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A NovAtel Precise Positioning Product

1. Record Type Comment C A Code RC rc Measurement Block RC suggested R2 r2 L2 P Code 2R 2r Measurement Block 2R suggested PC pc L1 Phase CP cp Measurement Block CP suggested P2 p2 L2 Phase 2P 2p Measurement Block 2P suggested L1 Doppler DC Measurements Strongly recommended GE GPS Ephemeris Required GLONASS NE Ephemeris Required TO Clock Offset TC Locktime ii Recommended for GrafNet PO Position Users SI PRN List RD Receiver Date OEM Measurements Compressed record more robust 227 Chapter 8 Table 20 Files Supported for Leica SR File Type Comment DS obs Measurements Required DS eph Ephemeris Required DS cmp Position Recommended for GrafNet users DS ttp Station See Notes DS evt Event Mark DS chn Static Chains Produced by TDU units running TDU Event Mark with SR series read in directly by software Table 21 Records and Files Supported for Leica MX Record File Type Comment 2 Measurements Required for 6 channels 3 Measurements Required for 12 channels a Recommended for GrafNet 8 Position ises 200 201 r One of these 202 Ephemeris records is required 203 Produced by ASCOT system EVO Event Mark with MX series read in directly by software lt One limitation of the SR decoder is the inability 228 to copy alphanumeric station names properly since only the numeric index is retained This
2. Fixed search region with size 4 00 m Auto teduce use scale factor 2 00 2 4 Maximum Distance Maximum distance for single frequency 7 50 km 20 00 km Maximum distance for dual frequency r Options for Engaging KAR I Engage KAR while in STATIC mode I Engage if distance lt 5 0 km reset if distance gt 150 0 km fi 5 00 ram J Engage on event of poor DD DOP 1250 J Engage KAR continuously every Cancel Apply 79 Chapter 2 Process GPS or GPS GLONASS 21 Process General Advanced 1 Advanced2 Measurement lonosphere L2 FixedStatic KARI KAR 2 UserCmds gt L2 Noise Model Automatic chooses iono or high lono distance 5 0 km lonospheric correction C High noise Medium noise old high noise Low noise needs clean data m Control Settings IV Stricter reliability tolerance I Stricter RMS tolerance I Use fast KAR Use fast KAR even for 5 SVs I Refine L1 L2 KAR search m Distance Settings IV Search only closest base or lt 8 km IV Maximize long baseline data usage r Manual KAR Engage IV Use distance weighting f3 0 20 min Search on data interval 5 0 s 7 Only search on exact interval interp Advanced Maximum DD_DOP Re start search after Cancel Apply Fast KAR is reliable under the following conditions e Relatively short master remote separations
3. 9 3 8 Should I avoid using RINEX for kinematic data Most GPS receivers attempt to detect cycle slips at a data rate much higher than the recording rate and their native formats indicate such slips Although RINEX has a loss of lock character RINEX converters do not always use it Therefore use the receiver specific converter if possible 9 3 9 How do I process kinematic data logged during an ionospheric storm Ionospheric activity peaked in 1999 2000 and baselines over even 10 15 km can sometimes be hard to process if ionospheric activity is high Since the effect of the ionosphere on electromagnetic signals is frequency dependent dual frequency data can be used to combat ionospheric problems very effectively By default GrafNav does not use L2 phase data to correct for the ionosphere because noise can be added to shorter baselines In order for ionospheric processing to be enabled a dual frequency receiver is required at both ends of the baseline In GrafNav ionospheric processing is enabled from Settings Individual L2 Ionosphere Make sure the Use L2 carrier for dual frequency ionospheric processing option is enabled There are two modes of ionospheric processing The first which employs the relative model assumes that the remote starts very near to the base and that the initial ionospheric error is zero As the remote travels it transfers the ionospheric correction The second mode which uses the iono free model forms a phase
4. 1 2 2 on Page 24 Installation file How to Uninstall Waypoint Software You will receive an installation CD as part of your 1 Select Start Waypoint 7 60 Unistall purchase If you upgrade from a previous version you Software will be provided with a link to Waypoint s FTP site where you can download the new setup file The installation CD is available upon request 2 Follow the instructions prompted by the program Please see the Forward on Page 15 for hardware requirements GrafNav GrafNet 7 60 User Manual Rev 1 23 Chapter 1 GrafNav GrafNet Version 7 60 Copyright NovAtel Inc 2006 WAY P NT PRODUCTS GROUP 24 Introduction and Installation 1 2 2 CD Contents and Installation GrafNav GrafNet is distributed on CD media There are a number of folders on the CD containing additional programs and data These include the following Data This directory contains sample GNSS data for GrafNav and GrafNet for various types of GNSS receivers Browse through the subdirectories to see what data is available To process copy the contents of directories to the hard disk Hardlock This directory contains the drivers necessary to install the hardlock key on Windows 2000 and XP All hardlock drivers should be installed automatically during installation Geoid This directory contains geoid files for U S Alaska96 Geoid96 Geoid99 Geoid03 Mexico97 Australia AusGeoid93 and AusGeoid98 and the worl
5. 210 GrafNav GrafNet 7 60 User Manual Rev 1 File Formats Chapter 7 Calculating fixed solution Calculating RMS values Continuous fixed solution reliability 7 43 PASSED RMS 0 0372 m PASSED STD 0 0014 m Continuous fixed solution position is 39 01 23 54716 84 36 21 25817 259 7909 m Computing New Fixed solution This message shows the results from the multi satellite fixed solution The reliability is the ratio between the second best RMS and the best RMS The minimum reliability for a pass is 1 35 The RMS is the RMS fit of the fixed solution This number is in meters and the maximum value to pass is 0 025 m 1PPM for dual frequency and 0 015 1PPM for single frequency Warning No precise available for prn 21 Message warns that a precise ephemeris is missing for a satellite The user may want to try another SP3 file to better the results GPS data errors detected will try and reject measurements baselines or satellites Error messages starting with indicate bad carrier or code measurements encountered The above message should be following another message indicating what residuals are out of range and which satellite has the largest value This indicated satellite may not be the actual problem one because the Kalman filter distributes the errors around A number of tests will be performed to isolate the problem data and satellite Therefore this message is followed by the messages shown below C A code tested OK
6. Confidence 39 400 I Crosses on ellipses Cancel 169 Chapter 3 100 km FEMI ign Unproc Dup Approx Good Bad Trav Gcp Tie Check GEO DMS Table 15 Station Colour Legend Colour Description Cyan Dark Purple Control point A reference station with known coordinates Check point Station has known coordinates available but they will only be used as a check Comparisons are found in the TRV file The network adjustment output file NET will also show check point residuals Light Purple Tie point Two or more sessions are connected as remotes to this station via the traverse solution The TRV file will show traverse ties Yellow Traverse point No tie information can be computed for traverse solution 170 GrafNet 3 6 3 View Coordinates See 2 7 6 on Page 120 for information regarding this feature 3 6 4 Export DXF See 2 7 7 on Page 120 for information regarding any feature not described below Only the options specific to GrafNet are discussed here Station Error Ellipses Display around each station and are only available if a network adjustment has been completed Baseline Error Ellipses Only the baselines need to be processed Error ellipse scale factor The ellipse scale factor scales the ellipses so they will be visible if you do not see them in the DXF file 3 6 5 Show Map Window Map
7. Use fast KAR Use fast KAR even for 5 Sis IV Refine L1 L2 KAR search 2x Advanced 2 Measurement KAR 1 KAR 2 rm L2 Noise Model Automatic chooses iono or high lono distance 5 0 km lonospheric correction C High noise Medium noise old high noise User Cmds r Distance Settings IV Search only closest base or lt 8 km IV Maximize long baseline data usage IV Use distance weighting Low noise needs clean data m Manual KAR Engage gt Advanced Maximum DD DOP 3 0 30 min Search on data interval 5 0 2 Re start search after I Only search on exact interval interp Cancel Apply GrafNav Distance Settings The following options are available Search only closest base or lt 8 km This option only applies for multi base processing It forces KAR to use the closest base station or those which are closer than 8 km Disabling it causes all base stations to be used and is normally not desirable If a certain base station causes suspect fixes due to poor quality data consider disabling it using the View GPS Observations Master Disable or omitting it from KAR usage Maximize long baseline data usage With this setting disabled KAR stops using data as soon as the distance between the remote and master is significantly longer than the maximum distance This can result in minimal data being used causing lower reliability With th
8. Written to STA file CLKB ID 02 Clock Information See Notes orb Ephemeris Required for SoftSurv P4 232 1 If using receivers with standard correlators you should either request the CLKB record or else re calculate the position and clock information See description of the decoder options below The clock correction offset is needed for processing This record is also suggested for users logging data right from power up The CLKB record should be requested before the measurement record 2 Ensure that the baud rate is set high enough to properly handle 12 channels worth of measurement records as well any additional records 3 The GPS GLONASS MiLLennium receiver has 24 channels 4 Log MKTB or MKPB but not both Utilities NovAtel OEM2 OEM3 and SoftSurv This decoder handles data from the NovAtel OEM2 Softsurv and the NovAtel OEM3 receivers Zable 26 describes the supported records and files Make all epochs Kinematic Sets the entire file to kinematic mode Re calculate position and clock offset If there is no POSB record this option to re calculates the position and time gt The REPB record must be present any epochs collected before the first REPB are not re calculated See Section 7 1 3 2 Section 8 5 2 on Page 222 for help correcting this lt To ensure enough ephemerides the REPB record should be requested ONCE on start up and ONCHANGED afte
9. Code Controls the standard deviation at reference elevation or C NO for C A P1 and P2 codes Carrier phase Controls the standard deviation at reference elevation or C NO for L1 carrier Adjust for iono Adjusts the carrier phase standard deviation for additional error resulting in L1 L2 combination This option should be enabled Doppler Controls the standard deviation at reference elevation or C NO for the Doppler Automatic Sets the standard deviation to 0 25 or 1 0 m s depending if the receiver measures Doppler The standard deviations are specified here as double differenced values and so will be at least twice that published by the manufacturer GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Process GPS or GPS GLONASS lonosphere L2 Fixed Static Process General Advanced 1 KAR1 KAR2 Advanced 2 User Cmds Measurement r Satellite Weighting Mode Elevation based suggested C NObased Standard m Measurement Standard Deviations Values are for Code 4 00 im Main Settings Carrier phase Jo 020 m M Adjust for iono fe 250 m s M Automatic Use main settings Doppler r Outlier Detection Rejection Code reject Level B 0 ASD Code reset 6 0 nSD Normal x Phase reject E 0 nSD Phase reset fi 5 nsD 30 n5D Advanced Reset Settings Doppler reject m Distance Effects PPM error added to measurement SDs Distance effect a
10. Data delimited by commas Waypoint OutRec CMB Prints a standard combined solution file Also available via the Output menu INS GPS Integrator Produces a file with all data that would be useful in the integration of GPS with INS Itres Research data format GeoRearch s MSS Data specially configured to be read by GEOLINK TM Epoch Statistics dat file The epoch statistics generates a comma separated DAT file containing the following information e Time e Quality Factor DD DOP e L1 Phase RMS e CA Code RMS e Ambiguity Drift e Standard Deviation e PPM Trace e Number of Satellites Local Level Vector Outputs local level positions and velocities standard deviation and quality factor GrafNav GrafNet 7 60 User Manual Rev 1 Write Coordinates Output file name CAG PSData Manual_Data test_for_manual Browse rm Source Features stations camera marks Static sessions Single point solution gpb file Station file ATK results r Coordinate type YZ ECEF C State plane C Geographic UTM C TM amp 3TM Local plane Gauss Kruger Local level Oblique Mere Irish Grid Lambert British Grid Use east north coordinate order Chapter 2 m Output format ASCII sf Convergence ASCII ENH Std Deviations CSV comma separated xl m Horizontal coordinate units C Deagminsec Metres C Deg dec min Feet Decimaldeg US survey feet
11. Process Mode Defines the type of data used for processing The options are listed in the shaded box Elev Mask Satellites below this elevation value are rejected Interval Only process epochs that fall on this data interval Use a value of zero to process all epochs Accumulate static periods Enable this option to compute a weighted average for static periods improving accuracies Otherwise static data is treated as kinematic GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Advanced The following options are available Use broadcast iono model for SF Uses the ICD 200 broadcast or IONEX ionospheric mode for single frequency correction if it is available in the EPP file Use P1 instead of C A For some receivers interchannel biases between C A and P2 result in a less accurate ionospheric correction being computed If these receivers also have a P1 signal which can be checked via the GPB Viewer then P1 can be used to compute a more accurate correction and in the single point least squares position computation Output epochs with high residuals The single point processor normally rejects epochs with high residuals that cannot be fixed Enable this option to always output solution data regardless of quality Correct time with solved clock shift The single point processor uses the raw receiver measurement time stored in the GPB format but if the corrected time in the GPB file is deemed more accurate the
12. Represents a baseline where processing failed one or more tests and is thus deemed to be bad Right click the baseline in the Sessions window of the Data Manager and select View Information to determine the problem If you are confident that the solution is okay the status can be changed from the Sessions window as well You can control when float solutions pass via the Solution tab under Options Preferences 175 Chapter 3 GrafNet 176 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 4 GrafNav Batch 4 1 GrafNav Batch accompanies the GrafNav GrafNet and GrafNav Lite software packages It batch process both kinematic and static baselines using the GrafNav processing options including float only fixed static and KAR solutions With GrafNav Batch you can easily load observation files GPB process multiple baselines process multi base baselines and export the output of numerous sessions into separate or integrated files Static only baselines networks are best processed using GrafNet 4 1 1 Getting Started with GrafNav Batch This section contains a tutorial to help you process multiple baselines Each menu is defined in detail later in this chapter Before you start a project in GrafNav verify installation convert data and download any required data Install Software Verify that the installation was successful by ensuring that you have a Waypoint GPS program group on your computer If
13. Select File Save Project How to add a ground control point ile Ba 3 Select File Add remove Control Point Press the Add button Select the ID corresponding to the control point to be added Enter the latitude longitude and height for that station These coordinates should be in the same datum as the selected under Options Datum 5 Press OK How to set the processing options 1 148 Select the desired static processing mode These modes are described in Section 3 1 2 on Page 146 Select the desired processing datum GrafNet Convert Data To be processed raw GPS data files have to be converted into Waypoint s GPB format including raw data from Waypoint s data logger program Instructions on how to convert these files are in the shaded box Add Observation Files to the Project Files can be added one at a time by clicking Add or all files in the directory can be added by using Select All followed by Add A dialogue box appears requesting verification of the station ID and antenna height With some receivers this information will be filled in automatically Always ensure that the ID and antenna heights are correct Steps on how to add observation files to a project are in the shaded box lt Ifa station has been observed more than once the station ID should be the same for each observation Otherwise two separate stations will be formed and solved for Add a Ground
14. Zoom Out Zoom Reset Distance amp Azimuth Tool Find Epoch Time Datum Manager Geoid Grid Map Projection Convert Coordinate File Time Conversion Favourites Manager Mission Planner Download Service Data 125 Chapter 2 Datum Manager 2121 Datums Datum Conversions Ellipsoids Transform Coordinates Solve Conversion Datum Latitude Noth 34 57 25 67878 Longitude wes x fioe 29 40 13320 r Input Coordinates FROM NAD83 na Ellipsoidal Height 1720 488 m Lon Week Number Transform Coordinates Select from Favorites m Transformed Coordinates TO wWGS84 Conversion IV Automatic N D8B3 to WGS84 7P All Cor Y Datum Transformed Coordinates Lat 3457 25 69876 106 29 40 16898 Hgt 1719 508 Year 2005 45 1327 Shift 0 543 1 366 0 057 Add to Favorites How to solve for a transformation or datum conversion 1 Isolate the ToDatum and the FromDatum to be used Normally one of the two will be WGS84 but ITRF is also common This feature can be used to convert between any two datums and it does not matter which datum is which From or To as long as the coordinate files correspond Create a text file that contains the geographic coordinates of the points in the FromDatum Examples include NAD83 and EDS0 Coordinate systems other than geographic degrees minutes seconds are not supported The format for the coordin
15. assssnssesseerrssrrssressensrnnnrrrrrsress ranson rr sr ns rr r ARR RAR KR RKA RR RAR RAR RR RR KORK ARR KAR manene mEnE 150 3 2 2 Untixable Data seve Huscctaeeceisaeersiaicatetiars cereedaiast ees ase tes eb Ne MVA E Ae DRAR Adena 152 Bed PUG AE EEEE AEA E EE tan AAA REN AE A AE 153 3 3 1 New Project ecrini e AEAEE AAEE AEEA 153 3 3 2 Open Project iverserersneseridene ne bene ainnean ANA EEANN KEN AEEA EEEE KAN VAAN AKAN AEE AAEREN 153 3 3 3 SAVE Proj C Cerec E A eats ENARE ARKEN 153 3 3 4 Save AS aeiiaaie niaaa anaba iana aiaa e aiaa aaa ienaa a R A a AR SARK KARA SAK SANNA iaaiiai 153 33S PAN ai N A Ea A E A A 153 3 3 6 Add remove ObSEervatiONS smessrrsssssseesresrerrrrrrrssensrnnrrr ers rr rss rr renar ner nr arr rr RAR RR RR RER KR EEE KR RAR Ran nn 154 3 3 7 Add Remove Control Points arresiak anaia aia NRA 155 3 3 8 Add Remove Check Points ccccccecceceeeeeeeeeceeecaeeeeeeeeeeeeeseceaaaaecaeeeeeeeeseeseseessnnieeaeeees 155 3 3 9 Alternate Ephemeris Correction Files mmsssnssssssssssssresrerssrrssrsasrensrnrrrrrrr rs renar renar nr sr nns rr rara n na 155 3 3 10 Remove Processing Files snsmmssssessrssssrersssssrerssssresrsssrrsrss rss ss snar tt AR RASAR RAR RASA RAR RASAR KAR RASA RR aan 156 323 11 Import Project FIlGS 4 ereensivedrereterss eerrsanerd en ense reder T E ER AAA FARAN AA NA FSKRRAAENEEARRER 156 3312 Vie Wirnik a ences penta a e Eaa ai a a a aaa aa aaie aiaa 156 3 39 13 COMVOM inre a E A a E a A a A A N DERA 15
16. 100 normally indicate abnormally large session errors that is a very poor network fit and you should try and investigate the source of the problem before using the coordinates produced The variance factor can also be used to scale the station standard deviations to more realistic values The network adjustment is initially run with a unity scale factor The resulting variance factor can then be inserted in the scale factor field from the first screen After running the network adjustment with this new scale factor you will notice larger or smaller standard deviations and that the new variance factor should now be 1 0 This procedure will only work for a minimally constrained adjustment that is one 3 D control point or one 2 D and one 1 D control point GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet 3 4 7 View Traverse Solution GrafNet computes a traverse solution automatically after processing each session This feature can be used to view traverse solution files TRV Traverse Solution Once all of the baselines have been successfully processed meaning that they are green in the Map Window you will wish to produce coordinates for each of the stations Accomplish this by using the traverse technique from known station to unknown stations Using File Add remove Control Points additional known fixed control points can be specified At least one GCP is needed per project before GrafNet will process any data bu
17. A float static solution is available for long and or noisy baselines KAR allows you to start in kinematic mode and GrafNav s ionospheric processing improves accuracies for dual frequency users See Chapter 2 on Page 31 for more information 1 4 2 GrafNet GrafNet is a static network processing package it creates a single network by tying all the ends of static GNSS baselines together Within minutes GrafNet processes the entire project in a single operation When the processing is completed GrafNet color codes the baselines so irregular ones are isolated from the project and can be easily analyzed GrafNet allows three types of static baseline processing solutions including fixed static float and ionospheric free See Chapter 3 on Page 145 for more information 1 4 3 GrafNav Lite GrafNav Lite is a simplified version of GrafNav It contains all of the conversion and logging utilities but only supports processing intervals of 1 second or lower GrafNav Lite achieves accuracies of 5 to 20 cm even though it only includes float static initialization and does not support KAR Single frequency float solutions does not fix ambiguities See Chapter 2 on Page 31 for more information 1 4 4 GrafNav GrafNet Static GrafNav GrafNet Static is a simplified static network processing package that provides the same processing features as GrafNav GrafNet for static baselines Please see Chapter 2 on Page 3 for more informa
18. GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 2 1 GravNav GrafNav GrafNav Lite and GrafNav GrafNet Static Overview kcal cal al GrafNav is a full featured kinematic and static GPS post processing package that uses Waypoint s proprietary GPS processing engine It supports both single and multi baseline MB processing GrafNav supports most single and dual frequency commercial and OEM receivers See Table 2 on Page 29 for more information GrafNav automatically switches from static to kinematic processing and has a fixed static solution for static initialization of short or medium length baselines that are 0 to 30 km A float static solution is available for long and or noisy baselines Kinematic Ambiguity Resolution KAR allows you to start in kinematic mode and fix otherwise unrecoverable cycle slips GrafNav s ionospheric processing improves accuracies for dual frequency users WAY P21 NT PRODUCTS GROUP This chapter describes how to get started with GrafNav and goes through each menu of its interface Step by step instructions for first time users are also included GrafNav Lite and GrafNav GrafNet Static This chapter also describes the features of GrafNav Lite and GrafNav Static About GrafNav 7 60 GrafNav Lite is a simplified version of GrafNav It contains all of the conversion and logging utilities but only supports processing intervals of 1 second or
19. Opens the station file for the associated GPB file View Ephemeris File Opens ephemeris file EPP for the associate GPB file Plot Coverage Opens the Static Kinematic and Coverage plot for all observations in the project See Zable 4 on page 103 for information regarding this plot Plot L1 Satellite Lock Launches the L Satellite Lock Elevation plot See Table 4 on page 103 Plot L2 Satellite Lock Launches the L2 Satellite Lock Elevation plot Show Sessions using Observation Displays all sessions involving the observation period in the Sessions window Expanding the Observations branch in the Data Objects window on the left hand side of the Data Manager allows the observations to be displayed individually in the Observations window Expanding each observation in the Data Objects window displays the station that was observed GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Columns in the Observation Window Name Name of the station at which the observations were made AntHgt Antenna height for the period at which the observations were made AntType Type of antenna used at the station File File path and name of the GPB observation file If multiple observations periods are contained within one GPB file this column indicates which of those observation periods is being referred to Observation periods are numbered sequentially in the order they appear in the GPB file Length Length of the observati
20. Project rotile Tools List of Profiles m Project Profile Tools N ew fi rom Pi roject Factory Defaults New from Project Creates new CFG profile using the current GrafNav Defaults E project s settings Load into Project Load into Project Update with Project Same as Load Settings From under Settings rong Saano Siate CFG Profile Tools menu This option loads the settings from the Tree Cover Edi selected profile into the current project Delete Update with Project Updates the CFG profile with the current Rename project settings Copy CFG Profile Tools Edit Current Project test for manual cfg Brings up the processing settings menu to allow the selected CFG profile to be modified Rename Allows profile to be renamed Delete Deletes the selected profile Copy Creates a copy of the currently selected profile Modifications to pre loaded settings are lost if software is re installed 2 6 8 Compare Configuration Files This feature allows you to make a direct comparison between the settings in two different configuration files This utility scans both of the specified CFG files and creates a report outlining all the differences found For each setting found to be different between the two files the report displays the values from both CFG files used for that particular setting A total count of the number of differences appears at the bottom of the report GrafNav GrafNet
21. Quality 1 SlopeDist 92 246 m HorizDist 92 235 m SurfaceDist 92 235 m Azimuth12 151 42 36 21749 Azimuth21 331 42 35 07388 GrafNav GrafNet 7 60 User Manual Rev 1 215 Chapter 7 File Formats The only output from kinematic processing is the KAR summary record as shown below Note that if kinematic processing is used without KAR no output will be shown in the FSS RSS files EngageTime 343269 00 1272 23 21 09 0 05 26 2004 RestoreTime 343270 00 1272 23 21 10 0 05 26 2004 SearchTime 343329 00 1272 23 22 09 0 05 26 2004 TimeSkipped 0 0 s TimeUsed 60 0 Ss PASS RMS 0 010 cyc PASS Reliability 6 2 PASS FloatFixSep 42 m PASS SearchDist 0 02 km HIGH L2 noise model AvgDist 0 02 km AvgSats 7 0 SearchSats 7 13 3 19 128 27 31 RestoreSats 7 13 3 19 1 28 27 31 RestoreDop 2 6 RestorePos 21 10 09 12638 149 11 00 32129 58 989 Message KAR success 7 4 3 FWD amp REV Files This section explains the trajectory output which has entries for each epoch The first line of the output file always begins with SOUTREC and is followed by the version number the processing engine and the type of output An example of the first line is given below OUTREC Ver7 50 2426 NGPS32 Forward Normal The output format is shown below Note that certain entries may not always appear depending on which processing options were used See Section 2 5 on Page 61 for help selecting the output level Out Tim even_sec_time
22. These can found under the Output menu The following are some plots that might be useful Combined Separation Plot This should be the one of the first plots to look at It shows the difference between the forward and reverse solution An ideal solution should have separation of zero as this indicates that the carrier phase ambiguities have been determined to be exactly the same value in both directions This plot gives you a general idea of what kind of accuracy you are achieving For a combined baseline in GrafNav Batch this plot will always be positive as it shows maximum minus minimum value and you may wish to also view the Combined RMS plot Float Fixed Ambiguity Status Plot This plot shows if the solution is float or fixed Fixed integer ambiguities generally have better accuracies i e usually less than 20 cm Ideally the plot should show two fixes green as this indicates a fix in both directions Furthermore the separation plot is the most meaningful A fix in just one direction cyan is generally okay too but it cannot be verified via the combined separation plot as well Sometimes a trajectory will lose its fixed status because the DD DOP became too poor In such a case the separation may not be as badly affected as a loss of lock Quality Factor Plot This plot shows the quality of the solution There are five different quality factors Increasing quality factors indicate a worse solution This is not a perfect indication but
23. amp prn 8 t amp Locktime 8 Line 70t amp prn 9 t amp Locktime 9 255 Chapter 8 Utilities 256 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 9 FAQ and Tips 9 1 Overview of FAQ and Tips This is a valuable section to pass on some of Waypoint s processing knowledge to you along with a few tips that can vastly improve certain data sets Many of the answers to the FAQ and the tips listed for GrafNav can also be applied to baselines in GrafNet 9 2 General FAQ and Tips 9 2 1 How can I store Master Station Coordinates Every time a new project is created you are prompted for the coordinates at the master station If certain base stations are being used repeatedly it is easier to store the station coordinates by using Add To Favourites in the Enter Master Position window and loading the master station coordinates using Select from Favourites when needed This method is faster and removes the possibility of typing errors Stations from network or traverse solutions can also be added to the stations list in Favourites Manager using GrafNet Once a network solution has been processed and you right click on the station in the Map Window a menu appears with the Add point to Favourites option Stations added from GrafNet will also be available for use in GrafNav If no network solution is loaded you are prompted to see if a traverse solution should be used or not A list of coordinates can also be loaded fr
24. for help GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 6 File naming convention SSSSSSSS HHHHHH hh iiii Where SSSSSSSS Station ID 8 characters HHHHHH Number of hours since 1980 6 characters hh Number of hours in the file 2 characters iiii Data interval 4 characters xl r Base Type File Base Station r Station Information Station Name ID JADRI Latitude Noth 41 55 08 33225 Longitude west gt jes jor 27 38233 Height 207 108 m Find Internet Station Antenna Properties Antenna Height Measurement 1 112 Antenna profile TRM39105 00 Edit Antenna Edit Antenna All Files Select From Favorites Add to Favorites ME nanes gt r List of Base Files C GPSData AutoNay test Master adri1510 gpb Edit Antenna Add Files Remove File Base File Editor Base Stations Internet Settings Retain Internet Files Retain Intemet Files Database Path C GPSData AutoNav_test Master Select Clean xl Ca 199 Chapter 6 Remote Editor Raw GPS File C GPSData AutoNav_test 05YLW0531 a jps Browse Remote ID OSYLW0531a Receiver Type Javad Topcon bal r Data Type Recompute Clock and Position C Static Kinematic oo Autodetect does not work for all receivers No m Antenna Settings Antenna Height 0 000 Edit Antenna cancel Au
25. high RMS value and or low reliability or an incorrect fix In such cases the iono free solution or float solution should be used for dual and single frequencies respectively The maximum distance for fixed solutions varies from data set to data set For dual frequency maximum fixed solution distances are usually 30 50 km but may be less during ionospheric storms For single frequency this distance is closer to 10 15 km In both cases longer fixed solution distances can be achieved but with varying degrees of success For single frequency the float solution is the only alternative It should be used if the fixed fails in both forward and reverse directions If not then the solution must be manually re processed by right clicking on the baseline in the Sessions window of the Data Manager The float solution is more accurate if the fixed solution has determined an incorrect integer ambiguity solution For dual frequency the iono free solution is normally superior to the float The only time that this is not the case on long baselines is if the L2 signal from the GPS receiver has either many slips or data errors In such a case the float solution is better For long observation periods on very long baselines the iono free may in fact be more accurate than the passed L1 L2 fixed solution This is because the ionospheric error has been removed On short baselines the iono free solution should not be used For either frequency the inclusion of t
26. m I Set tick counts per wheel revolution Wheel Circumference Time tolerance for synchronizing BESTPOS and RANGE records 5 00 seconds Factory Defaults OK Cancel Table 27 Records Supported fro NovAtel OEM4 Record Type Comment RANGEB ID Measurements One ofthese H43 expanded records is required RANGECMPB Measurements ID 140 compressed Measurements 64000 ID Waypoint Ultra See Note 1 Compressed RAWEPHEMB i ID 41 Ephemeris Required ALMANACB Decoded Written to EPP file ID 73 Almanac see Note 2 way ID Raw Almanac BESTPOSB Pe Recommended for GrafNet ID 42 Position users MARKTIMEB Event Mark i ID 231 Time Written to STA file PRPCLKMOD Propagated ELB ID 71 Clock Model TIMEB ID Receiver Time 101 Information IONUTCB ID lonospheric 8 Parameters RAWIMUSB IMU ID 325 Measurements SPAN Technology users only 233 Chapter 8 t Rinex Options M General Options J7 Make all epochs Kinematic IV Use new GPB format IV Write OBS file header information to message log and STA file Show cycle slip messages J Use APPROX_POS in header for each epoch position m Advanced Options GLONASS PRN offset JT Shift time to user interval 1 000 3 m Doppler Source Automatic use D1 value Calculate from L1 phase Calculate from CA code C Use ephemeris static Receiver Specific Reve
27. occurs in the newer firmware versions i e Version 3 0 and on The value retained is in an index ofa list of station names that are contained in the Leica file system To circumvent this an IDEX file can be loaded directly into GrafNav for kinematic processing or else into the decoder directly for static chains See Page 46 for help creating an IDEX file Utilities Use JPS locktimes for cycle slip detection Locktimes from the Javad receiver are used instead of those computed by the decoder Enabled this if Javad locktimes are problematic Ignore entire epoch if check failed on element GPS data for the entire epoch is ignored when a checksum error is reported for any of the incoming records Otherwise only the affected data is ignored Use SAVE marker to store sites to sta file Markers are saved to STA file Reject entire record if L2 phase is missing Enable if logging rate is high Verbose messaging mode Alerts of additional warnings and errors that have occurred If GRIL and OEM Format are Mixed Allows you to choose which format should be used in the event that both are mixed Leica SR and MX Leica raw GPS measurement data can come in two types of formats The MX series data files are produced by the MX 4200 and 9200 receivers while the SR series data formats are produced by the SR 299 399 9400 9500 sensors The SR files usually start with DS The decoder automatically detects if the files are from the SR or M
28. reasons Examining which features are loaded Examining the quality accuracy of features after processing Examining the time difference azimuth and distance between successive marks to identify timing and numbering errors Editing station feature names time tags as well as antenna heights and models For camera marks the line number can be inserted into Desc Info field Re numbering stations and camera event marks Disabling features so that they are not displayed or exported Editing the crab drift angle for applying 3 D offsets to camera event marks The shaded box has a list of the columns that are displayed Changes made to stations are now saved automatically to an NST file To revert back to the original station information use File Load Station File or File Load Camera Event Marks GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Displayed in the Features Editor window Name The name of the feature The symbol next to the name is the type of point Examples include a station camera mark or GIS mark The symbol appears grey if the feature has been disabled Time This is the feature s GPS capture time To show the time in HH MM SS select Show HMS Q Shows quality number of the feature s solution 1 fixed intege 2 stable float Std m Combined standard deviation of the north east and height components including additive PPM based error Fix Shows the a
29. which displays information pertaining to the choices made in Step 19 in Section 8 5 3 on Page 221 during the configuration of the project GrafNav GrafNet 7 60 User Manual Rev 1 Utilities 8 12 Plot Satellites This opens the Satellite Az Elev Plot window which is a graphical display of the satellites elevation above the horizon as well as their azimuths Scatter Plot This opens the Scatter Plot window which is a graphical display of the positions being computed by the receiver When waypoints have been loaded this plot is of more use for the remote station especially Waypoints are represented on this plot by triangles 8 13 Zoom Menu This menu contains tools to zoom in or zoom out of the Scatter Plot window These tools prove to be particularly useful when a waypoint file has been loaded gt lt The Reset Zoom option will scale the plot back to its default size 8 14 Events Menu Static Kinematic Shortcut key F3 This feature toggles the mode between static and kinematic By default the mode will be set to static once logging commences so needs to be changed for kinematic applications Failure to do so results in errors during post processing Mark any static occupations that may occur during the kinematic survey Mark Station Shortcut key F5 lt The toggling of the mode between static and kinematic is considered an event and is therefore automatically recorded in the STA file Any stat
30. 038 18 151710 152130 420 0 6 0 024 0 0 024 10 151350 154770 3420 0 6 0 013 0 0 013 RMS 39 292 85 149 8 15 115 NEPOCH STATUS 39 292 85 149 8 15 115 Rejected OK OK OK Rejected OK OK 214 GrafNav GrafNet 7 60 User Manual Rev 1 File Formats Chapter 7 10 155070 155280 210 0 6 0 018 0 0 018 8 8 OK Following are the final coordinates that are output in a static solution This is not seen for kinematic data The difference between the fixed and float output is the fixed will have an RMS and reliability output The RMS is the RMS fit of the fixed solution This number is in meters and the maximum value to pass is 0 025 m 1PPM for dual frequency and 0 015 1PPM for single frequency The reliability is the ratio between the second best RMS and the best RMS The minimum reliability for a pass is 1 35 Static ToSta STATIC FromSta BL1 IsBest Yes AntHgt 0 486 m StartTime 6240 00 1318 01 44 00 0 04 10 2005 EndTime 6375 00 1318 01 46 15 0 04 10 2005 TimeLen 2 minutes 15 seconds Latitude 39 00 33 18453 Longitude 174 10 46 74393 EllHeight 63 8096 SolType L1L2 Fixed IsFixed Yes RMS 0 0040 PASS m Reliability 10 3 PASS RMS ratio StdDev 0 0063 0 0068 0 0147 m e n h EcefVec 45 4059 48 5693 63 9423 m EcefCov1 2 02423923e 004 EcefCov2 5 94309046e 005 4 99990537e 005 EcefCov3 6 87795183e 005 1 87233603e 005 5 03819486e 005 AvgDDDop 3 35 AvgPDop 2 12 AvgNumSats 7 0
31. 6 6 Photogrammetry Photogrammetry Options x Al These options are useful to GrafNav for GPS m Camera Pulse Interpolation assisted aero triangulation This includes control Linear over how interpolation is implemented and a Polynomial special processing mode useful in conjunction with Window size a Even and greater than 3 bundle adjustment drift parameters Camera Pulse Interpolation These options determine how the camera marks are i Use carier phase strip processing interpolated See Section 2 3 10 on Page 41 for Fifas help loading camera marks Since each ETE photograph is seldom taken on the even epoch it eae must be interpolated to compute a proper position Apply 2D Offset Two methods of interpolation supported by GrafNav are listed in the shaded box Photogrammetric Stip Processing Use Export Wizard and you will be prompted for offsets Photogrammetric Strip Processing This option is no longer supported by the software OK Cancel Apply 3 D Offset Lets you apply a 3 dimensional offset from the The methods of interpolation sup antenna to the measurement device entry nodal ported by GrafNav point on aerial camera The offset is defined in the local body system of the aircraft and not the Linear camera See Section 2 7 4 on Page 107 for more This interpolation model is the simpler of the two information and gives no RMS statistics It fits a line between the two nea
32. 62 for information concerning the nitialization tab lt Only the Solution and Combine tabs will be discussed here because they are unique to GrafNav Batch Solution Solution to Load This setting selects which solution to use after processing Automatic is the default but select the forward or reverse solution if one is deemed most optimal To do this right clicking on the baseline and selecting Solution Usage See Section 2 5 3 on Page 89 for a description of the options available with the Combine Settings button Satellite System Type This only applies to data logged using GLONASS enabled receivers GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Batch Chapter 4 Automatic Enables the usage of GLONASS data if it is available Edit File and Coordinate Information for bmry1020 to Base Station Remote Antenna Initialization Solution Combine GPS only Solution to Load Disables GLONASS processing This option is useful if GLONASS data is causing problems GPS GLONASS Forces the usage of GLONASS data if it is available Should be used if automatic detection fails Combine Weighting Factor The Weight value can increase or decrease the weight applied to an individual baseline The Additive PPM value can increase or decrease the distance dependency These are advanced features that are difficult to use It is better to just leave out a baseline that is determined to be unreliable Maximum Distance
33. 9 5 Close All Windows Closes all windows GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 10 Help Menu 2 10 1 Help Topics Opens an HTML version of this manual This feature can be very useful as a quick and easily accessible reference 2 10 2 www waypnt com This option opens a web browser to the Waypoint Product Group s page on NovAtel s website where details on the latest versions patches information on GPS INS and technical reports can be found 2 10 3 About GrafNav This window displays information about the software version build dates copyright information hardware lock key information and DLL information Access the hardware key utility from this window by clicking Key Util Upgrade This tool is useful if an upgrade needs to be performed on the hardware lock The Dependent Files window displays a list of executables and DLLs associated with GrafNav The date and time of the files are shown as well as a quick description of the file Other programs have this feature as well With Internet an connection use the Download latest manufacturer files option to connect to Waypoint s FTP site You can download the files that are listed in the shaded box from this site Most of these manufact files have an associated user file where you enter your own information to be saved These files are not modified when you download the latest manufacturer files Do not directly modify the manufact files beca
34. CaRms is 2 1 m The problem must be due to the carrier phase Indicates that the C A only tested OK and a problem is very unlikely to be a problem If the C A was invalid then another message will be printed On code worst PRN is 20 RMS is 1 46 m PASS reliability is 1 84 FAIL A further test on the combined code carrier solution to ensure that the code is OK On phase worst PRN is 28 RMS is 0 0949 m PASS reliability is 1 19 FAIL This test will generally indicate if a missed cycle slip to other carrier phase problem was fixed by removing a particular satellite The above message indicates that the problem could not be fixed and will generally be followed by a filter reset message See below The reliability must be greater than 4 0 to be signaled as a pass The user should investigate the clock offset information at this epoch via GPBView to see if the problematic epoch is due to an incorrectly computed clock shift Could not fix Kalman filter by rejecting a satellite Failed 2 out of 4 tests Unable to correct bad GPS data issuing filter reset This message indicates that a data problem could not be repaired Engaging filter reset Accuracy is severely reduced This is printed when the filter reset is being engaged It should be preceded by a message indicating why the filter reset was issued A filter reset is when a cycle slip is issued to all satellites and the position is reset to startup values KAR engaged due to occurren
35. Chapter 2 How to view ASCII files 1 Select View ASCII File s 2 Highlight the file to view and click Open 3 Right click the file to view additional features This lets you change the font or copy selected regions for pasting into other applications 60 GrafNav 2 4 8 ASCII File s The View ASCII File s option allows you to view any of the ASCH files generated by the software Examples of these files include the following Epoch Solutions FWD REV and CMB Message Logs FML and RML Static Summaries FSS and RSS Station Files STA Ephemeris Files EPP Output Files LAT UTM ST XYZ LAM LOC Configuration Files CFG 2 4 9 Raw GPS This option is also available under File GPB Utilities View Raw GPS Data or through a separate utility called GPB Viewer This option lets you view and edit binary GPS data in Waypoint s receiver independent GPB format See Chapter 8 on Page 219 for more information 2 4 10 Current CFG File This option lets you view the Configuration File CFG of the current project The CFG file is simply an ASCII file containing all of the processing options and user commands for the project Definitions of all the commands shown in this window are available in Appendix A GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 5 Process Menu 2 5 1 The Process GPS or GPS GLONASS window provides access to most settings related to differential processing and lets yo
36. Control Point Follow the steps in the shaded box to add a ground control point Set the Processing Options Follow the steps in the shaded box to set the processing options GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Process All Sessions Follow the steps in the shaded box to set the process all sessions After these steps are completed error ellipses on each of the single session baselines and the processing window should both appear Verify That All Baselines Have Passed Passed baselines will be plotted in green failed baselines in red purple or blue Duplicate yellow baselines do not show the pass fail via coloring and must be verified To verify follow the steps in the shaded box If it is a closed loop network and you feel that the solution is correct despite failing GrafNet s statistical tests right click the baseline and select Override Status to override the status The traverse will transfer coordinates using failed baselines while the network adjustment will not Run Network Adjustment Follow the steps in the shaded box to run a network adjustment After these steps are completed The Network Adjustment Results will open while error ellipses will be plotted for each station on the Map Window Export Station Coordinates Follow the steps in the shaded box to export station coordinates See Section 2 7 4 on Page 107 for help Clean Up processing Files optional Follow the steps in the shaded b
37. DGPS processing 62 measurements standard deviation 71 88 removing ionospheric effects 74 using P1 for differential processing 74 using P1 for single point processing 87 Camera Marks applying 3D offset 113 editing 55 loading into project 41 processing tips 275 supported formats 42 Carrier Phase measurements standard deviation 71 processing L1 and or L2 61 CFG File commands 289 description 205 Check Point adding to GrafNet 155 172 definition 301 Combining Solutions GrafNav GrafNet 7 60 User Guide Rev 1 any two solutions 90 settings 101 Concatenating GPB Files 223 Control Point adding to GrafNet 155 172 definition 301 using multiple control points 164 Converting GPB to ASCII 220 GPB to RINEX 49 raw data to GPB 225 Coordinate Output Export Wizard 107 outputting in AutoNav 202 Write Coordinates 118 Coordinate Transformation Tool multiple points 130 Coordinates entering in GrafNav 40 93 entering in GrafNet 155 importance of base station coordinates 267 saving to Favorites 257 copyright 2 Cycle Slips adding or removing from GPB file 222 detection on L2 75 fixed static 69 76 kinematic 69 D Data Interval for kinematic processing in GrafNav 64 for static processing in GrafNet 158 setting logging interval 242 250 tips for kinematic processing 268 tips for static processing 265 Data Logger CELOG for WinCE 250 WLOG for Windows 242 Data Type descriptions 61 Datums conv
38. Entire file will be set to kinematic mode Verbose messaging mode Allows you to see additional warning messages Reverse sign on receiver clock bias Opposite sign will be applied to receiver clock bias Trimble TIPY This decoder converts data from Trimble s Force 5 receiver Carrier phase measurements may not be usable Table 38 describes the supported records Make all epochs Kinematic Entire file will be set to kinematic mode Skew measurements to top of second Shifts times to whole second to make differential possible However you may also wish to consider leaving the times raw and interpolating the master file onto the remote See Section 8 6 1 on Page 223 for help Re compute position and clock offset GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present Verbose messaging mode Displays additional warning messages Input alternate ephemeris If ephemeris missing or incomplete enable this setting to specify an outside EPP file Shift corrected measurement time Apply time correction to measurements This is used to correct a bug in older versions of the Trimble firmware U Blox Table 39 describes the supported records Make all epochs kinematic Entire file will be set to kinematic mode Recompute position and time GrafNav requires valid clock shift data while GrafNet requires positio
39. File Opens the EPP file in the internal viewer View Station File Opens the STA file in the internal viewer Insert Static Kinematic Markers Opens up the menu to insert static kinematic markers in the file Resample Fill Gaps using the following options File Interval fills all gaps by resampling using the data interval Processing Interval fills gaps and lowers or raises the data rate in accordance with the specified processing interval Remote File Times produces a GPB file with epoch times that match the remote file Any data gap present in the remote file is also be present in the new master GPB file This method of resampling removes unneeded data logged before and after the observation time period at the remote It allows resampling of GPB files that do not sample at a constant rate examples of these files include SiRF GSU and I II P4 Resampling can cause additional errors If you are resampling intervals of 5 seconds or less the error is negligible for kinematic processing but for 30 second data this error is 1 2 cm and hampers integer ambiguity resolution Resampling should not be performed for static processing Disable Disables the selected master station from being used for processing Remove Removes the master file completely from the project Plot L1 Locktime Launches the L1 Satellite Lock Elevation plot Plot L2 Locktime Launches the L2 Satellite Lock Elevation plot 40 GrafN
40. Files Show Master File s Load Convert GFB Utilities Remove Processing Files Download AOA Recent Projects Exit How to create a new project using File Name 1 Select GrafNav or GrafNav Lite from the Waypoint GPS program group in your start menu 2 Select File New Project File Name A window appears asking for the name of the new project 3 Enter the name and where you would like to save your project 4 Click Save 5 Select File Add Master s to load master files 6 Select from the list of GPB files select those collected at the base station s and click Open Entering the name of a project that already exists overwrites the file contents 33 Chapter 2 Auto Start hl m New Project C A GPSData SeismicData Get Folder Name Browse Master Add Remove Remote Browse Settings Factory Defaults 7 Start processing page right away Plot Coverage How to create a new project using Auto Start 1 Select File Auto Start Browse to name the new project Use the Add button to choose master station file s 2 Use the Browse button to choose the remote file The master and remote station files must contain data collected during the same time period To see the time that the data was collected click the Plot Coverage button to display the Static Kinematic Coverage plot 3 In settings choose a processing profile 4 Ou
41. Fixed Status plots for the selected run Be aware that if processing was not performed successfully in each direction certain plots can be unavailable or incomplete This feature is very useful for comparing different runs Load into Project Loads the processing settings for the selected run into the current project You are prompted to back up the current project to a BAK file Compare Compares two configuration files that are selected by holding down the Ctrl key This feature is useful for determining the difference between the settings used for two runs Clear Deletes the entire processing history GrafNav 2 4 3 This feature displays the processing history in a chronological list It contains the date and time when each run was performed It also contains a description of the run including the directions being processed your initials and the return status View options in the Process History box are listed in the shaded box Processing History 2 4 4 This option gives statistics on the current solution loaded in GrafNav It is for kinematic processing and static processing The Processing Summary options are the following Processing Summary e Solution type e Baseline distances Number of epochs not processed percentage of epochs having double difference DOP over 10 and epochs with bad measurements Total number of epochs e Quality number percentages e Estimated position standard deviations c
42. Geoid Info Close How to define a new grid 1 Go to Tools Grid Map Projection Define 2 Click on the New button 3 Choose a grid from the many types including Transverse Mercator and Lambert Conformal Chapter 9 on Page 257 provides additional help concerning the definition of local grids 129 Chapter 2 Input Coordinate File r Coordinate File and Datum File C GPSData Manual_Data coordinates txt Browse NaDe3 Md View Formatting Coordinate type Geographic C Grid C ECEF Angle Units Datum Height type Co Ellipsoidal Orthometric MSL Metres Point Naming Use first continuous word C Use first n characters where n is ordinate order CE lorth North East Horizontal units Vertical units x 130 coca How to convert a coordinated file 1 Identifying the name datum and format of the input file lt Each line of the input file should be formatted to contain the station name followed by the coordinates 2 Press Next You are prompted for grid definition settings if grid coordinates were selected earlier If not the next step is to specify the name datum and format desired for the output file The Point Naming options are disabled as the program simply copies the names as read in from the input file 3 Specify the datum transformation to be used if the input and
43. L1Phase CACode Age Sec Age of last correction or RTK receipt Enable 1 0 Used in GrafNav indicates a required field The new station file format also handles event marks Saving a project with event marks loaded will bring the event marks into the station file The following is the event mark format Mrk Event Number Event number or name no spaces Desc Name Roll name GTim SecOfWeek WeekNo GPS Time UTim SecOfWeek WeekNo UTC Time could be used instead of GTim but this is not recommended and often not supported Pos phi lamda ht ELL ORTHO Computed position Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Std SdE SdN SdH Standard deviation in meters Vel VE VN VH Velocity in m s Att roll pitch heading Attitude in degrees Rem remarks Nsv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms L1Phase CACode Age Sec Age of last correction or RTK receipt Enable 1 0 Used in GrafNav indicates a required field GIS marks are also available in the new station file format Note that GIS marks can only be created using Waypoint s logging software WLOG Gis Count counter Feat name Attrib1 name Value1 name Attrib2 name Value2 name Attrib3 name Value3 name Rem remarks Type POINT LINE POLYGON NONE START END NODE NONE CW CCW Feature type position direction GT
44. Listed points include station or camera marks loaded from the STA file or any known points that were loaded with user provided latitude and longitude You are also free to specify points from your Favourites If the point does not already exist in the project or in the Favourites define it here by providing a name and manually entering its coordinates Next enter the coordinates of the point in the local grid system If a coordinate for the point is unknown be sure to disable the Valid option Compute the Transformation Parameters Once all the observations have been entered click the Compute button to allow the software to calculate the values of the unknown transformation parameters An RMS fit of the transformation points will be computed At this point the transformation required to obtain positions in the local system will be completely defined Click OK to save an LDF file to the installation directory The Update button will replace existing station geographic coordinates with those currently loaded in the project With the transformation now defined you can output your solution in the local system by running Export Wizard and selecting either the Local Coordinates profile or any user defined profile which contains the Local Plane variables See Section 2 7 4 on Page 107 for additional information 9 6 7 How do I process an aerial survey with camera event marks Load Camera Event Marks After adding the master and the remote ensur
45. Matrix Estimated local level position covariance matrix needs extended output in GrafNav Local Level Velocity Covariance Matrix Estimated local level velocity covariance matrix needs extended output in GrafNav Local Level XYZ Local level left hand side frame where the x axis is pointing east the y axis is pointing north and the z axis is pointing up the frame is centred at the master station Local Plane XYZ XYZ axes of a coordinate frame defined by two or more points see local plane options Local Time Date GPS time and date with time zone offset applied Longitude East West geographic coordinate Map Scale Factor Map projection scale computed for a location Master File Name Name of Master GPB file Num Fwd Rev or Comb Baselines Number of baselines used in the combined solution Num GLONASS satellites Number of GLONASS satellites Num GPS satellites Number of Satellites Number of GPS satellites Total number of GPS and GLONASS satellites Orthometric Height Height above the geoid mean sea level height PDOP HDOP VDOP Position dilution of precision horizontal position dilution of precision and vertical DOP May be slightly different than values from other sources due to the differential computation Pitch Angle Project Name IMU pitch angle see IMU angle definition Name of current project Useful to separate multiple baselines in GrafNav
46. Messages gt Recalculate Close When to recalculate position and time 222 To compute position records when they are not being logged because both GrafNet and GrafMov require the GPB file to contain positions To correct erroneous clock shifts To specify a time range to recalculate specific data You are given the choice as to whether to recalculate only the positions or clock shifts or both Utilities 8 5 2 Recalculate Position and Time Instances where this feature is useful are listed in the shaded box It allows for a cycle slip to be removed or induced on any or all satellites at a given epoch If adding a cycle slip the locktime for the specified satellite s will be set to zero This can be done at any epoch where a locktime is greater than zero 8 5 3 Adding or Removing Cycle Slips Only remove cycle slips at an epoch where the locktime is zero and there is a valid locktime for the satellite of interest at the previous epoch Using this feature increments the locktime appropriately for the current epoch onwards until the next loss of lock Use this feature carefully because the changes can cause problems during processing 8 5 4 Disable Satellite s If a data record is corrupt it can be eliminated with this feature When this option is engaged the program will zero the pseudorange removing the satellite from any subsequent processing that might take place using this file 8 5 5 R
47. MinDt is mini mum ime length in seconds while MaxLen is maximum allow able distance in km ON if whole cycle slips are to be corrected forming a continuous phase in fixed solution By default this option is ON mode is AUTOREDUCE NORMAL or USER Sets the search region size for fixed solution L1User and L2User are the sizes of the search are to be used for USER mode Default is NOR MAL AUTOREDUCE often works very well Data interval in seconds to use for fixed static processing Default is 15 seconds Used in the AUTO fixed solution L2 model for deciding between IONO and NORMAL 12 noise models dist is in kilometers Default is 5 km FIX_L2_NOISE IONO NORMAL AUTO Selects L2 noise model for processing fixed solution IONO per forms iono correction NORMAL does not AUTO selects between the two based on the FIXED _IONO_ DIST command HGT_MODEL EstFlg KalFlg KarFlg ZOff USEHI HgtSd KarTol GrafNav GrafNet 7 60 User Manual Rev 1 291 Appendix Appendix Controls DEM height constraint Sportvision version only EstFlag NAV ALL OFF Kar KalFlag ON OFF INITEX type time snap dir windowsize stdev anthgt phi lamda ht staname or ss index anthgt ELL ORTHO INTERVAL Datalnterval IONO DIST dist in km IONO PPM TOL tol Used to set the remote position at a given location See GrafNav user interface This specifies the processing interval in seconds It should be equal to or greater than the r
48. Next Select the appropriate receiver type Select an interval at which to record the data Specify the COM port that is being used on the receiver to send the data For camera marks enable the Request Camera Marks option P4 This option is only available for use with NovAtel Ashtech and Javad receivers Enable the Re compute Position option to force WLOG to output positions at the interval specified in Step 3 This alleviates the issue concerning receivers that only output position records on specific intervals P4 Users of NovAtel and Ashtech receivers have the option to send ASCII commands to the receiver This feature can be used to either disable commands or over ride various receiver commands Refer to the receiver manual for information on such commands Click Next If the GPS receiver is sending the data directly to the COM port of the computer select Serial Port under Receive Data by and proceed to Step 9 If the data is being received over a network select TCP IP Network and proceed to Step 12 Utilities All of Waypoint s software packages include WLOG a WIN95 98 2000 XP NT data logger that supports various receivers from NovAtel Ashtech Thales Trimble CMC Rockwell Jupiter Javad Topcon Parthus CSI Navcom Garmin and Ublox See Table 2 on Page 29 for more information on supported receivers WLOG configures the GPS receivers logs the measurement data and converts it into Waypoint s
49. Options 192 Multi Base Processing in GrafNav Batch 180 tips 266 N Network Adjustment definition 147 detailed description 163 variance factor 166 New Project AutoNav 197 GrafNav Batch 179 NovAtel importing MRK file 42 Object Menu 57 Occupation Mode processing 62 Orthometric Height obtaining WPG files 24 P P1 Code for differential processing 74 for single point processing 87 P2 Code enabling usage 74 Photogrammetry GrafNav GrafNet 7 60 User Guide Rev 1 Index applying camera offset 113 processing tips for aerial data 275 vertical scale factor 115 Plots computing statistics 102 GPS data 102 list of additional GrafMov plots 193 list of GrafNav plots 103 Precise Clock Files downloading 138 Precise Ephemeris description 39 downloading 138 for differential processing 39 for single point processing 91 source 141 Problematic Data bad satellites 259 controlling filter resets 72 259 failed baselines in GrafNet 150 incorrect KAR fixes 261 ionospheric noise in kinematic data 260 ionospheric noise in static data 265 long kinematic baselines 261 long static baselines 266 poor combined separations 263 Processing additional AutoNav options 202 additional GrafMov options 192 modes 62 266 tips for KAR 261 tips for kinematic data 258 tips for static data 264 tips to speed up processing 270 with dual processors 101 Processing Interval for kinematic processing in GrafNav 64 fo
50. Page 54 for details Save As 2 3 5 Print This option allows you to print various items including windows plots and text files GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 How to open a project 1 Choose File Open Project A dialogue box appears that asks you to select the name of an existing project CFG file 2 Choose the name of the project and click OK How to save a project 1 Choose File Save Project from the menu How to save a project as 1 Choose File Save Project As from the menu 2 Enter the name file format and where you would like to save your project 3 Click Save Entering the name of a project that already exists overwrites the file contents How to print 1 Select File Print and a dialogue box appears 2 Choose the printer 3 Choose the item you would like to print 4 Set the page orientation color and any other settings you need offered in the dialogue box 5 Click OK 35 Chapter 2 Enter Master Position Master 41x m Base Station Name MOBS I Disabled File CAGPSData AeroMetrex mobs3640 gpb Coordinates South 37 fag 45 86653 Latitude Enter Grid Coordinates Enter MSL Hat Datum Options Select From Favorites Add To Favorites Use Average Position Longitude East bd fi 44 58 31 1 8858 Ellipsoidal Height 521 48 m Datum fwesed Antenna Height Use simple vertical ant
51. Process Files snmnmnnsssssssrrrsessr rr era 4 2 17 Recent Projects ssessssrrsssrresensnnnrnsnr A218 EX caccicisseinssuajaseddeidsasaaadaaagasecdsetinacuateteaahes 4 3 Process MENU sisiccctesseidccdtessaciacdisvveticeccsveradseecaanaads 4 3 1 Process All Baselines ccccceseeeeeeeees 4 3 2 Process Selected sssmmnsssssssreeserrneresnrr rar rean 4 3 3 GrafNav on Selected Baselines 4 3 4 View Selected Processing Summary 4 3 5 Load All Solutions ccccccceeeeeeseeeeeeeees 4 3 6 Load Selected SolutiOoNS 4 3 7 Combine Multi baselines cccceeeeee 4 4 Settings Menu sirieni aiii AAA GClOD AN ain a a 4 4 4 Load into Selected From ssssssssrerosssrrera A45 Manage eee a EE 44 6 Preferentes eiia ia eavvanedsetts cadens 4 5 Output Menu sassssnssrererrrrserssenssnnnrr ner rnrre ennen nr nr n rr nn renn 4 5 1 Plot Selected GPS Data 4 5 2 View Selected M P ssssssrsssseossesenrnnr nan 45 3 EXportAlll acccascccrcterchdanctesssaaiaaderinandzeccsvaabls 4 6 Tools Menu cccccccecesseccececeeeeeceeeesenseeeeeeeeanes 4T WIRKOWS vada teteascacinesssandidstsastdeddadseaadteGaaseatdicouatieds 4 8 Help Menu sossessssosrereeressesssennsnn sr rr nns snar renar nr nr rn r nan 5 GrafMov 5 1 Overview of GrafMOV sismmesusssssrrssresssrrsrers rr rr ere ran 5 2 Getting Started with GrafMov 5 3 File MCN aides
52. Profile window and enabling the Do not print decimal point option If you need a text string label to designate the type of record being printed read i e GLL 81 open up the Miscellaneous variable category and add user Text String variable Change the format of the string by entering the text needed for the label and select the Fixed Width option if the format is dependent on column width Review the Header Footer button You can put in your own header file and display datum projections information column descriptions and titles A special character can also be inserted at the start of each header line making it easier for other software to skip past the header At the bottom of the file you can add errors warnings of any problems that were encountered and processing summary information Table 41 on Page 285 describes the many variables that you can include your output profiles Not all variables are available for use with each source 109 Chapter 2 110 Export Coordinates Wizard Export File I Browse Source amp Epochs is Profile Local Coordinates NGS Blue Book 80_86 PNAY C File PNAY C File DMS PNAV J File PNAY J File ECEF format Seismic SEGP1 State Plane New Modify Delete Rename Copy Features Stations Static Sessions How to create an output file 1 In the Export Coordinates Wizard window type in a name for the output file in the Export File field 2 After a prof
53. Project Save As Print Add Baselines Add Muti Base Baseline mbined Ba Import CFG Files Remove Selected Baselines view Convert GPB Utilities Remove Processing Files Recent Projects Exit How to open a project 1 Choose Open Project from the File menu 2 Choose the name of the project from the dialogue box BNV file 3 Click OK Add Many Baselines Folder IC Documents and Settings nnowak Desktop Get Folder r Source Files r Baselines Remove Edit Info rSetings AA IV Prompt for remote antenna height Add Base s Add Remote s Plot Coverage One base many remotes One remote many bases OK 179 Chapter 4 Add Multi Base Project Project Batch test MB 1 Master s Add Remove Browse Cancel Remote Plot Coverage How to combine baselines 1 Highlight two or more baselines from the List of Baselines window 2 Select Process Combine Selected Multi Base The window that opens contains settings regarding the combining process 3 Specify the combined baseline from the pull down menu How to import CFG Files 1 Click the Browse button to locate any CFG files to add to the current project If a multi base baseline is being imported you have to following options Enable the Break MB projects up into separate baselines option to create an individual baseline for each base station in the project Enable the Kee
54. RA FKA tena eed ae ede dd RA FAN FKA lee 145 Radial NGTWOTK ass sssesstedssiabedddd a oder ad van Qedeaseasaaeddadesaaueaacsdea nb a a RRD Sr SVR rr 145 Trivial Baseline Stod vossec cass shdecsderscaladdean veva s den nere sad dd edda sb EAE VASA te Sedd A 161 Removal of Trivial Baselines nmmmosssrrrsrsessrrrereesrrrresernrrrrer rr rr rr srr rr rr rss rr r KKR SAR RR RR RASER RR RASAR RR RR RR ARR ARR KKR RAR RAR rnn nennt 161 Network with Trivial Baselines Removed misnsosssrrsrsrrsrrsrrrressrrrsresnrrrsrrer rr rr rrr rr rr rss RAR ARKEN RR KRA RR KKR KRK RAR ARSA 161 The Effect of Bad Base Station Coordinates in MB Processing mmmsssesssssseesrrssseerrsssrerrssssser ass s er sn sens r annen 267 Local Cartesian Pl l G s ssasdastss ssdaass sossarna a a Ned rs ND dd SAR ds da a a Na 2173 Antenna Measure mhehtS lt i cocscsasassscensasiacdvacceiaces castes dduveaaasasvarweede dad ava sded isteaaeasbadaaeeagaasdaveasecdacedasansadedcarans 289 GrafNav GrafNet 7 60 User Manual Rev 1 11 12 GrafNav GrafNet 7 60 User Manual Rev 1 List of Tables 1 Product Capabilities sis iann aiiiar ia a eaae a eave dacaaaaabeds 27 2 Receivers Supported by Data Logger sosccssssorserrrrssrersrrsnssrssrransrnrrrnnrssRRs Rs RA RAR RAA AR KARA RKA KAR RA RAR KRK KR RA RAR RR AA 29 3 Receivers Supported for Post Processing sssmnmeerrsrrssrrsssensrnrrrrrrrnessran sensorn rr rss rr r sr arr RR RR Sr rnnr annen 30 4 COMMON PIOUS cniin a aeaa a a aaa MENAR ANA AMA
55. Right Click for more options 167 Chapter 3 FEIEIEIEIEIEIEIE III III IEI IE IEI IEI III IEI III IEI III IEI III AN GrafNet GRAPHIC GPS NETWORK PROCESSING x SOFTWARE PACKAGE PROJECT REPORT Copyright NovAtel Inc 2006 Version 7 60 2209 ke kK eK KK OK KOK x KK KK KK OK OK PROJECT BASE81 FEE IE FE FE FE FE FE FE FEE EE IE IE IE IE IE IE JE FE FE JE FE JE FE FE FE IE E E E IE JE IE JE JEJE JE JE FE FE FE FE FE FEE IE DATE 12 05 2066 m d y IME 14 39 14 JE FETE IE IE FE JE JE JE IE IE IE IE IE IE IE IE IE JE JE JE IE IE IE IE IE IE IE IE IE IE JE JE JE IE IE IE IE IE IE IE IE JE JE JE JE IE IE IE IE JE IE IE IE JE JE JE JE JEFE PROJECT INFORMATION FETE TE FE IEI IE JE JE IE IE IE IE IE IE IE IE JE JE IE IE JE IE IE IE IE IE IE IE IE JE JE JE IE IE IE IE IE IE IE IE IE JE JE JE IE IE IE IE JE IE JE IE IE JE IE JE JEJE FE Datum NAD83 Path C Documents and Settings nnowak Desktop Waypoint Docs FE FE FE FE FE FE JE JE JE JE JE IE IE IE IE IE FE FE JE JE JE JE IE IE HEHEHE IE IE JE JE JE JE JE JE IE IE IE JE E IE IE JE JE JE JE JE JE JE JE JE JE JE BE JE JE JE JE JEFE OBSERVATION FILES FETE FE FE FE FE JE JE JE JE JE JEJE IE IE IE IE JE JE JE JE JE JE IE IE IE JE IE IE IE JE JE JE JE JE IE JE IE IE IE IE JE JE JE JE JE JE IE IE JE JE JE IE E JE JE JE JEJE FE ID AntHgt StartDate StrtTime Length BASE gpb BASE 1 351 04 10 2005 13 08 43 6 55 3 Anji21888 gpb nji2 0 078 04 10 2005 13 00 00 7 00 46 njtr1666 gpb NJ
56. S This is the offset in hours from GMT For the Eastern Standard Time zone this number is 5 For the Pacific Standard Time zone this number is 8 During daylight savings time these numbers are reduced by one An incorrect entry causes the camera marks to be displayed incorrectly or not be displayed at all GMT date of first record This is necessary for Leica Ashtech and User formats implementing H M S time tagging Enter the date of the first exposure record in month day year format It is not the date in local time which may differ towards the end of the day An invalid date results in the marks not being displayed GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Load Camera Event Marks xj r File Format Ashtech Download Event marker file created by Ashtech Download Program File Name CO Browse m Time Settings User time type C Local H M S GMT H M S fo hours eastern stand time 5 GMT date of first record fios 2004 mmddyy m Attitude Format Wo attitude values ey Photogrammetric w p k Roll Pitch Heading Cancel Seconds of the week Local time correction Roll Pitch Yaw Camera roll pitch Drift 43 Chapter 2 Load Camera Event Marks x File Format Ashtech Download Event marker file created by Ashtech Download Program File Name Po Browse m Time Settings User time
57. Settings Load Settings From 9 3 2 Should I combine forward and reverse solutions For carrier phase processing accurate ambiguity determination is the most important goal The forward reverse combination is a fast and easy check on this determination Select Process Combine Solutions Forward and Reverse after both directions have been processed allows for this The Combined Separation plot shows the difference and gives an indication of the reliability of the solution This difference does not necessarily represent the errors The weighting of these two solutions can be plotted as well Problem periods such as incorrect integers determined in either the forward or reverse direction can be blocked See Process Combine Solutions Combine Settings 9 3 3 How can l use static kinematic flags GrafNav keeps track of static and kinematic processing and achievable accuracies are better in static than kinematic If you have a period of static longer than five minutes then it is beneficial to flag that data as being static It is even more important to set portions of the data where the antenna is moving to kinematic Even if the movement is a few centimeters that data should be set to kinematic This is performed via GPB View or the Insert Static Kinematic Markers utility See Section 8 2 on Page 219 To make use of this flag properly identify which data is static and which is kinematic An easy way to separate the static from the ki
58. Single frequency will fix reliably on baselines less than 10 km while dual frequency will work up to 25 km Longer baselines will require longer observation times Float Solution This method does not solve for integer ambiguities and therefore has no baseline length restrictions Regardless long single frequency baselines will have much poorer accuracies than their dual frequency iono free counterparts Normally the float solution is only used when either fixed static solutions cannot be made to pass or for long single frequency baselines of 20 km or more Iono free Solution This is a float solution with the ionospheric effect largely removed from the carrier phase by combining L1 and L2 carrier phases in the iono free combination This option requires dual frequency data at both stations Iono free should normally be used if the fixed solution fails on longer baselines or on very long baselines greater than 50km where fixed static is unreliable GrafNet also offers an Automatic mode which chooses between the three processing modes by examining baseline lengths and the type of measurements available Table 13 in the shaded box contains a list of solution types attainable in GrafNet GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet After processing baselines will be green if they passed or red if they failed If an error occurred and only an approximate 1 5 metre solution was extracted the baseline will show up as
59. Solution Combine Settings The following settings are available Automatically load solution on project start Loads the FWD and REV files into the project once a CFG file is opened Combine forward reverse after successful processing Automatically loads the combined solution into the project after processing forward or reverse direction A combined solution is always loaded after processing both directions Automatically write CMB file after processing Writes a CMB file after processing lt This slows down the CPU response after processing if a large project has been processed Processing Enhanced processing is available with dual processors Process forward reverse directions simultaneously This feature cuts your processing time in half because the software processes the forward and reverse directions at the same time With one processor avoid using this option because it is faster to process each direction sequentially Prompt user when finished processing Displays a message at the center of the screen once processing is complete When disabled you will hear a beep after processing unless an error occurs Float Static Tolerance Allows you to configure the equation used to determine whether a float static solution passes or fails If you are a Seismic use you might want to raise this tolerance to limit the number of failing sessions GrafNav GrafNet 7 60 User Manual Rev 1 Preferences Display So
60. Source and select an appropriate profile See Section 2 7 4 on Page 107 for help creating a profile You will then be asked to enter the camera to antenna offset This lever arm is used by Export Wizard to transfer the computed coordinates from the Kalman filter at the remote antenna to the camera The offset is defined in the local body system of the aircraft and not the camera The right handed coordinate system is defined as follows X axis positive axis through the front nose of the aircraft Y axis positive axis through the left wing Z axis positive axis through the roof GrafNav GrafNet 7 60 User Manual Rev 1 275 Chapter 9 FAQ and Tips 9 7 Digital Elevation Models DEM FAQ and Tips This section goes over the implementation of DEMs into GrafNav and how to obtain some DEM data for the United States over the Internet DEMs are optional when processing GPS data A Digital Elevation Model DEM is a representation of the height of the ground There are two ways they can be stored 1 Regular grid with constant density i e spacing The DEM is stored as an array to minimize memory usage Access is very fast but flat areas require an unnecessarily high number of points 2 Irregular point distribution where density generally increases with increased relief This type is represented by a Triangulated Irregular Network TIN While it can theoretically handle both types GrafNav uses the latter type The fir
61. This omits baseline epochs in a combined solution if the base remote separation is too long By default all epochs from all selected baseline are used during a combination Reject Bad Epochs Epochs with high estimated standard deviations poor geometry high carrier phase RMS or poor quality can be rejected In addition this feature can be used to only utilize fixed integer solutions Time Range Once a good time range is known it can be used to reject any data before the start and after the end times If a period within the data needs to be rejected the Combine Settings button should be clicked on under the Solution tab 4 2 11 Removing Selected Baselines This feature removes any baselines that are highlighted in the List of Baselines window from the project If the project is not saved afterwards it will still retain the deleted baseline s P4 Configuration and processing files will be left over unless they are manually removed 4 2 12 View ASCII Files See Section 2 4 8 on Page 60 for information regarding this feature GrafNav GrafNet 7 60 User Manual Rev 1 Automatic Combined forward or reverse Forward Solution C Reverse Solution Combined Solution Only Solution with Latest Date Combine Settings Satellite System Type Automatic auto detect C GPS Only C GPS Glonass Cancel 181 Chapter 4 List of Baselines 182 Epoch Proc Feat Solution Last
62. This setting is useful if the raw GPS data contains no kinematic epochs between static sessions It is also useful if there are some blockages so severe that the receiver outputs no raw data records between static sessions If fixed static enabled only use it on static session when Allows you to specify distance and time tolerances to prevent unreliable static fixes on very long baselines or short time periods GrafNav computes a fixed static solution for any number of static sessions Dual frequency has a separate setting option because it sometimes spans a longer distance and requires less data lt For these settings to be applied Fixed static solution has to be selected on the Process tab GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Cycle Slip Detection GrafNav uses the locktime read or the computed locktime in the decoder combined with a Doppler check to detect L1 phase cycle slips Static cycle slip tolerance Detects cycle slips in static mode This value might have to be raised if you are processing extremely noisy carrier data In static mode the fine static check is turned on by default allowing GrafNav to detect very small cycle slips For fixed solution this is automatically used and cycle slips are also corrected Cycle slip corrections for the fixed solution can be disabled from the Fixed Static options tab Automatic Doppler tolerance for kinematic detection This option computes a conservati
63. USE PCODE P1forCA ON OFF P2 ON OFF This will enable P code and requires dual frequency processing USERKAR gpstime FORWARD REVERSE BOTH Engage KAR at this time for the direction s specified may be multiple entries gpstime is in seconds of the GPS week VEL_DENSITY density Spectral density for velocity states m2 s2 VERBOSE ON OFF ON prints additional information to FWD REV FML RML files VERSION Ignored by dll It is used by GrafNav to indicate version number producing CFG file WRITE_BAD_EPOCHS OFF ON Default is OFF Use ON to write bad data to the FWD REV files This option is useful if the user wishes to view data at epochs where the RMS_TOL values are exceeded Normally data which is greater than RMS_TOL is not written to file WRITE_RESIDUALS ON OFF default OFF If ON then write out each L1 phase and CA code residual for each satellite to a RL1 and RCA file WRITE_SLIP_MSG ON OFFON if cycle slip and other satellite rising falling warning messages to be written to message log GrafNav GrafNet 7 60 User Manual Rev 1 299 Appendix Appendix GrafNav GrafNet 7 60 User Manual Rev 1 300 Glossary Observation A raw measurement file collected from a receiver set up over a stationary point GrafNet only accepts GPB files and thus other formats must be converted first See Table 1 3 for supported formats GrafNet also requires single frequency carrier phase data as a minimum and accepts dual freq
64. Write Coordinates x Dutput file name lt Write Coordinates is the old way of exporting C GPSData Manual_Data test_for_manual Browse coordinates and is retained only for backward aa eine compatibility You are urged to use the amp Epochs ASCII space separated Export Wizard as it has more grid datum and ASCII s f and Convergence transformation opti di h Features stations camera marks ASCIHNENH Std Deviations a ie l on options and 1s much more user iriendly cs ted Static sessions comma separated Single point solution gpb file C Station file RTK results m Horizontal coordinate units Output File Name C Degminsec Metres Type in a name for the file that stores the output yp p Coordinate type f Degdecmin Feet Geographic XYZECEF C Decimaldeg C US survey feet lt The program automatically assigns the UTM State plane Elevation units extension C TM amp 3TM C Local plane Metres Feet Source C Gauss Kruger Local level US survey feet Gblique Merc Irish Grid Lambert British Grid J Use east north coordinate order The following options are available m Elevation Z axis corrections I Apply Geoid correction Epochs I Apply map scale factor Outputs information for every epoch gathered OK Cancel by the GPS receiver Features Only outputs information for stations or features as marked in the STA file Stati
