GPS Basic Course

GPS Basic Course

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GPS Basic Course

Section 2

Definition The Real Earth (The Geoid) The Ellipsoid World Geodetic System (WGS84) Height System

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GPS Basic Course

Definition Geodesy :- Geo - Earth desy - The study of the earth Geodesy is the science of the measurement and mapping of the earths surface
(F.R Helmert (1880

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(The Real Earth (The Geoid

Equipotential surface that best equates to mean sea level Physical Definition that is a complicated surface Described by an infinite number of parameters Can be sensed by instruments
Topography

N. America

Europe

S. America

Africa

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The Ellipsoid
An ellipse is a mathematical figure which is defined by a
Semi-Major Axis (a) Semi-Minor Axis (b)

It is a simple geometrical surface Cannot be sensed by instruments

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The Ellipsoid and Geoid

N
Topography

N. America

Europe

O1

S. America

Africa

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GPS Basic Course

The Ellipsoid and Geoid

Which ellipsoid to choose ?
N N
Topography

N. America

Europe

O1 O2
S. America Africa

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The Ellipsoid and Geoid

The World Geodetic System
WGS 1984 N
Topography

The best mean fit to the Earth

N. America Europe

S. America

Africa

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GPS Basic Course

(World Geodetic System (WGS84

Origin coincides with Earths center of mass X and Y axis are perpendicular to each other in the equatorial plane Z axis is at right angles to the X,Y plane and coincides with the Earths rotational axis

P h

X
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GPS Basic Course

(World Geodetic System (WGS84

The prime orientation (X) is Greenwich Meridian Positions and Coordinate differences are obtained in the WGS 84 Coordinate System
Latitude, Longitude Ellipsoid height Geocentric X,Y,Z coordinates

P h

X
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Heighting
Heights determined using GPS are referenced to the WGS 84 Ellipsoid
Ellipsoid Heights are heights above the ellipsoid
P
Topography

Ellipsoidal heighth =

Ellipsoid

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GPS Basic Course

Heighting
The Geoid is that equipotential surface (equal gravity) that best equates to Mean Sea Level The geoid undulates due to the effects of
Topology, geology etc.
P

Topography

Orthometric heights are referenced to a Datum which is typically M.S.L M.S.L approximates the Geoid
H = Height above Geoid (Orthometric Height)~

h H
Geoid

Ellipsoid

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GPS Basic Course

Heighting
The height difference between ellipsoid and geoid is called the geoidal undulation To obtain orthometric heights, the geoidal undulation must be accounted for

Topography

h H N
Geoid

N = Geoidal Separation

Ellipsoid

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Heighting
The geoidal undulation may be positive or negative.
Ellipsoidal heighth =

P
H = Height above Geoid (Orthometric Height)~ N = Geoidal Separation

Topography

h H N
Geoid

h=H+N h=H+N
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Ellipsoid

GPS Basic Course

Projections The Basics

A projection is a flat representation of a 3-D surface. The secret of a good projection is to minimize the distortion. A distance or angle measured on the projection should be very close to the same distance or angle measured in the real world. Users should specify their projection.
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Projections - Types

Mercator Cylindrical Great for east-to-west areas around the equator.

Transverse Mercator Cylindrical Great for northto-south areas. The projection for UTM

Lambert 1 Conical Great for eastto-west areas along a common latitude

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Lambert 2 Conical Great for eastto-west areas Covers a wider north-to-south range with less distortion

GPS Basic Course

Projections - Distortion

A good projection minimizes the distortion of distances and angles when measured in the real world and on your chart.
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Secondly: GPS Basic Theory

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Index - Section 1
Traditionally Why GPS ? GPS General Characteristics GPS System Components Outline Principle : Range Outline Principle : Position GPS Signal Structure Range Determination form Code Observations Initial Phase Ambiguity Resolving the Ambiguity Range Determination form Phase Observations Selective Availability Error Sources Dilution of Precision Errors Reduction Differencing Techniques Linear Combinations

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Traditionally
GPS has many advantages over Traditional Terrestrial Surveying Techniques These traditional techniques rely on the visibility between the survey instrument and a target
If an obstructions exists, it must be traversed around

Typically distance measurement is limited to 5 Km Weather can limit operations, e.g. fog, rain etc

