RRNI:NI: DELENG/2005/15153DELENG/2005/15153 NNo:o: DL(E)-01/5079/11-13DL(E)-01/5079/11-13 PPublication:ublication: 1515tthh ooff eeveryvery monthmonth LicensedLicensed ttoo ppostost wwithoutithout ppre-paymentre-payment UU(E)(E) 228/2011-138/2011-13 PPosting:osting: 1919tthh//2020tthh ooff eeveryvery monthmonth aatt NDPSONDPSO RRs.100s.100 6 3 1 2 - 3 7 9 0

N S S I ISSN 0973-2136

Volume VIII, Issue 8, August 2012 THE MONTHLY MAGAZINE ON POSITIONING, NAVIGATION AND BEYOND

GAARDIAN ProtectingProtecting tthehe UUKK InfrastructureInfrastructure fromfrom GNSSGNSS JammingJamming aandnd IInterferencenterference

Surveying · Geodesy · Navigation

 COLOPHON AND CONTENTS

Direction of gravity H

Mean Sea Level In this issue CCoordinatesoordinates Volume 8, Issue 8, August 2012

Articles

GAARDIAN: A system to detect GNSS jamming and Interference ANDY G PROCTOR, CHARLES W T CURRY, JENNA

TONG, ROBERT WATSON, MARK GREAVES AND PAUL CRUDDACE 8 The Jamaica VRS and cadastral surveying GLENDON G NEWSOME,

GREGORY PEAKE AND ROMAYNE DOUGLAS 14 Geoid modelling K F ALEEM 22 INS-GPS-GLONASS navigation fusion scheme for high dynamics guided projectiles G SATHEESH REDDY AND MANJIT KUMAR 35 eHarta tryst with Romania

CODRINA MARIA ILIE 43

Columns

My Coordinates EDITORIAL 6 Conference UNITED NATIONS INTERNATIONAL MEETING ON GNSS 18 News GNSS 46 LBS 48

IMAGING 49 GIS 50 GALILEO UPDATE 52 INDUSTRY 53 Mark your calendar SEPTEMBER 2012 TO JUNE 2013 56

This issue has been made possible by the support and good wishes of the following individuals and companies Andy G Proctor, Charles W T Curry, Codrina Maria Ilie, G Satheesh Reddy, Glendon G Newsome, Gregory Peake, Jenna Tong, K F Aleem, Manjit Kumar, Mark Greaves, Paul Cruddace, Robert Watson and Romayne Douglas; and Ashtech, CHC, Foif, Hemisphere GPS, HiTarget, Javad, Pentax, Navcom, NovAtel, Racelogic, South, Trimble, Unistrong and many others.

Mailing Address Coordinates is an initiative of cGIT that aims to broaden the Editor Bal Krishna 50 A Pocket A scope of positioning, navigation and related technologies. SFS Mayur Vihar Phase III cGIT does not neccesarily subscribe to the views expressed Owner Centre for Geoinformation Technologies Delhi 110 096, India. by the authors in this magazine and may not be held Phones +91 11 22632607, 98102 33422, 98107 24567 liable for any losses caused directly or indirectly due to the Designed at Spring Design ([email protected]) Fax +91 11 22632607 information provided herein. © cGIT, 2012. Reprinting with permission is encouraged; contact the editor for details. Printer Thomson Press India Ltd., B 315, Okhla Phase I, Email New Delhi - 110020, India [information] [email protected] Annual subscription (12 issues) [India] Rs.1,200 [editorial] [email protected] [Overseas] US$80 This issue of Coordinates is of 60 pages, including [advertising] [email protected] cover. [subscriptions] [email protected] Printed and published by Sanjay Malaviya on behalf of Centre for Geoinformation Technologies at A221 Mangal Web www.mycoordinates.org Apartments, Vasundhara Enclave, Delhi 110096, India.

 MYCOORDINATES Photo: NASA Kudos to ‘Curiosity’

On August 6, 2012

Mankind accomplishes another feat,

When our curiosity to locate life

Beyond the Earth,

Finally, landed Curiosity - the NASAs Rover, on Mars.

This also sets stage for future endeavors

With some other nations joining the pursuit

To explore more and more

With Man in Mars, and beyond.

Ultimately it’s our curious instinct

which resulted into this formidable achievement

Kudos to ‘Curiosity’

Bal Krishna, Editor [email protected]

ADVISORS Naser El-Sheimy PEng, CRC Professor, Department of Geomatics Engineering, The University of Calgary Canada, George Cho Professor in GIS and the Law, University of Canberra, Australia, Professor Abbas Rajabifard Director, Centre for SDI and Land Administration, University of Melbourne, Australia, Luiz Paulo Souto Fortes PhD Associate Director of Geosciences, Brazilian Institute of Geography and Statistics -IBGE, Brazil, John Hannah Professor, School of Surveying, University of Otago, New Zealand

6 | CCoordinatesoordinates August 2012

 GNSS GAARDIAN: A system to detect GNSS jamming and Interference Protecting the UK Infrastructure

Andy G Proctor NSS vulnerability currently one of specifi c recent detection event that Divisional Manager Gthe most talked about topic in the demonstrated the capability of the GNSS Applications and GNSS world. Publicity of events such system and that, by involving UK Solutions, Chronos as the “accidental” GPS jamming at the Law enforcement agencies, proved the Technology Ltd., UK Newark Airport in the United States, the system can be operationally effective. Royal Academy of Engineering report regarding the vulnerability of UK GNSS services, the recent investigations into GAARDIAN’s Guardians Charles W T Curry the LightSquared “problem,” numerous Managing Director, conference presentations, and many GAARDIAN, a collaboration led by Chronos Technology articles in technical journals and news Chronos Technology Ltd., included the Ltd., UK media — all address the well-known fact University of Bath, General Lighthouse that space-based position, navigation, Authorities of UK and Ireland, BT, and timing (PNT) is vulnerable to Ordnance Survey, National Physical localized RF interference at or near to Laboratory, and Imperial College Jenna Tong the receiver operating frequency. London. The project was part-funded Postdoctoral Researcher, by the UK’s national innovation agency, Electronic and Electrical Some of this publicity relates to the Technology Strategy Board, and ran Engineering Department, the UK’s developments in the area between October 2008 and March 2011. University of Bath of detecting GNSS interference, specifi cally the GAARDIAN program The project set out to create interference (for GNSS Availability, Accuracy, detection and monitoring sensors Reliability anD Integrity Assessment (IDMs) that could be deployed in the Robert Watson for Timing and Navigation). This vicinity of safety- and/or mission- Senior Lecturer, was a wide collaboration between critical PNT applications. These sensors Electronic and Electrical government, academia, and industry to or probes had a design brief to monitor Engineering Department, develop a robust system for analyzing the integrity, reliability, continuity, University of Bath interference phenomena associated and accuracy of the locally received with GPS and eLoran systems and GPS and eLoran signals on a round- the effects on their use in safety- the-clock basis and report back to a and mission-critical applications. central server, which acts as the user Mark Greaves interface. Users were to be alerted in Geodetic Analysts The GAARDIAN program completed real time to any anomalous behaviour Ordnance Survey in 2011. This article gives an overview in either of the GPS and eLoran signals. of the resulting capability to detect This concept can also be considered a GNSS interference and jamming. GNSS/PNT quality of service (QoS) It also provides details about a monitoring and reporting system.

Paul Cruddace Geodesy and Positioning Manager Ordnance Survey

GAARDIAN probe as deployed around the UK

8 | CCoordinatesoordinates August 2012 The probe is designed to be adaptable to various user applications, and specifi c functionality can be enabled or disabled depending on user requirements. Every probe performs a minimum set of functions: • interference detection • failure identifi cation • data capture during anomalous events • eLoran validation

The specifi c functionality of the probes and the server, summarised above are based on these activities. For example, assessment of conditions such as space segment f ailures can be performed to F igure 1: Simplifi ed probe architecture ensure an event is due to a localized problem and not systematic.

Figure 1 outlines the basic probe architecture in which the outputs from a GPS receiver, an eLoran receiver, and a small form factor rubidium atomic clock are analyzed. One form of the analysis performed is an investigation of the 1PPS output of the two PNT sources against a common reference.

A time interval error (TIE) measurement of these outputs is conducted continuously Figur e 2: Example TIE plot showing the responsiveness to GNSS anomaly over multiple sample window sizes. This is converted to maximum time interval error System design in the vicinity of the probe. The station (MTIE) and compared with a predefi ned also processes data obtained by the limit. This enables short-, medium-, and The GAARDIAN program has resulted probe to reduce the amount that needs long-term timing anomalies to be reported. in a 24x7 nationwide experimental IDM to be transmitted to the central server. system, whose sensors continuously The server’s role is to manage and Not only does this feature enable the monitor PNT signals from both GPS process the data received from probes detection of multipath, interference, and and eLoran. GPS is the main GNSS and external sources including the system anomalies in the GPS signal, it technology monitored, but integration Ordnance Survey’s OS Net network also provides a readymade QoS service of other GNSS technologies is certainly of permanent GNSS receivers. should eLoran become the accepted possible. eLoran is an alternative PNT technological alternative PNT to GPS technology unaffected by interference The server offers the users real-time access or for adopters of the future Galileo to GPS and technically dissimilar to the output of the probes (including Publicly Regulated Service (PRS). in its dependencies, e.g., operating anomalous events) and dedicated at different frequencies and using system (GPS and eLoran) positioning/ Maximum time interval error (MTIE) separate infrastructure from GNSS. timing performance. Furthermore, it is the largest peak-to-peak TIE (i.e., provides the probes with information on wander) in any observation interval The design of the GAARDIAN failures that have a regional impact. of length t, calculated as follows: architecture consists of three main elements: probe, server, and Both the probes and the server integrated communication. The probe, shown in specialist monitoring technologies the accompanying photograph, acts as from the partners, with the integration Equation 1 Maximum time interval error a semi-portable station that executes and normalization being carried out specialised functions to detect anomalous at and by Chronos’ UK headquarters where n is the number of samples in the

is the sample 0ז ,events and failures of GPS or eLoran premises and staff, respectively. measurement window

CCoordinatesoordinates August 2012 | 9 accomplished via dd mmm, 10:52 UTC. an algorithmic Alarm Duration 23 seconds. Actual Event ~ 2 minutes. comparison of the measured GPS signal/noise ratio (SNR) for each satellite against a pre-calculated polynomial “Quickthresh” PRN #2 mask. This algorithm uses the SNR, azimuth, and elevation values to develop a mask for “normal” signal strength and extract some PRN #4 Figure 3: SENTINEL overview parameters related to multipath of Figure 5: Event Type 1 the probe. data is communicated back to a central An “event” location, and continuously available occurs when the via a common web browser, making SNR for a [user- the complex data accessible quickly confi gurable] and easily. Figure 4 shows the server’s number of graphical user interface through which satellites has users are alerted and, in turn, can dropped below access data from individual probes expected and perform detailed event analysis. tolerances, leading to the assumption Server side analysis tools include the Figure 4: GAARDIAN/SENTINEL server interface that a multipath ability to perform historical trend (location identifi ers removed) or jamming analysis of both the GPS and eLoran environment data from the probes. These tools interval, N is the number of samples may exist. Other parameters are enable operators and users to monitor in the data set. The index variable i is taken into account, such as standard long-term factors, such as the eLoran incremented to scan across the window deviation per satellite and the multipath additional secondary factor (ASF) and k, representing the starting point conditions of the “normal” state. variations, and analyze long-term of the current data set, is incremented GPS QoS metrics and event patterns. for sliding the measurement window. This means that a probe can, if This pattern analysis capability was necessary, be deployed into a strong used during a recent investigation This principle can be used to set multipath environment. Over the by the GAARDIAN program team, thresholds of maximum allowable course of the GAARDIAN program, which we will describe next. TIE, which when exceeded can be the time required for the normal state fl agged as an alert. Figure 2 shows determination was reduced to a level some early experimental data that that enables the rapid deployment Event investigation compares a GPS 1PPS to a cesium of a probe to a location of interest, a standard, with a jump in the TIE concept being used in the successor GAARDIAN as a research tool has when a system anomaly occurs. In program, SENTINEL (Figure 3). delivered a number of key fi rsts in the the example data, the operation of a fi eld of GPS interference detection, GPS repeater is causing the reaction. Probes are currently deployed at various eLoran monitoring techniques, and locations around the UK and Ireland GPS multipath characterization, Even In addition to this TIE measurement, and continuously report on the integrity, though only an experimental rather the probe characterizes the GNSS continuity, accuracy, and reliability of than operational system, one of the RF multipath environment. This is the PNT signals in the vicinity. The partners, Ordnance Survey, requested

10 | CCoordinatesoordinates August 2012

“Deep Short Sharp” Signature same RF environment as seen by the to full and reliable operation clearly Signatures correlate with Loss of reference station was also seen by the called for some “on the ground” Lock on the OS Net Receiver co- probe. Although the probe detected investigation and mitigation. During located with the GAARDIAN probe immediate loss-of-signal events, the the GAARDIAN program, strong links DSST Signature seen on Satellites program team allowed the probe to were forged with elements of UK law PRN #2, 4, 10, 13, 20, 23. gather three weeks’ worth of data enforcement and culminated in the nn mmm 14:17 UTC. Alarm before full analysis was undertaken. SENTINEL program. This activity Duration 18 seconds included gaining the UK Association of Chief Police Offi cers ITS Working Human or natural? Group (ACPO ITS) as a full partner.