65. a Kalman filter reset The right most icon of the Status box displays a K during kinematic processing and an S for static processing Progress The Progress box shows whether the engine is processing in the forward or reverse direction and how far along it is View In the left hand window various parameters are available for display via the View button The list of available parameters is given in Table 9 Notifications For kinematic processing the Notifications window displays all information pertaining to the last KAR solution descriptions of the messages that are displayed are in Table 10 Chapter 2 Processing Differential GPS test_for_manual Forward xj 603809 0 1317 2999 Num lt 4 1899 937 AntHat 86 172 COG 0 024 0 042 0 658 4 517 East North 0 025 0 023 67 451 53 626 0 000 0 000 3116 203 3703 394 DistKm L1Rms 5 176 0 024 Status Progress 5039 Processing Forward KF 10 2 O 2 EK 30 4732 Notifications SAAS JE KAR PASSED on BLI Time since engaged 3 25 minutes 218 5 Time skipped 0 00 seconds Minutes used 3 25 PASS Search distance 13 6 km Up Average num sats 6 9 0 058 L2 Noise model IONO 0 545 RMS 0 030 PASS 0 000 Reliability 3 3 PASS 1835 609 Fit Fix sep 0 222 m PASS nSats 7 0 RMS is 0 0296 cycles PASS Reliability is 3 3 P KAR used the IONO noise model and searched a lonospheric error was 1 36 ppm at search distanc KAR passed all tests goin
66. aa a aa aa aE Naa RN RAA 252 9 FAQ and Tips 9 1 Overview Of FAQ and TipSic iccccscrsatieaesauddaaatennddecessudeadeqeonankdicdeaanctaleuganauadddnassabaddedienaneddagananed aches 257 9 2 General FAQ and TIPS sms diarana iiia tedusdacanaccntasuestcaydsauvaddensen ededectuaneczduteacaedeaes 257 9 2 1 How can I store Master Station Coordinates ssnsssssssssssssrssreserernrrrrrrrssressnnrrrrr rr nr sne rn r rann nan 257 9 2 2 How can customize output formats nmossssseesserrsssrssserserrrrrrrrrrsr ens annan nn nr nns rr rn renarna er nar nenen 257 9 2 3 How can I download base station Cata issmssssseeseesrerrrrrrrssenssnnrrrrrrr rr rr rss rens r rr nrn nr rar renar rann 257 9 3 Kinematic Processing FAQ and TIPS seussesnnsssskssenssedersnannassnannansn skaneninkeskannankndennnnennesekkansnsedera 258 9 3 1 Why would I use pre configured options prOfileSZ ssssseesssrrrrrssssresseseerrrrrrrrrrn rens nnn rr nr rnnr rna 258 9 3 2 Should I combine forward and reverse solutions sisnsssssssssssessresrrrrnrrrrrrrrrren sne nnnr nns rer sne nana 258 9 3 3 How can I use static Kinematic flags k btsssossssssessrsrrrssrrrsrrensrsrrs ss sA AR RR RAKA ARR RA ARR RAKA ARA K ARA KARA RAA 258 9 3 4 How do I eliminate problem satellites mmosssssssssrrsssrsssrsseernnrerrrrrr rosar rar nr r nr rr annen arna nr nar rer rn nn 259 9 3 5 How do I set the measurement standard deviations nmicsmnssssssresrsrrsrrrrrsrrsserrerrrnrr rr sne rn ren nn na 259 9 3 6 How
67. aaa aa aa aaa aa daaadedeeieied 285 GrafNav GrafNet 7 60 User Manual Rev 1 13 14 GrafNav GrafNet 7 60 User Manual Rev 1 Foreword Congratulations Congratulations on purchasing a Waypoint Products Group s Waypoint software package GrafNav GrafNet is a Windows based suite of programs that provide GNSS Global Navigation Satellite System data post processing Whether you have bought GrafNav GrafNet GrafNav Lite or GrafNav Static this manual will help you install and navigate your software Scope This manual contains information on the installation and operation of Waypoint s GrafNav GrafNet GrafNav Lite and GrafNav GrafNet Static software packages to allow you to effectively navigate and post process GNSS data This manual also includes components and upgrades of packages including GrafBatch GrafMov and AutoNav It is beyond the scope of this manual to provide details on service or repair please see Conventions and Customer Service on Page 15 for customer support Prerequisites To run Waypoint software packages your personal computer must meet or exceed this minimum configuration Operating System Windows 98 2000 or XP Hard Drive Space 55 MB of available space on the hard disk Processor A Pentium or Xeon processor is required Simultaneous forward reverse processing is possible on dual CPU Central Processing Unit and Xeon systems At least 256 MB of RAM is also required Although previous experi
68. action 4 Restrictions You may not a use the software on more than one computer simultaneously with exception of the Windows and WinCE data logging software which may be copied and used for each GPS receiver collected data simultaneously b distribute transfer rent lease lend sell or sublicense all or any portion of the Software without the written permission of NovAtel c alter break or modify the hardware protection key dongle thus disabling the software copy protection d modify or prepare derivative works of the Software e use the Software in connection with computer based services business or publicly display visual output of the Software f implement DLLs and libraries in a manner that permits automated internet based post processing contact NovAtel for special pricing g transmit the Software over a network by telephone or electronically using any means except when downloading a purchased upgrade from the NovAtel web site or h reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Software from unauthorized disclosure or use GrafNav GrafNet 7 60 User Manual Rev 1 19 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the L
69. also allows additional base stations to be included and downloaded data via FTP from more than 3000 stations observed by the nine supported networks including CORS IGS and AusLig 1 5 3 GPS Data Logger This utility facilitates GPS data logging directly from a variety of GPS receivers under a Windows 98 2000 or XP environment Features like station tagging and satellite lock plots are also included Please see Table 2 for the receivers that are supported by this utility With this utility logging can be performed directly in Waypoint s custom format See Chapter 8 on Page 219 for more information There is also a Windows CE version of the data logger included This version has many of the same capabilities as the Windows version See Chapter 8 on Page 219 for more information 1 5 4 GPB Viewer This utility allows you to view the data collected by the GPS receiver in order to detect any problems The fields that can be viewed here include measurement values and position records See Chapter 3 on Page 219 for information 1 5 5 Mission Planner This utility is found under the Tools menu and gives you satellite count and dilution of precision values for the GPS constellation This utility is generally used prior to the mission but can also compare the theoretical constellation to that observed during processing GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 1 Table 2 Receivers Supported by Data Logger Data Lo
70. as displayed in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Defining a new window DISPWINDOW Defining a window title DISPWINDOW Title My Position Information Window Defining a line of text DISPWINDOW Title My Position Information Window Line Latitude lt In this case the spaces are part of the text string to be displayed Embedding a variable in a line of text DISPWINDOW Title My Position Information Window Line Latitude amp latitude Separating Variables or text by spaces DISPWINDOW Title My Position Information Window Line Position amp latitude amp longi tude s s s s s amp height Separating Variables or Text by Tabs DISPWINDOW Title My Position Information Window Line Position amp latitude t amp longitude t amp height 253 Chapter 8 Separating Variables or Text by Percent Screen Sizes DISPWINDOW Title My Position Information Window Line Line Latitude amp latitude 50t amp prn 0 t amp locktime 0 Line Longitude amp longitude 50t amp prn 1 t amp locktime 1 Line Height amp height 50t amp prn 2 t amp locktime 2 Line 50t amp prn 3 t amp locktime 3 Line 50t amp prn 4 t amp locktime 4 Line 50t amp prn 5 t amp locktime 5 Line 50t amp prn 6 t a
71. before processing Any changes made to the observations like name or antenna height are also saved 3 3 4 Save As Use the Save As command under the File menu to create a new project that has identical processing options as the current project This allows you to change the options in the new project and process the data without losing the solution computed by the original configuration 3 3 5 Print This option allows you to print different windows GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 How to open a project 1 Choose Open Project from the File menu 2 Choose the name of the project from the dialogue box that appears asking you to select the name of an existing project GNT file 3 Click Open 153 Chapter 3 Add Observations r Observations in Project Project Directory IC GPSData Manual_Data GrafNet760 File Name JA AGPS_DataSDAY_108 00011108 gpb JA AGPS_Data DAY_109 00011109 gpb JA NGPS_Data DAY_109400012109 gpb AA AGPS_Data DAY_108 00031108 gpb AA AGPS_Data DAY_103 00031109 gpb AA GPS_Data DAY_103 00032109 gpb JA AGPS_Data DAY_108 00041108 gpb JN NGPS_Data DAY_109 00041109 gpb JA AGPS_Data DAY_109400042109 gpb JA AGPS_Data DAY_108 00051108 gpb AA AGPS_Data DAY_109400051109 gpb JA AGPS_Data DAY_109 00052109 gpb right click on selection or use DEL key to remove multiple files 154 2 r Source Files Source Directory Get Folder C GPSData Manual_Data GratNet760 E
72. cases the List of Stations to Download is updated under the Download tab GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 a Download GPS Raw Service Data Download Add from List Add Closest Options Position Latitude North gt 25 fis o0 s7035 Postion from GPI Longitude West v 100 22 2554853 File Update download page with time date and path J Settings Maximum Distance 5000 0 km Maximum number of stations 200 Station Service Lat Lon Distkm CORS 100 3w 95 8 CORS 99 3wW 122 4 IGS 99 0w 127 0 CORS 99 0W 128 6 IGS 99 2w 133 8 CORS 99 2w 133 8 CORS 101 9W 137 7 CORS 101 9 137 7 zl ine ant His app addan Download Close Two settings that constrain the station search include the following Maximum Distance The maximum distance that a station can be from the position used for the search in order to be included in the output list Maximum number of stations The maximum number of stations to be displayed in the output list This setting comes with the option to Update download page with time date and path Enabling this adjusts the date and time range parameters under the Download tab This ensures that the data downloaded overlaps with the GPB file used for the search 137 Chapter 2 a Download GPS Raw Service Data Download Add from List Add Closest Options m Temporary Directory Path for holding temporary files Ic Temp Br
73. common technique used by surveyors is to divide the coordinates by the combined scale factor This removes the map scale factor and applies the height scale factor which creates true horizontal surface coordinates that will match an electronic distance measurement EDM device Other applications include applying rotations in mine sites and translations to create coordinates that have one axis lined up with a certain linear feature GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 9 6 5 How do I define a local cartesian coordinate system Simply defined a local Cartesian grid is a plane that is tangent to Earth at a user defined origin The orientation of the plane is also entirely dependent on your preference See Figure 7 below north origin Po Ao Mo Figure 7 Local Cartesian Plane A grid can be created in any of Waypoint s programs by performing the following steps Create a New Grid Definition Select Tools Grid Map Projection Define The Define Grids window should appear displaying a list of already existing grid definitions Click the New button and give the grid an appropriate name Select Local Cartesian as the grid type Click the Next button Define the Origin of the Grid In the Origin in Geographic Coordinates box enter the known coordinates of the point where the plane is to be tangent If the height is unknown an approximate value can be used although it should be noted that a value of
74. control you must have available 1 10 m accurate coordinates for the unknown axes that is Z for horizontal points and latitude and longitude for vertical points These coordinates can be obtained from the single point solution in the absence of SA or from an initial network adjustment run using just one 3 D control point The latter method is normally used When the vertical and horizontal control points are added it is important to de weight the unknown axes For vertical control points the horizontal standard deviation is set to 100 m For horizontal control points the vertical standard deviation is set to 100 m Obtain Orthometric Heights Orthometric heights are available in the network adjustment output GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 How to interpret the output con t Check Point Residuals If check points have been added this section shows how well the known coordinates compare to those computed by the network adjustment Control Point Residuals This section shows the adjustment made to control point residuals When just one control point is used then the adjustment will always be zero With two or more points the adjustment depends on the input control point standard deviation and the session vector standard deviations Output Station Coordinates This shows the computed coordinates for each of the stations both in geographic and ECEF coordinate systems The output datum is indic
75. corrected_time WkNum GPS seconds of the week week num ber Geo latitude longitude height anthgt Degrees minutes seconds metres Loc d east d north d height v east v north v height Local level pos vel metres m s Sta quality amb_drift dd dop pdop hdop vdop 1 6 cycles sec DOPs Rms L1Rms CARms P1Rms D1Rms L1Std CAStd D1Std m m s RMS of resid Std dev of meas Var cee cnn czz cve cvn CVZ cpos Position velocity variance trace with ppm m2 m 2 s 2 Flg S K L F NumGps NumGlonass SolType S tatic K inematic f L oat amb F ixed amb SolType S SF carrier D DF carrier I IonoFree R Rellono C C A Only Cov cne cze czn cvne cvze cvzn Position and velocity covariance Ecf dx dy dz ECEF base0remote vector 216 GrafNav GrafNet 7 60 User Manual Rev 1 File Formats Chapter 7 Acc ae an au Local level accelerations m s Gln TimeOffset ToffSd NGps NGIn m A numerical example is also given Out Tim 343277 000 343276 999962535 1272 Geo 21 10 09 16196 149 11 00 34808 58 9045 0 000 Loc 2 454 18 834 0 804 0 002 0 022 0 045 Sta 4 0 118066 2 59 1 55 1 19 1 00 Rms 0 0060 0 545 0 000 0 028 0 0379 4 200 1 050 Var 5 89495e 001 7 70540e 001 4 04788e 000 2 80134e 001 3 47242e 001 9 18255e 001 5 40791e 000 Fig KL701 Cov 3 91145e 002 3 03102e 001 5 10459e 002 1 38708e 002 5 8769e 002 6 98362e 004 Ecf 5 228 5 976 17 272 Acc 0 020 0 037 0 038 Gin 0 000 1000000 0000 0 0 7 4 4 FBV amp RBV Fil
76. customize the master station At start of remote data At visit to station 110 z coordinates See Section 2 3 6 on Page 36 for C Atendotremote data At static session gt more information of the settings available Pee EET Remote Settin ZS M General Options _ r Advanced Options This option lets you customize the remote s Direction Valid time window 30 00 s antenna information See Section 2 3 7 on Page 37 SET STO sect l ten helhet fo 000 mn for additional information FE eee Tm r Remote Initialization ani r Position In some cases you may know the remote s aber Select from coordinates at a certain epoch or location from Latitude Soun x 33 foo 0 56826 Favorites some other means such as a previous survey or Longitude feast i74 io 44 96135 Add to i Favorites from another base station It can be very helpful to Height fond RE seed or even fix the current trajectory using this ar fee iti H oordinates known position Datum WGS84 OK Cancel One way to fix a position is to right click on an object for example an epoch feature or static session in the Map Window to bring up the Object Menu With this menu you can fix the remote position at any number of times or locations throughout the survey This option works best with shorter baseline lengths and is intended primarily for surveyors See Section 2 4 7 on Page 57 for more information on the O
77. data or higher adds almost no error When processing data interpolated from its original interval of 30 second KAR may not work Regardless when processing enable the Only search on exact interval option and set the Search on data interval setting to the data interval of the original source file under the KAR 2 tab of the processing options See Page 77 for more information GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 8 7 GPS Data Converter Overview If you logged data with any logging utility other than Waypoint s this utility converts data into GPB format If you logged data with Waypoint s logging software and saved it to a binary LOG file also convert this data This tool decodes raw GPS data from numerous receivers and is available in all of Waypoint s programs The supported receivers are listed in Section 8 7 2 on Page 226 8 7 1 Convert Raw GPS data to GPB Receiver Type Choose the receiver used to collect the data Otherwise leave the selection at Unknown AutoDetect Folder Specifies the folder to look for data in Type the directory in manually or browse for it with the Get Folder button Source Files Lists the files in the folder with filtered extensions matching those specified in the Filter field The options available here are listed in the shaded box Convert Files This lists all the files waiting to be converted and has icons corresponding to their associated receiver
78. degrees This message indicates the base satellite and its elevation selected after a base change or at outset The second best base is also shown Base satellite selection is based on a point system that includes a number of factors such as elevation above the horizon whether it is rising or falling and ambiguity determination accuracy Prn 15 dropped out for 2 0 s on baseline BL1 ambiguity reset Prn 23 dropped out for 2 0 s on baseline BL1 will try to save ambiguity These message are displayed when an individual satellite drops out for a short period Whether the first or second message is displayed depends on if the Save ambiguities on satellite drop outs option is selected See Section 2 5 1 on Page 61 for help For some data sets this saving process may be followed by data errors In such a case try de selecting this option GrafNav GrafNet 7 60 User Manual Rev 1 209 Chapter 7 File Formats Detected bad Phase measurement Rms is 2 091 m Worst Prn is 10 on B L BL1 with residual of 2 325 This is almost always caused by one or more undetected cycle slips In most cases the software will be able to correct for the problem by removing the affected cycle slip If not a cycle slip will be induced to all satellites Skipped 83 epochs or 76 1 due to long distance used 26 epochs or 23 9 This message shows up if the Maximize long baseline data usage option is enabled See Section 2 5 on Page 61 for help It indicates what perce
79. ellipses can be displayed for the stations after a network adjustment is run The crosses on the ellipse option merely shows the axes of the error ellipses Solution See 2 6 9 on Page 100 for information regarding these settings 3 6 Output Menu 3 6 1 See 2 7 4 on Page 107 for information regarding this feature Export Wizard 3 6 2 See 2 7 5 on Page 118 for information regarding this feature Write Coordinates GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Datum Options Project Options Datums Datum Conversions Ellipsoids Processing Datum a WGS84 gt Processing datum conversion IV Automatic use default Coordinate Input Datum Use processing datum by setting processing datum to local datum suggested Convert input coordinates to processing datum for Nadcon and localized datums Geoid Correction Geoid Geoid file name C GEOIDWPG Geoid03 ContUS wpg Browse Format Waypoint Geoid Preferences GrafNet Display Solution General E 1 4 Units Metres I Hide ignored baselines Zoom increment scale factor Plot coordinate system Geographic Grid IV Show grid lines Zoom Display Settings For Zoom Level Text point size 7 Symbol size Small Level 1 Level 2 C Medium Set Defaults Ellipse scale 1 00 pix mm C Large Information on Map Status Bar I Position M Legend Error Ellipse Display IV Session elipses IV Station ellipses
80. error tolerance option during the importing of the DEM procedure This will cause the TIN formation to take longer but GrafNav will operate much quicker afterwards This is especially important for regular grids e Before importing create a GPS trajectory composed of just the project area Use the start end processing times to achieve this Ensure that the Reject points outside DEM area option is enabled e Disable contouring under Settings DEM Plotting or else select a very coarse contour interval See Section 2 6 5 on Page 97 for more information e Disable ground height plotting on the Height Profile plot under Settings DEM Plotting See Section 2 6 5 on Page 97 for more information e In GrafNav Batch only load the DEM into one baseline because an instance of the DEM will be created for each baseline 9 8 Datum FAQ and Tips A datum defines where the absolute coordinate values are referenced For instance WGS84 NAD83 and ED50 are datums A datum is composed of an ellipsoid and a reference frame The ellipsoid is a geometrical approximation of the earth s sea level surface and it is needed to compute geographic or map projection coordinates A semi major GrafNav GrafNet 7 60 User Manual Rev 1 277 Chapter 9 FAQ and Tips axis a and a semi minor axis b define the size of the ellipsoid A flattening value f may also be used in conjunction with the semi major parameter for this definition as well The relationship between
81. external time tagged events from an ASCII file When you load these events they must be referenced to GPS time and not UTC coordinated universal time The source of the events can come from an aerial camera sounding equipment or other real time devices The GPS receiver must support a mark or pulse input for this feature to work See Section 2 6 6 on Page 98 for a discussion on how the event positions are interpolated in GrafNav Most events are automatically stored in the STA file during the conversion to GPB format and appears when the remote is added to the project However for a few receivers and user events this feature must be used GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 How to load existing trajectories 1 Under File Load select Existing Solution File 2 The program displays a list of forward trajectory files FWD reverse trajectory files REV combined trajectory files CMB forward single point trajectory files FSP etc Select the appropriate solution file How to load single point solution from gpb file 1 Choose File Load Single Point Solution From gpb file How to load camera event marks 1 Under File select Load Camera Event Marks 2 Choose the preferred file format from the selection in File Format 3 Under File Name use the browse button to select the file of interest The file name depends on the receiver format and is explained on Page 36 4 Ifthe fi
82. few seconds of lock The tolerance is known as the locktime cut off and can be altered Settings Individual Advanced If missing epochs are a problem try lowering this number If an epoch has been determined to be bad data is not written to the FWD or REV files and thereby not received by GrafNav This is to protect you from receiving very bad data However if data quantity is more important than quality then these epochs can be written by setting the Write epochs containing bad data option from Settings Individual Advanced There may also be less than 4 satellites in common between base and remote If there are no obstructions then check for messages regarding missing ephemerides in the FML RML file If there are not enough ephemerides then broadcast ephemeris files can be downloaded from NGS CORS or obtained from a service provider Convert the RINEX ephemeris to EPP using the provided Raw GPS data to GPB conversion utility Otherwise coordinate interpolation is the only other option GrafNav can interpolate missing epochs from within the Export Wizard or the Write Coordinates features which can both be accessed via the Output menu Interpolation is permitted in the Export Wizard from the screen titled Select Epoch Sampling Mode Likewise interpolation is permitted in the Write Coordinates feature by selecting Time Format At the bottom of this window enable the missing epoch interpolation and select the desired data interval
83. for UTC time when GPS time converts to UTC time GPS uses a linear time scale that never misses or counts a second twice as opposed to UTC time which is not linear UTC time holds a fixed relationship to the stars and many global effects that can change this relationship slightly You can make these corrections as often as every six months but they are only necessary every twelve or eighteen months To determine what the UTC correction should be at the time the data was collected please consult the following website http tycho usno navy mil leapsec html This window also sets the time zone offset for local time output This is the number of hours that the local time is offset from GMT Apply 3 D Offset Window This page appears if camera event marks are exported It allows you to apply a 3 dimensional offset from the antenna to the measurement device entry nodal point on aerial camera The offset is defined in the local body system of the aircraft and not the camera The right handed coordinate system is defined in the shaded box In order to transform this body from vector to local level aircraft attitude is required This is supplied when the camera event marks are imported If no attitude is present then the heading is assumed to be the course over ground direction of travel This can have errors of many degrees due to the aircraft s crab angle You can also supply a crab drift angle in the Feature Editor using the Glo
84. for a 3 7 or 14 parameter transformation The 7 parameter can have the scale constrained to unity resulting in a 6 parameter transformation with 3 translations and 3 rotations The 14 parameter transformation allows scale scale rate translation velocity rotation and rotational rate to be solved You can enable or disable individual parameters Use this if you have a list of control points with coordinates in both datums From these point pairs a locally best fitting datum transformation can be computed for the region or project area The two lists must be in ASCII format and all points in each file must be common to both files with identical point names The order the points appear in each file is not important and ellipsoidal height values are required lt The 7 parameter and 14 parameter transformations should only be used for areas greater than 300 km across because solving transformations over small areas makes the parameters very sensitive to coordinate errors lt In some cases 7 parameter transformations are necessary due to a slope in the local datum This is considered a very localized datum See Section 9 8 on Page 277 for more information on datums GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Advanced Settings Add computed conversion to Datum Conversion List Adds the computed conversion to the list under Chapter 2 How to solve for a transformation or datum conversion con t 3 Cr
85. formats are supported by GrafNav GrafNav only supports DEMs stored in ASCII where each elevation point is a separate record in the file The full position must be made available for each point This means that many grid files must be expanded before importing The following formats are supported ID Grid East m Grid North m Height m ID Grid North m Grid East m Height m ID Grid East usft Grid North usft Height usft ID Grid North usft Grid East usft Height usft ID Lat deg min sec Lon deg min sec Height m ID Lat deg min Lon deg min Height m ID Lat decimal deg Lon decimal deg Height m ID Lon arc sec Lat arc sec Height m The D term is an optional identifier that may be present The last format listed is the one used in those files created by the DEM2XYZN utility 9 7 4 How do I handle large DEMs DEMs can become very large GrafNav s ability to handle them is very functional but is not designed for extremely dense data sets DEMs consisting of over 500 000 points will become very slow within the software They will also require a significant amount of memory Such a DEM will utilize an additional 157 MB in GrafNav not including contours This means that a fast computer with at least 512 MB of memory is required For VSF applications DEM accuracy is not paramount so DEM thinning is highly suggested Some helpful hints to speed up GrafNav with large DEMs Enabled the Reduce DEM density using
86. from processing This is performed from Settings Individual Advanced Under Velocity Doppler disable Doppler measurement usage for phase processing If accurate velocity is needed enable it again in the final stage e Reduce the data interval for preliminary analysis to something like 2 seconds One of the problems is that 1 or 2 Hz data can result in different effects and problems This can be helped by forcing KAR to use the same data which is accomplished under Settings Individual KAR The processing value should be entered in the Search on data interval field Be sure also to enable Only search on exact interval This will help to make 2 second and high data rate data produce similar results although it is best not to continue on this low data rate too long e Utilize only the closest base for fixed solutions Consider lowering the maximum distance for fixed static usage under Settings Individual Advanced Ensure that simultaneous forward and reverse processing is enabled for Xeon and dual CPU machines See the Solution tab under Settings Preferences 9 6 Common Inquiries This section contains general information and instructions on how to perform some of the tasks that were not covered in previous sections 270 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 9 6 1 How can I determine the quality of a final solution The best method to check the quality of the final solution is to analyze the plots
87. from the project and can be easily analyzed GrafNet allows 3 types of static baseline processing solutions including fixed static float and ionospheric free This chapter tells you about the types of common networks the different solutions and the methods to produce coordinates for each station in GrafNet This chapter also describes how to get started with GrafNet goes through each menu of its interface and provides step by step instructions for first time users 3 1 1 Types of Networks Closed Loop Network Surveyors often use this style of network because of increased reliability Due to the closing of the loops any baseline determination errors will show up as tie point error Such closure values can be seen via Process View Traverse Solution If just two GPS receivers are employed then a method called leap frogging can be used to collect the data In this procedure starting from a known point the lead receiver is placed on the first point to be surveyed After the first session is complete the trailing receiver is moved ahead of the lead receiver so that it now becomes the lead The next baseline is observed and this procedure is repeated until small 4 6 loops are closed Radial Network Also referred to as Single Base Station Applications where productivity is more important like GIS do not need the same degree of reliability as the closed loop network For these situations use open loop networks An exampl
88. is dependent on the Export Profile selected lt The Geoid Grid and Miscellaneous Options must be set if the selected profile requires these parameters for input GrafNav GrafNet 7 60 User Manual Rev 1 AutoNav Chapter 6 6 5 Interactive Windows AutoNav Processing xl Once the project has been successfully set up and h P b tt li k d th A N r Processing Information the Process u on clicked e AutoNav Remote Processing remote O5BLU0531b Processing window appears to keep you informed Stage Processing Remote 05BLU0531b on the status of the program Information Number of base stations is 1 Messages 226636 0 Startup complete 226636 0 GLONASS satellited 55 is not used Glonass processing disabled 226636 0 GLONASS satellited 51 is not used Glonass processing disabled 226636 0 GLONASS satellited 57 is not used Glonass processing disabled 226636 0 Starting in KINEMATIC mode 226636 0 Best base on BL1 is PRN 6 with 0 points and elevation of 59 7 degrees 226636 0 Second best on BL1 is PRN 29 with 1 points and elevation of 50 9 degree 226636 0 KAR engaged at start up 226636 0 Note KAR cannot be engaged as distance too far shortest baseline is BL1 226637 0 Tropospheric conditions for adri at 207 2 m elevation are Pressure 989 2 mi gt Processing Information The Remote field in this box indicates which remote file is currently being processed The Stage field indicates which step the program
89. it s locktime is not reset Disable if too many filter resets are occurring because of missed cycle slips 296 Appendix Appendix SF IONO MODE OFF ON BROADCAST IONEX SHOTGUN ON OFF SKIP NOREPAIR CaVal L1Val SPLIT SS ON OFF dt SP STANAME name STATIC SLIP TOL val Turned ON for automatic selection between IONEX and ICD 200 broadcast ephemeris corrections to be applied when process ing single frequency data or select type of correction manually Such corrections will only help on very long baselines No longer supported Maximum number of seconds of skip if bad data observed and could not be corrected on either L1 or C A Defaults are 10 s for C A and 0 0 s for L1 Values are in seconds Set ON to break up static sessions if a time gap of greater than dt is observed Dt is in seconds By default this setting is OFF Single point processing settings Ignored by NGPS32 dll Used by GrafNet to set the station name for display in output files Static cycle slips are declared if greater than val which is in cycles STATICSESS ID AntHgt StartTime EndTime IsSec80 UseFix 0 Define information about a static session For instance ID gives it s name use for spaces AntHgt allows the antenna height to be changed value in m Start EndTime define time range in TOW or seconds since 1980 see IsSec80 flag IsSec80 on off UseFix indicates whether fixed static solution is to be used 0
90. it can be lowered if a correction is missed or increased if incorrect corrections are occurring 72 GrafNav Outlier Detection Rejection These settings control how the processing engine treats bad satellite measurements using the residuals The engine rejects measurements based on the number of standard deviations needed to flag an outlier sigma tolerances When an outlier is detected it tries to reject satellites measurements or baselines but if too many continuous rejections are encountered then the software intentionally issues a cycle slip to all satellites This is known as a filter reset The easiest way to control the amount of rejection is to select an option in the Level drop down list You can manually enter the rejection and reset values for each measurement or use a stricter phase tolerance to reduce the number of visible spikes in the Carrier Residual RMS plot Advanced Settings for advanced users A list of these settings are in the shaded box Distance Effects To properly account for distance dependent error sources a part per million PPM value is added to code and carrier phase measurement standard deviations A PPM is added for the horizontal spatial distance and the vertical height distance between each master and the remote The easiest way is to select the Distance effect amount from the drop down list High would be used during heavy ionospheric disturbance and would cause a stronger weighting o
91. latitude and longitude in degrees minutes If a coordinate frame is defined as anything other than seconds or decimal degrees Any grid simple geographic that grid must be defined with coordinates whether UTM TM or State Plane relevant parameters This is accomplished under the must contain the station ID followed by the Units tab and the UTM TM or STP tab depending northing and easting in meters feet or US on the selection made in Step 7 survey feet Again all fields must be space WP delimited Waypoints can be entered manually under the WP 11 Define a static occupation period with the Mode tab tab or they can read in from a user defined ASCII file Any waypoints can be removed or edited here as well and the modified list can be saved to disk Mode Finally the Mode tab allows you to define a static occupation period This feature is typically used for a tree cover survey where some static occupations are present among the kinematic data The static occupation feature will display a window during data logging which counts down until the session is finished Continuous static kinematic is the normal mode of operation where the surveyor would perform a static occupation to start and then go to kinematic status for the remainder of the mission Any marked points are marked while in kinematic mode and typically occupied for only a few seconds Occupation mode allows you to set up at a station for some given length of tim
92. modeling of the ionosphere Precise Clock File Contains information regarding clock biases in all GPS satellites It is particularly useful for single point processing 138 GrafNav Options There are several settings under this tab which require proper configuration in order for the Download Service Data utility to function properly Temporary Directory The directory specified here temporarily stores RINEX files while they are being converted into GPB format This directory cannot be the same as specified under the Download tab Overwriting Files If a file already exists in the destination directory with the same name as the file being downloaded this setting determines which action to take Overwrite existing files with newer files replaces the file with the one being downloaded Append an A B to end of newer files renames the new file to avoid conflict RINEX Options The three options available here are listed in the shaded box FTP Settings The FTP sites accessed with this utility are public and accepts anonymous login To do this provide an email address to be used as a password for login Users with a DSL connection or behind a firewall might have to enable Use Passive FTP for this utility to connect properly Other Files to Download Any files selected here are downloaded for the day specified on the Download tab See Table 11 on Page 141 for additional information You can speci
93. moving antenna should use this option because it speeds up KAR resolution time Otherwise use option 3 On but compute only Use this option if you need straightforward azimuth if the quality of the data is not suitable for KAR usage or if the distance is not known or unstable On but only use distance constraint to engage KAR if out of tolerance Dual frequency users should this option if they know the fixed distance between the L1 phase centres of their two moving antennae If not use the option 3 GrafMov See Section 2 3 on Page 33 or information regarding all of the options available via this menu 5 6 Setting Menu See Section 2 6 on Page 92 for information regarding all of the options available via this menu Only the Moving Baseline Options feature will be discussed here as it is exclusive to GrafMov 5 7 Moving Baseline Options This feature is the only way for GrafMov to distinguish a moving baseline project from a typical project with a static base station Moving Baseline Processing Determines whether or not to process data as a moving baseline project If this option is disabled the processor will behave as it does in GrafNav and assume the base station is static Azimuth Determination These options are listed in the shaded box Standard deviation tolerance This value is used to engage KAR if the distance between the two antennas becomes too large or too small Using a strict tolerance might caus
94. occupation time Accuracies will increase for longer times and degrade with poor geometry or bad measurement quality 5 Use precise ephemeris for baselines longer than 150 km See Section 3 3 9 on Page 155 for information GrafNet Static Solution Type See Table 13 on page 146 for information Frequency Defines the type of data used for processing The following settings are available Single frequency Forces single frequency L1 only processing Dual frequency Forces dual frequency processing L1 L2 data must be present in all observation files Automatic Auto detects single or dual frequency processing for each baseline This is the default mode and should be used under most circumstances GPS GLONASS Mode Applies to data logged using GLONASS enabled receivers The following settings are available Automatic Enables the use of GLONASS data GPS only Disables GLONASS processing This option may be useful if GLONASS data is causing problems GPS GLONASS Forces the use of available GLONASS data Should be used if automatic detection fails Elevation Mask Satellites below this mask angle will be ignored The default value is 15 Lowering this value will allow more satellites to be used possibly improving a solution with poor geometry Time Range This option is only available for individual baselines by right clicking on the session in the Data Manager and selecting Options Interval Allows you to
95. on approximate Inserted L1 cycle slip due to locktime reset for PRN 4 on baseline BL1 Receiver cycle slip counter reset at some time in the past but was not caught Therefore slip inserted now Less that four satellites at startup Will try next epoch s Software needs at least 4 satellites and good measurement quality at startup Warning Epoch with less than 4 good satellites Cycle slips This message warns about an epoch with less than 4 satellites Usually the result of cycle slips Locktime cycle slip on PRN 26 of 41 31 cycles on baseline BL1 Small L2 cycle slip on PRN 26 of 0 65 cycles on baseline BL1 Both messages warn of cycle slips on L2 The DPH is an indicator of the size of the cycle slip It shows the difference in phase If the data contains alot of L2 cycle slips it will make for a bad ionospheric free solution If there are a lot of L2 cycle slips try using the relative ionospheric solution Prn 15 is below mask angle of 10 0 degrees This message indicates that a satellite has gone below the elevation mask Satellite 7 is rising or re appearing This message is usually caused from a satellite on the horizon KAR engaged due to total loss of lock KAR now engaged because distance became lower than tolerance followed by a message indicates if and why KAR was engaged Prn 27 disappeared for 33 0 seconds on baseline BL1 Indicates that as satellite dropped out and is reappearing a new ambiguity will be solved
96. or broadcast model which must exist m L2 P2 Measurement Usage Process single frequency L2 P2 instead of L1 CA for special applications I Use P1 instead of C A code in Kalman filter if present new GPB format only J Use P2 code in Kalman filter r L2 Cycle Slip Detection 0 40 cycles J Utilize L2 locktime variable if available not suggested Small L2 cycle slip tolerance Cancel Apply 75 Chapter 2 Process GPS or GPS GLONASS General Advanced 1 Advanced 2 Measurement Fixed Static KAR1 KAR2 UserCmds 2x Process lonosphere L2 Search Area Options Normal i e constant cube size Reduce as float solution accuracy improves User defined search cube size Single frequency fo 500 m Dualfequency fi 500 mJ m lonospheric Noise Modeling Automatic Distance when iono model is to be used 5 0 km C Normal i e no ionospheric modeling C Correction for ionospheric error using L2 data r General Options J Refine L1 L2 integer solutions improves accuracy Stricter RMS tolerance increases satellite rejections Stricter reliability tolerance J Corect near integer cycle slips during fixed solution enable on integer slips Cancel Apply Search Area Option settings Normal This uses a constant search region size Reduce as float solution accuracy improves An auto reducing or adaptive search area is helpful for
97. output datums are different You can also specify a geoid file if orthometric height is required This is useful if you output orthometric heights because datum transformations are not applied GrafNav 2 8 8 Convert Coordinate File This tool converts large lists of coordinates If you already have the list of coordinates in ASCII use it because all the files can be converted easily It can be used for converting datums changing the height system used ellipsoidal orthometric or changing to grid or ECEF coordinates This tool can also be used to change a list of coordinates to another format for example from decimal degrees to DMS The Use first continuous word option is the default If the station names do contain spaces select Use first n characters to specify a width of n characters The software reads the first n characters as the station name including any spaces that may be present Geographic coordinates use positive negative signs to show the hemisphere For example latitude is positive in the Northern hemisphere and negative in the Southern while longitude is positive for East and negative for West Additional options include the following Include column header Conserves the header information from the input file View output files after conversion Automatically opens the output file after pressing Finish Input grid coordinates in southern hemisphere Only necessary if the input data has grid
98. r Elevation units Metres C US survey feet C Feet OK Cancel r Elevation Z axis corrections I Apply Geoid correction Apply map scale factor x 119 Chapter 2 Export Binary Yalues x r Export Selection Type of data to export Individual satellites Multiple baselines Processing direction Forward C Reverse Time of week TOW Md File name CNGPSData Manual_Data test_for_manual fbv tit IV View file on completion Time Date format r Satellite Parameters Baseline Parameters SNS oO Carrier RMS oO Elevation angle O L1 crna O L1 Locktime oO Carrier Residual O Code Residual o Doppler Residual oO Carrier SD Source for elev CNO Locktime Remote bi caresi Export Selection options Type of data to export Select whether values for each satellite should be exported or for each baseline MB processing only Processing direction For processing values forward or reverse values can be exported For GPB values forward or reverse produce the same result Time Date format A number of time outputs are possible See Section 2 7 4 on Page 107 for more information on each format File name Displays the name of the file For GPB based values like LJ C NO and L1 Locktime select whether to export the data from the base or rover files See Section 2 7 4 on Page 107 for a description of the available individual export values 1
99. recommended a f over the others Displays additional warning messages z ID 13 Measurements Reject satellites with low CNO old style Satellites with low CNO will not be decoded Measurements ID 14 old style Write new GPB format Converts data into the new GPB format ID 15 Measurements old style Measurements ID 16 old style Recommended for GrafNet ID 20 Position users should be requested last ID 22 Ephemeris Required GrafNav GrafNet 7 60 User Manual Rev 1 231 Chapter 8 NovAtel OEM3 Options x IV Make all epochs Kinematic Re calculate position and clock offset Otherwise use CLKB and POSB J POSE marks end of record Otherwise RGEB C D or RNGB IV Print L1 and L2 loss of lock warnings IV Check NovAtel C A code lock bit J Reject bad C A code meas RGED only tol m 152 000 F Beeline A yer Data will make 2 GPB Files IV Write new GPB format Factory Defaults Cancel Table 26 Records and Files Supported for NovAtel OEM2 OEM3 and SoftSurv Record File Type Comment One of these records is RGEB ID 32 Cone required but RGED is recommended RGEC ID 33 Measurements compressed RGED ID 65 Measurements compressed REPB ID 14 Ephemeris Required POSB ID 01 Position Recommended for GrafNet users MKTB ID 04 Event Mark time only Written to STA file MKPB ID 05 Event Mark time and position
100. rr san AR RR RR ARE KKR RR SKER RR RSKR KKR KR SAR RR RR SSE RR KR Sn nan 142 29 4 ClOSS WINDOW moaren naea ers dl don SAN saa ebba os De ara edra NAN r ARS ARN SANNA LE 142 2 9 5 Close All WiNCIOWS sssssessssrsaersnsrraersnsrrrrersnrrrrrrrn arr rrre skr rr sar RR RAR SARA RR RR RAR RR KKR SARK RR KR SARK RKA ASEDA RKA Sn nn 142 GrafNav GrafNet 7 60 User Manual Rev 1 Table of Contents 2 10 Help M n i seis nens eder dne rer tee Men Mec ts RARE a ied Aon assets 143 2 10 1 Help TOPICS sissssessresrserrerrrrrsessensrnererrnerrrrsren ser rrr nns rese rask sann nn rr RR ARR AR RR ARR RK EEEE EEE KR RR RAR RR RR RR KR rr nnn 143 2 10 2 WWW Waypnt COM 24425 00md iinan nn en EAEE 143 2 10 3 About GrafNay msssesssesreererrsrssessenssennrrrer rese rens nnn rr nns reser rn rn R RR RKA RAR AREA RAR ARR RR KR RKA SARK RR RR RK RK enn nn 143 3 GrafNet 371 GratNet OVErVIGW ssstseslosslagsediesd ei esse a dd inser bad edra H jer sade SN E AATA AA A 145 3 1 1 Types Of Networks snossssssssrsssssssssrsssssssssssssrrsnasssrssssss sann saR Rn RA AR AR AA AAA AR ARA R RA ARR ARR AR RR RKA RAR RA RR RAR KKR 145 3 1 2 Solun TYPOS v srrrsar nee ers ere d desks as rr a a de RANE NS TKR ARENA B KRA ARENAN ci hidden E 146 3 1 3 Computing Coordinates mssssssesssssseesrssssrerssssresrsssrssrss ss ss rss ass s kr RASAR RAR RASA RAR RAKA KKR ARR S RR KR RASA RAR an 147 3 2 Starta Project with GraflNEL ssesssmssmseslsudeesed sensei drr SOK E AS 147 3 2 1 Fix Bad Baselines
101. sastrieacevad neneiia a 5 3 1 Add Master File ssssmssssssssssssaerserrrsresnrr rer nr na Table of Contents GrafNav GrafNet 7 60 User Manual Rev 1 Table of Contents De WIS WMS sais ar a AT E E A E uae 191 5 5 Process MCNU sssssseerreresssr errors rr rrrerrs rr rren rr rr rr r sn kr RR ASEDA RKA SR RAR RR KKR ton KKR AREAN RR KKR REAR KKR KRK RAR RSKR RAR RR RAR R RAR RSS eenn 192 5 6 Setting Men cesera AE 192 5 7 Moving Baseline Options o smosssssesrsrsssererssssrerrsssresr rss sr sr eee eee sr eee eee ARSA RAR RASAR ARR RAR KRKA RR RAR AR RASAR KKR RAR Enne EE 192 5 8 QUEUE MOND oes techs cc gde bene Geka desire a me Aden g De derb Nn MAA re MENAR Tha dea VAN Ande ae dees er 193 5 8 1 Plot GPS Datat iiscccccesccccccisccsdeesecdeas deasdaassdcassiedeadeeubaedccseanisasddenssbhsnadeceeisededeaghavassnaasdatecenatss 193 CoyMo Til eee 1 7 Ue eer Nerv rN gt TN eo ee aor ene ere 193 5 10 Interactive VVINCIOWS a ssssesessrrrersrssrrreserrrarerrrrrsrren rr rr arr rn rr RAR ERE KKR ARR R RR RKA SE RR KKR KR RAR RR RR KSR RR KRK SRK RAR KAS an 193 5 11 Help Men aiina r nad tradera as des rs dd hdn cau ceveha Herre EE A AR a NASA baat dre 193 6 AutoNav 6 1 Overview Of AULONAV s ssnossrrrersrsssrresrrrssrsenrrrsrrrs arenan snar rss RAR ARSA RAR RR KRA RER RR KR RASER RR RSKR RR KKR RA RR RR ARSA ER AR 2 an 195 6 2 Getting Started with AUtONAV s asceisisiarseedineeroosieeisensnetine nets ernie EAEAN EENE ELARA SAR SKANE AREAN RA RER 196 6 3
102. situations where the fixed solution is failing the reliability tests Normally this would be the case on short baselines with single frequency measurements User defined search cube size A user defined search area is not often used But if the float solution is known to converge very close to the correct solution then enter zero here Tonospheric Noise Modeling settings Normal This is similar to the High noise model for KAR Correction for ionospheric error using L2 data This noise model corrects for the ionosphere in its computation This can improve accuracies but noise might be higher on short baselines Automatic This noise model chooses between the previous two based upon the distance tolerance entered GrafNav Fixed Static Options Search Area Options The search region size can be controlled with the options listed in the shaded box Ionospheric Noise Modeling The ionospheric noise model controls how the L2 measurements are treated in the fixed solution Due to anti spoofing L2 can be noisier than L1 So on shorter baselines a noise model placing more weight on L1 i e Normal L2 Noise can deliver better results General Options The following options are available Refine L1 L2 integer solutions This setting gets more accurate integer fixes but be aware that it can occasionally hurt the solution Stricter RMS tolerance This option applies a stricter tolerance to the RMS value of the best intersect
103. slip tolerance Code rejection tolerance Ephemeris I Use user defined ephemeris file given as omOSSSRS HREIEHI IUq r Message Log Options IV Save processing messages to message log Resample Cancel Set Defaults Advanced options Window size Defines the range of data used for interpolation Should normally be set between 4 and 6 because very large windows could cause problems especially data files with large intervals Number of interpolator terms Defines the number of Chebychev polynomial coefficients used for the interpolation Normally a value close but not larger than the Window Size is acceptable Maximum time span Prevents the interpolator from using data across too high of an interval Currently three minutes is the default but higher values are required for large interpolation windows with coarse input data rates Fine Cycle Tolerance If a cycle slip larger than the value specified here is detected then the interpolation is not performed on this satellite Coarse Cycle Tolerance Cycle slips can cause the interpolation to have problems so a coarse detector is implemented This value should not be lowered too much because pseudorange noise could be mixed up with carrier phase errors Code Rejection Tolerance Any satellite with a code residual greater than the value specified here will not be interpolated This value may need to be increased for noisy data sets or for recei
104. slips on L2 by comparing it against the L1 phase Raising this value too high increases the chance of a half cycle slip being detected Lowering this value might cause false cycle slips to be induced from noise Changing this value requires the analysis of the results and should only be done by advanced users Utilize L2 locktime variable if available The default method of L2 cycle slip detection which compares L2 against L1 is superior and gives less false detections You have the option of using the L2 locktime variable This Variable uses the cycle slip detection of the GPS receiver If too many cycle slips are being detected there are many warnings in the message log assuming the Write cycle slips to message log option is enabled under the Advanced I options The estimated accuracy of the forward or reverse positions might also be higher if ionospheric processing is used GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Process GPS or GPS GLONASS Process General Advanced 1 2 xi Advanced 2 Measurement lonosphere L2 FixedStatic KARI KAR2 UserCmds m lonospheric Correction IV Use L2 carrier for dual frequency lonospheric processing lonospheric Free model clean L2 or long distance static C Relative ionospheric model noisy L2 Jao Engage distance for relative ionosphere km I Correct C A code for ionospheric using dual frequency data 500 km only I Correct single frequnecy using IONEX
105. station and click OK The program will load the GPB file and then a dialogue box will appear asking for the appropriate master station coordinates 3 Click on the Datum Options button to select the processing datum 4 Select the desired datum from the list in the Processing Datum box Be sure that the radio button labeled Use processing datum by setting processing datum to local datum is selected See Section 9 8 on Page 277 for more information on datums If the datum has changed GrafMov will warn you How to load the remote file 1 Go to File Add Remote GPS File to select the remote station and click OK 2 Enter the height of the antenna or range pole height of phase centre above ground when you are prompted to enter the remote station antenna height 3 Press OK How to process 1 Select Process Process Differential 2 Click on the Process button to begin post processing the GPS data 3 For the Static Initialization mode select Float for kinematic initialization or Fixed Static if there is a sufficiently long static period at the start 4 Click on the Process button to begin post processing the GPS data How to export final coordinates 5 Select Output Export Wizard Select the source for the solution Epochs will output the trajectory while Features Stations will export any loaded features 6 Choose a profile and select Next 190 GrafMov Load Master File s The steps for loading maste
106. tab options Measurement Standard Deviations For a float or iono free solution changing the standard deviations for both the L1 carrier phase and the C A code improves a solution Obtain suitable standard deviations by viewing the plots for both the C A code RMS and the L1 phase RMS A good standard deviation value is one which about 90 of the RMS falls below Realistic values allow the Kalman filter to perform better 151 Chapter 3 GrafNet 3 2 2 Unfixable Data About unfixable data Sometimes data is simply bad and changing the Moving Antenna options cannot help This section discusses some of An antenna that is not still causes havoc with static the possible causes of such data in the shaded box processing This can be caused by an operator not For some cases there is advice for improving the holding the antenna still heavy winds or a vehicle that is solution rocking Theoretically this data should be processed as See Section 9 5 on Page 264 for help with static kinematic and the position solutions averaged but GrafNet does not currently support this mode of processing so this data should be avoided If it needs to be processed a float solution will perform best processing Ionospheric Effect Heavy ionospheric activity can cause large carrier phase noise A single frequency receiver cannot do much to alleviate the problem However dual frequency data will most likely process better with an iono free solution rather th
107. the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR
108. the MB Plots When using the MB KF methodology a number of new plots are available These utilize the FBV RBV files that are produced in addition to the regular ASCII outputs Binary Value FBV RBV files contain separate statistics for each baseline and satellite The Output Plot Multi Base feature shows the baseline values Here are some of the more common plots list in order of usefulness GrafNav GrafNet 7 60 User Manual Rev 1 267 Chapter 9 FAQ and Tips Carrier Phase RMS SD Shows carrier residuals for each baseline along with measurement standard deviations This plot indicates how well the carrier phase fits with the overall solution It also shows errors in base position and it can be used to determine if one baseline is worse than another Number of Baselines Shows how many baselines are used for processing This is important to check as it will indicate if any baselines are ignored or rejected during data line up Distance Separation Shows distances from remote to each of the base stations Effective Weighting This number is computed after the fact as is an approximate indicator of how much weight each baseline has This value is not used to compute the solution but it can be very helpful in indicating which baseline has the most weight It is most affected by proximity but the number of satellites can have an effect as well Carrier Separation Shows the difference between combined KF solution and individual baseline so
109. the sky e to independently verify a KAR solution if different fixes are obtained in forward and reverse processing This option is only available for dual frequency processing because Fast KAR with single frequency data is unreliable lt Be aware of its limitations and know that it is reliable under the conditions listed in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav The Minimum Time defaults under the KAR 1 tab gives enough data to reliably resolve satellite ambiguities under reasonable GPS conditions In environments with signal obstructions KAR might not resolve because it could have less data between successive losses of lock than this minimum time The Use Fast KAR option makes several internal changes to accommodate this including reducing the minimum KAR time to zero which tells GrafNav to resolve the ambiguities as quickly as possible The maximum time before KAR restarts is 8 minutes which forces KAR to be recomputed more often This option also increases the amount of data that KAR uses in its computations reducing the amount of time it takes to resolve Use fast KAR even for 5 SVs Five satellites is the minimum required for KAR computations It is therefore risky to use Fast KAR in this situation as it tends to be unreliable However given otherwise favorable conditions see above it can be used successfully Refine L1 L2 KAR search Sometimes ionospheric noise or carrier mu
110. these three variables is given by the following equation a b a J The reference frame defines the location and orientation of the geocentric coordinate axes i e the origin The absolute location of the reference frame for a given datum is not accurately known However differences between datum reference frames are often known precisely These datum conversions can be represented as follows e 3 parameter Molodensky Includes shifts in the ECEF X Y and Z axes e parameter similarity Includes 3 shifts 3 rotations and one scale 14 parameter 7 parameter temporal values Includes 3 shifts 3 rotations one scale 3 velocity and 3 rotational rates and a scale rate Temporal values are referenced to a certain year This is useful for datums that move with respect to each other Horizontal grid based method e g NADCON This methodology does not try to use an analytical formula Rather it uses a grid of localized corrections to latitude and longitude to transform one horizontal datum to another Normally it does not include corrections to the ellipsoidal height 9 8 1 What are the available features of datums The following capabilities are available e Built in support for most of the world s datums using the NIMA DMA shift values e You may select between multiple conversions between the same datum Better support for 7 parameter transformations e Support for 14 parameter transformations Th
111. this program group is not there see Section 1 2 2 on Page 24 for installation instructions Convert Data To be processed raw GPS data files have to be converted into Waypoint s GPB format including raw data from Waypoint s data logger program Instructions on how to convert these files are in the shaded box The GPBView utility can be used to switch between static and kinematic mode See Chapter 8 on Page 219 for a complete description of the Convert utility Create a New Project The steps to create a new project are listed in the shaded box The Auto Start feature can also be used to automatically bring up all the pertinent dialogue boxes See Section 2 3 1 on Page 33 for more information on the Auto Start feature 177 Overview of GrafNav Batch How to install Ils See Section 1 2 2 on Page 24 for installation instructions How to convert data 1 Select File Convert Raw GPS to GPB to access the converter Navigate to the directory that contains the data Select Auto Add All to auto detect GPS formats Ifyou want to change the conversion options click on Options or Global Options to set the rover to kinematic mode How to Create a New Project Ils Select File New Project File Name in GrafBatch Enter the name of the new project Click Open Entering the name of a project that already exists overwrites the file contents GrafNav GrafNet 7 60 User Manual
112. this weighting Gna T mode plot the C NO values for all files to Best Es verify that the data is available and that the values are in the proper 30 50 dB range Some receivers output SNR or signal counts instead of C NO do not use this data Standard Uses a constant weight value for all satellites Be aware that this setting disables baseline distance effects GrafNav s weighting is relative rather than absolute The magnitude of the nominal elevation 45 degrees or nominal C NO 50 dB is controlled with the standard deviation measurement values Advanced users can use STD_REF for more controls See Appendix A on Page 285 Using the C NO base weighting should theoretically produce the best weight However scientific testing has not shown this to always be the case C NO values vary among receivers and may have a lag time associated with them Many do not output C NO at all so using C NO based weighting is not always beneficial 70 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Measurement Standard Deviations Sets the standard deviations of the measurements These values can be applied to all baselines or they can be set individually for each baseline with the Values are for drop down menu Baselines which have been altered individually are denoted by an asterisk in the drop down list See Chapter 9 on Page 257 for more information on setting these values
113. time to form a TIN model Press Accept once the geoid is formed and a TRI file is saved In addition the DEM is displayed in GrafNav If no contour lines are visible then the DEM is outside of the area 47 Chapter 2 How to load a digital elevation model DEM ika 48 After a DEM has been imported select File Load Digital Elevation Model Load Triangulation tri Select the formed TIN file and press Open GrafNav Import DEM Points Grid This option defines the DEM source or working grid If the horizontal coordinates ofthe DEM are in a map projection such as UTM Universal Transverse Mercator or State Plane then GrafNav requires the details associated with this projection If the DEM is stored in geographic coordinates then a working map projection grid system is required UTM is the easiest but any system will do Datum This option specifies the processing datum for the project which should match the datum that the DEM values are stored in Since only the ellipsoid component of the datum is used NAD83 and WGS84 can be used in place of each other for most applications that do not require the utmost DEM accuracy Geoid Generally a geoid model should be selected since DEMS are generally stored in MLS Mean Sea Level This requires a WPG file NRCAN or NGS geoid After a DEM has been imported the TIN model does not need to be re formed Load the TRI file by selecting File Load Digi
114. to GPB Users who have logged their data without using Waypoint s logging software will have to convert their files to GPB format in order to process them with the software More information on this utility is available in Chapter 7 GPB to RINEX Users who wish to produce a RINEX file from their GPB files may do so using this utility This utility supports the creation of Version 2 0 and 2 1 of the RINEX format For additional information see Chapter 7 on Page 205 156 GrafNet 3 3 10 Remove Processing Files This feature can be used to clean up a directory by removing the session dependent files Solutions for static sessions are stored in the FSS for forward and RSS for reverse processed files The FWD REV and FML RML files are unnecessary and can be removed Selecting All Files removes all files including the solution files You must reprocess for further analysis See Section 2 3 13 on Page 51 for details 3 3 11 See Section 2 5 8 on Page 91 for information regarding this feature Import Project Files 3 3 12 View ASCII File See Section 2 4 8 on Page 60 for information regarding this feature Raw GPS Data See Section 2 4 9 on Page 60 for information regarding this feature 3 3 13 Convert The two conversion utilities that are available with this option are listed in the shaded box 3 3 14 GPB Utilities A number of utilities are available for use with GPB files See Chapter 8 on Page 219 for informati
115. to the chosen Tosta waypoint Toaz The azimuth from the current position to the chosen Tosta waypoint Surveymode Static or kinematic Define this from the CELOG menu or toolbar if you are performing kinematic surveys Station If marking a point for static or kinematic occupation this will be the name that is given to that marked point Static_epoch If using Occupation Mode for marking a station this is the number of measurement epochs that you have occupied that station 252 Utilities There are three components to the WinCE data logger 1 CELOGEXE the graphics interface 2 SIOGPS DLL performs serial network communications and data decoding 3 VARDISP WPD a script file which can be built or modified to enable you to build or change their own text display windows The reason to build or modify display windows is that a number of different screen sizes are used by various manufacturers of CE products Hand held CE units tend to be 320x200 pixels or 200x320 pixels Palm top CE devices are usually in the order of 640x200 pixels Other variations might exist The VARDISP script file not only defines the text display for CELOG but can be modified to display a given list of variables in any position on any defined window CELOG only displays one window at atime The window size is the default window size given by the CE device being used For instance those owning CE units with 200x320 displays may wish to output varia
116. to use for the RTCM output and enter the coordinates at the base station antenna Finally select the baud rate Click Next 245 Chapter 8 fu New Project Step 7 of 10 x IV Re Broadcast Raw Data over Network CLIENT Mode Network Protocol gt Port Number MultiCast eoo C UDP C TCP r Destination IP Address ze fe fs 7 lt Back Cancel How to log data with WLOG con t 21 Enable the RE Broadcast Data over Network to re broadcast GPS data collected by direct link to the GPS receiver over a local or wide area network PAThis allows two different computers in different locations can collect data from one GPS receiver and view that data in real time even though only one computer is directly linked to the receiver This technique can be used to re broadcast data using TCP protocol over existing internet connections 22 Click Next 23 Enter a port number to send out NMEA strings from a secondary serial port of the computer lt This would be useful in the case where some external device such as an echo sounder requires position input from GPS on its serial port 24 Click Next 246 Utilities GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 fu New Project Step 9 of 10 x Load or Modify a List of Waypoints E m Waypoint List 51 05 47 10050 114 22 24 08720 51 01 56 07950 113 54 21 34520 5105 45 48630 113 54 43 28270 5057 1 64820 1
117. type mds of the wee ocal H M S C GMT H M S Jo hours eastern stand time 5 GMT date of first record i0731 2004 mm dd vy m Attitude Format Wo attitude values a Photogrammetric w p k Roll Pitch Heading Cancel Local time correction Roll Pitch Yaw Camera roll pitch Drift How to load a station file 1 Under File Load select Station File sta nst 2 The program displays a list of station files STA Select the appropriate STA file How to load RTK Dat File sta nst 1 Choose File Load Single Point Solution From gpb file GrafNav Attitude Format For User5 and User6 formats that include attitude information a definition of how the angles are defined is required Currently the following attitude formats are supported Photogrammetric w p k These angles are defined as omega primary phi secondary and kappa tertiary ground to air Camera roll pitch drift These angles are the relative ones between the frame of the camera and that of the aircraft If the raw GPS receiver data logs position records there are small circular event marks on the trajectory map in bright blue These also appear if the data has been processed If no event marks are present after processing then it is likely that the time tags are wrong or no event marks have been loaded To determine what has been loaded use the Feature Editor by going to View Featur
118. validity and process mode static or kinematic The new format handles times not on the whole epoch better Measurement Record Contains the measurements for each satellite including the PRN number C A code range L1 phase L1 phase rate Doppler L2 phase P2 code range and locktime For those fields that do not exist zero is present The new format also contains space for C NO of L1 C NO of L2 L2 locktime and P1 range GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 7 File Formats 7 3 2 STA File New Station File Format As of Version 6 03 the format of the station files has changed The old station file format remains compatible with the new software However any changes to such a station file will be saved in the new format The new format has two possible file extensions NST or STA The new station file format is described here Every station file must have the following string at the top or else it will not load STAINFO The station file may have a header record The header is optional and will not be present in most cases The following is a description of the header format Hdr Proj Name of Project Field project name User User Name Name of field operator Time hh mm ss LOCAL GMT Start time Date mm dd yyyy Start date RxName Receiver Receiver type RxSub Model Receiver sub type Hi Hi m VERT SLANT Antenna height measured vertically or slanted Ant V_Offset H_Offset Name Antenna in
119. via GrafNav Batch e Use the combined MB KF first and follow up with the sequential method if needed Generally this last option is preferable for the following reasons 266 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 e The sequential method although requiring less CPU effort to compute a solution does require more operator intervention especially in terms of analysis and the number of user iterations required to reach an optimal solution e Since the MB KF uses all of the bases at once KAR can be much more effective if lock is lost in the project area e Cycle slips on base receivers although not common are much better handled by the MB KF as well For these reasons the older sequential method should only be used if necessary 9 5 10 How important are base station coordinates The use of incorrect base station coordinates is the most common error in MB processing The averaged coordinate values that are loaded by default are not acceptable for processing Latitude longitude and height errors especially for MB KF processing must not be larger than 5 cm and accuracies should be much better than this In addition to correct coordinates the correct antenna height must also be entered All values should be double checked The best approach is to utilize GrafNet to quickly run a network adjustment using the all the base station data Use the iono free float if baseline separations are longer than 20 km
120. zero is used in many applications The local Cartesian coordinates of the origin also need to be defined in the Origin in Local Cartesian Coordinates box While these coordinates are generally left at zero for most applications you are free to change them Define the Orientation of the Grid If the Y axis is to be parallel to north at the origin the rotation angle can generally be left at zero Otherwise click on the Compute button to calculate the rotation angle In order to do so coordinates must be known for a second point which must lie along either of the horizontal axes Enter these coordinates in the new window that opens under the Geographic Coordinates of a Second Point box You must then specify on which axis the point lies keeping in mind whether it is in the positive or negative direction Once the information has been entered click the OK button The program displays the calculated rotation angle of the grid as well as the azimuth and distance between the two points Click OK GrafNav GrafNet 7 60 User Manual Rev 1 273 Chapter 9 FAQ and Tips Define the Scale Factor In the Local Cartesian Settings window the computed rotation angle should now appear The scale factor can be left at unity or else it can be corrected such that spatial distances will agree with horizontal distance measurements In such a case the correction s can be calculated with the following equation R h sS R In the above formula R re
121. 1 on Page 223 for help GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Sirf Options General Options I Make epochs Kinematic Verbose messaging mode IV Reject satellite measurements with low C No 27 0 dB Hz I Re compute receiver position and clock offset IV Reject epoch if receiver clock offset is missing I New firmware version with different representation of double precision C No tolerance Time Alignment C Leave time raw resample base onto remote times to process amp Adjust time to nearest interval see data interval below Interpolate to data interval static only 1 00 fs fe epoc Data Interval Advanced Options I Move Point Attribute to start and end of static Links Point only I Use alternate ephemeris file Browse Factory Defaults OK Cancel Table 31 Records Supported for SiRF Binary Record Type Comment 28 Measurements Required 15 Ephemeris Required 7 Clock Offset Recommended a Recommended for 2 Position GrafNet users 237 Chapter 8 Table 32 Files Supported for Thales B File File Type Comment BssssAyy jij Measurements Required EssssAvy jij Ephemeris Required SssssAyy jj Ptatic Station Written to STA file DssssAyy jj Kinematic Station written to STA file Read in directly by PHOTO DAT Event Mark software lt Thales files follow a strict naming 238 convent
122. 13 53 12 88520 Remove 51 04 32 05521 113 50 33 11445 Edit Save As How to log data with WLOG con t 25 If navigating with a roving receiver input a list of waypoints for navigation is useful because VLOG will provide a text and graphical display of the distance and bearing from the current GPS location to the selected waypoint P4 WLOG also displays across and along track information for navigation between any two selected waypoints lt Waypoints can be added in the following ways e An ASCII file can be loaded as long as it is formatted correctly The first element is a station name followed by latitude and longitude both in degrees minutes seconds These fields must be space delimited e Alternately waypoints can be added by click the Add button These waypoints can be edited removed or saved to a file of their own for later use 26 Click Next GrafNav GrafNet 7 60 User Manual Rev 1 247 Chapter 8 fa New Project Step 10 of 10 xi r Request the Following Optional Records IV Position fi 00 IV Ephemeris Request Position at Interval sec IV Satellite Visibility r Display Time in Hours Minutes Seconds as KH GPS Time so see GPS UTC eve sec foo hrs LOCAL Time UTE LOCAL hrs ve east ve west C UTC Time lt Back Cancel How to log data with WLOG con t 27 Make requests for position ephemeris and satellite visibi
123. 20 GrafNav Horizontal Coordinate Unit The units available for horizontal output will be dependent on the selection made under Coordinate Type Elevation Coordinate Units The units available for elevation output ellipsoidal or orthometric are listed here Elevation Axis Corrections See Section 2 7 5 on Page 118 for information on the two options available here 2 7 6 View Coordinates This allows you to view the coordinate files created by the Write Coordinates or Export Wizard features If several output files have been created this feature loads the most recent 2 7 7 Export Binary Values For GPS processing the binary value FBV RBV files contain additional statistics about each satellite and or baseline For MB processing these files are automatically created For single baseline processing their creation requires that the Write MB binary value satellite residuals option be enabled under the Advanced 1 tab of the processing options See Page 66 for more information Plot these values with the Multi Base Statistics and Individual Satellite Statistics plots under Output Plot GPS Data To work further with these values use this option to convert FBV RBV files to ASCII Satellite locktime and C NO values can also be exported from a GPB file in this way DX A solution must be loaded Export Selection The options available are listed in the shaded box 2 7 8 Write Combined CMB File This feature writes the co
124. 6 3 3 14 GPB Utilities msonsssrsssrrssesssensrnrerrnsrerssensnnsrrr ner rer rr rr ran sann r arr ra AR RAR ARR KRA R ARR R RR RAR RR AAEEen EE KR RR nonan 156 3 3 15 Recent PrOjOCts srsrdes sorbuni ends cecnedceet vba deceenccnasceuet VAA EN ND SOK NES ERS SERA ARNEMAN EAA A dete caenenteaben 156 III TONEN E EEEE A TEI A N EAEN 156 3 4 Process MOM aici arnas a dd da RA E A ada AA Aa IN Ra 157 3 4 2 Rescanning Solution FileS ssssssessrssserrrrsssserssssresrsssrssr snar ss sn ass r sr RASAR AR RAS R SRK R ASSR AR RASAR KR RAR SR nanna 160 34 3 IGNOre Trivial SESSIONS e444sivs0dvserinssirrasdenedereiedn derna ense ESA 160 3 4 4 Unignore All Sessions insemrrsssersrrsssrerssssrerssssrersrsssessr snar sr tunnt turana EE RAR KARA RAR KRKA RAR ARS SR KKR RAS SR Kn an 162 34 5 Compute LOOP T1 CS 6574 sesdbd dame s ns dd eran ddnd E esse NRA udev eben ee 162 3 4 6 Network ACjUStMENt sssssssssrssssrerssssrerssssresrsssresr ss rss tutant ttn AR RASAR AR RASAR RAR RA RAR KR RAR RAKA R ARR RAR RASA RA aa 163 3 4 7 View Traverse Solution oiii anasa aa sade rr dead en AEG ra r NAKNA NR 167 3 4 8 View Processing REPOIM ssssesrrsssreerssssrerssssrsrsssrrss rss ss rss ass s sn RSS RAKA RASA RAR RAKA RAR RAR RR KKR RR SA Ennan 168 34 9 View All SESSIONS 33 ccscceiidecestevaaic chan cwecalgteters ud dan dd dr sd See sr dd SA EN Ae RA Aer AAA EE HR MAA rr TS 168 3 4 10 View All Observations inssereerrrrrrrssrssensresnnrrrrrressnrsnnrnrrnrr reser rr rr rann rr nr rr
125. 7 60 User Manual Rev 1 99 Chapter 2 Preferences Display Solution M General Zoom increment scale factor 3 J Use H M S m d y for default time system IV Show direction arrows on trajectory IV Show arid lines in map window IV Show legend at bottom of map window r Coordinates for Display Geographic Locallevel Grid Map distance units Metres hi r Zoom Level Specific Text display Symbol size Point size IG Tiny C Small Level 1 v ae Level 2 ee C Medium Set Defaults C Large r Static Sessions MB only Zoom Level Draw lines to all base stations Draw lines to nearest base station or best fixed solution C Dono draw lines at all Cancel Apply Geographic Displays the latitude and longitude on the screen The orientation is such that the positive y axis is true north Local level Shows the vector difference between the master and remote It is most useful for GrafMov where you can see the relative separation rather than the absolute position which tends to be less meaningful Grid Displays the coordinates in the grid selected under Settings Grid lt The UTM zone has not been set In such a case the display may be severely rotated Be sure to set the zone correctly See Section 2 6 4 on Page 95 for help Map distance units Changes the units of the values being displayed for local level or grid coordinates in the Map Window Changes th
126. 84 and this datum should also be used for processing Be careful to use the same geoid model as used on the control sheets This lessens the likelihood of differential errors developing Table 40 provides a list of the geoids included on Waypoint s installation CD The datum upon which each is based is also provided as well as websites for more information 282 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Table 40 Geoids and Service Provider Website Addresses Chapter 9 ET Tol o Datum Web Address AusGeoid93 1M GDA94 http www ga gov au geodesy ausgeoid ag93 jsp AusGeoid98 GDA94 http www ga gov au geodesy ausgeoid EGM96 World WGS84 http earth info nga mil GandG wgs84 gravitymod index htm France RAF98 WGS84 http Awww esgt cnam fr fr default htm Geoid03 ContUS NAD83 http Awww ngs noaa gov GEOID GEOID03 Cote ie NAD83 http Avww ngs noaa gov GEOID GEOID96 Geoid99 Alaska ieie NAD83 http www ngs noaa gov GEOID GEOID99 Geoid99 PuertoRico GPS H Canada NAD83 http Awww geod nrcan gc ca index_e products_e products_e html GSD95 NAD83 http Awww geod nrcan gc ca index_e products_e products_e html In some cases you may wish to process in a datum different than the one the geoid uses For this case accurate results can still be obtained by using the geoid model in a relative fashion The slope should be roughly the same between ellipsoids Between NAD27 and NAD83 there is up to 200 me
127. 89 2 5 4 Load Batch PrOCOSSOF 2 ssssstodiissdstsdusdndansdas a da tweuad eavacvstants caaens dia saaadsaddearaacaadwaatass 91 2 9 0 Stop Auto FRUN acts raian ene naden Nad Ha NAR wheal aaa adaa a E 91 2 5 6 Load Forward Reverse or Single Point Solution ssmssmssrerrrrrrrrrrrrrssensrnrnrrrerrr ennen nr nrr rr rer renarna 91 2 0 0 LOA AMY Solos nde rr rdr nE E L HARAR NRA AEE EAE E AA 91 2 5 8 Import Solutions aNd Seting sees peed eee wectensh e eedenes mooie eaten ANNA KKR 91 2 6 Seinos MENU syascaccies oectectes A E T S E 92 2 6 1 PIOCESSINO se cscskeiireeknsisaeredaniakenens kk ts Ene ani annA AREA RN EE EAEAN EAEE RRR KE EENAA EEEE AAEE EEEE 92 ZOZ GOORIN LG a a r r A E a RR Abd 93 20 9 IMGIVIQUA seansa a a e a a a a r aA 94 26 AD AU MM denn dras roku dnee ide A 95 2 6 5 DEM Plotting orsoreeessessrereeresserssressnnnerrnrrrerrrrsrn nar nr rr rasens rr rn RR EEEE AR RAR RR RAR ARR EEEE EEEE EAEAN ARR RR RR SSR rr enn 97 2 6 6 PIOTOGFGmIN Gl 44 sersssriesereudees seder ieteededetacetete a sandeeaetine NAS SNKAA HR BL KRAARENEA ANN NER HA VAKRAA AR KA NEKE MAR RAT NRA 98 2 6 7 Manage Profiles mssnssmsssssssssrrrsssssssrrsnssrssrssssssrnsnns rss knas AR RKA AAA A RAR RAR RR ARKA A RA RAR RAKA KKR KRA RR RAR RAKA KRKA KR RR RR 99 2 6 8 Compare Configuration Files c cccccsesceceeeseeeceeceeeseneeeeeeneneeeeenensneeeeeeneeeceeeeensneaeeeeenennaes 99 2 0 0 Preferentes ran aea t a a aa aa a a e Aa aaa i anrikas renia Ea 100 27 Output MENU ini
128. 89 for more information GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 212 User Cmds Fixed Static Measurement Solution and Session Process General Advanced m Sessions to Process Which sessions should be processed All unprocessed status Unprocessed or Approximate All unsuccessful status less than Good Only those sessions shown in Data Manager Reprocess entire project Processing Settings Overwrite session processing settings with global values Use individual settings stored for each session On Completion IV Show sessions being processed in data window F Run network adjustment on completion Sessions to process All unprocessed Processes all session listed as either Unprocessed or Approximate i e blue or purple in Map Window All unsuccessful Processes sessions that do not have a Good status i e not green in the Map Window Processing will start nearest to the control points and move outward For processing problem sessions it may be better to process through GrafNav Only those session shown in Data Manager Will only process the sessions that are presently listed in the Data Manager window Reprocess entire project Reprocesses all solutions regardless of status It is a good idea to reprocess all sessions after changing the global options Processing settings Overwrite session processing settings with global values Will ap
