RTCM
State Space Representation (SSR)
Overall Concepts Towards
PPP-RTK
Gerhard Wbbena
Geo++ GmbH
30827 Garbsen Germany
[Link]
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Contents
Terms and Abbreviations
RTCM-SSR Working Group
GNSS Error Sources
Carrier Phase Ambiguity Resolution
OSR and SSR approaches
RTCM SSR development requirements, strategy and rules
Standardization issues, consistency
OSR vs SSR
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Terms and Abbreviations
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Terms and Abbreviations
RTCM Radio Technical Commission for Maritime Services
SSR State Space Representation
error components affecting positioning application are represented as
parameters of state vector
OSR Observation Space Representation
lump sum of error components are represented in observation space
RT - Real Time vs
PP - Post Processing
PPP Precise Point Positioning Using SSR parameters to determine
precise position of single points In use since many years for postprocessing applications utilizing IGS state parameters (orbits, clocks) PP-PPP
RTK Real Time Kinematic Carrier phase based positioning yielding
centimeter accuracy with very short observation time on rovers through
carrier phase ambiguity resolution (AR): Centimeters in Seconds. In use
since approx. 20 years utilizing OSR from single reference stations and
networks (Network RTK)
PPP-RTK achieve RTK performance for single points using SSR
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Terms and Abbreviations
AR Ambiguity Resolution
DF Dual Frequency
SF Single Frequency
VTEC/STEC Ionospheric Vertical/Slant Total Electron Content
TTFA Time To Fix Ambiguities
WL Wide Lane
NL Narrow Lane
MW Melbourne-Wbbena WL-AR method
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
RTCM SSR Working Group
Primary goal:
Development of messages to exchange information about GNSS error
states (SSR) for precise positioning applications including RTK
Working Group established in 2007
~15 members
3 Stage Development Plan
1. Satellite Orbits, Clocks, Satellite Code Biases
Code Based DF-RT-PPP
2. Vertical Ionosphere (VTEC), Satellite Phase Biases
Code Based SF-RT-PPP, Carrier based DF-RT-PPP with AR
3. Slant Ionosphere (STEC) and Troposphere
RTK
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
GNSS Error Sources
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Satellite signal delay+bias
Satellite clock error
Satellite orbit error
(Satellite antenna PCV)
XBE
Ionosphere
Troposphere
Multipath
Antenna (PCV)
Rcvr clock error
Z
X
Y
WGS84
2012 Geo++ GmbH
RTCM
State Parameters
Major GNSS Error Sources / RTCM State Parameters
Rcvr signal delay+bias
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
Carrier Phase Ambiguity Resolution
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Ambiguity Resolution
RTK (Centimeters in Seconds) requires resolution of carrier phase
ambiguities
Different techniques have been developed in the past
GFAR Geometry Free AR
Linear combinations of different code and carrier signals are used to
determine ambiguities
Often used: Melbourne-Wbbena - MW
GBAR Geometry Based AR
Utilizes redundant satellites to find the optimal integer ambiguity
vector
Combines carrier wide lane and code narrow lane to resolve
wide lane ambiguity
Often used: Lambda method (Teunissen (1993) Technical University
of Delft)
Combinations of GFAR and GBAR
PPP-RTK & Open Standards Symposium,
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2012 Geo++ GmbH
First Order Ionospheric Effect on Signal Components
