Low-Cost GNSS Hardware for High-Accuracy Marine Positioning · Quebec City Page 1 - February 25,...

Quebec City - February 25, 2020

CHC 2020 Conference – Session 3

Low-Cost GNSS Hardware for High-Accuracy

Marine Positioning

Johnson Oguntuase1, David Wells1, Sunil Bisnath2

1 Division of Marine Science, School of Ocean Science and Engineering,

College of Arts and Sciences,

University of Southern Mississippi

John C. Stennis Space Center, USA

[email protected]

2Geomatics Engineering, Dept of Earth & Space Science & Engineering

Lassonde School of Engineering, York University

Toronto, Ontario, Canada

mailto:[email protected]

Introduction

• GNSS signal evolution and the growth in demand for location-based

solutions for mass-market applications are driving the design and cost of

GNSS hardware

• New, innovative, LM3GNSS hardware are available in the market

• Previous research works on LM3GNSS hardware, address questions

related to autonomous driving applications

Determine the potential of low-power, multi-frequency, multi-

constellation, mass-market GNSS (LM3GNSS) hardware for

marine applications

BACKGROUND

GOAL

Questions

S-44 allowable TVU

Questions

1. Can LM3GNSS hardware meet offshore and

nearshore positioning requirements for Ellipsoid

Reference Survey (ERS) within the TVU tolerance

specified in IHO S-44?

a) Is the PPP performance similar to the geodetic

grade receiver?

b) Is the PPK performance similar to the geodetic

grade receiver?

2. What are the limitations of LM3GNSS hardware for

high-accuracy marine / hydrographic applications

when compared to the high-grade, high-cost

hardware? (This would summarize our experience

with using the hardware)

To accommodate other components of TVU error budget, a reasonable threshold for the

GNSS component would be 0.1 m at 95% confidence level for special order surveys.

Manufacturer Receiver Price / unit

TRIMBLE NETR9$10,000 approx.

DROTEK ZED-F9P (U-BLOX) $243.00

SWIFT NAVIGATION DURO $2,670.00

SEPTENTRIO MOSAIC $895.00

UNICORE COMMUNICATIONS

UB4B0M(receiver module only)

$575.00

Manufacturer Antenna Price/unit Description

TRIMBLE ZEPHYR 3 2,300 Calibrated

DROTEK DA910 109 Uncalibrated

SWIFT NAVIGATION GPS500 225 Uncalibrated

SEPTENTRIO PolaNt-x MF 660 Calibrated

HARXON COORPORATION

HX-CSX601A 450 Calibrated

NETR9

ZED-F9P

DURO

MOSAIC

UB4B0M

GNSS Hardware Under Test

The prices of the low-cost hardware listed here includes carrier boards and enclosures as provided by

the manufacturers with the exception of UB4B0M. Unicore Communications does not provide

enclosure for their boards, however evaluation carrier board was provided at $ 250.00 only. USM

engineered a pelican case as an enclosure for UB4B0M. Note that the cost of Mosaic, with the

enclosure provided on request by the manufacturer was $1090.00.

NETR9 used as

standard check

NETR9

ZED-F9P

DURO

MOSAIC

UB4B0M

GNSS Hardware Under Test

NETR9 used as

standard check Manufacturer Receiver Signals Channels

TRIMBLE NETR9

GPS: L1 C/A, L2C, L2E, L5GLO: L1 C/A, L1P, L2 C/A L2P, L3code, L3 CDMA2GAL: L1 CBOC, E5A, E5B & E5AltBOCBDS: B1, B2, B3QZSS: L1 C/A, L1C, L1 SAIF, L2C, L5, LEX5

440

DROTEKZED-F9P (U-BLOX)

GPS: L1C/A L2C, GLO L1OF L2OF;GAL: E1B/C E5b;BDS: B1I B2I;QZSS: L1C/A L2C;

184

SWIFT NAVIGATION

DURO

GPS: L1, L2;GLO: G1, G2;GAL: E1, E5b;BDS: B1, B2;

?not explicit on data sheet but should be the same as PiksiMulti

SEPTENTRIO MOSAIC

GPS: L1C/A, L1C, L1PY, L2C, L2P, L5GLO: L1CA, L2CA, L2P, L3 CDMABDS: B1I, B1C, B2a, B2I, B312GAL: E1, E5a, E5b, E5 AltBoc, E612QZSS: L1C/A, L1C, L2C, L5, L612NAVIC: L5

448

UNICORE COMMUNICATIONS

UB4B0M(receiver module only)

GPS: L1 , L2 , L5; GLO: L1 , L2; GAL: E1 , E5a , E5b; BDS: B1 , B2 , B3;QZSS: L1 , L2 , L5;

432

From Data Sheet

Roving antenna

• Well defined calibration station installed

on the roof of BLD 1029, Stennis Space

Center, MS, USA

• Zero-baseline setups at the calibration

station and roving vehicle

• Used ALDCBS1X8 amplified splitters

from GPS Networking (vendor’s

name)

