Nick Talbot Research Fellow, Trimble Navigation Australia 2013 Surveying Expo The Institution of Surveyors, Victoria Improved High Precision GNSS Positioning with New Satellites and Signals Nick Talbot Research Fellow, Trimble Navigation Australia

Overview Introduction GNSS Constellation Status BeiDou System CMRx Format RTK Test Campaign Test Results Summary

Introduction Currently 75 GNSS satellites in space Expect to have 90 GNSS satellites in space by 2015; 120 satellites by 2020 45+ GNSS satellites in view over Asia / Pacific simultaneously by 2020 All GNSS satellites are capable of supporting metre-level and high-precision positioning at centimetre-level Following presentation describes some of the challenges presented by new satellites and signals Test results provided to illustrate the benefit of new satellites and signals with latest RTK hardware / firmware

GNSS Constellation Status System Origin Current Future GPS USA 31 satellites; 20 IIA + IIR satellites with L1C/A, L2 PY 7 IIR-M satellites with L1C/A, L2C 4 IIF satellites with L1C/A, L2C, L5 3-Freq. fully available ~ 2018 GPS III ~ 2022 GLONASS Russia 24 satellites; FDMA L1, L2 CDMA signals added in new K-series sats (L1, L2, L5); Planned compatibility with GPS, Galileo QZSS Japan 1 satellite; Modernized GPS L1, L2, L5 + LEX signal Planned launch of 3 additional satellites by 2017 (1 GEO) Galileo EU 4 operational satellites with E1, E5A, E5B, E6 (E1 compatible with GPS L1C) Full constellation (30 sats) ~ 2020 BeiDou China 14 satellites; 5 GEO; 6 MEO; 3 Inclined GEO with B1, B2, B3 Full constellation (35 sats – 5 GEO; 30 MEO) ~ 2020

GNSS Spectrum L5 L2 LEX L1 G2 G3 G1 E1 E5 E6 B1 B3 B2 RTX / OmniSTAR 1164 1189 1214 1217 1237 1257 1260 1300 1525 1551 1559 1565 1571 1579 1585 1590 1599 1614 Frequency [MHz] GNSS antennas and receiver RF components expanded to capture usable signals from E5 to G1 spectrum Good compatibility between GPS, QZSS and SBAS signal structure Long term compatibility on L1C and E1 signals with frequency and coding Galileo-E6; BeiDou-B3; and QZSS-LEX bands are to be regulated (limited access), even though B3 can be tracked and used today for RTK GPS (US) Galileo (Europe) GLONASS (Russia) InmarSAT QZSS (Japan) IRNSS (India) BeiDou (China) SBAS (US)

BeiDou System Three satellite systems BeiDou-1 (active ranging system) no Trimble support BeiDou-2 (current system) used to be called Compass – subject of this talk BeiDou-3 (proposal to move B1 to L1) first MEO satellites may launch in 2014 Current constellation 5 GEOs / 5 Inclined GEOs / 4 MEOs / More MEOs in 2014 GEOs are harder to acquire & track due to high data rate (2ms versus 20ms pre detection interval) Multipath errors are constant for static users of GEOs

BeiDou System Signals B1, B2 – supported by Maxwell VI ASIC What’s public B1 Open Service is “fully” public B2 is an Open Service – not in the current ICD B2 is the same signal as B1 so it is supported B3 is officially a restricted signal – even though current codes appear to follow a defined polynomial

BeiDou Broadcast Orbit Daily Performance – Based on RTX tracking network BeiDou dual-frequency code residuals, 7 May, 2013 RMS [m] RTX Station

CMRx Data Format Additional satellite observations naturally increases the size of the GNSS correction stream GNSS corrections need to be transmitted to rover from a reference station or VRS network Many radio solutions have limited bandwidth CMRx format provides a high level of data compression, with strong resistance to transmission errors

CMRx Data Format vs RTCM 3.x RTCM 3.1 GPS (L1, L2) + GLONASS (L1, L2) 9600 baud with 1 repeater (426 bytes/s)

CMRx Data Format vs RTCM 3.x CMRx GPS (L1, L2, L5) + GLONASS (L1, L2) + BeiDou (B1, B2) 9600 baud with 1 repeater (426 bytes/s) 12 / 12 GLONASS + BeiDou 8 / 8 4 / 4

RTK Test Campaign A test campaign was run in several regions around the world where GPS, GLONASS, BeiDou, QZSS and Galileo satellites are currently visible, including China, Australia and New Zealand Data collected on baselines from 2km – 22km in a variety of environments: Most in high multipath, trees, significantly masked environments Some in relatively benign environments 15 different baselines Most data collected in China 22km line from Perth Australia 6km line from Christchurch New Zealand

RTK Test Campaign Tests conducted with Trimble R10; NetR9 receiver + Zephyr Geodetic 2 antenna, hardware Real-time system testing performed in the field PC version of RTK processor used to process logged GNSS data and analyze performance with various satellite systems enabled / disabled Truth computed using post-processed RTX

Collective Results – Vertical 95% Christchurch, New Zealand

Collective Results – Horizontal 95%

RTK Example – Moderate Environment (Xi’an) Data collected using R10 GNSS receiver in China Supports GPS/GLONASS/Galileo/QZSS/BeiDou Processed using a PC build of the real-time RTK engine Operates in the same mode as real-time, no backward processing Radio latency modeled Operating mode set to kinematic Data reprocessed with/without BeiDou Environment was moderately difficult Baseline length approximately 5km Data collected in Xi’an

Moderate Environment (Xi’an) – Base Station (not a recommended setup) R10 GNSS Base Receiver

Moderate Environment (Xi’an) – Rover R10 GNSS Rover Receiver

Moderate Environment (Xi’an) – Satellite Tracking

Moderate Environment (Xi’an) – PDOP

Moderate Environment (Xi’an) – Height Error

Moderate Environment (Xi’an) – Horizontal Position Error

Galileo RTK Galileo satellites are currently unhealthy Trimble firmware is Galileo capable/ready. Modify firmware to force the satellites to report they are healthy and hence are used in the RTK solution Evaluate the RTK performance 2-hour period with 3 Galileo satellites. 2 identical rovers on an 8.9km line – real time test Common antenna Located in Melbourne Australia RX1 = GPS+GLN+QZSS+BDS+Galileo RX2 = GPS+GLN+QZSS+BDS

Number of satellites in RTK

Height Error

Summary Current BeiDou constellation nearly doubles the number of visible satellites over Asia Additional satellites improve accuracy of position estimates Tests show addition of BeiDou improved 95% position errors by: 5-75% horizontal 8-68% vertical Additional satellites help to reduce the overall impact of measurement noise and multipath errors

Summary Similar incremental improvements in position accuracy noted with Galileo satellites in RTK solution Additional satellites lead to increases in RTK correction bandwidth CMRx format designed for increased satellite counts CMRx roughly 55% smaller than RTCM v3.x Expect to see significant improvements in position availability and accuracy when BeiDou, QZSS, Galileo constellations fully populated

Questions? Acknowledgements: Stuart Riley and Sunnyvale Team Eric Leroy (QA) App Firmware Team HCC/Survey/Infra/InTech H/W Team Timo Allison, Markus Glocker (Terrasat) TNZ & Westminster field testing Xi’an China team Dave Vanden Berg & InTech Beijing