129. A lono correction Using dual frequency data for ionospheric correction Precise Files code measurement An accurate number j General Options p Standard Deviation results in better estimates but does not Process Mode C A code standard deviation ae eee ieee Bb ia affect the trajectory Single Freq no model iono a CYA cod sanf l j C A code rejection tolerance code rejection tolerance C Dual Freq use meas for iono 5 i50 m This setting defines the tolerance above Elev Mask 10 0 degrees 7 Accourk f r almos and abita ence which measurements are detected as Interval 1 00 fs enn a EE erroneous The software attempts to fix IV Accumulate static periods these errors by identifying and removing Advanced TOKYO erroneous satellite measurements If this is IV Use broadcast iono model for SF wase H unsuccessful the entire epoch is rejected Tl Use P1 instead of C A if available J Output epochs with high residuals IV Automatic WGS84 conversion Account for atmos and orbital errors Faire i JwGSe4 to ITAFS4 G730 G873 gt IV Correct time with solved clock shift o Adjust final accuracy estimate using nominal orbit tropospheric ionospheric ca and receiver clock errors This does not affect the trajectory 88 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 5 3 Combine Solutions Forward and Reverse This processing combines GrafNav solution files proces
130. ARNA KSS nn 125 28 MVSR AN setae arsa ess E A da es salsa ge A tic eee amen eas deel 125 2 8 4 Find Epoch Time cccccccccceeeeeeeeeeeeecncaeceeeeeeeeeeesecaaeaaeaaeeeeeeeeeeeeeseeseceasaaeeeeeeeeeeeeeeeeeeaes 125 28 9 Datum MamagQ hiiscec ctiesteendsiivecetctelehncstsivlelacisetiectdaetelcasies MERA KANTAS ENA KMR ER etait 126 20 O OOM aaa e a e a dit rst nns res ens io E 128 28 1 Grid Map PrOjGCtlones iccecdcs saved ete idee a E E T GRKR RAA RAK ERA NANA NKENS 129 2 8 8 Convert Coordinate File mnsmsssssssssrrsrseserrrrressrrrrrren rr rr srrrn rr rr ers rn RR RARE RAR RR SSE RR KKR RASER RR RR SARK RSS nn nn 130 2 00 Time GOMVEPSION sicincsiceAsasasdceceaseseeuaensasava lucsausseivadnaaadssaeisaadusvucdeoiaeqeedvansdeuedvaasdadvenvareailedvacs 131 2 8 10 Favourites Manager sussnesssssrerasssrerrsssrerrssssrer eee sr ansa eran Rss RAR RASAR AR RKS ARK R AAEE ERARE SR RAR RS SSR SRS nn 131 2 8 11 MISSION PIANNED cccceeescccececeeeeeeeeeeaeeesecceeceaaeeeeeeeeaueeseeeeeaeaeeeeeeeauaeseceeeaaeeneceeeaeaaagenes 133 2 8 12 Download Service Data ccc ccccccccceseeceeeceeceesseeceeceaueeseeeeeeceaeeeeeeeeuaeseeeseeseasneeeeeeeaaaeness 136 2 9 WVINGOW MG nen anann A A ten siauaa tives ait NS NNE ai Gardet KSS NNE 142 291 Cascade raran voedulvard aatnaneausdnaiielasiuan a a a a re ra a 142 292 Tile ea E aga se on E E a detta Bonds bena eten este 142 2 9 3 Next and PreViOUS s sssssssssrsrerssrrsserenrnrseoesnrrr reser rr rss rer rr
131. Allows for either the renaming of a group or the editing of individual site information Remove May be used to removed an individual site or an entire group Add Site Allows for the addition of a new site into any group Add Group Allows for the addition of a new group Add from File A list of coordinates can be directly read in from a file using this feature Simply browse to the file specify the input height type and format of the file Users who are adding stations via the Add from File feature should take note of some potential issues If some sites are being rejected it could simply mean that the lines in the header were rejected The program has no way of knowing what header information is and so rejects lines that do not conform to the expected input format However if no points were accepted this is an indication of a problem in the format of the input file Input coordinates must be signed to show hemisphere and must not have N S or E W preceding or following the coordinates GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Station names should precede the latitude longitude and height in the input file If the station name does not contain spaces enable Use first continuous word But if spaces are present in any of the station names there are two alternate choices available The first requires that a comma be placed after all stations names and the file read in as CSV format This option is recomm
132. Apply ionospheric correction to C A SMOOTHED applies a low pass filter to the raw ionospheric cor 290 Appendix DYNAMICS EnableFlag DynFlag ELEV MASK angle FF DOP TOL dop tol Appendix rections before implementing them This parameter controls the vehicle dynamics model that can be employed in the Kalman filter EnableFlag ON OFF AUTO while DynFlag LOW MEDIUM HIGH Generally AUTO should be used which means that dynamics constraint is off if Doppler is employed or ON if no Doppler is used If ON HIGH dynamics is used If ON use DynFlag to set vehicle dynamics Cut of elevation for excluding satellites from the computations This value is expressed in degrees This elevation mask value may have to be increased to 15 degrees or more in high multi path environments or during ionospheric storms Some data tracked under 10 degrees may exhibit noise characteristics Default value is 10 0 DD_DOP Tolerance over which a fixed integer solution is deemed float Allows user to control how easily a fixed changes to a float solution Does not affect processing Default is 25 FIX_AUTO Min DtL2 MaxLenL2 MinDtL1 MaxDtL1 ON OFF FIX_CORRECT_SLIP ON OFF FIX_CUBE mode L1User L2User FIX_INTERVAL Datalnterval FIX_IONO_DIST dist Controls automatic fixed static solution usage on static sessions Use ON to enable or OFF to always use Note that fixed static must also enabled in processing settings
133. B to access the converter 2 Navigate to the directory that contains the data 3 Select Auto Add All to auto detect GPS formats 4 If you want to change the conversion options click on Options or Global Options to set the rover to kinematic mode How to download service data 1 Select Tools Download Service Data 2 Click on the Add Closest tab and type in the approximate position of the project area If the position is not known then compute the average position from the remote GPB file by selecting Position from GPB and choosing the converted GPB file 3 A list of the nearest service stations appears Highlight those of interest and click Add Selected 4 On the Download tab enter the time and date of the survey as well as the directory where the files are to be saved 32 GrafNav Before you start a project in GrafNav you need to verify installation convert data and download any required data Install Software Verify that the installation was successful by ensuring that you have a Waypoint GPS program group on your computer If this program group is not there see Chapter 1 on Page 23 for installation instructions Convert Data To be processed raw GPS data files have to be converted into Waypoint s GPB format including raw data from Waypoint s data logger program Instructions on how to convert these files are in the shaded box The GPBView utility can be used to switch between static
134. Base Station Files ccccccccecesseceeeeeeseeseeeeeeceaeeeeeeecaueaceeeeeeceasaeceeeeeseeeseeeeesensaseeeeeeanenseeseeeees 198 OF Remote FNS S ara d r reon ae agerad vas San Sie e ao de Sara bena en CRs dana RA cadactaiet autor sn agge 200 6 5 Interactive VWINCIOWS sssssrersrsrrrrsesersrsrrenrrrrrrerrrrrsrrer rr rr arr rn RR ASEAS AR KR AREAN RR KRA SERA KKR ARR RR RR RSKR RAR RR RARE RAR KSS nn 203 7 File Formats A Overview Of the File FOrMats isis cccvsiacccdcessdicccedsadendcdasvaaasatienrieae steer a vena diveavvimenatetaraaddardswiaay 205 T2 CG IC emee a tages daneaet ana tecsaqaewedeausaaacyanat anatedens avaseavaadauaeacnaista tans E 205 SGPS Data FileSend a a a e aaa a a a a aa 205 T3 VGPB File ionann ae an n a a RSA a aiaa T a a aaa a aia 205 T32 OVA File ritet aia EARE EENAA EAT EE E EEO aAA aiaa 206 7 3 0 Old Station File Format onise i a aia 208 73 4 ERP File arinina i E T NE a 209 7 4 Output Files mossoseererrrsressseessrererrnsrrrsrensrennrrrnrrrrrr ens tst tE rr rr rr ARR RAR SARK RAR AR RAR RR RR R EEEEE EAEEREN RAR KKR EEE KR RR RR Rn nan 209 CAALEML SHR MI File S tanden dd a en dd Senecio ute else et ee a eects 209 14 2 FSS RSS Filson a aia rs mkh been H danvalaceasanehsardesaansanlacennedacetaweaes 212 1 4 3 EWD amp REV Piles uniia aa a a a 216 TAA FBV e RBV FES a A E A e a AA a adraia aiaiai 217 8 Utilities 8 1 Utilities OVERWiOW sci iasi a a a a a 219 8 2 GPB Viewer OVErVIGW ssusssdesssvnssssoddeiadassddnsd a aaa a aa a aa
135. Batch P2 RMS Root mean square of P2 code signal Quality Number Quality factor from GrafNav 1 best to 6 worst Relative Azimuth Azimuth between current and previous feature or epoch Relative p Height Difference Relative height difference between current and previous epochs or features Relative Uncorrected horizontal distance on the ellipsoid between the current and previous Horizontal Distance epochs Multiply by Combined Scale Factor to bring to mapping plane and surface Relative Slope Distance Free air distance between neighboring epochs or features Distance between current and previous Remarks Remarks of the station or feature from the STA file Remote File Name Name of Remote GPB file Roll Angle IMU roll angle see IMU angle definition Roll Pitch Heading Separation The difference between the combined solutions in terms of Roll Pitch and Heading Roll Pitch Heading StdDev Estimated attitude accuracy Scale Factor Horizontal distance ratio between the globe and the map distance for the current point in the current map projection Selectable Grid Allows user to enter a north and east value for a user defined grid Grids can be modified and added using the Grid Manager see Tools Menu Sequence Number Slope Distance Allows the user to number epochs in the data with a user defined start and end sequence number as well a
136. DXF rnern iaaa sb aaa tedden ial eaters 170 3 6 5 Show Map Window 2 ccceccececeeeeeeeeeeeeccneaeceeeeeeeeeeeeeescaaaaaeaeceeeeeeeeeeeeeeesecsiceeeeeeeeess 170 GrafNav GrafNet 7 60 User Manual Rev 1 5 3 6 6 Show Data WiNCIOW s ssssssssssresessrrsseeensr renarna 3 6 7 Baselines WiNCIOW susssmssrersessreressersreren er rn arena 3 6 8 Processing WiNCIOW sssssssssersrssssrerssnr aan 3 7 TOOIS M NWUiriiessssosrunosdeddssosusdts snsnudenssinsad ia 3 8 Help Men 2sisssssdassessandtadssadsad kade hand duns iadi 4 GrafNav Batch 4 1 Overview of GrafNav Batch s msnnnsnssssrersssrserrsnns nan 4 1 1 Getting Started with GrafNav Batch 4 2 File M MU aeeiiaii naiai 4 2 1 New Projeti eiiieaenii 4 2 2 Open Project cc cscccecccsssececeeeseeeeeeeeeeecees 4 273 SAVE PlOJ CK ssania 424 SAVE AS cecsccheaasaas iucseashs facaianuasidswaasshadecnadoass A ZSPN asn a 4 2 6 Add Baselines sssmmnsnssssrssrsessrrresersr ense rr rr arena 4 2 7 Add Multi Base Baselines nssmmssssssrsssesss rr ena 4 2 8 Add Combined Baselines ssmmmmmnssssrersessrrr ara 4 2 9 Import CFG Files mnosssssssesrereerssrrsessnrsnnnnnr an 4 2 10 Edit Selected Baseline Settings 4 2 11 Removing Selected BaselineS 4 2 12 View ASCII Files 4 2 13 View Raw GPS Data cceeeeeee eee 4 2 14 Convert GPS Dat sssssisersssreesersner ena 4 2 15 GPB Utilities 24 40 ssasdisietsssddessis iiiad 4 2 16 Remove
137. Editor window GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 4 7 Objects This command brings up the Object Menu for all of the epochs static sessions KAR fixes features stations and RTK data in the project The Object Menu can also be activated by right clicking on an epoch of interest in the map window This displays the features and epochs around the selected epoch The options that are available with the buttons on the right hand side of the window are listed in the shaded box Static Sessions Be aware of the antenna height when processing static sessions or features within a data set For static sessions determine antenna height in the following order 1 Use manual override To override an antenna height select the static session from the Object Menu and click the Edit button Manual override is disabled by default 2 Use station feature antenna height The antenna height of a given feature is read from the STA file If you need to edit it use the Feature Editor menu This method of antenna height determination applies only if the feature is found within the static session See Section 2 4 7 on Page 57 for details 3 Use remote antenna height See Section 2 3 7 on Page 37 for help changing the remote antenna settings GrafNav requires the vertical offset between the marker and L1 phase centre Most often the distance between the marker and the ARP or measurement mark are measured and a correct ante
138. Eee ee a ne an T Pk le Sa ee ba dan ANAR ER 51 2 4 VIEW E p ccccccscssecccccccsseuscusceuceuseuceeccsseeuecseeuaueuseeceesuedueusecuuuseueeaeesacduesuceucuseuseusueeucauesseueueeess 52 2 41 GPS Observations orosenie tend bvvaea doaeviasiwcnduvaasiaeasdusersecedien E 52 2 4 2 Forward Reverse and Single Point SOIUtiONS sseseerrrrrrrsrrsssnsrererrrrrrrrsrensrnnrrnr rr rer rr enn rn nn non 52 24 3 Processing HISTORY 2 icccd sons cavectdds cecil dni dees eden renee deli dese iadeeeddadd ened alae eee eeeetiany editions 54 2 4 4 Processing SUMMATLY ormsmsessrsrssssrerrsssreerssssrsrssssreer ss sars ss sn ss AEEA AAEE ARK RASAR KR RASAR ARR RASA RAR RR SSR KR RASAR KKR na 54 24 9 Ret Stat Sane aha sees a a a delivansash oudverdanscavagsoiae oa EN NEUE 55 GrafNav GrafNet 7 60 User Manual Rev 1 3 Table of Contents 240 F L S ea os sate rae Pov caceatadunaraneiaasaueaaa A E A ss 55 24 QDOCUS inoen EE EEEE r RA ra RR H rr BK KRA RR RA KR SR VR RR HA KAR ON RA HR AR 57 24 8 ASCII FIE S nim nna a a e A a aa a 60 PA o M RAW GPS EE E EAE EEE E S 60 24 10 Current CFG File vsssidessissdandeaveivaaacieedds AAE AE ENTI E ATA 60 2 5 Process Ment aiarar aa a e advane a AA A a 61 2 5 1 Process Differential aniani a a a a a 61 2 9 2 Process SINGIS POM estisuriori an oinin n A SNARAST SANR ERAN AFA NN AN SRA 86 2 5 3 COMPING SOM ONS ss snsvcceievans dnecerveaddcdeasvaiuads ateaadvcevunsaaawcece taeda eens aaddaeeausdedadvestannd aneevaabadedeweaas
139. GEXE The graphics interface SIOGPS DLL Performs serial network communications and data decoding VARDISP WPD A script file that can be built or modified with a text editor to build or change your text display windows CE data logging devices come in a variety of flavours They have different CPUs and form factors This makes a generic data logger very difficult to write CELOG has been developed on the TDS Ranger a CE unit which has a 320x200 screen pixel size and an ARM processor CELOG and SIOGPS can be compiled for other CPUs The VARDISP script file allows you to define text display windows with an ordinary text editor This lets you custom build text screen output windows to fit your display size The VARDISP file and script format are described in Section 9 2 3 which focuses on getting started with the features of the CE data logging software 8 16 Installing CELOG To install the CE data logging software follow the steps in the shaded box 8 17 Getting Started with CELOG This section examines all the steps required to begin logging data through CELOG by analyzing each screen encountered when creating a new project GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 Log 3 The Log tab provides information concerning the How to start logging data with CELOG con t format in which the data is to be saved to disk 8 Use the Log tab to provide information on the saved CELOG will send the necessary conf
140. GZ and ZIP formats of compression are supported Field no longer requires as of 7 6 MX This field is optional and thus does not need to be present 4 The color defined here is used in the interface to identify the stations belonging to this service The following colors are available red green blue magenta cyan gray wine black gold darkgray darkgreen darkblue lightcyan and darkmagenta 5 This field identifies the format of the directory structure used on the FTP site to organize the data Any folders in the structure that are common to all data made hard coded into this field The rest however must be defined using the following case sensitive strings lt JJJ gt Julian Day lt YYYY gt Year lt XXXX gt Station ID lt week gt GPS week lt wkrl gt GPS week 1024 lt yy gt Last two digits of the year lt d gt Day of the week lt MN gt Month number lt DM gt Day of the month An example service record Service Servld igs ftpAd lox ucsd edu oFile pub rinex lt YYYY gt lt JJJ gt lt XXXX gt lt JJJ gt 0 lt yy gt o Z nFile pub nav lt YYYY gt lt JJJ gt lt XXXX gt lt JJJ gt 0 lt yy gt n Z dFile pub rinex lt YYYY gt lt JJJ gt lt XXXX gt lt JJJ gt 0 lt yy gt d Z Ftype Z Datum WGS84 color red 140 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Data Sources Table II contains a list of the services B available with website addresses Table 11 Service Website
141. I I I I k Ground Plane I Radius I METHOD 3 Slant Measurement to Ground Plane Slant Antenna Used by surveyors making physical measurements to antenna Height Measurement L2 phase centre re ee L2 phase centre q e e L1 phase centre LD mesi L1 phase centre e ee L2 offset J L1 offset L1 offset L2 phase centre MMM L2 phase conire 34S 3 5 5 5 t L2 offset L1 phase centre o oo L2 offset Physical Phase Centre fe eS SS SS fu offset PPC METHOD 2 Height Measurement to Measurement Mark on Antenna Body Used by surveyors making Antenna Height physical measurements Measurement to antenna METHOD 4 Height Measurement Directly to Phase Centre Entered Used if antenna height is Antenna Height provided directly to PPC Measurement e g CORS IGS etc 2 Figure 8 Antenna Measuremnents Summary of Commands The following lists the available commands and a short description of their usage The required format status and a description of each command is given Any subset of the following may be used for the user s particular input file User commands can also be observed via Settings Individual User Defined in GrafNav Note that any spaces in file names datum names etc are substituted in the configuration fi
142. IME check Tolerance used to detect cycle slips on the L1 phase in kinematic mode These tolerances generally vary from 1 500 cycles and depend on receiver type vehicle dynamics and type of Doppler Numerous cycle slips reported may indicate that CYCLE TOL is too low A value of 0 0 will cause cycle slip tolerance to be com puted automatically from data interval This value is also subse quently multiplied by 30 default is 0 0 This is the datum that processing is to be performed in and the satellite coordinates are transformed into this datum See GrafNav for a list of available datums WGS84Conv is the con version to be used Use WGS84Conv AUTO to allow NGPS32 DLL to select the best datum Note that datums are read from manufact dtm and user dtm located in the same direc tory as the DLL ON if detailed parameter info is to be printed at the start of the static kar summary fss rss file Epochs with DD_DOP above this value are not printed to FWD REV files as the geometry is deamed too poor Default value is 100 0 No longer supported DUAL FREQUENCY on off on off off relative free on offismoothed OFF ON GrafNav GrafNet 7 60 User Manual Rev 1 Use P code for long baseline processing No longer used see USE_PCODE command OFF ON Use L2 phase for ambiguity resolution should be ON OFF RELATIVE FREE Use relative ionospheric correction or long baseline L3 iono free baseline processing ON OFF SMOOTHED
143. INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE GrafNav GrafNet 7 60 User Manual Rev 1 21 Warranty NovAtel Inc warrants that during the warranty period a its products will be free from defects and conform to NovAtel specifications and b the software will be free from error which materially affect performance subject to the conditions set forth below for the following periods of time Computer Discs Ninety 90 Days from date of sale Software Warranty One 1 Year from date of sale Date of sale shall mean the date of the invoice to the original customer for the product Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner
144. IV Automatic Doppler tolerance for kinematic detection Manual Doppler tolerance Jaco cycles IV Use L1 locktime counter IV Save ambiguities on satellite drop outs do not issue cycle slip Cancel Apply 69 Chapter 2 GrafNav Measurement Options IME Satellite Weighting Mode lonosphere L2 FixedStatic KAR1 KAR2 UserCmds This option includes the following preferences Process General Advanced 1 Advanced 2 Measurement El jon based d Satelite Weighting Mode evation based suggested Elevation based suggested CANO based Standard Satellites are weighted inversely to their Aa elevation angle using the following equation Values are for Code 4 00 Im q Main Settings Carrier phase 0 020 m MM Adjust for iono wre 1 sine J Use main settings E 250 a Cd 4 3 i popne ma eien C N0 carrier to noise ratio based m Outlier Detection Rejection Uses L1 C NO for weighting with the Level Code reject E 0 nSD Code reset B 0 nSD following equation Normal Phase reject po mnSD Phase reset 45 nD f V 10CN0 10 Doppler reject B 0 n5D Advanced Reset Settings m Distance Effects PPM error added to measurement SDs Distance effect amount Horizontal PPM fi 0 If L1 C NO is not available on all master remote raw data files than weighting T ees F reverts to elevation based If available this gaen E mode uses L2 C NO for ionospheric processing Before using
145. Kinematic Entire file will be set to kinematic mode Verbose messaging mode Allows you to see additional warning messages Reject satellite measurements with low C No Satellites with low C No will not be decoded Re compute receiver position and clock offset GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present Reject epoch if receiver clock offset is missing Data is unusable if clock offset is missing Clock offset can be re computed using GPB View New firmware version with different representation of double precision Time Alignment Leave time raw Enable for kinematic or single point processing Master data can be interpolated on to remote using Concatenate Splice and Resample utility See Section 8 6 1 on Page 223 for help Adjust time to nearest interval Kinematic code only shift to interval equal to base data interval Interpolate to data interval Enabled for static only Interpolates data onto regular data interval Advanced Options The following options are available Move Point Attribute to start and end of static Links Point only Use alternate ephemeris file If ephemeris data is missing select an alternate EPP file P4 SiRF receivers do not make measurements on the whole epoch Either master or remote data must be interpolated onto the other in order to process See Section 8 6
146. Map Window Compute Statistics for Calculates many useful statistics for either the entire valid processed time range or if it has been adjusted only the time range being plotted Statistics include RMS average maximum and minimum Note that this feature is only available for appropriate plots Set Start Processing Time Makes the selected time the start time for processing Set End Processing Time Makes the selected time the end time for processing Engage KAR at Time Engages KAR at the selected time 102 GrafNav 2 7 1 Plot GPS Data This feature is very useful for analyzing GPS data and processed results The plots are divided into eight groups and the Build Custom List button allows you to form their own list of plots that will show up under the Custom group Along with selecting the plot type you can define X Axis and Y Axis information Changes made to these pages are retained for future plots For example if a time range is entered in the X Axis the same time range is used for future plots in this project This is very useful for inspecting a narrow time slice You can still make changes to axes information after the plot has been displayed by right clicking on the plot If features are loaded then there are vertical red bars along the top of the plot Click on the feature to show solution status information The following plot features are available by right clicking on the plots Properties Allo
147. N Start date time File Name gt IV Prompt for station name and antenna height IV Break up multiple occupations into periods IT Always ask for date of observation GrafNet 3 3 6 Add remove Observations This feature adds observation files to GrafNet projects These files must be converted to GPB files using File Convert Raw GPS to GPB GPB are already created if you used Waypoint s data logging software and choose to log into GPB format GrafNet automatically extracts the station name and antenna height values from the STA file which is created during the conversion process Station Name and Antenna Height Verify that these values are correct and disable the option Prompt for station name and antenna height to add observations to be added without user input Double check station names and antenna heights in the Observations in Project list Correct errors by right clicking the observation and selecting Edit Antenna Profiles GrafNet lets you select an antenna profile Because additional offsets to the L1 and L2 phase centres are added when using profiles other than Generic match up the antenna height measurement to the expected measuring mark on the antenna See Section 2 3 6 on Page 36 for help If a slant measurement is selected then a correction is applied based upon the size of the antenna ground plane Be sure that the origin know as the measuring mark is defined Observation Files Ad
148. Nav Batch has many of the features of GrafNav including data plotting utilities See GrafNav Batch on Page 177 for more details For static baseline processing in GrafNav GrafNet GrafNet is a more effective batch processing tool 1 4 7 Inertial Explorer Inertial Explorer is a post processing software suite that integrates rate data from IMU Inertial Measurement Unit sensor arrays with GNSS information processed via GrafNav which is included Inertial Explorer is designed to utilize strapdown accelerometer and angular rate information to produce high rate coordinate and attitude information from a wide variety of IMUs from high accuracy navigation grade to inexpensive MEMS Micro Electro Mechanical Systems sensor types Currently a loosely coupled methodology is used that permits a quality check of the GNSS data before moving on to inertial processing Contact NovAtel s Waypoint Products Group for more information GrafNav GrafNet 7 60 User Manual Rev 1 Introduction and Installation 1 5 Utilities Every Waypoint software package sold by NovAtel comes with several additional utilities including the following 1 5 1 This utility runs automatically and allows user files to be copied or backed up For more information see Chapter 8 on Page 219 Copy User Files 1 5 2 Download Service Data This utility allows you to add a base station to a project to strengthen the static network This utility
149. OK Cancel Method for fixing position settings Automatic Selects one of the modes based upon baseline length base remote height difference and estimated accuracy of the current epoch Ambiguity Fix Tends be the most robust method and does the best job of keeping the position selected including any errors that might be present Airborne applications should only use this method Snap to Integer Practical for short baseline applications like surveying It selects the nearest integer position which means that input position must be accurate to at least 2 cycle 10 cm for L1 and 40 cm for L1L2 Position Fix This works when the position s accuracy is suspect Speeding up convergence does not always show that much improvement over not using a seed at all GrafNav General Options The following settings are available Direction Defines processing direction in which the fix is to take place Method for fixing position The different settings for this option are in the shaded box Advanced Options The following settings are available Valid time window In the When section select at which point the fix should be applied This setting defines how close an epoch should be before it is used For kinematic trajectories this value should be half of the processing data rate In instances where there is a data gap use this setting to define how close a time can be and still perform a fix Antenna
150. ONASS 66 lonosphere L2 Process General r Satellite Settings Base satellite IV Automatic L1 carrier locktime cut off 4 0 sec Fixed Static KAR1 KAR2 2x User Cmds Advanced 1 Advanced2 Measurement m Output Filtering J Write epochs containing bad data I Do NOT write epochs with statistical Je 1 6 Guality above Stdev r Velocity Doppler IV For phase processing Dynamic velocity model IV Automatic suggested High 4 Doppler measurement usage I For code only process r Output Settings Trajectory output level Normal IV Print input settings to static KAR summary I Write MB binary values satellite residuals J Write cycle slips to message log Cancel Apply Dynamic velocity model settings Automatic This setting is suggested because it turns off dynamic constraint if Doppler measurement usage is enabled and turns on High dynamic constraint setting if it is disabled High Vehicle dynamics 100 m position error due to velocity change Med Vehicle dynamics 10 m position error due to velocity change Low Vehicle dynamics 1 m position error due to velocity change Off No constraint GrafNav Advanced I Options Satellite Settings The two settings available here include the following Base satellite Specifies the satellite to be initially used as the base for the differenc
151. ONASS GPS Time Offset Stdev Standard deviation of the time difference between GPS and GLONASS expressed in meters GPS Corrected Time Exact time of measurement in the GPS time frame GPS Course over ground track GPS Time Date Direction of travel computed from trajectory velocity Time of the epoch or feature time format may be changed to user s preference GPS Week Number Week number for GPS data starting from January 4 1980 Depending in the format this week number may or may not reset after 1023 Heading Angle Negative yaw see IMU angle definition Height Difference Vertical height difference between stations Height Error Estimate Estimated error along the vertical axis dh Horizontal Distance Horizontal distance on the ellipsoid between stations geodesic Horizontal Standard Deviation Estimated position standard deviation in the east and north axes of a local level frame lrish East North East and North coordinates in the Irish State Plane projection L1 Doppler RMS Root mean square of L1 Doppler signal useful for INS integration L1 RMS Lambert East North Latitude L1 or lono free root mean square East and North coordinates in the Lambert Conformal projection North South geographic coordinate GrafNav GrafNet 7 60 User Manual Rev 1 286 Appendix Appendix Table 41 List of Output Variables Local Level Covariance
152. Process at a longer interval 15 or 30 s and check each of the coordinates given Be sure that the antenna heights in GrafNet match those in GrafNav The effect of incorrect coordinates depends on the method and is as follows For the sequential method one of two phenomena will occur 1 Smaller errors will show up as a bias in the separation plot for the combined baseline 2 Ifthe error is larger the outlier rejection algorithm will reject one baseline but not necessarily the same one throughout the trajectory for each epoch For this reason it is important to check the number of outlier rejections after combining multiple baselines in GrafNav Batch See Section 4 3 7 on Page 183 for help For the MB KF the effect is much more obscure and it is most apparent in the MB Phase RMS and SD plot A very obvious ramping or saw tooth effect is visible See Figure 6 for an example For this reason it is very important to always view this plot in addition to the separation MB Phase RMS and SD anes TE Phase RIVB SD m o o o D a a BR SS N a a 157500 158000 158500 159000 159500 160000 160500 161000 161500 Week 1306 Run 21 GPS Time ec 13 19 29 on 08 15 2005 RMS crhs0170 RMS sbec0170 SD crhs0170 SD sbec0170 Figure 6 The Effect of Bad Base Station Coordinates in MB Processing 9 5 11 Can I use
153. RAR ARKA RR RER R ARR R KR RR Ran nan 168 3 41 1 VIEW Al Stations sussie a SSRK Ar oder BASAR 168 3 5 Options Menu 2 cececcccececeeeeeeeeeceeeaaecaeeeeeeeeee sea caecaeaaaeaeeeeeeeeeeesescqeaaeaeeeeeeeeeeeseeeecsicieeeeeeeeess 168 3 0 Global Settings anren sd ere oder sd NA SANS NAR nade NA SERA ANNA SERA ARSA ANNAS SKR AA RAA eee asa 168 3 5 2 Sessions Settings Shown in Data MaNaQeCl sssssesssssssrerssssrerrssseserssssesr rss ses sn ns sr rasa nanna 168 3 5 3 Datum OP GNS susse ssafosssisadsde tee sae adieesei ved cueciaadaauiees sau gaeeueidebedes eadaansde FENA SAR SKA EaR 169 3 5 4 Grid Options sisnosserrerrrrrssssnssrnrerrerrrrrsensranenrrr reser rs rna rna rar KR RAR RR ARR BKK RAKA RR RK R RR RR RAR RR KKR RR KR RAR ARR Kn nr nn 169 3 5 5 Geoid OPtlOMS aasin ser Eda bebe AVR E RNA ARSA AA S AE ATEAN 169 3 5 6 Preferences susssoseresrrsssrsssensrnrnrer raser sn enas cece cece ee sr rn RAR R ARR R ARR AR RAR RKA RKA ARR KR RAR ARR RR KR RR KAR KR RR Rn EEEE 169 3 6 Output Men es cere seagate aea dr ade nde dae ede aed caved adhd rdr ta ed eee Lee 169 3 6 1 Export WiZa rd oo ccc cc eee eececeeeeeceae eee ee eee ee cece ea eaaaeaaeceeeeeeeeeeeseceacaacaaeeeeeeeeeeeeeseesccicecieeeeeeess 169 3 6 2 Write Coordinates ai 2h iiesints ein deen aniaee ae detiatae teins estonia cesar 169 3 6 3 View Coordinate ccecececenceceecceeeceeeeeeeeeceecaaeaaeceeeeeeeeeeeseescccaaeeeeeeeeeeeeeeeesenseensaceeseess 170 3 04 EXpOmt
154. RKA K RA KA KRA R RAK KR AN KRA 33 29 2 OPEN as ahs serene sekreta d da a gemen rdr TONA ERAN dante ade A SSA aee tad MAS a AAA a RAMA BRA A E 35 2 3 3 SAVE PLOjOCt cnacas sake nenkan bene re kkr REN aeee AR RR RA KK EN KARE ERAN N NEAR KK RSA KR KR REKA AN RAR REN R RN NAKEN EEEE a 35 DZ AD IV AS eger sorts eide andades torgets needed std nd tan bg ala gapa A el Asa SENS Lon 35 2 Ss PUM AA sti ssdins a a E nivukots bacous ter di doeitiiundesines aantieas 35 23 0 Add Master IFIGS 35 5cociee ceretaics ence eta cdeonaeaea acne dtavvancdeitanbeagagucdussaaeaduvsaasdsageatiaabdiadwonsaawetaeiueaaers 36 2 3 7 Add Remote FileS smnmssssrrersessrrreserssrrrenrsrrrrern rr rr are rr rr rr sn RR RASER KR RR ARR R RR RSA RR KKR KRK RR RASER KKR ARR SSR 37 2 3 8 Alternate Precise Ephemeris Files smsmmmnsssssssssrssssssssnseorsnnnrrnsseransnnnrnrr rr rss rn anar nana rr Ar RR AR RAR nn ent 38 2 3 9 SHOW Master FES tiana aeaa anid e a ri aar A LEAI EEEE G 40 2 3 10 Load T eee te ete 41 725 ITC OM VOL ene ee oe EE 49 23912 GPB tHe porcaria i a a O N E TARN 49 2 3 13 Remove Processing Files mnssssnnssssseerrsrsssrrrsrssserrrssssrerssssesssss ass ss sn ass ss AR RR SR AR RAR SRA R RR RAR AR RASA KRA an 51 2 3 14 Download AOA Allen Osborne Associates sssssesrsrsssrerrrssseerrssssrsrr ss ser sn sans san Rn sn sn nan 51 2 3 15 Rec nt Projects accs terrer sond arena inoren EEEE sees ER ARENA KLANER SRK RR KR VERKAN KARA RA KRN KNASEN KRK ARR REKA KA 51 2 NO gt 4
155. Rev 1 Chapter 4 How to add many Baselines 1 De Select File Add Baselines Select the appropriate directory containing the observation GPB and ephemeris EPP files Select the One base many remotes or One remote many bases option depending on whether the base or remote file is common to all baselines Highlight one or more GPB files for the master station s and click Add Base s You are prompted for coordinates and antenna information for each base being added To specify remote antenna heights enable the Prompt for remote antenna height option Highlight all the remote station observation files and click Add Remote s Click OK How to add multi base baselines Il a ee Ww Te Select File Add Multi Base Baseline Click Add to add the master files Click Browse to add the remote file Click Plot Coverage to display the Static Kinematic Coverage plot of the files added Add coordinates antenna height information when you are prompted Add remote antenna height when you are prompted Click OK How to export data output into files I 178 Select Output Export All ASCII Use Wizard Select the source for output and select a profile Click Next Choose the Break up batch sessions into separate files Batch Output if the output for each baseline is required in its own ASCII file GrafNav Batch Add Many Baselines GrafBatch requires baselines for batch process To a
156. SiGe OW akbar cacctrrca a a a a a l Raab A RN a D R NIER 28 1 4 6 GrafNav BatCh seososrerseoesserseooeerersreooeerresrrrsrr errors rer sr oss KR RKA RR KR RAR KR KR RR KSR RR RESAS RAR REK KRK 0 nr 28 14 7 Inertial Explone tes sssuedkosss dadringnsssddersn a bes vibes s s arr BANANS 28 Toile Soares dare ennen Ee ee aia 29 1 5 1 Copy User Files tact ciakiietaesi decade iiiauleewiaienniilyelidiaeandiliendinaddeenediet 29 1 5 2 Download Service Data ccccccccceseecceeeceeseecececeseseseceeeceaeseceeeeeaneeseceeeseaseeseeeeeauaeseeeeeseaaees 29 15 3 GPS Data LOJO aakarnederisdrinedevssar sne er rska dondihis ee aleeved ahd eed died eletaenced ah deedinhaeeidaalades 29 1 5 4 GPB ViIQWED ccceececccccce sees ececeeaceaseeececeuuesceeeeecessseceeeceauaseeeeeeceasaseeeeeeauaeseceeeceaaaeseeeeeeaeanees 29 1 5 5 MISSION PlaNNE Ain a a a E 29 1 5 6 Data Converter enrenar niaan aa Eea aa araa eera ENA ENNA Ea a 30 2 GrafNav 2 1 GrafNav GrafNav Lite and GrafNav GrafNet Static Overview s ssssssssssessrrrsrsesrrreenesnrrrenn rr sr rer rna 31 2 2 Start a Project with GrafNGV sissssnsssssssssrssssrerssssrerssssrr rss ss sr ss ass ttnn attu RAR RASAR ARR RASA AR RAR RR KR RAR SSRK EEEE Ennan 32 2 ETS WIS NU te ae cite erat cer sten oselden nen rele ete ua Sastre tues da rosea sale bed den ID dera lst oe Sekreta S NER 33 2 3 1 New PlOJGCUeosueeeerensenkosirnenknssenseensnareneskekisenneksnaner neka krken anka KAR ARS RAA AR AR KRA AANKAANA A
157. Status GrafNav Batch 4 2 13 View Raw GPS Data See Section 2 4 9 on Page 60 for information regarding this feature 4 2 14 Convert GPS Data See Section 2 3 11 on Page 49 4 2 15 GPB Utilities See Section 2 3 12 on Page 49 4 2 16 Remove Process Files See Section 2 3 13 on Page 51 for information regarding this feature 4 2 17 Recent Projects This option allows you to access recent saved projects 4 2 18 Exit Exits the program 4 3 Process Menu 4 3 1 Process All Baselines This feature forces all baselines in the project to be processed using the same options Any options that were customized for individual baselines are over written with these global settings See Section 2 5 on Page 61 for information regarding all the processing options available 4 3 2 Process Selected To specify individual options for troublesome baselines select the desired baseline s from the List of Baselines window and select Process Process Selected Any options set here will only be applied when processing the baselines selected All other baselines will continue to be processed using the global settings To process all the baselines in the project without having individual options over written with the global options highlight all the baselines in the List of Baselines window and select Process Process Selected GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Batch 4 3 3 For additional options tools plot
158. TER FILE Filename MB MASTER INDEX ilndex MB MASTER NAME StaName Appendix base master station Only first two parameters and ProfileName used by processing engine ON if the master station is to be disabled from processing The name of the multi base master file GPB file Use as spaces Index of the master file in the project Note that this starts at 0 It must proceed MB MASTER 7 commands which refer to this location This is the name of the master station used in multi baseline pro cessing for identification and baseline settings matching This name is also displayed on the map and used to refer to station baseline specific settings MB_MASTER_POS LatDeg LatMin LatSec LonDeg LonMin LonSec Ht m MOVING_BASE ON OFF MOVING_BASE_FILE Filename NAV_TOL dist_in_m NOWRITE_HIGH ON OFF These are the coordinates of a master station The latitude and longitude must be entered in degrees minutes seconds with spaces in between Latitude is positive in the Northern Hemi sphere and negative in the southern Longitude is positive in the Eastern Hemisphere and negative in the western Americas Moving Baseline Option Only If ON this indicates to the Graf Mov module that the base station is in dynamic mode as well as the remote If MOVING BASE OFF conventional processing is performed No longer supported Distance before using DGPS based navigation approximation Affect Kalman filter convergence
159. TR 6 169 64 16 2065 14 66 66 2 59 3 njtr1666 gpb NJTR 6 169 64 10 2085 18 66 66 1 59 3 gt a v Cok 1 TotalRows 57 IF3 Find Text Right Click for more options 168 GrafNet 3 4 8 View Processing Report This option displays the RPT file containing information about the stations sessions baselines observations and gives a summary for each session processed 3 4 9 View All Sessions View the Session window of the Data Manager for all baselines with this feature It can also be invoked for individual sessions by clicking on a baseline in the Map Window This is a useful way of ensuring all sessions have a Good status 3 4 10 View All Observations This option displays information about each observation in the Data Manager Right click on the observations and select View to bring up a message box that shows the file name station name antenna height time range and data interval among other things Selecting View GPB File will access the GPB Viewer 3 4 11 View All Stations This feature displays the Stations window in the Data Manager The window lists all stations in the project as well as their traverse solution coordinates 3 5 Options Menu 3 5 1 Global Settings This feature accesses the global processing options The options set here are applied to all baselines in the project overriding any settings that may have been customized for individual baselines The processing settings for indivi
160. View Selected Map 4 5 3 Export All This feature writes output files for all baselines in the project If you select CMB File the software will write a separate combined file for each baseline Chapter Chapter 7 lt Default Font gt on Page 205 for a description of the format used for this file Selecting ASCII Use Wizard launches the Export Wizard utility to create output files in a pre defined or user defined format See Section 2 7 4 on Page 107 for information on this utility When using this feature for all baselines you are prompted with an additional window during the export process Disabling the Break up batch sessions into separate files option exports the solution data from all the baselines into one output file Each baseline s solution output will be exported sequentially into the file This option also creates a separate output file for each baseline in the project The convention used for naming each of these files can be selected from the list of choices in the File Naming Convention box GrafNav GrafNet 7 60 User Manual Rev 1 Batch Output IV Break up batch sessions into separate files File Naming Convention Default FileName H txt Append project CFG name FileName From to To 1 ext Append remote file name FileName RemoteN ame ext Append master file name FileName MasterName ext C Use project CFG name From to To 1 ext Use remote file name RemoteN ame ext C Use maste
161. WAYP HNT PRODUCTS GROUP A NovAtel Precise Positioning Product GrafNav GrafNet GrafNav Lite GrafNav GrafNet Static GrafNav Batch GrafMov OM 20000105 Rev 1 GrafNav GrafNet User Manual Publication Number OM 200000105 Revision Level 1 Revision Date 2006 12 01 This manual reflects GrafNav GrafNet software Version 7 60 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEM4 Waypoint GrafNav GrafNet Inertial Explorer GPSolution ProPak OEMV RT 20 and RT 2 are registered trademarks of NovAtel Inc SPAN Technology DL 4p us ProPak G2plus ProPak LBplus PAC are trademarks of NovAtel Inc All other product or brand names are trade
162. Window This window displays a graphical representation of the project area It shows the stations and connecting baselines Mouse Usage in Map Window Either double clicking or right clicking on a station gives you access to several options which are described in Section 3 6 6 on Page 170 Clicking on a station displays the station in the Stations window of the Data Manager while clicking on a baseline will display that baseline and any duplicates in the Sessions window See Section 3 6 6 on Page 170 for more information 3 6 6 Show Data Window Data Manager This interactive window allows for easy display and organization of the project components The Data Manager gives statistical information regarding all observations and baselines among other things GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Observations Window The Observations window displays information regarding all the observation files GPB that are included in the project The columns that are in the shaded box are displayed in the Observations window The following options are available by right clicking on an observation View Displays Information window for the observation file Edit Opens the Add Edit Observation window in which the station name and antenna information can be corrected Delete Observation Removes the observation period from the project View GPB File Opens observation file in GPB Viewer View STA File
163. X series The Zable 20 describes the files supported for the SR series and Table 21 describes the records and files supported for the MX series Make all epochs kinematic Entire file will be set to kinematic mode Applies to MX format only Reject measurements that Leica declares bad Leica s rejection flags are very sensitive and better results can often be obtained by ignoring them If bad measurements are a problem this option should be enabled Applies to SR series Breakup chains into separate files For SR files that contain more that one static session chain per file this option splits the chains up into separate GPB files You will be prompted for IDEX file See the note in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Leica System 500 This decoder handles data from the System 500 or SR530 receivers Table 22 describes the supported records Re compute position and receiver clock Enable this option if the clock shift data is corrupt or if positions records are not present Combine multiple 000 001 files into single GPB file Leica SR530 receivers write all data into separate files from one session with different extensions Enabling this option will combine files from one session into one GPB file Use P1 carrier instead of CA carrier for L1 phase Measurements from P1 can be used instead but this is not recommended Only available if Record 20 was logged Verbose messa
164. a NAR 219 BS File minenin srana i A NE AEA AET AEE EA ETR 219 BSA OPEN opni a a a ASEA aa a EEA 219 8 3 2 CIOSC ost tec cnet sed santa ed ea a e ea aa a a a aa ae ee eee 219 8 3 9 SAVING a GPB File essciccs cect cient e phen NART S 219 8 3 4 EXPO ASC isciaranu anaE RO EA AE dab AAAA AREA AAAA AEN 220 8 3 5 Load Alternate Ephemeris File s mmnssssssssssrrssssssssssnsrenrnernsrrs rss an srn aren rr narr r rar RR ARR RR KR RKA KR RR RR a nr 220 8 36 EXI fade Sud klank a satis ae skara det Niss Add sn bites dun a std A tests REN 220 BAS MOVE PAE AE EEE EE iene idaraganeducded aut vehadsadascces sadetuesaa dadvawesd suecadeadadus dant neddecssageas 220 8 5 Editoare dnaltaaaswnaiaccedesandanelavannd EE E EA REAA AEA debet 221 8 5 1 SWitch Static KinematiC asesan a a a Aaa 221 8 5 2 Recalculate Position and TiM ssssoosereserssrrsesresssresrerrsrren rr rr sne rn rer sr rr RR RR AR RR RR RARE RR RR RER RR RR ASSR aa 222 8 5 3 Adding or Removing Cycle SIPS s e sssrmsrsessssssrssestesssnsssensnnssnaaaksnnsnssntnsnakssRanArnernnrkeknRERR 222 8 5 4 Disable Satellite S scscccveccaseusessatccntespobldcacneeanectudscyeed ANDAR NOGA cadens dacecuen HARAR dias NORA a 222 8 5 5 Recalculate Doppler Measurement 2 0cccceceeeeeeeeeeeeeeeeeaecceeeeeeeeeteseesecanececaeeeeeeereess 222 85 6 Align EPOCH Time m ssigt raseras a E E 222 8 5 7 Edit Meteorological Values cecceccceeeeeseneeeteeeceneeeseeecaneeseeeeaaneeeseeenseeseeeeeenseseeeeeenee
165. aa aa ad ab E a N a a E E A AR SSA 102 21 Plot GPS Data ee ee 102 A PAPO MUI BaS aran a a a a E A EE 106 2 7 3 Plot Master Remote Satellite LOCK 2 0 0 0 cccccccccssseceeeeceaeeeseeeeeaeeseeeeeceauaeseeeeeaeesneeeeeneaseesees 106 21 4 Export Wizard ies neniama A T A E EE 107 2 7 5 Write COOIdiNQteS ssssssosrrereessrreeeernrrrerrrsrrrrere rn r rr sr rr AR RR ARR RR RAR SKER RR KRA oree KKR rror KKR RR SARK RR KRA RAR RR reenen 118 ZAG VIEW Coordinate Sasana de bd roder dude sadsdecidestdaideveeianadedevnaduiesids E 120 2 7 7 Export Binary ValUCS issssssseesrssssrerrssserrsssssrerss sars rss ses ea ease AR ARS R SRA RR SARK RR RAR R RAR RASAR KR RASAR RAR Sn na 120 2 7 8 Write Combined CMB File ccccccceceeeeeeeeeeeceeceeeeeeeeeeeeeeeecegeeceaaeaeeeeeeeeeeeeeeeseenenenes 120 2 7 9 SHOW Map WiNCOW sssrrrrrsrrssssensensrornerneserrsennsrnrr enes ere re rank n sr EErEE KRK AR RR ARR SEEE RKA KKR KR RAR RAK RR Ran nr nn 122 21 10 Processing WINdOW cccncisencoocdia ns deres end deres er ssd Arand nes dnr MANNER AR ANS EKRAR abies 123 2 8 TOOIS MONU scincssasacdiceuadsivetanrssurssieantwaasdvasndndesd eivdinadeves sinvesdsevsdudandndseniacednvahsueddensvdudsisecetnavdecinainedeces 125 2 8 1 ZOOM IN amp ZOOM Out cee cccccccceeeececeeaeessecceeeceaeceeeeeeaueesceeeeaeaaeaeeeeseaueaseeeeeaueeseeeeeeeananenes 125 2 8 2 Distance amp Azimuth TOOlsinsossssrrsrsessssssressrrrsrsen arenans rr rr rr rr r rr ser r RR RESER RR RESER KKR SSE R RR RR K
166. afMov Dual frequency The default value is 1 minute You might want to lower this value when fast ambiguity determination is very helpful an example of this includes urban data Airborne users with longer baselines might want to increase this number to minimize the effect of the ionosphere lt Fast KAR lowers this to 1 second Maximum Distance The distance tolerance for engaging KAR in both single and dual frequency can be defined here KAR does not engage if the remote is too far from the base station This improves reliabilities The default distance is 7 5 km for single frequency and 30 km for dual frequency These values are designed for a period like the year of 2000 where the ionospheric activity is high due to solar radiation storms For later years these tolerances can be increased GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Options for Engaging KAR These options control when KAR is engaged Engage KAR while in STATIC mode Use this option to engage KAR in static Be cautious when combining this with the fixed static solution because in certain circumstances KAR s solution may supersede that of the fixed solution Engage if distance lt tolerance reset if gt tolerance2 This option is very useful for airborne multi base processing applications where the aircraft flies over various base stations It engages the first time that the distance is closer than tolerancel If the distance beco
167. afNet 7 60 User Manual Rev 1 GrafNav Kinematic Ambiguity Resolution KAR This option solves for fixed integers on a moving antenna and is not applicable for C A only processing KAR regains fixed integer high accuracy positions at onset or after a loss of lock KAR also engages in static mode KAR processing options are listed in the shaded box See KAR on Page 77 and KAR 2 on Page 80 for more options GPS GlonassProcessing Applies only to data logged using Glonass enabled receivers The processing option settings are listed in the shaded box Process Information Lets you enter processing information and then stores it in the processing history The options of types of information are listed in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 KAR processing option settings Automatic Enables KAR for dual frequency and disables it for single Off Forces KAR to never engage On Forces KAR to be enabled for single and dual frequencies Manual Only KAR only engages at your selected times Define these times under the KAR 2 tab See Page 80 for help GPS Glonass processing options settings Automatic Enables the use of available Glonass data GPS only Disables Glonass processing This option is useful if Glonass data causes problems GPS GLONASS Forces the use of available Glonass data Use this option if automatic detection fails Types of Process Information Desc Enter a
168. afNet 7 60 User Manual Rev 1 Utilities This displays n channel values across the page with one tab delimiting each variable Each line is prefaced in the first column with a text string indicating the nature of the variable See the shaded box for the script Lines in the window can be commented out and ignored by prefacing them with a semi colon GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Script for displaying n channel values across the page with one tab delimiting each vari able DISPWINDOW Title My Channel Information Window Line Prn amp prn O t amp prn 1 t amp prn 2 rt t amp prn n Line Locktime amp locktime 0 t amp lock time 1 t amp locktime 2 t amp locktime n DISPWINDOW Title Position Info Line GpsTime 35t amp GpsTime 70t Prn t Lock Line Latitude 35t amp latitude 70t amp prn 0 t amp Locktime 0 Line Longitude 35t amp longitude 7Ot amp prn 1 t amp Locktime 1 Line Height 35t amp height 7Ot amp prn 2 t amp Locktime 2 Line Grid North 35t amp north 70t amp prn 3 t amp Locktime 3 Line Grid East 35t amp east 70t amp prn 4 Yt amp Locktime 4 Line SurveyMode 35t amp surveymode 70t amp prn 5 Yt amp Locktime 5 Line DiskSpace 35t amp diskspace 70t amp prn 6 Yt amp Locktime 6 Line 70t amp prn 7 t amp Locktime 7 Line 70t
169. alculated from the Kalman filter e RMS values of the GPS measurements and the RMS forward reverse separation values for east north and height Where the float solution has had time to converge to a lower value of error since the larger error values occur at the beginning of the processing direction the RMS values are represented for 25 75 weighting These values take into account the weighting of the forward reverse combined solution in this percentage range This also applies to a KAR fixed solution The RMS values for the 25 75 weighting of the combined solution are generally lower than the RMS values from the forward reverse separation because if one solution has high error values most of the weight is placed on the other processing direction C A code and L1 phase measurements are deemed unacceptable based on the standard deviation rejection tolerances and PPM distance error specified in the processing options The Processing Summary can be added to the end of an output text file created through the Export Wizard See Section 2 7 4 on Page 107 for information about the Export Wizard GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 4 5 Return Status This option displays the processing status of the most recent run This feature allows you to see whether the processing was successful It shows the contents of the Finish record in the FSS RSS file 2 4 6 Features The Feature Editor is used for the following
170. also free to add your own services Download Service Data Download List of Stations to Download This displays a list of the stations that have been selected for download The list is empty until you add to it using the Add from List or Add Closest tabs Settings The Path to send files to field specifies where to save the downloaded RINEX and converted GPB files The Date and Time Range parameters indicates the date and time range of the data to be downloaded lt A maximum of 48 hours can be downloaded at once Selecting Leave as is will not perform any type of resampling on the downloaded data Select this option if you are planning to use the data only in GrafNet The interval for most data files is anywhere between to 30 seconds and is dependent on the service that the data is downloaded from For kinematic applications resample the downloaded data using the Resample to new interval option Add From List List of Stations This window provides a listing of all the data downloading services Click on them to expand the branch and reveals the list of stations that are obtained through this service The Info button provides rough coordinates for the station of interest The Add button places the station on the List of Stations to Download under the Download tab GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Download Latest List This connects to the Waypoint Products Group s Waypoint FTP site a
171. ame of session which serves to indicate direction of coordinate transfer SD Standard deviation in mm of baseline as calculated by the Kalman filter Reliability Reliability of the fixed static solution if available RMS RMS of the fixed static solution Applies only to fixed baselines SolType Indicates solution type See Zable 13 on page 146 for a full description Time Length of session in hh mm format Dist Baseline distance in km Status Solution status See Zable 13 on page 146 for descriptions From Indicates the FromStation To Indicates the JoStation If multiple sessions exist for same baseline indicates which session is being referred to 173 Chapter 3 Columns in the Control Check Points Window Name Name of the station Type Type of control or check point which can be 3D horizontal or vertical Latitude Known latitude coordinate of the station Longitude Known longitude coordinate of the station EllHgt Known ellipsoidal height of the station HzSD Standard deviation of the known horizontal coordinates Applies only to control points VtSD Standard deviation of the known vertical coordinate Applies only to control points dE Easting residual between input coordinate and traverse solution at check point dN Northing residual between input coordinate and traverse solution at check point dH Height residual between input coordinate and traverse solution
172. an some of the fixed integer techniques such as the fixed solution Constant Loss of Lock Antennas placed under trees or similar obstructions will often continuously lose lock which causes the fixed static to fail and the float solution to report poor accuracy Poor Antenna Location High multi path mostly affects the C A code but the carrier phase can also be affected and might cause a fixed solution to fail Antennas placed near large metal structures are most affected Locations on rooftops can also cause poor data Avoid these locations The only suggestion for possibly improving this data during processing is to reduce the size of the C A code standard deviation from within the Measurement tab of the processing options Receiver Problems Sometimes a GPS receiver just collects bad data Low power or a poor antenna connection can cause this If the problem is consistent with a particular GPS receiver unit have the manufacturer check the GPS receiver 152 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet 3 3 File 3 3 1 New Project To process a network for the first time you must start a new project which is done via File New Project GrafNet s project configuration files carry a GNT extension 3 3 2 Open Project To open an existing project follow the steps in the shaded box 3 3 3 Save Project The program automatically saves the project file GNT the Session Report REP and Traverse Solution TRV files
173. and is only useful for kinematic data Colour is determined by the quality factor Join Epochs Joins a line between epochs Symbol Sizes These settings govern the size of the features and stations in the DXF file Automatic is suggested for a trial Datum Allows you to choose between the processing datum or the input datum The grid options are available under the Select Grid System tab For UTM State Plane or any other zone dependent grid check that the zone number is correct because the default is likely wrong GrafNav GrafNet 7 60 User Manual Rev 1 121 Chapter 2 122 4 Combined Map Run 1 Funk Qt a2 03 a4 05 06 GEO DMS N Table 7 Quality Number Description Quality Colour Description Accuracy 1 Green Fixed integer Converged float 2 Cyan or noisy fixed integer 3 Blue Converging float 4 Purple Converging float 5 Magenta DGPS 6 Red Unprocessed Grey GrafNav 2 7 9 Show Map Window This screen is a graphical representation of the project area It shows the master stations the location of the remote station at each epoch and station or event marks The master stations are represented by solid green triangles Event marks are shown as cyan circles while station marks are shown as yellow triangles Please see Section 2 6 9 on Page 100 for help enabling or disabling certain features of this display Remote locations are shown as smal
174. and kinematic mode See Chapter 8 on Page 219 for a complete description of the Convert utility Download Service Data If no data was logged from a reference station you have the option of downloading free GPS data from the Internet See the shaded box for instructions on how to add the closest service station to your project area A reference station can also be added directly from a list See Section 2 8 12 on Page 136 for these instructions as well as a complete description of the Download utility GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 3 File Menu 2 3 1 New Project To process a baseline for the first time start a new project When you start a new project you have to choose between File Name and Auto Start This section discusses these options and gives step by step instructions to follow once you have decided on the method for starting your project File Name File Name prompts you to select a new project file name Once you have selected a name and where to save the project click Save For information on file types see Chapter 7 on Page 205 The remaining steps must be performed manually These steps are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Waypoint GrafNav 7 60 FEN View Process Settings Output Tools Window Help New Project File Name Open Project Auto Start Save Project Print Add Master File s Add Remote File Alternate Precise Ephemeris
175. arger values increase the possibility of an incorrect intersection found Do not engage KAR if distance is greater than value Distances are defined in km After KAR is engaged it will search farther Use KAR USE DIST to prevent KAR from utilizing data past a certain distance 292 Appendix KAR ELEV MODEL ON OFF KAR EPOCH FILTER epoch size Appendix Default is ON KAR uses the KAR TWOSTAGE SAT highest satellites for its ambiguity search Interval between storing epochs for KAR epoch size specified in seconds This controls how much data KAR will use KAR EPOCH SIZE epochs 11 epochs 12 KAR EXACT INTERVAL ON OFF KAR FAST ON OFF KAR IONO DIST dist in km Number of epochs between KAR ambiguity searches if L1 only or L1 L2 This controls how often KAR will search Only use epochs exactly on KAR EPOCH FILTER in KAR ON to enable Fast KAR Used in auto L2 noise model for choosing between HIGH and IONO KAR L2 NOISE AUTO HIGH IONO MEDIUM LOW KAR MAX DOP 7 0 KAR MAX TIME 30 KAR MB NEAREST ON OFF KAR MIN ADD NumMinutes KAR MIN TIME L1time L2time KAR OUTPUT ON OFF KAR RELTOL tol KAR RMS TOL 0 075 KAR RMSKEEPTOL tol GrafNav GrafNet 7 60 User Manual Rev 1 Model used for KAR L1 L2 ambiguity search Default is AUTO Tolerance for allowable DOP during a KAR solution Default is 9 0 After this number of minutes KAR will restart searching If this option i
176. at check point 174 GrafNet Control Check Points Window The Control Check Points window displays information regarding all the stations assigned known coordinates in the network The columns listed in the shaded box are displayed in the Control Check Points window The following options are available by right clicking on a control or check point View Info Displays Information box for the point Edit Allows for editing of known coordinates via the Add Edit Control Point window Toggle between Control Check Switches status between control point and check point Show Station Displays station in the Stations window See Stations Window on Page 172 for information Expanding the Control or Check Points branches in the Data Objects window on the left hand side of the Data Manager allows for the points to be displayed individually in the Control Check Points window GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet 3 6 7 The Baselines Window displays information regarding all the sessions in the network See Columns in the Sessions Window on Page 173 for a description of the columns displayed and the options available by right clicking on a session Baselines Window Expanding the Baselines branch in the Data Objects window on the left hand side of the Data Manager allows for the sessions to be displayed individually according to the baseline they are expanded from Expanding each baseline in the Data Objects windo
177. ate file is as follows PointID Lat deg Lat min Lat sec Lon deg Lon min Lon sec EllHgt Flag Continued on the following page P4 The PointID may not contain any spaces The Lat_deg latitude term is positive for the Northern hemisphere and negative for the Southern The Lon_deg longitude is positive for the Eastern hemisphere and negative for the Western The E Hgt is in meters and is the height above the ellipsoid The Flag term is optional and indicates whether this point should be used for computing the transformation Valid values are either 1 or 0 with 1 being assigned if the Flag is not present Use the Flag to either prevent suspect points from corrupting the solution or to use some points as an independent check 126 GrafNav 2 8 5 Please see Section 2 6 4 on Page 95 for information regarding the first three tabs available here The two remaining tabs are discussed here Datum Manager Transform Coordinates This tool transforms point coordinates from one datum to another This is often used to transform base station coordinates of a project to another processing datum You can select a point that is stored in their Favourites Manager to be converted and save any transformed point to your Favourites lt Specifying the week number of the coordinate will only have an effect on the final result if the selected conversion is a 10 parameter conversion Solve Conversion GrafNav can solve
178. ated square values are shown at the bottom Note A 13 Press the View button to view the processing report 127 Chapter 2 Compute Geoid Height Undulation xi r Geoid File WPG Format Only Ic Geoids wpg GPS H Canada wpg Browse m Geographic Position Latitude North 51 jos 00 0000 Longitude West 7 fina foo 00 0000 Geoid height is 16 498 m Ht ell Ht msl ortho Ht geoid Geoid Info Close 128 GrafNav 2 8 6 Geoid Waypoint software supports the use of geoid files for orthometric heights Waypoint s software supports geoids in three different formats including the U S National Geodetic Survey s GEO format the Geodetic Survey of Canada s BIN SLV format and Waypoint s own WPG format When correcting ellipsoidal heights to produce orthometric heights it is very important that the geoid and processing datums match For example if EGM 96 is used then the base station coordinates should be in WGS84 This datum should also be used for processing Use the same geoid model as used on the control sheets because it decreases differential Table 11 on Page 141provides a list of the geoids included on Waypoint s installation CD the datum that each is based on and websites for more information The geographic boundaries are displayed within the applied The number of rows and columns present in the grid used to define the geoid are also shown In some cas
179. ated by the Datum parameter at the top of this file P4 The geographic height should be ellipsoidal However this is only true if you enter an ellipsoidal height for the control point elevation Output Variance Covariance This section shows the local level SE SN and SZ standard deviations along with ECEF covariance values The standard deviation values are scaled by both the input scale factor and the statistical confidence scale factor and the covariance values are only scaled by the input scale factor If error ellipse parameters are desired then the Write Coordinates feature should be used Variance factor See Page 165 for information 165 Chapter 3 166 GrafNet Variance Factor and Input Scale Factor The variance factor is at the bottom of the network adjustment output Itis the ratio between the observed residuals errors and the estimated session baseline accuracies Ideally the variance factor should be 1 0 This indicates that the estimated errors correspond well to observed errors A variance factor less than 1 0 indicates that the estimated errors are larger than the observed errors that is session standard deviations are pessimistic Most often value greater than 1 0 denotes that observed errors are larger than estimated accuracies that is session standard deviations are optimistic exists unless the GPS data is very clean Thus low variance factors are normally desired Very large variance factors
180. atellites quality factor and ambiguity status Displays time in seconds of the week as well as a Time Epochs continuous count of epochs processed The GPS week number is also shown Velocity Vector Components of velocity in the Local Level frame Channel Data B L Allows for selection of baseline for which to display channel information Message Information RMS Table 10 Notifications for Static Processing RMS value computed by fixed solution should be less than 0 02 in metres Reliability Frequency This is the ratio between the second best RMS and the best RMS Ratios above 3 or 4 are usually always a pass for dual frequency The tolerance is 1 5 For single frequency ratios are lower but greater than 2 is usually correct The tolerance for single frequency is 1 35 This means the data type used Ifa fixed solution fails on a short baseline using dual frequency data the software tries again using only single frequency Time Amount of time used in the solution in hh mm ss format Type Fixed static solution type used Continuous looks for the best continuous overall time period block of data NewFixed multi sat uses all of the data although it may reject some satellite arcs 124 GrafNav For static processing the Notifications window displays all information pertaining to the fixed solution Descriptions of the messages that are displayed are i
181. ation folder for the project file ANP 4 Click Save How to set up a base station file 1 Click the New button in the Base Station File box 2 Provide an appropriate name and destination folder for the base station file ANB 3 Click Save 4 Click the Edit button in the Base Station File box under the File Input tab to add base station data to the ANB file To add data files that are already on disk click the Add File Base button To add base stations that are available online click the Add Internet Base button and then click Find Internet Station In either case base station coordinates must be provided 196 AutoNav Before you start a project in AutoNav verify installation and convert data This section provides a quick tutorial on how to get started with GrafMov Install Software Verify that the installation was successful by ensuring that you have a Waypoint GPS program group on your computer If this program group is not there see Section 1 2 2 on Page 24 for installation instructions Convert Data To be processed raw GPS data files have to be converted into Waypoint s GPB format including raw data from Waypoint s data logger program Instructions on how to convert these files are in the shaded box The GPBView utility can be used to switch between static and kinematic mode See Chapter Chapter 8 on Page 219 for a complete description of the Convert utility Start AutoNav The first
182. ault for the iono noise model For both GrafNav and GrafNet the automatic noise model works very well However on days with heavy ionosphere switching to the iono L2 noise model can be helpful Having longer static occupation times can be extremely helpful under these conditions On longer baselines fixed solutions usually fail as a result of RMS rejections Conversely poor reliabilities are usually the cause of failure on short baselines In either situation engaging the Reduce as float solution accuracy improves option is helpful This is possible for both GrafNav and GrafNet under the Fixed Static tab of the processing options If the float or iono free float is fairly accurate i e 10 cm then using a user defined search area size is helpful as well Values as small as 20 cm can be used 9 5 4 How can I refine L1 L2 integer solutions The Refine L1 L2 integer solutions option can be beneficial for obtaining the proper static fix However sometimes it can actually result in the one or more satellite resolving the incorrect integer Try processing with and without this option enabled 9 5 5 Can Iuse a larger interval for static processing You may have collected data at a high rate such as 1 Hz Such high data rates while necessary for kinematic positioning are detrimental to static processing for two reasons The first reason is that carrier phase measurements are correlated over time periods of 10 seconds or more Since each epo
183. av 2 3 9 Show Master Files Object Menu Options This command brings up the Object menu for the base stations where the following features are available View Brings up the Object Info message box for the selected base station Edit Allows you to edit the name coordinates and antenna height of the selected base station View Edit GPS Displays a list of actions that are listed in the shaded box Disable Disables the selected master station from being used for processing Remove Removes the master file completely from the project Add to Favourites This adds the object with solution to the list of Favourites See Section 2 8 10 on Page 131 for more details GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 3 10 Load Existing Trajectory Opening a project that has already been processed does not automatically load the processed solution The FWD REV and CMB files contain all the information computed for each GPS epoch by the software Writing these files to disk allows you to load the solution from another project For example you can load a CMB file produced by the baseline combination in GrafNav Batch this way To load a solution from another project follow the steps in the shaded box Single Point Solution from gpb file This option loads a GPB file that has a single point solution The shaded box contains directions on how to use this option Loading Camera Event Marks Use this feature to load
184. aypoint Products Group Software Overview NovAtel s Waypoint Products Group offers GNSS post processing software packages including GrafNav a static kinematic baseline processor and GrafNet a static baseline processor network adjustment package Both of these products have a Windows based Graphical User Interface GUI and use the same GrafNav precise GNSS processing engine This processing engine has undergone years of development effort and has been optimized to give the highest precision with the least amount of operator intervention el aa 8S WAY P31 NT PRODUCTS GROUP This chapter of the manual contains a description of the hardware requirements installation instructions and lists the CD contents This chapter also provides an overview of the product packages see Zable I on Page 27 for product capabilities 1 2 Installation 1 2 1 What You Need To Start Waypoint Protection Key As a new user you can choose between a Sentinel How to Install Waypoint Software parallel port or USB key This is a hardlock key that gives you access to the software This hardlock key ve HES NONCLE a ad SIs MNS ene COM must be burned for the correct product with a version CEOS E poke number of at least 7 60 2 Insert the CD into the CDROM drive Plug the hardlock key into a COM or USB port and 3 Follow the instructions prompted by the install it before accessing the product see Section program during installation
185. azimuth of the vehicle m Sampling Mode Export every epoch C Reduce to lower sampling rate Interval 0 000 sec Interpolate to higher sampling rate Interval jo 000 sec Maximum time Jeo sec C Use distance dependent sampling Distance fo 000 rm Select Epoch Sampling Mode x Finish Cancel Distance and Azimuth Options m Horizontal Distance Scale Leave unscaled C Use scale factor fi 00000000 Use map scale factor requires map coordinates added Azimuth Correction Correct azimuth using the following angle Pos fo foo foo co000 x lt Back Finish Cancel GrafNav GrafNet 7 60 User Manual Rev 1 111 Chapter 2 Select Grid System and Settings Datum m Select Grid to use for Transformation Grid Jus State Plane X Define Grids v Enter Zone Number Zone 60 r Select State Plane Zone Northing YJ Zone NY Central 3102 lt Back Next gt Finish ere Transverse Mercator x Central meridian wes gt Jo foo Joo oooo Central meridian scale factor 0 00000 0 9999 for 3TM False easting fo o00 m False northing fo o00 im 112 lt Back Finish Cancel GrafNav Select Grid System and Settings Select Grid to use for Transformation The Grid pull down menu features most of the commonly used grids and any grids that you have defi
186. bal Edit button P4 The Export Wizard has variables for the offsets after they have been rotated to local level Export them to check the offset vector GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Lambert Conformal p Origin Central meridian scale factor f0 000000 False easting Central meridian west fo Joo 00 0000 Central parallel Nonn fo foo foo oo00 200 te False northing 0 000 m r Standard parallels Lower Noth fo Joo foo o000 Upper Noth fo Joo foo o000 Finish Cancel Apply 3 D Offset A 3 dimensional offset vector can be applied to camera event marks C Don t apply and use antenna position Apply 3 D offset m Camera gt Antenna Body Vector Body vector coordinates X 0 02 m forward positive MS 0 04 m left wing positive rss fi 351 m up positive NOTE This is the vector originating at the Camera or Laser and pointing to the GPS Antenna It is in the body frame of the aircraft using the above defined axes definitions This vector will be rotated to local level using the attitude information associated with each event mark If no attitude is present then the COG value will be used This can cause angular errors of up to 20 degrees due to the aircraft s crab angle lt Back Finish Cancel X axis positive axis through the front nose of the aircraft Y axis positive axis through the le
187. base pair between cycle slips that fit poorly are rejected Look at the FSS RSS file to view each track L1L2 Fixed 146 Y See Note Same as L1 Fixed except that dual frequency data is used By using the wide lane much shorter fix times are possible For longer baselines the iono L2 noise model can be used to improve accuracy Ionospheric correction is applied if the Jono Noise model is used which depends on the baseline distance or if you manually select the L2 Noise model In such cases the solution type would appear as L L2 IonoFixed or L1L2 IonoNewFixed GrafNet 3 1 2 Solution Types GrafNet automatically determines concurrent sessions by examining the start and end times of the observation files GrafNet tries to form sessions using an extended time scale to resolve any conflicts stemming from differing week numbers This requires that a valid ephemeris file EPP be present for each corresponding observation file GPB For more than two receivers simultaneously collecting data unwanted session connections can be ignored using the Session Menu under Process View All Sessions The vector for each session is resolved independently There are three modes of static processing includes the following Fixed Solution This process uses single or dual frequency data but assumes integer ambiguities This mode delivers the best accuracies and is also the default static processing mode
188. be compatible with the software and look at the Begin Session and End Session marks within the TB file These are created when you mark the beginning and end of a session The session name entered in the receiver will be used to name the file with the Julian day number appended to it Method for Splitting Up File The two choices are listed in the shaded box Conversion Settings The three options are listed in the shaded box Conexant Jupiter Due to timing issues the carrier phase on this receiver is not usable so this is a code only receiver Ephemeris measurements are in record 1102 use record 1000 for position measurements The following options are available Time Skewing The following options are available Leave measurements raw Use time data as it is found in the raw data Skew to whole second using linear interpolation Shift to integer second Skew to whole second using polynomial Shift to integer second Ephemeris Options The options are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Conexant NAVCOR Make all epochs Kinematic Entire file will be set to kinematic mode Skew measurements to whole second Shift to whole second Ignore data from secondary alternating channel Fifth channel on this receiver alternates between remaining satellites Enable this to ignore Correct measurements for satellite clock Should be disabled Use alternate ephemeris Enable if e
189. biguities account for the remaining error The option settings are listed in the shaded box User Cmds This changes any command that is passed to GrafNav It can be used to change commands that are set by the other option tabs or set commands that are not handled by the other option tabs See Appendix A on Page 285 for a list of commands When a configuration file is loaded all commands that are not handled by the other option tabs appear here This ineludes commands that are not supported in the version of GrafNav being used that can easily be deleted here GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Options rd Glonass r GPS GLONASS Clock State IV Solve for difference as Kalman Filter state Initial value 0 00 m Initial standard dev fi 000 0000 rm Spectral density 0 000000 m 27s Initial value If the initial value for the time difference filter state is known it can be set here If it is not known but you want to compute it you should enter zero and set the standard deviation of the state to 2 metres or more Initial standard dev This value describes the confidence that you have in the initial value that you have set The standard deviation should range from a few centimeters to a few meters Spectral density The spectral density is noise added to the computation of the time difference state Since both the GPS and GLONASS time systems are very stable this number
190. bining the C A code and the P2 code the lonosphereL2 FinedStaic KARI KAR2 UserCmes ionospheric effect can be removed from the eee core pseudorange measurement However this adds additional noise on the order of a few meters Thus baselines need to be very long before the effect of the ionosphere is larger than the additional noise induced Generally baselines need to be 500 km or more in length IV Use L2 carrier for dual frequency lonospheric processing lonospheric Free model clean L2 or long distance static Relative ionospheric model noisy L2 fao Engage distance for relative ionosphere km I Corect C A code for ionospheric using dual frequency data 500 km only I Correct single frequnecy using IONEX or broadcast model which must exist Correct single frequency using IONEX or broadcast model which must exist r L2 P2 Measurement Usage I Process single frequency L2 P2 instead of L1 CA for special applications I Use P1 instead of C A code in Kalman filter if present new GPB format only IONEX files contain information relating to the I Use P2 code in Kalman filter ionosphere on a given day It can be used with L2 Cycle Slip Detection single frequency processing to assist in the Small L2 cycle slip tolerance 0 40 cycles ionospheric modeling process They can be downloaded using the Download Service Data utility See Section 2 3 8 on Page 38 for more information on how to a
191. bjects Menu Another way to fix a position is to use the Manual Remote Initialization window With it baselines can be fixed on long baselines combined with dual frequency receivers The options in this window includes the following When This options allows you to select or enter the times where the initialization takes place This is a point of known latitude longitude and height It could be a station name as it appears on the GrafNav screen or a specific time For kinematic trajectories selection of a time is preferable to the start end method because the software may not start processing on the very first epoch Be sure to set a small enough time window For stations or static sessions ensure that the antenna height is correct GrafNav GrafNet 7 60 User Manual Rev 1 93 Chapter 2 Manual Remote Initialization i x m when Atstart of remote data At visit to station 10 sec of the week M General Options Advanced Options Direction Valid time window 30 00 fs C Fwd C Rev Both NTT in i m Method for fixing position iation 001 Automatic z Standard deviation fo 0010 m r Position Latitude South z 33 foo f30 55926 Seset from Longitude East x 174 fio 44 96135 Add to Favorites Height 51 2910 m Enter MSL Input Grid Coordinates C Atend of remote data At static session At user defined time Antenna height Datum WGS84
192. bles which are ordered in long columns and short rows Alternately users with 320x200 displays may want to build windows which display items as long rows with relatively short columns You can modify VARDISP WPD with a text editor to accomplish this Variables Given in the VARDISP File The list of variables that you are allowed to display is set at the bottom of the VARDISP file These variables are listed in the shaded box can be requested by you for use in any defined text window lt The variables below are not case sensitive in the context of CELOG lt It is important that the variable list in the VARDISP WPD file is not edited GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Modifying the VARDISP Script File CELOG presents one text window at a time to the viewer The text windows are defined completely by the window elements in the VARDISP WPD script If the file is not present or corrupted you will not get a display These text windows can be changed during operation of CELOG by pressing the side arrow keys on the keyboard or the toolbar The content of the windows is defined by you through the script file both in terms of which variables are displayed and where those variables are placed within the window region All of the following rules must be followed exactly if you wishes to build or modify their VARDISP file with a text editor Modifying the VARDISP file is useful or even necessary depending on the scree
193. bservation time For example KAR resolves in few minutes what could take up to 20 minutes in single frequency mode GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Process GPS or GPS GLONASS 21x lonosphere L2 FixedStatic KAR1 KAR2 UserCmds Process General Advanced 1 Advanced 2 Measurement r Process Direction Both C Forward Reverse m Process Data Type Automatic C Single frequency carrier phase C Dual Frequency carrier phase CXA code only DGPS Occupation mode r Static Initialization Float solution or KAR see KAR options engage in static Fixed static solution for each static session see general options r Kinematic Ambiguity Resolution C Automatic Off C On Manual engage only r GPS Glonass Processing Automatric GPS only C GPS GLONASS r Process Information Desc Run 18 User MB Cancel Apply Process direction options Forward Processes the data chronologically from the beginning and in the same direction that it was collected in Reverse Starts processing the data from the end to the beginning Both Processes in both directions If this option is activated the two solutions are combined after processing See Section 2 6 9 on Page 100 for help doing so This method is most effective for kinematic processing For static processing only use the forward or reverse options Benefits of using the dual fre