The analysis showed two clear and distinct Discussions with ACPO ITS and other types of event; Figure 5 shows an example law enforcement agencies (LEAs) of the fi rst event type, dubbed internally allowed the GAARDIAN team to as “Short Shallow Fat” or SSF. The fi gure compile a confi dential report on the PRN #20: 24° Elevation diagram shows carrier/noise values against events described here, which led to time, and the event is clearly visible. the deployment of LEA assets to the This event was found to be sidereal in vicinity of the site in question. nature and therefore discounted as the cause of the problem. The root cause of Small, handheld detection devices this fi rst type of event is currently under were used to aid in localizing any investigation and not part of this article. interference source, as GAARDIAN itself cannot provide a location or Figure 6 shows the second type of event bearing of the interference source. PRN #13: 76° Elevation detected by the GAARDIAN probe. Its (This latter capability is part of signature was christened internally as the SENTINEL program.) Figure 6: Event type 2 “Deep Short Sharp” or DSS. Again, the event can be clearly seen in the data and This article cannot provide specifi c that a GAARDIAN probe be moved to was found to have an average duration details of the LEA operation nor a specifi c site of interest in the UK. in the order of only a few seconds. This describe how the GAARDIAN team was the event that correlated each time further contributed, for reasons of This article will not detail the location with the loss of lock experienced by the operational security and possible legal of this probe, but the reason for the OS Net reference receiver. The DSS proceedings. We can say, however, that deployment was that an Ordnance event affected signals from all satellites the LEA ground operation did identify Survey OS Net reference station at the in view at the time of the event. a source of the interference, which was location was experiencing signifi cant identifi ed as one of the vehicle based failures. The OS Net network, consisting Detailed analysis concentrated on the GPS jamming devices seen frequently of more than 100 continuously DSS profi le, particularly the frequency on the Internet and as described in operating GNSS receivers, facilitates of occurrence, looking for trend patterns. the Royal Academy of Engineering a core geodetic remit of Ordnance This analysis showed that the event report on GNSS vulnerabilities. Survey as well as providing data and exhibited regularity in terms of days services for internal and commercial of the week upon which it occurred. As a result of this event analysis, GNSS correction services across the The event also changed activity during therefore, the initial assessment that whole of Great Britain. Therefore, a public holiday (e.g. an expected the problem was manmade was proven failure of an OS reference station, Monday event happened on a Tuesday correct. Any further action by the particularly intermittent failure, of as Monday was a public holiday). In appropriate UK authorities is to be any of these reference stations has a addition to other indicators that cannot determined by the UK LEAs, and the signifi cant effect on business continuity be detailed here, this pattern led the team GAARDIAN team will not be involved. because of the resulting data loss. . to suspect it was not caused by a natural event, but rather by manmade means. Deployment of the GAARDIAN probe Conclusion to the site of the OS Net reference station represented the fi rst operational Enforcement This overview and case study has shown deployment of the system in the that the GAARDIAN system, although an UK. Installation and set-up work by To progress this analysis further and to experimental network, is fully capable of Chronos Technology, meant that the bring the OS Net reference site back detecting deliberate and accidental GPS

12 | CCoordinatesoordinates August 2012 GAARDIAN thus fulfi ls the role and providing a measure of trust in a called for by the original design PNT system. Cooperation between the concept. Further work would be needed GAARDIAN team and UK LEAs, based to integrate the server and probe on analysis of GAARDIAN data, enabled functionality within a customers’ existing a quick and effective identifi cation of the monitoring infrastructure, or perhaps to source of radio interference. GAARDIAN form the core of a monitoring system data was an invaluable aid to decision that needed to be implemented from the making on the ground, which not only ground up. A number of avenues are proved successful but also avoided currently being explored in this respect. the need for potentially protracted and CTL3500 handheld interference detector costly law enforcement investigation. As collateral benefi ts of the GAARDIAN interference & jamming. And, as the case project in addition to achieving the core described here demonstrates, it is capable goals of GPS interference detection, Manufacturers of being the primary detection sensor additional capabilities have been used in an operational law enforcement realized, such as long-term eLoran The handheld interference detector used environment. Detection of interference ASF monitoring and calibration, in the GAARDIAN program was the events lasting just a few seconds has differential eLoran calculations, and the CTL3500 interference monitor from shown to be possible. We should also introduction of a multiple technology Chronos Technology Ltd., Lydbrook, note that occasional variants of the DSS PNT QoS monitoring system.. Gloucestershire, United Kingdom. The profi le described in the article exhibited GPS receiver system used within the a “tail,” i.e., a shallow recovery back The technology mentioned in this article GAARDIAN probe is a CTL430 also from to a normal signal/noise state. This was is also being improved upon for the Chronos Technology Ltd, and the eLoran subsequently identifi ed as a waiting SENTINEL program, which incorporates receiver used in both the GAARDIAN and period by the vehicle emitting the additional capabilities for determining SENTINEL projects is a UN-150 eLoran jamming signal at nearby traffi c lights. the location of an interference source Timing Receiver from URSANAV Inc.   SURVEYING The Jamaica VRS and Cadastral Surveying This paper provides a history of the Jamaica Geodetic infrastructure and the changes that have taken place with this network over the last few decades. We present here the fi rst part of the paper. The concluding part will be published in September 2012 issue

Glendon G Newsome irtual Reference System (VRS) rover's position. This is what is regarded Senior Lecturer, Vcomprises a network of three as the Virtual Reference Station. University of (3), or more, continuously operating Technology, Jamaica Global Navigation Satellite System The confi guration effectively eliminates (GNSS) receivers, sited at points of the need for users to establish their own known coordinates up to 70 Km apart base station, as in the case of Real Time and connected via data links. A control Kinematic (RTK), and translates into Gregory Peake centre, with computer processing signifi cant cost savings for those investing Lecturer, University of capability as well as a mobile phone data in GNSS technology. Of course users will Technology, Jamaica link, such as Global System for Mobile have to pay providers for their cellular communication (GSM), is established calls to the control centre. So far, there for communication between the control has been no indication of user fees to be centre and the users’ rover receivers. charged by the National Land Agency of Jamaica, to the users of the VRS. Romayne Douglas All receivers are linked via land line Graduate, Bachelor telephones to the control centre. Data The corrections transmitted to the of Sciences Degree from these receivers are fed into the rover from the control centre are good programme in control centre via the telephone links enough to yield centimeter accuracy Surveying and and used at the control centre to compute for the coordinates of the rover station. Geographic corrections for the two major sources of This level of accuracy would be quite Information Sciences, errors that affect GNSS measurements - acceptable for most applications including University of Technology, Jamaica and are easily mathematically modelled Cadastral, Engineering Topographic, - ionospheric and tropospheric errors. Hydrographic and Mining Surveying. Other errors/biases including satellite and receiver clock errors are removed Virtual Reference Systems may be by double and triple difference options, mounted on an existing local geodetic while those falling in neither category control infrastructure where the reference e.g., cycle slip and multipath errors, stations occupy known control points. are minimized through the use of Alternatively, they may form a completely proper observational techniques. new network of points or indeed a combination of both. Since the safety and Any user with a GNSS receiver in the security of the equipment is of paramount roving mode and connected, whether by importance, the locations of existing wire or Bluetooth to a GSM ready cellular control points would not in all cases, be telephone, may dial into the control centre suitable for VRS Stations. In any event, and send a standard National Marine the VRS network would be tied to the Electronics Association (NMEA) position local geodetic control so that the control string which includes its coordinates as network can act as an integrity monitor determined by the receiver autonomously, for ground truthing the VRS coordinates. provided a signal is available. The control However, concerns have been raised as to centre computes corrections for the whether the Jamaican control network in rover as if the base station were at the its current form can adequately support

14 | CCoordinatesoordinates August 2012 Table 1 EDM and Triangulation Distances compared It is expected that the Line Tellurometer Triangulation Diff Ratio PPM implementation of P13-P19 14,796.027 14,796.030 0.003 1/4,900,000 0.20 P14-P15 10,479.009 10,479.125 0.116 1/86,000 11.07 the Virtual Reference P27-P28 18,615.106 18,615.588 0.482 1/38,000 25.89 P24-P32 15,727.141 15,727.369 0.228 1/74,000 14.50 System will revolutionize P33-P40 25,483.036 25,483.612 0.576 1/45,000 22.29 P36-P37 14,366.034 14,366.491 0.457 1/31,000 31.81 the surveying and P37-P44 40,389.934 40,390.173 0.239 1/166,000 5.92 P40-P41 24,176.761 24,176.882 0.121 1/198,000 5.00 construction sectors Table 2 Astronomical Azimuths as it will lower the Azimuth p.e. No. of Diff. cost of positioning Pointings Mount Denham – Cockpit 289° 57’ 11.87” ±0.22 40 +6.63” a VRS in this regard. The integrity Coopers Hill 04° 34’ 04.70” ±0.07 17 +10.03” monitoring feature of a National Control – Nutfi eld in support of a VRS, is a vital aspect of Nutfi eld - 184° 34’ 41.00” ±0.26 15 +13.92” the use of VRS in Cadastral Surveying. Coopers Hill

Measurement (EDM) devices at that (Figure 1). on a non-geocentric datum. Jamaica geodetic control time, only one distance was measured and all the angles in each triangle were A line of levels was run between a control The Jamaica Geodetic Control measured. The azimuth of one side was station called Plumb Point and a mark Infrastructure was originally established obtained through stellar observations. on the offi cer’s bath (swimming pool) at in three tiers, Primary, Secondary and Port Royal. The mark was reported by the Tertiary. The Primary network originally The datum point was established by British Admiralty to be 1.0668m (3.50 comprising of thirty-eight points was connecting a point (Flagstaff at Fort ft.) above mean low water as determined observed by Royal Engineers between Charles, Port Royal) to the United States of by the British Admiralty in 1886. The November 1937 and April 1939. An America (USA) Navy Department’s 1873 heights of all other primary triangulation additional six stations were subsequently network of points where astronomical stations were determined from reciprocal incorporated by the Government Survey longitudes were observed between the vertical angle measurements and related Department Surveyors to complete the United States mainland through a number to the height of the Plumb Point Station. network in 1944. The points form a of the West Indian Islands to Central mesh network of triangles spanning the America and South America. Observations When Electronic Distance Measurement length (230 km) and breadth (80 km) for astronomical latitudes were made at the (EDM) became available, a campaign of the island. Typical side lengths range same time at each station where longitude was launched to upgrade the network. between 13km and 42 km. Given the non- was established. This gave rise to a Between 1961 and 1963, a Tellurometer existence of Electromagnetic Distance Pure or Classical form of Triangulation was used to measure all the lines on the periphery of the primary triangulation

J A M A I C A network. A number of other lines were PRIMARY TRIANGULATION NETWORK measured also. A comparison was made PALMYRAQ between the E.D.M distances (in feet) and ETINGDONQ GERMANQCACOON HILL CASTLEGOODQ HOPE HAUGHTON TOWERQ Q Q BIRCHMAXWELLQ HILL HALL(KEMPSHOT) CANAAN HILL-BAMBOOQ DOLPHIN HEADQ GOVERNORSQ HILL those calculated from the triangulation. MORELANDBURNT SAVANNAQ ALBION Q FORTQ WILLIAM Q NUTFIELDQ GEORGES QPLAINQEAST BASE COCKPIT HILL(CNC) FRIENDSHIP(F)QSADLAND QWOOD HILL Table 1, provides some comparisons. WEST BASEQQORANGEQ HILL(B) Q CARAWINA** COCKPIT HILL(SDT) VINERYQ MOUNTQ DENHAM BLACKWOOD HILL Q BULL QHEAD* SHOTOVERQ CASTLE MOUNTAINQ JUAN DE BOLASMONTPELIER The difference are all positive and HUNTLEY HILL Q COOPERSQ CATHERINES HILLQ PEAK Q Q MIDDLE PEAK EASTQ PEAK exhibits a progressive deterioration in MALVERNQ ROSE HILL(E) RODNEYS LOOKOUTQ Q OLD HARBOURQ HILL PLUMBQ POINT MORANT POINTQ LIGHTHOUSE YALLAHSQ HILL the scale of network as one goes from ROUNDQ HILL BRAZILLETTOQ west –P13 (near the base) to east – P37 i.e. 1/4,900,000 to 1/31,000. This trend strangely reverses in areas in the Figure 1 : Jamaica Primary Triangulation Network east (P37-P41) where there are weak

CCoordinatesoordinates August 2012 | 15 Table 3 Coordinate Values for strength the network. Mount Denham, RE and IAGS Unique and precise The primary triangulation network for Lat Long (W) coordinates will be the new (1969) adjustment consisted (N) of observations taken by the Royal Mount 18° 13’ 77° 32’ provided for each point Engineers and additional measurements Denham (RE) 23.15” 08.72” done by the Survey Department. At the same time it was decided to change Mount 18° 13’ 77° 32’ that is coordinated with Denham spheroid and carry out all computations (IAGS) 43.64” 08.28” this system as it will be on the CLARKE 1866 spheroid instead Diff. + 20.49” -0.44” of the then CLARKE 1880 spheroid. configured to function These decisions were agreed on by the Jamaica Survey Department and triangle misclosures, so that the ratios in the JAD2001 datum the Directorate of Overseas Surveys. ‘improves’ to 1/198,000 (Robinson 1975) The adjustment was computed by the variation of geographical coordinates In 1959 the Inter American Geodetic network about the fixed point (Flagstaff and was completed in 1969. Hence Surveys (I.A.G.S.) observed a fi rst at Port Royal), which resulted in a the datum name JAD69 on which order azimuth for the line Mt. Denham positional vector error for a point, say Latitudes and Longitudes/Northings to Cockpit. In 1968 Mr. Keith .A. at Negril Lighthouse - 200km west, of and Eastings were published. Lee (Local Surveyor) of the Survey 10m. This error varies directly with Department determined the azimuth the radial distance of points from The network remained in this form for of the line Coopers Hill to Nutfi eld the Flagstaff. All modern maps of another three decades until the National reciprocally. The results and differences Jamaica produced prior to 1968 were Land Agency decided to transition to when compared with the R.E.’s azimuths based on this network and exhibits a geocentric datum consistent with for same lines are shown in Table 2. this system systematic error in the WGS84 named JAD2001. This datum position of points. (Robinson, 1975). was realised through the adoption of These differences in azimuth were points established in the WGS84 datum, considered large and followed a systematic A check on the coordinates of the at the two (2) international airports by pattern of these azimuths being greater than datum point (Flagstaff) was achieved the United States of America National those calculated from the triangulation by in 1959 when a fi rst order astronomical Geodetic Survey as part of a seventy- the R.E.’s. Mr. K. Lee checked the R.E.’s fi x was observed at Mount Denham by two (72) hour campaign carried out to computations for the azimuth Maxwell the I.A.G.S. The comparison with the establish accurate control at airports Hall to Etingdon and discovered an error R.E.’s coordinates (calculated through to support the improvement to takeoff/ of -10.39”. Mr. Lee’s check resulted in a the network), is given in Table 3. landing infrastructure and ultimately computed azimuth of 81 16’ 46.64” as the airports’ category rating. Existing against the original computed azimuth of triangulation control points (JAD69) were 81 16’ 36.24”. The application of this Re-adjustment then coordinated from these points, using difference brought all four azimuths in GNSS, as the Agency moved to densify closer agreement but still exhibiting an In 1963, the then Survey Department the network by establishing new points inconsistency of 7.29” between the lines requested the Directorate of Overseas in the JAD2001 datum. It is anticipated Mt. Denham to Cockpit and Nutfi eld to Surveys to carry out a complete re- that the existing network of JAD69 points Coopers Hill.(Mugnier, Cliff 2003) adjustment of the triangulation and E.D.M. will be transformed into this new system traverse network. The reasons were: - using, for example grid fi le distortion Further reductions by application of • to homogenise all coordinates modelling (Collier & Bowden 1999) the Laplace Azimuth equation to the for points in the network or by readjusting the network, holding astronomical azimuths produced a +1.1” • to take advantage of the E.D.M. JAD2001 coordinates of JAD69 points difference between the I.A.G.S. azimuth traverse around the island to provide fi xed, to achieve a complete renovation and the R.E. azimuth (corrected by K.A. a new scale for the network. of the Geodetic Infrastructure. Lee), for the line Mount Denham to • to take advantage of the correct azimuth Cockpit. This difference was far more of the line, Maxwell Hall to Ettingdon In the absence of a rigorous renovation acceptable for Primary Control standards. • to include other observed of the national network through a dense azimuths to strengthen the observation campaign, with a complete The error of -10.39” in the orientation orientation of the network. adjustment on the WGS84/JAD2001 of the triangulation network caused • to include additional observations Datum, it is hoped that the result of the an anti-clockwise rotation of the (angular and linear) to approach that the Survey and Mapping

16 | CCoordinatesoordinates August 2012 Figure 2: Virtual Reference Stations across Jamaica

Figure 4: Occupation of a GNSS Calibration Network Station

Technology and staff from Spatial Innovision Limited, combined resources to coordinate the positions of the thirteen (13) VRS antennas that is to constitute the network.

