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Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Jan Douša, Pavel Václavovic

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1 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Jan Douša, Pavel Václavovic (jan.dousa@pecny.cz)jan.dousa@pecny.cz Geodetic Observatory Pecný, RIGTC, Czech Republic IGS MGEX splinter meeting Pasadena, June 25,2014 MGEX quality control with G-Nut/Anubis MGEX quality control with G-Nut/Anubis (tool, functionality & results) 1

2 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 2 Introduction G-Nut/Anubis – software development G-Nut/Anubis – software development G-Nut library + Anubis end-user application  QC: quantitative, qualitative, positioning, metadata Algorithms Algorithms   Multipath for all GNSS constellations, frequencies, signals   Pre-processing algorithms (clock jumps, cycle slips)   Standard positioning for stand alone GNSS – GPS, GLO, GAL, BDS Aim and focus Aim and focus   Support automated QC monitoring in data centre (multi-file, multi-plots,..)   Simple for use at command-line, non-redundant and easy grepable outputs RINEX3.x/2.x monitoring & application testing RINEX3.x/2.x monitoring & application testing IGS MGEX IGS MGEX, EURv3, EUREF historical repository   Image web-browsing: http://www.pecny.cz (GNSS, data-center)http://www.pecny.cz   QC extractions (http/ftp): http://www.pecny.cz/ftp/xtr_gnss/ (YEAR/DOY)http://www.pecny.cz/ftp/xtr_gnss/

3 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 3 Introduction & G-Nut library G-Nut/Anubis = G-Nut library + Anubis end-user application G-Nut library C++, object-oriented design, multi-threading multi-GNSS supportoffline real-timeultra-fast mode Designed for multi-GNSS support, offline & real-time/ultra-fast mode, etc. PPP processing Initially for PPP processing, but recently it supports Numerical Weather Model (NWM) data field processing Others applications expected in future (bias and clock estimates, time-series analysis, interface to GOP-TropDB) End-user applications G-Nut/Geb – precise positioning (static/kinematic) G-Nut/Tefnut – troposphere monitoring (real-time/post-processing) G-Nut/Anubis G-Nut/Anubis – data Q-monitoring (and editing) tool G-Nut/Shu – tropospheric correction model based on NWM input Vaclavovic P, Dousa J, Gyori G (2013), G-Nut software library - state of development and first results, Acta Geodynamica at Geomaterialia Vol. 10, No. 4 (172), pp 431-436, doi:10.13168/AGG.2013.0042

4 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) G-Nut/Anubis Version 1.1last fix: 1.1.2 Version 1.1: current release from April 29, 2014 (last fix: 1.1.2 on June 12 ) Version 1.2: Version 1.2: future release expected for July/August 2014 > open-source (GNU GPLv3) http://www.pecny.cz/ – GNSS – software – Anubishttp://www.pecny.cz/ > no dependency on large external library (  easy to install) Q-monitoring (current priority): Quantitative check (all GNSSs & regional augmentation) Qualitative check (partial support for all GNSSs) Meta data check (mainly in future) V1.1V1.2: Standard positioning (all GNSSs)  V1.1: GPS+GLO, V1.2: GPS+GLO+GAL+BDS Offline: Decoding RINEX2.x/3.x (Obs + Nav, alternatively SP3)  Real-time : RTCM2, RTCM3, RTCM-MSM (future)  QC for navigation messages (future) Data editing, cutting/splicing (future functionality)  To implement RINEX 3.x encoder (Obs+Nav)  To handle external station metadata information Vaclavovic P, Dousa J (2014), G-Nut/Anubis - open-source tool for multi-GNSS data monitoring, In: IAG Symposia Series, Springer, Vol. 143, (accepted 2014)

5 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 5 G-Nut/Anubis – sample XML configuration General setting (G-Nut) Input data & decoder setting (G-Nut) QC settings (G-Nut/Anubis) Site meta data settings (G-Nut) Output & format settings (G-Nut)

6 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 6 QC outputs and visualization Outputs:  1 RINEX file = 1 QC summary extraction (e.g. on daily basis) 1)XTR – detail extractions 1)XTR – detail extractions (summary & epoch-wise results)   ASCII - easy to process (by grep, awk, perl) and prepare plots   Sections: Summary, Header, Estimates, Obs-Stats, Ele/Azi (SkyPlots), Gap&Pieces, Bands, Multipath 2)XML – summary extractions 2)XML – summary extractions (initial CODE format)   Suitable for QC metrics, e.g. foreseen for remote RINEX file comparisons with GSAC etc. Supported visualizations:   1-site/1-day – single site file extraction (G-Nut/Anubis’s single XTR)   1-site/x-days – single site in x-days (evolution plots)   x-sites/1-days – all sites over a single directory (intercomparison plots) GOP – current focus on yearly plots:   1-site/1-year – yearly-based monitoring (QNT, QLT, POS)