Signal components received at the same time have different apparent
transmission times
biases, higher order ionospheric and multipath effects ignored:
Apparent GPS Signal transmission Times (First order Iono Effect):
Codes delayed
C5 C2
C1
C0
R=tr-tt
tt
L0
Ionosheric free signal
L1
L2 L5
Carriers advanced
C1, C2, C5 Code Epochs on L1, L2, L5 Carrier
L1, L2, L5 Carrier Phase Epochs
C0, L0 Ionospheric free (First Order) Linear Combination for Code (C0)
and Carrier (L0)
RTK requires ambiguity free L0 or elimination of ionospheric effect
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Narrow and Wide Lanes
Apparent Signal Transmission Times:
Low
Noise
Code Narrow Lanes
Carrier Narrow Lanes
C1,0,1
C0,1,1
L0,1,-1
L1,0,1
L1,1,0
C1,1,0
C5 C2
Low Noise
Wavelength~ 11 cm
C1
L1,-1,0
L1,0,-1
C0
L0
Originally
Non-Integer LC
Carrier Wide Lanes
High Noise
Big Wavelength L1/L2 ~ 86 cm
L0,1,1
L1
L2 L5
Original Wavelength
~ 19 25 cm
Code Wide Lanes with
big noise + MP amplification
not shown
PPP-RTK & Open Standards Symposium,
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2012 Geo++ GmbH
GFAR Principle: Step 1: Solve n-1 Wide Lanes
Melbourne-Wbbena MW-AR:
Low
Noise
Code Narrow Lanes
C1,0,1
C0,1,1
C1,1,0
Limitation: Code Noise and
Multipath (TTFA: Minutes)
C1
C5 C2
L0,1,-1
Difference of Code Narrow Lanes and
Carrier Wide Lanes directly provides
Wide Lane Ambiguity
L1
L2 L5
L1,-1,0
L1,0,-1
Big
WL
Carrier Wide Lanes
HW signal biases ==>
Double Differences or Estimation
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
GFAR Principle: After Step 1: Even-Odd Condition
If
then
Ni-Nj is even
Ni+Nj is even
If
then
Ni-Nj is odd
Ni+Nj is odd
C1
C5 C2
L0,1,-1
Effective Narrow Lane WL increases by Factor: 2
L1,-1,0
L1,0,-1
High
WL
Carrier Wide Lanes
Ambiguities Resolved
Carrier Narrow Lanes
Low Noise
WL ~ 21 cm
L1,0,1
L1,1,0
L0,1,1
C0
L0
L1
L2 L5
Same Ambiguity for all Narrow Lanes
and Ionospheric Free L0
Integer LC WL ~ 11 cm!
Noise and MP of original signals
amplified by factor of ~3 in L0
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Ambiguity Resolution for L0
With resolved Wide-Lane ambiguities the ionospheric free signal (L0) has
integer ambiguity with a wavelength of approx. 11 cm.
L0 noise+MP ~ 3 * noise+MP in L1,L2,L5
AR for L0
Wavelength of ~11 cm and amplified noise and MP do not allow fast AR
Long TTFA for reliable AR
not within seconds or few minutes
L0-AR may not be feasible at all for kinematic applications
==> No RTK performance!
Solution:
Ionospheric constraints to increase the effective wavelength
With no ionosphere the effective wavelength for AR increases to twice
the wide lane wavelength (172 cm for GPS L1/L2) due to the evenodd condition between wide and narrow lane ambiguities
==> key issue for RTK performance
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR and SSR
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Observation Space Representation Raw Observation
satellite signal bias
satellite clock error
satellite orbit error
ionosphere
troposphere
multipath
Z
Observation = lump sum of all effects,
Y
per station, satellite, frequency, signal !
X WGS84
antenna (PCV)
rcvr clock error
rcvr signal bias
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
Observation Space Representation Range Correction
satellite signal bias
satellite clock error
satellite orbit error
ionosphere
troposphere
multipath
Z
Observation = lump sum of all effects
Y
Range Correction = Observation X WGS84
(geometric
distance + rcvr clock estimate)
per station, satellite, frequency, signal !
