japan aerospace exploration agency k.kawate, m. miyoshi, s. nakamura and s. kogure h.soga and...
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Japan Aerospace Exploration AgencyK.Kawate, M. Miyoshi, S. Nakamura and S. Kogure
H.Soga and Y.Hirahara @NECA.Yasuda and T.Takasu@Tokyo University of Marine Science and Technology
The development result of the ground infrastructure
for Real time PPP experiment by using QZSS
PPP WORKSHOP 2013
Outline
Real-time PPP Service via QZSS
Development Status of the Ground Infrastructure for Real-Time PPP Service
- MGM-net (monitoring network)
- MADOCA (Multi-GNSS offline & real-time estimator)
Evaluate Result
- Estimate accuracy of orbit and clock by MADOCA - PPP accuracy with MADOCA products
+ Announcement
PPP WORKSHOP 2013
IntroductionBackground
- Progression of “Multi-GNSS” by increase of positioning satellites
Prediction of visible satellites in 2020
- Expansion of GNSS utilization field
Not only Positioning, Navigation and Timing , But also Applied researches
Real-time PPP service with cm-level accuracy is required!
Today’s Topic“Development of Real-time PPP service using Multi-GNSS via QZSS by JAXA”
- Multi-GNSS monitoring network “MGM-net” - Precise Multi-GNSS orbit and clock estimator “MADOCA” - MADOCA-LEX signal
10 15 20 25 30 35
# of sats
QZSS (Quasi-Zenith Satellite System)
PPP WORKSHOP 2013
What’s QZSS
- Sep. 11, 2010 Launch by H-IIA 18th
- June. 22, 2011 Start of public service (L1C/A, L2C)
First Quasi-Zenith Satellite “Michibiki”
Role of “Michibiki” 1)”GPS Availability Enhancement” (L1C/A, L2C, L1C, L5 signal)2) “GPS Performance Enhancement“(L1-SAIF, LEX signal)
Form 6.2m×3.1m×2.9m (Launch)Panel width: 25.3m
Wight App. 4000kg (Launch)
Power App. 5 kW
Orbit Altitude(initial orbit)
Apogee: App. 39000kmPerigee: App. 33000km
Design Life over 10 years
Service via QZSS ( 1 / 2 )
- Regional Positioning system which can stay near zenith over Japan for many hours - Service area : all over Asia and Oceania region
PPP WORKSHOP 2013
Service via QZSS
Weather ForecastLEO satellite
Car/Human Navigation
Effective field of real-time PPP service via QZSS
Crustal deformation monitoring
Tsunami detectionPrecise Agriculture
Service via QZSS ( 2 / 2 )
- Broadcast of orbit and clock correction message using LEX signal
LEX signal- Center frequency : 1278.75MHz- Transfer rate : 2 kbps- Massage : Some messages broadcasted by time sharing (JAXA 、 SPAC 、 NICT 、 GSI)
MGM-net etc.MGM-net etc.
MADOCA
Target accuracy < 10cm (H/V RMS)
PPP users
Development of ground infrastructure for providing real-time PPP service - Target PPP Accuracy in this system is less than 10 cm(H/V RMS)
8
GLONASS Galileo QZSS
・・・
LEX message
LEX message
PPP users
LEX signal
Tracking&Control Station
RTCMSSR
orbit & clockestimator
LEX messagegenerator
RTCM, Raw, BINEX…
NTRIP Caster(provided by BKG)
Data interface
LEXmessage
Master Control Station(MCS)
@Okinawa
@Tsukuba
navigation signal
PPP WORKSHOP 2013
GPS
MADOCA
Development status of the ground infrastructure ( 1 / 7 )
System of Real-time PPP Service
★ JAXA’s (9)● MGM-net(Hosting) on running (11)● MGM-net(Hosting) under construction (13)
■ MGM-net(Sharing) (7)▲ MGM-net(Sharing based on agreement) (40)
MGM-net (Multi-GNSS Monitoring network)
Aim of MGM-Net - Improvement of Multi-GNSS orbit and clock estimate accuracy - Promotion of Multi-GNSS experiment including QZSS ■Please visit “ MGA” website for detailed → www.multignss.asia
→ Call for Application of JAXA’s Rx hosting sites from 2011
Call for Application continuously untilarranged 60 sites!!
