Technische Universitt Mnchen

Carrier phase positioning

Challenges and results

Patrick Henkel
11.10.2012

Visit of Prof. Brad Parkinson, German Aerospace Center (DLR)

 Technische Universitt Mnchen

Challenges

Medium-cost single-frequency GPS receivers:

price: 25 - 145 antennas: ~ 10

depending on
amount of
purchased receivers
Challenges:
- carrier tracking available but not yet reliable, i.e.
frequent half cycle slips, loss of locks, and data gaps
- no synchronization of receiver time to GPS system time

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Heading determination with carrier phase

Antenna of 2nd GPS receiver

Two LEA-6T
u-blox receivers

no need for any

timing signal
to synchronize Heading
receivers determination
with an
no inertial accuracy of
sensors used 0.2
to determine
heading

Antenna of 1st GPS receiver

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Cycle slips and phase jumps

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Clock offset
-4
x 10
7

6
Receiver clock offsets [s]

2 clock offset of receiver 1

clock offset of receiver 2
differential clock offset
1

0
~ 0.46 0.57 ms !
-1
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
Epochs

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Synchronization of GPS receivers

Differential clock offset

Synchronization correction

with

determined from 2nd order interpolation in 3 dim.

determined from 5-th order interpolation in 3 dim.

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Zero baseline test: double difference carrier phases

4 4

4 4
x 10 x 10 x 10 x 10
3741 2.3741 1 cycle (19.03 cm) -2.0906 -2.0906
2.374 2.374 -2.0907 -2.0907
3739 2.3739 -2.0908 -2.0908
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4
x 10 x 10
8739 1.8739 5171 5171
8738 1.8738 5170 5170
8737 1.8737 5169 5169
0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4
x 10 x 10
9379 9379 6.2598 6.2598
9378 9378 6.2597 6.2597
9377 9377 6.2596 6.2596
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4 4 4
x 10 x 10 x 10 x 10
0616 -5.0616 -3.5331 -3.5331
0617 -5.0617 -3.5332 -3.5332
0618 -5.0618 -3.5333 -3.5333
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4

x 10 x 10
4525 -1.4525 7618 7618
4526 -1.4526 7617 7617
4527 -1.4527 7616 7616
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180

4 4
x 10 x 10
9258 -3.9258 -3343 -3343
9259 -3.9259 -3344 -3344
3.926 -3.926 -3345 -3345
0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180

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Synchronization of GPS receivers

0.6
Correction of DD phases [m]

0.4

0.2

-0.2

-0.4
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Drift of DD phase correction [m]

0.02

0.01

-0.01

-0.02
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Epochs

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Corrected double difference measurements

4 4

4 4

x 10 x 10 x 10 x 10
3743 2.3743 -2.0909 -2.0909
3742 2.3742 -2.091 -2.091
3741 2.3741 -2.0911 -2.0911
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4

x 10 x 10
8733 1.8733 5171 5171
8732 1.8732 5170 5170
8731 1.8731 5169 5169
0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180

4 4
x 10 x 10
9381 9381 6.2595 6.2595
9380 9380 6.2594 6.2594
9379 9379 6.2593 6.2593
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4 4 4

x 10 x 10 x 10 x 10
0621 -5.0621 -3.5335 -3.5335
0622 -5.0622 -3.5336 -3.5336
0623 -5.0623 -3.5337 -3.5337
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4

x 10 x 10
4527 -1.4527 7619 7619
4528 -1.4528 7618 7618
4529 -1.4529 7617 7617
0 200 0 400 200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180
4 4

x 10 x 10
9263 -3.9263 -3343 -3343
9264 -3.9264 -3344 -3344
[J. Cardenas, 2012]
9265 -3.9265 -3345 -3345
0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
1800 2000 0 200 0 400
200 600
400 800600 1000
800 1200
1000 1400
1200 1600
1400 1800
1600 2000
180

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Drift removal

0.01
DD phases relative to first epoch [m]

0.005
Uncorrected and corrected

-0.005

-0.01
DD
DD correction
DD minus DD correction
-0.015
0 500 1000 1500 2000
Epochs

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Heading determination with carrier phase

360

315

Estimate of heading [deg]

270

225

180

135

90 GPS phase-only low cost solution

Precise coupled INS-GPS reference
45

0
0 30 60 90 120 150 180 210 240
TOW [s] relative to 117191.0 s

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Heading determination with carrier phase

Error of cascaded heading estimate [deg]

0.6

0.4

0.2

-0.2

-0.4

-0.6

-0.8
0 10 20 30 40 50 60
TOW [s] relative to 117251.0 s

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Heading determination with carrier phase

180

135

Estimate of heading [deg]