194. c sessions Outputs the final solution for each individual static occupation separated by kinematic occupation Single point solution No longer supported Station file RTK results Time Format define the format of the time output The format used for the time and time zone correction output can be adjusted in the window If you are looking for UTC time you can enter the offset here Correct time for receiver clock bias applies the receiver clock bias to the GPS time This corrects the time to the actual time that the receiver made the measurement This correction can be as high as 1 millisecond and can be very significant in applications that require time synchronization between various instruments and devices Missing Epochs linearly interpolates positions for missing epochs based on existing epochs 118 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Coordinate Type Allows you to choose which grid to use for coordinate output Depending on the selection made you might be prompted for supplementary information See Section 2 8 7 on Page 129 for details Output Format The following formats are available ASCII Data will be delimited by spaces Scale factor and convergence information pertaining to the projection selected is available for output in this format The standard deviations for the ENH positions can also be outputted as well as the position with the distant dependent component CSV for EXCEL
195. cal The following transformations are possible e 1 parameter vertical height shift e 2 parameter X and Y shift e 3 parameter X Y and Z shift e 4 parameter similarity or Helmert transformation affects only horizontal axes This solves for scale rotation and X Y translation e 6 parameter affine transformation which solves for scale in X scale in Y rotation shear or skew and X Y translation Like the similarity this only affects the horizontal axes e 7 parameter similarity transformation which solves for scale rotation about X Y and Z axes and X Y and Z translation Such a system is highly dependent on the grid system that the transformation coordinates are based upon This is because scale and convergence angle difference between true and grid north vary differently for each system Therefore it is important to match this intermediate grid system if possible The default system used for internal computations is a Transverse Mercator system with a central meridian scale factor of 1 0 and central meridian and parallel passing roughly through the centre of the project determined by averaging all of the points longitudes In the process of creating a local coordinate definition an LDF file is generated which can be copied to other computers or shared with other GrafNav users Scaling Rotation and or Translation of Existing Grid System In some cases you may just wish to slightly alter an existing grid system One
196. causes drop outs at the resampled master 9 5 13 How do I handle data drop outs at the master station Isolated data gaps are not as severe as differences in the interval However depending on the frequency side effects can be present as well For this reason GrafNav will prompt you to resample the master data if small gaps are detected while creating a new project This process will fill in these gaps Resampling can always be performed in the manner described in Section 9 5 12 on Page 268 This operation is suggested if a significant number of drop outs are present To determine how many data gaps there are select View GPS Observations Master Show Time Gaps 9 5 14 How should I decide which base stations to use In general only base stations that are within the project area should be included This is because stations farther away will hinder rather than help results as they only serve to add increased errors due to tropospheric and ionospheric effects As a general rule of thumb if a base station never becomes the closest station it should not be included In addition using two stations very close together adds nothing in comparison to just using one In such a case if different pick the base that tracks the most satellites 9 5 15 How do deal with problematic baselines Poor baselines can be defined with the following criteria 268 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 j i One baseline con
197. cccccccececeeeeeseeaeaeseseeeeees 268 9 5 14 How should I decide which base stations to USC ccceeeeeeeeeeeceeeeeeeeeeeteeeeteeseenneeaees 268 9 5 15 How do deal with problematic baselines tsssssssesseeseersrrrrrsrsssesrnrrr nns rr rss en rr ns nn nr rer rr n rann 268 9 5 16 Can I use KAR with MB KF processing momsssssssterrrssssssrsonssrnssssrsrrss ns srn rss RR RAR ARA A RAR ARR RA AAA SA 269 9 5 17 How can I use the fixed static solution Hnsssssssesseererrerrrsrrrsssrnsnnnnrrrrr rer rr ers enar nr arr nrr rr rr rann 269 8 GrafNav GrafNet 7 60 User Manual Rev 1 Table of Contents 9 5 18 How can I speed up processing ssounrusssssssssresrerrssrrssrenssnn snor nns rean r rn sana r rs r RR ARR RAR KRK nn nr nan 270 9 6 COMMON INGQUINIGSoroooeersreererrerreessenssn nere nns reser rn renare narr rer rr ark RAR RR KARA RR RAR RAR RR RAK RR RR KKR RR RAR RR RAR RR KKR RR AR RR RR nonan 270 9 6 1 How can I determine the quality of a final solution nsssssssssssssessssssrsrssssrsrssssr ner ss rss ss snaran ann 271 9 6 2 How do I copy user files ooo eee centre eect eee ee ete e ee knas A AR AR ARA AR KKR AAA R RAR RAR KR KRA RR RR RAR RAKA RAR RR ARR 271 9 6 3 How do I update manufacturer files uH eosnsssssssresrrrrrsrrrnsrn nar ett nns rer rr rn rann nanna rn rr RR ARR RR Ra nr nan ann 271 9 6 4 How do I produce local Coordinates mnsnmssessssrserrrrsrssrrnsrnrrrrrrrrererenrn rann rr rr rr rr rr kr RAR nn nr nn rna 272 9 6 5 Ho
198. ce Data features are described in Section 2 8 11 on Page 133 and Section 2 8 12 on Page 136 respectively Db Some features will only be accessible if a Map Window has been opened for a particular baseline 4 7 Windows Map Window See Section 2 7 9 on Page 122 for information regarding the Map Window Processing Window See Section 2 7 10 on Page 123 for information concerning this window GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Batch List of Baselines This window contains a list of all the baselines included in the project regardless of whether or not they have been processed The columns listed in the shaded box are displayed in this window Several options are available by right clicking on a baseline in the List of Baselines Only those not previously discussed or referenced in this chapter are described Rename Rename the baseline The processing files corresponding to the baseline being renamed will not be over written or deleted because this option creates a new CFG file for the baseline which replaces the previous one Solution Usage Selects which solution to load into the project View GPS Observations Views all information concerning the master and remote observations being used in the baseline See the options listed under the View Edit GPS in Section 2 4 1 on Page 52 for information regarding the options available View Forward Reverse Solution See Section 2 4 2 on Page 52 for informa
199. ce of filter reset Printed when a manual KAR record is being implemented and the Engage Filter Reset flag has been enabled See Section 2 5 on Page 61 for help Locktime and doppler cycle slip on PRN 30 of 307 64 cycles on baseline BL1 Indicates that a cycle slip has occurred and it has been detected by both the locktime and a large changed in the carrier phase PRN 18 was omitted for time range 488400 0 488500 0 s on ALL baselines ALL satellites were omitted for time range 8000 0 8100 0 s on baseline mast followed by a message indicates when and how long a baseline and or prn was omitted from processing followed by a message indicates if a position fix was processed Position fixes can originate from fixed static or from user entered remote initialization See Section 2 6 on Page 92 for help GrafNav GrafNet 7 60 User Manual Rev 1 211 Chapter 7 File Formats 7 4 2 FSS amp RSS Files The Static Session Summary files present a summary of the float fixed static and KAR processing The FSS file is created during processing in the forward direction while the RSS file is created in the reverse direction The project configuration and processing settings are at the beginning of the file and return status at the end of the file The following is an example of the project configuration and processing settings Project settings Master 1 Name GRN04 0107a ENABLED Antenna SIMPLE VERT 0 000 m File waypoint01 c GPSDa
200. cessing Messages Enter desired scale factor options then select Process V View output file on completion Process Cancel How to process with the Network Adjustmnet 1 After successfully processing all of the baselines within GrafNet access the network adjustment via Process Network Adjustment lt The network adjustment will only accept session data flagged as Good Other baselines will be ignored unless otherwise specified with the Utilize sessions labeled BAD in network adjustment option lt For the initial few runs of the network adjustment the scale factor should be set to 1 0 This will not scale the final standard deviations to match observed session vector residuals See Page 165 for more information 2 Click Process to compute a network adjustment solution This will display any errors encountered 3 Ifthere are any hanging stations which are stations that are not attached to the network or are attached by a Bad baseline the adjustment will fail It is possible to change the status of the baseline to Good from the Sessions window in Data Manager 4 A NET file is created which can viewed via Process View Network Adjustment Results lt The network adjustment must be re run if you have reprocessed sessions or changed the station configuration 163 Chapter 3 How to interpret the output The network adjustment output is an ASCII file which can be p
201. ch GrafNet will retain the settings that were used at the time of export Prompt user before update You will be prompted after every processing run in GrafNav as to whether or not the processing settings used should be saved to GrafNet 159 Chapter 3 Fixed Static User Cmds Process General Advanced Measurement Solution and Session m Forward Reverse Process Direction Handling C Use FWD REY solution last processed Automatically combine FWD REY solutions Will either use best solution or statistical combination r Session Forming Options Minimum observation time for forming a session fi 80 0 seconds Minimum time span for breaking up observations into periods fi 80 0 seconds Distance Tolerance for Using Fixed over Float fi 0 00 km 40 00 km Revert to Float solution if Fixed or Buick Static fails Single Frequency Dual Frequency Minimum observation time for forming a session Controls the minimum number of seconds necessary to declare concurrent observation files as a session The default value is three minutes For dual frequency data this time can be reduced while for single frequency data this value may have to be lengthened to avoid short low accuracy baselines Minimum time span for breaking up observations into periods Controls the time required between sessions in order to have them recognized as two separate sessions The default is three minutes This g
202. ch is considered an independent set of measurements in the static computation time correlation is not modeled This results in statistics being overly optimistic when processing using the higher data rate Although ten independent measurements are more accurate than one if they all have a systematic bias that is much larger than the random error i e epoch to epoch white noise which is possible on GPS signals over short periods one measurement is essentially as good as ten The second reason which is a result of the first is that the floating solution will converge too quickly making it very sensitive to erroneous measurements at the start The solution to this problem is to simply process at an interval of 15 or 30 seconds This will produce essentially the same coordinate values as with a higher data interval but with a much more accurate estimated standard deviations In GrafNet the network adjustment s variance factor will be much closer to unity Both GrafNav and GrafNet have options for setting the processing data interval 9 5 6 How do I process static data logged during ionospheric storms Ionospheric activity peaks in 1999 2000 and data over even 10 15 km can sometimes be hard to process if ionospheric activity peaked in 1999 2000 and baselines over even 10 15 km can sometimes be hard to process if ionospheric activity is high Since the effect of the ionosphere on electromagnetic signals is frequency dependent dual frequency da
203. changes will take effect GrafNav GrafNet 7 60 User Manual Rev 1 271 Chapter 9 9 6 4 FAQ and Tips New manufacturer files may not be updated for older versions of the software that are now outside of the support period This feature is only supported by newer versions How do I produce local coordinates The three possibilities for producing local coordinates are the following 212 1 Local Cartesian Creates an orthogonal coordinate system meaning the X Y and Z axes are at right angles to each other that can be used for further computations This creates a coordinate system where the Z axis and the ellipsoidal height axis are parallel at a central point or origin As the observer moves from the origin a point with the same ellipsoidal height as the origin will have a negative local Cartesian Z value The advantage of this system is that it is easy to reproduce and is well suited for 3 D applications requiring further transformations In the case of photogrammetry such a system would not need an earth curvature correction applied to the image data However this is not a mapping system and would require an ultimate transformation to UTM State Plane etc Local Coordinate Grid In many cases users wish to reproduce a localized system based on a number of points where coordinates are known in grid or geographic and the local system The procedure solves for a geometric transformation between grid and lo
204. choose the processing interval The default interval is the interval at which the data was logged If the logged data rate is high 1 Hz override this interval with 15 seconds Processing static data at intervals shorter than 15 seconds is not beneficial will not improve accuracies and could result in overly optimistic accuracy estimates due to the high time correlation of carrier phase data GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Advanced Options Satellite Omissions See Satellite Baseline Omissions in the Advanced Tab on Page 65 for more information Cycle Slip Settings The settings are listed in the shaded box GrafNav GrafNet Interface Settings If you export baselines to GrafNav the choices in the shaded box are available to specify how changes made to the processing settings in GrafNav affect those in GrafNet P4 Ifyou decide to have the processing settings in GrafNet updated to match those used in GrafNav they will only be stored for the individual baseline that was exported The global processing options for the GrafNet project are unaffected Fixed Static Options See Section 2 5 on Page 61 for information regarding all the settings on this tab Measurement Options See Section 2 5 on Page 61 for information regarding all the settings on this tab GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Process Sessions User Cmds Fixed Static Solution and Session Measurement A
205. cific m Doppler Source Reverse sign on phase older Trimble Reverse doppler sign older Trimble J Data has SV clock applied GRAMS I Data has earth rotation applied GRAMS J Obs time has clock offset applied GRAMS Automatic use D1 value Calculate from L1 phase Calculate from CA code Use ephemeris static gt Ephemeris JV Prompt user if RINEX Nay file missing J Use alternate ephemeris file J Browse Factory Defaults OK Cancel 235 Chapter 8 Rockwell PLGR Options I Make all epochs Kinematic Re compute position and clock offset Advanced Reject measurements with SNR below tolerance jo Factory Defaults OK Cancel Table 29 Records Supported for Rockwell PLGR MPE12 Record Type Comment 1102 SR amp Required See Notes 1000 Of n amp Clock Recommended In order to extract the ephemeris from record 1102 it must be logged at 1Hz Table 30 Records Supported for Septentrio SBF Record Type Comment One of these ance Measurements records is required Measurements oe compressed 5891 Ephemeris Required iti Recommended for 5904 Position GrafNet users H t Septentrio Options I Make all epochs Kinematic l Recompute position and clock V Use new GPB format Verbose messaging mode Extract multi antenna data 236 Utilities Rockwell PLGR MPE12 This conver
206. cle slips Generally ionospheric correction becomes beneficial on baselines greater than 10 km The following options are available Use L2 carrier for dual frequency ionospheric processing Two models are available for selection and they are listed in the shaded box lt It is often a good idea to try both models because one sometimes works significantly better than the other The distance from the base station when the relative transfer starts can be set using the Engage distance for relative ionosphere This is an advanced parameter and changing it causes little difference in the final solution You may wish to lower this value during periods of high ionosphere activity GrafNav GrafNet 7 60 User Manual Rev 1 r lonospheric Correction IV Use L2 carrier for dual frequency lonospheric processing lonospheric Free model clean L2 or long distance static C Relative ionospheric model noisy L2 jao Engage distance for relative ionosphere km I Correct C A code for ionospheric using dual frequency data 500 km only I Correct single frequnecy using IONEX or broadcast model which must exist r L2 P2 Measurement Usage I Process single frequency L2 P2 instead of L1 CA for special applications Use P1 instead of C A code in Kalman filter if present new GPB format only J Use P2 code in Kalman filter r L2 Cycle Slip Detection 0 40 cycles I Utilize L2 locktime variable if available not suggest
207. code measurements from one of the bases Consider using larger standard deviations for this problematic base Code Separation The Doppler is used for velocity determination When using GrafNav in conjunction with inertial INS integration pay close attention to this plot It gives a good indication of what standard deviation to give velocity data in the inertial Kalman filter Effective Baseline Weighting DD_DOP Indicates the approximate percentage weighting that could be assigned to each baseline if a linear combination were used It can be a helpful indicator Indicates satellite geometry relating to position for each baseline Ideally each baseline should have similar values Differences can be due toa different base station or the tracking of a different number of satellites PDOP HDOP VDOP Number of Satellites See description of DD_DOP above for information Displays a line graph of the number of satellites for each baseline Epochs with less than 4 satellites are not displayed Gives an overview of how many satellites are visible from each baseline Number of Baselines Shows the number of base stations uses for processing each epoch It is an important means of assessing if certain bases are being rejected or not lined up during processing Ambiguity Drift Plots the individual ambiguity drift for each baseline 106 GrafNav 2 7 2 Plot Multi Base If you process mor
208. computed baseline length in GrafMov Double Difference DOP Double Difference DOP which is approximately equivalent to PDOP East North Height Fwd Rev Separations Separations between the forward and reverse solution in the east north and height axes East North Height Fwd Rev RMS Root mean square of the separations between the forward and reverse solution in the east north and height axes East North Up Standard Deviations Estimated east north up position standard deviations in the local level frame East North Up Velocities East North Up velocity components in the local level frame East North Up Velocity Standard Deviations Estimated east north up velocity standard deviations in the local level frame East North Up Offset Applied When a 3 D offset is applied to camera event marks this field can be used to verify that the proper offset is applied This offset is oriented to local level i e true north ECEF Covariance Matrix Estimated ECEF position covariance matrix needs extended output in GrafNav GrafNav GrafNet 7 60 User Manual Rev 1 Appendix Appendix Table 41 List of Output Variables ECEF Vector XYZ XYZ components of the vector between base and remote in the ECEF frame ECEF Velocity Covariance Matrix Estimated ECEF velocity covariance matrix needs extended output in GrafNav ECEF XYZ Standard Deviations Estimated ECEF pos
209. coordinates from a project area that is in the southern hemisphere Do not apply datum transformation to height This option is useful for outputting orthometric heights because no datum transformation are applied in this case GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 8 9 Time Conversion This tool converts GPS in to HMS hours minutes seconds and vice versa 2 8 10 Favourites Manager Use this feature to avoid unnecessarily retyping coordinates that are used often It can be accessed via the 7ools menu in all Waypoint software Upon loading the Favourites Manager a list of favourite groups appears If this feature has never been used before nine or possibly ten groups should appear as shown in the screen shot in the shaded box Db Previous Fav also exists if you have Favourites from an earlier installation of the software These groups contain a list of control points that continuously collect GPS data that can be downloaded free of charge via the download program Tools Download Service Data During the installation of the software you are prompted to find the directory where any previous version of the software was installed This automatically copies all of your files including any previously stored Favourites into the new version Follow the steps in the shaded box to manually copy your Favourites into the new version GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Favouri
210. cter station name as saved on FTP server See Note 1 lat Latitude in DMS followed by N or S to designate hemisphere lon Longitude in DMS followed by E or W to designate hemisphere ht Ellipsoidal height in metres Serv Name of service to which station belongs See Note 1 and Note 2 This field is case sensitive The service name must match the Serv D field of a service record as defined in the manufact dn file or if the service is user created in your dn file An example station record sName prds lat 50 52 16 8672 N lon 114 17 36 5856 W ht 1247 94 serv IGS 139 Chapter 2 GrafNav Service records must Service record format conform to the format in Service Servid Name of service up to a maximum of 8 characters See the shaded box Note 1 ftpAd Address of the FTP server oF ile Generic path to the observation file See Note 5 dFile Generic path to the compressed observation file See Note 3 nFile Generic path to the navigation file See Note 5 hoFile Generic path to the hourly observation files See Note 3 hdFile Generic path to the compressed hourly observation files See Note 3 Ftype Type of compression used for files See Note 2 and Note 3 Datum Datum in which the station positions for this service are defined color Color to use for symbols in utility s interface See Note 3 and Note 4 1 This field is case sensitive 2 Only the Z
211. ction for the receiver clock bias is applied This is the most precise time Only applicable for epochs UTC Date Date in UTC time Time which is available in various format This is the epochs or feature time offset UTC Time from GPS seconds by the GPS UTC time offset This time is uncorrected for the receiver clock bias UTM East North East and North coordinates in the Universal Transverse Mercator projection VSF Ellipsoidal Height VSF Orthometric Height Ellipsoidal height corrected by the map scale factor Orthometric height corrected by the map scale factor Used in photogrammetry applications to create an elevation that is more compatible with measured ground coordinates XYZ Accelerometer Bias XYZ Gyro Drift This is the apparent output in acceleration when there is no input acceleration present It is computed by the GPS INS Kalman filter and the effects may be sinusoidal or random This is the apparent change in angular rate over a period of time It is computed by the GPS INS Kalman filter and the effects are usually random GrafNav GrafNet 7 60 User Manual Rev 1 288 Appendix Appendix Antenna Measurements Diagram METHOD 1 Height Measurement to Antenna Base ARP Used if monument is top 5 of pillar where antenna Antenna Height height measurement Measurement would be zero a Measurement Mark eh or ground plane 1 I I I I I
212. d EGM96 These files allow mean sea level orthometric heights to be computed using GrafNav and GrafNet Files are in the WPG Waypoint Geoid format For Canada download files from the Geodetic Survey Division of Geomatics Canada Other regions of the world are also available DosUtils This directory contains various DOS and Win32 console utilities that are not installed with the software Generally these utilities are replaced by capabilities within Windows Devkit This directory contains a command line program that can execute the Dynamic Link Library DLL that GrafNav GrafNet and GrafNav Batch use for processing which is useful for off line batch processing This directory also contains sample C source code for linking to this DLL See the Application Note doc file in the directory for further explanations ManualPdf Contains this manual in Adobe Acrobat PDF format GrafNav GrafNet 7 60 User Manual Rev 1 Introduction and Installation 1 2 3 Upgrading Waypoint s software is distributed with a Sentinel hardware lock Upgrading to a new version requires anew hardlock key code for the hardware lock Expired demo codes need new codes for the software package to continue working Contact the Waypoint Products Group NovAtel Inc to obtain new hardware key codes For contact information see the Forward on Page 15 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 1 Hardlock Update Utility v7 50 0902 k Ha
213. d as a holding place for the combined solution When complete the Combine Multi Base window appears displaying statistical information regarding the combination This window gives an indication of how many epochs were rejected Monitor these values those concerning the epochs that were rejected as outliers 183 Chapter 4 184 GrafNav Batch Grid Settings The grid selected here is used as the project grid and affects all baselines See Page 112 for information concerning this feature Alternate Files This feature allows for the addition of ephemeris or correction files to be used during processing Any files added here will be used for all the baselines in the project See Section 2 3 8 on Page 38 for more information 4 4 2 Selected These options are only applied to the baselines highlighted in the List of Baselines window at the time that this feature is invoked Processing Settings If this feature is selected the options defined here will be copied only to those baselines highlighted in the List of Baselines window See Section 2 5 on Page 61 for information regarding all the processing settings available This feature allows the editing of the processing settings only To process the baselines once their settings have been edited highlight them in the List of Baselines window and select Process Process Selected This ensures that selected baselines are processed using their customized settings in
214. d from Settings Individual L2 lonosphere For single frequency it is important that the standard deviations be set properly on the C A code and L1 carrier phase signals The L1 phase standard deviation may need to be raised i e 0 05m to 0 10 m and a stricter phase rejection tolerance may need to be used as well Setting proper standard deviations is also helpful for dual frequency processing for additional information In addition users should download an IONEX ionospheric correction file via the Options tab under Tools Download Service Data You should then add the file to the project via File Alternate Precise Ephemeris Files and then enable the Correct single frequency using IONEX or broadcast model option under Settings Individual L2 Ionosphere 9 4 KAR Tips 9 4 1 How can I detect and fix incorrect integer fixes Incorrect intersections fixes are caused when KAR picks the wrong solution This error exhibits a near constant offset in the combined forward reverse separation Confirm that the large forward reverse separation is due to a bad KAR fix 1 Open the Combined Separation plot which will show the times when the forward reverse separation is poor 2 Open the Float Fixed Ambiguity Status plot This shows when there is zero one or two fixes available for an epoch Incorrect KAR intersections are most apparent when there are two fixes i e for both forward and reverse These areas show up as green This does not
215. d solution files have been saved to disk 2 5 8 Import Solutions and Setting This feature does the following e Reads all configuration file settings from the selected CFG e Copies the processing files associated with the CFG e Loads the new solution into memory GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 I test GrafNav 7 60 H r Settings Output Tools Window Help Process Differential Process Single Point Combine Solutions Launch Batch Processor Stop Auto Run Load Forward Solution Load Reverse Solution Load Single Point Solution Load Any Solution Import Solution and Settings 91 Chapter 2 2 6 Settings Menu 92 I Waypoint GrafNav 7 60 File View Process sg Output Tools Window Help Processing Coordinate Individual Datum Grid DEM Plotting Photogrammetry Load Settings From Manage Profiles Compare Configuration Files Preferences GrafNav 2 6 1 Processing This option gives access to most of the differential processing settings without allowing you to begin processing Data processing can only be engaged via the Process button under Process Process Differential or Process Process Single Point See Section 2 5 1 on Page 6 for a complete description of all the settings available here GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 2 6 2 Coordinate xi Master Station Settings When This option lets you
216. d solution if the reverse is unacceptable Changing the Elevation Mask GrafNet by default uses a 15 elevation mask This is because tropospheric and ionospheric errors increase significantly on low satellites Lowering the mask to 10 allows more satellites into the solution strengthening the geometry This improvement might offset the atmospheric errors Precise Ephemeris For long baseline dual frequency processing the iono free solution combined with a precise ephemeris can be a benefit For shorter baselines that are better off using a fixed solution try to re process them separately Start and End Times The start end times can be modified from within the General tab Sometimes a data set can have parts that are unusable A good indicator is the L7 Phase RMS plot Entering the start and end times eliminates these parts by selecting the appropriate times Another way to find good sections of data is to view the FSS or RSS files There is a section at the start showing numerous periods of cycle slip free data for various satellites and it also shows which period was used You can also try entering the start end times from another period exclusive to the one used 150 GrafNet 3 2 1 Fix Bad Baselines Some baselines appear red when running GrafNet and duplicated baselines will stay yellow When examining the baseline sessions from within the Sessions window of the Data Manager one or more sessions will have Bad indicato
217. d to the end of the output file Line Termination Allows you to choose how to change the line termination of each record written to the file Field Separator Allows for the selection of the character to be used to separate each variable in a record Preview Displays what the output file will look like with the current settings If you want to create your own export profile you should keep the tips in the shaded box in mind GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Tips for creating a export profile To create a profile that does not have spaces between variable entries and the record based on column width follow these steps 1 Go to the Define Profile window 2 Click the Field Separator button 3 Select None under Separation Character to remove any field separators in the file The same procedure can be used to have the output be space or comma delimited To change the file by adding a header footer of a specific format the Header Footer button in the Define Profile window allows you to add headers footers from a predefined text file If specific characters are needed to designate the start and end of a text file strings of characters can also be added to the beginning and end of the file For formats that require no decimal points to be shown in the file like SEGP1 and Blue Book the decimal points can be removed by going into the chosen variable clicking the Format button in the Define
218. dd baselines follow the steps in the shaded box Add Multi base Baselines To add Multi base Baselines follow the steps in the shaded box Set Processing Options If you do not wish to specify individual processing options for each baseline select Process Process All Baselines A warning will appear indicating that all baselines will be processed using the same option Baselines requiring processing options that differ from others can be customized by right clicking the baseline s in the List of Baselines and selecting Process Select all of the baselines and go to Process Process Selected This processes all the baselines while preserving processing options for each individual baseline Combine Baseline Solutions When there are many base stations and one remote or multi base baselines a combined file can be created that uses weighted observations from all of the baselines See Section 2 5 3 on Page 89 for information regarding combining baselines Export data output into files To export coordinates and other information from processed baseline sessions to ASCII text files follow the steps in the shaded box During this procedure you can also control how the output files are named and what file extension is to be used Save Project To save the configuration select File Save Project GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Batch 4 2 File Menu 4 2 1 New Project To process multiple baselines fo
219. dd precise ephemeris Cancel Appl RE tv satellite clock and IONEX files L2 P2 Measurement Usage The following options are available I Utilize L2 locktime variable if available not suggested Process single frequency L2 instead of L1 This mode uses L2 for carrier and P2 for code and is most appropriate for special applications including GPS simulator testing P Y code receiver testing and operation of a P Y code receiver during jamming For civilian receivers there is no benefit to using this mode of processing Use P1 instead of C A code in the Kalman filter By default the processing engine uses C A code in the Kalman filter Some receivers deliver better performance if the P1 code is used instead Note that this requires the new GPB format In addition P1 code data must be present Use P2 code in Kalman filter Under normal circumstances P2 code measurements are not employed This is because most dual frequency receivers use narrow correlators or similar technology for their C A code measurements and these tend to be more robust and reliable than the P2 code Enabling this feature adds this measurement to the Kalman filter thereby possibly improving convergence 74 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav L2 Cycle Slip Detection The following settings are available Small L2 cycle slip tolerance For advanced users Both KAR and relative ionospheric processing check for small cycle
220. de from between FROM and TO stations Azimuth 2 9 1 Angle between true north and the baseline made from between TO and FROM stations Azimuth StdDev Estimated error of the computed azimuth British East North East and North coordinates in the British State Plane projection C A RMS Root mean square of C A code signal Checksum 8 bit The absolute value calculated by using XOR ADD or NMEA methodology on the 8 data bits of each character in the sentence decimal and hexadecimal formats may be selected user will be prompted for these options after the profile is created Combined Scale Factor Scale factor used by surveyors It applies the map scale factor combined with the ellipsoidal height correction which can be used to scale distances on the ellipsoid to the earth s surface Combined Standard Deviation Combines east north up position standard deviations into one value Same value is written by Write Coordinates Computed Azimuth Azimuth from base antenna to remote antenna in GrafMov Convergence Meridian convergence for the current location in the current map projection Corrected GPS Time GPS time corrected for receiver clock bias Course Over Ground Direction of travel indicated by velocity vector Date Date of the epoch or feature Description Description of the station or feature from the STA file Distance Error Azimuth Error in the
221. description of the run here The program numbers the runs numerically User Enter your name or initials See Section 2 5 on Page 61 for more process options 63 Chapter 2 Process GPS or GPS GLONASS E 21x lonosphere L2 FixedStatic KAR1 KAR2 UserCmds Process General Advanced 1 Advanced 2 Measurement r Elevation Mask 10 0 degrees gt Data Interval Normal fo 50 3 Fixed Static fi 5 00 2 r Time Range GMT r Processing Datum More Datum Options r Satellite Baseline Omissions IV Process entire time range GPS time week num leave week blank if not known F Use HiM S and M D y Cancel Apply Data Interval option settings Normal For kinematic and float static processing the program automatically synchronizes both the master and remote data sets at the collection rate With this option you can specify the interval to process the data Entering zero results in all epochs being processed Fixed Static Use this interval for the fixed static solution The recommended interval for fixed static is 15 seconds Shorter intervals result in overly optimistic accuracy estimates because of high time correlation of carrier phase data over periods less than 15 seconds and does not improve accuracies GrafNav General Elevation Mask Defines the minimum elevation above the horizon that a satellite must reach before being used for processing T
222. details 2 3 15 Recent projects Provides a list of recent projects and allows you to left double click to load them 2 3 16 Exit Exits Waypoint software GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Files that are affected with each Remove Processing Files option Project s to remove Allows you to select what project s you want to delete processing files from Current project Only removes the selected files that are associated with the project that is currently loaded All files in Allows you to select the folder that you want to have the selected files deleted from Selected projects Allows you to select a specific project whose associated files you want to delete Files to remove Allows you to select the files to remove from the specified project or folder GPS trajectories Contains the solutions computed during processing Additional processing Includes message logs static summaries and binary files Processing history Contains information regarding any earlier processing run performed in project Section 2 4 3 on Page 54 for more details Project files Contains project configurations and processing options 51 Chapter 2 GrafNav 2 4 View Menu 2 4 1 GPS Observations Waypoint GrafNav 7 60 This option gives you access to all the features gt i listed in Object menu found under File Show chit aed Master Files View Edit GPS for all master and Single Poin
223. ding observations breaks observation files into multiple periods if a gap of 3 minutes or more is detected This is controlled with Break up multiple occupations into periods Some RINEX files have gaps but are observed over the same point for the entire observation period so disable this option For cases where the time gap is very short because the station to station movement is very fast control the minimum time gap for breaking up periods with the Solution and Session tab under Options Global Settings Look for the Minimum time span for breaking up observations into periods lt Station IDs must match those of all observations for a given same station and those of matching ground control points Reprocess sessions associated with an observation if the antenna height has been changed This is performed by right clicking on the station for that observation and selecting Remove Processing Files Then select Reprocess entire project under Process Process Sessions GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet 3 3 7 Add Remove Control Points Add at least one horizontal ground control point before processing Sessions will not be processed unless they are connected to a control point The three types of control points include the following 3D constrained horizontally and vertically e 2D constrained horizontally e 1D constrained vertically After selecting Add remove Control Points from the File menu click Add
224. distance tolerance can be specified here GrafNav L2 noise model KAR supports a number of L2 noise models to determine how GrafNav handles L2 data in KAR Due to anti spoofing L2 can be significantly noisier than L1 and this difference must be taken into account The noise models that are available for L2 are listed in the shaded box Manual KAR Engage You can manually engage KAR when it is necessary For example when an airborne platform is very close to the base In this case you should also consider lowering the minimum KAR time You must specify the duration as well as the process direction in which to apply it This feature works well combined with the Manual engage only setting under the Process tab This allows KAR to engage only at specified times GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav GLONASS Options These options govern the way GrafNav uses GLONASS measurements when computing a solution GPS GLONASS Clock State The following option is available Solve for difference as Kalman Filter state This option forces the time difference between the GPS and GLONASS time systems to be computed in the Kalman Filter The difference between the two time systems is not more than a few meters Corrections to the GLONASS pseudoranges are made using this time difference The phase measurements are not corrected because they vary only by the change in this difference over time which is extremely small Computed am
225. dmonton Canada p Find Closest r Source of Almanac YUMA or EPP Browse CAG PSData Manual_Data yuma309 txt Download r Settings Elevation mask 15 0 degrees Start time 13 00 00 h m s Date 0773072005 m d y Length 2 00 hours Note all times in GMT 134 GrafNav Base Station Only available if Differential has been selected under Mode Click the Define button to view the list of locations available You might have to load a coordinate list via the Change List File button on the window that appears Source of Almanac An almanac file is required in order for Mission Planner to access the orbital parameters of each satellite needed for its computations Such information can be found in two locations The first is via YUMA almanac files which are readily available from the NAVCEN website http www navcen uscg gov ftp GPS almanacs yuma Direct access to this website can be attained by clicking on the Download button Once it has been downloaded it must be loaded by clicking the Browse button The second source of almanacs is those Waypoint ephemeris files EPP containing almanac records This option only applies to users of NovAtel receivers as they are the only type whose almanac records are supported by Waypoint Settings The following settings are available Elevation mask This option sets the cut off elevation The default value for the mission planner i
226. do I control bad data mnossssssssssssesseereerrrrrsrsrsssnsrerenrr esse rss rn ann n nr nr nns rr RR RAR ARR KKR SKR Snr rean 259 9 3 7 How do I avoid MISSING CPOCNS smersssmsusensskss ade seat i ANAR AAA NONAA NANANA NAARAAN E KARNA NA ARNT aE 260 9 3 8 Should I avoid using RINEX for kinematic CatQ7 mnssnnssssssssrssssrersrsssrersssssrer ss ss sn sn sar sr nanna 260 9 3 9 How do I process kinematic data logged during an ionospheric storm smmsnsssssssrssssssnaa 260 9 3 10 How do process long kinematic baselines mumaomsssssssssessesrssssrrrsrrsssssrrrssenr rss ann r nns RR Anna 261 Did KAR TiS sucks ss soeuderandetah a lider deel SNAM E E KARTAN SSA eine ee dieaveliieds 261 9 4 1 How can detect and fix incorrect integer fixes nmnmssesssssssrerssssrrerssssrser ss sens rr sn ses sr sn arr s sn sanna 261 9 4 2 How can use KAR with interpolated data nnsssnssesseerrrrrssrrsssnnsnesnnrnerrersrrnrenrsnnnnr nns r rr rr enn nan 262 9 4 3 How can I help KAR find a solution isnossreerrssrrsssessreseerserrrsrrrrsrensnnnrrr nns nns seen r enar nn nr nar rer sne nan 263 9 4 4 How can I use KAR on long baselines nssssssssssseesrrrssrrrrssssrernssssrre rss rss snar s sr AR RAR R AR SRS Kna 263 9 4 5 How can I use KAR to improve poorly combined separations nsmsssssssesserserrrsrrressrrsrrnnn ana 263 9 5 Static Processing FAQ and TIDS osisssa aniier iaa aaa vous SNS NANNA HANNAR ANANAS E 264 9 5 1 Can use GrafNet for static batch PrOCESSINGJ
227. dual sessions can be customized by right clicking on the session in the Data Manager and selecting Options 3 5 2 Sessions Settings Shown in Data Manager This feature allows you to set the processing options only for the sessions currently appearing in the Data Manager In order to use this feature the Sessions window of the Data Manager must be open GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet 3 5 3 See Section 2 6 4 on Page 95 for help with this feature or see Chapter 9 on Page 257 for a discussion on datums Datum Options 3 5 4 See 2 8 7 on Page 129 for information regarding this feature Grid Options 3 5 5 This feature lets you select the geoid for the project The geoid selected is used as a reference when outputting orthometric heights in the Traverse Solution TRV file It will also be used as a default for orthometric height output when running the network adjustment Geoid Options 3 5 6 Preferences GrafNet Display See 2 6 9 on Page 100 for information regarding any options not described here Zoom Display Settings The Ellipse scale field changes the size of the error ellipses Projects covering large areas might have large ellipses and decreasing the values for all three zoom scales 0 1 and 2 will make the ellipses smaller Error EllipseDisplay Controls whether relative or absolute error ellipses are displayed First error ellipses can be displayed for session solutions Second
228. dvanced Process General Satellite Omissions Cycle Slips Settings Ignore satellite if tracked less than 4 0 s L1 lono free static cycle slip tolerance 0 4 cycles 0 4 cycles I Display cycle slip messages during processing I Write individual satellite residuals to binary value file FBV RBY L2 static cycle slip tolerance GrafNav GrafNet Interface Settings After GrafNav processes Always update session settings v Cycle slip settings Ignore satellite if tracked less than See LI carrier locktime cut off in the Advance Joptions tab on Page 66 for more information LIi lono free static cycle slip tolerance See Static cycle slip tolerance in the Advance loptions tab on Page 68 for more information L2 static cycle slip tolerance See Small L2 cycle slip tolerancein the Advance loptions tab on Page 68 for more information Display cycle slip messages during processing See Write cycle slips to message log in the Advance Joptions tab on Page 66 for more information Write individual satellite residuals to binary value file See Write MB binary values satellite residuals in the Advance Joptions tab on Page 66 for more information GrafNav GrafNet Interface Settings Always update session settings Any changes made to the processing settings in GrafNav will be saved to that baseline s processing settings in GrafNet Never update Any changes made in GrafNav will not be saved in GrafNet As su
229. e 604058 000000 Week 1317 Latitude 397 22 53340 Mode Kinematic Longitude 1747 27 10273 Height 2074 194 5121 Num Sats 9 CA Range L1 Phase L1Dop P2 Range L2 Phase 20245418 61 21332120 52 224491 45 36 23543635 76 24015197 48 21353798 99 23318587 52 24991547 29 24786369 72 110137788 711 115848443 496 2045 52 117971065 598 2077 74 123722640 867 3068 05 126200723 645 3055 25 115962372 941 2421 86 126287384 672 3491 81 131331466 449 3874 62 130253261 480 3002 67 179 27 2024541230 21332117 55 224491 43 96 23543635 33 85820981 348 90270852 164 91925515 211 96407260 250 24015196 36 98338208 512 21353796 23 90359629 309 23318586 86 98405084 219 24991546 95 102336186 746 24786368 62 101496043 555 Open an Existing File Epoch 2997 10706 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Export ASCII r Output File Select m Export Format Measurement and Position Position only NMEA output Assumes receiver height is orthometric Waypoint Trajectory sp can be loaded in GrafNav gt NMEA Output Records M GPGGA GPGSY MM GPGSA NMEA Settings I Save Records to seperate files GGA GSV etc UTC Time Offset 13 s Cancel ASCII formats for saving files Measurement and Position Exports time date raw measurement data and position information for each epoch Position only Exports
230. e At the end of the static period CELOG prompts you to quit the static session and go directly back to kinematic mode GrafNav GrafNet 7 60 User Manual Rev 1 251 Chapter 8 8 18 Variable Display File VARDISP Variables Gpstime GPS seconds of the week Latitude Latitude in degrees minutes seconds Longitude Longitude in degrees minutes seconds Height Elevation as output by the GPS receiver Epochs Number of measurement epochs since data collection started Diskspace Number of free megabytes remaining on the device Elev Elevation of the satellite in degrees above the local horizon Prn PRN number of the given satellite Az Azimuth of the satellite in degrees with respect to local north Locktime Number of seconds of valid phase lock for a particular PRN resets to 0 on loss of lock East Easting as given by the defined grid Grids can be UTM TM or State Plane North Northing as given by the chosen grid Tosta If waypoints have been entered or read in from a file this is the chosen waypoint ID to which you are navigating Fromsta If a waypoint list is present this is the waypoint that is being navigated from The line between the Tosta and the Fromsta defines an along track across track reference frame Acrosstrack The distance left or right of a line joining the current Tosta and Fromsta waypoints Alongtrack The distance along a line given by the Tosta and Fromsta Todist The distance from the current position
231. e GrafMov to engage KAR continuously resulting in a possible infinite loop or very long processing time By default 2 cm is used but you can change this after processing without azimuth determination GrafNav GrafNet 7 60 User Manual Rev 1 GrafMov Chapter 5 5 8 Output Menu See Section 2 7 on Page 102 for information regarding all of the options available in this menu Table 17 List of Attitude Plots Available with This section only has a brief point relevant to GrafMov GrafMov Plot Description 5 8 1 Plot GPS Data Plots the azimuth in degrees Only Azimuth available if azimuth determination has been Table 16 in the shaded box contains a description Heading Data sel ase Sse Page 192 for more of those plots available only through GrafMov See Table 4 on Page 103 for a list of other plots Shows the standard deviation of the azimuth ilabl Estimated computation Only available if azimuth available Azimuth determination has been enabled See Page Heading 192 for more information You should also Accuracy examine the fixed float ambiguity status flag 5 9 Tools Menu Shows the difference between the Antenna computed antenna distance and that you See Section 2 8 on Page 125 for information Distance Error entered This is a good quality control regarding all of the options available via this menu check 5 10 Interactive Windows See Section 2 9 on Page 142 for information regarding all of the options a
232. e for each country or region 9 10 Geoid FAQ and Tips The geoid is the level of the sea surface equipotential surface under land masses For instance a spirit level or surveyor s level would follow the geoid Because of this vertical datums are based upon the geoid Maps are also based on the geoid to prevent any contour lines from forming on level surfaces such as lakes GPS can only make measurements on the ellipsoid and therefore elevations must be corrected to reference the geoid The height above the geoid is known as an orthometric or mean sea level MSL height The difference between the geoid and the ellipsoid is called the geoid height or undulation value and it changes across the earth by 100 meters Luckily many government agencies put out geoid undulation grid files that can be used to convert ellipsoidal to orthometric heights The relationship between the orthometric height H the ellipsoidal height h and the geoid height U is given by e h H U 9 10 1 What are the available features of geoids Waypoint s software supports geoids in three different formats including the U S National Geodetic Survey s GEO format the Geodetic Survey of Canada s BIN SLV format and Waypoint s own WPG format When correcting ellipsoidal heights to produce orthometric heights it is very important that the geoid and processing datums match For example if EGM 96 is used then the base station coordinates should be in WGS
233. e in the shaded box Master Station Position After you select a master station the Enter Master Position dialogue box appears with values averaged from the GPB file These values might have errors of 10 meters or more For IGS and CORS stations ARP antenna reference point coordinates are pre loaded in the Favourites Manager See Section 2 8 10 on Page 131 for more information Datum Selection Proper datum selection is very important CORS sites are stored in NAD83 and IGS sites in WGS84 WGS84 coordinates may differ from NAD83 coordinates up to 2 m so be careful when using these coordinates Be sure to set the ellipsoidal orthometric height flag correctly See Section 2 6 4 on Page 95 for more information Remote Station Coordinates The antenna height entered in this box applies primarily to kinematic trajectories It is overridden by features stations events and static sessions The steps on how to change the antenna height on static sessions are in the shaded box Entering the proper remote station coordinates gets higher accuracies If you do not enter the antenna height the height coordinates include the antenna height and this causes a vertical shift If you are only interested in the ellipsoidal or orthometric height of the antenna then enter zero GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Antenna Models The simple model and generic profile for the advanced method are identical They assume that t
234. e Datum Conversion tab Once you specify the two datums between which the transformation will apply click on Add to bring up the Add Edit Conversion window When using 7 parameter transformations be careful of the rotation angles as there is no standard definition for the sign The sign convention used by Waypoint s software is as follows X 1 6 6 x AX Y 1 scale 0 1 0 Y AY Z To S 0 0 l From AZ Recent analysis shows the opposite sign tends to be more frequent If your transformation uses the opposite signage i e 0x 6 0 have the opposite sign in front of them then enable the Use reverse sign for rotations option The best way to determine which sign should be used is to inquire with the agency producing the transformation You can also match the overall transformation to an existing datum conversion but use extreme caution when doing this To ensure the availability of the datums between which the conversion will be applicable see Section 9 8 3 To add a datum conversion follow these steps 1 Go to Tools Datum Manager and select the Datum Conversions tab 2 Select the From and To datums for the conversion It does not matter which is selected where but it is easier to assign the datums in a manner corresponding to the transformation for which the values are available 3 Click the Add button 4 Type a name in the Info string field Only alphanumeric characters as well as hyphens and underscores are al
235. e base station coordinates in the local datum For this reason this method is highly suggested 278 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 2 Process in WGS84 Input coordinates are transformed into WGS84 which is the same datum that processing is performed in This methodology allows you to use very localized or grid based datum conversions It is not possible to transform the very distant satellite coordinates like the previous method does using such localized conversions Normally final coordinates are also desired in the input datum Therefore care must be taken to convert the coordinates from WGS84 to the local datum using the same transformation 9 8 3 How do I making additional datums available Waypoint s software has over 100 built in datums Most of the transformations from these datums to WGS84 are from the NIMA document http 164 214 2 59 GandG pubs html See also http www nima mil Only a few of these datums are initially displayed in the processing options and other datum selection tools To enable the datums that are going to be used frequently and disable the rest use the Datum Manager under the Tools menu From the Datums tab the entire list of datums is displayed Select the datum from the list and click the Enable or Disable button the status will be toggled 9 8 4 How do l enter a 7 parameter transformation Add new transformation under the Tools Datum Manager To do this select th
236. e files contain information concerning the Total Electron Count TEC in a two dimensional grid For single frequency long range differential or single point processing the information in an IONEX file adds corrections helpful to the L1 frequency and are available through the Download Service Data utility Satellite clock files can also be downloaded using the Download Service Data utility These files contain a list of biases that can assist single point positioning because the clock bias is only differenced out in differential positioning GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 How to load a precise ephemeris file in the SP3 format 1 Go to File Alternate Ephemeris Files The program displays a list of ephemeris files EPP precise ephemeris files SP3 IONEX files vyI and clock files CLK 2 Select the appropriate SP3 file How to load IONEX files and satellite clock files 1 Go to File Alternate Ephemeris Files The program displays a list of ephemeris files EPP precise ephemeris files SP3 IONEX files vyI and clock files CLK 2 Select the appropriate yyI and or CLK file 39 Chapter 2 View Edit GPS option settings Show Station Info Displays information about the station Show GPB Info Displays information about the GPB file Show Time Gaps Displays information about any time gaps in the data View Raw GPS Data Opens the master file in GPB Viewer View Ephemeris
237. e of this a network is in the shaded box For this method one receiver is left stationary over a reference or control point One of more remote GPS receivers are moved from point to point being surveyed 145 0 Precise WAU WAY PINT ah Novatel PRODUCTS GROUP Figure 1 Closed Loop Network Antenna height measurement errors will often cancel with this method and should therefore be double checked Methods involving more than two receivers become quite complex and are past the scope of this chapter Figure 2 Radial Network GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Solution Type L1 Float Table 13 Solution Types Fixed integer lonospheric Correction Description L1 float solution Used most often with single frequency receivers on short occupations or long baselines L3 Float lonospheric free float solution Requires dual frequency but can have very good accuracies on longer baselines if occupation is long enough L1 Fixed L1 fixed integer solution Can be very accurate on shorter baselines Solution is computed from one continuous period of GPS data with the most satellites covering the longest time The Message Log FML RML file can be viewed to determine how many satellites are used and for how long L1 NewFixed L1 fixed integer solution that uses all of the satellites tracked Satellite tracks i e satellite
238. e than one baseline additional plotting tools display measurements and separations of multi baselines This tool plots values present in the FBV and RBV files Table 5 contains a list of the plots available for multi base processing projects 2 7 3 Plot Master Remote Satellite Lock This option displays the Satellite Lock Cycle Slips plot for all the master and remote files in the project See Page 103 for more information regarding this plot GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 7 4 Export Wizard The Export Wizard allows you to customize the output text format to suit your needs It also has more features for controlling offsets datums and corrections than the Write Coordinates method for exporting coordinates You can select from 150 data variables reproduce an existing format or create your own with exactly the information that you need Export coordinates Wizard The Export Wizard features a user friendly graphical interface that create different output profiles Export profiles can be moved from one machine to another by copying the PRF files to the installation directory for the software This means that profiles need only be created once Define Profile Source Variables All of the output variables are categorized This pull down menu allows you to switch between the categories whose variables are then displayed in the window Add Adds the selected variable to the end of the Export Var
239. e that the camera event marks are loaded For user logging position records the camera event marks should be visible in the Mapping Window If position records are not being logged at the remote it is possible that these marks will not show up until after processing has been performed However if the marks fail to show after processing they will have to be loaded manually via File Load Camera Event Marks For instance Ashtech Thales events must be loaded in this manner See Section 2 3 10 on Page 41 for details Configure Processing Settings Select Settings Load Settings From Airborne to utilize a parameter set that is well suited for airborne data While these options may not be perfect they are an ideal place to start If the base station data is interpolated make sure the Only search on exact interval option is enabled and enter the original interval in the Search on data interval field See Page 98 for information Process and Analyze Data After processing has completed view the Combined Separation plot under Output Plot GPS Data The plot should ideally show a separation near zero See Section 9 6 1 on Page 271 for further help analyzing the results Output Final Coordinates When processing is done and the results are to your satisfaction the final step is to output the solutions To do this use the Export Wizard under the Output menu To obtain the coordinates for the camera marks select the Features Stations as the
240. e the Use main settings option Enter code and carrier phase standard deviations that are more representative of the data for this baseline You may also wish to disable this baseline from KAR as well which is explained in the paragraph above For the fourth case disabling the base station is the best approach See the paragraph above for help 9 5 16 Can I use KAR with MB KF processing In general very little is different By default KAR uses the closest baseline for resolving KAR or all those under 8 km After the KAR fix the other baselines will be fixed to the same location as well The following two KAR settings relate to MB processing The Search only closest base option under the KAR 2 tab when enabled causes KAR to only use the base station that is nearest or to use all base stations that are within 8 km In general you should leave this enabled Ifa base station is causing bad fixes it is better to disable the base station See Section 9 5 15 for more information A useful setting for corridor work especially is the Engage if distance lt tolerance reset if gt tolerance option It will engage KAR on the first occurrence the proximity to each base is less than tolerancel KAR engagement will be reset if distance is greater than tolerance2 The values tolerance and tolerance2 may need to be refined for a particular data set This latter feature is a useful means of taking advantage of periods where the remote is clo
241. e their own list of geographic locations GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Examples of acceptable input file formats Use first continuous word no spaces POINTONE 34 26 09 98731 114 26 09 98731 12 01 POINT2 36 12 56 12154 114 12 56 12154 14 23 POINTTHREE 52 12 00 00000 56 00 23 01213 1112 45 Comma separation csv format POINT ONE 34 26 09 98731 114 26 09 98731 12 01 POINT 2 36 12 56 12154 114 12 56 12154 14 23 POINTTHREE 52 12 00 00000 56 00 23 01213 1112 45 Use first n columns where n 7 for this example POINT 1 34 26 09 98731 114 26 09 98731 12 01 POINT 2 36 12 56 12154 114 12 56 12154 14 23 POINT 3 52 12 00 00000 56 00 23 01213 1112 45 vDOP DD DOP SatsinView Advanced Settings NumSats POOP HOOP r Mode C Single Point Differential r Point of Operation Calgary Canada pd Define r Base Station Define Edmonton Canada f Find Closest r Source of Almanac YUMA or EPP Browse CAG PSData Manual_Data yuma309 txt Download r Settings Elevation mask 15 0 degrees Start time 13 00 00 hims Date 07 30 2005 m d y Length 200 hours Note all times in GMT Cancel 133 Chapter 2 vDOP DD DOP SatsinView Advanced Settings NumSats POOP HDOP m Mode C Single Point amp Differential rm Point of Operation Calgary Canada Md Define r Base Station Define E
242. e units displayed when using the Distance amp Azimuth tool as well See Section 2 8 2 on Page 125 for information 100 GrafNav 2 6 9 Preferences Display This option allows you to edit the Map Window display and other preferences General The following settings are available Zoom increment scale factor The default is 3 although you can change this to any positive integer Use H M S m d y for default time system Encourages GrafNav to display time in the described format instead of seconds of the GPS week Show direction arrows on trajectory Shows arrows in the direction of travel on the map screen Show grid lines in map window Displays grid lines Show legend at bottom of map window Toggles the display of the color coded quality numbers legend Coordinates for Display The settings are listed in the shaded box Zoom Level Specific This set of options is based on the Zoom Level specified Zoom Level Level 0 is the main screen without being zoomed Each level has its own set of default display options that can be changed to your preferences Text Display Controls the font size The Show Text option allows text to be seen on the screen Symbol Size Controls the symbol display Static Sessions MB only You can choose whether to plot the static session lines to all base stations to the nearest base station or not to draw any lines at all GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav
243. eate a text file corresponding to the the Datum Conversions tab This allows the Tabata The format for this file is the conversion to be used by the software same as for the FromDatum except that the Force scale factor to 1 0 Flag term is ignored Be sure that the Constrains the PPM scale to zero PointIDs match those in the ToDatum file scale factor 1 This is only applicable for that was created in the previous step the 7 4 Select Tools Datum Manager Click on Compare against existing conversion the Solve Conversion tab Computes residuals for an another existing 5 Press Browse to select the coordinates file conversion in the Datum Conversions list This corresponding to the FromDatum is useful for determining if the newly computed 6 Select the datum from the list If the datum conversion fits better than the existing one is not present enable or add it See Section Processing Report The following are contained in the processing 2 6 4 on Page 95 for more information 7 Browse for the file corresponding to the that the residual values are oriented to local level east north and up Raw Differences These are the raw differences between the ECEF coordinates of the matched points in the two files Only points that have a match found are processed The USED column shows if points are to be used in the solution or not and refers to the Flag in the FromDatum file GrafNav GrafNet 7 60 User Manual Rev 1 report T
244. ecalculate Doppler Measurements Use this feature if the velocity output from processing appears to be erroneous indicating possible corruption in the Doppler measurements The methods available for this recalculation are dependent on the mode in which the data was collected 8 5 6 Align Epoch Time This feature lets you specify the data interval and is for data sets where the epoch times are not falling on the proper interval When this option is activated GPB Viewer shifts the epoch time to the nearest epoch based on the specified interval Use this feature if the software cannot find any overlapping data between rover and base station files that were logged concurrently 8 5 7 Edit Meteorological Values This feature edits the GPB file pertaining to the environmental conditions for better troposphere modeling A TRP file is created and the processor looks for it when processing Information regarding the new troposphere parameters appear in the message logs FML RML after processing Enter meteorological values for both the master and remote stations If you do not the post processor utilizes the values from one of the stations for both and only the effect of height difference will be accounted for GrafNav GrafNet 7 60 User Manual Rev 1 Utilities 8 6 Concatenate Splice and Resample Overview This utility is available via File Utilities in all of Waypoint s programs This utility joins multiple files together cuts ou
245. ecording interval for proper time length computations Ifthis value is larger than the recording interval then this new value will be used for processing Use 0 0 to process all epochs The default value is 0 0 Baseline distance in km at which relative iono free processing will begin Default is 5 km Reject KAR or fixed static solutions if computed ionospheric error is greater than tol in PPM Default value is 10 PPM This setting is not in GrafNav s dialogue boxes ISSUE KAR DIST ON OFF DistKm1 DistKm2 ISSUE KAR DOP ON OFF doptol ISSUE KAR TIME ON OFF NumMin KAR COV L2 ON OFF sf offset This will engage KAR on first occurrance of dist lt dist1 and reset the distance check when dist gt dist2 Engage KAR every time DD_DOP goes above doptol Engage KAR every NumMin minutes Determines KAR search area using ambiguity variances Search area is computed to be SearchArea sf Amb Var offset This option only works for dual frequency processing KAR CUBE cube size I1 cube size 12 KAR DISTANCE 1 dist I2 dist GrafNav GrafNet 7 60 User Manual Rev 1 Size of kinematic ambiguity resolution KAR search cube in meters A cube cube size 2 will be searched from the initial approximate position which is obtained from the program fol lowing the loss of lock The default value is 2 0 m This value should be increased if it is suspected that the remote position is outside of the search cube However l
246. ect Satellite lock plot which allows you to view an elevation plot of the satellites in view Advanced Tab Log File You can choose to save an ASCII output of the mission planning information Enable View LOG file after processing to open this output file when plotting is finished Data Interval Select Automatic to force the Mission Planner to compute a data interval suitable for most recent plot window size Select Manual to define a data interval to improve the resolution Options The options that are available are listed in the shaded box voor DD DOP Settings r Chart Type C None do not display C Line graph Bar chart bar colors altered for data quality Sats in View Advanced Num Sats poop Hoop r Bar Colors Name Minimum Maximum Excellent 6 50 24 00 Bi Adequate 4 50 6 50 a Insert Questionable 3 50 4 50 WB unacceptable 0 00 3 50 __ Edit Remove Y axis Range C Automatic Manual Minimum Add f0 00 fi 2 00 Num of Sats PDOP HDOP VDOP and DD DOP Options Ignore satellites with bad health Mission Planner checks the almanac file for any sick satellites if this option is selected Any satellites confirmed as being so are removed from plotting and output Maximum Ignore these satellites If certain satellites are causing problems but are not identified as being sick in the almanac file they can be manually specified here f
247. ection Thales Ashtech now decodes static kinematic markers more efficiently e Thales Ashtech download now automatically detects DG 16 e Septentrio decoder now supports external event marks GrafNav GrafNet 7 60 User Manual Rev 1 17 Foreword Forward 18 GrafNav GrafNet 7 60 User Manual Rev 1 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to use the software subject to the limitations below You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copyrighted material and the Software may only be used on one computer at a time You may not copy the product manual or writt
248. ed Small L2 cycle slip tolerance i Cancel Apply The models for L2 carrier for dual fre quency ionopheric processing Tonospheric Free Model This can be used for static or kinematic data This model does a better job of resolving the ionospheric error but at the expense of being more sensitive to cycle slips A cycle slip on L2 induces a total cycle slip for that satellite However for data sets where L2 is very clean and suffers few losses of lock this model is strongly suggested Furthermore static baselines should use this method because it aids the fixed static solution if the iono noise model is used In general this model works better with most GPS receivers Relative Ionospheric Model This model is normally used for static initialization where the base and remote are close enough that the ionospheric error at that separation can be assumed to be zero Using the relative transfer algorithm the ionospheric error is accumulated as the separation grows Ifa loss of lock occurs this transfer cannot continue and the solution becomes very similar to that achieved using the ionospheric free model For this reason the relative model can be used even if the starting point is far from the base This model is suggested for data with frequent L2 cycle slips 73 Chapter 2 GrafNav Correct C A code for ionospheric using dual Hl frequency data Process General Advanced 1 Advanced 2 Measurement By com
249. ed After processing plot the C A Code RMS from the Plot GPS Data feature from the Output menu lt The current standard deviation value should be plotted in green Pick a value that nicely represents a good overall RMS for the C A code Pessimistic values are better than optimistic ones Set the C A code standard deviation to this new value under Settings Individual Measurement and re process the data Although the C A code RMS can also be obtained via View Processing Summary the value provided is often too optimistic and the methodology discussed previously is better A similar methodology can be used for the carrier phase However instead of lowering the value it is often raised to account for increased error The carrier phase standard deviation value may be higher than the entered value due to the Adjust for Iono option being enabled Setting proper standard deviation values is especially important for float only processing and can do more to help than most any other action The L1 phase standard deviation may need to be raised i e 0 05 to 0 10 m This is performed under Settings Individual Measurement Setting proper standard deviations is also helpful for integer processing i e KAR because it helps to attach more meaningful accuracy estimates to float solutions 9 3 6 How do I control bad data When GrafNav sees very high residuals for code or carrier RMS it tries to correct the problem by removing a
250. ed observations Generally Automatic selection is much preferred L1 carrier locktime cut off The number of seconds of continuous carrier phase lock before data for that channel is deemed usable This allow you to reject data for the first n seconds after acquiring lock The default value is 4 but higher numbers 8 to 12 s can be very beneficial to some GPS receivers especially low cost ones Velocity Doppler The following settings apply to the use of Doppler measurements Doppler measurement usage The Doppler is mainly used for velocity determination The default setting is For phase processing but you can disable it if several Doppler error warnings are present in the message log Dynamic velocity model This setting controls when to use the constant velocity vehicle dynamic constraint The main purpose of this setting is to improve velocity determination accuracy if the Doppler measurement usage is disabled The settings available for this option are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Output Filtering This option has the two following settings that affect GrafNav s handling of bad data Write epochs containing bad data Prints out all positions that GrafNav computes good or bad GrafNav does not print positions for epochs where the Kalman filter detects large measurement errors This option should only be used if you need a position for as many epochs as possible and if you a
251. ed trajectory file CMB GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Combining Forward Reverse Settings l x m Time Periods to Reject FORWARD for period 302000 0 to 302400 0 REVERSE for period 310000 0 to 310650 0 Remove Edit OK Cancel 89 Chapter 2 Combining Forward Reverse Settings x Time Periods to Reject FORWARD for period 302000 0 to 302400 0 REVERSE for period 310000 0 to 310650 0 Remove Edit OK Cancel How to incorporate combined solutions 1 Export the combined solution for each project using Output Write Combined CMB File 2 In the current GrafNav project use Process Combine Solution Combine Any Two Solutions 3 Select the CMB files when prompted 90 GrafNav Any Two Solutions This feature is similar to the Forward and reverse option except that any two solutions can be combined This option combines created solution files using different processing settings This is helpful for examining the effect of changing the processing options It also allows you to compare a fixed solution to a float solution to detect a bad ambiguity resolution Incorporating any 2 combined solutions is also possible While GrafNav Batch is preferable you might want to use this feature To do this follow the steps in the shaded box In order for a combination to be valid the solutions must be computed from data tha
252. ed via their times Often there are fewer matched points than the original number of TTP points due to several reasons including the deletion of points in the field and or the addition of static session marks Aschtech OUT File out This type of file is created by Ashtech s Seismark surveying system and can be loaded into a project The steps to do this are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Digital Elevation Mode DEM I You may import a DEM after processing the area of interest Adjust the processing range to only include the mapping area This limits the scope of the DEM to the observation area save hard drive memory and improve speed DEM Points File The DEM file has to be organized in one of the formats listed under the Format drop down menu The following options are also available to help read the input file First field contains ID string Shows if a point name leads each line Stop reading if incomplete line encountered Aborts there if there is any line missing from the required fields Skip n lines at start Skips past any header lines in the file Reject DEM points outside GPS observation area This is recommended because it limits the size of the DEM to just the GPS observation area To use this option valid GPS position data has to be available from the GPS receiver or through processing Reduce DEM density using error tolerance Rejects points if their heigh
253. ees 222 8 6 Concatenate Splice and Resample Overview 2 eccccceceeeeeeeeeeeeeecnaeaaeeeeeeeeeeeeeeeeeeeseenaaees 223 8 6 1 Concatenate Splice and Resample GPB Files 2 c ceccececeeeeeeeeeeeeeeeeeaecaeeeeeeeeeeetes 223 8 7 GPS Data Converter OVErVieW ccccccecscesseeceeceseeceeeeeeaneeseesecceaaeeseeeceaeeeseeeeeseauaeseseeeanenseeseeeees 225 8 7 1 Convert Raw GPS data to GPB isssnssssssrsrsssrsrsrssrrssrren rr esse rrrrrrrr rr rar rss RR KRA RR KKR RER RR KR RR Ra 225 GrafNav GrafNet 7 60 User Manual Rev 1 7 Table of Contents 8 7 2 Supported Retee Senan E A A A E E aaa Ea 226 8 8 GPS Data Logger OVErVieW sssmssesssssssserrrsssresrrsssresrsssr rss ttrt ttt ss Rss RAR RASAR RAR RASAR KR RR RAR KR RAR RR KR RKS SA RAR RAS nn 242 8 9 Getting Started with WLOG evar sansad nens desks venenatis 242 8 10 File ispi nna gedssdawieaadivacddggsdeceadadedatduateasuacweasgaaceteadagadsicceadgacteadegaecddviddscatacss 248 8 11 DEP I a ETE AN ARA ARE 248 8 12 PIOR secodre aina E R EET A EOE EEEN 249 6 13 ZOOM Menkema ienn aai aaa aa aa aa a aeaaea ea a da oraaa RAA san 249 8 14 Events Men sssini maisen nan EEE E a aaa AN iaaa aada diaa 249 3 15 WinCE Data Logger OVGIVIOW assstssssansdssen sad des dessas ssd ds E HANAR 250 8 16 Installing CELOG assessors a SAS ANKA SKAKAS SEEE EAEN 250 8 17 Getting Started with CELO Gas sassssssssssaddnadnssad iaaa a aa aaa a aaa aaa aiaa a aai 250 8 18 Variable Display File iioii
254. ehicle travels away from the base The relative model tends to have a higher L1 phase error than the iono free primarily due to the fact that the model is only an approximation However cycle slips on L2 do not reset the ambiguity like the iono free solution Hence accuracies may be better if L2 cycle slips are present in large quantities For days with high ionospheric activity the Engage distance for relative ionosphere may need to be lowered If a static initialization is performed close to the base which is always suggested then it may be beneficial to make this distance tolerance longer than the distance at which the initialization was performed Raising the rejection tolerance and or the PPM value of the standard deviations under the Measurement tab will stop GrafNav from mixing up large ionospheric corrections with carrier phase errors See Section 2 5 on Page 61 for more information Although KAR can be used with both ionospheric methods a KAR fix will have some ionospheric error if the Ionospheric correction model is not used under Settings Individual KAR It may also have difficulties on longer baselines Therefore setting the maximum distance for engaging KAR is important Normally values between 20 and 60 km are realistic On very long baselines the C A code can be corrected if P2 code is available In many cases this will simply add more noise but the noise is very white and overall improvements can be observed This is enable
255. eight Table 23 Records Supported for Leica 1200 Record Type Comment 120 Measurements Required 115 Ephemeris Required 110 Position Recommended tor 109 Antenna Height Written to STA file 113 Event Mark Written to STA file 229 Chapter 8 Magellan Options General Options Output data interval 1 00 sec Resampling window size 6 epochs Make all epochs kinematic resampling not as effective Do not resample data to whole interval leave raw 5 0 3 Reject measurements with signal strength GPE Position Record Use values from MOB CAR file i e computed by receiver Recalculate position using ephemeris C Insert average position computed over entire file Table 24 Records Supported for NavCom Record Type Comment 0xBO Measurements Required 0x81 Ephemeris Required Pe Recommended for 0xB1 Position GrafNet users 0xB4 Event Marker Written to STA file 230 Utilities Magellan ProMark General Options Output data interval Resample data to specified interval Resampling window size Number of epochs used for resampling operation Not recommended for use with kinematic data Make all epochs kinematic Sets file to kinematic mode Do not resample data to whole interval If data is kinematic use the Concatenate Splice and Resample utility to resample the data using the base station interval See Section 8 6 on Page 223 for
256. eiving the data by TCP IP specify the network protocol and the port number to be used If using MultiCast protocol type in the group IP address P4 UDP and MultiCast protocols are ideal for communication over local networks that are within the same office while TCP is recommended for wide area communication Be sure to select a port number that does not conflict with those reserved for standard network purposes In general numbers starting at 1024 are usually safe For MultiCast groups both the sender and the receiver must have the same IP address For Win32 MultiCast IP addresses range from 224 00 00 00 to 240 00 00 00 14 Click Next GrafNav GrafNet 7 60 User Manual Rev 1 243 Chapter 8 fi New Project Step 5 of 10 r LOG DATA TO DISK Save GPB Files Waypoint Format C Save Raw Binary Data No Data Saved Save One File Only Save Hourly Files Optional Saving New Files Hourly Create New File Every n Hours 00 00 Start Logging at this Greenwich Time Hr Min in 24 Hour Format Every 12 Hrs xl Enter Prefix for Data File Names Browse Roof_Top ome How to log data with WLOG con t 15 Select how the data will be saved lt Data can be saved byte by byte into a binary file The entire session will be saved into one LOG file which will have to be converted into GPB format before being post processed I Most users will find it preferable to log direc
257. en materials accompanying the Software No right is conveyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sustained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal
