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Japan Aerospace Exploration Agency K.Kawate , M. Miyoshi, S. Nakamura and S . Kogure

The development result of the ground infrastructure for Real time PPP experiment by using QZSS. Japan Aerospace Exploration Agency K.Kawate , M. Miyoshi, S. Nakamura and S . Kogure H.Soga and Y.Hirahara @NEC A.Yasuda and T.Takasu@Tokyo University of Marine Science and Technology.

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Japan Aerospace Exploration Agency K.Kawate , M. Miyoshi, S. Nakamura and S . Kogure

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  1. The development result of the ground infrastructure for Real time PPP experiment by using QZSS Japan Aerospace Exploration Agency K.Kawate, M. Miyoshi, S. Nakamura and S. Kogure H.Soga and Y.Hirahara @NEC A.Yasuda and T.Takasu@Tokyo UniversityofMarine Science and Technology

  2. Outline Real-time PPP Service via QZSS Development Status of the Ground Infrastructure for Real-Time PPP Service - MGM-net (monitoring network) - MADOCA (Multi-GNSS offline & real-time estimator) Evaluate Result - Estimate accuracy of orbit and clock by MADOCA - PPP accuracy with MADOCA products +Announcement PPP WORKSHOP 2013

  3. Introduction Prediction of visible satellites in 2020 Background -Progression of “Multi-GNSS” by increase of positioning satellites - Expansion of GNSS utilization field Not only Positioning, Navigation and Timing , But also Applied researches # of sats 101520 253035 Real-time PPP service with cm-level accuracy is required! Today’s Topic “Development of Real-time PPP service using Multi-GNSS via QZSS by JAXA” - Multi-GNSS monitoring network “MGM-net” - Precise Multi-GNSS orbit and clock estimator “MADOCA” - MADOCA-LEX signal PPP WORKSHOP 2013

  4. Real-time PPP Service via QZSS PPP WORKSHOP 2013

  5. Service via QZSS ( 1 / 2 ) What’s QZSS QZSS (Quasi-Zenith Satellite System) - Regional Positioning system which can stay near zenith over Japan for many hours - Service area : all over Asia and Oceania region First Quasi-Zenith Satellite “Michibiki” - Sep. 11, 2010 Launch byH-IIA 18th - June. 22, 2011Start of public service(L1C/A, L2C) Role of “Michibiki” 1)”GPS Availability Enhancement” (L1C/A, L2C, L1C, L5 signal) 2) “GPS Performance Enhancement“(L1-SAIF, LEX signal) PPP WORKSHOP 2013

  6. Service via QZSS ( 2 / 2 ) Service via QZSS Effective field of real-time PPP service via QZSS - Broadcast of orbit and clock correction message using LEX signal • LEX signal • - Center frequency ： 1278.75MHz • - Transfer rate ： 2 kbps • - Massage : Some messages broadcasted by time sharing • (JAXA、SPAC、NICT、GSI) LEO satellite Weather Forecast Precise Agriculture Car/Human Navigation Tsunami detection Crustal deformation monitoring PPP WORKSHOP 2013

  7. Development status of the Ground Infrastructure for Real-Time PPP Service PPP WORKSHOP 2013

  8. Development status of the ground infrastructure ( 1 / 7 ) System of Real-time PPP Service Development of ground infrastructure for providing real-time PPP service - Target PPP Accuracy in this system is less than 10 cm(H/VRMS) GLONASS QZSS Galileo GPS navigation signal ・・・ LEXsignal MGM-net etc. MGM-net etc. LEX message NTRIPCaster (provided by BKG) Tracking&ControlStation PPP users PPP users RTCM, Raw, BINEX… @Okinawa LEX message Data interface Master Control Station(MCS) orbit & clock estimator LEX message generator RTCM SSR LEX message Target accuracy < 10cm (H/V RMS) MADOCA MADOCA @Tsukuba PPP WORKSHOP 2013 8

