or.us
z Randy Oberg, Survey Support Technician, 503-986-3041
– randy.d.oberg@odot.state.or.us

Oregon Department of Transportation Geometronics

March, 2006 Page 7 of 7
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 Sky-Tel: Below is from: http://www.iowadot.gov/rtn/index.html on December 28, 2009.
Some items clipped and repositioned. Underlining added.

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 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

ybock@ucsd.edu & Art.Andrew@rdmd.ocgov.com

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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 2

Table of Contents
Introduction........................................................................................................................ 3
Elements of a Proposed Statewide CRTN Infrastructure................................................. 5
Current Situation ............................................................................................................... 6
Description of CRTN and Its Components ....................................................................... 6
The CRTN User......................................................................................................................... 7
The Network .............................................................................................................................. 7
The CRTN Server ..................................................................................................................... 8
The Models................................................................................................................................. 9
Management and Governance......................................................................................... 10
Cost Recovery ................................................................................................................... 11
Additional Information .................................................................................................... 12

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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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 systems 1 .”
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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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 4

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

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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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 SOPAC 2 , USGS 3 , PBO 4 , Orange County 5 , San Diego
County 6 , and MWD 7 (Figure 1)
• Requires a partnership with existing geophysical networks (USGS, SOPAC, PBO,
BARD 8 ) 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 SECTOR 9 velocity model and HTDP 10 crustal
motion model, to provide seamless real-time epoch-date positioning (kinematic
and dynamic) using standard GNSS 11 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 GLONASS 12 and the
European Galileo system, and new signals available from the GPS satellites 13

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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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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 (RTCM 14 , NTRIP 15 ). 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 BINEX 16 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

Network
Data
Models
Data Server • SECTOR coordinates

SOPAC/CSRC • HTDP Crustal Motion Model

GPS Station Communications Database, • NGS Geoid Model

Web Services, • Ionosphere Model
raw data GNSS Server, • IGS Precise Orbits
Raw Data streams Utilities
• NOAA Troposphere Model
User RTCM
• SOPAC Archive/Metadata
(CSRS)
NMEA RTCM
Single-Base (CSRS)
RTK User Positioning
Service User

Figure 2. Components of CRTN Data and Positioning Service

14
RTCM – Radio Technical Commission for Maritime Services (protocols for streaming real-time GNSS data)
15
NTRIP – Networked Transport of RTCM via Internet Protocol
16
BINEX – Binary (Receiver) Independent Exchange Format, developed by UNAVCO

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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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
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 SCIGN 17 (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 Figure 3. Photos of two CRTN stations.
other stations built according to the Station RAAP was built by San Diego County
same design. Access to real-time Dept. of Public Works to SCIGN standards,
data streams from these stations including a shallow-anchored braced
requires the cooperation and monument. PBO station P494 has a deeply-
support of the existing geophysical anchored braced monument.
17
SCIGN – Southern California Integrated GPS Network

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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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 stations 18
(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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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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

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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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 SGIO 19 , DWR 20 ,
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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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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 California Spatial Reference Center
govern, and delegate the development of the Executive Committee
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 CRTN Consortium
operate through service contracts to the Board Members
SOPAC recharge facility. The CSRC EC or
members of the consortium will provide
management of CRTN through these
contracts. In the consortium model, each SOPAC – SIO/UCSD
entity that enters into a contract with the CRTN Operations and R&D
University will be considered a CRTN
Underwriter. 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 HPWREN 21 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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 CSRC Statewide CRTN Proposal – Version 5.0 October 16, 2008 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

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Sky-Tel 12/28/2009 127 of 214

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Sky-Tel 12/28/2009 130 of 214
 Orange County Real Time
Network

OCRTN
County of Orange, California
Presented by Arthur R. Andrew III

Sky-Tel 12/28/2009 131 of 214

 Chronology of OCRTN
OCRTN

„ Concept – winter 2000

„ Design network and order hardware – fall 2001
„ Installation – late spring 2002

„ Start of real-time streaming – May 7, 2002

„ RTK testing began in August 2002

OCRTN
was declared 100% operational at the
CSRC – OCRTN/BARTN meeting in Orange County on
February 20th, 2003.

Sky-Tel 12/28/2009 132 of 214

 What is OCRTN?
OCRTN?