258. ence with Windows is not necessary to use Waypoint software packages familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows Conventions and Customer Service This manual covers the full performance capabilities of GrafNav GrafNet GNSS data post processing software The conventions include the following gt lt This is a notebox that contains important information before you use a command or log or to give additional information afterwards The term master refers to the reference station and the base station This manual contains shaded boxes on the outside of the pages These boxes contain procedures screen shots and quick references If the software was purchased through a vendor please contact them for support Otherwise for software updates and customer service contact Waypoint using the following methods Call 403 720 3800 Fax 403 720 3868 Email wpsupport waypnt com Web http www novatel com Write NovAtel Inc Customer Service Department 112 68 Avenue NE Calgary AB Canada T2E 8S5 GrafNav GrafNet 7 60 User Manual Rev 1 15 Foreword Forward What s New GrafNav Shared User Interface The new shared user interface now has the ability to process forward and reverse simultaneously this results in a 45 speed improvement on dual CPU machine
259. ended if the station names are of variable length If the station names are all of a set length the Use first n columns option is recommended In this case all the station names must be fixed at n characters or less and all other fields should be separated by a space 2 8 11 Mission Planner This utility is available in all of Waypoint s programs It provides you with a method of investigating satellite geometry satellite count and dilution of precision values for the GPS constellation Mission planning is normally performed prior to the mission but it can also be used to compare the theoretical constellation to that observed during processing Settings Mode Selecting Single Point provides results for the area immediately surrounding the point chosen under Point of Operation Differential displays results for the area between the two defined points and should be used for long baselines Point of Operation Indicates the location for which the information is being sought Click Define to select a file with a list of geographic coordinates for numerous cities In the window click Change List File to select which list to choose the location from Two default files MPF are provided with the software The first is north_am mpf which contains an extensive list of North American cities The second is world mpf which includes cities from around the world There is third file available MissPlan mpf for users who wish to creat
260. enna height to L1 phase centre 0 110 m C Use advanced method requires antenna profile Jo 000 rn Info Define Vertical antenna height Antenna height measurement TRM29659 00 F Slant distance measured to ground plane Antenna profile J Measurement directly to L1 phase centre Cancel How to add a master file How to change the antenna height on static 1 Select File Add Master File s after the new project has been given a name 2 Select the files which contain the data collected at the base station s from the list of available GPB files Click Open 3 Enter the coordinates of the base station 4 Verify that the coordinates are in the datum being used for processing For more information please see Section 2 6 4 on Page 95 5 Select the elevation type orthometric or ellipsoidal to tell the Export Wizard whether or not to apply a relative correction for orthometric height computations 6 Enter the antenna model and height information and click OK sessions This height is used for computation so if baselines are 36 1 Select View Objects KAR Static 2 Select Edit for each static session 300 km or more you will get better results from entering an ellipsoidal height GrafNav 2 3 6 Add Master Files When starting a new project the program needs the measurement data collected at the master station s Steps on how to add a master station ar
261. environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE 22 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 1 Introduction and Installation 1 1 W
262. eparation is not an absolute indicator of accuracy but a very tight separation provides for a very nice level of comfort This section describes how 20 30 cm separations can be improved If it took a great deal of effort just to achieve 20 30 cm then improving upon this may be bleak Regardless here are some tips e Make sure that a fixed integer ambiguity solution is obtained for as much of the mission as possible because fixed integers solutions i e KAR or the fixed static solution are usually necessary to achieve 5 10 cm accuracies This can be observed by plotting the Float Fixed Ambiguity Status plot for both the GrafNav GrafNet 7 60 User Manual Rev 1 263 Chapter 9 FAQ and Tips forward and reverse directions If there is a larger separation and only one of the solutions i e forward or reverse has the fixed ambiguity solution then this is not a significant problem if you are sure that the fixed integer solution i e KAR fixed static is correct e Manually engage KAR at times where base or remote distance is small but forward reverse separation is outside tolerance e Enable the Engage on even of poor DD DOP option under the Settings Individual KAR This will be helpful if large DOPs are observed View the DD_DOP plot for values over 15 25 which can cause instabilities You may also need to check the Message Log file FML RML as epochs with extremely poor DOPs are skipped and not visible on the data plots e In MB proc
263. er Second North Velocity Meters per Second Up Velocity Meters per Second aii Remove Format Info Up Down OK File extension tat Cancel GrafNav Header Footer The following settings are available for the header File Allows you to select a file that is inserted at the top of the output file as a header Datum Geoid and Projection Information Inserts details about the datums geoid and projections used to create the desired output Lists the coordinates of the master station as well Column Variable Contents Units and Description Inserts an information record for each variable selected It shows the column header including variable name units and a description String Adds a string of user defined text Variable Field Titles Allows Export Wizard to adjust the titles in field width while also allowing the use of special characters Variable Field Units Allows Export Wizard to adjust the units in field width GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav The following settings are available for the footer String Inserts a user defined string immediately after the data output Errors and warnings encountered Adds error and warning messages to the end of the data output to alert you of any problems Processing summary information Shows the summary file found under View Processing Summary See Section 2 4 4 on Page 54 for more details File Allows you to select a file to be adde
264. ere L2 Fixed Static KAR 1 KAR 2 User Cmds r Minimum Time Single frequency 8 00 min Dual frequency 1 00 min pi 1 50 min IOkm r Search Region SF Single frequency fi 00 im Search Region Dual Frequency C Fixed search region with size 400 m Auto reduce use scale factor 3 00 2 4 r Maximum Distance 7 50 Ikm 20 00 km Maximum distance for single frequency Maximum distance for dual frequency m Options for Engaging KAR T Engage KAR while in STATIC mode I Engage if distance lt 50 50 0 km fisco min J Engage on event of poor DD DOP 25 0 T Engage KAR continuously every Cancel Apply 78 Minimum Time These values represent the minimum amount of time before KAR is invoked and can be customized depending on the type of data available In both cases the values entered are added to the value in the min 10 km input box which is applied for every 10km of baseline distance For example dual frequency receivers with a baseline distance of 20 km the minimum time required using the default values is the following Il minute 1 5minutes 20km 10km 4 minutes Search Region These setting options relate to the size of the search region used by KAR Single frequency The default value is 8 minutes and should not be set to lower than 5 minutes unless azimuth determination is enabled with a lt 2m distance constraint in Gr
265. erides dual frequency data and good quality code measurements on both frequencies Generally a more accurate solution can be obtained by using the Download Service Data utility which is launched from all of Waypoint s software via Tools Download Service Data Currently there are over 3000 stations worldwide loaded into the software The Download Service Data utility will do the following Download the RINEX data for the selected stations from the Internet e Decompress the file in which the data is packed e Convert the data from RINEX to GPB 257 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 9 FAQ and Tips e Concatenate files together if data from multiple days was downloaded e Resample the data to a higher data interval at your request See Section 2 8 12 on Page 136 for more information 9 3 Kinematic Processing FAQ and Tips 9 3 1 Why would I use pre configured options profiles Waypoint s software comes with pre loaded configuration profiles available in GrafNav via Settings Load Settings From You can also add your own Using these makes the configuration of processing options much easier Selecting either these or Factory Defaults is especially important for processing projects created in previous versions Before processing kinematic data consider selecting an options profile such as Airborne Low Cost Receiver Do this when using the File Auto Start feature or after a project is created or loaded by selecting
266. ers are output half way across the window in a column and their corresponding locktime values one tab from the PRN numbers Displaying Array Channel Variables Versus Single Item Variables Variable such as latitude longitude and height are defined here as single item variables On the other hand values given to PRN numbers locktimes azimuth and elevation and so on are per channel variables These are given in arrays up to 12 values corresponding to each channel of a 12 channel GPS receiver Array or channel variables can be output in two ways The first method is to simply define the channel variable by its name with no index For example add another window to the VARDISP file A sample of this is in the shaded box This window displays all n channels at each epoch CELOG recognizes the variable prn az elev and locktime as array variable requiring n channel rows to be displayed P lt You cannot put t in the sub title string but must space this header manually The second method of outputting per channel variables to a text window is to define each element of the channel array variable explicitly with a zero based index An example of this is seen in one of the previous Position Information windows Ofa possible 12 channels only 7 0 6 inclusive are explicitly output to the text screen If you have a CE screen wider than longer you may wish to display array variables as shown in the shaded box GrafNav Gr
267. ersions 279 definition 277 setting the processing datum 64 95 DGPS processing 62 Digital Elevation Models information 276 plotting settings 97 sources 276 305 Index 306 Doppler cycle slip detection 69 enabling measurement usage 66 measurements standard deviation 71 Download Service Data 136 Drawing Exchange Format exporting in GrafNet 170 Dual Frequency differential processing 61 single point processing 86 E Elevation Mask 64 Ephemeris broadcast 38 precise 39 EPP File description 38 format 209 Export Wizard creating a profile 107 creating an output file 110 list of output variables 109 F FBVSee Binary Value File 67 Feature Editor 55 Filter Resets controlling 72 Fixed Static cycle slip correction 76 cycle slip detection 69 description 29 processing in GrafNav 62 processing in GrafNet 146 static sessions 57 Float Solution processing in GrafNav 62 processing in GrafNet 146 FML FileSee Message Logs 52 FSL FileSee Message Logs 52 FSS FileSee Static Summary 53 G Geoids applying corrections in Export Wizard 117 data sources 128 282 definition 282 obtaining WPG files 24 GLONASS enabling 63 processing options 91 GPB File concatenating splicing and resampling converting raw data to GPB 225 editing 221 exporting to ASCII 220 format 205 GPBViewer 219 GPBView 219 Grids settings 96 H Hardlock Key upgrading 25 Initialization remote file 93 Insta
268. erts you of additional warnings and errors that have occurred Re compute position and clock offset Enable this option if the clock shift data is corrupt or positions records are not present Conexant Jupiter general options Make all epochs Kinematic Entire file will be set to kinematic mode Re compute position and clock offset Enable this option if the clock shift data is corrupt or if positions records are not present Keep epochs where recalculation failed If time recalculation failed the measurements may cause problem Enable to ignore records in this case Do not check data record checksum Enable to ignore record integrity checks Conexant Jupiter ephemeris options Use alternate ephemeris file Use EPP file from another source Ignore Jupiter ephemeris records If many corrupted records exist the ephemeris record 1102 might be unusable 226 Utilities 8 7 2 Supported Receivers This section discusses the receivers that are currently supported by the Raw GPS Data to GPB converter This information includes the conversion options as well as the supported formats and records for each receiver Allen Osborne Associates AOA The converter for this receiver is only available in the AOA version of the software Turbo Binary TB files can be converted to GPB using this utility Normally one TB file will contain data from many sessions or even days so the decoder must split the files up to
269. es Station File sta nst The program automatically loads the STA station file as long as the filename is the same as that of the remote GPB file If the station file has a different filename than the GPB file then load the file separately Waypoint s data logging software and most of the decoders produce station files To load a station file follow the steps in the shaded box RTK Dat File sta nst This option loads converted RTK solution files and then uses the Export Wizard to re format them for output To load a RTK Dat file follow the steps in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Stations with Known Lat Long This option allows you to load and display a file How to load Stations with Known Lat Long that contains stations with known coordinates The 1 Select File Load Stations with Known Lat coordinates are displayed with pink triangles and Long pink lines The stations computed by the program 2 Under File None dioose ihe file then have yellow triangles To join the stations and generate a pink line include a sign before each station ID in the input file contains the station information in one of the formats from the Lat Long Format option list 3 Under the Lat Long Format choose the format that the coordinates from the file are in The Lat Long Format option contains a list of formats that the coordinates from the file are in These formats include the fol
270. es Binary value file provide additional baseline and satellite output statistics which are mostly used for plotting An FBV RBV file will be created when the multi base processing is being performed or when the Write MB binary values satellite residuals option is enabled See Section 2 5 on Page 61 for help FBV RBV files contain the following For each baseline i Code carrier and Doppler RMS values ii Code carrier and Doppler SD values iii Code and carrier phase separation values iv DOP values v Ambiguity drift vi Effective weighting For each satellite i PRN ii Baseline iii Rejection base satellite flags iv Code carrier and Doppler residual values V Code carrier and Doppler SD values Export these files to ASCII in GrafNav via the Export Binary Values feature See Section 2 7 4 on Page 107 for additional information GrafNav GrafNet 7 60 User Manual Rev 1 217 Chapter 7 File Formats 218 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 8 1 Utilities Overview This chapter describes the following utilities that are included with Waypoint s software e GPB Viewer e Concatenate Splice and Resample e GPS Data Converter GPS Data Logger This chapter goes through each menu of their interfaces Step by step instructions for first time users are also included 8 2 GPB Viewer Overview GPB files are in a binary format and cannot be viewed with a normal text editor GPBViewer al
271. es you might want to process in a datum different than the one the geoid uses To do this use the geoid model in a relative fashion The slope should be roughly the same between ellipsoids Between NAD27 and NAD83 there is up to 200 metre difference in geographic coordinates In areas with very high relief this might result in a few centimeters of orthometric height error The same can be said for other datums with large shifts like TOKYO and EDSO In GrafNav conversion to ellipsoidal height can be performed when entering the master coordinates When exporting with Export Wizard the geoid undulation is subtracted For GrafNet the process is similar This is because you can convert orthometric heights to ellipsoidal as you enter the control check point coordinates Be sure to set the ellipsoidal orthometric height flag correctly lt Elevations are always stored as ellipsoidal inside GrafNet Conversion to orthometric only take place at time of coordinate export In many cases the default output is ellipsoidal height so care should be taken when exporting elevation values GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav The Geoid Information tool gives you details concerning the selected geoid This tool will only read WPG files In the window that appears there This tool quickly transforms coordinates for a single point from geographic to grid or vice versa When transforming TM projections make note of the Point
272. es a cone placed over the north or south poles Distortion is minimal in the east west direction while the limitations are in the north south direction Oblique Mercator This is similar to the TM in the sense that it employs a cylindrical projection The difference is that the cylinder is oblique running along the great circle arc between any two points The result is a projection with little distortion in the direction of the chosen arc Local Cartesian See Section 9 6 5 for information Local Coordinate Grid See Section 9 6 6 for information US State Plane New Zealand Mapping Grid NZMG Earth Centred Earth Fixed ECEF GrafNav GrafNet 7 60 User Manual Rev 1 281 Chapter 9 FAQ and Tips 9 9 1 What features are available with map projections Waypoint s software supports two manners of map projections 1 Direct selection e g UTM TM Gauss Kruger State Plane Lambert etc 2 Pre defined and user defined grid definitions using the Grid Manager For coordinate output both methods can be used in the Export Wizard by using the Selectable Grid East and Selectable Grid North variables See Section 2 7 4 on Page 107 for more information For Write Coordinates only direct selection is possible For coordinate input i e base stations in GrafNav and control points in GrafNet only grid definitions can be used Another advantage with using grid definitions is that users can manage multiple user definitions more easily i
273. es supported under forward processing are supported under reverse process ing REMOTE_ANT L1AntHgt L2Offset Vertical offset from ground location to L1 phase centre Second value is offset from L1 to L2 phase centre Additional values used by GrafNav for internal use see MB MASTER ANT REMOTE_FILE path file_prefix gpb REMOTE_POS lat long ht RMS_MODE NEW OLD SAVE_AMB ON OFF GrafNav GrafNet 7 60 User Manual Rev 1 This is the name and location of the remote station binary GPS data file This data must be in the GPB format If the data is not in this format use one of the conversion utilities supplied If this value is not entered the program will prompt for it Make sure to replace all spaces with characters These are the coordinates of the remote station The latitude and longitude must be entered in degrees minutes seconds with spaces between The processing engine now computes a differ ential pseudo range solution at the start of the program if REMOTE SD is greater than 1 0 meters This means that this position can be many kilometers out and still work Entering the position is not necessary Latitude is positive in the Northern Hemisphere and negative in the Southern Longitude is positive in the Eastern Hemisphere and negative in the Western Hemi sphere e g Americas See also INITEX command No longer supported ON if ambiguities are to be saved if a satellite drops out in the file but
274. es to processing datum for Nadcon and localized datums Input datum Reasons to use coordinate input datum e A grid style like NADCON conversion is used to transform between datums Such a transformation does not convert satellites because they are often outside of the boundaries See Section 9 8 5 on Page 280 for more information e The datum conversion is heavily localized This means that it may have very large rotation values and its transformation is only valid over a small area like a city or state Similar to NADCON a you would not want to convert satellite coordinates using this transformation P4 Currently only the Export Wizard supports datum transformations Be cautious with datum conversions as their accuracy can always be suspect See Section 9 8 on Page 277 for more information 95 Chapter 2 GrafNav g Patums This page allows you to enable or disable datums Project Options Datums Datum Conversions Ellipsoids P 4 ERS While there are over 100 datums in the list only a Ed few are enabled This makes it easier to find a O Adindan Clarke 1880 datum because some are far more commonly used O Atgooye Krassovsky 1940 than others New datums can also be added via the Sj aa au Add button If a new datum is added be sure to Dl in ekAbd1970 International Edt add a conversion as well Ae ii patito Remove Datum Conversions A a a be Enable or This tab all
275. essing especially try engaging KAR when close to a base station Use the Engage if distance lt tolerance reset if gt tolerance2 option under Settings Individual KAR e Increasing either the KAR time or the KAR distance dependent time min 10 km can help as well since KAR can sometimes pick the wrong L1 or L2 lane resulting in a 10 20 cm error Try enabling the Stricter RMS tolerance option KAR will be less likely to accept a bad fix Try forcing the use of the Jonospheric Correction model under L2 Noise Model or lower the Automatic distance tolerance The ionospheric corrections will be more properly estimated Try using a stricter carrier phase level in the Outlier Detection Rejection section under Settings Individual Measurement e Ifstatic data is available using the fixed static solution can be helpful Try both the Jonospheric Free and Relative ionospheric models and combinations thereof for forward and reverse processing 9 5 Static Processing FAQ and Tips If there is a problem with a static baseline in GrafNet it is a good idea to export it into GrafNav by right clicking on it and selecting GrafNav This allows for control over many more processing options and gives access to additional plots for a more detailed analysis Once inside GrafNav many of the previously mentioned techniques are equally applicable 9 5 1 Can I use GrafNet for static batch processing If you have numerous static baselines
276. ession View File Allows access to message log static summary trajectory output or configuration files Plot Allows access the plots discussed in Zable 4 on page 103 Options Allows access to the processing settings so that they can be set individually for this session See Section 3 4 on Page 157 for additional information Override Status Manually sets the status of the session See Zable 13 on page 146 for information Ignore redundant or troublesome sessions You can assign a Good status to a failed baseline if the solution is in fact correct Only do this on closed loop networks Process Processes the session independently of all others GrafNav Launches the baseline into GrafNav See Section 2 5 on Page 61 for additional information Delete Deletes of all processing files related to that session or for the deletion of either the forward or reverse solutions Compute Azimuth Distance Displays the Distance and Azimuth box for the session See Section 2 8 2 on Page 125 for help Show To From Stations Displays both stations in the Stations window See Page 172 for information Show To From Observations Displays both station Observations window See Observation Window on Page 171 for information Expand the Sessions branch in Data Objects of the Data Manager to display individual in the Sessions window GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Columns in the Sessions Window Name 7 N
277. eta File Input Base Station Selection Processing Options Export Output Project File Open New Base Station File Select New Edt Base Station File Summary 197 Chapter 6 AutoNav v7 60 2120 Beta File Input Base Station Selection Processing Options Export Output Project File Open New Base Station File EF Select New Edit Base Station File Summary Base File Editor xj Base Stations Intemet Settings p Base Stations Project File C GPSData AutoNav_test AutoNay anp Base File C GPSData AutoNay_test BaseStations anb Station ID Station Type Information Latitude Longitude Height Fa TLDO File Base Num Files 2 41 36 46 22412N 8328 31 40147 w 153 618 UNIV File Base Num Files 1 4217 08 20230N 8423 09 29018w 265 755 fa adri IntemetBase Service CORS 415508 33233N 8401 27 38227 w 207 214 AddintemetBase Add File Base Right click on base stations for options Base File Editor xj Base Stations Internet Settings Retain Interet Files IV Retain Intemet Files Database Path C YGPSDatautoNav testiMastery Select Clean Cancel Apply 198 AutoNav Base Station File Summary This window is used to display information regarding the selected base station file The left hand side of the window features the number of base stations contained within the current ANB file while the right hand side di
278. ets used when observations are added to the project with the Break up multiple occupations into periods option enabled 160 GrafNet Solution and Session Options Forward Reverse Process Direction Handling Allows you to change the way forward and reverse solutions are chosen for use in the network By default GrafNet will load the latest solution most recently processed However if you want to use a combined solution select the Automatically combine FWD REV solutions option Session Forming Options There are two settings available here Distance Tolerance for Using Fixed Over Float This tolerance is used when you select Automatic for the Static Solution Type under the General tab If the baseline distance is longer than the tolerance then a float solution will be used for single frequency while an iono free solution will be used for dual frequency Otherwise the fixed static solution is used User Command Options See Page 85 for more information on this tab The list of available commands can be found in Appendix A on Page 289 3 4 2 Rescanning Solution Files This option rescans the FSS forward static solution or RSS reverse static solution files When deciding between the forward or reverse it will use the one most recently created Under normal circumstances solution scanning is automatic but there are a few instances when you may want to rescan manually such as when using GrafNav in conjunction with G
279. etwork but the magnitude of the errors will be larger than the network adjustment residuals The network adjustment method is not that much more accurate than the traverse method Rather the traverse method accumulates errors closures while the network adjustment spreads these errors across the whole network GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 HEH IH HEHE HEHEHE HEHEHE JE IE JEE JE IE HHH IE IE IEI IE JE JEJE JE IE IE IE IE JE JEJEJE JEE HEHEHE FIFE A GrafNet GRAPHIC GPS NETWORK PROCESSING SOFTWARE PACKAGE TRAVERSE SOLUTION Version 7 60 2209 PROJECT BASE61 JE IE JE IE FE FE FE FE DEE HE HEHEHE IE IE IE IE IE IE SESE JE SE JE JE FE FE FE FEE HEHEHE IEE IE FE FE IE IE FE FE FE FETE x x x Copyright NovAtel Inc 2666 x x x x 12 05 2066 m d y 14 37 04 NAD83 none netres see preferences to change none HHH HH JE JE JE IE IE IE IE IE IE IE IE IE JE JE JE JE JE IE IE IE IE IE IE III STATIONS STATUS HHH HH HHH JE IE IE IE IE IE IE IE IE IE JE JE JE JE IE JE IE IE IE IEE IEE Station Type HgtStatus Result Coordinates derriv B Traverse OK Good nji2 Control OK Pub 3D Check OK Good nji2 JE JE JE JE JE JE JE JE JE JE IE IE IE JE JE JE JE IE IE IE IE IE IE IE IE IE IE IE IE IE IE STATIONS COORDINATES HHH JE JE JE JE JE JE IE IE IE IE IE IE IE IE JE JE JE JE JE JE JE JE IE IE IE IE IE IE Cok 1 TotalRows 58 F3 Find Text
280. fects Elevation Based Code SD 2 00 m Phase SD 0 0350 m adjusting for iono correction Doppler SD 1 000 m s GRN04 0107a NORMAL 15 0 s 5 nEpochs 1 nEpochs 4 00 for rejecting bad satellites Low HZPPM 0 3 VertPPM 3 5 Using Main SD Values lonosphere L2 Options lono Correction Corr Code lono Use IONEX model Use L2 P2 SF Use P1 Code Use P2 Code Use L2 for Amb Small L2 Slip Use L2 Locktime KAR 1 Options Minimum Time Additive Time Search Region Max distance Start in Static Engage on Dist Engage on Time Engage Bad DOP KAR 2 Options Strict Rel Tol Strict RMS Tol Fast KAR Fast KAR 5SV Refine L1 L2 Search Closest Use More Data GrafNav GrafNet 7 60 User Manual Rev 1 Yes using lono free model No Off No No instead of C A code No Yes 0 40 tolerance No 2 00 minutes 1 50 minutes 10 km Adaptive using StdDev scale factor of 3 00 30 00 km No No No No Yes No No No Yes Yes Use closest baseline for MB processing Yes if Yes use all data lt max distance 213 Chapter 7 Distance Weight Yes Maximum DOP 9 00 Maximum Time 30 00 minutes Data Filter 5 0s Exact Interval No Search Interval 15 0s L2 Noise Model AUTO iono distance tolerance is 5 0 km GLONASS Options Solve for Time Yes Initial Value 0 0 m Initial StdDev 1000 000 m Initial De
281. ferential ellipsoidal height and not a Cartesian coordinate There are six types of local transformations supported The parameters that are solved by each transformation are shown in Table 6 The local frame transforms the processed output coordinates and is defined by the number of surveyed points The minimum number of points required for the transformation depends on the number of parameters that need to be solved for The minimum number of individual X Y Z coordinates defined for any specific transformation is equal to the number of parameters being solved for Each coordinate must be given in either meters or feet For the 4 parameter 2D transformation the northings and eastings of at least two points are required For the 6 parameter 2D transformation the northings and eastings of three points are required Performing a 7 parameter 3D transformation requires seven known coordinates Six of these coordinates must define two X Y Z points completely A height for a third point must be entered or another horizontal pair of coordinates to solve for the final parameter Using the 6 parameter 2D transformation or the 7 parameter 3D transformation can be very risky The horizontal X and Y axis will no longer be perpendicular to one another when using the 6 parameter 2D since the transformation allows for a skew between these axes Coordinates transformed using the 7 parameter 3D transformation are not necessarily in a local leve
282. final characteristic shown is data that will not be used for processing as the options stand shown in red This means that either the C A range or phase data L1 or L2 is invalid or the locktime of the satellite is less than the locktime cut off Black lines indicate missing ephemerides Shows satellite code residuals phase residuals Individual Satellite bees Statistics elevation angles and C NO values for individual GrafNav GrafNet 7 60 User Manual Rev 1 103 Chapter 2 Table 4 Common Plots con t Plot Separation Description Combined Separation Requires forward and reverse solutions to be combined and displays the difference between the two trajectories For multi baseline combination in GrafNav Batch this is the maximum minus minimum difference between baselines for each epoch and the number will always be positive Combined Number of Solutions Shows the number of baselines that are used to form a combined baseline This is useful for multi base processing Combined RMS DOP PDOP HDOP VDOP This plot applies to multi base processing Instead of showing maximum minus minimum like the Combined Separation plot does it shows the weighted RMS of the baseline Thus if one baseline does not fit well but it is given a very low weighting it will not affect this plot as much It is a good idea to view both because this plot can be optimistic Indicates satellite geomet
283. fo vertical offset to phase centre horizontal distance to measurement mark antenna model name Pos phi lamda ht ELL ORTHO Computed position of antenna Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point GPS DGPS FIX known The following is the format for the stationary station marks Sta ID Station ID GTim SecOfWeek WeekNo GPS Time UTim SecOfWeek WeekNo UTC Time could be used instead of GTim but this is not recommended and often not supported Pos phi lamda ht ELL ORTHO Computed position of antenna Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Std SdE SdN SdH Standard deviation in meters Hi Hi_m VERT SLANT Antenna height measured vertically or slanted Ant V_Offset H_Offset Name Antenna info vertical offset to phase centre horizontal distance to measurement mark antenna model name OffR Range TrueAzimuth DH Offset to actual point 2D range in meters azimuth in degrees height difference in meters OffL DE DN DH Offset in local level frame in meters OffB DX DY DZ Body frame offset where X RightWingPos Y ForwardPos Z UpPos Att roll pitch heading Attitude in degrees 206 GrafNav GrafNet 7 60 User Manual Rev 1 File Formats Chapter 7 Desc description Rem remarks Nsv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms
284. for slowly moving objects Does not export epochs to the FWD REV if statistics are too poor if ON used OMIT KAR PROC name ALL sv ALL RANGE ALL start end This controls omitted objects such as baselines and satellites from GrafNav processing KAR remove from KAR fixed static PROC remove from all processing name is baseline name or use ALL use start end to define RANGE of times to omit OUTPUT_MODE NORMAL EXTENDED GrafNav GrafNet 7 60 User Manual Rev 1 Determines output format for the ASCII FWD and REV files EXTENDED includes velocity and ambiguity values 295 Appendix POS DENSITY 1 0 PROCESSDESC Description PROCTIME Time Date PROCUSER Name PROCESS DIR direction Appendix This is the spectral density of the position states The user may want to increase this value to 10 or more under high dynamics This value should be left at 1 0 default This is the processing description By default it uses Run 1 and increments after each processing run The information is stored in the processing history Use for spaces Time hh mm ss and date mm dd yy of processing User s name or intials stored before processing It is stored in the processing history by GrafNav and is outputted in ASCII and binary files Processing direction is either FORWARD or REVERSE Reverse processing can be useful if there are a major series of fatal cycle slips during a kinematic run All featur
285. form loop closures as well as to minimize the number of legs from a control point Each session will be processed individually and combined in either a network adjustment or traverse solution A session can have different statuses and colours depending on whether certain tests passed or failed Baseline Connection between two stations with one or more sessions Normally a session and a baseline can be considered the same However in some cases there may be more than one session per baseline This is called a duplicate session baseline and it is plotted yellow on the screen Control Point See Station or GCP GrafNav GrafNet 7 60 User Manual Rev 1 301 Glossary Glossary 302 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav GrafNet 7 60 User Manual Rev 1 303 Glossary Glossary 304 GrafNav GrafNet 7 60 User Manual Rev 1 A Antenna Models information and description 58 Ashtech handling serial errors 69 importing PHOTO DAT file 42 Azimuth between epochs in GrafNav 125 between features in GrafNav 55 between stations in GrafNet 173 computing in GrafMov 192 outputting in Export Wizard 111 285 plotting in GrafMov 193 B Bad Data fixing bad baselines in GrafNet 150 Base Stations adding in AutoNav 198 adding in GrafNav Batch 179 coordinates 267 resampling 40 Baselines combining in GrafNav Batch 183 definition 301 Binary Value File description 217 output settings 67 Broadcast Ephemeris 38 C C A Code
286. ft wing Z axis positive axis through the roof lt This vector is from camera to antenna meaning that the Z axis value is usually positive Chapter 2 Combine Features x Features with BEGIN_STATIC and END_STATIC detected These are points with same names at the start and ends of each static session Do you wish to combine start end into one point Yes C No Tolerance between start end position 2 00 m Vertical 2 50 m Estimated position standard deviation tolerance Horizontal 1 00 im Vertical 1 50 m I Do not export points that are outside tolerances Horizontal I Log messages to 750 log Finish Cancel Parameters for combining features Select Features Stations as the Source from the Export Coordinates Wizard window e Each static session should have a station at the start and end e The remarks field for such stations should be BEGIN STATIC at the start and END_STATIC at the end lt The Ashtech Download decoder automatically inserts these fields if the Extract station information from Ashtech D File setting is used along with the Seismark data collector software lt The new WinCE data logger also creates these files if the appropriate station selection is used PX Features can be moved to static session start and end using the Move to Static button in the Feature Editor 114 GrafNav Combine Features Window Use solutions from the start a
287. fts or for NADCON corrections processing should use a more global datum e g WGS84 or NAD83 It is very important that the same conversion be used in the coordinate input and for the Export Wizard This entails checking the conversion being used In addition avoid using the Write Coordinates feature to export coordinates as it does not support input datums different from the processing datum e Ifusing a newer version of GrafNav or GrafNet or if examining an old project be sure that the default conversion has not changed e Ifusing an external program to transform coordinates to the processing datum e g WGS84 then use the same program to convert the final coordinates back to the local datum e Be cautious with geoids Geoids designed for one datum may not be compatible with another 9 9 Projections FAQ and Tips A map projection is the representation of the earth s spherical surface on a flat surface Map projections are also sometimes referred to as grids UTM is one of the most common map projections Waypoint s software currently support three types of map projections Transverse Mercator This employs a cylinder placed horizontally around the earth Transverse Mercator TM has little distortion in the north south direction but the scale factor deviation from unity grows along with the convergence with distance from the central meridian UTM starts a new zone every 6 degrees to circumvent this Lambert Conformal This utiliz
288. fy any of the correction files listed in the shaded box for download GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Add Stations and Services In the event that the manufact dn1 file does not contain stations that recently added to Station one of the services add them manually You can also add a service to use in the utility Only services which provide their data through public FTP sites that permit anonymous logins can be added The Download Service Data utility cannot be configured to connect to FTP sites using non anonymous logins To add a station or service open user dn1 file in the software s installation directory If the file does not exist then create it You can add service or station records Station records must conform to the format in the shaded box Station You might find it easiest to copy a station record from the manufact dn 1 file and paste it into user dn1 file for modifying Adding a service requires knowledge of the FTP address at which the data is stored The directory structure and file type must be known The Download Service Data utility only supports the download and decompression of Z GZ and ZIP files Table 12 on Page 14 contains a list of the producers of the correction files for download with website addresses GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Station record format sName Four chara
289. g back to engage fix Restoring 6 out of 7 satellites 0 0 sec after loss of 0 KAR success 603589 0 Remote Locktime and doppler cycle slip on PRN 2 2 603704 0 Remote Locktime cycle slip on PAN 19 of 44 55 c w Table 8 Notifications Window Messages Message Description Time since engage Number of seconds or minutes since KAR was engaged Time skipped Minutes used Time that KAR was unable to restore Once KAR has a successful solution it tries to go backwards as far as possible This is the difference between the restore time and the original cycle slip time Time that KAR used for a solution Itis not the time since engagement Search distance This is the distance when the ambiguity search was performed This is not the distance when KAR was restored Avgerage num sats Average number of satellites used to compute KAR statistics It is always be greater than or equal to 5 L2 Noise model Shows the model that KAR used for L2 during processing See Page 80 for additional information This is the RMS fit of the KAR search in cycles RMS Values better than 0 04 usually mean a correct solution This is the ratio between the second best RMS and Reliability the best RMS Ratios above 3 or 4 are usually a pass for dual frequency The tolerance is variable depending on the float fixed separation FIt Fix separation This is the distance between the solved fixed integer so
290. ge information output Alerts you of additional warnings and errors that have occurred Scale L1 Doppler to L1 cycles Recalculates Doppler to correct early Leica firmware bug Insert kinematic markers after gaps and stations Ensures that static sessions are properly created Use new station format for output Utilizes a more detailed format Use new GPB format Converts data into the new GPB format Leica System 1200 Table 23 describes the supported records Re compute position and receiver clock offset Enable this option if the clock shift data is corrupt or if positions records are not present Make all epochs kinematic Entire file will be set to kinematic mode Use new GPB format Converts data into the new GPB format Combine multiple observation files Leica receivers write data into separate files from one session with different extensions This option combines files from one session into one GPB file Verbose message information output Alerts you of additional warnings and errors that have occurred GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Table 22 Records Supported for Leica 500 Record Type Comment One of these records is 19 Measurements required compressed record 20 needed if Doppler data is of interest 20 Measurements expanded 15 Ephemeris Required ii Recommended for GrafNet 10 Position users 13 Station Event written to STA file 9 Antenna Written to STA file H
291. gging Windows WinCE OEMV Y v OEM4 Vv NovAtel OEM3 V 3 OEM2 j CMC Superstar II Vv Vv NovAtel Allstar Vv y Conexant Jupiter v CSI DGPS MAX Vv Vv Javad All models Vv Vv NAVCOM OEM GPS v Vv Thales Real Time v v 4000 series RT Vv v Trimble 5700 Vv v SSx Vv Pi U blox Antaris Vv v 29 Chapter 1 Table 3 Receivers Supported for Post Processing Make Model Supported OEMV3 v OEMV2 Vv OEMV1 v NovAtel OEM4 OEM3 v OEM2 v Allen Osborne TurboBinary fo CMC Superstar II v NovAtel All Star Conexant Juniper v CSI DGPS MAX v Javad All Models Vv MX series v SR series v Leica System 500 v System 1200 Vv MC 1000 fo CAR Vv Magellan MOB vy NAVCOM OEM GPS v NavSymm XR T Parthus XRG XR7 a NavSys AGR T PLRG series Rockwell NAVCOR T Septentrio SBF v SIRF Star Il v Real Time v Thales B file v DSNP Vv 4000 series DAT v 4000 series RT v 5700 v Trimble CMR 2 TSIP v Force5 TIPY v SSx Vv U Blox Antaris v 2 0 v RINEX 31 i UKOOA T 30 Introduction and Installation 1 5 6 Data Converter This conversion utility converts raw GPS data files into Waypoint s own format Please see Table 3 for supported receivers and formats v Raw data conversion to Waypoint format supported T Supported but converter must be obtained from Waypoint fs Supported but converter must be obtained from manufacturer
292. hat it takes into account the effect of the map projection scale factor between the air and the ground It is mostly used for photogrammetric purposes Ground Height Definition Use average constant ground height 300 000 vertical units and datum Use loaded DEM must be ellipsoidal height Signal eror if point out of DEM otherwise average height used lt Back Finish Cancel 115 Chapter 2 Transformations Parameters Table 6 Transformation Parameters 1 D Shift Z shift 2 D Shift X shift Y shift 2 D Similarity X shift Y shift scale rotation 2 D Affine X shift Y shift ee rotation ro X shift Y shift Z shift 3 D Similarity X rotation Y rotation Z rotation scale 3 D Shift X shift Y shift Z shift Local Plane Coordinate Definition m Definition Change Import Type 2 D Similarity scale rot x shift y shift Datum NaDe3 x used for computations no Computational intermediate grid Set Grid IV Automatic T CM 174 1000 deg CP 39 1000 SF 1 0 Units horizontal Metres ha vertical Metres x Name Temp m List of Stations 2 Clear 116 Finish Cancel GrafNav Local Plane Coordinates Definition Window This feature reproduces localized coordinate systems It rotates and scales processed coordinates for features or epochs into a local coordinate frame lt The Z coordinate are a dif
293. he L1 and L2 phase centers are coincident and have no offsets from the antenna height measurement For each antenna profile the following information can be edited e The antenna model e The manufacturer The horizontal distance from the phase centre to the edge of the ground plane e The L1 and L2 phase offsets from the origin e The location of the origin on the antenna To measure to the ground plane enter a slant distance instead of a vertical antenna height GrafNav uses Pythagorean Theorem to calculate the antenna height using the slant distance and the horizontal distance in the antenna profile However this requires the creation of a user defined profile as those loaded with the software are obtained from the NGS National Geodetic Survey who do not often measure the ground plane radius see Section 2 4 7 on Page 57 for information about antenna heights for static sessions 2 3 7 Add Remote Files When starting a new project the program needs the data collected from the remote station This antenna height applies primarily to kinematic trajectories and features such as stations or events and static sessions override it If an antenna height is not entered the program assumes that the height was zero and calculates heights based on this information If an STA Saved State file exists and a station mark is present in that file the last antenna height shows up by default See Section 2 3 6 on Page 36 for i
294. he default elevation cut off is 10 degrees 13 degrees has been found to work well for most airborne data sets You can raise the elevation to 15 degrees but be aware that raising this value too high might cause satellites that are important to the geometry to be missed Lowering this value is not suggested because it causes noisy satellites at low elevation to degrade the solution Data Interval Defines the intervals to kinematic and static data at The two setting options are described in the shaded box Time Range Defines the time range to be processed If the Process entire time range option is enabled GrafNav processes starting at the first epoch the master and remote have in common and end at the last To limit the scope of processing use the Begin and End fields The default time system is GPS seconds of the week 0 604800 but times can also be entered in hours minutes and seconds if the Use H M S and M D Y option is selected Times are in GMT Greenwhich mean time Processing Datum By default the processing datum is the same one that the base station coordinates are entered in You have the option to process in a global datum and enter the coordinates in the local datum but this approach is more complex and should only be used if you thoroughly understand datums Click on More Datum Options to do the following e to enable or disable datums e to enable coordinate input in a datum different than the process
295. he precise ephemeris is also important This can be downloaded at no charge from IGS using the Download Service Data utility See Section 2 8 12 on Page 136 for help The SP3 file can be imported into GrafNet via File Alternate Ephemeris Correction Files Normal precise ephemeris files which are the most accurate take approximately one week to become available However slightly less accurate rapid orbits are also available within one or two days The different modes of processing are selected under the General tab of the processing options If long and short baselines are mixed then it may be necessary to process the short baselines using Fixed solution and the long ones with the ono free solution or Float solution 9 5 8 How do I multi base process Many GPS post processing applications utilize multiple base stations and processing can be handled in two ways e Sequential manner where baselines are processed separately and combined afterwards This requires the use of GrafNav Batch Despite the introduction of a multi base processor this capability is still supported e Process all bases simultaneously in a combined multi base Kalman filter MB KF Processing in this manner is possible through both GrafNav and GrafNav Batch 9 5 9 How should I choose a processing mode Generally you have several options e Use the older sequential method exclusively e Use the MB KF method exclusively e Use both of the above methods which is possible
296. he standard deviation for the Doppler ON OFF refers to the auto doppler flag used in GrafNav only STD_BL Name UseMain ON OFF CodeSD phaseSD dopplerSD STD_RELTOL Value TIME_CORR 0 0 0 0 These are baseline specific values Name refers to master values in m or m s This is the reliability tolerance for rejecting outliers seconds Time correction to master and remote files This may be useful if a receiver has logged data in UTC time rather than GPS time It is not suggested that this command be used unless there are errors in the GPS data timing TIMERANGE ALL RANGE StartSec EndSec Flag ShowHmsMdy TROPO_MODEL OFF SAAS Processing time range Replaces START TIME and END_TIME commands ALL processes entire data set StartSec is time at beginning regardless of forward or reverse process ing EndSec is time at end of processing period Times can either be seconds of the GPS week or seconds since 1980 see Flag Flag is 0 for time not valid 1 for seconds of the week and 2 for seconds since 1980 ShowHmsM y is only used by GrafNav for display purposes 1 show H M S Default is SAAS which is the Saastamoinen model OFF can be used with GPS simulators that have troposheric correction dis abled USE_DOPPLER ForCarrier ForCode ForCarrier uses Doppler for carrier phase ON OFF ForCode GrafNav GrafNet 7 60 User Manual Rev 1 uses Doppler for code only processing ON OFF 298 Appendix Appendix
297. height Height of the antenna above the marker position entered below Standard deviation Estimated accuracy of the position supplied This is important for the Position Fix or the Automatic modes because they use it to decide which method of fix to use Position This is the marker position that is used for all of the modes of position fix This height plus the antenna height is the location to be used for the antenna position See Section 2 3 6 on Page 36 for more details 2 6 3 Individual This option accesses the tabs in the process menu Please see Page 61 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 2 6 4 These settings can also be accessing by the More Datum Options button under Settings Datum 2 Project Options Datums Datum Conversions Ellipsoids Processing Datum Individual General or through the Datum Manager which has additional coordinate transformation capabilities Section 9 8 on Page 277 offers more information on datums Project Options Processing Datum The datum selected here is the one that the data is processed in This means that the software will convert the satellite coordinates into this datum The easiest procedure is to select the local datum from the list of datums If it is not available then select the Datums tab and enable the datum If the desired datum does not exist then add a datum and aconversion See Section 9 8 on Page 277 for more informati
298. help Reject measurements with signal strength Reject very poor measurements Users should consult receiver documentation GPB Position Record The following options are available Use values from MOB CAR file Utilize position computed by receiver Recalculate position using ephemeris Recompute position by decoder Insert average position computed over entire file Use average of values compiled by receiver Ephemeris If ephemerides are missing or incomplete in the raw data enable the Use alternate ephemeris file EPP option to specify an outside source NavCom Table 24 describes the supported records Make all epochs kinematic Entire file will be set to kinematic mode Re compute position and clock offset Enable this option if the clock shift data is corrupt or if positions records are not present Report L2 cycle slips Print message if L2 cycle slip encountered Verbose messaging mode Allows you to see additional warning messages Use new GPB format Converts data into the new GPB format GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 NovAtel CMC This decoder handles data from the NovAtel Table 25 Records Supported for NovAtel CMC CMC AllStar and SuperStar receivers Table 25 describes the supported records Record Type Comment Make all epochs Kinematic One of these records is Sets file to kinematic mode required but ID H23 Measurements ID 23 is strongly Verbose messaging mode
299. her antenna To do this follow the steps in the shaded box See Appendix A on Page 285 for a diagram of different methods for making antenna measurements GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Edit Static Sessions Select a static baseline from the Object Menu and click the Edit button to display the Edit Static Session window The options in this window allow you to change station names antenna heights and processing options for the static session Time Range Displays information regarding the static session Start End Displays GPS seconds GPS week number GMT time and date mm dd yyyy for the beginning end of the static session Length Displays the difference between the start and end time Point Name and Antenna Height Displays information regarding the observed point s name and antenna height Automatic determination Applies the antenna height and point name from the nearest station if one exists within session If not then it uses the global remote antenna height and a station name of STATIC_ Override with these values Allows you to manually enter the parameters that are listed in the shaded box Fixed static settings Customizes the conditions and settings for the use of a fixed static solution Fixed solution usage Gives you a choice of settings for the use of a fixed solution The settings for this option are in the shaded box Use global fixed static options Enable this featu
300. hin EPP file Dual Freq Enables dual frequency ionospheric correction which is computed from both the C A or P1 and P2 signals If L1 and L2 carrier are available this correction is further refined 86 GrafNav 2 5 2 Process Single Point This feature allows you to process the raw measurements without using a base station Currently this feature uses only the code measurements Generally accuracies are poorer than differential even on longer baselines but this feature can be useful if the nearest base is very distant Quality control and clock issues can also be addressed with this feature The GPB file name field at the top of the window shows the GPB file that will be processed Load the file of interest into the project as the remote The Ephemeris field shows whether a precise ephemeris or clock file is present and Jono correction shows the applied method of ionospheric correction Accuracies are improved with the use of precise ephemerides IONEX files and satellite clock files These can be defined via the Change Precise Files button Downloading these files is very easy with the Download Service Data program available under Tools Download Service Data By selecting the Options tab and enabling the Precise Ephemeris File the most accurate precise ephemeris file is downloaded from the IGS FTP site You can also get IONEX and satellite clock files here General Options The following options are available
301. his option if the clock shift data is corrupt or if positions records are not present Report L2 cycle slips Alerts you of L2 phase lock problems Verbose messaging mode Displays additional warning messages Ignore measurement validity check Utilizes more measurements by ignoring NovAtel data validity checks Write new GPB format Converts data into the new GPB format Extract inertial SPAN data This option is only for users of NovAtel s SPAN Technology and is only available in Inertial Explorer As such users should refer to Inertial Explorer Version 7 70 Manual for details Time tolerance for synchronizing BESTPOS and RANGE records Assigns position to GPB record if time difference between measurement and position records is less than tolerance GrafNav GrafNet 7 60 User Manual Rev 1 t NovAtel OEM4 Options I Make all epochs Kinematic J Re compute position and clock offset IV Report L2 cycle slips I Verbose messaging mode Chapter 8 I Ignore measurement validity check e g phase parity IV Write new GPB format I Do not create station file sta I Create trajectory file fsp from BESTPOS record GLONASS PRN offset 137 Use 45 to process with Javad T opcon Inertial Decoding Options IV Extract inertial SPAN data if available Output raw IMU data Output data in Waypoint s IMR format Inertial Explorer Convert Profile SPAN_Hg17004911 X DMI Options if DMI data is available 1
302. iables list Insert Insert the selected variable above the one selected in the Export Variables list Info Gives a brief description of the selected variable Export Variables The variables listed in this window are included in the output files that are created using this profile Remove Remove any variables from the list Format Customizes the output settings of the selected variable including the fixed width the number of decimal places and the justification Info Gives a brief description of the variable The order in which the variables are outputted can be changed via the Up and Down buttons GrafNav GrafNet 7 60 User Manual Rev 1 Export Coordinates Wizard Export File Chapter 2 BO Browse Source Epochs Profile Airborne Camera Stations British Grid Geographic Google Earth epochs Google Earth features GrafNet Network GrafNet Traverse Grid Selectable Features Stations Static Sessions w Modify Delete Rename Copy cee How to create a customized output file 1 1 Click the New button and type in a unique name for the profile 2 In the Define Profile window highlight the desired variable and either click Add to add to bottom of list or Insert to add the variable above highlighted variable in list See Table 41 on Page 285 for a list of variables available for output 3 3 Once you are finished adding all the necessary components of the pr
303. ic input coordinates will be supplied as well as the units in which the grid coordinates are measured Finally select a grid upon which the program will base its computations The default is a Transver Mercator projection where the central meridian and parallel represent the approximate center of the survey which the software computes by averaging all points Enter Observations To define the grid add observations by clicking the Add button under the List of Stations box The Add Edit Local Station window appears Add Edit Local Station x Name of station P2 Find Paint r Source Geographic Coordinates Select from list of points in project User Added P2 Select from favorites Selec Enter values manually Latitude North gt jo EJ 56 20000 Longitude west gt jee faa fos 6s000 Ell Height 0 000 m IV Lock coordinate values so they are not changed during an update r Destination Local Grid Coordinates East x far 63 86 metres Iv valid North Y fo metres Iv valid Height Z fi 221 metres Iv valid F 274 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 If a station with known coordinates is already loaded in the project you can enter its name in the Name of station field and click the Find Point button to load its coordinates If the name of the point is unknown you find it via the drop down menu available under the Select from list of points in project option
304. icensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or otherwise and whether d
305. ields required to complete the 14 parameter transformation 9 8 6 How do I use NADCON conversion files NADCON are the datum conversion files produced by the National Geodetic Survey NGS in the United States This conversion is expressed as a grid of corrections to latitude and longitude For the most part this correction is used for NAD27 NAD83 However some other countries have also adopted this format In addition the NGS has corrections between NAD83 and NAD83 HARNS The NGS files can be obtained from http www ngs noaa gov TOOLS Nadcon Nadcon html The latitude correction is located in the LAS file while the LOS file contains the longitude correction To add a NADCON datum conversion follow the first three steps of the procedure defined in Section 9 8 4 above After that 1 Select Nadcon NGS in the Type box 2 Select the LAS file for the region The LOS file need not be defined as it is loaded automatically 3 Choose how the height is to be treated Leave As Is means that there will be no transformation to height Care must be taken when importing exporting coordinates In Export Wizard enable the Do not convert elevation leave in processing datum option when prompted In addition make sure to combine the datum transformation with a geoid height correction since only the orthometric height may be valid in this datum Using another 3 or 7 parameter transformation for height can be a safer alternative but it can be mo
306. ies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to wpsupport novatel ca website http www novatel com or write to NovAtel Inc Waypoint Products Group 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 Warranty 20 GrafNav GrafNet 7 60 User Manual Rev 1 Software License NovAtel Inc warrants that during the warranty period a its products will be free from defects and conform to NovAtel specifications and b the software will be free from error which materially affect performance subject to the conditions set forth below for the following periods of time Computer Discs Ninety 90 Days from date of sale Software Warranty One 1 Year from date of sale Date of sale shall mean the date of the invoice to the original customer for the product Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by
307. if you is wishing to delete all GPB EPP and STA files in the specified path GrafNav GrafNet 7 60 User Manual Rev 1 AutoNav If the Retain Internet Files option is enabled the software will use the following naming convention in the shaded box when saving the GPB EPP and STA files to disk Base Editor Base Type Lists the type of station Station Information Enter a station name as well as the coordinates for the point The coordinates can be loaded via the Select From Favourites button if they have been previously stored If available the antenna information should also be provided here See Section 2 3 6 on Page 36 for information regarding antenna models For users adding an Internet base station consult the Internet Base box to ensure that the proper station and service names are loaded The List of Base Files box is only relevant to those users looking to process data that is already stored on their computer In such cases click on the Add Files button to locate the raw data If the data has been divided into several files i e hourly or daily files you are free to add them all The files added here do not need to be in GPB format The program will attempt to automatically detect the receiver type and convert any raw data files that may be added here However should the auto detect fail to correctly identify the data type you will be forced to convert the files manually See Section 8 on Page 219
308. ight be under the format M Either file can be loaded using this option The GMT date of the first event mark must be entered if it is not detected Events are automatically numbered starting at i Leica GeoSystems EVO and TDU files are produced by the Leica software and can be imported using this option This file might contain time in the local time zone If not enter the time zone offset as zero The time zone correction and the GMT date of the first mark must be entered Events are automatically numbered starting at 1 LH Systems Ascot LH Systems ASCOT RC 30 has a format very similar to EVO except that it contains the relative angles of the camera mount which can be used to apply a 3 D offset for the antenna camera difference User These formats allow you to import the time and name of each event mark Optional variables include line number description and altitude information GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav File Name The file name depends on the receiver format Examples include the following e NovAtel is MRK e Ashtech is PHOTO DAT e Trimble is SUM e Leica is EVO Time settings User time type Seconds of the week GPS time ranging from 0 to 604800 Local H M S Local hours minutes and seconds HH MM SS SSSS GMT H M S GMT hours minutes and seconds HH MM SS SSSS Local time correction This is necessary for both Leica and User formats using Local H M
309. iguration format and enter the name of the new file commands in order to force any of the given receivers 9 a Choose a grid to output positions to send measurement and position data out of the 8 ae chosen port This binary data will either be decoded lt Ifa waypoint file is being loaded CELOG by CELOG into Waypoint s GPB format or else it will assume that the coordinates in the file will be stored byte by byte to disk in a binary file will correspond to the chosen grid ee file can E into Me seats dina u 5I The VARDISP WPD file allows display of a on ae 2 80 orrera ae a to tne North and East variable These values will fain be associated with the grid coordinate frame Grid chosen under this tab The Grid tab allows for the output of positions in 10 With the WP tab manually enter waypoints You can different coordinate grids Geographic coordinates also remove edit and save a modified list are always available from the GPS receiver However depending on the grid chosen geographic coordinates can be converted in real time to UTM TM or the State Plane coordinate systems Specify whether they are in the northern or southern hemisphere prior to reading in a waypoint file lt In order for a list of waypoints to be loaded they must be contained within a properly formatted ASCII file That is to say the file must space delimited and if geographic coordinates are being used must contain the station ID as well as the
310. ikely impossible This should not cause concern since all statistics will be available upon processing completion Plotting and Quality Control Select Output Plot GPS Data From the list of options several plots can be viewed See Table 4 on Page 103 for a description of these plots Export Final Coordinates The steps for exporting coordinate files are in the shaded box For the Select Output Coordinate Datum screen using the processing datum is recommended You might also be prompted for the geoid undulation file which are provided on the distribution CD Section 2 7 4 on Page 107 for help GrafNav GrafNet 7 60 User Manual Rev 1 GrafMov 5 3 File Menu See Section 2 3 on Page 33 for information regarding all of the features available via this menu This section provides only a few points relevant to GrafMov 5 3 1 Add Master File It is strongly recommended for differential processing with a static base station that you use GrafNav GrafMov is meant for processing between moving antennas and will only allow for one base station to be defined When designating a GPB file as the master you are prompted to enter its coordinates These coordinates have no effect on processing GrafMov extracts the position from the master s GPB file Normally the receiver computes this position in real time but some of the decoders re compute positions during conversion so it is important to ensure that the master GPB file ha
311. ile has been selected click Next to start creating the output file 3 Fill in the Export Wizard option windows in accordance with the settings needed 4 Click Preview to view the file before saving it to the file path name specified 5 Click Finish to save the output file to disk Select Output Coordinate Datum r Select Datum Use Processing Datum suggested Datum WGS84 Use Datum convert back to Input coordinate system Datum 14 Use other datum use caution Datum jon from processing datum to other datum efault ng datum WARNING Datum transformatio be inaccurate see manual GrafNav Creating an Output File To create an output file follow the instructions in the shaded box During the Export Wizard process there are several different windows depending on the variables present within the selected profile These windows are described in Section 2 7 4 Export Wizard Select Output Coordinate Datum This window allows you to select a datum to output the final coordinates Care should be taken when any datum other than the processing datum is used Use Input Datum Converts coordinates back into the input datum This option applies if the input datum is different from the processing datum Use other datum Converts to a different datum Be cautious because this results in an absolute conversion and then datum conversion errors may be present in the final coordina
312. iles vy and clock files CLK 2 Select the appropriate EPP file How to load ephemerides from different stations 1 Select Tools Download Service Data 2 Download data from the nearest station for the day of interest 3 For precise ephemeris select the Options tab and enable precise ephemeris download 38 GrafNav 2 3 8 Alternate Precise Ephemeris Files Broadcast Ephemeris The ephemeris file contains trajectory information used to reconstruct the orbit of each satellite This data is necessary for GPS positioning Generally the GNSS receiver includes ephemeris data with its raw data files Either the decoder or the logging software converts these files into EPP format You should monitor data logging to ensure that enough ephemerides are being saved Ephemeris information is usually updated every 1 2 hours Receivers will also output ephemerides at startup or as satellites rise into view GrafNav overcomes missing ephemeris data by searching all EPP files associated with the master or remote files in the project If none of the EPP files in the project contain the necessary ephemeris you can obtain them from a specified alternate source Please see the shaded box for steps on how to specify alternate ephemeris files Ephemerides from different stations or precise ephemerides that span over a day can be added to the list to be included with the processing Please see the shaded box for steps on how t
313. ill be shown For combined solutions both forward and reverse will be shown In addition a Combined static solution may also be computed This is signaled as PRIMARY and these solutions are only used for exporting and do not affect processing In summary each static session has one BEST solution for each direction which is used to fix the kinematic trajectory Each session will then have one PRIMARY solution used for exporting In some cases both solutions will be the same If the BEST fixed solution used is deemed in incorrect from the forward reverse separation or other means then it can be disabled from the fixed solution To do this first note the start end times of the static session by clicking Edit from the Object Menu From the Settings Individual General click the Omit button After clicking Add disable all satellites from the erroneous baseline for the noted time period Be sure to select KAR Fixed Static only and to reprocess 9 5 18 How can I speed up processing MB KF processing can be much slower due to the increased numbers of states and observations For example 12 satellites on 4 bases will result in 50 states and 132 observations on every epoch Therefore here are some tips to cut down processing time without buying a faster computer e Disable any bases that are far outside of the project area as they will add very little to final accuracies and may even hinder them e Consider disabling the Doppler measurement
314. im SecOfWeek WeekNo GPS Time UTim SecOfWeek WeekNo UTC Time GrafNav GrafNet 7 60 User Manual Rev 1 207 Chapter 7 File Formats Pos phi lamda ht ELL ORTHO Computed position Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Std SdE SdN SdH Standard deviation in meters OffR Range TrueAzimuth DH Offset to actual point 2D range in meters azimuth in degrees height difference in meters OffL DE DN DH Offset in local level frame in meters OffB DX DY DZ Body frame offset where X RightWingPos Hi Hi_m VERT SLANT Antenna height measured vertically or slanted Ant V_Offset H_Offset Name Antenna info vertical offset to phase centre horizontal distance to measurement mark antenna model name Nsv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms L1Phase CACode Age Sec Age of last correction or RTK receipt Enable 1 0 Used in GrafNav Another new data type handled in the station format is an RTK epoch where every epoch can be recorded RTK GTim SecOfWeek WeekNo GPS Time UTim SecOfWeek WeekNo UTC Time Pos phi lamda ht ELL ORTHO Computed position Mode SP DGPS RTFL RTFX RTK FIX Mode of solution RTFL float RTFX fixed RTK float fixed not known SP single point DGPS DGPS FIX known Std SdE SdN SdH Standard deviation in meters Vel VE VN VH Velocity in m s Att roll pitch heading Attitude in degrees N
315. including datum information as well as master station coordinates Satellite usage information pertaining to Static sessions Slope horizontal and corrected ellipsoidal distances for all static sessions Program completion information 53 Chapter 2 Processing History File test_for_manual his in C GPSData Manual_Data r Processing History List 2 04 21 2005 16 58 12 SUCCESS Combined forward and reverse gt Run 2 Run 3 04 21 2005 16 59 09 SUCCESS Combined forward and reverse 04 21 2005 16 59 43 USER QUIT User Quit 04 21 2005 17 00 09 SUCCESS Combined forward and reverse 04 21 2005 17 00 43 SUCCESS Combined forward and reverse 04 21 2005 17 01 23 USER QUIT Combined forward and reverse MB 04 22 2005 17 02 23 SUCCESS Combined forward and reverse MB 04 22 2005 23 03 27 SUCCESS Combined forward andreverse MB x Settings Details Plot gt Load into Project Compare Clear 54 Processing history view options Settings Brings up the processing settings used for the selected run Details Displays more information about the selected run including the following option for the configuration file Save CFG As Saves the processing settings into a new configuration file This is an effective way to start a new project using a previous configuration You are prompted to enter a new name Plot Accesses the Combined Separation Estimated Position Accuracy Quality Factor and Float
316. ing datum See Section 2 6 4 on Page 95 for more information GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Omit Satellite Info This option brings up the Omit Satellites Baselines and or Times window in which you can enter omissions Satellites to Omit All Satellites Disables all satellites from being used Only specified satellite Disables individual satellites Baselines to Omit Omit satellite for all baselines Applies the satellite omission to all baselines in the project Only selected baseline Applies the satellite omission only to the specified baseline applies to multi baseline projects only Time Period Omit for entire data set Applies the omission to the entire processing time range Use specified time range Applies the omission to a specific time period entered in GPS seconds of the week Where to Omit From processing Applies the omission to all types of processing From KAR Fixed Static only Applies the omission only during ambiguity resolution GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Omit Satellite Info Satellites to Omit All Satellites C Only specified satellite Baselines to Omit Omit satellite for all baselines C Only selected baseline I Time Period Omit for entire data set Use specified time range Be s Where to Omit From processing OK Cancel C From KAR Fixed Static only 65 Chapter 2 Process GPS or GPS GL
317. int in GrafNav Geoid Correction Window GPS works in the ellipsoidal height system However many maps and vertical datums are defined in the orthometric system height above mean sea level GrafNav can make use of the BIN SLV and GEO geoid files produced by the Canadian and American governments GrafNav also supports various geoids in the WPG Waypoint Geoid Format This includes files for the US Geoid03 Geoid99 and Geoid96 Australia AusGeoid93 and the world EGM96 These files are found on the distribution CD or via Waypoint s FTP site Using these files GrafNav produces orthometric heights as output GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Local Plane Coordinate Definition m Definition Name Temp Change Import Type 2 D Similarity scale rot x shift y shift Datum Nans3 x used for computations no Computational intermediate grid SEG Set ric IV Automatic TM CM 174 1000 deg CP 39 1000 SF 1 0 vertical Metres hd Units horizontal Metres v fs m List of Stations i Compute Updete Add Edit Remove Clear x Finish Cancel Geoid Correction m Geoid Geoid file name C Geoids Gsd95 Canada wpa Format Waypoint Geoid r Master Station Height elect using input master height type te correction Orthometic mean sea level apply relative correction x TIT Chapter 2 GrafNav 2 7 5
318. ion Stricter reliability tolerance The reliability is the ratio of the carrier RMS values between the second best and best intersections Enabling this option applies a more stringent tolerance Correct near integer cycle slips during fixed solution Carrier phase cycle slips are capable of nearing one or more integers This can also be determined in static mode In cases where the cycle slip real value is within 0 035 cycles of an integer the fixed static solution can correct for this integer bias in future raw measurements improving accuracies Sometimes the computed cycle slip is close to integer but the actual cycle slip is a non integer value This results in biased measurements that can cause the fixed solution to fail or result in this satellite s rejection in the NewFixed multi satellite solution GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 KAR 1 Options Kinematic Ambiguity Resolution KAR is a Process GPS or GPS GLONASS technique that computes an inte ger fixed solution Process General Advanced Advanced 2 Measurement of 2 cm while the remote antenna is in motion mn Wi ewwa Applications of KAR include kinematic es fe 00 min initialization and initialization after loss of lock Dineen 00 Winn 1 50 min 10km Due to the additional measurements present with Search Region SF r Search Region Dual Frequency the L2 phase KAR solutions that use dual Single f
319. ion In the table above ssss is the site name yy is the last two digits of the year and jjj is the day of the year Antenna heights may need to be edited within the feature editor if not kept constant as the Thales format only allows for one value You might need to select receiver type manually Utilities Thales B File This decoder handles Thales data that has been downloaded using the Thales utility Log this data into internal receiver memory Zable 32 describes the supported files Thales Achtech Receiver Type Selects the receiver used to collect the data If auto detect does not work then select the receiver manually General Options Re calculate position and clock offset Thales receivers occasionally compute incompatible clock corrections Enable this option if the clock shift data is corrupt if positions records are not present or if many cycle slips exist Detect static kinematic from site name Looks in B file for data tagged as static or kinematic using site ID Make epochs Kinematic Entire file will be set to kinematic mode Ignore questionable L2 phase Allows for processing of highest quality L2 data only Should be enabled if KAR is having difficulties Verbose messaging mode Allows you to see additional warning messages Write new GPB format Converts data into the new GPB format Extract stations information from Ashtech D File Various Thales hand held controllers output a D file co
320. ion if the clock shift data is corrupt or MCL Measurements if positions records are not present MACM Measurements Write new GPB format Measurements Converts data into the new GPB format ITA C A Code Only Decode MACM messages and ignore others CTI Measurements If both MBN MCA and MACM records exist only the C A Code Only MACM will be decoded Measurements CT2 C A Code and Decode old style MBN locktime L1 Phase Some older units e g Sensor II output locktimes with Measurements a different resolution Enable this option to output the CT3 C A Code L1 Phase and C A locktime value Code Parthus MACM Settings SNV Ephemeris Required The following settings are available for users logging a Ephemeris Required for GLONASS MACM records SNG GLONASS Geers Decode Parthus style MACM record 7 PBN Position See Note 2 Parthus units NS100 GSU 1 and GSU 2 utilize the MACM record However due to timing differences P4 1 The MBN or MACM records are its implementation is not compatible Therefore this recommended for G12 receivers The option should be enabled MACM record is designed for high speed data output i e 10Hz or 20Hz under limited bandwidth conditions The ITA record is for G8 receivers while the MPC is for dual frequency receivers such as those in the Z series Data interval adjustment The GSU 1 benefits greatly by having the correct data interval entered while the GSU 2 is best processed using the raw time and having
321. ions that are occupied during the survey should be marked with this feature Stations can be marked while the receiver is static or kinematic mode Any station marks added will be time tagged according to the GPS time at which the feature was invoked and they will be written to the STA file 3 Next Waypoint Shortcut key F6 This opens the Choose Waypoints window Choose two waypoints from the list for the distance and azimuth between them and determines the distance from the receiver s current position to a waypoint and the direction to reach it GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 3 WLOG NewConfig File Display Plot Zoom Events Window E Position In BAR 249 Chapter 8 8 15 WinCE Data Logger Overview How to install CELOG 1 Copy three files to the root directory of their CE device using Active Sync or whatever generic file transfer service is provided by the CE manufacturer The three files required are the following CELOG EXE SIOGPS DLL VARDISP WPD To display State Plane coordinates STPLN83 BIN will also be required in the root directory How to start logging data with CELOG 1 Following installation click on CELOGEXE 2 Select File New Project and give the project a name The file will be stored given a IN extension Ifa project already exists use File Open Project to open it 3 Select File New Project to launch a series of windows to guide yo
322. iption Test source Unknown Test date Na r Physical Parameters fo 0 mm Vertical distance from reference point to L1 phase centre jo a mm Vertical distance from reference point to L2 phase centre joo mm use 0 0 for single frequency Reference point location Measurement Mark Horizontal distance from antenna centre to ground plane edge r Elevation Corrections Relative to Dome Margolin Elev deg Add Edit Remove OK Cancel lt You can specify each antenna profile s origin If the antenna has multiple origins then create a new profile for each one Ensure that the final overall vertical antenna height is from the monument to the L1 phase centre How to create an antenna profile 1 Once you have the antenna characteristics go to Settings Coordinate 2 Press the Define button next to the antenna profile name under the Use advanced method option in the Antenna Height box 3 Select Add Empty enter a name and the characteristics 4 Press OK How to create an antenna profile with correction values from another antenna 1 Click the Define button under the Coordinate Settings window for the master or remote 2 Select the model to copy from in the List of Antennas and click Add From The vertical distance values may need to be modified 3 Besure that the relationship between the L1 and L2 vertical offset is unchanged 58 GrafNav F
323. irectly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccuracy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NOVATEL HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including liability for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remed
324. is always small from about 0 001mm7 s to 0 01mm7 s gt lt Ifthe spectral density is set too high then the time difference computed fluctuates erratically and never stabilize 85 Chapter 2 Process Single Point Code Only GPB file name C GPSData Manual_Data remote 100405_air gpb Ephemeris No precise clock or ephemeris accuracy degraded Change Precise Files lono correction Using dual frequency data for ionospheric correction General Options Process Mode Automatic Single Freq no model iono C Dual Freq use meas for iono Elev Mask fi 0 0 degrees Interval fi 00 2 IV Accumulate static periods r Advanced IV Use broadcast iono model for SF I Use P1 instead of C A if available I Output epochs with high residuals IV Correct time with solved clock shift r Standard Deviation C A code standard deviation 3 0 m C A code rejection tolerance 15 0 im IV Account for atmos and orbital errors m Processing Datum IV Automatic WGS84 conversion k 4 to ITRF94 G730 G The different types of process mode Automatic Chooses between single or dual frequency depending on whether the GPB file has L1 only or L1 L2 measurements Single Freq Forces C A only processing Currently the only means of removing ionospheric errors in single frequency is to use the broadcast ICD 200 ionospheric model Alpha and Beta values in Gpslon record wit