  9. Development status of the ground infrastructure ( 2/ 7 ) MGM-net (Multi-GNSS Monitoring network) • Aim of MGM-Net • -Improvement of Multi-GNSS orbit and clock estimate accuracy • - Promotion of Multi-GNSS experiment including QZSS • ■Please visit“MGA” website for detailed →www.multignss.asia • →　Call for Application of JAXA’s Rx hosting sites from 2011 Call for Application continuously until arranged 60 sites!! ★JAXA’s(9) ●MGM-net(Hosting) on running (11) ●　MGM-net(Hosting) under construction (13) ■ MGM-net(Sharing) (7) ▲MGM-net(Sharing based on agreement) (40) PPP WORKSHOP 2013

  10. Development status of the ground infrastructure ( 3 / 7 ) MGM-net ～International cooperation (Multi-GNSS Monitoring network) International Cooperation - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result →Plan to participate into IGS M-GEX project International Cooperation - Expansion of Multi-GNSS monitoring network - Cross-check of orbit and clock estimate result ★JAXA’s (9) ●MGM-net(Hosting) on running (11) ●　MGM-net(Hosting) under construction(13) ■ MGM-net(Sharing) (7) ▲MGM-net(Sharing based on agreement) (40) ▲other partner’s (based on agreement)(4) PPP WORKSHOP 2013

  11. Development status of the ground infrastructure ( 4 / 7 ) MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) • Aim of MADOCA • - Estimation of orbit and clockwith high accuracy • - Multi-GNSS Support (GPS, GLONASS, QZSS and Galileo) • Development • - NEC, Tokyo University of Marine Science and Technology and JAXA • Goal • - Estimate accuracy comparable to IGS products for RT positioning with < 10cm accuracy Table. 1 Development Schedule & Target Accuracy PPP WORKSHOP 2013

  12. Development status of the ground infrastructure ( 5 / 7 ) MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) Parameter Adjustment - Precise orbit & clock estimation using latest models - Reduction of processing time - High Stablity of numeric calculation Table2 Parameter Adjustment PPP WORKSHOP 2013

  13. Development status of the ground infrastructure ( 7 / 7 ) MADOCA-LEX (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis) • Format • - Definition of MADOCA-LEX format as MT=12 based on RTCM SSR • LEX message ・・・ • (cf)RTCM SSR RTCM Message #1 ・・・ RTCM Message #2 • RTCM SSR MT using MADOCA-LEX message (* : draft ) LEX message (2000) Data Section(1695) Please check ! • ■Please visit QZSS websites “QZ-vision” → http://qz-vision.jaxa.jp/USE/is-qzss/index_e.html PPP WORKSHOP 2013

  14. Evaluate Result PPP WORKSHOP 2013

  15. Reported Evaluation result ( 1 / 6 ) Evaluation of offline estimation GPS & GLONASS estimation - Comparable accuracy with IGS ACs GPS GLONASS QZSS orbit estimation - <6 cm accuracy on overlap evaluation QZSS 2011/06/04 - 2011/11/03 (153 days), 24 H-overlap (cf.) Overlap evaluation 12H 48H12H +1m Arcs R -1m A Overlap error C R :2.37cm ,A :4.47cm , C :3.21cm, 3D :5.99cm PPP WORKSHOP 2013 2011/01/01 -12/31 (365 days), wrt IGS Final

  16. Reported Evaluation result ( 2 / 6 ) Evaluation of offline PPP Offline PPP around Asia and Oceania area using MADOCA offline products - Offline PPP accuracy of enough less than 10cm !! Average 3.8cm (HRMS) 5.6cm (VRMS) 2013/01/13 -1/20 (8 days), RTKLIB2.4.1b12, wrt PPP-static using IGS Final PPP WORKSHOP 2013

  17. Evaluation result ( 3 / 6 ) Evaluation of simulated RT estimation Simulated*1 GPS real-time estimation (1/2) - Achievement of orbit accuracy of < 4 cm and clock accuracy of ~ 0.1 ns Orbit Error (Radial/Along/Cross) Architecture Clock Error R:1.52cm/A:2.49cm/C:1.81cm 3D:3.44cm *1 : Evaluation of real-time estimator using simulated real-time data based on RINEX STD:0.114ns / RMS:0.184ns 2012/2/1- 2/14(14days),31 GPS satellites wrtIGSFinal(* First 24H and unhealthy G14 excluded) PPP WORKSHOP 2013