In this campaign, one (1) of the airport Figure 3: Virtual Reference Stations Network control and eleven (11) other existing points for which JAD2001 coordinates Division is taking, as articulated above, control centre, which is located at the were previously determined during the will render the geodetic infrastructure of a National Land Agency (NLA) transmits NLA’s densifi cation program, were suffi cient accuracy to provide users of VRS differential corrections through a General occupied; six (6) for eight (8) hours and a sound integrity monitor for their surveys. Packet Radio Service (GPRS) cellular the other six (6) for twenty-four (24) enabled network which is received in hours. In a constrained adjustment of real-time allowing for on-site, real- the network in which the airport control Jamaica VRS network time results. It is anticipated that this and one (1) other point was held fi xed, infrastructure will be a major boost to the the residuals at the other points ranged The government of Jamaica under a effi ciency of the modern land surveyor. from -0.026m to +0.042m in Northings, contract to Spatial Innovision Limited, -0.044m to +0.051m in Eastings and the regional dealers for Trimble products, It is expected that the implementation -0.555 to +0.269 in Height. The less has installed a Virtual Reference System of the Virtual Reference System than acceptable spread in the height constituted by thirteen continuously will revolutionize the surveying and residuals can be easily explained on operating reference stations (CORS) construction sectors as it will lower the account of the status of our height across the island (see Figure 3). the cost of positioning. Unique and control given earlier. While using VRS The system allows for the real-time precise coordinates will be provided therefore, surveyors expect to achieve augmentation of the information acquired for each point that is coordinated with in the order of ±0.05 m in Northings by a single active receiver in the fi eld. this system as it will be confi gured to and Eastings when checking or integrity The thirteen stations are placed across function in the JAD2001 datum. testing the VRS before and after using the island so as to enable full island the system for Cadastral Surveys. For the coverage. This will allow for the use In October 2009, staff from the VRS to be of any value in Topographical of VRS in any location where no less Lands and Surveys Division of the and Engineering Surveys, substantial than three reference station receivers National Land Agency together with work needs to be done to improve within a seventy kilometre range of staff and students from the Division our height control infrastructure. that location, will provide a position fi x of Land Surveying and Geographic To be continued in next issue  to an active receiver in real-time. The Information Sciences, University of

CCoordinatesoordinates August 2012 | 17  CONFERENCE GNSS: Agenda and approach Excerpts from the report on the United Nations International Meeting on Applications of Global Navigation Satellite Systems, Vienna, 12 - 16 December 2011

he United Nations Programme on The presentations made at the Meeting TSpace Applications, the Offi ce for The combination of and the abstracts of the papers, as Outer Space Affairs held the United Nations well as the Meeting programme and International Meeting on Applications GNSS constellation, and background materials, are available of Global Navigation Satellite Systems from the website of the Offi ce for Outer at the United Nations Offi ce at Vienna, augmentation satellites Space Affairs (www.unoosa.org). Vienna International Centre, in Vienna from 12 to 16 December 2011. The will provide far superior Participants were divided into four working Meeting was co-sponsored by the United groups on the basis of their areas of States of America through International satellite geometry and expertise and interest: future of the ICG; Committee on GNSS (ICG). GNSS applications and space weather signal availability than effects on GNSS; regional reference The fi ve-day International Meeting on frames and systems; and GNSS education the applications of GNSS was aimed to with one GNSS alone curriculum and ICG information centres. contribute to international cooperation by providing opportunity to exchange updated information on the use of GNSS technology Team on GNSS. The keynote presentation, Working group on and its applications. The specifi c objectives entitled “ICG and its programme on GNSS future of the ICG of this International Meeting were: (i) to applications” was made by a representative examine the trends that are apparent in the of the Offi ce for Outer Space Affairs, in At the Seventh Meeting of the Providers’ worldwide development of GNSS and how which the work carried out by the Offi ce in Forum held in conjunction with the Sixth they will affect the growing population supporting activities to promote the use of Meeting of the ICG, it was agreed that of civil users of satellite-positioning GNSS-based applications was described. the future role and work of the ICG and technologies; (ii) to review on-going and its Providers’ Forum should be reviewed. planned initiatives as well as case studies that A total of 41 presentations were made by The decision to begin discussions on the could contribute to the wider use of GNSS invited speakers from both developing and future development of ICG, as a new technology and its applications, including the developed nations. A total of 75 specialists agenda item at the Providers’ Forum possibility of one or more national, regional in satellite navigation systems were meeting, emphasized that ICG shall and international pilot projects, in which invited to attend the International Meeting. play an important role in future GNSS interested institutions could incorporate The following 36 Member States were developments and their implications for the use of GNSS technology; (iii) identify represented at the International Meeting: civil use and performance. ICG Member a functional partnership that could be Algeria, Austria, Brunei Darussalam, States focused on the issues related to ICG’s established in order to promote innovative Burundi, China, Colombia, Costa Rica, effective functioning and current format as GNSS-enabled applications, as well as Croatia, Ecuador, Egypt, France, Germany, a body established to promote cooperation recommend how such a partnership could India, Indonesia, Israel, Italy, Japan, Latvia, on matters of mutual interest related to be established through voluntary actions that Madagascar, Morocco, Nigeria, Pakistan, civil satellite-based positioning, navigation, could include Governments, international Republic of Moldova, Romania, Russian timing, and value-added services, as well organizations, research and development Federation, Serbia, Spain, Swaziland, as the compatibility and interoperability of institutions, academia and other relevant Thailand, the Philippines, Tunisia, Turkey, GNSS22. The meeting of the working group stakeholders; (iv) defi ne recommendations United Arab Emirates, United States of on the future of the ICG was chaired by the and fi ndings to be forwarded for America, and Uzbekistan. The Offi ce United States of America, as the co-chair of consideration by ICG and its working groups. for Outer Space Affairs, the European the Action Team on GNSS. In considering Space Agency (ESA), International the structure, role and objectives of the At the opening of the Meeting, introductory Association of Institutes of Navigation ICG and its Providers’ Forum in general, and welcoming statements were made (IAIN), International GNSS Service (IGS), the working group prepared an informal by the Director of the Offi ce for Outer International Telecommunication Union note on a number of possible options Space Affairs and the representative of the (ITU) and Space Generation Advisory and modalities that could strengthen the United States, as the co-chair of the Action Council (SGAC) were also represented. effectiveness of the ICG in the future.

18 | CCoordinatesoordinates August 2012 Working group on GNSS The working group encouraged national applications and space The establishment of GNSS and regional authorities to support weather effects on GNSS initiatives of regional reference frames positioning services, is and systems such as an International The working group identifi ed GNSS as Association of Geodesy Reference Frame the global public goods for worldwide an urgent need for many Sub-Commission for Europe (EUREF), enhancement of the quality of life, the European Position Determination particularly with GNSS utilizations countries in the world System (EUPOS), the Geocentric Reference such as (i) applications for individual System for the Americas (SIRGAS), handsets and mobile phones, (ii) road African Geodetic Reference Frame transport, (iii) aviation, (iv) maritime under development to aid GNSS users in (AFREF), and Asia-Pacifi c Reference transport, (v) precision agriculture dealing with all possible adverse effects Frame (APREF). A consolidated list of and environment protection, and (vi) of space weather need to be increased. In reference frames and systems, that are used civil protection and surveillance. this regard the International Space Weather by national authorities, agencies, or regional Initiative (ISWI) was emphasized. organizations, and their prospective plans Placing emphasis on applications for future development should be made development, the working group strongly The working group specifi cally addressed available on the ICG Information Portal. recommended protection of GNSS spectrum and highlighted the multi-GNSS and noted that use of GNSS for sustainable demonstration campaign undertaken in the The working group encouraged the development in application areas, such region of Asia and the Pacifi c, taking into use of multi-constellation GNSS as navigation, surveying, and mapping, account the fact that this region is an unique signals in reference networks. can yield signifi cant societal benefi ts. area where multi-GNSS constellations and new modernized signals will be able The regional reference frames should In the context of future developments of to be utilized sooner than in other regions use, if possible, the same frame (best GNSS and its applications, the working in the world due to the contributions from or latest version) realization for group identifi ed the achievement of regional constellations such as the second ensuring the trans border data exchange interoperability between different GNSS, stage of Beidou/COMPASS of China, compatibility and interoperability. The and provision of sustained and balanced IRNSS of India, and QZSS of Japan, in best solution is to achieve consensus quality of positioning, navigation, and addition to global GNSS constellations with neighbouring countries on one timing GNSS services as the key elements as GPS, GLONASS, and Galileo. reference frame realization. in order to achieve maximum civil user benefi t. It was noted that the combination The working group recognized a number The utilization of GNSS Real-Time of GNSS constellation, and augmentation of important multi-GNSS benefi ts: (i) Kinematic (RTK) technique had satellites will provide far superior satellite multi-GNSS use can provide not only the encouraged users to apply GNSS geometry and signal availability than increment of the number of navigation reference receivers to support the with one GNSS alone, and it will make a satellites but also additional signals and growing number of applications of high big difference to both present and future frequencies, (ii) multi-GNSS use is a method accuracy positioning for engineering, applications. In this regard, multi-GNSS to reduce the vulnerability and increase the precision agriculture, etc. In this regard demonstration campaigns were encouraged. reliability and robustness of GNSS services. the working group called for the set up Additionally, the incremental increase of the of more permanent stations, or consider The working group noted that space number of visible satellites using the same the existing dense GNSS Continuously weather refers to the environmental frequency can support Receiver Autonomous Operating Reference Station (CORS) conditions in the Earth’s magnetosphere, Integrity Monitoring (RAIM) technologies. network infrastructure in order to improve ionosphere and thermosphere due to the the velocity fi eld of reference frame Sun and the solar wind that can infl uence and provide more adequate information the functioning and reliability of spaceborne Working group on regional for static and kinematic applications. and ground-based systems and services reference frames and systems or endanger property or human health. Depending on the expected accuracy and The working group recognized that type of the required measuring method The working group also noted that space reference networks, comprised of (static or RTK), the defi nition of the frame weather accounts for the most substantial permanent stations, operating GNSS as a static reference frame or as a frame errors experienced by GNSS systems and receivers on a continuous basis, realization with applied velocities should their users. Predictions of space weather are provide the fundamental infrastructure be defi ned. For the determination of important to the GNSS community. Scientifi c required to meet the needs of geodesy, velocity of reference frame repeated static efforts applied to monitoring and predicting geosciences, navigation, surveying, measurements are required. The best method space weather and resources available and mapping, and other applications. to monitor this is to install GNSS CORS.

CCoordinatesoordinates August 2012 | 19 The working group felt that the The Centre might grow into a network establishment of GNSS positioning An increasingly important of centres, focusing on GNSS services, e.g. RTK networks, is an urgent science, technology, and education, need for many countries in the world. role of GNSS science, around the world – all dedicated to The working group recommended the advancement of GNSS research, provision of a document to the public that technology, and education applications, and education. describes the procedure to set up a national GNSS positioning service. Geodynamic calls for the establishment The Centre would provide capacity activities in specifi c regions need to building and technical guidance to be considered and may cause different of an International nations that wish to engage in GNSS recommendations for stable regions and science, technology, and education. regions prawn to large tectonic movements. Centre for GNSS Science, Capacity building consists of three main components (i) Training on GNSS, (ii) Technology, and Education Training on data processing and analysis GNSS education curriculum and (iii) Education/training in GNSS and ICG information centres science, technology, and applications. in terms of science, technology, and GNSS work is roughly divided into two The working group noted the available applications as a stand alone discipline in spheres: (a) operating GNSS receivers; and capacity building opportunities and the the university level teaching curricula. (b) scientifi c, technical, and educational status of operation of the UN-affi liated activities for GNSS. 52. Science, Regional Centres for Space Science The working group took note of the fact technology, applications, and education and Technology Education, located in that the GNSS Education Curriculum are the domain of advanced institutions Brazil and Mexico for Latin America under development differs from most and universities. The Centre must be and the Caribbean, in India for Asia of those available in literature and on part of such an advanced institution or and the Pacifi c, and in Morocco and the World Wide Web. In this regard university. Moreover, a proven record of Nigeria for Africa. The working group the GNSS Education Curriculum is a capacity building in space science and had before it the updated education unique result that emanated from the technology is an essential prerequisite curricula for (i) remote sensing and GIS, deliberations of the series of regional for the host institution of this Centre. (ii) satellite meteorology and global workshops on GNSS applications since climate, (iii) satellite communications, 2006. The working group also agreed to The Centre must be an institution and (iv) space and atmospheric science. develop as part of the GNSS Education with a proven record in organizing Curriculum a module for hands-on GNSS regional and international GNSS Since 2008, all United Nations- exercises based on data and equipment activities. These activities include affi liated Regional Centres for Space used for space weather monitoring. GNSS schools, workshops, application Science and Technology Education are campaigns, installation of GNSS acting as ICG Information Centres. Based on the working groups technology in different regions of the recommendations, the International world, training of instrument host The working group continued the Meeting concluded that an staff and students, and regional and development of the GNSS Education increasingly important role of GNSS international outreach programmes. Curriculum by taking into account GNSS science, technology, and education course outlines as used at the university calls for the establishment of an The Centre will cooperate with the United level in a number of developing and International Centre for GNSS Nations affi liated Regional Centres industrialized countries. The incorporation Science, Technology, and Education. for Space Science and Technology of elements of GNSS science and This conclusion was emphasised Education, located in India, Mexico/ technology into university-level education by the ten years of achievement of Brazil, Morocco, and Nigeria, the curricula served a dual purpose. It could the United Nations on GNSS. International Centre for Space Weather enable countries to take advantage of the Science and Education, located in Japan, benefi ts inherent in the new technologies, The International Meeting recommended and other centres of excellence in space which, in many cases, are spin-offs from that the United Nations should lead, with science, technology, and education. space science and technology. Utilize the active support of China and relevant the educational system, introduce the scientifi c organizations, an international The Centre will report annually to the concepts of high technology in a non- effort to establish an International Centre for ICG Working Group on Information esoteric fashion and help create national GNSS Science, Technology, and Education Dissemination and Capacity Building lead capacities in science and technology in an existing national educational and by the United Nations Offi ce for Outer in general. Currently there are strong research institution. Beihang University24 Space Affairs. The Centre will also act attempts world wide to introduce GNSS of China, offered to host this Centre. as the information centre for ICG. 

