t. sakai, s. fukushima, n. takeichi, and k. ito electronic navigation research institute, japan t....

T. Sakai, S. Fukushima, N. Takeichi, and K. ItoElectronic Navigation Research Institute, Japan

T. Sakai, S. Fukushima, N. Takeichi, and K. ItoElectronic Navigation Research Institute, Japan

Augmentation Performance ofQZSS L1-SAIF Signal

Augmentation Performance ofQZSS L1-SAIF Signal

ION NTM 2007ION NTM 2007San Diego, CASan Diego, CA

Jan. 22-24, 2007Jan. 22-24, 2007

ION NTM 22-24 Jan. 2007 Sakai, ENRIION NTM 22-24 Jan. 2007 Sakai, ENRI

SSLIDELIDE 22

• QZSS will provide augmentation signals:QZSS will provide augmentation signals:– In addition to supplement signals;In addition to supplement signals;

– L1-SAIF (Submeter-class Augmentation with Integrity Function) on GPL1-SAIF (Submeter-class Augmentation with Integrity Function) on GPS/SBAS L1 frequency and LEX on Galileo E6;S/SBAS L1 frequency and LEX on Galileo E6;

– L1-SAIF augmentation signal offers: wide-area differential correction, iL1-SAIF augmentation signal offers: wide-area differential correction, integrity function, and ranging function.ntegrity function, and ranging function.

• ENRI is responsible for developing L1-SAIF:ENRI is responsible for developing L1-SAIF:– Signal design: identical with SBAS;Signal design: identical with SBAS;

– Message design is in progress: upper compatible with SBAS.Message design is in progress: upper compatible with SBAS.

• Performance analysis using prototype SBAS:Performance analysis using prototype SBAS:– Submeter accuracy likely achievable;Submeter accuracy likely achievable;

– Most recently, realtime operation trial has been conducted successfullMost recently, realtime operation trial has been conducted successfully.y.

IntroductionIntroduction


SSLIDELIDE 33

Part 1Part 1

Overview of QZSS ProgramOverview of QZSS Programand L1-SAIF Signaland L1-SAIF Signal


SSLIDELIDE 44

QZSQZSGPS/GEOGPS/GEO

• Signal from high elevation angleSignal from high elevation angle

• Applicable to navigation services for Applicable to navigation services for mountain area and urban canyonmountain area and urban canyon

QZSS ConceptQZSS Concept

• Footprint of QZS orbitFootprint of QZS orbit• Centered 137ECentered 137E• Eccentricity 0.1, Inclination 45degEccentricity 0.1, Inclination 45deg


SSLIDELIDE 55

• Supplement signals:Supplement signals:– GPS-compatible L1C/A, L2C, L5, and L1C signals working with GPS; GPS-compatible L1C/A, L2C, L5, and L1C signals working with GPS;

For improving availability of navigation;For improving availability of navigation;

– With minimum modifications from GPS signal specifications;With minimum modifications from GPS signal specifications;

– Coordination with GPS JPO on broadcasting L1C signal;Coordination with GPS JPO on broadcasting L1C signal;

– JAXA is responsible for all supplement signals.JAXA is responsible for all supplement signals.

• Augmentation signals:Augmentation signals:– Augmentation to GPS; Possibly plus Galileo;Augmentation to GPS; Possibly plus Galileo;

– L1-SAIF (Submeter-class Augmentation with Integrity Function): comL1-SAIF (Submeter-class Augmentation with Integrity Function): compatible with SBAS; reasonable performance for mobile users;patible with SBAS; reasonable performance for mobile users;

– LEX: for experimental purposes; member organizations may use as 2LEX: for experimental purposes; member organizations may use as 2kbps experimental data channel;kbps experimental data channel;

– ENRI is working for L1-SAIF and JAXA is developing LEX.ENRI is working for L1-SAIF and JAXA is developing LEX.