90

45

0 Re-calibration of DD phases
Heading based on
INS/GPS reference
-45 Heading based on
phase coasting using
low-cost GPS sensors
-90
0 30 60 90 120 150 180 210 240 270
TOW [s] relative to 120384.2 s

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Heading determination of ships

2nd receiver

1st
receiver

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Heading determination of ships

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Heading determination of ships

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Attitude determination of ships

315 heading estimates

after integer fixing
Heading of selected fixed solution [deg]

310 integer fixing with

decorrelation and search
305 based on averaged
float solution
300 integer ambiguity selection
with baseline length
295 inquality constraint and
maximization of ratio test
290 baseline length:
ca. 20.65 m +/- 0.02 m
285
0 100 200 300 400 500 600 700 800 900 1000 1100
no filtering !
Time [s]

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Heading accuracy: 0.02 !

heading estimates
304.74
Heading of selected fixed solution [deg]

304.72
after integer fixing
304.7
integer fixing with
304.68 decorrelation and search
304.66 based on averaged
304.64 float solution
304.62 noise level integer ambiguity selection
304.6
0.02 with baseline length
304.58 inquality constraint and
304.56
maximization of ratio test
304.54
baseline length:
664 666 668 670 672 674 676 678 680
ca. 20.65 m +/- 0.02 m
Time [s] no filtering !

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Heading accuracy: 0.02 !

sinking in lock
0.1

0.08
magnitude:
Residuals of selected fixed solution [m]

0.06
a few cm,
i.e. much smaller
0.04
than the wavelength
0.02
(19.0 cm)
0 residuals bias-free and
-0.02 almost drift-free
-0.04
2 ratio test of 4.18
12
-0.06 21 i.e. quite good indication
25 of correct fixing
-0.08 30
31
-0.1
0 100 200 300 400 500 600 700 800 900 1000 1100

Time [s]

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Height change in lock

136

135
GEOID height
not yet
134
subtracted
(~ 47.9 m)
Height [m]

133
6.5 m
132

131

130

129

128
700 750 800 850 900 950 1000 1050 1100

Time [s]

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Relative positioning of football players

clock offset:
up to a
few seconds

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Relative positioning of football players

3 4

2 3.5
Uncorrected DD phase relative to first epoch [m]

1 3

0 2.5

-1 2

North [m]
-2 1.5

-3 1

-4 0.5

-5 0

-6 -0.5

-7 -1
1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 0 1 2 3 4
Time [s] East [m]

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Relative positioning of football players

3 4

2 3.5
Corrected DD phase relative to first epoch [m]

1 3

0 2.5

-1 2

North [m]
-2 1.5

-3 1

-4 0.5

-5 0

-6 -0.5

-7 -1
1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 0 1 2 3 4
Time [s] East [m]

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Precise point positioning:

Satellite phase bias estimation
in large geodetic networks

Minimization of the mean square error (MSE)

Best Integer Equivariant Estimation of ambiguities:

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Precise point positioning:

Satellite phase bias estimation
in large geodetic networks
48
Estimated
parameters: 46
orbital corrections,
ionospheric and float
44
ILS
MSE

tropospheric delays,
sequential BIE
receiver and satellite BIE
42
phase biases,
integer ambiguities
40

[A. Brack, 2012] 38

0 50 100 150 200
epoch

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Improving accuracy of the float solution:

Multi-frequency combinations
scaling of geometry
scaling of ionospheric delay enables reliable fixing!

small code coefficients

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Improving accuracy of the float solution:

Multi-frequency combinations
Integer-least-squares pull-in regions:

E1 pull-in regions: Widelane pull-in regions with =3.285 m:

5

4
1.0
3

2
0.5
1

(2)
(2)

0 0

N
N

-1
-0.5
-2

-3
-1.0
-4

-5
-5 -4 -3 -2 -1 0 1 2 3 4 5 -1.0 -0.5 0 0.5 1.0
(1) (1)
N N

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Improving accuracy of the float solution:

Multi-frequency combinations
PPP using E1 and E5 code and carrier phase measurements of 3 s:
0
b.)
a.) Dual frequency (E1-E5) Galileo 10
code and carrier phase
measurements
-5
with
without linear combinations

Probability of wrong fixing

10
two geometry-preserving,
ionosphere-free
Estimated parameters:
10-9
linear combinations:
carrier phase integer ambiguities
-10
10
- code carrier combination
position (once/ epoch)
of maximum discrimination
ionospheric delays (initial epoch)
- code-only combination
gradients of ionospheric delays -15
10
tropospheric
Estimated wet zenith delay
parameters:
(initial epoch) IF code-carrier and IF code-only combinations
widelane integer ambiguities
gradient of trop. wet zenith delay no
nocombinations
combinationsover
overfrequencies
frequencies
position (once/ epoch) -20
10
tropospheric wet zenith delay 0 5 10
Time [h]
15 20

and its gradient

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