GRIM & DynaPos Overview, Examples and Results Dr. Benjamin Remondi Kendall The XYZs' of GPS, Inc. P.O. Box 37 Dickerson MD Voice: (301) Fax: (301)

Objective: Top-Level Description of GRIM and DynaPos u Kendall Ferguson u GRIM Software Description u DynaPos Software Description u Example GRIM/DynaPos Systems u Dr. Benjamin Remondi u DynaPos Results

GRIM General Description u 32-Bit Windows program that standardizes and simplifies interfaces with various GPS receivers u Variety of Connections with GPS Receivers u Direct, Modem, Radio Modem, Cell, Iridium, TCP/IP u Active and Passive Connections u Provides data logging u Receiver native, RINEX, XYZ Compressed, and Status Logging u Real-Time Interface with application programs (*) u Provides playback of collected data u Useful for real-time development and post-mission analysis u Feature Rich (e.g., 70 Compression Levels)

GRIM Real-Time Interface u Provides GPS Observation Data in a consistent format to processing applications u Each Manufacturer Uses Unique Message Formats u GRIM Format is RINEX-like u Two Transport Methods (i.e., the application communication technique) u XYZs Real-Time Interface Protocol (libraries available) u TCP/IP Sockets u Playback Feature u Post-Mission Analysis u Real-Time Application Development

XYZ COR Compressed Observation Records u Each Compressed Observation Record is time independent u Configurable u Selectable Observation Types u Navigation Data (Optional) u Ionospheric Modeling Data (Optional) u Positional Data (Optional) u User selects based upon need and available bandwidth u Self Describing u Can be changed on-the-fly and it is clear to recipient u GRIM XYZ COR Output Interface u Direct RS-232, Modem, Radio Modem, Cell Phone, Iridium, and TCP/IP

DynaPos Dynamic Positioning Software u Provides Position and Velocity of a Moving Platform u Base station can be fixed or moving u Easily configured to static processing u Real-time and Post-Mission Processing u Single and Dual Frequency (Code and/or Carrier) u 15 User selectable observation combinations (e.g., Iono-Free) u Observation type can be changed on the fly. u Windows 32-Bit Program (engines also available) u Real-Time Output Messaging (*)

DynaPos Features (continued) u On-The-Fly User Configurable Items u 15 Observable Combinations u Float or Integer Carrier u Editing Controls (e.g., elevation mask, data quality controls, satellites) u Measurement Sigmas (calibration) u Dynamic Response Parameters u Navigation Lightbar u Waypoint Trajectory Reference (creation and use) u Real-Time Plots u User Configurable Work Area

DynaPos Features (continued) u Precise Orbits u Multiple Processing Modes u Coincident (Traditional) u Predictive (Low Latency) u For Example: u 6-second Base station epoch rate u 10 Hz. Rover epoch rate u 10 Hz. Rover solutions from DynaPos u Reduces Communication Bandwidth Requirements u Reduces Latency Due to Communication Links u Limited Multi-Baseline Capabilities

DynaPos Real-Time Interface u Provides Rover Solutions to other Systems u Facilitates Quick Integration with other sensors/systems u Two Transport Methods (same as described for GRIM) u Playback feature facilitates development and troubleshooting of real-time applications u NSWC Example: u GRIMs/DynaPos Integrated with INS and Imaging System u Playback features and Real-Time Interfaces facilitated fully featured lab development and testing of complete system.

USCG HA-NDGPS Example u High Accuracy - National Differential GPS System u Currently under initial proof of concept (Phase I/II) u See XYZs’ report to FWHA (July 12, 2002) u Low Frequency u Penetrating (i.e., not line-of-sight) u Long range broadcasts (excess of 150 miles v. 50 miles) u Currently providing 1 Hz. dual frequency real-time observation data u Proposed design: rovers receive data from 3 base stations simultaneously u GRIM provides XYZ compressed observation data for broadcast u General Components u GPS Base station data modulation u Rover uses demodulated base data and local GPS receiver data

HA-NDGPS Modulator Base GPS Receiver RS-232: receiver native format GMSK Signal Modulator Computer GMSK Modulator DSP/PMAFE Transmitter GRIM (XYZs’) 1) Trap (RAW) Files (opt.) 2) XYZs Compressed (opt.) 3) Status Logs (opt.) 4) RINEX (opt.) XYZs Compressed (6 of 8) HA-NDGPS Broadcast

HA-NDGPS Demodulator HA-NDGPS Demodulator (data collection) Demodulation/Processing Computer RS-232: XYZs’ Compressed (6 of 8) Demodulator GRIM (XYZs’) 1) XYZs’ Compressed 2) RINEX (opt.) 3) Status Logs (opt.) Real-Time Interface (for developers) HA-NDGPS Broadcast

HA-NDGPS DynaPos Example HA-NDGPS DynaPos Example (providing real-time position and velocity) RS-232: XYZs’ Compressed (6 of 8) GPS Receiver (Rover) Demodulation/Processing Computer Demodulator GRIM (XYZs’) GRIM (XYZs’) DynaPos (XYZs’ RTK Software) 1) XYZs’ Compressed (opt.) 2) Trap (RAW) Data (opt.) 3) RINEX (opt.) 4) Status Logs (opt.) 5) DynaPos Outputs HA-NDGPS Broadcast

Hydrographic Example u Base Stations located on shore u Collects and logs base station GPS receiver data u Transmits XYZ compressed observation data (e.g., satellite or Iridium) u Mother-ship u Receives shore base station data u Re-transmits to several launches via radio u Uses the Iridium Satellite System (as an example)

Hydrographic Base Station Base GPS Receiver RS-232: Receiver Native Format Base Computer (Laptop) 1) Trap Files 2) Status Logs 3) RINEX (optional) Iridium Phone/Modem (1) XYZ Compressed GRIM (XYZs’) Base Data Transmission (1) Could also be a standard PC Modem (i.e., not Iridium or Cell phone based)

Hydrographic Mother-Ship Radio Modem RS-232: XYZ Compressed Mother-Ship Computer 1) Trap Files 2) Status Logs 3) RINEX (optional) Iridium Phone/Modem XYZ Compressed GRIM (XYZs’) Base Data Transmission Retransmitted Shore Base Data

Hydrographic Launch Retransmitted Shore Base Data RS-232: XYZ Compressed GPS Receiver (Rover) Launch Processing Computer Radio Modem (receipt) 1) XYZ’s Compressed (opt.) 2) Trap (raw) Data (opt.) 3) RINEX (opt.) 4) Status Logs (opt.) 5) DynaPos Outputs GRIM (XYZs’) GRIM (XYZs’) DynaPos (XYZs’ RTK Software)