  18. Evaluation result ( 4 / 6 ) Evaluation of simulated RT PPP Simulated GPS real-time estimation (2/2) - Achievement of PPP accuracy of enough less than 10 cm +0.2m with Simulated MADOCA Clock/Orbit E -0.2m N RMS * E:1.93cm N:1.46cmU:3.91cm U +0.2m with IGS FINAL E RMS * E:1.80cmN:1.42cm U:3.25cm -0.2m N U 2012/2/2- 2/14(13days),RTKPOST2.4.2, wrtIGSFinal POS (* First 1Hexcluded) @TKSB 18 PPP WORKSHOP 2013

  19. Evaluation result ( 5 / 6 ) Evaluation of RT estimation Ground Test of RT estimator (1/2) - Ground Test of real-time estimator via NTRIP caster using MGM-net and IGS/MGEX sites MGM-net (5) JAXA’s (8) Sharing (7) Other partner’s (5) IGS/MGEX (21) PPP WORKSHOP 2013

  20. Evaluation result ( 6/ 6 ) Evaluation of RT PPP Ground Test of RT estimator (2/2) - Achievement of PPP accuracy of < 10 cm using only GPS +0.5m with Ground Test MADOCA E-W RMS E: 2.51 cm N: 2.20 cm U: 7.57 cm -0.5m N-S 10cm U-D with Real Time IGS E-W RMS E: 6.02 cm N: 3.75 cm U: 9.61 cm N-S 10cm U-D 2013/5/209:00-21:00(12h),RTKLIB2.4.2,1Hz, wrtIGS Final POS PPP WORKSHOP 2013

  21. Announcement PPP WORKSHOP 2013

  22. Announcement ( 1 / 3 ) START of Test Broadcast • Test Bradcast • - Start of MADOCA-LEX signal broadcast via “QZSS” on a trail !! • 1st April 11 - April 13 • 2nd April 26 - May 3 • 3rd May 28 - June 1 • On TestJune 9 - June 15 • Experiment Schedule • Please see “Experiment Schedule” on QZ-vision because LEX signal is on test. Please check here! • ■Please visit QZSS websites “QZ-vision” → http://qz-vision.jaxa.jp/USE/en/exp_schedules PPP WORKSHOP 2013

  23. Announcement ( 2 / 3 ) START of Test Broadcast PPP using MADOCA-LEX - Achievement of PPP accuracy of ~ 10 cm using GPS+QZS +0.5m with MADOCA-LEX E-W -0.5m RMS E: 3.54cm N: 1.99 cm U: 13.10 cm N-S 10cm U-D 2012/5/30 12:00:00-23:59:59(12 hours),RTKLIB2.4.2,31 GPS+QZS satellites, wrtPPP-static, IGSFinal POS @NCKU Architecture LEX sig. RTCM BINEX RAW LEX msg. MGM-net IGS/MGEX MCS MADOCA JAXA’s LEX receiver SSR orbit&clock estimator LEX message generator SSR @Okinawa @Tsukuba PPP WORKSHOP 2013

  24. Announcement ( 3 / 3 ) START of Test Broadcast Demonstration of PPP using MADOCA-LEX QZSS Please see PPP using MADOCA-LEX ! 8:30 Ottawa 8:30 Tsukuba Architecture LEX sig. RTCM BINEX RAW LEX msg. MGM-net IGS/MGEX MCS MADOCA JAXA’s LEX receiver SSR orbit&clock estimator LEX message generator SSR @Okinawa @Tsukuba PPP WORKSHOP 2013

  25. Summary • Development status of ground infrastracture real-time PPP service ‐ MGM-net : Expansion of Multi-GNSS Monitoring Network(84 sites) - MADOCA : Development of Multi-GNSS orbit and clockestimator with high accuracy Achievement of “real-time” PPP service with < 10 cm (H/VRMS) accuracy on ground test • Future Plan - Evaluation of long-term stability of real-time estimator - Function addition for higher accuracy (PPP-AR, BeiDou etc.) 　 →　We aim to join IGS analysis centers in the future! - Start of regular broadcast of MADOCA-LEX signal We look forward to providing real-time PPP service via QZSS!! PPP WORKSHOP 2013

  26. Thank you for your attention!! PPP WORKSHOP 2013

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