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User Manual - gAGE

1. gAGE UPC GAGE UPC C Jordi Girona 1 3 Mod C3 Campus Nord UPC Research group of Astronomy amp Geomatics 08034 Barcelona Spain E a Tel 34 93 401 6030 Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Date 1 07 2011 ESA GNSS Education GNSS Lab tool Software User Manual Name Signature Date Updated A Rovira Garcia 1 07 2011 Originally created P Ramos Bosch Checked M Hernandez Pajares 1 07 2011 Accepted J M Juan 1 07 2011 Authorized J Sanz 1 07 2011 File EDUNAV SUM gAGE_UPC i1r7 Software User Manual Page 1 of 69 a gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC GAGEVPC ESAGNSS Education Re pa aa ee e EDUNAV i 7 http www gage es Date 1 07 201 1 Distribution List Internal Copies External Copies gAGE UPC Control 1 ESA 1 Document Change Log Iss Rev Date Section Page Change Description 1 0 08 09 2009 All First version of the document jA 29 10 2009 All Included RIDS comments from ESA and new screenshots from gLAB v1 2 1 2 22 01 2010 All General revision with new gLAB v1 3 1 1 3 08 07 2010 Section 4 6 Revision and update with new gLAB v1 4 Description of Auxiliary files Section 4 1 Inclusion of
2. model windup Correct the wind up term for carrier phase measurements default on model solidtides Correct the Earth surface deformation due to solid tides default on model relpath Correct the path range delay term due to the gravitational gradient between receiver and transmitter default on model orbit deg lt val gt Precise orbit interpolation degree default 10 model clock deg lt val gt Precise clock interpolation degree default 0 no interpolation model satellitehealth Only valid when using broadcasted products Use the healthy flag of the navigation message default on FILTERING OPTIONS filter trop Estimate the troposphere of the station default in PPP with carrier phase filter trop to disable it filter nav lt nav gt lt nav gt static Process supposing a static receiver default lt nav gt kinematic Process supposing a moving receiver filter meas lt meas gt lt meas gt pseudorange Use only pseudorange for positioning lt meas gt carrier phase Use pseudorange and carrier phase for positioning default filter select lt num gt lt meas1 gt lt Meas2 gt Select the measurements or combinations to include in the filtering lt num gt Number of measurements combinations lt measN gt List of measurements combinations Defaults PPP Pseudorange gt 1PC Defaults PPP Carrier phase gt 2PCLC Defaults Standalone Pseudorange gt 1 C1C Defaults Standalone
3. Carrier phase gt 2 C1C L1P filter fixedweight lt n gt lt val gt Apply the specified standard deviation to the measurement n to be used as weight in the filter lt n gt Measurement number lt val gt Standard deviation of the measurement m In particular the filter shall apply as weight 1 lt val gt 2 Sample filter fixedweight 1 2 Set 2 meters of standard deviation to measurement 1 in filter filter fixedweight 2 0 01 Set 1 centimeter of standard deviation to measurement 2 in filter Defaults PPP Pseudorange gt 1m Carrier phase gt 0 01m Standalone Pseudorange gt 2m Carrier phase gt 0 10m filter elevweight lt n gt lt a gt lt b gt lt c gt Apply the specified values to compute the standard deviation of the measurement n std a b e elevation c lt n gt Measurement number lt a gt Minimum standard deviation of the measurement weight at elevation 90 m lt b gt Multiplier to e standard deviation at elevation 0 m lt c gt Elevation constant degrees Software User Manual Page 60 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Research group of Astronomy amp Geomatics Technical University of Catalonia http www gage es filter phi d
4. Research group of Astronomy amp Geomatics Technical University of Catalonia http www gage es O e Parameters O O Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 EDUNAV ne 1 07 2011 Pseudorange smoothing epochs Use the Hatch filter to smooth the pseudorange measurements with carrier phase one This option will reduce the noise of the measurements included in the filter This should only be activated when processing with pseudorange only no carrier phase as the carrier phase is better included in the filter in that other way better than using smoothing The use of smoothing allows to enhance the pseudorange without the cost of the increased filter complexity for carrier phase amibiguities estimations The Hatch filter is defined as Pi smoothed mean P L Li Being the mean a function that computes the mean of pseudorange and carrier phase measurements This mean at epoch is obtained mean P L n 1 mean P L P L n being n the arc length at epoch limited to a maximum value This limitation is to reduce the effect of the ionospheric divergence between pseudorange and carrier phase measurements If both measurements do not have ionospheric divergence i e Pc and Lc the parameter can be as high as desired Configuration Grayed option Selected measurements for the filter Fixed stdDev m This sets the standard deviation of the corresponding measurement to be used as weight in the f
5. gLAB GNSS Lab tool GNSS Global Navigation Satellite System GUI Graphic User interface IGS International GNSS Service OSs Operative System PPP Precise point Positioning RD Reference Document SIS Signal In Space SOW Statement Of Work S W Software TBC To Be Confirmed TBD To Be Determined TBW To Be Written TGD Total Group Delay UD User Domain Software User Manua Page 8 of 69 SSS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 a e r EDUNAV http www gage es Date 1 07 201 1 UPC Technical University of Catalonia Software User Manual Page 9 of 69 E gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev roe cial riot of ae i E D U NAV http www gage es Date 1 07 201 1 2 gLAB SOFTWARE TOOL The gLAB software tool is able to run under Linux and Windows operating systems OS It is programmed in ANSI C and Python languages and contains three main software
6. modules e Data Processing Core DPC gLAB exe in Windows gLAB_linux for Linux e Graphic User Interface GUI and gLAB_GUl exe in Windows gLAB_GUIl py in Linux e Data Analysis Tool DAT graph exe in Windows graph py in Linux The DPC implements all the data processing algorithms and can be executed either in command line or with the GUI The GUI consists in different graphic panels for a user friendly managing of the SW and the tool configuration They provide all the options to configure the model and navigation The Data Analysis Tool provides a user friendly environment for the data analysis and results visualizing The tool contains a precise modelling of the GNSS observables code and phase at the centimetre level allowing both standalone GPS positioning and PPP The software is ready to incorporate future updates to Galileo or GLONASS systems 2 1 1 Software package features e Graphic User Interface GUI to ease the utilisation of the tool with most of the capabilities of the DPC The GUI allows a high customisation interface to process a wide range of options e Tooltips in the GUI which allow understanding and using the different options e Capable to read o Station measurements from Observation RINEX standard 2 11 o Station measurements from Observation RINEX standard 3 00 o Broadcast message from Navigation RINEX standard o Satellite clocks from Clocks RINEX standard o Satellite orbits and clocks from
7. prealigned in meters For GEO Field 8 C1 C1C Sample INPUT 2006 200 0 00 GPS 19 1 23119003 9020 23119002 6110 23119004 0750 23119002 7507 23119004 0925 o Print MEAS Messages It provides the MEASurement values It is shown after an epoch is read and decimated It contains the measurements for each satellite for this epoch Field 1 MEAS Field 2 Year Field 3 Doy Field 4 Seconds of day prealigned in meters prealigned in meters Software User Manual Page 40 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education tronom eomatics Iss Rev re ga ss e of ae E D U NAV http www gage es Date 1 07 201 1 Field 5 GNSS System GPS GAL GLO or GEO Field 6 PRN satellite identifier Field 7 Elevation of the satellite degrees Field 8 Azimuth of the satellite degrees Field 9 Number of Measurement s Field 10 Measurement identifier as string Field 11 Measurement s value m Sample MEAS 2010 081 300 00 GPS 30 30 00 240 00 6 C1C L1C C1P L1P C2P L2P 20228715 3270 0 0000 0 0000 20228715 2722 20228714 8230 20228714 7005 o Print MODEL Messages Model break down message It is shown when a model can be fully computed for each measurement Fiel
8. Models implemented all of them can be enabled or disabled o Satellite clock error correction o Transmission time computation Software User Manual Page 11 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev re ST ei of ae i E D U NAV http www gage es Date 1 07 201 1 o Earth rotation in flight time of the signal o Satellite phase center correction o Receiver phase center correction o Receiver Antenna Reference Point ARP correction o Relativistic correction o Klobuchar ionospheric correction o Tropospheric correction one simple model and the more refined Niell mapping model o P1 P2 Differential Code Bias DCB correction o P1 C1 Differential Code Bias DCB correction o Wind up effect o Solid tides correction o Gravitational delay correction an effect of general relativity due to the gravity field gradient between receiver and transmitter e Able to choose different measurements 1 or more for the filter estimation both carrier phase and pseudorange It could even work with a set of different pseudorange measurements from different signals This can be useful in the future Galileo scenario where
9. SP3 standard o lonospheric maps from IONEX standard o Constellation status with information between Satellite Vehicle Number SVN and PRN of the satellite o Antenna Phase Center information from ANTEX standard o Differential Code Biases from precise DCB files o Receiver type information from GPS Receiver File Types Software User Manual Page 10 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev re cial lariat of ae i E D U NAV http www gage es Date 1 07 201 1 e The DPC is able to work both with command line parameters and a configuration file e Automatically detects if the format is RINEX 2 11 or 3 00 e Fully capable to read Galileo and other constellations from RINEX e Able to process both pseudorange and carrier phase e Detection of cycle slips in carrier phase measurements for GPS with three different methods o Geometric free carrier phase combination o Melbourne W bbena combination o Code Phase difference for single frequency receivers e Time handling routines The native time format of the software is Modified Julian Day and seconds of day e Prealignment of carrier phase to pseudorange measurem
10. character position beginning by 0 such as c 1 POSTFIT amp 7 0 P First character of seventh column is P It is possible to operate between columns such as Software User Manual Page 67 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education R f Astronomy amp Geomatics Iss Rev 1 7 a of Guen E D U NAV http www gage es Date 1 07 201 1 c 9 11 lt 2 Linux users should use the signs to surround the parameter Besides they should use instead of when comparing strings Sample c 1 OUTPUT This is due to the difference when treating arguments between Windows and Linux Operating Systems 6 3 PROCESSING EXAMPLE The following example gives an overview of a simple plot generated using the gLAB DAT component The sample uses a out file generated by the DPC In particular uses the one generated in the example of section 5 1 This example generates the same plot that would generate the template button of Receiver NEU position error of the GUI Analysis tab Opening a command line window in the gLAB directory in Windows this can be directly done by the option Command line in directory in the program group installed in the St
11. clock correction section the difference of the gravitational potential general relativity affects the measurement This is a small effect that has elevation dependence and has a total effect of about 4 cm e Precise Products Data Interpolation This is the degree of the interpolation polynomial for the precise orbit and clocks this option has no effect when using broadcasted products O Orbit Interpolation Degree By default the interpolation is done with a polynomial of degree 9 but this value can be adjusted with this parameter Excessively low values would strongly affect the precision of the position obtained Clock Interpolation Degree By default no interpolation is done degree 0 but you can chose to activate the interpolation by providing a number different than 0 Due to the unpredictability of clocks and its non smoothed nature the interpolation of low sampling rate clocks i e t gt 30 secs would strongly affect the precision of the clocks obtained Only clocks with sampling rate higher than 1 30s should be interpolated with a polynomial of degree 1 Software User Manual Page 31 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 Techs Unkesiyoreaai
12. clock offset correction Orbit Interpolation Degree 9 Consider satellite movement during signal flight time Consider Earth rotation during signal flight time Clock Interpolation Degree 0 Satellite mass center to antenna phase center correction A Receiver Antenna Phase Center Correction Receiver antenna phase center correction O Specify Read from ANTEX Receiver antenna reference point correction Relativistic clock correction orbit excentricity O lonospheric correction Tropospheric correction Niel O P1 P2 correction Receiver Antenna Reference Point Correction P1 C1 correction Flexible l O Specify Rese reer RINEX Wind up correction Carrier phase only Solid tides correction Relativistic path range correction Save Config SPP Template PPP Template Run gLAB Figure 4 6 Modeling section screenshot e Modeling Options The following options allow to enable disable the different models included in the processing o Satellite clock offset correction The satellite clock errors correspond to the clock synchronism errors of the satellite clocks in relation to the GNSS system time scale These errors depend heavily on the type of oscillator of the satellite and are quite unpredictable They can only be obtained by some kind of estimation The typical source for estimations of these errors are the own navigation message or some kind of external est