„
„ OCRTN is a real-time network of 10 permanent
permanent

GPS stations (CORS) that stream 1-second raw

raw

GPS data to a dedicated server for real-time

time

processing and archiving

archiving

„
„ From this data, RTK corrections (RTCM) are
are

generated and made available to anyone at no

no

cost via the Internet

Internet

Sky-Tel 12/28/2009 133 of 214

 How can we benefit from OCRTN?
OCRTN?

„ GPS static post-processing

„ Data is now collected at 1 second epochs
„ Rinex files can be created at any interval
(1, 5, 15, 30, etc, files)
files)

„ Faster turn around time of Rinex

Rinex

availability
availability

„ RTK surveying
„ Local base stations are no longer needed
„ RTK rover receives base station data via
Internet
Internet

„ Only 1 receiver needed

needed

„ Less personnel
personnel

„ Multiple base stations for enhanced

enhanced

reliability and range.

Sky-Tel 12/28/2009 134 of 214

 Possible Users
Users

„ Public and Private Surveyors

„ GIS Specialists
„ Emergency Response
„ Police Department
„ Vehicle Tracking Current users
„ Aircraft Navigation
„ Bridge and Dam Deformation
„ Scientific Community

„ Anyone needing real-time precise positioning

Sky-Tel 12/28/2009 135 of 214

 Current
OCRTN RTK Users
„ Orange County crews – 8 rovers
„ Ashtech, Leica

„ Caltrans – 4 rovers
„ Trimble
„ ? Private Survey Firms
„ Leica, Trimble
„ GPS Venders/Rentals
„ Ashtech, Leica, Trimble „
Types
of Surveys
„ Reconnaissance
„ Aerial Target Control
Landfill Quantities
„ Monument Location
Verification
„ Construction
„ GIS Inventory
„ Topographic

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 SCIGN OCRTN

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 OCRTN
Network -
baselines

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 Telemetry
Connections:

Data streamed at
1 second using
Spread Spectrum
radios (900 MHz)

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 Telemetry Connections: Testing at BLSA:
Stream data at 1 second
rate using CDMA modem

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 Typical OCRTN Site

„ Ashtech Z-XII/Micro-Z receiver w/ Choke Ring antenna

„ FreeWave Spread Spectrum Radio w/ Yagi antenna

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 Real Time
Data Flow:

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 Current Network

Sky-Tel 12/28/2009 143 of 214

 Current RTK Solution
Solution

„
„ 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 base
stations on a single point.

„ Rover must have ability to control wireless modem (choose different port
assignments)

„
„ 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, longitude, height)
to network software via Internet.

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

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 RTD Server RTCM Usage
OCRTN RTCM Stream - Client Connection Time

140
120
100
Hours:

80
60
40
20
0
Mar-04

Oct-04
Jan-04

Feb-04

May-04

Jul-04
Jun-04

Nov-04

Dec-04
Sep-04
Apr-04

Aug-04

Sky-Tel 12/28/2009 145 of 214

 Current Software Solution:

RTD

Sky-Tel 12/28/2009 146 of 214

 OCRTN
Network RTK
How does it work?
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 OCRTN
OCRTN

„ Ashtech – Ranger (TDS Survey Pro)

„ Z-Extreme
„ Z-Surveyor

„ Leica – System 500

„ SR530

„ Trimble – TSCE & TSC1

„ 5700
„ 4700, 4800
„ Spent considerable time in getting different
receivers to work.

„ Most limitations are do to interface software.

Some can control the modem settings, some
cannot.

Sky-Tel 12/28/2009 149 of 214

 Wireless Internet Modems
Modems

allows access to Internet data (TCP/IP)

„ CDMA/1XRTT - Code Division Multiple Access

Static and Dynamic IP, uses TCP/IP
TCP/IP

Cost around $200 - 800 per modem

modem

In Orange County, Verizon and Sprint are the providers.

providers.

Service charge is $79.99 per month, unlimited use.

use.

Operates @ 50 – 70 Kbps
Kbps

„ GSM/GPRS – General Packet Radio Service

Access

Dynamic IP, uses TCP/IP

TCP/IP

Cost around $200 - 800 per modem

modem

In Orange County, AT&T / Cingular are some of the the

the

providers. Service charge is $79.99 per month,

month,

unlimited use.
use.