QZSS SignalsQZSS Signals


SSLIDELIDE 66Frequency PlanFrequency Plan

SignalSignal ChannelChannel FrequencyFrequency BandwidthBandwidth Min. Rx PowerMin. Rx Power

QZS-L1CQZS-L1CL1CDL1CD

1575.42 MHz1575.42 MHz

24 MHz24 MHz ––163.5 dBW163.5 dBW

L1CPL1CP 24 MHz24 MHz – – 158.4 dBW158.4 dBW

QZS-L1-C/AQZS-L1-C/A 24 MHz24 MHz – – 158.5 dBW158.5 dBW

QZS-L1-SAIFQZS-L1-SAIF 24 MHz24 MHz – – 161.0 dBW161.0 dBW

QZS-L2CQZS-L2C 1227.6 MHz1227.6 MHz 24 MHz24 MHz – – 161.0 dBW161.0 dBW

QZS-L5QZS-L5L5IL5I

1176.45 MHz1176.45 MHz25 MHz25 MHz – – 157.9 dBW157.9 dBW

L5QL5Q 25 MHz25 MHz – – 157.9 dBW157.9 dBW

QZS-LEXQZS-LEX 1278.75 MHz1278.75 MHz 42 MHz42 MHz – – 156.0 dBW156.0 dBW

Find detail in IS-QZSS document.Find detail in IS-QZSS document.


SSLIDELIDE 77

• QZSS will transmit wide-area augmentation signal:QZSS will transmit wide-area augmentation signal:– Called L1-SAIF (Submeter-class Augmentation with Integrity Function);Called L1-SAIF (Submeter-class Augmentation with Integrity Function);

– Developed by ENRI (Electronic Navigation Research Institute), Japan.Developed by ENRI (Electronic Navigation Research Institute), Japan.

• L1-SAIF signal offers:L1-SAIF signal offers:– Wide-area differential corrections for improving position accuracy; TargWide-area differential corrections for improving position accuracy; Targ

et accuracy: 1 meter for horizontal;et accuracy: 1 meter for horizontal;

– Integrity function for safety of mobile users; andIntegrity function for safety of mobile users; and

– Ranging function to improve signal availability.Ranging function to improve signal availability.

• Interoperable with GPS L1C/A and fully compatible with SBAS:Interoperable with GPS L1C/A and fully compatible with SBAS:– Broadcast on L1 freq. with RHCP; Common antenna and RF front-end;Broadcast on L1 freq. with RHCP; Common antenna and RF front-end;

– Modulated by BPSK with C/A code;Modulated by BPSK with C/A code;

– 250 bps data rate with 1/2 FEC; message structure is same as SBAS.250 bps data rate with 1/2 FEC; message structure is same as SBAS.

L1-SAIF SignalL1-SAIF Signal


SSLIDELIDE 88L1 PRN AssignmentL1 PRN Assignment

PRNPRN SignalSignal SatelliteSatellite

183183 QZS-L1-SAIFQZS-L1-SAIF QZS #1QZS #1





188 to 192188 to 192 QZS-L1-SAIFQZS-L1-SAIF (Reserved)(Reserved)

193 to 197193 to 197 QZS-L1-C/AQZS-L1-C/A QZS #1-5QZS #1-5

198 to 202198 to 202 QZS-L1-C/AQZS-L1-C/A (Reserved)(Reserved)

Find detail in IS-QZSS document.Find detail in IS-QZSS document.


SSLIDELIDE 99

PreamblePreamble8 bits8 bits

Message TypeMessage Type6 bits6 bits

Data FieldData Field212 bits212 bits

CRC parityCRC parity24 bits24 bits

250 bits

MTMT

00

11

22～～ 55

66

77

99

1010

1212

1717

1818

ContentsContents

Test modeTest mode

PRN maskPRN mask

Fast correction & UDREFast correction & UDRE

UDREUDRE

Degradation factor for FCDegradation factor for FC

GEO ephemerisGEO ephemeris

Degradation parameterDegradation parameter

SBAS time informationSBAS time information

GEO almanacGEO almanac

IGP maskIGP mask

IntervalInterval[s][s]

