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12 GPS+GLONASS+Beidou: 33 Hong Kong GNSS infrastructure for surveying and navigation, and environment monitoring Wu Chen Department of Land Surveying and Geoinformatics Hong Kong Polytechnic University Email: [email protected] © 2015 Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies. All rights reserved. Background 1. GPS revolutionize the concepts of positioning/navigation/timing (PNT) 2. GPS has become an important infrastructure to support economic development – Military – Transportation – Telecommunication – Space Industry – Finance – Location Based Services – Surveying – Weather forecasting – Scientific researches 3 Background • International Developments – Augmentation systems • To improve performance of GPS – Accuracy, Integrity, Coverage • Satellite Based Augmentation Systems (SBAS) – WAAS, EGNOS, MSAS, QZSS, GAGAN, …. • Ground Based Augmentation systems (GBAS) – Other Independent GNSS systems • GLONASS (Russian) • Compass (Beidou, China) • Galileo (Europe) • IRNSS (India) 4 Background • GNSS Based Services – Global Services • GPS, GLONASS, Beidou (III), Galilieo – Regional Services • Compass (II), IRNSS • Satellite Based Augmentation Systems (SBAS) – WAAS, EGNOS, MSAS, QZSS, GAGAN, …. – Local Services • Ground Based Augmentation systems (GBAS) (Aviation) • DGPS Services (Marine) • GNSS RTK Network (Surveying) 5 GNSS Development in Hong Kong Lands Department GNSS control network “SatRef” Network (12 stations) Marine Department DGPS system for marine navigation Automatic Identification System (AIS) for port management Airport Authority Considering a GBAS system for landing Hong Kong Polytechnic University 20 year research on GNSS technologies GNSS ionosphere monitoring network Spatial water vapour distribution in Pearl Delta region 6 HK GNSS Reference Network （SatRef） 7 Hong Kong Land-based Automatic Identification system (AIS) • Established in 2003 • 6 land AIS stations to cover HK water • Provide DGPS correction • Also – A DGPS beacon covers 150 nmi 8 Hong Kong Airport 9 Problems identified 1. HK SatRef has been established for many years, but the users are mainly surveyors 2. SatRef was based GPS only, need to be enhanced with multiple GNSS to improve performance and reliability 3. Hong Kong suffers from ionosphere anomaly effects 4. High rise buildings in urban area: strong multipath and low availability 10 Develop an GNSS based infrastructure to support Economic Development in HK 1. Develop multiple PNT services to support Hong Kong economic development and for the public to obtain reliable and accurate positioning data at low cost 2. Utilizing multiple GNSS positioning systems (i.e. GPS, Beidou, GLONASS), together with ground based augmentation systems, to solve urban positioning problem, and to provide reliable and secured positioning services 3. Develop better algorithms and models to improve positioning performance under the disturbances of ionosphere to improve accuracy and reliability of PNT services 4. Real-time Ionosphere Monitoring to support GNSS integrity and DGNSS services 5. 3D Water Vapour observation for weather forecasting 11 System Architecture for DGNSS GLONASS GPS Beidou Reference Poles GNSS observation Measurements or GPS enabled NMEA Data Mobile Device RTCM Correction Data (∆X, ∆Y, ∆Z) Server Platform Lands Department Logistic Application Active GNSS network 12 Mobile phones Tested • Samsung Galaxy S5: GPS/GLO/Beidou • Samsung Galaxy tab: GPS/GLO/Beidou • Huawei: GPS • LG: GPS/GLO • HTC: GPS/GLO 13 Galaxy S5 1640 1630 1620 1610 N(m) 1600 1590 Pos err (m) RTK 0.0 Mobile 3.7 DGNSS 1.3 1580 3860 3870 3880 3890 3900 3910 3920 E(m) 14 Hua Wei 1640 1630 1620 1610 N(m) 1600 1590 Pos err (m) RTK 0.0 Mobile 4.1 DGNSS 2.3 1580 3860 3870 3880 3890 3900 3910 3920 E(m) 15 16 Reliable 3D RTK services • Platform of multiple GNSS to support RTK centimeter positioning – Establish an multiple GNSS network (include GPS/Beidou/…) – Provide reliable RTK positioning service – High quality geoid height at user site – Support single-frequency RTK Other users Multiple GNSS server network 17 Concept of GNSS heighting 18 Gravity Survey Arrangement • Gravity Survey: 635 points (46 old gravity points) • GPS/levelling control points: 136 points • Evaluation of gravity survey results: 69 check points, accuracy is 0.02mgal 19 Nam Height Control Points Shan Ngau Tam Mei Pyramid Hill So Kwun Wat Tai Mo Shan Buffalo Hill Lin Fa Shan 20 Gravity Points in 1990 21 Gravity Points in 2015 22 Gravity Survey 23 Multiple GNSS Systems GPS only: 12 GPS+GLONASS+Beidou: 33 24 GNSS Positioning in difficult environments Distance (mm) Height (mm) BeiDou - - GLONASS with BeiDou - - GPS - - GPS with BeiDou 4 -98 GPS with GLONASS 761 -79 25 Field Experiments GPS/GLONASS GPS/Beidou/ GLONASS 27 Spatial distribution of water vapor 28 Electron Density Distribution in HK • Reconstructed electron density distributions on 1 March 2011 (12:00 LT and 14:00 LT ) Electron Density Distributions over Hong Kong Date:March 1, 2001 Local Time: 12:00-13:00 Electron Density Unit: Ne/cm-3 Electron Density Distributions over Hong Kong Date:March 1, 2001 Local Time: 14:00-15:00 Electron Density Unit: Ne/cm-3 4.2559e+006 4.2559e+006 200.00 200.00 300.00 3.42283e+006 300.00 3.42283e+006 400.00 400.00 2.58976e+006 2.58976e+006 500.00 500.00 Height (km) 600.00 Height (km) 600.00 1.75668e+006 1.75668e+006 700.00 700.00 800.00 800.00 923609 923609 900.00 900.00 14.50 17.00 19.50 22.00 24.50 27.00 29.50 32.00 14.50 17.00 19.50 22.00 24.50 27.00 29.50 32.00 latitude (degree) latitude (degree) 29 Characteristics of scintillations in Hong Kong — Hourly amplitude scintillation (S4) Hourly occurrence index: ROTI > 0.5 TECu/min (existence of ionospheric irregularities) H TECu/min 1000 4 10 4 3 900 9 3 2 800 8 2 1 700 1 7 12 600 12 6 11 500 11 5 Month Month 10 10 400 4 9 9 300 3 8 8 200 2 7 7 100 1 6 Frequent nighttime scintillations 6 ROTI enhancement 0 0 5 5 20 22 0 2 4 6 8 10 12 14 16 18 20 22 0 2 4 6 8 10 12 14 16 18 Local Time (hour) Local Time (hour) 30 Summary: Hong Kong GNSS Infrastructure • Develop DGNSS services for HK – Correction accuracy < 0.5 m – Mobilephone ~ 2 m • Develop high precision HK Geoid model – Accuracy ~ 1 cm • Develop Multiple GNSS RTK service – Accuracy ~ 1-2 cm (3D) • Real-time Ionosphere monitoring – Support DGNSS (accuracy and integrity) • Real-time 3D water vapour observation 31 Thank you 32.
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