13. gAGE UPC gAGE UPC ESA GNSS Education tronom eomatics Iss Rev roe ge Marah of ae E D U NAV http www gage es Date 1 07 201 1 4 4 GUI LIMITATIONS For an increased easiness in use the GUI does not include all the different options that the DPC is able to cope In order to use these GUl excluded features the command line DPC program should be used instead see section 5 GLAB Data Processing Core DPC In particular the following cases are not covered by the GUI e The DPC is able to compare two different sets of orbit and clocks e Besides from ANTEX the DPC can also read the GPSConstellationStatus txt file which can be found in RD 12 compiled and updated by Richard B Langley This file provides a dictionary between satellite PRN and SVN and its corresponding GPS Block This allows correcting the phase centers of the satellites e The GUI pseudorange smoothing configuration is only based on the smoothing window to use DPC also allows to specify which measurement will smooth which by means of the pre smoothMeas option e The GUI Available Frequencies option of Filter section can only take two different values Single or Dual Frequency With the DPC it is possible the specify availability of each frequency for example setting as available F1 and F5 of GPS by means of the pre availf option Software User Manual Page 49 of 69 SS gAGE UPC owns the copyright of this document which shall not be
14. gAGE UPC gAGE UPC ESA GNSS Education stronom eomatics Iss Rev roe ign Nara of ae i E D U NAV http www gage es Date 1 07 201 1 Modeling section The estimation depends on the model chosen to compute the Mwet e ev function Niell mapping should be used for more realistic results IMPORTANT Reliable troposphere estimation can only be obtained following options Navigation Mode PPP Template Measurements Pseudorange Carrier phase Available frequencies Dual Frequency Outside this specific case the troposhere estimation should be disabled e Available Frequencies Select which frequencies are available o Single Frequency Use this option to force the receiver to be understood as a single frequency one Discarding all the measurements in the F2 For conditions with the rest of the values of this window see SPP PPP Navigation Mode Templates o Dual Frequency Use this option to have the measurements for both frequencies F1 and F2 available For conditions with the rest of the values of this window see SPP PPP Navigation Mode Templates tooltips e Receiver Kinematics Select which is the supposed movement of the receiver o Static Select this option to do a processing supposing that the receiver is static This modifies the filter parameters Phi propagation and Q process noise for the positions to Phi 1 and Q 0 o Kinematic Select this option to do a processing supposing that the receiver is in movemen
15. httpi www gage es Date 1 07 2011 Contents 1 INTRODUCTION so cs eee ch eee es wees cece eee 6 1 1 DOCUMENT SCOPE AND PURPOSES 2 2 c ccececeneneseseceneseeetenessnasecenseesersenentennenecnnenes 6 1 2 DOCUMENT OVERVIEW AND STRUCTURE tciascctiviettiuincdsdsbecratdieiwedcasbsesentia eearercesiecdscebines 7 1 3 APPLICABLE AND REFERENCE DOCUMENTG eeseeeeeeeeeeeeeeeeeeeeeenaeeeeeeeeeeeteeeeeeneaaees 7 1 3 1 Applicable dJocUmEn S sesir E E 7 1 3 2 Reference Documents ciseicicccccincasninscaciesiactexeiarenctierencaseasemsetutbnetetenbiaaennzeenmadieetads 7 1 3 3 Acronyms and TENS x sic steccrvaavoneastnin aR A EEEE AE E 8 2 gLAB SOFTWARE OO OL asssssnessenunnrnnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnmnnn nnmn 10 2 1 1 Software package features cece cece eee ee eeeeeneaeeeee sees eet aa aaaaaaaeeeeeeeeeneneas 10 2 1 2 Identified MARGINS cs needa cnerete carats so aseeencxaiecatdsentisn naddoecesecemuasienticeceaidaatyess 12 2 1 3 Minimum hardware requirement cccceeeeeeeeeececeeeeeeeeeeeeenaeeeeeeseeeeeeeneeeas 13 2 1 4 Minimum software requirement ceceeeeeeeeeeeceneeeeeeeeeeeeeeneaaeeeeeeeeeeeeeeteeee 13 72s OE 9 0 ee ee ee eee ee ene eee ee ee ee ee ere ere 13 po ee a eee ee eer eee ee eee eee eeen nee eee ee ee ee ee ee 13 3 INSTALLATION PROCEDURE wcirisicsictceccttescetcieiesle thet ee eet 15 3 1 WINDOWS XP AND WIS TAY oie ee arr einsacg tient
16. in order to obtain an estimated value and the noise level of the combination The estimated value is compared against the measured value and the noise level is used for the threshold of this difference Difference must be lower than standardDeviation multiplied by a number slope This threshold has minimum min and maximum max saturation values Minimum threshold between estimated and measured BW values in relation to its standard deviation default 0 9 Maximum threshold between estimated and measured BW values in relation to its standard deviation default 18 Relation between estimated and measured BW values in relation to its standard deviation default 9 Use the L1 C1 combination for cycle slip detection 1 frequency Do not use the L1 C1 combination for cycle slip detection 1 frequency default The L1 C1 averages the difference between carrier phase and pseudorange measurements in F1 for several epochs This cycle slip detection method is very useful for single frequency receivers as it only requires measurements from one frequency As a counterpart the ionospheric term is different for C1 and L1 BW for cycle slip detection 2 Software User Manual Page 57 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE U
17. ionosphere data when correcting it see the 1 The last ANTEX files can be found in RD 5 The gLAB suite includes two different ANTEX files igs05 atx and igs_pre1400 atx The first file is directly downloaded from RD 5 and should be used for data sets after GPS week 1400 5 of November of 2006 The second one should be used before this date This is because there was a change in the way that Satellite Phase Centers were obtained Thence using Precise files for navigation with the incorrect set of ANTEX file will be translated in higher than expected errors 2 SP3 files can be found at the IGS site RD 6 Software User Manual Page 22 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Research group of Astronomy amp Geomatics Technical University of Catalonia http www gage es Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 EDUNAV eie 1 07 2011 Modeling section 4 2 3 for more information Broadcast same as navigation For Klobuchar ionospheric model use the same broadcasted file as for the orbits and clocks for the Klobuchar parameters Broadcast specify For Klobuchar ionospheric model specify a different broadcasted file to use for the Klobuchar parameters This option is also useful
18. is the raw measurement without smoothing but the Field 8 computation takes smoothing into account o Print POSTFIT Messages Postfilter values message It provides the corrected prefits with the filter estimation It is shown in each filter execution Field 1 POSTFIT Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 GNSS System GPS GAL GLO or GEO Field 6 PRN satellite identifier Field 7 Measurement identifier as string Field 8 Measurement corrected model value postfit m Field 9 Measurement value m Software User Manual Page 43 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education tronom eomatics Iss Rev roe ga ss e of ae E D U N A V http www gage es Date 1 07 201 1 Field 10 Corrected model value with the filter estimations m Field 11 Elevation of the satellite degrees Field 12 Azimuth of the satellite degrees Field 13 Only given for carrier phase measurements It is the estimated carrier phase ambiguity m Sample POSTFIT 2006 200 300 00 GPS 19 PC 0 0160 22982271 6557 22982270 5509 28 28 77 91 As with PREFIT messages Field 8 is not necessary Field 9 Field 10 when using smoothing o Print FILTER Messages Filter solution
19. message This message provides direct information on the filter estimates It is shown in each filter execution Field 1 FILTER Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 Filter estimates The order is 3D estimated position clock troposphere and ambiguities The number of fields is variable in this message With a full filter troposphere and ambiguities estimation the fileds are as follows Field 5 Receiver X position m Field 6 Receiver Y position m Field 7 Receiver Z position m Field 8 Receiver clock m Field 9 Troposphere m Field 10 Carrier phase ambiguities m Sample FILTER 2006 200 300 00 4849202 0700 360328 8991 4114913 3520 8 4316 0 0010 0 0001 0 9389 0 8663 1 1051 0 2317 0 0707 0 0001 0 5066 0 2393 o Print OUTPUT Messages Receiver solution message This message provides the estimated receiver position It is shown in each filter execution Field 1 OUTPUT Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 Square root of the sum of the covariance matrix This is a measure of the convergence of the filter Software User Manual Page 44 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group
20. of gLAB e Command line in directory which will open a new command line window in the directory gLAB was installed Executing the gLAB_GUI option will run the GUI program 3 1 1 Manual binary generation All the binaries of the Windows XP version of gLAB have been precompiled so no need to compile them again would be required In the case that the source code is modified or in the case that some of the binaries are not properly working a manual binary generation would be needed Windows Vista has some problems with the precompiled version of XP so this procedure should be applied to Windows Vista users For the manual binary generation the following programs need to be installed other versions may also work e MinGW v5 1 4 http sourceforge net projects mingw files e Python x y v2 1 14 http www pythonxy com During its installation please select as type of install Full Once these programs have been installed the script createEXE bat can be executed This script can be found in the installation directory of gLAB and will compile everything and create the proper binaries Software User Manual Page 15 of 69 SSS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education
21. or TGD default lt val gt dcb Use Precise DCB files P1 P2 and P1 C1 model dcb p1ci lt val gt lt val gt no Do not correct Differential Code Biases between P1 and C1 codes Do not identify C1 and P1 never lt val gt flexible Do not correct the Differential Code Biases between P1 and C1 codes default on Identify C1 and P1 when one of them is missing lt val gt strict Correct the Differential Code Biases between P1 and C1 codes Identify C1 and P1 when applicable defined by the receiver type model dcb p1p2 lt val gt lt val gt no Do not correct Differential Code Biases between codes P1 and P2 equivalent to model dcb p1p2 lt val gt RINEX Correct Differential Code Biases between codes P1 and P2 using TGDs from the RINEX navigation file default in SPP off in PPP lt val gt DCB Correct Differential Code Biases between codes P1 and P2 from a precise DCB file Identify C1 and P1 when applicable defined by the receiver type Software User Manual Page 59 of 69 SSS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education Research group of Astronomy amp Geomatics Iss Rev 1 7 Technical University of Catalonia E D U NAV http www gage es Date 1 07 201 1
22. preferences and about snapshot ve etn Section 6 4 Removed limitation of combination measurements and to save current configuration to a file Maximum number of filter iterations added eee a Satellite elevation and azimuth addition in 1 5 31 08 2010 Section 4 2 5 the Model message Section 4 2 3 Update according to the new DCB management Software User Manual Page 2 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education h group of Astronomy amp Geomatics Iss Rev 1 7 a University of Catalonia E D U NAV http www gage es Date 1 07 201 1 Iss Rev Date Section Page Change Description Update according to the final DCB Lo PAUBIENTD Ai management and new gLAB v 1 4 4 Revision and update with new gLAB v2 0 0 17 4 07 2011 All SATSEL message included in the output Troposheric model spitted into nominal and mapping Software User Manual Page 3 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education r eri EDUNAV ee i
23. program Software User Manual Page 16 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 nT esha Unersiyoreaaione EDUNAV http www gage es Date 1 07 201 1 4 gLAB GRAPHIC USER INTERFACE GUI 4 1 THE BASICS The GUI is an interface between the other two components the DPC and the DAT It will allow the user changing different parameters and execute the other two programs with the proper arguments The initial screen of the GUI can be seen in Figure 4 1 gLAB Version 2 0 0 gLAB ssseur About Cesa Preferences Positioning Analysis gLAB Developed by gAGE Research group of Astronomy amp GEomatics Technical University of Catalonia UPC Figure 4 1 Initial screen of the gLAB Graphic User Interface Two main tabs can be found e Positioning This tabs interfaces with the DPC tool and allows selecting all the different processing options e Analysis This tabs interfaces with the DAT tool and allows selecting all the different plotting options Software User Manual Page 17 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for wh
24. some processing with different measurements can be desired e Able to assign different weights for different measurements e Able to assign elevation dependant weights e Able to translate from cartesian native of the software to geodetic coordinates e Orientation estimation of both the satellites and the receiver and thence the azimuth elevation of the receiver satellite pair e Standalone processing using broadcast and C A code fully configurable to be able to used also carrier phase if required e Precise Point Positioning PPP with precise orbit and clocks precise models and Pc Lc measurements ionospheric free combinations It is also fully configurable e Able to create different plots to visualise the data processed e Detection and warning of convergence problems 2 1 2 Identified limitations The current version gLAB only implements full processing capabilities for GPS data Nevertheless the reading of RINEX 3 00 Galileo and GLONASS data functionality Software User Manual Page 12 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev re cit hl triad of ae i E D U NAV http www gage es Date 1 07 201 1 is also i
25. systems AD 07 default in SPP model trop mapping lt val gt lt val gt Simple Compute the mapping as the obliquity factor described in Black and Eisner 1984 This mapping only depends on satellite elevation and it is common for wet and dry components default in SPP lt val gt Niell Compute the mapping described in A E Niell 1996 This mapping considers different obliquity factors for the wet and dry components default in PPP model satclocks Correct the measurements with the satellite clock error estimations default on model relclock Correct the measurements with the relativistic clock model default on model satmovinflight Consider satellite movement during signal flight time default on model earthrotinflight Consider Earth rotation during signal flight time default on model satphasecenterCorrect satellite phase center to mass center corrections default on model recphasecenter lt val gt lt val gt no Do not correct antenna receiver phase center default lt val gt ANTEX Use the ANTEX file to correct the antenna phase center lt val gt lt nfreq gt lt dN gt lt dE gt lt dU gt Software User Manual Page 58 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA G