66

120120

6060

66

120120

120120

120120

300300

300300

300300

2424

2525

2626

2727

2828

6363

FC & LTCFC & LTC

Long-term correctionLong-term correction

Ionospheric delay & GIVEIonospheric delay & GIVE

SBAS service messageSBAS service message

Clock-ephemeris covarianceClock-ephemeris covariance

Null messageNull message

66

120120

300300

300300

120120

——

MTMT ContentsContents IntervalInterval[s][s]

SBAS Message StructureSBAS Message Structure


SSLIDELIDE 1010L1-SAIF Message (1)L1-SAIF Message (1)

Message TypeMessage Type ContentsContents CompatibilityCompatibility StatusStatus

00 Test modeTest mode SBASSBAS FixedFixed

11 PRN maskPRN mask SBASSBAS FixedFixed

2 to 52 to 5 Fast correction & UDREFast correction & UDRE SBASSBAS FixedFixed

66 UDREUDRE SBASSBAS FixedFixed

77 Degradation factor for FCDegradation factor for FC SBASSBAS FixedFixed

99 GEO ephemerisGEO ephemeris UnusedUnused FixedFixed

1010 Degradation parameterDegradation parameter SBASSBAS FixedFixed

1717 GEO almanacGEO almanac UnusedUnused FixedFixed

1818 IGP maskIGP mask SBASSBAS FixedFixed

2424 Mixed fast/long-term correctionMixed fast/long-term correction SBASSBAS FixedFixed

2525 Long-term correctionLong-term correction SBASSBAS FixedFixed

2626 Ionospheric delay & GIVEIonospheric delay & GIVE SBASSBAS FixedFixed

1212 SBAS network timeSBAS network time UnusedUnused FixedFixed

88 ReservedReserved UnusedUnused FixedFixed


SSLIDELIDE 1111L1-SAIF Message (2)L1-SAIF Message (2)

Message TypeMessage Type ContentsContents CompatibilityCompatibility StatusStatus

2727 SBAS service messageSBAS service message UnusedUnused FixedFixed

2828 Clock-ephemeris covarianceClock-ephemeris covariance SBASSBAS FixedFixed

29 to 5129 to 51 (Undefined)(Undefined) —— ——

52 to 5552 to 55 (Atmospheric correction)(Atmospheric correction) NewNew TBDTBD

5656 Intersignal biasesIntersignal biases NewNew TentativeTentative

5757 (Ephemeris-related parameter)(Ephemeris-related parameter) NewNew TBDTBD

5858 QZS ephemerisQZS ephemeris NewNew TentativeTentative

5959 (QZS almanac)(QZS almanac) NewNew TBDTBD

6060 (Regional information)(Regional information) NewNew TBDTBD

6161 ReservedReserved NewNew TentativeTentative

6262 ReservedReserved SBASSBAS FixedFixed

6363 Null messageNull message SBASSBAS FixedFixed


SSLIDELIDE 1212

MessageMessage

Fast CorrectionFast Correction

Long-Term CorrectionLong-Term Correction

IonosphereIonosphere

TroposphereTroposphere

QZS EphemerisQZS Ephemeris

FC DegradationFC Degradation

Degradation ParameterDegradation Parameter

PRN MaskPRN Mask

IGP MaskIGP Mask

C-E CovarianceC-E Covariance

TotalTotal

TypeType

2 to 52 to 5

2525

2626

54 and 5554 and 55

5858

77

1010

11

1818

2828

IntervalInterval

10 s10 s

60 s60 s

60 s60 s

60 s60 s

30 s30 s

60 s60 s

60 s60 s

60 s60 s

60 s60 s

60 s60 s

Messages RequiredMessages Requiredfor Constellationfor Constellation

33

44

22

33

11

11

11

11

22

1010

MessagesMessagesper minper min

1818

44

22

33

22

11

11

11

22

1010

4444

Margin for Other MessagesMargin for Other Messages 1616

Messaging CapacityMessaging Capacity


SSLIDELIDE 1313

Part 2Part 2

Performance AnalysisPerformance AnalysisUsing Prototype SBASUsing Prototype SBAS

• Prototype SBAS SoftwarePrototype SBAS Software• Continuous Daily OperationContinuous Daily Operation• Realtime Operation TrialRealtime Operation Trial


