Positioning with GNSS Static

Method & Irwan Gumilar

Brian Bramanto and Irwan Gumilar
Geodesy Scientific Group - ITB
[email protected]

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Review

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GNSS method

GNSS

Absolute Relative

Single Point Precise Point

Static Kinematic
Positioning Positinoning

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Relative Positioning
• Requires two receiver
• Generally uses the double
difference equation
• Requires one point with
known coordinates
• Observed parameters
at least consists of
dX, dY, dZ

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GNSS Signal Transmission
Error or Scor
Bias
Satellite orbit ~ 300
Hour satellite Up to km
Ionosph 2 - 100 (m)
Troposphere 2 - 20 (m)
Receiver Up to km
Antenna mm - cm
Multipath Order

If the error that occurs during propagation are

significant, why does relative method
positioning capable of producing positions
with mm-cm accuracy?

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GNSS Error and Bias (1)
Orbit Error
Epoch
Actual orbit 1
Satellite
Trajectory Epoch 0

Reported orbit

Correct
Position • The distance will always be constant, but
because the reported orbit is wrong, the position
will be wrong

Wrong
position

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GNSS Error and Bias on (2)
Orbit Error

10 ns • Satellite clock error

10 ns = 3 meters
• Receiver clock error
20 ns = 6 meters
• The maximum error is 9 meters

Receiver clock error depends a

20 ns lot on the quality of the atomic
clock embedded in the receiver

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GNSS Error and Bias on (3)

Ionosphere Bias Influence on the Observed Data

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GNSS Error and Bias (3)

Tropospheric Bias

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GNSS Error and Bias (4)
Antenna

• The distance measured refers to

the phase center of the antenna,
not to the geometric center of
the antenna

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GNSS Error and Bias (5)
Antenna
MultipathGPS

L1

L2

Direct Signal
Reflected Signal

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GNSS Error and Bias (6)
Cycle Slips

Signal loss due to

obstruction If it fails, it is considered
as phase ambiguity

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Error Reduction on Relative Positioning (1)
Single difference Orbital error
300 meters
10 ns

• Apply differencing between

observations
• Reduces atmospheric bias
• Eliminates satellite orbit and clock error
20 ns • Receiver clock error is not reduce or
eliminated
10 ns • Shorten distance between receiver

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 Error Reduction on Relative Positioning (2)
Double difference
Orbital error
Orbital error 300 meters
10 ns
200 meters
15 ns

• Apply differencing between

observations
• Reduces atmospheric bias
• Eliminates satellite orbit and
clock error
20 ns
• Eliminates receiver clock error
10 ns • Shorten distance between receiver

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Preparation, Planning and
Execution of GNSS survey

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GNSS Survey Preparation (1)
Equipment
PLANNING Geometry
Observation Strategy
Revis Execution Organization
e Processing strategy
PREPARATION Field Survey
(Reconnaissance)
Revise

DATA COLLECTION
Monumentation Satellite
Revise Observation
Meteorological data
Complementary data
DATA PROCESSING
Initial Processing
Additional
calculation Baseline Calculation
Network Calculation
REPORTING
Coordinate Transformation
Quality Control

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GNSS Survey Preparation (2)
Equipment GPS Receiver (Quantity & Type)
Meteorology Censor
Complementary Equipment
Point Location
Geometry Point Quantity
Network Configuration
Baseline Characteristics
Satelite Quantity
Satelite Location and Distribution
Mask angle
Geometry Strength
GNSS Survey Strategy Observation Method
Planning observation Observation Time
Observation Length
Tie Point
Data Processing Software
Initial Processing
Strategy Elemination of error & bias
Baseline Planning
Network Averaging
Quality Control
Coordinate Transformation
Execution Personel Total
Planning Job Planning and Description
Communication and Transportation
Logistics
Accomodation

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GNSS Survey Equipment

• GNSS set of equipment to carry

out the measurements:
• GNSS receiver
• Stative
• Measure Tape
• At least one laptop for initial data
processing
• Complementary Equipment like
machetes
• Vehicles to to move tools and
personnel

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GNSS Survey Equipment
GNSS receiver characteristics for survey purposes
• Geodetic receiver, not navigation receiver
• At least 2 receivers
• At least able to observe
multiple and multi system
frequencies
• Capable of recording data at 1Hz
intervals for a relatively long time

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GNSS Survey Equipment
• The number of GNSS receivers used in a GNSS survey will affect the
following:
• Total personnel
• Team movement mechanism
• Observation Time Sychronization between teams
• Work Volume per day
• Survey Duration
• Survey Costs
• More GNSS receivers doesn't mean better. The optimal number must be
determined, so that the GNSS survey can be carried out effectively and
efficiently.

