Transcript No Slide Title

kinpos
GPS Kinematic Positioning Program
Dr. G. L. Mader
7/16/2015
G. L. Mader
1
kinpos
KARS
kinematic
rapid-static
kinpos
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2
Kinematic GPS
double
difference
phase
2  j + N j = [ ( xj - x ) x + ( yj - y ) y + ( zj - z ) z ] / Dj
Ambiguity search: at least 4 dd’s
double
difference
bias
7/16/2015
trial suites of N j
track rms for each suite
G. L. Mader
3
C:\KARS DIRECTORY
c:
c:\kars
Kinpos.exe
ant_info.001
splot.exe
dos4gw.exe
Create the directory c:\kars
Copy the above files to this directory
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SYSTEM FILES
• Add c:\kars to the PATH in the AUTOEXEC.BAT file.
Go to the c: drive.
Edit AUTOEXEC.BAT
Add:
PATH=%PATH%;c:\kars
• Add ANSI character set to the CONFIG.SYS file.
Go to the c: drive
Edit CONFIG.SYS
Add:
DEVICE=C:\WINDOWS\COMMAND\ANSI.SYS
• Reboot the computer
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kars.ini
• The kars.ini file resides in c:\kars
• It tells kinpos the path to the current project
• Create/modify kars.ini by:
edit kars.ini
type project path (ex. c:\project\98aug09
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PROJECT DIRECTORY
Data
Project Name
RINEX Observation and
Navigation files and SP3
files
97_252
97_253
kinpos.inp
param
kars.edt
phifix
Create project directory(s) as suggested above
Load rover and reference rinex files, orbit files
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Input Files
kinpos.inp
File specifying start/stop times, location of data files, run
options, and plot options.
param
File containing the numerical values of various parameters.
phifix
File containing the values of the integer bias, if known, at a
particular time to start the phase solution without an otf
ambiguity search. This file is optional: a blank or missing
file will initiate an otf search.
kars.edt
File containing edit instructions for the kinpos program.
This file is optional and is usually used to delete bad data.
ant_info.001 File containing antenna offsets and phase center variations
with elevation for a catalog of standard antennas.
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Input Files
****###*.##o Rinex observation files for the rover and reference data.
****###*.##n Rinex navigation file.
***#####.sp3 Standard sp3 format file for satellite ephemerides. This file
is optional. If precise ephemeris option is not elected, this
file is not read and satellite positions are determined from
the broadcast message in the navigation file.
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kinpos.inp
96 12 03 16 40 18.0
96 12 03 17 48 00.0
0 1 0 0 1 1 0 1 3 1 1 1 0
1 1 1 1 0 0 0 0 1 1 0 1 1
/mz3/sfbay/96_338a/data/BS06338A.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
0.000
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BOUY338x.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
2.0625
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
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G. L. Mader
start time (ymdhms)
stop time (ymdhms)
run options
plot options
rover rinex file path/name
rover xyz
rover n,e,u [xyz] to ARP
T(C), P(mBar), H(%)
rover standard antenna name
ref rinex file path/name
ref xyz
ref n,e,u [xyz] to ARP
T(C), P(mBar), H(%)
ref standard antenna name
rinex nav file path/name
orbit file path/name
antenna file path/name
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kinpos.inp
96 12 03 16 40 18.0
96 12 03 17 48 00.0
0 1 0 0 1 1 0 1 3 1 1 1 0
1 1 1 1 0 0 0 0 1 1 0 1 1
/mz3/sfbay/96_338a/data/BS06338A.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
0.000
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BOUY338x.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
2.0625
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
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The xyz position (m) of the
reference station should be
as accurate as possible. The
vector positions for the
rover contained in the
psolxyz output file are
weakly dependent on this
position, but the rover
positions are relative to this
position. The program needs
to know the antenna phase
center position. It will
obtain this by adding to this
xyz position the up
component of the
eccentricty given here by
the user, and the up offset
contained in the antenna
info file for the antenna
named by the user.
