8th Multi GNSS Asia (MGA) Conference
Sofitel Philippine Plaza Manila, Metro Manila, Philippines
14-16 November 2016
Document No. SPAC-RI-161018-23-1
Conceptual Design of
ISO Based Positioning Augmentation Center
for Centimeter-class High Precision Application
Yasushi SAKURAI*, Koki ASARI*, Masayuki SAITO*, Izumi MIKAMI*,
Adam Leslie On ABDULLAH**, and Sham RAZAK**
*
Satellite Positioning Research and Application Center (SPAC)
General Incorporated Foundation, Japan
** Soartech System Sdn Bhd, Brunei Darussalam
1
Contents
1. Introduction
2. What is “Positioning
Augmentation
Center”?
3. Data Generation
Methods
4. Data Distribution
Methods
5. Typical design of
Augmentation Data
Center
6. Conclusion
Geospatial Society empowered
by Quasi-Zenith Satellite
2
1. Introduction
 Application of Centimeter class high precision positioning
service is expected to grow rapidly in Asia-Pacific region.
 Expansions of existing Continuously Operating Reference
Station (CORS) have been planned in many countries.
 However, “Positioning Augmentation Center(PAC)”, which
realizes high precision positioning service and applications,
has not been well discussed.
 SPAC has developed satellite based centimeter class
augmentation system (CMAS) and been accumulating
experiences as the augmentation center through utilization
demonstrations for many years using Japanese QZS-1.
 Based on our experiences, Conceptual Design of “Positioning
Augmentation Center” has been made considering variety of
applications.
3
1. Introduction-CMAS*
Satellite based centimeter class augmentation system (CMAS)
CMAS using GPS/GNSS multi-constellation, Authorized CORS is
distributed through QZSS LEX signal.
GPS/GNSS multi-constellation
QZSS
Orbit/Clock Error
L1/L2
signals
Signal Bias Error
500km
Ionospheric Delay Error
Coded SSR
Message Downlink
LEX (L6) signal
Coded SSR
Message
Uplink
80km
Tracking &
Control Station
11km
Tropospheric Delay Error
0km
L1/L2 signals
Navigation
Coded SSR
Messages
Authorized CORS Observation
(GEONET for Japan)
per second
Positioning
SSR Server ― CMAS
(for only Japan, in 2014 currently)
※ This figure shows a case of Application Demonstration since 2011
Master Control Station
(for Asia-Pacific)
4
1. Introduction-Application Demonstrations
2. What is “Positioning Augmentation Center”?
In 2015, ISO18197 “Space based services requirements for centimeter class
positioning”, has been introduced featuring State Space Representation(SSR).
The augmentation data volume to be broadcasted becomes far smaller than
conventional methods. “Positioning Augmentation Center” is defined here.
Augmentation Data by
State Space
Representation (SSR)
① GNSS Orbit Correction
② GNSS Clock Correction
③ GNSS Code Bias
④ GNSS Phase Bias
⑤ Ionospheric Correction
⑥ Tropospheric Correction
These augmentation data
are provided by
SSR server.
6
2. What is “Positioning Augmentation Center”?
Ranging Signal Broadcasting
Augmentation Data Broadcasting
GNSS (GPS,
GLONASS, Galileo,
BDS, QZSS, IRNSS)
Augmentation Satellites
(GEO, IGSO, MEO/LEO)
Augmentation
Data
Augmentation
Satellites
Control Stations
Ranging Signal
Navigation Data
Ranging
Signal
Receiving
Ground
Reference
Points
Augmentation Data
User
Terminal
Calculation of Position
Observables
a) Augmentation data generation
b) Monitoring of operation and measures
c) Detection of satellite signal anomaly
(Satellite clock error,
Satellite orbit error,
Ionospheric delay,
Others)
Augmentation
Data Uplink
Positioning
Augmentation
Centers
Augmentation Data
Generation
7
3. Data Generation Methods
Comparison of Centimeter-class Augmentation Generation Methods
Augmentation
Generation
Method
Positioning
Data
Accuracy
Transmission
(rms)
Nation-wide
Broadcast
volume
TTFF
Realtime
Adaptability for
moving vehicles
SSR
3cm
One Way
1695 bps
within
1min
Yes
Adaptable
FKP
3cm
One Way
1.5Mbps
within
30s
Yes
Adaptable
VRS
3cm
Two Way
－
within
30s
Yes
Adaptable only near
virtual reference stations
Two Way
－
within
30s
Yes
Adaptable only near
reference stations
Absolute
Positioning
Network
RTK
Relative
Positioning
RTK
(Relative Positioning)
3 cm
[Note] FKP: Flaechen Korrektur Parameter (in the German language), VRS: Virtual Reference Station
SSR has advantage in applying to Nation-wide broadcasting cost effectively by;
1. One way data transmission
2. Small data transmission rate
8
4. Data Distribution Methods
Data Distribution
Methods
Ground
Network
Satellite
Network
Network Evaluation
Capacity
Coverage
Cost
Examples
One
Way
 Radio
Broadcasting
△
○
○
 DGPS using
radio freq.
