GNSS Low-Cost Receiver Systems

Dinesh Manandhar
Center for Spatial Information Science
The University of Tokyo
Contact Information: dinesh@[Link]

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 1

 Quiz
• What is the Price of a GNSS Receiver?
• $10? $100? $500 $1,000 $3,000 $10,000 or more?
• What is the Accuracy that you can get from a GNSS receiver?
• mm, cm, dm, few meters or 10 – 30m
• But,
• What is your budget?
• What Accuracy do you need?
• What type of applications are you using?
• How do you log the data?
• Static Mode on a Tripod
• Dynamic Mode on a Car?
• Real-Time or Post-Processing

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 2

 High-End Survey Grade Receivers L1/E1/B1
L5/E5/B2/L3 L2 L6/E6/B3

• Multi-frequency
• L1/L2/L5/L6
• G1/G2
• E1/E5/E6
• B1/B2/B3
• Multi-system
• GPS, GLONASS, GALILEO, BeiDou,
QZSS, NAVIC, SBAS etc
• Price varies from $3, 000 to $30,000
or more

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 3

 Low-Cost Receivers L1/E1/B1*

• Multi-System
• GPS, GLONASS, GALILEO, BeiDou, QZSS, SBAS etc
• Basically Single Band
• L1-Band
• Very soon: Multi-System, Multi Frequency, L1/L2 or L1/L5
• Some chip makers have already announced Multi-System, Multi-
Frequency GNSS Chips for Mass Market
• Low Cost:
• Less than $300 (Multi-GNSS, L1 Only) including Antenna and all
necessary Hardware, Software
• The price of module itself is less than $100
*Note: Only one signal type from each system is processed
e.g. GPS has L1C/A and L1C in L1, ,but only L1C/A is used in Low-Cost Receiver
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 4
Our Definition of Low-Cost Receiver
• Price : $100 or less
• Accuracy : Better than 100cm
• Weight : Within 100gm

$100x100cmx100gm

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 5

 New Emerging Applications
• ITS • Timing Application
• ITS-Station (infra on the road side) • Internet
• ADAS • Financial Institutes
• V2X, V2I • Power Grids
• Public Transport Monitoring • Logistics Services
• Traffic Congestion • Emergency Services
• Public Safety and Security • eCall / ERA GLONASS
• Driver’s Behavior Monitoring • SAR (Search And Rescue)
• Toll Charge • Construction Management and Monitoring
• ERP (Electronic Road Pricing)
• Aviation
• Precise Agriculture • SBAS
• Drone Mapping • Marine
• Direct Geo-referencing
• VMS, AIS

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 6

 Many Applications require
Low-Cost, Small-Size & Low-Power
Receiver System

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 7

 But, is it possible to get
High-Accuracy with Low-Cost
Receivers?

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 8

 How Accurate is GPS?
Horizontal Accuracy : 1.891m @ 95%CI @ Location A
Verticle Accuracy : 3.872m @ 95%CI @ Location A

Global Accuracy Standard:

Better than 12.8m at 95% CI Global Average URE
Better than 30m at 99.94% CI Global Average URE
URE: User Range Error  Pseudorange Accuracy
Ref: [Link]

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 9

 Question?

Though the Normal Accuracy of GPS is about 10m,

why can we get Centimeter Level Accuracy?

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 10

GPS Position Accuracy: From few meters to centimeter
meter centimeter

50 cm grid 50 cm grid 5 cm grid

SPP (Single Point Position) DGPS (Differential GPS) RTK (Real Time Kinematic)

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 11

 Errors in GPS Observation (L1C/A Signal)
One-Sigma Error , m
Error Sources Comments
Total DGPS
Satellite Orbit 2.0 0.0 Common errors are
Satellite Clock 2.0 0.0 removed
Ionosphere Error 4.0 0.4 Common errors are
Troposphere Error 0.7 0.2 reduced
Multipath 1.4 1.4
Receiver Circuits 0.5 0.5
If we can remove common errors, position accuracy can be increased.
Common errors are: Satellite Orbit Errors, Clock Errors and Atmospheric Errors (within few km)
Values in the Table are just for illustrative purpose, not the exact measured values.
Table Source : [Link]

