Japan Aerospace Exploration Agency K.Kawate, M. Miyoshi, S. Nakamura and S. Kogure H.Soga and A.Yasuda and University of Marine Science and Technology The development result of the ground infrastructure for Real time PPP experiment by using QZSS for Real time PPP experiment by using QZSS

PPP WORKSHOP 2013 Outline Real-time PPP Service via QZSS Development Status of the Ground Infrastructure for Real-Time PPP Service - MGM-net (monitoring network) - MADOCA (Multi-GNSS offline & real-time estimator) Evaluate Result - Estimate accuracy of orbit and clock by MADOCA - PPP accuracy with MADOCA products + Announcement

PPP WORKSHOP 2013 Introduction Background - Progression of “Multi-GNSS” by increase of positioning satellites Prediction of visible satellites in Expansion of GNSS utilization field Not only Positioning, Navigation and Timing, But also Applied researches Real-time PPP service with cm-level accuracy is required! Today’s Topic “Development of Real-time PPP service using Multi-GNSS via QZSS by JAXA” - Multi-GNSS monitoring network “MGM-net” - Precise Multi-GNSS orbit and clock estimator “MADOCA” - MADOCA-LEX signal # of sats

PPP WORKSHOP 2013 Real-time PPP Service via QZSS

QZSS (Quasi-Zenith Satellite System) PPP WORKSHOP 2013 What’s QZSS - Sep. 11, 2010 Launch by H-IIA 18 th - June. 22, 2011 Start of public service (L1C/A, L2C) First Quasi-Zenith Satellite “Michibiki” Role of “Michibiki” 1)”GPS Availability Enhancement” (L1C/A, L2C, L1C, L5 signal) 2) “GPS Performance Enhancement“(L1-SAIF, LEX signal) Form6.2m×3.1m×2.9m (Launch) Panel width: 25.3m WightApp. 4000kg (Launch) PowerApp. 5 kW Orbit Altitude (initial orbit) Apogee: App km Perigee: App km Design Lifeover 10 years Service via QZSS ( 1 / 2 ) - Regional Positioning system which can stay near zenith over Japan for many hours - Service area : all over Asia and Oceania region

PPP WORKSHOP 2013 Service via QZSS Weather Forecast LEO satellite Car/Human Navigation Effective field of real-time PPP service via QZSS Crustal deformation monitoring Tsunami detection Precise Agriculture Service via QZSS ( 2 / 2 ) - Broadcast of orbit and clock correction message using LEX signal LEX signal - Center frequency ： MHz - Transfer rate ： 2 kbps - Massage : Some messages broadcasted by time sharing (JAXA 、 SPAC 、 NICT 、 GSI)

PPP WORKSHOP 2013 Development status of the Ground Infrastructure for Real-Time PPP Service

MGM-net etc. MADOCA Target accuracy < 10cm (H/V RMS) PPP users Development of ground infrastructure for providing real-time PPP service - Target PPP Accuracy in this system is less than 10 cm(H/V RMS) 8 8 GLONASS Galileo QZSS ・・・ LEX message LEX message PPP users LEX signal Tracking&Control Station RTCM SSR orbit & clock estimator LEX message generator RTCM, Raw, BINEX… NTRIP Caster (provided by BKG) Data interface LEX message Master navigation signal PPP WORKSHOP 2013 GPS MADOCA Development status of the ground infrastructure ( 1 / 7 ) System of Real-time PPP Service

★ JAXA’s (9) ● MGM-net(Hosting) on running (11) ● MGM-net(Hosting) under construction (13) ■ MGM-net(Sharing) (7) ▲ MGM-net(Sharing based on agreement) (40) MGM-net (Multi-GNSS Monitoring network) Aim of MGM-Net - Improvement of Multi-GNSS orbit and clock estimate accuracy - Promotion of Multi-GNSS experiment including QZSS ■ Please visit “MGA” website for detailed → → Call for Application of JAXA’s Rx hosting sites from 2011 Call for Application continuously until arranged 60 sites!! PPP WORKSHOP 2013 Development status of the ground infrastructure ( 2 / 7 )