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kinpos.inp
96 12 03 16 40 18.0
96 12 03 17 48 00.0
0 1 0 0 1 1 0 1 3 1 1 1 0
1 1 1 1 0 0 0 0 1 1 0 1 1
/mz3/sfbay/96_338a/data/BS06338A.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
0.000
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BOUY338x.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
2.0625
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
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When kinpos is running it
will display on the screen
the displacement of the
rover from this position. It
will also produce an output
file (psolneu) with the
approximate n,e,u
displacements of the rover
from this position. This
position otherwise has no
significance for the
ambiguity search unless the
constrained search position
option is selected. In that
case this position (plus the
antenna reference point
eccentricity and antenna
offset) becomes the center
search position.
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kinpos.inp
96 12 03 16 40 18.0
96 12 03 17 48 00.0
0 1 0 0 1 1 0 1 3 1 1 1 0
1 1 1 1 0 0 0 0 1 1 0 1 1
/mz3/sfbay/96_338a/data/BS06338A.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
0.000
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BOUY338x.96O
-2700502.685 -4261785.127 3888805.845
0.000
0.000
2.0625
15.
1010.
75.
TRM 22020.00
/mz3/sfbay/96_338a/data/BS06338A.96N
/mz3/sfbay/96_338a/data/igs08822.sp3
/mz1/antcal/ant_info.001
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The antenna names that are
entered here must be the
standard form as found in
the ant_info.001 file that
may be found at
www.grdl.noaa.gov/GRD/
PROJECTS/ANTCAL/.
This entry may not be left
blank. If no match is found,
the antenna offsets and
phase variation are set to
zero. The user must be
cautious how the
components of the antenna
position are used.
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kinpos.inp
L1 phase center
offset from ant_info.001
antenna
reference
point (ARP)
up component from user
xyz from user
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kinpos.inp - run options
0
1
Controls the source
of the position used
for the ambiguity
search volume.
0=use the
pseudorange solution
position (normal
case for kinematic),
1=use the rover
position in
kinpos.inp (used for
static data).
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0
0
1
1
0
1
3
1
Selects the source of
the file for
determining satellite
positions. 0=use the
broadcast ephemeris
contained in the
rinex nav file (no sp3
file will be read),
1=use a precise sp3
format format
specified by the user.
G. L. Mader
1
1
0
Controls if a relative
tropospheric scale
factor is to be solved
as part of the
kinematic solution.
0=don’t solve,
1=solve for tropo
scale factor.
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kinpos.inp - run options
0
1
Controls if the
phase&range
widelane will be
used to filter integer
choices. 0=don’t use
this widelane filter,
1=use this filter
(recommended
response is 0).
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0
0
1
1
0
1
3
1
Controls if the sigma
from the widelane
phase solution will
be used to rescale the
integer suite
selection process.
0=don’t use, 1=use
this rescaling.
(recommended
response is 1).
G. L. Mader
1
1
0
Controls if the
position difference
between the
widelane phase
solution and the L3
solution will be used
to rescale the integer
suite selection
process. 0=don’t use,
1=use this rescaling.
(recommended
response is 1).
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kinpos.inp - run options
0
1
Controls if the
ellipsoid search
height during an otf
search is to be
constrained to the
last good phase
solution height. Used
for ocean surface
work. 0=don’t
constrain,
1=constrain.
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0
0
1
1
0
1
3
Controls the range
solution frequency.
There are two
choices: 1=L1
solution (single
frequency), 2=ion
free (dual
frequency).
G. L. Mader
1
1
1
0
Controls the phase
solution frequency.
There are 3 choices:
1=L1 only, 2=L1 and
L2 combined as 2
single frequency data
types, 3=ion free.
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kinpos.inp - run options
0
1
Controls if a
differential
pseudorange solution
is to be done.
0=don’t do the range
solution, 1=do the
range solution.
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0
0
1
1
0
1
3
Controls if a double
difference phase
solution is to be
done. 0=don’t do the
phase solution, 1=do
the phase solution.
G. L. Mader
1
1
1
0
Controls if a
widelane phase
solution is to be
included during the
processing. This
solution is intended
as a diagnostic to
evaluate its utility
during ambiguity
searches. 0=don’t do,
1=do widelane phase
solution and include
in dif plot file.
