1. Facility New GNSS Signals and Receivers Freddy Blume – UNAVCO D&T Manager USGS Geodesy Workshop, 12 March, 2010 Development and Testing

2. Facility Development and Testing Assembly Required… The dog ate the instruction manual … we’ll have to put it together ourselves…

3. Facility Motivation Last formal hardware evaluation done by UNAVCO in 2003 (PBO RFP) –CPU, data storage, communications technology has “improved” –GNSS modernization brings new observables, frequencies and constellations incompatible with older hardware. Community Pricing Agreements Depended on PBO Purchases –5-year agreements with Trimble and Topcon expired in 2008, carried forward at manufacturer’s discretion –Tiered pricing structure based on total quantity purchased by Community semi-annually makes project planning difficult. “Workhorse” affordable receiver (Trimble NetRS) no longer available. –Keep existing network infrastructure functioning without breaking the bank –What new features are important vs. simple plug & play replacement? Compatibility with existing data retrieval systems. Compatibility with existing GPS/GNSS antennas. Compatibility with physical infrastructure (power, enclosures, cabling).

4. Facility Evaluation Process UNAVCO Re-establishing Development and Testing Effort –Manager appointed 2009 (50% FTE) –D&T Engineer to be hired Q1 2010 Establish (and reestablish) high level technical and sales contacts with GNSS hardware manufacturers. –Educate manufacturers of specific community needs and wants. –Learn what is currently available and what is under development. –Seek partnerships and participation in new system development Non-Disclosure Agreements in place and pending All manufacturers willing to modify firmware in response to UNAVCO feedback to some extent. –To date, meetings held with Trimble, Topcon, Leica, Ashtech, and Septentrio. Formal Request for Information and Community Pricing Upcoming –Encourage competition for UNAVCO community purchases. –Will prioritize formal evaluation based on community feedback. –“Moving target” is a problem: new models constantly introduced.

5. Facility GPS Signal Evolution L2C: Civilian code on L2 carrier broadcast by 8 Block IIR-M SV’s since 2005. (7 healthy) –Unencrypted code –Provides 6-12 dB-Hz SNR improvement over P2, stronger than L1 C/A. L5: Third carrier frequency –Demonstration signal launched 3/2009 on PRN01 (SVN49) Needed to reserve L5 with ITU. –10 Block IIF SV’s to carry L5 3 in 2010 Launches complete by 2013?

6. Facility GPS Signal Evolution – L2C Current carrier phase software (e.g. GAMIT) uses first-generation GPS observables only (L1 and L2 phases for C/A or P-codes) –Timetable for L2C and L5 development TBD –New observables useful for real-time and special applications only? –L2C implementation on current receivers allows for low elevation tracking where lock would otherwise be lost. L2C and L5 use Quadrature PSK Modulation –¼-wavelength shift between P2 phase and C2 –Some receivers remove this in raw data Trimble, Ashtech –Others Don’t –Standard sought by IGS IC http://www.geopp.de/media/docs/pdf/geopp_phase_shift_l2c.pdf Critical to investigate the effect of L2C tracking on positioning. –PBO implemented L2C tracking on several stations in 2010 –Teqc modified to explicitly select C2 vs. P2 phases in RINEX files –No effect on position seen in PBO time series or limited short-baseline processing.

7. Facility GPS Signal Evolution – L5 L5 Improves signal structure for enhanced performance –Third Frequency 1,176.45 MHz (25.5 cm; L1=19 cm, L2 = 24.4 cm) Higher power (-154.9 dBW), broad bandwidth (24 hMz) Improved ionospheric delay correction capabilities, Better interference protection and integrity, Instantaneous carrier phase accuracy and ambiguity resolution for cm level measurements. –Antenna Compatibility – are new antennas necessary for GNSS upgrade? Legacy choke ring antennas can receive L5 (-9 dB-Hz), but no PCV’s yet. –Other GNSS frequencies slightly attenuated. In-situ LNA replacement upgrades a TRM29659.00 to TRM59800.80 TRUE Absolute (robot) PCV calibrations essential. L1 L2L5 Gal L2 Glo L1 SBAS Glo L2