• The receivers shared Trimble Zephyr

3 Geodetic antennas

• The antenna was powered by NETR9

• Elevation cut-off angle was set to zero

Experiment Design

Logged data on laptop via Ethernet, USB and COM ports

Reference antenna

Zephyr 3

LM3GNSS Hardware performance When Using High-Grade Antenna

• Multi-GNSS Kinematic Precise Point Positioning (PPP) solution at calibration station

Used GipsyX version 2.1 for PPP solutions; evaluated code and phase residuals for

ionospheric-free combinations in the PPP filter

The code and phase residuals is a proxy to understand the mismodelling between the

observations and all modelled parameters

• Post-Processed Kinematic (PPK) / doubled-differenced solution with a roving vehicle

Used GrafNav version 8.9 for PPK solutions and evaluated residuals for code and

phase measurements

We present the performances of the up, east, and north components

1. Can LM3GNSS hardware meet near-shore and offshore positioning requirements for Ellipsoid Reference Survey ?

• Calibration coordinates was derived from nine-day observation

• Used BETA OPUS and BETA OPUS Projects for network processing and adjustment

Carrier Phase Residuals From Low-cost Kinematic PPPPhase residuals included in PPP solution Date: Dec 23, 2019

Data location: USM Calibration station, Bld 1029, Balch Blvd, Stennis Space Centre, MS

Receiver Const.

Ionospheric-free combination data-type Total record

Number included

Ratio of record included

Residual @ 95percentile (m)

NETR9 GPS IonoFreeL-1C-2W 23897 21694 90.80% 0.020

DP0601 GPS IonoFreeL-1C-2L 16074 14172 88.20% 0.021

DURO GPS IonoFreeL-1C-2S 14473 13158 90.90% 0.020

MOSAIC GPS IonoFreeL-1C-2W 25144 23278 92.60% 0.018

UB4B0M GPS IonoFreeL-1C-2W 26049 23234 89.20% 0.020

NETR9 GLO IonoFreeL-1C-2P 16138 16103 99.80% 0.023

DP0601 GLO IonoFreeL-1C-2C 17006 16957 99.70% 0.025

DURO GLO IonoFreeL-1C-2C 14511 14496 99.90% 0.022

MOSAIC GLO IonoFreeL-1C-2C 17090 17071 99.90% 0.020

UB4B0M GLO IonoFreeL-1C-2C 16801 16790 99.90% 0.021

NETR9 GAL IonoFreeL-1X-5X 20936 20923 99.90% 0.021

DP0601 GAL IonoFreeL-1C-7Q 21312 21273 99.80% 0.023

DURO GAL IonoFreeL-1B-7I 18350 18346 100.00% 0.021

MOSAIC GAL IonoFreeL-1C-5Q 19663 19660 100.00% 0.019

UB4B0M GAL GAL not computed

NETR9 BDS IonoFreeL-2I-6I 2827 2823 99.90% 0.027

DP0601 BDS IonoFreeL-2I-7I 2694 2688 99.80% 0.025

DURO BDS IonoFreeL-2I-7I 2803 2800 99.90% 0.022

MOSAIC BDS IonoFreeL-2I-7I 2910 2909 100.00% 0.021

UB4B0M BDS IonoFreeL-2I-6I 2499 2499 100.00% 0.024

1. Can LM3GNSS hardware meet near-shore and offshore positioning requirements for Ellipsoid Reference Survey ?

Low-cost Kinematic PPP Performance relative to

calibration coordinates (Up, East, North)

1b. Is the PPP performance similar to the geodetic grade receiver?

Low-cost Kinematic PPP Performance relative to

NetR9 (Up, East, North) at Calibration Station

1b. Is the PPP performance similar to the geodetic grade receiver?

Performance Summary of Low-Cost Kinematic PPP with Zephyr 3 Antenna

Unit: m Uncertainty at 95% confidence level

Strategy : PPP dn de du

Software : JPL's GipsyX NETR9 0.016 0.027 0.066

Start time : 22-Dec-2019 23:59:47 DP0601 0.019 0.030 0.061

End time : 23-Dec-2019 23:59:46 DURO 0.019 0.028 0.059

Data rate : 1 s MOSAIC 0.017 0.030 0.060

No of epoch : 86400 UB4B0M 0.023 0.034 0.064

Receiver minus calibration coordinates

Unit: m Uncertainty at 95% confidence level

Strategy : PPP dn de du

Software : JPL's GipsyX NETR9 - - -

Start time : 22-Dec-2019 23:59:48 DP0601 0.011 0.013 0.036

End time : 23-Dec-2019 23:59:46 DURO 0.013 0.012 0.039

Data rate : 1 s MOSAIC 0.012 0.014 0.037

No of epoch : 86399 UB4B0M 0.017 0.019 0.052

• Calibration coordinates was

derived from eight-day

observation

• Used OPUS and OPUS

Projects for network

processing and adjustment

• Datum : IGS 14

Receiver minus NETR9 coordinates

NETR9

$10,000

approx.

