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Analysis on Distribution of Real-Time GNSS Data Over IP Networks

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Analysis on Distribution of Real-Time GNSS Data Over IP Networks ANALYSIS ON DISTRIBUTION OF REAL-TIME GNSS DATA USING IP NETWORKS by Thomas Surya Sanjaya Yan A thesis submitted in fulfilment of the requirements for the degree of Master of Engineering in Surveying and Spatial Information Systems School of Surveying and Spatial Information Systems The University of New South Wales 2008 ORIGINALITY STATEMENT I hereby declare that this submission is my own work and to the best of my knowledge it contains no materials previously published or written by another person, or sub- stantial proportions of material which have been accepted for the award of any other degree or diploma at UNSW or any other educational institution, except where due acknowledgement is made in the thesis. Any contribution made to the research by others, with whom I have worked at UNSW or elsewhere, is explicitly acknowledged in the thesis. I also declare that the intellectual content of this thesis is the product of my own work, except to the extent that assistance from others in the project's design and conception or in style, presentation and linguistic expression is acknowledged. Signed .................................................... Date ..................................................... Abstract This thesis examines the current implementations for the distribution of real-time GNSS data over IP networks such as the public Internet, focusing on two essential components of the system, data format and transport protocol. The provision of a suitable data format will allow users to take full advantage of the real-time GNSS data distribution system. Types of GNSS supported, message sizes, data rates, data precision levels, hardware and software support and possible future developments are investigated. An analysis is carried out on commonly known GNSS data formats, highlighting the most suitable standard for each evaluation criterion. A similar investigation is carried out on the transport protocols. An analysis is con- ducted on various design aspects of NTRIP and RT-IGS protocols, covering factors such as data latency, integrity, firewalls and proxy server compatibility and scalability. The analysis also covers the design aspects of the new draft Version 2 of NTRIP. The latter parts of this thesis report on the experiment results aimed at providing as- sessment of the current level of implementation of NTRIP. Data latency and integrity using NTRIP over the Internet are examined. Their impacts on users applications as the quality of real-time kinematic positioning is assessed. The results show that the performance of the system satisfies the rigorous requirement of the end-user applica- tion. The draft version of the new NTRIP indicates that UDP will be also supported. A similar investigation is carried out, providing the first experiment results on the new option. Tests using similar metrics, data latency and integrity, were carried out to verify the inherent differences between TCP and UDP. It was ascertained that, in most cases, UDP does offer improvement in terms of reduced latency over TCP. However this improvement is not significant enough to affect the performance of users applications tested. Compatibility tests were also carried out and the test results show that the new option experiences some compatibility issues with firewalls and wireless networks. ii To Jenny. It's amazing how much inspiration one could draw from someone he hardly knew. Acknowledgments I wish to first acknowledge my supervisor, Prof. Chris Rizos, for his guidance and encouragement throughout my research. I am grateful for his trust, patience and sup- port. I would also like to especially thank my co-supervisors, Dr. Samsung Lim and Dr. Craig Roberts, for their encouragement and invaluable advice. The work in this thesis would not have been possible without the assistance and ad- vice provided by Dr.