26. used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 Serr chaical Unversity or eataione EDUNAV http www gage es Date 1 07 201 1 4 2 5 Output This section provides all the configuration options to select which messages are output Figure 4 8 shows a screenshot of the OUTPUT section gLAB Version 2 0 0 glLAB e About Preferences Positioning Analysis Output Destination Output File gLAB out Examine Messages Print INFO Messages WMI Print CS Cycle Slip Messages M Print INPUT Messages C Print MEAS Message Print MODEL Messages Print EPOCHSAT Messages Print PREFIT Messages Print FILTER Messages M M Print POSTFIT Messages K A Print OUTPUT Messages Save Config I fig SPP Template PPP Template Run gLAB Figure 4 8 Output section screenshot e Output Destination Sets the output file where all messages will be written e Messages Individually select which messages are printed o Print INFO Messages INFO messages are shown at several points in the program and provide information on the program configuration and problems it may encounter o Print CS Cycle Slip Messages CS messages are shown when a cycle slip is found by an
27. when processing moving receivers trajectories or when the approximate receiver position is not known With this option activated the differential fields of the OUTPUT message will be zero lt val gt lt X gt lt y gt lt Z gt Specify the receiver apriori position in meters Sample pre recpossrc 4789032 7143 176594 9690 4195013 2268 lt val gt gpsrt Set the receiver type as the one specified in the GPS_Receiver_Types file provided by input rec default if input rec provided lt val gt 0 Set the receiver type as Unknown default lt val gt 1 Set the receiver type as Cross correlated In this mode P2 will be corrected with the DCB of P1 C1 lt val gt 3 Set the receiver type as Consistent measurements Prealign carrier phase measurements with its corresponding pseudorange default on n Page 56 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Research group of Astronomy amp Geomatics Technical University of Catalonia http www gage es pre cs li pre cs li pre cs li min lt val gt pre cs li max lt val gt pre cs li t0 lt val gt pre cs bw pre cs bw pre cs min lt val gt pre cs max lt val gt pre cs slope lt val gt pre
28. 1 in the proper directory cx Command line in directory lof x F Archivos de programa gLAB gt Figure 5 1 Command line screenshot In order to generate the selected processing the following command should be executed win gLAB exe input obs test madr2000 060 input ant test igs_prel400 atx input SP3 test igs13843 SP3 output gLAB_DPC out After a few seconds the file gLAB_DPC out will be generated with the all the output details Software User Manual Page 63 of 69 E gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education an Iss Rev 1 7 Pare echeacel University af Eatalonia EDUNAV http www gage es Date 1 07 201 1 6 gLAB DATA ANALYSIS TOOL DAT The DAT is an advanced plotting utility prepared to graph different combinations of columns taking into account several user defined conditions Figure 6 1 shows a screenshot of the DAT E Figure 1 North error East error Up error Figure 6 1 DAT screenshot It can be seen the position error for a PPP kinematic positioning for a single frequency receiver Software User Manual Page 64 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is sup
29. 311998170 0 3057 0 0171 0 1403 1 1365 0 6772 2 2637 0 9572 1 8306 2 1982 0 0097 0 4995 Providing a nominal a priori position is option for the processing but if it is given fields 9 10 11 18 19 and 20 will be given to this a priori position See the option A priori Receiver Position in the INPUT section Software User Manual Page 45 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 SPT echale Unversity oreataione EDUNAV http www gage es Date 1 07 201 1 4 3 ANALYSIS DAT INTERFACE The analysis tab allows configuring all the visualization options for the DAT Figure 4 9 shows a screenshot of the Analysis tab gLAB Version 2 0 0 esa QL Abie ARESE Preferences About Positioning Analysis Templates NEU positioning error Horizontal positioning error Zenith Tropospheric Delay lonospheric combinations Dilution Of Precision Satellite skyplot Ji e Carrier phase ambiguities L Measur Multipath soles Model components Prefit residuals Postfit residuals ort an and Clock comparison Global Graphic Parameters Title X label Y labe
30. AND REFERENCE DOCUMENTS 1 3 1 Applicable documents The following documents refer to the applicable documents for the project AD 01 RINEX 2 10 format http igscb jpl nasa gov igscb data format rinex21 1 txt AD 02 RINEX 3 00 format ftp epncb oma be pub data format rinex300 pdf AD 03 IONEX format http igscb jpl nasa gov igscb data format ionex1 pdf AD 04 SP3 format http igscb jpl nasa gov igscb data format sp3 txt AD 05 RINEX clock format http igscb jpl nasa gov igscb data format rinex_clock txt AD 06 ANTEX format ftp igscb jpl nasa gov igscb station general antex13 txt AD 07 RTCA MOPS December 2006 1 3 2 Reference Documents RD 1 Python Programming Language http www python org RD 2 Guide to Applying the ESA Software Engineering Standards to small Software Projects Doc No ESA BSSC 96 2 Issue 1 199 RD 3 Gnuplot http www gnuplot info RD 4 Architecture Design Document for gLAB gAGE UPC 2009 RD 5 ANTEX file http igscb jpl nasa gov igscb station general igs05 atx RD 6 SP3 files http igscb jpl nasa gov igscb product RD 7 GIPSY OASIS II Mathematical description 1986 Software User Manual Page 7 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Ref EDUNAV SUM gAGE UPC Research group of
31. Astronomy amp Geomatics Iss Rev 1 7 cial riot of Guen E D U NAV http www gage es Date 1 07 201 1 RD 8 A E Niell Global mapping functions for the atmosphere delay at radio wavelengths Journal of Geophysical Research Vol 101 No B2 p 3227 3246 1996 RD 9 RTCA 2001 Minimum Operational Performance Standards For Global Positioning Sysmte Wide Area Augmentation System Airborne Equipment RTCA DO 229C Prepared by SC 159 November 28 2001 Supersedes DO 229B Available at http Awww rtca org doclist asp pp 338 340 of 586 in PDF RD 10 D McCarthy and G Petit IERS Conventions International Earth Rotation and Reference Systems Service IERS 2003 RD 11 S Malsys M Larezos S Gottschalk S Mobbs B Winn W Feess M Menn E Swift E Merrigan and W Mathon The GPS accuracy improvement initiative ION GNSS 1997 Kansas City USA pp 375 384 1997 RD 12 GPSConstellationStatus txt file available at http gge unb ca Resources GPSConstellationStatus txt RD 13 ICD GPS 200 Navstar GPS Space Segment Navigation User Interfaces 1993 RD 14 Global Positioning System Standard Positioning Service Signal Specification U S Department of Defense DOD 4650 5 SPSSP V3 3rd Edition August 1 1998 1 3 3 Acronyms and Terms AD Applicable Document DAT Data Analysis Tool DPC Data Processing Core ESA European Space Agency gAGE Research Group of Astronomy and Geomatics
32. Biases DCB are the delays due to electronic antennas and cables of receiver and transmitter devices which directly affect the measurements with a bias Because the code generation depends on the Receiver Type this receiver related information has to be given together with the corrections gLAB works in two different modes Flexible gLAB will use whichever C1 or P1 measurement is available in the receiver without correcting DCB If both code measures are available P1 will be used as default Used when receiver provides C1 but P1 is missing or viceversa Strict gLAB Data Processing Core DPC stops if both files are not provided e Receiver Type File To identify how codes are generated in the receiver and how to remove these C1 P1 biases e P1 C1 DCB File Containing the P1 C1 DCB corrections Wind up correction Carrier phase only The wind up only appears in carrier phase measurements and is due to the rotation of the Line of sight vector in relation to the antenna The wind up has an accumulative effect and for fixed antennas can reach up to half the wave length of the measurement Solid tides correction The attraction of Sun and Moon and the inelasticity of the Earth s mantle cause variations to the positions of ground receivers This effect can reach up to some decimetres the model used is described in RD 10 and is implemented up to degree 3 Relativistic path range correction As introduced in the Relativistic
33. ESSING EXAMPLE asc ten cert attcs watts natecensietteswtettcecenatecateaniesecenm atc SEEE EEEE 68 Software User Manual Page 4 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Serr chaacal Universi oreataione EDUNAV http www gage es Date 1 07 201 1 List of Figures FIGURE 4 1 INITIAL SCREEN OF THE GLAB GRAPHIC USER INTERFACE cccccccceesesessteeeeeees 17 FIGURE 4 2 PREFERENCES FRAME sianatssiuisttaisadesasacadiasdiclsdastadcentesidverieinaviaatecssbeneweetacniadeaenes 18 FIGURE 4 3 ABOUT FRAME co arcasaicicsarsiatocaidiaadsandcanmetatdanncaitaacmastdeatainaatidsacaattcrnnatceienaieonncad 19 FIGURE 4 4 SCREENSHOT OF THE INPUT SECTION ccccccccececcceceeeeeeceecececeeeeeeeeeeeeeeeeeeeesesess 21 FIGURE 4 5 PREPROCESS SECTION SCREENSHOT ccccccccccececeecceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeness 25 FIGURE 4 6 MODELING SECTION SCREENSHOT ccccccceeceeeeecececccceceeceeceeceeeeeeeeeeeeesesseseseeeeeeess 28 FIGURE 4 7 FILTER SECTION SCREENSHOT astincssceasacsteancadsscadaattiaccedsacnasaaitiandearsatteascattceetoees 33 FIGURE 4 8 OUTPUT SECTION SCREENSHOT adetivsadseniisisseteiedsssasvelsdedeveasvenvucissbbortht otnestedeatenss 38 FIGURE 4 9 ANALYSIS
34. NSS Education of Astronom eomatics Iss Rev roe aa n of ae i E D U NAV http www gage es Date 1 07 201 1 Set dN dE dU as the antenna phase center for the frequency lt nfreq gt lt nfreq gt Frequency number typical for GPS 1 and lt dN gt North correction in meters lt dE gt East correction in meters lt dU gt Up correction in meters Sample model recphasecenter 1 0 0 0 11 model recphasecenter 2 0 0 0 128 Typical AOAD M_T antenna phase center correction 11 cm and 12 8 cm in the Up component for frequencies 1 and 2 model radomestrict When using ANTEX to correct the receiver phase center this option will force a perfect match between the antenna name and radome reported in the receiver RINEX file and the ones in the ANTEX file If this option is disabled and the radome is not found the corrections will be used considering the radome NONE default off model arp lt val gt lt val gt no Do not apply any Antenna Referece Point ARP correction default lt val gt RINEX Use as ARP the information on the RINEX file field ANTENNA DELTA H E N lt val gt lt dN gt lt dE gt lt dU gt Set dN dE dU as the ARP lt dN gt North correction in meters lt dE gt East correction in meters lt dU gt Up correction in meters model tgd lt val gt lt val gt no Do not correct Differential Code Biases between frequencies lt val gt brdc Use RINEX Navigation file P2 P1
35. PC gAGE UPC ESA GNSS Education of Astronom eomatics Iss Rev roe ga ss e of ae i E D U NAV http www gage es Date 1 07 201 1 thence this combination will tend to diverge It becomes necessary to set a smoothing window to limit this divergence pre cs l1c1 window This makes that this method becomes a bit limited with data rates too low Ideally this method should be used with rates of 1Hz or higher pre cs l1c1 slope lt val gt Relation between estimated and measured L1 C1 values in relation to its standard deviation default 5 pre cs l1c1 window lt val gt Number of epochs to limit the L1 C1 ionosphere divergence default 100 pre cs l1c1 max lt val gt Maximum standard deviation for the threshold calculation in the L1 C1 default 15 m MODELING OPTIONS use model to activate model to deactivate model iono lt val gt lt val gt no Do not correct ionosphere default in PPP equivalent to model iono lt val gt Klobuchar Correct measurements with klobuchar model default in standalone model trop nominal lt val gt lt val gt Simple Compute a simple tropospheric nominal depending on receiver s height over the sea level default in PPP lt val gt UNB3 Troposphere nominals are calculated from the receivers height and estimates of five meteorological parameters pressure temperature water vapour pressure temperature lapse rate and water vapour lapse rate It is adopted by SBAS
36. Page 42 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education tronom eomatics Iss Rev roe ga ss e of ae E D U N A V http www gage es Date 1 07 201 1 Sample EPOCHSAT 2006 200 300 00 PC 7 153 19 16 18 21 22 o Print SATSEL Messages Message with debug information of the reason why a Satellite has been discarded or selected for processing Sample SATSEL 7 discarded Elevation too low 3 04 o Print PREFIT Messages Prefilter values message It provides the measurement model values It is shown in each filter execution Field 1 PREFIT if the satellite is used in the computation or PREFIT if it is not Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 GNSS System GPS GAL GLO or GEO Field 6 PRN satellite identifier Field 7 Measurement identifier as string Field 8 Measurement model value prefit m Field 9 Measurement value m Field 10 Model value m Field 11 Elevation of the satellite degrees Field 12 Azimuth of the satellite degrees Sample PREFIT 2006 200 300 00 GPS 19 LC 7 3029 22982271 7155 22982279 0184 28 28 77 91 In general Field 8 Field 9 Field 10 but this is no longer true when using smoothing as the Field 9
37. TAB SCREENSHOT s icianssmansiarnianeiamaanarialtiaimiantsacmiansiesaracteimnateies 46 FIGURE 4 10 GUI SPLASH SCREEN s ic ssincnivntichsnutdaiivatindeus Bu tans visa lnubDpstiancossteencauniventuabinetiedsad 50 FIGURE 4 11 INPUT SECTION seictscvicierainviradeantincantonncsaaiaannseitanarsaataeacadxaadeaeteeatacanaticenaitonvends 50 FIGURE 4 12 FILE OPEN DIALOG 1 3 ssexiaxasateiazatieniacatansideaiazesaaticniaenidiniaraaeatareiamiateiaaiarnras 50 FIGURE 4 13 FILE OPEN DIALOG 2 3 ccsiscnidsacainieresatelarsininistciateateaenieiareitaatminsetateinttententteas 50 FIGURE 4 14 FILE OPEN DIALOG 3 3 ieisiesteiarictasssintdnaMoeei esis einaricteinpiaedsiadieetetidnareeladaas 51 FIGURE 4 15 UPDATED INPUT SECTION scisissaveiassicenensscatecastidixrnlaccteanidccexcnlacatecsetesscntaenstnienios 51 FIGURE 4 16 ALL INPUT FILES ARE SELECTED siscssaselssaesentarnaaextarnncenta maniniarmaniniarnsaieaentacmencneas 52 FIGURE 4 17 FILTER SECTION Munenncenawdnnanad maa ET E E E 52 FIGURE 4 18 OUTPUT SECTION scisiscsrgansrzsananctastadereasaqagebeaieintscadembiemiateemidesteieieiateentdenteeeieiad 52 FIGURE 4 19 FILE OPEN DIALOG FOR SELECTING THE OUTPUT FILE ccccceeeeeeeeeeeeeeeeeeeeeeeees 52 FIGURE 4 20 OUTPUT SEUE CTE i ininrensieranetransexnnmiantichenatexenaminccteneinteaxatennctutipenbecetenieetinne 53 FIGURE 4 21 DPC HAS BEEN EXECUTED issccsceiscasieniacarsvaiarasarelawnien in eiumelarninimudeierenmmpiemianntes 53 FIGURE 4 22 ANALYSIS TAB sicesdesocrc