Two
Ways
 Fixed Line
Internet
○
×
○
 Global
augmentati
on service
 Mobile Phone
○
△
△
 Network
PPP
One
Way
 Broadcasting
Type Satellite
Usage
○
○
○
 EGNOS
using Inmarsat
 CMAS
using QZS
Two
Ways
 Communication
Type Satellite
Usage
○
○
×
 Global
augmentati
on service
DGPS: Differential GPS using radio frequencies
SBAS: Space Based Augmentation System using Geostationary Satellite
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5. Typical design of Augmentation Data Center
SSR Server developed by SPAC can generate “augmentation data” to correct position
error due to ionosphere, troposphere, etc. The data are universally applicable to any
positioning method to be chosen for Forest Management or other purposes.
CORS
Network
SSR
Server
(ISO18197)
Correction
Distribution
Augmentation Satellite
Positioning
Receiver
RTK-PPP
Single Frequency
PPP
Cellphone
Ranging
Signal
Receiving
Augmentation
Data
Generation
Augmentation
Data Link
Dual Frequency
PPP
Positioning
method
【NOTE】 SSR : State Space Representation. Standard Corrections for all types of error factors.
10
5. Typical design of Augmentation Data Center
(Case study for Brunei by working with Soartech Systems)
Brunei
CORS
Downstream
Application
Data Centre
in Brunei
RTK
mgn
CORS
Observables
SSR
Server
I/F
Providing
Server
RTCM
Ntrip
User
User
Integrated GIS
MMS
Drone
SW tool
etc.
HW
LIDAR
Remote Sensing
etc.
SSR
Network RTK
corrections
QZS
QZSS
Ground
System
Ground Network
RINEX
SW tool
HW
User
*Future alternative to be studied
11
Network Coverage for High Precision Services
(Case study for Brunei by working with Soartech Systems)
Prio
rity
Application Expected Working Area Mobile Phone
Coverage
Remarks
1
Constructi
on
Urban area
95%
Better coverage in Urban
Areas since more
development at Urban.
2
Transport
Urban and Certain Rural
Areas
70% (Certain
areas no
coverage at all)
Old highway infrastructure
has better coverage. New
highway from Telisai to
Lumut has limited coverage.
3
Mapping
Urban area is the first
priority
80%
Better coverage in Urban
Areas.
4
Oil & Gas
Onshore(Coastline/Offsho
re using their offshore
radar reception)
60%
Oil Rigs, Platforms and Jetty
Control Post.
5
Farming
Forest/Certain Rural Areas 40% Very weak
6
Forestry
Certain
Forest/Inlands/Onshore
©SPAC,2013 All rights reserved
Very low and limited
coverage.
Less than 40%
Very low and limited
Extremely weak coverage.
12
Satellite Network Usage for High Precision Services
‘Centimeter in seconds at anyplace and anytime’
RTK
Network RTK
RTK-PPP
10 Kilometer Area
from a Reference Station
Ground-based
Transmittable Area
Nation-wide Area
Per a Satellite Channel
RTK
Correction
Service Area
Cell-Phone
Service Area
QZSS
Service
Area
within 10km
Since 1990s
Since 2000s
RTK to RTK-PPP evolution
Since 2010s
QZSS Application Demonstration
13
started on 27 Dec 2010.
6. Conclusion
 High precision augmentation system is very much promising
technology in coming Multi-GNSS era.
 “Positioning Augmentation Center” is a key element of the
system.