-Ing. Georg Weber and his colleagues at the Federal Agency for Cartography and Geodesy (BKG), Germany. I am deeply thankful for the support they have given. I would also like to express my gratitude to Michael Moore from Geoscience Australia and Doug Kinlyside and Simon McElroy from the NSW Depart- ment of Lands for their support. The wonderful colleagues at the School and University have provided me with a pleas- ant environment to conduct my study. In no particular order, I would like to thank Peter Mumford, Danny Chen, Dr. Joel Barnes, Leon Daras, Maria Ponce, Brian Don- nelly, Peter Leech, Dr. Yincai Zhou, Dr. Bruce Harvey, Prof. Andrew Dempster, Yong Heo, Usman Iqbal, Prof. Linlin Ge, Dr. Jinling Wang, Fabrizio Tappero, Anthony Cole, Steve Hewitson, Nonie Politi, Binghao Li, Jinghui Wu, Jasmin Kim, Michael Chang, Henry Hu, Asghar Tabatabaei and Tajul Musa for their friendship and en- couragement. My deepest gratitude goes to my family for their love and support. Heartfelt thanks and much love to my father and mother for giving me the opportunities they never had; to my sisters, for their unceasing support and encouragement. Finally, I would like to acknowledge my Lord and Saviour, Jesus Christ, for his grace and mercy. Everlasting, his light will shine when all else fade. Never ending, his glory goes beyond all fame. Thomas Yan iv Contents Abstract ii Acknowledgments iv List of Acronyms x 1 Introduction 1 1.1 Global Navigation Satellite Systems . 1 1.1.1 Relative and Precise Positioning . 2 1.1.2 Real-Time GNSS Applications . 3 1.2 Background and Motivation . 4 1.3 Research Objectives and Contributions . 5 1.4 Structure of The Thesis . 6 2 GNSS Data Formats 7 2.1 Introduction . 7 2.2 Proprietary Formats . 8 2.2.1 Leica LB2 . 8 2.2.2 Ashtech MBEN . 9 2.2.3 Trimble RT17 . 10 2.2.4 Trimble CMR/CMR+ . 10 2.3 Open Formats . 12 2.3.1 RINEX . 12 2.3.2 RTCM SC-104 Standards . 14 2.3.3 RTIGS . 17 2.4 Analysis and Comparison . 18 2.4.1 Compression Technique . 18 2.4.2 Message Size . 18 2.4.3 Data Precision . 21 2.4.4 Hardware and Software Support . 21 2.5 Concluding Remarks . 22 3 GNSS Transport Protocols 24 3.1 Introduction . 24 3.2 Internet Protocol . 24 3.3 Application-layer GNSS Protocols . 26 v CONTENTS vi 3.3.1 System Architecture . 26 3.3.2 Connection Mode . 28 3.3.3 Authentication Method . 29 3.3.4 Stream Identification . 30 3.4 Transport-layer Protocols . 31 3.4.1 Transmission Control Protocol . 31 3.4.2 User Datagram Protocol . 33 3.5 Analysis and comparison . 35 3.5.1 System architecture . 35 3.5.2 Scalability . 36 3.5.3 Firewalls and proxy servers compatibility . 37 3.5.4 Security . 38 3.5.5 Data Integrity . 38 3.5.6 Data Latency . 39 3.5.7 User Acceptance . 39 3.5.8 Interoperability . 40 4 Analysis on Current Implementation 42 4.1 Introduction . 42 4.2 Background . 43 4.3 Evaluation and Analysis . 44 4.3.1 Data Latency . 44 4.3.2 Data Integrity . 46 4.3.3 Positioning Quality . 47 5 Analysis on New Proposed Implementation 58 5.1 Introduction . 58 5.2 NTRIP Version 2 . 59 5.2.1 HTTP 1.1 Compatibility . 60 5.2.2 Sourcetable Filtering . 64 5.2.3 RTSP/RTP Communication . 64 5.3 Analysis and Evaluation . 69 5.3.1 Compatibility Analysis . 69 5.3.2 Performance Analysis . 72 6 Conclusion and Future Work 93 6.1 Summary of The Results . 93 6.2 Future Work . 94 References . 96 A RTSP/RTP Compatibility Test Results 101 List of Figures 3.1 TCP/IP stack connections . 26 3.2 NTRIP system architecture . 27 3.3 RTIGS system architecture . 28 3.4 Message exchange during NtripClient to NtripCaster handshake . 29 3.5 Structure of the RTIGS message header . 30 3.6 TCP header structure . 32 3.7 UDP header structure . 34 3.8 Data flow in a Reverse-RTK system . 36 3.9 RTIGS-NTRIP interface as implemented between GFZ and NRCan (Courtesy of G. Weber) . 41 4.1 Latency snapshot from several SydNET sites . 45 4.2 SydNET data latency as measured using wireless GPRS network . 46 4.3 Plot of coordinate quality of a 4.4km baseline from post-processing . 48 4.4 Plot of coordinate quality of a 4.4km baseline using RTK . 49 4.5 Coordinate quality over 24 hours period on weekend day from post- processing . 49 4.6 Coordinate quality over 24 hours period on weekend day from RTK . 50 4.7 Coordinate quality of fixed phase solutions for 24km baseline from post- processing . 51 4.8 Coordinate quality of fixed phase solutions for 24km baseline from RTK 51 4.9 Coordinate quality of fixed phase solutions for 66km baseline from post- processing . 52 4.10 Coordinate quality of fixed phase solutions for 66km baseline from RTK 52 4.11 RTK coordinate quality with average latency of 0.00s . 53 4.12 RTK coordinate quality with average latency of 0.65s . 54 4.13 RTK coordinate quality with average latency of 1.14s . 54 4.14 RTK coordinate quality with average latency of 2.10s . 55 4.15 RTK coordinate quality with average latency of 3.20s . 55 4.16 RTK coordinate quality on wired link . 56 4.17 RTK coordinate quality on wireless GPRS link . 57 5.1 Connection between modules as used for testing . 73 5.2 Latency as observed on high-speed wired link between UNSW-BKG . 74 5.3 Latency as observed on ADSL link . 76 vii LIST OF FIGURES viii 5.4 Latency as observed on wireless GPRS link . 76 5.5 Time series plot of position quality over short baseline using TCP on high-speed wired link . 78 5.6 Time series plot of position quality over short baseline using UDP on high-speed wired link .
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