Implementation and Statistical Analysis of a Differential GPS System

Team Members: Jim Connor Jon Kerr

Advisor: Dr. In Soo Ahn

Abstract

Normal GPS (Global Positioning System) is not accurate

enough for the applications here at Bradley University.

For greater accuracy, a Differential GPS system will be implemented. To do this, two GPS units are required. A base station, with a known position, sends error correction data to a mobile unit. The error correction data is sent wirelessly through a radio link. The data can then be viewed on a laptop computer for statistical analysis.

Project Purpose

Previous project: Autonomous Vehicle with GPS Navigation - Jason Seelye and Bryan Everett

Problem: GPS not accurate enough to control vehicle

Our focus: Create GPS system with the greatest accuracy possible for the control of autonomous vehicles (sidewalk)

Topics of Discussion

Explanations and Terminology Equipment used Project description Hardware implementation process Software implementation process Problems encountered and solutions Data gathering Statistical Analysis of data Conclusions and Recommendations

Explanations and Terminology

Global Positioning System (GPS) A satellite navigation system capable of providing highly accurate position, velocity, and timing information. Differential Global Positioning System (DGPS) A GPS system that is capable of being more accurate by taking into account position correction information. Circular Error Probability (CEP) Radius of the circle, centered at the known antenna position, that contains 50% of the data points in a horizontal scatter plot. Dilution of Precision (DOP) Accuracy of position due to satellite geometric positions.

Specifications

Equipment Used

Two NovAtel RT-20 Receivers

Operate at 1575.42 MHz 12 Channel Receivers

Two FreeWave Radios

Operate at 928 MHz 20 mile line of sight range

NEC Laptop Computer

Block Diagram
Transmitter / Base Station
GPS Antenna Position Error Corrections FreeWave Radio

NovAtel Receiver

Antenna

Receiver / Mobile Station

Position Error Corrections FreeWave Radio NovAtel Receiver Laptop Computer for analysis

Antenna

GPS Antenna

Block Diagram
Commands Reference Station RF modem
Binary data stream

RF modem

Mobile Station

Data Computer

Matlab

Functional Description

An exact geographical position is determined. Reference station placed at this point. Since at a known position, able to calculate errors from GPS satellites. Sends error corrections across a wireless radio link to remote station.

Remote station receives error corrections and also position information from same satellite constellation that reference station sees.
Remote station uses both satellite data and error corrections to calculate position.

NovAtel Receiver Base Station

Serial Correction Data

NovAtel Receiver Remote Station

Errors Removed by Differential GPS

Ionosphere Troposphere Signal Noise Ephemeris Data Clock Drift Multipath SA

0-30 meters 0-30 meters 0-10 meters 1-5 meters 0-1.5 meters 0-1 meters 0-70 meters

Mostly Removed All Removed All Removed All Removed All Removed Not Removed All Removed

Design Approach

Correct operation of NovAtel receivers borrowed from CAT

Correct operation of FreeWave Radio communication link borrowed from Dr. Sennott (TISI)

Successful GPS receiver radio link integration

Hardware Implementation
Reference Point Placed NovAtel GPS Receiver on Jobst Hall and collected position information (scatter plot) for about two hours.

Used the average Latitude and Longitude of this plot as our reference point.

Hardware Implementation

Latitude = 40 41 56.613512 N Longitude = 89 37 1.613741 W Height = 192.341 m

Hardware Implementation
Configure Reference Station Data rate 9600 bps

Minimum rate 2400 bps

Fix position of NovAtel reference station.

fix position 40.69903722, -89.61712110, 192.3415

Log differential corrections.

log com1 rtcm3 ontime 1 log com1 rtcm59 ontime 1 log com1 rtcm1 ontime 1

RTCM Corrections

Radio Technical Commission for Maritime Services (RTCM) set up a team composed of representatives of US federal authorities, GPS manufacturers and users.
In early 1990, they adopted a first standard for the transmission format and contents for DGPS applications Special Committee 104 (SC104)

Types of RTCM Log Commands

(Access to carrier phase)

Hardware Implementation
Configure Mobile Station Accept differential corrections from reference station
accept com2 rt20

Log GPS data

log com1 p20a ontime 1 log com1 dopa ontime 1

Hardware Implementation
Saving GPS Data Using Windows HyperTerminal, save all data to a Notepad file.

Process data in Matlab.