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kinpos.inp - run options
0
1
0
0
1
1
0
1
3
1
1
1
0
Controls if a global
solution for
ambiguities is to be
attempted. Used
when normal otf
techniques may not
work. If used, data
segment must be
cycle slip free.
0=don’t do
(recommended),
1=do global integer
solution.
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kinpos.inp - plot options
elv
1
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pmr
svn
rsl
psl
tsf
qck
ion wln
rrs
prs
cor
dif
1
1
1
0
0
0
0
1
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1
0
1
1
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PARAM
15.0
1 1
2.0 2.0 2.0
0.5 0.5 0.5
8000.000
2000.000
6378135.000
0.00335278
0.04
0.02
0.03
0.00
0.3
2.0
0.30
2.00
0.06
30
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Elevation cutoff angle (deg). No
observations below this cutoff will be
used.
L1, L2 wavelength scale factors. A
‘1’ means full wavelength, a ‘2’
means half wavelength (frequency
squaring). If either receiver used
frequency squaring, a 2 must appear
for the appropriate frequency
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PARAM
15.0
1 1
2.0 2.0 2.0
0.5 0.5 0.5
8000.000
2000.000
6378135.000
0.00335278
0.04
0.02
0.02
0.00
0.3
2.0
0.30
2.00
0.06
30
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North, East, Up dimensions (m) of the
search volume used for the ambiguity
search. This volume is centered on the a
priori rover position, which comes from
the pseudorange solution or the kinpos.inp
file. The true position must lie within this
volume. This volume determines the
search range for each satellite bias.
North, East, Up constraints (m) when using
the fixed position option. During the
ambiguity search, trial integer suites not
yielding positions with these constraints of
the position in kinpos.inp will be discarded.
Used only when static position is already
known.
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PARAM
15.0
1 1
2.0 2.0 2.0
0.5 0.5 0.5
8000.000
2000.000
6378135.000
0.00335278
0.04
0.02
0.02
0.00
0.3
2.0
0.30
2.00
0.06
30
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Dry troposphere scale height (m) used to
attenuate the surface value of the pressure
with respect to the ellipsoid height.
Wet troposphere scale height (m) used to
attenuate the surface value of the humidity
with respect to the ellipsoid height.
Equatorial radius (m)
Ellipsoidal flattening
The radius and flattening are used only to
produce approximate north, east, up
displacements from the kinpos.inp rover
coordinates for estimation and plotting
purposes only.
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PARAM
15.0
1 1
2.0 2.0 2.0
0.5 0.5 0.5
8000.000
2000.000
6378135.000
0.00335278
0.04
0.02
0.02
0.00
0.3
2.0
0.30
2.00
0.06
30
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Maximum rms (m) for inclusion in integer
search. Integer suites yielding rms’s
greater than this value are eliminated.
Maximun rms (m) for selecting the
successful integer suite. The chosen suite
must yield an rms below this value.
Contrast (m) required between the lowest
integer suite and the next best integer
suite.
When these 2 conditions are met, the
integer search is over.
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PARAM
15.0
1 1
2.0 2.0 2.0
0.5 0.5 0.5
8000.000
2000.000
6378135.000
0.00335278
0.04
0.02
0.02
0.00
0.30
2.0
0.30
2.00
0.06
30
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Center value (cy) for double difference
ionosphere delay filter. Used only for
initial OTF ambiguity resolution.
Window width (cy) for ionosphere delay
filter. Used only for initial OTF ambiguity
resolution.
Factor used the set size of dynamic
ionosphere delay window from range of
current ion delays. Used for OTF
ambiguity resolution after a successful
resolution has already been achieved.
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PARAM
15.0
1 1
2.0 2.0 2.0
0.5 0.5 0.5
8000.000
2000.000
6378135.000
0.00335278
0.04
0.02
0.02
0.00
0.30
2.0
0.30
2.00
0.06
300
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Trigger value (cy) for detecting cycle slips
from the change in ionosphere delay
values for individual satellites.