325. is at The Information field indicates how many base stations are being used for processing 228837 N Trannsnheric conditions for Remote at 174 5 m elevation are Preset ine 997 The Messages window contains information being Processing List of Remotes relayed from the program Before processing femme Processing Status O5BLU0531b Processing begins this window displays messages to inform you the current stage of the program is at For example if data is being obtained from the Internet the percentage of data downloaded will be displayed Once downloading is complete additional messages appear regarding the decompression and interpolation of the data Once processing has started this window echoes all the messages appearing in the Processing Window called from GrafNav All the messages displayed here are stored in the ANM file and can be saved to disk under the Processing Options tab This file should be consulted if any problems arise during processing Processing List of Remotes This window displays the list of remote files to be processed along with a status indicator to inform you whether or not processing has been successfully completed GrafNav GrafNet 7 60 User Manual Rev 1 203 Chapter 6 AutoNav 204 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 7 7 1 Overview of the File Formats 7 2 CFG File The configuration CFG file stores all the options in a project It is rare to need to edi
326. is in Southern Hemisphere option it is disabled by default After a conversion from grid coordinates to geographic coordinates has been made you may add them to your Favourites The Compute Geoid Height tool calculates the geoid height for any given point Be sure that the horizontal coordinates entered correspond to the datum upon which the geoid is based If you are uncertain click the Geoid Info button 2 8 7 Grid Map Projection GrafNav supports grid map projections in several ways including the following e You can enter their horizontal master station coordinates using any grid definition e You can output final coordinates in a map projection of your choice Please see Section 2 6 9 on Page 100 and Section 2 7 9 on Page 122 for additional information e Several grids like UTM TM Gauss Kruger US State Plane and Lamber have been pre defined in the software but you can also add your own The directions to do this are in the shaded box Use the Transform Coordinates tool under Tools Grid Map Projection to convert between geographic coordinates and grid coordinates GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Compute Geoid Height Undulation f x r Geoid File WPG Format Only BE eoids wpg GPS H Canada wpg Browse r Geographic Position Latitude Noth 51 fos 00 0000 Longitude west 114 foo foo oo00 Geoid height is 16 498 m Ht ell Ht msl ortho Ht geoid
327. is is useful for datums that are shifting with respect to each other due to tectonic movement Support for the NADCON grid transformation i e NAD27 NAD83 conversion e Ability to combine two conversions i e ITRF97 0 NAD83 ITRF97 0 WGS84 WGS84 0 NAD83 e Much improved ability for users to add their own transformations For instance users can now add their own 7 parameter transformations e Coordinate transformation tool e Very powerful datum conversion computation tool 3 and 7 and 14 parameter conversion 9 8 2 How are datums handled within the software WGS84 is the datum that GPS satellite orbits are referenced to GLONASS is in PZ 90 but the software takes care of the difference WGS84 has undergone a number of changes over the last 10 years and it is now referenced to ITRF96 ITRF2004 ITRF datums are global datums meaning that they are moving with respect to most of the world s datums due to plate tectonics Such movements can be as large as several centimeters per year For this reason WGS84 is not a suitable datum for publishing coordinates in Waypoint s software supports two methods for handling other datums 1 Transform satellite coordinates into local datum This is a very seamless methodology for supporting local datums It enables the datum transformation to be applied only once which minimizes the danger of mixing up conversions Users need only to select the correct datum during processing and enter th
328. is setting enabled all usable data less than the maximum distance is used by KAR Use distance weighting KAR has the ability to weight by the inverse of the base remote distance This helps with airborne data because the effect of the ionosphere is dependent upon distance Baselines shorter than 6 km are not affected GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Advanced The following options are available Process GPS or i 4x R Process General Advanced 1 Advanced2 Measurement Maximum DD DOP lonosphere L2 Fixed Static KART KAR2 UserCmds KAR will not search if the DD DOP is See a A greater than this tolerance This preserves the IV Stricter reliability tolerance Automatic chooses iono or high reliability of the solution Raising this value T Stiicter RMS tolerance lono distance 50 km allows KAR to search data that the software z He wi a ar z REEE correction 4 Use fast KAR even for 9 Svs High noise would otherwise skip The default value is 9 IZ Refine L1 L2 KAR search Medium noise old high noise Re start search after Distance Settings Low noise needs clean data IV Search only closest base or lt 8 km m Manual KAR Engage This is the time length before KAR starts searching over again Lowering this value causes fixed integer gaps to be lower and IV Maximize long baseline data usage IV Use distance weighting r Advanced prevents KAR fro
329. it can be useful to isolate problem areas See Table 4 on Page 103 for a description 9 6 2 How do I copy user files User files such as Export Wizard profiles Favourites stations and coordinates and antenna datum and grid definitions can be copied or backed up There are two ways to do this 1 Click the Start button in Windows and navigating to Programs Waypoint GPS Utilities Copy User Files This utility runs automatically during installation of the software You are prompted for the source directory 2 Manually copy the files listed below These files are copied by the Copy User Files utility and represent those that should be copied if you choose to do so manually Not all the files are available User prf Export Wizard profiles User fvt From Favourites Manager User dtm Datum definitions User grd Grid definitions Local fav Local Coordinate Favourites Missplan mpf Cities defined in Mission Planner User dnI Download Service Data user defined file User adf Antenna definitions DefOpt User defined project option settings 9 6 3 How do I update manufacturer files The pre loaded datums station coordinates Favourites download stations grid definitions and IMU definitions will change from time to time Waypoint periodically updates these values on its FTP site Download these via Help About in all of Waypoint s software Be sure to re start the program so that any
330. ition standard deviations in the XYZ axes needs extended output in GrafNav ECEF XYZ Velocities XYZ velocity components in the ECEF frame ECEF XYZ Velocity Standard Deviations Estimated ECEF velocity standard deviations in the XYZ axes needs extended output in GrafNav Ellipsoidal Height Height above current ellipsoid based on datum selected during processing Ellipsoidal Height Scale Factor Used to scale distances on the ellipsoid to the earth s surface End Time End time of the static session Error Ellipse Orientation Orientation of the error ellipse theta Error Ellipse Semi Major Estimated error along the semi major axis of the error ellipse a Error Ellipse Semi Minor Extended Ambiguity Status Estimated error along the semi minor axis of the error ellipse b Indicates if KAR fixed the ambiguities Field Separator User can select what character separates each variable in a record Fixed Reliability Reliability number for fixed static solutions Float Fixed Ambiguity Status Indicates if KAR fixed the ambiguities Also available in GrafNet Gauss Kruger East North East and North coordinates in the Gauss Kruger projection Geoidal Undulation Height of the ellipsoid above or below the geoid user will be prompted with options after profile creation GLONASS GPS Time Offset Time difference between GPS and GLONASS expressed in meters GL
331. l 0502 7 Grid Name fus State Plane x UTM Zone r Miscellaneous Options J Override Average Ground Height Average Ground Height J7 Override time offsets UTC Time J ve seconds Local Time J hours positive east and negative west m only for vertical scale factor computation 202 x x AutoNav Processing Options The options available on this tab pertain to the differential processing of the data Only those options not previously discussed in Section 2 5 on Page 61 will be described here Processing Settings Delete clean processing files This option forces the program to delete all of the listed file types upon completion of processing Save processing messages to file This option ensures that the ANM file is stored to disk once processing is finished This file contains all the messages displayed in the AutoNav Processing window The ANM file can be very useful for troubleshooting any problems which may occur Users cannot specify a time range for processing and therefore the entire remote file will be used Export Output The Export Output tab allows you to control the parameters pertaining to the creation of the output file that is written once processing is complete See Section 2 7 4 on Page 107 for information regarding the settings available here lt The output file created will be given the same name as the project The file extension however
332. l frame any more which can cause severe problems in many applications To show which type of transformation is desired and which points are known points GrafNav offers the Local Plane Coordinate Definition window The default computational grid is a Transverse Mercator grid with the central meridian down the centre of the project area This grid system should match the one used to create the local system For example UTM GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Add Remove and Edit Define the reference points in the transformation When adding a station use the computed coordinates from station features to define points for the transformation Otherwise select a station from Favourites or you can manually define the point coordinates The name given to a known point must be the same as the name of the station it corresponds to The Find Point button searches the list of the points that have GPS coordinates including any loaded station features base stations or stations with known coordinates Update Replaces existing geographic coordinates for points with those present in the processing software The Favorite points are points that you can use as known points in many different projects Favourites Manager saves the coordinates of these points so that they can be used at any time without having to be re entered To use one of these points in the transformation its name must be the same as its corresponding po
333. l baselines in the project See Section 2 6 4 on Page 95 for information regarding this feature GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 4 How to combine multi baselines 1 Add a combined baseline via File Add Combined Baseline To change the name on this baseline right click it in the List of Baselines window and selecting Rename 2 Reject epochs that have poor statistics specify remote initialization or specify the solution to load before combining baselines All of these options are available via File Edit Selected Baseline Settings An additive PPM and weighting value can be added with this option and used to change the weighting with distance See Section 4 2 10 on Page 180 for information 3 Select Process Combine Selected Multi Base with all of the baselines still highlighted This combines these baselines into a single solution Outliers can be rejected based on the following parameters Error Tolerance the minimum error before an outlier will be detected Setting this correctly is important to prevent false errors from being detected The default value is 0 500 m Sigma Tolerance the number of standard deviations of the computed position standard deviation before an error is deemed an outlier you may wish to use 3 sigma to reduce the number of errors detected although the default is 2 sigma 4 Press OK The additional Combined baseline added in Step 2 will be use
334. l crosses The colour of the crosses depends on the quality of the solution The colours displayed are listed in Table 7 lt The accuracies given are only guidelines The actual accuracies might be different and in fact much worse Check the standard deviation values which are also a guideline GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Mouse Usage in Map Window Positioning the cursor on a station or epoch mark and clicking with the left mouse button brings up the Station Information or Epoch Information message box Clicking the right mouse button brings up the Object Menu See Section 2 4 7 on Page 57 for additional information See Section 2 8 on Page 125 for additional interactive mapping tools 2 7 10 Processing Window This window appears during processing and shows position status satellite and message information originating from the processing engine This screen is updated every 500 milliseconds Status This window displays a graphical quality bar in the Status box The first icon on the left shows the quality factor This number ranges from to 6 and is most sensitive to solution stability Stable solutions are usually 1 or 2 for carrier phase processing For code only processing the quality ranges from 3 to 6 See Table 7 on Page 122 for a description of quality factors If this factor jumps from to 6 either a serious loss of lock has occurred or unfixable bad measurements have incurred
335. le with an asterisk ALT_FILE fname EPP SP3 CLK IONEX ENABLE DISABLE APPLY_ANT ON OFF GrafNav GrafNet 7 60 User Manual Rev 1 This specifies the alternate ephemeris file epp file or precise ephemeris sp3 or IONEX file yyI or Satellite Clock file clk They are set to ENABLE once added to the project DIS ABLE will disable the processor from using the file Set to ON if elevation based antenna corrections are to be employed Note that an antenna profile must also be specified for master and or remote receivers This is ON by default use OFF to disable antenna correction 289 Appendix AZ DETERM ON OFF Dist DistSD BASE SAT sv num CYCLE TEST mode CYCLE TOL tol DATUM ProcDatum Wgs84Conv DETAILED SUM ON OFF DOP TOL dd dop tol DOPPLER TOL tol Appendix GrafMov only Used to enable azimuth computation using an antenna distance constraint Distance and standard deviation are in meters Typical standard deviations are 2 3 cm Satellite PRN number of base satellite used for differenced com putations Normally this value should be left at 99 which will cause the program to automatically choose the best satellite using a number of criteria The default value is 99 This can be LOCKTIME DOPPLER or BOTH and determines the manner in which cycle slips are detected in kinematic mode In general either BOTH or DOPPLER should be used Basically using DOPPLER will disable LOCKT
336. les formats you use are Userl User6 use Time Settings to select time formats UTC time cannot be loaded and the correction has to be applied externally 41 Chapter 2 Load Camera Event Marks xj r File Format Ashtech Download x Event marker file created by Ashtech Download Program File Name CO Browse m Time Settings User time type Local H M S C GMT H M S Local time correction fo hours eastern stand time 5 GMT date of first record for 31 2004 mmddyy m Attitude Format No attitude values Photogrammetric w p k Roll Pitch Heading Cancel Roll Pitch Yaw Camera roll pitch Drift 42 GrafNav File Format STA File Many new converters save the camera event marks directly to the station file If you are logging NovAtel data with LOGGPS then your event marks are saved in a station file The marks should load automatically when you add the GPB file to the project If they do not load then use the File Load Station File feature MRK File Leica SR receivers save event marks into a EVT file which is converted into a MRK file by the Leica decoder The MRK file can be loaded using this option Numbering is performed by the converters Ashtech Download Ashtech receivers with internal memory usually outputs a PHOTO DAT file after the receiver data has been downloaded using HOSE or another corresponding utility Newer variants m
337. less than 7 km e Seven or more satellites in view above a 10 degree elevation mask e Low multi path environment e Clean carrier phase measurements 80 GrafNav KAR 2 Options Control Settings The following options are available Stricter reliability tolerance The reliability is the ratio of the carrier RMS values between the second best and best intersections Larger values means greater reliability The tolerance for accepting a reliability number is dynamic within GrafNav This setting adds a bias to the existing dynamic tolerance to make the tolerance strict and reduces the occurrence of incorrect KAR intersections Be aware that this option can cause KAR to take longer to resolve or not to resolve at all Stricter RMS tolerance This option is similar to the Stricter reliability tolerance but it lowers the tolerance for the RMS value of the best intersection The tolerance normally 0 065 cycles is lowered to 0 05 cycles The tolerance can also be altered using the KAR_RMS_TOL command This option reduces incorrect KAR intersections and is usually more effective than the Stricter reliability tolerance option Both options can also be used Use Fast KAR Fast kinematic ambiguity determination while not necessary for most GPS work can benefit certain applications including the following e race car or rocket trajectory determination e types of surveys under open conditions with scattered obstructions of
338. lips Estimated Velocity Accuracy Plots the root mean square of the L1 phase or L1 L2 iono free phase combination residuals This is a good indicator of carrier phase measurement accuracy Ifthe signal is affected by the ionosphere and other error RMS Carrier Phase sources the RMS will be greater than the few centimeter range and can be as large as 10 cm or more for single frequency Since the code and carrier phase are combined some noise from the C A code can seep into the carrier phase The Doppler is used for velocity determination When using GrafNav in conjunction with inertial INS RMS L1 Doppler integration pay close attention to this plot It gives a good indication of what standard deviation to give velocity data in the inertial Kalman filter If the option Use P Code in Kalman Filter is enabled RMS P Code then this feature can be used to plot the P Code RMS See Page 73 for information Use this plot to view the quality of the data contained in a GPB file The plot shows four data characteristics including the following The cycle slips in the data for each satellite indicated by vertical bars This information is useful for detecting poor tracking The available time range for each satellite in the GPB file Satellite Lock Cycle Slips The third characteristic shown is the elevation angle for each of the satellites The different colours represent different elevation ranges The
339. lity records while logging You can also display the time in HMS in GPS time UTC time or local time UTC and Local time require the number of leap seconds to be entered as UTC time is a non linear time system unlike GPS time 28 Click Next a WLOG NewConfig File Display Data Logger F3 StaticfK F5S Mark F6 Waypoints 248 Utilities If these steps have been followed successfully WLOG will start logging data Ifthe screen is blank and the program appears to be inactive initialization was not successful 8 10 File This menu allows you to create a new project open an existing project load waypoints find out about the program and exit the program 8 11 Display This menu gives access to several text displays Position This opens the Position Information window which displays the GPS time position velocity mode number of epochs that have been logged the number of ephemerides received the station name and the amount of disk space still available SatInfo This opens the Satellite Information window which displays information for each channel that is currently tracking a satellite The PRN azimuth elevation lock time and signal to noise ratio is displayed for each satellite being tracked Waypoint This opens the Waypoint Information window which displays information regarding the distance and azimuth between loaded waypoints RTCM This opens the Differential Corrections window
340. lling the Software 23 Interpolating dataSee Resampling 40 IntervalSee Data Interval 64 IONEX Files adding to project 39 description 39 downloading 138 for L1 differential processing 74 for L1 single point processing 91 source 141 Ionospheric Corrections dual frequency processing 73 fixed static processing 76 using IONEX file for L1 39 74 K KAR description 26 enabling Fast KAR 80 enabling KAR 63 engaging options 79 processing options 80 processing tips 261 summary fileSee Static Summary 53 using interpolated data 83 262 Kinematic Mode switching data between modes 50 221 Kinematic Processing in GrafNav 62 tips 258 L Leica importing EVO TDU files 42 Loading camera marks 41 existing solutions 41 91 Local Coordinates output options 272 Locktime Cut Off 66 GrafNav GrafNet 7 60 User Guide Rev 1 Loop Ties 162 M Manufacturer Files downloading latest files 143 Map Window GrafNav quality numbers 122 interactive tools 125 settings in GrafNet 169 Master Stations adding to AutoNav 198 adding to GrafMov 191 adding to GrafNav Batch 179 coordinates 93 resampling 40 viewing information 40 Mean Sea LevelSee Orthometric Height 117 Measurements outlier detection and rejection 72 Measurements Standard Deviations 71 Message Logs format and description 209 output settings 67 viewing 52 Move to Static moving the station features 56 outputting in Export Wizard 114 Moving Baseline
341. lowed You may also wish to enable the Set as default transformation option to ensure that these parameters are used for transforming between these two datums 5 Select the 7 parameter similarity Helmert in the Type box 6 Enter the shift values in meters 7 Enter rotations in arc seconds not milli arc seconds as they are sometimes expressed in If the opposite sign formula is used enable the Use reverse sign for rotations option Ensure that the proper sign definition is used See the equation above 8 Enter scale in parts per million i e PPM value x 10 GrafNav GrafNet 7 60 User Manual Rev 1 279 Chapter 9 FAQ and Tips 9 Check the transformation under the Transform Coordinates tab At this stage you can also compare the overall transformation to that of another datum conversion 9 8 5 How do l enter a 14 parameter transformation Again be careful of the signage when using 14 parameter transformations The sign convention used by Waypoint s software is as follows X AX sf 0 0 0 VR VR X V Y AY 0 sf 0 VR 0 VR xAYear Y V xAYear Zl L4 0 Ge Sf VR VR 0 Z Joa Uz Where sf 1 0 ppm ppm _ vel x AYear In terms of adding such a transformation follow the same steps described previously in Section 9 8 4 and Section 9 8 5 Certain modifications to these steps will have to be made such as selecting 7 parameter time dependency in Step 4 This gives you access to the additional f
342. lower GrafNav Lite achieves accuracies of 5 to 20 cm even though it only includes float static initialization and does not support KAR 7 51 2530 7 50 1118 7 50 2308 7 51 2606 7 51 2512 7 50 2311 7 60 0608 7 60 0608 ZRANANA download exe FavsDILdll wGpbCat exe GrafNav GrafNet Static provides the same processing eap features as GrafNav GrafNet but only for static baselines nans32 al GrafNav Precise Una a NovAtel Copyright Waypoint Consulting Inc 1994 2004 Product Information GrafNav GrafNet Version 7 60 Build 6 8 05 Hardware Key Information Serial Number Software Name Version Number Algorithm Demo Status Hardlock Code Key Util Upgrade Downloads CORS IGS files from the intemet Routines for the Favourites Manager Concatenate slice and resample utility Program for viewing raw gps data Converts GPB files to RINEX DLL to convert GPB to RINEX Routines for plotting cycle slips and elevation Fixed static post processing DLL Differential nnst nracessina DLL Download latest manufacturer files See Table I on Page 27 for a capability comparison between GrafNav GrafNav Lite and GrafNav Static 31 Waypoint s Home Page GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 2 2 Start a Project with GrafNav How to install 1 See Section 1 2 2 on Page 24 for installation instructions How to convert data 1 Select File Convert Raw GPS to GP
343. lowing Degrees Minutes Secondi 4 eines an option under Id String Handling to sate ell the program how to separate the ID from Forexarmpler ee 280214 the coordinates The first column usually Degrees Decimal Minutes contains the station IDs For Example 51 03 4720 Decimal Degrees For Example 51 0579 Id String Handling The settings under this option tell the program how to separate the ID from the coordinates Use first continuous word no spaces To be used if the station names are separated from their coordinates by a space Comma separation Use this if commas separate the IDs from the coordinates Use first n columns If you know which column the coordinates start in you can enter the number for the program to begin at Each character is a column GrafNav GrafNet 7 60 User Manual Rev 1 45 Chapter 2 How to create a Leica IDEX file idx 1 Unplug the Waypoint hardware lock Run Ski 2 2 or higher Select Project then Manager S g Click New to select an empty path or Open to select an existing project 5 Close the window by clicking on the Close File button 6 Select Import Measurement Back Up PCMCIA 7 Move to the rover directory containing DS and db files 8 Select the jobs to include in IDEX file 9 Press the Insert button and then press OK 10 Close the Import window by pressing the Close icon 11 Select View Edit Utilities Export to IDEX 12 Create a file
344. lows you to both view and edit your data in the GPB View window 8 3 File 8 3 1 Any GPB file can be opened with this feature If the GPB file is corrupt GPB Viewer will prompt you for permission to fix the file Open 8 3 2 This feature will close the GPB file without exiting from GPB Viewer Close 8 3 3 Saving a GPB File To make permanent modifications to a GPB file save a copy the original file File Save As gives saves a copy of the current GPB file and its associated EPP file under a new name This lets you edit the new file without losing the original file Use this feature to save a file from a newer format into an older format making it compatible with older versions of the software 219 fm Utilities oe AutoNay A GrafNav GrafNav Batch fb GrafNet 4 Uninstall Software SE GPB viewer E Concatenate Slice and Resample MB GPS Data Converter a GPS Data Logger B Copy User Files fa Download Service Data Hardlock Upgrade Utility Sf GPBView C GPSData Manual_Data remote 100405_air gpb File Move Edit Help E rt FI S 14 ealse sr Header Information File 100405 air gpb Epp File 100405 air epp Receiver NovAtel OEM4 Model Ephemerides 23 Date Created 4 21 2005 11 45 20 Format NEW File Creation OEM42GPB v7 50 2311 Position Information Epoch Time 604058 000 Time 23 47 38 000 CorrectedTime 604058 000000 Date 04 09 2005 Receiver Tim
345. lti path can make it difficult to determine the carrier L1 L2 ambiguities This setting applies an additional search and leads to faster and more correct ambiguity resolution This setting also works well in combination with the Stricter reliability tolerance and Stricter RMS tolerance settings See Page 80 GrafNav GrafNet 7 60 User Manual Rev 1 Process GPS or GPS GLONASS General Advanced 1 Fixed Static Process lonosphere L2 m Control Settings IV Stricter reliability tolerance J Stricter RMS tolerance I Use fast KAR Use fast KAR even for 5 Svs IV Refine L1 L2 KAR search Chapter 2 Advanced 2 Measurement KAR 1 KAR 2 m L2 Noise Model Automatic chooses iono or high lono distance 5 0 km lonospheric correction C High noise Medium noise old high noise User Cmds r Distance Settings IV Search only closest base or lt 8 km IV Maximize long baseline data usage IV Use distance weighting Low noise needs clean data m Manual KAR Engage gt Advanced Maximum DD_DOP 3 0 f30 min Search on data interval 5 0 s I Only search on exact interval interp Re start search after Add Edit Delete Cancel Apply 81 Chapter 2 Process GPS or GPS GLONASS 82 General Advanced 1 Fixed Static Process lonosphere L2 m Control Settings IV Stricter reliability tolerance J Stricter RMS tolerance I
346. lution Chapter 2 21x m Combine Settings Automatically load solution on project start IV Combine forward reverse after successful processing J Automatically write CMB file when combining m Processing Process forward reverse directions simultaneously C Always C Never Only if multiple CPUs exist on this machine IV Prompt user when finished processing m Float Static Tolerance Tolerance for failing float static solutions jo 100 m 20 ppm Cancel Apply 101 Chapter 2 2 7 Output Menu Property setting options Select X Axis Range Previously used settings of the X axis are stored here Auto scale X Axis Shows the entire time range of the data Set Start Plot Time Makes the current time the X axis minimum Set End Plot Time Makes the current time the X axis maximum Select Y Axis Range Previously used settings of the time range are stored here Auto scale Y Axis Shows the entire value range of the data Set Maximum Plot Value Makes the current value the Y axis maximum Copy Copies the plot onto the clipboard as a bitmap BMP allowing you to paste the image into other application such as MS Word or Paint Copy without title Copies the plot onto the clipboard as a bitmap BMP without the plot title Go to Time Gives you the option of finding the nearest available time in the forward or reverse message logs or finding the nearest epoch on the
347. lution and the float solution at time of search Low numbers mean a good correspondence between the two solutions GrafNav GrafNet 7 60 User Manual Rev 1 123 Chapter 2 Parameter Description Acceleration Vector Acceleration components in Local Level frame Table 9 Processing Window Parameters Baseline Data MB Displays distance carrier phase RMS and number of satellites information for each baseline Baseline Distance Distance separation for projects containing only one base station Channel Ambiguity Displays the ambiguities as well as their standard deviation for each satellite being tracked Channel Az Elev Displays elevation and azimuth for each satellite being tracked in degrees Channel Flag Locktime Displays status flag and locktime count for each satellite being tracked DOPs Displays DD_DOP PDOP HDOP and VDOP Estimated Accuracy Geographic Position Standard deviation of the position components in the Local Level frame Displays position and antenna height of remote at current epoch Measurement RMS Local Level Vector Local Level vector in metres RMS and standard deviation of the L1 carrier phase and C A code measurements Speed COG Vehicle instantaneous velocity vector in m s and course over ground These values may be inaccurate for code only processing Status Flags Solution quality information such as number of s
348. lutions using code carrier It is not really a measure of accuracy but it does indicate how well multiple baselines fit to each other Number of Satellites DOP You can plot the number of satellites and or DOP values This shows if one base is tracking fewer satellite than another For very large areas it also shows the effect of different satellites being above the elevation mask 9 5 12 How do I select a data interval In theory all base stations do not need to be logged at the same data interval but in reality they should be The MB KF methodology can handle data with varying data rates but the constant dropping in and out of base data will result in closer bases possibly not being used when they should In addition it may destabilize the filter In the sequential method processing is not affected but a bumpy trajectory can be produced after combining For these reasons both GrafNav and GrafNav Batch can resample data right within the interface See View GPS Observations Master Resample Fill Gaps using Processing Interval and be sure to set the processing interval to the remote data interval before performing this operation You can also select View GPS Observations Master Resample Fill Gaps using Remote File Times which resamples to each exact epoch in the remote file If only one remote file is processed this is works well If many remotes are present for the same time then data gaps in the remote used for resampling
349. m Number of Stations 3 Internet or file base station data to the same eeo A interval as the remote file Automatic Base Station Selection Manual Base Station Selection Automatic Selection Options These settings are only available for those users who have opted for Automatic Base Station Selection The values entered here govern the program s choice of base stations for processing imi i i File Overlap Limit the total number of base stations allowed in ccna clovelepreaiveaty T Mrimum a ea the project with the Maximum Number of Stations base fie to be used Thisis the setting percentage of the remote fe PAE A maximum of eight base stations can be included in any given project However only those stations Feee that are within the Maximum Baseline Distance are included Manual Base Stations Selected This box is only available if you have selected the Manual Base Station Selection option The currently loaded ANB file is displayed above the window and the Edit Selected Stations button gives you access to the list of base stations included within it From here enable or disable base stations as deemed necessary All enabled base stations appear in the window File Overlap This setting acts as an additional constraint in the base station selection process It requires that any given base station overlap with the remote by the specified percentage before being allowed in the project This
350. m using more data than Maximum DD_DOP ap shown This is more practical for dual than Resta search ater 30 min single frequency because single frequency Sender TNG KAR needs 15 or more minutes to resolve ion eeh on exact ia VA en Add Edit Delete The default value is 30 minutes Search on data interval This defines the number of seconds between epochs that KAR uses for processing If carrier phase errors are random like in white noise then using a lower interval improves results but increases memory usage and computational time If errors are systematic like colored ionospheric noise than lowering this value has less effect Cancel Apply Only search on exact interval GPS data can be interpolated with the Concatenate Slice and Resample utility or using the Download Service Data feature In both cases additional errors of I to 3cm can be added to the measurements and is enough to cause KAR not to fix If this option is enabled and the Search on data interval option has been set to the original source data interval then KAR is not affected You can lengthen the minimum KAR time with the KAR 1 tab to use more data especially if the original interval is 30 seconds or less GrafNav GrafNet 7 60 User Manual Rev 1 83 Chapter 2 Process GPS or GPS GLONASS 84 21x Advanced 2 Measurement KAR 1 KAR 2 User Cmds m L2 Noise Model amp Automatic chooses iono or high lono dis
351. marks of their respective holders Ly Copyright 2006 NovAtel Inc All rights reserved Unpublished rights reserved under amp 9 International copyright laws Printed in Canada on recycled paper Recyclable 2 GrafNav GrafNet 7 60 User Manual Rev 1 Table of Contents Foreword 15 1 Introduction and Installation 1 1 Waypoint Products Group Software VETVIGW issmessssesrersrrrsssrsssnsnnnrnrrerrr rss ens sn nr nr narr rrr rar rann nn ner nn rna 23 We VS tel AU OM sanna slen dette toe farce va delegate sacveaeect A AE bass ense sb krog sann 23 1 2 1 What You Need To Start ccc cceceeseccceecceeseeceeceseeesceceeecesseeceeeeaueeseeeeeaueaseeeeseesuaaseeeeeanensees 23 1 2 2 CD Contents and Installation ssmmsmsssssssssrsrsrrsrrrerserrrrrese rr r rr ren rr rr rr sn RKA ARSA R RR RR RR RAR RKA RER R RR RR SSE RR aa 24 1 2 3 Upgrading esros iridia EEE EEEE E E EaR R 25 1 3 Processing Modes and Solutions se tismsserresssisessseds setts des Arai 26 1 4 Overview of the PIOCIUCtS sssesorsrrrersrsrrrreserrrrrrenrrrr aren r rr sr ren rr RASER RR RR ARSA RR RR RASER RR RR KRK RR RR SERA KKR SSR 21 Fee Meg Fg 11 a ana a da a Od dre Ne di eb re dra are Tee a Ernst A ae RRA 21 TA 2 GIAN Gea ee 27 TAI GATING Vs EMG es sr nf E ans danne tog cteetattawelakadeatts dass as O TR 21 1 4 4 GrafNav GrafNet Static issnssssssssresrssrsreroesnrrssrrenrrrsrrrrnrrrsrr rr rr rr sr rr RR KSSS RR KRKA RR RR SKER RR RR SER RR a 21 WA
352. matic Entire file will be set to kinematic mode Write new GPB format Converts data into the new GPB format Trimble DAT This decoder converts data from Trimble 4000 5800 receivers The Trimble data files DAT are formed when data is logged internally in the receiver The Zable 35 describes the supported files Make all epochs Kinematic Entire file will be set to kinematic mode Write new GPB format Converts data into the new GPB format Recompute position and clock offset Enable this option if the clock shift data is corrupt or if positions records are not present The antenna height extracted by the decoder may be the slant distance Trimble SSF files cannot be directly decoded using this utility As such they must be converted to DAT or RINEX format first Trimble Real Time Data captured directly from a Trimble 4000 5800 receiver can also be converted to GPB using this decoder The Zable 36 describes the records supported Make all epochs Kinematic Entire file will be set to kinematic mode Verbose messaging mode Allows you to see additional warning messages Write new GPB format Converts data into the new GPB format GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Trimble TSIP Data in Trimble s TSIP format is converted with this decoder Receivers that support this format include Ag20 MS 750 and MD 950 Table 37 describes the supported records Make all epochs Kinematic
353. mbiguity status of the feature s solution 3 amp 4 converging float 5 amp 6 DGPS Y fixed integer N float solution Azimuth Azimuth in degrees minutes seconds from previous feature to current feature Dist m Distance in metres from previous point to current point Dt s Time difference in seconds between current and previous point Height Height in metres of feature This is normally an ellipsoidal height but if the master station height was entered as orthometric then this height is more orthometric Use the Export Wizard to get the exact orthometric height For stations like STA and GIS with antenna heights this height is of the monument and not the antenna Name Repeat of the feature name AntHgt The height of the antenna above the monument Camera marks do not have an antenna height and so N A is displayed Desc Info Describes the feature or line information for the camera mark Remarks Remarks field 55 Chapter 2 Options in the Features Editor window Move to Static Use this option for surveys with short static segments This process moves stations within static sessions to the end points Each static session with a station is replaced with one at the start and one at the end The remarks field is modified to be BEGIN STATIC or END STATIC and notifies the Export Wizard to combine the two solutions upon output During combining features where the begin solution and end solutio
354. mbined trajectory to disk in a format similar to that described in Section 7 4 3 on Page 216 This CMB file represents the weighted combination of the two solutions currently loaded in the project usually the forward and reverse It can in turn be loaded directly by the software allowing for the comparison of solution files obtained using varying processing options GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Export DXF DXF is a file format read by various CAD 2 packages This utility outputs your project into DXF Output Options Select Grid System DXF format r Output File Name Output File Name CA GPSData Manual_Data test_for_manual def Browse Specify the name and path of the DXF to be m Output Components and Options created IV Stations Features IV Epochs IV Baselines Static Sessions J Join Epochs Output Components and Options I Station Error Ellipses The following options are available I Baseline Eror Ellipses Stations Features T Pa eee Automatic Outputs any stations or features loaded User defined triangle height is 100 0 m around scale Baselines Static Sessions Error ellipse scale factor fi 0000 00 Outputs baselines between all the static sessions ERA The colour of the baselines will be the same as it Use processing datum NAD83 appears in GrafNav and is determined by the Use input datum M A quality factor Epochs Outputs the trajectory
355. mean that an incorrect fix cannot occur when there is just one fix In this situation you are comparing a float solution to a fixed The large bias is usually due to the float solution but this is not always the GrafNav GrafNet 7 60 User Manual Rev 1 261 Chapter 9 FAQ and Tips case In such a situation plotting the standard deviation of the float solution can be very helpful Determine processing direction of bad solution It is always a good idea to determine which processing direction is the cause since only that direction needs to be reprocessed This is significant because in the following step many options will be changed It is important to only make these trials on the bad direction as you would not want to corrupt the good direction 1 Load each direction because it is the fastest way to determine which direction is bad 2 Plot the L7 Phase RMS The incorrect fix normally exhibits a linear growth to the carrier phase RMS There may be jumps as the software is trying to correct the problem by removing satellites After some time it may stay low if a filter reset has been issued Another way to determine the likelihood of a bad KAR fix is to view the Static KAR Summary file FSS RSS There will be records for each KAR fix Look for fixes with poor RMS less than 0 05 cycles low reliabilities less than 2 or 3 or large float fixed separations greater than 1 m Correcting the Problem A bad KAR fix is normally a very easy pr
356. measurement i e Doppler or P2 code baseline MB processing only or satellite In some cases if it cannot correct the problem it will issue a cycle slip to all satellites This is known as a filter reset and can be observed by a sharp increase in estimated position accuracy in forward or reverse direction and a message will be printed to the message log You can control how GrafNav handles bad data in the Outlier Detection Rejection section under Settings Individual Measurement Specifically a looser carrier phase level will prevent fewer resets from happening while a stricter carrier phase level will be more energetic in finding errors but at the risk of issuing more resets GrafNav GrafNet 7 60 User Manual Rev 1 259 Chapter 9 FAQ and Tips 9 3 7 How do I avoid missing epochs After processing with GrafNav epochs can be missing for a number of reasons One main reason is that either the base or remote GPB files are missing one or more epochs Use GPB View and check the epochs in question If epochs are missing on the remote then there is nothing that can be done here but gaps in the master data can be filled in by selecting View GPS Observations Master Resample Fill Gaps using See Section 2 4 1 on Page 52 for more information GrafNav ignores the first four seconds of data after a satellite rises This is to avoid any possible half cycle problems in determining the carrier phase that are more likely during the first
357. measurement which is a combination of L1 and L2 and free of ionospheric error This method is more effective for static positioning or if the remote starts far from the base One of the disadvantages of the iono free model is that a cycle slip on L2 will induce a cycle slip for that satellite This is not the case for the relative model Regardless for many kinematic data sets both should be tried For the relative model it may be advantageous to lower the Engage distance for relative ionosphere during high ionospheric activity 260 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 9 3 10 How do I process long kinematic baselines For dual frequency processing on long baselines it is important to enable L2 ionospheric processing This option is set under Settings Individual L2 Ionosphere Once L2 ionospheric processing is enabled there are two ionospheric processing methods The Ionospheric Free model works well when the remote initializes far from the base This method creates a carrier signal that is free of ionospheric error However a cycle slip on L2 will induce a total loss of lock for that satellite In some cases this method may do better than the relative method even if initialization is close The Relative ionospheric model works by only applying an ionospheric correction to the L1 signal If initialization is close then an initial correction of zero is assumed The error then accumulates as the remote v
358. ments include the following e Added support for precise ephemeris SP3C Better bad data rejection for GLONASS processing Improved base satellite changing e Better engine startup for moving baseline processing Utilities The download utility now accepts command line parameters shows azimuth to stations in addition to distance and supports passive FTP transfer The Download Service Data option utilizes CORS hourly files for downloading within 24 hours for stations that produce them The GpbView exports autonomous trajectory in NMEA ASCII and Waypoint s own format and GPBCat can now interpolate date rates up to 1000 Hz The coordinate conversion utility now outputs map scale and convergence while permitting you to enter the epoch number for datum conversions Favourites manager now stores Geodetic Reference Point GRP coordinates for IGS International GPS Service stations Decoders In GrafNav GrafNet 7 60 all decoders now support extended week numbering to week 1724 and the GPB gt RINEX decoder now allows you to specify GLONASS PRN offset Improvements to other decoders include the following e OEM4 supports additional records including clock information e Javad now correctly determines PRN number for GLONASS satellites Trimble DAT converter has re compute flag set correctly e Antenna height and station name now read from Leica System 1200 and Trimble decoders Thales Ashtech has improved cycle slip det
359. mes greater than tolerance2 a flag is reset and tolerance is tested again Engage KAR continuously not recommended for airborne data This option engages KAR at a specified interval and is most often used for monitoring applications This value is usually set around 5 to 20 minutes Because this mode makes no attempt to check either baseline distance or data quality it is the least desirable method for engaging KAR in airborne data Engage on event of poor DD_DOP 4 is the minimum number of cycle slip free satellites need to maintain lock Even if this minimum is maintained the geometry can be very poor as shown by spikes in the Double Difference DOP plot If the DD_DOP is greater than 100 the epochs are not be plotted because GrafNav skips past them This creates a gap in the data so check the message logs for these instances Setting this checkbox forces KAR to engage after the DOP recovers The default tolerance is 25 KAR engages automatically if the DD_DOP is greater than 100 regardless of this setting GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Process GPS or GPS GLONASS Process General Advanced Advanced 2 Measurement lonosphere L2 Fixed Static KAR 1 KAR2 User Cmds gt Minimum Time Single frequency 8 00 min Dual frequency 1 00 min i50 min 10km r Search Region SF Single frequency f1 00 m Search Region Dual Frequency
360. mount Horizontal PPM Low Vertical PPM coca toh 71 Chapter 2 Maximum continuous rejections before reset is engaged Epochs to skip before reset induced on code error Epochs to skip before reset induced on carrier phase error f Reliability tolerance for rejecting satellites and baselines 4 0 Cancel Maximum continuous rejections before reset is engaged This is the number of seconds of continuous rejections before a reset is issued Some high data rate kinematic applications may find it appropriate to lower this value Epochs to skip before reset induced on code error On the occurrence of a code error the processing engine attempts to skip and reject an epoch s data This might prevent a reset but at the expense of a position drop out Lower this value to allow fewer missed epochs Epochs to skip before reset induced on carrier phase error This is similar to Epochs to skip before reset induced on code error but applies to the carrier phase One or two epochs distinguish between one epoch carrier spike which disappears and a missed cycle slip which acts as a step function on the carrier residuals Only the former can be handled by skipping an epoch Reliability tolerance for rejecting satellites and baselines This is the ratio between the second best residual and the best residual necessary to detect an successful satellite or baseline removal Generally this value is left at 4 0 but
361. mp locktime 6 lt The second column i e 50t must be preceded by any value including a space in the first column Adding another window in the VARDISP file DISPWINDOW Title My Channel Information Window Line Prn Azimuth Elev Locktime Line amp prn t amp az Yt amp elev Yt amp locktime Script for defining each element of the chan nel array with a zero based index 254 DISPWINDOW Title My Position Information Window Line Line Latitude amp latitude 50t amp prn 0 t amp locktime 0 Line Longitude amp longitude 50t amp prn 1 t amp locktime 1 Line Height amp height 50t amp prn 2 t amp locktime 2 Line 50t amp prn 3 t amp locktime 3 Line 50t amp prn 4 t amp locktime 4 Line 50t amp prn 5 t amp locktime 5 Line 50t amp prn 6 t amp locktime 6 Utilities Separating Variables or Text by Percent Screen Sizes One of the most exact ways of delimiting text is to organize text and associated variables in columns which start at certain percent values ACROSS the screen For example you may wish to start displaying a certain column of variables exactly half way across the current window An example is in the shaded box In the example the first column of values are single variables such as longitude and height These variables are displayed in the first column of the window The PRN numb
362. n Table 8 Messages included in the Notification Window for static processing are in Table 10 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 8 Tools Menu 2 8 1 The Zoom In and Zoom Out tools adjusts the viewing scope of the map while the Zoom Reset brings the map back into the default view Zoom In amp Zoom Out 2 8 2 Distance amp Azimuth Tool The first six options available all pertain to the Map Window The Distance amp Azimuth tool allows for certain calculations to be made between epochs or stations Click on the feature or epoch that you wish to measure from and then right click on the feature or epoch that you want to measure to The Distance and Azimuth window appears and shows the horizontal surface grid and spatial distances between the selected points The azimuth and scale factor information are also displayed 2 8 3 This tool is only accessible once the map zooms in This tool allows you to scroll the different parts of the map To use this tool click on the map and drag it in the desired direction Move Pane 2 8 4 This feature allows you to search the map for the epoch corresponding to a GPS time Once found the map zooms in and the epoch time is circled in red Find Epoch Time GrafNav GrafNet 7 60 User Manual Rev 1 Waypoint GrafNav 7 60 amp AAA EJ GPS Forward Map Run 1 i Sil Chapter 2 File view Process Settings Output CHER Window Help Zoom In
363. n do not match are flagged to aid quality control This option only works for static sessions with features P4 Global Edit Re Number and Move to Static work with multiple features selected To select a continuous block hold down the Shift key while clicking on features To select individual features use the Ctrl key Add Station Lets you manually add a station Also add stations by right clicking on epochs in the map window You might want to add stations to static sessions that have none because static sessions cannot handle a varying antenna height and a station can Remove Removes the selected stations Multiple stations can be selected and you might consider disabling a feature instead of deleting it Edit Edits the station name time tag description and antenna height of the selected feature View Info Shows processing information for any selected feature enabled during processing Global Edit Make changes to multiple selected features Modifications can be made to the antenna heights descriptions camera line information remarks and drift crab angles Re Number Re number a selection of stations Numbering can be performed starting from the bottom or the top of the list You can specify the starting number and the increment value To decrease numbers use a negative number 56 GrafNav The shaded box contains a list of the options that are available with the buttons on the right hand side of the Features
364. n enabling this setting causes the use of the computed clock correction to compute a new corrected time not to be used This can be helpful for processing some data sets with times problems especially in the old GPB format GrafNav GrafNet 7 60 User Manual Rev 1 Process Single Point Code Only GFB file name Ephemeris Chapter 2 C GPSData Manual_Data remote100405_air gpb Ne precise clock or ephemeris accuracy degraded Change Precise Files lono correction Using dual frequency data for ionospheric correction rm General Options Process Mode Automatic Single Freq no model iono Dual Freq use meas for iono Elev Mask fi 0 0 degrees fi 00 s IV Accumulate static periods Interval m Standard Deviation CA code standard deviation 3 0 im C A code rejection tolerance fiso m IV Account for atmos and orbital errors x r Advanced IV Use broadcast iono model for SF I Use P1 instead of C A if available Output epochs with high residuals IV Correct time with solved clock shift m Processing Datum 87 Chapter 2 GrafNav Standard Deviation Process Single Point Code Only x r r xl The following settings are available GPB file name C GPSData Manual_Data remote 100405_air gpb NE C A code standard deviation Ephemeris Ne precise clock or ephemeris accuracy degraded a j Change This is the estimated accuracy of the C
365. n is currently loaded Last Status Indicates the status of the solution most recently processed 187 Chapter 4 GrafNav Batch 188 GrafNav GrafNet 7 60 User Manual Rev 1 GrafMov Chapter 5 5 1 Overview of GrafMov GrafMov is a moving baseline upgrade that can be added on to Waypoint s GrafNav GrafNet GPS post processing software package The purpose of the GrafMov software is for relative processing between two moving GNSS antennas This optional processing module allows for relative position and velocity determination between two moving antennas Accuracies can be much higher than those achieved when processing from a fixed base station because relative distances tend to be much shorter If the two antennas are fixed on the same craft a post mission heading determination system is formed This chapter describes how to get started with GrafMov goes through each menu of its interface and provides step by step instructions for first time users 5 2 Getting Started with GrafMov Before you start a project in GrafMov verify installation and convert data This section provides a quick tutorial on how to get started with GrafMov Install Software Verify that the installation was successful by ensuring that you have a Waypoint GPS program group on your computer If this program group is not there see Section 1 2 2 on Page 24 for installation instructions Convert Data To be processed raw GPS data files have t
366. n is less accurate than fixed or KAR solutions but it the best alternative for longer baselines that are often not solvable Introduction and Installation The types of solutions are described in the shaded box The following are the types of processing modes Static Static processing involves the determination of a three dimensional baseline between two stations There are two types of static solutions supported by GrafNav a float solution and a fixed solution They are discussed in the shaded box Kinematic Kinematic processing is initialized either with a static survey from a known point or using Kinematic Ambiguity Resolution KAR Following initialization the antenna mounted vehicle moves from station to station In some cases it may be possible to remove the antenna and place it over the desired point However in other cases such as an aircraft positions can be interpolated GrafNav GrafNet 7 60 User Manual Rev 1 Introduction and Installation 1 4 Overview of the Products 1 4 1 GrafNav GrafNav is a kinematic and static GNSS post processing package It supports most single and dual frequency commercial receivers and can instantly obtain centimeter accuracies GrafNav also supports multi base MB processing GrafNav switches automatically from static to kinematic processing and it has a fixed static solution for static initialization of short or medium length baselines that are 0 km and reliable to 25 km
367. n records Enable this option if the clock shift data is corrupt or if positions records are not present Use new GPB Format Converts data into new GPB format Verbose messaging mode Allows you to see additional warning messages GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Table 37 Records Supported for Trimble TSIP Record Type Comment One of these records Ox9A Measurements is required but Ox9A is recommended Ox6t Measurements Ox5A Measurements 0x58 Ephemeris Required 0x4A Position Single Precision Ox8A Position Double Precision Table 38 Records Supported for Trimble TIPY Record Type Comment OxAE Measurements Required si Recommended for 0x84 Position GrafNet users 0x99 Ephemeris Required Dilution of Not used in post 0x44 Precision processing Table 39 Records Supported for U Blox Record Type Comment ID 10 Measurements Required ID 31 Ephemeris Required Pe Recommended for ID 02 Position GrafNet users ID 22 Clock Information Recommended 241 Chapter 8 8 8 GPS Data Logger Overview fu New Project Step 2 of 10 GPS Receiver Parameters Data Interval Receiverl ype a he IV Request Camera Marks I Re compute Position IV Send Revr Configuration lt Back Cancel How to log data with WLOG iL 242 Select File New Project and give the project a name Click
368. n size of the Win CE device being used Defining a New Window Up to 12 text windows can be created in VARDISP WPD Each new window is built by using the form in the shaded box These are text windows only They are designed to display the variables listed above in any particular format as designed by the writer Defining a Window Title Each window may have some theme as given in the title To add a title to a new window use the form in the shaded box Defining a Line of Text Where the indicates text to follow The text must be enclosed in double quotation marks The format allows the use of spaces within the text Spaces may be interpreted as delimiters by some basic C programming functions Embedding a Variable in a Line of Text Where the amp sign must be followed by one of the variable names listed in Section 8 21 on Page 229 Separating Variables or Text by Spaces Spaces can be defined as text strings by using a line of text as or spaces can be given by type in s s s where each s represents one space In the example in the shaded box the text word Position will be displayed in the My Position Information Window window followed by the current latitude longitude and height Separating Variables or Text by Tabs Using spaces as delimiters is not as exact as using tabs Single tabs can be used in the VARDISP script by simply inserting a tab of four spaces using a t format
369. n the nearest base station The actual PPM values used for each of these levels is determined by the processing engine and is dependent on the type of processing Manual distance effects can be entered as well In this case you would enter the horizontal and vertical values directly This effect can be disabled but this is NOT suggested especially for multi base processing To view the PPM values used bring up the Static KAR Summary file after processing and look for the Dist Effects field For very long spatial distances consider using Low or Very Low Otherwise the Kalman filter may destabilize in these circumstances GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Ionosphere L2 Options GrafNav supports full dual frequency processing For this feature to work both the master and Process GPS or GPS GLONASS 4 2 x Process General Advanced 1 Advanced 2 Measurement lonosphere L2 FixedStatic KARI KAR2 UserCmds remote receivers must be dual frequency Ionospheric Correction By making measurements on both L1 and L2 the ionosphere error can be resolved The effect of the ionosphere under normal conditions and in the absence of ionospheric storms is a small effect at 0 5 to 2 PPM 5 to 20 cm per 100 km Since L1 and L2 carrier phase need to be combined to remove the ionosphere the measurement noise increases from sub cm to 1 3 cm A further problem occurs because L2 is more prone to cy
370. name 13 Clear variance covariance information optional 14 Select Measured 15 Click Save and Close How to load a Leica IDEX file idx 1 Create or open a GrafNav project containing the Leica data 2 Select Load and Leica IDEX file from the File menu 3 Move to the directory containing the IDEX file You should see a message indicating how many IDEX points were matched to TTP points How to load a Aschtech OUT file out 1 Create or open a GrafNav project containing an Achtech OUT file out 2 Select Load and Aschtech OUT file from the File menu 3 Move to the directory containing the out file 4 Select the file and Click open 46 GrafNav Leica IDEX File idx Time tagged points created with Leica 5 data collectors can be given a name position and antenna height However firmware versions 3 0 and greater do not store the station names within the TTP file These names are stored within the database structure control db and cannot be accessed directly by the software The point information contained within the database has to be converted to ASCII which is done by creating an IDEX file using Leica s Ski software Once an IDEX file has been created it can be loaded into GrafNav The steps to so this are in the shaded box After processing at least one direction the TTP points should be visible and numbered sequentially These have been loaded from the STA file Points are match
371. nd downloads the most recently updated manufacturer s files Waypoint updates the list of stations on a monthly basis The complete list of stations is in the manufact dn file In order to download the entire set of manufacturer files click the About Download button under the Options tab Add Closest This tab finds stations that are close to the project area to download data from Position The position is a reference point from which all stations are measured The two options available to choose this position include the following It can be entered manually if you know the coordinates for the point of interest e Click the Position from the GPB File button to select a GPB file from the project in which the downloaded data is to be used The utility uses the computed average coordinates from the position records in the GPB file for the search To use this feature the selected GPB file must contain valid positions See Section 8 5 2 on Page 222 for help Settings The two settings that constrain the station search are listed in the shaded box Once the position and the searching parameters are defined click the Find Stations button to obtain the list of stations found They are listed in ascending order based on their distance from the point used for the search You can choose to download data from all the stations using the Add All button or only from those specifically chosen with the Add Selected button In both
372. nd end of each static period to form a combined solution for data sets with static sessions separated by kinematic This produces coordinates in a more optimum fashion For this type of data it is important to process both forward and reverse and to load a combined solution This method works well because in applications like high tree cover the first and last epochs of a given static session can be significantly different This feature flags these points and puts more weight on the solution with the best estimated standard deviation The parameters for combining features are listed in the shaded box The program creates a LOG file that shows statistics about each combination when this feature is used With this option the remarks field are also replaced with a status message The KinSurveyStations export profile is well suited for use with this method Tolerance between start end position Defines the minimum difference between start end positions necessary to generate an error message If the difference is less than the specified tolerances then the combination is deemed to be OK and combined solutions are exported regardless of this Do not export points that are outside tolerances If this option is enabled the combined solutions that are not okay are not exported Estimated position standard deviation tolerance Field are used to flag points with very poor estimated standard deviations Log messages to file log Allows me
373. ned The Datum pull down menu is for reference and cannot be adjusted Enter Zone Number Only for appropriate grids like UTM and Gauss Kruger Select State Plane Zone Applies if you choose US State Plane as your grid The zones are listed with name and zone numbers Be sure to include the Selectable Grid variables in the export profile Transverse Mercator Window Central Meridian Defines the central meridian of the Transverse Mercator projection Central Meridian Scale Factor Specifies the scale factor along the central meridian False Easting Northing If the coordinates in the TM projection are negative values entering enough large values here forces positive values If a latitude origin exists for the desired Transverse Mercator coordinate system create a new grid under Settings Grid using the information Lambert Conformal Window Origin Defines the central meridian and parallel for the Lambert Conformal projection Standard Parallels Specifies which lower and upper parallels are standard and of constant scale factor Central meridian scale factor Initializes the scale factor along the central meridian This is usually 1 0 False Easting Northing If the coordinates in the Lambert Conformal projection are negative values the false easting and northing force positive values GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Enter Time Options Window Use this correction
374. nematic is as follows 1 Flag entire remote data file as being kinematic using either GPBView or File GPB Utilities Insert Static Kinematic Markers 2 Process data using a float solution Disable the usage of KAR and fixed solutions 3 View the Velocity Profile plot via Output Plot GPS Data Data is normally considered to be static wherever the velocity is very near zero i e less than 0 02 m s Always be cautious about slow movements which can be shrouded in the measurement noise 4 Use the GPB Viewer to switch these periods from kinematic to static It is generally a good idea to mark the static 10 to 20 seconds after movement stops and to stop the static 10 to 20 seconds before movement begins Again the nsert Static Kinematic Markers feature can also be used GPS receivers that make an accurate Doppler measurement facilitate static kinematic identification 258 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 9 3 4 How do l eliminate problem satellites Sometimes a single problem satellite will introduce considerable error in the solution Two techniques to identify and eliminate problem satellites are briefly discussed here 1 To examine the message logs after processing and look for repeated warnings concerning specific satellites If one satellite has many warning you may wish to eliminate this satellite for either the entire data set or for specific time periods as indicated in the mes
375. nformation regarding antenna height models GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Enter Remote Antenna Height 21 x Remote Remote file name C GPSData Manual_Data remote mac10990 gpb r Antenna Height NOTE This antenna height applies primarily to kinematic trajectories It will be overriden by features stations events and static sessions For changing the antenna height on static sessions select OutputIVview Objects Static KAR then select E dit Use simple vertical antenna height to L1 phase centre Vertical antenna height 0 028 rn C Use advanced method requires antenna profile Antenna height measurement im Antenna profile Generic Info J Slant distance measured to ground plane Define J Measurement directly to L1 phase centre Cancel How to add a Remote file 1 Select File Add Remote File after giving the new project a name and adding the master GPB file s From the list of available GPB files choose the file collected at the remote station 2 When prompted enter the remote station antenna height How to change the remote antenna height on static sessions 1 Select View Objects KAR Static 2 Click Edit for each static session 37 Chapter 2 How to specify alternate ephemeris files 1 Go to File Alternate Ephemeris Files The program displays a list of ephemeris files EPP precise ephemeris files SP3 SP3c IONEX f
376. nna model is required to add the offset from the ARP to the L1 phase centre GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Options available in the Objects window View Brings up the Object Info message box for the selected object Edit Edits the station name description and remarks for the current selection If a master station is selected this allows you to edit the coordinates and antenna height View Edit GPS See Section 2 3 9 on Page 40 for a description of the options available here Add as Station Lets you manually add a station The station s time is automatically set to the time of the selected object Initialize Remote Lets you to fix the remote s position at the time of the selected object This will only work on objects with valid solutions Engage KAR Forces the software to engage KAR at the selected object s time Add to Favourites Adds the object s solution to the list of Favourites Set Start Time Uses the selected object s time as the start time for GPS processing Set End Time Uses the selected object s time as the end time for GPS processing Find on Map Finds the selected epoch on the map window Go to FML Searches the forward message log for a record closest to the time of the selected object Go to RML Searches the reverse message log for a record closest to the time of the selected object 57 Chapter 2 Antenna Profile Name of Antenna Profile Descr
377. nput file containing the definitions of the static periods must contain the space delimited StationID fields listed in the shaded box e StartTime File name o Bindlitieae Click the Browse button to locate this input file fon The View Edit button allows for the revision and e Description modification of the file Begin time offset The number of seconds added to all user defined StartTime values in the input file End time offset The number of seconds to subtract from all user defined EndTime values in the input file Only the epochs lying between these adjusted times are converted to static mode This is to ensure that no kinematic data is incorrectly set to static Minimum session time The minimum number of seconds that a static session must contain to be converted to static mode Antenna height This value is written to the station file for all user defined static sessions assuming the Create station file option has been enabled Create station file Writes all static sessions to the station file STA regardless of whether an antenna height has been entered 50 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 3 13 Remove Processing Files This option removes files from a project The shaded box contains a list of the files that are affected with each option 2 3 14 Download AOA Allen Osborne Associates This converter is only available in the AOA version of the software See Chapter 7 on Page 205 for
378. nsity 0 000 m 2 s File Formats The processing settings will not be displayed if Print input settings to static KAR summary is disabled See Section 2 5 on Page 61 for help The following is an example of the return status Finish Status SUCCESS RetValue 100 Successful program completion end of file reached ErrMsg End of file Reached NumEpochs 7704 UsageTime 12 48 s Proclnfo Run 8 by MB ProcTime 16 45 02 08 10 2005 The file may look slightly different depending on whether static or kinematic processing was performed When static processing output includes the final coordinates and various statistics associated with those coordinates In kinematic processing the KAR summary record is the only output When doing kinematic processing without the use of KAR the user will not see these output in the FSS or RSS file The following is the output satellite tracking list This output is only displayed on fixed static solutions It shows which satellites are tracked when how long and the status of the satellite The status is important because it will show if any satellites are rejected This output can also be seen for all data types in the plot Satellite Lock PRN START END DT BASE BEST INDEX RMS 0 NUM SEC RMS 21 149910 151050 1140 0 2 0 044 0 0 044 10 142530 151260 8730 0 2 0 022 0 0 022 26 148740 151260 2520 0 2 0 028 0 0 028 29 146820 151260 4440 0 2 0 033 0 0 033 21 151740 151950 210 0 6 0 038 0 0
379. ntage of the data is shorter than distance tolerance Performing KAR search at 525 seconds on baseline BL1 KAR used 525 0 s PASS with average of 7 1 sats over average distance of 21 9 km RMS is 0 0809 cycles FAIL Reliability is 1 2 FAIL Float fixed sep is 0 47 m PASS KAR failed 2 out of 4 tests will try again in 15 0 seconds Message printed for an unsuccessful KAR search Indicates various statistics KAR failed on baseline BL1 after 30 1 minutes too much time used and starting over Printed if KAR went too long The tolerance is generally 30 min and can be set from the KAR option Note KAR cannot be engaged at this distance 68 6 km on baseline BL1 Printed if distance too long for KAR to engage The software will wait until it gets closer Epoch rejected due to poor satellite geometry DD_DOP of 918 0 too large This message warns that an epoch has been rejected because of poor satellite geometry The default DOP tolerance is 100 0 This can be changed in the user defined options with the command DOP_TOL Doppler L1 cycle slip on PRN 24 of 1575419 57 cycles on baseline BL1 Indicates that a large change in carrier phase has been encountered which is interpolated as a cycle slip If this message appears continuously the Doppler may need to be recomputed See Section 8 5 5 on Page 222 for help Locktime cycle slip on PRN 4 of 5 92 cycles on baseline BL1 Cycle slip has been reported by base or remote receiver Size of cycle slip is
380. ntaining features and antenna height information Enable this checkbox to utilize this information UTC Options Use the following UTC time Changes the GPS to UTC time offset from the current nominal value to user defined value Normally used for GLONASS processing if no UTC is contained in the data Correct GPS time in D FILE for UTC offset D files can have GPS or UTC time This option changes time from UTC to GPS Dfile Options Chain Repeated Station Marks into 1 Static Session Combines sessions that are repeated in the Seismark software into one session Do NOT Chain Marks that are more than n seconds apart This value controls the time tolerance used in the previous setting If two static periods are marked less than the amount apart they will be combined GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 Thales Real Time This decoder converts Thales Real Time DG16 G12 or Table 33 Records Supported for Thales Super C A data The real time data is formed when data Real Time is logged externally from the receiver using a utility like as WLOG or another custom data logger Table 33 Record Type Comment describes the supported records One of these MBN Measurements records is required General Options see Note 1 Make all epochs Kinematic Entire file will be set to kinematic mode MCA Measurements Recompute position and time MEG Measurements Enable this opt
381. nversion For each file added you are prompted for a station name an antenna height and if needed an alternate EPP source for ephemerides 49 Chapter 2 GrafNav Insert Static Kinematic Markers ha x This utility is available in all of Waypoint s m GPB File Name F programs It is an alternate method of switching CAGPSData Manual_Data Remote t 00405_air gpb Browse data between static and kinematic modes Such a p Operation to Perform task can also be performed on a GPB file with the CMake all epochs static GPBViewer utility See Chapter 8 on Page 219 S Eochar for additional information Use user generated file to define static periods i r User File Settings GPB File Name File name format StalD StartTime EndTime Description View Edit Specifies the GPB file to modify C GPSData Manual Data Remote static_sessions txt B A SEE TT Browse Operation to Perform egn ume ersat 5 i vate E Select Make all epochs static or Make all epochs End time offset 100 t kinematic to set the mode for every epoch in the Minimum session time 50 0 ts Daeron GPB file Select Use user generated file to define Arena tek 0 000 miforstaljen ie static periods to define specific time ranges as being static This enables the User File Settings section on the window _ Grose User File Settings Converts user defined time ranges to static mode Create station file Space delimited fields The i
382. o remove these baselines With four receivers there are two dependent baselines in each sub network GrafNet removes these trivial baselines for each sub network Figure 4 shows two possibilities of what GrafNet might do with the first sub network GrafNet removes the trivial baseline by setting their session status to Jgnore It is possible to un ignore any session by simply changing its status back to Figure 5 Network with Trivial Unprocessed GrafNet tries to keep the sessions that Baselines Removed are of best quality The following criteria is considered e The amount of time the baseline was surveyed The frequencies used in the surveying of the session The length of the baseline The number of connecting baselines to the two end points As shown in Figure 5 GrafNet automatically excluded AC BD CE and DF It then forms a single loop for each of the time periods DC is a baseline with a duplicate session GrafNav GrafNet 7 60 User Manual Rev 1 161 Chapter 3 Compute Loop Tie x Stations 111 D50211 D50311 Sessions 111 to D50211 1 D50211 to D50311 1 111 to D50311 1 dEast 0 001 m dNorth 0 001 m dHeight 0 012 m NumGood NumBad NumApprox NumTotal 43 124 km 8 710 km 17 458 km 14 375 km TotalLength MinLength MaxLength AygLength 162 GrafNet 3 4 4 Unignore All Sessions This feature changes the status of all ignored sessions from Ign
383. o be converted into Waypoint s GPB format including raw data from Waypoint s data logger program Instructions on how to convert these files are in the shaded box The GPBView utility can be used to switch between static and kinematic mode See Chapter 8 on Page 219 for a complete description of the Convert utility Create a New Project The steps to create a new project are listed in the shaded box The Auto Start feature can also be used to automatically bring up all the pertinent dialogue boxes See Section 2 2 on Page 32 for more information on the Auto Start feature GrafNav GrafNet 7 60 User Manual Rev 1 How to install 1 See Section 1 2 2 on Page 24 for installation instructions How to convert data 1 Select File Convert Raw GPS to GPB to access the converter 2 Navigate to the directory that contains the data 3 Select Auto Add All to auto detect GPS formats 4 If you want to change the conversion options click on Options or Global Options to set the rover to kinematic mode How to create a new project 1 In GrafMov select File New Project File Name 2 Enter the name of the new project 3 Click Open Entering the name of a project that already exists overwrites the file contents 189 Chapter 5 How to Load Master File s 1 After creating a new project the screen appears empty Select File Add Master GPB File s 2 Select one of the moving stations as the base
384. o be maintained during travel between points Since the carrier Process Information Des fami O i i ee phase is used only for static data you can achieve sub metre accuracies in this terrain GLONASS processing is also suggested to Cancel Amy include additional satellites Static Initialization The two options are the following Float solution or KAR This setting is necessary for kinematic initialization For static data the float solution does not solve for integer ambiguities so it is less accurate than the Fixed Static solution These integers are often not solvable for baselines greater than 10 km in single frequency and up to 25 km in dual frequency In these cases the float solution is the best alternative For dual frequency data enable the ionospheric free correction mode Fixed static solution Processes the carrier phase to get a static fixed integer solution If the integers are correctly determined this mode is the most accurate For longer static baselines an ionospheric correction is applied to the fixed solution For single frequency 15 minutes is suggested For dual frequency only a few minutes will work To lessen the likelihood of having to re observe a point extend the time Time should be increased with baseline lengths for both single and dual frequency See Section 2 4 7 on Page 57 for important information regarding the processing of static sessions 62 GrafNav Gr
385. o load ephemerides from different stations GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Precise Ephemerides Precise ephemerides are satellite trajectories computed post mission They are slightly more accurate than broadcast ephemerides but this accuracy difference is only effective when attaining the highest accuracies or using the longest baselines A precise ephemeris is useful for single point processing Geodetic services such as National Geodetic Survey NGS in the United States the Geodetic Survey of Canada and some European agencies compute these orbits on a continual basis In most cases this data is available at a few days latency The easiest way to download SP3 files is via Waypoint s download program See Chapter 7 on Page 205 for details Waypoint software only supports precise orbits stored in the SP3 format which was originally created by NGS Fortunately most agencies use this format Orbits which have been optimized for the United States are available free of charge from NGS via their website www nga mil Waypoint software s precise orbit implementation requires that a broadcast ephemeris orbit is available Precise ephemerides cannot be used to circumvent missing broadcast orbit information If a broadcast ephemeris is missing consider downloading data from the nearest CORS or IGS station See Section 2 8 12 on Page 136 for help IONEX and Satellite Clock Files IONEX Ionosphere Map Exchang
386. oDatum Parameters Reflects the input options used for the Be SITs Cole Sein Tae EA computation 9 Select the transformation parameter type Raw Differences Enter a meaningful Info string to appear in These are he raw differences between the ECEF ie aua ayien A KAA put S coordinates of the matched points in the two comment a ore tote ale een files Only points that have a match found are this rane Onn Nain for other latrone processed The USED column indicates if 10 Select an output file name This file is a points are to be used in the solution or not and report that is generated from the refers to the Flag in the FromDatum file computation process It contains the Transformation Parameters computed transformation parameters along Shows the parameters computed by the solve selik dhe uce ee process Ifa comparison is made then this 11 Optional Click the Advanced Settings shows the parameters from the datum button parameter transformation and conversion Ifthe transformation needs to be effectively causes a 6 parameter inverted due to opposite From and To datums transformation to be solved then the reversed values are shown 12 Select the Compute Transformation button Residuals using A message proclaiming success should Shows difference between raw FromDatum appear afterwards If not act on the coordinates and the ZoDatum coordinates message For some failures a partial report transformed into the FromDatum Root mean file may be cre
387. oblem to correct It just requires one or more of the following settings to be changed listed in order of likelihood to help Enable the Stricter RMS tolerance and or the Stricter reliability tolerance options e Lengthen the minimum KAR time As KAR uses more time it usually does a better job of identifying and rejecting bad fixes Try disabling Refine LI L2 KAR search e Ifthe auto reduce KAR search area is used for dual frequency try increasing the scale factor or switch to the fixed search region size e Consider re engaging KAR manually after the bad fix Be sure the checkbox Reset Kalman Filter is enabled on the Manual KAR Engage record e Use the KAR SEP TOL command to force KAR to only accept intersections that are close to the float solution For instance use a value of m Lower the maximum engaging distance for KAR e If poor geometry is a concern try lowering the Maximum DD DOP value e Ifall else fails disable this time period during combination See Section 2 5 on Page 61 for help Unless otherwise specified all of the options discussed above can be found under Settings Individual KAR See Section 2 5 on Page 61 for additional information 9 4 2 How can l use KAR with interpolated data If the Download Service Data utility was used to download CORS or IGS data you have the option of interpolating to a higher interval For data originally logged at 30 seconds the epochs that do not fall on the original in