Operates @ 50 Kbps
Kbps

Sky-Tel 12/28/2009 150 of 214

 OCRTN
Network RTK
How well does it work?
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 Test
Test

„
„ Instrument – Leica SR530 GPS receiver

„
„ Locate two monuments located on
County parking garage

„
„ Position monuments multiple times from
6 different base stations at different
baseline lengths

„
„ Compare positions to “truth” positions

“Truth” = six - 4 hour static sessions over a

period of 2 weeks

Sky-Tel 12/28/2009 152 of 214

 #9000
9000
looking east

southwest

Sky-Tel 12/28/2009 153 of 214

 #9001
9001
looking north

west

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 Base Stations
Used:

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 SACY BLSA
2km/1.2 miles 15km/9.3 miles

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 TRAK SBCC
16km/10 miles 29km/18 miles

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 SCMS CAT2
41km/26 miles 64km/40 miles

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 Procedures:
Procedures:

Base Station #9000 #9001

„
„ Single Base Station RTK
observations SACY (2km) 7/7 9/9

„ Interger Fixed Solutions BLSA (15km) 7/7 7/9

„ Observation = 20 epochs
@ 1 second
second TRAK (16km) 7/7 9/9

SBCC (29km) 7/7 7/9

„
„ Waited no longer than 3-
SCMS (41km) 2/7 5/9
4 minutes to obtain fix
CAT2 (64km) 0/7 5/9

Sky-Tel 12/28/2009 159 of 214

 OCRTN - RTK Field Test 2005 - Pt. 9000

Horizontal Difference from Static "Truth" Positions

0.10
0.08
0.06
Diff. in Northing (m)

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)

Sky-Tel 12/28/2009 160 of 214

 OCRTN - RTK Field Test 2005 - Pt. 9001

Horizontal Difference from Static "Truth" Positions

0.10
0.08
0.06
Diff. in Northing( m)

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)

Sky-Tel 12/28/2009 161 of 214

 9000 RTK Heights relative to Published Base Hts.

0.500

D iff f r o m S ta tic H ts . ( m )

0.400

0.300

- = Baseline RMS (5mm @ 0.5ppm)

0.200

0.100

0.000

-0.100

-0.200

-0.300

-0.400

-0.500

SACY BLSA TRAK SBCC SCMS CAT2

(2km) (15km) (16km) (29km) (41km) (64km)

Base Station

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 9000 RTK Heights relative to Published Base Hts.

0.150

D iff f r o m S ta tic H ts . ( m )

0.100

- = Baseline RMS (5mm @ 0.5ppm)

0.050

0.000

-0.050

-0.100

-0.150

SACY BLSA TRAK SBCC SCMS CAT2

(2km) (15km) (16km) (29km) (41km) (64km)

Base Station

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 9001 RTK Heights relative to Published Base Hts.

0.150

D i ff fr o m S t a t i c H t s . ( m )

- = Baseline RMS (5mm @ 0.5ppm)

0.100

0.050

0.000

-0.050

-0.100

-0.150

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 Heights

SACY TRAK CCCS

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 Base Station Characteristics

„ Each Base Station has its own

characteristics related to:
„ Geology
„ Sky Visibility

„ Obstructions

Sky-Tel 12/28/2009 166 of 214

 May 2002 to January 2005 Time Series

Sky-Tel 12/28/2009 167 of 214

 CCCS
LBC1

SACY

FVPK
Long-term subsidence area
TRAK

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 May 2002 to January 2005 Time Series

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 How to start using OCRTN
OCRTN

„ Call Art Andrew @ (714) 834-3804

3804

„ Explain what you’ll need to upgrade your

your

existing equipment.
equipment.

„ I’ll meet with you to help setup equipment

and explain how OCRTN works.

Sky-Tel 12/28/2009 170 of 214

 Thank you

Questions?

Sky-Tel 12/28/2009 171 of 214

 Sky-Tel: Below is from http://www.txrtk.com/map.htm on December 28, 2009.
Some items clipped and repositioned. Underlining added.

RTK Network Maps

<> A u s t i n / S a n A n t o n i o <> H o u s t o n

Corpus Christi <> R i o G r a n d e V a l l e y

Dallas / Ft. Worth <> T e x a s

<> E l P a s o

<> O k l a h o m a N e t w o r k s

<> O k l a h o m a C i t y <> T u l s a I s l a n d

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 Sky-Tel: Below is from http://www.tri-statertk.com/ on December 28, 2009.
Some items clipped and repositioned. Underlining added.