SSLIDELIDE 1414

• Performance analysis method:Performance analysis method:– Typical model-based analysis: modeling (differentially corrected) range Typical model-based analysis: modeling (differentially corrected) range

domain accuracy and projects it into position domain;domain accuracy and projects it into position domain;

– For more reliable analysis of the actual performance, we need to simulate For more reliable analysis of the actual performance, we need to simulate MCS algorithms; For example, generating augmentation message MCS algorithms; For example, generating augmentation message enables evaluation of the actual user error; Error-based analysis;enables evaluation of the actual user error; Error-based analysis;

– ENRI has developed the prototype SBAS software for investigation of ENRI has developed the prototype SBAS software for investigation of wide-area augmentation technique; This would be a powerful tool working wide-area augmentation technique; This would be a powerful tool working as an MCS simulator.as an MCS simulator.

Performance AnalysisPerformance Analysis

Prototype SBASPrototype SBAS(MCS simulator)(MCS simulator)

User ReceiverUser ReceiverSimulatorSimulator

GPSGPSobservablesobservables

Position ErrorPosition Error

Augmentation MessageAugmentation Message


SSLIDELIDE 1515

• Actually computer software running on PC or UNIX:Actually computer software running on PC or UNIX:– ‘‘RTWAD’ written in C language (not MATLAB, sorry);RTWAD’ written in C language (not MATLAB, sorry);

– Consists of the essential components and algorithms of WADGPS;Consists of the essential components and algorithms of WADGPS;

– Acts as a simulator of SBAS MCS; Parameters are controllable.Acts as a simulator of SBAS MCS; Parameters are controllable.

• Input observables work as monitor stations:Input observables work as monitor stations:– RINEX or raw receiver measurement at any sampling rate;RINEX or raw receiver measurement at any sampling rate;

– Requires dual frequency code phase pseudoranges; No carrier phase.Requires dual frequency code phase pseudoranges; No carrier phase.

• Generates the complete SBAS message stream:Generates the complete SBAS message stream:– Outputs one message per second;Outputs one message per second;

– 250 bps raw message stream before FEC encoding;250 bps raw message stream before FEC encoding;

– Also outputs in NovAtel $FRMA record format is available; for direct inAlso outputs in NovAtel $FRMA record format is available; for direct input to SBAS user receiver simulator.put to SBAS user receiver simulator.

