Development of Multi-GNSS Orbit and Clock

Determination Software "MADOCA"

December 1 - 3, 2013 @Hanoi Univ. of Science and Technology

Tokyo Univ. of Marine Science and TechnologyTomoji TAKASU

The 5th Asia Oceania Regional Workshop on GNSS

Contents

• Overview of MADOCA

• Models and Algorithms

• Test and Evaluation

• Status and Future Plan

2

Overview of MADOCA

3

MADOCA

• For real-time PPP via QZSS LEX– Many promising applications over global area by PPP

• Precise orbit/clock for GPS, GLONASS, QZSS and Galileo– Key-technology for sub-dm to cm PPP

• 2-years project in cooperation with and

• Brand-new codes implemented from scratch– Multi-threading optimized for recent CPUs

– Modular design for future model improvement

4

Multi-GNSS Advanced Demonstration toolfor Orbit and Clock Analysis

PPP Applications

5

Automated Farming

OffshoreConstruction

AutonomousDriving

Weather Forecast

Tsunami Warning Mining MachineControl

Real-Time PPP via QZSS LEX

6

GPS GLONASS Galileo QZSS

MGM-Net

MADOCA

PPP Users

LEX Signal

Precise Orbit/Clock Estimation

~ 1.7 Kbit/sReferenceStations

MADOCA Architecture

7

MGM-Net EKF

RDS

Parameter Estimator

IGSetc

QZSSMCS

LSQ

MGPLOT MADOCA API

MGRTE

MGEST

RTCM,BINEX, Javad

LEXMT 12

RINEX,SP3, ERP

Data Interfaces Data Interfaces

LMG

OfflineDL

Models and Algorithms

8

Models

• Satellite Orbit Models– EGM 2008+solid earth tide+FES2004

– Sun, Moon, Venus and Jupiter with JPL DE421

– Empirical SRP model, ...

• Measurement Models– ZD Iono-free phase+ pseudorange, 2nd-order-iono

– ZTD+gradient estimation with GPT+GMF/VMF1

– IERS DEHANTIDEINEL+FES2004 OTL+pole tide+CMC

• ECI-ECEF Coordinates Transformation– IAU 2000A/2006 by IAU SOFA

9

Empirical SRP Model

10

satellite

orbitplane

midnight

noon

beta

fZ

eY

X

eD

eB

GPS Block IIR GLONASS QZSS

asrp = S ((D0 + DC cos f + DS sin f) eD + (B0 + BC cos f + BS sin f) eB+ (Y0 + YC cos f + YS sin f) eY) x 10

-9 (m/s2)

Ec YsYs

Y

Parameter Adjustment

11

Offline Real-Time

Algorithm Iterated Weighted LSQ Dual-Cycle-EKF

Estimated Parameters

Orbit, SRP/Emp-Acc, Clock, Position, ZTD/Grad,Ambiguity, Bias, EOP

Measurements ZD Carrier-Phase and Peudorange

NumericalSolver

NEQ by CholeskyFactorization

Numerical StableEKF

Clock EstimationParameter Elimination

in NEQState as White-Noise

or Random-Walk

Integer AmbiguityResolution

Network AR(Ge., 2005)

Real-TimeNetwork AR

Iterated LSQ for Offline

12

InitialParameters

Orbit Generation

Solve NEQ by Cholesky

Measurement Eq.

Network AR

Update Parameters

OBS Data ...

SP3, EOP, RINEX CLK, ...

Stack NEQ

Epoch NEQ Scratch

( ( ))

T

T

j i

N N H WH

b b H W y h x

1 x N b

0( ) ( ) ( , , , )t t t dt r r f r v p

1i i x x x

0x

1 2, ,...y y

Constraint to Fixed Ambiguity

Generate Products

13

• Dynamic baseline selection to convert ZD to DD

• WL and NL DD ambiguities by rounding

• Validation by confidence function and FCB

• For GPS, QZSS and Galileo (not for GLONASS)

Network AR

AR-OFF AR-ON

GPS3D-RMS: 5.63 cm

GPS3D-RMS: 2.59 cm

Dual-Cycle-EKF for Real-Time

14

ˆ ˆ( , ), ( , ),e c e c v y h x x H H H R

T Te e e c c c S H P H H P H R

ˆ ˆe e e x x K v

( )e e e e P I K H P

1Te e e

K P H S

ˆ ˆc c c x x K v

( )c c c c P I K H P

1Tc c c

K P H S

, ,0

2 2

ˆ

( , ,...)

e k e

e diag

x x

P

,ˆ ˆ( )c k c

c c

t

x f x

P ΦP Φ Q

y

Epoch Parameters Common Parameters

Common cycle (30 s)Epoch cycle (1Hz)

TimeUpdate

Meas.Update

OBSData

Numerically Stable EKF

15

1( )

( ( ))

( )

T T

K P H HP H R

x x K y h x

P I KH P

(1) v = y - h(x), H, R(2) D = P HT

(3) S = H D + R(4) U = chol(S)(5) K = (D U-1) U-T

(6) x = x + K v(7) P = P - K DT

(1) v = y - h(x), H, R(2) D = P HT

(3) S = H D + R(4) U = chol(S)(5) E = D U-1

(6) K = E U-T

(7) x = x + K v(8) P = P - E ET

(sparse)