20 | CCoordinatesoordinates August 2012

 GEODESY Geoid modelling In this work, polynomial models using least squares method was developed from the combination of orthometric heights, from geodetic levelling, with ellipsoidal heights, from Differential Global Positioning System, for Port-Harcourt Area in Nigeria

K F Aleem he geoid can be determined all measurements and observations are Department of Geomatics Tusing different method such as being carried out. It is an irregular surface Engineering Technology, gravimetric, astro-geodetic, GPS/ and therefore geodetic computation Yanbu Industrial College, Levelling and “satlevel”. ‘Satlevel’ is cannot be carried out on this surface. Yanbu Industrial a new method of geoid determination, The surface that is closely related to the City, Saudi Arabia in which the ellipsoidal height is used topographical surface is the geoid. Surveying and with orthometric height to model the Geoinformatics Programme, Abubakar geoid. Geoid modelling is a process of Geoid Tafawa Balewa University, Bauchi Nigeria developing mathematical algorithms to represent the geoid. This is the reference Geoid comes from the word “geo” surface for orthometric height. Geoid literarily means earth-shaped. The geoid is is one of the geodetic surfaces. an empirical approximation of the fi gure of the earth (minus topographic relief). It Geodetic surfaces is corresponding to the Mean Sea Level (MSL) over the oceans. It has a defi nite All activities in surveying are physical interpretation, in the sense that carried on three basic surfaces it can be fi xed by measurements over the referred to as geodetic surfaces. ocean with the use of Mean Sea Level. These surfaces are: the topographic surface, the geoid and the ellipsoid Mean Sea Level (MSL)

The topographical surface The surface to which heights of points are referred is called a vertical datum. The Topographical Surface generally Traditionally, surveyors and mapmakers called the earth’s surface is the actual have tried to simplify the task by using surface of the land and sea. This is where the average (or mean) of sea level as the defi nition of zero elevation, because the sea surface is available worldwide.

The surveyor in the fi eld, levels the instrument with the aid of spirit level, which aligns the plumbline perpendicular to the geoid. Therefore, it is a very good approximation to say that the spirit level is always parallel to the geoid, even if a little way above or below it. MSL can be used to approximate the H geoid which can be fi tted to a more regular surface called the ellipsoid. h

N The ellipsoid

h=Ellipsoidal height Geoid H= Orthometric height The ellipsoid may be defi ned as a surface N= geoid height whose plane sections are all ellipses. Ellipsoid 1 One particular ellipsoid of revolution, also called the “normal earth”, is the Figure 1: The Geodetic Surfaces and the GPS Satellites one having the same angular velocity

22 | CCoordinatesoordinates August 2012 and the same mass as the actual earth, easier to obtain with GPS than orthometric The aim of this research is to develop the potential U0 on the ellipsoid surface height. Combined, the two quantities an empirical geoid model for predicting equal to the potential (W0) on the give the geoid-ellipsoid separation as the undulation values for transforming geoid, and the centre coincident with can seen in the basic equation 1.1. ellipsoidal heights to orthometric heights the centre of mass of the earth (Xiong N = h – H (1.1) and vice versa. Using today’s available et al, 2001. The ellipsoid serves as technology and techniques, ellipsoidal reference to which the coordinates of Where: heights can be obtained from different satellite systems such as the Global N = geoid-ellipsoid separation systems, such as: Very Long Baseline Navigation Satellite System are referred. (geoid height) Interferometry (VLBI), Satellite Laser h = Ellipsoidal height Ranging (SLR), and other navigation One of the components of geodetic H = Orthometric height based systems such as: Doppler coordinates is the ellipsoidal height, i.e. Orbitography by Radio-positioning the height measured with reference to One of the common problems with Integrated on Satellite (DORIS), GPS the ellipsoid; while orthometric height is height systems in Nigeria is the lack and GLONASS and satellite altimetry. measured with reference to the geoid. The of a uniform reference datum. the fastest method of obtaining ellipsoidal MSL is often adopted as the basis for Ellipsoidal height is one of the 3D height is from satellite methods using reckoning heights. However, defi ning components of GPS. Apart from ellipsoidal Global Navigation Satellite Systems. the mean sea level and carrying it to the height, the other information required to hinterland have always been problematic implement equation 1.1 is the orthometric Global Navigation Satellite System resulting in poor or uncoordinated height, which has relationship with height systems (Olaleye et al, 2010). Mean Sea Level as earlier discussed. Is the general term referred to the This can be practically obtained using families of satellite based positioning Another problem is the failure of some geodetic levelling for data acquisition. systems like the Global Positioning of the existing models to accurately System (GPS), Glonass, Compass, Indian model the Nigerian environment because Study area Regional Navigation Satellites System they are developed to suit a particular and Quasi-Zenith Satellite System. area or region hence there is need for The model was tested using the data a model to meet the challenges. acquired in Port Harcourt area of Nigeria. Surveys with all these satellites system result in 3D coordinates with reference to a range of reference ellipsoids. GPS provides coordinates using the WGS 84 reference ellipsoid. Ellipsoidal height is not always used because; it does not provide elevation above the MSL which refers to the earth gravity equipotential surface i.e. the geoid, the referenced surface for orthometric heights. There are many reasons which may be accounted for the use of orthometric height.

Spirit levelling is the dominant technique for providing elevation above MSL (Orthometric height) (Bomford,1980; Fajemirokun, 1980; Featherstone, 1998; Vanicek, 2001; Fotopoulus, 2003 and Uzodinma, 2005). The equipment is inexpensive and the method is highly accurate. However, it is labour intensive over long distances and the fi eld procedures are tedious and prone to human and other errors. In some areas such as Niger Delta region of Nigeria, it is often impossible to perform spirit levelling due to weather, terrain conditions and Figure 2: Local government map of rivers state of Nigeria swamps. Ellipsoidal height is simpler and showing distribution of points used for the study

CCoordinatesoordinates August 2012 | 23 The study area, Port Harcourt lies Field Operations The statistical signifi cance of these between latitude: 4°45’ and 5°02’N and relationships is considered in developing the between longitude: 6°52E and 7°09’E. The fi eld operations were carried out for model. The model assumed that the geoidal the purposes of acquiring the ellipsoidal undulation is a function of geographical Since suffi cient data were available to heights and orthometric heights for a location. The model was derived implement Equation 1.1, it is possible to number of well distributed points in derive a mathematical model such that, the study area. Both spirit levelling and with GPS observation, we should be GPS fi eld exercises were carried out. able to compute the geoidal undulation using any regression method, provided Spirit levelling it satisfi es certain statistical criteria (2.2) regarding the data and determining the Every survey job must be planned to Where:

best fi t to the observations (Younger; attain certain accuracy. In this research, x1, x2, x3 ,x4 and x5 are the 1985). In this case, the least squares fi rst order accuracy was planned and unknown parameters. approach was used to fi nd the best curve, achieved in geodetic levelling. (Davis All other terms as earlier defi ned.The that is, the one which is on average et al, 1981; SURCON, 2003). set of base functions for Equation 2.2 closest to all points, since blunders were determined and the unknown in the observations were removed. GPS observation parameters were estimated using least squares adjustment since suffi cient As a way of checking for arithmetic Methodology of Differential Global observation point were available. errors or blunders, the values of the Positioning System (DGPS) as given coeffi cients were substituted into the by Trimble (2007) was adopted. DGPS original model and both equations must observations were made at the most Results and analysis check. Problems were experienced with suitable locations along the levelling regard to the number of decimal places routes using a dual frequency GPS Result carried causing rounding errors. The receiver (Trimble 4700). The results of new models combined the accuracy the fi eld operation were processed and The results of data acquisition of of orthometric height and ease of used for the mathematical modelling. orthometric height (H) from geodetic ellipsoidal height in geoid determination levelling and that of GPS ellipsoidal heights to develop the ‘Satlevel’ model. Mathematical model (h) are presented as shown in fi gure 1. On the Y-axis are the values of undulations Physical evidence of the views of while X-axis contained the numbers ‘Satlevel’ method of the surface of the earth supports the given to each of the 76 points used for the geoid determination hypothesis that the totality of geoidal study. Dh and DH are the ellipsoidal and undulation at a geographic location orthometric heights differences between Satlevel method of geoid determination is composed of two parts, namely: successive points respectivelly. DIFF is involves the use of both ellipsoidal 1) the constant part throughout the height differences between Dh and

and orthometric heights to develop a the study area Nm = X0 DH Other terms as defi ned previuosly. mathematical algorithm to determine (independent of position) and

the geoid. The methodology involves 2) the changing part Nc = f(φ, λ) which Assessing the parametric acquisition of data relating to depends on changes in geographic model performance ellipsoidal and orthometric heights, location within the study area. formulating the problems to develop The following tests were used to assess

the model and analysis of results. N = Nm + Nc (2.1) the performance of parametric

Classical empirical approach

The residuals were computed. The mean square error obtained was 0.134mm

Direction of gravity H Model validation

Data for fi ve points were randomly Mean Sea Level selected as checks for model validation. The mean square error Figure 3: Levelling procedure for acquiring data for orthometric height computed to be 0.159mm

24 | CCoordinatesoordinates August 2012

Significance test of the coordinated and collocated with both Fajemirokun, F. A.(1980) The Nigerian model parameters GPS and geodetic levelling in the Port geodetic control system: An appraisal. Harcourt Metropolis. Optimal predictive Proceedings of the XVth Annual General Null hypothesis geoid models ‘Satlevel’ for deriving Meeting of the Nigerian Institution of nd th H0: x1, x2, x3, x4, x5 = 0 (3.1a) orthometric height from ellipsoidal Surveyors held in Abeokuta. 22 - 24 April. heights on the WGS 84 reference ellipsoid Alternative hypothesis were developed. Analyses were carried Moka, E. C. & Agajelu S. I. (2006) On

H1: x1, x2, x3, x4, x5 0 (3.1b) out which showed that there is no the problems of computing orthometric signifi cant differences between the values heights from GPS data. Proceedings To test the hypothesis that there is obtained with the derived modelled and of the 1st international workshop no signifi cant contributions to the the observed values. ‘Orthometric Height on geodesy & geodynamics, Toro, variability of geoidal undulation on Fly’ was developed for converting GPS Bauchi State, Nigeria, pp. 85 – 91. by the explanatory variables. ellipsoidal height to orthometric height. Olaleye, J. B., K. F. Aleem, J. O.

Decision Rule: Ho may be rejected at Olusina and O. E. Abiodun (2010)

signifi cance level α < 0.05 if F > F3,71,α= 0.05= Recommendations Establishment of an . empirical geoid 8 obtained using Microsoft excel. model for a small geographic area: A It is also recommended that the area of case study of Port, Harcourt, Nigeria.

Decision: Ho was rejected; since the the data be extended as funds become computed F (13) was greater than the F from available so that improvement can be made Surveying and Land Information, the table (8). Meaning that, the explanatory on the models. It will be necessary to carry Science.70(1):39-48(10) http://www. variables made signifi cant contributions differential levelling to other parts of Rivers Ingentaconnect .com/content/nsps/ to the variability of geoidal undulation. state and indeed, other parts of Nigeria to salis/2010/00000070/00000001/art00006 serve the need of Surveyors and Engineers. Coefficient of determination Roberts, C. (2011) How will all the new GNSS signals help RTK surveyors?, A statistical measure of the goodness of the References Proceedings of the Spatial Sciences parametric model fi t for a discrete set of & Surveying Biennial Conference, points is denoted by R2. The coeffi cient of Ayeni, O. O. (2001) Statistical adjustment Wellington, New Zealand, 21 – 25 Nov. determination for the model was computed and analysis of data with application as 0.982. Therefore, the variation not in surveying and Photogrammetry. Rüeger, J.M. (1998) Is levelling out accounted for by the model is just 2%. Lagos, Nigeria: University of Lagos. of date?, Proceedings of the ACSM conference, Baltimore, Maryland, ‘Orthometric Height on Fly’ Bomford G (1980) Geodesy (fourth USA, Vol 1, pp 216 – 226. edition), Clarendon press. London The model was used to develop a Trimble Navigation Ltd.(2007) GPS: The computer program to compute orthometric Featherstone, W. E. (1996) An analysis fi rst global navigation satellite system. height from GPS coordinates. of GPS height determination in Western Sunnyvale, California: Trimble Navigation Australia, The Australian Surveyor, pp. 29- Ltd. Part number 36238- 00 version 1.0 34 www.cage.curtin.edu.au/~will/SSC2007 Conclusions Uzodinma N. V. (2005) “VLBI, SLR and GPS Deakin R. E. (1996) The Geoid, data in the Nigerian primary triangulation… In this study, levelled heights were What’s it got to do with me? The network – what benefi ts to future research established and the benchmarks were Australian Surveyor, 41(4): 294 – 303 and the national economy?, Proceeding of 1st international workshop on geodesy and geodynamics. Centre for Geodesy and Geodynamics, Toro, Nigeria. Feb 5th to 10th

Xiong Li and Hans-Jürgen Götzez (2001) Ellipsoid, geoid, gravity, geodesy, and geophysics. Journal of geophysics. 66 (6): 1660-1668.

Younger, M. S. (1989) A fi rst course in linear regression.(second Edition), Figure 4: The relationship between the ellipsoidal and orthometric heights PWS Publishers, Boston, USA. 

