1. GPS Kinematic Positioning Program Dr. G. L. Mader
kinpos
GPS Kinematic Positioning Program
Dr. G. L. Mader
11/16/2018
G. L. Mader

2. kinpos
K A R S
kinematic
rapid-static
kinpos
11/16/2018
G. L. Mader

3. Kinematic GPS
double difference phase
2  j + N j = [ ( xj - x ) x + ( yj - y ) y + ( zj - z ) z ] / Dj
Ambiguity search:
at least 4 dd’s
trial suites of N j
track rms for each suite
double difference bias
11/16/2018
G. L. Mader

4. C:\KARS DIRECTORY Create the directory c:\kars
Kinpos.exe
ant_info.001
splot.exe
dos4gw.exe
c:\kars
Create the directory c:\kars
Copy the above files to this directory
11/16/2018
G. L. Mader

5. SYSTEM FILES Add c:\kars to the PATH in the AUTOEXEC.BAT file.
Go to the c: drive.
Edit AUTOEXEC.BAT
Add: PATH=%PATH%;c:\kars
Add ANSI character set to the CONFIG.SYS file.
Go to the c: drive
Edit CONFIG.SYS
Add: DEVICE=C:\WINDOWS\COMMAND\ANSI.SYS
Reboot the computer
11/16/2018
G. L. Mader

6. kars.ini The kars.ini file resides in c:\kars
It tells kinpos the path to the current project
Create/modify kars.ini by:
edit kars.ini
type project path (ex. c:\project\98aug09
11/16/2018
G. L. Mader

7. PROJECT DIRECTORY Create project directory(s) as suggested above
RINEX Observation and Navigation files and SP3 files
Data
Project Name
97_252
kinpos.inp
param
kars.edt
phifix
97_253
Create project directory(s) as suggested above
Load rover and reference rinex files, orbit files
11/16/2018
G. L. Mader

8. Input Files
kinpos.inp
File specifying start/stop times, location of data files, run options, and plot options.
param
File containing the numerical values of various parameters.
phifix
File containing the values of the integer bias, if known, at a particular time to start the phase solution without an otf ambiguity search. This file is optional: a blank or missing file will initiate an otf search.
kars.edt
File containing edit instructions for the kinpos program. This file is optional and is usually used to delete bad data.
ant_info.001
File containing antenna offsets and phase center variations with elevation for a catalog of standard antennas.
11/16/2018
G. L. Mader

9. Input Files ****###*.##o
Rinex observation files for the rover and reference data.
****###*.##n
Rinex navigation file.
***#####.sp3
Standard sp3 format file for satellite ephemerides. This file is optional. If precise ephemeris option is not elected, this file is not read and satellite positions are determined from the broadcast message in the navigation file.
11/16/2018
G. L. Mader

10. kinpos.inp 96 12 03 16 40 18.0 start time (ymdhms) 96 12 03 17 48 00.0
/mz3/sfbay/96_338a/data/BS06338A.96O
TRM
/mz3/sfbay/96_338a/data/BOUY338x.96O
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
start time (ymdhms)
stop time (ymdhms)
run options
plot options
rover rinex file path/name
rover xyz
rover n,e,u [xyz] to ARP
T(C), P(mBar), H(%)
rover standard antenna name
ref rinex file path/name
ref xyz
ref n,e,u [xyz] to ARP
ref standard antenna name
rinex nav file path/name
orbit file path/name
antenna file path/name
11/16/2018
G. L. Mader

11. kinpos.inp
/mz3/sfbay/96_338a/data/BS06338A.96O
TRM
/mz3/sfbay/96_338a/data/BOUY338x.96O
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
The xyz position (m) of the reference station should be as accurate as possible. The vector positions for the rover contained in the psolxyz output file are weakly dependent on this position, but the rover positions are relative to this position. The program needs to know the antenna phase center position. It will obtain this by adding to this xyz position the up component of the eccentricty given here by the user, and the up offset contained in the antenna info file for the antenna named by the user.
11/16/2018
G. L. Mader

12. kinpos.inp
/mz3/sfbay/96_338a/data/BS06338A.96O
TRM
/mz3/sfbay/96_338a/data/BOUY338x.96O
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
When kinpos is running it will display on the screen the displacement of the rover from this position. It will also produce an output file (psolneu) with the approximate n,e,u displacements of the rover from this position. This position otherwise has no significance for the ambiguity search unless the constrained search position option is selected. In that case this position (plus the antenna reference point eccentricity and antenna offset) becomes the center search position.
11/16/2018
G. L. Mader

13. kinpos.inp
/mz3/sfbay/96_338a/data/BS06338A.96O
TRM
/mz3/sfbay/96_338a/data/BOUY338x.96O
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
The antenna names that are entered here must be the standard form as found in the ant_info.001 file that may be found at
PROJECTS/ANTCAL/. This entry may not be left blank. If no match is found, the antenna offsets and phase variation are set to zero. The user must be cautious how the components of the antenna position are used.
11/16/2018
G. L. Mader

