The GNSS Research Center of Wuhan University Shi@Whu.Edu.Cn

Prelimenary Results from MASS & BeiDou first Continuous Operating Reference System in Hubei Province

GNSS Research Center

Wuhan University Outline  Introduction of PANDA software  MASS Using PANDA  COMPASS Precise Position Results  SUMMARY Positioning And Navigation Data Analyst  To derive possible information from GNSS/SLR/VLBI/DORIS data  Real-time Processing function from 2007  Current Applications  POD of GNSS (GPS, GLONASS, COMPASS, GALILEO)  POD of LEOs (CHAMP, GRACE, COSMIC, JASION, HY-2A,ZY-3)  Ionosphere and Troposphere Modeling  Huge Network data processing  Real-time PPP, PPP-RTK  SINEX Combination

3 Outline  Introduction of PANDA software  MASS Using PANDA  COMPASS Precise Position Results  Summary Prototype of Multi-Constellation Augmentation Service System(MASS) in China  Goals  Using GNSS data stream in China and global stations  Processing for Real-time GNSS orbit, Clock And atmosphere parameters  Products broadcast by sat. and Mobile internet  Augmentation with GPS/COMPASS in Wide- area, Dm level RT-PPP for double-frequency, Better than 1m accuracy for single- frequency  Support by National High-tech R&D Program (863 Program) of China Wide-area Augmentation Processing Platform

Data stream management Satellite Real-time Orbit Processing

Products Broadcast Terminal Real-time Precise Point Positioning

Regional Ionospheric Delay Satellite Clock Real-time Modeling Estimation

6 Monitoring and Control System Global Real-Time Precise Positioning Monitoring

N 0.022 E 0.059 U 0.108 N 0.021 E 0.052 U 0.112 N 0.034 E 0.070 U 0.079 Ultra-rapid orbit Quality by PANDA

http://acc.igs.org/ PANDA by WHU RTNet by GPS Solutions

Real-time Precise Point Positioning Monitor using ACs products by BKG

EPOS-RT by GFZ RETINA by ESA/ESOC Accuracy tests of MASS in China

Shenyang

Korla

Qingdao

Xi’an Hangzhou

Xiamen June 25 ~ July 11, 2011, 24-hour test Kunming Guangzhou The time series of double-frequency test results

Kunming Guangzhou

Shenyang Qingdao

Hangzhou Xiamen

Xi’an Korla The time series of single-frequency test results

Kunming Guangzhou

Qingdao Shenyang

Hangzhou Xiamen

Xi’an Korla Test Result Statistics

Double-frequency Single-frequency

RMS (m) N E U

Double-frequency 0.029 0.049 0.081

Single-frequency 0.268 0.286 0.614 Kinematic RT-PPP (double-frequency)

(m)

/通用格式

/通用格式 N /通用格式 E U

/通用格式 Guangzhou Shenyang /通用格式广州昆明沈阳杭州

Kunming Hangzhou

15 Kinematic RT-PPP (Single-frequency)

Shenyang

Xiamen

N(m) E(m) U(m)

Shenyang STD 0.170 0.188 0.236 Xiamen STD 0.324 0.435 1.086 Real-time Kinematic RT-PPP test

Outline  Introduction of PANDA software  MASS Using PANDA  COMPASS Precise Position Results  Summary COMPASS Precise Positioning and Navigation  Status of COMPASS  Baseline solutions (mm-level)  COMPASS RTK (cm level)  COMPASS PPP (dm level)  D-COMPASS Navigation (m level)  Benefit of GPS+COMPASS Status of COMPASS

 Current operational Satellites: 4GEO+5IGSO+2MEO  2012: 5GEO+5IGSO+4MEO（Regional Service）  2020: 5GEO+3IGSO+27MEO（Global Service）

2012 July,2012

C10 C07

C12

C05 C03 C01 C04 C11 C09 C08

C06 2020

SPP Performance of Current Constellation COMPASS Precise Positioning and Navigation  Status of COMPASS  Baseline Solutions (mm-level)  COMPASS RTK (cm level)  COMPASS PPP (dm level)  D-COMPASS Navigation (m level)  Benefit of GPS+COMPASS Beidou Tracking Network by Wuhan University

Holland

Uramqi Beijing Haerbin Xian C07 Abu Dhabi Lhasa Shanghai Chengdu Wuhan Hongkong C08 Singapore C03 C01 C04 Indonesia