8. Facility GLONASS GLONASS Available Now – Who Should Use It? –Operational but years (decades) behind schedule. –~5 year SV life-span; more frequent launches. –Orbit accuracy lower –Antenna PCV’s are frequency dependent GLONASS is FDMA, different frequency per SV –GLONASS use degrades GPS position accuracy Real-time and post-processed –Precise orbits from IGS are available. No SV clock corrections… –Software from NGS under development –Track (high-rate) Support under development –Real-time receiver corrections are useful

9. Facility GLONASS You should use GLONASS if:

10. Facility GLONASS You should use GLONASS if you have limited sky view, are a position junkie and need a Fix.

11. Facility (from presentation by Tim Springer ESOC, AGU Fall Meeting, San Francisco, 2007) GLONASS

12. Facility Optimistic Deployment Timeline (1-4 year delays?) GNSS Modernization

13. Facility What we’re used to: 1980-2003 GNSS Modernization

14. Facility GNSS Modernization Where we’re heading: ~2015

15. Facility New GNSS Receivers General evaluation in progress of current top-of-the-line receivers: All “multi-use”: Reference Station, Campaign, RTK Ashtech ProFlex CORS (née Magellan ProFlex 500) Leica GRX1200+ Septentrio PolaRx3eG Pro Topcon Net-G3A Trimble NetR8 Hardware on display during Wednesday Afternoon UNAVCO Facility Tour

16. Facility New GNSS Receivers Important Features to be Considered Include: –Conforms to IGS “Considerations for Future IGS Receivers” Criteria Tracking characteristics, multipath, many other data quality factors. –Rugged Design Heat and cold resistant –Power Consumption Internal batteries for campaign/RTK uses –GNSS Signals GPS L2C, L5 GLONASS Galileo, Compass (i.e. “Future Proof”) –User Interface Characteristics Accessible via internet, web interface Cross platform capability Scriptable command-line control language –Data Logging and Access High rate performance Multiple logging sessions, separate memory buffers Memory size, configuration, expandability (critical for high-rate) Directory structure, file naming options, server options (e.g. ftp push) Available data formats (Binex, proprietary formats compatible w/teqc) –“Other” Compatibility with existing infrastructure/systems Support for meteo, tilt meters, and other serial devices Responsiveness of manufacturer, willingness to collaborate on development Price…

17. Facility New GNSS Receivers Trimble NetRSTrimble NetR8Topcon Net-G3AAshtech ProFlex CORSLeica GRX1200+ Septentrio PolaRx3eG PRO Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)NoYes No Interface/Control EthernetYes Web Server (full control)Yes LimitedYes Future Firmware/Current GUI ftp ServerYes No ftp pushNoYesNoYes No email notificationNoYesNo YesNo Scriptable Command-line interfaceYesLimitedYes NoYes Remote firmware upgradeYes No Built in NtripNoYes No Built-in PPPYes No Other serial communicationsLimitedNoYes DynDNS ClientNoYesNo YesNo Storage USB Host (external data storage)No Yes* - NO remote accessYesNo Removable CF cardNo Yes - 2 GB MaxNoYes - 1 GB MaxNo Fixed Internal memory size1 GB4 GBCF Only128 MB256 MB2 GB Signals GLONASSNoYes GPS L5NoYesFuture FirmwareNoYes GPS L2CYes Tracking limitationsNone3 Codes/SV (e.g. C1, P2, C5)NoneL2-P OR L2C (Not both)NoneL2C OR L5, not both GalileoNo YesNoYes Data Logging Multiple SessionsYes - 8 Yes - 2 No Configurable memory bufferYes Future Firmware YesFuture Firmware High-rate10 Hz* (S/N, PR less)50 Hz* (S/N, PR less)100 Hz20 Hz Met SupportYes No Binex supportYes (7f-03)Yes (7f-05)No Yes (7f-05)No TCP StreamingYes Other Unique Featuresemail file pushInternal GSM ModemSpectrum Analyzer Detailed Constellation InfoAnti-Interference Filter Upgradeable GNSS Board Receiver Comparison – Trimble NetRS Baseline