14. kinpos.inp L1 phase center offset from ant_info.001
antenna reference point (ARP)
up component from user
xyz from user
11/16/2018
G. L. Mader

15. kinpos.inp - run options
Controls the source of the position used for the ambiguity search volume. 0=use the pseudorange solution position (normal case for kinematic), 1=use the rover position in kinpos.inp (used for static data).
Selects the source of the file for determining satellite positions. 0=use the broadcast ephemeris contained in the rinex nav file (no sp3 file will be read), 1=use a precise sp3 format format specified by the user.
Controls if a relative tropospheric scale factor is to be solved as part of the kinematic solution. 0=don’t solve, 1=solve for tropo scale factor.
11/16/2018
G. L. Mader

16. kinpos.inp - run options
Controls if the phase&range widelane will be used to filter integer choices. 0=don’t use this widelane filter, 1=use this filter (recommended response is 0).
Controls if the sigma from the widelane phase solution will be used to rescale the integer suite selection process. 0=don’t use, 1=use this rescaling. (recommended response is 1).
Controls if the position difference between the widelane phase solution and the L3 solution will be used to rescale the integer suite selection process. 0=don’t use, 1=use this rescaling. (recommended response is 1).
11/16/2018
G. L. Mader

17. kinpos.inp - run options
Controls if the ellipsoid search height during an otf search is to be constrained to the last good phase solution height. Used for ocean surface work. 0=don’t constrain, 1=constrain.
Controls the range solution frequency. There are two choices: 1=L1 solution (single frequency), 2=ion free (dual frequency).
Controls the phase solution frequency. There are 3 choices: 1=L1 only, 2=L1 and L2 combined as 2 single frequency data types, 3=ion free.
11/16/2018
G. L. Mader

18. kinpos.inp - run options
Controls if a differential pseudorange solution is to be done. 0=don’t do the range solution, 1=do the range solution.
Controls if a double difference phase solution is to be done. 0=don’t do the phase solution, 1=do the phase solution.
Controls if a widelane phase solution is to be included during the processing. This solution is intended as a diagnostic to evaluate its utility during ambiguity searches. 0=don’t do, 1=do widelane phase solution and include in dif plot file.
11/16/2018
G. L. Mader

19. kinpos.inp - run options
Controls if a global solution for ambiguities is to be attempted. Used when normal otf techniques may not work. If used, data segment must be cycle slip free. 0=don’t do (recommended), 1=do global integer solution.
11/16/2018
G. L. Mader

20. kinpos.inp - plot options
elv
pmr
svn
rsl
psl
tsf
qck
ion
wln
rrs
prs
cor
dif
elevation
ion residual
phase-range
widelane
# of sv’s
range solution residuals
range solution
phase solution residuals
phase solution
ion corrections
tropo scale factor
rng-phs,wln-phs soln diffs
rng & phs rdop & rms
11/16/2018
G. L. Mader

21. PARAM
15.0
1 1
0.04
0.02
0.03
0.00
0.3
2.0
0.30
2.00
0.06 30
Elevation cutoff angle (deg). No observations below this cutoff will be used.
L1, L2 wavelength scale factors. A ‘1’ means full wavelength, a ‘2’ means half wavelength (frequency squaring). If either receiver used frequency squaring, a 2 must appear for the appropriate frequency
11/16/2018
G. L. Mader

22. PARAM
15.0
1 1
0.04
0.02
0.00
0.3
2.0
0.30
2.00
0.06 30
North, East, Up dimensions (m) of the search volume used for the ambiguity search. This volume is centered on the a priori rover position, which comes from the pseudorange solution or the kinpos.inp file. The true position must lie within this volume. This volume determines the search range for each satellite bias.
North, East, Up constraints (m) when using the fixed position option. During the ambiguity search, trial integer suites not yielding positions with these constraints of the position in kinpos.inp will be discarded. Used only when static position is already known.
11/16/2018
G. L. Mader

23. PARAM
15.0
1 1
0.04
0.02
0.00
0.3
2.0
0.30
2.00
0.06 30
Dry troposphere scale height (m) used to attenuate the surface value of the pressure with respect to the ellipsoid height.
Wet troposphere scale height (m) used to attenuate the surface value of the humidity with respect to the ellipsoid height.
Equatorial radius (m)
Ellipsoidal flattening
The radius and flattening are used only to produce approximate north, east, up displacements from the kinpos.inp rover coordinates for estimation and plotting purposes only.
11/16/2018
G. L. Mader