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Determining Tie Point
• Available Information :
• National Horizontal
Control Network
• Vertical Control Net
National
• CORS
srgi.big.go.id

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Determining Tie Point
• Reference point is
expressed in 3
different Coordinate
System :
• Geodetic
• Cartesian
• Projection

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Determining Tie Point
• CORS GNSS Location
Spread
• There are 187 CORS
GNSS FOUND
THROUGHOUT INDONESIA

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Determining Tie Point

BAKO - Cibinong BANI - Maluku

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GNSS Observation Network Planning
• The distribution of relative observation point does not affect the quality
of a network of a GNSS Observation Network. However, the distribution
of the free baseline will affect the quality of the network.

• In addition, the length of the baseline will also affect the quality of the
GNSS observations

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Characteristics Network Pobservation GNSS

Radial Network
• 4 Free Baseline • 10 Free Baseline
• The geometry is relatively weaker • Relatively stronger geometry
• Relatively lower positional accuracy • Relatively higher positional accuracy
• Fast observation time • Long observation time
• The number of receivers and / or • More number of receivers and /
observation sessions required is or observation sessions
relatively small required
• Operational costs will be cheaper • Operational costs will be more
• Relatively weak quality control expensive
• Relatively good quality control

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Characteristics of GNSS Network Observation

• The number of point is the

same
• Network configuration can be
different

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Characteristics of GNSS Network Observation
• Baseline should not be too long (<20 km)
• With long baseline, the effect of orbital error, ionosphere refraction, and
the troposphere will be higher.
• For quality control and maintaining network strength, observed
baseline should be closed in a loop
• For radial observations, quality control can be done using multi-
baseline or two observations at different sessions
• If there is more free baselines observed in a network,
the quality of the network will get better

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Characteristics of GNSS Network Observation
• Loops that are too large (consisting of many baselines) are not very good
geometrically, although it may be advantageous for the length of the
observation
• The length of baselines in a GNSS network should be relatively not too
much different from one another

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Indonesian GNSS Observation Standard

SNI Horizontal Control Network 2004

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Radial and Network Observation Difference

Andreas 2013

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Determining Observation Point (1)
• No obstruction on all directions over 15
degrees of elevation
• The soil structure and condition is stable.
• Easy to reach (preferably by vehicle
motorized).
• Should be placed on a country owned
land.
• The point must be placed at a
location where the monument / pillar
is not easily disturbed or damaged, 15o 15o
whether due to disturbance by
humans, animals or nature.
• The point placement must also consider
plans for future use of the location
concerned.

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Determining Observation Point (2)
• Away from objects that easily reflects
GNSS signals, to minimize or prevent
multipaths.
• Away from high voltage power lines or
objects with strong electromagnetic fields
that can distort the electromagnetic field
of a GNSS antenna.

Direct Signal
Reflected Signal

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Determining Observation Point (3)
• It is better if the observed satellites
Skyplot in Between Building Area
are evenly distributed. At least the 0
satellites is located within 3 (three) 330 30
quadrants

Elevation
30
300
• Location and distribution of 16
60
60

satellites will affect geometric 6 11

power too and it will also affect 270 90 19 90
the error and bias to positional
accuracy. 2 18
240 120

Azimuth starting
epoch 150
210
180

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Determining Observation Point (4)
• The usage of a multi-
system GNSS receiver
(capable of capturing
not only GPS signals),
can improve the quality
of positioning results
• Observed satellites will
be better and it will
improve satellite
geometry

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GNSS Observation
• Observation GNSS for survey purposes • The observation strategy must be planned
has several factors that must be taken as well as possible, because it will be closely
into account: related not only to the accuracy of the
• Observation method position obtained, but also to other aspects,
• Observation time namely:
• Length of observation • Financial
• Binding to a fixed point • Survey time
• Movement of personnel
• Accommodation
• Logistics

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Planning Observation Net (1)
• The observation session is an observation time interval where all GNSS
receivers make observations simultaneously
• Carrying out a GNSS survey on a network, generally consist of several
observation sessions
• Example for 3 receivers:

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 Net Observation Planning(2)
• Minimum number of observation sessions in a network (approx.):

• The number of free baselines in the network

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Net Observation Planning (3)
• Approx number of observation sessions and baseline free in the network using 4 GNSS
receivers:

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 Net Observation Planning (4)
• Example of movement using 3 GNSS receivers:

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Net Observation Planning (5)
• Use only a free baseline that forms a closed network
• Using a closed loop that is relatively small
• Observation a beseline twice at several different observation sessions. Generally
applied to a relatively longer baseline and less strong connectivity

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Net Observation Planning (6)
• If the fixed point is far away from the survey location, additional measurements must be taken
to move the control point closer to the survey area.

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Location Effect of Fixed Point

• Fixed points should be

equally distributed, so the
effect of error propagation is
more less

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Observation Time and
Intervals (1)
• To Determine the length of GNSS
observation time, should be
calculated the following factors:
• Expected positioning accuracy
• Baseline length
• Accessibility point
• Time of movement between points

The length of GNSS observation will affect the accuracy of the position obtained and also the
success rate of determining the phase ambiguity of the GNSS signal

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 Observation Time and
Intervals (2)

• The length of the observation is directly proportional to the baseline length

• Although measuring with smaller data intervals only increases precision, the selection of data
in terms of eliminating errors due to cycle slips or other obstructive disturbances can be done
more freely.