South Africa Perth C09 C06

境内（12个）：上海、北京、武汉、香港、西安、成都、拉萨、乌鲁木齐、哈尔滨、沈阳、广东境外（8）：荷兰、佩斯、新加坡、南非、希腊、阿联酋、印尼、墨尔本

北斗/GPS双频观测 First Beidou CORS Network

6个框架网点+24个区域网点 COMPASS baseline solutions compared to GPS

Beidou baseline static solutions compared to GPS 0.010 Daily sol.Rms: N 3mm, E 2mm,U 5mm dE 0.008 dN 16.8 km dU 0.006 0.004 21.7 km 12.7 km 0.002 0.000

4.3 km m -0.002

9 km -0.004

5.6 km -0.006 WUHN-HBCS WDKJ-HBCS WUHN-WDKJ WUHN-CWKX HBCS-CWKX WDKJ-CWKX -0.008 4.3 km 5.6 km 9.0 km 12.7 km 16.8 km 21.7 km -0.010 WDKJ-CWKX(21.7km) 2hour sol.Baseline rms: N 6mm, E 6mm, U 12mm

25 COMPASS Baseline Compared with Laser Result

GNSS vs laser Laser (mm) Baselines Distances Obs. (m) Compass GPS

SH00 - SN41 1008．179 B1/L1 2.0 3.0

SH00 -SN37 528.101 B1/L1 2.0 1.0

SH00 - JD01 28070.411 BC/LC 9.0 8.0

26 COMPASS Precise Positioning and Navigation  Status of COMPASS  Baseline Solutions (mm-level)  COMPASS RTK (cm level)  COMPASS PPP (dm level)  D-COMPASS Navigation (m level)  Benefit of GPS+COMPASS COMPASS RTK Results

Receiver: reference and rover: UNICORE UB240 (dual-frequency)  Ambiguity fixed ：99.987%  Real-time rms（Compare with GPS RTK）: E:7mm, N: 3mm, U:11mm

-2273372.491 5011323.532 3214012.386 0.005 -0.013 -0.015000001 0.013928388 0.015000001 DX: -1697.01 -2273372.490.03 5011323.538 3214012.387 0.006 -0.012 -0.009000001 0.013416408 0.009000001 DX: -1697.009 -2273372.49 5011323.53 3214012.385 0.006 -0.014 -0.017 0.015231546 0.017 DX: -1697.009 -2273372.4950.02 5011323.535 3214012.386 0.001 -0.013 -0.012 0.013038405 0.012 DX: -1697.013 -2273372.491 5011323.531 3214012.384 0.005 -0.015 -0.016 0.015811388 0.016 DX: -1697.009 -2273372.4930.01 5011323.535 3214012.388 0.003 -0.011 -0.012 0.011401755 0.012 DX: -1697.011 -2273372.496 5011323.542 3214012.389 0 -0.01 -0.005 0.01 0.005 DX: -1697.014 0 -2273372.492(m) 5011323.533 3214012.386 0.004 -0.013 -0.014 0.013601471 0.014 DX: -1697.011E -2273372.495-0.01 5011323.54 3214012.385 0.001 -0.014 -0.007 0.014035669 0.007 DX: -1697.013N -2273372.49 5011323.53 3214012.383 0.006 -0.016 -0.017 0.017088008 0.017 DX: -1697.008U

-2273372.487-0.02 5011323.525 3214012.381 0.009 -0.018 -0.022 0.020124612 0.022 DX: -1697.005 坐标差值 -2273372.493 5011323.53 3214012.38 0.003 -0.019 -0.017 0.019235384 0.017 DX: -1697.012 -2273372.492-0.03 5011323.53 3214012.383 0.004 -0.016 -0.017 0.016492423 0.017 DX: -1697.01 -2273372.493 5011323.53 3214012.383 0.003 -0.016 -0.017 0.016278821 0.017 DX: -1697.012 -0.04 -2273372.491 5011323.531 3214012.384 0.005 -0.015 -0.016 0.015811388 0.016 DX: -1697.009 -2273372.493-0.05 5011323.532 3214012.383 0.003 -0.016 -0.015000001 0.016278821 0.015000001 DX: -1697.011 -2273372.491 5011323.534185 369 5533214012.388737 921 1105 12890.0061473 1657 1841-0.0112025 2209 2393-0.01325770.0125299642761 2945 3129 3313 34970.013 DX: -1697.008 -2273372.494 5011323.533 3214012.383 0.002 -0.016 -0.014 0.016124516 0.014 DX: -1697.012 历元 -2273372.492 5011323.527 3214012.38 0.004 -0.019 -0.02 0.019416488 0.02 DX: -1697.01 -2273372.488 5011323.529 3214012.385 0.008 -0.014 -0.018 0.016124516 0.018 DX: -1697.006 Network RTK Precision