18. Facility Ashtech ProFlex CORS Ashtech independent from Magellan January 2010 Eager to reestablish relationship with UNAVCO Community Responsive to feedback on beta products No L5 or Galileo hardware yet. Ashtech ProFlex CORS Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)Yes Interface/Control EthernetYes Web Server (full control)Yes ftp ServerYes ftp pushYes email notificationNo Scriptable Command-line interfaceYes Remote firmware upgradeYes Built in NtripYes Built-in PPPNo Other serial communicationsYes DynDNS ClientNo Storage USB Host (external data storage)Yes Removable CF cardNo Fixed Internal memory size128 MB Signals GLONASSYes GPS L5No GPS L2CYes Tracking limitationsL2-P OR L2C (Not both) GalileoNo Data Logging Multiple SessionsYes - 2 Configurable memory bufferFuture Firmware High-rate20 Hz Met SupportYes Binex supportNo TCP StreamingYes Other Unique FeaturesInternal GSM Modem

19. Facility Leica GRX1200+ Advanced web interface GNSS Binex capability and multiple ring buffers ATHENA Pricing Program for Educational and non-profit organizations Leica GRX1200+ Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)Yes Interface/Control EthernetYes Web Server (full control)Yes ftp ServerYes ftp pushYes email notificationYes Scriptable Command-line interfaceNo Remote firmware upgradeYes Built in NtripYes Built-in PPPNo Other serial communicationsYes DynDNS ClientYes Storage USB Host (external data storage)No Removable CF cardYes - 1 GB Max Fixed Internal memory size256 MB Signals GLONASSYes GPS L5Yes GPS L2CYes Tracking limitationsNone GalileoYes Data Logging Multiple SessionsYes - 2 Configurable memory bufferYes High-rate20 Hz Met SupportYes Binex supportYes (7f-05) TCP StreamingYes

20. Facility Septentrio PolaRx3eG PRO Small, flexible company focused on development and special applications (e.g. strong-motion triggering of high-rate mode). Unique features such as spectrum analyzer/adaptive interference mitigation, RT multipath, 2- and 3-antenna Rx’s (RT attitude info, etc.) - 35d B Septentrio PolaRx3eG PRO Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)No Interface/Control EthernetYes Web Server (full control)Future Firmware/Current GUI ftp ServerNo ftp pushNo email notificationNo Scriptable Command-line interfaceYes Remote firmware upgradeNo Built in NtripNo Built-in PPPNo Other serial communicationsYes DynDNS ClientNo Storage USB Host (external data storage)No Removable CF cardNo Fixed Internal memory size2 GB Signals GLONASSYes GPS L5Yes GPS L2CYes Tracking limitationsL2C OR L5, not both GalileoYes Data Logging Multiple SessionsNo Configurable memory bufferFuture Firmware High-rate20 Hz Met SupportNo Binex supportNo TCP StreamingYes Other Unique FeaturesSpectrum Analyzer Anti-Interference Filter Upgradeable GNSS Board

21. Facility Topcon Net-G3A Highly configurable with command-line language (1,008 page manual!) USB Host with unlimited storage capacity (no remote file access…) Future-proof constellation capability. Topcon Net-G3A Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)Yes Interface/Control EthernetYes Web Server (full control)Limited ftp ServerYes ftp pushNo email notificationNo Scriptable Command-line interfaceYes Remote firmware upgradeYes Built in NtripYes Built-in PPPYes Other serial communicationsYes DynDNS ClientNo Storage USB Host (external data storage)Yes* - NO remote access Removable CF cardYes - 2 GB Max Fixed Internal memory sizeCF Only Signals GLONASSYes GPS L5Future Firmware GPS L2CYes Tracking limitationsNone GalileoYes Data Logging Multiple SessionsYes - 2 Configurable memory bufferFuture Firmware High-rate100 Hz Met SupportYes Binex supportNo TCP StreamingYes Other Unique Features