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Technical Height Measurement
of GNSS Receiver

2 3
1

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 Technical Height Measurement
of GNSS Receiver
• That we can do is to measure the height tilted
• In order for the phase height a constant (different for every tool)
• https://geodesy.noaa.gov/ANTCAL

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GNSS Measurement Form (1)

Adjusted to the equipment owned

Adjusted with the parameters of the observation

Approach coordinates are obtained from GNSS Handheld

Antenna height is measured before and after measurement

with tolerance between measurements 2 mm

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GNSS Measurement Form
(2)
Illustration Measurement Charging Form
North

45

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GNSS Measurement Form (3)

Condition in Field Details sketch of the observation location

North
G dun
S g er
a

Signage Pole
parking

20 cm
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GNSS Measurement Form (4)

• General sketch observation locations (Birds Eye)

• Street Name
• Main Building

North direction

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GNSS Measurement Form (5)
• Record any events that could
affect data quality
• Rain
• Many disturbances that crossed, such as
vehicles and people passing by
• Tools move due to being touched by something
• Soil that's muddy so
causing collapse

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Orthometric Height Determination

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Relation betweenTopografi-Geoid-Ellipsoid
(1) • In practical terms, geoid
undulation can use the
EGM2008 global geopotential
model
• Can also use web-based
services provided by the
Geospatial Information
Agency

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 Relation betweenTopografi-Geoid-
Ellipsoid (2)
Geoid undulation determination
• Select 'model geoid'on the face page srgi.big.go.id
• Select 'click on the map' and specify a location on the
map shown
• Or you can also enter the coordinate value in the
column provided

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Relation betweenTopografi-
Geoid-Ellipsoid (3)
• Geoid undulation can
also be determined by
Waterpass tying the nearest tide
measurements with
leveling
• It is recommended that
the results of the sea tide
measurements be
corrected with the Mean
Dynamic Topographic
(MDT) value.
• DTU model

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Exercise

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GNSS Network Geometry Analysis (1)
• The strength of the GNSS network will depend largely on the
characteristics adopted from these parameters.
• For the number of points in the same network, several forms of
network configuration can be made.
• The strength of the net geometry can be determined by
performing the equation:
𝑄𝑥𝑥 = 𝜎02. 𝐴𝑇𝑃𝐴 −1

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GNSS Network Geometry Analysis (2)
• Design 1 1 • Design 2
A

3
2
2 3

Which design is stronger?

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GNSS Network Geometry Analysis
(3)
1
• Desain 1
A
DX_A1+XA = X1
DX_A2+XA = X2
DX_23 = X3-X2
DX_13 = X3-X1
DY_A1+YA= Y1
DY_A2+YA= Y2
2
DY_23 = Y3-Y2
3 DY_13 = Y3-Y1

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GNSS Network Geometry Analysis (4)

• Design 2 1 DY_A1+YA= Y1
A DX_A1+XA = X1 DY_A2+YA= Y2
DX_A2+XA = X2 DY_23 = Y3-Y2
DX_23 = X3-X2 DY_13 = Y3-Y1
DX_13 = X3-X1 DY_13+YA = Y3
DX_A3+XA= X3 DY_21 = Y1-Y2
DX_21 = X1-X2

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GNSS Network Geometry Analysis (5)

Matrix Desaign 1 Matrix Design 2

1 0 0 0 0 0 1 0 0 0 0 0
0 1 0 0 0 0
0 1 0 0 0 0 0 −1 1 0 0 0
0 −1 1 0 0 0 −1 0 1 0 0 0
0 0 1 0 0 0
−1 0 1 0 0 0 1 −1 0 0 0 0
0 0 0 1 0 0 0 0 0 1 0 0
0 0 0 0 1 0 0 0 0 0 1 0
0 0 0 0 −1 1
0 0 0 0 −1 1 0 0 0 −1 0 1
0 0 0 −1 0 1 0 0 0 0 0 1
0 0 0 1 −1 0

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GNSS Network Geometry Analysis (6)

• Desaign 1 • Desaign 2

x1 x2 x3 y1 y2 y3 x1 x2 x3 y1 y2 y3
x1 x1
x2 x2
x3 x3
y1 y1
y2 y2
y3 y3

The root of the diagonal of the matrix design 2 is smaller, so that geometrically design 2 is better than design 1

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Exercise
Design a measuring
net using the
measurement
specifications
ORDE 3 SNI JKH

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Exercise
Design a measuring
net using the
measurement
specifications
ORDE 3 SNI JKH

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Thank you
Brian Bramanto
[email protected]

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