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?Why GPS
Weather Independent Does not require line of sights Gives high Geodetic Accuracy Can be operated day and night Quicker and requires less Manpower Economical advantages Common Coordinate System Wide Range of Applications Competitively Priced

Line of sight is not necessary

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GPS General Characteristics

Developed by the US Department of Defense Provides
Accurate Navigation 5 - 15 m Worldwide Coverage 24 hour access Common Coordinate System

Designed to replace existing navigation systems Accessible by Civil and Military

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GPS System Components

Space Segment Space Segment

NAVSTAR : :NAVigation NAVSTAR NAVigation Satellite Time and Ranging Satellite Time and Ranging Satellites 24 Satellites 24 Km 20200 Km 20200

User Segment User Segment

Control Segment Control Segment

Receive Satellite Signal Receive Satellite Signal

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Master Station 11 Master Station Monitoring Stations 55 Monitoring Stations

GPS Basic Course

Control Segment
Master Control Station
Responsible for collecting tracking data from the monitoring stations and calculating satellite orbits and clock parameters

5 Monitoring Stations
Responsible for measuring pseudorange data. This orbital tracking network is used to determine the broadcast ephemeris and satellite clock modeling Ground Control Stations Responsible for upload of information to the satellites

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Space Segment
24 Satellites 4 satellites in 6 Orbital Planes inclined at 55 Degrees 20200 Km above the Earth 12 Hourly orbits
In view for 4-5 hours

Designed to last 7.5 years Different Classifications

Block 1, 2, 2A, 2R & 2 F

55

Equator

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User Segment
The most visible segment GPS receivers are found in many locations and applications

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Knowing Where the Satellites Are - Ephemeris Space Segment

Current ephemeris is transmitted to users Monitor stations

Diego Garcia Ascension Island Kwajalein Hawaii

GPS Control
Colorado Springs

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Trilateration From Satellites

By measuring distance from several satellites you can calculate your position Satellite Ranging Measuring the distance from a satellite Done by measuring travel time of radio signals Done by measuring the phase of radio signals
Measure how long it takes the GPS signal to get to us

Multiply that time by 300,000 km/sec Time (sec) x 300,000 = km Multiply that phase by the carrier wavelngth.

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GPS Basic Course

Outline Principle : Range

lX l

Xll

ll

lll

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Vl

Vl l Vl ll

Xl

lV V

GPS Basic Course

Outline Principle : Range

lX l

Xll

ll

lll

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Vl

Vl l Vl ll

Xl

lV V

GPS Basic Course

Outline Principle : Range

lX l

Xll

ll

lll

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Vl

Vl l Vl ll

Xl

lV V

GPS Basic Course

Outline Principle : Range

lX l

Xll

ll

lll

Range = Time Taken x Speed of Light

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Vl

Vl l Vl ll

Xl

lV V

GPS Basic Course

Outline Principle : Position

R1

We are somewhere on a sphere of radius, R1

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Outline Principle : Position

R1 R2

Spheres intersect as a circle 2

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Outline Principle : Position

R3 R1 R2

Spheres intersect at a point 3 Ranges to resolve for Latitude, Longitude and Height 3
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GPS Basic Course

Outline Principle : Position

The satellites are like Orbiting Control Stations Stations Ranges (distances) are measured to each satellite using time dependent codes Typically GPS receivers use inexpensive clocks. They are much less accurate than the clocks on board the satellites A radio wave travels at the speed of light
(Distance = Velocity x Time) Consider an error in the receiver clock 1/10 second error = 30,000 Km error second error = 300 m error 1/1,000,000

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Outline Principle : Position

Ranges to resolve for Latitude, Longitude, Height & Time 4 It is similar in principle to a resection problem
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GPS Basic Course

GPS Signal Structure

Each GPS satellite transmits a number of signals The signal comprises two carrier waves (L1 and L2) and two codes (C/A on L1 and P or Y on both L1 and L2) as well as a satellite orbit message
Fundamental Fundamental Frequency Frequency 10.23 MHz 10.23 MHz 10 L1 C/A Code L1 C/A Code 1575.42 MHz 1.023 MHz 1575.42 MHz 1.023 MHz L2 L2 1227.60 MHz 1227.60 MHz P (Y)-Code P (Y)-Code 10.23 MHz 10.23 MHz P (Y)-Code P (Y)-Code 10.23 MHz 10.23 MHz

x 154 x 120

BPS 50 BPS 50

(Satellite Message (Almanac & Ephemeris (Satellite Message (Almanac & Ephemeris
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Range Determination from Code Observations