antenna (PCV)
rcvr clock error
rcvr signal bias
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
State Space Representation Error States
satellite signal bias
satellite clock error
satellite orbit error
ionosphere
troposphere
multipath
Z
X
antenna (PCV)
separation
Y and representation of
individual
WGS84 error components
rcvr clock error
rcvr signal bias
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
SSR Common and Individual States
satellite signal biases per frequency/signal
satellite clock error
satellite orbit error
per SV ionosphere
per satellite
ionosphere
troposphere
multipath
Z
X
antenna (PCV)
common
Y and individual
error
components for different signals,
WGS84
satellites and positions
rcvr clock error
rcvr signal bias
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
SSR Spatial Variations of Atmospheric States
satellite signal biases per frequency/signal
satellite clock error
satellite orbit error
per SV ionosphere
per satellite
ionosphere
troposphere
multipath
Z
X
antenna (PCV)
common
Y and individual
error
components for different signals,
WGS84
satellites and ground positions
rcvr clock error
rcvr signal bias
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
OSR Today
OSR in operation in many applications and services
Network-RTK
Well standardized methods
Non-physical reference station
PRS,VRS
MAC
Range correction differences
FKP
Range correction gradients
Network RTK services can fully or partly be derived from a State Space
Model (SSM)
Problems
High ionospheric irregularities still cause ambiguity fixing problems for
some rover types
VRS
PRS
MAC
FKP
Virtual Reference Station
Pseudo Reference Station
Master Auxiliary Concept
Flchenkorrekturparameter
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
SSR Today
Different SSR services are in operation
IGS Precise Point Positioning (PPP) Postprocessing
Main State Parameters (IGS products): Orbits, Clocks, (VTEC)
SBAS systems
State Parameters; Orbits, Clocks, VTEC
Proprietary systems with satellite communication
Network-RTK services derived from SSM and converted to OSR
Major Issue: Standardization for RT applications
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
Application to Rover System
OSR
RS
SSM
SSR
SSR2OSR
SSR
GGA
OSR
RTCM
Rover
GGA
SSR
OSR
RTCM
Rover
SSR2OSR
RTCM
Rover
SSR
Rover
past
GGA NMEA Position Messsage
future
SSM State Space Monitoring
SSM/SSR concept operationally
applied with Geo++ GNSMART
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
RTCM-SSR Development
Requirements, Strategy and Rules
RTCM Formats, May 2009, Geo++ GmbH, Garbsen, Germany.
General Requirements / Rules for RTCM-SSR
Development
RTCM-SSR shall be a self-contained format as far as possible.
I.e. all necessary information for consistent processing of an RTCM-SSR
stream shall be contained in the stream or shall be specified as part of the
standard document. The need for external information should be avoided.
TBC: SV-PCV
The definition of RTCM-SSR contents shall not limit/restrict the generation
of SSR streams to certain generation models or approaches.
Example: Conventional approaches with dynamic orbit modeling (IGS) as well
as approaches with kinematic orbit modeling shall be supported.
International conventions for observation modeling and/or corrections
shall be applied as far as necessary and as long as they are well defined
and documented and freely usable.
Do not prevent new ideas, models or approaches.
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
General Requirements / Rules
The standard shall allow different update rates for different state
parameters in a flexible way.
Different error states possess different variability with time. Slowly changing
states need lower update rates as highly variable states. This is the key
characteristic that allows minimization of stream bandwidth.
Self-consistency of RTSM-SSR streams must be achieved.
Consistent processing of SSR stream contents must be ensured.
Consistency is one of the major requirements in order to achieve the desired
performance. Consistency of algorithms and computations for reference
models must be assured as well as consistency of state parameter sets.
The RTCM-SSR standard shall support scalable global, continental,
regional and/or local applications.
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Standardization Issues
Consistency
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Standardization Issues and Conventions
Requirement: Consistent Modeling and Processing
Reference Frame(s) (Global, Regional,..)
Transformation into destination CRS
Site Displacements
Solid Earth Tides
Pole Tides
Ocean Loading
Atmospheric Loading
IERS conventions
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Standardization Issues and Conventions
Requirement: Consistent Modeling and Processing
Corrections and Reference Models
Reference orbit and clock computation (GNSS-ICDs)
Relativistic Effects (GNSS-ICDs, IERS conventions),
Phase Wind-Up (SV attitude),
Higher order ionosphere
Troposphere reference model
SV antenna PCO and PCV corrections
Signal dependent biases (phase shifts)
...
