Transcript User Level Monitoring - Geospatial World Forum
Slide 1
INTEGRITY MONITORING SYSTEM FOR
SPACE-BASED NAVIGATION AND
POSITIONING IN MALAYSIA
Ooi Wei Han1,
Moslin S.I1., Ahmad N.1, Subari M.D.1,
Musa T.A.2, Othman R.2, Omar A.H.2, Musliman I.A.2
1National
Space Agency (ANGKASA)
Space Application and Technology Development Unit
2Universiti
Teknologi Malaysia
GNSS and Geodynamics Research Group
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 2
Contents
• Introduction
• Project Aims, Objectives & Scope of Work
• The GNSS CORS & Collaboration
• Design & Architecture of GNSS Integrity
Monitoring System
• Infrastructure Setup
• Preliminary Output
• Concluding Remarks
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 3
Introduction
• In Malaysia, navigation
technology has become an
essential tool in various
applications for positioning in
military and civilian sectors.
• With the full operational
constellation and
modernization of the GNSS
such as GPS and GLONASS,
the accuracy of positioning
has definitely improved.
Malaysia
GPS, GLONASS, GALILEO, COMPASS, QZSS
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 4
The Signal Integrity
• GNSS signals are weak and easily be interrupted.
• Affected by variety types of errors at various stages
• Such as:
- satellite clock and orbit errors;
- ionospheric and tropospheric delays;
- receiver clock error;
- possible cycle slips;
- multipath;
- and etc.
• Several incidents indicated signals in failure mode
and resulted significant position errors.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 5
L.Heng et. al., 2010
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 6
Aims & Objectives
The National Space Agency (ANGKASA) in collaboration with
universities, government and industries sectors is currently in the
midst of developing an integrity monitoring system for space-based
positioning in Malaysia.
The aim of this project is to provide an integrity monitoring system
for space-based navigation and positioning in Malaysia. This aim
embarks three objectives:
•To establish GPS/GNSS CORS network over Peninsular Malaysia
•To determine on integrity and reliability of GNSS and DGPS signals
over country
•To provide a warning of any signal anomalies at all time.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 7
Scope of Work
• Set-up GNSS ground stations with real-time data
streaming.
• Set-up control centre at ANGKASA & processing centre at
UTM.
• Set-up database for GNSS & DGPS integrity monitoring
system.
• Set-up web-based service for GNSS & DGPS integrity
monitoring system.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 8
The GNSS CORS
Peninsular Malaysia
Langkawi National
Observatory
(ANGKASA)
Kota Bharu
Malaysian Metrological Department
(ANGKASA/MMD)
COMING SOON
Penang
(MARDI, Malaysia)
Bagan Datoh
Sistem Pelayaran Satelit
(SISPELSAT, JLM)
Kuantan
Sistem Perlayaran Satelit
(SISPELSAT, JLM)
Kepong, Kuala Lumpur
(Enviro Land Service)
Main Processing Centre
Shah Alam, Selangor
(UiTM)
ISKANDAR Malaysia
UTM, MPKU, PTP, KKPG
National Space Centre
(ANGKASA), Selangor
Melaka
Sistem Pelayaran Satelit (SISPELSAT, JLM)
COMING SOON
Pontian, Johor
MARDI, Malaysia)
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 9
CORS Collaboration:
Government Agencies, Universities, & Industry
Collaboration!
Data Sharing & Combine Expertise!
Opportunities!
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 10
System Design & Architecture of
Integrity Monitoring System
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 11
Model-based Design
ANGKASA GNSS/DGPS
INTEGRITY
MONITORING
CENTRE
GPS + GLONASS Satellite
GNSS CORS
Data Storage /
Web Server
CORS1
CORS2
(TEQC Processor)
(NANU Processor)
INTERNET
GPS + GLONASS Satellite
INTERNET
UTM
PROCESSING CENTRE
SISPELSAT
(DGPS Processor)
Data Storage
SISP1
SISP2
SISP3
SISP4
MULTI USER
INTERNET
ANGKASA Web-Based
•
SYSTEM LEVEL
MONITORING
(NANUs for GPS &
GLONASS)
•
GROUND LEVEL MONITORING
(signal availability, range monitoring
ionosphere, cycle slip, missing
observation, etc.)