International Cooperation - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result → Plan to participate into IGS M-GEX project ★ JAXA’s (9) ● MGM-net(Hosting) on running (11) ● MGM-net(Hosting) under construction(13) ■ MGM-net(Sharing) (7) ▲ MGM-net(Sharing based on agreement) (40) ▲ other partner’s (based on agreement) (4) MGM-net ～ International cooperation (Multi-GNSS Monitoring network) PPP WORKSHOP 2013 Development status of the ground infrastructure ( 3 / 7 ) International Cooperation - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result

PPP WORKSHOP 2013 (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) MADOCA Offline Estimate FunctionReal-time Estimate Function Positioning SystemGPSGLOQZSGalGPSGLOQZSGal Schedule Estimate Accuracy Orbit[cm]3749 Clock[ns] Aim of MADOCA - Estimation of orbit and clock with high accuracy - Multi-GNSS Support (GPS, GLONASS, QZSS and Galileo) Development - NEC, Tokyo University of Marine Science and Technology and JAXA Goal - Estimate accuracy comparable to IGS products for RT positioning with < 10cm accuracy Table. 1 Development Schedule & Target Accuracy Development status of the ground infrastructure ( 4 / 7 )

PPP WORKSHOP 2013 MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) OfflineReal-Time AlgorithmIterated Weighted LSQDual-Cycle-EKF Estimated Parameters Orbit, SRP/Emp-Acc, Clock, Position, ZTD/Grad, Ambiguity, Bias, EOP Numerical Solver NEQ by Cholesky Factorization Numerical Stable EKF Clock Estimation Parameter Elimination in NEQ State as White-Noise or Random-Walk Integer Ambiguity Resolution Network AR (Ge., 2005) Real-Time Network AR Parameter Adjustment - Precise orbit & clock estimation using latest models - Reduction of processing time - High Stablity of numeric calculation Table2 Parameter Adjustment Development status of the ground infrastructure ( 5 / 7 )

PPP WORKSHOP 2013 Format - Definition of MADOCA-LEX format as MT=12 based on RTCM SSR MADOCA-LEX Preamble (8) Reserved (6) Message Length(10) Data Message (Variable) CRC (24) Preamble (8) Reserved (6) Message Length(10) Data Message (Variable) CRC (24) header (49) TOWWNSSR Packet#1 (Variable) SSR Packet#2 (Variable) ReservedReed-Solomon (256) Data Section(1695) LEX message (2000) ・・・・・・ LEX message (cf)RTCM SSR ・・・・・・ RTCM Message #1RTCM Message #2 SSR PacketMessage NumberUpdate Interval GPSQZSSGalGLO Orbit Correction *1240*106330sec Satellite Code Bias *1242*10651day URA *1244*106730sec High rate Clock Correction *1245*10682sec RTCM SSR MT using MADOCA-LEX message (* : draft ) (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) Development status of the ground infrastructure ( 7 / 7 ) ■ Please visit QZSS websites “QZ-vision” → Please check !

PPP WORKSHOP 2013 Evaluate Result

PPP WORKSHOP 2013 Evaluation of offline estimation 2011/01/01 -12/31 (365 days), wrt IGS Final GPS & GLONASS estimation - Comparable accuracy with IGS ACs GPS GLONASS QZSS orbit estimation - <6 cm accuracy on overlap evaluation QZSS 2011/06/ /11/03 (153 days), 24 H-overlap (cf.) Overlap evaluation Arcs 12H 48H 12H Overlap error R :2.37cm, A :4.47cm, C :3.21cm, 3D :5.99cm R A C +1m -1m Reported Evaluation result ( 1 / 6 )

Evaluation of offline PPP PPP WORKSHOP /01/13 -1/20 (8 days), RTKLIB2.4.1b12, wrt PPP-static using IGS Final Offline PPP around Asia and Oceania area using MADOCA offline products - Offline PPP accuracy of enough less than 10cm !! Average 3.8cm (HRMS) 5.6cm (VRMS) Evaluation result ( 2 / 6 ) Reported

PPP WORKSHOP 2013 Architecture Orbit Error (Radial/Along/Cross) Clock Error R: 1.52 cm/ A: 2.49 cm/ C: 1.81 cm 3D: 3.44 cm STD: ns / RMS:0.184ns Simulated *1 GPS real-time estimation (1/2) - Achievement of orbit accuracy of < 4 cm and clock accuracy of ~ 0.1 ns 2012/2/1 - 2/14 (14 days), 31 GPS satellites wrt IGS Final (* First 24H and unhealthy G14 excluded) Evaluation result ( 3 / 6 ) Evaluation of simulated RT estimation * 1 : Evaluation of real-time estimator using simulated real-time data based on RINEX