 BDS Network RTK Precision  Rover：South S82-C（BDS Triple+GPS double Freq）、 Hi-Target V30（BDS double+GPS double Freq.）  34rovers used，5 positioning modes invovled

Success Internal precision/m accuracy/m Initial mode rate of （average）（average） Time(s) AMB Fix plane height plane height

GPS+BDS3 100% 5.76 0.004 0.018 0.010 0.036

GPS+BDS2 80% 27.46 0.003 0.015 0.011 0.042

BDS3 83% 16.40 0.007 0.020 0.013 0.052

BDS2 40% 50.78 0.003 0.015 0.014 0.045

GPS 44% 40.28 0.006 0.021 0.012 0.048 COMPASS RTK Test VS. GPS RTK

COMPASS Precise Positioning and Navigation  Status of COMPASS  Baseline Solutions (mm-level)  COMPASS RTK (cm level)  COMPASS PPP (dm level)  D-COMPASS Navigation (m level)  Benefit of GPS+COMPASS POD for COMPASS Satellites

18 C06: 6.8 cm 16 C07: 6.2 cm C08: 6.3 cm 14 C09: 4.3 cm C10: 4.6 cm 12

45 4 Overlapdifferencesorbit[cm] C01: 11.6 cm 2 40 C03: 6.2 cm C04: 11.0 cm 0 35 C05: 9.2 cm 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 Day of year 2012 30

10 Ocerlapdifferencesorbit[cm] 5

0 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 Day of year 2012 Orbit Overlap difference(Radial) RMS: 10cm Daily Static PPP (Jan. 2012)

CHDU East(cm) North(cm) Up(cm) 6 East: 1.83cm 4 2 CENT 1.83 0.75 3.54 0 -2 CHDU 1.83 2.36 3.67 -4 -6 SHA1 2.45 1.24 2.97 4 North: 2.34cm 2 XIAN 1.43 1.58 1.74 0 5 10 15 20 25 30 -2 BJF1 2.63 0.84 2.70 -4 6 Up: 3.67cm SIGP 3.73 1.43 5.53 4 DailySolution(cm) PPP by 2 HRBN 3.89 2.19 6.45 0 -2 5 10 15 20 25 30 -4 Avg. 2.54 1.48 3.80 -6 Day of Year 2012 (day)

CHDU not used for POD Kinematic PPP (RT-PPP mode)

0 1 2 3 50 East(cm) North(cm) Up(cm) CHDU East :1.7cm 40 20 Noth :2.9cm CENT 1.18 1.91 6.66 30 Up :7.2cm CHDU 1.73 2.93 7.24 20 10

10 SHA1 1.45 4.02 8.62

0 0 XIAN 0.92 2.00 6.62 -10 BJF1 2.06 5.02 10.91 -20 -10

PPP by COMPASS (cm) COMPASS by PPP -30 SIGP 2.62 3.03 4.63

-40 -20 HRBN 1.48 7.01 10.91

-50 22.0 22.5 23.0 23.5 24.0 24.5 25.0 Avg. 1.63 3.70 7.94 Day of Year 2011 (day) Kinematic PPP from DOY 21 to DOY 25 PPP Convergence with BDS Double/Triple Frequency OBS

iterms Data source Hubei BDS CORS Network，about 27 BDS/GPS/GLONASS sites sessions 2013.02.01～2013.02.28，sampling rate: 30s strategy BDS double/triple frequency PPP

NEU Precision in firt 0～30 minutes NEU Precision in firt 30～60 minutes PPP Convergence with BDS Double/Triple Frequency OBS

PPP Convergence Example at site ES02 on 2013.02.07 COMPASS Precise Positioning and Navigation  Status of COMPASS  Baseline Solutions (mm-level)  COMPASS RTK (cm level)  COMPASS PPP (dm level)  D-COMPASS Navigation (m level)  Benefit of GPS+COMPASS Pseudo-range Differential COMPASS

 Reference: UNICORE UB240  Rover: CNS100-BG (single-frequency)  Real-time rms（Compare with GPS RTK）: H:0.8m, V: 1.2m