38. UPC gAGE UPC ESA GNSS Education of Astronom eomatics Iss Rev 1 7 ign Nara of ae i E D U NAV http www gage es Date 1 07 201 1 5 gLAB DATA PROCESSING CORE DPC The DPC is the processing tool of gLAB it has been programmed in C with special care for the following objectives e Easy to use for an advanced user e Modularized in order to incorporate future updates e Optimized for CPU and memory usage The options of the DPC are basically the same as the options of the GUI with the exceptions taken in consideration in section 4 4 GUI Limitations The DPC can be executed with the argument help which will provide detailed information of the different arguments that can be used The following lines are an extract of the help inline information Options help Shows this help examples Shows some examples to call the program config Shows some info on the configuration file messages Shows the fields of each output message see below VERBOSE OPTIONS INPUT OPTIONS input cfg lt file gt Sets the input configuration file input obs lt file gt Sets the input RINEX observation file input nav lt file gt Sets the input RINEX navigation message file only for standalone input sp3 lt file gt Sets the input SP3 orbits and clocks file only for PPP input orb lt file gt Sets the input SP3 orbits only for PPP input clk lt file gt Sets the input clock file only for PPP input con lt file gt Set
39. a 0 a p Panar Aralysis z ou orocess sen references Documentos recientes G Escritorio Mis documentos MiPC Mis sitios de red Nombre madr2000 060 Tipo Save conto SPP Terotste PPP Temetate L Rna Figure 4 14 File Open dialog 3 3 Figure 4 15 Updated nput section Once input files are selected Figure 4 16 Filter section button should be clicked in order to configure all the filter parameters Once in this screen Figure 4 17 the following parameters should be used if not already checked e Navigation mode PPP Template e Estimate troposphere Yes e Available frequencies Dual frequency e Receiver Kinematics Static e Measurement selection Pseudorange Carrier phase All these parameters are the default ones so no special change should be done if the program has just started After being sure all parameters are properly selected the output file should be selected by clicking in the Output section Software User Manual Page 51 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 gAGE UPC ESA GNSS Education a aan eed EDUNAV http www gage es Date 1 07 201 1 equeey Int O Bevater Stev m eene kroman LO F
40. ae Iss Rev 1 7 nee echeacel University of eatalorae EDUNAV http www gage es Date 1 07 201 1 3 2 LINUX gLAB has been successfully tested under Ubuntu but should work in other Linux distributions The Linux version of gLAB has to be decompressed to a directory using the following command tar xvzf glab_vx x tgz This will create a directory called gLAB with all the program structure Next it is necessary to compile the DPC for this cd gLAB make f makefile_linux This will create the binary for the DPC of gLAB gLAB_linux In order to be able to launch the python programs GUI and DAT it is necessary to have the following packets installed in the system other versions may also work e Python v2 5 4 e wxPython v2 8 9 2 e Python matplotlib v0 98 5 4 e Python Tkinter v5 4 0 In ubuntu this can easily be done by using the following command apt get install python python wxtools python matplotlib python tk 3 3 DIRECTORY STRUCTURE gLAB gLAB src gLAB test gLAB win The gLAB directory contains all the binaries python programs and other files The gLABy src directory contains the C source code of the DPC The gLAB win only available in the windows distribution directory contains all the required data for the GUI and DAT binaries This directory can be fully generated by the Manual binary generation procedure set above The gLAB test directory contains a set of test files to be used with the gLAB
41. ains the measurements for each satellite for this epochs Field 1 INPUT Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 GNSS System GPS GAL GLO or GEO Field 6 PRN satellite identifier Field 7 Arc length number of undecimated epochs after the last cycle slip 3 These measurements are the ones that are shown in the INPUT message Nevertheless all the measurements included in the RINEX are read and stored by gLAB for its later use in case of need even if they are not printed in the INPUT message Software User Manual Page 39 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGEWPC ESA GNSS Education h f i Iss Rev 1 7 ig apni iin Da EDUNAV http www gage es Date 1 07 201 1 For GPS Field 8 C1 C1C Field 9 P1 C1P Field 10 P2 C2P Field 11 L1 L1P prealigned in meters Field 12 L2 L2P prealigned in meters For Galileo GAL Field 8 C1A Field 9 C1B Field 10 C1C Field 11 C7Q Field 12 C8Q Field 13 L1A prealigned in meters Field 14 L1B prealigned in meters Field 15 L1C Field 16 L7Q Field 17 L8Q prealigned in meters For GLONASS GLO Field 8 C1 C1C Field 9 C2 C2C Field 10 L1 L1P prealigned in meters Field 11 L2 L2P
42. ameter belong to that specific plot f file Set the input filename for the specific plot x X Xcol Set the source of the x axis X 4 or x 4 will take as x axis the 4th column of the input file Operations can be done in this parameter such as x 4 5 This will take the difference between the 4th and the 5 column Mathematical functions and constants are supported Software User Manual Page 65 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGEUPC ESAGNSS Education Re p ae EDUNAV ie http www gage es Date 1 07 201 1 x math sin 12 math pi 180 y Y Ycol Set the source of the y axis Identical properties than x column C cond Specify the plotting condition c 6 gt 10 Include the 6th column if it is equal or greater than 10 c 1 OUTPUT Include the 1st column by a specific string surrounding the string by Mathematical functions booleans and constants are supported c 1 POSTFIT amp math e 12 5 gt 5 0 l label plotlabel Sets the label for the current plot S style Sets the style for the current plot The following styles are supported circle marker DEFAULT solid line style dashed line style dash do
43. art menu Using this option a command line window will open Figure 5 1 in the proper directory In order to generate the plot the following command should be executed win graph ex t Receiver NEU position error xl time s yl error m gLAB_DPC out Xx 4 18 S1 OUTPUT 1 North error f gLAB_DPC out x 4 y 19 c S 1 OUTPUT 1 East error f gLAB_DPC out x 4 y 20 c 1 OUTPUT 1 Up error This will generate the plot seen in Figure 4 24 Software User Manual Page 68 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education A esearch group of Astronom eomatics Iss Rev o 5 cit E E of eerie E D U NAV http www gage es Date 1 07 201 1 End of Document Software User Manual Page 69 of 69 p gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner
44. ate 1 07 2011 ESA GNSS Education EDUNAV Position The Apriori receiver position in the Input section is used Clock A 0 value is assigned due to its high variability Troposphere Due to the fact that about 90 of the troposphere is corrected by a proper modeling and only about a 10 has to be estimated and is usually around 10 cm a O value is used for apriori Carrier phase ambiguities As carrier phase is prealigned with code the ambiguities are not far from 0 thence this value is used as apriori The parameter Pp sets the initial uncertainty of these apriori values o Position This comprises the 3 parameters with the 3D position XYZ of the receiver Typical values Apriori value Apriori receiver position configured in Input section Phi 1 Static positioning 0 Kinematic positioning Process noise 0 Static positioning inf Kinematic positioning Initial covariance inf A smaller value for the initial covariance will increase the convergence time but would require a good initial position o Receiver Clock This parameter is the receiver clock synchronism error referring to GPS time scale Typical values Apriori value 0 Phi 0 Process noise inf Initial covariance inf o Troposphere This parameter estimates part of the troposphere not taken into account in the nominal model see Modeling section This 10 is mostly associated with the wet component of the troposph
45. ation from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education pa eer cores EDUNAV oe i httpi www gage es Date 1 07 2011 print postfit Print POSTFIT messages default off print filter Print FILTER messages default off print output Print OUTPUT messages default on print satdif Print SATDIFF messages in comparison mode see below default on print satstat Print SATSTAT messages in comparison mode see below default on print satstattot Print SATSTATTOT messages in comparison mode see below default on print all Print all messages print none Do not print anything More information on print messages can be seen with the messages option WORK MODES gLAB can work in three different modes Positioning Mode Standard mode where all the processing is done and a solution for a receiver is provided as OUTPUT messages The minimum parameters required for this mode are an input observation file input obs and orbit and clock products input nav input SP3 or input orb input clk Using precise products will also require the use of an ANTEX file input ant Show Input Mode This mode only reads an input RINEX observation file and print its measurements The parameter required for this mode is input obs and specifically no orbit and clock products should be provided if provided gLAB will switch to Positioning Mode Product Comparison Mode This mode reads an
46. cation Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Research group of Astronomy amp Geomatics Technical University of Catalonia E D U NAV http www gage es Date 1 07 201 1 epoch should have an accuracy in the order of the centimeter and can be used as a good reference position North East dispersion The North East dispersion template sets the options to print the North vs East position error components This provides an insight of the horizontal dispersion and bias of the errors Model components The Model components template sets the options to print a component of the model as a function of time By default it selects the Relativity effect but it can easily be chosen which model to print by selecting itin the Y Column option lonospheric combinations The lonospheric combinations template sets the options to print the two ionospheric geometric free combinations P P2 P1 pseudorange and L L1 L2 carrier phase Zenith Tropospheric Delay The Zenith Tropospheric Delay template sets the options to print the tropospheric estimations as a function of time It includes the nominal part corrected in the modelling and the estimated part computed in the filter Postfit residuals The Postfit residuals template sets the options to print the filter residuals postfits as a function of the satellite elevation It prints both pseudorange and carrier phase postfits This plot allows observing the dependence of residuals f
47. cs l1c1 pre cs l1c1 Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 EDUNAV beie 1 07 2011 Use the carrier phase geometric free combination Li for cycle slip detection 2 frequencies default Do not use carrier phase geometric free combination Li for cycle slip detection 2 frequencies Li combination is a slow varying function which only has ambiguity and ionosphere Each epoch and satellite an expected Li value is computed and compared against the measured one if this difference is above a certain threshold a cycle slip is marked This threshold is max max min exp dt To being dt the time between epochs Minimum threshold between estimated and measured Li values default 0 034 Maximum threshold between estimated and measured Li values default 0 08 Time constant to set the threshold between maximum and minimum default 60 Use Melbourne W bbena frequencies default Do not use Melbourne W bbena BW for cycle slip detection 2 frequencies BW combination is a mixed combination between carrier phase and pseudoranges This combination is free of ionosphere and geometry thence constant but it is affected by the receiver noise and multipath due to the pseudorange measurements used If this noise is low enough it is straight forward to detect cycle slips but in noisy environments BW is not able to detect cycle slips The algorithm using BW computes the mean and the standard deviation of the last epochs
48. d 1 MODEL Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 GNSS System GPS GAL GLO or GEO Field 6 PRN satellite identifier Field 7 Measurement identifier as string Field 8 Signal flight time sec Field 9 Measured value m Field 10 Full model value m Field 11 Satellite X position m Field 12 Satellite Y position m Field 13 Satellite Z position m Field 14 Satellite X velocity m Field 15 Satellite Y velocity m Field 16 Satellite Z velocity m Field 17 Satellite receiver geometric distance m Field 18 Satellite clock correction m Field 19 Satellite phase center projection m Field 20 Receiver phase center projection m Software User Manual Page 41 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education tronom eomatics Iss Rev roe ga ss e of ae E D U N A V http www gage es Date 1 07 201 1 Field 21 Receiver Antenna Reference Point ARP projection m Field 22 Relativistic clock correction m Field 23 Wind up correction m for carrier phase measurements Field 24 Troposphere nominal correction m Field 25 lonosphere correction m Field 26 Relativistic path range correction m Field 27 Total Group Dela
49. d compares two different sources of orbit and clock products In order to use this modes input obs must be avoided and two different orbit and clock products should be provided This mode outputs the SATDIFF SATSTAT and STASTATTOT messages Show Product Mode This mode reads a single source of orbit and clock products In order to use this mode input obs must be avoided and a single orbit and clock product should be provided This mode output SAT messages Software User Manual Page 62 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev 1 7 cial hl e of ae i E D U N A V http www gage es Date 1 07 201 1 5 1 PROCESSING EXAMPLE The following example gives an overview of a simple processing using the gLAB DPC component The sample covers a precise static positioning to obtain the precise coordinates of a station and provides exactly the same results as the sample generated in section 4 5 Opening a command line window in the gLAB directory in Windows this can be directly done by the option Command line in directory in the program group installed in the Start menu Using this option a command line window will open Figure 5
