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Japan Aerospace Exploration Agency K.Kawate, M. Miyoshi, S. Nakamura and S. Kogure H.Soga and A.Yasuda and University of.

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Presentation on theme: "Japan Aerospace Exploration Agency K.Kawate, M. Miyoshi, S. Nakamura and S. Kogure H.Soga and A.Yasuda and University of."— Presentation transcript:

1 Japan Aerospace Exploration Agency K.Kawate, M. Miyoshi, S. Nakamura and S. Kogure H.Soga and Y.Hirahara @NEC A.Yasuda and T.Takasu@Tokyo 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

2 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

3 PPP WORKSHOP 2013 Introduction Background - Progression of “Multi-GNSS” by increase of positioning satellites Prediction of visible satellites in 2020 - 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 10 15 20 25 30 35 # of sats

4 PPP WORKSHOP 2013 Real-time PPP Service via QZSS

5 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. 39000km Perigee: App. 33000km 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

6 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 ： 1278.75MHz - Transfer rate ： 2 kbps - Massage : Some messages broadcasted by time sharing (JAXA 、 SPAC 、 NICT 、 GSI)

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

8 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 Control Station(MCS) @Okinawa @Tsukuba navigation signal PPP WORKSHOP 2013 GPS MADOCA Development status of the ground infrastructure ( 1 / 7 ) System of Real-time PPP Service

9 ★ 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 → www.multignss.asiawww.multignss.asia → 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 )

10 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

11 PPP WORKSHOP 2013 (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) MADOCA Offline Estimate FunctionReal-time Estimate Function Positioning SystemGPSGLOQZSGalGPSGLOQZSGal Schedule20112012 Estimate Accuracy Orbit[cm]3749 Clock[ns]0.10.250.10.25 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 )

12 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 )

13 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 Correction10571246*1240*106330sec Satellite Code Bias10591248*1242*10651day URA10611250*1244*106730sec High rate Clock Correction10621251*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” → http://qz-vision.jaxa.jp/USE/is-qzss/index_e.html Please check !

14 PPP WORKSHOP 2013 Evaluate Result

15 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 2011/06/04 - 2011/11/03 (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 )

16 Evaluation of offline PPP PPP WORKSHOP 2013 2013/01/13 -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

17 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: 0.114 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

18 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 2013 18 2012/2/2 - 2/14 (13 days), RTKPOST2.4.2, wrt IGS Final POS (* First 1H excluded) @TKSB with IGS FINAL E N U +0.2m -0.2m Evaluation result ( 4 / 6 ) Evaluation of simulated RT PPP

19 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)

20 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

21 PPP WORKSHOP 2013 Announcement

22 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” → http://qz-vision.jaxa.jp/USE/en/exp_schedules Please check here!

23 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 2013 10cm RMS E: 3.54cm N: 1.99 cm U: 13.10 cm 2012/5/30 12:00:00-23:59:59(12 hours),RTKLIB2.4.2, 31 GPS+QZS satellites, wrt PPP-static, IGS Final POS @NCKU MGM-net IGS/MGEX LEX msg. MCS @Okinawa @Tsukuba MADOCA LEX message generator JAXA’s LEX receiver SSR RTCM BINEX RAW LEX sig. SSR orbit&clock estimator with MADOCA-LEX Architecture

24 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 msg. MCS @Okinawa @Tsukuba 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 !

25 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!!

26 PPP WORKSHOP 2013 Thank you for your attention!!

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