DP0601

ZED F9P

$243

MOSAIC

$895

DURO

$2,670ZEPHYR

$2,300

UB4B0M

$825 (minus

enclosure)

1. Can LM3GNSS hardware meet offshore positioning requirements for Ellipsoid Reference Survey ?

Low-cost PPK Performance relative to NetR9

coordinates (Up, East, North)

1b. Is the PPK performance similar to the geodetic grade receiver?

@ Overpass

@ a curve

Signal Blockage and Recovery

Overpass location is about 6.5 km from cal. stn.

Time: 17:14:11

Time:

17:14:00

1b. Is the PPK performance similar to the geodetic grade receiver?

UB4B0M

NETR9 MOSAICDP601 DURO

Performance Summary of Low-Cost PPK When Using Zephyr Antenna

1. Can LM3GNSS hardware meet near-shore positioning requirements as specified in IHO S-44?

Overview of Signals Tracked Over 24 hours (RINEX 3 Convention)

NETR9

$10,000

approx.

DP0601

ZED F9P

$243

MOSAIC

$895

DURO

$2,670

ZEPHYR

$2,300

UB4B0M

$825 (minus

enclosure)

DP0601G = C1C C2L L1C L2L

R = C1C C2C L1C L2C

E = C1C C7Q L1C L7Q

C = C2I C7I L2I L7I

UB40MG = C1C C2W C5Q L1C L2W L5Q

R = C1C C2C L1C L2C

E = C1B C5Q C7Q L5Q L7Q

C = C2I C6I C7I L2I L6I L7I

DUROG = C1C C2S L1C L2S

R = C1C C2C L1C L2C

E = C1B C7I L1B L7I

C = C2I C7I L2I L7I

NETR9G = C1C C2W C2X C5X L1C L2W L2X L5X

R = C1C C1P C2C C2P C3X L1C L1P L2C L2P L3X

E = C1X C5X C7X C8X L1X L5X L7X L8X

C = C2I C6I C7I L2I L6I L7I

MOSAICG = C1C C2L C2W L1C L2L L2W

R = C1C C2C L1C L2C

E = C1C C5Q C7Q L1C L5Q L7Q

C = C2I C7I L2I L7I

Number of Satellites Used in PPK Solution

NETR9

$10,000

approx.

DP0601

ZED F9P

$243

MOSAIC

$895

DURO

$2,670

ZEPHYR

$2,300

UB4B0M

$825 (minus

enclosure)

NETR9 DP0601 DURO

MOSAIC UB4B0MThe rover receiver tracked fewer GAL SVs,

however, C1B data type was not available in

RINEX 3 file converted from the raw data

Performance Summary of Low-Cost PPK When Using Zephyr Antenna

1. Can LM3GNSS hardware meet near-shore positioning requirements as specified in IHO S-44?

Receiver minus NETR9 coordinates

NETR9

$10,000

approx.

DP0601

ZED F9P

$243

MOSAIC

$895

DURO

$2,670

ZEPHYR

$2,300

UB4B0M

$825 (minus

enclosure)

Unit: m Uncertainty at 95th percentile

Software : Hexagon | Novatel's GrafNav dn de du PDOP

Start time : 17-Feb-2020 16:51:47 NETR9 - - - 1.40

End time : 17-Feb-2020 17:16:41 DP0601 0.049 0.034 0.232 1.98

Data rate : 1 s DURO 0.033 0.023 0.149 1.92

No of epoch : 1485 MOSAIC 0.022 0.014 0.051 1.15

Average speed : 54.1 mph (87.0 kph) UB4B0M 0.016 0.014 0.054 1.17

• Drotek, and DURO have fewer tracking channels, and thus fewer signal types compared to other receivers

• External power source is required for all LM3GNSS hardware under test (internal battery not supplied)

• A laptop is required for hardware control and data storage

• Carrier boards and enclosure may be required for some of the receivers

• Some RINEX 3 data types (modulations) may not be supported by some software, especially in the case of PPP processing, when forming the ionospheric-free combination

2. What are the limitations of LM3GNSS hardware for high-accuracy marine / hydrographic applications ?

Limitations of LM3GNSS Hardware

2. What are the limitations of LM3GNSS hardware for high-accuracy marine / hydrographic applications ?

Summary • With a high-grade antenna, the performance of MOSAIC and UB4B0M

relative to NETR9 are better than 10 cm in the vertical component, while it is

about 20 cm for DP0601 and DURO

• Some LM3GNSS receiver will meet ellipsoid reference survey

requirements provided they are combined with a high-grade GNSS antenna as

shown in this work

• Dynamic testing on sea and the implications of using LM3GNSS antennas

• Low-cost antenna characterization

• Full bathymetric survey with LM3GNSS receivers and the assessment of total

vertical uncertainty

NETR9

$10,000

approx.

DP0601

ZED F9P

$243

MOSAIC

$895

DURO

$2,670

ZEPHYR

$2,300

UB4B0M

$825 (minus

enclosure)

Future Work

Thank You!

Questions?

Low-Cost GNSS Hardware for High-Accuracy Marine Positioning · Quebec City Page 1 - February 25,...

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