50. e divergence The expected mean value is compared against the obtained one and if it is higher than a specific threshold a cycle slip is declared The threshold is obtained as Th minimum k stdDev max being k max and the window size configurable parameters stdDev the computed standard deviation and minimum the function returning the minimum between two values e GNSS Satellite Selection The buttons allow to individually select deselect each satellite for processing A deselected satellite shall not be taken into account when processing Green color marks selected satellites and red deselected satellites Software User Manual Page 27 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC QAGEUPC ESA GNSS Education i Iss Rev 1 7 rare sehala Unversity or eataione EDUNAV http www gage es Date 1 07 201 1 4 2 3 Modeling This section provides the configuration options to set unset each individual model that is used by gLAB Figure 4 6 shows a screenshot of the MODEL section GLAB Version 1 474 glLAB e esa http www gage es Preferences About Positioning Analysis Modelling Options Precise Products Data Interpolation Satellite
51. e in the navigation message can only reduce its impact between a 50 and a 60 The ionosphere effect can reach up to 50 m in turbulent ionospheric environments o Tropospheric correction At the frequency which the GPS signal is emitted the troposphere behaves like a non dispersive media being its effect independent of the frequency The tropospheric delay can be modelled in an approximate way approximately about 90 95 using the following expression T dary Mary eleVv dwet Mwer e ev where dary corresponds to the vertical delay due to the dry component of the troposphere and dwe corresponds to the vertical delay associated with the wet component due to the water vapor of the atmosphere These two different nominals can ve computed as Using a simple nominal described in GIPSY OASIS RD 7 dary 2 3 exp 0 116 10 H dwet 0 1 where H is the height over the ellipsoid Computing a nominal from the receiver s height and estimates of five meteorological parameters pressure temperature water vapour pressure temperature lapse rate and water vapour lapse rate It is adopted by SBAS systems AD 07 Finally mdry elev and mwet elev are the slant factors in order to project the vertical delay in the direction of the satellite observation for the dry and wet components Two models can be chosen to compute these m elev A simple mapping model used in SBAS RD 9 This mapping only depends on satellite ele
52. ecimation s This option will decimate the input data at the specified rate in seconds If this option is unchecked every time an epoch is found in the input RINEX observation file all the processing takes place If this option is checked the data is decimated and not even modeled Even in decimated data all the epochs are used for cycle slip detection and arc length computations but the process is stopped just before the modeling This option is meant to be used to reduce computation time e Satellite options o Elevation Mask Degrees The elevation mask parameter is used to discard all the satellites below the specified elevation Low elevation satellites should Software User Manual Page 25 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Research group of Astronomy amp Geomatics Technical University of Catalonia E D U NAV http www gage es Date 1 07 201 1 be discarded for geodetic processing as they may contain increased errors due to low signal to noise ratio and multipath Discard satellites under eclipse condition This option allows to activate the discard of satellites if they are under eclipse conditions They do not have direct visibility of
53. eere Sevr 20t Favier Saf ev m tasc iramae Pamat her Cuber Coordinates 1 o lm ee m D Bacini steng Receiver Check 0 P Treposerwre is I pry E rA Praz Angers i 0 m w hA Se Crt Figure 4 16 All input files are selected Figure 4 17 Filter section In the Output section Figure 4 18 the Examine button can be clicked to select the output file Figure 4 19 shows the File Open dialog that will open Writing gLAB out and clicking enter will select this file name as output for the processing Choose destination path for Output files gEA B O Guardar en Be S e 0e e G esa I e sels n Pestonra pray Documentos a nel Outpt Drstraton Ej OuptFie GAB ot Escritorio Messages A Poet NEO Maes Mis documentos Amt MEAS Message F Pont MOSEL Messages BPA EPOST Moseages Pot PREPIT Messages i Pont POSTET Messages S P FILTER Messages Mi PC came Mis 4 red R Guardar ee re EE Tipo OUT files out Ba __Canceler_ Figure 4 18 Output section Figure 4 19 File open dialog for selecting the output file After selecting the output Figure 4 20 the RUN button will execute gLAB DPC with the selected options While the DPC is running the RUN button will be grey in order to avoid multiple clicks After some seconds the processing will end To analyse the results click on the Analysis tab Figure 4 21 Software User Manual Page 52 of 69 gAGE UPC owns the copy
54. ents This is done to avoid large differences between both kinds of measurements and allow a more direct comparison The alignment is done keeping the integer part of the carrier phase e Pseudorange jump checking Some receivers have an inconsistent set of pseudorange and carrier phase measurements when they adjust their own clock doing one or more leap miliseconds Their pseudorange measurements are consistent with this change in clock but carrier phases do not show it This creates an inconsistency and a general cycle slip for all satellites if not handled properly gLAB detects and corrects this problem e Decimation capabilities gLAB can decimate the input RINEX to increase computation speed if a high sampling rate is not needed The decimation comes after the cycle slip detection to take full profit of the input data rate e Able to individually select deselect each satellite for processing e Able to set an elevation mask to ignore low satellites for processing e Able to specifically mark which frequencies are available to simulate single frequency receivers from dual frequency RINEX data e Pseudorange smoothing option e Orbit interpolation of SP3 data e Broadcast message support orbit estimation clock correction TGD correction e Orbit Clock comparison mode it can compare the orbit and clocks from 2 different sources i e broadcast SP3 and clocks files e Sun approximate positioning for satellite orientation e
55. ere which is due to the water vapor of the atmosphere The mapping Mye e ev function described in the Modeling section is used in the troposhere estimation Typical values Apriori value 0 Phi 1 Process noise 1e 4 in units of m h Contrary to the rest of parameters troposphere process noise is given as increase of Q per time unit Initial covariance 0 025 equivalent to 0 5 meters of uncertainty o Phase ambiguities Carrier phase ambiguities are the parameters which estimates the ambiguities of the carrier phase measurements or combinations used in the filter Each epoch there is one parameter for each Software User Manual Page 36 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGEUPC ESAGNSS Education Re pa ee EDUNAV me http www gage es Date 1 07 201 1 satellite Additionally when a cycle slip is detected the carrier phase ambiguity is reset by providing a new initial value and covariance Typical values Phi 1 Process noise 0 Initial covariance 400 equivalent to 20 meters in relation to the pseudorange measurement used to prealign the carrier phase Software User Manual Page 37 of 69 SSS gAGE UPC owns the copyright of this document which shall not be
56. f Astronomy amp Geomatics Technical University of Catalonia http www gage es Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Date 1 07 2011 ESA GNSS Education EDUNAV o Individual Plot s Configuration Options for the different plots that can contain a graphic up to four plots Plot 1 2 3 4 Selector for each plot The options below this one are plot dependent Source File Selects the source input file for the plot Lines Dot list Allows changing the style of the plot using Lines or Dots among many plot marker styles Color Selection Allows changing the color of the plot Condition The condition is a way to insert one or more conditions in order to select which lines of the source file will be used in the plotting This has a space to write the required conditions and two comboboxes which automatically sets the condition text The text is the only that matters and the combo boxes only configure the text To specify a column it should be done as x being x the number of the column For example if you would like to specify the condition that the sixth column must be greater or equal than 10 you should do it as 6 gt 10 You can specify a set of conditions by using AND amp and OR operators such as 6 gt 10 amp 6 lt 20 8 2 You can specify that a column matches a specific string by surrounding the string by such as 1 OUTPUT You can specify mathematical operations and cons
57. file provides these orbits in its specific reference In particular the SP3 files provide the positions of the satellite referred to its mass center which is different than the antenna phase centers In order to properly correct the GNSS measurements with the satellite position a correction between these two centers must be done Usually these corrections can be obtained from an ANTEX file This error can be up to 1 2 m The positions computed from the navigation message do not require any additional corrections as they are referred to the antenna phase center o Receiver antenna phase center correction Normally the positions of the stations are given in relation to the base of the station The difference between this point and the antenna phase center should be taken into account This effect depends on the frequency and can reach up to some decimetres o Receiver antenna reference point correction Additionally to the Antenna Phase Center the position of a station can be given in relation to a specific point such as a geodetically positioned point in the ground This correction allows to give a specific correction to the position in North East Up components o Relativistic clock correction The rate of advance of two identical clocks one placed in the satellite and the other on the terrestrial surface will differ due to the difference of the gravitational potential general relativity and to the relative speed between them special
58. fy a different RINEX broadcasted file to obtain the codes P1 P2 digital bias Precise DCB file Specify a DCB file for the P1 P2 biases for all satellites P1 C1 DCB Source files Receiver Type file Specify a file with the receiver type information Receivers Antennas Radomes and Antenna Radome manufacturer s name model and code Precise DCB files Specify a DCB file for the P1 C1 biases for all satellites e Save Config button Stores all the GUI configuration into a cfg file which can afterwards be read by the processing core by means of the inpu cfg parameter In Linux Software User Manual Page 23 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGEUPC ESAGNSS Education Re pa ee EDUNAV mi http www gage es Date 1 07 201 1 gLAB_linux input cfg gLAB cfg In Windows gLAB exe input cfg gLAB cfg e Show Config button Opens a text editor to show the stored GUI configuration file e RUN button Execute the DPC program with all the configured parameters of the Calculus tab This button can be used in all Input Preprocess Modeling Filter and Output sections e Show Output button Opens a text editor of the output of the last execution of gLAB Soft
59. ich it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGEVPC ESAGNSS Education a i ss Rev 1 7 ee ae T EDUNAV Date 1 07 2011 http www gage es The following sections will provide in deep information on the different options of the GUI Most of the information here can also be found with the inline tooltips On the top of the screen two different buttons can be found Preferences Allows to select deselect explanatory tooltips selected by default to select deselect scrollbars and to check for new updates of the tool Select Tooltip Options Tooltips ON Tooltips OFF Activate Scrollbars Options Scrollbars OFF Scrollbars ON Check for update Close Preferences Figure 4 2 Preferences Frame e About General information on the tool Software User Manual Page 18 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 nePeTchaacal Universi or eataione EDUNAV http www gage es Date 1 07 201 1 i About gLAB lEs gLAB Version 2 0 0 gLAB is a complete GNSS analysis tool for both educational and professional purpo
60. ich shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education tronom eomatics Iss Rev roe ga ss e of ae E D U N A V http www gage es Date 1 07 201 1 o ANTEX File Antenna phase center information for both GNSS satellites and receiver antennas o Orbit and Clock Source Origin of the orbit and clock products The option selected here must be consistent with the Navigation Mode in the Filter section Broadcast gt Standalone Precise 1 file or Precise 2 files gt PPP Broadcast RINEX navigation file with the broadcasted message Standalone option must be marked in the Filter section Precise 1 file SP3 format file with the position clock errors of GNSS satellites for a set of specific timestamps PPP option must be marked in the Filter section Precise 2 files The source of orbits will be an SP3 format file and the clocks will be a RINEX clock format While orbit data can be interpolated without much data degradation clocks cannot be The RINEX clock format allows providing clocks at a high rate while reading the orbits at a lower rate from the SP3 file PPP option must be marked in the Filter section e Orbits SP3 File Source of orbit data e Clocks Rinex File Source of clock data o lonosphere Source Origin of the
61. ileo and GLONASS systems EGNOS and differential processing This software package is targeting the following groups of users e Education professionals aiming to teach GNSS from both a theoretical and practical points of view e Standalone students and professionals with basic knowledge on GNSS as a self learning tool e Professionals with more in deep knowledge on GNSS who want an easy and user friendly tool with precise positioning capability From an operative point view this tool is conceived as a software package to support a practical GNSS course where the fundamentals introduced in the theory are experimented through guided exercises In this way the tool is conceived for being used e as part of a GNSS course with practical exercises integrated following a manual or e experimenting around with contextual help with hyperlinks for more information or e to process RINEX data and obtain both GPS standalone or Precise Point Positioning PPP solutions The gLAB tool is distributed within a learning material package containing the following components e Software A binary which will be able to read GPS RINEX data process it and show the results in the form of data files and graphics The processing options will be fully parametrizable through a GUI that will ease to understand the tool and its different options The software is able to work both in Windows and Linux Operating Systems e Tutorial A book containing the GNSS fu