-2267306.299 5009338.708 3221354.982 -2.973 2.7335 3.9685 DX: 4369.183 245.738 -2267306.092 5009338.4728 3221354.741 -2.8695 2.613 3.8505 DX: 4369.389 245.502 -2267306.027 5009338.299 3221354.533 -2.837 2.509 3.764 DX: 4369.455 245.328 -2267306.002 5009338.167 3221354.347 -2.8245 2.416 3.698 DX: 4369.48 245.197 -2267305.946 5009338.0156 3221354.123 -2.7965 2.304 3.622 DX: 4369.536 245.045 -2267305.89 5009337.951 3221353.939 -2.7685 2.212 3.59 DX: 4369.592 244.98 -2267305.819 5009337.9354 3221353.784 -2.733 2.1345 3.582 DX: 4369.663 244.965 -2267305.816 5009338.109 3221353.761 -2.7315 2.123 3.669 DX: 4369.666 245.139 -2267305.877 5009338.211 3221353.761 -2.762 2.123 3.72 DX: 4369.604 245.24

-2267305.951 (m) 5009338.262 3221353.711 -2.799 2.098 3.7445 DX: 4369.531 245.29N -2267305.986 5009338.427 3221353.705 -2.8165 2.095 3.828 DX: 4369.496 245.457E -2267305.831 5009338.216 3221353.502 -2.739 1.9935 3.7225 DX: 4369.651 245.245 0 U

-2267305.774 5009338.135 3221353.397 -2.7105 1.941 3.682 DX: 4369.708 245.164 坐标差值 -2267305.823 5009338.165 3221353.431 -2.735 1.958 3.697 DX: 4369.659 245.194 -2267305.77 5009337.902-2 3221353.327 -2.7085 1.906 3.5655 DX: 4369.711 244.932 -2267305.641 5009337.611 3221353.211 -2.644 1.848 3.42 DX: 4369.841 244.641 -2267305.497 5009337.31 3221353.083 -2.572 1.784 3.2695 DX: 4369.985 244.34 -4 -2267305.429 5009337.147 3221353.035 -2.538 1.76 3.188 DX: 4370.053 244.177 -2267305.37 5009337.039 3221352.989 -2.5085 1.737 3.134 DX: 4370.112 244.069 -2267305.302 5009336.966-6 3221352.946 -2.4745 1.7155 3.0975 DX: 4370.18 243.996 -2267305.317 5009337.0021 137 2733221352.962409 545 681 817-2.482953 1089 12251.72351361 14973.11551633 1769 1905 2041 2177DX: 23134370.165 244.031 -2267305.247 5009336.923 3221352.915 -2.447 历元1.7 3.076 DX: 4370.235 243.953 -2267305.17 5009336.785 3221352.837 -2.4085 1.661 3.007 DX: 4370.312 243.815 -2267305.094 5009336.648 3221352.779 -2.3705 1.632 2.9385 DX: 4370.388 243.677 D-COMPASS Navigation

Time series of rms of baseline coordinate differences(kinematic) 0.06 GPS+COMPASS VS. GPS only improve 10-20% G-dE G-dN 0.05 G：GPS only; G-dU C-dE C： COMPASS only; C-dN 0.04 C-dU C+G-dE C+G：GPS/COMPASS 组合 C+G-dN C+G-dU

0.03 meter

0.02

0.01

0 0 19/06/2011 20/06/2011 21/06/2011 22/06/2011 23/06/2011 24/06/2011 25/06/2011 Observation time( day) 7 day Baseline Kinematic solutions

GPS GPS + COMPASS 0.08 0.08 rms( dE) = 0.007m dE rms( dE) = 0.006m dE 0.06 rms( dN) = 0.007m dN 0.06 rms( dN) = 0.005m dN rms( dU) = 0.015m dU rms( dU) = 0.009m dU 0.04 0.04

0.02 0.02

0.00 0.00

meter meter

-0.02 -0.02

-0.04 -0.04

-0.06 -0.06

-0.08 -0.08 0 2 4 6 8 10 12 14 16 18 20 22 24 0 2 4 6 8 10 12 14 16 18 20 22 24 hour hour DOY170 Kinematic solution (epoch by epoch) Summary  PANDA software  GNSS real-time products: orb., clo., ion., trop.,,,  Dm level RT-PPP  MASS developed in China  Dm level RT-PPP for double-frequency  Better than 1m accuracy for single-frequency  COMPASS results  Baseline: mm level @ 30km  RTK: cm level  PPP: dm level  Pseudo-range Differential: meter level  Comparing with GPS only, emerging Compass data could improve the accuracy of baseline kinematic solution about 10-20%

The GNSS Research Center of Wuhan University [email protected]