(sparse)

DPOTRF

DTRSM

DTRSM

DGEMV

DSYRK

(sparse)

(sparse)

DPOTRF

DTRSM

DGEMV

DGEMM

Standard EKF Numerically Stable EKF

Measurement Update of EKF

Test and Evaluation

16

R

Offline GPS/GLONASS Orbit

172011/01/01 - 2011/12/31 (365 days), wrt IGS Final

A

C

R

A

C

RMSR: 0.89 cmA: 1.10 cmC: 1.12 cm

3D: 1.81 cm

GPS (32 sats)

GLONASS (24 sats)

RMSR: 1.37 cmA: 3.70 cmC: 2.94 cm

3D: 4.92 cm

+0.5m

-0.5m

Offline QZSS Orbit

18

R

A

C

2011/06/04 - 2011/11/03 (153 days), 24 H-overlap

RMSR: 2.37 cmA: 4.47 cmC: 3.21 cm

3D: 5.99 cm

+1m

-1m

QZSS-1 Michibiki J01

Offline Galileo Orbit

19

RMSR: 2.65 cmA: 8.72 cmC: 2.92 cm

3D: 9.56 cm

RMSR: 1.70 cmA: 8.21 cmC: 2.92 cm

3D: 8.88 cm

Galileo E11

Galileo E12

R

A

C

R

A

C

2012/11/2 - 2013/02/27 (117 days), 24H-overlap

+1m

-1m

Galileo Orbit vs. TUM/GRM

20

R

A

C

R

A

C

RMSR: 18.42 cmA: 83.92 cmC: 52.51 cm

3D: 100.69 cm

RMSR: 8.32 cmA: 23.35 cmC: 22.19 cm

3D: 33.27 cm

Galileo E11, E12: MADOCA - TUM

2012/11/02 - 2013/02/27 (117 days)

Galileo E11, E12: MADOCA - GRM

+1m

-1m

Real-Time PPP Test

21RTKLIB 2.4.2 PPP Kinematic

Javad LEGANT + NovAtel OEM6(GPS + GLONASS + QZSS + Galileo)

IGS/MGEX

MGM-Net

QZSS MS

RTCM OBSRTCM MSMRTCM EPH

www.igs-ip.netmgex.igs-ip.net

IGS RTService

JAXANTRIPCaster

RT-MADOCA Test Server:Core i7 3930K, RAM 32GB,

HDD 5TB/SSD 240GBubuntu 11.04 Linux

BINEXJAVAD JPS

STR2STR

RTCM MSMRTCM EPH

RTCM SSROBT/CLK/URA 30s

HR-CLK 1Hz xx.xxx.xx.xxx/MADOCA_SSR

MGRTE

RT-MADOCA Test Server

STRMONNTRIPCaster

RTCM SSR

Reference Station Network

22

QZSS-MS (8) MGM-Net (17) IGS/MGEX (21) TOTAL (46)

Products for Real-Time PPP Test

23

Mount Point

ProductsRTCM SSR Message Type Update

IntervalLatency Notes

GPS GLO QZSS Galileo

MADOCA_SSR

Orbit 1057 1063 1246* -

30 s

~ 5 s

APC in ITRF2008

Clock 1058 1064 1247* - -

Code Bias

- - - - -

URA 1061 1067 1250* - -

HR-Clock

1062 1068 1251* - 1 s -

MADOCA_TEST

same as above ~ 5 sTest and backup

*

* Based on Draft RTCM

Real-Time Product Monitor

24

Real-Time PPP Test Results

25

With GPS Only

With GPS + GLONASS + QZSS

2013/11/26 00:00 - 23:59 (1Hz, 24 H), First 1H excluded for RMSE

RMSEE: 4.45 cmN: 2.85 cm

U: 11.00 cm

RMSEE: 3.84 cmN: 3.50 cmU: 8.54 cm

- 1 m

+ 1 m

0

- 1 m

+ 1 m

0

1 H

E N U

PPP Solution Convergence

26

With GPS Only

With GPS + GLONASS + QZSS

2013/11/26 00:00 - 00:59 (1 H)

- 1 m

+ 1 m

0

- 1 m

+ 1 m

0

ConvergenceHRMS

Real-Time Experiment via QZSS LEX

27

ScheduleLEX Data Format

LEX MT12 Format

28

Status and Future Plan

29

Status and Future Plan

• Status in Dec 2013– All codes are completed both for real-time and offline

– Long-term test and evaluation are conducted by test servers

– Real-time PPP experiment via LEX was started in April 2013

– Real-time GLONASS orbit/clock added in Nov 2013

– Some problems are identified and going to be fixed

• Future Plan– Adding PPP-AR (ambiguity resolution) feature

– Supporting Chinese BeiDou

– Local iono- and tropo-products to reduce convergence time

– PPP-INS Integration for driving vehicle application

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