62. ilter The weight is computed as W 1 stdDev Elevation stdDev This sets the standard deviation of the corresponding measurement to be used as weight in the filter as a function of the elevation The standard deviation is computed as stdDev a b e elev c Being a b and c the three parameters and elev the elevation in degrees of the satellite The filter weight is finally computed as W 1 stdDev Phi Phi sets the propagation of parameters between epochs transition state matrix 1 means that the value estimated in the epoch 7 is used as apriori value in the epoch 0 means that the apriori value is always 0 Q The process noise parameter Q sets the stability of a parameter along time The process noise is included after the estimation when propagating the parameters to the next epoch and is an increase in the covariance of the parameter A process noise of 0 means that the parameter is a constant Po The Kalman filter requieres initial values for all its parameters Software User Manual Page 35 of 69 SSS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGEwPc Research group of Astronomy amp Geomatics Technical University of Catalonia http www gage es Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 D
63. imation such as SP3 files The effect of these clock errors can reach up hundreds of kilometers o Consider satellite movement during signal flight time Due to the distance between satellites and receivers between 20000 and 26000 Km for GPS the signal travel time is not despicable about 70 ms for GPS Thence the receiver is obtaining the measurement after it has been emitted by the Software User Manual Page 28 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev roe ST ei of ae i E D U NAV http www gage es Date 1 07 201 1 satellite This fact should be taken into consideration as the position of the satellite must be computed in the transmission time not in the reception time This effect can impact on the measurements up to hundreds of meters o Consider Earth rotation during signal flight time Besides the satellite movement during signal flight time the Earth also moves rotates If this effect is not taken into consideration an error of about 30 m in the east direction would be seen o Satellite mass center to antenna phase center correction Each data source of satellite orbits in general the navigation message or an SP3
64. ke as x axis the 4th column of the input file This can also be expressed as X 4 This also means 4 column of the input file The signs have been included for linux users Windows users do not need to used them Operations can be done in this parameter such as xX 4 5 This will take as x axis origin the difference between the 4 and 5 columns This operation is also valid x 4 2 1 Mathematical functions and constants can be also used here such as x math sin 12 math pi 180 90 1 1 90 6 2 SETTING THE CONDITIONS As seen in section 4 3 Analysis DAT Interface the conditions are a way to insert one or more conditionals in order to select which lines of the source file are going to be used in the plotting The rules for this are as follows c 6 gt 10 This will only include the line if the 6 column is equal or greater than 10 It is also possible to specify a ser of conditions using AND amp and OR operators such as c 6 gt 10 amp 6 lt 20 8 2 It is possible to specify that a column matches a specific string by surrounding the string by such as c 1 OUTPUT It is possible to specify mathematical operations and constants as math pi math e math sin and math cos as example c 1 POSTFIT amp math cos 11 5 gt 0 707 It is possible to specify a specific character inside a column by using x y being x the column and y the
65. l Clear Automatic Limits X min X max Y min Y max Individual Plot s Configuration Plot Nr 1 Plot Nr 2 Plot Nr 3 Plot Nr 4 Source File Examine Lines v Condition lv Blue E X Column Y Column Label Plot Figure 4 9 Analysis tab screenshot e Templates The templates are a set of preconfigured plotting options for the Graphic Details section Clicking on any button will load the options in that section allowing modifying or plotting them directly o NEU position error The NEU position error template sets the options to print the three components North East and Up of the error of the receiver positioning obtained by the filter This error is computed by the difference between the direct filter estimation and the Apriori Receiver Position in the Input section of Calculus Thence to obtain a reliable error estimation this apriori position should be precise If you do not have any precise position of the receiver you can obtain it by doing a PPP processing SP3 Static Dual frequency Pseudorange Carrier phase The XYZ position fields 6 to 8 of OUTPUT message of the last Software User Manual Page 46 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Edu
66. licking the Plot button will generate this plot While the program is processing the source file the Plot button will be kept grey Figure 4 22 Analysis tab Figure 4 23 Receiver NEU position error configuration When the processing is finished a window will open Figure 4 24 showing the generated plot and the Plot button will be again available Software User Manual Page 53 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 Pae echale Universi or eataione EDUNAV http www gage es Date 1 07 201 1 DOOt s Bua 2oO0o Ba Figure 4 24 Plot sample Figure 4 25 Plot sample zoom The plotting utility allows zooming moving and saving the current plot as a picture All these functions can be accessed through the top toolbar Figure 4 25 shows a zoom of the y axis As would be expected for a PPP processing the final position error is in the order of 1 cm Software User Manual Page 54 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE
67. n without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 Mee echailcal University of Catalonia EDUNAV http www gage es Date 1 07 201 1 e Python Tkinter v5 4 0 Software User Manual Page 14 of 69 ee gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev re cial riot of ae i E D U NAV http www gage es Date 1 07 201 1 3 INSTALLATION PROCEDURE The gLAB software package can be downloaded from the following URL http www gage es gLAB In this web page it is possible to download the last version of gLAB both in Windows and Linux 3 1 WINDOWS XP AND VISTA The installation of the Windows version is initiated by executing the installation program During the installation process you have several configurable options such as the installation directory by default C Program Files gLAB and the possibility to create shortcuts The installation will create a gLAB group in the start menu with the following elements e gLAB on the Web will forward to the webpage of gLAB e Uninstall gLAB to completely remove gLAB from the computer e gLAB_GUI the Graphic User Interface
68. ncluded allowing performing some exercises on data analysis with real or simulated Galileo and GLONASS measurements 2 1 3 Minimum hardware requirements gLAB requires the following computer minimum hardware requirements in order to be properly executed e 256 MB of memory e CPU with at least 1GHz e 200MB of hard disk free space e Screen resolution of at least 1024x768 is recommended In order to cope with potential users using small screens scrollbars can be displayed in the preferences button 2 1 4 Minimum software requirements The program runs under Windows XP and Linux Operating systems 2 1 4 1 Windows No specific software is required to execute the program in Windows XP For Windows Vista users it is necessary to generate new binaries for gLAB as explained is section 3 1 1 In this sense the following programs are required e MinGW v5 1 4 http sourceforge net projects mingw files e Python x y v2 1 14 http www pythonxy com During its installation please select as type of install Full 2 1 4 2 Linux For Linux users the following programs are required later versions may also work e make 3 81 e gcc 4 1 3 e Python v2 5 4 e wxPython v2 8 9 2 e Python matplotlib v0 98 5 4 Software User Manual Page 13 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organizatio
69. ndamentals and several practical exercises covering from the basics of data processing such as reading standard RINEX format to more complex processes as positioning a rover and analysing the results e Data The data sets files used in the exercises 1 1 DOCUMENT SCOPE AND PURPOSES This document contains the information related to the use of the gLAB software package component of the gLAB suite and its purpose is to provide an overall overview to the end user of the software In particular how to install it and use it with all the different options that the software has Software User Manual Page 6 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education a et aban de all EDUNAV Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 http www gage es Date 1 07 201 1 1 2 DOCUMENT OVERVIEW AND STRUCTURE This document is split in sections which describe A generic description on the different software modules included in the package Section 2 A detailed description of the installation procedure Section 3 How to use the Graphic User Interface GUI component Section 4 How to use the Data Processing Core DPC component Section 5 How to use the Data Analysis Tool DAT component Section 6 1 3 APPLICABLE
70. of Astronom eomatics Iss Rev roe ST ei of ae E D U NAV http www gage es Date 1 07 201 1 Field 6 Receiver X position m Field 7 Receiver Y position m Field 8 Receiver Z position m Field 9 Receiver X position Nominal apriori X position m Field 10 Receiver Y position Nominal apriori Y position m Field 11 Receiver Z position Nominal apriori Z position m Field 12 Receiver X formal error m Field 13 Receiver Y formal error m Field 14 Receiver Z formal error m Field 15 Receiver latitude degrees Field 16 Receiver longitude degrees Field 17 Receiver height m Field 18 Receiver North difference in relation to nominal apriori position m Field 19 Receiver East difference in relation to nominal apriori position m Field 20 Receiver Up difference in relation to nominal apriori position m Field 21 Receiver formal error in North direction m Field 22 Receiver formal error in East direction m Field 23 Receiver formal error in Up direction m Field 24 Horizontal Dilution of Precision HDOP Field 25 Vertical Dilution of Precision VDOP Field 26 Zenith Tropospheric Delay including nominal value m Field 27 Zenith Tropospheric Delay excluding nominal value m Field 28 Zenith Tropospheric Delay formal error m Sample OUTPUT 2006 200 300 00 2 6219 4849202 0700 360328 8991 4114913 3520 0 3037 0 0397 0 1401 1 9353 0 6998 1 6246 40 429164806 4 249658495 829
71. om processing pre elevation lt val gt pre eclipse lt val gt pre availf o pre smooth lt val gt g character determining GNSS system G gt GPS PRN number Elevation mask Satellites below this threshold will be discarded in degrees default 0 Discard satellites under Earth eclipse default enabled for PPP disabled for SPS Mark frequencies available default all g character determining GNSS system G gt GPS frequencies available Sample pre availf G12 Frequencies 1 and 2 of GPS available pre availf G1 Frequency 1 of GPS available 2 unavailable Number of epochs of smoothing default 0 which means disabled pre smoothMeas lt n gt lt meas gt Smooth measurement in filter lt n gt with pre setrecpos lt val gt pre setrectype lt val gt pre prealign lt val gt Software User Manual measurement type lt meas gt In general lt n gt is a pseudorange and lt meas gt a carrier phase see option filter select for more information in the selection of measurements to be used in the filter Sample pre smoothMeas 1 LC lt val gt RINEX Set the receiver apriori position as the one specified in the RINEX observation file default lt val gt SINEX Set the receiver a priori position to be read from a SINEX file to be specified by the input snx parameter lt val gt calculate The ceiver apriori position will be calculated by the program This is especially useful
72. one EDUNAV http www gage es Date 1 07 201 1 e Receiver Antenna Phase Center o Specify Specify in North East Up components the receiver antenna phase center Different values can be specified for different frequencies F1 F2 Frequency selector North East Up m Each of the components expressed in meters o Read from ANTEX Read the Phase Center data of the receiver from the ANTEX file specified in the Input section It tries to obtain the name of the antenna using the RINEX header record ANT TYPE and seeks for that name in the ANTEX file e Receiver Antenna Reference Point o Specify Specify in North East Up components the receiver Antenna Reference Point o Read from RINEX Read the receiver Antenna Reference Point from the RINEX file It seeks for the ANTENNA DELTA H E N RINEX header record Software User Manual Page 32 of 69 SSS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC GAGEWVPC ESAGNSS Education Re pa en oe EDUNAV aie http www gage es Date 1 07 201 1 4 2 4 Filter This section provides all the configuration options to specify the behaviour of the Kalman Filter In particular the selection of measurement and the parameters to be estimated can be chosen in this section Figu
73. own default 0 5 2 m 2 Specify the PO initial value for ambiguity unknowns for prealigned carrier phases default 20 2 m 2 Specify that the filter does a backward processing after the forward one is finished This meas that it process the data backwards The turn point is defined as the latest point where orbits and clocks are available or when the observation RINEX ends whatever is first filter backward to disable it default disabled Sets the output file default stdout Sets the output to stdout default lt val gt inertial Prints the inertial velocity in the messages where satellite velocity is given lt val gt ITRF Prints the ITRF velocity in the messages where satellite velocity is given VERBOSE OPTIONS use print to activate print to deactivate print info print cycleslips print input print meas print model print satellites print satsel print prefit Software User Manual Print INFO messages default on Print CS messages default off Print INPUT messages default off Print MEAS messages default off Print MODEL messages default off Print EROCHSAT messages default off Print SATSEL messages default off Print PREFIT messages default off Page 61 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authoriz