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!

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 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.

Sky-Tel 12/28/2009 175 of 214

 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 12/28/2009 177 of 214
 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 cors@dot.state.oh.us 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.

Sky-Tel 12/28/2009 178 of 214

 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
ron@exactrk.com.

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.]

Sky-Tel 12/28/2009 179 of 214

 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.
3

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 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,
4

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 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

Sky-Tel 12/28/2009 183 of 214

 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.

Sky-Tel 12/28/2009 184 of 214

 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.

Sky-Tel 12/28/2009 185 of 214

Sky-Tel 12/28/2009 186 of 214
 Ten
Quintillion
grains of
Sky-Tel 12/28/2009
Sand
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187 of 214
 RTK GPS Positioning
Guides Construction of “The World”
ust a few kilometers offshore in the sunny A New World
waters of the Arabian Gulf, the giant Nothing but open water existed at the offshore site of
dredging combine Van Oord NV works “The World” before Van Oord began work in 2003.
on the largest project ever undertaken by By the end of 2007 some 300 man-made islands will
a single marine contractor: building “The have risen a few meters above the sea, created from
World.” This massive job, a multi-billion massive volumes of relocated sand – more than 300
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. >> By Paul Haase
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Sky-Tel 12/28/2009 188 of 214
 RTK GPS and
Communications
Real-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
The long-term plans aim to add
at a jobsite. Typically the telemetry
is provided wirelessly through
more than 1,500 kilometers of
a system of inexpensive radio
modems, such as the Positioning new beachfront to the existing
Data Link (PDL) products
pioneered for RTK by Pacific Crest
Corporation. But no matter what
70-kilometer coastline.
telemetry system is used, reliability
and ease-of-use remain critical: million cubic meters worth, or about earth. It’s sure to be an impressive sight
if RTK telemetry at a jobsite isn’t ten quintillion individual grains – and even among the Las Vegas-like spectacle
working, accurate high-precision transported rock. of Dubai’s tourist fantasyland. Many
positioning isn’t possible there But unlike islands in nature, these individual islands sold even before
either-and millions of dollars worth islands won’t be scattered here and construction began, at prices up to $35
of heavy equipment and crews there. Rather, when viewed from above, million apiece.
could be idled. And that’s not what the islands of “The World” will have the Reclamation work to build “The
RTK is all about. exact shape and precise positioning to World” is a major part of a decades-long
create a pointillist-style map of the seven program by international developer
continents and major islands of the Nakheel and Van Oord. The ultimate

14 Displayed
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2006 permission
The American• Surveyor
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Sky-Tel 12/28/2009 189 of 214
 Giant Size
As 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

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.”

Displayed with permission • The American Surveyor • July/August • Copyright 2006 Cheves Media • www.TheAmericanSurveyor.com
July/August 2006 The American Surveyor 15
Sky-Tel 12/28/2009 190 of 214
“…it would take 10 years of China involves excavating some 100
million cubic meters of earth and pouring

planning and studies to do

roughly 30 million cubic meters of
concrete, amounts that almost double
the records set when the Itaipu Dam was
something like this [elsewhere].” 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

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2006 permission
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 Pacific Crest’s machine control
product, Sitecom, is installed in
Van Oord dredgers to enable high-
precision GPS locating and tracking.

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.”
“The World” project as visible from
space in this May 14, 2006 QuickBird
satellite image (courtesy DigitalGlobe).
“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 101
At “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

Displayed with permission • The American Surveyor • July/August • Copyright 2006 Cheves Media • www.TheAmericanSurveyor.com
July/August 2006 The American Surveyor 19
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 “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 Surface
Obviously, 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
To achieve the required
accuracies efficiently, reliable
and, above all, repeatable
RTK GPS coverage is essential.
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.

