測位衛星用高精度軌道・時計決定ソフトウェアの開発 Development of Precise...

測位衛星用高精度軌道・測位衛星用高精度軌道・時計決定ソフトウェアの開時計決定ソフトウェアの開

発発Development of Precise Orbit/Clock DeterminatiDevelopment of Precise Orbit/Clock Determinati

on Software for GPS/GNSSon Software for GPS/GNSS技術コンサルタント　技術コンサルタント　高須　知二高須　知二

笠井デザインオフィス笠井デザインオフィス　笠井　晶二　笠井　晶二Tomoji TAKASU, Shoji KASAITomoji TAKASU, Shoji KASAI

第第 4949 回宇宙科学技術連合講演会回宇宙科学技術連合講演会

http://gpspp.sakura.ne.jp

内容内容 ContentsContents

• GT： GPS/GNSS Precise Analysis SW FeaturesStructureModels

• Accuracy EvaluationGPS Satellite Orbit/ClockStation Pos/Tropos DelayLEO Satellite Orbit


GpsTools (GT) ver.0.5.6GpsTools (GT) ver.0.5.6


特徴特徴 FeaturesFeatures

• GPS/GNSS Precise Analysis• Uses Undifferenced Carrier Phase

Measurements• EKF(Forward/Backward)+Smoother• Precise Measurement Models• Precise Satellite Orbit Models• GUI for Setting/Execution/Utilities• Matlab/C Environment/Libraries


構成図構成図 Block DiagramBlock Diagram

CleanOBS Data

Plot Estimation Results

RINEXNAV Msg.

ProcessingParams.

RINEXOBS Data

Data/Products Downloader

GUI I/F

Parameter Estimator

Interp.Sat Orbit

PreciseSat Orbit

PreciseSat Clock

PCV

Ocean LoadingParams.

Ocean Loading Pred. (GOTIC2)

Interpolate Ephemeris

MultipathProfiler

Orbit Clock Tropos. Position ERP/ Geocenter

StationPosition

Residuals/ Log

ObservationData Editor


処理フロー処理フロー Processing FlowProcessing Flow

CleanOBS Data

RINEXOBS Data

RINEXNAV Msgs.

EstimatedParams(Forward)Carrier

Phase OBS

Code OBS

Observation Data Editor

Parameter Estimator

EstimatedParams

(Backward)

EstimatedParams

(Smoothed)

Sta PosRcv Clk

Precise Sat Orbit/Clock

Station Position

Forward Filter(Meas Update)

Forward Filter(Temp Update)

Backward Filter(Meas Update)

SatelliteOrbit Models

MeasurementModels

SmootherBackward Filter(Temp Update)

Clock-JumpDetect/Repair

Cycle-SlipDetect/Repair

PointPositioning

CarrierSmoothing


観測モデル観測モデル Measurement ModelsMeasurement Models

• Light-Time Equation• Ionos Delay : Ionosphere-Free LC• Tropos Delay :

ZTD/Gradients+Mapping Function• Antenna Phase Center Offset/PCV• Site Displacements ：

Solid Earth Tide, Ocean Loading etc• Phase Wind-up/Relativity Effects


設定設定 Model SettingsModel Settings


衛星運動モデル衛星運動モデル Sat Orbit ModelSat Orbit Model

• Geopotential : JGM-3• Tidal Effect : Solid Earth,Ocean Tide etc• 3rd Body : Moon/Sun, DE405• Eclipse : Penumbra/Umbra, Earth/Moon• SRP : ROCK4/42, CODE, GSPM etc• Relativity : IERS Conventions• Nutation/Precession:IAU1980,IERS1996• ERP : IERS Bul.B,C04,IGS,or Estimated


設定設定 Model SettingsModel Settings


推定パラメータ推定パラメータ Estimated ParamsEstimated Params

• GPS/GNSS Satellite Orbit• GPS/GNSS Satellite Clock• Receiver Position (Static/Kinematic)• Receiver Clock• Tropospheric Delay (ZTD, Gradients)• ERP, Geocenter Offset

FIXED or ESTIMATED


設定設定 Parameter SettingsParameter Settings


GPSGPS 衛星軌道・時計決定衛星軌道・時計決定精度評価精度評価

GPS Satellite Orbit/Clock AccuracyGPS Satellite Orbit/Clock Accuracy


条件条件 Estimation SettingsEstimation Settings

• GPS 29 Satellites• GPS Week 1291 (2004/10/3-10/9)• Unit:24H+Overlap24H, Interval:300sec• 3Pass Filter/Smoother• Tracking Stations : IGS 40 Stations• Elevation Cutoff : 10 deg• Station Pos : Fixed to Prev. Week PPP• Reference Clock : AMC2