26 | CCoordinatesoordinates August 2012

 NAVIGATION INS-GPS-GLONASS navigation fusion scheme for high dynamics guided projectiles This paper presents a comprehensive study on the combining of GPS and GLONASS for receivers and the advantages of either system in case of restricted visibility of satellites and degraded performance of geometric Dilution of Precision

G Satheesh Reddy he Satellite Navigation solution (Real-Time algorithms are adopted). The Outstanding Scientist, Tis the most preferable, effective INS system is implemented in the strap Research Center Imarat, and economic aid to various Low and down confi guration and the Extended Defence Research Medium Grade Inertial Sensors in Kalman fi lter is used to fuse the Inertial and Development order to get better Navigation accuracy and GPS-GLONASS Raw measurements Organisation (DRDO), for medium and long duration of data in tightly coupled architecture. Hyderabad, India navigation solutions. The navigation data from INS and Sat. Receiver at different intervals is synchronized Integration of GPS- and fused together by using Kalman GLONASS systems Manjit Kumar Filter algorithm so as to obtain precise Scientist, Research Center Navigation solution as long as Sat. The GPS and GLONASS satellites Imarat, Defence Research Receiver tracks healthy and suffi cient transmit ranging signal and the ephemeris and Development number of Satellites constellation. The data at two different frequencies in the Organisation (DRDO), major limiting factor with the mostly L-band. To our interest, L1 transmitting Hyderabad, India used/popular GPS system performance frequencies for both the systems are is the availability of Satellites and the shown below. We can also state the geometry of Satellites in view at any transmitted C/A code signal on L1 particular point in space and time. In frequencies from GPS and GLONASS order to alleviate this restriction for satellites by following equations: single constellation (i.e. GPS), it stands to reason that more observations to be introduced to provide increased levels of positioning continuity and higher levels of data redundancy. The recent enhancement of GLONASS satellite system suggests combined use with where: GPS, in order to increase the satellites A = amplitude of transmitted signal availability as well as Navigation N = frequency channels of GLONASS (-7 Solution continuity and accuracy. to +6)

Taking the advantage of combined GPS- Cgps(t)= 10 bit C/A code of a GPS

GLONASS systems, the new Hybrid Cglo(t)= 9 bit ML code of GLONASS

Navigation scheme has been developed Dgps(t)= 50 Hz Ephemeris data of GPS

to fuse the data from INS, GPS and Dglo(t)=50 Hz Ephemeris data of GLONASS systems by using the raw GLONASS measurements ( Pseudo ranges and Delta M(t)=100 Hz Meander sequence of Pseudo-ranges) of GG Receiver and GLONASS

which are Synchronized to INS clock fL1,gps = L1 frequency of GPS

CCoordinatesoordinates August 2012 | 35 (1575.42MHz) Day number within the 4-year period and more than four observables

fL1,glo = L1 frequency of GLONASS beginning with the leap year available. The measurement can be

(1598.0625-1605.375 MHz) τu: tUTC - tUTC(SU) mathematically represented as,

τg: tGPS - tUTC

The power transmitted by the GPS τr: Receiver clock bias between GPS and GLONASS satellites are almost and GLONASS observations similar, where the minimum received power level at the earth’s surface is Since the data from the local timing where, approximately -130 dBm for the C/A centers are not compared and combined to ρ is measured range by TOA, code signal. This implies that the UTC in real-time, the difference between

signal is merged in thermal noise and is UTC(USNO) and UTC(SU), therefore the (xi,yi,zi) are satellite co-ordinates, detected using de-spreading the signal. difference between GPS and GLONASS

system time neither is directly (a-priori) (xu,yu,zu) are user co-ordinates,

A combined GPS-GLONASS receiver available in real-time. This is the crucial bu is user clock bias w.r.t. can dramatically improve the reliability, problem to be solved when combining respective system time. visibility and productivity of positioning. GPS - GLONASS data in navigation or However, the basic design differences in other near Real-Time Operation. Linearzing this equation through of these system results in signifi cant differentiation, we get, complexity in terms of modeling and Co-ordinate frames ambiguity resolution for integrated GPS and GLONASS positioning In GLONASS only solutions, satellite system. Two major differences between positions in PZ-90 are obtained from the GPS and GLONASS that affect the ephemeris data, thus the user position combined positioning are given below. is in PZ-90. In GPS only positioning solutions, the satellite positions are given For n number of satellites we can System time in WGS84 and thus the user position is write it in a matrix form as, in WGS84. Since GPS navigation has We can denote the above equation by GLONASS system Time is closely become the standard in Western countries coupled to Moscow time UTC SU (ICD- and WGS84 therefore is more widely δρ = α δx GLONASS –2000). GLONASS system spread and better known than PZ-90, it is time is permanently monitored and considered best to transform GLONASS The user position solution and adjusted in a way that the difference satellite positions from PZ-90 to WGS84, clock bias can be found using to UTC-SU does not exceed 100ns. It thus obtaining the user position also in iterative least squares method is closely coupled to UTC, but with WGS84. There are several transform by the following equation. a constant offset of three hours along available, fi gure below shows one of with some leap seconds. Since there the most commonly used transform. δx = [αT α]-1 αT δρ exist two different master clocks there is difference, which need to be accounted. The combination of GLONASS and We know that with increased number GLONASS user is informed about GPS nearly doubles the number of of measurements the user position the difference to UTC with parameter available satellites. This will increase accuracy improves. In order to have

τc, as a part of GLONASS ephemeris the effectiveness of some applications, more number of measurements we .In order to combine GLONASS and e.g., Real-time Kinematics’ (RTK) and can use satellites from both GPS GPS the different system time scales troposphere estimates. The usage of two and GLONASS constellation. It also must be taken into consideration such autonomous systems should also improve improves the reliability and integrity that we obtain a unique time for all the reliability. As we saw above that in of the solution. However, the GPS observation. Transformation from order to combine GLONASS and GPS and GLONASS clocks are not exactly GLONASS time to GPS time can be done • a unique time scale for all observations synchronized. So, when computing the with the help of following equation. and satellite ephemerides and combined position solution, we need to • a unique reference system solve for this additional unknown. We

tGPS = tGlonass + τc + τu + τg + τr for all satellite and receiver require a minimum of total 5 satellites positions are required. from GPS-GLONASS (GG) to get a where t: Reading of the satellite clock position fi x. A similar least squares at emission time of the signal Combined positioning approach as defi ned above can be used for integrated GPS and GLONASS

τc: GLONASS time scale correction to In GPS or GLONASS system, as position computation. The Direction UTC (SU), given for the calendar you know there are four unknowns Cosines Matrix gets modifi ed as,

36 | CCoordinatesoordinates August 2012

added to the INS-GG fi lter. At least four more The delta-range measurement states are be added to update is then defi ned by: the Filter to estimate GG receiver clock bias with ∆t the time and clock drift rate w.r.t from the last epoch to the current. GPS and GLONASS frames of measurement. Navigation Kalman Filter The INS process and implementation models (as shown in Table.1) measurements Defi ned states for Navigation from inertial sensors Kalman fi lter are as follows: and reconstruct the e e b b t equation of motions δx =( 2δb, 2δd ,δR , δν , δ Ψe, δω , δa ,)

α11 to αi1 rows are for GPS, and the in the ECEF frame for the Vehicle. remaining are that of GLONASS. where, e e The tightly coupled fi lter requires line of δR , δv and δΨe are the INS error states for High dynamics signal tracking sight information to the satellites as well Position, Velocity and Tilt, δωb and δab are as potential information on GG signal the gyro drift and accelerometer bias error Two tracking loops are needed to track strength or elevation angle to improve states and 2δb, 2δd are the GG receiver Navigation Satellites signal. One tracking the measurement noise estimates while Clock bias and clock drift errors w.r.t to loop is for Carrier Doppler removal and incorporating the GPS and GLONASS GPS and GLONASS measurements. another is Code tracking loop for phase updates. Apart from characterizing error elimination. Doppler frequency from the measurement errors to design the carrier tracking loop can be aided to the measurements matrix R (for Pr & DPr) Table. 1 code tracking loop. The loop consists of the KF does Estimates Clock Bias and prediction integrators, a discriminator and a Clock Drift errors of Receiver clock in loop fi lter. Prediction integrator reduces the order to correct the Clock Bias and Clock noise by integrating the correlation value Drift Models (as shown in Table 2) so as to for a given time. As the integration time compute true Range and Delta-Range. Before increases, the noise performance improves, processing the pseudo-range measurement but the dynamics performance becomes update, an estimate of range to the satellite weak. Beyond certain high dynamics the from the INS i.e. is computed with INS single mode FLL is the preferred carrier position estimate and the Line-of-Sight tracking loop to track the Satellites signal vectors to the satellites as shown below: than FLL assisted PLL Loop. Single mode leads to a marginal tradeoff between accuracy and tracking of the signal beyond certain high dynamics. In our receiver design third order FLL loop has been adopted in order to successfully track the GPS-GLONASS Satellites signal for High Dynamics Projectiles applications.

Tightly coupled INS-GPS- GLONASS fusion scheme

where, Rsv is the satellite position, and e is A system diagram representing the the satellite Line-of-Sight unit vector. The integrated INS-GG navigation scheme is Kalman fi lter measurement is now defi ned shown in fi gure 1. The diagram contains in terms of the pseudo-range estimate the major elements like INS sensors, GG and the GG measured pseudo-range. Receiver and 19-states Extended Kalman Filter in tightly coupled confi guration. The delta-range measurements are formulated The complexity of the tightly coupled by fi rst differencing the pseudo-range fi lter is that the raw measurements are estimated at the epoch from the current.

38 | CCoordinatesoordinates August 2012 The State Transition Matrix (Φ) is a truncated Taylor series expansion of the analytic Fundamental matrix is represented as:

Φ = eAt = I + At+ (A2t2)/2 + (A3t3)/6 + h.o.t

Observation process

The measurement matrix zk is processed by the fi lter to yield the best estimates of the error state x k . Figure 1: Tightly Coupled INS-GPS-GLO Navigation Scheme z( k| k-1)= Hk x( k| k-1) Table: 2 As shown in the fi g2, for the available the observation matrix Hk relates multiple GG navigation solutions, the the components of the of the true voting is done to select the best available state vector to the measurements. solution among all and w.r.t that the Data validation is carried out for valid The observation matrix’s for channels before its transferred to the KF pseudo-range is as follows: (as shown in fi g 3). The KF processes the valid data form Inertial Sensors as well as from GG Receiver and generates second level of errors compensation for all designed states as shown in fi g 1.

The observation matrix for We can conclude that the redundancy of Delta-range is as follows: GG Navigation solution ensures high level

a

In the observation matrixes the fi rst two elements represent the GPS clock bias If 3D fix NO and clock drift observations. The next is available two elements are the GLONASS clock For GPS || GLO || GG bias and clock drift observations. The

Measurement noise values for Pr & Dpr YES are 2 m and 0.02 m/s respectively.

Voting for multiple GG navigation solutions and receiver data validation for KF NO NO NO if valid if valid if valid Nav. GPS G_flag=0 Nav. GLO GLO_flag=0 Nav. GG GG_flag=0 The fusion Filter is driven by number Soluon Soluon Soluon of Navigation solutions available with YES GG receiver. Therefore it becomes YES YES obvious to take best decision in Real time to get optimized Hybrid Navigation G_flag=1 GLO_flag=1 GG_flag=1 solution so as to guide the Vehicle in the desired basket of accuracy. Figure 2: Voting for GG Navigation Solution

CCoordinatesoordinates August 2012 | 39 Validate Mission GG Aided-Ineral Navigaon (Van Trials) Specific Logics 80 If YES w.r.t GPS & Raw Meas. Data for KF Y GPS_flag=1 Processing 60 Z 40

NO 20 Validate Mission Specific Logics w.r.t 0 else If YES GLO & Raw Meas. Data for KF GLO_flag=1 Processing -20

Posion (m) -40 R-X a NO -60 G-Y Validate Mission Specific Logics GG B-Z else If YES & Raw Meas. Data -80 GG_flag=1 for KF Processing -100 X -120 0 NO 100 200 300 400 500 600 700 800 900 1000 Time (sec)

Figure 3: GG Data Validation for KF Processing Figure 4: GG aided Inertial Nav. Relative Positions for Van Trials

GG Aided Hybrid Position Errors GPS Aided Hybrid Position Errors 6 14 x x y y 4 12 z z

2 10

0 8

-2 6

-4 4 Position(m) Position(m) -6 2

-8 0

-10 -2

-12 -4

-14 -6 0 100 200 300 400 500 600 700 800 900 1000 0 200 400 600 800 1000 1200 Time(sec) Time(sec)

Figure 5: GPS-GLONASS aided Inertial Navigation System Position Errors Figure 6: GPS aided Inertial Navigation System Position Errors

of reliability to the GG aided inertially Figure 4 & 6 shows the Medium Grade Projectile applications. The scheme has been guided vehicles in the entire range of fl ight. Dynamically Tuned Gyros based INS-GG simulated for medium range guided Projectile System performance ( for static and Low and post simulation results were analyzed as Dynamics). As analyzed, where the INS is shown in fi g 7 & fi g 8. The Projectile travelled INS-GPS-GLONASS aided by single ( GPS/GLO ) constellation, with forward velocity 800m/s and beyond Scheme Performance the position error of Hybrid Navigation covers the short (< 100 Km) to medium down is driven down to less than 15m (1-σ) range (< 250 Km) in the fl ight time of 371 The performance of the GPS-GLONASS after about 50 sec, whereas the position sec. As it’s analyzed, the Vehicle in the entire aided Inertial Navigation systems are error of combined aided GPS-GLONASS Thrust Phase and beyond is guided through evaluated for Real Time in the Lab as well constellations is better than 7m (1-σ) after either by GPS or GG aided Navigation by as for the simulated Flight trajectories of 50 sec as shown in fi gure 5. It has been correcting all the propagated Navigation errors various High Dynamics Projectiles. This observed that for weak GPS constellation in all phases, which resulted in achieving the study has been carried out using different the concurrent healthy GLONASS desired accuracy for Hybrid Navigation (< class of Inertial Sensors ranging from measurements provides better accuracy, 25 m, 1-σ) of the Vehicle as shown in fi g 8. Medium Grade to High Grade accuracy. high redundancy and more reliable The Navigation fi lter was tuned for combined GG solution. This also results in different application by adjusting noise improved GDOP and Hybrid Navigation Summary spectral densities in order to achieve Performance. Further the Real Time acceptable fi lter performance for Low Simulation studies are carried to analyze the In degraded signal environments the and High Dynamics applications. performance of this scheme for High Velocity accuracy and availability of the GPS

40 | CCoordinatesoordinates August 2012 TRANSFORM THE WAY THE WORLD WORKS

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7.025 GPS Theory,Air force Institue of Tecnology, HYB Hyb 18 GPS 7.020 GG GLO GLO GG Wright-Patterson AFB,Ohio. 7.195 15 7.190

12 7.185 G.Satheesh Reddy, Manjit Kumar

) 7.18 9 “Integrated INS & GPS Navigation Alt(Km Alt(m) 7.175 6 approach using Kalman Filter ” GNSS- 7.17

3 7.165 2007,NERTU, Osmania University,

7.16 0 Hyderabad, October 25-26, 2007. 7.155

-3.0 0 50 100 150 200 250 300 350 400 360.992 360.992 360.992 360.992 360.992 360.992 360.992 360.992 Time (sec) Time(sec) Brown, Robert Grover, Hwang,Patrick Figure 7: Trajectory Profi le for Figure 8: In fl ight performance of Y.C, Introduction to Random Signals High Dynamics Projectile Integrated INS-GPS-GLO system and Applied Kalman Filtering.

are affected for Kinematic applications. fi lter and INS, better resiliency to poor Kaplan,Elliott D,Ed., Understanding To address this issue, combined GPS- satellite geometry, high vehicle dynamics GPS Principles and Applications, GLONASS systems are studied for and data dropouts etc. Work to further Artech House, Norwood,MA,1996. various Low and High Dynamics improve the tightly coupled TTFF (Time applications using tightly coupled GG to First Fix) GG aided Low Grade INS Seok Bo Son, II Kyu Kim, Sang Heon aided INS solutions to overcome the performance for short range is currently Oh, Se Hwan Kim , Young Baek Kim, problem of using single constellation underway. In addition, studies which will Commercial GPS Receiver Design for when we desire to achieve reliable high asses Hybrid Navigation performance High Dynamics Launching Vehicles , terminal accuracy for Inertial Guided under Ultra Tightly Coupled TTFF The 2004 International Symposium on Vehicles. In tightly coupled integration GG-INS scheme are also planned. GNSS/GPS ,6-8 Dec, Sydney Australia. scheme the raw receiver measurements are directly used to update the Kalman P.W.Ward (1998) Performance Comparisons Filter. Some of the benefi ts are : more References between FLL , PLL, and a Novel FLL - direct exploitation of fundamental assisted – PLL Carrier Tracking Loop under measurement data, more direct aiding George M.Siouris, An Engg. Approach RF interference Conditions, Proceeding of of the receiver tracking loop by the to Optimal Control and Estimation ION GPS 1998, Nashville, Tennessee. 