Trigger value (m) for detecting cycle slips
from the change in phase-range values for
individual satellites.
Maximum average (last 10 values) rms
(m) allowed before sending the program
into cold start mode.
Number of seconds to compute each
tropospheric scale factor when that option
is selected.
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phifix
Provides a set of fixed bias’s for selected start time
4
5
6
20
24
sv #
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16
16
16
16
16
ref sv #
-7225411.91
-5638456.97
367243.07
-2064513.88
-4191493.95
-5630189.05
-4393602.09
286164.92
-1608712.06
-3266099.01
L1 and L2 phase bias
for selected start time
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kars.edt
sv prn number
(0=apply to all
sv’s
instruction start date/time
L1, L2 delete
instructions
24 1 97 03 13 03 27 32 97 03 13 03 28 45 -9999. -9999.
00 1 97 05 13 05 40 00 97 03 13 05 42 00 -9999. -9999.
17 2 97 05 13 06 17 30 97 03 13 24 00 00 -12345. 0.
Station number,
1=rover, 2=ref.
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Instruction stop date/time
G. L. Mader
L1, L2 add cycles
instructions
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Downloading sp3 Files
To get a precise IGS ephemeris file:
ftp cddis.gsfc.nasa.gov
name: anonymous
password: your email address
cd gps3:[products.0918]
get igs09183.sp3
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(GPS week)
 (append day of week, 0=Sunday)
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29
Output Files
psolxyz
The primary output file from the bias fixed phase solution.
The xyz vector from the reference ‘monument’ to the rover
‘monument’ is given for each solution epoch. The reference
‘monument’ is the reference position given in the
kinpos.inp file. The rover ‘monument’ is the rover antenna
phase center position minus the antenna offset (from
ant_info.001) minus the ARP eccentricity (from
kinpos.inp). The reference ‘monument’ position is given at
the front of the file. The file contains the date/time the
rdop, rms, x,y,z and x,y,z formal errors. All units are
meters.
psolneu
The file giving the neu displacement of the rover
‘monument’ from the rover ‘monument’ position given in
the kinpos.inp file determined by the phase solution. These
displacements are approximate and are intended plotting or
interpretation only. The file contains similar information to
the psolxyz file.
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Output Files
rsolxyz
The output file from the differential pseudorange solution.
The xyz vector from the reference ‘monument’ to the rover
‘monument’ is given for each solution epoch. The reference
‘monument’ position is given at the front of the file. The
file contains the date/time the rdop, rms, x,y,z and x,y,z
formal errors. All units are meters.
rsolneu
The file giving the neu displacement of the rover
‘monument’ from the rover ‘monument’ position given in
the kinpos.inp file determined by the differential
paeudorange solution. These displacements are
approximate and are intended for plotting or interpretation
only. The file contains similar information to the rsolxyz
file.
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Output Files
integer
File containing a history of the integer bias’s determined
and used by the program. The complete suite of bias’s is
date/time stamped and listed for any change: rising sv’s,
cycle slips, new ref sv, cold start etc.
kinpos.out
File containing summaries of information related to
ambiguity searches. Can be used as a diagnostic for
unsuccessful searches.
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Diagnostics
Why it might not work and what to try when it doesn’t:
Correct integer suite was not
among suites being tested:
1) Search volume did not
contain true position. Improve
the a priori position; enlarge
search volume in ‘param’.
2) Ion filter eliminated correct
suite. Increase ion filter width
in ‘param’
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Diagnostics
Correct integer suite was
rejected by rms test:
1) Bad data at location of otf.
Change start time.
2) rms limits may be set too
low for this data. Increase max
allowed rms in ‘param’.
3) Widelane solution too
different from L3 solution.
Turn off widelane options.
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34
Diagnostics
Rising sv does not initialize or
initializes incorrectly:
1) Bad data at location of otf.
Delete several minutes data in
‘kars.edt’ for this sv.
2) Dynamically determined
ion window is too small.
Increase ion window scale
factor in ‘param’
3) Contrast parameter may be
too small. Increase contrast in
‘param’.
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