7 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 7 Sample XTR output (1) #====== Summary (v.1) #GNSSUM 2013-04-15 00:00:00 ExpEp HavEp UseEp xCoEp xPhEp xCoSv xPhSv nSlp nJmp nGap nPcs mp1 mp2 mp5 mp6 mp7 mp8 =GPSSUM 2013-04-15 00:00:00 2880 2880 2877 3 3 430 424 1892 0 0 0 36.2 31.1 30.3 - - - =GALSUM 2013-04-15 00:00:00 2880 2880 974 0 0 2 2 0 0 0 0 18.4 - 23.3 - 23.3 8.6 =GLOSUM 2013-04-15 00:00:00 2880 2880 2880 0 0 162 156 0 0 0 0 45.6 43.3 - - - - =QZSSUM 2013-04-15 00:00:00 2880 2880 96 0 0 0 0 0 0 0 0 - - - - - - =SBSSUM 2013-04-15 00:00:00 2880 2880 2880 0 0 10226 10226 0 0 0 0 - - - - - - #====== Header (v.1) #LEGEND 2013-04-15 00:00:00 _RINEX_HEADER___________________________________ _USER_REQUEST___________________________________ =MARKER 2013-04-15 00:00:00 GOP7 11502M006 =RECEIV 2013-04-15 00:00:00 JAVAD TRE_G3TH DELTA3.5.0 00723 =ANTENN 2013-04-15 00:00:00 LEIAR25.R4 LEIT725071 =POSXYZ 2013-04-15 00:00:00 3979319.2600 1050312.8800 4857064.4800 0.0000 0.0000 0.0000 =ECCXYZ 2013-04-15 00:00:00 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 =ECCENU 2013-04-15 00:00:00 0.0000 0.0000 0.0653 0.0000 0.0000 0.0000 =BEGEND 2013-04-15 00:00:00 2013-04-15 00:00:00 xxxx-xx-xx xx:xx:xx 2013-04-15 00:00:00 2013-04-15 23:59:30 #====== Estimated (v.1) =XYZEST 2013-04-15 00:00:00 3979330.6514 1050314.3358 4857079.7111 =BLHEST 2013-04-15 00:00:00 49.91367782 14.78559577 611.5918 =BEGEND 2013-04-15 00:00:00 2013-04-15 00:00:00 2013-04-15 23:59:30 Prefix + Keyword Header line Epoch Data records Section & verbosity

8 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 8 Sample XTR output (2) #====== Observations (v.1) =GNSSYS 2013-04-15 00:00:00 5 GPS GAL GLO QZS SBS =GPSSAT 2013-04-15 00:00:00 32 G01 G02 G03 G04 G05 G06 G07 G08 G09 G10 G11 G12 G13 G14 G15 G16 G17 G18 G19 G20 G21 G22 G23 G24... =GALSAT 2013-04-15 00:00:00 2 - - - - - - - - - - E11 E12 - - - - - - - - - - - -... =GLOSAT 2013-04-15 00:00:00 24 R01 R02 R03 R04 R05 R06 R07 R08 R09 R10 R11 R12 R13 R14 R15 R16 R17 R18 R19 R20 R21 R22 R23 R24... =QZSSAT 2013-04-15 00:00:00 1 J01 - - - - - - - - - - - - - - - - - - - - - - -... =SBSSAT 2013-04-15 00:00:00 4 - - - - - - - - - - - - - - - - - - - S20 - - - S24... =GPSOBS 2013-04-15 00:00:00 25 C1C C1W C2L C2W C2X C5Q C5X L1C L1W L2L L2W L2X L5Q L5X D1C D2W D2X D5X S1C S1W S2L S2W S2X S5Q... =GALOBS 2013-04-15 00:00:00 29 C1C C1X C5Q C5X C7Q C7X C8Q C8X L1C L1X L5Q L5X L7Q L7X L8Q L8X D1X D5X D7X D8Q D8X S1C S1X S5Q... =GLOOBS 2013-04-15 00:00:00 20 C1C C1P C2C C2P XXX L1C L1P L2C L2P XXX D1C D1P D2C D2P XXX S1C S1P S2C S2P XXX =QZSOBS 2013-04-15 00:00:00 27 C1C C1X C1Z C2X C5X XXX C6X L1C L1X L1Z L2X L5X XXX L6X D1C D1X D1Z D2X D5X XXX S1C S1X S1Z S2X... =SBSOBS 2013-04-15 00:00:00 8 C1C C5I L1C L5I D1C D5I S1C S5I #====== Elevation & Azimuth (v.1) #GNSELE 2013-04-15 00:00:00 Mean x01 x02 x03 x04 x05 x06 x07 x08 x09 x10 x11 x12 x13 x14 x15 x16 x17 x18 x19 x20 x21 x22 x23 x24... GPSELE 2013-04-15 00:00:00 36 - - 46 - - 67 11 - - - - - - - 10 61 - 51 24 - 56 34 - -... GPSELE 2013-04-15 00:15:00 40 - - 53 - - 74 11 - - - - - - - 12 57 - 55 30 - 49 41 - -... GPSELE 2013-04-15 00:30:00 40 - - 60 - - 80 11 - - - - - - - 13 51 - 56 36 - 43 48 - -... GPSELE 2013-04-15 00:45:00 35 - - 67 - - 85 9 9 - - 3 - - - 14 44 - 56 43 - 37 54 - -... GPSELE 2013-04-15 01:00:00 34 - - 73 - - 81 7 9 - - 9 - - - 13 38 - 54 49 - 31 60 - -... GPSELE 2013-04-15 01:15:00 35 - - 77 - - 74 4 8 - - 14 - - - 11 31 - 50 56 - 25 64 - -...... Fixed satellite records Epoch-wise records with user predefined sampling Summary records Unrecognized /unsupported signal