Simulated GPS real-time estimation (2/2) - Achievement of PPP accuracy of enough less than 10 cm 18 RMS * E: 1.93 cm N: 1.46 cm U: 3.91 cm RMS * E: 1.80 cm N: 1.42 cm U: 3.25 cm with Simulated MADOCA Clock/Orbit E N U +0.2m -0.2m PPP WORKSHOP /2/2 - 2/14 (13 days), RTKPOST2.4.2, wrt IGS Final POS (* First 1H with IGS FINAL E N U +0.2m -0.2m Evaluation result ( 4 / 6 ) Evaluation of simulated RT PPP

JAXA’s (8) Other partner’s (5) Ground Test of RT estimator (1/2) - Ground Test of real-time estimator via NTRIP caster using MGM-net and IGS/MGEX sites MGM-net (5) PPP WORKSHOP 2013 IGS/MGEX (21) Evaluation result ( 5 / 6 ) Evaluation of RT estimation Sharing (7)

Evaluation of RT PPP E-W N-S U-D Ground Test of RT estimator (2/2) - Achievement of PPP accuracy of < 10 cm using only GPS PPP WORKSHOP 2013 E-W N-S U-D +0.5m -0.5m 10cm RMS E: 2.51 cm N: 2.20 cm U: 7.57 cm RMS E: 6.02 cm N: 3.75 cm U: 9.61 cm 2013/5/20 9:00-21:00 (12h), RTKLIB2.4.2,1Hz, wrt IGS Final POS Evaluation result ( 6/ 6 ) with Real Time IGS with Ground Test MADOCA

PPP WORKSHOP 2013 Announcement

Experiment Schedule Please see “Experiment Schedule” on QZ-vision because LEX signal is on test. Announcement ( 1 / 3 ) PPP WORKSHOP 2013 START of Test Broadcast Test Bradcast - Start of MADOCA-LEX signal broadcast via “QZSS” on a trail !! 1 st April 11 - April 13 2 nd April 26 - May 3 3 rd May 28 - June 1 On Test June 9 - June 15 ■ Please visit QZSS websites “QZ-vision” → Please check here!

START of Test Broadcast Announcement ( 2 / 3 ) E-W N-S U-D +0.5m -0.5m PPP using MADOCA-LEX - Achievement of PPP accuracy of ~ 10 cm using GPS+QZS PPP WORKSHOP cm RMS E: 3.54cm N: 1.99 cm U: cm 2012/5/30 12:00:00-23:59:59(12 hours),RTKLIB2.4.2, 31 GPS+QZS satellites, wrt PPP-static, IGS Final MGM-net IGS/MGEX LEX MADOCA LEX message generator JAXA’s LEX receiver SSR RTCM BINEX RAW LEX sig. SSR orbit&clock estimator with MADOCA-LEX Architecture

8:30 Ottawa 8:30 Tsukuba QZSS START of Test Broadcast Announcement ( 3 / 3 ) Demonstration of PPP using MADOCA-LEX PPP WORKSHOP 2013 MGM-net IGS/MGEX LEX MADOCA LEX message generator JAXA’s LEX receiver SSR RTCM BINEX RAW LEX sig. SSR orbit&clock estimator Architecture Please see PPP using MADOCA-LEX !

PPP WORKSHOP 2013 Summary Development status of ground infrastracture real-time PPP service ‐ MGM-net : Expansion of Multi-GNSS Monitoring Network (84 sites) - MADOCA : Development of Multi-GNSS orbit and clock estimator with high accuracy Achievement of “real-time” PPP service with < 10 cm (H/VRMS) accuracy on ground test Future Plan - Evaluation of long-term stability of real-time estimator - Function addition for higher accuracy (PPP-AR, BeiDou etc.) → We aim to join IGS analysis centers in the future! - Start of regular broadcast of MADOCA-LEX signal We look forward to providing real-time PPP service via QZSS!!

PPP WORKSHOP 2013 Thank you for your attention!!