Pseudoranges (Code)
Each satellite sends a unique signal which repeats itself approx. 1 msec Receiver compares self generated signal with received signal From the time difference (dT) a range observation can be determined Receiver clock needs to be synchronized with the satellite clock
Received Code from Satellite

Generated Code from Receiver T

(D = V (T

i (t ( = R(t ( + c(dt dT ( + i N i Ii (t ( + T +
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Range Determination from Phase Observations

Phase Observations
Wavelength of the signal is 19 cm on L1 and 24 cm on L2 Receiver compares self-generated phase with received phase Number of wavelengths is not known at the time the receiver is switched on (carrier phase ambiguity) As long as you track the satellite, the change in distance can be observed (the carrier phase ambiguity remains constant) Received Satellite Phase

Generated Phase from Receiver T

D=c T + N

i i (t ( = R(t ( + c(dt dT ( + i N i Ii (t ( + T +
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GPS Basic Course

Autonomous Navigation

Accuracy 5 - 20 m

A receiver in autonomous mode provides navigation and positioning accuracy of about 5 to 20m
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GPS Basic Course

Autonomous Navigation

Accuracy 5 - 20m

A receiver in autonomous mode provides navigation and positioning accuracy of about 5 to 20m
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Point Positioning

Ranges to resolve for Latitude, Longitude, Height & Time 4 It is similar in principle to a resection problem
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(Selective Availability (SA

In theory a point position can be accurate to 5 - 20m based on the C/A Code

100m 30m

P = True Position

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(Selective Availability (SA

In theory a point position can be accurate to 5 - 20m based on the C/A Code The USDoD degrades the accuracy of the broadcast information
Dither the Satellite Clocks Satellite Orbital Information

100m 30m

This is known as Selective Availability Positional accuracy 100m (95%)

(100m (95%+/-

Nowadays, for competition & political reasons SA is off

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P = True Position

GPS Basic Course

Autonomous Navigation Under S.A.

Accuracy 10- 100 m

A receiver in autonomous mode provides navigation and positioning accuracy of about 10 to 100 m due to the effects of Selective Availability
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Error Sources

Satellite errors
Orbit uncertainty Satellite Clock Model

Observation errors
Ionospheric Delay Tropspheric Delay

Receiver errors
Receiver Clock Receiver noise

Station errors
Station Coordinates Multipath

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Metres
200 400 300 100 0 Satellite Clock Recvr Noise Multipath Tropospheric Ephemeris Ionospheric Recvr Clock

GPS Basic Course

User Equivalent Range Errors

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How Does One Can Reduce The Errors of GPS?

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Firstly: Differencing Techniques

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Single-Difference Observation Remove the effect of the satellite clock offset. Reduce the effect of the satellite orbital error depending on the distance between stations. The atmospheric delay is significantly reduced especially with short baselines and can be neglected. j j j j j AB AB B A AB AB AB

(roh(

= R (t ( + c(dt dt ( + I (t ( + T +

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Double-Difference Observation

Remove the effect of the receiver & satellite clock offset. Remove the correlated part of satellite orbital error. Remove the correlated part of the atmospheric delay.
jk jk jk jk jk AB (t ( = R AB (t ( + N AB I AB (t ( + T AB + jk
AB

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Trible - Difference Observation

jk jk jk AB ( t 12 ) R AB (t 12 ( I AjkB ( t12 ) + T AB ( t12 ) + jk ( t12 )

AB

Remove the effect of the clock offsets. Remove the ambiguity bias. Remove the correlated part of satellite orbital error. Remove the correlated part of the atmospheric delay.

