008 international symposium on gps/gnss 2008, 11-14...
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Inte
rnationalSym
posi
um
on
GPS/G
NSS
2008,
11-1
4N
ovem
ber
2008
Tokyo
Univ
ers
ity
of
Marine
Sci
ence
and
Tech
nolo
gy
Tom
oji
TAKASU
and
Akio
YASU
DA
�Back
gro
und
�Eva
luate
dPerf
orm
ance
�Ante
nnas
and
Rece
ivers
Configura
tion
of
Experim
ent
2
�Configura
tion
of
Experim
ent
�Eva
luation
Meth
ods
�Resu
lts
of
Experim
ent
�Concl
usi
ons
�cm
-levelacc
ura
cyof
posi
tion
with
RTK-G
PS
�Expensi
ve
(>$9,0
00)
geodetic-
gra
de
dual-
frequency
ante
nnas/
rece
ivers
are
nece
ssary
�Still
not
popula
rbeca
use
of
its
cost
issu
e
3
Sim
ple
Quest
ions
�W
hat
isth
ediffe
rence
betw
een
low
-cost
(<$300)
(sin
gle
-fre
quency
)ante
nna/r
ece
ivers
and
geodetic-
gra
de
dual-fr
equency
ante
nnas/
rece
ivers
?
�W
ith
low
-cost
ante
nnas/
rece
ivers
,RTK-G
PS
can
not
pro
vid
epra
ctic
alperf
orm
ance
?
�Raw
ante
nna/r
ece
iver
perf
orm
ance
�Ante
nna
phase
cente
rst
abili
ty
�Carr
ier-
phase
multip
ath
Code
multip
ath
4
�Code
multip
ath
�RTK-G
PS
perf
orm
ance
�Posi
tionin
gacc
ura
cy(R
MS
err
ors
)
�Ratio
of
corr
ect
AR
(am
big
uity
reso
lution)
�TTFF
(tim
eto
firs
tfix)
with
AR
�Various
ante
nna/r
ece
iver
com
bin
ations
Low
-cost
u-b
lox
AN
N-M
S$31
Aero
Ante
nna
AT575
$200
AntC
om
AG
15A2-X
S-3
$194
5
AntC
om
AG
15A2-X
S-3
$194
Mic
roPlu
s2335TB
$47
Pio
neer
GPS-M
1ZZ
Ant
?
Trim
ble
Bulle
tII
I$125
Geodetic-
gra
de
(for
refe
rence
)
NovAte
lG
PS-7
02-G
G$995
Low
-cost
u-b
lox
AEK-4
T$179
*1
u-b
lox
EVK-5
H*2
$99
*1
6
Geodetic-
gra
de
(for
refe
rence
)
NovAte
lO
EM
V-3
$7,
995
NovAte
lSupers
tar
II$165
Hem
isphere
Cre
scent
$285
*1
module
only
,*2
F/W
vers
ion
3.0
0
Targ
et
Ante
nna
GPS S
ate
llite
7
Refe
rence
Rece
iver
(Dual-fr
eq)
Targ
et
Rece
iver
PC (
Data
Logger)
Refe
rence
Ante
nna
(Dual-fr
eq)
Ante
nna
Mount
with G
round P
lane
20cm
Φ
Appro
x. 1 m
�Raw
ante
nna/r
ece
iver
perf
orm
ance
�Continuousl
yca
ptu
res
raw
obse
rvation
data
at
the
targ
et
and
refe
rence
(24hr)
�Fie
ld-c
alib
ration
analy
sis
by
AN
TTO
OL
v.1.1
8
�Fie
ld-c
alib
ration
analy
sis
by
AN
TTO
OL
v.1.1
�RTK-G
PS
perf
orm
ance
�Pro
cess
es
raw
obse
rvation
data
with
RTK-G
PS
alg
orith
ms
by
RTKLIB
v.2.1
.0
�In
teger
am
big
uity
isre
solv
ed
by
LAM
BD
Aand
valid
ate
dby
ratio-t
est
(thre
shold
=3)
�Eva
luate
sTTFF
with
AR
by
slid
ing
start
tim
e
�Analy
sis
toolw
ritt
en
as
MATLA