観測局観測局 Stations (IGS 40Stas)Stations (IGS 40Stas)

150W

120W120E

150E180E

60S

30S

0

30N

AUCK

CAS1

CEDUCOCO

DAV1

HOB2

KERG LPGS

MAC1

MKEA

PERT

PIMO

RIOG

THTI

TSKB

90W

60W

30W0

30E

60E

90E

30S

0

30N

60NALGO

AMC2

AREQ

ASC1

BAHR

DRAO

FAIR

I ISC

IRKT

KOUR

LHAS

MAG0

MAS1

MATE

NRC1

NRIL

ONSA

PIE1

POL2

REUN

STJ O

TROMUSNO

VILL

YELL


推定パラメータ推定パラメータ Estimated ParamsEstimated Params

Parameters# of

StatesSats/Stas

Total

Satellite Position/Velocity 6 29 174Satellite SRP Parameters 4 29 116Satellite Clock 2 29 58Station Tropos. ZTD 1 40 40Station Tropos. Gradient 5 40 200Station Receiver Clock 1 40 40Carrier Phase Bias 1 29 x 40 1160Earth Rotation Parameters 3 1 3

Total Parameters per Epoch 1788


GPSGPS 衛星軌道衛星軌道精度精度 Orbit AccuracyOrbit Accuracy

3D RadialAlong-Track

Cross-Track

PositionRMSError

5.2cm

2.0cm

3.4cm

3.1cm

Average of All Sats, wrt IGS Final Orbit


衛星毎軌道精度衛星毎軌道精度

0

0.1

0.2

0.3

0.4

0.5

GPS

01

GPS

03

GPS

04

GPS

05

GPS

06

GPS

07

GPS

08

GPS

09

GPS

10

GPS

11

GPS

13

GPS

14

GPS

15

GPS

16

GPS

17

GPS

18

GPS

19

GPS

20

GPS

21

GPS

22

GPS

23

GPS

24

GPS

25

GPS

26

GPS

27

GPS

28

GPS

29

GPS

30

GPS

31

Ave

rage

Posi

tion R

MS

Err

or

(m)

3D Radial Along-TrackCross-Track

Average5.2cm


GPS PRN01GPS PRN01 軌道精度軌道精度

0

0.1

0.2

0.3

0.4REF: IGS Final MEAN: 0.0345m RMS: 0.0385m

Posi

tion E

rror

3D

(m

)

10/3 10/4 10/5 10/6 10/7 10/8 10/9

-0.2

-0.1

0

0.1

0.2

REF: IGS Final

Posi

tion E

rror

R/A

/C (

m)

Radial Along-TrackCross-Track

MEAN R: 0.0045m A:-0.0038m C:-0.0083mRMS R: 0.0121m A: 0.0321m C: 0.0175m


GPSGPS 衛星時計精度衛星時計精度 Clock AccuracyClock Accuracy

With BIAS Without BIAS

Clock BiasRMS Error

0.14nsec

0.10nsec

Average of All Sats, wrt IGS Final Clock


衛星毎時計精度衛星毎時計精度

0

0.5

1

1.5

2

GPS

01

GPS

03

GPS

04

GPS

05

GPS

06

GPS

07

GPS

08

GPS

09

GPS

10

GPS

11

GPS

13

GPS

14

GPS

15

GPS

16

GPS

17

GPS

18

GPS

19

GPS

20

GPS

21

GPS

22

GPS

23

GPS

24

GPS

25

GPS

26

GPS

27

GPS

28

GPS

29

GPS

30

GPS

31

Ave

rage

Clo

ck B

ias

RM

S E

rror

(nse

c)

Clock Bias

Average0.14ns


GPS PRN01GPS PRN01 時計精度時計精度

3.662

3.664

3.666

3.668

3.67

3.672x 10

5

Clo

ck B

ias

(nse

c)

10/3 10/4 10/5 10/6 10/7 10/8 10/9-1

-0.5

0

0.5

1

Clo

ck B

ias

Err

or

(nse

c)

REF: IGS Final MEAN: 0.0218nsec RMS: 0.0906nsec


IGS ACIGS AC 解比較解比較 ComparisonsComparisonsRMS Error

Orbit/Clock Analysis S/WOrbit Clock

GT 3pass GpsTools ver.0.5.6 5.2cm 0.14nsCODE Bernese ver.5.0 3.3cm 0.11nsNRCan GIPSY/OASIS-I I 3.8cm 0.10nsESOC BAHN,GPSOBS etc 14.2cm 0.13nsGFZ EPOS.P.V2 3.1cm 0.09nsJ PL GIPSY/OASIS-I I 5.5cm 0.15nsMIT GAMIT,GLOBK 5.3cm 0.31ns

