RT basics

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					Section: Real Time Information (pull down)

Page Title: “Real time GNSS Positioning Basics”

Heading: What is Real Time GNSS Positioning?
        Real Time GNSS Positioning (RT) describes the methodology that the geospatial
professional will use to obtain centimeter-level precision positions in near real time using the
carrier phase, code phase and navigation satellite data continuously streamed worldwide from
various satellite constellations.

Heading: How Does Real Time GNSS Positioning Work?

        Currently, for centimeter level precision utilizing just a few epochs of data, RT requires
that a differential position is generated for the rover from a known position – known as a “base”
station. A base station can be from a GNSS unit set up by the user over a physical mark (known
as a passive monument), or from a remotely streaming reference station continuously operated
by others [known as an active reference station, e.g., a real time network (RTN) CORS].
Baseline vectors are produced from the antenna phase center (APC) of this stationary “base”
receiver to the APC of the rover antenna using the Earth-Centered, Earth-Fixed (ECEF) X,Y,Z
Cartesian coordinates of the World Geodetic System 1984 (WGS 84) datum, which is the
reference system in which the Department of Defense (DoD) Navstar Global Positioning System
(GPS) system broadcast orbits are realized (differential X,Y,Z vectors in other reference frames
would be possible if different orbits were used). Some current technology may also incorporate
the Russian Federation Global'naya Navigatsionnaya Sputnikovaya Sistema (GLONASS)
constellation into the computations, whose orbits are defined in the Parametry Zemli 1990
(Parameters of the Earth 1990- PZ 90.02) datum. The coordinates of the point of interest at the
rover position are then obtained by adding the vector (as a difference in Cartesian coordinates) to
the station coordinates of the base receiver, and applying the antenna height above the base
station mark and also the height of the rover pole. Usually, the antenna reference point (ARP) is
used as a fixed vertical reference. Phase center variation models, which include a vertical offset
constant, are typically applied in the RT firmware to position the electrical phase center of the
antenna, which varies by satellite elevation and azimuth. Transformations are then accomplished
by the rover firmware to display other datums or projections that the user requires for project

        Because of the variables involved with RT however, the reliability of the positions
obtained are much harder to verify than static or rapid static GNSS positioning. The myriad of
variables involved require good knowledge and attention to detail from the field operator.
Therefore, experience, science and art are all part of using RT to its best advantage. An
appreciation of the many variables involved with RT positioning will result in better planning
and field procedures. In the coming years when a modernized GPS constellation and a more
robust GLONASS constellation will be joined by Compass/Beidou (China), Galileo (European
Union) and possibly other GNSS, there could be in excess of 115 satellites accessible. Accurate,
repeatable positions could become much easier at that time.
Sub-heading: Single Base RT Positioning
Single base RT is any GNSS RT positioning accomplished from one base station – either passive
or active. The rover will use the GNSS observables from the base station to produce corrections
for atmospheric delays/ refractions based on the conditions at the base station. This is the original
method for RT, and still will be used for a number of years to come for several reasons:
1. Some legacy equipment will not support RTN work.
2. Many RTN start as closest base networks and thus are operating as single base solutions.
3. RTN require internet connectivity – usually from a cell phone data connection. Cell coverage
areas do not blanket the world. There are many “dead” areas where the RT user is forced to
single base techniques using radio communication.
4. Many applications, such as precision agriculture and machine guidance, currently use single
base RT.
5. Many smaller surveying and engineering companies do not want the extra expense of RTN
subscriptions and/or the expense of new RT equipment.

Sub-heading: RTN Positioning
There are perhaps over 200 RTN worldwide with over 75 in the USA alone. It is apparent that
the ease of use and economic benefit of this RT methodology is driving the burgeoning number.
Some benefits of RTN over single base RT are:
1. No user base station is necessary. Therefore, there are no security issues with the base, no
  control recovery is necessary to establish its position, and the user needs only half the
  equipment to produce RT work (or the user can double productivity by also using the legacy
  base receiver). Additionally, there is no lost time setting up and breaking down the base station
  equipment and radio.
2. The first order ppm error is eliminated (or drastically reduced) because ionospheric,
  tropospheric and orbital errors are interpolated to the site of the rover. Single base RT assumes
  the conditions at the rover are identical to the conditions at the base. Because this is not
  necessarily the case, any error would increase with the separation between the two units- in
  other words, a distance dependent error is imparted. This is usually represented in the GNSS
  manufacturers’ specs in a part-per-million (ppm) quantification. Typical single base RT specs
  show a 1 cm + 1 ppm allowance horizontally and a 2 cm + 1 ppm allowance vertically (1
  sigma). This can be mitigated in RTN by the modeling of the atmospheric and orbital errors to
  the site of the rover.
3. The network can be positioned to be aligned with the national spatial reference system (NSRS)
  with high accuracy. The users will then be collecting positional data that will fit together
  seamlessly. This is important to all users of geospatial data, such as GIS professionals who
  may deal with such regional issues as emergency management and security issues.
4. Datum readjustments or changes can be done transparently to the user with no post campaign
  work. New datum adjustments to NAD 83 or even transformations to another geodetic
  reference frame such as the International Terrestrial Reference Frame (ITRF) are done at the
  network level and are broadcast to the users.
5. With some business models, the user can share in the network profits by installing a network
  reference station and thereby getting a share of the subscription fees imposed upon other
  network users.
6. Different formats and accuracies are readily available. GIS data, environmental resource data,
mapping grade data, etc. can be collected with one or two foot accuracy while surveyors and
engineers can access the network with centimeter level accuracy.
7. RTCM, CMR+ and other binary formats can be user selected.
8. The RTN can be quality checked and monitored in relation to the NSRS using programs such
as OPUS from the NGS and TEQC from UNAVCO.
Keywords: “single base, RTN, real time”
Description: This page will give basic background information on how RT works as well as
comparing and contrasting single base techniques with RTN methods.

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