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 12

 How to Remove or Minimize Common Errors?
Use Differential Correction
30

[X]error = [X]known – [X]measured Send Correction Data to Rover

For Real-Time Position
Base-Station For RTK, both rover and base receivers Rover
Antenna is installed at a need to use the same satellites User in the Field
Base-station Antenna position known-position
shall be known in advance (Either fixed or moving)
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 13
 How to Remove or Minimize Common Errors?
Principle of QZSS MADOCA and CLAS Services
QZSS

GPS

Correction Data:
Correction data for other satellites
Satellite Orbit Error of GPS and Other Satellites
will also be provided
Satellite Clock Error of GPS and Other Satellites

Rover

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 14

 Low-Cost Receiver System : Type A
Real-Time or Post-Processing RTK, Base and Rover Mode
Tablet
GNSS Antenna Rover RasPi
APP
Ver. : 1.0
BT
Raspberry Pi 3B
GNSS Receiver
WiFi
U-blox M8T
Send RTCM Correction
NTRIP
data for RTK to Receiver
Caster

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 15

 Low-Cost Receiver System: Type B
Post-Processing RTK, Rover Mode Only
GNSS Antenna Rover

Raspberry Pi Zero w/WiFi&BT

GNSS Receiver

U-blox M8T

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 16

 Low- Cost Receiver System : Type C
Real-Time or Post-Processing RTK, Rover Mode Only
GNSS Antenna Rover

Tablet
RTKDroid Send RTCM Correction
GNSS Receiver
APP data for RTK to Receiver
Ver. : 1.0 WiFi
U-blox M8T (Internet)

NTRIP
Caster

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 17

 Low-Cost Receiver System : Type D
Real-Time or Post Processing PPP, Rover Mode Only
GNSS Antenna Rover
RTCM and/or SSR
PPP-RTK
Tablet e.g. MADOCA Service
GNSS MADROID
Receiver APP
Ver. : 1.0
WiFi
TBD
MADOCA
Correction
Server

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 18

 Low-Cost High-Accuracy Receiver System
TYPE A Type A: Low-Cost, High-Accuracy Receiver System TYPE B Type B: Low-Cost, High-Accuracy Receiver System
Real-Time and Post-Processing, Base and Rover Mode For Post-Processing & Rover Mode Only
Tablet
GNSS Antenna Rover RasPi
APP
GNSS Antenna Rover
Ver. : 1.0
BT
Raspberry Pi Zero w/WiFi&BT
Raspberry Pi 3B

GNSS Receiver WiFi

U-blox Neo-M8T RTCM for NTRIP GNSS Receiver
RTK Caster U-blox Neo-M8T

TYPE C Type C: Low-Cost, High-Accuracy Receiver System Type D: Low-Cost, High-Accuracy Receiver System
TYPE D
Real-Time and Post-Processing, Rover Mode Only Real-Time and Post-Processing, Rover Mode Only

GNSS Antenna Rover GNSS Antenna Rover RTCM and/or SSR

PPP-RTK
Tablet
RTCM for Tablet e.g. MADOCA Service
RtkDroid MADROID
APP RTK APP
Ver. : 1.0 Ver. : 1.0
GNSS Receiver WiFi GNSS Receiver WiFi MADOCA
U-blox Neo-M8T NTRIP U-blox Neo-M8T Correction
Caster Server

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 19

 Low-Cost Receiver Systems
RTK Base-
User Correction
Type Receiver System Usage Processing Mode Station
Interface Data Format
Engine Data

Type A Android NTRIP

2018 Q3 Real-time RTK Base or
Raspberry Pi 3B Device Server or RTCM 3
Beta Ver. Base and Rover Setting Rover
APP: RTKPI VRS (future)
Available

Raspberry Pi
Type B Zero/WiFi&BT
2018 Q3 Log Raw Data for Post- Post- RINEX
Option: Rover Only None
Beta Ver. processing RTK processing User Defined
RaspberryPi
Available
Camera

Type C Android
Real-time RTK NTRIP
2018 Q3 Device
Simultaneous Log of Android Device Rover Only Server or RTCM 3
Beta Ver. APP:
Raw Data VRS (future)
Available RTKDROID

Type D Real-time PPP

MADOCA MADOCA
2018 Q4 Based on MADOCA APP:
Android Device Rover Only Correction Format
Development Correction Data from MADROID
Data Server Future: CLAS
in Pipeline Internet

