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The Issues of Practical Implementation of the Commercial RTK Network Service

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The Issues of Practical Implementation of the Commercial RTK Network Service The Issues of Practical Implementation of the Commercial RTK Network Service I. Petrovski, S. Kawaguchi, H. Torimoto, DX Antenna Co.Ltd., Japan K. Fuji, Hitachi Ltd. , Japan M.E. Cannon, G. Lachapelle, The University of Calgary, Canada development, considerations for the utilization of BIOGRAPHY different data links , including a broadcast service, cellular phones and the Internet. It also contains an Dr. Ivan G. Petrovski is the Chief Researcher at the GPS approach for choosing an RTK network algorithm as well Division of DX Antenna Co. Ltd. Prior to joining DX as other issues. Concepts for the future development of Antenna, he was working as an Associate Professor at the the system are discussed including Internet-based Moscow State Aviation University (MAI), and then as a globalization, GALILEO and GLONASS deployment, Science and Technology Agency Fellow with National and precise ephemeris utilization. Aerospace Laboratory, Japan INTRODUCTION Seiya Kawaguchi joined GPS Division of DX Antenna in 1998. He holds a Master degree in Earth Science from The idea of a real-time kinematic (RTK) network service National University of Kyusyu. has been around for many years, but only relatively recently has its implementation been started in some Hideyuki Torimoto is a General Manager of the GPS countries. The importance of an RTK network increases Division of DX Antenna. Before joining DX Antenna he every year. Despite the fact that we now have a large had established Trimble Navigation Japan Ltd. and was percentage of GPS consumers, who do not require RTK working as an Executive Vice President of this company accuracies, the ease of getting such a service in the future since 1986. will accelerate the consumer market. With SA being turned off, differential services have difficulties to Kenjirou Fujii holds MS from Waseda University. He is distinguish themselves from standalone GPS in terms of working at the Industrial Components and Equipment in accuracy, so part of the former DGPS users can turn to Hitachi Ltd. Japan. He is the principal specialist in RTK for improved performance. In addition, the situation automatic control, robotics and GPS related system with the availability of navigation satellites will development. drastically change in the future. The GLONASS constellation will hopefully be realized at its full Dr. M.E. Cannon is a Professor in Geomatics Engineering potential, and GALILEO will appear. New civil at the University of Calgary where she conducts teaching frequencies will be introduced for GPS and GLONASS. and research related to GPS and integrated GPS/INS All these factors altogether will ensure that reliable, systems. She is a Past President of the Institute of instantaneous RTK will be readily available. Navigation. The main problem, which RTK can overcome, is the Dr. Gerard Lachapelle is Professor and Head of the necessity to have a reference station (RS) in the vicinity Department of Geomatics Engineering where he is of the user. The distance from the RS when using RTK responsible for teaching and research related to should be generally no more than 10km on average, positioning, navigation, and hydrography. He has been which is significantly different from DGPS, where involved with GPS developments and applications since distances to RS can exceed several hundred kilometers. It 1980. means that if you want to provide an area of 1000 km2 with a reliable RTK service, you have to have install ABSTRACT about 2500 reference stations. The only way to overcome this problem without sacrificing accuracy or time for The paper presents a commercial real-time kinematic initialization, is to apply an approach similar to WAAS, (RTK) Virtual Reference Station (VRS) Network service whereby corrections are averaged over the coverage area. in Japan and issues related to its implementation. A It allows a service provider to decrease the number of RS prototype of an infrastructure for the commercial RTK drastically, for example down to 100-400 depending on correction service was introduced for public in September the ionospheric conditions. 2000. The paper discusses guidelines for infrastructure The Virtual Reference Station (VRS) RTK Network, of the real RS, one can find the approximate magnitude of along with a number of other well-developed methods, the most probable error between them. In order to find allows the use of a moderate number of RS, providing the this averaging error near the user position, we can use same full coverage (see Petrovski et al., 2000). A VRS different criterions to optimize this estimate, using various has corrections calculated for it, rather than having a algorithms. The difference between the results of these physical RS, and it is located near the user position. The algorithms is not generally significant. A natural user cannot use a real RS, because it is generally too far extension of the network concept is that RTK VRS away. Over a distance greater