Prototype SBASPrototype SBAS


SSLIDELIDE 1616

$FRMA,272,86403.130,183,80811EA4,250,53081FFDFFDFFDFFDFFDFFDFFDFFDFFDFFD$FRMA,272,86403.130,183,80811EA4,250,53081FFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFFBBBBBBBBBBBBAC1CD280*7CFFDFFDFFFBBBBBBBBBBBBAC1CD280*7C$FRMA,272,86404.130,183,80811EA4,250,9A0C1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFD$FRMA,272,86404.130,183,80811EA4,250,9A0C1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFFBBBBBBBBBBBBB7E76F80*0FFFDFFDFFFBBBBBBBBBBBBB7E76F80*0F$FRMA,272,86405.130,183,80811EA4,250,C661FFDFFDFFDFFDFFDFFFBBBBB880000000$FRMA,272,86405.130,183,80811EA4,250,C661FFDFFDFFDFFDFFDFFFBBBBB8800000000000000000000000000036CD8A40*700000000000000000000036CD8A40*70$FRMA,272,86406.130,183,80811EA4,250,5306FFBFFFF8000000000000000000000000000$FRMA,272,86406.130,183,80811EA4,250,5306FFBFFFF8000000000000000000000000000000000000000000002B963FC0*0D000000000000000002B963FC0*0D$FRMA,272,86407.130,183,80811EA4,250,9A091FFDFFDFFDFFDFFDFFDFFDFFDFFDFFD$FRMA,272,86407.130,183,80811EA4,250,9A091FFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFFBBBBBBBBBBBB806D3340*77FFDFFDFFFBBBBBBBBBBBB806D3340*77$FRMA,272,86408.130,183,80811EA4,250,C60D1FFDFFDFFDFFDFFDFFDFFDFFDFFDFF$FRMA,272,86408.130,183,80811EA4,250,C60D1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFFBBBBBBBBBBBB924AAE40*08DFFDFFDFFFBBBBBBBBBBBB924AAE40*08$FRMA,272,86409.130,183,80811EA4,250,5361FFDFFDFFDFFDFFDFFFBBBBB890000000$FRMA,272,86409.130,183,80811EA4,250,5361FFDFFDFFDFFDFFDFFFBBBBB89000000000000000000000000000021FE640*7300000000000000000000021FE640*73$FRMA,272,86410.130,183,80811EA4,250,9A61FFDFFDFFDFFDFFDFFFBBBBB8A0000000$FRMA,272,86410.130,183,80811EA4,250,9A61FFDFFDFFDFFDFFDFFFBBBBB8A00000000000000000000000000039994D00*050000000000000000000039994D00*05$FRMA,272,86411.130,183,80811EA4,250,C60A1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFD$FRMA,272,86411.130,183,80811EA4,250,C60A1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFFBBBBBBBBBBBBA6BE8CC0*03FFDFFDFFFBBBBBBBBBBBBA6BE8CC0*03$FRMA,272,86412.130,183,80811EA4,250,530E1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFD$FRMA,272,86412.130,183,80811EA4,250,530E1FFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFDFFFBBBBBBBBBBBBA99E5040*0AFFDFFDFFFBBBBBBBBBBBBA99E5040*0A

Message Type IDMessage Type ID(6 MSBs)(6 MSBs)

PreamblePreambleMessage Message LengthLength

Satellite PRNSatellite PRN

TimeTime

CRCCRC

Message SampleMessage Sample


SSLIDELIDE 1717User Receiver SimulatorUser Receiver Simulator

• SBAS user receiver simulator:SBAS user receiver simulator:– Also software running on PC or UNIX;Also software running on PC or UNIX;

– Processes RINEX observation file with L1 pseudorange; carrier smooProcesses RINEX observation file with L1 pseudorange; carrier smoothing applied;thing applied;

– Decodes SBAS message stream (NovAtel $FRMA records) and applDecodes SBAS message stream (NovAtel $FRMA records) and apply them to the observables based on the SBAS standard;y them to the observables based on the SBAS standard;

– Outputs position solution in ECEF X, Y, Z;Outputs position solution in ECEF X, Y, Z;

– Verified with WAAS and MSAS messages.Verified with WAAS and MSAS messages.

• L1-SAIF message stream generated by the prototype was evL1-SAIF message stream generated by the prototype was evaluated by this user receiver simulator:aluated by this user receiver simulator:

– With GEONET observations at some locations as user stations;With GEONET observations at some locations as user stations;

– Evaluates position accuracies and protection levels of QZSS L1-SAIEvaluates position accuracies and protection levels of QZSS L1-SAIF.F.


SSLIDELIDE 1818Standard ConfigurationStandard Configuration

• At first the prototype generated At first the prototype generated messages in offline mode with messages in offline mode with GEONET sites as monitor stations;GEONET sites as monitor stations;

• Dual frequency observables Dual frequency observables sampled every 30 seconds;sampled every 30 seconds;

• 6 monitor stations distributed 6 monitor stations distributed similar to the MSAS;similar to the MSAS;

• 5 user locations for evaluation.5 user locations for evaluation.

GEONET for Monitor StationsGEONET for Monitor Stations

GEONET for User StationsGEONET for User Stations

MSAS Service AreaMSAS Service Area


SSLIDELIDE 1919

Line-of-sight component including clock contributionLine-of-sight component including clock contribution

Residual of Corrected OrbitResidual of Corrected Orbit


SSLIDELIDE 2020

Ionospheric delay minus IGS/IONEX estimation at each IGPIonospheric delay minus IGS/IONEX estimation at each IGP

Residual of Iono CorrectionResidual of Iono Correction


SSLIDELIDE 2121User Position ErrorUser Position Error

• Example of user positioning error at Example of user positioning error at Site 940058 (Takayama; near center Site 940058 (Takayama; near center of monitor station network).of monitor station network).