NOAA page5 9.9cm －

IGSAC

SOPAC GAMIT,GLOBK 7.5cm －Average of All Sats, wrt IGS Final


測位・対流圏遅延測位・対流圏遅延精度評価精度評価

Position,Tropos Delay AccuracyPosition,Tropos Delay Accuracy



• IGS 85 Reference Frame Stations• GPS Week 1291 (2004/10/3-10/9)• Unit:24H+Overlap0H, Interval:300sec• Strategy : Static PPP (24H)• 2Pass Filter/Smoother• GPS Orbit/Clock/ERP : IGS Final• Elevation Cutoff : 10 deg• Tropos Model : ZTD/Gradients+NMF


観測局観測局 StationsStations

90 W

60 W

30 W0

30 E

60 E

90 E

30 S

0

30 N

60 NALGO ARTU

ASC1

BAHR

BILI

BOR1BRUS

CHUR

CRO1

DRAO

DUBOFLIN

FORT

GLSV

GODE

GOLD

GOUG

GRASGRAZ

HOFN

HRAO

IRKT

J OZE

KELY

KIT3

KOUR

KSTU

LAMA

LHAS

MALI

MAS1

MATE

MDO1

NICO

NKLG

NLIBNRC1

NYAL

ONSA

PETP

PIE1

POL2

POTS

RBAY

SCH2

STJ O

THU3

TIXI

TRAB

URUM

VILL

WES2

WSRTWTZR

YELL

ZIMM

150 W

120 W120 E

150 E180 E

60 S

30 S

0

30 N

ALIC AUCK

CAS1

CEDU CHAT

DARW

DAV1

GUAM

HOB2

J AB1

KARR

KERG LPGSMAW1

MCM4

MKEA

NOUM

OHI2

PERT

RIOG

SANT

SYOG

THTI

TIDB

TOW2

TSKB

UNSA

VESL

YAR1


測位精度測位精度 Sta Position AccuracySta Position Accuracy

East North Up

PositionRMSError

3.3mm

3.1mm

7.5mm

Average of All Stas, wrt IGb00(ITRF2000)


局毎測位精度局毎測位精度

0

0.01

0.02

0.03

0.04

0.05

ALG

O

ALI

C

AR

TU

A

SC

1

AU

CK

B

AH

R

BIL

I B

OR

1

BR

US

CA

S1

C

ED

U

CH

AT

CH

UR

C

RO

1

DA

RW

D

AV

1

DR

AO

D

UB

O

FLIN

FO

RT

GLS

V

GO

DE

GO

LD

GO

UG

G

RA

S

GR

AZ

G

UA

M

HO

B2

H

OFN

H

RA

O

IRK

T

JAB

1

JOZ

E

KA

RR

K

ELY

K

ER

G

KIT

3

KO

UR

K

STU

LA

MA

LH

AS

LPG

S

MA

LI

MA

S1

M

ATE

MA

W1

M

CM

4

MD

O1

M

KEA

N

ICO

N

KLG

N

LIB

N

OU

M

NR

C1

N

YA

L O

HI2

O

NSA

PER

T

PETP

PIE

1

PO

L2

PO

TS

RB

AY

RIO

G

SA

NT

SC

H2

STJO

SYO

G

TH

TI

TH

U3

TID

B

TIX

I TO

W2

TR

AB

TSK

B

UN

SA

U

RU

M

VESL

VIL

L W

ES2

W

SR

T

WTZ

R

YA

R1

YELL

Z

IMM

A

vera

ge

Posi

tion R

MS E

rror

(m)