42 | CCoordinatesoordinates August 2012  MAPPING eHarta tryst with Romania Community powered project, a success beyond borders

Codrina Maria Ilie istorical maps represent a valuable of projects, such as the project initiated Board Member Hcultural and scientifi c heritage. by the National Library of Scotland in geo-spatial.org Maps are much more than just physical collaboration with Klokan Technologies representations of a territory at a certain GmbH, but some remarkable differences time. Personal beliefs, political interests as well. The most important features and cultural views are also a part of the of the project are described below: message sent by maps through time. • eHarta aims to offer free online access to thousands of old map eHarta is a collection of thousands of sheets and atlases. All the maps are georeferenced historical maps, published made available for download as and documented with the help of the georeferenced independent fi les and community. It is a collaborative initiative accessible through a number of web to digitally preserve and freely share old services that fi t a broad range of users cartographic documents. The datasets (e.g. Zoomify tiles or KML fi les for are published by geo-spatial.org – a ordinary users; standard geospatial collaborative online platform aiming services like WMS/WMTS for to facilitate the sharing of geospatial users with advanced GIS skills). knowledge and the discovery and • eHarta has no fi nancial resources publishing of free geographic datasets and available. It completely depends maps for the Romanian community. The on community contributions (e.g. project has many similarities with this kind metadata creation, data processing, etc.), institutional donations (e.g. Internet bandwidth, free access to map archives, eHarta aims to offer access to high performance scanners and other digital preservation instruments) free online access to and free and open source software usage. thousands of old map Community involvement sheets and atlases Community powered projects are no longer a novelty. Online initiatives like Wikipedia or OpenStreetMap proved that it is possible to achieve incredible results, both in quality and quantity, only with volunteers, open data/knowledge model and an adequate set of web tools. eHarta employs the same principles and methods like other online collaborative projects: • Friendly web interfaces for old map related operations (e.g. metadata creation, add control points for georeference, image enhancements, etc.); • Feedback channels • Open data license for the fi nal products • Public recognition of each member contribution Figure 1. Example: map access through Google Earth. • User content control mechanisms

CCoordinatesoordinates August 2012 | 43 History. The maps were scanned at 300 backends), OpenLayers and GeoExt (client eHarta has no financial dpi and saved as uncompressed TIFF webmapping application), GDAL (data fi les. Zoomify versions were later derived processing). The information fl ow between resources available. It for metadata creation and identifi cation the various server side applications of control points for georeferencing. and the front-end graphical interface is completely depends on Several web user interfaces were created determined by the interaction with the to facilitate the community’s involvement. portal users and their requests (Figure 2). community contributions, The fi nal step of this fi rst eHarta project was to publish the maps as raw fi les institutional donations and standard web service (Figure 1). Public recognition

and free and open eHarta collaborative project won the ‘Better Architecture Data Award’ at ‘Open Data Challenge’. The source software usage prize was awarded at the Digital Agenda eHarta online system was designed Assembly, being held in Brussels on 16th and following a distributed architecture, 17th June 2011, by the European Commission For the eHarta project the geo-spatial.org entirely based on free and open source Vice-President Neelie Kroes. Organized by members were invited to contribute with software. The content is managed by the Open Knowledge Foundation and the their time, knowledge, and experience. In Textpattern, a powerful and fl exible Open Forum Academy under the auspices just two months after the project’s launch open source content management of the Share-PSI initiative, the Open Data more than 200 accounts were registered. (CMS) application. For supplementary, Challenge invited designers, developers, We consider the number to be quite specifi c functionality, custom modules journalists, researchers and the general signifi cant when talking about a niche were built. Other free applications are public to come up with useful, valuable community like the Romanian historical providing server-side functionality: or interesting uses for open public data. It cartography passionate individuals. More MySQL (relational database management attracted 430 entries from across the EU. importantly, thousands of map sheets system), PHP, Python, Java (server- Entries were invited in four categories were processed in just two to three days side scripting languages), Apache for prize money totaling €20,000. The after digital scans were made available. (webserver), Tomcat (servlet container), categories were fully blown apps, ideas, eHarta project started with the publication phpMyAdmin, phpPgAdmin (web visualisations and liberated public sector of the 1:20.000 Romanian map series clients for database management). datasets. The winners were selected by open under the ‘Lambert-Cholesky’ projection data experts, including the inventor of the system. The maps were created after World For geospatial data management, top open World Wide Web Sir Tim Berners-Lee. War I, for military purposes (especially source applications were also integrated artillery). More than 1,800 map sheets in the website: PostGIS (vector geospatial from this collection were identifi ed in data storage), GeoNetwork (geospatial data Future opportunities archives belonging to the Faculty of catalog and metadata editor), GeoServer of development Geography – University of Bucharest, (standard geospatial server for serving Faculty of Geography - University Babes data via WMS), GeoWebCache (Java The success of the eHarta project Bolyai, Institute for Cultural Memory based WMTS/TMS server, with pluggable was beyond expectations, if we are to and the National Museum of Romanian caching mechanisms and rendering consider the number of contributors and the appreciation received from third parties, beyond Romanian borders. The attention led to more than one perspective in the future development of the project. We were offered the umbrella of an international renown, openhistoricalmap.org, or the possibility of integrating our map collections in the oldmapsonline.org project. Another interesting possibility is the extension at a regional dimension of the eHarta project itself. There have been concrete offers of datasets from Hungary, Poland, Czech Republic, Ukraine and France to integrate within our project. (http://earth. Figure 2: eHarta system architecture. unibuc.ro/articole/eHarta?lang=en) 

44 | CCoordinatesoordinates August 2012 GNSS G3100-R1 precision satelite surveying with wireless communications

Positioning systems s Single Rugged Lightweight Housing s State of the Art 136-channel AsteRx2 Receiver with GPS/GIONASS s Integrated Satellite Antenna for Optimized Satellite Tracking s Base or Rover Confi guration s Multiple Communication Choices s Hot Swap Batteries with Fuel Gauges s Easy Removable SD Card for Data Logging s Bluetooth Controller s Rugged Field Controller with Field Genius for Effi cient Field Survey

TI Asahi Co., Ltd. International Sales Department Tel.: +81-48-793-0118 Fax. +81-48-793-0128 e-mail: [email protected]  NEWS - GNSS

Avoid tweet at Yellow Pages business listings and TM Rogozin. “We have offered our Indian London Olympics WiFi sites will also be embedded into the counterparts not only use of the Glonass GPS navigation system; a synergy that system but also participation in upgrading LONDON Sports fans will provide a richer content of directory it. We practically see it as a joint attending the London information for Lokatoo users and bring effort. I think our Indian counterparts OOlympics were told a whole new meaning to navigating.” will be interested in it,” said Rogozin, ttoo avoid non-urgent text who has special responsilibity for mmessagesessage and tweets during Currently, the Lokatoo GPS navigation Russia’s military-industrial complex. events because overloading of system is developed specifi cally to cater http://en.ria.ru/mlitary_news data networks was affecting television to automakers and will be available coverage. Commentators on men’s cycling for mass consumer segment by the end Police suspect Glonass contractor road race were unable to tell viewers of 2012. http://www.mis-asia.com of misappropriating $17M how far the leaders were ahead of the chasing pack because data could not get Four GPS centres to come Police raided a Russian space fi rm through from the GPS satellite navigation up in Rajasthan, India suspected of misspending 565 million system travelling with the cyclists. rubles ($17 million) of state money With a view to monitor and study on developing the country’s Glonass An explosion in the use of mobile phones earthquakes, over 250 GPS centers would satellite navigation system, according to access the Internet and take and send be set up in the country including four in to the Interior Ministry. Investigators photos and video has made London 2012 Rajasthan. These centers will be funded by established that managers at Russian the fi rst true “social media Games”, but the Ministry of Earth Sciences, New Delhi. Space Systems, a contractor used by the also put pressure on the networks. The Though most of these centres will be set Federal Space Agency, signed research host broadcaster, the BBC, is enabling up in the Himalayan region but having contracts with unqualifi ed commercial fans to see many events live on their identifi ed earthquake-sensitive zones in companies, only to siphon off the money smartphones. http://www.reuters.com Jaisalmer, Bikaner, Ganganagar and Kota, later. http://www.themoscowtimes.com four centres will be set up in Rajasthan too. GPS can now measure ice melt http://articles.timesofi ndia.indiatimes.com GLONASS designer honored with Royal Institute of Navigation Award Researchers have found a way to use GPS RMIT in Japanese space hook-up to measure short-term changes in the rate The Royal Institute of Navigation has of ice loss on Greenland - and reveal a Australia’s RMIT University has awarded the Duke Of Edinburgh’s surprising link between the ice and the secured an agreement to develop global Navigation Award for Technical atmosphere above it. The study, published in navigation satellite systems with the Achievement to Professor Nicolai the early online edition of the Proceedings Japan Aerospace Exploration Agency Testoedov, who received it on behalf of the National Academy of Sciences, (JAXA). The collaboration, recursively of Yuri Urlichich, the chief designer hints at the potential for GPS to detect dubbed the Multi-GNSS (Global of GLONASS, “in recognition of the many consequences of climate change, Navigation Satellite System) Joint achievement of a complete operational including ice loss, the uplift of bedrock, Experiment in the Asia-Oceania Multi- constellation of satellites in December changes in air pressure - and perhaps even GNSS Demonstration Campaign, consists 2011, thus providing a full global sea level rise. http://researchnews.osu.edu of a series of evaluation activities over positioning and timing service.” fi ve years. These evaluation trials will Telekom Malaysia partnership include the JAXA Quasi-Zenith Satellite Country will soon have its own to enhance local GPS System (QZSS) which is a network of navigation satellite: ISRO chief multiple satellites in orbits with zenith A collaboration between MSC paths over Japan. Under the agreement, India, which is using navigation satellites [Multimedia Supercorridor] Malaysia JAXA will loan two GNSS receivers to of other countries now, will soon have status IT solutions fi rm Milan Utama RMIT to conduct the Multi-GNSS Joint its own navigation satellite system, and national telco Telekom Malaysia Experiments. http://www.theregister.co.uk said K. Radhakrishnan, chairman of (TM) will enhance content for a Indian Space Research Organisation Malaysian GPS navigation solution. Russia Offers India Joint and the Space Commission. He said GLONASS Development that the fi rst of the seven satellites TM executive vice president, SME, Azizi of the Indian Regional Navigation A Hadi said one of the objectives of the Russia has offered India joint participation Satellite System would be launched in partnership is to enhance the content in development of its GLONASS 2013. He said that ISRO would launch of Lokatoo, a local GPS navigation satellite navigation system on an equal Astrosat, an Indian multi wavelength solution. “Through this partnership, basis, Deputy Prime Minister Dmitry astronomy satellite, in 2014. He added

46 | CCoordinatesoordinates August 2012 that Chandrayaan I had helped discover environments, which are common in for the blind that uses ultra wide band water molecules on the Moon and ISRO Singapore' landscape. www.sla.gov.sg (UWB) technology and a smartphone. would work in this area in the coming The system is able to provide real- years too. http://www.thehindu.com Europe clears fi rst airline time positioning data, even indoors satellite navigation operation where GPS cannot be used, and provide SLA launches 7th SiReNT station audio instructions on the distance and Europe is rolling out operational service direction to a destination to help guide Singapore Land Authority (SLA) launched of its satellite-based aircraft navigation the blind. This guidance support system its 7th SiReNT Continuously Operating system EGNOS, an offi cial with Britain’s for the blind reduces inconveniences Reference Station (CORS) recently. This largest air traffi c control agency said. An facing the blind and is expected to latest reference station, SNSC, is GNSS 18-passenger aircraft serving the island of pave the way to major R&D advances capable and provides GPS + GLONASS Alderney, located off the French coast of in other guidance support systems. corrections. This CORS is located at the Normandy, is the fi rst to be outfi tted and http://www.nict.go.jp/en/index.html National Sailing Centre along East Coast certifi ed to use the European Geostationary Park. This CORS is fully independent, Navigation Overlay Service, or EGNOS. Navilock presents new generation of using solar & battery power with 3G/ The system, which makes use of GPS u-blox based GLONASS receivers GPRS for communications. SNSC is signals to guide aircraft to the runway, also the fi rst SiReNT ground based is particularly useful when visibility Navilock has announced a new family of CORS. With the introduction of SNSC, is limited. http://www.reuters.com GLONASS receiver products including the the SiReNT infrastructure now consist NL-662U USB based receiver equipped of 5 GPS + 2 GPS/GLONASS CORS. NICT and Fujitsu develop indoor with a u-blox GLONASS chipset. The For SiReNT users, the introduction of guidance technology for the blind receiver products have internal patch a 7th CORS means the ability to apply antenna in various confi gurations to serve differential corrections for equipment Japan’s National Institute of Information different installation requirements. Four that are GPS+GLONASS capable. These and Communications Technology (NICT) housing variants with USB or serial MD6/ equipments are preferred to traditional and Fujitsu have announced their joint TTL interfaces are available for installation GPS only equipment in urban canyon development of an indoor support system on vehicles or boats. www.navilock.com   NEWS - LBS