than 10 km these errors increases the integrity and reliability of the service in could be comparable to the GPS signal wavelength and contrast with a single baseline solution. would interfere with the ambiguity resolution algorithm. The largest errors, which RS corrections intend to Since 1999 a group of companies and universities started compensate, de-correlate with distance. Among these a project to create RTK VRS service in Japan. DX errors, the most significant are the ionospheric errors. Antenna Co. Ltd. acts as a system integrator and in charge Fortunately, these errors mostly decorrelate linearly with for the overall system. The Department of Geomatics distance under normal operating conditions. Other errors, Engineering at the University of Calgary provides VRS which decorrelate with distance are tropospheric, and Software, adapted for real time applications by Roberton orbital effects. Orbital errors usually are insignificant over Enterprises. Hitachi Ltd. manufactures user equipment a medium-length baseline, and tropospheric error prototype and provides reference station (RS) network. distribution usually fluctuates on a medium-length Asahi TV, Keio University and WIDE project are baseline, and in some cases may be very significant. involved in close cooperation related different parts of Using the distance-weighted errors at the known locations RTK VRS Network infrastructure. services is correction broadcast services (see Hada at al.,2000). They are widely used, operate in real time to provide a differential accuracy, and are mainly used for navigation. The Internet-based correction service has some advantages over a broadcast service, but now it operates on a small scale. It is a real time service, with differential accuracy, and the potential for RTK. Finally, the geodetic-quality Geographical Survey Institute (GSI) network, which can provide precise data for post mission, and real-time data, which can be used as the foundation for RTK services. Despite the very high density, the network cannot provide full coverage for RTK applications due to the above mentioned reasons. The services listed fully cover such applications as emergency location, car navigation, off-shore navigation, and surveying. However one can find a niche market for VRS. It is a real-time, good coverage, cm level service for As a result of this work, a prototype RTK VRS Network construction, rapid surveying, and GIS. Some navigation infrastructure was created and successfully introduced to applications like automatic parking, ship docking and etc. the public in September 2000 in Tokyo. This attracted also require cm-level accuracy. This service fills the gap more than 300 representatives from different companies. between demanding mm-level geodetic services and A test that was conducted at that time demonstrated that meter-decimeter-level differential services. the system can provide a 2-5 cm level accuracy over baselines longer than 30 km. (see Petrovski et al., 2000)). The availability, continuity and convenience of the At the same time it demonstrated difficulties in providing service will depend on components as data links, whereas continuously reliable solutions. These difficulties were accuracy depends on the algorithm, network caused by severe ionospheric conditions (reaching 15 configuration, data latency etc. An RTK Network ppm), which in turn had a negative impact on ambiguity incorporates a number of essential elements, each of resolution between the network RS. At the same time user which is essential in terms of estimation of the overall hardware development was necessary. In order to ensure specifications, investment and running costs. Below we the reliability and quality of the service and resolve consider the elements from the point of view of potential administrative issues, the service has been transferred to a users and service providers. For the service provider the test phase. The main service components are in use and main considerations are investment vs. running cost, are operating in a test mode. source of revenue, such as equipment vs. service fees, and scalability of service. For the user, the most important PRACTICAL CONSIDERATIONS issues are cost for equipment vs. the service fee, availability, accuracy, customization, continuity of The RTK VRS service is planned to be operational in service, and convenience. 2002. In order to determine the consumer market for this service, we need look at services, which are available The basic requirements and characteristics of the RTK now, and those that will appear in the near future. The VRS network are based on the Japanese Geographical size of the potential market is the governing factor in the Survey Institute (GSI) specifications. The competitive service design. The main application in terms of the number of users serviced in Japan will be GPS enhanced cellular phone. It will be in common use, operating in real time, easy to access, and providing a rather low accuracy. This service is for location only. The other group of service in Japan enjoy RTK, when the baseline to the nearest RS is from should satisfy 10 to 50 km or greater.
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