• Period: 22-24 July 2004; Period: 22-24 July 2004;

active ionosphere condition.active ionosphere condition.

Standalone GPSStandalone GPSAugmented by the PrototypeAugmented by the Prototype

HorizontalHorizontalErrorError

VerticalVerticalErrorError

1.929 m1.929 m 3.305 m3.305 m

6.993 m6.993 m 14.48 m14.48 m

SystemSystem

StandaloneStandaloneGPSGPS

0.381 m0.381 m 0.531 m0.531 m

2.867 m2.867 m 5.451 m5.451 mPrototypePrototype

RMSRMS

MaxMax

RMSRMS

MaxMax


SSLIDELIDE 2222

2005/11/14-162005/11/14-16

HorHor VerVer

2004/7/22-242004/7/22-24

HorHor VerVer

2004/6/22-242004/6/22-24

HorHor VerVer

2005/11/14-162005/11/14-16MSASMSAS

HorHor VerVer

0.3540.3541.6951.695

0.4180.4182.5172.517

0.4320.4322.3182.318

0.5660.5664.4554.455

0.3970.3972.0472.047

0.6020.6024.7174.717

0.3810.3811.6591.659

0.6310.6312.4052.405

0.3040.3041.4871.487

0.4130.4132.1232.123

0.3810.3812.8672.867

0.5310.5315.4515.451

0.4250.4252.6342.634

0.6030.6033.4663.466

0.5020.5024.8734.873

0.7280.7283.7003.700

0.3530.3531.9021.902

0.5080.5084.4524.452

0.4030.4032.4682.468

0.5920.5924.2404.240

0.3850.3851.7571.757

0.6490.6493.7823.782

0.6370.6378.5178.517

0.8810.8819.3969.396

940030940030

940058940058

940083940083

0.4530.4533.3023.302

0.6470.6476.1586.158

0.5860.5862.1432.143

0.7640.7645.5095.509

0.4910.4912.4152.415

0.7760.7764.5744.574

0.6400.6403.0123.012

0.7300.7302.6802.680950491950491

1.1321.1326.2666.266

1.1021.1025.9585.958

080008004.4874.487

1.3171.3179.2259.225

0.7080.7084.5074.507

1.0881.0886.5956.595

0.9820.9826.2676.267

1.0141.0146.6146.6149200392003

RMSRMSMaxMax

RMSRMSMaxMax

RMSRMSMaxMax

RMSRMSMaxMax

RMSRMSMaxMax

SiteSite

NorthNorth

SouthSouth

Performance SummaryPerformance Summary

Unit: [m]Unit: [m]


SSLIDELIDE 2323

• The prototype has been operated continuously since April:The prototype has been operated continuously since April:– In order to verify the performance of the prototype for long-term;In order to verify the performance of the prototype for long-term;

– Standard configuration: 6 monitor stations distributed similar to the MStandard configuration: 6 monitor stations distributed similar to the MSAS; and ‘Planar Fit’ ionospheric correction;SAS; and ‘Planar Fit’ ionospheric correction;

– Observation files are provided from GEONET at daily basis;Observation files are provided from GEONET at daily basis;

– Augmentation output is stored as daily files.Augmentation output is stored as daily files.

• Evaluation at everywhere, everyday:Evaluation at everywhere, everyday:– Evaluated with GEONET stations at 40 locations; covering the whole Evaluated with GEONET stations at 40 locations; covering the whole

Japan for testing integrity;Japan for testing integrity;

– Position accuracy and integrity function are tested everyday.Position accuracy and integrity function are tested everyday.