Software Implementation
Approach

Use Matlab to read a log file and process data Plot data points in a scatter plot Calculate CEP Plot drifting of position accuracy Plot position accuracy vs. number of satellites available

Software Flow Chart

Open and read log file

Convert latitude and longitude to local coordinates (meters)

Calculate CEP

Plot graphs

Calculate and display mean values

Software Implementation
Opening and reading log file

R = input('What type of log file is it? 1=POSA 2=P20A 3=P20A and DOPA ') file = INPUTDLG('Enter the File name','Enter GPS log file to open') [time lat long height] = textread(file, ' %*s %f %*[^\n]', 'delimiter',',')

Software Implementation
Coordinate conversion Local (North, East, Down) Uses a reference point to find the change in direction Converts to meters

Software Implementation
Coordinate conversion

lat_ref=mean(lat) long_ref=mean(long) height_ref=mean(height)

a = earth_shape; north = (a(2) * (lat - lat_ref))*pi/180; d = a(2) * sin(lat); c = a(1) * cos(lat); lat_angle = atan2(d,c); east = -(a(1) * cos(lat_angle).*(long

long_ref))*pi/180;
down = -(height-height_ref);

Software Implementation
Calculating CEP Find the radius of a circle where half of the points lie Finds distances for all the points Compares to a incrementing radius

Radius increments in millimeters starting at 1 mm

Software Implementation
Calculating CEP
CEP 0.08 0.06 0.04 0.02 0 -0.02 -0.04 -0.06 -0.08 -0.12 START END

-0.1

-0.08 -0.06 -0.04 -0.02

0.02

0.04

0.06

0.08

Software Implementation
Plotting graphs Scatter plot
plot(east,north,'x'),title('CEP') axis equal

Subplots

subplot(311),plot(east),title('East Coordinates'), subplot(312),plot(north),title('North Coordinates'), subplot(313),plot(height),title('Height')

Software Implementation
Displaying mean values 40.69896654 -89.61670040 to 40 41 56.28N 89 37 0.11 W

if(lat_ref>0) dirLat='N';else dirLat='S';end lat_ref=abs(lat_ref); deg=floor(lat_ref); min=(lat_ref-deg)*60; sec=(min -floor(min))*60; Lat=sprintf(' %d %d %f %c',deg,floor(min),sec,dirLat);

Matlab screen output

Problems Encountered

CAT NovAtel receiver missing software Radio transmitter link doesnt work or transmit data when connected to GPS receiver Cant find geographic benchmark data

Problems Encountered

Transmitter doesnt transmit data when connected to GPS receiver Solution

Null-modem/ Straight cable hardware conflict Bought Null Modem adapter from Radio Shack

Initial Data Gathering

Procedure

Set up base station Set up remote station far away Start sending corrections Use laptop to capture remote station data Process in Matlab
CEP = 112 m

Initial Data Gathering

Stand alone mode:

CEP = 112 m

Initial Data Gathering

Differential GPS mode:

CEP = 94 m

Initial Data Gathering

Ashtech:

CEP = 2.6 m

Code Problem

We were converting Latitude and Longitude to meters without first converting to radians All our conversions were off by a factor of about 57 1 radian = 57.3 degrees

Data Gathering
Corrected Matlab Code:

CEP = 2.07 m

Data Gathering
Differential:

CEP = 10.7 cm

Data Gathering
Differential Steady State:

CEP = 4.7 cm

Statistical Analysis

Scatter Plots - CEP Satellite Switching Steady State response DOP Warm and Cold Start DGPS GPS comparison

Statistical Analysis
DGPS system operating CEP Satellite effects Time to steady state

Statistical Analysis

CEP= 12.7cm

16 min

Steady State Response

CEP= 4.7cm

Statistical Analysis
DGPS system operating Fix base station position with less accuracy

What are the effects?

Statistical Analysis

CEP = 40cm

30 min

Statistical Analysis

Good DOP values are between 1 and 3. Higher values mean poor position accuracy due to spacing of satellites.

Statistical Analysis
DOP:

Statistical Analysis
DGPS system operating What are the effects of taking GPS data at warm and cold starts?

Cold start: Initial startup Warm start: Been running for a while

Statistical Analysis (cold)

CEP= 1.83m

Statistical Analysis (warm)

CEP= 1.05m

GPS/DGPS Comparisons

Take DGPS data Turn off corrections after 50min What are the effects?

GPS/DGPS Comparisons

50min

GPS/DGPS Comparisons

GPS/DGPS Comparisons

Conclusions

Solved accuracy problem, able to achieve greater position accuracy using the DGPS method NovAtel RT20 receivers performed better than the Ashtech G8 in stand alone mode NovAtel receivers are easier to integrate a DGPS system

Conclusions

The number of satellites the receiver uses in the position calculation effects the position accuracy and the DOP Once the receiver reaches steady state, position accuracy is less effected by errors or satellite switching

GPS/DGPS Comparisons
GPS CEP Avg. DOP Avg. Satellites used in position Sensitivity to satellite switching 1-3 m 1.71 9 High DGPS 4 - 40 cm 2.41 7 Low

Recommendations

Purchase another NovAtel antenna instead of the Magnavox currently used (retail $595) Easy access to a permanent reference station on campus
Power considerations Always transmitting

Recommendations

Investigate effects of transmitting corrections at different time intervals Investigate new correction standard, RTCA
NovAtel has preliminary support Better error detection

Special Thanks

Dr. In Soo Ahn Bill Allen of Caterpillar Dr. James Sennott of TISI

Questions