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:Secondly Linear Combinations of GPS Observables

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Linear Combinations The actual GPS observables are the carrier phases and the code observations. Some other artificial observations can be created from the actual observation by linearly combining them. The main applied linear combinations formula is described by:

,b a

= + a 1 b 2

The corresponding frequency is:

f a ,b = f 1 + f 2 a b
The corresponding wavelength is:

a ,b

= a

1 b +

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Linear Combinations The frequency-dependent biases such as the ionospheric delay and the multipath will be affected by these combinations. The linear combinations have no effect on the frequencyindependent biases such as the tropospheric delay, the clock and the ephemeris errors. The linear combinations will alter the ionospheric delay by a ratio depending on the integers a, b. The ionospheric delay can be written as:

Io n

a ,b

a f 1 n 1 +b f 2 n Io Io = a f 1 +b f 2

The ratio between the ionospheric delay in the linear combination and in L1 observations will be:

in o

f 1 [b f 1 + f 2 ] a = f 2 [a f 1 + f 2 ] b
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Linear Combinations The most common linear combinations are summarised in the following table:

Signal L1 L2 Wide-lane Narrow-lane Ionosphere-free low iono. effect Very long wavelength

a 1 0 1 1 77 5 -7
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b 0 1 -1 1 -60 -4 9

a,b (m)
0.190 0.244 0.862 0.107 0.006 0.101 14.65

ion
1.00 1.65 -1.28 1.28 0.00 -0.07 350.35

GPS Basic Course

Ionosphere Orbit

Troposphere

Thirdly: Modeling GPS Biases

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Ionospere Delay:

Atmospheric Corrections
Ionosphere Troposphere

The ionosphere is extending from about 50 to 1000 kilometres. the sun's radiation ionises gas molecules which then lose an electron. These free electrons influence the propagation of microwave signals. The refractive index of Microwaves is a function of frequency f and the density of free electrons Ne The sign will depend on whether the range (+) or the phase () refractive index is required. the "phase velocity" is actually increased, or "advanced", and the ranging codes is decreased (the socalled "group velocity") .
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A.N e n =1 f2
&

c v = n

Ionoospheric Delay The factors influence the magnitude of the TEC including: the latitude of the receiver, the season, the time of day the level of solar activity .
MAGNITUDE: Extreme at zenith 30m. Extreme at horizon 3 times zenith value. Extreme in day 5-10 times night value. Use IONOSPHERE PREDICTION MODELS -broadcast model generally <50% accuracy, may be useful for point positioning users. Use DUAL-FREQUENCY receivers -- form "ionosphere-free" L1/L2 data combination
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Ionosphere Troposphere

d ion

TEC = 40 .28 * 2 f

Tropospheric Delay
Ionosphere The tropoosphere is extending from Troposphere the earth to 50 kilometres. It is a function of the satellite elevation angle and the altitude of the receiver, and is dependent on the atmospheric pressure, temperature, and water vapour pressure . The tropospheric refractivity can be partitioned into the two components, one for the dry part of the atmosphere and the other for the wet part About 90% of the magnitude of the d trop = d dry + d wet tropospheric delay arises from the tro dry component, and the remaining d tro = MFd d dtro (90 ( + MFw d w (90 ( 10% from the wet component. There are several mapping functions Page 2-3

Tropospheric Delay
The magnitude of the tropospheric delay is the same for both L1 and L2 observations, and for pseudo-range. The tropospheric delay can be predicted using values of temperature, pressure, and humidity. Such models can account for approximately 90% of the delay (corresponding mainly to the dry part), however the remaining 10% (largely due to the wet part) Neglecting to apply tropospheric refraction results in an absolute scale error. (1m leads to 0.4 ppm scale effect) Any uncertainty in modelling the differential tropospheric refraction bias results mostly in a degradation of the height component in the solution. Ionosphere Troposphere

d trop = d dry + d wet

Orbit & Sat. clock biases can be fixed by IGS

The total IGS tracking network by late 2000 (248 stations) http://igscb.jpl.nasa.gov/products/

Orbit & Sat. clock biases can be fixed by IGS

False position True position

Predicted Orbit 0.5 m (Real-Time) &

Satellite clock 150 nanosecond.

UltraRapid 0.25 m (Real-Time) &

Satellite clock 5 nanosecond

Rapid 0.05 m (17 hours later) &

Satellite clock 0.2 nanosecond

Final < 0.05 m (13 days) &

Satellite clock 0.1 nanosecond

http://igscb.jpl.nasa.gov/products/
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GPS Basic Course

(Dilution of Precision (DOP

A description of purely geometrical contribution to the uncertainty in a position fix It is an indicator as to the geometrical strength of the satellites being tracked at the time of measurement
GDOP (Geometrical) Includes Lat, Lon, Height & Time PDOP (Positional) Includes Lat, Lon & Height HDOP (Horizontal) Includes Lat & Lon VDOP (Vertical) Includes Height only
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Good GDOP