74. phase inconsistencies and decimates the data if requiered Software User Manual Page 19 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESAGNSS Education a i ss Rev 1 7 Research group of Astronomy amp Geomatics E D U NAV Technical University of Catalonia http www gage es Date 1 07 201 1 e MODEL module This module has all the functions to fully model the receiver measurements As said it implements several kind of models which can be activated or desactivated e FILTER module This module implements an Extended Kalman Filter EKF fully configurable and obtains the estimations of the required parameters e OUTPUT module This module outputs the data obtained from the FILTER Software User Manual Page 20 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 rare echni Unieersiyoreataione EDUNAV http www gage es Date 1 07 201 1 4 2 1 Input This section provides all the configuration options to select the inpu
75. plied and shall not be copied or given to any person or organization without written authorization from the owner gAGEwPc Research group of Astronomy amp Geomatics Technical University of Catalonia http www gage es Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Date 1 07 2011 ESA GNSS Education EDUNAV The available options are GRAPHIC GENERAL OPTIONS The General Options are the ones that can be specified once per graphic and will affect the entire graphic window h help t title tit Xlabel xlab xl Ylabel ylab yl Xmin xmin xn Xmax xmax XX Ymin ymin yn Ymax ymax yx Example Show this help message and exit Set the title of the Graphic Set the x axis label Set the y axis label The minimum value for the x axis to be plot if no value is provided automatic limits are set The maximum value for the x axis to be plot if no value is provided automatic limits are set The minimum value for the y axis to be plot if no value is provided automatic limits are set The maximum value for the y axis to be plot if no value is provided automatic limits are set graph py t Graphic title xl time s yl Altitude m xmin 3 0 ymax 5 0 PLOT DEPENDENT OPTIONS The Plot Dependent Options are specific to each plot One new plot is considered from the point that a f or file is found All the options coming after this par
76. r lt val gt filter phi clk lt val gt filter phi trop lt val gt filter phi amb lt val gt filter q dr lt val gt filter q clk lt val gt filter q trop lt val gt filter q amb lt val gt filter p0 dr lt val gt filter p0 clk lt val gt filter p0 trop lt val gt filter p0 amb lt val gt filter backward OUTPUT OPTIONS output lt file gt output lt file gt output satvel lt val gt Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 EDUNAV eie 1 07 2011 Again the filter shall apply as weight 1 std 2 Sample filter elevweight 1 0 3 8 10 Apply the standard deviation 0 3 8 e elevation 10 Note filter elevweigth 1 x 0 y equals to filter fixedweight 1 x Specify the Phi value for position unknowns defaults static 1 kinematic 0 Specify the Phi value for clock unknown default 0 Specify the Phi value for troposphere unknown default 1 Specify the Phi value for ambiguity unknowns default 1 Specify the Q noise value for position unknowns defaults static 0 kinematic inf m 2 Specify the Q noise value for clock unknown default inf m 2 Specify the Q noise variation value for troposphere unknown default 1e 4 m 2 h Specify the Q noise value for ambiguity unknowns default 0 m 2 Specify the PO initial value for position unknowns default inf m 2 Specify the PO initial value for clock unknown default inf m 2 Specify the PO initial value for troposphere unkn
77. rds doubleclick in test Figure 4 13 Choose RINEX Observation file Ue X Choose RINEX Observation file Buscar en win LAB E mpl data buid tel Documentos gAGE ico My Flecent recientes Documents 3 B Qoace ico Escritorio E Desktop Mis documentos My Documents My Computer Mis sitios dered Nombre Zi Abrir a File name Tips RINEX files 220 Z piisi MyNetwotk Files of type PRINEX files 220 Figure 4 12 File Open dialog 1 3 Figure 4 13 File Open dialog 2 3 Software User Manual Page 50 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGEWPC ESAGNSS Education Re pa ee EDUNAV ae http www gage es Date 1 07 201 1 The directory where all the data is stored will be the one active Figure 4 14 Double clicking on madr2000 060 will select this file and include it in the Input section Figure 4 15 In order to include the rest of the required files it should be clicked the Examine of ANTEX File selecting the file igs_pre1400 atx and the Examine of SP3 File selecting the file igs13843 sp3 Choose RINEX Observation file E Buscar en O test xl ef LAB gA E esa LAA ko Kaana aae
78. re 4 7 shows a screenshot of the FILTER section GLAB Version 2 0 0 Cesa Positioning Analysis Preferences About Measurements Troposhere Selection V Estimate Troposphere O Pseudorange O Pseudorange Smoothing epochs Pseudorange Carrier phase Available Frequencies O Single Frequency Measurement configuration and noise Dual Frequency pc FixedStdDev m 1 Elevation StdDev m il bees aac pace eevee _ 7 Receiver Kinematics ic Fixed StdDev m 0 01_ Elevation StdDev m eee Kinematic Parameters Phi Q Po Other options Coordinates o les m2 les m Backward filtering Receiver Clock o 9e10 m 9e10 m2 Troposphere 1 le 4 m2 h 0 25 m Phase Ambiguities a o m2 400 im3 Save Config Config SPP Template PPP Template Run gLAB C Figure 4 7 Filter section screenshot e Troposphere Activates the estimation of the troposphere This estimation tries to remove the part of the wet troposphere delay not removed by the nominal modeling see Software User Manual Page 33 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM
79. relativity The special relativity difference can be broken into Hofmann Wellenhof 1 A constant component that only depends on the nominal value of the semi major axis of the satellite orbit which is adjusted modifying the clock oscillating frequency of the satellite 2 A periodical component due to the orbit eccentricity that must be adjusted by the user receiver equal to rel 2 r v c This effect can reach up to 13 m o lonospheric correction The ionosphere is the zone of the terrestrial atmosphere that extends itself from about 60 km until more than 2000 km high Due to the interaction with free electrons electromagnetic signals that go through it suffer a delay advancement in relation to the propagation in a vacuum This effect is a dispersive effect frequency dependent and can be removed in multi frequency receivers with a specific combination of Software User Manual Page 29 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev roe ST ei of ae i E D U NAV http www gage es Date 1 07 201 1 measurements The ionosphere is hard to model and the Klobuchar model the one defined in the GPS SPS SS RD 14 and availabl
80. right of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC GAGEWVPC ESAGNSS Education 2 pa age lah na nega EDUNAV aie http www gage es Date 1 07 201 1 Preferences Moat Posnenng annen M E E E Oups sates sp CPAT Fiesg ABg A8 on Eare Output Dezsnston Arp Fie CPogar FiergABgAB ot Bamra O Messages Cycle Sip Messages Pret INPUT Messages D Pret MEAS Moceage FE Pret MODEL Messages E Pret EPOCHSAT Montages Pret PREFIT Messages Pret PostaT E Pret FILTER Meceages EE Print OUTPUT Messages Pret INPUT Messages D Pret MEAS Moceage FE Pret MODEL Messages E Pret EPOCHSAT Mescages E Pret FILTER Meteages E Print OUTPUT Messages Save conta EE Terrotne J FPP Terreine Crus Y Some conta sre Terrotae J FPP Terreine Rinus Figure 4 20 Output selected Figure 4 21 DPC has been executed As explained in section 4 3 the Analysis tab Figure 4 22 contains several templates in order to ease the generation of plots in this sense to plot the evolution of the receiver position in North East Up components the button Receiver NEU position error should be clicked Figure 4 23 shows the configuration of the Graphic Details with this template The Source File is the file selected in the Output section of the Calculus tab C
81. rom elevation In general carrier phase residuals will be quite independent from elevation and pseudorange residuals can have a large dependence on elevation Satellite skyplot The Satellite skyplot template sets the options to print the elevation azimuth of the satellites in a skyplot being the center of the plot the zenith of the satellite and the extremes the lower elevations This is a special plot which makes use of sin and cos in the X column and Y column to obtain a polar plot Carrier phase ambiguities The Carrier phase ambiguities template sets the options to print the estimation of carrier phase measurements in the filter This is only possible in a processing with the Pseudorange carrier phase measurements in the Filter section e Global Graphic Parameters Specify the different options of the graphic O O O Title Sets the title of the graphic X label Sets the X label of the graphic Y label Sets the Y label of the graphic Clear Clear all the options in the Graphic Details section Automatic Plot Limits The limits of the graphic axis can be automatically or user set Xmin amp Xmax Ymin amp Ymax Software User Manual Page 47 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGEwPc Research group o
82. s cde te eee eee 15 3 1 1 Manual binary generation ssessseeeeeeeeseernrrrnrerserrrrrrrnnnrsstrsstrrnenrnnnrssrrnnr nnne 15 3 2 LINUX eien ea aia rr aaee tate eee 16 3 3 DIRECTOR Ys RUC TURE cond cicrnetemsites a nex wtacieioua eas cca deme etaeemate 16 4 gLAB GRAPHIC USER INTERFACE GU ececeeesseeeseeeeeeeeeeeeseneeeeeeeeeeeeeeeeeees 17 4 1 THE BASICS fee eee eee eee eee eee ee ee ee a a 17 4 2 CALCULUS DPC INTERFACE ccr c tecsesasescvecsieednessanivnceniccet eetiedvneisoosedcneeamneneseveccpbans 19 A2 IMPUN a E E eee eee ee 21 42 2 Te a cies gcc a er e e e a a se eee e 25 4 23 Modeling scran naa aa a rene ee ee ee ee 28 4 2A RE ena oe ee a ee ee 33 4 2 9 SUSU asec ee ties oes ere EEE E E E Ea A aE E e EEE 38 4 3 ANALYSIS DAT INTERFACE cc2datveranctutielecmanscstabtpsieancsaauedttiedeaslesitaesledvonnetiuinentadels 46 rok Mmmm S10 QUO i 2 2 eee ee eee eee eee ee eee 49 4 5 PROCESSING EXAMPLE iero oot ae tus eee oie tine in eee 50 5 gLAB DATA PROCESSING CORE DPC sccsssteeeeeeeeeeeeeeeeeeeeeeeeeeesneeeeneeeeeeeeaeeeees 55 5 1 PROCESSING EXAMPLE lt oicteccnetorcps teadencennastoneteces niateierccctionnt ertintertentmsadcnsieamedsenenmeeronn 63 6 LAB DATA ANALYSIS TOOL DAT sssisuisccccciscccccsaceetesceciccccceeesteeti dees eeeeessereee neces 64 6 1 SETTING THE AXIS eae accessed tet eee eee ee eee eee eee 67 6 2 SETTING THE CONDITIONS ae een een ere ene eee cere rr eee eee eee ene ee 67 6 3 PROC
83. s the input constellation status file default GPSConstellationStatus txt input ant lt file gt Sets the input ANTEX satellite receiver antenna data file input klb lt file gt Sets the input RINEX navigation file for Klobuchar corrections if this parameter is avoided it is used the input nav file input con lt file gt Sets the input constellation status file default GPSConstellationStatus txt input ant lt file gt Sets the input ANTEX satellite receiver antenna data file input klb lt file gt Sets the input RINEX navigation file for Klobuchar corrections if this parameter is avoided it is used the input nav file input dcb lt file gt Sets the input DCB source as a DCB file or a RINEX navigation file input rec lt file gt Sets the input GPS Receiver Type file input snx lt file gt Sets the input SINEX file for receiver position Software User Manual Page 55 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Ref EDUNAV SUM gAGE UPC gee ee coma EDUNAV ee i http www gage es Date 1 07 2011 PREPROCESSING OPTIONS pre dec number Decimate input data by seconds In product comparison mode see below in WORK MODES it sets the time step of the comparisons pre sat g Exclude satellite fr
84. samsossaaidasleataadunesnttecenisiadu spill anamtsmiateteidiateetbenicedeaaeintins 53 FIGURE 4 23 RECEIVER NEU POSITION ERROR CONFIGURATION cccccccceeceeeceeeeeeeeeeeeeeeeeeees 53 FIGURE 4 24 PLOT SAMPLE is triniatxininiantasensandiaenaanaakewiardinemnanel E a AAI REA TEREE EESE EFKES 54 FIGURE 4 25 PLOT SAMPLE ZOOM iiiicissensacccncnsecaiacuiacdeacnieckincalaceticnsdedsacdeigadebiaceiacdencastenlants 54 FIGURE 5 1 COMMAND LINE SCREENSHOT sasisisssicseiaenannaiacniuupiateanumianniaveiateintaetanmarntasntaseeas 63 FIGURE 6 1 DAT SCREENSHOT IT CAN BE SEEN THE POSITION ERROR FOR A PPP KINEMATIC POSITIONING FOR A SINGLE FREQUENCY RECEIVER ecceeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeenees 64 Software User Manual Page 5 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education esearch group of Astronom eomatics Iss Rev roe cial riot of ae i E D U NAV http www gage es Date 1 07 201 1 1 INTRODUCTION The GNSS Lab Tool suite gLAB is an interactive educational multipurpose package to process and analyse GNSS data The first release of this software package allows processing only GPS data but it is prepared to incorporate future module updates such as an expansion to Gal
85. se and jumps due to the cycle slips A mobile mean and standard deviation of the last epochs is computed The mean is compared against the measured value and if it is higher than a specified threshold a cycle slip is declared The threshold depends on the standard deviation of the last epochs and is computed as Th minimum max maximum k stdDev min being max min and k configurable parameters see below and stdDev the computed standard deviation minimum and maximum are functions returning the minimum and maximum between two values L1 C1 Difference F1 This cycle slip detector for single frequency receivers uses the difference between L1 and C1 L1P and C1C This difference contains basically noise coming from C1 sudden jumps coming from cycle slips and a ionospheric divergence with time due to the different effects that the ionosphere causes in carrier phase and pseudorange measurements Software User Manual Page 26 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 Serr chaical Unversity oreataione EDUNAV http www gage es Date 1 07 201 1 This detector computes the mean and standard deviation of L1 C1 along the epochs proving a window to limit th