PPP WORKSHOP 2013
Development status of the ground infrastructure ( 2 / 7 )
International Cooperation - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result
→ Plan to participate into IGS M-GEX project
★ JAXA’s (9)● MGM-net(Hosting) on running (11)● MGM-net(Hosting) under construction(13)
■ MGM-net(Sharing) (7)▲ MGM-net(Sharing based on agreement) (40)▲ other partner’s (based on agreement) (4)
MGM-net ~ International cooperation (Multi-GNSS Monitoring network)
PPP WORKSHOP 2013
Development status of the ground infrastructure ( 3 / 7 )
International Cooperation - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result
PPP WORKSHOP 2013
(Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)MADOCA
Offline Estimate Function Real-time Estimate FunctionPositioning System GPS GLO QZS Gal GPS GLO QZS GalSchedule 2011 2012Estimate Accuracy
Orbit[cm] 3 7 4 9Clock[ns] 0.1 0.25 0.1 0.25
Aim of MADOCA - Estimation of orbit and clock with high accuracy - Multi-GNSS Support (GPS, GLONASS, QZSS and Galileo)
Development - NEC, Tokyo University of Marine Science and Technology and JAXA
Goal - Estimate accuracy comparable to IGS products for RT positioning with < 10cm accuracy
Table. 1 Development Schedule & Target Accuracy
Development status of the ground infrastructure ( 4 / 7 )
PPP WORKSHOP 2013
MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)
Offline Real-Time
Algorithm Iterated Weighted LSQ Dual-Cycle-EKF
Estimated Parameters
Orbit, SRP/Emp-Acc, Clock, Position, ZTD/Grad, Ambiguity, Bias, EOP
NumericalSolver
NEQ by Cholesky Factorization
Numerical StableEKF
Clock Estimation Parameter Eliminationin NEQ
State as White-Noiseor Random-Walk
Integer Ambiguity Resolution
Network AR(Ge., 2005)
Real-Time Network AR
Parameter Adjustment - Precise orbit & clock estimation using latest models - Reduction of processing time - High Stablity of numeric calculation
Table2 Parameter Adjustment
Development status of the ground infrastructure ( 5 / 7 )
PPP WORKSHOP 2013
Format - Definition of MADOCA-LEX format as MT=12 based on RTCM SSR
MADOCA-LEX
Preamble(8)
Reserved(6)
Message Length(10)
Data Message (Variable)
CRC(24)
Preamble(8)
Reserved(6)
Message Length(10)
Data Message (Variable)
CRC(24)
header(49)
TOW WN SSR Packet#1 (Variable)
SSR Packet#2 (Variable)
Reserved Reed-Solomon
(256)
Data Section(1695)LEX message (2000)
・・・
LEX message
(cf)RTCM SSR
・・・RTCM Message #1 RTCM Message #2
SSR Packet Message Number Update Interval
GPS QZSS Gal GLO
Orbit Correction 1057 1246* 1240* 1063 30sec
Satellite Code Bias 1059 1248* 1242* 1065 1day
URA 1061 1250* 1244* 1067 30sec
High rate Clock Correction 1062 1251* 1245* 1068 2sec
RTCM SSR MT using MADOCA-LEX message (* : draft )
(Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis)
Development status of the ground infrastructure ( 7 / 7 )
■Please visit QZSS websites “QZ-vision” → http://qz-vision.jaxa.jp/USE/is-qzss/index_e.html
Please check !
PPP WORKSHOP 2013
Evaluation of offline estimation
2011/01/01 -12/31 (365 days), wrt IGS Final
GPS & GLONASS estimation - Comparable accuracy with IGS ACs GPS
GLONASS
QZSS orbit estimation - <6 cm accuracy on overlap evaluation QZSS
2011/06/04 - 2011/11/03 (153 days), 24 H-overlap
(cf.) Overlap evaluation
48 H 12 H 12 H
Estimation Arc
Overlap Error
Arcs12H 48H 12H
Overlap error
R :2.37cm , A :4.47cm , C :3.21cm, 3D :5.99cm
R
A
C
+1m
-1m
ReportedEvaluation result ( 1 / 6 )
Evaluation of offline PPP
PPP WORKSHOP 20132013/01/13 -1/20 (8 days), RTKLIB2.4.1b12, wrt PPP-static using IGS Final
Offline PPP around Asia and Oceania area using MADOCA offline products - Offline PPP accuracy of enough less than 10cm !!