GPS Basic Course

(Dilution of Precision (DOP

A description of purely geometrical contribution to the uncertainty in a position fix It is an indicator as to the geometrical strength of the satellites being tracked at the time of measurement
GDOP (Geometrical) Includes Lat, Lon, Height & Time PDOP (Positional) Includes Lat, Lon & Height HDOP (Horizontal) Includes Lat & Lon VDOP (Vertical) Includes Height only
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Poor DOP

GPS Basic Course

Different GPS Operation Types and Applications

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GPS Basic Course

Initial Phase Ambiguity

Initial phase Ambiguity must be determined to use carrier phase data as distance measurements over time
(Time (0 (Time (i

Ambiguity

Ambiguity

Phase Measurement

Counted Cycles Phase Measurement

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Resolving the Ambiguity

The effect of resolving the ambiguity is shown below Note that once the ambiguities are resolved, the accuracy of the measurement does not significantly improve with time
(Accuracy (m

1.00

Ambiguities Not resolved

0.10 Ambiguities Resolved 0.01

(Time (mins Static Rapid Static

120 5 2 0 0

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GPS Basic Course

Using GPS for Surveying

All GPS Surveying is carried out using differential techniques. That is to say a baseline is measured from a fixed point, (a reference station) to a unknown point (a rover station). This is undertaken using one of two methods Post Processing The raw GPS data from the satellites is recorded and processed in the office using software Real Time The processing of the data is carried out as you work giving an instantaneous and accurate position
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(Static (STS
The classical method for long lines and the highest accuracy 5mm + 0.1ppm baseline r.m.s
Classical GPS baseline measurement, where each line is observed for at least one hour The observation time is proportional to the length of the line Standard method for lines over 20 Km

Applications
Geodetic control over large areas National and continental networks Monitoring tectonic movement Network adjustments for highest accuracy

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(Rapid Static (STS

Short observation time for baselines up to 20 km. Accuracy 5-10mm +0.1ppm

Applications Control Surveys, GIS city inventories, detail surveys. Replace traversing and local triangulation. Any job where many points have to be surveyed Advantages Easy, quick, efficient Ideal for short range survey
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(Kinematic (KIS
Stop Mode
The rover must first initialize

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GPS Basic Course

(Kinematic (KIS
Moving Mode
The rover must first initialize Once enough data is collected to resolve the ambiguities the user can now move the receiver Lock must be maintained on a minimum of 4 satellites at all times Rover records data at a specific time interval If lock is lost, the system must re-initialized

: : 28

: 20

0: 20

0 10 2 : 27:

: 10 8 1 18:

0: 10 1 : 18:

1 10 2 : 24:

26:

0 10 14: 2 : 23

: 16:

: 1 10 0 30:

10 2 1 22:

0 10 1 : 12: : 23

0 10 1 : 14:

1 : 16:

10 12:

: 0: 10

: 1 10

0: 10

: : 1 10

0: 10 3 23

: 0: 10

: 3 : 23

: 3 : 23

: : 23

: 3 : 23

: 23

2 23

3 23

2 23

3 23

2 23

2 23

23

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(Ambiguity Resolution On The Fly (KOF Moving Mode

This technique does not require a static initialization While moving, once the rover is continuously tracking a minimum of 5 satellites on the L1 & L2 for a period of time the ambiguities can be resolved

10 12: : 23

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(Ambiguity Resolution On The Fly (KOF Moving Mode

This technique does not require a static initialization; While moving, once the rover is continuously tracking a minimum of 5 satellites on the L1 & L2 for a period of time the ambiguities can be resolved.