9 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 1-day/1-site multipath (sat-specific and epoch-wise)

10 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 1-day/1-site constellation bands/freqs (AXPV)

11 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 11 Observation/satellite statistics Observation/satellite statistics (EURv3 campaign, AXPV 2012:200/2013:100)... tracking signals at different receivers and tracking changes due to firmware

12 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 12 Cumulative observation/satellite statistics Cumulative observation/satellite statistics (M-GEX campaign, 2013:150)... tracking signals at different receivers or changes due to firmware upgrades

13 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 13 Multipath for all receivers Multipath for all receivers (M-GEX campaign, 2013:215)... different receivers & different codes

14 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 14 Multipath history (GOP7: Javad)... evolution of multipath characteristics for different codes

15 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Routine monitoring IGS MGEX:  RINEX 3.x – GPS+GLO+GAL+BDS+SBS+QZS  2012, 2013, 2014  http://www.pecny.cz/Joomla25/index.php/gnss/data-center/igs-mgex http://www.pecny.cz/Joomla25/index.php/gnss/data-center/igs-mgexEURv3:  RINEX 3.x – GPS+GLO+GAL+BDS+SBS+QZS  2012, 2013, 2014  http://www.pecny.cz/Joomla25/index.php/gnss/data-center/euref-rnx3 http://www.pecny.cz/Joomla25/index.php/gnss/data-center/euref-rnx3 EUREF historical archive: EUREF historical archive: (RINEX 2.x)  RINEX 2.x – GPS+GLO  1996-2013  Preliminary solution  http://www.pecny.cz/WWW_IMG/MULTI-GNSS/EUREF/index.php (temporary location) http://www.pecny.cz/WWW_IMG/MULTI-GNSS/EUREF/index.php

16 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Stand alone GNSS standard positioning Galileo: a few satellites only... a few epochs in a day BeiDou: frequent missing observations due to the mixture of 1, 2 bands

17 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Epoch-to-epoch positioning repeatability Input: Epoch-wise stand alone GNSS standard positioning Output: daily individual GNSS means & repeatabitilities

18 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Mean daily multipath estimates Input: Epoch-wise all signal/bands/constellation multipath Output: daily means for all GNSS signals (& signal tracking information)

19 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) Mean daily multipath estimates Input: Epoch-wise all signal/bands/constellation multipath Output: daily means for all GNSS signals (& signal tracking information)

20 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 20

21 Research Institute of Geodesy,Topography and Cartography Geodetic Observatory Pecný (GOP) 21 Multipath algorithm (G-Nut/Anubis) Linear combination k = i i, j, k.. frequencies/bands – in the standard approach: k = i ! Preprocessing - cycle-slips need to be identify at least (or repaired) - simple CS identification incorporated within the algorithm - all signals, all frequencies, all constellations thus supported

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