•
USER LEVEL
MONITORING
(DGPS correction – satellite by
satellite, SISPELSAT)
Slide 12
System Architecture
NTRIP
CASTER
INTERNET
DGPS
Processor
Network-RTK
(VRS) Processor
IOMOS
Processor
GPS/GNSS
Data Quality
Processor
DGPS
Processor
Main
Database
GPS Seismic
Processor
INTERNET
Real Time User
Web Server
Collaborators
Slide 13
Infrastructure
Setup
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 14
Site Reconnaissance & CORS Installation
Malaysia Meteorological Dept. Kota Bharu
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 15
SISPELSAT CORS at Malaysia Marine Department,
Melaka
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 16
Infrastructure Setup: The Control Centre
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 17
Infrastructure Setup: Communication
Control Centre
NTRIP Server
ANGKASA
NTRIP Server
ISKANDARnet
NTRIP Server
JLM
NTRIP Server
NANU
TCP/IP
Control Centre
NTRIP Caster
Processor Server
Main Database
TCP/IP
Post-Process User
(RINEX File
Download)
Post-Process User
(RTCM File
Download)
Web Server
E-Mail/SMS/Social Network
Real Time
User
User
USER APPLICATION
The Integrity Monitoring System utilizes Internet and NTRIP technology
Slide 18
Infrastructure Setup: Database System
• Uses MySQL as the
database management
system.
• Data for every second will
be stored - need a huge
data storage to keep the
large data size.
• Database system should be
robust and flexible to
handle various emergencies
and does not crash when
error occurs.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 19
Preliminary
Output
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 20
> AGENSI ANGKASA NEGARA
main page
news
> ABOUT US
service
sign up
Today Monitoring
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Today Discussion
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
sign in
Slide 21
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
sign in
Today Monitoring
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Please click the station for the information
Today Discussion
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 22
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
sign in
Station Information
ISKANDARnet 1
Today Monitoring
Operated & maintained by
UTM-GNSS & Geodynamics Research Group
Station ID
SYSTEM LEVEL MONITORING
Location
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Today Discussion
ITRF
2008
RSO
Geoce
ntric
IGS
Conve
ntion
ISK1
Block C02, FKSG, Universiti
Teknologi Malaysia (UTM)
Latitude
1° 33’ 36.39495” N
Longitude
103° 38’ 08.89223” E
Ellipsoidal Height
61.551 m
Easting
626585.075 m
Northing
172530.806 m
GPS Receiver
Trimble 4700
GPS Antenna
Trimble L1/L2 Micro-centred
with Ground Plane
TRM33429.20+GP
Radio-link
RTCM 2.0 channel 01
NTRIP
IP: XXXXX.XXX.XXX
Com
More ….
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 23
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
sign in
ISKANDARnet1
Today Monitoring
Satellite Availability & signal strength
GNSS signal quality
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
GPS L1
DGPS Corrections
Reliability of satellite for
DGPS correction
USER LEVEL MONITORING
DGPS correction latency
Today Discussion
Variation of fine PRC
GPS L2
Alert !
DGPS corrections from Satellite
PRN 31 & 32 are out of range
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 24
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
Base station
Please click the station
Today Monitoring
Rover station
Please click the station
or
SYSTEM LEVEL MONITORING
Insert coordinate
GROUND LEVEL MONITORING
Lat
ddd.mm.ss
USER LEVEL MONITORING
Long
ddd.mm.ss
Today Discussion
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
sign in
Slide 25
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
Base station
Banting
Today Monitoring
Rover station
ISKANDARnet2
or
SYSTEM LEVEL MONITORING
Insert coordinate
GROUND LEVEL MONITORING
Lat
ddd.mm.ss
USER LEVEL MONITORING
Long
ddd.mm.ss
Today Discussion
Distance : 338.33 km
Accuracy : 0.325 m (rms)
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
sign in
Slide 26
User Level Monitoring – DGPS Module
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 27
Concluding Remarks
•Three different services will be make available – to
monitor satellite anomalies, signals at CORS, DGPS
correction and alert to user.