 The Center should be designed considering available ground
network coverage for working area for each application, such
as civil construction, farming, etc.
 Application which working area is covered by ground
network, should have the first priority in exploring markets.
 As the market grows, usage of satellite network should be
studied for covering all applications.
 SSR method should be added to the center server for its wide
variety of applications from sub-meter to centimeter, and for
its small transmission data rate which make satellite
broadcasting possible.
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Thank you for your kind attention.
Presenter : Yasushi SAKURAI
Satellite Positioning Research and Application Center (SPAC)
KikaiShinko-Kaikan Bldg 4th Floor
3-5-8 Shibakoen Minato-ku, Tokyo, Japan
E-mail sakurai.yasushi @ eiseisokui.or.jp
15
Complementary Slides
16
1. Introduction-Growing Potential Market of
High precision positioning service
Construction activities in Asia-Pacific and
North America will drive GNSS growth
The sustained development of
the construction sector in AsiaPacific will drive the growth
of GNSS device shipments
Growth in GNSS devices is expected
to be driven by Cadastral Surveying
and Construction activities.
GNSS Market Report Issue 4, March 2015
17
3. Data Generation Methods
The latest satellite positioning methods had better be classified
in following 3 steps.
１ Correction
References
Networked
Reference
Stations
(CORS)
Single
Reference
Station
2 Correction
Representation
Method
State Space
Representation
(SSR)
Observation
Space
Representation
(OSR)
3
Position
Computing
Method
RTK-PPP
Dual Freq. PPP
Single Freq. PPP
FKP
VRS
RTK
Applications
Civil
Architecture
Maintenance
Mapping
Oil Plants
Gas Plants
Docking
Vehicles
Robots
Drones
Maritime
Agriculture
Construction
Real-estate
Surveying
18
RTK-PPP covers Diverse Needs
The 6th AOR
Workshop on GNSS
RTK-PPP has all of corrections to realize centimeter-accuracy.
Partial uses of corrections enable various needs at terminals.
<Application Example>
RTK-PPP
DF-RT-PPP
Satellite Clock
& Orbit
Satellite Clock
& Orbit
Highly Accurate
Maritime Positioning
Inter-Signal Bias
Inter-Signal Bias
Ionospheric Delay
Tropospheric Delay
Tens of minute convergence
& 10 centimeter-class Quality
SF-RT-PPP
<Application Example>
Advanced Navigation
in Urban Canyon
Satellite Clock
& Orbit
Ionospheric Delay
1 minute to Fix &
Centimeter-class Quality
Rapid Fix &
Decimeter-class Quality
Tokyo Marunouchi
19
CMAS major specification
Items
Specification
Stationary
and
Mobile
Broadcasting Target
Remark
・Use dual frequency carrier phase
(When using single frequency carrier
phase, only TTFF degrades.)
Horizontal
3 cm RMSE
Vertical
6 cm RMSE
Horizontal
3 cm RMSE ・ 4 km/hr representing low-speed
6 cm RMSE ・ 40 km/hr representing middle-speed
Stationary
Position
Accuracy
Mobile
Vertical
Time To First Fix (TTFF)
within 60 s
Transmission Rate of
Augmentation Data
1695 bps
・Using dual frequency carrier phase
・QZSS L6 signal
・1/1000 High-level compression
(*1) ： Position accuracy under condition of good visibility and alignment of satellites
(*2) ： Receiver error not considered.
20
Glossary
CORS
G.
GIS
GNSS
HW
I/F
LIDAR
Ntrip
mgn
MMS
QZS
QZSS
RINEX
RTCM
RTK
SSR
SW
Continuously Operating Reference Station
Government
Geographical Information System
Global Navigation Satellite System
HardWare
InterFace
Laser Imaging Detecting And Ranging
Networked Transport of RTCM via Internet Protocol (RTCM
10410.1)
Managing GNSS Network (SEGAL)
Mobile Mapping System
Quasi-Zenith Satellite (G. of Japan)
Quasi-Zenith Satellite System (G. of Japan)
Receiver INdependent EXchange Format (RTCM SC-104)
Radio Technical Commission for Maritime services
Real-Time Kinematic GNSS data (RTCM 10402.3 and 10403.2)
State Space Representation (RTCM 10403.2)
SoftWare