388. off 1 use 2 check distance and time see FIX AUTO com mand STD MODE AUTO ELEV CNO0 STANDARD This is the type of weighting mode that the measurements will use in terms of statistical handling STD REF REFCNO REFELEV CNO_V These are the reference values that the measurement standard deviation s refer to V in SD V 10 cno 10 note scaled by REF _CNO STD DIST LOW MEDIUM HIGH OFF MANUAL ManHzPPM ManVPPM STD_PPM RejectPPM GrafNav GrafNet 7 60 User Manual Rev 1 This is the magnitude of distance dependent errors The distance effect can be low medium high or off The user can override these settings and enter their own horizontal and vertical PPM manually This is only used if the user command STD_DIST OFF above 297 Appendix Appendix STD REJECT Type CedeRej PhaseRej DopRej CedeReset PhaseReset TYPE MANUAL NORMAL STRICTALL STRICTPHASE STRICTCODE LOOSEALL LOOSECODE LOOSEPHASE values are nSD i e number of standard deviations If type is MANUAL the user needs to enter the rejection and reset toler ances STD_SKIP MaxRejSec nSkipCodeEpochs nSkipPhaseEpochs STD_PHASE SD_m ON OFF STD CODE SD m STD DOPPLER SD m s ON OFF These are the advanced reset settings This is the standard deviation for the carrier phase ON OFF refers to if the standard deviation will be adjusted for additional ionospheric noise This is the standard deviation for the C A code and P code This is t
389. ofile click OK to save the profile Define Profile for Airborne Camera Stations Source is GPS Epochs E Source Variables Station Names Info Ej Antenna Height Master File Name Project Name Remote File Name Sequence Number Insert Info Header Footer Line Terminator Field Separator Preview Export Variables Station Name Selectable Grid East Metres Selectable Grid North Metres Orthometric Height Metres YSF Ortho Height Metres GPS Time Seconds of the Week Quality Number Number of Satellites Float Fixed Ambiguity Status PDOP Horizontal Standard Deviation Metres Combined Standard Deviation Metres East Velocity Meters per Second North Velocity Meters per Second Up Velocity Meters per Second Remove Format Info Up Down OK File extension txt 107 Chapter 2 Define Profile for Airborne Camera Stations Source is GPS Epochs Source Variables EH Station Names Info E Antenna Height Master File Name Project Name Remote File Name Sequence Number Add Insert Info Header Footer Line Terminator Field Separator Preview 108 Export Variables Selectable Grid E ast Metres Selectable Grid North Metres Orthometric Height Metres VSF Ortho Height Metres GPS Time Seconds of the Week Quality Number Number of Satellites Float Fixed Ambiguity Status PDOP Horizontal Standard Deviation Metres Combined Standard Deviation Metres East Velocity Meters p
390. om the Favourites Manager It is worth noting here that CORS IGS AUSLIG IGN and GSI control points are pre loaded into the Favourites Manager It is important to note that these coordinates should only be used as guidelines as they are subject to change Additionally be careful to note the datum of the coordinates found in the Favourites Manager For instance IGS coordinates are given in WGS84 If high accuracies are desired the exact coordinates should be found via the Internet See Zable 11 on Page 141 for website addresses By selecting the datum prior to clicking on the Select from Favourites button coordinates in this datum are favoured This has application for stations that are part of two networks such as CORS and IGS While CORS coordinates are in NAD83 those from IGS are in ITRF WGS84 9 2 2 How can l customize output formats The Export Wizard is available to allow you more control over output format Export profiles can now be customized and saved for future usage Along with more access to different variables for output the Export Wizard can also vary in format with user defined header and footer files strings error warning messages and a processing summary See Section 2 7 4 on Page 107 for a complete description of this feature 9 2 3 How can I download base station data GrafNav supports single point processing which is generally accurate on the level of I to 3 meters at best assuming the presence of precise ephem
391. on WGS84 Processing datum conversion This setting specifies the set of transformation parameters used to convert between datums Enabling Automatic chooses the default datum conversion A different datum conversion can be made the default by selecting the Datum Conversions tab Otherwise disabling Automatic allows you to select a datum conversion more appropriate for a given area The accuracy of the datum conversion becomes more important with increasing baseline length You can change the default conversion between datums with the Tools Datum Manager Coordinate Input Datum Use this setting to process in a more global datum like WGS84 while entering the base coordinates in the local datum like NAD27 The reasons to do this are listed in the shaded box To enter coordinates in a different datum than the processing datum Convert input coordinates to processing datum must be enabled In this case the datum conversion becomes very important gt It important that the same conversion is used to transform the output back into that datum Otherwise a datum error of several meters may be induced on the final coordinates GrafNav GrafNet 7 60 User Manual Rev 1 Pulkovo 1942 SAD56 SADBS WGS84 gt Processing datum conversion IV Automatic use default SLD99 TOKYO m Coordinate Input Datum Use processing datum by setting processing datum to local datum suggested C Convert input coordinat
392. on and using this as a starting position seed it searches for the nearby integer combinations Then it calculates RMS root mean squared fits for these integer intersections The intersection list sorts around this value In single frequency fixed static solution requires at least 10 to 15 minutes of continuous static data and more on longer baselines Dual frequency receivers require less then half of that time Fixed solutions are not reliable on baselines longer than 15 km for single frequency and 30 km for dual frequency For data sets with multiple static sessions fixed solutions can be solved for all static periods Kinematic Ambiguity Resolution KAR solution This solution searches ambiguities after a serious loss of lock and is useful for precise kinematic processing because it achieves centimeter level accuracies This is the on the fly OTF algorithm This technique requires that 5 or more satellites be in view and is helped considerably by L2 dual frequency phase measurements KAR can be useful for single frequency receivers if there are enough satellites present for 20 to 30 minutes KAR is generally engaged at start up or after periods of extremely poor geometry or loss of lock For dual frequency it can be used for reliable initialization if baseline lengths are less than 30 km Single frequency can also be initialized in this manner but static methods are more reliable Float solution This solutio
393. on regarding any of these utilities 3 3 15 Recent projects Displays recent projects 3 3 16 Exit Exits program GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet 3 4 Process Menu 3 4 1 This option brings up the Process Sessions window where a number of options pertaining to processing are available Processing Sessions Process Sessions to Process Allows you to decide which session to process The options are listed in the shaded box Processing Settings Determines which processing settings to use for each baseline The options are listed in the shaded box l On Completion Defines actions to be taken when processing is completed The following two settings are available Show sessions being processed in data window Displays all processed sessions in the Data Manager window Run network adjustment on completion Will automatically bring up the Network Adjustment window See Section 3 4 6 on Page 163 for more information General Options Process Direction The direction can be set to Forward Reverse or Both directions GrafNet uses the most recently created solution file The forward and reverse solution should provide roughly the same solution but in some circumstances a reverse solution passes when a forward has failed or solutions may differ because of different base satellite selections If both directions are selected the combination of the two solutions will be used See Section 2 5 3 on Page
394. on 1 2 2 on Page 24 for installation instructions Create a Project Follow the instructions in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 WAY P3cINT PRODUCTS GROUP How to Install 1 See Section 1 2 2 on Page 24 for installation instructions How to create project 1 Select GrafNet from the Waypoint GPS program group in your start menu 2 Select File New Project 3 Find the directory where the project files will be located GrafNet creates many files during processing so using a new directory makes things easier 4 Give the project a name and click Save Entering the name of a project that already exists will overwrite the file contents 147 Chapter 3 How to convert data bX If Waypoint s logging utilities were used to log directly into GPB format then skip these steps Select File Convert Raw GPS to GPB Browse to the directory containing the raw data Click Auto Add All or select the appropriate GPS receiver and convert the data file How to add observation files 1 De Select File Add remove Observations Click Get Folder and select the directory containing the GPB and EPP files Select the files that you want added You only need to select GPB files The EPP files are assumed to have identical prefix names Verify the station ID and the antenna height when the dialogue box appears Click on the OK button
395. on from a raw data format In such a case you must manually enter the week number via the Set Week button RINEX Header Information Several fields are available here for editing This information is used only for the purpose of being written to the header of the RINEX observation file GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Convert Raw GPS data to GPB Receiver Type 4 Unknown AutoDetect Global Options Info Folder Ic Program Files InertialE xplorer 60 Get Folder Source Files Convert Files Filter Jr File Name Receiver prf AboutDII dll Aboutlnfo dat Airborne L1 Long Range DefOp Airborne Camera Stations IMU Airborne Camera Stations prf Ajirborne DefOpt ANVDig exe anvdll dll ash2gpb dll British Grid prf v Add Auto Detect gt Add All Auto Add All Remove Clear Options Info Auto Add Recursively Convert Help About Close GPB To RINEX Converter Data Types to Export GPS Week Auto Detect C L1 Frequency Auto Detect Week Setweek C CA Code Only C L1 L2 Frequency Week Rinex Version RINEX Header Information Version 2 1 Version 2 0 Program Run By Files to Convert Data Collected By Agency Message Add Edit Delete Quit Db Regardless of the option selected only data measurements that exist in the GPB file is exported so columns of zeroes are not created for missing data P4 Multiple files can be added for co
396. on period Start Date Date of which the observation period started Start Time Time of day at which the observation period started Receiver Type of receiver used to log observations Freq Indicates whether data is single or dual frequency Int s Interval in seconds at which the data was logged 171 Chapter 3 Columns in the stations window Name Name of station Type See Zable 15 on page 170 for information on station types Latitude Latitude coordinate of the station Longitude Longitude coordinate of the station EllHgt Ellipsoidal height of the station Source Indicates whether the station coordinates are from the traverse solution or the network adjustment Files Number of observations periods for that station TotalLen Total observation time made at that station A mm Semi major axis of error ellipse at that station as defined from the network adjustment B mm Semi minor axis of error ellipse at that station as defined from the network adjustment DH mm Estimated height standard deviation 172 GrafNet Stations Window The Stations window displays information regarding all the points observed in the network The columns listed in the shaded box are displayed in the Stations window The following options are available by right clicking on a station View Solution Displays solution from traverse computation and network adjustment if valid Add as Control Point Allow
397. onal information It is identical to Normal except that additional fields exist for the relative vector information position and velocity covariances as well as the ambiguity values GrafNet minimal Suited specifically for GrafNet in order to minimize disk space usage Ultra Extended MB SV info Identical to Extended but with the addition of multi base and satellite information 67 Chapter 2 Process GPS or GPS GLONASS 22 lonosphere L2 FixedStatic KAR1 KAR2 UserCmds Process General Advanced 1 Advanced 2 Measurement r Static Session Settings Split into two sessions if time gap greater than fizo Ej IV If fixed static enabled only use it on static session when Single Dual Frequency Distance is less than fio fao km Time span is greater than 450 fizo fs Cycle Slip Detection Static cycle slip tolerance fo 40 cycles IV Automatic Doppler tolerance for kinematic detection Manual Doppler tolerance fo 00 cycles IV Use L1 locktime counter IV Save ambiguities on satellite drop outs do not issue cycle slip Cancel Apply 68 GrafNav Advanced 2 Options Static Session Setting These parameters govern how GrafNav processes static baselines The options for this setting include the following Split into two sessions if time gap greater than If selected GrafNav treats time gaps greater than the tolerance as an indication of a new station occupation
398. onversion with the GPB Viewer This is important for processing kinematic data Specified Time Range Start Time GPS seconds lt The status is indicated in the top half of the GPBView window under the Mode End Time GPS seconds jo field of the Position Information box Process Mode Start Location Specifies whether the mode is to be set to Static or From Start Ki He inematic From Current Location Epochs to Convert Determines which observations will be switched Lo OK Cancel Convert using the following options a All Epochs Switches all epochs from the start of the file onwards or from the current location onwards depending which starting point is specified under Start Location options Specified Epochs Converts the specified number of epochs subject to the chosen starting point You can also convert a specific time range that is based on GPS seconds of the week Start Location Use in conjunction with All epochs and Specified Epochs under Epochs to Convert Determines the starting point of the conversion GrafNav GrafNet 7 60 User Manual Rev 1 221 Chapter 8 Recalculate Position Re Compute C Position only Time Only Position and Time Measurement Usage Epochs C AllEpochs from Start All Epochs from Current Position Specified Epochs from Current Position CZA Code suggested J C P1 Code P2 Code not suggested Processing
399. oppler signal is missing or unstable using the CA code will create fewer problems than using L1 phase but velocity accuracies may be worse Use ephemeris static Assumes static data and computes Doppler from satellite velocities Receiver Specific The following settings are available Reverse sign on phase Trimble Some older versions of the Trimble software created RINEX files with incorrect signs on the phase measurements Reverse Doppler sign Trimble Some older versions of the Trimble software created RINEX files with incorrect signs on the Doppler measurements Data has SV clock applied GRAMS Data has earth rotation applied GRAMS Obs time has clock offset applied GRAMS Ephemeris The following settings are available Prompt user if RINEX Nav file is missing If a navigation file is either missing or has a different name than the observation file you will be prompted to select a navigation file Use alternative ephemeris file User may define path to navigation file manually This will override the previous option GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 t Rinex Options r General Options I Make all epochs Kinematic IV Use new GPB format IV Write OBS file header information to message log and STA file Tl Show cycle slip messages I Use APPROX POS in header for each epoch position r Advanced Options GLONASS PRN offset 22 J Shift time to user interval Receiver Spe
400. or features and static sessions GrafNav lets you select the antenna model and height it also allows you to enter the height measurements of the antennas long as a proper antenna model is being used When using this option ensure that the correct antenna height is entered and prepare to be required to edit the antenna information after a new project is created The antenna models are created from data acquired from NGS and cannot use the measuring mark on the antenna as the origin This adds an error of several centimeters to the antenna height Check each antenna model before using it and ensure that the final overall vertical antenna height is from the monument to the L1 phase centre The greyed Vertical antenna height field under Settings Coordinate for either the master or remote shows this value It is better to create your own profile if you have the following knowledge about the antenna characteristics e Vertical offset from the measurement mark to the L1 phase center e Vertical offset from measurement mark to L2 phase center Existing antenna profiles can be used for difference between L1 and L2 offsets e Horizontal radius of antenna from measurement mark Used only for slant measurements e Elevation based antenna errors optional Once you know these characteristics follow the steps in the shaded box to create an antenna profile An antenna height model can also be created with correction values from anot
401. or reject ing bad KAR solutions relflag ON OFF and it enables stricter reliability tolerance Use this maximum number of satellites in the KAR ambiguity search routines KAR_USE_DIST ON OFF MaxL1Dist MaxL2Dist KAR_USE_FAR ON OFF L2_LOCKTIME ON OFF L2_MAIN ON OFF L2_SLIP_TOL 0 20 LOCKTIME_CUTOFF 8 ON to prevent KAR from using long baseline data Tolerances for single and dual frequency processing are in km Normally computed automatically from KAR DISTANCE ON if KAR to use all data less than distance tolerances OFF will just use data until maximum distance exceeded Default is off ON to use L2 locktime for cycle slip detection For some receiv ers e g Ashtech this can lead to more cycle slips being detected than really do occur If turned ON GrafNav will only use P2 L2 for single frequency processing special applications only Tolerance in L2 cycles at which an L2 cycle slip will be assumed Default is 0 4 cycles Phase data will be ignored for the first 8 seconds after locking onto the satellite Change this value to 0 to process all phase data or a large value to ignore the first n seconds of lock This gives the phase lock loop a chance to stabilize MB MASTER ANT L1VertHgt L2Corr MeasDist SlantFlag 1 0 ProfileName MeasToPC GrafNav GrafNet 7 60 User Manual Rev 1 This is the extended version of the antenna height for a multi 294 Appendix MB MASTER DISABLE ON OFF MB MAS
402. or removal from plotting and output Plot all DOPs on one graph If multiple DOP plots were requested for viewing in line graph format enabling this option forces them to be displayed on the same plot Display seconds of the GPS week instead of H M S Toggles the format of the X axis labeling between GPS seconds of the week or H M S P4 Ifany changes were mistakenly saved in Mission Planner the defaults can be restored by deleting the WPMissPlan ini file in the C Windows directory GrafNav GrafNet 7 60 User Manual Rev 1 135 Chapter 2 136 2 Download GPS Raw Service Data 2 x Download Add from List Add Closest Options m List of Stations to Download Clear Settings Path to send files to c GPSData Manual_Data remote Browse Date and Time Range GMT time zone date is M D Y Date 04 09 2005 Start 22 00 00 Length 4 00 h Ouput data interval Leave as is Resample to new interval 1 00 2 cme GrafNav 2 8 12 This utility is available via the Tools menu in all of Waypoint s programs It downloads free RINEX data from different services and converts it into GPB format The option to resample the data to a higher interval is also available The accessible services are websites and FTP sites that store data from a number of GPS sites The services currently included are CORS IGS AUSLIG IGN GSI BKGI EUREF ASI CDDIS and OLG You are
403. ore to the status they had previously 3 4 5 Compute Loop Ties In some cases the Traverse or Network residuals shows a poor fit The first step is to ensure that the network is minimally constrained which means that there should only be one 3 D control point or one horizontal and one vertical point Convert any additional control points to check points See Section 3 3 8 on Page 155 or Section 3 6 6 on Page 170 for help For a constrained network the poor fit indicated by large residuals can be caused by the following two issues e Incorrect antenna heights used for multiple occupations of a point e Baseline solution is incorrect by far the most common cause In some cases it is obvious from the traverse output which baseline is the culprit but often further investigation is required The Compute Loop Tie feature makes such examinations much easier By adding the vectors of a loop within the network discrepancy values are formed in the east north and height directions For a loop without problems these values should be near zero If not then one of the baselines forming the loop has an error Loops can be formed in the following two ways e Selecting stations of vertices e Selecting baselines forming legs of loop Make the selections on the map or by selecting stations or sessions in the Data Manager window After selecting the first station or session hold down the Ctrl key while selecting the remaining ones Selec
404. otion is not well characterized by the polynomials used so its interpolation is unreliable GrafNav GrafNet 7 60 User Manual Rev 1 Concatenate Splice and Resample GPB Files Input Files To combine must be in sequential order and cannot overlap in time Add Remove Info Chapter 8 E Output File s tesampled IV Copy ephemeris files epp C Combine all Input Files into one file Output file name eee o Process Input Files individually Append the following text to each file name Break up input files into time sliced output files IV Copy station files sta Time Interval Options Copy each epoch Only keep epochs on interval fi 5 00 seconds Resample to higher interval Interval Time Range Options Copy all epochs C Copy Time Range GPS Time Copy Epoch Numbers Start End Add input files set output file and press Go Go Close About Z 223 Chapter 8 Resample to a Higher Interval x Data Mode Automatic Single Frequency Dual Frequency General Options nterpolate using a Data Interval 0 10 s Interpolate using times from a GPB File DO O r Advanced Options Window size Bo epochs EE IV Automatic 80 0 sec New Data Interval Number of interpolator terms Maximum time span Fine cycle slip tolerance 0 9 cycles 5 0 cycles 10 0 im Coarse cycle
405. ows you to inspect edit or add Dare 1960 Clarke 1880 NEN conversions between datums Normally Dascenls 1958 International conversions are from to WGS84 although DAyablight Ciske 1a f conversions between any two datums can be J Oniy show enabled datums added This tab can also be used to make a particular conversion the default conversion between a given datum pair See Section 9 8 on Page 277 for more information zixi Ellipsoids Project Options Datums Datum Conversions Elipsoids This page allows you to inspect the a b or 1 f Show conversions between these datums values for a particular ellipsoid You can also add From AllDatums x To wassa z Enabled only new ellipsoids although most of the world s heparan en ellipsoids should already be present Section 9 8 on FROM to TO INFO Wes qe Page 277 for more information NADS3 to WGS84 VERB02 7 P Vel ad ae cb NAD83 to WGS84 NRCAN 7 P Vel Ee Grid Map Projections ALAGD84 to WES84 AusLig patemi an Edt GrafNav projects store grid information Set up a dL ED50 to WGS84 DK 7PARAM 7 Param 4L ED50 to WGS84 NIMA 7Param 7 Param Remove grid for the following reasons 2L NAD27 to WGS84 VER602 7 Param M di b d directlv i L05GB36 to W6SB4 Parameter 7 Param default Set Defaut aster cgordinates Cai Ve entered directly Ay Israel to WGS84 Israel 7 Param default a grid system This may be very convenient if Aynapes toWGS84 7P AI Con
406. owse r Overwriting Files 21x Overwrite existing files with newer files Append an B to end of newer files gt RINEX Options IV Use D1 in observation file if available J Leave raw RINEX files in Current directory i e don t delete them IV Use New GPB format FTP Settings Email address for anonymous FTP entry support waypnt com JV Use Passive FTP for firewall and DSL modem compatibility m Other Files to Download I Precise Ephemeris File SP3 J IONEX File Map of the TEC lonex File Source CODE About Download J Precise Clock File clk e RINEX Options Use D1 in observation file if available The Doppler measurements in the RINEX file is written as is to the GPB file Leave raw RINEX files in Current directory May be selected if you do not wish to have the RINEX files deleted after conversion to GPB is complete Use New GPB format Disabling this option converts the RINEX files into the old GPB format Disable this if the data will be used in Version 6 03 or older Specified correction files Precise Ephemeris File Final precise ephemerides available at 12 days latency are prioritized If it is unavailable the rapid orbit available at 17 hours latency is used instead IONEX File Contains information regarding the total electron count of the ionosphere This is useful in single frequency point processing to help the process
407. ox to remove some of the intermediate processing files GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 How to process all sessions 1 Select Process Process Sessions 2 Select All unprocessed as the Sessions to Process under the Process tab 3 Click the Process button How to verify that all baselines have passed 1 Right click the failed baseline 2 Select View Results or View Information to find out where the problem lies P4 See Section 9 5 on Page 264 for tips on dealing with these baselines How to run a network adjustment 1 Select Process Network Adjustment 2 Press Process How to export a station coordinate 1 Select Output Export Wizard 2 Enter an output file name 3 Select the source for the coordinates usually Network 4 Select a profile containing the desired output variables How to clean up processing files 1 Select File Remove Processing Files 149 Chapter 3 How to fix bad baselines Fixed Static Solutions If fixed solution fails then try to switch to a float solution Remember that float solutions are not very good at achieving centimeter accuracies unless there are many hours of data Forward Reverse Processing Switch from Forward to Reverse processing The reverse solution might pick a different base satellite and have a different solution that passes GrafNet will pick the forward or reverse solution with the latest date so reprocess the forwar
408. p MB baseline in project to add the multi base baseline as is to the project Use the Skip disabled base stations option in conjunction with the first option to determine whether or not disabled bases in an imported multi base baseline will be used when creating individual baselines 180 GrafNav Batch 4 2 7 Add Multi Base Baselines This option adds multi base baselines where the observations from all the stations will be processed in the Kalman filter The best time to apply this feature is after single base baselines are added because it prevents you from having to enter base coordinates twice See Section 4 2 7 on Page 180 to add multi base baselines 4 2 8 Add Combined Baselines This option adds a combined baseline to the list of baselines in order to combine more than one pair of baselines in one project Combined files as well as multi base baselines can be combined The steps to do this are in the shaded box 4 2 9 Import CFG Files This feature allows you to import baselines as well as their solutions from other projects The steps are in the shaded box 4 2 10 Edit Selected Baseline Settings This option gives you the ability to edit the base station information as well as antenna information at the base and remote If more multiple baselines are selected then any shared information can be changed Please see Section 2 3 6 on Page 36 for information on the Base Station and Remote Antenna tabs See Page
409. phemerides data missing Corrected ranges for dual antenna window placement For CSSI users only CSI SLX and DGPS MAX Table 18 describes the supported records Make all epochs kinematic Enabling this option sets the entire output GPB file to kinematic mode Otherwise it will be set entirely to static mode Javad amp Topcon lt This converter supports GLONASS enabled receivers Table 19 describes the supported records The following describes the options available for this converter Decode GPS Only This option forces the decoder to ignore all GLONASS data Make all epochs kinematic The entire file will be set to kinematic mode Use code and carrier from P1 instead of C A Measurements from P1 can be used instead but this is not recommended GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 8 Rockwell NAVCOR Options V Make all epochs Kinematic MV Skew measurements to whole second Ignore data from secondary alternating channel Correct measurements for satellite clock Use alternate ephemeris Browse I Corrected ranges for dual antenna window placement Dual antenna distance Im Factory Defaults OK Cancel Table 18 Records Supported for CSI SLX and DGPS Max Record Type Comment 96 Measurements Required 95 Ephemeris Required 1 Position Recommended for GrafNet users Table 19 Records Supported for Javad amp Topcon
410. plot and monitor this value User Selected File Plot data from This feature can be used to plot data from a comma or space separated file This spares you from having to use a program such as Microsoft Excel or MatLab to plot the data It can also be used to plot the results of the Compare utility GrafNav GrafNet 7 60 User Manual Rev 1 105 Chapter 2 Table 5 Multi base Plots Plot Measurement C A Code Residual RMS and Weighting Description Shows root mean square RMS of C A code residuals for each baseline The measurement standard deviations are also plotted on the same or separate plot This plot is useful for identifying if one base station has better or worse code residuals than another Carrier Phase Residual RMS and Weighting Shows the carrier RMS for each baseline Viewing this separated value is better than the combined value shown from the RMS Carrier Phase plot This plot shows incorrect base station coordinates Doppler Residual RMS and Weighting If you require accurate velocity use this plot to identify problematic Doppler data from one of the base stations Distance to Base Stations Separation Carrier Separation Shows the difference between the masters and remote in kilometers There is a separate line plotted for each baseline Large base station position errors can be observed here this is also an effective way of spotting poor quality
411. ply the options set under Options Global Settings to all baselines being processed Any individual baselines whose settings were changed will have their settings overwritten Use individual settings stored for each session Will use the options as individually set for each baseline for processing 157 Chapter 3 Fixed Table 14 Processing Modes Maximum Distance km Minimum Observation Approximate Frequency Accuracy Time min Single 15 15 Dual 5 50 5mm 1ppm 5mm 1ppm Float 10mm See Note See Note 2 3 2ppm Single lono free 10mm See Note 2 0 5ppm Dual ris Note Automati c Chooses between Fixed and Float depending on baseline distance Chooses between Fixed and lono free depending on baseline distance Single Dual MX 158 1 Observation times should be increased for longer baselines For single frequency a good rule of thumb is 10 min 1 min km For dual frequency these times can be halved Observation times should also be increased during poor satellite geometries i e high PDOP 2 No minimum time is given but accuracy improves with observed time A few minutes of observation will only achieve sub metre accuracies under very good operating conditions 3 For dual frequency receivers use fixed or float solutions for baselines less than 50 km and iono free solutions for more than 50 km 4 Accuracies are given for average
412. position These messages are preceded by The omission of satellites baselines or time periods from processing 52 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Static KAR Summaries This summary file displays the processing settings and the statistics for successful KAR fixes and static sessions Other items reported in this summary are listed in the shaded box See Chapter 7 on Page 205 for an example of this summary file Trajectory This file gives a detailed output for each epoch It keeps a record of the data computed during kinematic processing There is a plot available for most of the statistical information contained in these files This file is normally used for the following reasons e Comparison of numerical values between epochs or solutions e Searching for information relevant to a specific epoch via use of the F3 key e Determining which satellites were used in the solution and which was designated the base satellite e See Section 7 4 3 on Page 216 for a complete description of both the old and new output formats GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Static Kar summary report items Final solutions for all static sessions as well as type of solution obtained Time and place at which KAR engaged successfully as well as the corresponding statistics Such information is useful for evaluating whether or not KAR resolved ambiguities correctly Processing settings
413. presents the radius of curvature of the Earth 6371 km while h is the height of the second point also in kilometers Once you click the Finish button the grid is defined and appears in the list of grids in the Define Grids window This grid is now available for use in the Export Wizard so long as you select a profile containing the Selectable Grid variables See Section 2 7 4 on Page 107 for more information 9 6 6 How do I define a local coordinate grid Localized systems can often be best reproduced in Waypoint s software through the creation of a Local Definition File LDF These can be defined in advance via Tools Grid Map Projection Define or through the Export Wizard at the time of output by using any profile that contains the Local Plane variables The following procedure assumes you have chosen to create the LDF file in advance Create a New Grid Definition Select Tools Grid Map Projection Define The Define Grids window appears and displays a list of already existing grid definitions Click the New button and give the grid an appropriate name Select Local Coordinate Definition as the grid type Click the Next button Select Transformation Parameters From the Type drop down menu in the Definition box select the transformation that is required lt An error will occur during the computation if insufficient observations have been supplied for the selected transformation Next specify the datum in which the geograph
414. proprietary format Adjunct features include waypoint navigation as well as satellite and scatter plotting capabilities In addition stations and events can be marked and written to STA files which are compatible for post processing in Waypoint s software 8 9 Getting Started with WLOG This section examines all the steps required to begin logging data through WLOG by analyzing each screen encountered when creating a new project GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 fu New Project Step 4 of 10 x Receive Data by BaudRate fatalt Protocol Serial Port Multicast TCP IP Network C UDP C TCP Port Number COMPUTER COMPORT COM1 System Porl SS jo 3 6001 How to log data with WLOG con t 9 If using serial communication to obtain data from the GPS receiver specify the computer COM port to which the receiver is connected to lt Choose an appropriate baud rate from the list The 10 11 12 13 baud rate must be compatible with that of the receiver and must take into account the amount of data being received i e size of data records data logging rate etc Consult the receiver s manual Select the parity For most receivers None should be selected Consult the receiver s manual Select the bits For most receivers Eight should be selected Consult the receiver s manual Click Next Proceed to Step 15 If rec
415. ptions Make all epochs Kinematic Entire file will be set to kinematic mode Use new GPB format Converts data into the new GPB format Write OBS file header information to message log and STA file Saves header information from observation file to message log and station file Can be useful for determining receiver and antenna type Show cycle slip messages Prints L1 and L2 cycle slip messages Use APPROX_POS in header for each epoch position Uses approximate position from header in observation file for each epoch s position Advanced Options The following options are available GLONASS PRN offset Shifts PRN number for GLONASS satellites Offset must be greater than 32 to avoid conflict with GPS constellation Shift time to user interval The decoder will attempt to determine the data interval by reading the header or scanning the observation file If this fails enable this option to force an interval GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Doppler Source This options allows you to choose a method of obtaining Doppler measurements The following choices are available Automatic use D1 value Uses D1 value if present from RINEX file for Doppler Otherwise it uses Calculate from CA code for data intervals of 10 seconds or less and Use ephemeris static for anything else Calculate from L1 phase Should be selected if the Doppler signal is missing or unstable Calculate from CA code If the D
416. purple If the baseline shows up as blue a serious error has occurred See Section 3 2 1 on Page 150 for steps to follow if a baseline fails 3 1 3 Once the processing is complete there are two methods to produce coordinates for each station Computing Coordinates Traverse Solution This solution automatically computes during processing It starts from known stations and transfers positions to neighboring stations one baseline at a time A tie or closure will be computed for stations that already have coordinates transferred Network Adjustment This method takes all of the baselines into account into a single weighted least squares adjustment It spreads the errors out over the entire network and takes advantage of redundant baselines using covariance weighting to produce more accurate station coordinates The network adjustment flags erroneous measurements in the sense that the residuals calculated baseline vector minus observed value will be unacceptably high This is most obviously displayed by the PPM parts per million value 3 2 Start a Project with GrafNet The information in this section tells you how to start a project and quickly process a static network using GrafNet The individual menu items are discussed later in this chapter Install Software Verify that the installation was successful by ensuring that you have a Waypoint GPS program group on your computer If this program group is not there see Secti
417. quency carrier phase The benefits of processing in dual frequency mode include the following e Better accuracy on baselines longer than 10 km when ionospheric corrections are enabled e Improves the reliability of integer ambiguity search techniques 61 Chapter 2 GrafNav CYA code only DGPS Differential Global zix Positioning System lonosphere L2 FikedStatic KAR1 KAR2 UserCmds Processes in an advanced differential correction Process General Advanced Advanced2 Measurement mode and is performed on data with little or no p Process Direction carrier phase information For kinematic data Oj c Esth foma eris the accuracy is the same as real time differential mo or RTCM corrections In static mode the Single frequency carrier phase C C A code only DGPS accuracy is higher due to the averaging effect C Dual Frequency carrier phase Occupation mode m Static Initialization Occup ation mode Float solution or KAR see KAR options engage in static This special mode of operation is designed for Fixed static solution for each static session see general options l gerea opio areas of heavy tree cover In this mode you ee aan oen should remain stationary over each point of C Automatic Off C On Manual engage only p n interest for 2 to 5 minutes In this mode carrier r GPS Glonass Processing A 3 Automatic C GPS only C GPS GLONASS phase lock does not have t
418. r AK s l RAS SARA AN a 103 5 Mulltlsba sSe Plots eritadi ledeassnadatensvaandatasnanddddeanleplassissnnaddd eb Conane ebuadteaaraneddaezaelddedaaaad 106 6 Transformation Parameters misssssssssssesseereersrrsssransrnsrnnrr rss ra ss an sann rn rss rr RAR AR RAK KRKA RR ARR RR RESSE EEE KA RR RR nn 116 7 Quality Number Description assessino tay ess NN SN NANA FANNS R 122 8 Notifications Window Messages s stssssssssspsdssssspvisssnsnstssdssninsbe EER SASEAR 123 9 Processing Window Parameters mm ssmseums lsissenssedisse massa sansad ssd NAAL KARA SN SAK ARKA ANA AE HAKAN ANNA KKR 124 10 Notifications for Static Processing 4sssawieisssinnesnsesowessss ss bass sen ns End EEE ARENAER NANA RNE 124 11 SONICS WEDSITES i s aids innen nd sade bedrar dann dd des eler AR ad ARSA NME Ad An MAGAR ba HATA S r RAR SRA HARAR SNR S 141 12 Correction File Producers nmsmssssdssssnsiedn ccc a a rosaduaaniscs aceceveneasdeesa nad ldvea KR RAR NAN AR 141 13 SOO TYPOS iara a ations ae att ele eld an A eee el eee eee 146 14 Processing Nodes iia dated rr ASA ATA RANS TER 158 15 Station Colour Legend ssicus cnvsehcceettvcaducesereadeceeiveeds cia veeduccenvaendietnvende aviv NAR ASA B RA S NRA NN AG 170 16 Baseline Colour Legend c scscchecetetepsceeeding peteenesanphdentriseedea hb O 175 17 List of Attitude Plots Available with GrafMov cccccceceeceeeeeeceecencaaeeeeeeeeeeeeeeeeseeesensusaeeeeeees 193 18 Records Supported for CSI SLX and DGPS Max
419. r Numeric counter which normally increments AntHeight Height of the range pole or tripod in meters Attribute Feature name and attribute string Field separator should not appear in any of the above fields 7 3 4 EPP File Waypoint s software uses a custom ASCII file format for the ephemeris records These records are created in real time with Waypoint s data loggers or from the Convert Raw GPS data to GPB utility Since this file format is ASCII a simple text editor can be used to combine ephemeris records from multiple concurrently collecting receivers This is useful if some ephemeris records were missed from some stations Duplicate records will be automatically ignored by the software 7 4 Output Files This section discusses some of the different output files that are created when processing with Waypoint s software 7 4 1 FML amp RML Files The Forward Message Log and Reverse Message Log files simply echo all error and warning messages sent to the Processing Window during processing The common messages are explained here Reading ephemeris files Processing ephemeris file C GPSData rover_ epp Detected 40 GpsEph 0 GlonassEph 0 GpsIono and 0 GpsAlmanac records This message is shown at the start of the file It is a good message to check to see how many ephemerides were loaded Best base on BL1 is PRN 17 with 4 points and elevation of 62 1 degrees Second best on BL1 is PRN 16 with 2 points and elevation of 51 7
420. r file s are in the shaded box When loading master files make sure that the data from both moving stations must have been logged simultaneously When loading remember that base station coordinates are irrelevant in because the base station is moving but try to enter the appropriate antenna information Load Remote File The steps on how to load a remote file is in the shaded box Select Moving Baseline Options To successfully process moving baseline data go to Settings Moving Baseline Options The Enable moving baseline processing options must be enabled If you are interested in attitude determination indicate so with the options under Azimuth Determination See Page 192 for more information on the options available Process The steps for processing are in the shaded box For this tutorial the defaults associated with the software will be accepted See 2 5 on Page 61 for more information While the program is processing pay attention to the quality bar Ideally it should settle down to a level of 1 or 2 if the GPS data is reasonably good See Section 2 7 10 on Page 123 for a description of the quality factor If this bar spikes it will probably coincide with a loss of lock or large phase and pseudorange RMS values and possibly unstable ambiguity numbers and corresponding solutions For slower computers view the values during processing but faster units process epochs at such a high speed that visual inspection is l
421. r file name MasterName ext File extension txt Chapter 4 lt Back Finish Cancel 185 Chapter 4 186 GrafNav Batch 4 5 4 Export Selected This feature exports only those baselines which are highlighted in the List of Baselines window If you select CMB File the software writes a separate combined file for each of the selected baselines See Chapter 7 on Page 205 for a description of the format used for this file Selecting ASCII Use Wizard launches the Export Wizard utility to create output files in a pre defined or user defined format See Chapter 2 7 4 on Page 107 for information If multiple baselines have been selected for export you will be prompted with the Combine Multi Base window The options available in this window are described in the shaded box View Export Files This option opens the ASCII viewer to view the last output file that was written using the Export Wizard If the Break up batch sessions into separate files option was selected in the Export Wizard this feature will return an error since it looks for an output filename corresponding to the name of the project In this situation select File View ASCII File and then browse to the output file of interest See Section 2 4 8 on Page 60 for more information 4 6 Tools Menu See Section 4 6 on Page 186 for information regarding the features available through this menu gt lt The Mission Planner and Download Servi
422. r sann ennen rr ran rna 236 30 Records Supported for Septentrio SBF ussmesssessesrerrrrrrsssrsssosnerrrrrsrrrrsr ens rnnr nns rr rr nns ren sr n rann er rn Ennn 236 31 Records Supported for SIRF Binary ss ss2smdsssisssssd iiaia dias ah ssd eee sand adden Sand a aa aai 237 32 Files Supported for Thales B File isosesssssssssssssesrerrrsrnsssrnssnnrnnrrr nns rer sr anar n areor sr nr RAR AR ARR RR KKR KKR RASAR nan 238 33 Records Supported for Thales Real Time usssesssessrerrsrrrsrsrrsrrssennnernrrrrrrenrrn rn nr rer rr rr renarna trtne rn rn nan 239 34 Records Supported for Thales DNSP stessessesserrrsrrsssrsssessenreererrrrseres renar nr rr er ere r rr rr r rar R RR rn nr sr rare nn 240 35 Files Supported for Trimble DAT sicssescssctenrabedccceasandscdusnsncdacedaranndaaceansaancdcaatnnadsaceavandasdeisesdadiadarans 240 36 Records Supported for Trimble Real Time c cceceeeeeececceeeeeeeeeeeseesecenenaeeeeeeeeeeeeeeseseeesnnaeees 240 37 Records Supported for Trimble TSIP cisnssessssssssssesseerssrrssssassnnrenrrrnsrrrssr annen arr rss nr sr RAR RR sr RR RR RAR RAR na 241 38 Records Supported for Trimble TIPY cnossmsssssssssssssssssssnseeraernnsressranssnnrrrrer nns rer sr an ara r rr narr RAR Rn na 241 39 Reco rds Suppo rted Tor U BIOX ssssstsmsissssssasssdsd end iia i a aE aa Ea 241 40 Geoids and Service Provider Website Addresses unnss sssssessssssresrrsserersssesss rss sens rss sr sn rss sansa 283 41 Listof Output Variables ciiin aada
423. r static processing in GrafNet 158 tips for kinematic processing 268 tips for static processing 265 Processing Summary exporting 109 Processing Window AutoNav 203 Projections definition 281 PseudorangeSee C A Code 71 Q Quality Analysis 271 Quality Number description 122 Quick Start GrafNav Batch 177 307 Index 308 R RBVSee Binary Value File 67 Receivers supported by data logger 29 supported GPS receivers and formats 226 Remote File adding to AutoNav 200 adding to GrafNav Batch 179 antenna information 93 initialization 93 Resampling base stations 40 processing resampled data 83 262 resampling GPB files 223 resampling output in Export Wizard 111 revision manual 2 RINEX converting GPB to RINEX 49 converting RINEX to GPB 234 data sources 141 downloading RINEX data 136 tip for kinematic processing 260 RML FileSee Message Logs 52 RSS FileSee Static Summary 53 S Satellite Clock Files adding to project 39 description 39 source 141 Satellite Weighting 70 Seismic Data processing in Occupation Mode 62 using Move to Static 56 Single Frequency L1 single point processing 86 processing using L1 only 61 processing using L2 only 74 Single Point Processing options 86 Software installation 23 Solution fixed static 29 62 146 float 62 146 iono free 146 KAR 26 SP3 FileSee Precise Ephemeris 39 Splicing GPB Files 223 STA File editing 55 new format 206 old format 208 vie
424. r the first time start a new project To do this use File New Project PM GrafNav Batch s project configuration files carry a BNV extension 4 2 2 Open Project To open an existing project follow the steps in the shaded box 4 2 3 The program automatically saves the project file BNV prior to processing Any changes made to the observations are also saved Save Project 4 2 4 Save As Use the Save As command under the File menu to create a new project that has identical processing options as the current project This allows you to change the options in the new project and process the data without losing the solution computed by the original configuration 4 2 5 Print See Section 2 3 5 on Page 35 4 2 6 Add Baselines Use this feature to add independent single baselines to the project Before added single baselines specify whether this project will contain One base many remotes or One remote many bases Under the Source Files window select which GPB files to add as masters and remotes and click OK You will be prompted to enter base station coordinates You will also be prompted for antenna information at all base stations and remote stations Please see Section 2 3 6 on Page 36 for additional information regarding antenna measurements GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 4 Batch test GrafNav Batch 7 60 TER Process Settings Output Tools Window Help New Project Open Project Save
425. rafNet 3 4 3 Ignore Trivial Sessions GrafNet defines trivial baselines as those that are unnecessary and result from multiple receivers simultaneously running The problem with this is that the baseline solutions computed by GrafNet are correlated and so they are dependent Removing trivial baseline reduces these dependencies while still maintaining a closed loop It also creates a network where the standard deviations reflect the actual errors more accurately GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Chapter 3 Consider the network in Figure 3 The six stations are surveyed with four receivers during two one hour sessions During the first session stations A B C and D are observed During the second session the points C D E and F are observed This network can be divided in two sub networks formed by the first and second time periods Before the trivial baseline removal every baseline in these two sub networks is dependent on the other baselines These dependencies cause the loop ties to be low With four receivers or more collecting data at the same time a sub network is very over determined Using three GPS receivers the network is still over determined but all baselines need to be included to form a closed loop GrafNet removes these dependent or trivial baselines by creating a single loop that connects all of the points in the sub network Figure 5 in the shaded box illustrates that it is easy t
426. rdlock code Hardware Key Info Upgrade Read Key Close How to upgrade your software 1 Contact Waypoint to obtain a new key code for the hardware lock or expired demo codes For contact information see the Forward on Page 15 2 Verify that the software is installed 3 Press the Start button 4 Click on Programs Waypoint GPS Utilities Hardlock Upgrade Utility to start updating the hardware lock 5 Click on the Read Key button 6 Copy down the existing key code and keep the code This helps prevent the loss of a full working key code when testing out a newer demo or beta version of the software 7 Enter the provided 16 character alpha numeric key code and press Upgrade 8 Install the upgraded software from the FTP site link provided by Waypoint Versions 7 50 and greater of KeyUtil exe are not compatible with previous versions The software only functions if the hardlock key has been upgraded with a newer version of KeyUtil exe that is 7 50 or greater The version number appears in the title bar P4 Itis recommended that you uninstall older versions of the software once your upgraded software is installed See CD Contents and Installation on Page 24 25 Chapter 1 1 3 Processing Modes and Solutions Processing Solutions Fixed static solution This solution is available when sufficient cycle slip free data is obtainable This algorithm starts with the float soluti
427. re difficult to incorporate a geoid model as there may not be one for the datum 4 Check the transformation under the Transform Coordinates tab 5 Under Settings Datum make sure that the Convert input coordinates to processing datum for Nadcon and localized datums option is enabled This can also be done by clicking the More Datum Options button under Settings Individual General In addition ensure that WGS84 or NAD83 is selected as the processing datum 9 8 7 How do I prevent corruption from conversion errors In many cases datum transformations can have errors of several meters or more Be cautious about using any transformation in an absolute sense Transformations should only be used for relative corrections Care should also be taken that the same correction be used throughout Here are several tips on minimizing these effects 280 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 e Process in the local datum e g NAD83 EDS50 etc as much as possible This methodology effectively uses a relative datum correction and minimizes the possibility of using multiple datum conversions Processing in the local datum is performed by selecting the processing datum under Settings Individual General Click on the More Datum Options button to ensure that the Use processing datum by setting processing datum to local datum option is enabled e For localized datums i e datums with large rotations scale or shi
428. re has to be a period of at least 10 minutes without a loss of lock These conditions are not always possible in many environments For dual frequency data on short baselines less than 8 km try enabling Use fast KAR under Settings Individual KAR Enabling the Use Fast KAR even for 5 SVs option is not suggested For dual frequency GPS data with good C A code the following tricks can be used Under Settings Individual Measurement set the C A standard deviation to 2 to 3 meters Under Settings Individual KAR change the size of the KAR dual frequency search region to 1 5 meters Under Settings Individual KAR raise the KAR minimum time for dual frequency to 3 minutes or more Under Settings Individual User Defined enter the KAR_SEP_TOL 0 75 command Using this procedure will help KAR to find a solution but may increase the chance of a false intersection as well Therefore it is important to check that the forward and reverse solutions agree 9 4 4 How can I use KAR on long baselines Most of these tips are available primarily to dual frequency users due to the ionospheric modeling The Jonospheric correction model removes ionospheric error to improve reliabilities and also seed the ionospheric correction when engaged The Automatic option chooses between the High noise and Ionospheric correction models based upon the distance when the search is performed The distance tolerance for choosing be
429. re not concerned about various low quality positions Do not write epochs with poor statistics This setting removes epochs from a solution that have quality numbers or standard deviations greater than the specified threshold Use this option to try to filter out bad positions from the output Output Settings These options pertain to the amount of information written to disk Trajectory output level This option allows you to select the format of the epoch output files The setting options in the drop down menu are described in the shaded box Print input settings to static KAR summary Prints processing settings at the start of the FSS and RSS files This is useful for tracking the options that were used to create a solution file After each run a copy of the CFG file is also saved in the Process History Write MB binary values satellite residuals Writes carrier code and residuals for each satellite and baseline to FBV and RBV files This setting are always enabled for MB processing Write cycle slips to message log Prints satellite cycle slips and rising falling messages to the FML and RML files Disabling this option creates a more concise message log but these multiple messages might help locate a problem satellite GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Trajectory output level setting options Normal Default for GrafNav Extended covariance This format is suggested for users who require additi
430. re to use the options under Settings Individual Fixed Solution for the static session Otherwise click on the Edit Fixed Options button to customize the options for this session GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Edit Static Session m Time Range Start 6200 0 w1318 01 43 20 0 04 10 2005 End 6399 0 wi318 01 46 39 0 04 10 2005 Lenath E minutes 19 seconds r Point Name and Antenna Height Automatic determination from nearest station or global settings Override with these values static Antenna Height 0 000 m to L1 PC Point Name Change Generic Fixed Static Settings Fixed solution usage C Never C Always amp Only if distance and time OK IV Use global fixed static options Edit Fixed Options Override values Point Name Allows you change the station s name Antenna Height If this value is known enter the antenna height especially ifa static session is being processed in GrafNav To select an antenna model click the Change button Fixed solution usage settings Never Float solution are used for the static sessions Always Fixed integer solution are attempted for the static sessions Only if distance and time OK Fixed integer solution are attempted if the baseline distance and session length are within the constraints which are found under Settings Individual Advanced Otherwise a float solution is used 59
431. red in binary value files that can be exported to ASCH e Initialization settings are now stored in the program instead of the windows directory e Batch processor now prints a map window GrafNet User Interface GrafNet 7 60 has a redesigned user interface that is much more powerful and includes a new data manager that allows more intuitive control of project information With GrafNet 7 60 any loop tie can be computed by selecting stations or baselines forming a closed loop this is useful for determining erroneous sessions In 7 60 Measurement and Advanced settings can be modified in GrafNet and there is no longer a need to use GrafNav because you can plot baseline statistics directly from GrafNet GrafNet now supports separate horizontal and vertical control points so there is no longer a requirement to have at least one 3 D point GrafNet 7 60 has better traverse and session reports and improved traverse computation The session dialog box has been replaced with a menu that is easier to use GrafNav s improved processing window is now implemented in GrafNet and the Mission Planner is now accessible from GrafNet For processing multiple precise ephemerides are now permitted for long static sessions and you can specify observation GMT date to correct for GPS week number problems caused by mixed up or missing ephemerides You can also control when float solutions are considered a pass The exporting error ellipse a and b now u
432. requency C Fixed search region with size 4 00 m frequency data are considerably more reliable than f1 00 fmm Autoreduce use scale factor 3 00 2 4 those using only single frequency data KAR can aya deliver accurate results with single frequency but Maximum distance for single frequency 7 50 km it requires more time Maximum distance for dual frequency oo 7 km PM Both single and dual frequency KAR p Options for Engaging KAR require at least 5 satellites but 6 or FE Engage KAR whie in STATIC mode more is preferable If KAR fails after I Engage if distance lt 5 0 km reset if distance gt J50 0 kml given length of time it starts J Engage KAR continuously every fisco min searching over again Engage on event of poor DD DOP 25 0 As long as KAR successfully resolves GrafNav restores the ambiguities from the moment it engages so that centimeter accuracies are only unavailable for the actual period of signal obstruction If no additional complete signal obstructions are encountered following the initial loss of lock and there are good quality phase measurements and low multi path KAR resolves The FSS or RSS file shows when KAR was engaged and when it was restored Additional KAR statistics are also shown here Cancel Apply GrafNav GrafNet 7 60 User Manual Rev 1 77 GrafNav Chapter 2 Process GPS or GPS GLONASS Process General Advanced1 Advanced 2 Measurement lonosph
433. rest epochs and places the camera mark on it It is simple but effective Load Settings From Profiles This feature loads configuration settings from one of the following Polynomial ne e Factory Defaults Built in default settings nd This method uses a 2 order polynomial and cannot be altered gives the best accuracies but it can sometimes induce larger errors if epochs are missed or e GrafNav Defaults Start up settings that can be dynamics are very high This can be detected by altered Otherwise same as Factory Defaults viewing the RMS value computed for each Pre l Profil g Ai L t camera pulse To do this follow these steps Pe DAAC PONID Gar nor ie Los TON Tree Cover etc These are settings that come 1 Click on the station or write the pre loaded with the software i e User created Profiles These are profiles that 2 Select Features and use no geoid have been created by you ee Db When using a profile all processing settings In such cases the linear interpolation model can potentially be edited except those found deliver better results You can also change the in the Process tab See Page 6 for help with size of the window that the polynomial fits into these settings Ideally this number should be kept at 4 but it can be increased for more averaging lt Only use this when very high data rates are available 98 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 See R xi
434. rinted from GrafNet Input Stations This is a list of the control GCP and check CHK points in the project Their associated geographic coordinates and standard deviations are also shown Input Vectors This is the ECEF vector components for each session that has a Good status The lower triangular of the ECEF covariance matrix is shown next to the vector components The value in brackets is the standard deviation of the ECEF X Y or Z axis in meters The covariance values are not scaled by the Scale Factor entered at the start Output Vector Residuals This is the most important section of the network adjustment output It indicates how well the session vectors fit in the network The residual values are shown in local level where RE is the east axis residual RN is the north axis residual and RH is the Z axis residual These values are expressed in meters and should ideally be a few centimeters or less Larger values may be acceptable for larger networks In addition to the residual values a parts per million PPM value is shown This indicates the size of the residuals as a function of distance 1 PPM corresponds to a cm error at a distance of 10 km The baseline length is also shown in kilometers Baselines less than 1 km can have large PPM values This is because other errors such as antenna centering become an influencing issue This might not indicate an erroneous session solution The last value is the combined east nor
435. rning the use of large DEMs IV Draw contours in mapping window IV Plot ground elevation in height profile plot General Drawing contours in the Map Window This shows up with the trajectory to display a I Draw DEM triangles in mapping window m Contour Settings s Thin interval 0 500 m topographic representation of the GPS survey ck mea must be a malla of tfn Zoom in to view the elevation of each contour Thick interval 2 000 im Plotting the ground elevation in the height Contour resolution Low C Medium High profile plot Compares the ground height to the height of ema their trajectory Sometimes the ground height slows down the plotting of the height profile Turing this off allows you to only view the height of the trajectory Drawing the DEM triangles Displays the TIN model of the network formed Turning these options off reduces any sluggish response from the program when viewing the Map Window Contour Settings You can also control the interval of the contour elevations by entering the thick and thin line intervals The thick interval must be a multiple of the thin Contour resolution Selecting a higher resolution shows more smoothness in the contour lines and gives more details It might also slow down CPU response and use more RAM Having a lower contour resolution speeds up the response from GrafNav GrafNav GrafNet 7 60 User Manual Rev 1 97 Chapter 2 GrafNav 2
436. rocessed with start end times To do this right click the session in the Data Manager and selecting Process Look for the Time Range options on the first tab GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Add Edit Remove Control Points List of Points Name Type Latitude Longitude Height These coordinates are in processing datum and height above ellipsoid Close Add Edit Add Edit Check Point General Station name v Type amp 3D Horizontal Vertical Enter Grid Coordinates Add to Favorites WE Ej Select from Favorites Ellipsoidal Height Metres v Enter MSL Height Height ignored for horizontal check Position Latitude North x Longitude Datum conversion NAD83 AUTO Datum Options lt The latitude and longitude coordinates should be in the same datum as the selected datum The height can be entered as meters above the ellipsoid or above mean sea level If height above mean sea level is used you will have to select a geoid file If a mean sea level or orthometric height is entered here then only an approximate geoid correction is applied As stations become more distant from the control point orthometric height errors will increase If more than one control point is present and orthometric heights are entered the height ties may be poorer as well 155 Chapter 3 Two conversion utilities available with File Convert Raw GPS
437. rrrrrrrrsensnnsrrr rer rer rr en rn ne nn n nn an 279 9 8 5 How do I enter a 14 parameter transformation sssmsssssssssrrrrrrerssnssnrsnnrnr nns rrerrrn rr nn nr nr ran rn nn 280 9 8 6 How do I use NADCON conversion files sovssresrrrsrrssssesssnsnerrerrerrren renare nrrr nns rer rr rn rn rn narr nn rna 280 9 8 7 How do I prevent corruption from conversion errors mnisssssssresrerrsrrrrrsrnsrnsrrrrrr rer rr ens nr nn nerna 280 9 9 Projections FAQ and TIPS ssssssassssnneense stressen sne ois E RER AREA ERNER SNAKE NA SAK R NAR 281 9 9 1 What features are available with map projeCtiONS isssssessrersrrrsrrrrssensnnrnr rer re ere renen rnr nr nan 282 9 10 Geoid FAQ and TDS iciceseecisittscevesscte ai eeviaticcs Fesisutecesvesidedecseseaivedocsvaats TEA 282 9 10 1 What are the available features Of geoids 0 00 0 ee ceeeeeeceeeeeeeeeeeeneeeeeeteeeeeeeeseeaaeeeeeeeaeeeees 282 Appendix 285 Output Variable eee nee ia a reece a restr rere trre rer AA EAEE Aa tre rr rere cere ER 285 Antenna MeaSUreMeNtS sssssssssssssesrenrerrerrerssensrennrrrnrrerr rensa snar nn r rr rr rr RKA ARR RR RR ARR RR RAR ARR RR RSKR KKR RR RKA RR Rn nn ann 289 SUMMARY of C OMMANA S 42so seeda sdenvea alien d dd des dd ok tales de BA ee Adler Hee ADS SR EEEa MA DA SA ARENA ESA NR RR 289 Glossary 301 GrafNav GrafNet 7 60 User Manual Rev 1 9 10 Table of Contents GrafNav GrafNet 7 60 User Manual Rev 1 List of Figures Closed Loop Network 551 sansad serna Erk dN a
438. rs This means that one or more tests have failed in the static solution If a baseline is flagged as Approximate then the baseline was only able to achieve an approximate 1 5 m solution and it has failed These baselines can also be considered Bad The purpose of this section is to help you re process these baselines to achieve better results There are many causes of a failed baseline and not every solution is given In some cases the correct solution has been found but the statistics just fail This indicates that GrafNet cannot label this baseline as correct If there are loops that are closed in this solution then you can change the status from Bad to Good using Override Status from within the Sessions window of the Data Manager The shaded boxes on this page and the following page contain optional approaches to fix bad data GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 How to fix bad baselines con t Doppler Usage Bad Doppler data sometimes makes data process poorly Detect this by plotting the L1 Doppler RMS If there are any large spikes 5 or more times the size of the Doppler standard deviation then this data may have problems Try to shut the Doppler OFF for carrier phase processing from within the Advanced Options Satellite Omission A bad satellite has many bad data warnings in the message log file FML RML Omit this satellite with the Advanced
439. rse sign on phase older Trimble Reverse doppler sign older Trimble I Data has SV clock applied GRAMS I Data has earth rotation applied GRAMS Obs time has clock offset applied GRAMS m Ephemeris IV Prompt user if RINEX Nay file missing I Use alternate ephemeris file al Browse Factory Defaults Table 28 Files Supported for RINEX OK Cancel File Type Comment YO One of these obs Measurements lac i TXO files is required Measurements yyd compressed yn f nav Ephemeris Required rxn 234 lt The yy in the file extensions found in the table above designate the last two digits of the year that the observations were collected in Utilities RINEX Receiver Independent Exchange RINEX data consists of two ASCII files The first is referred to as the observation file and contains the measurement data The second file is the navigation file and contains ephemeris data RINEX is a very flexible format It is interpreted differently by receiver manufacturers software developers and government agencies For this reason RINEX data occasionally causes problems and the use of options is necessary to convert the data properly to GPB PAThis decoder also supports Hatanaka compressed RINEX data Table 28 describes the supported files The following describes the options available for this converter General O
440. rwards POSB marks the end of record If the POSB record is requested after the measurement record this option ensures that their time records match Otherwise request the measurement record last This is only used when RTK or DGPS positions are to be preserved Print L1 and L2 loss of lock warnings Alerts you of the losses of lock on carrier phase Check NovAtel C A code lock bit If the receiver flags a C A code measurement as being bad the entire measurement record is ignored Reject bad C A code meas Applies only to the RGED record where a code is used to indicate the range of values that the standard deviation of the pseudorange measurement falls under This option uses this code to reject bad C A code measurements Consult NovAtel documentation for further information Beeline Receiver Data Splits Beeline data into two files for primary and secondary antennas Write new GPB format Converts data into the new GPB format GrafNav GrafNet 7 60 User Manual Rev 1 Utilities NovAtel OEM4 OEMV Table 27 describes supported files P4 Contact Waypoint to obtain the OEM4 on board program See Page 15 for information P4 Almanac data can be used in Mission Planner See Section 2 8 11 on Page 133 for help Make all epochs Kinematic Entire file will be set to kinematic mode Re compute position and clock offset GrafNav requires valid clock shift data while GrafNet requires position records Enable t
441. rwise the New button creates a new project To close the active project use the Close button without quitting the application Base Station File You can choose to either select an existing base station file or else create a new one In either case you may make changes to it via the Edit button See Section 6 3 on Page 198 for information regarding base station files You can also share ANB files among projects GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 6 How to add a remote file 1 Click the Add button in the Remote Files box 2 Click the Browse button n the window that appears to locate the remote data files to be processed How to select base stations for processing 1 Select Automatic Base Station Selection under the Base Station Selection tab to allow the software to decide which base stations are for processing This decision is based on the criteria outlined under the Automatic Selection Options box How to set exporting options 1 Specify the data desired for output by selecting the appropriate Export Profile under the Export Output tab 2 Select Epochs under the Export Type Source to obtain the coordinates of the remote trajectory 3 Select Features Stations for any loaded points of interest such as camera or station marks or Static Sessions if static data was processed Depending on the profile chosen some of the options available on this AutoNav v 60 2120 B
442. ry relating to position Small values indicate better geometry Lines are displayed for position DOP PDOP horizontal position DOP HDOP and vertical position DOP VDOP These values should be similar to other PDOP computations but differences can be visible due to different base satellite selection double differencing DOP DD_DOP Indicates satellite geometry relating to position Small values indicate better geometry This value is the double difference DOP and is approximately PDOP although it can be lowered due to the differential modeling The DD_DOP is used for all internal checks and DOP related options in the software Epochs with extremely poor DD_DOP gt 100 are skipped and are not plotted Float Fixed Ambiguity Status This plot shows whether an epoch has a fixed or float ambiguity status Fixed integer ambiguities generally have better accuracies This plot also shows if there are zero one or more fixed ambiguities used to determine a combined solution Number of Satellites BAR Number of satellites for epochs This plot gives an overview of how many satellites there are Use this graph for large data sets because it shows every time the number of satellites drops to a minimum Epochs with less than 4 satellites are not displayed Number of Satellites LINE This plot shows the number of GPS GLONASS and total satellites Epochs with less than 4 satellites are not displayed This plot contain
443. s Remote positions are required for automatic base selection Regardless of the data type the antenna settings should be provided if possible See Section 2 3 6 on Page 36 for information regarding antenna models Base Station Selection This tab contains settings to determine which of those stations within the previously selected ANB file are used for processing Base Station Selection Method You have the choice between allowing the program to automatically select which base stations to use or choosing them manually Automatic Base Station Selection When this option is chosen the software will use the constraints in the Automatic Selection Options box to determine which stations to include Priority is given to those stations which are closest to the averaged coordinates of the remote file Manual Base Station Selection This option gives you the power to enable or disable any base stations in the ANB file as he or she sees fit GrafNav GrafNet 7 60 User Manual Rev 1 AutoNav Chapter 6 In either case if an Internet base station is chosen from the ANB file the software will automatically x download the data for the day s of interest and Fie Input Base Station Selection Processing Options Expor Output m Base Station Selection Method concatenate and or splice it keeping only the data required for overlap with the remote file Furthermore the program will also resample any fr s 3 j Maximu
444. s Table 12 contains a list of the producers of Service Name Web Address correction files for downloading with website Addresses IGS http sopac ucsd edu CORS MAp wa ngs ee eee AUSLIG http www ga gov au IGN http lareg ensg ign fr RGP index html GSI http www gsi go jp BKGI EUREF http www epncb oma be ASI http geodaf mt asi it CDDIS http cddisa gsfc nasa gov OLG http gps iwf ceaw ac at olgdc1 htm Table 12 Correction File Producers File Producer Wed Address Aa A IGS http igscb jpl nasa gov F recise clock NGS http sopac ucsd edu CODE http www aiub unibe ch igs html NRCAN http Awww geod nrcan gc ca IONEX files ESA http www esa int JPL http www jpl nasa gov UPC http gage1 upc es GrafNav GrafNet 7 60 User Manual Rev 1 141 Chapter 2 2 9 Window Menu Waypoint GrafNav 7 60 File View Process Settings Output Tools RUTENA Help Cascade Tile Next F6 Previous Shift F6 Close Window F4 Close All Windows Ej Unprocessed Map v Unprocessed Map 142 GrafNav This menu option displays the GrafNav windows in different ways 2 9 1 Cascade Cascades the windows from the top left to the bottom right of the screen 2 9 2 Tile Gives each window a section across the screen 2 9 3 Next and Previous Lets you view one window at a time 2 9 4 Close Window Closes one window at a time 2
445. s an incremental value Free air distance between stations GrafNav GrafNet 7 60 User Manual Rev 1 287 Appendix Appendix Table 41 List of Output Variables Solution Type Type of solution used In GrafNav possible solution types include SF Carrier DF Carrier lonoFree Rellono CaOnly SingPoint In GrafNet FixedSoln FloatSoln Standard Dev NO PPM Trace of the covariance matrix expressed as a standard deviation no distance dependent errors included Start Time Start time of the static session State Plane East North East and North coordinates in the US State Plane projection Static Kinematic Status Indicates if an epoch is static or kinematic Station Name Name describing the station feature or camera mark Surface Distance Horizontal distance between the two stations on the surface corrected geodesic Sun Angle Angle of the sun above the horizon Time Length Time length of the static session TM East North East and North coordinates in the Transverse Mercator projection Total Slope Distance Spatial distance between two points Total Horizontal Distance The shortest path between two points on the surface of a sphere e g Great circle Transformed Grid User Text String Allows for scaling rotating and translating of a selectable grid String of text defined by user UTC Corrected Time Same as UTC Time but a corre
446. s 15 degrees Use larger values to simulate typical conditions of satellite blockage lower on the horizon Start time The start time of the mission Used as the starting point for all displayed plots lt Ensure that the time entered is in GMT time not local time Date The date of the mission Length Length of the mission and determines the time span that is covered by the displayed plots GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Num of Sats PDOP HDOP VDOP and DD DOP The following descriptions are applicable to the Num Sats PDOP HDOP VDOP and DD DOP tabs Chart Type Select None to tell the utility not to plot the values associated with the current tab You view the data in Line graph or Bar chart format The Bar graph gives you access to the Bar Colors box Bar charts allow for easier interpretation of the results because the values are classified according to their quality level Bar Color Available only if you request that the values are plotted in bar chart format These settings allow you to modify the range of values associated with each quality level If there are less then six defined categories you can also add one Y axis Range Select Automatic forces Mission Planner to automatically scale the Y axis for each plot Manually enter the boundaries by selecting Manual Satellites in View Chart Type Select None if you do not want to view this plot Otherwise you can sel
447. s and 30 improvement on Xeon processors In the new interface plots can be copied to clipboard much faster the hand tool can be used to pan map screen and two GrafNav project files can be compared GrafNav 7 60 has the Ability to use antenna definitions for station features and static sessions and you can now set tolerances that determine when a static float solution passes or fails This is useful for seismic processing There is much better support for non metric units in the map window and RMS root mean square average maximum and minimum statistics can be computed from plots Separate horizontal and vertical tolerances are now available for flagging outliers during export for short static session processing In this version of GrafNav you can now export the sun s elevation for photogrammetry applications and use a new method for building local coordinate definitions that is more flexible You can also solve for 14 parameter transformations Other improvements to the GrafNav interface include the following e MJD Modified Julian Date time is now supported in the Export Wizard e Now includes support for New Zealand and Oblique Mercator grids e Datum transformations now support 14 parameter transformations this is useful for datums that are shifting with respect to each other due to tectonic movement Software includes much better support for NAD83 ITRF datum conversions e Baseline and satellite processing statistics are now sto
448. s more information than the bar plot Static Kinematic Coverage This plot shows if and when GPB files are static and kinematic It can also overlay multiple GPB files to see if they overlap in time and to indicate weak periods of the data that could result in a loss of lock Since it does not examine processed data this plot is not as reliable as other indicators If you have Inertial Explorer you can plot IMU coverage and use this plot to show IMU data time gaps This value indicates solution stability for a float solution The ambiguities should be driftless and have a drift of 0 cycles sec Normally this number will be 0 0 03 cycles Ambiguity drift for very stable solutions and 0 03 0 05 for quality 2 stability and so on for Q3 and up Most users rely on the quality number instead of this plot The quality number is partially derived from this parameter 104 GrafNav GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Table 4 Common Plots con t Plot Coordinate Values Distance Separation Description This plot shows the distance between the master and remote in kilometers For multi base distance separation see the multi base plotting tools Height Profile Height over the processing time period This can be a very good quality control measure in areas where the height is very stable Static Session Convergence This plot assumes that the last epoch in the static se
449. s proper coordinates Do this with the Re compute position and clock offset option when converting the raw data depending on the type of receiver used See Section 8 2 on Page 219 for help Positions can be calculated after conversion with the GPB Viewer which can be accessed through File GPB Utilities View Raw GPS Data Once the appropriate GPB file has been opened select Edit Recalculate Position See Section 8 2 on Page 219 for additional information regarding this feature It also important that the static kinematic flags have been properly set Failure to do so will lead to the development of large errors In the absence of flags in the raw data the Raw GPS to GPB converter will decode the entire file as being either static or kinematic depending what you specify If you are not sure when the data is static or kinematic it better to make the entire file kinematic 5 4 View Menu See Section 2 4 on Page 52 for information regarding all of the options in this menu GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 5 191 Chapter 5 5 5 Process Menu Azimuth determination options 192 il Off no azimuth determination Process using this option first to see the quality of the solution If the quality is good then the option 2 or 3 will work On use distance constraint in KAR and engage KAR if out of tolerance Single frequency users who know the fixed distance between the L1 phase centres of their
450. s turned ON KAR will use the nearest base station to engage Multi baseline processing only Minutes added to the minimum KAR time for every 10 km in baseline length Default is 1 5 minutes Minimum number of minutes for single and dual frequency pro cessing before KAR is searching begins TRUE if KAR is to output additional information for FWD REV files Reliability is calculated by dividing the lowest intersection RMS by that of the second lowest Reliable intersections should have values of 1 5 or higher and preferably greater than 2 0 Default is 1 5 Tolerance for KAR statistical test on the RMS phase Default is 0 065 cycles If the RMS from a KAR solution is higher than this tolerance 293 Appendix KAR RMSUSETOL tol KAR SEP TOL 2 0 KAR STATIC ON OFF KAR STRICT TOL rmsflag relflag KAR TWOSTAGE SATS 6 Appendix cycles then a warning will result If there are still 4 good satel lites see KAR MAXSV this solution will not be used Default value is 0 06 cycles This is the tolerance cycles with which intersections will be kept in the list This value should be 0 20 or higher The default is 0 20 cycles Tolerance for allowable separation between the float and fixed KAR solutions This option can be used to kick out solutions with large float fixed separations Turn ON to engage KAR in static mode By default this option is OFF rmsflag ON OFF and enables stricter RMS tolerance f
451. s you to define station as a control point Add as Check Point Allows you to define station as check point Edit Control Check Point Allows for editing of the input coordinates of stations already defined as check or control points Toggle between Control Check Point Switches status between control point and check point Add to Favourites Adds station to Favourites list using the computed coordinates Remove Processing Files Removes all observation files logged at that station from project Show Observations Displays all observation periods for that station in the Observations window Show Connecting Sessions Displays all sessions involving that station in the Sessions window Expanding the Stations branch in the Data Objects window on the left hand side of the Data Manager will allow for the stations to be displayed individually in the Stations window Further expanding each station in the Data Objects window will display all observation files in which the station was observed GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Sessions Window The Sessions window displays information regarding all the sessions in the network The columns listed in the shaded box are displayed in this window The following options are available by right clicking on a session View Results Allows you to view results of forward or reverse processing or view the combined solution View Information Displays nformation box for the s