Bm
-file
s
�Funct
ions:
�In
puts
RIN
EX
OBS/N
AV
of
targ
et/
refe
rence
Dete
rmin
es
ante
nna
phase
cente
rposi
tion
and
9
�D
ete
rmin
es
ante
nna
phase
cente
rposi
tion
and
variation
by
field
calib
ration
meth
od
�Est
imate
sco
de
and
carr
ier-
phase
multip
ath
�Analy
zes
rece
iver
SN
R(C
/N0)
�G
enera
tes
plo
tsof
analy
sis
resu
lts
�Fre
ely
ava
ilable
under
GPLv
3lic
ense
Exam
ple
sof
Analy
sis
Resu
lts
10
Ante
nna
PCV
Carr
ier-
phase
Multip
ath
Code
Multip
ath
11
RTK-G
PS
Posi
tionin
gAcc
ura
cyRTK-G
PS
TTFF
with
AR
12
Low
-cost
Ante
nna/R
ece
iver
(AN
N-M
S/A
EK-4
T)
Geodetic-
gra
de
Ante
nna/R
ece
iver
(GPS-7
02-G
G/O
EM
V-3
)
13
-3cm
+3cm
-3cm
+3cm
Low
-cost
Ante
nna/R
ece
iver
(AN
N-M
S/A
EK-4
T)
Geodetic-
gra
de
Ante
nna/R
ece
iver
(GPS-7
02-G
G/O
EM
V-3
)
14
Ele
vation
Angle
(deg)
Ele
vation
Angle
(deg)
090
90
0
1cm
1cm
RM
S=
0.3
2cm
RM
S=
0.4
4cm
Low
-cost
Ante
nna/R
ece
iver
(AN
N-M
S/A
EK-4
T)
Geodetic-
gra
de
Ante
nna/R
ece
iver
(GPS-7
02-G
G/O
EM
V-3
)
15
Ele
vation
Angle
(deg)
Ele
vation
Angle
(deg)
090
90
0
1m
1m
RM
S=
0.2
2m
RM
S=
0.7
5m
0.4
0.6
0.81
Carr
ier-
phase
Multip
ath
(RM
S,cm
)0.4
0.6
0.81
Ante
nnas
*1
Rece
ivers
*2
16
0
0.2
0.4
0.6
0.81
ANN-MS
AT575
4G15A2-XS-3
2335TB
GPS-M1ZZ Ant
Bullet III
GPS-702-GG
0
0.2
Code
Multip
ath
(RM
S,m
)
0
0.2
0.4
0.6
0.81
AEK-4T
EVK-5H
SuperStar II
Crescent
OEMV-3
0
0.2
*1
with
rece
iver
OEM
V-3
*2
with
ante
nna
GPS-7
02
Low
-cost
Ante
nna/R
ece
iver
(AN
N-M
S/A
EK-4
T)
Geodetic-
gra
de
Ante
nna/R
ece
iver
(GPS-7
02-G
G/O
EM
V-3
)
EW
EW
17
RM
SErr
or
(cm
):E
0.3
9,N
0.5
9,U
1.0
8Fix
ing-r
atio:
98.7
%
RM
SErr
or
(cm
):E
0.2
6,N
0.3
6,U
0.7
7Fix
ing-r
atio:
99.8
%Fix
Flo
at
10cm
10cm
NS
UD
NS
UD
Low
-cost
Ante
nna/R
ece
iver
(AN
N-M
S/A
EK-4
T)
Geodetic-
gra
de
Ante
nna/R
ece
iver
(L1/L
2)
(GPS-7
02-G
G/O
EM
V-3
)
18
TTFF
(sec)
01800
TTFF
(sec)
01800
Mean:
652.8
s95%
:1840.0
sM
ax:
3490.0
s
Mean:
0.5
s95%
:0.0
sM
ax:
130.0
s
�Low
-cost
ante
nna/r
ece
iver
�Ante
nna
has
poore
rch
ara
cterist
ics
esp
eci
ally
on
code
multip
ath
than
geodetic-
gra
de.The
sele
ctio
nis
import
ant.
19
sele
ctio
nis
import
ant.
�Rece
iver
has
no
larg
edegra
dation
conce
rnin
gsi
gnaltr
ack
ing.
�RTK-G
PS
with
low
-cost
ante
nna/r
ece
iver
isfe
asi
ble
ingood
conditio
n.
�TTFF
has
larg
ediffe
rence
betw
een
single
and
dual-fr
equency
.W
eneed
more
sate
llite
s.
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