Average 3.8cm (HRMS) 5.6cm (VRMS)
Evaluation result ( 2 / 6 ) Reported
PPP WORKSHOP 2013
RNXSVR MGRTE RTKPOST2.4.2
MGEST
RT DataSimulator
( x 60)
2012/1/31RINEX OBS
RINEX NAV
TCP:RTCMMSM(30 s)
SINEX
2012/2/1~RINEX OBS
RINEX NAV
RINEX OBS/NAV
PPP solutions
RTCM SSR
EXTSYNC: SYNCTINT_CLK: 30 s
TINT: 300 sEST: OBT, CLK, EOP,
AMB, BIASFIX: POS
POS, STAINF
RT-StreamFile
Architecture
Orbit Error (Radial/Along/Cross)
Clock Error
R: 1.52 cm/ A: 2.49 cm/ C: 1.81 cm3D: 3.44 cm
STD: 0.114 ns / RMS:0.184ns
Simulated*1 GPS real-time estimation (1/2) - Achievement of orbit accuracy of < 4 cm and clock accuracy of ~ 0.1 ns
2012/2/1 - 2/14 (14 days), 31 GPS satellites wrt IGS Final(* First 24H and unhealthy G14 excluded)
Evaluation result ( 3 / 6 )
Evaluation of simulated RT estimation
*1 : Evaluation of real-time estimator using simulated real-time data based on RINEX
Simulated GPS real-time estimation (2/2) - Achievement of PPP accuracy of enough less than 10 cm
18
RMS *E: 1.93 cmN: 1.46 cm U: 3.91 cm
RMS *E: 1.80 cm N: 1.42 cm U: 3.25 cm
with Simulated MADOCA Clock/OrbitE
N
U
+0.2m
-0.2m
PPP WORKSHOP 201318
2012/2/2 - 2/14 (13 days), RTKPOST2.4.2, wrt IGS Final POS (* First 1H excluded) @TKSB
with IGS FINALE
N
U
+0.2m
-0.2m
Evaluation result ( 4 / 6 )
Evaluation of simulated RT PPP
JAXA’s (8) Other partner’s (5)
Ground Test of RT estimator (1/2) - Ground Test of real-time estimator via NTRIP caster using MGM-net and IGS/MGEX sites
MGM-net (5)
PPP WORKSHOP 2013
IGS/MGEX (21)
Evaluation result ( 5 / 6 )
Evaluation of RT estimation
Sharing (7)
Evaluation of RT PPP
E-W
N-S
U-D
Ground Test of RT estimator (2/2) - Achievement of PPP accuracy of < 10 cm using only GPS
PPP WORKSHOP 2013
E-W
N-S
U-D
+0.5m
-0.5m
10cm
10cm
RMSE: 2.51 cmN: 2.20 cmU: 7.57 cm
RMSE: 6.02 cmN: 3.75 cmU: 9.61 cm
2013/5/20 9:00-21:00 (12h), RTKLIB2.4.2,1Hz, wrt IGS Final POS
Evaluation result ( 6/ 6 )
with Real Time IGS
with Ground Test MADOCA
Experiment Schedule
Please see “Experiment Schedule” on QZ-vision because LEX signal is on test.
Announcement ( 1 / 3 )
PPP WORKSHOP 2013
START of Test BroadcastTest Bradcast
- Start of MADOCA-LEX signal broadcast via “QZSS” on a trail !! 1st April 11 - April 13 2nd April 26 - May 3 3rd May 28 - June 1 On Test June 9 - June 15
■Please visit QZSS websites “QZ-vision” → http://qz-vision.jaxa.jp/USE/en/exp_schedules
Please check here!
START of Test BroadcastAnnouncement ( 2 / 3 )
E-W
N-S
U-D
+0.5m
-0.5m
PPP using MADOCA-LEX - Achievement of PPP accuracy of ~ 10 cm using GPS+QZS
PPP WORKSHOP 2013
10cm
RMSE: 3.54cmN: 1.99 cmU: 13.10 cm
2012/5/30 12:00:00-23:59:59(12 hours),RTKLIB2.4.2, 31 GPS+QZS satellites, wrt PPP-static, IGS Final POS @NCKU
MGM-netIGS/MGEX
LEX msg.
MCS
@Okinawa@Tsukuba
MADOCALEX message
generator
JAXA’sLEX receiverSSR
RTCMBINEXRAW
LEX sig.
SSRorbit&clockestimator
with MADOCA-LEX
Architecture
8:30 Ottawa8:30 Tsukuba
QZSS
START of Test BroadcastAnnouncement ( 3 / 3 )
Demonstration of PPP using MADOCA-LEX
PPP WORKSHOP 2013
MGM-netIGS/MGEX
LEX msg.
MCS
@Okinawa@Tsukuba
MADOCALEX message
generator
JAXA’sLEX receiverSSR
RTCMBINEXRAW
LEX sig.
SSRorbit&clockestimator
Architecture
Please see PPP using MADOCA-LEX !
PPP WORKSHOP 2013
SummaryDevelopment status of ground infrastracture real-time PPP service
‐ MGM-net : Expansion of Multi-GNSS Monitoring Network (84 sites) - MADOCA : Development of Multi-GNSS orbit and clock estimator with high accuracy
Achievement of “real-time” PPP service with < 10 cm (H/VRMS) accuracy on ground test
Future Plan - Evaluation of long-term stability of real-time estimator - Function addition for higher accuracy (PPP-AR, BeiDou etc.) → We aim to join IGS analysis centers in the future! - Start of regular broadcast of MADOCA-LEX signal
We look forward to providing real-time PPP service via QZSS!!