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2006 permission
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 “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 Competition
In 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
22 Displayed
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2006 permission
The American• Surveyor
The American Surveyor • July/August • Copyright 2006 Cheves Media • www.TheAmericanSurveyor.com
Sky-Tel 12/28/2009
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.
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 [ 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. ]

Monica Schettino
Project & Development Manager
ERTICO
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Project Overview

o 10.5M Integrated Project co-funded by

DG Enterprise & Industry (6th FP)
o 3 years project, started in Nov. 2006
o 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 LGVs
o 28% of EU25 CO2 emissions
o Growing congestion across Europe
• Variety of road tolling initiatives
o 42,000 road deaths per year (2005)
• Target to reduce by 50% by 2010
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Intelligent Transport Systems Applications

Safety
Advanced Driver
Assistance Systems
Emergency Calls

Traffic Management
and Control
Fleet Management
Mass Market
Applications
Digital Maps Professional
Market
Applications
Electronic Fee Collection
Floating Vehicle
Data
Personal Navigation
Non Safety

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Why Satellite ?

o Provides back-up communications

capability, closing the coverage
gaps of terrestrial network
o Very efficient broadcast mode
o Satellite technology &
performance improving, with cost
reducing

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SISTER High Level Architecture

[NETWORK
RTK]

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High Level Project Structure

Analysis Practical Standard

It will produce a
prototype integrated
A comprehensive
satellite / terrestrial /
assessment of the full It will work to add a
GALILEO transceiver
range of GALILEO satellite component to
and will perform
applications and their the ISO’s CALM
demonstrations of
communications (Continuous Air Interface
applications to prove
requirements from both for Long and Medium
and measure the
technical and business Distance) standard and
effectiveness of
operations perspectives. other relevant standards
satellite
Requirements for identified during the
communications,
satellite communications course of the project.
building upon previous
services or new satellite
research and
systems will be
development projects.
developed.

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SISTER Analytical Stream

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

Vehicle Navigation Service Safety & Security Services

9 Digital Maps Update 9 eCall

9Traffic and weather information 9Theft detection

[NETWORK 9POI information update 9Remote Vehicle Diagnostic

RTK]
9RTK data 9PAYD insurance

9GPS signal authentication Road User Charging

Commercial Vehicles Services
9Fleet Management systems

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SISTER Practical Stream

Applications Proof Of Concept

Digital Map Updating Road User Charging

Germany – Austria - Slovenia Czech Republic

Integrated Services
DVGT + eCall + RUC
Enhanced GALILEO
[SKY-TEL Note:
E-Call Antwerp - Rotterdam Services
(RTK + reconfigurable NETWORK RTK

Sweden receiver)

UK – East Midlands

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SISTER Practical Stream

Selected communication networks
Application Broadcast FWD Bi-directional FWD and RTN

WorldSpace
GPRS, Iridium, Thuraya
RUC (tariffs updates, meta data*, polling,
(polling request&reply, billing)
OBU software update )

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

WorldSpace
Remote Map Updating (Map updates, traffic&weather ------
conditions, Points of Interest)

WorldSpace
Enhanced Galileo (Enhanced GPS streaming,
------
Service authentication, GPS receiver
Firmware updat )

Dangerous and
Valuable Goods WorldSpace GPRS, Iridium, Thuraya,
Transport

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

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SISTER Practical Stream

SISTER User Terminal

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SISTER Standardisation stream

ISO TC204WG16 (Communications).

TC278
CEN
(Applications, e-Call)

ETSI New founded TC-ITS

ITU Frequency allocation

IEEE 802 Group of Communication Standards

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SISTER Standardisation stream

GPS, Galileo

[See previous: NETWORK RTK used for

high accuracy location.]
Terrestrial Broadcast
RDS, DAB Sat-Comm

GSM-GPRS
UMTS
WiMAX

Beacon
•CALM-M5 Hot-Spot
Broadcast •CALM-IR (Wireless LAN)
Transmitter •CEN-DSRC Variable Message Sign

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

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SISTER Standardisation stream

CALM-Satellite Draft Standard ISO/WD29282

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SISTER Standardisation stream

Special one-day session on satellite

communications at the ISO TC204 WG16
“CALM” meeting

Paris, week from 09th to 13th of June

Contact
Nigel Wall
Nigel.wall@shadow-creek.biz
+44 1473 210159 (office)
+44 7802 204759 (mobile)

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 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 Architecture
Lack 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

Iridium

GPS
Thuraya Iridium

Internet
Internet
Thyraya

Test vehicles
GSM/SMS

Service
Provider

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