24. PARAM
15.0
1 1
0.04
0.02
0.00
0.3
2.0
0.30
2.00
0.06 30
Maximum rms (m) for inclusion in integer search. Integer suites yielding rms’s greater than this value are eliminated.
Maximun rms (m) for selecting the successful integer suite. The chosen suite must yield an rms below this value.
Contrast (m) required between the lowest integer suite and the next best integer suite.
When these 2 conditions are met, the integer search is over.
11/16/2018
G. L. Mader

25. PARAM
15.0
1 1
0.04
0.02
0.00
0.30
2.0
2.00
0.06 30
Center value (cy) for double difference ionosphere delay filter. Used only for initial OTF ambiguity resolution.
Window width (cy) for ionosphere delay filter. Used only for initial OTF ambiguity resolution.
Factor used the set size of dynamic ionosphere delay window from range of current ion delays. Used for OTF ambiguity resolution after a successful resolution has already been achieved.
11/16/2018
G. L. Mader

26. PARAM
15.0
1 1
0.04
0.02
0.00
0.30
2.0
2.00
0.06
300
Trigger value (cy) for detecting cycle slips from the change in ionosphere delay values for individual satellites.
Trigger value (m) for detecting cycle slips from the change in phase-range values for individual satellites.
Maximum average (last 10 values) rms (m) allowed before sending the program into cold start mode.
Number of seconds to compute each tropospheric scale factor when that option is selected.
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G. L. Mader

27. phifix Provides a set of fixed bias’s for selected start time
L1 and L2 phase bias for selected start time
sv #
ref sv #
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G. L. Mader

28. kars.edt
sv prn number (0=apply to all sv’s
instruction start date/time
L1, L2 delete instructions
Station number, 1=rover, 2=ref.
Instruction stop date/time
L1, L2 add cycles instructions
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G. L. Mader

29. Downloading sp3 Files To get a precise IGS ephemeris file:
ftp cddis.gsfc.nasa.gov
name: anonymous
password: your address
cd gps3:[products.0918] (GPS week)
get igs09183.sp3  (append day of week, 0=Sunday)
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G. L. Mader

30. Output Files
psolxyz
The primary output file from the bias fixed phase solution. The xyz vector from the reference ‘monument’ to the rover ‘monument’ is given for each solution epoch. The reference ‘monument’ is the reference position given in the kinpos.inp file. The rover ‘monument’ is the rover antenna phase center position minus the antenna offset (from ant_info.001) minus the ARP eccentricity (from kinpos.inp). The reference ‘monument’ position is given at the front of the file. The file contains the date/time the rdop, rms, x,y,z and x,y,z formal errors. All units are meters.
psolneu
The file giving the neu displacement of the rover ‘monument’ from the rover ‘monument’ position given in the kinpos.inp file determined by the phase solution. These displacements are approximate and are intended plotting or interpretation only. The file contains similar information to the psolxyz file.
11/16/2018
G. L. Mader

31. Output Files
rsolxyz
The output file from the differential pseudorange solution. The xyz vector from the reference ‘monument’ to the rover ‘monument’ is given for each solution epoch. The reference ‘monument’ position is given at the front of the file. The file contains the date/time the rdop, rms, x,y,z and x,y,z formal errors. All units are meters.
rsolneu
The file giving the neu displacement of the rover ‘monument’ from the rover ‘monument’ position given in the kinpos.inp file determined by the differential paeudorange solution. These displacements are approximate and are intended for plotting or interpretation only. The file contains similar information to the rsolxyz file.
11/16/2018
G. L. Mader

32. Output Files
integer
File containing a history of the integer bias’s determined and used by the program. The complete suite of bias’s is date/time stamped and listed for any change: rising sv’s, cycle slips, new ref sv, cold start etc.
kinpos.out
File containing summaries of information related to ambiguity searches. Can be used as a diagnostic for unsuccessful searches.
11/16/2018
G. L. Mader

33. Diagnostics Why it might not work and what to try when it doesn’t:
Correct integer suite was not among suites being tested:
1) Search volume did not contain true position. Improve the a priori position; enlarge search volume in ‘param’.
2) Ion filter eliminated correct suite. Increase ion filter width in ‘param’
11/16/2018
G. L. Mader

34. Diagnostics Correct integer suite was rejected by rms test:
1) Bad data at location of otf. Change start time.
2) rms limits may be set too low for this data. Increase max allowed rms in ‘param’.
3) Widelane solution too different from L3 solution. Turn off widelane options.
11/16/2018
G. L. Mader

35. Diagnostics Rising sv does not initialize or initializes incorrectly:
1) Bad data at location of otf. Delete several minutes data in ‘kars.edt’ for this sv.
2) Dynamically determined ion window is too small. Increase ion window scale factor in ‘param’
3) Contrast parameter may be too small. Increase contrast in ‘param’.
11/16/2018
G. L. Mader