Using cell phone while driving (CAViAR App), which is compatible Flickr adds Nokia Maps could get reported with and downloadable from Apple’s for Photo Geotagging iTunes platform, uses state-of-the-art Researchers at Anna University of Augmented Reality (AR) technologies Photo site Flickr has partnered with Technology in Tamil Nadu, India have to provide the user with the blueprint Nokia for an all-new online maps developed a technology that not only of his/her location, 3D view of the function. Up-to-date maps now provide jams cell phone calls while a vehicle vicinity and navigation based on image greater levels of detail and allow is in motion, but can report a driver’s detection. http://www.khaleejtimes.com closer zooming than before, thanks attempt to use their mobile communication to Nokia’s map style and satellite devices to the authorities. The technology, Where will you be this images, as well as continued Open based on RFIDs, is aimed at preventing time tomorrow? Street Map (OSM) integration for truck drivers and other road users from areas where commercial maps didn’t using their cell phones while driving UK researchers have developed an have full coverage. www.pcmag.com and could also be integrated with police algorithm that can predict your future traffi c monitoring. http://fl eetowner.com geographic location using data gathered XcelMobility launches from your friends’ smartphones. In Mach 5 LBS feature Indoor GPS system uses smartphone the study of two hundred people, the and earth’s magnetic fi eld algorithm predicted the location of XcelMobility Inc has introduced its some users 24 hours later within 100 Mach 5 LBS as a featured product Finnish researchers from the University metres, others as close as 20 metres. and optional component of its Mach 5 of Oulu (who founded their own company browser accelerator product line. The named IndoorAtlas) may have a solution Mirco Musolesi, lead researcher and Company has opened talks aimed at with an indoor positioning system that computer science lecturer at the University cellular carriers, OEM manufacturers and uses the Earth’s magnetic fi eld to fi gure of Birmingham, said the algorithm is retail distributors for initial entry into out exactly where you are. The research exploiting the synchronized rhythm of the Asian marketplace within the next is already being adapted into a product the city. “I know this kind of thing looks few months. www.xcelmobility.com. that your smartphone can use to create kind of Big Brother,” said Musolesi. indoor maps and IPS-powered apps. The There is a problem for privacy, it is a Smartphone-interfacing solutions for idea behind the technology is to use your big problem for these kind of services in compatible automotive navigation smartphone’s magnetometer, which powers general.” Still, if users’ phone information your phone’s digital compass, to identify could be protected, the algorithm has a The North and Latin American your location no matter where you are. potential future in targeted advertising, automotive navigation markets are on the said Musolesi. http://www.thestar.com cusp of a shift to connected navigation Compasses can be useless in an urban systems that offer real-time traffi c setting because all the metallic structures Police of Finland Make information and local searching options. that throw the Earth’s smooth magnetic Neighborhoods Safer Navigation systems, whether by original fi eld out of whack. IPS, however, equipment (OE) fi tment, aftermarket, doesn’t use your digital compass to The Police of Finland - Poliisi - wants to or portable navigation device (PND), derive which way is north. Instead, it make neighborhoods safer by engaging the are feeling the heat of competition uses the phone’s magnetometer to map citizens of Finland in a mobile and online from smartphone-based navigation these magnetic disturbances to produce social conversation. Poliisi will be testing applications. Low-cost smartphone a digital representation of a building’s beta app Grafetee as a public safety tool replication technologies are helping fl oor plan. http://www.pcadvisor.co.uk in the following months, and engage with navigation markets breach the perimeter non-mobile users via Grafetee-supported of the mass market. www.frost.com App to know where you are interactive map on lahivinkki.com. Lexus selects TomTom navigation Buti Mohammad Al Delail, 21, a recent It allows users to update their status with graduate of Computer Engineering at images and text, and to alert the police TomTom will supply one of the the university in Sharjah has developed in real time about things happening in navigation solutions available in an indoor navigation application that their area, without having to actually Europe on the upgraded Lexus CT could kick-start the future of indoor make a call. With just a tap, citizens of 200h. The MoveOn navigation system mapping. Only outdoor maps are Finland will be able to report a crime or a offers TomTom HD Traffi c and is presently accessible through Google. dangerous situation, or inform offi cials of seamlessly integrated in the dashboard any situation needing immediate attention. of the Lexus CT 200h. It will be Buti’s ‘Context Aware Visual indoor Likewise, the police can alert citizens and introduced in several European markets Augmented Reality’ application request support as needed. www.prweb.com this year. www.tomtom.com 

48 | CCoordinatesoordinates August 2012  NEWS - IMAGING

DigitalGlobe and GeoEye merge satellites and ground-based systems,” The Belarusian satellite, which was Indian Space Research Organisation launched together with four other space DigitalGlobe and GeoEye have announced ISROchairman K. Radhakrishnan said vehicles of Canada, Germany and Russia, that the boards of directors of both recently. “We are doubling our rocket has transmitted data to the satellite fl ight companies have unanimously approved launches soon to deploy as many heavier control center based in Minsk, capital a defi nitive merger agreement under communication and earth-observation of Belarus, according to head of the which the companies will combine in satellites for meeting the growing satellite fl ight control center Vladimir a stock and cash transaction valued demand of service providers, state-run Yushkevich. http://news.xinhuanet.com at approximately $900 million. The organisations and security agencies,” he combination of DigitalGlobe and added. http://www.newstrackindia.com Satellite usage surveys planned GeoEye will create a global leader in earth imagery and geospatial analysis Cameroon to protect forests The Japanese government is supporting with a more diversifi ed revenue with satellite monitoring two surveys on possible uses in Myanmar base, a superior fi nancial foundation for an earth observation satellite that is and signifi cant growth potential. Cameroon has joined a Congo Basin scheduled to be launched in December, initiative that uses satellite imagery to the Ministry of Transport said. The monitor changes in forest cover in an effort ASNARO satellite, provided by the to curb deforestation and help Central Japanese government, weighs almost 500 African countries access carbon fi nance. kilograms and will have an estimated Democratic Republic of Congo (DRC) and lifespan of three years. www.mmtimes.com Central African Republic (CAR) signed an agreement with the French government AeroGRID signs agreement with and Astrium Services ahead of U.N. BKG for aerial imagery of Germany climate talks in South Africa late last year. The Agence Française de Développement AeroGRID has announced a new licensing (French Development Agency) is agreement with BKG (Bundesamt The transaction structure will allow both fi nancing the provision of SPOT satellite für Kartographie und Geodäsie), the DigitalGlobe and GeoEye shareowners imagery to Central African countries to German government’s federal provider of to participate in the substantial value support their participation in the U.N.- orthophotos and mapping. The agreement creation opportunity resulting from this backed REDD (Reducing Emissions from enables AeroGRID to distribute high combination. The combined company will Deforestation and Forest Degradation) resolution 20cm orthophoto data of all be named DigitalGlobe and continue to programme. http://www.trust.org Germany via WMS and also sell the trade on the NYSE under the symbol DGI. imagery offl ine. www.aerogrid.net By bringing the two companies together, First Vietnam-made satellite this combination will enable the U.S. launched into orbit exactView-1 satellite launched government to meet the requirements of the EnhancedView program at substantial The unmanned Japanese spacecraft HTV- Surrey Satellite Technology Ltd (SSTL) savings to the U.S. taxpayer. In addition to 3 left the Tanegashima Space Centre on has announced the successful separation the compelling savings, the U.S. government July 21, bringing fi ve small satellites, from the Soyuz launcher and subsequent and other customers will benefi t from an including Vietnam’s F-1, into orbit. F-1 is operation of mission-critical systems optimized constellation and better integrated fi rst of its kind designed and manufactured onboard the exactView-1 satellite, imagery collection, processing and analytics. in Vietnam by the Space Research which was built by the Company under www.DigitalGlobe.com, www.geoeye.com Division (FSpace) of FPT Technology contract to prime contractor COM DEV University, measures 10x10x10cm Canada for exactEarth. exactView-1 India to boost space assets and weighs one kilogram. It can take separated from the Soyuz launch vehicle’s to meet demand 640x480 pictures and send them to earth Fregat upper stage in low Earth orbit at a speed of 1,200b/s. The satellite approximately 2 1/2 hours after launch. India is boot-strapping its space-based will be used to help monitor maritime assets to meet the growing demand for transport and forest fi re prevention SSTL will continue the commissioning enhanced services in communications, efforts. http://english.vov.vn/Home of the satellite in orbit. Once all broadcasting remote-sensing and platform systems are operational, navigation, “To meet the rising demand Belarus’ fi rst satellite enters orbit engineers from COM-DEV Canada for multiple space-based services will work alongside the SSTL ground spanning communication, navigation Belarusian authorities have announced operations team to commission its highly and earth observation, we are enhancing that a remote sensing satellite the country advanced Automatic Identifi cation our capacity in terms of rockets, launched had entered its designed orbit. System payload. www.sstl.co.uk 

CCoordinatesoordinates August 2012 | 49  NEWS - GIS

Esri Joins World Ocean Council access, will be a few nodes where real miles) this authoritative and integrated estate hubs would be developed. http:// national dataset has twice the detail Esri has joined the ocean business www.thehindubusinessline.com of previous versions. Users can now alliance World Ocean Council (WOC) easily fi nd “one” using popular search and will support its international New initiative to help 10 central engines or portals like Data.Gov; get initiatives for sustainable development African countries in monitoring: FAO it as documented data or Web map and conservation of the ocean. Esri services from nationalatlas.gov and chief scientist Dawn Wright will share A new regional initiative will help other sources; and use “one” in their her geospatial expertise with WOC’s 10 central African countries to set up geospatial analyses, maps, or map Coastal and Marine Spatial Planning advanced national forest monitoring mashups. This new release serves as the (CMSP) and Ocean Science working systems, according to FAO. The 10 foundation for small-scale maps and groups. WOC members are oil and gas, countries are part of the Congo Basin datasets on the Nation’s people, heritage, seafl oor mining, shipping, fi sheries, and include Burundi, Cameroon, Central and resources. http://nationalatlas.gov aquaculture, tourism, and offshore African Republic, Chad, the Democratic renewables companies. esri.com/news Republic of the Congo, the Republic of Namibia: Ministry Launches Vital the Congo, Equatorial Guinea, Gabon, Aerial Photo-Imaging Exercise GIS installing new number Rwanda and São Tomé and Principe. plates in all buildings The forestry project will be managed The Ministry of Lands and Resettlement jointly by the Central Africa Forests launched a N$19-million project that New number plates have been installed Commission (COMIFAC) and FAO in entails the gathering of aerial and on 90% of buildings in Qatar as part of close collaboration with the Brazilian orthophoto images of the country. The the unifi ed number project undertaken by National Institute for Space Research project will cover central Namibia between the Centre for Geographical Information (INPE). The Congo Basin Forests 20 degree south latitude and 24 degree System (GIS). The project is conducted in Fund, launched by the Governments 10 minutes south latitude, covering an two phases: First external number plaques of Norway and the United Kingdom area of 320 000 square kilometers. The are to be installed on all buildings, whether through the African Development project will deliver full-colour digital, residential, commercial, services or towers. Bank, is funding the initiative with €6.1 imagery including panchromatic and In the second phase, sub-numbers will be million. http://www.fnbnews.com infra-red, with applications such as map given for the units within the buildings revision, land-use planning, archeology, whether they were apartments, offi ces or Jamaica to develop NSDI movie production, environmental shops, which would be normally linked studies, surveillance and environmental to the external number. This second phase The Government is working to build site assessments. http://allafrica.com is estimated to take two years and would a national spatial data infrastructure be launched shortly. All new plaques have (NSDI) for Jamaica, announced Robert Kuwait to monitor encroachment RFID data chips hidden in them. These Pickersgill, Minister of Water, Land, of state properties via g-tech include all the related numbers and data of Environment and Climate Change. “This the building and directly linked with the is necessary to facilitate sectoral growth, The Ministry of Finance, Kuwait, signed GIS data base. These chips can be read and for us to keep up with technological an agreement with an international through PDA appliances. These employ advancements and of course, provide consultancy company, Jiscon, to set information safety standards to avoid for the geospatial data needs of the up a GIS database for the state. Under any misuse. http://www.gulf-times.com government and our people”. He informed the agreement, a GIS database will that work is currently underway on a be developed which will store all Delhi-Jaipur Expressway metadata policy, which will make it important maps and documents. Such route mapping complete mandatory for all creators of geospatial kind of database will help relevant data to collect and maintain metadata, authorities to pin point any kind of Route identifi cation for 265 km Delhi- adding that all creators and users of infringement on state properties, degree Jaipur Expressway has been completed, the geospatial data need to collect and of such breaches and cost of removing Road Transport and Highways Minister, manage metadata. http://www.jis.gov.jm and restoration of illegally build Mr C. P. Joshi, has said. “We want an structures. http://www.kuna.net.kw expressway on the PPP (Public-Private Find “1”, Get “1”, Use “1” Partnership) model”. The starting point Sri Lanka eyes PHL land admin in the national capital for the expressway, What’s “1”? It’s the new set of digital and management reforms for which the detailed project report cartographic frameworks from The has been fi nalized, would be the Indira National Atlas of the United States of Offi cials of the Democratic Socialist Gandhi International Airport. He said that America®. Prepared at one million-scale Republic of Sri Lanka recently visited alongside the expressway, with controlled (where an inch on a map is nearly 16 the Philippines to study the country’s