86. ses gLAB is given as is for free please see the license gLAB allows a full customization of its options and provides precise point positioning capabilities on the centimeter level gLAB is divided in three different modules Data Processing Core DPC For all the processing Graphic User Interface GUI To customize options Data Analysis Tool DAT Graphics Both the processing core and the plotting tool can be executed independently from the GUI Please e mail any bugs comments or requests to glab gage upc edu 2009 2010 gAGE UPC amp ESA http www gage es Credits License Figure 4 3 About Frame 4 2 CALCULUS DPC INTERFACE The calculus tab is split into 5 different sections which correspond to 5 different modules inside the DPC see the Architecture Design Document for gLAB RD 4 The different modules of the DPC are e DATAHANDLING module It is the storage of the data This module does not appear in the GUI interface because it has no configuration options It defines all the structures and enumerators of the program and has functions to access the data e INPUT module it can be understand as a driver between the input data and the rest of the program This module implements all the input reading capabilities and stores it in structures defined in the DATAHANDLING module e PREPROCESS module This module process the data before the MODEL It checks for cycle slips pseudorange carrier
87. t This modifies the filter parameters Phi propagation and Q process noise for the positions to Phi 0 and Q inf e Other options Backward filtering This kind of processing reverses the input observation RINEX file when it reaches the end of the file and processes it backwards This is also called smoothing and it allows to have good estimation of the parameters such as the troposphere and the position in a kinematic receiver in the beginning of the file what would be the convergence period e Measurement configuration and noise Section to specify the input measurements used in the filter and its corresponding standard deviation noise to be used for the filter weights o Selection Pseudorange Use only pseudorange measurements for the processing The ambiguity estimation in the filter will be disconnected with this option set For conditions with the rest of the values of this window see SPP PPP Navigation Mode Templates Pseudorange Carrier phase Use both pseudorange and carrier phase measurements for the processing For conditions with the rest of the values of this window see SPP PPP Navigation Mode Templates Software User Manual Page 34 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education
88. t files for gLAB gLAB Version 2 0 0 glLAB e About Cesa Positioning Analysis Preferences Input Files A priori receiver position RINEX Observation File Examine O Calculate Use RINEX Position Specify Use SINEX File CO Show ANTEX Orbit and Clock Source Xim ae ee Broadcast Precise 1 file Precise 2 files i 5i RINEX Navigation File Examine Lm Z im lonosphere Source if activated 2INEX File Show Broadcast same as navigation Broadcast specify NEX Auxiliary Files P1 C1 Correction P1 P2 Correction CO Show Show Save Config hov fia SPP Template PPP Template Run gLAB Show Figure 4 4 Screenshot of the INPUT section e Default Templates Configure all the options of the program for a specific processing o SPS Template Selects all the options to perform a Standard Positioning Service SPS processing o PPP Template Selects all the options to perform a Precise Point Positioning PPP processing for the computation of precise coordinates e Input files Section to include all the files required for the proper functioning of the program o RINEX Observation File Source GNSS measurements data file in RINEX format version 2 11 or 3 00 Software User Manual Page 21 of 69 gAGE UPC owns the copyright of this document wh
89. t line style o point marker s square marker p pentagon marker plus marker x x marker color cl Sets the color for the current plot The following colors are supported b blue DEFAULT g green r red c cyan m magenta y yellow b black w white Example graph py f home gLAB Example x math sin 1 math pi 180 y 2 c I Plot Label style p color cyan Each graphic window can contain several plots with the same scale The General Options are the ones that can be specified only once per graphic and will affect the entire graphic window The Plot Dependent Options can be specific to each plot One new plot is considered from the point that a f FILENAME file FILENAME is found All the options coming after this parameter are considered to belong to that specific plot Software User Manual Page 66 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education up of Astronom eomatics Iss Rev roe ge Marah of ae i E D U NAV http www gage es Date 1 07 201 1 6 1 SETTING THE AXIS As seen in section 4 3 Analysis DAT Interface in general the axis source will be one column and this can be specified that way x 4 This will ta
90. tants as math pi math e math sin and math cos as example 1 POSTFIT amp math cos 11 5 gt 0 707 You can specify a specific character inside a column by using x y being x the column and y the character position beginning by 0 such as 1 POSTFIT amp 7 0 P First character of seventh column is P You can also operate between columns such as 9 11 lt 2 X Column This allows specifying the column for the x values for the selected plot The combo box will be updated by the First condition but the text part is the one that matters As in the conditions you can specify several things In general if it is required to plot a column it can be done by putting its column position such as 4 It can also be used the 4 to plot the forth column As before operations between scalars and columns can be done and even use functions such as 9 2 11 3 1 5 Y Column This allows specifying the column for the y values for the selected plot The format is the same as in X Column Label Sets the label for the selected plot e Plot button This button executes the plotting tool of gLAB with the specified options Software User Manual Page 48 of 69 SS gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM
91. the Sun or They have been in the former condition at some time of the last 30 minutes Discard unhealthy satellites Broadcast only This parameter allows discarding satellites based upon the healthy flag of the broadcasted navigation message Cycle slip Detection This section provides all the configuration options for cycle slip detection This is only used for carrier phase measurements and in the present version of the software for GPS only Each cycle slip detection method can be enabled disabled individually O Geometric free CP Combination F1 F2 This cycle slip detector for dual frequency receivers uses only carrier phase measurements It creates a geometric free combination which shall be affected by ionosphere and will follow its shape with a second order interpolator If the expected value is higher than the measured one by more than a specific threshold a cycle slip is declared The threshold is obtained as Th max max min exp sfep To Being max min and To configurable parameters Minimum Threshold Maximum Threshold and Time Constant and step the time step between epochs Melbourne WUtbbena Combination F1 F2 This cycle slip detector for dual frequency receivers uses the Melbourne Wibbena combination geometric free ionospheric free This combination uses pseudorange measurements and thence is affected by code receiver noise and multipath effects This combination is basically a constant with noi
92. used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC gAGE UPC ESA GNSS Education i Iss Rev 1 7 eects Uniersiyorearaione EDUNAV http www gage es Date 1 07 201 1 4 5 PROCESSING EXAMPLE The next example gives an overview of a simple processing using gLAB following all the steps from selecting input files to generating plots to analyse the data The sample will cover a precise static positioning to obtain the precise coordinates of a station After opening the gLAB the splash screen is shown Figure 4 10 Clicking the Input button will open the nput section Figure 4 11 Clicking the PPP Template button will preconfigure the GUI for a basic PPP Clicking the Examine button for the RINEX Observation File will allow selecting which RINEX observation file will be used Precise 1 fle O Precise 2 fies FINEX Navigation File Bane Ionasphere Source t actwaied 5 Broadcast sare as navgshon Erosdcast specit Developed by gAGE Research group of Astronomy amp GEomatics Technical University of Catalonia UPC range Figure 4 10 GUI Splash screen Figure 4 11 Input section A file dialog will open Figure 4 12 in order to go to the test directory where all sample data files are found the Go Back one directory button should be pressed and afterwa
93. vation and it is common for wet and dry components The more refined Niell mapping model RD 8 This mapping considers different obliquity factors for the wet and dry components The main part of the troposphere which has not been properly modelled about 10 corresponds mainly to the wet component The total effect of troposphere can range up to 10 m o P1 P2 correction Differential Code Biases DCB are the delays due to electronic antennas and cables of receiver and transmitter devices which directly affect the measurements with a bias This effect depends on the frequency and can be corrected using the information extracted from The RINEX Navigation file where the P2 P1 bias are given as the Total Group Delay TGD Software User Manual Page 30 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner gAGE UPC ESA GNSS Education Ref EDUNAV SUM gAGE UPC Iss Rev 1 7 Research group of Astronomy amp Geomatics Technical University of Catalonia E D U NAV http www gage es Date 1 07 201 1 O Precise DCB files where the International GNSS Service IGS gives an accurate estimation of the P1 P2 bias This file contains a monthly estimation of this bias for all Satellites P1 C1 DCB correction Differential Code
94. ware User Manual Page 24 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC GAGEWVPC ESAGNSS Education Re pa ag lS A EDUNAV aie http www gage es Date 1 07 201 1 4 2 2 Preprocess This section provides all the configuration options to preprocess the input data In particular it allows changing the decimation rate the elevation mask the cycle slip detection and selecting individual satellites for the processing Figure 4 5 shows a screenshot of the PREPROCESS section gLAB Version 2 0 0 Cesa Preferences About Positioning Analysis Station Data GNSS Satellite Selection Data Decimation s 300 GPS Satellite Options Elevation Mask Degrees 5 al C Discard satellites under eclipse condition Discard unhealthy satellites Broadcast only Cycle slip Detection C Geometric free CP Combination F1 F2 Configure C Melbourne Wiibbena F1 F2 Configure M L1 C1 difference F1 Configure Cycle slip Detection Parameters Maximum Threshold m 15 Window epochs None 100 k factor 5 Save Config fig SPP Template PPP Template Run gLAB Figure 4 5 Preprocess section screenshot e Station Data o Data D
95. when using SP3 and correcting ionosphere e A priori Receiver Position Initial receiver position This is used to linearize the filter and to obtain the values for the models The OUTPUT message type gives the position obtained by the filter differenced with this apriori position So if this position is accurate enough the difference can be used as a direct measure of the error O O Specify Specify the receiver position in XYZ components in meters Use RINEX Position Use the APROX POSITION XYZ field of the RINEX of measurements Calculate Do not provide apriori position gLAB will calculate it and adjust it as necessary useful for moving receivers or when the approximate receiver position is unknown Use SINEX File Match the observation RINEX header record MARKER NAME with the marker position present in the SINEX file e Auxiliary files User can provide different auxiliary files to get information about the receiver and to correct the Differential Code Biases DCB which are the delays due to electronic antennas and cables of receiver and transmitter devices which directly affect the measurements with a bias This effect can be corrected using the information extracted from The RINEX Navigation file or Precise DCB files P1 P2 DCB Source files O O Broadcast same as navigation Use the same RINEX navigation file for the DCB computations than the orbit and clock product source Broadcast specify Speci
96. y TGD correction m Field 28 Solid tides correction m Field 29 Elevation of the satellite degrees Field 30 Azimuth of the satellite degrees Sample MODEL 2006 200 0 00 GPS 19 L1P 0 07712 23119002 7507 23119008 7502 8811456 7780 21033910 1687 13675922 8867 1828 7339 2353 7679 2467 3576 23119457 7539 456 317873 0 000000 0 049360 0 000000 2 323328 0 106706 4 854110 0 000000 0 015435 0 000000 0 063943 9 16487738221 79 27496674531 The satellite coordinates fields 11 16 are given in the reception epoch if the model of the signal transmission time is enabled if it is disabled they are given in the transmission time The coordinates are relative of the antenna phase center or satellite mass center depending on the option chosen in the Input section e Broadcast Antenna Phase Center e Precise Satellite Mass Center Field 9 is the direct measurement as in the RINEX file but scaled to meters for carrier phase measurements Field 10 is the model computed for this measurement Field 10 is the direct sum of fields 17 to 28 o Print EROCHSAT Messages Message with the satellites used to compute the solution It is shown when the filter is run and is given for each measurement Field 1 EPOCHSAT Field 2 Year Field 3 Doy Field 4 Seconds of day Field 5 Measurement identifier as string Field 6 Number of satellites in view Field 7 Each following column is the identifier of a satellite Software User Manual
97. y detector The first 5 fields are fixed afterwards there are three possible blocks depending on the cycle slip detector activated Field 1 CS Field 2 Year Software User Manual Page 38 of 69 gAGE UPC owns the copyright of this document which shall not be used for any purpose other than for which it is supplied and shall not be copied or given to any person or organization without written authorization from the owner Ref EDUNAV SUM gAGE UPC GAGEWVPC ESAGNSS Education Re p ae EDUNAV ie http www gage es Date 1 07 201 1 Field 3 Doy Sample Field 4 Seconds of day Field 5 PRN satellite identifier Block 1 Geometric free carrier phase cycle slip detector Li Field 1 Li x being x O or 1 0 gt Li did not detect the cycle slip 1 gt Li did Field 2 Li value estimated observed Field 3 Li Threshold Block 2 Melbourne WUubbena cycle slip detector Bw Field 1 Bw x being x 0 or 1 0 gt Bw did not detect the cycle slip 1 gt Bw did Field 2 Bw value estimated observed Field 3 Bw Threshold Block 3 L1 C1 average cycle slip detector L1C1 Field 1 L1C1 x being x O or 1 0 gt L101 did not detect the cycle slip 1 gt L1C1 did Field 2 L1C1 value estimated observed Field 3 L1C1 Threshold CS 2006 200 25350 00 1 Li 0 6 266301 0 052100 Bw 1 3 747907 0 900000 o Print INPUT Messages Input data message It is shown after an epoch is read and decimated It cont

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