East NorthUp

AverageE:3.3mmN:3.1mmU:7.5mm


水平測位誤差水平測位誤差 Horizontal Pos ErrorHorizontal Pos Error

１ｃｍ


垂直測位誤差垂直測位誤差 Vertical Pos ErrorVertical Pos Error

１ｃｍ


対流圏遅延精度対流圏遅延精度 Tropos AccuracyTropos Accuracy

Tropospheric Delay

ZTDRMS Error

4.0mm

Average of All Stas, wrt IGS Final


局毎対流圏遅延精度局毎対流圏遅延精度

0

0.005

0.01

0.015

0.02

0.025

0.03

0.035

0.04

ALG

O

ALI

C

AR

TU

A

SC

1

AU

CK

B

AH

R

BIL

I B

OR

1

BR

US

CA

S1

C

ED

U

CH

AT

CH

UR

C

RO

1

DA

RW

D

AV

1

DR

AO

D

UB

O

FLIN

FO

RT

GLS

V

GO

DE

GO

LD

GO

UG

G

RA

S

GR

AZ

G

UA

M

HO

B2

H

OFN

H

RA

O

IRK

T

JAB

1

JOZ

E

KA

RR

K

ELY

K

ER

G

KIT

3

KO

UR

K

STU

LA

MA

LH

AS

LPG

S

MA

LI

MA

S1

M

ATE

MA

W1

M

CM

4

MD

O1

M

KEA

N

ICO

N

KLG

N

LIB

N

OU

M

NR

C1

N

YA

L O

HI2

O

NSA

PER

T

PETP

PIE

1

PO

L2

PO

TS

RB

AY

RIO

G

SA

NT

SC

H2

STJO

SYO

G

TH

TI

TH

U3

TID

B

TIX

I TO

W2

TR

AB

TSK

B

UN

SA

U

RU

M

VESL

VIL

L W

ES2

W

SR

T

WTZ

R

YA

R1

YELL

Z

IMM

A

vera

ge

ZTD

RM

S E

rror

(m)

ZTD

Average

4.0mm


ALGOALGO 対流圏遅延精度対流圏遅延精度

2.25

2.3

2.35

2.4

2.45

ZTD

(m

)

IGS Monthly

10/3 10/4 10/5 10/6 10/7 10/8 10/9-0.04

-0.02

0

0.02

0.04

ZTD

Err

or

(m) REF: IGS Monthly MEAN: -0.0025m RMS: 0.0033m


LEOLEO 衛星軌道決定衛星軌道決定精度評価精度評価

LEO Satellite POD AccuracyLEO Satellite POD Accuracy



• GRACE A, GRACE B• GPS Week 1280 (2004/7/18-7/24)• Unit:24H+Overlap0H, Interval:300sec• Strategy : Kinematic PPP• 3Pass Filter/Smoother• GPS Orbit/Clock/ERP : IGS Final• Elevation Cutoff : 0 deg• Receiver Attitude : LEO Sat Model


GRACEGRACE 軌道軌道 GRACE OrbitGRACE Orbit

90W

60W

30W0

30E

60E

90E

30S

0

30N

60N

150W

120W120E

150E180E

60S

30S

0

30N

Height ：～ 500km


LEOLEO 軌道軌道精度精度 LEO Orbit AccuracyLEO Orbit Accuracy

Satellite 3D RadialAlong-Track

Cross-Track

GRACE A 5.5cm

3.9cm

2.9cm

2.5cm

GRACE B 7.5cm

5.6cm

3.7cm

3.4cm

Pos RMS Error, wrt JPL GIPSY Solution


GRACE A GRACE A 軌道精度軌道精度

0

0.1

0.2

0.3

0.4

0.5REF: Level1B MEAN: 0.0499m RMS: 0.0550m

Posi

tion E

rror

3D

(m

)

7/18 7/19 7/20 7/21 7/22 7/23 7/24

-0.2

-0.1

0

0.1

0.2

REF: Level1BMEAN R: 0.0227m A: -0.0041m C: -0.0007m

RMS R:0.0391m A:0.0292m C: 0.0253m

Posi

tion E

rror

R/A

/C (

m)



GRACE B GRACE B 軌道精度軌道精度

0

0.1

0.2

0.3

0.4

0.5REF: Level1B MEAN: 0.0653m RMS: 0.0748m

Posi

tion E

rror

3D

(m

)

7/18 7/19 7/20 7/21 7/22 7/23 7/24

-0.2

-0.1

0

0.1

0.2

REF: Level1BMEAN R: 0.0308m A: 0.0022m C: -0.0008m

RMS R:0.0558m A:0.0367m C: 0.0338m

Posi

tion E

rror

R/A

/C (

m)



• GT： GPS/GNSS Precise Analysis• Accuracy (RMSE)

GPS Sat Orbit : 5.2cm (3D)GPS Sat Clock : 0.14nsecStation Pos : 3.1/3.3/7.5mm Tropos Delay : 4.０mm (ZTD)LEO Sat Orbit : 5.5-7.5cm (3D)

まとめまとめ ConclusionsConclusions

See http://gpspp.sakura.ne.jp

測位衛星用高精度軌道・時計決定ソフトウェアの開発 Development of Precise...

Documents

Transcript of 測位衛星用高精度軌道・時計決定ソフトウェアの開発 Development of Precise...

測位衛星用高精度軌道・ 時計決定ソフトウェアの開発 Development of Precise...

Documents

Transcript of 測位衛星用高精度軌道・ 時計決定ソフトウェアの開発 Development of Precise...

測位衛星用高精度軌道・時計決定ソフトウェアの開発 Development of Precise...

Transcript of 測位衛星用高精度軌道・時計決定ソフトウェアの開発 Development of Precise...