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 20

 Low-Cost High Accuracy System : Type A
Base-Station GNSS Antenna
Rover Unit (User)
GNSS Antenna Internet

WiFi Internet

GNSS Receiver Raspberry Pi 3B GNSS

Caster
NTRIP
U-blox M8T Receiver

GNSS Rover Unit USB Cable

(User in the Field)

BT

Tablet
RasPi APP for RTK RasPi NTRIP Caster GNSS Base-Station
SW Maps for GIS APP
Data Input Ver. : 1.0

Low-Cost RTK System

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 21
RTK-Pi APP for Low-Cost RTK System

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 22

Board Computer for Low-Cost RTK System
Raspberry Pi 3B for Raspberry Pi Zero w/WiFi & BT
Real-time and Post-processing RTK for Post-processing RTK

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 23

 Accuracy from Low-Cost RTK System
Tablet
GNSS Antenna Rover RasPi
APP
Ver. : 1.0
BT
Raspberry Pi 3B

GNSS Receiver WiFi

U-blox Neo-M8T NTRIP
Caster

Rover-Station:
Receiver: u-blox M8T

5cm
Antenna: Zephyr 2
Computer: RaspberryPi 3B+
Distance between Base and Rover : about 12Km
5cm
Base-Station:
Receiver: Trimble NetR9
Antenna: Zephyr 2
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 24
 Data from Low-Cost RTK System

Raw Data from Receiver

Pseudorange, Carrier Phase, Doppler etc

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 25

Data from Low-Cost RTK System

Navigation Data from Receiver

Includes Satellite Ephemeris Data, Satellite Clock Data etc

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 26

Low-Cost RTK Field Survey Data
Static, Tokyo

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 27

 One Hour RTK Post-processing, Static, Tokyo

Base : NetR9 (high)

Rover : NetR9 (high)
Show only
RTK FIX Data

50cm Grid 1cm Grid

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 28

 One Hour RTK Post-processing

Base : NetR9 (high)

Rover : U-bloxM8P (low)
Show only
RTK FIX Data

50cm Grid 1cm Grid

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 29

 One Hour RTK Processing

Base : U-bloxM8P (low)

Rover : U-bloxM8P (low)
Show only
RTK FIX Data

50cm Grid 1cm Grid

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 30

Future of Low-Cost GNSS Receiver Systems

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 31

 Future of Low Cost GNSS Receiver System
• IoT, ITS, UAV and many other location data related markets
are driving the receiver manufacturers to produce low-cost,
high-accuracy and better performance receiver systems even
in difficult environments.

• Manufacturers are also moving towards low-cost, high-

accuracy and better performance receivers systems to meet
the demand from location business.

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 32

 L5/E5/B2/L3 L2 L6/E6/B3 L1/E1/B1
Why Manufacturers are going for Low-
Cost, Dual-Frequency Systems?

• The figure shows that many GNSS signals are crowded

either in L1 or L5 bands.

• All GNSS have at least one signal either in L1 or L5 band

• L5 signals are stronger than L1 signals by few dBs

• L5 signals performs better than L1 signals in difficult

environment like urban area, forest or semi-indoor

• L5 frequency spectrum is reserved and protected for RNSS

• All these may lead receiver designers to focus on L1/L5

Dual Frequency Receiver rather than L1/L2 receiver

L2 L6/E6/B3 L1/E1/B1
Source: [Link]

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link]

33
33
Source : Broadcom

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 34

Broadcom already announced Dual-Frequency GNSS chip

Source : Broadcom

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 35

Multi-Band GNSS Receiver from u-Blox

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 36

 Smart-Phone GNSS for High-Accuracy Position
• Android Smart-Phone devices provide GNSS Raw Data
• Android OS Nougat (7.0) and higher output GNSS Raw Data

• GNSS Raw Data are necessary for RTK Processing

• Pseudorange, Carrier Phase, Doppler etc.
• It’s possible to do RTK with Smart-Phone device
• The only problem is Antenna

• An accuracy within One Meter from Smart-Phone device will

revolutionize Location Business

Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 37

 GNSS raw data on Android devices opens up
a range of possibilities and opportunities

Source: [Link]
Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@[Link] 38