• Messages stored and disclosed at:Messages stored and disclosed at:– URL http://www.enri.go.jp/sat/pro/data/ppwadURL http://www.enri.go.jp/sat/pro/data/ppwad

Continuous Daily OperationContinuous Daily Operation


SSLIDELIDE 2424

• Standard configuration of Standard configuration of monitor stations: 6 stations monitor stations: 6 stations similar to the MSAS;similar to the MSAS;

• Integrity evaluation stations: 40 Integrity evaluation stations: 40 stations covering the whole stations covering the whole Japan;Japan;

• So far, no integrity break So far, no integrity break conditions have been detected.conditions have been detected.

Monitor StationsMonitor Stations

Evaluation StationsEvaluation Stations

Integrity Evaluation SitesIntegrity Evaluation Sites


SSLIDELIDE 2525Protection Levels vs. Error (1)Protection Levels vs. Error (1)

GEONET 0030 (Oga)GEONET 0030 (Oga)06/4/20 – 06/5/19 (30 days)06/4/20 – 06/5/19 (30 days)

PPWAD GN/6+SPPWAD GN/6+S

HorizontalHorizontal VerticalVertical


SSLIDELIDE 2626Protection Levels vs. Error (2)Protection Levels vs. Error (2)

GEONET 0083 (Kochi)GEONET 0083 (Kochi)06/4/20 – 06/5/19 (30 days)06/4/20 – 06/5/19 (30 days)


HorizontalHorizontal VerticalVertical


SSLIDELIDE 2727User Positioning AccuracyUser Positioning Accuracy

GEONET 3011GEONET 3011(Kawagoe; near Tokyo)(Kawagoe; near Tokyo)

06/6/1 – 06/9/3006/6/1 – 06/9/30(4 months)(4 months)


0.3-0.5m Everyday!0.3-0.5m Everyday!


SSLIDELIDE 2828

Available at URL http://www.enri.go.jp/sat/pro/data/ppwadAvailable at URL http://www.enri.go.jp/sat/pro/data/ppwad

From 2006/7/3 (day #184)From 2006/7/3 (day #184)Archived daily Archived daily 1 file per day1 file per day

Filename:Filename:

ppwad_YYDDD.log.gzppwad_YYDDD.log.gz

Archived Message StreamArchived Message Stream


SSLIDELIDE 2929Realtime Operation TrialRealtime Operation Trial

• Most recently the prototype has capability to run in realtime:Most recently the prototype has capability to run in realtime:– Realtime message generator has been developed;Realtime message generator has been developed;

– Realtime input of observables, and realtime output of message streaRealtime input of observables, and realtime output of message stream both via TCP/IP socket connection;m both via TCP/IP socket connection;

– Outputs one message per second each in advance a few seconds to Outputs one message per second each in advance a few seconds to simulate data transmission latency through JAXA-MCS and QZS;simulate data transmission latency through JAXA-MCS and QZS;

– Output message stream is also stored as daily files.Output message stream is also stored as daily files.

• Realtime operation trial:Realtime operation trial:– Realtime observables provided by GEONET online; Standard configuRealtime observables provided by GEONET online; Standard configu

ration sites (6 monitor stations, 1 Hz);ration sites (6 monitor stations, 1 Hz);

– Trial period: 2007/1/13 – 1/16 (84 hours);Trial period: 2007/1/13 – 1/16 (84 hours);

– User positioning accuracy was evaluated with GEONET offline RINEUser positioning accuracy was evaluated with GEONET offline RINEX measurements at user locations.X measurements at user locations.


SSLIDELIDE 3030User Position Error (Realtime)User Position Error (Realtime)

• Example of user positioning error at Example of user positioning error at Site 940058 (Takayama; near center Site 940058 (Takayama; near center of monitor station network). of monitor station network).

• Period: 13-16 Jan. 2007 (84 hours);Period: 13-16 Jan. 2007 (84 hours);

• Realtime mode.Realtime mode.