50 | CCoordinatesoordinates August 2012  NEWS - IMAGING  NEWS - GIS Galileo update land administration and management system, including the property valuation and taxation, intending to learn from Galileo interoperability like high-precision fertiliser spraying, the Philippines’ successful experience with GPS automatic road-tolling, fl eet management, under the Second Land Administration inland waterway navigation, dangerous and Management Project (LAMP2) ESA’s fi rst two Galileo navigation goods transportation or accurate area of the Department of Environment satellites in space have achieved measurement. http://www.pcmag.com and Natural Resources (DENR), and their latest milestone, transmitting the Department of Finance (DOF). dummy signals in a modulation scheme designed to allow full ESA... GIOVE-B going soon In 2011, the UN Special Unit for interoperability with the US GPS South-South Cooperation recognized once operational services start. ESA’s GIOVE-B experimental navigation the LAMP project as an “example of satellite is gradually raising its orbit as successful solution to support rural and “This is an advanced modulation it prepares for well-earned retirement agricultural development, and that the technique that offers robust protection at the end of its four-year mission experience of the Philippines offers a against signal interference and the paving the way for Europe’s Galileo comprehensive solution to improving misleading signal refl ections known constellation. Recently, an initial land tenure regulation and land rights”. as ‘multipath’,” said Marco Falcone, thruster fi ring raised GIOVE-B’s orbit LAMP2 is a long-term commitment of the Head of Galileo System Services. by about 30km. This will be followed government to address poverty alleviation by others soon so that by mid-August and promote economic growth through “Signifi cantly, this is also the the satellite will be in a graveyard secure land tenure and equitable property European version of the Multiplexed orbit some 600km above its original valuation. dof.gov.ph, http://www.gov.ph Binary Offset Code signal standard 23,222km orbit. http://www.satnews.com agreed with the United States for the BAE Systems merges multiple interoperability of Galileo and GPS. geospatial technologies ESA extends its navigation lab “So this transmission helps demonstrate in readiness for galileo testing BAE Systems developed SOCET GXP® how the two systems will work v4.0 which merges the full spectrum of together in future with no risk of signal With the next Galileo launch approaching, mapping and analysis capabilities into a interference.” http://www.esa.int ESA has extended its Radio Navigation single package. Commercial, defense, and Laboratory to meet the testing needs government customers worldwide can of Galileo. Located at ESA’s ESTEC now use the same tool to create and share EU boosts GPS accuracy technical centre in Noordwijk, the a wide range of products, from complete with web-based service Netherlands, the laboratory has almost 3-D city models to GeoPDF intelligence doubled in size, and includes a specialised reports. http://www.marketwatch.com European Commission vice president facility, the PRS Laboratory, suitable Antonio Tajani has unveiled a new for evaluating the single most precise Bangalore: City’s property ID model service intended to make satellite data and secure type of Galileo signal, the more reliable. The European Data Public Regulated Service (PRS). In a major boost to the Bruhat Bangalore Access Service (EDAS) will make Mahanagara Palike, the Union government data from the European Geostationary Transmitted on two encrypted signals, of India has decided to mandatorily Navigation Overlay Service (EGNOS) PRS offers the highest accuracy Galileo implement the Bangalore model of available on the Internet. As a result, service, with access reserved for GIS based on the Unique Property people will be able to access this GPS governmental organisation such as the Identifi cation Number (UPID) in all the data from hand-held devices, Tajani police, fi re brigade or civil protection. municipal corporations across the country. said, improving the accuracy of things http://www.spacedaily.com 

The offi cials at the Union Ministry of Urban Development were so impressed with the UPID that they wanted it to be linked with Jawaharlal Nehru National Urban Renewal Mission (JnNURM) scheme. It is pushing a proposal wherein it will be mandatory for states or cities to implement the GIS- based UPID to avail funds under the scheme. http://www.deccanherald.com 

52 | CCoordinatesoordinates August 2012  NEWS - INDUSTRY

New System test algorithms have been introduced that make the during which GMV will install testing combining GNSS and inertial MEMS confi guration easier and the monitoring platforms in South Africa for conducting process faster. www.leica-geosystems.com practical tests. www.usa.gmv.com. Spirent Communications has launched new simulation software that combines inertial NVS Technologies AG Carlson Survey 2013 Just Released MEMS sensor with multi-GNSS (GPS, Selected by Panasonic GLONASS, etc.) testing. SimSENSOR Carlson Survey 2013 provides upgrades includes trajectories that embed Panasonic has announced the launch of a to core features like the coordinate representative human motion gestures, Toughbook® CF-31 model with a built-in database, Field-to-Finish coding and As such as arm movements. In additon MEMS GPS/ GLONASS NV08C-CSM receiver Built Reports as well as new commands, noise models and errors such as bias and by NVS Technologies AG, the fi rst rugged including one to twist points to a 3D drift are also available under user control. notebook on the Russian and CIS market. view. Its 2013 version provides support The software can test fusion algorithms “The Built-in GPS/ GLONASS navigation for AutoCAD® 2013 and also works on that take inputs from a large variety receiver does not increase the weight and AutoCAD versions 2004 and newer. All of sensors, including accelerometers, dimensions of the laptop. The model CF-31 Carlson 2013 ofice software comes with gyroscope, magnetometer, digital with the GLONASS navigation system is IntelliCAD® 7.2 built-in, which offers compass and barometric height sensors. primarily intended for government agencies, greater performance and stability, plus law enforcement and military services, support for MrSid and JPG 2000 images. Ultimate construction data which carry their operations in the harsh preparation software by Leica weather conditions, as well as for industries New GNSS receiver by Altus where the use of the protected equipment is Positioning Systems Leica Geosystems has added the latest essential - oil and gas, energy, transportation, offi ce software to its recently launched exploration, forestry and fi sheries sectors.”, Altus Positioning Systems has launched its new Leica iCON portfolio. It is a as quoted by Panasonic. www.nvs-gnss.com new APS-U GNSS receiver. It is scalable complete data preparation, editing and from a single stand-alone GNSS receiver reporting software package is the link Stamp-sized GPS-INS unit to debut to full options with heading, wireless between the offi ce and the Leica iCON links, precise point positioning and RTK hardware and software solutions for The world’s fi rst GPS-aided inertial capability. The unit has an additional many construction applications. http:// navigation system on a surface-mount processor for on-board confi guration and www.leica-geosystems.com/icon chip the size of a postage stamp is being custom applications separate from the unveiled by a U.S. company. VectorNav GNSS engine. It has an extensive suite Trimble to supply GNSS Technologies said its VN-200 combines of interfaces for data output, timing, receivers to Japan an advanced GPS module with the latest event marks and a second antenna port in MEMS inertial and pressure sensor for GNSS heading. www.altus-ps.com Trimble has announced that it will technology. Its onboard microprocessor runs supply more than 500 Trimble NetR9 an aerospace-grade Kalman fi lter algorithm Hemisphere GPS awarded new patents GNSS reference station receivers to at a rate of as much as 200 Hz and provides the Geospatial Information Authority accuracies better than 0.25 degrees in Hemisphere GPS continues to expand of Japan (GSI), part of the Ministry pitch and roll and 0.75 degrees in heading, its intellectual property portfolio with of Land, Infrastructure, Transport the company said. http://www.upi.com newly awarded patents. These patents and Tourism (MLIT), to modernise represent the latest advancements in its nationwide GeoNet GNSS- GMV collaboration with South adaptive machine control and GNSS based network. www.trimble.com African national space agency solutions. The Adaptive Machine Control System and Method patent describes Leica GeoMoS 5.3 integrated GMV is leading a major satellite the sophisticated adaptive control as a secure windows service navigation project in collaboration methods used to guide vehicles and with the South African National Space provide accurate and effi cient coverage. Leica GeoMoS has been updated to Agency (SANSA). The project, SBAS The system is comprised of a machine version 5.3. In order to enable a permanent Awareness and Training for South Africa controller, GNSS guidance system, monitoring process, the latest version (SATSA), will increase the technological and software and is most commonly provides the best possible integration navigation capacity in the South African used in precision farming. The patent into a modern and high secure IT region ultimately improving location supports current products and new infrastructure as a windows service. For identifi cation and tracking capabilities developments within Hemisphere GPS’ large monitoring installations using GNSS for Safety-of-Life Services especially precision farming product line including sensors and multiple total stations with during emergency or disaster situations. Outback Guidance® branded products. hundreds of prisms, new functionalities SATSA is set to run for 18 months www.HemisphereGPS.com/Patents

CCoordinatesoordinates August 2012 | 53 New Version of NMEA 0183 Released the SXBlue II GNSS also has a standard and accuracy for either traditional DE-9 RS-232 port and a USB Type B port base + rover confi guration and The National Marine Electronics whose outputs are fully programmable RTK networks thanks to its fl exible Association (NMEA) has released up to 10Hz standard, and a 20Hz option. GPRS and UHF communication a signifi cantly updated version of Other optional features are L1 RTK for systems. www.chcnav.com NMEA 0183, its well-known standard <2cm real-time accuracy and base station that enables the interfacing of marine RTCM output. There is no need for post- Mali Hydro Agriculture electronics. Version 4.10 will improve processing or other sources of differential Mapping Project Relies on boating safety and navigation through corrections as the SXBlue II GNSS ProMark GNSS Technology updates and expansions of various uses WAAS (North America), EGNOS electronic communications “sentences” (Europe), MSAS (Japan) and GAGAN CIRA, a major West African consulting pertaining to a number of navigation (India) satellite corrections. Users receive engineering fi rm, working on behalf of and communications devices, including real-time, 30cm/1 foot positioning all the Offi ce du Niger, a quasi governmental Galileo satellite receivers and Automatic day long. http://www.sxbluegps.com Mali company charged with managing Identifi cation Systems (AIS). http:// more than 100,000 hectares of irrigated www.maritime-executive.com CHC introduces the X900+ delta land, has completed surveying Advanced GNSS Receiver an additional 25,000 hectares for New GNSS SBAS receiver by Geneq hydro agriculture development. In the CHC has launched X900+ GNSS course of two months during the dry Geneq Inc. has announced the SXBlue II receiver bringing the future proof GNSS season, two CIRA survey teams, each GNSS, a GNSS receiver that uses both tracking technology to surveyors without equipped with three Ashtech ProMark GPS and GLONASS with SBAS (WAAS/ the conventional cost associated with 500s, a base station and two rovers EGNOS/MSAS/GAGAN) to attain 30cm/1 GNSS solutions. It combines advanced connected via UHF, completed the ft (RMS) accuracy in real-time using 120-channel GNSS technology (GPS, entire survey collecting four points in free SBAS corrections. In addition to the GLONASS, Galileo and Compass) x,y and z per hectare to produce the built-in long-range Bluetooth transceiver, and state-of-the-art RTK reliability digital model. www.trimble.com

International Conference and Exhibitionn

The 14th IAIN Congress 2012 Seamless Navigation (Challenges & Opportunities) October 1 - 3, 2012 Cairo, Egypt www.iaincongress2012

Concorde EL Salam Hotel Organized by: Arab Institute off Navigation (AIN)

On behalf of: International Association of Institutes of Navigation (IAIN)

 MARK YOUR CALENDAR

Trimble positions software for September 2012 88thth FFigig RRegionalegional CConferenceonference Mapping and GIS Applications IIONON GGNSSNSS 22012012 26 - 29 November September 17-21, 2012 Montevideo, Uruguay www.fi g.net/uruguay Trimble® Positions™ Mobile extension is Nashville, Tennessee, USA www.ion.org a new streamlined choice for integrating TThehe 333rd3rd AAsiansian CConferenceonference oonn RRemoteemote SSensingensing Trimble’s GNSS professional fi eld October 2012 26 - 30, November solutions and data verifi cation into IIAINAIN 14th14th CongressCongress & MMelahaelaha Pattaya, Thailand http://acrs2012.gistda.or.th the Esri ArcGIS for Windows Mobile 22012012 ConferenceConference environment. It was fi rst introduced 1 – 3 October December 2012 Cairo, Egypt as a development kit to Trimble’s GIS www.ainegypt.org EEuropeanuropean LLiDARiDAR MMappingapping FForumorum developer community in late 2011. 4 - 5 December Today, the software suite has expanded GGISSAISSA UUkubuzanakubuzana 22012012 Salzburg, Austria www.lidarmap.org to provide a streamlined option for 2 - 4 October users who wish to work directly with Gauteng, South Africa NNAVITECAVITEC 22012012 www.gissa.org.za Esri’s ArcGIS for Windows Mobile 5 - 7 December technology. www.trimble.com/positions UUPINLBSPINLBS 20122012 ConferenceConference aandnd EExhibitionxhibition Noordwijk, Netherlands www.congrexprojects.com/12c13/introduction 3 – 4 October First open source Helsinki, Finland 44thth AAsiasia OOceaniaceania RRegionalegional WWorkshoporkshop oonn GGNSSNSS http://217.152.180.26/upinlbs/ initiative for CARIS 9-10 December IINTERGEONTERGEO 22012012 Kuala Lumpur, Malaysia www.multignss.asia CARIS has released its fi rst open 9-11 October source API - CARIS OSCAR-js, Hanover, Germany January 2013 www.intergeo.de/en a JavaScript Map API, allows you IIONON InternationalInternational TTechnicalechnical MMeetingeeting to create and embed custom web XXXXIIXXII INCAINCA InternationalInternational CCongressongress 27 – 29 January maps on your website. The API was 11 – 13 October San Diego, California, United States http://ion.org/meetings/ created to help shape CARIS Spatial Dehradun, India [email protected] Fusion Enterprise and includes tools February 2013 for navigation, measurement, and 119th9th IITSTS WWorldorld CCongressongress SSecondecond HHighigh LLevelevel ForumForum oonn GGloballobal download, as well as providing a 22 – 26 October GGeospatialeospatial IInformationnformation MManagementanagement means for developers to create their Vienna, Austria 4-6 February http://2012.itsworldcongress.com/content/congress Doha, Qatar own custom tools and extensions. It http://ggim.un.org/ extends the very popular OpenLayers 119th9th UUnitednited NNationsations RRegionalegional CCartographicartographic library and utilizes jQueryUI and CConferenceonference fforor AAsiasia aandnd tthehe PPacifiacifi c TThehe IInternationalnternational LLiDARiDAR MMappingapping FForumorum YUI to help create a feature rich 29 October - 1 November 11-13 February Bangkok, Thailand mapping experience. The API is Colorado, USA http://unstats.un.org/unsd/geoinfo/RCC/unrccap19.html www.lidarmap.org designed around the creation of map themes. www.caris.com TThehe IInternationalnternational ssymposiumymposium TThehe MMunichunich SSatelliteatellite NNavigationavigation SSummitummit 22013013 oonn GGPS/GNSSPS/GNSS 22012012 26 – 28 February Location-based services gaining 31 October - 2 November Munich Germany Xi’an, China www.munich-satellite-navigation-summit.org traction in South Africa www.gpsgnss2012.com April 2013 Recent TNS research found that November 2012 PPacifiacifi c PNTPNT there is a growing appetite for LBS TTrimblerimble DimensionsDimensions UUserser CConferenceonference 22-25 April 2013 among mobile subscribers worldwide, November 5-7 Honolulu, Hawaii www.ion.org including South Africa. Jacques Las Vegas, USA http://www.trimbledimensions.com/ Swanepoel, MD of Cellfi nd, says that 335th5th IInternationalnternational SSymposiumymposium oonn the technology is gaining traction 22012012 InternationalInternational ConferenceConference oonn IIndoorndoor RRemoteemote SSensingensing ooff EEnvironmentnvironment for navigation, personal safety and PPositioningositioning aandnd IIndoorndoor NNavigationavigation ((IPIN)IPIN) 22 - 26 April entertainment applications. LBS are 13-15 November Beijing, China Sydney, Australia http://www.isrse35.org set to break into the mainstream of www.surveying.unsw.edu.au/ipin2012 South Africa’s mobile market, with June 2013 more than half of consumers expressing sspatial@gov®patial@gov® ConferenceConference aandnd EExhibitionxhibition 22012012 TTransNavransNav 22013013 interest in using these services in the 20 – 22 November 19 - 21 June near future. This refl ects a growing Canberra, Australia Gdynia, Poland www.cebit.com.au/spatial http://transnav2013.am.gdynia.pl understanding of the benefi ts of LBS in South Africa. www.cellfi nd.co.za. 

56 | CCoordinatesoordinates August 2012

A TRIMBLE COMPANY