22. Facility Trimble NetR8 Total control through advanced web interface. Incorporated many features requested by UNAVCO. Continued competitive tiered community pricing structure. Trimble NetR8 Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)Yes Interface/Control EthernetYes Web Server (full control)Yes ftp ServerYes ftp pushYes email notificationYes Scriptable Command-line interfaceLimited Remote firmware upgradeYes Built in NtripYes Built-in PPPYes Other serial communicationsNo DynDNS ClientYes Storage USB Host (external data storage)No Removable CF cardNo Fixed Internal memory size4 GB Signals GLONASSYes GPS L5Yes GPS L2CYes Tracking limitations3 Codes/SV (e.g. C1, P2, C5) GalileoNo Data Logging Multiple SessionsYes - 8 Configurable memory bufferYes High-rate50 Hz* (S/N, PR less) Met SupportYes Binex supportYes (7f-05) TCP StreamingYes Other Unique Featuresemail file push Detailed Constellation Info

23. Facility Trimble NetR8 Total control through advanced web interface. Incorporated many features requested by UNAVCO. Continued competitive tiered community pricing structure. Trimble NetR8 Power Low Power (<5 Watts)Yes Internal Battery/UPS (Campaign)Yes Interface/Control EthernetYes Web Server (full control)Yes ftp ServerYes ftp pushYes email notificationYes Scriptable Command-line interfaceLimited Remote firmware upgradeYes Built in NtripYes Built-in PPPYes Other serial communicationsNo DynDNS ClientYes Storage USB Host (external data storage)No Removable CF cardNo Fixed Internal memory size4 GB Signals GLONASSYes GPS L5Yes GPS L2CYes Tracking limitations3 Codes/SV (e.g. C1, P2, C5) GalileoNo Data Logging Multiple SessionsYes - 8 Configurable memory bufferYes High-rate50 Hz* (S/N, PR less) Met SupportYes Binex supportYes (7f-05) TCP StreamingYes Other Unique Featuresemail file push Detailed Constellation Info

24. Facility New GNSS Receiver Evaluation What’s Next… –Solicit community input on evaluation and purchasing priorities. Online questionnaire Contact me directly –Formal Request for Information (RFI) to all GNSS Hardware manufacturers requesting detailed specifications and UNAVCO member pricing. Both present and future products. May request both specific and general information depending on community requirements. –Proceed with formal evaluation of specific hardware set(s) Define set of evaluation criteria –Data Quality –Usability –Special Features –???

25. Facility New GNSS Receiver Evaluation In the meantime… –Trimble continues semi-annual community purchases with tiered volume- dependent prices. –Topcon continues PBO fixed-price agreement on GB-1000 GNSS receivers under “Year 5” terms. –Leica ATHENA prices available to all educational and non-profit research organizations. –Project-specific RFP’s (e.g. USGS, GNS New Zealand) –Small-scale purchases: direct inquiries through UNAVCO. –UNAVCO member price lists may be forthcoming from Ashtech and Septentrio in the near future. The Devil is in the Details! –Learn from recent experiences 13 months and 8 iterations of testing to finalize upcoming NetRS firmware! –System complexity makes finding all potential issues and conflicts impossible, must direct evaluation efforts efficiently. –Make sure you know what you want and get what you’ve paid for. FW upgrade period, receiver options such as L5, often not included in base price

26. Facility Development and Testing Conclusions –This is a moving target; technology is evolving very quickly Most or all manufacturers will be releasing new hardware in 2010. Maybe a good opportunity to get “Last-Year’s Model” discounts. – Buy for now and/or the future? Wait (if possible) to gather more information, encourage competition Prioritize requirements for any purchases My recommendation: use L2C soon, GLONASS for RT, be ready for GPS L5. –There won’t be a “One size fits all” Solution Purchase price is not the only consideration –Firmware upgrades –Warranty terms –User support for general use or special applications –Future information: Contact me Subscribe to UNAVCO Online Knowledge Base: http://facility.unavco.org/kb/

27. Facility Development and Testing Conclusions –This is a moving target; technology is evolving very quickly Most or all manufacturers will be releasing new hardware in 2010. Maybe a good opportunity to get “Last-Year’s Model” discounts. – Buy for now and/or the future? Wait (if possible) to gather more information, encourage competition