0 10 1 : 14: : 3 : 23

1 : 16:

0 10 1 : 12: : 3 : 23

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: 0: 10 3 23

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(Ambiguity Resolution On The Fly (KOF

Moving Mode
If traveling under an obstruction and loss of lock occurs,

0: 10 1 : 18:

0 10 1 : 14: : 3 : 23

1 : 16:

0 10 1 : 12: : 3 : 23

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: 0: 10 3 23

23

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(Ambiguity Resolution On The Fly (KOF

Moving Mode
If traveling under an obstruction and loss of lock occurs, Ambiguity resolution will re-occur once 5 satellites on L1 & L2 are acquired and tracking is consistent for a short period of time

0: 10 1 : 18:

10 24:

10 22:

0 10 1 : 14: : 3 : 23

1 : 16:

0 10 1 : 12: : 3 : 23

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: 0: 10 3 23

: 23

: 23

23

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(Ambiguity Resolution On The Fly (KOF

Moving Mode
If traveling under an obstruction and loss of lock occurs, Ambiguity resolution will re-occur once 5 satellites on L1 & L2 are acquired and tracking is consistent for a short period of time This technique allows positions to be determined up to the point that the min. satellites were re-acquired

0: 20

10 27:

0: 10 1 : 18:

10 24:

26:

10 22:

0 10 1 : 14: : 3 : 23

1 : 16:

0 10 1 : 12: : 3 : 23

0: 10

: 10

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: 0: 10 3 23

: 23

: 23

: 23

3 23

23

23

GPS Basic Course

(Ambiguity Resolution On The Fly (KOF

Moving Mode
If traveling under an obstruction and loss of lock occurs, Ambiguity resolution will re-occur once 5 satellites on L1 & L2 are acquired and tracking is consistent for a short period of time This technique allows positions to be determined up to the point that the min. satellites were re-acquired

: : 28

0 10 2 : 27:

0: 10 1 : 18:

1 10 2 : 24:

26:

: 1 10 0 30:

10 2 1 22:

0 10 1 : 14: : 3 : 23

1 : 16:

0 10 1 : 12: : 3 : 23

: 0: 10

: : 1 10

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: 0: 10 3 23

: 3 : 23

: 3 : 23

: : 23

3 23

2 23

2 23

23

GPS Basic Course

Real-Time Differential GPS Concept

GPS Basic Course

Concept of Real Time

Real Time Code, Real Time Phase
No post processing required Results are instantly available Can operate in two modes RTK RT-DGPS

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REAL-TIME Code DGPS REAL-TIME Code DGPS

Rover Reference
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GPS Basic Course

Differential Positioning
It is possible to determine the position of Rover B in relation to Reference A provided
The coordinates of the Reference Station (A) are known Satellites are tracked simultaneously

Differential Positioning
eliminates errors in the sat. and receiver clocks minimizes atmospheric delays Accuracy 0.5 cm - 5 m A
Baseline Vector

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DGPS in Photogrammetry

Differential Positioning
If using the Code only part of the signal, accuracys in the range of 0.5 - 5 m can be achieved This is typically referred to as DGPS
r to ec eV in el as B

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REAL-TIME KINEMATIC RTK SURVEYING Disadvantages:

- Needs a radio modem (data link(; - Radio contact can be interrupted by obstructions such as hills, valleys buildings etc.

Advantages:
Coordinates in real time in the field (WGS84 or local coordinates(; Quality control - you know in the field that the ambiguities are resolved and that the results are correct; No post processing; One person system; Several rovers can use one reference station; All high precision applications (Land, Marine& Aviation(.
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GPS Basic Course

Differential Positioning
If using Phase or Code & Phase accuracy is in the order of 5 - 10 mm + 1ppm

Baseline Vector

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GPS Basic Course

Differential Positioning
If using the Code and Phase part of the signal, accuracys in the order of 5 - 10 mm + 1ppm can be achieved

r to ec eV in el as B

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GPS Basic Course

Summary of GPS Positioning

Point Positioning Methods using stand alone receivers provide 10 - 100 m accuracy
Dependent on SA 1 Epoch solution

Differential Positioning Methods using 2 receivers, simultaneously tracking a minimum of 4 satellites (preferably 5) will yield 0.5 cm to 5 m accuracy with respect to a Reference Station Remember
Differential Techniques using Code will give meter accuracy Differential Techniques using Phase will give centimeter accuracy
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Real Time GPS Real Time Phase (RTK)

Initialization The Action takes Rapid Static place at the Rover SR9400, SR399, SR9500 Unit. The System can be initialized. This normally Known takes about 1 min. SR9400,Point SR9500 SR399, Initializing on a known point takes 15 sec. Then the moving On the fly SR399, SR9500 part can begin. This is where points and assoc. information can be recorded

Moving Part
Move continuously to determine trajectories, recording automatically at predetermined intervals.