Standalone GPSStandalone GPSAugmented by the PrototypeAugmented by the Prototype

HorizontalHorizontalErrorError

VerticalVerticalErrorError

1.415 m1.415 m 2.431 m2.431 m

7.059 m7.059 m 10.47 m10.47 m

SystemSystem

StandaloneStandaloneGPSGPS

0.370 m0.370 m 0.484 m0.484 m

2.610 m2.610 m 4.713 m4.713 mPrototypePrototype

RMSRMS

MaxMax

RMSRMS

MaxMax


SSLIDELIDE 3131Realtime PerformanceRealtime Performance

2007/1/13-162007/1/13-16(84 hours)(84 hours)

HorHor VerVer

0.4340.4342.7392.739

0.5820.5825.3955.395

0.3700.3702.6102.610

0.4840.4844.7134.713

0.3730.3732.7692.769

0.6120.6124.5844.584

940030940030OgaOga

940058940058TakayamaTakayama

940083940083KochiKochi

0.7010.7014.5914.591

0.9950.9958.0428.042

950491950491SataSata

1.3691.3699.9649.964

1.2441.24411.5911.59

9200392003ChichijimaChichijima

RMSRMSMaxMax

RMSRMSMaxMax

RMSRMSMaxMax

RMSRMSMaxMax

RMSRMSMaxMax

SiteSite

NorthNorth

SouthSouth

Unit: [m]Unit: [m]


SSLIDELIDE 3232ConclusionConclusion

• ENRI is developing QZSS L1-SAIF signal:ENRI is developing QZSS L1-SAIF signal:– L1-SAIF augmentation signal on GPS/SBAS L1 frequency;L1-SAIF augmentation signal on GPS/SBAS L1 frequency;

– Signal design: compatible with SBAS;Signal design: compatible with SBAS;

– Message design is in progress: upper compatible with SBAS.Message design is in progress: upper compatible with SBAS.

• Evaluated using prototype SBAS developed by ENRI:Evaluated using prototype SBAS developed by ENRI:– Submeter accuracy likely achievable;Submeter accuracy likely achievable;

– The result of long-term evaluation is promising; The archive of generated mThe result of long-term evaluation is promising; The archive of generated messages is available at: http://www.enri.go.jp/sat/pro/data/ppwadessages is available at: http://www.enri.go.jp/sat/pro/data/ppwad

– Realtime operation trial has been conducted successfully.Realtime operation trial has been conducted successfully.

• Future works will include:Future works will include:– Design of L1-SAIF additional messages improving atmospheric corrections;Design of L1-SAIF additional messages improving atmospheric corrections;

– Stability test and parameter tuning for realtime operation;Stability test and parameter tuning for realtime operation;

– Contact: [email protected]: [email protected]


SSLIDELIDE 3333

Backup SlidesBackup Slides


SSLIDELIDE 3434

Input formatInput format

RINEX OBS/NAVRINEX OBS/NAVNovAtel OEM-3NovAtel OEM-3TrimbleTrimbleJAVADJAVAD

Output formatOutput formatReadable TextReadable TextBinaryBinaryNovAtel $FRMA record formatNovAtel $FRMA record format

# of monitor stations# of monitor stations ≥≥ 3 stations (upper limit depends on PC)3 stations (upper limit depends on PC)

Message rateMessage rate 1 Hz1 Hz

Output deviceOutput device File (separated daily)File (separated daily)TCP/IP socket connectionTCP/IP socket connection

Sampling rateSampling rate Any (up to 1Hz)Any (up to 1Hz)

Input deviceInput device File (offline mode)File (offline mode)TCP/IP socket connection (realtime mode)TCP/IP socket connection (realtime mode)

MonitorMonitorStationStation

ObservablesObservables

Requires dual frequencyRequires dual frequencypseudoranges and C/Npseudoranges and C/N00

MessageMessageStreamStreamOutputOutput

Ionospheric correctionIonospheric correction Planar fit (identical to WAAS/MSAS)Planar fit (identical to WAAS/MSAS)

Prototype I/O FeaturesPrototype I/O Features

t. sakai, s. fukushima, n. takeichi, and k. ito electronic navigation research institute, japan t....

Documents

augmentation signals

l1saif signal offers

widearea augmentation

area augmentation technique

sbas reasonable performance

signal design

signal availability

gps l1ca