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Consistency
Parameter Consistency
static parameters to be specified in the standard document
non-static parameters preferably to be included in the SSR stream (selfcontained), alternatively to be referenced to external, freely accessible
documents
SSR Data Set Consistency
Self-Consistency of SSR parameters with different update rates must be
ensured
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Parameter Correlation and Self-Consistency
Different state parameters are correlated.
Example 1:
Satellite Clock and Satellite Signal Biases
Very high correlation / linear dependency
A different set of signal biases leads to different estimates for the
satellite clock. Due to the linear dependency (correlation=1) between
such parameters both estimates are equally valid.
A rover must use consistent set of state parameters. A mixing of
parameters from non-consistent sources is not allowed.
RTCM-SSR shall be self-contained ==> clocks and biases are to be
included into the streams.
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Parameter Correlation and Self-Consistency
Different state parameters are correlated.
Example 2:
Satellite Orbit and Satellite Clocks
The effect of a radial satellite orbit error in the range and phase
measurements can be calculated by
dobs=cos(nadir_distance)*dradial
In the vicinity of the earth the maximal nadir distance (satellite at 0
elevation) is about 14, so cos(14)~0.97. i.e. the influence of the
radial orbit error is in the range of 0.97...1.
A 10 cm radial orbits error, compensated by a 10 cm clock error
results in a maximum observation error of 3 mm at 0 elevation.
==> State Parameters must be self-consistent.
==> Do not mix state parameters from different sources.
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR vs SSR
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR vs SSR
Future variety of GNSS signals
OSR services must observe the different signals
Alternative: Mixture of OSR with satellite inter-signal biases taken
from SSR
SSR services must determine/use inter-signal biases
Spatial area of validity
OSR limited area of validity
SSR area of validity according to type of state parameter
Global: satellite state parameters (orbits,clocks,signal biases,...)
Global: coarse vertical ionosphere
Regional: dense vertical ionosphere, coarse troposphere
Local: precise slant ionosphere, dense troposphere
Temporal validity
OSR corresponding to validity of state parameter with highest variability
SSR validity according to characteristics of parameters (low rate,
medium rate, high rate parameters)
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR vs SSR
Performance Issues
OSR: performance is affected by local reference station antenna, nearand far-field multipath, signal diffraction and signal obstruction effects
SSR: local reference station effects are greatly reduced or eliminated
Scalability of Services
OSR: limited scalability
omit observations
SSR: good scalability
Covered area
Performance (Accuracy, Initialization Time)
Positioning Mode
SF / DF / TF
PPP, PPP-RTK
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR vs SSR
Communication Issues
Bandwidth
OSR: high update rate for all observables (typically 1 Hz) ==> high
bandwidth requirement
SSR: high update rates only for highly variable parameters (SV
clocks, Slant Ionosphere) ==> low bandwidth requirement
Simplex or Duplex communication channels
OSR: Duplex communication is required
VRS computation, selection of nearest reference station
SSR: Simplex/Broadcast communication generally sufficient
Possibility of highly compressed streams for large areas
Variety of media
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR vs SSR
Coordinate Reference Frame issues
OSR: global/continental/regional/local reference frames
Represented through reference station coordinates
Site displacements often neglected due to high correlation between
RS and rover
SSR: global/continental reference frames
Represented through satellite orbit
Regional and local frames through transformation
Site displacements must be corrected
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
OSR vs SSR
Service generation and infrastructure issues
OSR: Network-RTK services require homogeneous high quality RS
equipment
SSR:
different state parameters may be derived from different sets of RS
with different equipment
State parameters from different providers may be mixed as long as
consistency is maintained
Example: Use IGS-IGU precise predicted orbits and determine
satellite clock corrections
Standardization issues
OSR: low standardization efforts
SSR: high standardization efforts
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Summary
SSR can replace OSR techniques for all types of GNSS positioning
applications with better performance and less costs
SSR standardization is challenging
Status of RTCM-SSR and future steps: Next presentation
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH
Thank you for your attention!
PPP-RTK & Open Standards Symposium,
March 12-13, 2012, Frankfurt, Germany
2012 Geo++ GmbH