Move quickly from point to point

Positions to centimeter level accuracy

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Real Time GPS Quality Assurance

Blunder Detection
Base Station Coordinates Heights of Instrumentation Transformation (if used) Vector determination

Vector Confirmation

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Real Time GPS Dilution of Precision (DOP)

Operating in RTK mode
Recommended to use a minimum of 5 Satellites and a GDOP of 8 or less. (Once integers are fixed)

Operating in Code only mode

Recommended to use a minimum of 5 satellites with a GDOP of 6 or less.

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Real Time GPS Understanding the CQ

The coordinate Quality Indicator (CQ) is a 3-Dimensional estimator of the accuracy of a point derived in Real Time. GPS results normally yield Horizontal accuracy's 2-3 times better than the Vertical
Coordinate Quality indicator. 0.03 m Vertical accuracy. 0.03 m Horizontal accuracy 0.01 m

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Real Time GPS Recording Quality Control Data

Mode of Operation
Navigation (0), Differential Code (1), Differential Float (3), Differential Phase (4)

GDOP, PDOP, HDOP, VDOP Antenna Height Number of satellites used in solution Number of epochs on a point Length of interval between epochs Receiver Serial Type and Serial Number

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Real Time GPS Features..Stakeout

Orientation.
To North, to a point, last point, to a line
Target Position

Stakeout a point by Azimuth and Distance

Offset Present Position Distance Target Position

Stakeout a point in orthogonal mode (Distance and Offset)

Azim uth

ce tan Dis

Present Position

Page 2-3

Real Time GPS Surveying

Features..Stakeout
Stakeout Lines
Auto Increment and Offset
Defined Line

Line to be Staked

et ffs O

Stakeout Hidden Points

East/North/Height
St at io n

Minimum Key Strokes

Start Point

Page 2-3

In cr em en t

Real Time GPS Features..Applications

COGO (Coordinate Geometry)
Inverse, Traverse, Intersections Arcs, Station Offset
Well Head

Crossline Distance

Source Line

Inline Distance

Page 2-3

Real Time GPS Features..Auto Record

Continuous Recording
By Distance By Time Targeting available during continuous tracking

: 23

: 23

: 23 :14 10

: 23

: 23 :12 10

: 23

: 10

10 :18

:16 10

:22 10

20

Page 2-3

Real Time GPS Features..Coordinate Conversion

Getting into Local Coordinate Systems
Choose from one of two methods Classical Compute it in the field Download it from the appropriate software. X Z

Page 2-3

Real Time GPS Limitations

GPS is not always the correct tool
Obstructions Multipath Loss of lock

Page 2-3

GPS Applications (Photogrammetry)

Use of GPS in Airborne Surveying

Ground Control Determination Flight Management and Camera Control Determination of Perspective Centers Orientation of non-imaging sensors

Page 3-22

GPS Applications (Photogrammetry)

Ground Control Determination

Ground Control
Survey techniques identical to cadastral or other applications High Accuracy Faster than conventional techniques No direct line of sight necessary 3-D Ground Control Points Ground units may be used as reference receivers for airborne operations

Page 3-23

GPS Applications (Photogrammetry)

Flight Navigation and Camera Control

Flight Navigation
Guidance from airport to project area Optimum flight path between flight lines

Camera Control
Shutter release at predefined positions Annotation of position on the image Side lap control

Page 3-24

GPS Applications (Photogrammetry)

Positions at Camera Events

GPS measurements are taken at regular intervals or epochs
for kinematic applications, usually 1 sec
Camera

Event

The camera is triggered as required

Camera firing is not coincidental with GPS epoch Controlled by operator or flight management system
GPS Position

Camera positions are interpolated from GPS results

Correct time of camera event is critical Must be accurate relative to GPS measurement time Use the same time source for both GPS and trapping the camera event. This is an important role of the event catcher
Page 3-25

GPS Applications (Photogrammetry)

Aircraft System Components

Pilot Display ACU30 28v DC Operator Terminal Antenna

NSF3

RC30

Page 3-26

GPS Applications (Photogrammetry)

Data Processing Flow

Airborne Data
Transfer Reference Data and Airborne Data to PC

Reference Data
Compute camera positions from GPS epochs and actual times of camera events

Process GPS data to generate epoch positions

Camera Event Positions

Epoch Positions Local Coordinates

Page 3-27

Transform to Local Coordinate System

Aero Triangulation