452. sage logs 2 Identify problem satellites by processing in the forward direction only with the Write MB binary values satellite residuals option enabled which is located under Settings Individual Advanced Enabling this setting allows you to plot the C A code and the L1 phase satellite residuals via the Individual Satellite Statistics plots under Output Plot GPS Data Problem satellites will usually have large spikes or generally stand out from the other SV plots and omitting these satellites will generally improve results If large spikes appear in every SV plot determining which satellites are the worst offenders look for the largest satellite phase residuals just prior to the filter reset and omitting them until just after the total loss of lock will often serve to avoid a filter reset and improve results considerably 9 3 5 How do I set the measurement standard deviations The standard deviation on the C A code is set to 4 meters by default This is to satisfy the requirement of all GPS receivers However many receivers produce more accurate C A code measurements by using narrow correlation or smoothing technologies while other low cost units have much poorer C A code accommodations Setting proper measurement standard deviation values will improve float accuracies and also increase KAR reliability To determine a new C A code standard deviation process once in float mode meaning that the usage of fixed solutions or KAR is disabl
453. se proper unit scaling and you can use the hand and tool to pan the map screen There is improved computation of combined and other scale factors and output coordinates can be scaled by a factor during export i e inverse combined scale factor The map in GrafNet 7 60 can now plot in grid coordinates and show grid lines and be easily printed AutoNav Automatic Processing Utility AutoNav is a new program that performs the following tasks without user intervention e Converts raw data to Waypoint Products Group GPB file format e Downloads nearby reference stations 16 GrafNav GrafNet 7 60 User Manual Rev 1 e Converts and resamples reference station data to proper interval e Base files can be stored for later reuse to avoid repeat downloading e Processes data files e Combines directions With AutoNav you can export using a user selected profile and setup an AutoNav project with the flexible dialog based application AutoNav also you to create configuration and processing files for quality control and plotting within GrafNav Processing Engine In the new processing engine carrier phase data error detection is stricter and support for ultra strict carrier rejection has been added There is now a Very Low distance PPM parts per million setting for processing very long multi base data With the new processing engine you can also write individual satellite residuals to binary value files for fixed static solutions Other improve
454. se to base stations in order to improved fixed integer accuracies The only disadvantage of using this method is that KAR may engage in the middle of the flight line possibly causing a position shift which is not necessarily desirable during image laser or SAR data capture The only alternative is to manually fix KAR during the turns although this approach is more time consuming 9 5 17 How can l use the fixed static solution KAR is the most common way to resolve fixed integer ambiguities but the fixed solution works well too and can often be more accurate It obviously needs a static period of a few minutes for dual frequency while longer times are needed for longer baselines For MB KF processing this process becomes more complex because GrafNav attempts to compute a fixed solution to all baselines It will disable those where the distance or time is too long or short respectively See Settings Individual Advanced GrafNav GrafNet 7 60 User Manual Rev 1 269 Chapter 9 FAQ and Tips For each static period only one fixed solution will be utilized for fixing A number of criteria are used to pick the best one including distance RMS reliability and estimated standard deviation The fixed solution used will be signaled as BEST in the GrafNav interface To view the solutions right click on the static sessions or select View Objects KAR Static Click the View button for the desired static session All of the static sessions w
455. sed in forward and reverse mode to form an optimal solution using variance weighting The benefit of combining these solutions is that the overall accuracy is improved because in many cases one direction is more accurate than the other for a given epoch This accuracy difference may change during the mission but the weighting function should reflect these accuracy differences By combining the forward and reverse solutions a difference can be computed and plotted This difference graph available via the Combined Separation plot under Output Plot GPS Data gives an indication of solution accuracy and problem areas However the actual accuracy is often better because the combining process places more weight on the solution with greater estimated accuracy Before this process can be executed there must be a forward FWD and reverse REV solution file present A weight between 0 and 100 is assigned to both the forward and reverse solutions The sum of both equal 100 All three axes latitude longitude and height are assigned the same weighting value The weight is computed by 1 variance Fixed integer positions are weighted much stronger than float solutions This process combines trajectory data for kinematic and also static sessions if any exist For static sessions the best solution may be chosen Enable the Automatically write CMB file when combining option under Settings Preferences to automatically create a combin
456. selected file in the Source Files window to the Convert Files list P4 Ifa receiver type has not been specified the utility will attempt to perform auto detection Add All If a receiver is selected it adds all files in the Source Files list to the Convert Files list as data files Otherwise it performs auto detection on every file in the Source Files list Auto Detect Auto detects the selected file in the Source Files window for conversion lt Not all receivers are automatically detected Auto Add All Auto detects all the files showing in the Source Files list for conversion P4 Not all receiver types are automatically detectable Auto Add Recursively Auto detects on all files in the immediate folder and its subfolders A maximum of 128 files can be added 225 Chapter 8 Allen Osborne Options Method for Splitting up Files Decode By Session Name Decode Whole TB File Ignore Sessions Conversion Settings Make All Epochs Kinematic Verbose Message Mode Re compute position and clock offet Factory Defaults Cancel AOA methods for splitting up files Decode my Session Name Decodes the TB file based on session marks inputted into the receiver Decode Whole TB File Decodes the entire TB file with the assumption that all the data collected was from one session AOA conversion settings Make All Epochs Kinematic Entire file is set to kinematic mode Verbose Message Mode Al
457. setting applies primarily to file base stations since Internet base station data is automatically downloaded to overlap the entire remote file This setting acts as a safety check to help ensure that the bulk of the remote file s data will be processed GrafNav GrafNet 7 60 User Manual Rev 1 201 Chapter 6 AutoNay 7 60 0915 Alpha File Input Base Station Selection Processing Options Export Output r Processing Direction Both C Forward C Reverse p Process Data Type _ Static Initalization C CA code only DGPS Float solution or KAR Single frequency carrier phase Fixed static solution Dual frequency carrier phase m Kinematic Ambiguity Resolution p Glonass Processing C off C On GPS only DES C GPS GLONASS r Processing Settings Processing Datum fwases Datum Options Data Interval J s IV Use interval in remote file Processing Options File DefOpt Airborne DefOpt gt IV Delete clean processing files fwd rev fss rss fml rml IV Save processing messages to file anm AutoNay 7 60 0915 Alpha Options Export Output File Input Base Station Selection Processing Export Profile JAirbome Camera Stations prf 7 r Export Type Source C Epochs Features Stations Static Sessions m Geoid IV Override Geoid File Geoid File ENGecids wpa Geoid03 ContS wpg Browse r Grid Options IV Override Grid File State Plane CO Centra
458. splays the path to which any stations downloaded from the Internet will be saved if the appropriate option is enabled Remote Files You may add or remove remote files to the project or else edit any existing ones See Section 6 3 on Page 198 for more information about adding and modifying remote files 6 3 Base Station Files For every project AutoNav requires a base station file ANB from which to obtain important information regarding the master stations to be used for processing These can be shared among multiple projects Base File Editor This window shows a list of all base stations currently in the ANB file To remove a station from an ANB file simply right click on it and select Delete File Base You can choose to add either Internet or file base stations The former requires clicking on the Add Internet Base button which will open the Download Service Data utility Here select the desired base station See Section 2 8 12 on Page 136 for help using this utility If a file base station is desired click on the Add File Base button You can edit any existing files using the Edit Base button Users with Internet base stations should consult the Internet Settings tab of the Base File Editor window for additional options Under this tab you have the option to save any downloaded RINEX files Otherwise they will be deleted after the conversion to GPB The Clean button available under this tab should only be used
459. ssages to be logged to a separate file This is a good quality control feature GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Vertical Scale Factor Window This correction is used by photogrammetrists When performing photogrammetric aerial triangulations these algorithms known as block adjustments assume the scale factor for the horizontal and vertical coordinates The block adjustments are contained in softcopy systems When map projection coordinates like UTM Gauss Kruger State Plane and Lambert are used in the adjustment the horizontal coordinates are then scaled by the map projection scale factor The vertical coordinates if uncorrected has a scale factor equal to 1 Adjustment software that works in a geocentric frame like PC GIANT are unaffected These adjustments are not very compatible with soft copy systems To counter act this problem GrafNav applies a correction to the vertical component that corrects for scale error Currently GrafNav assumes a constant terrain height and this correction is most accurate in flat areas Itis less accurate in areas with high relief because the constant height model no longer holds true Aircraft height variations are taken into account GrafNav prompts you for the average height of the ground If you output height in feet then this height should also be in feet GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Vertical Scale Factor This correction scales Z so t
460. ssion is the correct one A float solution convergence plot is then formed This gives an indicator of how well a static solution is stabilizing Velocity Profile Plot shows north east and up velocities which can be used to determine when the antenna is moving This plot also shows horizontal speed Acceleration Profile This plot shows the approximate acceleration computed by the baseline processor For this plot to be shown enable the Extended trajectory output Height Above Ground This plot is to be used in conjunction with a DEM to display the remote s height above the ground Local Level Vector Estimated Clock Accuracy Miscellaneous This is the vector between base and remote centered about the main base station It is useful for moving baseline processing For absolute positioning applications the distance separation combined with the height profile is usually a better diagnostic tool This plot shows the estimated standard deviation computed by the least squares single point processor In general it matches position accuracies GPS GLONASS Time Offset The time offset shown here is the computed difference between the GPS system time and the GLONASS system time Receiver Clock Offset The single point processor computes a clock correction on an epoch by epoch basis This value is the difference between the receiver s clock and the GPS time system For some applications you may wish to
461. ssssessrssssrrerssssrerrssssrsrrss sees rss anses ran sen sn sanna 264 9 5 2 Can I use kinematic processing on static baSeliNeS nssessssssersssssessrsssreersrssserer sn ss sr rs nn an 264 9 5 3 How can I optimizing the fixed static solution essssnnsssssessrssssssrrsssresrsssersr rss ser rss sars snar sn nanna 265 9 5 4 How can I refine L1 L2 integer solutions ssmsssssssessssrssssrssssosssrrssssssr rss narr rss RAR AR ARKA RAR ARR R AKA SA 265 9 5 5 Can use a larger interval for static processing smnunsssessssssesssssssrersssssssrsssree rss ss sn rs sen eran nn 265 9 5 6 How do I process static data logged during ionospheric Storms simmmessssssesserrerrrrrrrrrrsnnna 265 9 5 7 How do process long static baselines msssssesessrssssrrrsressssrrsssrrrr rensas sr rn AAA AR RR ARR R ARR R RANA 266 9 5 8 How d multicbase process 2zd ssstasddssdv sadeln sens dd sand datennuaanacddns anacd aa ada 266 9 5 9 How should I choose a processing IMOCB eeresrssesssessreressssenssnnsrsdeessnnassssrnrnersennn aaen 266 9 5 10 How important are base station coordinates issmessssssesssrrersrrsrressnsnernrr nns seen rens nr nn rer rr rna nn 267 9 5 11 Gan luse the MB PlOtSYasisssedssssnissdenn dd aoaia aaide SARA KSR N SA ARA SR aia 267 9 5 12 How do I select a data interval nosssnsssssssssssssssssssrnsrernsrnssrransn narr rrr rss rr sr rar ran Bass r nn KKR Arran nn 268 9 5 13 How do I handle data drop outs at the master Station ccc
462. st one will be handled much less efficiently DEMs after loading are expressed in ellipsoidal height Therefore if the DEM is mean sea level which is usually the case the geoid undulation must be subtracted from the elevation values This is performed automatically during the import process but it requires that a geoid WPG be available 9 7 1 Why would I use a DEM There are two main reasons for using GrafNav s DEM capabilities 1 The vehicle is traveling over a surface e g road runway etc and the ground height is to be used for quality control purposes GrafNav has the following plotting tools that help The Height Profile plot shows the height of the ground as well as remote station height If the GPS antenna is a constant vertical offset above the ground it should be entered as the remote antenna height e The Height Above Ground plot shows the difference between kinematic GPS and ground heights The ground surface height at each GPS position can be exported as well DEM precision and accuracy is very important here 2 In aerial photogrammetry mapping is often performed on the map projection This leads to an incompatible scale used for horizontal and vertical axes The vertical scale factor VSF correction compensates for this but usually only accepts a constant ground height A more accurate compensation can be employed by using the height of the DEM under each image frame In high relief areas the DEM can impro
463. stead of being over written with the global settings Baseline Settings Please see Section 4 2 10 on Page 180 for information regarding the use of this feature Alternate Files This feature allows for the addition of ephemeris or correction files to be used during processing Any files added here are used only for those baselines highlighted in the List of Baselines window See Section 2 3 8 on Page 38 for more information 4 4 3 Copy Processing Options This feature lets you copy the processing options from one baseline to another lOnce the settings have been transferred the baselines will have to be reprocessed in order for the new options to take effect GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Batch 4 4 4 Load into Selected From This feature loads the settings defined in the chosen profile into the selected baseline s See Section 2 6 on Page 92 for more information 4 4 5 Manage See Section 2 6 on Page 92 for information on this feature 4 4 6 Preferences See Section 2 6 9 on Page 100 for information regarding the options available here 4 5 Output Menu 4 5 1 Plot Selected GPS Data This features plot GPS data from a selected baseline See Table 4 on page 103 for information concerning all the plots available 4 5 2 This feature allows you to view a trajectory or static representation of the GPS data for any individual baseline Note that only one map may be viewed at a time
464. step to get started with AutoNav is to create a new project To do this follow the steps in the shaded box Set Up a Base Station File The steps to set up a base station file are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 AutoNav Add Remote Files To add remote files follow the steps in the shaded box Be sure to specify the receiver type and data type Select Base Stations for Processing To select base stations for processing follow the steps in the shaded box Set Processing Options Select the options most suitable to the application Generally both directions should be processed and KAR should be enabled Set the Static Initialization to Float solution or KAR unless there is sufficient static data for a Fixed static solution P4 Be sure to select the proper datum as well as the processing profile most appropriate for the application Set Exporting Options The steps to set the exporting options are in the shaded box Process Click the Process button to allow the software to begin processing the data No further user interaction should be required as the program will automatically download any required base station data and create the desired output upon successful completion of processing File Input The File Input tab allows for the selection of the project ANP base station ANB and remote files Project File Use the Open button to select an existing project file Othe
465. sv NumSats NumGPS NumGlonass Dop PDOP HDOP VDOP Rms L1Phase CACode Age Sec Age of last correction or RTK receipt Enable 1 0 Used in GrafNav indicates a required field 7 3 3 Old Station File Format Feature points can be loaded into GrafNav via a station file This station file is an ASCII file from which station names GPS times antenna heights and related information is read GrafNav will select the nearest epoch time to extract the position and will not interpolate in this situation For interpolation the user should select File Camera Event Marks The station file can contain a named station feature or a GIS feature mark A named station has the following format STA GPSTime StaName AntHeight Description Remarks CR LF Where GPSTime Time of feature mark defined in GPS seconds of the week 208 GrafNav GrafNet 7 60 User Manual Rev 1 File Formats Chapter 7 StaName Alpha numeric station identifier 16 chars max AntHeight Height of the range pole or tripod in meters Description Description of station 32 chars max Remarks Remarks for the station 32 chars max CR LF Carriage return line feed to end line Field separator should not appear in any of the above fields The second feature is called a GIS feature mark and has the following format GIS GPSTime Counter AntHeight Attribute CR LF Where GPSTime Time of feature mark defined in GPS seconds of the week Counte
466. t was collected at the same time using the same antennas and the same receivers Combine Settings This feature rejects certain time intervals of the forward or reverse solution so that areas with bad results are not included into the combined solution Click on the Add button to enter the times to exclude the forward or reverse solution from the combination GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 5 4 Load Batch Processor This options loads and runs GrafNav Batch See Chapter 4 on Page 177 for information on how to use GrafNav Batch 2 5 5 Stop Auto Run If you are running the software from the command line auto run mode this selection stops the auto run Depending on the quit mode selected pressing Stop in the processing window may return control to the calling application This selection just breaks out of auto run Run GrafNav with the h command for a help screen 2 5 6 Load Forward Reverse or Single Point Solution This feature allows for the loading of GPS solution files Choosing Load Forward Solution or Load Reverse Solution automatically loads the solutions most recently processed in the chosen direction Load Single Point Solution is only be available if the single point processor has been engaged See Section 2 5 2 on Page 86 for more information on single point processing 2 5 7 Load Any Solution This option allows you to load any solution file This is useful if previously processe
467. t Solution remote files in the project Please see Section 2 3 9 on Page 40 for a list of the features GPS Observations 2 4 2 Forward Reverse and Single Point Solutions Festus Objects Aso Message Log ent CFG file This file displays all messages sent to the message window during processing There is one present for each direction processed Possible messages Messages reported from message log include reported here are listed in the shaded box the following Times at which KAR was engaged and the reasons for its engagement These messages are preceded by e Any satellites with no ephemeris information e Epochs of less than 4 common satellites between the master and remote e Periods of extremely poor satellite geometry where the DD_DOP is greater than 100 The epochs are skipped and not used for plotting or outputting This message is the only means of determining these periods The occurrence of cycle slips This log gives a time and record of these slips that mean problems in kinematic data Data errors like invalid measurements that cause filter resets or the rejection of satellites These messages are preceded by e Entering static and kinematic modes e Events resulting from significant changes in the satellites geometry These include changes in the base satellite and the rising or falling of satellites above or below the elevation mask e The fixing of the remote s
468. t a CFG manually However such a situation arises when using callgps which is the command line processor When editing a CFG file the user must be careful to follow the exact syntax To learn the commands of CFG files the user should look at those created by GrafNav and refer to Appendix A for a list of all the commands and their meanings 7 3 GPS Data Files This section concerns the format of those files GPB EPP STA created upon the conversion from araw data format to Waypoint s proprietary format 7 3 1 GPB File Binary measurement data is stored in Waypoint s custom GPB format This format is receiver independent and only stores necessary information to minimize disk space requirements This format contains one position record and a measurement record for each satellite being tracked for every epoch There exists a new and old version of the GPB format The new version has L1 and L1 L2 records sizes as well as additional header information i e receiver information software name and version number GPBView is a useful utility for inspecting and modifying GPB files Users can export this file to ASCII from the GPBViewer or convert to RINEX via the GPB to RINEX utility 205 Information contained in the records Position Record Contains the receiver computed latitude longitude height and clock offset It also contains the correct GPS time seconds since Sunday and status bits for position
469. t a small portion of a file or resamples a file 8 6 1 Concatenate Splice and Resample GPB Files Input Files Use the Add button to locate the GPB files that are to be used To concatenate several files add them all at once The program will sort them chronologically Output File s Determines how the creation and naming of new files is handled For concatenating files use the Combine all Input Files into one file option and provide a name for the output GPB file For resampling or splicing multiple files use the Process Input Files individually option The name of the created output files depend on the name of their respective input file and the suffix that is specified To break up a file into multiple files of n minutes enable the Break up input files into time sliced output files option Enabling the Copy ephemeris files and Copy station files options creates output EPP and STA files identical to those associated with the input GPB file Time Interval Options The three options are the following Copy each epoch Select this if the data rate of the output file is to match that of the input file Only keep epochs on interval Use this when a file is resampled to a lower data rate The interval specified determines which epochs are copied into the output file Resample to higher interval Use this when a file is resampled to a higher data rate Resampling should only be performed on static data Vehicle m
470. t can be estimated from nearby ones within the error tolerance that are defined Tolerances of 5 10 m are acceptable for VSF purposes Larger error tolerances reduces densities significantly This option should be used if you have either a DEM grid or a large high density DEM that causes memory or speed problems GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Import DEM Points j x File Format Datum Geoid m DEM Points File CADEM SantaBarb LA W pts Browse Geo Lat deg min Lon deg min Hat m First field contains ID string Stop reading if incomplete line encountered Skip n lines at start 0 IV Reject DEM points outside GPS observation area IV Reduce DEM density using error tolerance 5 00 Im Grid ECEF defines DEM source or working grid J Input grid coordinate values in southern hemisphere wa 584 used by grid transformation J Elevation is mean sea level undulation removed WPG C Geoids wpg EGM96 World wpg Browse m Triangulation Status Import Stop Cancel Display Options How to import a digital elevation model DEM il Select File Load Digital Elevation Model Import DEM Points Select the DEM points pts file under File Name Select one of the formats under the Format Menu to organize the DEM file Select the options that you would like to use to help read the input file Press Import It takes the program some
471. t of the five preset settings choose the settings that best suits the application 5 Enter the master station coordinates 6 Enter the remote station antenna height 7 Check the Start processing page right away box and click OK See Section 2 5 on Page 61 for more information on processing Entering the name of a project that already exists overwrites the file contents 34 Cancel GrafNav Auto Start Auto Start prompts you for all the information required to process a data set This option allows you to add master and remote stations and to use a project setting that best suits your application You can also choose to have Auto Start begin processing your data automatically by activating the Start processing page right away box The Auto Start steps are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 3 2 This option allows you to open existing projects Open 2 3 3 GrafNav automatically saves the project file before processing Any changes made to features like name time antenna height are also saved Save Project 2 3 4 Use the Save As command under the File menu to create a new project that has identical processing options as the current project This allows you to change the options in the new project and process the data without losing the solution computed by the original configuration This can also be done by viewing the processing history See Section 2 4 3 on
472. t others can be added later These known control stations are used to transfer coordinates to unknown stations in the network In some ways this is very similar to a conventional traverse survey but instead of instrument backsight and foresight stations this traverse technique only has an instrument and foresight station Starting from the known stations coordinates are transferred to the nearest stations Then the next nearest stations receive coordinates This procedure is repeated until all connected stations have coordinates transferred The arrow marker on the baseline shows which direction this transfer takes place The coordinates for a given station are transferred from the minimum number of legs The lengths of the legs are not taken into account which in some cases results in an unfavorable transfer of position In this case the network adjustment produces more accurate coordinates For stations that have more than two baselines connecting a loop tie can be computed This means that there is more than one possible transfer of coordinates to this point The first transfer is used for coordinate generation Subsequent transfers are used to compute loop ties The loop ties are good for locating erroneous baselines but they are an accumulated error of many baselines to that point This means that the last baseline in that traverse leg may not be the erroneous one These ties also give a good indication of the accuracy of the n
473. tUS 7 Param defaut v Reverse data sheets do not give geographic coordinates The Map Window can plot in grid om coordinates See Section 2 7 9 on Page 122 for more details aixi a DXF output uses these grid settings See Project Options Datums Datum Conversions Ellipsoids List of Elipsoids Section 2 7 10 on Page 123 for more Hane information E Airy 1830 6377563 3960 6356256 9092 E AusNational 6378160 0000 6356774 7192 Export Wizard can use a defined grid for B Bessel 1841 6377397 1550 6356078 9628 coordinate output See Section 2 7 4 on Page Bessel Namibia 6377483 8650 6356165 3830 Add 107 for details B Clarke 1866 6378206 4000 6356583 8000 s B Clarke 1880 6378249 1450 6356514 8695 Edit New grid definitions can be added by clicking E Evst Brunel 6377298 5560 6356097 5503 Bene Define Grid or via Tools Grid Map Projections B Evst India 1830 6377276 3450 6356075 4131 D See Section 2 8 7 on Pave 129 f E Evst India 1956 6377201 2430 6356100 2284 Define See Section 2 8 7 on Page i EB Evst Pakistan 6377309 6130 6356108 5705 information EB EvstwMal 1948 6377304 0630 6356103 0390 E Evst wMal 1969 6377295 6640 6356094 6679 4 gt Cancel 96 GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 2 6 5 DEM Plotting x Using the DEM plotting options speeds up issues M General conce
474. ta Manual_Data GRN0O4 gpb Position 43 45 49 97515 87 50 51 75271 198 262 Remote Name Remote ENABLED Antenna SIMPLE_VERT 0 000 m File waypoint01 c GPSData Manual_Data air_rover gpb 0 static sessions Direction FORWARD Process Mode Dual frequency carrier phase Static Initial Float Use KAR Yes Use Glonass Yes General Options Elevation Mask 10 0 degrees Data Interval 1 00 s Fixed Interval 15 00 s Time Range From 494298 0 to 604800 0 s Datum WGS84 using conversion WGS84 to WGS84 Same Advanced 1 Options Base Satellite auto Locktime Cutoff 4 0s Model Tropo Yes using Saastamoinen model Use Doppler Yes Dynamics Model No Write Bad No Yes if epochs containing bad data to be written Skip Bad No Yes if epochs with bad statistics to be skipped Output Format Normal Write settings Yes to static summary file Write fov rbv No includes satelite residual and multi base binary values Write Slip Warn No Advanced 2 Options Split Static No Use fixed stat Never Cycle slip checking 212 GrafNav GrafNet 7 60 User Manual Rev 1 File Formats Chapter 7 Doppler Yes using 10 0 cycle tolerance Locktime Yes Static tol 0 40 cycles Save ambig Yes on satellite drop out Measurement Weighting Options Weighting Mode Main SD Values Baseline Values Reject Level Max Rej Sec Skip Code Rej Skip Phase Rej Reliability Tol Dist Ef
475. ta can be used to combat ionospheric problems very effectively By default GrafNet does not use L2 phase data to correct for the ionosphere because noise can be added to shorter baselines In order for ionospheric processing to be enabled a dual frequency receiver is required at both ends of the baseline In GrafNet only the iono free model can be used It is enabled from the General tab of the processing options by selecting Jono free solution under Static Solution Type This is a float solution meaning that non integer ambiguities are solved As a result observation times of at least 30 minutes should be used On longer baselines several hours are suggested It is also suggested that if short and long baselines are combined in a GrafNet network the use of a fixed solution can give better results on the shorter baselines GrafNav GrafNet 7 60 User Manual Rev 1 265 Chapter 9 FAQ and Tips To detect if there is bad ionospheric data process with a float static solution and use single frequency If processing in GrafNav ensure that KAR is disabled Once the data is processed view the LI Phase RMS plot If the data is littered with peaks over 0 05 meters then there may be ionospheric problems The ionosphere should not show up on baselines less than 5 km 9 5 7 How do I process long static baselines Fixed solutions may be susceptible to ionospheric errors that are produced on long baseline lengths This may result in a failed solution e g
476. tal Elevation Model Load Triangulation tri GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav 2 3 11 Convert The two conversion utilities that are available are the following Raw GPS to GPB If you have logged your data without using Waypoint s logging software then convert your files to GPB format in order to process them with the software See Chapter 8 on Page 219 for more information regarding this utility GPB to RINEX See Chapter 8 on Page 219 2 3 12 GPB Utilities This is available for use with GPB files and includes the following Concatenate Slice and Resample See Chapter 8 on Page 219 View Raw GPS Data See Chapter 2 4 1 on Page 52 Convert GPB to RINEX This utility converts a GPB file into a standard RINEX file version 2 0 or 2 10 Files to Convert Allows you to select the files that are to be converted Data Types to Export Specify which data to write to the RINEX observation file If Auto Detect is selected the program writes all available measurements Choose between the Version 2 1 and Version 2 0 format The RINEX formats are well documented Consult with available sources to learn the differences between the two versions GPS Week Sets the week number in which the observations were made If the Auto Detect Week button is selected then the program determines the week number from the EPP file Sometimes an incorrect week number is output to the EPP file during the conversi
477. tance 5 0 km lonospheric correction High noise Medium noise old high noise Low noise needs clean data General Advanced 1 Fixed Static Process lonosphere L2 m Control Settings IV Stricter reliability tolerance I Stricter RMS tolerance I Use fast KAR Use fast KAR even for 5 SVs IV Refine L1 L2 KAR search rr Distance Settings GG TT IV Search only closest base or lt 8 km IV Maximize long baseline data usage m Manual KAR Engage IV Use distance weighting Ja f30 min Search on data interval 5 0 s I Only search on exact interval interp Advanced Maximum DD DOP Re start search after Cancel Apply Noise models available for L2 High noise Places more emphasis on L1 phase although the widelane is used Tonospheric correction This noise model corrects for the ionosphere and seeds the ionospheric correction algorithms forming a more accurate KAR fix Medium noise This is the previous High noise model from earlier versions There should be few cases where it performs better than the new High noise model Low noise This model places more weight on L2 It normally does not perform as well as the previous noise models but it may be helpful for short baselines Automatic This noise model is the default it chooses between the High noise and the lonospheric correction models depending on the current master remote distance The
478. te output Many meters of additional error may result so be sure to select the closest appropriate conversion The default Automatic conversion selection might not always be best Do not convert elevation values Applies if the geoid model is meant for the processing datum but the final horizontal coordinates output is in another datum GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Select Epoch Sampling Model Prints out the variables for every epoch in the solution file Reduce to lower sampling rate Prints out the variables for every Interval number of seconds at a lower sampling rate For example every 10th epoch Interpolate to higher sampling rate Prints out the variables for every Interval number of seconds at a higher sampling rate For example every 2 epoch This option can also fill in missing epochs where a linear interpolation is used Use distance dependent sampling Only exports an epoch every Distance meters Distance and Azimuth Options Horizontal Distance Scale Reduces distances to the ground For example you can enter the inverse of the combined scale factor See Section 2 8 2 on Page 125 Azimuth Correction Allows you to enter a correction to be applied to the azimuth In GrafMov this applies when the two antennae are not perfectly aligned with the longitudinal axis of the body to which they are fixed Without applying a correction the output azimuth does not represent the true
479. te files option writes individual files for each NMEA output record selected under NMEA Output Records You can also enter the appropriate UTC Time Offset with respect to GPS time 8 3 5 Load Alternate Ephemeris File If you lack ephemerides to cover the entire observation period GPBViewer displays a warning message when opening the GPB file Without a valid EPP file many features are disabled including the display of elevation angles and the re computing of positions This feature allows you to specify an alternate EPP file for use in the GPB Viewer You can see how many ephemerides have been loaded with the Ephemerides field of the Header Information box in the top half of the GPB View window 8 3 6 Exit Exits the program 8 4 Move This menu provides various options to move through the GPB file These methods are listed in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 Utilities Chapter 8 8 5 Edit Several options under this menu make permanent changes to the GPB file You will be warned when x one of these options has been selected so that you can save a copy ofthe original GPB file before using Process Mode it See Section 7 3 1 on Page 205 for additional Static information Kinematic 8 5 1 Switch Static Kinematic f rse elie AllEpochs If you are unable to switch your data between C Specified Epochs kinematic and static mode during logging do it post Number of Epochs pp c
480. ter is available only in the Rockwell version of the software Table 29 describes the supported records Make all epochs Kinematic Entire file will be set to kinematic mode Re compute position and clock offset GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present Advanced Reject measurements with SNR below tolerance Satellites with low CNO will not be decoded D lt JOlder versions of Rockwell Jupiter firmware did not make measurements on the even second In order to make the data usable the measurements need to be skewed to the even second by using Doppler measurements Newer versions of the firmware have corrected this issue Septentrio SBF Table 30 describes the records supported Make all epochs Kinematic Entire file will be set to kinematic mode Re compute position and clock GrafNav requires valid clock shift data while GrafNet requires position records Enable this option if the clock shift data is corrupt or if positions records are not present Use new GPB format Converts data into NEW GPB format Verbose messaging mode Allows you to see additional warning messages Extract multi antenna data For multi antenna applications only GrafNav GrafNet 7 60 User Manual Rev 1 Utilities SiRF Binary Table 31 describes the records supported General Options Make epochs
481. terval have added errors of about 1 2 cm For data logged at intervals of 5 seconds or less the interpolation error is negligible Examine the RINEX header saved to the STA file to determine the original interval via View GPS Observations Master View Station File If KAR uses the 30 second resampled data it may fail Therefore under Settings Individual KAR set the Search on interval value to the original data interval of the data i e 5 10 or 30 seconds In addition enable the Only search on exact interval option This will cause KAR to only use the data on the original interval which does not suffer from interpolation error Note that the minimum KAR time may need to be increased to compensate for less data being used by KAR 262 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 9 4 3 How can I help KAR find a solution Resolving the problem of KAR not being able to find a solution tends to be more difficult than resolving the problem of picking a wrong solution This is because the inability to pick a solution is most often related to noisy carrier data on LI and or L2 Usually playing with the KAR time and search region size is all that can be done Consider disabling the Stricter reliability tolerance and or Refine L1 L2 KAR search options as well For dual frequency switching to other noise models can help if there is a problem with L1 or L2 With single frequency KAR the L1 phase needs to be very clean and the
482. tes Manager x Info Edit Remove Add Site EH Add Group Add From File How to convert from 6 02 to 7 50 1 Copy the file MASTER FAV from the 6 02 or earlier installation directory 2 Paste it into the new 7 60 installation directory 3 Load the Favourites Manager in version 7 60 via the Tools menu 4 Upon loading the Favourites Manager a message appears warning you that the old Favourites are being read in the WGS84 datum and height coordinates as ellipsoidal If this is not the correct coordinate format you must change them individually via the Edit button How to convert from 6 03 to 7 60 1 Copy the file userfvt from the 6 03 installation directory 2 Paste it into the new 7 60 installation directory 3 Load the Favourites Manager in version 7 60 4 Upon loading the Favourites Manager the Favourites from version 6 03 loads into the new version 131 Chapter 2 Favourites Manager BE A fd Es A 132 Info Edit Remove Add Site Add Group Add From File GrafNav The following options are available in the Favourites Manager via the buttons on the right hand side Info If clicked while a group is highlighted this returns the total number of sites contained within the group If clicked while an individual site is highlighted the position velocity and datum are displayed Edit
483. th and up standard deviation STD This indicates sessions that have one or a combination of the following e float solution e poor satellite geometry that is high PDOP e short occupations 164 GrafNet Settings Scale Factor Error ellipses should appear on the stations in the Map Window These ellipses are scaled by this option Confidence Level The level of confidence in percent of the error ellipse can also be adjusted This uses a statistical 2 D normal distribution Changing this value does not alter the final coordinates but it will scale the final standard deviations and covariance values For example 95 results in a standard deviation scale factor of 2 44 Output Options Controls what is output from the network solution Show input stations and vectors Outputs all the control and check points and their vectors The coordinates are output in geographic form Show orthometric height for output coordinates Requires that you provide a geoid file which can be selected with the Browse Geoid button Other output options include outputting the estimated standard deviations To process the network adjustment press the Process button This step must be performed each time a project is re loaded View output file on completion option Lets you view the ASCII solution file once the adjustment has been made Using Multiple Control Points When multiple control points are present it is important to ini
484. the base interpolated onto these times See Section 8 6 1 on Page 223 for The MCL record is an E2 codcless help record UTC Offset for GLONASS decoding A 2 uN iene heendontherecord The following option is available for those users logging Recommended for Grater users GLONASS measurements Use the following UTC offset for decoding Allows you to define your own UTC offset rather than using the nominal or detected value Important for GLONASS processing Alternate Ephemeris The following option is available Use alternate ephemeris Enable this option if ephemeris data is missing e g Parthus GSU 2 to specify an outside EPP file GrafNav GrafNet 7 60 User Manual Rev 1 239 Chapter 8 Table 34 Records Supported for Thales DNSP Record Type Comment ono Measurements ee ee see Notes hes Measurements ew E Ephemeris Required Table 35 Files Supported for Trimble DAT Comment Measurements dat Ephemeris and Event Marks Required Table 36 Records Supported for Trimble Real Time Record Type Comment 0x0 Measurement Required Pe Recommended for 0x1 Position GrafNet users 0x2 Ephemeris Required 240 Utilities Thales DNSP Table 34 describes the supported records lt The Measurement Q record includes the receiver time record while the Measurement R record includes the satellite time record As such the former is recommended Make all epochs Kine
485. tially only use one This will prevent errors in the existing control from causing otherwise correct session vectors not to fit Therefore large tie errors in the traverse solution or large residuals in the network adjustment are attributed to GPS errors The variance factor is only truly valid as a scale factor for a minimally constrained adjustment See How to interpret the output in the shaded box Once satisfied with the quality of the GPS data and the fit of the session vectors you can add additional control points with File Add remove Control Points or by right clicking on a station in the Map Window and selecting Add as Control Point GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Since the network adjustment is a least squares adjustment it attempts to move control point coordinates to make the network fit better This is an undesirable effect for many applications To avoid it give control points very low standard deviations The default value is 5 mm which might have to be lowered if the network fit is poor Lowering the standard deviation to 0 0001 m forces the control point to stay put A standard deviation of zero is not allowed Change the standard deviation for control points via File Add and Remove Control Points Select the desired control point and click Edit Using Horizontal and Vertical Controls GrafNet supports horizontal and vertical control points in addition to full 3 D control To utilize this
486. time date and position information for each epoch NMEA output Exports data from every epoch in the well documented NMEA format Waypoint Trajectory Exports the data in Waypoint s single point trajectory FSP format This trajectory file can then be loaded into GrafNav as a solution See Chapter Chapter 7 on Page 205 for a definition of the format Move Menu Options Forward n and Backward n Scrolls through n epochs in the direction indicated Start of file and End of file Moves to the first and last epoch in the file gt lt You will find it easier to scroll through the GPB file using the shortcut keys which are specified under the Move menu beside each option Search Moves to a specific location in the file You can specify an epoch number or a time in either GPS seconds of the week or GMT format 220 Utilities 8 3 4 Export ASCII This feature saves data from the binary GPB file into various ASCII formats Output File This option allows you to name the output file Provide a filename extension because the software will not automatically assign one Export Format The four choices of ASCII formats to save your file in are listed in the shaded box NMEA Output Records This is available for exporting into the NMEA format and allows you to choose which NMEA strings to write to the output file NMEA Settings This is available for exporting into the NMEA format Enabling the Save Records to separa
487. ting and printing capabilities or the baseline solution needs improvement GrafNav can be opened and used for processing Simply highlight the baseline from the List of Baselines window and select Process GrafNav on Selected GrafNav on Selected Baselines 4 3 4 View Selected Processing Summary See Section 2 4 4 on Page 54 for information regarding this feature 4 3 5 Load All Solutions This option loads all existing solutions for all baselines into GrafNav Batch allowing you to plot and export output files 4 3 6 Load Selected Solutions This feature is identical to the previous one but applies only to those baselines that are highlighted in the List of Baselines window 4 3 7 This feature combines baselines whether they are single base multi base or combined To add an additional combined baseline select File Add Combined Baseline Combine Multi baselines Once a project has been created and properly set up follow the steps in the shaded box to combine baselines 4 4 Settings Menu 4 4 1 Global These options apply to all the baselines in the project and any baseline settings that were individually customized will be over written Process Settings This feature is similar to that in Section 2 5 on Page 61 except that you may not actually engage processing through here See Page 61 for information regarding all the processing settings available Datum Settings The datum set here will be applied to al
488. tinuously tracking fewer satellites than the others See Number of satellites under Tools Plot Multi Base KAR regularly resolving incorrectly or not at all on one baseline but not the others Numerous cycle slips in the Message Log files stemming only from one base Print cycle slips to message log must be enabled under the Advanced 1 tab vw fF we N Numerous bad data messages those starting with are present in Message Log files FML RML and seem to stem only from one base station 6 Having larger carrier phase or C A code RMS residuals See C A Code and Carrier Phase Measurement Residual RMS plots under Tools Plot Multi Base For the first three cases eliminating the baseline only from KAR should be sufficient This is performed from Settings Individual General by clicking the Omit button Reject all satellites on the selected baseline for the entire data set but from KAR Fixed Static only For the fifth case there are two approaches The easiest is to disable it which works best in most cases Disabling can be performed a number of ways but the easiest is to right click on the base in the Map Window and click Edit Once the Disabled option is selected the base station symbol should have a red X on it The other alternative is to de weight it which is done from Settings Individual Measurement From the Values are for list under the Measurement Standard Deviations box select the problematic baseline Disabl
489. tion GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 1 Table 1 Product Capabilities GrafNav GrafNet GrafMov Static GrafNav GrafNav Capabilities GrafNet Lite Float Static v Vv v lt Float Kinematic Fixed Integer Static Fixed Solution lt lt x Fixed Integer Kinematic SS SS Dual Frequency Multi Base Processing lt lt S lt Single Point sS SI Sp AJS Moving Baseline Azimuth Determination lt IMU Processing lt 1 sec Kinematic Data Rates 4 Refer to the Inertial Explorer User manual available on our website at www novatel com 27 Chapter 1 GrafMov Features Relative Processing GrafMov has all of the advanced and fast processing features of GrafNav including KAR a reliable Kalman Filter forward reverse combined processing single and dual frequency support Relative Vector Output GrafMov can export a number of relative vectors including local level ECEF earth centered earth fixed range and bearing Relative Velocity In GrafMov the relative position is available and the instantaneous differential velocity vector is computed Heading Determination For applications that require heading GrafMov s KAR a fast integer ambiguity resolution algorithm can make use of the separation between the antennas to further decrease initialization times Pitch can be computed from the relative vec
490. tion must be continuous but it does not matter if the loop is formed in the clockwise or counter clockwise direction Once a complete loop is formed select Process Compute Loop Tie or right click on one of the selections in the Data Manager window and select Compute Loop Tie A window containing various statistics for the closed loop will be displayed GrafNav GrafNet 7 60 User Manual Rev 1 GrafNet Chapter 3 3 4 6 Network Adjustment x rm Settings This option invokes the network adjustment contained within GrafNet External network adjustment programs such as GeoLab also support GrafNet s output format The network adjustment is only available within GrafNet and it is a means to more accurately compute each station s coordinates given the solution vectors computed for each session baseline Such an adjustment uses the X Y and Z vector components and also utilizes the 3 x 3 covariance matrix which is the standard deviation values coordinate to coordinate correlation Using least squares the errors are distributed based on a session s estimated accuracy More weight is placed on sessions with lower standard deviations Advantages In the traverse solution each station s coordinates are determined using one session from one previous station For networks with redundant measurements which is usually the case this can lead to a sub optimal or even erroneous determination of a station s coordinates The ne
491. tion regarding the options available View Processing History See Section 2 4 3 on Page 54 for information regarding this feature View Processing Summary See Section 2 4 4 on Page 54 for information regarding this feature Digital Elevation Model See Page 47 for information regarding this feature View Edit Features Opens the Feature Editor See Section 2 4 6 on Page 55 for information regarding this feature Load Features See Section 2 4 6 on Page 55 for help loading features View Objects Opens the Object Menu See Section 2 4 7 on Page 57 4 8 Help Menu See Section 2 10 on Page 143 for information regarding the features available via this menu GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 4 EB List of Baselines Baseline Epoch Proc Feat Solution Last Status List of baseline columns Baseline Name of the baseline An icon appears beside each to indicate the status of that baseline Icons containing question marks indicate that the baseline has not been processed Any arrows within the icon indicate the directions that the baseline has been processed in The same logic applies to icons containing the letters MB which are used only to indicate that the baseline contains multiple bases Epoch The number of epochs in the remote GPB file Proc The number of epochs processed in the loaded solution Feat The number of features present in the baseline Solution Indicates which solutio
492. tly into Waypoint s proprietary format because it saves the trouble of converting the data later on when it is time for post processing This option also allows for the flexibility of breaking up the data into separate files of n hours 16 Any data being saved to disk will be given the filename specified under Enter Prefix for Data File Names The file extension is dependent on the selection made in Step 15 unique suffixes 17 Click Next 244 Files being created every n hours will be given Utilities GrafNav GrafNet 7 60 User Manual Rev 1 Utilities GrafNav GrafNet 7 60 User Manual Rev 1 fn Chapter 8 New Project Step 6 of 10 IV Output RTCM 104 Corrections M RTCM Output Types IV Type 1 fo Interval s I Type 1 and 2 fi Interval s M Type3 fio Interval s m Base Station Antenna Coordinates t Baud Rate Latitude N gt foo foo 00000 Longitude w HH fooo foo o oo 9600 Height 0 00 mo m fjo gt 18 19 20 How to log data with WLOG con t You have the option to select Output RTCM 104 Corrections which are the updated differential corrections This option must be enabled for the corrections to be displayed Select the desired type of RTCM output and the interval for each Type 1 includes time PRN dp and dp rate Type 2 has the last IODE issue of data ephemeris Type 3 gives position Select the COM port
493. to enter a new control point or Edit to adjust the station position or Datum of a control point The station ID should match that of the corresponding station Standard deviations can be entered at this stage The default values are 5mm for horizontal and 5mm for vertical You can change them to more realistic values Standard deviations are only taken into account in the network adjustment They are useful for combining high and low accuracy control points 3 3 8 Add Remove Check Points Check points are useful for gauging how well the network fits the existing control fabric They are added in the same manner as control points except that standard deviations cannot be defined It is important that the processing datum matches the coordinates datum 3 3 9 Alternate Ephemeris Correction Files Adds additional precise or broadcast ephemeris files SP3 SP3c and EPP files See Section 2 3 8 on Page 38 for more information It is important that the precise ephemeris file covers the entire time span for each session Although more than one SP3 file can be loaded only one can be used for processing each session GrafNet will pick the proper file but if a session spans more than one SP3 file the SP3 files must be concatenated together If a session is not fully covered by one SP3 file a message will appear providing the percentage covered by the precise ephemeris Unless the percentage is in the high nineties this baseline should be p
494. toNav v7 60 0915 Alpha E File Input Base Station Selection Processing Options Export Output m Base Station Selection Method Automatic Base Station Selection Manual Base Station Selection m Automatic Selection Options Maximum Number of Stations 3 Maximum Baseline Distance 40 0 km File Overlap 2 10 Minimum 100 Maximum Percentage of overlap required for base file to be used This is the percentage of the remote file Percent 75 covered 200 AutoNav 6 4 Remote Files AutoNav also requires that the remote files be specified before processing can begin The entire remote file will be used for processing as a time range cannot be specified The Remote Files box provides a way of adding or removing remote files or editing any existing ones When adding remote files with the Browse button you are not limited to GPB files AutoNav will automatically convert data from any of the supported receivers before processing If the receiver type is known it should be specified under Receiver Type Otherwise select Unknown AutoDetect to have the program attempt to identify the receiver type automatically Ifthe file has already been converted to Waypoint s proprietary format select WAYPOINT GPB If raw data files are being added indicate whether the file is of static or kinematic nature There is also an option available for the recomputing of clock and position record
495. tor output Main Uses of GrafNav Batch One base station and many remote occupations The remote occupation can be observed by one or more GNSS units Up to 128 baselines can be processed in this manner One kinematic remote processed with respect to two or more bases The batch processor can be used to automatically process forward reverse and combine these solutions into one optimal solution You can process multi baselines in GrafNav Batch with two or more base stations 28 Introduction and Installation 1 4 5 GrafMov GrafMov is a moving baseline module that allows for GPS post processing between two moving platforms It improves the accuracy of the relative trajectory over the stationary base by processing directly between two kinematic objects This is especially true if the base station distance is much longer than the relative distance between platforms If the two antennas are fix mounted then Graf Mov can also compute the heading You can purchase GrafMov as an upgrade from GrafNav GrafNet or as a package that includes GrafNav GrafNet Some of its features are listed in the shaded box 1 4 6 GrafNav Batch GrafNav Batch is a program module that comes with GrafNav GrafNet and GrafMov to facilitate batch processing of static and kinematic baselines If you are using GrafNav Lite use GrafNav Batch Lite because GravNet is not available The two main uses of GrafNav Batch are explained in the shaded box Graf
496. tre difference in geographic coordinates In areas with very high relief this may result in a few centimeters of orthometric height error The same can be said for other datums with large shifts e g TOK YO and ED50 In GrafNav conversion to ellipsoidal height can be performed when entering the master coordinates When exporting with Export Wizard the geoid undulation will be subtracted For GrafNet the process is similar This is because you can convert orthometric heights to ellipsoidal as you enter the control check point coordinates Be sure to set the ellipsoidal orthometric height flag correctly PM Elevations are always stored as ellipsoidal inside GrafNet Conversion to orthometric will only take place at time of coordinate export In many cases the default output is ellipsoidal height so care should be taken when exporting elevation values GrafNav GrafNet 7 60 User Manual Rev 1 283 Chapter 9 FAQ and Tips 284 GrafNav GrafNet 7 60 User Manual Rev 1 Appendix Output Variables 285 Table 41 List of Output Variables METER Description Absolute ECEF XYZ XYZ coordinates in the Earth Centred Earth Fixed Frame which is a Cartesian frame centred at the ellipsoid origin Ambiguity Drift Drift on ambiguities over time low ambiguities indicate stable solution Antenna Height Height of the pole or tripod above the station marker Azimuth 19 2 Angle between true north and the baseline ma
497. tween the two noise models can be specified under Settings Individual KAR In most cases the Automatic setting works best However manually selecting either of the model has its advantages For example the High noise model is less dependent on L2 which can make it more reliable if L2 is noisy The Ionospheric correction model seeds the Ionospheric free and Relative ionospheric models which can produce a more accurate final solution KAR can also be engaged in static mode under Settings Individual KAR This means using the fixed static solutions can be avoided which simplifies processing Normally though the fixed static solution is more reliable and fixed solution can be solved for each of the static periods in the data Using the option Maximize long baseline data usage under Settings Individual KAR has a great effect on airborne long distance data where the aircraft is continuously flying within and outside KAR distance tolerances Enabling this option is generally beneficial as more data is used However sometimes this can result in the incorrect integer being chosen if a carrier slip is missed while the aircraft was far away 9 4 5 How can I use KAR to improve poorly combined separations Even for long baseline airborne processing 5 10 cm accuracies are sometimes needed i e large photogrammetric scales or LIDAR However after initial processing the forward reverse separation may only show 20 30 cm The forward reverse s
498. twork adjustment does a much better job of distributing errors than the traverse solution This makes it less sensitive to errors as long as a session s estimated accuracy is representative of actual errors Thus the network adjustment generally produces more accurate station coordinates Another advantage of the network adjustment over the traverse solution is that it assigns a standard deviation to each point Estimated standard deviations should be used with caution but they are a good tool for locating outliers See Section 3 4 2 on Page 160 for more information on scaling standard deviations to match the data accuracy Before running the network adjustment all baselines must have already been processed Only good green baselines will be used unless otherwise specified with the Utilize sessions labeled BAD in network adjustment option GrafNav GrafNet 7 60 User Manual Rev 1 Scale factor 1 000 this value scales session obs covariance Confidence Level 139 400 gt Z 39 4 is one sigma J Utilize sessions labeled BAD in network adjustment Output Options IV Show input stations and vectors IV Show output coordinates Geographic J Show output coordinates Grid Grid Settings J Show output coordinates ECEF Show orthometric height for output coordinates Geoid C Geoids woalGeoid0s ContIS woo IV Show output estimated standard deviations F Convert output coordinates mto input datum 74 m Pro
499. type Once the Convert button is pressed these icons indicate whether or not conversion was successful Options available here including the following Remove Removes the selected file from the Convert Files window Clear Remove all files from the Convert Files window Options Displays the options associated with the receiver type of the selected file Any change are only applied to the selected file and will not be retained Info Displays file path receiver type and conversion status of the selected file View Available after conversion to open the selected file in GPBView GrafNav GrafNet 7 60 User Manual Rev 1 Convert Raw GPS data to GPB E Receiver Type Eg Unknown AutoDetect Global Options Info Folder C GPSData Manual_Data Raw_Data Get Folder m Source Files Convert Files Fite fx 100405 base pde Add Auto Detect adda auadian Remove Cea Options Info ven Auto Add Recursively Convert Help About Close Receiver type options Global Options These options depend on the type of receiver Options Selected options are applied to all raw data files in the Convert Files window that were logged using that receiver type and are retained as future values Info Provides information on the version and status of the DLL file used for the conversion including whether it is loaded and allows for auto detection Source file options Add Adds the
500. u choose the options best suited to your application Process Differential Process Process Direction Defines which time direction to process data in The direction options are in the shaded box Process Data Type Defines the type of data used for processing including the following Automatic Detects dual frequency single frequency or code only receiver data If the master s and remote are logging different data types then it selects the one with the least measurements The order of increasing measurement availability is C A code only single frequency and then dual frequency If L2 tracking is very poor then a dual frequency GPS receiver can be detected as single frequency Single frequency carrier phase Processes with C A code L1 carrier phase and L1 Doppler data in a combined Kalman filter so each variable must be available Single frequency is generally more accurate than C A code only Carrier phase ambiguities can be fixed but the process is less reliable than the dual frequency mode because you can t make ionospheric corrections Dual frequency carrier phase Processes same measurements as single frequency mode but with the addition of L2 carrier phase Processing dual frequency has two benefits that are listed in the shaded box By combining the L1 and L2 carrier phase the widelane is formed When used for Fixed Static KAR this technique is more reliable solves on longer distances and requires less o
501. u step by step through the process of creating a project All of these windows are made accessible for existing projects as well in case you wishes to make modifications 4 Under the Rcvr tab choose the appropriate receiver type Make sure to enter the data interval to log at 5 Select the port on the GPS receiver from which the data is sent 6 NovAtel and Ashtech receivers support ASCII commands Any extra commands which CELOG does not send the receiver may be entered under the Remd tab CELOG will send its normal configuration for that command set and then transmit any extra commands typed here lt This step may be skipped for any receiver type that does not support an ASCII command set 7 Setup the serial or network communication parameters for logging data from the GPS unit under the Com tab Db In most cases data transfer will be via serial cable Defaults of 8 bits and no parity are assumed Baud rates up to 115200 are supported Note that TCP network protocol is also supported in the event that GPS data is input via a standard network connection 250 Utilities All of Waypoint s software packages include CELOG a data logger that supports various receivers from NovAtel Ashtech Thales Trimble CMC Rockwell Jupiter Javad Topcon Parthus CSI Navcom and Ublox See to the Table 2 on Page 29 for more information on the specific supported receivers There are 3 components to the WinCE data logger CELO
502. uency if available Users wishing to perform code only processing should use GrafNav Station A point where the GPS receiver was setup over and there might be multiple observation files for a single station However one set of position values will be produced for each station as a final product of GrafNet There are several types of stations Ground Control Point GCP A reference station with known latitude longitude and height coordinates The user may also assign horizontal and vertical standard deviations for these values There can be horizontal vertical or 3 D points and there must always be at least one 3 D point or else one horizontal and one vertical point per project Check Point A station with known coordinates but these coordinates are only used as a check against GrafNet s computed coordinates Tie Point Such a point may also be called a loop tie closure and is formed when two or more sessions point to it Thus there is a redundant determination at this point Traverse Station This is a point with no tie or control information It might have two stations connected to it but one is pointing to it and the other is pointing from it Session Concurrent period of time between two observation files at two different stations One of the two stations will be the remote and the other will be the master The arrow on the screen will be pointing from the master to the remote The direction is determined by GrafNet in order to
503. upported in AutoNav An unlimited number of base stations and remote files can be added but a maximum of 8 base stations can be used with each remote Once the remote files and base stations are input the processing options and output format need to be set The processing options will be applied to all of the remote baselines that are to be processed If two remote files require different processing or output options then they must be in separate AutoNav projects An output file containing trajectory information is created for each of the remote files This chapter describes how to get started with AutoNav goes through each menu of its interface and provides step by step instructions for first time users 195 AutoNav v7 60 2120 Beta File Input Base Station Selection Processing Options Export Output Project File g Open New e Base Station File fees Select New Edit Base Station File Summary GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 6 6 2 Getting Started with AutoNav AutoNav v7 60 2120 Beta File Input Base Station Selection Processing Options Export Output Project File Open New Base Station File _ Select New Edit Base Station File Summary How to create a new project 1 Select AutoNav in the Waypoint program group 2 Click the New button in the Project File box under the File Input tab 3 Provide a name and destin
504. use they are overwritten when this option is used GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Files to download from Waypoint s FTP site manufact adf List of antenna profiles See Page 36 for more details manufact dn1 List of base stations available for the Download utility This is usually updated monthly manufact dtm List of datums ellipsoids and transformations between datums See Section 9 8 on Page 277 for details manufact fvt List of Favourites and the groups they are contained in These only contain coordinates for stations available with the Download utility See Section 2 8 12 on Page 136 for more information manufact grd List that contains available grids such as UTM US State Plane Gauss Kruger etc Section 2 8 7 on Page 129 for more details manufact svi A file that associates a PRN number with a satellite type Block II Block IIA etc for purposes of determining the center of mass of the satellite It assists in single point processing This file should not be modified 143 Chapter 2 GrafNav 144 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 3 1 GrafNet Overview GrafNet is a static network processing package that creates a single network by tying all the points of static GPS baselines together Within minutes GrafNet processes the entire project in a single operation When the processing is completed GrafNet color codes the baselines so irregular ones are isolated
505. usnsssrsrserrrrressrssssnssennernerrersressrnrsnr snar ner r rr rr rr enn nn 227 19 Records Supported for Javad amp TOPCON uisssssesseeseererrrsrsressnrnenrrernrrr essensen enn nr rer rr rr rr RR nerna nns nan 227 20 Files Supported for Leica SR cecceceecceccccecceteeeeeeeeeeeceaaneeceeeeeeeeeeeesaeecenaeeaeeeceeeeeeeeseeeeeenaneeeees 228 21 Records and Files Supported for Leica MX mossssssssessrrrsssrsssersenenererrrrssenrsnrnnrrrr rer seen renar nn nr nn rr rn nan 228 22 Records Supported for Leica 500 issssssrsssesresrerrrrrrrssrsssersrnsrererrrrrrr rn rn ratt EEEE sne rar rn RR ARR R RR SKR Sr RR rna 229 23 Records Supported for Leica 1200 m ss sss5simsd issssmsddddss sned adds iiad sr s nker dnr aaa Aa aE 229 24 Records Supported for NAVCOM asnosserersrsssssssenasrnserrnrsrnsse rasen arr sr rss rr rn ran RR R RKA RR AR RAR RR RKA RR RR ARR RAR nn 230 25 Records Supported for NovAtel CMC sisssssssesrssrrsssrssssnsrnnrsrrrrr rss rr rss annan nr enn sr nns rr rar rn ARR nr ser nr nnmnnn 231 26 Records and Files Supported for NovAtel OEM2 OEM3 and SoftSurv erererresesersrrrrrrrrrrn rara 232 27 Records Supported fro NovAtel OEM4 uissosssmssssssessrerssrrsssssssnsrnonrrrnrrr rss ense sne nr nr nns rr saraaa sr rn rr nr nan 233 28 Files Supported for RINEX aiies tensnagcdensecnacocauaguadsavns accddesvesveadensnndsaadacdsaedseadkuansenteanends 234 29 Records Supported for Rockwell PLGR MPE12 cessmnssessesserrrsrrsssrnssnnsenrnrrnrrrerrrenrn
506. vailable via this menu 5 11 Help Menu See Section 5 11 on Page 193 for information regarding the features available via this menu GrafNav GrafNet 7 60 User Manual Rev 1 193 Chapter 5 GrafMov 194 GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 6 AutoNav 6 1 Overview of AutoNav AutoNav is an automated differential GPS processing program that is capable of handling static or kinematic data AutoNav is intended for processing multiple remote files that use the same processing options and or base configurations The benefit of using AutoNav which employs the same processing engine as GrafNav is that it allows for large amounts of data to be converted have its base files downloaded resampled processed and exported in a single operation Once processing begins no user interaction is required For example if processing is started at the end of the day the results should be available by morning While some initial work setting up the project is required time will be saved in the long run AutoNav can be used with projects that span multiple days such as deformation monitoring The first step when creating an AutoNav project is to define the base stations and their coordinates Bases can be either files meaning the raw data is readily available from your computer or Internet stations which the program will download automatically All of the stations that are available in the Download Service Data program are s
507. ve this correction significantly The amount of improvement depends on the size and variation of the scale factor in the project area and variation of the ground height DEM accuracy is not as important given that a 25 m DEM error will result in a very small final error in VSF height for UTM and an insignificant error for most State Planes 9 7 2 What are the DEM sources There are many sources but for VSF correction purposes 1 250 000 1 degree DEMs are sufficient In the USA these can be obtained free of charge from the Internet via the following steps 1 Go to http edc usgs gov geodata and click on the 1 250K along the top Select State 2 Select the state in which the project area lies Then select the area 3 Download the map sheets from USGS site For each file use the utility DEM2XYZN exe available from http data geocomm com dem dem2xyzn to convert these files to a listing of geographic points The output will be Longitude Latitude Height where the latitudes and longitudes are in arc seconds and the height is in metres 276 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 4 If needed concatenate files of together to create one file that will cover the entire project area From the command prompt use the Copy command and the following convention e copy filel xyz file2 xyz file3 xyz combined file xyz See Section 2 6 5 on Page 97 for help importing the DEM file into the software 9 7 3 What DEM
508. ve tolerance based on the data and can be manually set if you are experiencing incorrect cycle slip detection Use the GPB Viewer to re compute the Doppler before you use this tool Use L1 locktime counter In kinematic mode the locktime cycle slip check uses flags generated by the GPS receiver to count the L1 locktime Normally this should be enabled Save ambiguities on satellite drop outs Due to serial data errors some receivers drop satellites without a loss of lock occurring Without this setting enabled these drop outs are treated as a cycle slip Enabling this setting is especially beneficial for Ashtech receivers In some cases however it is better to interpret this loss of lock as a cycle slip A good indicator that this checkbox should be disabled is if a filter reset message follows the message Prn dropped out for n seconds on b l will try to save ambiguity in the message log GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 2 Process GPS or GPS GLONASS ixi lonosphere L2 Fixed Static KAR1 KAR 2 Process General Advanced1 Advanced 2 User Cmds Measurement r Static Session Settings Split into two sessions if time gap greater than f120 IV If fixed static enabled only use it on static session when Single Dual Frequency Distance is less than fi 0 fao km Time span is greater than Jaso fha fs r Cycle Slip Detection Static cycle slip tolerance fo 40 cycles
509. vers which do not make accurate pseudorange measurements 224 Utilities Time Range Options Determines the range of time that is to be used for the creation of the new file Copy all epochs is generally selected for resampling purposes Splicing a file would require the selection of either Copy Time Range or Copy Epoch Numbers Resampling a file will prompt the Resample to a Higher Interval window shown the shaded box Resampling should only ever be performed on static data Data Mode Defines the measurement quantities to be interpolated General Options There two choices for determining the interval of the output file include the following Interpolate using a Data Interval Defines a specific interval for data resampling Interpolate using times from a GPB File To have the output file contain data at the same epochs as a different GPB file select this option This selection is particularly useful for receivers that do not make their measurements on the whole epoch such as Sirf or Parthus GSU IL Any gaps in the chosen file is also reflected in the output file Advanced Options The following settings are available Ephermeris Ephemeris data is required to resample a GPB file Normally use the EPP file associated with the input If this file does not exist or is incomplete specify an alternate EPP file Interpolating 30 second data adds 1 to 2 cm of noise Interpolation of 5 second
510. w will allow for the display of any individual session in the Sessions window 3 6 8 See the Process menu on Page 6 for information regarding this window Processing Window 3 7 Tools Menu See Section 2 8 on Page 125 for information regarding the features available through this menu 3 8 Help Menu See Section 2 10 on Page 143 for information about these features GrafNav GrafNet 7 60 User Manual Rev 1 Chapter 3 Table 16 Baseline Colour Legend Colour Description Blue Unprocessed Normally represents an unprocessed baseline In some cases when processing quits prematurely the colour may remain blue The return error message can be viewed by right clicking the baseline in the Sessions window of the Data Manager and selecting View Information Grey Ignored Indicates a session that is to be ignored Yellow Duplicate Indicates a duplicate baseline meaning that it has more than one session Such baselines are plotted with two colours with one being yellow The second colour will represent the best solution among all the sessions for the duplicate baseline Purple Approximate Indicates that an error has occurred during the processing and only an approximate 1 to 5 metres solution was extracted Such a solution is only useful for transferring an approximate position from base to remote and this session should either be reprocessed or ignored Red Bad Failed
511. w do define a local cartesian coordinate system mimnsssssssssssssssrssssrssrssssrsrsss ses r snar snaran 273 9 6 6 How do define a local Coordinate grid nsmsmsssesssssssesrsrsssrerrsssrrer rss sr rr sn rss ran RR SR RAR RSS R RA Rn on 2174 9 6 7 How do I process an aerial survey with camera event marks ssmnssssesssssssssrssssrssssssrnr sana 275 9 7 Digital Elevation Models DEM FAQ and TIPS ossmmsssssssrassrerrsssrerrrsssrrsrss seen r rss sr rsr sars AR RR KR Ran aan nn 276 9 7 1 Why would luse DEM ccnrccccneancniienii ane AEREA 276 9 7 2 What are the DEM sources unsssssrsssseesrererrrsssresenrsenrnr rer rr essens nn rr rr arr rr RAR RR RRD ARKA RR AR RAR RR RK Rn nn nn 276 9 7 3 What DEM formats are supported by GrafNav 0 cccceceeeeceeeceeceeeeeeeeeeeeseeeecenaeeeeeeeeees 277 9 7 4 How do I handle large DEMS s ssssssssrssssrsrrsssrssrssssrsr eee tees eee s skr RASAR RAR RASAR KR KRA S ARK R ARR KKR an 277 9 8 Datum FAQ and Tips cites in ieieiens heelnneu i ena eves teh ha ance eee 277 9 8 1 What are the available features Of datums nsssssssrsssrsssesseeseererrrsrrrnssn nanna rer sne rr ens n nn nn n nr nan 278 9 8 2 How are datums handled within the software eccecceceeeeeeeeeeeeeeeeeeneecaeeeeeeeeeeteees 278 9 8 3 How do I making additional datums available Elonsssssssssssssrsrssssrssrrssrrer ss ass r snar sr sr Rn annan nn 279 9 8 4 How do I enter a 7 parameter transformation mesmssssssssrsssserseers
512. wing 55 Static Mode switching data between modes 50 221 Static Processing in GrafNav 62 in GrafNet 157 tips 264 Static Sessions editing 57 ignoring trivial sessions in GrafNet 160 processing in GrafNav 68 processing in GrafNet 160 processing tips 264 Static Summary format and description 212 output settings 67 viewing 53 Station FileSee STA File 55 T Time Range processing range in GrafNav 64 processing range in GrafNet 158 Trajectory File format and description 216 setting output level 67 Traverse Solution definition 147 detailed description 167 viewing 167 Trivial Baselines 160 U UTC applying time offset 113 Variance Factor 166 Velocity computing options 66 Ww Waypoint Geoid Files information tool 129 obtaining WPG files 24 WinCE Data Logger 250 WLOG Data Logger 242 WPGSee Waypoint Geoid Files 129 Write Coordinates 118 GrafNav GrafNet 7 60 User Guide Rev 1
513. with a single base using GrafNet is much faster to setup and process If problems develop with the receiver at the base station try downloading the nearest CORS IGS station or even the nearest few CORS IGS stations and use the GrafNav Batch processor to get a combined solution from multiple base stations See Chapter 4 on Page 177 for more information 9 5 2 Can I use kinematic processing on static baselines If data has static sessions defined and there is even a small amount of movement the L1 carrier will suffer This may cause a fixed solution to fail or a float quick to deliver poor results To compensate for the small movement you may want to process the data in kinematic mode which gives better results if there was movement in the antenna Changing the entire remote file to kinematic can be accomplished within the GPB Viewer Alternatively you can process the data in static mode but select the Engage KAR while in STATIC mode option KAR is very reliable for dual frequency data but can only be engaged in kinematic mode 264 GrafNav GrafNet 7 60 User Manual Rev 1 FAQ and Tips Chapter 9 9 5 3 How can I optimizing the fixed static solution Like in KAR an ionospheric L2 noise model is available This can greatly increase the range of fixed integer solutions especially with longer observations With such long occupations enabling the iono free solutions in GrafNav can further improve accuracies In GrafNet this is performed by def
514. ws access to many settings like X and Y axes ranges and the display format for the latter The plot titles along with the X and Y axes labels can all be edited here Other options regarding the displaying of camera marks and the usage of thick plotting lines are available too Property setting options are in the shaded box GrafNav GrafNet 7 60 User Manual Rev 1 GrafNav Chapter 2 Common Plots Table 4 contains a list of common plots that are Plot Description available through the Plot GPS window Accuracy Table 4 Common Plots Plots the standard deviations of the east north and up directions versus time for the solution The total A standard deviation with a distance dependent ccuracy component is also plotted View this plot for individual forward or reverse solutions and losses of lock Estimated Position Velocity is the local level component easting northing up computed by the Kalman filter These are mostly derived from the Doppler measurements Plotting the Doppler RMS is a good way to check the actual accuracy based on real data Plotting the estimated standard deviation shows the theoretical accuracy based on the Kalman filter error estimates Measurement Plots the root mean square combination of the code residuals This is a good indicator of receiver code RMS C A Code measurement accuracy and of multi path for carrier phase processing Large jumps can be induced by missed carrier phase cycle s

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