•The project show excellent collaborations amongst
government agencies, universities and industry in
developing the integrity monitoring system for spacebased navigation and positioning in Malaysia.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 28
end
MALAYSIA
Maleisië
INTEGRITY MONITORING SYSTEM FOR
SPACE-BASED NAVIGATION AND
POSITIONING IN MALAYSIA
Ooi Wei Han1,
Moslin S.I1., Ahmad N.1, Subari M.D.1,
Musa T.A.2, Othman R.2, Omar A.H.2, Musliman I.A.2
1National
Space Agency (ANGKASA)
Space Application and Technology Development Unit
2Universiti
Teknologi Malaysia
GNSS and Geodynamics Research Group
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 2
Contents
• Introduction
• Project Aims, Objectives & Scope of Work
• The GNSS CORS & Collaboration
• Design & Architecture of GNSS Integrity
Monitoring System
• Infrastructure Setup
• Preliminary Output
• Concluding Remarks
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 3
Introduction
• In Malaysia, navigation
technology has become an
essential tool in various
applications for positioning in
military and civilian sectors.
• With the full operational
constellation and
modernization of the GNSS
such as GPS and GLONASS,
the accuracy of positioning
has definitely improved.
Malaysia
GPS, GLONASS, GALILEO, COMPASS, QZSS
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 4
The Signal Integrity
• GNSS signals are weak and easily be interrupted.
• Affected by variety types of errors at various stages
• Such as:
- satellite clock and orbit errors;
- ionospheric and tropospheric delays;
- receiver clock error;
- possible cycle slips;
- multipath;
- and etc.
• Several incidents indicated signals in failure mode
and resulted significant position errors.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 5
L.Heng et. al., 2010
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 6
Aims & Objectives
The National Space Agency (ANGKASA) in collaboration with
universities, government and industries sectors is currently in the
midst of developing an integrity monitoring system for space-based
positioning in Malaysia.
The aim of this project is to provide an integrity monitoring system
for space-based navigation and positioning in Malaysia. This aim
embarks three objectives:
•To establish GPS/GNSS CORS network over Peninsular Malaysia
•To determine on integrity and reliability of GNSS and DGPS signals
over country
•To provide a warning of any signal anomalies at all time.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 7
Scope of Work
• Set-up GNSS ground stations with real-time data
streaming.
• Set-up control centre at ANGKASA & processing centre at
UTM.
• Set-up database for GNSS & DGPS integrity monitoring
system.
• Set-up web-based service for GNSS & DGPS integrity
monitoring system.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 8
The GNSS CORS
Peninsular Malaysia
Langkawi National
Observatory
(ANGKASA)
Kota Bharu
Malaysian Metrological Department
(ANGKASA/MMD)
COMING SOON
Penang
(MARDI, Malaysia)
Bagan Datoh
Sistem Pelayaran Satelit
(SISPELSAT, JLM)
Kuantan
Sistem Perlayaran Satelit
(SISPELSAT, JLM)
Kepong, Kuala Lumpur
(Enviro Land Service)
Main Processing Centre
Shah Alam, Selangor
(UiTM)
ISKANDAR Malaysia
UTM, MPKU, PTP, KKPG
National Space Centre
(ANGKASA), Selangor
Melaka
Sistem Pelayaran Satelit (SISPELSAT, JLM)
COMING SOON
Pontian, Johor
MARDI, Malaysia)
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 9
CORS Collaboration:
Government Agencies, Universities, & Industry
Collaboration!
Data Sharing & Combine Expertise!
Opportunities!
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 10
System Design & Architecture of
Integrity Monitoring System
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 11
Model-based Design
ANGKASA GNSS/DGPS
INTEGRITY
MONITORING
CENTRE
GPS + GLONASS Satellite
GNSS CORS
Data Storage /
Web Server
CORS1
CORS2
(TEQC Processor)
(NANU Processor)
INTERNET
GPS + GLONASS Satellite
INTERNET
UTM
PROCESSING CENTRE
SISPELSAT
(DGPS Processor)
Data Storage
SISP1
SISP2
SISP3
SISP4
MULTI USER
INTERNET
ANGKASA Web-Based
•
SYSTEM LEVEL
MONITORING
(NANUs for GPS &
GLONASS)
•
GROUND LEVEL MONITORING
(signal availability, range monitoring
ionosphere, cycle slip, missing
observation, etc.)
•
USER LEVEL
MONITORING
(DGPS correction – satellite by
satellite, SISPELSAT)
Slide 12
System Architecture
NTRIP
CASTER
INTERNET
DGPS
Processor
Network-RTK
(VRS) Processor
IOMOS
Processor
GPS/GNSS
Data Quality
Processor
DGPS
Processor
Main
Database
GPS Seismic
Processor
INTERNET
Real Time User
Web Server
Collaborators
Slide 13
Infrastructure
Setup
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 14
Site Reconnaissance & CORS Installation
Malaysia Meteorological Dept. Kota Bharu
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 15
SISPELSAT CORS at Malaysia Marine Department,
Melaka
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 16
Infrastructure Setup: The Control Centre
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 17
Infrastructure Setup: Communication
Control Centre
NTRIP Server
ANGKASA
NTRIP Server
ISKANDARnet
NTRIP Server
JLM
NTRIP Server
NANU
TCP/IP
Control Centre
NTRIP Caster
Processor Server
Main Database
TCP/IP
Post-Process User
(RINEX File
Download)
Post-Process User
(RTCM File
Download)
Web Server
E-Mail/SMS/Social Network
Real Time
User
User
USER APPLICATION
The Integrity Monitoring System utilizes Internet and NTRIP technology
Slide 18
Infrastructure Setup: Database System
• Uses MySQL as the
database management
system.
• Data for every second will
be stored - need a huge
data storage to keep the
large data size.
• Database system should be
robust and flexible to
handle various emergencies
and does not crash when
error occurs.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 19
Preliminary
Output
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 20
> AGENSI ANGKASA NEGARA
main page
news
> ABOUT US
service
sign up
Today Monitoring
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Today Discussion
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
sign in
Slide 21
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
sign in
Today Monitoring
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Please click the station for the information
Today Discussion
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 22
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
sign in
Station Information
ISKANDARnet 1
Today Monitoring
Operated & maintained by
UTM-GNSS & Geodynamics Research Group
Station ID
SYSTEM LEVEL MONITORING
Location
GROUND LEVEL MONITORING
USER LEVEL MONITORING
Today Discussion
ITRF
2008
RSO
Geoce
ntric
IGS
Conve
ntion
ISK1
Block C02, FKSG, Universiti
Teknologi Malaysia (UTM)
Latitude
1° 33’ 36.39495” N
Longitude
103° 38’ 08.89223” E
Ellipsoidal Height
61.551 m
Easting
626585.075 m
Northing
172530.806 m
GPS Receiver
Trimble 4700
GPS Antenna
Trimble L1/L2 Micro-centred
with Ground Plane
TRM33429.20+GP
Radio-link
RTCM 2.0 channel 01
NTRIP
IP: XXXXX.XXX.XXX
Com
More ….
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 23
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
sign in
ISKANDARnet1
Today Monitoring
Satellite Availability & signal strength
GNSS signal quality
SYSTEM LEVEL MONITORING
GROUND LEVEL MONITORING
GPS L1
DGPS Corrections
Reliability of satellite for
DGPS correction
USER LEVEL MONITORING
DGPS correction latency
Today Discussion
Variation of fine PRC
GPS L2
Alert !
DGPS corrections from Satellite
PRN 31 & 32 are out of range
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 24
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
Base station
Please click the station
Today Monitoring
Rover station
Please click the station
or
SYSTEM LEVEL MONITORING
Insert coordinate
GROUND LEVEL MONITORING
Lat
ddd.mm.ss
USER LEVEL MONITORING
Long
ddd.mm.ss
Today Discussion
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
sign in
Slide 25
AGENSI ANGKASA NEGARA
main page
news
ABOUT US
service
sign up
Base station
Banting
Today Monitoring
Rover station
ISKANDARnet2
or
SYSTEM LEVEL MONITORING
Insert coordinate
GROUND LEVEL MONITORING
Lat
ddd.mm.ss
USER LEVEL MONITORING
Long
ddd.mm.ss
Today Discussion
Distance : 338.33 km
Accuracy : 0.325 m (rms)
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
sign in
Slide 26
User Level Monitoring – DGPS Module
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 27
Concluding Remarks
•Three different services will be make available – to
monitor satellite anomalies, signals at CORS, DGPS
correction and alert to user.
•The project show excellent collaborations amongst
government agencies, universities and industry in
developing the integrity monitoring system for spacebased navigation and positioning in Malaysia.
Geospatial World Forum 13-16 May 2013, Beurs-World Trade Centre Rotterdam
Slide 28
end
MALAYSIA
Maleisië